CN107288639B - Deep-sea mining is saved along soaring formula of restricting can lifting device - Google Patents
Deep-sea mining is saved along soaring formula of restricting can lifting device Download PDFInfo
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- CN107288639B CN107288639B CN201710608042.7A CN201710608042A CN107288639B CN 107288639 B CN107288639 B CN 107288639B CN 201710608042 A CN201710608042 A CN 201710608042A CN 107288639 B CN107288639 B CN 107288639B
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- 238000005065 mining Methods 0.000 title claims abstract description 76
- 229910052500 inorganic mineral Inorganic materials 0.000 claims abstract description 37
- 239000011707 mineral Substances 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 36
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 235000010755 mineral Nutrition 0.000 description 32
- 238000010586 diagram Methods 0.000 description 5
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000002002 slurry Substances 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000012895 dilution Substances 0.000 description 2
- 238000010790 dilution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910021389 graphene Inorganic materials 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 235000013495 cobalt Nutrition 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- WPBNNNQJVZRUHP-UHFFFAOYSA-L manganese(2+);methyl n-[[2-(methoxycarbonylcarbamothioylamino)phenyl]carbamothioyl]carbamate;n-[2-(sulfidocarbothioylamino)ethyl]carbamodithioate Chemical compound [Mn+2].[S-]C(=S)NCCNC([S-])=S.COC(=O)NC(=S)NC1=CC=CC=C1NC(=S)NC(=O)OC WPBNNNQJVZRUHP-UHFFFAOYSA-L 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000004575 stone 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Earth Drilling (AREA)
Abstract
The present invention relates to deep-sea minings to save energy lifting device along soaring formula of restricting, and mainly includes double-arm quickly soaring mechanism, material box, leading block and high-intensitive cable.Wherein, double-arm quickly soaring mechanism is made of, two of them mechanical arm is one group, and the arms of mechanical arm is driven by motor and end and material box top center beam are hinged, and motor is mounted on arms end for promoting marine mineral several groups mechanical arm；Forearm by Driven by Hydraulic Cylinder and middle section and arms front end it is hinged, hydraulic cylinder one end and arms middle section are hinged, and the other end is hinged with front arm tip；Forearm front end is equipped with rotatable clamping device, and high-intensitive cable is clamped when for riseing；Multiple groups mechanical arm alternate run orderly when soaring, realizes the fast lifting of marine mineral.This soaring formula lifting scheme energy saving and economy are strong, and implementation process is easy, improves the production efficiency of marine mineral and reduces cost of winning.
Description
Technical field
The present invention relates to deep-sea mining along soaring formula of restricting save can lifting device, mainly include double-arm quickly soaring mechanism,
Material box, leading block and high-intensitive cable, the promotion applied to deep-sea mineral.
Background technique
Ocean is the huge resource treasure-house that the mankind possess, and other than petroleum resources and beach sand mine, there are also more metal knots
Core, wherein gross reserves is tens times to thousands of times of land, to submarine mine goods and materials rich in multiple elements such as manganese, copper, nickel, cobalts
The exploitation in source is increasingly valued by people.There are mainly four types of schemes for existing oceanic mineral resources exploitation, are steel wire respectively
Rope takeup type mining system, continuous line bucket mining system, automatic shuttle ship formula mining system and Pipeline lift formula mining system.
The wound mining system of wire rope roll is mainly made of mining dredger, steel wire cable and trailer three parts, is existed by trailer
After mineral are collected in seabed, mineral are promoted onto mining dredger by the winding of wirerope.The wound mining system exploitation of wire rope roll
Wirerope of folding and unfolding is required when trailer being promoted and put down every time when mineral, when mining depth is larger, thousands of rice are long
Greatly, time length, energy consumption consumed by winding wirerope of folding and unfolding are high, poor operability for wirerope self weight, and production efficiency is low.
Japan adheres to the continuous line bucket mining system of research mainly by mining dredger, towing cable, Suo Dou and traction link seat at logical
Crossing dragger drives towing cable movement to make several Suo Dou shuttling movements on towing cable, carries out seabed resources exploitation.Continuous line bucket
The Suo Dou of mining system is unable to control in Haiti, and sea-floor relief is complicated, in fact it could happen that sky bucket or shallow bucket fluctuate production capacity
And cannot ensure to reach designed capacity, cause seabed resources production efficiency low, also will cause seabed dilution.Meanwhile in ocean
Under the action of ocean current, marine two towing cables are possible to be wound into together, and entire mining system is made to fail, and disadvantage is obvious.
