WO2021036169A1 - 一种海底多金属结核原位丰度评估装置及其评估系统 - Google Patents

一种海底多金属结核原位丰度评估装置及其评估系统 Download PDF

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Publication number
WO2021036169A1
WO2021036169A1 PCT/CN2020/071236 CN2020071236W WO2021036169A1 WO 2021036169 A1 WO2021036169 A1 WO 2021036169A1 CN 2020071236 W CN2020071236 W CN 2020071236W WO 2021036169 A1 WO2021036169 A1 WO 2021036169A1
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WIPO (PCT)
Prior art keywords
grab
weighing
frame
bucket
bin
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PCT/CN2020/071236
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English (en)
French (fr)
Inventor
曾轩
程阳锐
黎宙
郑皓
毛桂庭
彭建平
李小艳
彭赛锋
肖红
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长沙矿冶研究院有限责任公司
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Publication of WO2021036169A1 publication Critical patent/WO2021036169A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N5/00—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G17/00—Apparatus for or methods of weighing material of special form or property
    • G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
    • G01G17/06—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes having means for controlling the supply or discharge

Definitions

  • the invention relates to the technical field of deep-sea mining equipment, and in particular to an in-situ abundance evaluation device for seabed polymetallic nodules and an evaluation system thereof.
  • Seabed polymetallic nodules mostly occur in the seafloor at a depth of 3000-6000m. They are a very important seabed mineral resource. It contains 76 metal elements such as manganese, copper, nickel and cobalt. It is a scarce mineral resource on land. Commercial mining will greatly alleviate the problem of lack of mineral resources on land. Before mining, it is necessary to evaluate the coverage, particle size and abundance of polymetallic nodules on the seafloor and other parameters to illustrate the occurrence of polymetallic nodules on the seafloor.
  • the purpose of the present invention is to provide an in-situ abundance evaluation device and evaluation system for seabed polymetallic nodules, so as to solve the above-mentioned problems.
  • an in-situ abundance evaluation device for seabed polymetallic nodules which includes a frame and a hydraulic station installed on the frame, a weighing mechanism, a grab mechanism and an electronic warehouse.
  • the bin is electrically connected to the hydraulic station, the weighing mechanism and the grab mechanism.
  • the grab mechanism includes a grab, a grab left and right drive mechanism and a grab up and down drive mechanism.
  • the upper end of the grab up and down drive mechanism is connected to the grab mechanism.
  • the left and right drive mechanism of the grab bucket is connected, and the lower end is connected with the grab bucket.
  • the weighing mechanism includes a weighing bin and a weighing sensor.
  • One end of the weighing sensor is fixedly connected to the frame, and the other end is connected to the weighing bin
  • the left and right drive mechanism of the grab bucket is slidably connected to the frame to place the metal nodules grabbed by the grab bucket in the weighing bin, and an openable and closable discharge port is provided on the lower side of the weighing bin .
  • the weighing bin cleaning mechanism includes a water pump and a flushing nozzle.
  • a plurality of channels are evenly distributed on the outer wall of the weighing bin.
  • the water pump and the flushing nozzle are connected by pipelines, and the flushing nozzles are arranged toward the conical bottom of the weighing bin.
  • a rotating silo pivotally connected to the frame is provided below the discharge port, and a plurality of silo compartments that rotate opposite to the discharge port are provided on the rotating silo.
  • the rotating silo is provided with a silo cover to prevent the polymetallic nodules entering the silo room from escaping, and the silo cover is fixedly connected to the weighing bin or the rotating silo.
  • a drive motor is installed on the cover of the silo, the output shaft of the drive motor extends to the rotating silo, and an end of the drive motor is installed with a driving gear, and the driving gear is connected to the rotating silo.
  • the upper ring gear engages to drive the rotating silo to rotate.
  • the hydraulic station, the weighing mechanism, the grab mechanism and the electronic warehouse are installed in the protective space formed by the frame.
  • the grab left-right drive mechanism includes a grab left-right drive cylinder and a left and right sliding beam
  • the grab up-down drive mechanism includes a grab up and down drive cylinder
  • one end of the grab left and right drive cylinder is hinged with the frame
  • the other end is hinged to the left and right sliding beams
  • the left and right sliding beams are slidably connected to the frame
  • the lower ends of the left and right sliding beams are fixedly connected with the upper ends of the upper and lower driving cylinders of the grab
  • the lower ends of the grab upper and lower driving cylinders are connected to The grab is connected.
