CN110702553B - Submarine polymetallic nodule in-situ abundance evaluation device and evaluation system thereof - Google Patents

Submarine polymetallic nodule in-situ abundance evaluation device and evaluation system thereof Download PDF

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CN110702553B
CN110702553B CN201910813627.1A CN201910813627A CN110702553B CN 110702553 B CN110702553 B CN 110702553B CN 201910813627 A CN201910813627 A CN 201910813627A CN 110702553 B CN110702553 B CN 110702553B
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bin
weighing
grab bucket
grab
frame
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CN110702553A (en
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曾轩
程阳锐
黎宙
郑皓
毛桂庭
彭建平
李小艳
彭赛锋
肖红
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Changsha Research Institute of Mining and Metallurgy Co Ltd
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Changsha Research Institute of Mining and Metallurgy Co Ltd
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Priority to PCT/CN2020/071236 priority patent/WO2021036169A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N5/00—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G17/00—Apparatus for or methods of weighing material of special form or property
    • G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
    • G01G17/06—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes having means for controlling the supply or discharge

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  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)

Abstract

The invention discloses a submarine polymetallic nodule in-situ abundance evaluation device and an evaluation system thereof, which comprise a frame, and a hydraulic station, a weighing mechanism, a grab bucket mechanism and an electronic bin which are arranged on the frame, wherein the electronic bin is electrically connected with the hydraulic station, the weighing mechanism and the grab bucket mechanism, the grab bucket mechanism comprises a grab bucket, a grab bucket left-right driving mechanism and a grab bucket up-down driving mechanism, the upper end of the grab bucket up-down driving mechanism is connected with the grab bucket left-right driving mechanism, the lower end of the grab bucket up-down driving mechanism is connected with the grab bucket, the weighing mechanism comprises a weighing bin and a weighing sensor, one end of the weighing sensor is fixedly connected with the frame, the other end of the weighing sensor is connected with the weighing bin, the grab bucket left-right driving mechanism is connected on the frame in a sliding manner so. The invention can realize multiple sampling by once arrangement, and can carry out weighing under water, thereby having the function of fast carrying out abundance evaluation calculation and evaluating the abundance of the seabed polymetallic in real time.

Description

Submarine polymetallic nodule in-situ abundance evaluation device and evaluation system thereof
Technical Field
The invention relates to the technical field of deep sea mining equipment, in particular to a submarine polymetallic nodule in-situ abundance evaluation device and an evaluation system thereof.
Background
The seabed polymetallic nodule is mostly present in the seabed with the depth of 3000-6000m, is a very important seabed mineral resource, contains 76 metal elements such as manganese, copper, nickel, cobalt and the like, is a scarce mineral resource on land, and can greatly relieve the problem of lack of the mineral resource on land if commercial exploitation is carried out. Before mining, parameters such as coverage rate, particle size and abundance of the polymetallic nodules on the seabed need to be evaluated so as to explain the occurrence of the polymetallic nodules on the seabed.
At present, the indexes are mainly calculated by a cableless sampler, a multi-frequency detection system and an optical deep-drawing system in China, the cableless sampler cannot find out the continuous distribution rule of the multi-metal tuberculosis, the multi-frequency detection system and the optical deep-drawing system can detect the continuous distribution rule of the multi-metal tuberculosis, but the accuracy is low, and the accurate calculation of the coverage rate, the grain diameter and the abundance of the multi-metal tuberculosis of the optical image is the basis of the continuous distribution analysis of the multi-metal tuberculosis. Because the part of the polymetallic nodule covered by the sediment can not be calculated through an optical image, the accuracy of the particle size parameter measurement value is not high, and the abundance calculation error is larger.
Disclosure of Invention
The invention aims to provide a submarine polymetallic nodule in-situ abundance evaluation device and an evaluation system thereof, so as to solve the problems.
