Seabed deposit excavator

Abstract

To provide a seabed deposit excavator capable of recovering seabed resources through reduction of uncollected resources on a sea bottom in an uneven terrain shape.SOLUTION: A seabed deposit excavator includes an excavation device fixed on an excavator body capable of traveling in a first direction. The excavation device includes: a pair of arms which extend in the first direction from the excavator body, are arranged apart from each other in a second direction, and can independently swing in a vertical direction with respect to the excavator body; an excavation drum which can rotate around a rotation axis extending in the second direction, and in which a cutter part capable of contacting with a sea bottom is formed on an outer peripheral surface, and both ends in the second direction are respectively connected to the pair of arms via a universal joint; a telescopic beam in which both ends in the second direction are connected to the pair of arms via a universal joint, and which can be extended / contracted in the second direction; and a connection mechanism which has a beam energizing part for performing energizing so that an extension / contraction length of the telescopic beam becomes an initial length.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an offshore mineral drilling machine. [Background technology]

[0002] Various seabed resources exist on the seabed, such as hydrothermal deposits, cobalt-rich crusts, manganese crusts, methane hydrates, etc. When mining such seabed resources, a seabed ore drilling machine is used.

[0003] For example, Patent Document 1 describes an example of such a seabed mineral deposit drilling machine, which has a structure including a main body frame on which a pair of left and right crawlers are arranged, and a drilling device arranged ahead of the main body frame via a drilling boom so that it can swing up, down, left and right. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-77526 A Summary of the Invention [Problem to be solved by the invention]

[0005] Among seabed resources, for example, cobalt-rich crust is deposited thinly and widely on the surface layer of the seabed. Therefore, in order to collect the cobalt-rich crust, it is necessary to shallowly excavate the surface layer of the seabed at a certain depth. However, the seabed has an uneven shape with many projections and recesses and is not a flat surface. On such a seabed, it is easy for some of the excavation to be left unfinished, and there is a possibility that a large amount of seabed resources will not be recovered. Therefore, there is a demand for efficient recovery of seabed resources from an uneven seabed while minimizing the amount of material left behind.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a seabed mineral deposit excavation machine that efficiently recovers seabed resources while minimizing the amount of material left behind even on an uneven seabed. [Means for solving the problem]

[0007] In order to solve the above problems, the seabed deposit drilling machine of the present disclosure comprises an excavator body capable of traveling in a first direction, and a drilling device fixed to the excavator body, the drilling device comprising a pair of arms extending from the excavator body in the first direction, arranged at a distance in a vertical direction and a second direction perpendicular to the first direction, and capable of swinging independently of each other in the vertical direction relative to the excavator body, a drilling drum that is rotatable around a rotation axis extending in the second direction and has a cutter section on its outer circumferential surface that can contact the seabed, and both ends in the second direction are connected to the pair of arms via universal joints, an extendable beam that is connected to the pair of arms via universal joints at both ends in the second direction and is extendable in the second direction, and a connecting mechanism having a beam biasing section that biases the extendable length of the extendable beam to its initial length. Effect of the Invention

[0008] According to the seabed mineral deposit excavation machine disclosed herein, marine resources that are spread out at a certain depth on the surface of an uneven seabed can be efficiently recovered with minimal residue left behind. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram illustrating an undersea deposit drilling machine according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram showing the layout of a drilling rig according to an embodiment of the present disclosure, viewed vertically from below. [Diagram 3] 4 is a schematic diagram showing the drilling device according to the embodiment of the present disclosure as viewed from a second direction. FIG. [Figure 4] 1 is a rear view showing the drilling device according to an embodiment of the present disclosure, viewed from the rear in a first direction. FIG. [Diagram 5] FIG. 2 is a side view illustrating a drilling rig performing a pitching motion according to an embodiment of the present disclosure. [Figure 6]FIG. 1 is a rear view illustrating a state in which the drilling rig performs a rolling motion according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments for carrying out the seabed mineral deposit drilling machine 1 according to the present disclosure will be described with reference to the accompanying drawings. However, the present disclosure is not limited to only these embodiments.

[0011] (Seabed ore drilling machine) The sea-floor ore deposit drilling machine 1 is a machine that excavates sea-floor resources such as hydrothermal deposits, cobalt-rich crust, manganese crust, methane hydrate, etc. The sea-floor ore deposit drilling machine 1 of this embodiment excavates cobalt-rich crust covering the surface layer (about 1 cm to 25 cm) of the sea-floor F. Therefore, the sea-floor ore deposit drilling machine 1 is operated underwater (particularly in the deep sea). As shown in FIG. 1, the sea-floor ore deposit drilling machine 1 includes an excavator main body 2 and an excavation device 3.

