CN105673017B - A kind of seabed cobalt bearing crust Area Mining laboratory vehicle - Google Patents
A kind of seabed cobalt bearing crust Area Mining laboratory vehicle Download PDFInfo
- Publication number
- CN105673017B CN105673017B CN201610071265.XA CN201610071265A CN105673017B CN 105673017 B CN105673017 B CN 105673017B CN 201610071265 A CN201610071265 A CN 201610071265A CN 105673017 B CN105673017 B CN 105673017B
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- frame
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- ore deposit
- crawler belt
- milling
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- 238000005065 mining Methods 0.000 title claims abstract description 27
- 239000010941 cobalt Substances 0.000 title claims abstract description 24
- 229910017052 cobalt Inorganic materials 0.000 title claims abstract description 24
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical group [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 title claims abstract description 24
- 238000003801 milling Methods 0.000 claims abstract description 43
- 239000000523 sample Substances 0.000 claims abstract description 41
- 238000005086 pumping Methods 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 3
- 241000219098 Parthenocissus Species 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 239000012530 fluid Substances 0.000 claims description 2
- 239000012895 dilution Substances 0.000 abstract description 4
- 238000010790 dilution Methods 0.000 abstract description 4
- 238000009826 distribution Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000000227 grinding Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
- E21C50/02—Obtaining minerals from underwater, not otherwise provided for dependent on the ship movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mining & Mineral Resources (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Earth Drilling (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
A kind of seabed cobalt bearing crust Area Mining laboratory vehicle, including crawler belt vehicle frame, center pillar, propeller, pressure compensator, electronics storehouse, suction ore deposit head propelling cylinder, suction ore deposit head frame, Athey wheel, hydraulic pressure pumping ore deposit head, subsea inverter, Athey wheel hydraulic motor, milling digging head, underwater battery, milling digging head carriage, milling digging head propelling cylinder, clack box, acoustics Thicknesser probe, underwater camera, acoustic probes frame, wirerope, assembly pulley, mechanical arm, folding arm oil cylinder, hydraulic motor, underwater engine station and feed bin.Detection orebody thickness can be obtained to the distribution characteristics real-time in-line testing of cobalt bearing crust ore body using the present invention, and then adjust the cut grinding depth of Mining Head, improve operating efficiency, reduce the rate of dilution.
Description
Technical field
The present invention relates to a kind of seabed cobalt bearing crust Area Mining laboratory vehicle.
Background technology
Seabed is richly stored with cobalt bearing crust mineral resources, but its complicated microfeature and covers characteristic distributions,
Constrain the design of mining vehicle traveling mechanism and Mining Head.
The content of the invention
The technical problems to be solved by the invention are that raising is a kind of can be to the distribution characteristics real-time online of cobalt bearing crust ore body
Test, detection orebody thickness is obtained, and then adjust the cut grinding depth of Mining Head, improved operating efficiency, reduce the rate of dilution
Seabed cobalt bearing crust Area Mining laboratory vehicle.The laboratory vehicle provides reference basis for design for cobalt bearing crust mining vehicle development.
