JPH0593492A - Continuous miner with detachable bucket attached to and turning and moving type mining with drift correction - Google Patents

Abstract

PURPOSE:To raise the economical advantage as well as correct a drift and smoothly attach or detach a servo mechanism to a dredge bucket by holding the vertical and hirozontl angles on an endless rope side at specific angles. CONSTITUTION:The angle theta1 between vertical face and vertical line on the lift housing side of an endless rope 9 is obtained from the equation: (L-1)/2X1/(1+delta)Xcostheta1=d, where d is water depth, L is rope hole length, 1 is sea rope length, and delta = corrected amount by bending or rope locus. About 5% of d is used as the value delta to keep theta1 at 0 deg. to -5 deg., and the angle theta2, between the rope 9 and the board side line at the horizontal face is kept in the safe range of 0 deg.-5 deg. to control the motion mechanism of ship 1. A calculation mechanism meeting costheta1=cos alpha, cos beta, sin theta2=sinbeta/sin theta1, is provided between the the inclined angles alpha and beta between the guide wheel 7 and the rope 9. A servo mechanism is provided to correct the twist of the rope 9, and attaching and detaching it to the rope 9 during operation of the dredge bucket 10 are smoothened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for continuously collecting crust deposits rich in cobalt and the like existing on the seabed of a seamount having a relatively small area, and an effective method of using a mining ship equipped with this apparatus. Is. The present invention can be an improved continuous extraction device for mineral resources such as phosphorus or manganese nodule existing in the deep sea floor, and can also be applied as a mining method for the above device. The crust deposit is a type of deep-sea metal mass, but it has been the last 15 years (197
(0-1985), which is quite different from the manganese nodule deposit that exists on the surface of the deep sea floor at a water depth of 4000 m to 6000 m, which has been mainly targeted for research and development. First, the crust deposit exists at a shallower water depth than the manganese nodule deposit described above, and the water depth is 800 m to 20 m.
It is distributed on the sloping surface of the seamount of 00m and on the flat terraced seabed surface, and it does not exist in the vast area of the deep sea bottom like in the case of manganese nodule, but exists in a relatively small area. However, it is a deposit with a very high endowment density, and its mining requires an improved and unique mining technology that can effectively mine in a narrow deposit. Also, changing weather and sea conditions are the most obstacles to mining crust deposits in seamount areas. This measure is especially necessary for mining vessels operating at low speeds. The device and the method of using the device invented here are the concrete methods for improving the already-invented continuous sampling device for crust and the like so as to be more practically applicable, and to endure the changing weather and sea conditions and use the device most effectively. And the device.

[0002]

2. Description of the Related Art The present inventors have been engaged in research and development of a continuous bucket method for many years and have made an effort. That is, Japanese patent application No. 89 in 1942.
Since the invention of No. 79 (Japanese Patent Application Publication No. 23482 of 1972), many patent applications have been filed for related inventions, and development and commercialization of these have been carried out. In particular,
In 1972, the 2nd Kyokuyo Maru (17,000 tons) was carried out at a water depth of 4900 m in the southeastern part of Hawaii, which was the world's first mining experiment for deep-sea metal blocks. this is,
This is a test of the one-ship pulling method. In 1975, the offshore Ogasawara system was tested by the one-pulling method. After that, the target of mining was changed from manganese nodules on the deep sea floor to crusts on the seabed seabed.
A major improvement invention was made with Japanese Patent Application No. 1986, No. 27933 "Continuous mining device for crust deposits and swivel moving mining method" (swirl moving mining method).

Regarding the one-ship horizontal pulling method and the one-ship vertical pulling method, the patent No. 9 aims to automate the operation of the mining vessel.
As shown in No. 20322 “Continuous mining method for deep sea metal and its apparatus”, research was conducted to automatically correct the speed of a mining vessel based on the angle formed by the endless rope and the vertical.

On the other hand, in order to automatically attach and detach the bucket, the mechanism as shown in Japanese Patent Application Laid-Open No. 61-64996 "Deep sea bottom metal mass continuous sampling device with detachable bucket" has been improved.

Currently, these inventions are planned to be carried out in the three sea areas of Minamitorishima near Miyama, Johnston Island near Miyama and Marshall Islands under international cooperation. As a preliminary study, a small fishing boat was used to carry out an experiment of the turning and moving type mining method at a water depth of 50 m off the coast of Enoshima, and many data were obtained. In addition, a model experiment was also conducted on automatic bucket attachment / detachment.

