CN114542075A - Deep sea tooth digging and rock breaking robot - Google Patents
Deep sea tooth digging and rock breaking robot Download PDFInfo
- Publication number
- CN114542075A CN114542075A CN202210328323.8A CN202210328323A CN114542075A CN 114542075 A CN114542075 A CN 114542075A CN 202210328323 A CN202210328323 A CN 202210328323A CN 114542075 A CN114542075 A CN 114542075A
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- CN
- China
- Prior art keywords
- motor
- sliding
- digging
- connecting rod
- tooth
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/22—Mineral freed by means not involving slitting by rotary drills with breaking-down means, e.g. wedge-shaped drills, i.e. the rotary axis of the tool carrier being substantially perpendicular to the working face, e.g. MARIETTA-type
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/18—Mining picks; Holders therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
Abstract
The invention discloses a deep-sea tooth digging and rock breaking robot which comprises a chassis, a sliding table, a moving mechanism, a tooth digging and ore breaking head and a motor I, wherein the chassis is provided with a sliding table; the tooth digging and ore crushing head comprises a connecting seat, a motor seat and a plurality of supporting shafts, wherein the supporting shafts are respectively connected with the connecting seat, the supporting shafts are positioned in the same plane, each supporting shaft is provided with a shaft sleeve through a bearing, and the connecting seat is connected with an output shaft of a motor I; the motor base comprises a bearing seat and a plurality of motor mounting plates arranged on the bearing seat, each motor mounting plate is provided with a motor II, an output shaft of each motor II is connected with a corresponding shaft sleeve, and the opposite side surfaces of the two sliding tables are respectively provided with a sliding chute; two side surfaces of the motor base are respectively provided with a sliding block, and the sliding blocks are inserted into the corresponding sliding grooves; the two sliding tables and the motor base are connected with a lifting mechanism. The invention has simple structure and reliable operation; in addition, the motor is adopted to drive the digging tooth ore crushing head to rotate, so that the deep sea bottom ore is crushed, and the crushing efficiency is high.
Description
Technical Field
The invention belongs to the field of seabed operation equipment, and particularly relates to a deep sea tooth digging and rock breaking robot.
Background
There are still a large number of major natural mineral resources available in the ocean depths not reached by humans, including manganese nodules, cobalt-rich iron and high manganese and zinc crusts, sea sand and manganese minerals and other major natural gas hydrates. The reserves of seabed natural mineral resources account for more than 75% of the total natural mineral resources of the earth at present. It is probably the biggest potential national strategic mineral resource development base on the earth at present. It is the strategic foundation that human must master. The development is based on advanced ocean technologies and weaponry.
At present, equipment for autonomously exploiting mineral resources in the deep seabed is not formed, most of the equipment for exploiting the seabed is extracted to the ground by using a lifting pipe, and the ores in the seabed can be extracted and collected only by crushing the ores into small blocks.
Disclosure of Invention
In order to solve the technical problems, the invention provides the deep sea tooth digging and rock breaking robot which is simple in structure, efficient and independent and can crush ores on the bottom of a deep sea.
The technical scheme adopted by the invention is as follows: a deep sea tooth digging and rock breaking robot comprises a chassis, a sliding table, a moving mechanism, a tooth digging and ore breaking head and a motor I; the moving mechanism is arranged on the chassis, the tooth digging and ore crushing head comprises a connecting seat, a motor seat and a plurality of supporting shafts, the supporting shafts are respectively connected with the connecting seat, the axis of each supporting shaft is perpendicular to the axis of a central hole of the connecting seat, the supporting shafts are positioned in the same plane, each supporting shaft is provided with a shaft sleeve through a bearing, and the side surface of each shaft sleeve is provided with a plurality of rows of digging teeth; the connecting seat is connected with an output shaft of the motor I; the motor base comprises a bearing seat and a plurality of motor mounting plates arranged on the bearing seat, the number of the motor mounting plates is consistent with that of the support shafts, each motor mounting plate is provided with a motor II, and an output shaft of each motor II is connected with a corresponding shaft sleeve; a bearing seat of the motor base is arranged on an output shaft of the motor I through a bearing; the motor is fixedly arranged on the motor base, the two sliding tables are arranged in parallel, and the opposite side surfaces of the two sliding tables are respectively provided with a sliding groove; two side surfaces of the motor base are respectively provided with a sliding block, and the sliding blocks are inserted into the corresponding sliding grooves; the two sliding tables and the motor base are connected with a lifting mechanism, and the lifting mechanism can drive the sliding tables to lift; the lifting mechanism is arranged on the chassis.