In order to achieve the purpose, the invention firstly discloses a submarine polymetallic nodule in-situ abundance evaluation device, which comprises a frame, and a hydraulic station, a weighing mechanism, a grab bucket mechanism and an electronic bin which are arranged on the frame, the electronic bin is electrically connected with the hydraulic station, the weighing mechanism and the grab bucket mechanism, the grab bucket mechanism comprises a grab bucket, a grab bucket left and right driving mechanism and a grab bucket up and down driving mechanism, the upper end of the grab bucket up-down driving mechanism is connected with the grab bucket left-right driving mechanism, the lower end is connected with the grab bucket, the weighing mechanism comprises a weighing bin and a weighing sensor, one end of the weighing sensor is fixedly connected with the frame, the other end of the weighing sensor is connected with the weighing bin, the left and right driving mechanisms of the grab bucket are connected to the frame in a sliding mode so as to place metal nodules grabbed by the grab bucket into the weighing bin, and a discharge port capable of being opened and closed is arranged on the lower side of the weighing bin.
Further, still including install on the frame and with electronic storehouse electrical connection's the storehouse wiper mechanism of weighing, the storehouse wiper mechanism of weighing includes water pump and washing terminals, the equipartition has a plurality of through-holes on the outer wall in storehouse of weighing, water pump and washing terminals pass through the tube coupling, washing terminals orientation the toper bottom in storehouse of weighing sets up.
Furthermore, a rotating bin pivoted with the frame is arranged below the discharge port, and a plurality of bins opposite to the discharge port through rotation are arranged on the rotating bin.
Furthermore, be provided with a feed bin apron that prevents to get into the many metal tuberculosis loss in between the feed bin on the rotatory feed bin, the feed bin apron with the storehouse of weighing or rotatory feed bin rigid coupling.
Further, install a driving motor on the feed bin apron, driving motor's output shaft is to rotatory feed bin extends and its tip installs a driving gear, the driving gear with install gear ring meshing on the rotatory feed bin is in order to drive rotatory feed bin rotates.
Further, the hydraulic station, the weighing mechanism, the grab bucket mechanism and the electronic bin are arranged in a protection space formed by the frame.
Furthermore, the left and right driving mechanism of the grab bucket comprises a left and right driving oil cylinder of the grab bucket and a left and right sliding cross beam, the up and down driving mechanism of the grab bucket comprises an up and down driving oil cylinder of the grab bucket, one end of the left and right driving oil cylinder of the grab bucket is hinged with the frame, the other end of the left and right driving oil cylinder is hinged with the left and right sliding cross beam, the left and right sliding cross beam is connected with the frame in a sliding manner, the lower end of the left and right sliding cross beam is fixedly connected with the upper end of the up and down driving oil cylinder of the grab bucket, and the lower end.
Furthermore, the grab bucket mechanism further comprises a sampling box, a grab bucket driving oil cylinder, an X-shaped assembly, a first driving rod piece and a second driving rod piece, the sampling box is installed at the lower end of the grab bucket upper and lower driving oil cylinder, the grab bucket comprises a first bucket and a second bucket, one end of the first bucket and one end of the second bucket are hinged to the sampling box, the other end of the first bucket is hinged to one end of a first driven rod of the X-shaped assembly, the other end of the second bucket is hinged to one end of a second driven rod of the X-shaped assembly, the lower end of the grab bucket driving oil cylinder is hinged to one end of the first driving rod piece and one end of the second driving rod piece, the other end of the first driving rod piece is hinged to the other end of the first driven rod, and the other end of the second driving rod piece is hinged to the other end of the second driven rod.
Furthermore, the frame is also provided with a depth sensor, a camera, a propeller and a short base line array.
Then, the invention discloses a submarine polymetallic nodule in-situ abundance evaluation system, which comprises the submarine polymetallic nodule in-situ abundance evaluation device, a surface mother ship and a mother ship winch wound with a photoelectric composite cable, wherein the photoelectric composite cable is detachably connected with the frame.
Compared with the prior art, the invention has the advantages that:
the invention can realize multiple times of sampling by once arrangement, and can carry out instant weighing after sampling underwater, thereby having the function of fast carrying out online abundance evaluation and calculation, carrying out real-time evaluation on the abundance of seabed polymetallic, having the advantages of high flexibility, more measuring points and high accuracy, simultaneously arranging all the components in the frame structure, further carrying out more comprehensive protection such as anti-collision on the components, and the like, and improving the precision of the real-time evaluation of the abundance by arranging the cleaning mechanism, and further having the function of underwater sampling.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic front view of an in-situ abundance evaluation apparatus for seafloor polymetallic nodules disclosed in an embodiment of the present invention;
FIG. 2 is a schematic top view of an apparatus for in-situ abundance evaluation of seafloor polymetallic nodules disclosed in the embodiments of the present invention;
FIG. 3 is an assembly diagram of the grab mechanism, the grab left and right driving mechanism, and the grab up and down driving mechanism disclosed in the embodiment of the present invention;
FIG. 4 is a schematic view of an assembly structure of a weighing bin cleaning mechanism and a weighing mechanism disclosed by the embodiment of the invention;
FIG. 5 is a schematic front view of a rotary silo according to an embodiment of the disclosure;
FIG. 6 is a schematic top view of a rotary silo according to an embodiment of the disclosure;
FIG. 7 is a schematic composition diagram of the system for in-situ abundance evaluation of seafloor polymetallic nodules disclosed in the embodiments of the present invention.
