JP6901188B2 - Deep Sea Multimetal Nodule Mining Work System - Google Patents

Description

The present invention belongs to the field of mining equipment technology, and specifically relates to a deep-sea polymetal nodule deposit mining work system.

With the sustainable development of the world economy, the demand for mineral resources is increasing, and the mineral resources on the earth's land are being depleted due to the large amount of resource development. Immediate development of new resource supply channels before the depletion of land mineral resources is a common challenge for all countries at present. Exploration has revealed that the Pacific Ocean is a treasure trove of mineral resources, and countries around the world have turned their attention to the ocean to meet the demand for mineral resources in human survival and development. Large amounts of seafloor mineral resources lie in various depths of the ocean, their resources and contents are incomparable to those of continents, and the methods of transporting minerals from the seafloor to land are also very different. On the one hand, the transportation methods are completely different, and the difficulty of transportation is high. On the other hand, production efficiency and economic efficiency are also important factors, while mining in the deep sea is extremely technically difficult and complex. These pose major challenges to technical requirements.

The pipe-pulled mining model is considered to be the most efficient and most promising deep-sea mining work model, but it also has the following problems: (1) Umbilical cables and flexible pipes for mineral transportation have the influence of highly non-linear coupling on the robust control of submarine mining robots, and the underwater shape of umbilical cables and flexible pipes for mineral transportation changes as the working radius changes. Occurs, and the difficulty of describing dynamic behavior increases. Their dynamic disturbances to the seafloor mining robot cause complex dynamic changes in the compressive shear bearing capacity of the ultrasoft bottom sediment with rheological properties, and the coupled action of these elements is the dynamic behavior of the seafloor mining robot. It complicates the response mechanism extremely. The existence of umbilical cables and flexible pipes for mineral transportation has become a bottleneck that constrains the dynamic model and robust control of submarine mining robots. (2) There are disadvantageous factors such as shielding of radio signals, significant attenuation of electromagnetic signals, turbidity at work sites, and poor light transmission on the seabed. Robust control of the mining robot cannot be realized by relying on the feedback information provided from these because accurate posture and position information cannot be obtained or there is a large bias in the measurement. Due to the above-mentioned problems, robust control of mining robots faces many challenges. Therefore, by implementing a new deep-sea mining work model using an autonomous deep-sea mining robot, it is possible to eliminate the influence of umbilical cables and flexible pipes for mineral transportation on the robust control of the mining robot. The seafloor mining robot is equipped with systems such as a gravity control method for servo-controlling the load, attitude and position sensing technology.

In view of the fact that the existence of umbilical cables and flexible pipes for mineral transportation is a bottleneck that constrains the dynamic model and robust control of the seafloor mining robot in the prior art, the present invention provides a deep-sea multi-metal baby boom mining work system. It is intended to be provided.

The present invention employs the following technical proposals.

Deep sea multi-metal baby boom mining work system, specifically including mining platform, mining pipe system, mining robot, seated mineral transshipment processing center, mining pipe system including mining pipe and sludge pump Including, new mineral ascending pipes and tailing descending pipes are installed in the lifting pipes, respectively. The top end of the mine pipe is connected to the mining platform, and the bottom end of the mine pipe is connected to the seated mineral transshipment processing center via a universal joint. A multi-freedom platform is installed inside the seated mineral transshipment processing center, and the multi-freedom platform has a tail mine and a new mineral vault installed in order from top to bottom, and the exit of the tail mine. An upper belt conveyor and a lower belt conveyor are installed at the entrance of the new mineral storage, and the ends of the upper belt conveyor and the lower belt conveyor are connected via a mining robot. Below the multi-degree-of-freedom platform, there are multiple corresponding fan-shaped mining areas, and the mining robot works within the fan-shaped mining area.

In addition, the seated mineral transshipment processing center was set up as a cylindrical structure to transship and unload the minerals collected by the mining robot, and the multi-freedom platform inside it was evenly divided into several blocks. , It is installed as a columnar structure with a fan-shaped cross section, and each degree of freedom platform is equipped with a transshipment center entrance / exit.