The present invention is a result obtained based on these basic experiments, and is an additional invention of Japanese Patent Application No. 61-27933, entitled "Continuous Sampling Device for Crust Deposit and Swiveling Mining Method". It should be said.

[0007]

[Problems to be Solved by the Invention] Japanese Patent Application No. 279/61
No. 33 "Continuous mining equipment for crust deposits and turning movement mining method", the two ropes (endless rope) on the receiving side and the loading side are sufficiently separated by the turning movement of the ship, preventing entanglement of ropes. It is suitable for continuous collection of crust deposits on narrow seamounts. At the same time, in a small model test conducted in order to confirm the possibility of this method in the sea area at a water depth of 50 m off Enoshima, the track of the ship should be circular due to the effect of drift due to wind and current, but it is a vertically long elliptical It was experienced that there was a danger that the rope's take-in angle would change and that the rope would come into contact with the side of the ship. In addition, it was measured that the length of the looped rope was about 5 to 10% extra compared to the required length for the water depth that was considered in the past towing one ship. This is because the movement of the ship is linear in the conventional one-line pulling, but the rope is not straight in this turning motion but forms an arc or curve. This has to be fixed to deal with automatic maneuvering.

Next, regarding the automatic attachment / detachment of the bucket, an attempt was made to actually design the application publication No. 61-64996 and the like.
It is obvious that the life of ropes and driving vehicles will be adversely affected, and the most practical and strong enough method of suspending a bucket is to use a two-pronged (double-pronged) rope part in which a branch rope is inserted into the rope. It was concluded that it was a hanging method. In order to suspend the bucket on this bifurcated loop and automatically attach and detach it, how to detect the arrival of the bucket and not to affect it when removing it, and to twist the rope to attach it It will be necessary to repair. If these problems can be completely solved, it will be possible to put into practical use a continuous sampling device with a bucket that can be easily attached and detached, and a swivel movement type mining method.

[0009]

The problems to be solved by the present invention are roughly classified into two. In other words, what kind of measures should be established in order to realize a maneuvering operation that does not cause the rope to be entangled with the movement of the mining ship or come into contact with the port side of the ship. Next, what should be done about the means of the constituent mechanism that should be provided for smooth removal when the bucket is collected and for smooth attachment to the rope when the bucket is loaded. Therefore, regarding these problems, in order to operate the mobile mining method, the endless rope is slightly curved, and in consideration of drift of the ship due to wind and flow, each of the following measures and measures are taken. Should be taken. a. Based on the inclination angle α and the rope inclination angle β, a means for determining the angle θ ₁ with the vertical direction of the rope and the angle θ ₂ formed between the ship's port side line and the horizontal width of the rope based on the inclination angle α and the rope inclination angle β are provided. ,
The mining vessel is operated while correcting the drift of the vessel due to wind, flow, and waves so that these values can be set within the optimum and safe range. If possible, prepare for automatic ship handling. b. The angle measuring device used in the above means is also provided with a servo mechanism that also serves as a sensor unit that enables automatic detachment of the bucket and automatically detaches the bucket. c. The same idea as above is applied to automatic bucket mounting, and if the twisting correction mechanism of the rope is installed in front of the guide car for rope descent, the bucket can be mounted easily because of its correct position. It will be possible. d. The present apparatus and the present method will be successful by organically deploying and operating the entire apparatus by associating the respective means a, b, and c.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view conceptually showing one embodiment of the present invention. In the figure, a mining vessel 1 is a large vessel having a sufficient crust loading mining capacity, for example, a length of 15
It is assumed that the length is 0 m and the total tonnage is about 15,000 tons.
Now, the mining ship 1 has a variable pitch propeller 2, a rudder 3, a front thruster 4 and a rear thruster 5, and is used for propulsion, towing,
It has sufficient movement performance such as turning and moving forward and backward.

On the ship of this mining vessel 1, a descending guide vehicle 6 is provided on the stern deck, a pickup guide vehicle 7 is provided on the deck near the center of gravity 15 of the ship, and a multiple drive vehicle 8 is provided on the middle deck. A large number of dredge buckets 10 can be attached to the endless rope 9 at regular intervals by suspenders 11, and the dredge buckets 10 can be lowered into the sea from the mining ship 1 to reach the seamount bottom surface 12. There is.