  • the grab mechanism further includes a sampling box, a grab drive cylinder, an X-shaped assembly, a first drive rod and a second drive rod, and the sampling box is installed at the lower end of the upper and lower drive cylinders of the grab.
  • the grab includes a first bucket and a second bucket. One end of the first bucket and the second bucket is hinged to the sampling box, and the other end of the first bucket is connected to the X-shaped One end of the first driven rod of the assembly is hinged, the other end of the second bucket is hinged to one end of the second driven rod of the X-shaped assembly, and the lower end of the grab drive cylinder is at the same time as the first drive rod. Is hinged to one end of the second driving rod, the other end of the first driving rod is hinged to the other end of the first driven rod, and the other end of the second driving rod is hinged to the second driven rod. The other end of the rod is hinged.
  • the frame is also provided with a depth sensor, a camera, a thruster and a short baseline array.
  • the present invention discloses a submarine polymetallic nodules in-situ abundance evaluation system, including the submarine polymetallic nodules in-situ abundance evaluation device described in the above scheme, and also includes a surface mother ship and a mother ship winch wound with a photoelectric composite cable , The photoelectric composite cable is detachably connected to the frame.
  • the present invention can realize multiple samplings through one deployment, and can perform instant weighing after sampling underwater, so that it can quickly perform the function of online abundance evaluation and calculation, and evaluate the abundance of seabed polymetallic materials in real time. High flexibility, many measurement points, and high accuracy. At the same time, each component is arranged in the frame structure, which can be more comprehensively protected against bumps, and the setting of the cleaning mechanism improves the real-time evaluation of abundance. Accuracy, furthermore, also has the function of underwater sampling.
  • Fig. 1 is a schematic front view of an in-situ abundance evaluation device for seabed polymetallic nodules disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic top view of a device for evaluating the abundance of seabed polymetallic nodules in situ according to an embodiment of the present invention
  • Figure 3 is a schematic diagram of the assembly of the grab mechanism and the grab left and right drive mechanism and the grab up and down drive mechanism disclosed in the embodiment of the present invention
  • FIG. 4 is a schematic diagram of the assembly structure of the weighing bin cleaning mechanism and the weighing mechanism disclosed in the embodiment of the present invention
  • Fig. 5 is a schematic front view of a rotating silo disclosed in an embodiment of the present invention.
  • Fig. 6 is a schematic top view of a rotating silo disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of the composition of the in-situ abundance evaluation system of seabed polymetallic nodules disclosed in an embodiment of the present invention.
  • the embodiment of the present invention first discloses a device for evaluating the abundance of seabed polymetallic nodules in situ, which includes a frame 1 and a hydraulic station installed on the frame 1, a weighing mechanism 3, and a grab Mechanism 4 and integrated electronic warehouse 5 (electronic warehouse 5 can be connected to surface mother ship 35 via photoelectric composite cable 36), hydraulic station 2 provides hydraulic power for various hydraulic cylinders and hydraulic motors, etc., well-sealed electronic warehouse 5 and hydraulic station 2.
  • the weighing mechanism 3 and the grab mechanism 4 are electrically connected.
  • the grab mechanism 4 includes the grab 6, the grab left and right drive mechanism 7 and the grab up and down drive mechanism 8. The upper end of the grab up and down drive mechanism 8 is driven by the grab left and right.
  • the mechanism 7 is connected, and the lower end is connected with the grab 6.
  • the weighing mechanism 3 includes a weighing bin 9 and a weighing sensor 10.
  • One end of the weighing sensor 10 is fixedly connected with the frame 1, and the other end is connected with the weighing bin 9, and the grab left and right drive mechanism 7 is slidably connected to the frame 1 to place the metal nodules grabbed by the grab 6 in the weighing bin 9, and the underside of the weighing bin 9 is provided with an openable and closable discharge port 11.
  • the grab left and right drive mechanism 7 includes a grab left and right drive cylinder 23 and a left and right sliding beam 24,
  • the grab up and down drive mechanism 8 includes a grab up and down drive cylinder 25, and the grab left and right drive cylinder 23 ends.
  • the frame 1 It is hinged to the frame 1, and the other end is hinged to the left and right sliding beams 24 to drive the left and right sliding beams 24 to move left and right.