In the deep sea tooth digging and rock breaking robot, the two sides of the chassis are respectively provided with the moving mechanism, the moving mechanism comprises a thrust wheel, a driving wheel, a steering wheel, a crawler and a driving motor, the driving wheel and the steering wheel are arranged at the two ends of the chassis, the thrust wheel is positioned between the driving wheel and the steering wheel, the crawler is wound on the outer sides of the thrust wheel, the driving wheel and the steering wheel, the driving motor is arranged on the chassis, and the driving motor is connected with the driving wheel.
In the deep sea tooth digging and rock breaking robot, the lifting mechanism comprises two hydraulic cylinders, a bottom plate and two groups of connecting rod assemblies; a through hole is formed in the center of the bottom plate and is used for a motor rotating shaft to penetrate through; the hydraulic cylinders and the connecting rod assemblies are arranged on the bottom plate, the two groups of connecting rod assemblies are positioned on two sides of the bottom plate, and the two hydraulic cylinders are positioned at two ends of the middle part of the bottom plate; piston rods of the two hydraulic cylinders are respectively connected with hydraulic cylinder grooves on two sides of the motor base; the connecting rod assembly comprises a connecting rod I and a connecting rod II, the lower end of the connecting rod I is hinged to the bottom plate, the upper end of the connecting rod I is hinged to the lower end of the connecting rod II, and the upper end of the connecting rod II is hinged to the sliding table.
In the deep sea digging tooth rock breaking robot, seven rows of digging teeth are arranged on the roller, and each row of digging teeth are positioned on the same spiral line.
In the deep sea tooth digging and rock breaking robot, the sliding groove on the sliding table adopts a dovetail groove, and the sliding block adopts a dovetail structure matched with the dovetail groove; the motor adopts a stepping motor.
Compared with the prior art, the invention has the beneficial effects that:
the invention has simple structure and reliable operation; in addition, the motor is adopted to drive the digging tooth ore crushing head to rotate, so that the deep sea bottom ore is crushed, and the crushing efficiency is high.
Drawings
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a structural view of the connection of the motor of the present invention with a tooth-digging and ore-crushing head.
Fig. 3 is a schematic view of the elevating mechanism of the present invention.
Fig. 4 is a view showing a coupling structure of the sleeve and the support shaft according to the present invention.
In the figure: 1, a motor I; 2-a motor connecting shaft; 3-a bolt; 4-a motor base; 6-a lifting mechanism; 7-a sliding table; 8-hydraulic cylinder groove; 20-track; 21-a driving wheel; 22-a chassis; 23-supporting the shaft; 26-digging tooth and crushing ore head; 27-a motor base; 28-motor II; 30-shaft sleeve; 31-end cap; 32-hydraulic cylinder; 33-hydraulic table base; 40-a connecting seat; 56-crawler wheel box body; 60-thrust wheels; 62-output shaft.
Detailed Description
The invention will be further explained with reference to the accompanying drawings
As shown in fig. 1, the invention comprises a chassis 22, a sliding table 7, a moving mechanism, a tooth digging and crushing head 26 and a motor 1. Two sides of the chassis 22 are respectively provided with a moving mechanism, the moving mechanism comprises a thrust wheel 60, a driving wheel 21, a steering wheel, a crawler 20 and a driving motor, the driving wheel 21 and the steering wheel are arranged at two ends of the chassis 22, the thrust wheel 60 is arranged between the driving wheel and the steering wheel, the crawler 20 is wound outside the thrust wheel 60, the driving wheel 21 and the steering wheel, the driving motor is arranged on the chassis 22, and the driving motor is connected with the driving wheel 21.
