CN205743909U - A kind of floating type deep-sea automatic mining robot - Google Patents
A kind of floating type deep-sea automatic mining robot Download PDFInfo
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- CN205743909U CN205743909U CN201620428293.8U CN201620428293U CN205743909U CN 205743909 U CN205743909 U CN 205743909U CN 201620428293 U CN201620428293 U CN 201620428293U CN 205743909 U CN205743909 U CN 205743909U
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Abstract
This utility model relates to a kind of mining machinery people, particularly relates to a kind of floating type deep-sea automatic mining robot.The technical problems to be solved in the utility model is to provide and a kind of can move flexibly and easily in various physical features, carries out the floating type deep-sea automatic mining robot that positions, be acquired high-efficiency environment friendly exactly.This robot includes fuselage, hydraulic control culvert system, collection ore deposit system, illumination detection system and hydraulic control system etc., hydraulic control culvert system is arranged on back, collection ore deposit system and illumination detection system are arranged on front fuselage, and hydraulic control system is arranged on fuselage interior.This utility model is compared with prior art, there is the advantage moved flexibly and easily, simultaneously, mechanical navigation system is utilized can the most accurately to position again, precisely carrying out operation efficiently, owing to not contacting seabed, the disturbance to sea bed is little, to the environment in seabed, thus the collection of marine mineral high-efficiency environment friendly will not be realized.
Description
Technical field
This utility model relates to a kind of mining machinery people, particularly relates to a kind of floating type deep-sea automatic mining machine
People.
Background technology
Mineral products refer to that all are imbedded in underground and are available for natural minerals or the rock resource of human use, and mining is exactly
By manpower or machinery, these available mineral products are taken out and are used.
Mining machinery people is to aid in the mankind and carries out the intelligence of mining activity under various poisonous, harmful and hazardous environment
Energy robot, because the mineral products under the conditions of various, if all going to adopt by people, operation is the arduousest and endangers
Danger, so corresponding mining machinery people must be utilized to carry out operation, meanwhile, mining machinery people has again quite
Flexibility ratio.
Deep-seabed mining robot vehicle is the winning equipment for the purpose of the various Ores to gather in deep-sea, mainly applies
In Ores such as the polymetallic nodules gathered in deep-sea, cobalt bearing crust, metal sulfides, existing in the case of, deeply
Sea mining machinery people mostly be crawler type deep-seabed mining robot vehicle, due in deep-sea rich in various mineral resources, and
And these collectable mineral resources are positioned at the region that physical features is complicated or walking is inconvenient, such as polymetallic nodules more
Be positioned on bottom sediment, cobalt bearing crust is positioned at seamount and on top, tableland and inclined-plane, under existence conditions
The crawler type deep-seabed mining robot vehicle mining used has great inconvenience, first, crawler type deep-sea mining machine
People is walking disorder in mud, as easy as rolling off a log is trapped in the middle of mud, it is impossible to move flexibly and easily, meanwhile,
Crawler type deep-seabed mining robot vehicle cannot effectively position in the region that physical features is complicated, limits Mars Miner
Device people's position adjustment and continuous print move mining, thus can not effectively gather richness and be hidden on complex terrain sea bed
Ore deposit class, and crawler type deep-seabed mining robot vehicle is relatively big to sea bed disturbance, easily causes certain pollution,
Destroy the ecological environment that seabed is stable.
Therefore, on the basis of, prospect more and more universal for deep-sea mining is more and more broader, it is provided that Yi Zhong
Various physical features can move flexibly and easily, carry out positioning, adopting high-efficiency environment friendly exactly
The floating type deep-sea automatic mining robot of collection seems more and more urgent under current situation.
Utility model content
(1) to solve the technical problem that
This utility model in order to overcome crawler type deep-sea mining equipment walking disorder in mud under prior art,
The region complicated in physical features cannot effectively position, thus can not effectively gather richness and be hidden in this physical features sea
The shortcoming of the ore deposit class on bed, the technical problems to be solved in the utility model is to provide one can in various physical features
The floating type move flexibly and easily, carried out positioning, being acquired high-efficiency environment friendly deep exactly
Sea automatic mining robot.
(2) technical scheme
In order to solve above-mentioned technical problem, this utility model provides such a floating type deep-sea automatic mining
Robot, includes fuselage, propulsion system, hydraulic control culvert system, collection ore deposit system, illumination detection system
And hydraulic control system, propulsion system, hydraulic control culvert system, collection ore deposit system, illumination detection system and liquid
Pressure control system is all arranged on fuselage, and propulsion system includes that a principal screw propeller and two side spirals push away
Entering device, two side spiral propellers are separately mounted to the left and right sides of fuselage, and principal screw propeller is arranged on machine
The afterbody of body, collection ore deposit system includes three-jaw Multi-freedom-degreemanipulator manipulator and vibrations breaker, three-jaw multiple degrees of freedom
Mechanical hand and vibrations breaker are arranged on fore-body side by side, and illumination detection system includes preposition searchlight
All being arranged on fore-body with sonar detector, preposition searchlight and sonar detector, hydraulic control system is pacified
It is contained in fuselage interior, in fuselage, includes recreation room, intake chamber, water-retention room, air storage chamber and power house, live
It is anterior that dynamic room is positioned at fuselage, and intake chamber, water-retention room and air storage chamber are all located at fuselage internal upper part, intake chamber,
Water-retention room and air storage chamber are arranged the most successively, and power house is divided into again drainage power room and thrust power room,
It is past from a left side that drainage power room and thrust power room are all located at afterbody in fuselage, drainage power room and thrust power room
Arranging successively in the right side, also includes dodge gate, and dodge gate is positioned at above recreation room, and dodge gate is hinged with fuselage；
Hydraulic control culvert system includes air compressor, air pump, annulus end cap, nose circle lid, asymmetric Y type
Connecting rod, long connecting rod, short connecting rod, fluid-tight plate, Waterskiing board, water inlet net, hydraulic cylinder and plate of calming the anger, hydraulic control is entered
Drainage system is arranged on back, and hydraulic cylinder one end is hinged on fuselage, and the hydraulic cylinder other end is hinged on liquid
On shrouding, fluid-tight plate is positioned at intake chamber, and be connected to intake chamber sidewall radially slide on track, non-right
Being hinged on fuselage bottom title formula Y type connecting rod, asymmetric Y type connecting rod both upper ends thereof is respectively hinged at short company
On bar and long connecting rod, the short connecting rod other end is hinged on Waterskiing board, and it is indoor that Waterskiing board is positioned at water-retention, and connects
On the vertical rail plate of water-retention room sidewall, the long connecting rod other end is hinged on calms the anger on plate, and plate of calming the anger is positioned at
In air storage chamber, and on the vertical rail plate being connected in air storage chamber, annulus end cap is positioned at the upper end of hydraulic cylinder,
Annulus end cap is threadeded with fuselage, and water inlet net is positioned at above intake chamber, and water inlet net is threadeded with fuselage,
Nose circle lid is positioned at the top of water-retention room and air storage chamber, and nose circle lid is threadeded with fuselage, and air compressor is positioned at
Drainage power is indoor, and air compressor is threadeded with fuselage, and it is indoor that air pump is positioned at drainage power, air pump and
Fuselage is threaded, and the air inlet of air compressor is connected with air storage chamber, air compressor gas outlet and air pump
Air inlet be connected, the gas outlet of air pump is connected with air storage chamber.
