Pile leg walking type mining robot

Abstract

Disclosed is a pile leg walking type manganese nodule mining robot. The robot includes a body, a pile walking mechanism, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism. The invention involves a stable and efficient deep-sea mining robot which can complete the mining task on the geological layer where the manganese nodule are located, and effectively protects the marine life and living environment in the deep-sea mining area. The existence environment of manganese nodule is also protected. After mining, the regeneration environment of living or other resources on the deep-sea floor will not be affected, thus greatly resolving the sharp contradiction between resource exploitation and environmental protection.

What is claimed is: 
     
         1 . A pile leg walking type mining robot, comprising:
 a body, pile walking mechanisms, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism;   wherein a number of the pile walking mechanisms is three; the pile walking mechanisms comprise a plurality of drive components and a plurality of lifting piles; three drive components are respectively provided on two sides of a middle wall of the body and the center of a tail of the body; the lifting piles and the drive components are respectively connected such that a horizontal or a vertical arrangement is achieved under the driving of the drive components; when the lifting piles are vertically arranged, the drive components drive the lifting piles to move back and forth in vertical and horizontal directions;   the vector propulsive mechanism comprises a plurality of vertical vector propellers and horizontal vector propellers evenly provided around the body;   the negative pressure suction mechanism is provided on the head of the body and configured for suction and transfer of benthic organisms; and   the manganese nodule cutter suction mechanism is provided on the head of the body and located between the head of the body and the negative pressure suction mechanism; the manganese nodule cutter suction mechanism is configured to suck manganese nodules.   
     
     
         2 . The pile leg walking type mining robot of  claim 1 , wherein the driving component further comprises a rotating part, a feeding hydraulic cylinder and a lifting part; the rotating part is connected with the body; a cylinder side wall of the feeding hydraulic cylinder is fixedly connected with a connecting end of the rotating part such, that a horizontal or Vertical arrangement is achieved under the rotation of the rotating part; and the lifting part, is connected with an end of a piston rod of the feeding hydraulic cylinder such that the lifting part drives the lifting pile to reciprocate vertically and horizontally. 
     
     
         3 . The pile leg walking type mining robot of  claim 2 , wherein the lifting part is provided with a build-in nut driven by power; the outer side of the lifting pile is provided with a screw thread; and the screw thread is threadedly connected with the nut. 
     
     
         4 . The pile leg walking type mining robot of  claim 1 , wherein the lifting pile is vertically arranged with a pointedly shaped bottom end. 
     
     
         5 . The pile leg walking type mining robot of  claim 1 , wherein the number of the vertical vector propeller is four; the four vertical vector propellers are evenly arranged on peripheral side walls of the body, and blades of the four vertical vector propellers are arranged horizontally; the number of the horizontal vector propellers is four; the four horizontal vector propellers are evenly arranged on the bottom wall of the body; and blades of the four horizontal vector propellers are arranged vertically. 
     
     
         6 . The pile leg walking type mining robot of  claim 1 , wherein the negative pressure suction mechanism comprises a negative pressure rotary platform, a negative pressure support arm, a negative pressure support, a biological transfer conveying hose, a flow rate adjustable water pump, a main water pump pipe and a negative pressure pipe; the negative pressure rotary platform is provided on the bottom wall of the head of the body; the negative pressure support arm comprises a plurality of bars, and one end of the negative pressure support arm is hinged with a rotating head of the negative pressure rotary platform; the negative pressure support is hinged with the other end of the negative pressure support arm; the biological transfer conveying hose is connected to the negative pressure support arm with one end opening toward the negative pressure support, and the other end opening toward the tail of the body; the flow rate adjustable water pump is provided on the body; one end of the main water pump pipe is connected with the flow rate adjustable water pump and the other end is connected with an open end of the biological transfer conveying hose toward the negative pressure support; and one end, of the negative pressure pipe is opened and fixed on the negative pressure support, and the other end is connected with the side wall of the main water pump pipe. 
     
     
         7 . The pile leg walking type mining robot of  claim 1 , wherein the manganese nodule cutter suction mechanism, comprises a rotary platform of cutter suction, arm, a cutter suction arm, a cutter suction head, a rotary actuator of cutter suction arm, a driving motor of cutter suction head, a mineral conveying hose, and a manganese nodule transition treatment cabin; the rotary platform of cutter suction arm is provided on the bottom wall of the head of the body; one end of the cutter suction arm is hinged with a rotary head of the rotary platform of cutter suction arm; the cutter suction head is rotatably connected to the other end of the cutter suction arm; the rotary actuator of cutter suction arm is provided on the side wall of the rotary platform of cutter suction arm and is configured to drive the cutter suction arm to rotate in a vertical direction; the driving motor of cutter suction head is provided on the cutter suction arm; a power output end of the driving motor of cutter suction head is fixedly connected to the cutter suction head; the mineral conveying hose is connected to the cutter suction arm with one opening end located below the cutter suction head; and the manganese nodule transition treatment tank is provided on the top surface of the body and connected to the other opening end of the mineral conveying hose. 
     
     
         8 . The pile leg walking type mining robot of  claim 1 , further comprising a buoyancy adjustment mechanism; the buoyancy adjustment mechanism comprises a ballast tank provided in an inner part of the body and a plurality of buoyancy adjustment oil bags provided on the top surface of the body. 
     
     
         9 . The pile leg walking type mining robot of  claim 1 , further comprising an environmental detection and sensing mechanism; the environmental detection and sensing mechanism comprises an HD underwater camera, a sonar and an ultra-bright underwater lamp provided on the top surface of the head of the body. 
     
     
         10 . The pile leg walking type mining robot of  claim 1 , an integrated pipe of umbilical cord cable and mineral hose for integrating lines and conveying minerals is connected at the tail of the body.