Automatic shuttle ship formula mining system is most proposed earlier than nineteen seventies by French engineer, mainly by digging up mine
Ship and it is a series of can freely slip into offshore mining mining submersible composition, by mining submersible complete marine mineral exploitation and
Conveying.Automatic shuttle ship formula mining system is with high costs, and the energy and investment are long return period.Shanghai Communications University in 2006
Dispersed deep-sea partial trial-mining system is had developed on the basis of automatic shuttle ship formula mining system, mainly by mining dredger, mining
Submersible and multiple promotion submersibles composition, promotion submersible are underwater untethered submersible, and cost remains unchanged higher.
Pipeline lift formula mining system mainly has two methods of hydraulic hoisting and airlift, both mining methods are all
Ore is acquired in seabed by self-propelled or drag type collecting machine, ore is then promoted to by water surface mining by vertical pipe
Ship.
Hydraulic hoisting mining system mainly by mining dredger, thousands of rice it is long raise the long hose of mine hard tube, several hundred rice, conveying
Pump, deep-sea mining machine, auxiliary cutting machine sum aggregate mine machine composition.After deep-sea mining machine mining mineral, assist cutting machine by mineral
Smaller particle is cut into form ore slurry, ore slurry is collected by collecting machine and is transported to by hose and raise mine hard tube,
Finally it is transported on mining dredger by the multiple delivery pumps raised on mine hard tube.Such method due to needing multiple seabed operation machines,
And enormous size, the installation and decentralization of conveyance conduit and work machine are difficult, while needing to be processed into exploitated ore in seabed
Conveyed after ore slurry, and hose is shorter, mining dredger need to follow undersea mining vehicle move, thousands of rice it is long raise mine hard tube by sea
Stream influence is huge, will drive hull and generates very big offset movement.
Airlift mining system form substantially it is identical as hydraulic hoisting, unlike hydraulic hoisting be to be raised using being connected to
Delivery pump on pipe road provides power；Airlift is that the air injection vertical tube of compression is formed three-phase flow to promote mine
Stone.Mine low efficiency is raised in airlift, and when multistage pump tandem working, and raising mine efficiency can also further decline.
In conclusion all there is variety of problems in existing several seabed ore winning apparatus.
Summary of the invention
It is an object of the present invention to provide deep-sea minings to save energy lifting device along soaring formula of restricting, to solve existing several seabed ores
Winning apparatus production efficiency is low, and energy consumption is high, and cost of winning is high and needs the processing ore of seabed the problems such as.
To achieve the above object, deep-sea mining is as follows along soaring formula province energy lifting device design scheme of restricting.
Deep-sea mining along soaring formula of restricting save can lifting device, mainly include double-arm quickly soaring mechanism, material box (2),
Leading block (3) and high-intensitive cable (4).The double-arm quickly soaring mechanism is for promoting marine mineral, by several groups machine
Tool arm composition, two of them mechanical arm (1) are one group, and the arms (11) of mechanical arm is driven by motor (13) and end
Hingedly with material box (2) top center beam (21), motor is mounted on arms end, turns arms around its end articulated shaft
It is dynamic；Forearm (12) is driven by hydraulic cylinder (14) and its middle section and arms front end are hinged, and hydraulic cylinder one end and arms middle section are hinged,
The other end is hinged with front arm tip, and flexible by hydraulic cylinder turns forearm around the articulated shaft of its middle section and arms front end
It is dynamic；Forearm front end is equipped with rotatable clamping device (15), and high-intensitive cable (4) is clamped when for riseing.It is double-arm quick
When soaring mechanism work, the hydraulic cylinder piston rod that arms (11) and forearm (12) are connected on one of mechanical arm is withdrawn,
Driving motor (13) by being mounted on arms end drives mechanical arm movement to adjust the position of clamping device (15), clamping
After device finds and clamps high-intensitive cable (4), hydraulic cylinder (14) piston rod gradually stretches out and drives forearm front end and clamping to fill
Set a material box direction in the same direction movement, due to material box and clamping device generation relative motion and clamping device clamped it is high-strength
Cable is spent, so material box will be lifted up a distance；Later, another mechanical arm is pressed by hydraulic cylinder with motor above-mentioned
Behind process adjusting position, after clamping device clamps high-intensitive cable, the clamping device of original mechanical arm unclamps cable, Zhi Houzai
By the movement of hydraulic cylinder piston rod, so that material box promotes a distance again.