The technical solution adopted for the present invention to solve the technical problems is：A kind of seabed cobalt bearing crust Area Mining experiment
Car, including crawler belt vehicle frame, center pillar, propeller, pressure compensator, electronics storehouse, suction ore deposit head propelling cylinder, suction ore deposit head frame, shoe
Head, underwater battery, milling digging head carriage, milling digging head are dug in belt wheel, hydraulic pressure pumping ore deposit head, subsea inverter, Athey wheel hydraulic motor, milling
Propelling cylinder, clack box, acoustics Thicknesser probe, underwater camera, acoustic probes frame, wirerope, assembly pulley, mechanical arm, folding arm oil cylinder,
Hydraulic motor, underwater engine station and feed bin；
The acoustics Thicknesser probe is located at the front portion of crawler belt vehicle frame, and the acoustics Thicknesser probe is fixed in acoustic probes frame
On, two toggles of symmetrical connection, the other end of the toggle are hinged on crawler belt vehicle frame front lower portion in the middle part of the acoustic probes frame,
Anterior be hinged two universal wheels in the left and right sides, the underwater camera are fixed in acoustic probes frame top under the acoustic probes frame
Side；
The mechanical arm is hinged on the front upper part of crawler belt vehicle frame, before the oil cylinder end of the folding arm oil cylinder is hinged on crawler belt vehicle frame
Bottom, for tailpiece of the piston rod be hinged in the middle part of mechanical arm, the hydraulic motor is fixed in mechanical arm bottom, and the assembly pulley includes 3
Movable pulley, the respectively bottom in the top of mechanical arm, middle part and bottom, the output axis connection assembly pulley of the hydraulic motor
Pulley, the wirerope are socketed on assembly pulley, the wirerope lower hinge acoustic probes frame；
The Athey wheel is 4, respectively positioned at the corner of crawler belt vehicle frame, is hinged with crawler belt vehicle frame by damping oil cylinder, institute
Athey wheel is stated by Athey wheel fluid motor-driven；
The slide rail that head carriage is dug in the milling is nested in the slideway of center pillar, and the milling is dug head propelling cylinder and is located in center pillar,
Oil cylinder end is column articulated with, and tailpiece of the piston rod digs head carriage upper articulation with milling, and the milling digs head and is fixed in milling digging head carriage bottom,
Head propelling cylinder inbuilt displacement sensor is dug in the milling, accurate to control milling to dig the displacement that head moves up and down；
The suction ore deposit head frame is located at milling and digs head carriage rear portion, is fixed in the rear portion of crawler belt vehicle frame, and a pair of suction ore deposit heads push away
Enter oil cylinder and be arranged symmetrically in the inner side of suction ore deposit head frame two, oil cylinder end is be hinged to inhale ore deposit head frame, and tailpiece of the piston rod is hinged hydraulic pump
Ore deposit head is inhaled, the suction ore deposit head propelling cylinder inbuilt displacement sensor is accurate to control hydraulic pressure pumping ore deposit head edge to inhale on ore deposit head frame
Slide rail move up and down；
The pressure compensator, electronics storehouse are fixed on the left of crawler belt vehicle frame, and the underwater battery, clack box are fixed in creeper truck
On the right side of frame；The subsea inverter is fixed in crawler belt vehicle frame rear portion；The underwater engine station is horizontally placed on the front lower portion of crawler belt vehicle frame；
The feed bin is symmetrically positioned in center pillar both sides, and is fixed on crawler belt vehicle frame.
Further, the center pillar is located at the positive middle part of crawler belt vehicle frame.
Further, the propeller is two, is symmetrically fixed in the both sides of center pillar.
Further, the crawler belt vehicle frame is steel-pipe welding frame mechanism.
Further, the propeller is hydraulic pusher.
Further, the acoustic probes frame is annular acoustic probes frame.
Further, the hydraulic motor is reel hydraulic motor.
Further, the Athey wheel is triangle Athey wheel.
Further, the suction ore deposit head frame is that gate-type inhales ore deposit head frame.
Further, the feed bin is box feed bin.
The present invention uses four crawler belt traveling mechanisms, and acoustics Thicknesser probe is carried in front portion, is travelled on seabed cobalt bearing crust top layer
During, the anterior acoustics Thicknesser probe carried of mining laboratory vehicle, to the distribution characteristics real-time in-line testing of cobalt bearing crust ore body,
Detection orebody thickness is obtained, and then adjusts the cut grinding depth of Mining Head, improves operating efficiency, reduces the rate of dilution.