In addition, a submarine wireless charging pile is installed inside the seated mineral transshipment processing center to replenish the mining robot with electricity.

Furthermore, the mining robot is installed as a crawler type mining robot, a mineral chamber is provided above the mining robot, and a new mineral chamber and a tail ore chamber are formed inside the mineral chamber separated by a push plate, and the push plate is formed. The relative change in volume between the new mineral chamber and the tail ore chamber is controlled by the anteroposterior movement of.

Furthermore, a mining crawler is laid at the bottom of the mineral chamber of the mining robot, and when the mining crawler opens, a new mineral chamber opens, and when the mining crawler closes, the new mineral chamber closes.

Furthermore, a tailing plate corresponding to the collection crawler is installed at the chamber opening of the Tailing chamber of the mining robot, and the top end of the Tailing plate is movably attached to the Tailing chamber by a rotation axis. ..

In addition, a slide rail is installed at a position corresponding to the push plate of the mineral chamber of the mining robot, the push plate is movably fitted in the slide rail, and the push plate is driven by a motor to the slide rail. Move back and forth along.

In addition, the mining robot is equipped with a buoyancy compensator, which includes a two-way cylinder and an oil bladder that communicate with each other, and an electromagnetic valve controls the opening and closing of the oil passage between the two-way cylinder and the oil bladder. The magnitude of buoyancy is adjusted by changing the amount of oil between the directional cylinder and the oil bladder.

In addition, a propulsion device is also installed in the mining robot, and the propulsion devices are two sets of propellers installed symmetrically along both sides of the mining robot, and the rotation of the propellers assists and controls the posture and weight of the mining robot. To do.

Further, the mining robot is equipped with a wireless power receiving module and a wirelessly coupled power carrier bidirectional communication module, and realizes bidirectional high-speed data transmission and communication between the mining robot and the outside world by the power carrier method.

The present invention has the following advantageous effects.

In the present invention, in the deep-sea multi-metal baby boom mining work system, a plurality of DSAMVs work in parallel in their designated areas, do not interfere with each other, and all the collected minerals are seated mineral transshipment processing centers. With a complete mining system, minerals can be lifted and processed to a mining work platform, and a seated mineral transshipment center is a core unit for mining, mining, energy supply and communications on the seabed. Yes, it is possible to eliminate umbilical cables and flexible pipes for mineral transport, adapt to dynamic changes in mining pipes in real time, and adapt to the real-time state of DSAMV at the time of transshipment. The main functions of this part include the transshipment and lifting of minerals collected by DSAMV, and at the same time that DSAMV unloads the minerals, the equal weight tail ore is sedentary mineral transshipment processing. It is injected into the center's tail mineral chamber to provide ballast to the DSAMV, and the DSAMV is replenished with electrical energy by a submarine wireless charging pile, and the DSAMV is equipped with a wireless power receiving module and a wirelessly coupled power carrier bidirectional communication module. The power carrier method realizes bidirectional high-speed data transmission and communication between the mining robot and the outside world. The buoyancy compensator balances the relationship between the gravity and buoyancy of the DSAMV, the propulsion device controls the attitude and weight, and the problem of being unrecoverable due to subsidence can be solved.

It is a schematic diagram of the whole structure of this invention. It is a schematic of the whole structure of the seating type mineral transshipment processing center of this invention. It is a schematic of the local structure of the seating type mineral transshipment processing center of this invention. It is a structural schematic diagram in which the mining crawler of the autonomous mining robot (DSAMV) of this invention is closed. It is a structural schematic view in which the mining crawler of the autonomous mining robot (DSAMV) of this invention is open.

FIG. 3 shows the process of mining, unloading, ballast loading, charging and communication.

Hereinafter, the present invention will be further described with reference to the drawings.