[0012] (Excavator body) The excavator body 2 is capable of traveling on the seabed F. The excavator body 2 is capable of traveling in a first direction D1. The excavator body 2 is disposed above the excavation device 3 in the vertical direction Dv. The excavator body 2 has a plurality of crawlers 21. A pair of the crawlers 21 are disposed spaced apart in the first direction D1.

[0013] In this embodiment, the traveling direction of the excavator body 2, which intersects with the vertical direction Dv (perpendicular in this embodiment), is referred to as the first direction D1. Furthermore, one side of the first direction D1, on which the excavator body 2 advances, is referred to as the forward side D1f. Moreover, the other side of the first direction D1, on which the excavator body 2 retreats opposite the forward side D1f, is referred to as the rearward side D1r. Moreover, the width direction of the excavator body 2, which intersects with the first direction D1 and the vertical direction Dv (perpendicular in this embodiment), is referred to as the second direction D2 (see FIG. 2). The first direction D1 and the second direction D2 may be directions that intersect with the vertical direction Dv but are not perpendicular to it, depending on the inclination of the seabed F on which the excavator body 2 is traveling.

[0014] (Drilling rig) The drilling device 3 excavates the surface layer of the seabed F. The drilling device 3 rolls up the gravel soil generated after excavation to both sides of the rear D1r in the first direction D1 and the second direction D2 with respect to the drilling device 3. The drilling device 3 is fixed downward in the vertical direction Dv with respect to the excavator body 2. A plurality of drilling devices 3 (two rows in this embodiment) are arranged between the crawlers 21 in the first direction D1. As shown in FIG. 2, the drilling devices 3 of this embodiment are arranged not only in the first direction D1 but also in the second direction D2. The plurality of drilling devices 3 arranged in the first direction D1 and the second direction D2 are arranged so as not to interfere with each other. The drilling devices 3 arranged in the first direction D1 are arranged with their positions in the second direction D2 shifted from each other with respect to the other drilling devices 3. In other words, the plurality of drilling devices 3 are arranged in the first direction D1 and the second direction D2 in a different manner from each other so as to be in a zigzag pattern when viewed from the vertical direction Dv. Further, the drilling devices 3 (the drilling devices 3 in the front row) arranged at the front D1f in the first direction D1 are arranged without a gap by the width of the drilling machine body 2 in the second direction D2. Furthermore, the drilling devices 3 (the drilling devices 3 in the rear row) arranged at the rear D1r in the first direction D1 are arranged so as to be located between the two drilling devices 3 at the front D1f in the second direction D2. This allows the multiple drilling devices 3 to excavate the seabed F at the bottom of the drilling machine body 2 without a gap by the width of the drilling machine body 2 in the second direction D2. As shown in Figures 3 and 4, the drilling device 3 of this embodiment includes a base part 4, a pair of arms 5, and a first universal joint 60 having a function of receiving the rotational force of the drilling drum 6 on at least one side and a function of extending in the second direction D2, the drilling drum 6, a connecting mechanism 7, a second universal joint 70, and a damping part 8.

[0015] In the following, various configurations of the drilling device 3 will be described using an example in which the sea-floor ore deposit drilling machine 1 is placed on a horizontal seabed F.

[0016] The base portion 4 can be fixed in an immovable state to the bottom surface 20, which is the outer surface of the excavator body 2. The base portion 4 rotatably supports the arm 5. The base portion 4 protrudes downward in the vertical direction Dv from the bottom surface 20 of the excavator body 2. The base portions 4 are arranged so that one base portion 4 corresponds to one arm 5. Therefore, in this embodiment, two base portions 4 are fixed to the excavator body 2 at a distance from each other in the second direction D2.

[0017] The pair of arms 5 extend from the excavator body 2 in a first direction D1. The pair of arms 5 are arranged spaced apart from each other in the second direction D2 relative to the excavator body 2. The pair of arms 5 are capable of swinging independently of each other in the vertical direction Dv relative to the excavator body 2. The pair of arms 5 hold an excavation drum 6 in a swingable manner. In addition, the base ends of the pair of arms 5 are each connected to the excavator body 2 rotatably around a first imaginary axis O1 extending in the second direction D2. The arm 5 in this embodiment has an arm body 51 and a drum holding portion 52.

[0018] A base end of the arm body 51 is supported rotatably around a first imaginary axis O1 extending in the second direction D2 with respect to the base portion 4. The arm body 51 extends from the base portion 4 toward the rear D1r in the first direction D1. Therefore, the arm body 51 has a tip end positioned rearward D1r in the first direction D1 with respect to the base end, which is movable in the vertical direction Dv so as to rotate around the first imaginary axis O1.