Co-ordination when mechanical arm promotes mineral when using one group of mechanical arm or so, drops to most in right arm clamping device
After lower position (100), extreme higher position (102) and promptly high-intensitive cable, the dress of right arm clamping later are reached to left arm clamping device
Release cable is set, left arm hydraulic cylinder piston rod stretches out, and left arm clamping device is moved to material box, at the same time, right arm clamping dress
It sets through hydraulic cylinder and driving motor to extreme higher position movement (101), after left arm clamping device moves to extreme lower position, waits right
After arm clamping device moves to extreme higher position and promptly cable, then it is alternately repeated above-mentioned movement.More than two mechanical arms so recycle
Movement realizes that walking is soaring.
In the case where multiple groups mechanical arm, mechanical arm is more after more mechanical arms equally such as above method co-ordination
Group mechanical arm can preferably be connected movement, increase raising efficiency, reduce and promote the time, make cargo rapid increase.
When multiple groups mechanical arm replaces orderly work, it can be achieved that material box and marine mineral are along high-intensitive cable
In the fast lifting to mining dredger of direction.
It, can will be before driving in the case where the thrust of linear motor, reciprocating frequence and outer dimension meet design requirement
The hydraulic cylinder of arm is changed to linear motor, accelerates forearm movement velocity, makes to promote speed and a step is accelerated.
Assuming that high-intensitive cable (4) be in water it is vertical, then mechanical arm (1) promotes power required for mineralFIt can be by
Following formula calculates:
F≥m z g-F zf
F zf =F f1 +F f2
m z =m 1 +m 2
In formula,m z By lifting device and contain mineral gross mass；gFor acceleration of gravity；F zf By lifting device and contain mine
The gross buoyancy of object；F f1 、F f2 The respectively buoyancy of lifting device and contained mineral,m 1 、m 2 Respectively lifting device and contained mineral
Quality.
Buoyancy is calculated by following formula:
F It is floating=ρ Liquid gV Row
In formula,ρ LiquidFor density of sea water；V Row For displacement of volume.
When clamping device clamps high-intensitive cable and promotes mineral, the sum of stiction between clamp and cable withFPhase
Together, stiction at this time needs to be less than the maximum static friction force between clamp and cable.
Then clamp clamps cable and promotes the condition of mineral are as follows:
N≥F /2μ
F It rubs≤μN
In formula,μCoefficient of friction between jaw and cable；NIt is grip finger to the normal pressure of cable；F It rubsIt serves as reasonsNInstitute
The frictional force of generation.
Go out when mechanical arm promotes mineral required clamping device as available from the above equation to the size of high-intensitive cable chucking power.
The chucking power of clamp is excessive and cable is caused to be extruded damage to prevent, and can be mentioned using the more mechanical arm types of more clamps
Three clamp form of an arms etc. to increase the contact surface between clamp and cable in liter mechanism, such as two pincers or several two pincers or six arms
Product.Grip finger increases coefficient of friction using high friction material simultaneously.
The beam for being used to installation manipulator arm (1) and leading block (3) is arranged in middle section at the top of the material box (2)
(21), beam two sides are handling material mouth (22), and when lifting device sinks down into seabed, the mineral exploited are packed into charge by mining vehicle
In case, after mineral are promoted to mining dredger, unloaded from material box.
The leading block (3) is mounted on material box top center beam (21), is used for the fortune of guiding high intensity cable (4)
Dynamic direction, prevents it in the random swing of material box surrounding.When lifting device rises, cable is contacted with lower section leading block；
When lifting device decline, cable is contacted with top leading block.
The high intensity cable (4) is made of the excellent material of high-intensitive, corrosion-resistant, acid and alkali-resistance and hygrometric state wearability, adopts
Mine ship starts high intensity cable when mining, and, as Sea miner transfers to the seabed of thousands of meters of depths together, mineral, which are promoted, later fills
It sets and declines along cable and promoted.
Deep-sea mining according to the present invention along soaring formula of restricting save can lifting device power supply mode can have cable power supply with
Battery is powered two kinds.When using cable power supply, need to be arranged on mining dredger winding cable reel, with lifting device rise and
Decline folding and unfolding cable；When being powered using battery, it need to mentioned every time using high reserve of electricity, the power supply of low-quality battery such as graphene
It rises after device is promoted on mineral to mining dredger and checks battery capacity, and replace battery in time.
The present invention is compared with the recovery method of existing several seabed ores with a variety of advantages.