As shown in FIGS. 1, 2 and 3, it is a deep-sea multi-metal baby boom mining work system, specifically, a mining platform 1, a lifting pipe system 2, a mining robot 3 (DSAMV), and a seated mineral product. The replacement processing center 5 is included, the mining pipe system 2 includes a mining pipe 6 and a sludge pump 13, and a new mineral ascending pipe 7 and a tail ore descending pipe 8 are installed in the mining pipe 6, respectively. Both the mineral ascending pipe 7 and the tail ore descending pipe 8 are arranged along the vertical direction, and the sludge pump 13 is located at the center position of the bottom of the seated mineral transshipment processing center 5 (and in the new mineral storage 12). It is installed, connected to the new mineral riser pipe 7, and the mineral resources collected by DSAMV are lifted to the mining platform 1 for processing. The top end of the mine pipe 6 is connected to the mining platform 1, and the bottom end of the mine pipe 6 is connected to the seated mineral transshipment processing center 5 via a universal joint.

The seated mineral transshipment processing center 5 is installed as a columnar structure to transship and mine the minerals collected by the mining robot 3, and a 6-degree-of-freedom platform is installed inside the seated mineral transshipment processing center 5. The internal 6-degree-of-freedom platform is installed as a pillar structure with a fan-shaped cross section, which is divided into 6 blocks, and each degree-of-freedom platform is equipped with a transshipment center entrance / exit 14. At the bottom of the freedom platform are six corresponding fan-shaped mining areas 4, where the mining robot 3 works within the fan-shaped mining area 4 and the DSAMV enters and exits along the transshipment center doorway 14. ..

The tail mine 9 and the new mineral vault 12 are installed in order from top to bottom on the 6-degree-of-freedom platform, and the upper belt conveyor 10 and the lower belt conveyor are installed at the exit of the tail mine 9 and the entrance of the new mineral vault 12. 11 are installed respectively, the front end of the upper belt conveyor 10 is installed facing the outlet of the tail mine 9, and the end of the lower belt conveyor 11 is installed facing the entrance of the new mineral storage 12, and the upper belt is installed. The end of the conveyor 10 and the front end of the lower belt conveyor 11 are connected via a mining robot 3. The seated mineral transshipment processing center 5 injects equal weight of tailing into the ballast chamber at the same time as unloading the DSAMV, and during mining, a belt conveyor transportation method is used based on the change in the amount of minerals. Then, the Tailings are sown on the seabed and backfilled. This type of ballast adjustment method does not require sealing the ballast chamber, allows buoyancy adjustment over a large range, can be used repeatedly without limit of the number of times, and evenly backfills the tailing, thus protecting the environment of the seabed. It is advantageous to.

Inside the seated mineral transshipment processing center 5, a submarine wireless charging pile that replenishes the mining robot 3 with electric power is installed.

The mining robot 3 is installed as a crawler-type mining robot 3, and the DSAMV is the core equipment of the new deep-sea mining system, which is responsible for the collection and transportation of submarine multi-metal baby boom deposits, which have a crawler drive system and an autonomous work mode. Adopted, eliminating the umbilical cable of the mining robot and the flexible pipe for mineral transportation, the battery chamber 24 and the control center 25 are installed at the bottom of the DSAMV of the mining robot 3, and the battery is installed in the battery chamber 24 during work. The collected minerals are carried in the mineral chamber. A mineral chamber is provided above the mining robot 3, and a new mineral chamber 16 and a tail ore chamber 18 are formed inside the mineral chamber separated by a push plate 17, and the push plate 17 of the mineral chamber of the mining robot 3 is formed. Slide rails are installed at corresponding positions, the push plate 17 is movably fitted in the slide rail, the push plate 17 is driven by a motor, moves back and forth along the slide rail, and the push plate 17 The relative change in volume of the new mineral chamber 16 and the tail ore chamber 18 is controlled by the back-and-forth movement of.

A mining crawler 15 is laid at the bottom of the mineral chamber of the mining robot 3, a new mineral chamber 16 is opened when the mining crawler 15 is opened, and a new mineral chamber 16 is closed when the mining crawler 15 is closed.

A tailing plate 19 corresponding to the collection crawler 15 is installed in the chamber opening of the Tailing chamber 18 of the mining robot 3, and the top end of the Tailing plate 19 can be moved to the Tailing chamber 18 by a rotation axis. It is attached.