  • the two ends of the left and right sliding beams 24 are slidably connected to the frame 1 through rollers 39.
  • the lower ends of the left and right sliding beams 24 are up and down with the grab
  • the upper end of the driving cylinder 25 is fixedly connected, and the lower end of the upper and lower driving cylinder 25 of the grab bucket is connected with the grab bucket 6, so that after the grab bucket 6 grabs the polymetallic nodules to be sampled and evaluated under the frame 1, it can rise and then the more The metal nodules are placed upside down in the weighing chamber 9 for weighing.
  • the present invention also includes a scale installed on the frame 1 and electrically connected to the electronic warehouse 5.
  • the weighing chamber cleaning mechanism 12, the weighing chamber cleaning mechanism 12 includes a water pump 13 and a flushing nozzle 14.
  • a plurality of through holes 15 are uniformly distributed on the outer wall of the weighing chamber 9, and the size of the through holes 15 is designed to be small to prevent nodule particles from passing through the holes.
  • the water pump 13 and the flushing nozzle 14 are connected by a pipeline 16.
  • the flushing nozzle 14 is set toward the conical bottom of the weighing bin 9.
  • a sliding bin 42 is installed on the left side of the grab mechanism 4, and the output port of the sliding bin 42 Tilt to the weighing bin 9 of the weighing mechanism 3 so that the weighing bin 9 can be suspended and installed on the rotating bin 17.
  • the valve is closed during flushing, the water pump 13 is turned on, and the water flows out from the flushing nozzle 14 through the pipeline 16, and the mixture in the weighing bin 9 is flushed. Due to the sparse and soft nature of the seabed sediments, the sediments are easily washed away from the through hole 15 and the polymetallic nodules are left in the weighing bin 9, respectively recording the tensile force F of the load cell 10 after the material does not enter the weighing bin 9 1 and the tensile force F 2 at this time, the underwater weight of the remaining nodules in the weighing bin 9 can be calculated as F 2 -F 1.
  • the density of nodules ⁇ is generally a certain value, and it can be calculated at this time
  • the volume V of the nodules can be used to calculate the weight of the nodules, and then the abundance n (weight of nodules per square meter) of nodules here can be estimated:
  • Nodule abundance n ⁇ was gV / s, s is the grab opening area;
  • the frame 1 in order to facilitate the grabbing of the grab 6 and the careful classification and storage, it is convenient for the frame 1 to rise to the surface mother ship 35, which can be specifically analyzed and verified.
  • a hinge with the frame 1 is provided under the discharge port 11.
  • the connected rotating silo 17 is provided with a plurality of silo rooms 18 that are opposite to the discharge port 11 through rotation, and the silo rooms 18 are fan-shaped cross-sections.
  • the rotating silo 17 is rotated to a fixed angle, so that the discharge port 11 is aligned with the next silo 18 to prepare for the next grab 6 The course of action.
  • the rotating silo 17 is provided with a silo cover 19 that prevents the polymetallic nodules entering the silo 18 from escaping, and the silo A small gap is set between the cover plates 19, and the bin cover plate 19 is fixedly connected to the weighing bin 9 or the rotating bin 17.
  • a drive motor 20 is installed on the silo cover 19, and the output shaft of the drive motor 20 extends to the rotating silo 17 and its end is installed with a driving gear 21.
  • the driving gear 21 and the teeth mounted on the rotating silo 17 The ring 22 is meshed to drive the rotating silo 17 to rotate.
  • the driving motor 20, the driving gear 21 and the ring gear 22 form an indexing mechanism for the rotating silo 17, and the rotating silo 17 is pivotally connected to the rotating shaft 40 installed on the frame 1.
  • the hydraulic station 2, the weighing mechanism 3, the grab mechanism 4, and the electronic warehouse 5 are installed in the protective space formed by the frame 1, so as to prevent the entire device from damaging the internal functional components when bumped.
  • the grab mechanism 4 further includes a sampling box 26, a grab drive cylinder 27, an X-shaped assembly, a first drive rod 28 and a second drive rod 29.
  • the sampling box 26 is installed on the upper and lower drive cylinders of the grab. At the lower end of 25, the sampling box 26 provides an articulated position for the grab 6 and an installation position for the grab drive cylinder 27.
  • the grab 6 includes a first bucket 30 and a second bucket 31.