As shown in fig. 2 and 3, the tooth-digging and ore-crushing head 26 comprises a connecting seat 40, a motor seat 27 and four supporting shafts 23, wherein one ends of the four supporting shafts 23 are fixedly mounted on the connecting seat 40, the axes of the supporting shafts 23 are perpendicular to the axis of the central hole of the connecting seat 40, the four supporting shafts 23 are located in the same plane, and the four supporting shafts 23 are uniformly arranged along the circumferential direction. Each support shaft 23 is provided with a shaft sleeve 30 through a bearing, and the shaft sleeve 30 can rotate. Seven rows of digging teeth are arranged on the shaft sleeve 30; each row of digging teeth are positioned on the same spiral line. The motor base 27 comprises a bearing block and four motor mounting plates (the number of the motor mounting plates is consistent with that of the support shafts) arranged on the bearing block, wherein each motor mounting plate is provided with a motor II 28, and an output shaft of each motor II 28 is connected with a corresponding shaft sleeve 30 through a coupling 31; the bearing frame of motor cabinet passes through the bearing and installs on the output shaft of motor I1.
The motor I1 adopt a stepping motor, the motor I1 is fixedly installed on the motor base 4, the two sliding tables 7 are arranged in parallel, and the opposite side surfaces of the two sliding tables 7 are respectively provided with a sliding groove. And the two side surfaces of the motor base 4 are respectively provided with a sliding block which is inserted in the corresponding sliding grooves. The two sliding tables 7 and the motor base 4 are connected with a lifting mechanism, and the lifting mechanism can drive the sliding tables to lift; the elevator mechanism is mounted on the chassis 22. The sliding groove on the sliding table 7 adopts a dovetail groove, and the sliding block adopts a dovetail structure matched with the dovetail groove. As shown in fig. 4, the lifting mechanism includes two hydraulic cylinders 32, a bottom plate 33 and two sets of connecting rod assemblies; the center of the bottom plate 33 is provided with a through hole 331 for the output shaft 62 of the motor i 1 to pass through. The hydraulic cylinders 32 and the connecting rod assemblies are arranged on the bottom plate 33, the two groups of connecting rod assemblies are positioned on two sides of the bottom plate 33, and the two hydraulic cylinders 32 are positioned at two ends of the middle of the bottom plate 33. The piston rod of the hydraulic cylinder 32 is connected with the hydraulic cylinder grooves 8 at both sides of the motor base 4. The connecting rod assembly comprises a connecting rod I and a connecting rod II, the lower end of the connecting rod I is hinged to the bottom plate 33, the upper end of the connecting rod I is hinged to the lower end of the connecting rod II, and the upper end of the connecting rod II is hinged to the sliding table 7.
The method comprises the following specific working steps:
(1) the present invention is lowered to the sea floor using a release.
(2) The movement of the moving mechanism enables the invention to move to the ore to be mined and put on the ore.
(3) The elevator mechanism acts to move the motor base 4 downwards so that the cutting teeth and the crushing head 26 touch the ore to be mined.
(4) The motor I1 and the motor II 28 provide power to drive the output shaft 62 to rotate, so as to drive the lower digging tooth ore crushing head 26 to rotate, and the motor II 28 drives the shaft sleeve 30 to rotate to crush ores below the robot.
(5) And repeating the steps to start ore crushing movement of the next cycle.