The buoyancy compensator 22 is installed in the mining robot 3, and the buoyancy compensator 22 includes a two-way cylinder and an oil bladder that communicate with each other, and an electromagnetic valve controls the opening and closing of the oil passage between the two-way cylinder and the oil bladder. The magnitude of buoyancy is adjusted by changing the amount of oil between the two-way cylinder and the oil bladder. The attitude information and upper load information of DSAMV are acquired by the manual line sensor 20, and the buoyancy and gravity and the center position of the buoyancy are adjusted based on the information of the manual line sensor 20 and the compression shear bearing capacity model of the ultrasoft bottom sediment. The program adopts a sliding mode control algorithm and adjustment policy to ensure the stability of DSAMV attitude control.

Since the amount of minerals carried in the mining process is constantly changing and impacts are also present, it is possible to maintain the weight of the entire DSAMV within a constant or small range and reduce the disturbance to the compressive shear bearing capacity of the ultrasoft sediment. It is extremely important to avoid tilting and settling of the vehicle body. A propulsion device 21 is also installed in the mining robot 3, and the propulsion device 21 is two sets of propellers installed symmetrically along both sides of the mining robot 3, and four propellers added to the four corners above the DSAMV. The propeller 21 can not only perform auxiliary control of attitude and weight, but also solve the problem of being unrecoverable due to sedimentation.

A wireless power receiving module and a wirelessly coupled power carrier bidirectional communication module are attached to the mining robot 3, and bidirectional high-speed data transmission and communication between the mining robot 3 and the outside world are realized by the power carrier method.

As shown in FIGS. 4 and 5, the specific operation process is as follows.

The doorway of the seated mineral transshipment processing center 5 opens, and the DSAMV of the autonomous mining robot 3 enters the fan-shaped mining area 4 along the doorway 14 of the transshipment center. At this time, the push plate 17 of the DMAV of the mining robot 3 is a mineral. At the forefront of the chamber, the DSAMV Tailings Chamber 18 is full of Tailings. When the collection crawler 15 in the mineral chamber of DSAMV is opened, the new mineral chamber 16 is opened, DSAMV performs mining work in the fan-shaped mining area 4, and the new minerals collected are newly collected along the collection crawler 15. Transported into the mineral chamber 16 and as the amount of minerals in the new mineral chamber 16 increases, the push plate 17 in the mineral chamber moves backward along the slide rail under the drive of a motor, thereby tailing ore. The tail ore in the chamber 18 is discharged out of the chamber along the open opening at the bottom of the tail ore plate 19 and is released while collecting ore. The manual line sensor 20 detects the stress status at the bottom of the new mineral chamber 16 and the tailing chamber 18 in real time, transmits the information to the control center 25 of the DRAMV, and controls the push speed of the push plate 17. Guarantee dynamic equilibrium of mineral collection and release.

If the relationship between the gravity and buoyancy of the DSAMV of the mining robot 3 changes during mining, the buoyancy compensators 22 symmetrically arranged on both sides of the robot start operating and adjust the size of the oil bladder to adjust the buoyancy. To control. When increased buoyancy is required, the solenoid valve is in the central position (each oil outlet is closed), the drive motor drives the operation of the pump, and the pressure value detected by the pressure sensor reaches the required value. At that time, the electromagnetic valve is displaced and the oil passage becomes conductive, the pump pumps oil from the oil chamber of the two-way cylinder to the oil bladder, the volume of the oil bladder increases, the volume of the buoyancy adjusting device 22 increases, and the buoyancy increases. However, the displacement sensor detects the position of the piston in real time, precisely controls the change in the amount of oil, and when the requirement is satisfied, the electromagnetic valve is displaced, the oil passage is closed, and the drive motor is stopped.

When reduction of buoyancy is required, the electromagnetic valve is in the central position, the drive motor drives the operation of the pump, and when the pressure value detected by the pressure sensor reaches the required value, the electromagnetic valve is displaced and the oil passage is opened. Conducting, the low pressure oil in the oil chamber of the two-way cylinder can push the high pressure seawater in the piston chamber, which eliminates the need for the pump to operate and simply controls the flow velocity with a one-way throttle valve from the oil bladder. Oil liquid transportation to the oil chamber can be realized.