Preferably, also including three identical mechanical navigation systems, three mechanical navigation systems are respectively mounted
Side in the left forward side of fuselage bottom, right forward side and rear, mechanical navigation system has included swing arm liquid
Cylinder pressure, swing arm connecting rod, stretch hydraulic cylinder, steel wire, spring, umbrella mechanism, crochet hook, turn silk motor and stretch
Exhibition connecting rod, boom cylinder one end is hinged on fuselage, and the boom cylinder other end is hinged on swing arm connecting rod,
Boom cylinder is also hinged with stretching, extension hydraulic cylinder with the hinged place of swing arm connecting rod, stretches the piston rod one of hydraulic cylinder
End is provided with umbrella mechanism, and the umbrella mechanism other end is provided with crochet hook, stretches and installs on the piston rod of hydraulic cylinder
Have and turn silk motor, in stretching the piston rod of hydraulic cylinder, be provided with spring, be additionally provided with in stretching the piston rod of hydraulic cylinder
Steel wire, steel wire one ends wound is turning on silk motor, and the other end is connected through spring with crochet hook, stretches hydraulic cylinder
Being hinged with extension link on cylinder body, the extension link other end is hinged on fuselage.
Preferably, fuselage inwall is provided with pressure hull, and pressure hull fits tightly with fuselage.
Preferably, asymmetric Y type connecting rod is equal along the direction with hydraulic control culvert system central shaft as circumference
Even distribution.
Preferably, water-retention room is uniformly distributed along the direction with hydraulic control culvert system central shaft as circumference.
Operation principle: when this utility model diving work, the unlatching of preposition searchlight, sea water enters from water inlet net
Enter in intake chamber, water inlet net solid impurity in filtering sea, air compressor compressed air, storage
In air chamber, volume of air reduces, and strip of calming the anger is moved long connecting rod and down moved along air storage chamber, asymmetric Y type
Connecting rod is under the drive of long connecting rod, and the pressure of deflection air storage chamber one end, by lever principle, asymmetric Y type is even
Bar deflection one end, water-retention room tilts, and tilts end and drives short connecting rod up to move with Waterskiing board, and water-retention room absorbs water,
Sea water enters into water-retention room from water sucking mouth, and when reaching the required degree of depth, air compressor decommissions,
Water suction stops, and controls the hydraulic oil flow left chamber to hydraulic cylinder simultaneously, and fluid-tight plate is handle under the promotion of hydraulic cylinder
Water inlet is blocked, and mining machinery people of the present utility model is suspended in fixing water level；When need to float, control hydraulic pressure
Oil flows to the right chamber of hydraulic cylinder, and fluid-tight plate quickly pulls lower backhaul at hydraulic cylinder rod, and water inlet is opened,
Air pump operates, and air is drawn in air storage chamber, along with the increase of gas volume in air storage chamber, promotes plate of calming the anger
With long connecting rod up moves, long connecting rod motion makes the asymmetric Y type connecting rod of deflection air storage chamber one end tilt,
The pressure of deflection one end, water-retention room, Waterskiing board down moves with short company, and sea water is extruded discharge water-retention room, it is achieved
Floating action；When carrying out mining in seabed, three mechanical navigation system runnings, control hydraulic oil conveying
To the upper chamber of boom cylinder, the hydraulic oil flow oil sump tank of lower chambers, boom cylinder bar moves, and promotes
Stretch hydraulic cylinder to rotate, at swing arm connecting rod with the restriction of extension link at the hinge of boom cylinder masthead end
Under, boom cylinder ultimately forms a straight line with stretching hydraulic cylinder, stretches cylinder hydraulic system and comes into operation,
Hydraulic oil flow, to the upper chamber of stretching, extension hydraulic cylinder, stretches hydraulic cylinder rod and releases, prick crochet hook to the place specified,
Turning silk electric machine rotation, steel wire, under the drive turning silk motor, overcomes the elastic force of spring by past for crochet hook retraction, umbrella
Shape mechanism struts, and steadily is fixed in mud, and three-jaw Multi-freedom-degreemanipulator manipulator and vibrations breaker are in work
Make district works, gather Ore；Complete when gathering, turn silk motor movement, steel wire extends, at the bullet of spring
Under power effect, steel wire stretches, and umbrella mechanism restores, stretching, extension hydraulic cylinder rod backhaul, boom cylinder backhaul,
Three mechanical navigation systems are returned to original layout；When robot marine mobile time, moving system operate,
Principal screw propeller rotates, and mining machinery people of the present utility model is subjected to displacement, and needs to occur the change in direction
Time, the side spiral propeller on both sides rotates, so that mining machinery people of the present utility model is inclined to assigned direction
Moving, the direction of motion changes.
The hydraulic control system operation stretching hydraulic cylinder of mechanical navigation system is: at directional control valve
In left position, when stretching, extension hydraulic cylinder is in zero load, quantitative hydraulic pump works with volume adjustable hydraulic pump simultaneously, defeated
The low-pressure high-flowrate hydraulic oil gone out enters into the upper chamber stretching hydraulic cylinder through hydraulic control one-way valve, promotes and stretches
Hydraulic cylinder rod moves, and stretches hydraulic cylinder cavity of resorption hydraulic oil and flows back to fuel tank through air relief valve；Stretch hydraulic cylinder by negative
During load, quantitative hydraulic pump work, the hydraulic oil of volume adjustable hydraulic pump flows back to fuel tank by overflow valve, when load pressure
When power is more than the set pressure of sequence valve, sequence valve is opened, and the hydraulic oil of high pressure low discharge enters through sequence valve
To the left chamber of pressurized cylinder, promote baffle plate, make the hydraulic fluid pressure of right chamber increase, reach the work of supercharging
With, so that stretching hydraulic cylinder energy band dynamic load, hydraulic oil flow oil sump tank unnecessary in pressurized cylinder lumen, stretch
The hydraulic oil of exhibition hydraulic cylinder lower chambers directly flows back to fuel tank through air relief valve, when directional control valve is in an intermediate position
Time, hydraulic oil directly flows back to fuel tank from overflow valve, stretches hydraulic cylinder and remains stationary as, when directional control valve is in
During location right, hydraulic oil first flows to check valve from sequence valve and flows to stretch the cavity of resorption of hydraulic cylinder again, stretches liquid
Cylinder pressure bar backhaul, stretches the hydraulic cylinder epicoele hydraulic oil flow right chamber to pressurized cylinder, the section hydraulic of left chamber
Oil flows back to fuel tank through check valve, and meanwhile, the lumen of pressurized cylinder forms vacuum state, hydraulic oil therein
Flowing to the lumen of pressurized cylinder, hydraulic control one-way valve is opened, and in stretching, extension hydraulic cylinder, the hydraulic oil of epicoele is through fluid-control one-way
Valve flows back to fuel tank.