Crust 1 existing on the seabed 12
3 is collected by the towing progress of the tredge bucket 10 and is driven and collected by the power of the multiplex drive vehicle 8.

The dredge bucket 10 is a pickup-side guide vehicle 7.
, The crust in the bucket is taken out of the bucket at another location and stored at a predetermined location, and the empty bucket is sequentially transported to the descending side guide vehicle 6 to guide the vehicle. Immediately after, it was attached to the forked part of the endless rope and dropped into the sea for repeated use.

The mining ship 1 collects the crust 13 on the seabed while making a turning motion so as to draw a large circle having a diameter of several kilometers or more as shown by the course 14 of the ship. The turning motion of the ship is performed around the center of gravity 15 of the ship. In the case of economic mining in the actual sea area, taking Japan's economic zone EEZ as an example, it is the No. 5 Takuyo Seamount near Minamitorishima with a water depth of 1200 to 1500 m and a width of 2
Crust deposits exist on a wide flat summit of 5 km and length of 100 km, and crust shape is often cobble-shaped separated crust that is relatively easy to collect. Economic mining on the other hand is expected to be economical from the scale of 400 tons per day,
Compared to the suction pump type mining method, it has the advantage that it can be put to practical use from a small scale.

In order to put this into practical use, currently 1/20 of that
We are planning a small-scale offshore experiment of 20 tons per day as an international cooperative experiment, but the basic experiment is a model scale of 1/20 of that, using a small fishing boat in the water area at a depth of 50 m off Enoshima. It was implemented. In the experiment, the track of the ship was measured using the Loran device. The figure shown in Fig. 2 is a plan view of the track of the swirling movement of the ship on a calm day where there is no wind or ocean current, showing a circular track with a diameter of about 300 m, and the swivel-moving mining method was successfully implemented. However, in the diagram shown in Fig. 3, the north wind is 5
It is as strong as m / sec, and the ship's wake cannot keep a circular shape due to the drift of the wind. In such a case, the angle θ ₂ formed by the rope with the direction of the port sideline is ± 1 with 20 ° as the center due to the effect of drift.
We experienced a change of 5 ° and a minimum of 5 °, almost parallel to the port side line. This indicates the possibility that the rope will come into contact with the port side, which is the most unavoidable phenomenon that causes the rope to break.

On the other hand, when the water depth is d, the actually measured rope length is 15 with respect to the rope length obtained by assuming the rope to be straight from the average θ _{3 of the} angles formed by the two ropes with respect to the vertical line.
% Has also become longer. Considering the reason why the rope length has increased by 15% in this way, firstly, it can be thought that it is an extra length necessary for towing a bucket on the seabed. In the above-mentioned patent invention No. 920322 “Deep sea bottom metal ingot continuous sampling method and apparatus”, the rope is assumed to be a straight line, and the angle θ with the vertical line of the endless rope is (L−1) / 2 × cos θ ₁ = d (d = water depth) (1) L = total length of the endless rope l = length of the endless rope at the sea (inside the ship) Considering to hold the angle θ ₁ obtained by the formula (1) at about θ-5 degrees. However, the total length is 0 to 9 m, which is 0 to 9%, and the actual measurement value of 15% cannot be explained.
In this test, since the ship was making a turning motion with a diameter of about 300 m, the rope was not a straight line but a curved line, so there was a real reason why the total length of the rope was 15%. Of. Therefore, taking the above into consideration, equation (1) becomes (L-1) / 2 × (1/1 + δ) cos θ ₁ = d, and about 0.1 is adopted as the value of δ, and θ ₁ is calculated. However, by adopting a value of θ that is 0 ° to 5 ° less than θ _1, it will be possible to achieve a complete bottoming and continuous mining.
FIG. 4 shows the measured values of θ ₂ when a circular locus was attempted to turn in the case of the north wind of 5 m in FIG. 3 and the steering was carried out to turn the course to N, W, S and E. In FIG. 5, the vertical axis is θ ₂
And the horizontal axis shows the relationship between θ ₂ and the heading of each of the N, W, S, and E directions.

Next, referring to FIG. 6, the pickup guide vehicle 7 and a detailed structure related thereto will be described. The pick-up side guide vehicle 7 is held by a truss 16 along the port side near the center of gravity 15 of the mining ship 1 and is held at the center of a slide metal fitting 18 at the center of an annulus 17, and by a tilt angle correcting piston 19, The slid angle of the guide wheel is freely slid in the inner circumference of the circular ring 17, and the slant angle of the guide wheel is transmitted to the slant angle potentiometer 22 by the action of the thin chain 20 for connection and the weight 21 to measure the slant angle.