The laboratory vehicle can provide reference basis for design for cobalt bearing crust mining vehicle development.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention；
In figure：1- crawler belt vehicle frames, 2- center pillars, 3- propellers, 4- pressure compensators, 5- electronics storehouse, 6- inhale ore deposit head and promote oil
Cylinder, 7- inhale ore deposit head frame, 8- Athey wheels, 9- hydraulic pressure pumping ore deposit heads, 10- subsea inverters, 11- Athey wheel hydraulic motors, 12-
Milling digging head, 13- underwater batteries, 14- millings digging head carriage, 15- millings digging head propelling cylinder, 16- clack boxes, 17- toggles, 18- universal wheels,
19- acoustics Thicknesser probes, 20- underwater cameras, 21- acoustic probes framves, 22- wireropes, 23- assembly pulleys, 24- mechanical arms, 25- foldings
Arm oil cylinder, 26- hydraulic motors, 27- underwater engines station, 28- feed bins.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Referring to the drawings, the present embodiment includes crawler belt vehicle frame 1, center pillar 2, propeller 3, pressure compensator 4, electronics storehouse 5, suction ore deposit
Head propelling cylinder 6, inhale ore deposit head frame 7, Athey wheel 8, hydraulic pressure pumping ore deposit first 9, subsea inverter 10, Athey wheel hydraulic motor
11st, first 12, underwater battery 13 is dug in milling, head carriage 14 is dug in milling, head propelling cylinder 15, clack box 16, acoustics Thicknesser probe 19, water are dug in milling
It is lower camera 20, acoustic probes frame 21, wirerope 22, assembly pulley 23, mechanical arm 24, folding arm oil cylinder 25, hydraulic motor 26, underwater dynamic
Power station 27 and feed bin 28；
The acoustics Thicknesser probe 19 is located at the front portion of crawler belt vehicle frame 1, and the acoustics Thicknesser probe 19 is fixed in acoustics spy
On head frame 21, two toggles 17 of the symmetrical connection in the middle part of acoustic probes frame 21, the other end of the toggle 17 is hinged on shoe
The band front lower portion of vehicle frame 1, described 21 times anterior be hinged two universal wheels 18 in the left and right sides of acoustic probes frame, the underwater camera 20 are solid
It is scheduled on the upper inner of acoustic probes frame 21；
The mechanical arm 24 is hinged on the front upper part of crawler belt vehicle frame 1, and the oil cylinder end of the folding arm oil cylinder 25 is hinged on crawler belt
The front lower portion of vehicle frame 1, tailpiece of the piston rod and the middle part of mechanical arm 24 are be hinged, and the hydraulic motor 26 is fixed in the bottom of mechanical arm 24, described
Assembly pulley 23 includes 3 movable pulleys, respectively positioned at the top of mechanical arm 24, middle part and bottom, the output of the hydraulic motor 26
Bottom pulley in axis connection assembly pulley 23, the wirerope 22 are socketed on assembly pulley 23, the lower hinge acoustics of wirerope 22
Probe holder 21；
The Athey wheel 8 is 4, respectively positioned at the corner of crawler belt vehicle frame 1, passes through damping oil cylinder with crawler belt vehicle frame 1（In figure
It is not shown）It is be hinged, in the presence of damping oil cylinder, the adjustable relative altitude with crawler belt vehicle frame 1 of Athey wheel 8, the Athey wheel 8
Driven by Athey wheel hydraulic motor 11；
The slide rail that head carriage 14 is dug in the milling is nested in the slideway of center pillar 2, during the milling digging head propelling cylinder 15 is located at
In post, oil cylinder end is be hinged with center pillar 2, and tailpiece of the piston rod digs the upper articulation of head carriage 14 with milling, and the milling digs first 12 and is fixed in milling digging
The inbuilt displacement sensor of head propelling cylinder 15 is dug in the bottom of head carriage 14, the milling（Not shown in figure）, it is accurate to control milling to dig first 12
The displacement of up and down motion；
The suction ore deposit head frame 7 digs the rear portion of head carriage 14 positioned at milling, is fixed in the rear portion of crawler belt vehicle frame 1, a pair of suction ore deposits
Head propelling cylinder 6, which is arranged symmetrically in, inhales 7 liang of inner sides of ore deposit head frame, and oil cylinder end is be hinged to inhale ore deposit head frame 7, and tailpiece of the piston rod is hinged
Hydraulic pressure pumping ore deposit first 9, the inbuilt displacement sensor of suction ore deposit head propelling cylinder 6（Not depending on going out in figure）, it is accurate to control hydraulic pressure pumping
Ore deposit first 9 moves up and down along the slide rail inhaled on ore deposit head frame 7；
The pressure compensator 4, electronics storehouse 5 are fixed in the left side of crawler belt vehicle frame 1, and the underwater battery 13, clack box 16 are affixed
On the right side of crawler belt vehicle frame 1；The subsea inverter 10 is fixed in the rear portion of crawler belt vehicle frame 1；The underwater engine station 27 is horizontally placed on shoe
Front lower portion with vehicle frame 1；The feed bin 28 is symmetrically positioned in the both sides of center pillar 2, and is fixed on crawler belt vehicle frame 1.