(3) beneficial effect
This utility model compared with prior art, uses three screw type propellers and hydraulic control system,
Just reach the motion mode of floating type, compared with existing caterpillar motion mode, of the present utility model adopted
Ore deposit robot need not the directly contact end, only need to swim in water, thus in various muddy terrains or
Under the orographic condition that person's physical features is complicated and changeable can the moving of convenient, having can in various physical features
The advantage moved flexibly and easily, meanwhile, utilizes mechanical navigation system can more steadily accurately enter again
Row location, adjusts the orientation carrying out digging up mine, in the case of determining excavation site, by machinery location system
System positions, and can carry out operation the most efficiently, be additionally, since and do not contact seabed, and carries out precisely
Location mining, so disturbance to sea bed is little, to the environment in seabed, thus will not realize sea
The collection of end mineral high-efficiency environment friendly.
Also include three identical mechanical navigation systems, be accurately positioned by mechanical navigation system, make
This utility model carries out operation the most efficiently.
Fuselage inwall is provided with pressure hull, and pressure hull fits tightly with fuselage, and pressure hull has the biggest
Resistance to pressure, pneumatic shell physical ability makes fuselage bear bigger hydraulic pressure, make mining machinery people in the case of very deep,
Remain to safe carry out operation, it is ensured that the safety of mining machinery people.
Asymmetric Y type connecting rod is uniformly distributed along the direction with hydraulic control culvert system central shaft as circumference,
Hydraulic control culvert system is made to run more steady ordered, more steady in motion so that mining machinery people swims
Safety.
Water-retention room is uniformly distributed along the direction with hydraulic control culvert system central shaft as circumference, makes mining machinery
People's distribution of weight in water inlet and drainage procedure is more uniform, allows mining machinery people run more steady.
Accompanying drawing explanation
Fig. 1 is axonometric drawing of the present utility model.
Fig. 2 is sectional view of the present utility model.
Fig. 3 is the top view of hydraulic control culvert system of the present utility model.
Fig. 4 is the sectional view of hydraulic control culvert system of the present utility model.
Fig. 5 is the sectional view of mechanical navigation system of the present utility model.
Fig. 6 is hydraulic control figure of the present utility model.
Being labeled as in accompanying drawing: 1-fuselage, 3-hydraulic control culvert system, 4-mechanical navigation system, 101-lives
Dynamic room, 102-intake chamber, 103-reservoir chamber, 104-air storage chamber, 105-drainage power room, 106-advances dynamic
Power room, 107-dodge gate, 201-Zhu Luo pavilion propeller, 202-Ce Luo pavilion propeller, 301-air compressor,
302-air pump, 303-annulus end cap, 304-nose circle lid, 305-asymmetric Y type connecting rod, 306-long connecting rod,
307-short connecting rod, 308-fluid-tight plate, 309-Waterskiing board, 310-intakes net, and 311-hydraulic cylinder, 312-calms the anger
Plate, 401-boom cylinder, 402-swing arm connecting rod, 403-stretches hydraulic cylinder, 404-steel wire, 405-spring,
406-umbrella mechanism, 407-crochet hook, 408-turns a motor, 409-extension link, 501-three-jaw multiple degrees of freedom
Mechanical hand, 502-shakes breaker, the preposition searchlight of 601-, 602-sonar contact device, 701-sequence valve,
702-check valve, 703-pressure charging valve, 704-hydraulic control one-way valve, 705-air relief valve, 706-overflow valve, 707-
Quantitative hydraulic pump, 708-volume adjustable hydraulic pump, 709-directional control valve, 710-fuel tank.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Embodiment 1
A kind of floating type deep-sea automatic mining robot, as shown in figs 1 to 6, includes fuselage 1, advances
System, hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system, propulsion system,
Hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system are all installed on the fuselage 1,
Propulsion system includes a principal screw propeller 201 and two side spiral propellers 202, two side screw propulsions
Device 202 is separately mounted to the left and right sides of fuselage 1, and principal screw propeller 201 is arranged on the afterbody of fuselage 1,
Collection ore deposit system includes three-jaw Multi-freedom-degreemanipulator manipulator 501 and vibrations breaker 502, three-jaw multi freedom degree mechanical
It is anterior that hands 501 and vibrations breaker 502 are arranged on fuselage 1 side by side, and illumination detection system includes preposition
Searchlight 601 and sonar detector 602, preposition searchlight 601 and sonar detector 602 are all arranged on fuselage
1 is anterior, and it is internal that hydraulic control system is arranged on fuselage 1, includes recreation room 101, intake chamber in fuselage 1
102, water-retention room 103, air storage chamber 104 and power house, it is anterior that recreation room 101 is positioned at fuselage 1, water inlet
Room 102, water-retention room 103 and air storage chamber 104 are all located at fuselage 1 internal upper part, intake chamber 102, water-retention room 103
Arranging the most successively with air storage chamber 104, power house is divided into again drainage power room 105 and thrust power room
106, drainage power room 105 and thrust power room 106 are all located at afterbody in fuselage 1, drainage power room 105
Arranging the most successively with thrust power room 106, also include dodge gate 107, dodge gate 107 is positioned at work
Above dynamic room 101, dodge gate 107 is hinged with fuselage 1；Hydraulic control culvert system 3 includes air compression
Machine 301, air pump 302, annulus end cap 303, nose circle lid 304, asymmetric Y type connecting rod 305, long connecting rod
306, short connecting rod 307, fluid-tight plate 308, Waterskiing board 309, water inlet net 310, hydraulic cylinder 311 and plate of calming the anger
312, hydraulic control culvert system 3 is arranged on fuselage 1 top, and hydraulic cylinder 311 one end is hinged on the fuselage 1,
Hydraulic cylinder 311 other end is hinged on fluid-tight plate 308, and fluid-tight plate 308 is positioned at intake chamber 102, and connects
Be connected on intake chamber 102 sidewall radially slides on track, is hinged on machine bottom asymmetric Y type connecting rod 305
On body 1, asymmetric Y type connecting rod 305 both upper ends thereof is respectively hinged at short connecting rod 307 and long connecting rod 306
On, short connecting rod 307 other end is hinged on Waterskiing board 309, and Waterskiing board 309 is positioned at water-retention room 103,
And be connected on the vertical rail plate of water-retention room 103 sidewall, long connecting rod 306 other end is hinged on plate of calming the anger
On 312, plate 312 of calming the anger is positioned at air storage chamber 104, and the vertical rail plate being connected in air storage chamber 104
On, annulus end cap 303 is positioned at the upper end of hydraulic cylinder 311, and annulus end cap 303 is threadeded with fuselage 1,
Water inlet net 310 is positioned at above intake chamber 102, and water inlet net 310 is threadeded with fuselage 1, nose circle lid 304
Being positioned at the top of water-retention room 103 and air storage chamber 104, nose circle lid 304 is threadeded with fuselage 1, air pressure
Contracting machine 301 is positioned at drainage power room 105, and air compressor 301 is threadeded with fuselage 1, air pump 302
Being positioned at drainage power room 105, air pump 302 is threadeded with fuselage 1, the air inlet of air compressor 301
Mouth is connected with air storage chamber 104, and the gas outlet of air compressor 301 is connected with the air inlet of air pump 302, gas
The gas outlet of pump 302 is connected with air storage chamber 104.