  • One end of the first bucket 30 and the second bucket 31 is hinged with the sampling box 26 at the same position, and the other end of the first bucket 30 is connected to the X-shaped One end of the first driven rod 43 of the assembly is hinged, the other end of the second bucket 31 is hinged to one end of the second driven rod 44 of the X-shaped assembly, and the lower end of the grab drive cylinder 27 is simultaneously connected with the first drive rod 28 and One end of the second driving rod 29 is hinged, the other end of the first driving rod 28 is hinged to the other end of the first driven rod 43, and the other end of the second driving rod 29 is hinged to the other end of the second driven rod 44 Articulated.
  • the first driving rod 28 and the second driving rod 29 can be opened by driving the first bucket 30 and the second bucket 31 through the X-shaped assembly.
  • the piston rod of the driving cylinder 27 is retracted, the first bucket 30 and the second bucket 31 are opened and closed, and the polymetallic nodules on the seabed can be grasped.
  • the frame 1 is also provided with a depth sensor 32, a camera 33, a short baseline array 34, a height sensor 41, and a thruster 38.
  • the depth sensor 32 the depth parameters can be fed back to the surface mother ship 35, and the camera 33 That is to say, the remote control grab 6 grabs the polymetallic nodules, and realizes the underwater positioning of the frame 1 through the short baseline array 34.
  • the thruster 38 is used to adjust the position and yaw angle of the frame 1 when it is deployed underwater. .
  • the embodiment of the present invention discloses a submarine polymetallic nodules in-situ abundance evaluation system, as shown in Figure 7, including the above-mentioned scheme of submarine polymetallic nodules in-situ abundance evaluation device, in addition, also includes a surface mother ship 35 and The mother ship winch 37 on which the photoelectric composite cable 36 is wound.