In the present embodiment, the power electric of waterborne vessel is delivered under water by myriametre fiber optic cable, is reverse into through subsea inverter 10
High-tension electricity, the submersible machine at driving underwater engine station 27（Not shown in figure）, submersible machine startup hydraulic pump（Not shown in figure）,
Hydraulic pump export power through clack box 16 be respectively propeller 3, first 9, Athey wheel hydraulic pressure of inhaling ore deposit head propelling cylinder 6, hydraulic pressure pumping ore deposit
Motor 11, milling dig first 12 and oil cylinder etc. and provide hydraulic power, driving corresponding component action.Pressure compensator 4 is underwater engine station
27 carry out pressure compensation, to balance external and internal pressure.Underwater battery 13 is that underwater camera 20 provides power, for addressing.It is placed in
Underwater CPU within electronics storehouse 5, for controlling the everything of mining laboratory vehicle.
In the present embodiment, the center pillar 2 is located at the positive middle part of crawler belt vehicle frame 1.
In the present embodiment, the propeller 3 is two, is symmetrically fixed in the both sides of center pillar 2.
In the present embodiment, the crawler belt vehicle frame 1 is steel-pipe welding frame mechanism.
In the present embodiment, the propeller 3 is hydraulic pusher.
In the present embodiment, the acoustic probes frame 21 is annular acoustic probes frame.
In the present embodiment, the hydraulic motor 26 is reel hydraulic motor.
In the present embodiment, the Athey wheel 8 is triangle Athey wheel.
In the present embodiment, the suction ore deposit head frame 7 is that gate-type inhales ore deposit head frame.
In the present embodiment, the feed bin 28 is box feed bin.
The course of work：Under the collective effect of propeller 3 and underwater camera 20, mining laboratory vehicle stablizes bottom, starts
Hydraulic motor 26, under toggle 17 and the collective effect of wirerope 22, the universal wheel 18 at the both ends of acoustic probes frame 21 bottom, pass through folding arm
Oil cylinder 25 adjusts and acoustic probes frame 21 is placed in the anterior segment distance of crawler belt vehicle frame 1, under the effect of Athey wheel 8, mining experiment
Chinese herbaceous peony is entered, and acoustics Thicknesser probe 19 detects the spreading depth of ore body, and operating personnel are according to orebody thickness, in the work of displacement transducer
First 12 cut depth is dug with lower adjustment milling, cut crushes cobalt bearing crust ore body, meanwhile, inhale the control of ore deposit head propelling cylinder 6 and be located at
The ore particle that the first 9 set a distance bottom pumping cut of hydraulic pressure pumping ore deposit at first 12 rear portion crushes is dug in milling, and the ore particle that hydraulic pressure pumping ore deposit first 9 is inhaled is defeated
Deliver in feed bin 28 and store.
Traveling mechanism uses four Athey wheels 8, can adjust the relative position with crawler belt vehicle frame 1, crawler belt hydraulic motor up and down
It is operated alone, is suitable for rugged complicated crust landform.
Operating personnel the accurate cut depth for controlling milling to dig first 12, enter one according to the test data of acoustics Thicknesser probe 19
Step reduces the rate of dilution.