Embodiment 2
A kind of floating type deep-sea automatic mining robot, as shown in figs 1 to 6, includes fuselage 1, advances
System, hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system, propulsion system,
Hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system are all installed on the fuselage 1,
Propulsion system includes a principal screw propeller 201 and two side spiral propellers 202, two side screw propulsions
Device 202 is separately mounted to the left and right sides of fuselage 1, and principal screw propeller 201 is arranged on the afterbody of fuselage 1,
Collection ore deposit system includes three-jaw Multi-freedom-degreemanipulator manipulator 501 and vibrations breaker 502, three-jaw multi freedom degree mechanical
It is anterior that hands 501 and vibrations breaker 502 are arranged on fuselage 1 side by side, and illumination detection system includes preposition
Searchlight 601 and sonar detector 602, preposition searchlight 601 and sonar detector 602 are all arranged on fuselage
1 is anterior, and it is internal that hydraulic control system is arranged on fuselage 1, includes recreation room 101, intake chamber in fuselage 1
102, water-retention room 103, air storage chamber 104 and power house, it is anterior that recreation room 101 is positioned at fuselage 1, water inlet
Room 102, water-retention room 103 and air storage chamber 104 are all located at fuselage 1 internal upper part, intake chamber 102, water-retention room 103
Arranging the most successively with air storage chamber 104, power house is divided into again drainage power room 105 and thrust power room
106, drainage power room 105 and thrust power room 106 are all located at afterbody in fuselage 1, drainage power room 105
Arranging the most successively with thrust power room 106, also include dodge gate 107, dodge gate 107 is positioned at work
Above dynamic room 101, dodge gate 107 is hinged with fuselage 1；Hydraulic control culvert system 3 includes air compression
Machine 301, air pump 302, annulus end cap 303, nose circle lid 304, asymmetric Y type connecting rod 305, long connecting rod
306, short connecting rod 307, fluid-tight plate 308, Waterskiing board 309, water inlet net 310, hydraulic cylinder 311 and plate of calming the anger
312, hydraulic control culvert system 3 is arranged on fuselage 1 top, and hydraulic cylinder 311 one end is hinged on the fuselage 1,
Hydraulic cylinder 311 other end is hinged on fluid-tight plate 308, and fluid-tight plate 308 is positioned at intake chamber 102, and connects
Be connected on intake chamber 102 sidewall radially slides on track, is hinged on machine bottom asymmetric Y type connecting rod 305
On body 1, asymmetric Y type connecting rod 305 both upper ends thereof is respectively hinged at short connecting rod 307 and long connecting rod 306
On, short connecting rod 307 other end is hinged on Waterskiing board 309, and Waterskiing board 309 is positioned at water-retention room 103,
And be connected on the vertical rail plate of water-retention room 103 sidewall, long connecting rod 306 other end is hinged on plate of calming the anger
On 312, plate 312 of calming the anger is positioned at air storage chamber 104, and the vertical rail plate being connected in air storage chamber 104
On, annulus end cap 303 is positioned at the upper end of hydraulic cylinder 311, and annulus end cap 303 is threadeded with fuselage 1,
Water inlet net 310 is positioned at above intake chamber 102, and water inlet net 310 is threadeded with fuselage 1, nose circle lid 304
Being positioned at the top of water-retention room 103 and air storage chamber 104, nose circle lid 304 is threadeded with fuselage 1, air pressure
Contracting machine 301 is positioned at drainage power room 105, and air compressor 301 is threadeded with fuselage 1, air pump 302
Being positioned at drainage power room 105, air pump 302 is threadeded with fuselage 1, the air inlet of air compressor 301
Mouth is connected with air storage chamber 104, and the gas outlet of air compressor 301 is connected with the air inlet of air pump 302, gas
The gas outlet of pump 302 is connected with air storage chamber 104.
Also including three identical mechanical navigation systems 4, three mechanical navigation systems 4 are separately mounted to fuselage
Side in left forward side, right forward side and rear bottom 1, mechanical navigation system 1 includes boom cylinder
401, swing arm connecting rod 402, stretching, extension hydraulic cylinder 403, steel wire 404, spring 405, umbrella mechanism 406, hook
Pin 407, turning silk motor 408 and extension link 409, boom cylinder 401 one end is hinged on the fuselage 1,
Boom cylinder 401 other end is hinged on swing arm connecting rod 402, boom cylinder 401 and swing arm connecting rod 402
Hinged place also be hinged with stretching, extension hydraulic cylinder 403, stretch hydraulic cylinder 403 piston rod one end umbrella machine is installed
Structure 406, umbrella mechanism 406 other end is provided with crochet hook 407, stretches and installs on the piston rod of hydraulic cylinder 403
Have and turn silk motor 408, in stretching the piston rod of hydraulic cylinder 403, be provided with spring 405, stretch hydraulic cylinder 403
Being additionally provided with steel wire 404 in piston rod, steel wire 404 one ends wound is turning on silk motor 408, and the other end passes bullet
Spring 405 is connected with crochet hook 407, stretches and is hinged with extension link 409, extension link on hydraulic cylinder 403 cylinder body
409 other ends are hinged on the fuselage 1, it is accurately positioned by mechanical navigation system 4, makes this practicality new
Type carries out operation the most efficiently.