[0019] The drum holding part 52 extends downward in the vertical direction Dv from the arm body 51. The drum holding part 52 extends from a middle part of the arm body 51 in the first direction D1. The drum holding part 52 rotatably supports the drilling drum 6 via a first universal joint 60. Therefore, the drum holding part 52 is connected to the drilling drum 6 so as to change the angle of the drilling drum 6 to any angle.

[0020] The drilling drum 6 excavates the surface layer of the seabed F by rotation. The drilling drum 6 is rotatable around a rotation axis O extending in the second direction D2. A bit 62 capable of contacting the seabed F is formed on the outer circumferential surface of the drilling drum 6. Both ends of the drilling drum 6 in the second direction D2 are respectively connected to the pair of arms 5 via first universal joints 60. The drilling drum 6 of this embodiment has a rotating drum 61 and a bit 62.

[0021] The rotating drum 61 is driven to rotate around the rotation axis O. The rotating drum 61 is formed in a cylindrical shape centered around the rotation axis O. The rotating drum 61 can be rotated in either clockwise or counterclockwise direction around the rotation axis O by a motor (not shown). In other words, the rotating drum 61 can excavate the surface layer of the seabed F regardless of the rotation direction. In particular, when the rotating drum 61 rotates counterclockwise as viewed from the second direction D2, it can excavate only the surface layer ore with a uniform grain size for the seabed F having brittle rock such as cobalt-rich rock. In addition, the ends of the rotating drum 61 are rotatably supported by the drum holding portion 52 via the first universal joint 60. In other words, both ends of the rotating drum 61 are supported by the first universal joint 60 in a state in which they can be changed to any angle with respect to the different drum holding portions 52. As a result, the rotating drum 61 is movable between a pair of drum holding portions 52 spaced apart in the second direction D2 such that the rotation axis O is inclined in the second direction D2 and the vertical direction Dv.

[0022] The bits 62 excavate the seabed F by coming into contact with the seabed F. The bits 62 are cutter units attached in plurality to the periphery of the rotating drum 61. The bits 62 are arranged so as to protrude outward from the outer circumferential surface of the rotating drum 61.

[0023] The connecting mechanism 7 is connected to the pair of arms 5 via second universal joints 70 in a freely rotatable state. The connecting mechanism 7 is connected to the tips of the pair of arms 5. The connecting mechanism 7 always maintains the pair of arms 5 in a connected state even if the tips of the pair of arm bodies 51 are disposed at different positions in the vertical direction Dv. The connecting mechanism 7 of this embodiment has an extendable beam 71 and a beam biasing portion 72.

[0024] The telescopic beam 71 is telescopic in the second direction D2. Both ends of the telescopic beam 71 in the second direction D2 are connected to the pair of arms 5. The ends of the telescopic beam 71 in the second direction D2 are connected to the ends of the arm bodies 51 via the second universal joints 70. The ends of the arm bodies 51 are the ends of the arms 5 in the first direction D1. Therefore, even if the positions of the ends of the pair of arm bodies 51 in the vertical direction Dv are misaligned, the telescopic beam 71 telescopically expands and contracts to follow the positions of the ends of the pair of arm bodies 51. The telescopic beam 71 of this embodiment has a first beam member 711 and a second beam member 712. The first beam member 711 and the second beam member 712 are connected in a state in which they can move relatively in the second direction D2. The end of the first beam member 711 that is not connected to the second beam member 712 is connected to the end of one of the arm bodies 51 by the second universal joint 70. The second beam member 712 has an end portion not connected to the first beam member 711 connected to the tip of the other arm body 51 not connected to the first connecting member.

[0025] The beam biasing portion 72 biases the telescopic beam 71 so that the telescopic length of the telescopic beam 71 becomes the initial length. The beam biasing portion 72 biases the telescopic beam 71 in both the extending direction and the contracting direction in the second direction D2. The beam biasing portion 72 is fixed to the telescopic beam 71. The beam biasing portion 72 of this embodiment has a first biasing portion 721, a second biasing portion 722, and a third biasing portion 723.

[0026] The first urging portion 721, the second urging portion 722, and the third urging portion 723 urge the telescopic beam 71 independently. The first urging portion 721, the second urging portion 722, and the third urging portion 723 are spring dampers. One end of the first urging portion 721, the second urging portion 722, and the third urging portion 723 is connected to the first beam member 711, respectively. The other end of the first urging portion 721, the second urging portion 722, and the third urging portion 723 is connected to the second beam member 712, respectively. Specifically, the first urging portion 721, the second urging portion 722, and the third urging portion 723 urge the first beam member 711 and the second beam member 712 as a whole in both the approaching direction and the separating direction in the second direction D2. Specifically, the first biasing portion 721 biases the first beam member 711 and the second beam member 712 in directions away from each other in the second direction D2. Conversely, the second biasing portion 722 and the third biasing portion 723 bias the first beam member 711 and the second beam member 712 in directions toward each other in the second direction D2.