When the volume of the buoyancy adjusting device 22 decreases and the buoyancy decreases, the displacement sensor detects the position of the piston in real time, precisely controls the change in the amount of oil, and when the requirement is satisfied, the solenoid valve is displaced. The oil passage closes, the solenoid valve moves to the center position, and the drive motor stops. Among them, the pressure sensor and the pressure sensor can perform real-time monitoring of the oil pressure of the oil chamber of the oil bladder and the two-way cylinder.

During mining, if the DSAMV of the mining robot 3 sinks to the seabed and the drive crawler 23 cannot operate normally, the propeller of the propulsion unit 21 starts operating to cause the DSAMV to come out of the hole. When the drive crawler 23 of the DSAMV of the mining robot 3 is pulled out from the seabed and the drive crawler 23 can operate normally, the propeller of the propeller 21 stops operating.

At the end of mining, the new mineral chamber 16 of the DSAMV of the mining robot 3 is already full, the Tailing chamber 18 is emptied, the Tailing plate 19 is closed, and the collection crawler 15 is closed. At this time, the robot enters the seated mineral transshipment processing center 5 from the entrance / exit of the seated mineral transshipment processing center 5 and performs mine unloading, unloading, ballast loading, charging, and communication. That is, after the DSAMV of the mining robot 3 enters the designated position of the seated mineral transshipment processing center 5, it is fixed to the chuck, and the entrance of the corresponding new mineral storage 12 and the exit of the tailing storage 9 are opened to charge and communicate. The mining robot 3 is replenished with electric power by the submarine wireless charging pile, and unloading and ballast loading are performed. That is, the DSAMV is stopped at the right end of the upper belt conveyor 10 and the right end of the lower belt conveyor 11, the mining crawler 15 of the new mineral chamber 16 of the DSAMV is opened, the new mineral chamber 16 is opened, and the new mineral chamber 16 is collected. Minerals are unloaded onto the lower belt conveyor 11, transported along the lower belt conveyor 11 into the new mineral storage 12, and after crushing and stirring, the sludge pump 13 operates to collect new minerals in the new mineral riser pipe 7. Fry along to the offshore mining platform 1. At the same time, an equal amount of tailing produced on the offshore mining platform 1 is carried to the robot's tailling chamber 18. That is, the Tailings after the mining vessel on the mining platform 1 has been beneficiated are unloaded into the Tailings 9 of the seated mineral transshipment processing center 5 through the Tailings descending pipe 8 and along the upper belt conveyor 10. By being horizontally transported into the Tailings chamber 18 of the DSAMV, it is possible to inject equal weight of Tailings into the Tailings chamber 18 and load the ballast at the same time as the unloading of the DSAMV. Inside, based on the change in the amount of minerals, the Tailings are sown on the seabed and backfilled using the transportation method of the belt conveyor. At this time, the push plate 17 in the robot has moved to the leftmost end. The new mineral chamber 16 is emptied, the volume of the new mineral chamber 16 is 0, and the robot is filled with taillings. This type of ballast adjustment method does not require sealing the ballast chamber (tailing chamber 18), allows buoyancy adjustment in a large range, can be used repeatedly without limitation, and the taillings are evenly backfilled. Therefore, it is advantageous for environmental protection on the seabed.

It should be noted that the above is by no means limiting to the present invention, and those skilled in the art can make some modifications, modifications, additions or replacements without departing from the substantial scope of the invention. Yes, their improvements and modifications should be considered to belong to the scope of protection of the present invention.