Embodiment 3
A kind of floating type deep-sea automatic mining robot, as shown in figs 1 to 6, includes fuselage 1, advances
System, hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system, propulsion system,
Hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system are all installed on the fuselage 1,
Propulsion system includes a principal screw propeller 201 and two side spiral propellers 202, two side screw propulsions
Device 202 is separately mounted to the left and right sides of fuselage 1, and principal screw propeller 201 is arranged on the afterbody of fuselage 1,
Collection ore deposit system includes three-jaw Multi-freedom-degreemanipulator manipulator 501 and vibrations breaker 502, three-jaw multi freedom degree mechanical
It is anterior that hands 501 and vibrations breaker 502 are arranged on fuselage 1 side by side, and illumination detection system includes preposition
Searchlight 601 and sonar detector 602, preposition searchlight 601 and sonar detector 602 are all arranged on fuselage
1 is anterior, and it is internal that hydraulic control system is arranged on fuselage 1, includes recreation room 101, intake chamber in fuselage 1
102, water-retention room 103, air storage chamber 104 and power house, it is anterior that recreation room 101 is positioned at fuselage 1, water inlet
Room 102, water-retention room 103 and air storage chamber 104 are all located at fuselage 1 internal upper part, intake chamber 102, water-retention room 103
Arranging the most successively with air storage chamber 104, power house is divided into again drainage power room 105 and thrust power room
106, drainage power room 105 and thrust power room 106 are all located at afterbody in fuselage 1, drainage power room 105
Arranging the most successively with thrust power room 106, also include dodge gate 107, dodge gate 107 is positioned at work
Above dynamic room 101, dodge gate 107 is hinged with fuselage 1；Hydraulic control culvert system 3 includes air compression
Machine 301, air pump 302, annulus end cap 303, nose circle lid 304, asymmetric Y type connecting rod 305, long connecting rod
306, short connecting rod 307, fluid-tight plate 308, Waterskiing board 309, water inlet net 310, hydraulic cylinder 311 and plate of calming the anger
312, hydraulic control culvert system 3 is arranged on fuselage 1 top, and hydraulic cylinder 311 one end is hinged on the fuselage 1,
Hydraulic cylinder 311 other end is hinged on fluid-tight plate 308, and fluid-tight plate 308 is positioned at intake chamber 102, and connects
Be connected on intake chamber 102 sidewall radially slides on track, is hinged on machine bottom asymmetric Y type connecting rod 305
On body 1, asymmetric Y type connecting rod 305 both upper ends thereof is respectively hinged at short connecting rod 307 and long connecting rod 306
On, short connecting rod 307 other end is hinged on Waterskiing board 309, and Waterskiing board 309 is positioned at water-retention room 103,
And be connected on the vertical rail plate of water-retention room 103 sidewall, long connecting rod 306 other end is hinged on plate of calming the anger
On 312, plate 312 of calming the anger is positioned at air storage chamber 104, and the vertical rail plate being connected in air storage chamber 104
On, annulus end cap 303 is positioned at the upper end of hydraulic cylinder 311, and annulus end cap 303 is threadeded with fuselage 1,
Water inlet net 310 is positioned at above intake chamber 102, and water inlet net 310 is threadeded with fuselage 1, nose circle lid 304
Being positioned at the top of water-retention room 103 and air storage chamber 104, nose circle lid 304 is threadeded with fuselage 1, air pressure
Contracting machine 301 is positioned at drainage power room 105, and air compressor 301 is threadeded with fuselage 1, air pump 302
Being positioned at drainage power room 105, air pump 302 is threadeded with fuselage 1, the air inlet of air compressor 301
Mouth is connected with air storage chamber 104, and the gas outlet of air compressor 301 is connected with the air inlet of air pump 302, gas
The gas outlet of pump 302 is connected with air storage chamber 104.
Fuselage 1 inwall is provided with pressure hull, and pressure hull fits tightly with fuselage 1, and pressure hull has very
Big resistance to pressure, pneumatic shell physical ability makes fuselage 1 bear bigger hydraulic pressure, makes mining machinery people in the deepest feelings
Under condition, remain to safe carry out operation, it is ensured that the safety of mining machinery people.
Embodiment 4
A kind of floating type deep-sea automatic mining robot, as shown in figs 1 to 6, includes fuselage 1, advances
System, hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system, propulsion system,
Hydraulic control culvert system 3, collection ore deposit system, illumination detection system and hydraulic control system are all installed on the fuselage 1,
Propulsion system includes a principal screw propeller 201 and two side spiral propellers 202, two side screw propulsions
Device 202 is separately mounted to the left and right sides of fuselage 1, and principal screw propeller 201 is arranged on the afterbody of fuselage 1,
Collection ore deposit system includes three-jaw Multi-freedom-degreemanipulator manipulator 501 and vibrations breaker 502, three-jaw multi freedom degree mechanical
It is anterior that hands 501 and vibrations breaker 502 are arranged on fuselage 1 side by side, and illumination detection system includes preposition
Searchlight 601 and sonar detector 602, preposition searchlight 601 and sonar detector 602 are all arranged on fuselage
1 is anterior, and it is internal that hydraulic control system is arranged on fuselage 1, includes recreation room 101, intake chamber in fuselage 1
102, water-retention room 103, air storage chamber 104 and power house, it is anterior that recreation room 101 is positioned at fuselage 1, water inlet
Room 102, water-retention room 103 and air storage chamber 104 are all located at fuselage 1 internal upper part, intake chamber 102, water-retention room 103
Arranging the most successively with air storage chamber 104, power house is divided into again drainage power room 105 and thrust power room
106, drainage power room 105 and thrust power room 106 are all located at afterbody in fuselage 1, drainage power room 105
Arranging the most successively with thrust power room 106, also include dodge gate 107, dodge gate 107 is positioned at work
Above dynamic room 101, dodge gate 107 is hinged with fuselage 1；Hydraulic control culvert system 3 includes air compression
Machine 301, air pump 302, annulus end cap 303, nose circle lid 304, asymmetric Y type connecting rod 305, long connecting rod
306, short connecting rod 307, fluid-tight plate 308, Waterskiing board 309, water inlet net 310, hydraulic cylinder 311 and plate of calming the anger
312, hydraulic control culvert system 3 is arranged on fuselage 1 top, and hydraulic cylinder 311 one end is hinged on the fuselage 1,
Hydraulic cylinder 311 other end is hinged on fluid-tight plate 308, and fluid-tight plate 308 is positioned at intake chamber 102, and connects
Be connected on intake chamber 102 sidewall radially slides on track, is hinged on machine bottom asymmetric Y type connecting rod 305
On body 1, asymmetric Y type connecting rod 305 both upper ends thereof is respectively hinged at short connecting rod 307 and long connecting rod 306
On, short connecting rod 307 other end is hinged on Waterskiing board 309, and Waterskiing board 309 is positioned at water-retention room 103,
And be connected on the vertical rail plate of water-retention room 103 sidewall, long connecting rod 306 other end is hinged on plate of calming the anger
On 312, plate 312 of calming the anger is positioned at air storage chamber 104, and the vertical rail plate being connected in air storage chamber 104
On, annulus end cap 303 is positioned at the upper end of hydraulic cylinder 311, and annulus end cap 303 is threadeded with fuselage 1,
Water inlet net 310 is positioned at above intake chamber 102, and water inlet net 310 is threadeded with fuselage 1, nose circle lid 304
Being positioned at the top of water-retention room 103 and air storage chamber 104, nose circle lid 304 is threadeded with fuselage 1, air pressure
Contracting machine 301 is positioned at drainage power room 105, and air compressor 301 is threadeded with fuselage 1, air pump 302
Being positioned at drainage power room 105, air pump 302 is threadeded with fuselage 1, the air inlet of air compressor 301
Mouth is connected with air storage chamber 104, and the gas outlet of air compressor 301 is connected with the air inlet of air pump 302, gas
The gas outlet of pump 302 is connected with air storage chamber 104.