[0027] The damping unit 8 damps the impact in the vertical direction Dv occurring on the pair of arms 5 so as to mitigate it. The damping unit 8 biases the pair of arms 5 downward in the vertical direction Dv. This allows the damping unit 8 to damp the impact so as to mitigate it and to press the pair of arms 5 downward in the vertical direction Dv with a constant pressure. One damping unit 8 is disposed corresponding to one arm 5. The damping unit 8 connects the arm 5 to the excavator main body 2. The damping unit 8 is located between the base point of the arm 5 and the tip of the arm 5 in the first direction D1. The damping unit 8 is located above the vertical direction Dv with respect to the base unit 4. The damping unit 8 of this embodiment has a hydraulic cylinder 81 and a spring damper 82.

[0028] Oil is sealed inside the hydraulic cylinder 81. The hydraulic cylinder 81 extends upward in the vertical direction Dv from the arm body 51. The hydraulic cylinder 81 connects the arm body 51 and the spring damper 82.

[0029] The spring damper 82 is disposed above the hydraulic cylinder 81 in the vertical direction Dv. The spring damper 82 connects the hydraulic cylinder 81 and the excavator body 2. That is, the spring damper 82 is connected in series to the hydraulic cylinder 81 between the excavator body 2 and the arm body 51. The spring damper 82 has a single or multiple coil springs. The spring damper 82 has a faster operating speed than the hydraulic cylinder 81.

[0030] The following describes in detail the case where the drilling device 3 excavates the seabed F, which is not horizontal but has an uneven shape with many projections and recesses, as described above. For example, a state where the drilling device 3 is performing a pitching operation when the seabed F is inclined so that the front D1f of the first direction D1 is located above the vertical direction Dv will be described with reference to FIG. 5 as an example.

[0031] When drilling the inclined seabed F so that the front D1f of the first direction D1 is located above the vertical direction Dv, the arm body 51 rotates around the first imaginary axis O1 relative to the base part 4 downward in the vertical direction Dv so that the tip of the arm body 51 moves away from the bottom surface 20 of the excavator body 2. At that time, the hydraulic cylinder 81 and the spring damper 82 connected to the arm body 51 are compressed. In addition, the hydraulic cylinder 81 and the spring damper 82 constantly apply a force to the arm body 51 to press it from the bottom surface 20 of the excavator body 2 toward the seabed F regardless of the extension / contraction state. Therefore, the drilling drum 6 supported by the drum holding part 52 integrated with the arm body 51 via the first universal joint 60 is also pressed toward the seabed F. Therefore, the bit 62 comes into contact with the surface layer of the seabed F while performing the pitching motion so as to bite into it, and the seabed F is drilled.

[0032] In addition, a description of the case where the seabed F is inclined such that the rear D1r of the first direction D1 is located above the vertical direction Dv, which is the opposite to the above case, will be omitted. However, in this case, each component of the drilling device 3 moves in the direction opposite to that described above.

[0033] Further, a state in which the drilling device 3 is performing a rolling operation when the seabed F is inclined so that one side in the second direction D2 is located above the vertical direction Dv will be described with reference to FIG. 6 as an example.

[0034] When drilling the inclined seabed F so that one side of the second direction D2 (the left side of the paper in FIG. 6) is located above the vertical direction Dv, the tip of the arm body 51 located on one side of the second direction D2 relative to the drilling drum 6 rotates around the first imaginary axis O1 relative to the base part 4 toward the upper side of the vertical direction Dv so as to approach the bottom surface 20 of the excavator body 2. At that time, the hydraulic cylinder 81 and the spring damper 82 connected to the arm body 51 are compressed.

[0035] In addition, the tip of the arm body 51 located on the other side of the second direction D2 (the right side of the paper in FIG. 6) relative to the drilling drum 6 rotates downward in the vertical direction Dv around the first imaginary axis O1 relative to the base part 4 so as to move away from the bottom surface 20 of the excavator body 2. At that time, the hydraulic cylinder 81 and the spring damper 82 connected to the arm body 51 are extended. That is, the pair of arms 5 arranged apart in the second direction D2 rotate in opposite directions around the first imaginary axis O1. As a result, the positions of the tips of the pair of arm bodies 51 arranged apart in the second direction D2 are shifted in the vertical direction Dv. As a result, the drilling drum 6 supported by the drum holding part 52 via the first universal joint 60 is pressed against the seabed F with the rotation axis O tilted when viewed from the first direction D1. Therefore, the bit 62 comes into contact with the surface layer of the seabed F while performing a rolling motion so as to bite into it.