  • the photoelectric composite cable 36 is a traction rope, which is detachably connected to the frame 1, and the photoelectric composite cable 36 supplies power and communication interaction to various functional components in the frame 1 through the photoelectric composite cable 36.

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Abstract

一种海底多金属结核原位丰度评估装置及其评估系统，包括框架(1)和安装在框架(1)上的液压站(2)、称重机构(3)、抓斗机构(4)和电子仓(5)，电子仓(5)与液压站(2)、称重机构(3)和抓斗机构(4)电气连接，抓斗机构(4)包括抓斗(6)、抓斗左右驱动机构(7)和抓斗上下驱动机构(8)，抓斗上下驱动机构(8)的上端与抓斗左右驱动机构(7)连接，下端与抓斗(6)连接，称重机构(3)包括称重仓(9)和称重传感器(10)，称重传感器(10)的一端与框架(1)固接，另一端与称重仓(9)连接，抓斗左右驱动机构(7)滑接在框架(1)上以将抓斗(6)抓取的金属结核放置于称重仓(9)内，称重仓(9)的下侧设置有可开闭的出料口(11)。通过一次布放，即可实现多次采样，并且可以在水下进行称重，从而可以快速进行丰度评估计算，对海底多金属的丰度进行实时评估。

Description

一种海底多金属结核原位丰度评估装置及其评估系统 技术领域
本发明涉及深海采矿装备技术领域，尤其涉及一种海底多金属结核原位丰度评估装置及其评估系统。
背景技术
海底多金属结核多赋存于水深3000-6000m深的海底，是一种十分重要的海底矿产资源，含有锰、铜、镍和钴等76种金属元素，是陆地上紧缺的矿产资源，如果进行商业开采，将能极大的缓解陆地上矿产资源缺乏的问题。而在，开采之前，需要对多金属结核在海底的覆盖率、粒径和丰度等参数进行评估，以说明多金属结核在海底的赋存情况。
目前，我国主要是采用无缆取样器、多频探测和光学深拖系统来计算该类指标，无缆取样器无法找出多金属结核连续分布规律，多频探测和光学深拖系统虽可探测出多金属结核的连续分布规律，但其精度比较低，而光学图像多金属结核覆盖率、粒径和丰度的精确计算是多金属结核连续分布分析的基础。由于多金属结核被沉积物覆盖的部分无法通过光学图像算出，所以粒径参数测量值准确率不高，造成丰度计算误差偏大。
发明内容
本发明目的在于提供一种海底多金属结核原位丰度评估装置及其评估系统，从而解决上述问题。
为实现上述目的，本发明首先公开了一种海底多金属结核原位丰度评估装置，包括框架和安装在所述框架上的液压站、称重机构、抓斗机构和电子仓，所述电子仓与所述液压站、称重机构和抓斗机构电气连接，所述抓斗机构包括抓斗、抓斗左右驱动机构和抓斗上下驱动机构，所述抓斗上下驱动机构的上端与所述抓斗左右驱动机构连接，下端与所述抓斗连接，所述称重机构包括称重仓和称重传感器，所述称重传感器的一端与所述框架固接，另一端与所述称重仓连接，所述抓斗左右驱动机构滑接在所述框架上以将所述抓斗抓取的金属结核放置于所述称重仓内，所述称重仓的下侧设置有可开闭的出料口。
进一步的，还包括安装在所述框架上且与所述电子仓电气连接的称重仓清洗机构，所述称重仓清洗机构包括水泵和冲洗喷头，所述称重仓的外壁上均布有多个通孔，所述水泵和冲洗喷头通过管路连接，所述冲洗喷头朝向所述称重仓的锥形底部设置。
进一步的，所述出料口的下方设置有一与框架枢接的旋转料仓，所述旋转料仓上设置有多个通过转动而与出料口相对的料仓间。
进一步的，所述旋转料仓上设置有一防止进入料仓间内的多金属结核逸散的料仓盖板，所述料仓盖板与所述称重仓或者旋转料仓固接。
进一步的，所述料仓盖板上安装有一驱动电机，所述驱动电机的输出轴向所述旋转料仓延伸且其端部安装有一主动齿轮，所述主动齿轮与安装在所述旋转料仓上的齿圈啮合以驱动所述旋转料仓转动。
进一步的，所述液压站、称重机构、抓斗机构和电子仓安装在所述框架所形成的防护空间内。
进一步的，所述抓斗左右驱动机构包括抓斗左右驱动油缸和左右滑动横梁，所述抓斗上下驱动机构包括抓斗上下驱动油缸，所述抓斗左右驱动油缸的一端与所述框架铰接，另一端与所述左右滑动横梁铰接，所述左右滑动横梁与所述框架滑接，该左右滑动横梁下端与所述抓斗上下驱动油缸的上端固接，所述抓斗上下驱动油缸的下端与所述抓斗连接。