Also including three identical mechanical navigation systems 4, three mechanical navigation systems 4 are separately mounted to fuselage
Side in left forward side, right forward side and rear bottom 1, mechanical navigation system 1 includes boom cylinder
401, swing arm connecting rod 402, stretching, extension hydraulic cylinder 403, steel wire 404, spring 405, umbrella mechanism 406, hook
Pin 407, turning silk motor 408 and extension link 409, boom cylinder 401 one end is hinged on the fuselage 1,
Boom cylinder 401 other end is hinged on swing arm connecting rod 402, boom cylinder 401 and swing arm connecting rod 402
Hinged place also be hinged with stretching, extension hydraulic cylinder 403, stretch hydraulic cylinder 403 piston rod one end umbrella machine is installed
Structure 406, umbrella mechanism 406 other end is provided with crochet hook 407, stretches and installs on the piston rod of hydraulic cylinder 403
Have and turn silk motor 408, in stretching the piston rod of hydraulic cylinder 403, be provided with spring 405, stretch hydraulic cylinder 403
Being additionally provided with steel wire 404 in piston rod, steel wire 404 one ends wound is turning on silk motor 408, and the other end passes bullet
Spring 405 is connected with crochet hook 407, stretches and is hinged with extension link 409, extension link on hydraulic cylinder 403 cylinder body
409 other ends are hinged on the fuselage 1, it is accurately positioned by mechanical navigation system 4, makes this practicality new
Type carries out operation the most efficiently.
Fuselage 1 inwall is provided with pressure hull, and pressure hull fits tightly with fuselage 1, and pressure hull has very
Big resistance to pressure, pneumatic shell physical ability makes fuselage 1 bear bigger hydraulic pressure, makes mining machinery people in the deepest feelings
Under condition, remain to safe carry out operation, it is ensured that the safety of mining machinery people.
Asymmetric Y type connecting rod 305 is uniform along the direction with hydraulic control culvert system 3 central shaft as circumference
Distribution, makes hydraulic control culvert system 3 run more steady ordered, so that mining machinery people swims in motion
More steadily safety.
Water-retention room 103 is uniformly distributed along the direction with hydraulic control culvert system 3 central shaft as circumference, makes to adopt
Robot distribution of weight in water inlet and drainage procedure in ore deposit is more uniform, allows mining machinery people run more steady.
Operation principle: when this utility model diving work, preposition searchlight 601 is opened, and sea water is from water inlet
Net 310 enters in intake chamber 102, the water inlet net 310 solid impurity in filtering sea, air pressure
Contracting machine 301 compressed air, in air storage chamber 104, volume of air reduces, and plate 312 of calming the anger drives long connecting rod 306
Down moving along air storage chamber 104, asymmetric Y type connecting rod 305 is under the drive of long connecting rod 306, partially
Depressing to air storage chamber 104 one end, by lever principle, water-retention room 103 is partial to by asymmetric Y type connecting rod 305
One end tilts, and tilts end and drives short connecting rod 307 up to move with Waterskiing board 309, and water-retention room 103 absorbs water,
Sea water enters into water-retention room 103 from water sucking mouth, and when reaching the required degree of depth, air compressor 301 stops
Running, water suction stops, and controls the hydraulic oil flow left chamber to hydraulic cylinder (311) simultaneously, and fluid-tight plate 308 exists
Under the promotion of hydraulic cylinder 311 bar, water inlet being blocked, mining machinery people of the present utility model is suspended in fixing water
Position；When need to float, controlling the hydraulic oil flow right chamber to hydraulic cylinder (311), fluid-tight plate 308 is at hydraulic cylinder
311 bars quickly pull lower backhaul, water inlet is opened, and air pump 302 operates, and air is drawn into air storage chamber 103
In, along with the increase of gas volume in air storage chamber 103, promote plate 312 of calming the anger up to transport with long connecting rod 306
Dynamic, long connecting rod 306 motion makes the asymmetric Y type connecting rod 305 of deflection air storage chamber 104 one end tilt, partially
Depressing to one end, water-retention room 103, Waterskiing board 309 down moves with short connecting rod 307, and sea water is extruded discharge
Water-retention room 103, it is achieved floating action；When carrying out mining in seabed, three mechanical navigation systems 4 operate,
Control hydraulic oil and be transported to the upper chamber of boom cylinder 401, the hydraulic oil flow oil sump tank 710 of lower chambers, move
Arm hydraulic cylinder 401 bar moves, and promotes and stretches hydraulic cylinder 403 along at the hinge of boom cylinder 401 masthead end
Rotate, at swing arm connecting rod 402 with, under the restriction of extension link 409, boom cylinder 401 is with stretching hydraulic pressure
Cylinder 403 ultimately forms a straight line, stretches hydraulic cylinder 403 hydraulic system and comes into operation, and hydraulic oil flow is to stretching, extension
The upper chamber of hydraulic cylinder 403, stretches hydraulic cylinder 403 bar and releases, pricked by crochet hook 407 to the place specified,
Turning silk motor 408 to rotate, steel wire 404, under the drive turning silk motor, overcomes the elastic force of spring 405 by hook
Pin 407 is toward retraction, and umbrella mechanism 406 struts, and steadily is fixed in mud, three-jaw multi freedom degree mechanical
Hands 501 and vibrations breaker 502 work in working area, gather Ore；Complete when gathering, turn silk electricity
Machine 408 moves, and steel wire 404 extends, and under the elastic force effect of spring 405, steel wire 404 stretches, umbrella
Mechanism 407 restores, and stretches hydraulic cylinder 403 bar backhaul, boom cylinder 401 backhaul, three machinery location
System 4 is returned to original layout；When robot marine mobile time, moving system operate, principal screw pushes away
Entering device 201 to rotate, mining machinery people of the present utility model is subjected to displacement, when needing the change that direction occurs,
The side spiral propeller 202 on both sides rotates, so that mining machinery people of the present utility model is inclined to assigned direction
Moving, the direction of motion changes.