[0036] Furthermore, as the positions of the tips of the pair of arm bodies 51 are shifted in the vertical direction Dv, the connecting mechanism 7 applies a force to the first beam and the second beam to move them apart in the second direction D2. On the other hand, the second biasing portion 722 and the third biasing portion 723 apply a force to the first beam member 711 and the second beam member 712 to move them closer to their initial lengths in the second direction D2. Therefore, the first beam and the second beam are tilted while a force is applied to maintain the initial length (the length when the seabed F is horizontal). In other words, the extension beam is extended only to the minimum extent necessary to follow the inclination of the seabed F. Therefore, the pair of arms 5 move in the vertical direction Dv so that the drilling drum 6 follows the inclination of the seabed F while being prevented from moving too far apart in the second direction D2. As a result, the drilling drum 6 excavates the surface layer of the seabed F with the rotation axis O parallel to the seabed F.

[0037] In addition, a description of the case where the seabed F is inclined so that the other side of the second direction D2 is located above the vertical direction Dv, which is the opposite to the above-mentioned case, will be omitted. However, in this case, each component of the drilling device 3 moves in the direction opposite to that described above.

[0038] (Action and effect) In the seabed ore deposit drilling machine 1 having the above-mentioned configuration, a pair of arms 5 extending in a first direction D1 from the drilling machine body 2 via the base part 4 are made to be able to swing freely in the vertical direction Dv independently of each other. A drilling drum 6 is connected to a drum holding part 52 of such an arm 5 via a first universal joint 60. Therefore, even if the seabed F is not horizontal but inclined due to the unevenness, the pair of swingable arms 5 and the first universal joint 60 can cause the drilling drum 6 to maintain a position in which the rotation axis O is parallel to the seabed F. As a result, drilling can be continuously continued with the drilling drum 6 in a stable position regardless of the uneven shape of the seabed F.

[0039] Further, in the pair of arms 5, the tips of the arm bodies 51 are connected by the telescopic beam 71 and the beam biasing unit 72. Therefore, even if the positions of the tips of the pair of arm bodies 51 are shifted from each other in the vertical direction Dv, the telescopic beam 71 and the beam biasing unit 72 stably maintain the connected state. Specifically, the telescopic beam 71 having the first beam member 711 and the second beam member 712 maintains the connected state in the pair of arms 5 regardless of how the positions of the tips of the arm bodies 51 are shifted in the vertical direction Dv. Furthermore, the beam biasing unit 72 constantly applies a force to the first beam member 711 and the second beam member 712 to maintain the initial length. As a result, it is possible to suppress the first beam member 711 and the second beam member 712 from being extended too much. Therefore, it is possible to suppress the positions of the tips of the pair of arm bodies 51 from being too far apart. Therefore, it is possible to suppress the pair of arms 5 from being rotated in different directions so much that the connection between the pair of arms 5 is released. Furthermore, a force that maintains the initial length is constantly acting on the first beam member 711 and the second beam member 712, so that a force that constantly returns the pair of arm bodies 51 to their initial horizontal position is always acting on them. Therefore, no matter how the shape of the seabed F changes during excavation, a force that returns the drilling drum 6 to its initial position is generated. This prevents the drilling drum 6 from remaining in an inclined state, and allows drilling to be continued continuously in a stable position. As a result, seabed resources can be efficiently recovered from the uneven seabed F while minimizing the amount of material left behind.

[0040] In addition, the pair of arm bodies 51 rotate with the base end connected to the excavator body 2 via the base part 4 as a fulcrum so that the tip moves in the vertical direction Dv. In other words, the arm body 51 is connected to the excavator body 2 only at the rotatable base end. Therefore, the arm body 51 can be flexibly moved according to the shape of the seabed F. Therefore, it is possible to prevent the arm 5 from being fixed between the seabed F and the excavator body 2, and to prevent excessive force acting on the excavation drum 6 that strongly presses the excavation drum 6 against the seabed F. Furthermore, it is possible to prevent the excavator body 2 from floating up, weakening the pressing force of the excavation drum 6 against the seabed F, or separating the excavation drum 6 from the seabed F.