Compared with the wound mining system of wire rope roll, when mining system mining mineral wound present invention eliminates wire rope roll
The link that wirerope of folding and unfolding is required when trailer being promoted and put down every time, when mining depth is larger, mechanical arm
Weight is by the weight of far smaller than wirerope, and easily operated, production efficiency is high, saves the time, substantially saves energy consumption.
Compared with continuous line bucket mining system, since the present invention only has a high-intensitive cable under water, avoid continuous
The case where rope underwater two towing cables of bucket type mining system may be wound into together under ocean current effect；Also avoid Suo Dou
The uncontrollability in seabed reduces seabed dilution, improves production efficiency and resource utilization.
Reduce several obtaining from underwater installation machines compared with automatic shuttle ship formula mining system, economy is strong, the energy and investment
Return period is short.
Compared with waterpower and airlift mining system, The present invention reduces the cuttings of several delivery pumps and seabed operation
Machine and collecting machine eliminate seabed ore in the process of cutting processing that needs to advance under water.Recovery process is more economical, simple
Just, it while avoiding and raises mine hard tube feeling the current mining dredger is made to generate very big offset movement.
Detailed description of the invention
Fig. 1 be deep-sea mining along soaring formula of restricting save can lifting device schematic diagram, wherein 1 is mechanical arm, 2 be material box, 3
It is high-intensitive cable for leading block, 4.
Fig. 2, which is saved when the device that quickly rises in energy lifting device uses two groups of mechanical arms for deep-sea mining along soaring formula of restricting, to be shown
It is intended to.
Fig. 3 is mechanical arm schematic diagram, wherein 11 be mechanical arm arms, 12 be mechanical arm forearm, and 13 be driving electricity
Machine, 14 hydraulic cylinders, 15 be clamping device.
Fig. 4 is mechanical arm different operating location diagram, wherein 4 be high-intensitive cable, 100 be clamping device in lowest order
The operating position of mechanical arm when setting, 101 be the operating position of mechanical arm when clamping device unclamps cable and moves upwards,
102 be the operating position of clamping device mechanical arm at extreme higher position.
Fig. 5 is material box schematic diagram, wherein 21 be material box intermediate beam, 22 be handling material mouth, and 3 be leading block.
Fig. 6 is the deep-sea mining schematic diagram using this deep-sea mining along soaring formula province energy lifting device of restricting, wherein 4 be high intensity
Cable, 5 be Sea miner, and 6 be mining dredger.
Fig. 7 is the deep-sea mining flow chart using this deep-sea mining along soaring formula province energy lifting device of restricting.
Specific embodiment
In order to more clearly understand technology contents of the invention, spy is described in detail with specific embodiment.
Deep-sea mining along soaring formula of restricting save can lifting device, mainly include double-arm quickly soaring mechanism, material box (2),
Leading block (3) and high-intensitive cable (4).
When carrying out deep-sea mineral exploitation, Sea miner (5) transfers to sea from mining dredger (6) by high-intensitive cable (4)
Bottom, Sea miner start to dig up mine, and then, deep-sea mineral lifting device sinks to seabed along high-intensitive cable, by deep-sea mining
The mineral exploited are packed into material box (2) by vehicle, and quickly soaring mechanism double-arm later starts to be lifted up sea along cable direction
Bottom mineral.The double-arm quickly soaring mechanism, is made of several groups mechanical arm, and two of them mechanical arm (1) is one group,
The arms (11) of mechanical arm be driven by motor and end and material box top center beam (21) hingedly, motor (13) is mounted on
Arms end rotates arms around its end articulated shaft；Forearm (12) is by Driven by Hydraulic Cylinder and its middle section and arms
Front end is hinged, and hydraulic cylinder (14) one end and arms middle section are hinged, and the other end is hinged with front arm tip, and flexible by hydraulic cylinder makes
Forearm can be rotated around the articulated shaft of its middle section and arms front end；Forearm front end is equipped with rotatable clamping device (15),
High-intensitive cable is clamped when for riseing.When double-arm quickly soaring mechanism work, root is connected on one of mechanical arm
The hydraulic cylinder piston rod of arm and forearm is withdrawn, and the driving motor by being mounted on arms end drives mechanical arm to move to adjust
The position of clamping device, clamping device find and clamp after high-intensitive cable (operating position is 102 in Fig. 3), hydraulic cylinder piston
Bar gradually stretches out and forearm front end and the material box direction in the same direction of clamping device one is driven to move (operating position when moving to minimum point
For 100), due to material box and clamping device generates relative motion and clamping device has clamped high-intensitive cable in Fig. 3, so
Material box will be lifted up a distance；Later, another mechanical arm adjusts position by the above process by hydraulic cylinder and motor
It postpones, after clamping device clamps high-intensitive cable, the clamping device of original mechanical arm unclamps cable, and (operating position is in Fig. 3
101), later again by the movement of hydraulic cylinder piston rod, so that material box promotes a distance again.