The hydraulic control system operation stretching hydraulic cylinder 403 of mechanical navigation system 4 is: when direction is controlled
Valve 709 processed is in left position, when stretching, extension hydraulic cylinder 403 is in zero load, and quantitative hydraulic pump 707 and variable
Hydraulic pump 708 works simultaneously, and the low-pressure high-flowrate hydraulic oil of output enters into through hydraulic control one-way valve 704 to be stretched
The upper chamber of exhibition hydraulic cylinder 403, promotes stretching, extension hydraulic cylinder 403 bar to move, stretches hydraulic cylinder 403 cavity of resorption liquid
Force feed flows back to fuel tank 710 through air relief valve 705；When stretching, extension hydraulic cylinder 403 is loaded, quantitative hydraulic pump 707
Work, the hydraulic oil of volume adjustable hydraulic pump 708 flows back to fuel tank 710, when load pressure is more than by overflow valve 706
During the set pressure of sequence valve 701, sequence valve 701 is opened, and the hydraulic oil of high pressure low discharge is through sequence valve 701
Enter into the left chamber of pressurized cylinder 703, promote baffle plate, make the hydraulic fluid pressure of right chamber increase, reach
The effect of supercharging, so that stretching hydraulic cylinder 403 energy band dynamic load, liquid unnecessary in pressurized cylinder 703 lumen
Force feed flows back to fuel tank 710, and the hydraulic oil stretching hydraulic cylinder 403 lower chambers directly flows back to fuel tank through air relief valve 705
710, when directional control valve 709 is in an intermediate position, hydraulic oil directly flows back to fuel tank 710 from overflow valve 706,
Stretching hydraulic cylinder 403 to remain stationary as, when directional control valve 709 is in location right, hydraulic oil is first from suitable
Sequence valve 701 flows to check valve 702 and flows to stretch the cavity of resorption of hydraulic cylinder 403 again, stretches hydraulic cylinder 403 bar and returns
Journey, stretches the hydraulic cylinder 403 epicoele hydraulic oil flow right chamber to pressurized cylinder 703, the section hydraulic of left chamber
Oil flows back to fuel tank 710 through check valve 702, and meanwhile, the lumen of pressurized cylinder 703 forms vacuum state, its
In hydraulic oil flow open to the lumen of pressurized cylinder 703, hydraulic control one-way valve 704, stretch in hydraulic cylinder 403
The hydraulic oil of epicoele flows back to fuel tank 710 through hydraulic control one-way valve 704.
Embodiment described above only have expressed preferred implementation of the present utility model, its describe more concrete and
In detail, but therefore can not be interpreted as the restriction to this utility model the scope of the claims.It should be pointed out that,
For the person of ordinary skill of the art, without departing from the concept of the premise utility, it is also possible to
Making some deformation, improve and substitute, these broadly fall into protection domain of the present utility model.Therefore, this reality
Should be as the criterion with claims with the protection domain of new patent.
Claims (5)
1. a floating type deep-sea automatic mining robot, includes fuselage (1), propulsion system, hydraulic control are entered
Drainage system (3), collection ore deposit system, illumination detection system and hydraulic control system, propulsion system, hydraulic control are entered
Drainage system (3), collection ore deposit system, illumination detection system and hydraulic control system are all arranged on fuselage (1),
Propulsion system includes a principal screw propeller (201) and two side spiral propellers (202), two side spiral shells
Rotation propeller (202) is separately mounted to the left and right sides of fuselage (1), and principal screw propeller (201) is installed
At the afterbody of fuselage (1), collection ore deposit system includes three-jaw Multi-freedom-degreemanipulator manipulator (501) and the broken dress of vibrations
Putting (502), three-jaw Multi-freedom-degreemanipulator manipulator (501) and vibrations breaker (502) are arranged on side by side
Fuselage (1) is anterior, and illumination detection system includes preposition searchlight (601) and sonar detector (602),
It is anterior that preposition searchlight (601) and sonar detector (602) are all arranged on fuselage (1), hydraulic control system
It is internal that system is arranged on fuselage (1), it is characterised in that includes recreation room (101) in fuselage (1), enter
Hydroecium (102), water-retention room (103), air storage chamber (104) and power house, recreation room (101) is positioned at machine
Front portion in body (1), intake chamber (102), water-retention room (103) and air storage chamber (104) are all located at fuselage (1)
Internal upper part, intake chamber (102), water-retention room (103) and air storage chamber (104) arrange the most successively,
Power house is divided into again drainage power room (105) and thrust power room (106), drainage power room (105) and
Thrust power room (106) is all located at fuselage (1) interior afterbody, drainage power room (105) and thrust power room
(106) arranging the most successively, also include dodge gate (107), dodge gate (107) is positioned at activity
Top, room (101), dodge gate (107) is hinged with fuselage (1)；Hydraulic control culvert system (3) includes
There is air compressor (301), air pump (302), annulus end cap (303), nose circle lid (304), asymmetric
Formula Y type connecting rod (305), long connecting rod (306), short connecting rod (307), fluid-tight plate (308), Waterskiing board (309),
Water inlet net (310), hydraulic cylinder (311) and plate of calming the anger (312), hydraulic control culvert system (3) is arranged on
Fuselage (1) top, hydraulic cylinder (311) one end is hinged on fuselage (1), hydraulic cylinder (311) another
End is hinged on fluid-tight plate (308), and fluid-tight plate (308) is positioned at intake chamber (102), and be connected to into
Hydroecium (102) sidewall radially slide on track, asymmetric Y type connecting rod (305) bottom be hinged on machine
On body (1), asymmetric Y type connecting rod (305) both upper ends thereof is respectively hinged at short connecting rod (307) and length
On connecting rod (306), short connecting rod (307) other end is hinged on Waterskiing board (309), Waterskiing board (309)
Being positioned at water-retention room (103), and be connected on the vertical rail plate of water-retention room (103) sidewall, length is even
Bar (306) other end is hinged on plate of calming the anger (312), and plate of calming the anger (312) is positioned at air storage chamber (104)
In, and be connected on the vertical rail plate in air storage chamber (104), annulus end cap (303) is positioned at hydraulic pressure
The upper end of cylinder (311), annulus end cap (303) threadeds with fuselage (1), and intake net (310) position
In intake chamber (102) top, water inlet net (310) is threadeded with fuselage (1), nose circle lid (304)
It is positioned at the top of water-retention room (103) and air storage chamber (104), nose circle lid (304) and fuselage (1) screw thread
Connecting, air compressor (301) is positioned at drainage power room (105), air compressor (301) and machine
Body (1) is threaded, and air pump (302) is positioned at drainage power room (105), air pump (302) and machine
Body (1) is threaded, and the air inlet of air compressor (301) is connected with air storage chamber (104), air pressure
The gas outlet of contracting machine (301) is connected with the air inlet of air pump (302), the gas outlet of air pump (302) and storage
Air chamber (104) is connected.