进一步的，所述抓斗机构还包括取样箱、抓斗驱动油缸、X形组件、第一驱动杆件和第二驱动杆件，所述取样箱安装在所述抓斗上下驱动油缸的下端，所述抓斗包括第一铲斗和第二铲斗，所述第一铲斗和第二铲斗的一端均与所述取样箱铰接，所述第一铲斗的另一端与所述X形组件的第一从动杆的一端铰接，所述第二铲斗的另一端与所述X形组件的第二从动杆一端铰接，所述抓斗驱动油缸的下端同时与第一驱动杆件和第二驱动杆件的一端铰接，所述第一驱动杆件的另一端与所述第一从动杆的另一端铰接，所述第二驱动杆件的另一端与所述第二从动杆的另一端铰接。
进一步的，所述框架上还设置有深度传感器、摄像头、推进器和短基线基阵。
然后，本发明公开了一种海底多金属结核原位丰度评估系统，包括上述方案所述的海底多金属结核原位丰度评估装置，还包括水面母船和卷绕有光电复合缆的母船绞车，所述光电复合缆与所述框架可拆式连接。
与现有技术相比，本发明的优点在于：
本发明通过一次布放，即可实现多次采样，并且可以在水下进行采样后的即时称重，从而可以快速进行在线丰度评估计算的功能，对海底多金属的丰度实时评估，具有灵活性高，测量点多，准确度高的有点，同时各个组成部件布设在框架结构内，进而能够对其进行更全面的防磕碰等保护，而清洗机构的设置，提升了丰度实时评估的精度，进一步的，也兼具有水下采样的功能。
下面将参照附图，对本发明作进一步详细的说明。
附图说明
构成本申请的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及 其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明实施例公开的海底多金属结核原位丰度评估装置的主视示意图；
图2为本发明实施例公开的海底多金属结核原位丰度评估装置的俯视示意图；
图3为本发明实施例公开的抓斗机构、抓斗左右驱动机构抓斗上下驱动机构的装配示意图；
图4为本发明实施例公开的称重仓清洗机构和称重机构的装配结构示意图；
图5为本发明实施例公开的旋转料仓的主视示意图；
图6为本发明实施例公开的旋转料仓的俯视示意图；
图7为本发明实施例公开的海底多金属结核原位丰度评估系统的组成示意图。
图例说明：
1、框架；2、液压站；3、称重机构；4、抓斗机构；5、电子仓；6、抓斗；7、抓斗左右驱动机构；8、抓斗上下驱动机构；9、称重仓；10、称重传感器；11、出料口；12、称重仓清洗机构；13、水泵；14、冲洗喷头；15、通孔；16、管路；17、旋转料仓；18、料仓间；19、料仓盖板；20、驱动电机；21、主动齿轮；22、齿圈；23、抓斗左右驱动油缸；24、左右滑动横梁；25、抓斗上下驱动油缸；26、取样箱；27、抓斗驱动油缸；28、第一驱动杆件；29、第二驱动杆件；30、第一铲斗；31、第二铲斗；32、深度传感器；33、摄像头；34、短基线基阵；35、水面母船；36、光电复合缆；37、母船绞车；38、推进器；39、滚轮；40、转轴；41、高度传感器；42、滑仓；43、第一从动杆；44、第二从动杆。
具体实施方式
以下结合附图对本发明的实施例进行详细说明，但是本发明可以由权利要求限定和覆盖的多种不同方式实施。
如图1-图6所示，本发明实施例首先公开了一种海底多金属结核原位丰度评估装置，包括框架1和安装在框架1上的液压站2、称重机构3、抓斗机构4和集成式的电子仓5(电子仓5可以通过光电复合缆36与水面母船35连接)，液压站2为各个液压油缸和液压马达等提供液压动力，密封良好的电子仓5与液压站2、称重机构3和抓斗机构4电气连接，抓斗机构4包括抓斗6、抓斗左右驱动机构7和抓斗上下驱动机构8，抓斗上下驱动机构8的上端与抓斗左右驱动机构7连接，下端与抓斗6连接，称重机构3包括称重仓9和称重传感器10，称重传感器10的一端与框架1固接，另一端与称重仓9连接，抓斗左右驱动机构7滑接在框架1上以将抓斗6抓取的金属结核放置于称重仓9内，称重仓9的下侧设置有可开闭的出料口11。具体的，在本实施例中，抓斗左右驱动机构7包括抓斗左右驱动油缸23和左右滑动横梁24，抓斗上下驱动机构8包括抓斗上下驱动油缸25，抓斗左右驱动油缸23的一端与框 架1铰接，另一端与左右滑动横梁24铰接，进而驱动左右滑动横梁24左右运动，而左右滑动横梁24的两端通过滚轮39与框架1滑接，该左右滑动横梁24下端与抓斗上下驱动油缸25的上端固接，抓斗上下驱动油缸25的下端与抓斗6连接，从而当抓斗6抓取框架1下方待取样评估的多金属结核后，即可上升然后将其内的多金属结核倒放在称重仓9称重。