[0041] The extension beam also connects the tips of the pair of arm bodies 51. Furthermore, the excavation drum 6 is connected to the drum holding part 52 located between the base end and the tip of the arm body 51 in the first direction D1. The tip of the arm body 51 has a larger amount of movement in the vertical direction Dv relative to the base end of the arm body 51 than the drum holding part 52 located closer to the base end of the arm body 51 in the first direction D1. The tip of the arm body 51, which has a large amount of movement, is maintained in a state connected by the extension beam and the beam biasing part 72 fixed to the extension beam, so that the pair of arms 5 can be prevented from moving significantly. As a result, the state in which the excavation drum 6 is connected to the drum holding part 52 can be stably maintained with high accuracy.

[0042] In addition, the pair of arm bodies 51 are urged downward in the vertical direction Dv by the damping unit 8, and the impact in the vertical direction Dv is mitigated. Therefore, regardless of the posture of the arm body 51 due to the change in the shape of the seabed F, the arm body 51 can be pressed downward in the vertical direction Dv. Therefore, the drilling drum 6 supported by the drum holding unit 52 can be stably pressed against the seabed F regardless of the shape of the seabed F. Furthermore, even if a large force acts on the arm body 51 to bounce up due to a sudden change in the shape of the seabed F, the damping unit 8 mitigates the impact in the vertical direction Dv, thereby suppressing a sudden movement of the arm body 51. Therefore, it is possible to suppress a sudden shift in the position of the drilling drum 6 in the vertical direction Dv relative to the seabed F. As a result, the posture of the drilling drum 6 relative to the seabed F can be more stably maintained for an uneven seabed F.

[0043] Further, the damping unit 8 has a hydraulic cylinder 81 and a spring damper 82. Therefore, among shocks in the vertical direction Dv, momentary shocks accompanying abrupt changes in a short period of time can be rapidly damped by the spring damper 82, while shocks that are relatively long-term and larger than the momentary shocks can be gently damped by the hydraulic cylinder 81. In this way, even if a plurality of shocks of different types are received due to different uneven shapes, they can be stably damped by the damping unit 8. Therefore, the attitude of the drilling drum 6 with respect to the seabed F can be maintained more stably for an uneven seabed F.

[0044] Moreover, the drilling devices 3 are arranged in a plurality of rows (two rows in this embodiment) in the second direction D2 below the vertical direction Dv with respect to the drilling machine body 2. Therefore, the seabed F is continuously excavated by different drilling machines in the second direction D2. This makes it possible to efficiently recover seabed resources while minimizing the amount of material left behind.

[0045] In addition, the drilling devices 3 are also arranged in the first direction D1 below the drilling machine body 2 in the vertical direction Dv, and are arranged offset from each other in the second direction D2. That is, the multiple drilling devices 3 are arranged in a staggered manner in the first direction D1 and the second direction D2 when viewed from the vertical direction Dv. Therefore, the area below the drilling machine body 2 in the vertical direction Dv is excavated by different drilling machines in a wide range in the first direction D1 and the second direction D2. In particular, as in this embodiment, the multiple drilling devices 3 can excavate the seabed F without gaps under the drilling machine body 2 by the width of the drilling machine body 2 in the second direction D2. This makes it possible to efficiently recover seabed resources while suppressing residue with high accuracy.

[0046] (Other embodiments) Although the embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like that do not depart from the gist of the present disclosure are also included.

[0047] The drilling devices 3 are not limited to being arranged in a staggered manner with respect to one excavator body 2. The number and arrangement of the drilling devices 3 may be appropriately set according to the shape of the excavator body 2 and the shape of the seabed F. For example, the drilling devices 3 may be arranged in a plurality of directions only in the second direction D2. Furthermore, the drilling devices 3 may be arranged in a plurality of directions only in the first direction D1. Furthermore, only one drilling device 3 may be arranged. Even when a plurality of drilling devices 3 are arranged in the first direction D1 and the second direction D2, they may be arranged in a lattice pattern instead of a staggered pattern as in this embodiment.

[0048] Furthermore, the damping section 8 does not necessarily have to be one for one arm 5. One damping section 8 may be disposed for a pair of arms 5.

[0049] <Additional Notes> The sea-floor mineral deposit drilling machine 1 described in each embodiment can be understood, for example, as follows.