The endless rope 9 driven by the multiplex drive vehicle 8 (see FIG. 1) is provided with a large number of bifurcated ropes 23 formed by inserting short ropes at intervals of several tens of meters, and the dredge bucket 10 is a short rope. It is held by hanging the hook 24 and the hook metal 25 on the forked rope 23, and the crust 13 is sampled from the seabed and pulled up.

On the upper part of the hook metal fitting 25, for example, a small ring metal fitting 26 having an opening attached by welding is attached by twisting the surface of the small ring about 45 ° from the hook surface, and the hook metal fitting is twisted by a forked rope. However, by modifying it, the small annular metal member 26 is held so that it is in a plane substantially perpendicular to the direction of the rope line 9.

A shaft 28 is provided in the middle of the two armpieces 27 extending from the axle of the pick-up guide wheel 7, and a counter for the armpiece 27 with a loose rope receiving wheel 29 that is loosely engaged with the shafts and rotates. The rope receiving small wheel 29 is always in contact with the endless rope 9 by the weight 30, and is rotated by the movement of the rope.
The inclination angle of the rope is detected by the inclination angle detection potentiometer 31 via the two armpieces 27.

On the other hand, the rope receiving sheave 29 is loosely engaged with the shaft 28 so as to be able to move slightly left and right.
The left and right movements of the contact detection contacts 32 and 3 are fixed so as not to move by engaging with the shaft 28 as shown in the sectional view of FIG.
It is taken out as an electric signal by 3.

If the pick-up guide wheel 7 does not directly face the rope,
When the rope comes in obliquely, the rope receiving wheel 29 is pushed to either side to bring the contact detection contacts 32 or 33 into contact, and the inclination angle correction piston 19 is output by the output electric signal.
Operates and corrects the inclination angle of the guide car so that it faces the guide car. Further, the restriction hardware 34 that is passed laterally through the small wheel at each tip of the two arm hardware 27 is pushed by the approaching contact of the vertical bar of the hook hardware of the bucket, and the command to connect the electrical contact 35 is provided on the upper portion of the truss 16. Winch stand 36 and winch lateral arm 37
The vertical arm 38 and the hoisting motor 40 for moving the hanging metal 39 are driven to wait on the upper surface of the endless rope 9, and the hanging metal 39 loosely inserted into the small ring metal fitting 26 above the hook hardware 23 by the approach of the bucket. And pull up to cut the edge of the rope and bucket. Then, the turning motor 41 is driven to take the bucket into the ship.

Although not described with reference to the drawings, the bucket is removed from the winch on the ship, the crust is taken out from the bucket, and then carried to the vicinity of the guide car 6 on the descending side. Also, the winch returns to the standby position of the bucket again by another command.

FIG. 7 is a sectional view showing a structure for explaining the operation of the rope receiving sheave 29 in more detail. The contact detection contact 32 has a spring 43 in a rubber bellows 42, and the contacts 44 and 45 are normally separated from each other, but the rope receiving wheel 29 has a structure in which the contacts are brought into contact with each other only after being offset.

FIG. 8 is a perspective view for explaining the function of the limiting metal. The electric contact 46 is a contact placed in watertight rubber, and the contact is brought into contact when pushed by the limiting metal 34.

As described above, the tilt angle α measured by the tilt angle potentiometer 22 and the tilt angle β measured by the tilt detection potentiometer 31 are as shown in FIG. Let A be the point B of the rope entering the water, point D of the water surface vertically lowered from A, and point C where the line perpendicular to the axle on the plane of the axle of the lifting guide vehicle contacts the water surface. = ∠ CAD, inclination angle β = ∠ CAB, and ∠ BDA, ∠ BCA, and ∠ BCD are all right angles.

The angle θ ₁ formed by the endless rope and the vertical is obtained by the following equation (1). cos θ ₁ = cos α · cos β (1) On the other hand, the angle θ ₂ formed by the rope line and the port side line is calculated by the following equation (2). sin θ ₂ = sin β / sin θ ₁ (2) Next, as a technical problem of the endless rope 9, it is necessary to consider the problem of rope twisting. In various maritime experiments that have been conducted to date, rope twisting was a major problem, and therefore slip rings were sometimes adopted. However, in this turning and moving type mining method, the dredge bucket 1
Since 0 is hung by a hanging metal 25 having a rod portion having a certain length to hang it on the rope line, the twist of the rope is suppressed by the weight of the dredge bucket 10 in the underwater portion where the bucket is hung.