Co-ordination when left and right mechanical arm promotes mineral, when right arm clamping device is preferably minimized position (100), left arm
Clamping device reaches extreme higher position (102) and promptly high-intensitive cable simultaneously, and right arm clamping device unclamps cable, left arm liquid later
Pressure cylinder piston bar stretches out, and left arm clamping device is moved to material box, and at the same time, right arm clamping device passes through hydraulic cylinder and driving
Motor is mobile (101) to extreme higher position, while right arm clamping device moves to extreme higher position and promptly cable, left arm clamping dress
It sets and moves to extreme lower position, then be alternately repeated above-mentioned movement.
Two mechanical arms so recycle the above movement, realize that walking is soaring.In the case where multiple groups mechanical arm, mechanical arm
Same such as above method co-ordination.When multiple groups mechanical arm replaces orderly work, it can be achieved that material box and marine mineral
Along in the direction fast lifting to mining dredger of high-intensitive cable.
The power supply mode of lifting device can have cable power supply and battery to power two kinds.When using cable power supply, it need to adopt
The reel of arrangement winding cable on mine ship, with lifting device raising and lowering folding and unfolding cable；When powering using battery, need to use
High reserve of electricity, the power supply of low-quality battery such as graphene, check battery after each lifting device is promoted on mineral to mining dredger
Electricity, and battery is replaced in time.
After marine mineral is promoted to mining dredger by lifting device, mineral are unloaded, seabed is sunk to again and starts in repetition
Work is stated, mining dredger follows Sea miner to move, and realizes the continuous exploitation of marine mineral.
Specific embodiment of the present invention is presented above, but the present invention is not limited to the embodiment of description.?
Under the thinking that the present invention provides, to the technology in above-described embodiment by the way of being readily apparent that those skilled in the art
Means are converted, are replaced, are modified, and using similar walking lifting scheme, and are played the role of and the phase in the present invention
Answer the purpose that technological means is essentially identical, realizes essentially identical, the technical solution formed in this way is finely adjusted to examples detailed above
It is formed, this technical solution is still fallen within protection scope of the present invention.
Claims (5)
1. deep-sea mining saves energy lifting device along soaring formula of restricting, which is characterized in that including double-arm quickly soaring mechanism, charge
Case, leading block and high-intensitive cable；The double-arm quickly soaring mechanism is made of several groups mechanical arm, two of them machine
Tool arm is one group, and the arms of mechanical arm is driven by motor and end and material box top center beam are hinged, motor installation
In arms end, forearm by Driven by Hydraulic Cylinder and middle section and arms front end it is hinged, hydraulic cylinder one end and arms middle section are hinged, separately
One end is hinged with front arm tip, and forearm front end is equipped with rotatable clamping device, and high-intensitive cable is clamped when for riseing；If
Dry group mechanical arm alternate run orderly when soaring, realizes the fast lifting of marine mineral；Middle section setting at the top of material box
One is used to the beam of installation manipulator arm and leading block, and beam two sides are handling material mouth；Leading block is mounted at the top of material box
Side prevents it in the random swing of material box surrounding for the direction of motion of guiding high intensity cable.
2. deep-sea mining according to claim 1 saves energy lifting device along soaring formula of restricting, which is characterized in that can use more
The hoisting mechanism of the more mechanical arm types of clamp, to protect cable not to be extruded damage because of clamp chucking power is excessive.
3. deep-sea mining according to claim 1 saves energy lifting device along soaring formula of restricting, which is characterized in that in linear motor
Thrust, reciprocating frequence and outer dimension meet design requirement in the case where, the hydraulic cylinder of forearm will be driven to be changed to linear motor,
Accelerate forearm movement velocity.
4. deep-sea mining according to claim 2 saves energy lifting device along soaring formula of restricting, which is characterized in that more clamps
The hoisting mechanism of more mechanical arm types is the form of two pincers or several two pincers.
5. deep-sea mining according to claim 2 saves energy lifting device along soaring formula of restricting, which is characterized in that more clamps
The hoisting mechanism of more mechanical arm types is the form of three one arms of pincers in six pincers.
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| CN107288639A (en) | 2017-10-24 |
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