[0050] (1) A seabed ore deposit drilling machine 1 according to a first embodiment includes an excavator body 2 capable of traveling in a first direction D1, and an excavation device 3 fixed to the excavator body 2. The excavation device 3 includes a pair of arms 5 extending from the excavator body 2 in the first direction D1, spaced apart in a vertical direction Dv and a second direction D2 perpendicular to the first direction D1, and swinging independently of each other in the vertical direction Dv relative to the excavator body 2, a drilling drum 6 rotatable about a rotation axis O extending in the second direction D2 and having a cutter section formed on its outer circumferential surface capable of contacting the seabed F, both ends of which in the second direction D2 are connected to the pair of arms 5 via universal joints, an excavation beam 71 whose both ends in the second direction D2 are connected to the pair of arms 5 via universal joints and which is extendable in the second direction D2, and a connecting mechanism 7 having a beam biasing section 72 that biases the telescopic length of the telescopic beam 71 to its initial length. Equipped with.

[0051] According to this configuration, the drilling drum 6 is connected to the arm 5 via a universal joint. Therefore, even if the seabed F is not horizontal but inclined due to the unevenness, the pair of swingable arms 5 and the universal joint can maintain the drilling drum 6 in a position in which the rotation axis O is parallel to the seabed F. This allows the drilling drum 6 to continue drilling continuously in a stable position for any uneven seabed F. Furthermore, even if the positions of the pair of arms 5 in the vertical direction Dv are shifted from each other, the pair of arms 5 are stably maintained in a connected state by the telescopic beam 71 and the beam biasing unit 72. Therefore, it is possible to prevent the pair of arms 5 from rotating in different directions so much that the connection between the pair of arms 5 is released. Furthermore, a force that maintains the initial length always acts on the telescopic beam 71, so that a force that always returns the pair of arms 5 to the initial horizontal position always acts on the pair of arms 5. Therefore, no matter how the shape of the seabed F changes during drilling, a force that returns the drilling drum 6 to the initial position is generated. Therefore, it is possible to prevent the drilling drum 6 from remaining in an inclined state and to continue drilling continuously in a stable position. As a result, seabed resources can be recovered efficiently with minimal left behind, even on uneven seabed F.

[0052] (2) A second aspect of the present invention is a sea-bed ore deposit drilling machine 1 according to (1), in which the base ends of a pair of arms 5 are each connected to the drilling machine body 2 so as to be rotatable around a virtual axis extending in the second direction D2.

[0053] According to this configuration, the arm 5 is connected to the excavator body 2 only at the rotatable base end. Therefore, the arm 5 can be flexibly moved according to the shape of the seabed F. Therefore, the arm 5 is fixed between the seabed F and the excavator body 2, and it is possible to prevent the excavator drum 6 from being subjected to an excessive force that strongly presses the excavator drum 6 against the seabed F. Furthermore, it is possible to prevent the excavator body 2 from floating up, which would weaken the pressing force of the excavator drum 6 against the seabed F, or the excavator drum 6 from being separated from the seabed F.

[0054] (3) A third aspect of the seabed ore deposit drilling machine 1 is the seabed ore deposit drilling machine 1 of (2), wherein the connecting mechanism 7 is connected to the tips of the pair of arms 5, and the drilling drum 6 is connected to the pair of arms 5 at a position closer to the base ends of the pair of arms 5 than the connecting mechanism 7.

[0055] According to this configuration, the tip of the arm 5 moves a large amount in the vertical direction Dv relative to the base end of the arm body 51. The tip of the arm 5, which moves a large amount, is kept connected to the extension beam and the beam biasing unit 72 fixed to the extension beam, so that the pair of arms 5 can be prevented from moving significantly. As a result, the state in which the excavation drum 6 is connected to the arm 5 can be stably maintained with high accuracy.

[0056] (4) A fourth aspect of the seabed mineral deposit drilling machine 1 is any one of the seabed mineral deposit drilling machines 1 of (1) to (3), and further includes a damping unit 8 that urges the pair of arms 5 downward in the vertical direction Dv and damps the impact in the vertical direction Dv that occurs on the pair of arms 5 so as to reduce the impact.

[0057] According to this configuration, the arm 5 can be pressed downward in the vertical direction Dv regardless of the posture of the arm 5 due to a change in the shape of the seabed F. Therefore, the drilling drum 6 supported by the arm 5 can be stably pressed against the seabed F regardless of the shape of the seabed F. Furthermore, even if a large force acts on the arm 5 to bounce up due to a sudden change in the shape of the seabed F, the damping section 8 reduces the impact in the vertical direction Dv, thereby suppressing a sudden movement of the arm 5. Therefore, it is possible to suppress a sudden deviation of the position of the drilling drum 6 in the vertical direction Dv relative to the seabed F. As a result, the posture of the drilling drum 6 relative to the seabed F can be more stably maintained for an uneven seabed F.

[0058] (5) The sea-bed ore deposit drilling machine 1 according to a fifth aspect is the sea-bed ore deposit drilling machine 1 according to (4), in which the damping section 8 has a hydraulic cylinder 81 and a spring damper 82.