However, when the bucket is removed and the ship is sent to the guide car on the descending side, the rope may be twisted. On the other hand, as shown in FIG. 10, after the descending side guide wheel 6, in order to hang the hook hardware 25 on the bifurcated rope 23 of the endless rope 9, the bifurcated rope portion is the endless rope 9
It is desired that the hook hardware 25 easily enter under the weight of the forked rope portion. Therefore, the motor 47 configures the small gear 48, the large gear 49, and the two rollers 51 and 52 in the ring 50 that can rotate in either the right or left direction by the spring 53 to press and hold the rope. A rope twist correction device that can arbitrarily correct the twist of the rope is provided in front of the descending side guide wheel 6 to correct the twist of the rope.

This can be done visually or by detecting the twisted position of the two-pronged rope portion of the rope by some method, and can be done by either automatic or manual method.

As described in detail above, including the improvement of the detailed structure, by adopting and implementing the invention of the mechanism and means of the apparatus of the turning movement type mining method and the operation method, the crust existing on the seabed is implemented. It makes it possible to mine the deposit economically.

[0031]

EFFECTS OF THE INVENTION The present invention is Japanese Patent Application No. 1983, No. 27933 "Continuous mining equipment for crust ore deposits and swivel movement mining method".
It is an additional invention developed as a result of various experiments and design efforts conducted for the implementation of the, and the trail that is biased due to the wind direction, wind force, ocean current, waves, etc. of a mining ship that is turning at a low speed is an endless rope. The rope's inclination angle is optimally maintained while preventing the occurrence of accidents and breakage near the ship's port side and the occurrence of breaking accidents. These angles are configured so that they can be calculated by calculation as a measure against the difficulty of directly reading from the guide car as in the case of conventional one-line pulling, and taking into account the specifications of the mining ship, This has the effect of automatically issuing a command signal for maneuvering.

Further, a mechanism for automatically separating the bucket and a mechanism for automatically correcting the twist of the rope are provided near the guide vehicle, and there is an effect that the economical continuous mining is possible together with the above-mentioned automatic maneuvering.

[Brief description of drawings]

FIG. 1 is a perspective view conceptually showing an on-site situation in one embodiment of the present invention.

FIG. 2 is a track diagram of a mining ship when the sea is calm.

FIG. 3 is a track diagram of a mining ship when a north wind blows.

FIG. 4 is a plan view of a record of a course of a ship and a measured value of θ ₂ when a north wind blows.

5 is a characteristic diagram in which the results of FIG. 4 are displayed in a graph.

FIG. 6 is a perspective view showing a configuration of a pickup-side guide vehicle and various devices related to the pickup-side guide vehicle, which are the main points of the present invention, and a structural mechanism thereof.

FIG. 7 is a sectional view of a small rope receiving vehicle.

FIG. 8 is a perspective view of a restricting metal object of the descending guide vehicle, which is the main point of the present invention.

[Fig. 9] Angles α, β, θ ₁ between the pick-up guide car and the rope,
FIG. 6 is a perspective view showing θ ₂ .

FIG. 10 is a perspective view showing the relationship between the descending guide vehicle, the rope, and the accessory device.

[Explanation of symbols]

1 Mining Vessel 2 Variable Pitch Propeller 3 Rudder 4 Front Side Thruster 5 Rear Side Thruster 6 Descent Side Guide Vehicle 7 Lifting Side Guide Vehicle 8 Multiple Drive Vehicle 9 Endless Rope 10 Dredge Bucket 11 Lifting Equipment 12 Sea Mountain Seabed 13 Crust 14 Mining Vessel Course 15 Center of gravity of ship 16 Truss 17 Ring 18 Slide hardware 19 Tilt angle correcting piston 20 Fine chain for connection 21 Weights 22 Potentiometer 23 Bifurcated rope 24 Short rope 25 Hook hardware 26 Small ring hardware 27 Arms 28 Shaft 29 Rope receiving small vehicle 30 Counter weight 31 Tilt detection potentiometer 32 Contact detection contact 33 Contact detection contact 34 Limiting hardware 35 Electrical contact 36 Winch stand 37 Winch horizontal arm 38 Winch vertical arm 39 Hanging hardware 40 Lifting motor 41 Swing motor 42 Rubber Belly 43 spring 44 contact 45 contact 46 electrically contacts 47 motor 48 pinion 49 the gear wheel 50 circular ring 51 roller 52 roller 53 spring α angle CAD beta angle CAB theta ₁ angle BAD theta ₂ angle CDB