Illustration of the drawings:
1. a frame; 2. a hydraulic station; 3. a weighing mechanism; 4. a grab bucket mechanism; 5. an electronic bin; 6. a grab bucket; 7. a grab left and right driving mechanism; 8. a grab bucket up-and-down driving mechanism; 9. a weighing bin; 10. a weighing sensor; 11. a discharge port; 12. a weighing bin cleaning mechanism; 13. a water pump; 14. washing the spray head; 15. a through hole; 16. a pipeline; 17. rotating the stock bin; 18. a storage bin; 19. a cover plate of the storage bin; 20. a drive motor; 21. a driving gear; 22. a ring gear; 23. the oil cylinder is driven by the grab bucket left and right; 24. a left and right sliding beam; 25. the grab bucket drives the oil cylinder up and down; 26. a sampling box; 27. the grab bucket drives the cylinder; 28. a first driving lever; 29. a second driving lever; 30. a first bucket; 31. a second bucket; 32. a depth sensor; 33. a camera; 34. a short baseline matrix; 35. a mother ship on the water surface; 36. a photoelectric composite cable; 37. a mother ship winch; 38. a propeller; 39. a roller; 40. a rotating shaft; 41. a height sensor; 42. sliding the bin; 43. a first driven lever; 44. a second driven lever.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1-6, the embodiment of the invention firstly discloses a submarine polymetallic nodule in-situ abundance evaluation device, which comprises a frame 1, a hydraulic station 2, a weighing mechanism 3, a grab bucket mechanism 4 and an integrated electronic bin 5 (the electronic bin 5 can be connected with a mother ship 35 on the water surface through a photoelectric composite cable 36) which are arranged on the frame 1, wherein the hydraulic station 2 provides hydraulic power for each hydraulic oil cylinder, a hydraulic motor and the like, the electronic bin 5 which is well sealed is electrically connected with the hydraulic station 2, the weighing mechanism 3 and the grab bucket mechanism 4, the grab bucket mechanism 4 comprises a grab bucket 6, a grab bucket left-right driving mechanism 7 and a grab bucket up-down driving mechanism 8, the upper end of the grab bucket up-down driving mechanism 8 is connected with the grab bucket left-right driving mechanism 7, the lower end of the grab bucket 6 is connected, the weighing mechanism 3 comprises a weighing bin 9 and a weighing sensor 10, one end of the weighing sensor, the other end is connected with a weighing bin 9, a left and right grab bucket driving mechanism 7 is connected on the frame 1 in a sliding mode so as to place metal nodules grabbed by the grab bucket 6 in the weighing bin 9, and a discharge port 11 which can be opened and closed is arranged on the lower side of the weighing bin 9. Specifically, in this embodiment, the left and right grapple driving mechanism 7 includes a left and right grapple driving cylinder 23 and a left and right sliding beam 24, the up and down grapple driving mechanism 8 includes a left and right grapple driving cylinder 25, one end of the left and right grapple driving cylinder 23 is hinged to the frame 1, the other end is hinged to the left and right sliding beam 24, and then the left and right sliding beam 24 is driven to move left and right, and both ends of the left and right sliding beam 24 are connected to the frame 1 in a sliding manner through a roller 39, the lower end of the left and right sliding beam 24 is fixedly connected to the upper end of the left and right grapple driving cylinder 25, and the lower end of the grapple driving cylinder 25 is connected to the grapple 6, so that after the grapple 6 grabs the polymetallic nodule to be sampled and evaluated below the frame 1, the polymetallic nodule can rise, and. The weighing bin comprises a frame 1, a weighing bin cleaning mechanism 12, a water pump 13 and a flushing nozzle 14, wherein the weighing bin cleaning mechanism 12 is installed on the frame 1 and is electrically connected with an electronic bin 5, the weighing bin cleaning mechanism 12 comprises the water pump 13 and the flushing nozzle 14, a plurality of through holes 15 are uniformly distributed on the outer wall of a weighing bin 9, the size of each through hole 15 is designed to be small so as to prevent tuberculosis particles from escaping from the through holes 15, the water pump 13 is connected with the flushing nozzle 14 through a pipeline 16, the flushing nozzle 14 is arranged towards the conical bottom of the weighing bin 9, and when the flushing nozzle 14 is used for flushing the polymetallic nodules in the weighing bin 9, thin and soft silt sediments can flow out through the through holes 15. Wherein, in order to reasonably install the weighing mechanism 3, the grab bucket mechanism 4 and the rotary bin 17, referring to fig. 1 and fig. 2, a sliding bin 42 is installed at the left side of the grab bucket mechanism 4, and an output port of the sliding bin 42 is inclined to the weighing bin 9 of the weighing mechanism 3, so that the weighing bin 9 can be hung on the rotary bin 17.