1 Mining platform 2 Mining pipe system 3 Mining robot 4 Fan-shaped mining area 5 Seated mineral transshipment processing center 6 Mining pipe 7 New mineral rising pipe 8 Tailing descending pipe 9 Tailing storage 10 Upper belt conveyor 11 Lower belt conveyor 12 New mineral storage 13 Sludge pump 14 Transshipment center entrance / exit 15 Mining crawler 16 New mineral chamber 17 Push plate 18 Tailing chamber 19 Tailing plate 20 Manual line sensor 21 Propulsion device 22 Floating force adjusting device 23 Drive crawler 24 Battery chamber 25 Control center

Claims (10)

It includes a mining platform, a mining pipe system, a mining robot, a seated mineral transshipment processing center, the mining pipe system includes a mining pipe and a sludge pump, and a new mineral rising pipe and a tail ore descending in the mining pipe. Each pipe is installed, the top end of the lifting pipe is connected to the mining platform, and the bottom end of the lifting pipe is connected to the seated mineral transshipment processing center via a universal joint. A multi-degree-of-freedom platform is installed inside the seated mineral transshipment processing center, and a tail mining and a new mineral storage are installed in this multi-degree-of-freedom platform in order from top to bottom. An upper belt conveyor and a lower belt conveyor are installed at the exit of the mine and the entrance of the new mineral storage, respectively, and the ends of the upper belt conveyor and the lower belt conveyor are connected via the mining robot. A deep-sea multi-metal baby boom is characterized in that a plurality of corresponding fan-shaped mining areas are provided below the multi-degree-of-freedom platform, and the mining robot works in the fan-shaped mining area. Mining work system. The seated mineral transshipment processing center is installed as a cylindrical structure to transship and mine the minerals collected by the mining robot, and the multi-degree-of-freedom platform inside the center is equally divided into several blocks. The deep-sea multi-metal baby boom mining work system according to claim 1, wherein the deep-sea multi-metal baby boom mining work system is installed as a columnar structure having a fan-shaped cross section, and a transshipment center entrance / exit is installed in each degree of freedom platform. The deep-sea polymetal according to claim 1 or 2, wherein a submarine wireless charging pile for replenishing electric power to the mining robot is installed inside the seated mineral transshipment processing center. Baby boomer deposit mining work system. The mining robot is installed as a crawler type mining robot, a mineral chamber is provided above the mining robot, and a new mineral chamber and a tailing chamber are formed inside the mining chamber separated by a push plate. The deep-sea multi-metal baby boom mining operation system according to claim 1, wherein the relative change in volume between the new mineral chamber and the tailing chamber is controlled by moving the push plate back and forth. A mining crawler is laid at the bottom of the mineral chamber of the mining robot, the new mineral chamber is opened when the mining crawler is opened, and the new mineral chamber is closed when the mining crawler is closed. The deep-sea multi-metal baby boomer ore mining work system according to claim 4. A tailing plate corresponding to the collecting crawler is installed at the chamber opening of the tailing chamber of the mining robot, and the top end of the tailing plate is movably attached to the tailing chamber by a rotation axis. The deep-sea multi-metal baby boomer ore mining work system according to claim 4, wherein the mining work system is characterized in that. A slide rail is installed at a position corresponding to the push plate of the mineral chamber of the mining robot, the push plate is movably fitted in the slide rail, and the push plate is driven by a motor. The deep-sea polymetal nodule mining work system according to claim 4, wherein the robot moves back and forth along the slide rail. A buoyancy compensator is installed in the mining robot, and the buoyancy compensator includes a two-way cylinder and an oil bladder that communicate with each other, and an electromagnetic valve controls the opening and closing of an oil passage between the two-way cylinder and the oil bladder. The deep-sea multi-metal baby boom mining work system according to claim 1 or 4, wherein the magnitude of buoyancy is adjusted by changing the amount of oil between the two-way cylinder and the oil bladder. A propulsion device is also installed in the mining robot, and the propulsion devices are two sets of propellers installed symmetrically along both sides of the mining robot, and the rotation of the propellers is the posture and weight of the mining robot. The deep-sea multi-metal baby boomer ore mining work system according to claim 1 or 4, wherein the robot is assisted and controlled. The mining robot is equipped with a wireless power receiving module and a wirelessly coupled power carrier bidirectional communication module, and realizes bidirectional high-speed data transmission and communication between the mining robot and the outside world by a power carrier method. Item 1. The deep-sea multi-metal baby boom mining work system according to Item 1.

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