Claims (10)
1. a kind of seabed cobalt bearing crust Area Mining laboratory vehicle, including pressure compensator, electronics storehouse, subsea inverter, underwater electricity
Pond, clack box, mechanical arm, hydraulic motor, underwater engine station, it is characterised in that：It is additionally provided with crawler belt vehicle frame, center pillar, propeller, suction ore deposit
Head propelling cylinder, inhale ore deposit head frame, Athey wheel, hydraulic pressure pumping ore deposit head, Athey wheel hydraulic motor, head is dug in milling, head carriage is dug in milling,
Head propelling cylinder, acoustics Thicknesser probe, underwater camera, acoustic probes frame, wirerope, assembly pulley, folding arm oil cylinder and feed bin are dug in milling；
The acoustics Thicknesser probe is located at the front portion of crawler belt vehicle frame, and the acoustics Thicknesser probe is fixed on acoustic probes frame, institute
Two toggles of symmetrical connection in the middle part of acoustic probes frame are stated, the other end of the toggle is hinged on crawler belt vehicle frame front lower portion, described
Anterior be hinged two universal wheels in the left and right sides, the underwater camera are fixed on acoustic probes frame upper inner under acoustic probes frame；
The mechanical arm is hinged on the front upper part of crawler belt vehicle frame, and it is front lower that the oil cylinder end of the folding arm oil cylinder is hinged on crawler belt vehicle frame
Portion, for tailpiece of the piston rod be hinged in the middle part of mechanical arm, the hydraulic motor is fixed in mechanical arm bottom, and the assembly pulley includes 3 and moved
Pulley, respectively bottom in the top of mechanical arm, middle part and bottom, the output axis connection assembly pulley of the hydraulic motor slide
Wheel, the wirerope are socketed on assembly pulley, the wirerope lower hinge acoustic probes frame；
The Athey wheel is 4, respectively positioned at the corner of crawler belt vehicle frame, is hinged with crawler belt vehicle frame by damping oil cylinder, the shoe
Belt wheel is by Athey wheel fluid motor-driven；
The slide rail that head carriage is dug in the milling is nested in the slideway of center pillar, and the milling is dug head propelling cylinder and is located in center pillar, oil cylinder
End is column articulated with, and tailpiece of the piston rod digs head carriage upper articulation with milling, and the milling digs head and is fixed in milling digging head carriage bottom, described
Head propelling cylinder inbuilt displacement sensor is dug in milling, is accurately controlled milling and is dug the displacement that head moves up and down；
The suction ore deposit head frame is located at milling and digs head carriage rear portion, is fixed in the rear portion of crawler belt vehicle frame, and a pair of suction ore deposit heads promote oil
Cylinder, which is arranged symmetrically in, inhales the inner side of ore deposit head frame two, and oil cylinder end is be hinged to inhale ore deposit head frame, and tailpiece of the piston rod is hinged hydraulic pressure pumping ore deposit
Head, the suction ore deposit head propelling cylinder inbuilt displacement sensor are accurate to control hydraulic pressure pumping ore deposit head along the cunning inhaled on ore deposit head frame
Rail moves up and down；
The pressure compensator, electronics storehouse are fixed on the left of crawler belt vehicle frame, and the underwater battery, clack box are fixed in the crawler belt vehicle frame right side
Side；The subsea inverter is fixed in crawler belt vehicle frame rear portion；The underwater engine station is horizontally placed on the front lower portion of crawler belt vehicle frame；It is described
Feed bin is symmetrically positioned in center pillar both sides, and is fixed on crawler belt vehicle frame.
2. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1, it is characterised in that：The center pillar is positioned at shoe
Positive middle part with vehicle frame.
3. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The propeller
For two, the both sides of center pillar are symmetrically fixed in.
4. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The creeper truck
Frame is steel-pipe welding frame mechanism.
5. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The propeller
For hydraulic pusher.
6. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The acoustics is visited
Head frame is annular acoustic probes frame.
7. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The hydraulic pressure horse
Up to for reel hydraulic motor.
8. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The Athey wheel
For triangle Athey wheel.
9. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The suction ore deposit head
Fixed mount is that gate-type inhales ore deposit head frame.
10. cobalt bearing crust Area Mining laboratory vehicle in seabed according to claim 1 or 2, it is characterised in that：The feed bin is
Box feed bin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610071265.XA CN105673017B (en) | 2016-02-02 | 2016-02-02 | A kind of seabed cobalt bearing crust Area Mining laboratory vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610071265.XA CN105673017B (en) | 2016-02-02 | 2016-02-02 | A kind of seabed cobalt bearing crust Area Mining laboratory vehicle |
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| Publication Number | Publication Date |
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| CN105673017A CN105673017A (en) | 2016-06-15 |
| CN105673017B true CN105673017B (en) | 2017-12-12 |
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| CN106014417A (en) * | 2016-07-13 | 2016-10-12 | 中南大学 | Seabed cobalt-rich crust mining vehicle |
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| CN106285686B (en) * | 2016-11-01 | 2018-05-08 | 长沙矿冶研究院有限责任公司 | A kind of seabed cobalt bearing crust cutting depth control method and hydraulic system |
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| CN111236945B (en) * | 2020-04-13 | 2024-05-07 | 江苏科技大学 | Deep sea mining vehicle with auxiliary movement device |
| CN113187483B (en) * | 2021-06-30 | 2021-09-17 | 金奥深海装备技术(深圳)有限责任公司 | Underwater mining vehicle |
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| CN105673017A (en) | 2016-06-15 |
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