In the embodiment, the weighing process and principle are as follows:
after the mixture of the sediment and the nodules grabbed by the grab bucket 6 enters the weighing bin 9, the valve is in a closed state during flushing, the water pump 13 is started, water flows out from the flushing sprayer 14 through the pipeline 16, the mixture in the weighing bin 9 is flushed, the sediment is easily flushed and flows out from the through hole 15 due to the characteristic that the sediment at the bottom of the sea is soft, the left polymetallic nodules are left in the weighing bin 9, and the tension F of the weighing sensor 10 after the materials do not enter the weighing bin 9 is recorded respectively1And the tension F at that time2The underwater weight of the residual tuberculosis in the weighing bin 9 can be calculated as F2-F1From the statistical data, the density ρ of the nodule can be knownArticle (A)Generally, the volume V of the tuberculosis can be calculated at a certain value, so as to calculate the weight of the tuberculosis, and further estimate the abundance n (weight of the tuberculosis per square meter) of the tuberculosis at the position:
calculating the tuberculosis volume: f2-F1＝mg-ρLiquid for treating urinary tract infectiongV＝ρArticle (A)gV-ρLiquid for treating urinary tract infectiongV；
The tuberculosis abundance n: n is rhoArticle (A)gV/s, s is the opening area of the grab bucket;
after the measurement to be measured is completed, the electric control valve at the discharge port 11 is opened, and the material enters the discharge pipe to be discharged.
In this embodiment, in order to facilitate the grabbing of the grab bucket 6, the grab bucket is combined with elaborate classification and storage, after the frame 1 ascends to the mother ship 35 on the water surface, the mother ship can be specifically analyzed and verified, a rotary storage bin 17 pivoted with the frame 1 is arranged below the discharge port 11, a plurality of storage bins 18 opposite to the discharge port 11 through rotation are arranged on the rotary storage bin 17, and the storage bins 18 are of sector sections. After one of the bins 18 has stored the grab 6 to grab the material, the rotating bin 17 is rotated to a predetermined angle, so that the discharge port 11 is aligned with the next bin 18 to prepare for the next operation of the grab 6. Specifically, in order to prevent the dissipation of the tuberculosis particles in the discharging process of the discharging port 11, a bin cover plate 19 which prevents the multi-metal tuberculosis from dissipating in the bin chamber 18 is arranged on the rotary bin 17, a small gap is formed between the bin cover plates 19, and the bin cover plate 19 is fixedly connected with the weighing bin 9 or the rotary bin 17. Specifically, a driving motor 20 is installed on the bin cover plate 19, an output shaft of the driving motor 20 extends towards the rotary bin 17, and a driving gear 21 is installed at the end of the output shaft, the driving gear 21 is meshed with a gear ring 22 installed on the rotary bin 17 to drive the rotary bin 17 to rotate, the driving motor 20, the driving gear 21 and the gear ring 22 form an indexing mechanism of the rotary bin 17, and the rotary bin 17 is pivoted with a rotating shaft 40 installed on the frame 1.
In this embodiment, the hydraulic station 2, the weighing mechanism 3, the grab bucket mechanism 4 and the electronic cabin 5 are installed in a protection space formed by the frame 1, so that the whole device can be prevented from damaging each internal functional component when colliding.