A kind of floating type deep-sea automatic mining robot the most according to claim 1, it is characterised in that
Also including three identical mechanical navigation systems (4), three mechanical navigation systems (4) are separately mounted to machine
Side in left forward side, right forward side and the rear of body (1) bottom, mechanical navigation system (1) includes dynamic
Arm hydraulic cylinder (401), swing arm connecting rod (402), stretch hydraulic cylinder (403), steel wire (404), spring (405),
Umbrella mechanism (406), crochet hook (407), turn silk motor (408) and extension link (409), swing arm hydraulic pressure
Cylinder (401) one end is hinged on fuselage (1), and boom cylinder (401) other end is hinged on swing arm connecting rod
(402), on, boom cylinder (401) is also hinged with stretching, extension hydraulic pressure with the hinged place of swing arm connecting rod (402)
Cylinder (403), the piston rod one end stretching hydraulic cylinder (403) is provided with umbrella mechanism (406), umbrella mechanism
(406) other end is provided with crochet hook (407), the piston rod of stretching, extension hydraulic cylinder (403) is provided with and turns silk
Motor (408), is provided with spring (405) in stretching the piston rod of hydraulic cylinder (403), stretch hydraulic cylinder (403)
Piston rod in be additionally provided with steel wire (404), steel wire (404) one ends wound is turning on silk motor (408),
The other end is connected through spring (405) with crochet hook (407), stretches and is hinged with on hydraulic cylinder (403) cylinder body
Extension link (409), extension link (409) other end is hinged on fuselage (1).
A kind of floating type deep-sea automatic mining robot the most according to claim 1, it is characterised in that
Fuselage (1) inwall is provided with pressure hull, and pressure hull fits tightly with fuselage (1).
A kind of floating type deep-sea automatic mining robot the most according to claim 1, it is characterised in that
Asymmetric Y type connecting rod (305) is along equal with hydraulic control culvert system (3) central shaft direction as circumference
Even distribution.
A kind of floating type deep-sea automatic mining robot the most according to claim 1, it is characterised in that
Water-retention room (103) is uniformly distributed along with hydraulic control culvert system (3) central shaft direction as circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620428293.8U CN205743909U (en) | 2016-05-12 | 2016-05-12 | A kind of floating type deep-sea automatic mining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620428293.8U CN205743909U (en) | 2016-05-12 | 2016-05-12 | A kind of floating type deep-sea automatic mining robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205743909U true CN205743909U (en) | 2016-11-30 |
Family
ID=57369388
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620428293.8U Expired - Fee Related CN205743909U (en) | 2016-05-12 | 2016-05-12 | A kind of floating type deep-sea automatic mining robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804755A (en) * | 2016-05-12 | 2016-07-27 | 江西理工大学 | Floating type deep sea automatic mining robot |
| CN107178369A (en) * | 2017-07-18 | 2017-09-19 | 中南大学 | The equipment of seabed cobalt bearing crust is exploited in a kind of utilization Pulse Power Techniques |
| CN110596339A (en) * | 2019-09-09 | 2019-12-20 | 广州海洋地质调查局 | Seabed natural gas hydrate mineral deposit precision detection vehicle |
| CN111075450A (en) * | 2020-01-10 | 2020-04-28 | 中南大学 | Deep sea mining method |
| RU203596U1 (en) * | 2021-02-16 | 2021-04-13 | федеральное государственное бюджетное образовательное учреждение высшего образования «Санкт-Петербургский горный университет» | DEVICE FOR COLLECTING COBALT-MANGANESE BREADS FROM THE SEA BOTTOM |
-
2016
- 2016-05-12 CN CN201620428293.8U patent/CN205743909U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804755A (en) * | 2016-05-12 | 2016-07-27 | 江西理工大学 | Floating type deep sea automatic mining robot |
| CN107178369A (en) * | 2017-07-18 | 2017-09-19 | 中南大学 | The equipment of seabed cobalt bearing crust is exploited in a kind of utilization Pulse Power Techniques |
| CN107178369B (en) * | 2017-07-18 | 2020-02-18 | 中南大学 | Equipment for exploiting seabed cobalt-rich crusts by pulse power technology |
| CN110596339A (en) * | 2019-09-09 | 2019-12-20 | 广州海洋地质调查局 | Seabed natural gas hydrate mineral deposit precision detection vehicle |
| CN110596339B (en) * | 2019-09-09 | 2022-01-21 | 广州海洋地质调查局 | Seabed natural gas hydrate mineral deposit precision detection vehicle |
| CN111075450A (en) * | 2020-01-10 | 2020-04-28 | 中南大学 | Deep sea mining method |
| CN111075450B (en) * | 2020-01-10 | 2020-12-01 | 中南大学 | Deep sea mining method |
| US11150059B2 (en) | 2020-01-10 | 2021-10-19 | Central South University | Deep sea mining method |
| RU203596U1 (en) * | 2021-02-16 | 2021-04-13 | федеральное государственное бюджетное образовательное учреждение высшего образования «Санкт-Петербургский горный университет» | DEVICE FOR COLLECTING COBALT-MANGANESE BREADS FROM THE SEA BOTTOM |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20170512 |