[0059] According to this configuration, among shocks in the vertical direction Dv, momentary shocks accompanied by rapid changes in a short time can be rapidly damped by the spring damper 82, while shocks that are relatively long-term and larger than the momentary shocks can be gently damped by the hydraulic cylinder 81. In this way, even if a plurality of shocks of different types are received due to different uneven shapes, they can be stably damped by the damping unit 8. Therefore, the attitude of the drilling drum 6 with respect to the seabed F can be maintained more stably for an uneven seabed F.

[0060] (6) The sea-floor ore deposit drilling machine 1 according to a sixth aspect is any one of the sea-floor ore deposit drilling machines 1 according to (1) to (5), in which the drilling devices 3 are arranged in a plurality of the second direction D2.

[0061] According to this configuration, excavation of the seabed F is carried out continuously by different excavators in the second direction D2. This makes it possible to efficiently recover seabed resources while minimizing the amount of material left behind.

[0062] (7) The seventh aspect of the seabed ore deposit drilling machine 1 is the seabed ore deposit drilling machine 1 of (6), wherein the drilling devices 3 are arranged in multiple in the first direction D1, and the drilling devices 3 arranged in the first direction D1 are arranged at a shifted position relative to the other drilling devices 3 arranged in the second direction D2.

[0063] According to this configuration, the seabed F is excavated by different excavators over a wide range in the first direction D1 and the second direction D2. This makes it possible to efficiently recover seabed resources while preventing any material from being left behind with high accuracy.

[0064] (8) A sixth aspect of the present invention is a sea-bed ore deposit drilling machine 1 which is any one of (1) to (7), and in which the drilling drum is rotatable counterclockwise when viewed from the second direction.

[0065] According to this configuration, it is possible to excavate only surface ore with a uniform grain size from the seabed F that contains brittle rocks such as cobalt-rich rocks. [Explanation of symbols]

[0066] 1. Seabed ore drilling machine 2. Excavator body 20…Bottom 21…Crawler 3. Drilling equipment 4…Base section 5…Arm 51…Arm body 52...Drum holder O1…First virtual axis 60...First universal joint 6…Drilling drum 61...Rotating drum 62...bit O…Rotation axis 70...Second universal joint 7...Connection mechanism 71...Telescopic beam 711...First beam member 712...Second beam member 72...Beam energizing section 721...First biasing section 722...Second biasing section 723...Third biasing section 8…Damping section 81...Hydraulic cylinder 82...Spring damper D1…first direction D1f…Front D1r…backward D2…Second direction Dv: Vertical direction F…Undersea

Claims

1. An excavator body capable of traveling in a first direction; an excavation device fixed to the excavator body; The drilling rig is A pair of arms extending from the excavator body in the first direction, spaced apart from each other in a vertical direction and a second direction perpendicular to the first direction, and swingable independently of each other in the vertical direction relative to the excavator body; a drilling drum that is rotatable around a rotation axis extending in the second direction and has a cutter portion formed on its outer circumferential surface that can contact the seabed, and both ends in the second direction are respectively connected to the pair of arms via universal joints; a telescopic beam whose both ends in the second direction are connected to the pair of arms via universal joints and which is telescopic in the second direction; and a connecting mechanism having a beam biasing part which biases the telescopic beam so that the telescopic length becomes an initial length; An undersea ore drilling machine equipped with

2. 2. The seabed ore deposit drilling machine according to claim 1, wherein base ends of the pair of arms are respectively connected to the drilling machine body so as to be rotatable around imaginary axes extending in the second direction.

3. The coupling mechanism is connected to the tips of the pair of arms, 3. The seabed ore drilling machine according to claim 2, wherein the drilling drum is connected to the pair of arms at a position close to the base ends of the pair of arms with respect to the connecting mechanism.

4. 3. A seabed mineral deposit excavation machine according to claim 1 or claim 2, further comprising a damping section which urges the pair of arms downward in the vertical direction and damps the vertical impact acting on the pair of arms so as to reduce the impact.

5. 5. The seabed ore drilling machine according to claim 4, wherein the damping section comprises a hydraulic cylinder and a spring damper.

6. The seabed mineral deposit drilling machine according to claim 1 or 2, wherein a plurality of the drilling devices are arranged in the second direction.

7. The drilling device is arranged in a plurality of directions in the first direction, The offshore ore deposit drilling machine according to claim 6 , wherein the drilling devices aligned in the first direction are positioned offset from other drilling devices aligned in the second direction.

8. 3. The seabed ore deposit drilling machine according to claim 1 or 2, wherein the drilling drum is rotatable counterclockwise when viewed from the second direction.

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