In this embodiment, the grapple mechanism 4 further includes a sampling box 26, a grapple drive cylinder 27, an X-shaped assembly, a first drive rod 28, and a second drive rod 29, the sampling box 26 being mounted at the lower end of the grapple upper and lower drive cylinders 25, the sampling box 26 providing a hinge location for the grapple 6 and a mounting location for the grapple drive cylinder 27. The grab bucket 6 comprises a first bucket 30 and a second bucket 31, one end of the first bucket 30 and one end of the second bucket 31 are hinged with the sampling box 26 at the same position, the other end of the first bucket 30 is hinged with one end of a first driven rod 43 of the X-shaped assembly, the other end of the second bucket 31 is hinged with one end of a second driven rod 44 of the X-shaped assembly, the lower end of a grab bucket driving oil cylinder 27 is hinged with one end of a first driving rod 28 and one end of a second driving rod 29 at the same time, the other end of the first driving rod 28 is hinged with the other end of the first driven rod 43, and the other end of the second driving rod 29 is hinged with the other end of the second driven rod 44. When the piston rod of the grab bucket driving cylinder 27 is extended, the first driving rod 28 and the second driving rod 29 can drive the first bucket 30 and the second bucket 31 to be opened through the X-shaped assembly, and when the piston rod of the grab bucket driving cylinder 27 is retracted, the first bucket 30 and the second bucket 31 are opened and closed, so that the multi-metal nodule on the seabed can be grabbed.
In this embodiment, the frame 1 is further provided with a depth sensor 32, a camera 33, a short baseline array 34, a height sensor 41 and a propeller 38, depth parameters can be fed back to the surface mother ship 35 through the depth sensor 32, the process of grabbing the multi-metal nodule by the grab bucket 6 can be remotely controlled through the camera 33, the underwater positioning of the frame 1 is realized through the short baseline array 34, and the propeller 38 is used for adjusting the position and the deflection angle of the frame 1 during underwater laying.
Then, the embodiment of the invention discloses an in-situ abundance evaluation system for the seabed polymetallic nodule, which comprises the in-situ abundance evaluation device for the seabed polymetallic nodule in the scheme as shown in fig. 7, and further comprises a surface mother ship 35 and a mother ship winch 37 wound with a photoelectric composite cable 36. The photoelectric composite cable 36 is a traction rope, is detachably connected with the frame 1, and supplies power, communicates and interacts with each functional component in the frame 1 through the photoelectric composite cable 36.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The device for evaluating the in-situ abundance of the seabed polymetallic nodule is characterized by comprising a frame (1), and a hydraulic station (2), a weighing mechanism (3), a grab bucket mechanism (4) and an electronic bin (5) which are arranged on the frame (1), wherein the electronic bin (5) is electrically connected with the hydraulic station (2), the weighing mechanism (3) and the grab bucket mechanism (4), the grab bucket mechanism (4) comprises a grab bucket (6), a grab bucket left-right driving mechanism (7) and a grab bucket upper-lower driving mechanism (8), the upper end of the grab bucket upper-lower driving mechanism (8) is connected with the grab bucket left-right driving mechanism (7), the lower end of the grab bucket upper-lower driving mechanism is connected with the grab bucket (6), the weighing mechanism (3) comprises a weighing bin (9) and a weighing sensor (10), one end of the weighing sensor (10) is fixedly connected with the frame (1), and the other end of the weighing bin (9) is connected with the weighing bin, actuating mechanism (7) cunning about the grab bucket is in order to incite somebody to action on frame (1) the metal tuberculosis that grab bucket (6) snatched place in weigh in storehouse (9), the downside of storehouse (9) of weighing is provided with open closed discharge gate (11), the below of discharge gate (11) is provided with one and frame (1) pin joint rotatory feed bin (17), be provided with on rotatory feed bin (17) a plurality ofly through rotating and with discharge gate (11) relative feed bin within a definite time (18).
2. The device for evaluating the in-situ abundance of the seabed polymetallic nodule according to claim 1, further comprising a weighing bin cleaning mechanism (12) which is installed on the frame (1) and electrically connected with the electronic bin (5), wherein the weighing bin cleaning mechanism (12) comprises a water pump (13) and a washing nozzle (14), a plurality of through holes (15) are uniformly distributed on the outer wall of the weighing bin (9), the water pump (13) and the washing nozzle (14) are connected through a pipeline (16), and the washing nozzle (14) is arranged towards the conical bottom of the weighing bin (9).