其中，抓斗6抓取的多金属结核中含有较多的淤泥杂质，为了将其清洗掉，提高称重的准确性，本发明还包括安装在框架1上且与电子仓5电气连接的称重仓清洗机构12，称重仓清洗机构12包括水泵13和冲洗喷头14，称重仓9的外壁上均布有多个通孔15，其中通孔15尺寸设计得较小，以防止结核颗粒从通孔15中逸散出去，水泵13和冲洗喷头14通过管路16连接，冲洗喷头14朝向称重仓9的锥形底部设置，当冲洗喷头14向称重仓9内的多金属结核后，稀软的淤泥底质即可通过通孔15流出。其中，为了合理地安装称重机构3、抓斗机构4和旋转料仓17，参见附图1和附图2，在抓斗机构4的左侧安装有滑仓42，滑仓42的输出口倾斜向称重机构3的称重仓9，从而称重仓9可以悬挂安装在旋转料仓17上。
其中，在本实施例中，称重的过程、原理如下：
抓斗6抓取的沉积物和结核混合物进入称重仓9后，此时冲洗时阀门处于关闭状态，开启水泵13，水通过管路16从冲洗喷头14流出，对称重仓9中的混合物进行冲洗，由于海底沉积物稀软的特性，沉积物很容易冲散从通孔15流出，留下的多金属结核留存在称重仓9内，分别记录物料未进入称重仓9后称重传感器10的拉力F 1和此时的拉力F 2，即可算出称重仓9内剩余结核的水下重量为F 2-F 1，根据统计资料，可知结核的密度ρ 物一般为一定值，此时即可推算出结核的体积V，从而算出结核的重量，进而即可可对此处结核的丰度n(每平方米结核的重量)进行估算：
结核体积计算：F 2-F 1＝mg-ρ 液gV＝ρ 物gV-ρ 液gV；
结核丰度n：n＝ρ 物gV/s，s为抓斗开口面积；
待测量完成后，打开出料口11处电控阀门，物料进入排料管排出。
在本实施例中，为了方便对抓斗6抓取得结合精心分类储存，便于框架1上升到水面母船35后，可以对其进行具体分析和验证，出料口11的下方设置有一与框架1枢接的旋转料仓17，旋转料仓17上设置有多个通过转动而与出料口11相对的料仓间18，料仓间18为扇形截面。当其中一个料仓间18储存完抓斗6一次抓取物料后，旋转料仓17即转动定角度，从而使出料口11与下一个料仓间18对准以准备下一次抓斗6的动作过程。具体的，为了防止在出料口11卸料过程中，结核颗粒的逸散，旋转料仓17上设置有一防止进入料仓间18内的多金属结核逸散的料仓盖板19，料仓盖板19之间设置为较小的间隙，料仓盖板19与称重 仓9或者旋转料仓17固接。具体的，料仓盖板19上安装有一驱动电机20，驱动电机20的输出轴向旋转料仓17延伸且其端部安装有一主动齿轮21，主动齿轮21与安装在旋转料仓17上的齿圈22啮合以驱动旋转料仓17转动，驱动电机20、主动齿轮21和齿圈22形成旋转料仓17的分度机构，旋转料仓17与安装在框架1上的转轴40枢接。
在本实施例中，液压站2、称重机构3、抓斗机构4和电子仓5安装在框架1所形成的防护空间内，从而可以防止整个装置收到磕碰时损害内部的各功能组件。
在本实施例中，抓斗机构4还包括取样箱26、抓斗驱动油缸27、X形组件、第一驱动杆件28和第二驱动杆件29，取样箱26安装在抓斗上下驱动油缸25的下端，取样箱26为抓斗6提供铰接位置，也为抓斗驱动油缸27提供安装位置。其中抓斗6包括第一铲斗30和第二铲斗31，第一铲斗30和第二铲斗31的一端在同一位置与取样箱26铰接，第一铲斗30的另一端与X形组件的第一从动杆43的一端铰接，第二铲斗31的另一端与X形组件的第二从动杆44一端铰接，抓斗驱动油缸27的下端同时与第一驱动杆件28和第二驱动杆件29的一端铰接，第一驱动杆件28的另一端与第一从动杆43的另一端铰接，第二驱动杆件29的另一端与第二从动杆44的另一端铰接。当抓斗驱动油缸27的活塞杆伸出时，第一驱动杆件28和第二驱动杆件29即通过可通过X形组件驱动第一铲斗30和第二铲斗31打开，当抓斗驱动油缸27的活塞杆回缩时，第一铲斗30和第二铲斗31打开关闭，即可抓取海底的多金属结核。
在本实施例中，框架1上还设置有深度传感器32、摄像头33、短基线基阵34、高度传感器41和推进器38，通过深度传感器32即可向水面母船35反馈深度参数，通过摄像头33即可远程遥控抓斗6抓取多金属结核的过程，通过短基线基阵34实现框架1的水下定位，推进器38用于框架1的水下布放时的位置、偏摆角度的调整。
然后，本发明实施例公开了一种海底多金属结核原位丰度评估系统，如图7所示，包括上述方案的海底多金属结核原位丰度评估装置，此外，还包括水面母船35和卷绕有光电复合缆36的母船绞车37。光电复合缆36为牵引绳索，与框架1可拆式连接，通过光电复合缆36向框架1内的各功能部件供电、通讯交互等。