Claims (5)
1. The utility model provides a tooth broken rock robot is dug to deep sea which characterized by: comprises a chassis, a sliding table, a moving mechanism, a tooth digging and ore crushing head and a motor I; the moving mechanism is arranged on the chassis, the tooth digging and ore crushing head comprises a connecting seat, a motor seat and a plurality of supporting shafts, the supporting shafts are respectively connected with the connecting seat, the axis of each supporting shaft is perpendicular to the axis of a central hole of the connecting seat, the supporting shafts are positioned in the same plane, each supporting shaft is provided with a shaft sleeve through a bearing, and the side surface of each shaft sleeve is provided with a plurality of rows of digging teeth; the connecting seat is connected with an output shaft of the motor I; the motor base comprises a bearing seat and a plurality of motor mounting plates arranged on the bearing seat, the number of the motor mounting plates is consistent with that of the support shafts, each motor mounting plate is provided with a motor II, and an output shaft of each motor II is connected with a corresponding shaft sleeve; a bearing seat of the motor base is arranged on an output shaft of the motor I through a bearing; the motor is fixedly arranged on the motor base, the two sliding tables are arranged in parallel, and the opposite side surfaces of the two sliding tables are respectively provided with a sliding groove; two side surfaces of the motor base are respectively provided with a sliding block, and the sliding blocks are inserted into the corresponding sliding grooves; the two sliding tables and the motor base are connected with a lifting mechanism, and the lifting mechanism can drive the sliding tables to lift; the lifting mechanism is arranged on the chassis.
2. The deep sea tooth digging rock breaking robot according to claim 1, characterized in that: the two sides of the chassis are respectively provided with a moving mechanism, the moving mechanism comprises a thrust wheel, a driving wheel, a steering wheel, a crawler belt and a driving motor, the driving wheel and the steering wheel are arranged at the two ends of the chassis, the thrust wheel is positioned between the driving wheel and the steering wheel, the crawler belt is wound on the outer sides of the thrust wheel, the driving wheel and the steering wheel, the driving motor is arranged on the chassis, and the driving motor is connected with the driving wheel.
3. The deep sea tooth digging and rock breaking robot according to claim 1, wherein: the lifting mechanism comprises two hydraulic cylinders, a bottom plate and two groups of connecting rod assemblies; a through hole is formed in the center of the bottom plate and is used for a motor rotating shaft to penetrate through; the hydraulic cylinders and the connecting rod assemblies are arranged on the bottom plate, the two groups of connecting rod assemblies are positioned on two sides of the bottom plate, and the two hydraulic cylinders are positioned at two ends of the middle part of the bottom plate; piston rods of the two hydraulic cylinders are respectively connected with hydraulic cylinder grooves on two sides of the motor base; the connecting rod assembly comprises a connecting rod I and a connecting rod II, the lower end of the connecting rod I is hinged to the bottom plate, the upper end of the connecting rod I is hinged to the lower end of the connecting rod II, and the upper end of the connecting rod II is hinged to the sliding table.
4. The deep sea tooth digging rock breaking robot according to claim 1, characterized in that: seven rows of digging teeth are arranged on the roller, and each row of digging teeth are positioned on the same spiral line.
5. The deep sea tooth digging rock breaking robot according to claim 1, characterized in that: a sliding groove on the sliding table adopts a dovetail groove, and a sliding block adopts a dovetail structure matched with the dovetail groove; the motor adopts a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210328323.8A CN114542075A (en) | 2022-03-31 | 2022-03-31 | Deep sea tooth digging and rock breaking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210328323.8A CN114542075A (en) | 2022-03-31 | 2022-03-31 | Deep sea tooth digging and rock breaking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114542075A true CN114542075A (en) | 2022-05-27 |
Family
ID=81666165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210328323.8A Pending CN114542075A (en) | 2022-03-31 | 2022-03-31 | Deep sea tooth digging and rock breaking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114542075A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4357586A1 (en) * | 2022-10-19 | 2024-04-24 | BAUER Maschinen GmbH | Method and milling device for removing a soil layer |
-
2022
- 2022-03-31 CN CN202210328323.8A patent/CN114542075A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4357586A1 (en) * | 2022-10-19 | 2024-04-24 | BAUER Maschinen GmbH | Method and milling device for removing a soil layer |
| WO2024083521A1 (en) * | 2022-10-19 | 2024-04-25 | Bauer Maschinen Gmbh | Method and milling apparatus for removing a soil layer |
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