3. The device for evaluating the in-situ abundance of polymetallic nodules on the sea according to claim 1, wherein the rotating silo (17) is provided with a silo cover plate (19) for preventing the polymetallic nodules from escaping into the silo room (18), and the silo cover plate (19) is fixedly connected with the rotating silo (17).
4. The in-situ abundance evaluation device for seafloor polymetallic nodule of claim 3, wherein the bin cover plate (19) is provided with a driving motor (20), the output shaft of the driving motor (20) extends to the rotating bin (17) and the end of the driving motor is provided with a driving gear (21), and the driving gear (21) is engaged with a gear ring (22) arranged on the rotating bin (17) to drive the rotating bin (17) to rotate.
5. The in-situ abundance evaluation device for seafloor polymetallic nodules according to any one of claims 1 to 4, wherein the hydraulic station (2), the weighing mechanism (3), the grab bucket mechanism (4) and the electronic bin (5) are installed in a protection space formed by the frame (1).
6. The submarine polymetallic nodule in-situ abundance evaluation device according to any one of claims 1 to 4, wherein the left and right grab driving mechanism (7) comprises a left and right grab driving cylinder (23) and a left and right sliding beam (24), the up and down grab driving mechanism (8) comprises a left and right grab driving cylinder (25), one end of the left and right grab driving cylinder (23) is hinged to the frame (1), the other end of the left and right grab driving cylinder is hinged to the left and right sliding beam (24), the left and right sliding beam (24) is in sliding connection with the frame (1), the lower end of the left and right sliding beam (24) is fixedly connected with the upper end of the up and down grab driving cylinder (25), and the lower end of the up and down grab driving cylinder (25) is connected with the grab (6).
7. The in-situ abundance evaluation device for seafloor polymetallic nodules according to claim 6, wherein the grapple mechanism (4) further comprises a sampling box (26), a grapple drive cylinder (27), an X-shaped assembly, a first drive rod (28) and a second drive rod (29), the sampling box (26) is mounted at the lower end of the grapple upper and lower drive cylinders (25), the grapple (6) comprises a first bucket (30) and a second bucket (31), one end of each of the first bucket (30) and the second bucket (31) is hinged with the sampling box (26), the other end of the first bucket (30) is hinged with one end of a first driven rod (43) of the X-shaped assembly, the other end of the second bucket (31) is hinged with one end of a second driven rod (44) of the X-shaped assembly, the lower end of the grapple drive cylinder (27) is hinged with one end of both the first drive rod (28) and the second drive rod (29), the other end of the first driving rod piece (28) is hinged with the other end of the first driven rod (43), and the other end of the second driving rod piece (29) is hinged with the other end of the second driven rod (44).
8. The in-situ abundance evaluation device for seafloor polymetallic nodules according to any one of claims 1 to 4, wherein the frame (1) is further provided with a depth sensor (32), a camera (33), a propeller (38) and a short baseline matrix (34).
9. An in-situ abundance evaluation system for seafloor polymetallic nodules, which comprises the in-situ abundance evaluation device for seafloor polymetallic nodules of any one of claims 1 to 8, and is characterized by further comprising a surface mother ship (35) and a mother ship winch (37) wound with a photoelectric composite cable (36), wherein the photoelectric composite cable (36) is detachably connected with the frame (1).
CN201910813627.1A 2019-08-30 2019-08-30 Submarine polymetallic nodule in-situ abundance evaluation device and evaluation system thereof Active CN110702553B (en)

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PCT/CN2020/071236 WO2021036169A1 (en) 2019-08-30 2020-01-09 In-situ abundance assessment device and system for seabed polymetallic nodules

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CN113640168B (en) * 2021-07-28 2022-07-26 长沙矿冶研究院有限责任公司 Seabed polymetallic nodule in-situ abundance measuring vehicle
CN113669066B (en) * 2021-08-19 2024-03-26 招商局深海装备研究院(三亚)有限公司 Real-time productivity monitoring device for submarine cobalt-rich crust exploitation
NO347643B1 (en) * 2021-10-14 2024-02-12 Loke Marine Minerals As Method for sampling subsea mineral nodules

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