以上仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种海底多金属结核原位丰度评估装置，其特征在于，包括框架(1)和安装在所述框架(1)上的液压站(2)、称重机构(3)、抓斗机构(4)和电子仓(5)，所述电子仓(5)与所述液压站(2)、称重机构(3)和抓斗机构(4)电气连接，所述抓斗机构(4)包括抓斗(6)、抓斗左右驱动机构(7)和抓斗上下驱动机构(8)，所述抓斗上下驱动机构(8)的上端与所述抓斗左右驱动机构(7)连接，下端与所述抓斗(6)连接，所述称重机构(3)包括称重仓(9)和称重传感器(10)，所述称重传感器(10)的一端与所述框架(1)固接，另一端与所述称重仓(9)连接，所述抓斗左右驱动机构(7)滑接在所述框架(1)上以将所述抓斗(6)抓取的金属结核放置于所述称重仓(9)内，所述称重仓(9)的下侧设置有可开闭的出料口(11)。
  2. 根据权利要求1所述的海底多金属结核原位丰度评估装置，其特征在于，还包括安装在所述框架(1)上且与所述电子仓(5)电气连接的称重仓清洗机构(12)，所述称重仓清洗机构(12)包括水泵(13)和冲洗喷头(14)，所述称重仓(9)的外壁上均布有多个通孔(15)，所述水泵(13)和冲洗喷头(14)通过管路(16)连接，所述冲洗喷头(14)朝向所述称重仓(9)的锥形底部设置。
  3. 根据权利要求1所述的海底多金属结核原位丰度评估装置，其特征在于，所述出料口(11)的下方设置有一与框架(1)枢接的旋转料仓(17)，所述旋转料仓(17)上设置有多个通过转动而与出料口(11)相对的料仓间(18)。
  4. 根据权利要求3所述的海底多金属结核原位丰度评估装置，其特征在于，所述旋转料仓(17)上设置有一防止进入料仓间(18)内的多金属结核逸散的料仓盖板(19)，所述料仓盖板(19)与所述旋转料仓(17)固接。
  5. 根据权利要求4所述的海底多金属结核原位丰度评估装置，其特征在于，所述料仓盖板(19)上安装有一驱动电机(20)，所述驱动电机(20)的输出轴向所述旋转料仓(17)延伸且其端部安装有一主动齿轮(21)，所述主动齿轮(21)与安装在所述旋转料仓(17)上的齿圈(22)啮合以驱动所述旋转料仓(17)转动。
  6. 根据权利要求1-5任一所述的海底多金属结核原位丰度评估装置，其特征在于，所述液压站(2)、称重机构(3)、抓斗机构(4)和电子仓(5)安装在所述框架(1)所形成的防护空间内。
  7. 根据权利要求1-5任一所述的海底多金属结核原位丰度评估装置，其特征在于，所述抓斗左右驱动机构(7)包括抓斗左右驱动油缸(23)和左右滑动横梁(24)，所述抓斗上下驱动机构(8)包括抓斗上下驱动油缸(25)，所述抓斗左右驱动油缸(23)的一端与所述框架(1)铰接，另一端与所述左右滑动横梁(24)铰接，所述左右滑动横梁(24)与所述框架 (1)滑接，该左右滑动横梁(24)下端与所述抓斗上下驱动油缸(25)的上端固接，所述抓斗上下驱动油缸(25)的下端与所述抓斗(6)连接。
  8. 根据权利要求7所述的海底多金属结核原位丰度评估装置，其特征在于，所述抓斗机构(4)还包括取样箱(26)、抓斗驱动油缸(27)、X形组件、第一驱动杆件(28)和第二驱动杆件(29)，所述取样箱(26)安装在所述抓斗上下驱动油缸(25)的下端，所述抓斗(6)包括第一铲斗(30)和第二铲斗(31)，所述第一铲斗(30)和第二铲斗(31)的一端均与所述取样箱(26)铰接，所述第一铲斗(30)的另一端与所述X形组件的第一从动杆(43)的一端铰接，所述第二铲斗(31)的另一端与所述X形组件的第二从动杆(44)一端铰接，所述抓斗驱动油缸(27)的下端同时与第一驱动杆件(28)和第二驱动杆件(29)的一端铰接，所述第一驱动杆件(28)的另一端与所述第一从动杆(43)的另一端铰接，所述第二驱动杆件(29)的另一端与所述第二从动杆(44)的另一端铰接。
  9. 根据权利要求1-5任一所述的海底多金属结核原位丰度评估装置，其特征在于，所述框架(1)上还设置有深度传感器(32)、摄像头(33)、推进器(38)和短基线基阵(34)。
  10. 一种海底多金属结核原位丰度评估系统，包括上述权利要求1-9任一所述的海底多金属结核原位丰度评估装置，其特征在于，还包括水面母船(35)和卷绕有光电复合缆(36)的母船绞车(37)，所述光电复合缆(36)与所述框架(1)可拆式连接。
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