Claims (5)

[Claims] 1. An endless rope that is unreeled from a mining ship, reaches the seabed, is then unwound and then unwound again via the ship, and a number of dredges are detachably attached to the endless rope at predetermined intervals. With a continuous sampling device equipped with a bucket, the mining ship uses a swivel-moving mining method of mining crust existing on the seabed in a bucket that bottoms while swiveling, and at the time of swirl-moving mining, the endless rope on the receiving side is used. A drift correction device is installed to control the angles of incidence underwater θ ₁ and θ ₂ and the inclination angles α and β of the endless rope to the guide vehicle so as to satisfy the optimum predetermined conditions, respectively. Continuous collection device with bucket attachment / detachment for crust deposits, characterized by being equipped with a control device And the orbiting mobile mining method with drift correction. 2. As the deviation correcting device, firstly, an angle θ ₁ formed by a vertical line of an endless rope on the collecting side and a vertical plane.
(L-1) / 2 × 1 / (1 + δ) × cos θ ₁ = d d = water depth L = total length of endless rope l = marine rope length δ = correction amount due to bending of the locus of the rope The θ ₁ calculated by the formula of about 5% is kept in the range of 0 ° to −5 °, while the angle θ ₂ formed by the endless rope and the direction of the ship's port lateral line on the horizontal plane is defined as Due to uneven flow caused by external force such as waves, θ ₂ becomes 0 and the rope contacts the port side,
To avoid the risk of friction and fracture, θ ₂ is always 10 °
It is a control mechanism that properly controls and controls the ship's motion engine, that is, the front and rear side thrusters, the propulsion device, and the rudder so as to keep the safe range of ~ 20 °. The continuous sampling with a detachable bucket, such as a crust deposit, according to claim 1, characterized in that a measuring mechanism is incorporated, and the required drift is corrected by displaying the indicator at a required position on the bridge. Swirling mobile mining method with equipment and drift correction. 3. A guide vehicle provided on the port side where the rope is lifted or lowered as a second measure in order to make the function of the drift correction device even more satisfactory, in order to prevent the rope from rotating, to prevent the rope from turning. A guide wheel is installed in the center of the special slide metal object that holds the guide wheel in the center of the ring so that it can be opposed, and the slide metal object can freely slide and move in the circumferential groove provided inside the ring. Enable
A small guide wheel provided via an axis on an arm extending below the rope for detecting the inclination angle β in the orthogonal plane of the guide wheel of the rope is held loosely so that it can move slightly left and right with respect to the axis,
The small guide wheel is rotated to one side when there is a deviation of the rope from the center line of the guide wheel, and one of the electrical contacts provided on the shaft is pushed to close the electric circuit, which causes the servo mechanism. The inclination angle α is corrected via and the value of the inclination angle α is measured. The inclination angle β of the rope is also measured at the arm joint. Based on the values of α and β, the angle θ between the vertical line of the endless rope and the vertical plane is calculated by the computer.
₁ is set as cos θ ₁ = cos α · cos β, and the angle θ ₂ formed by the direction of the port side line of the ship and the horizontal plane is calculated by the formula sin θ ₂ = sin β / sin θ ₁ A continuous sampling device with a bucket attachment / detachment and a swirling movement type mining method with drift correction for a crust deposit according to claim 1. 4. The control device for removing the rope from the rope at the time of picking up the bucket must successfully remove the bucket holding the crust dredged from the seabed on board. The bucket is hooked on the endless rope bifurcated rope by a hook hardware via a hanging rope. Therefore, about 45 ° from the surface of the hook metal fixed to the upper part of the hook metal.
A twisted small ring hardware is provided, waiting for it at a position above the rope, and a winch device and a bucket with hanging hardware to be hooked generate an electric signal immediately when touched and lifted, tilt An arm for angle β detection is prepared as a detection rod, and this sends a lifting signal to the winch device by the above signal to provide a mechanism for lifting and detaching the bucket from the endless rope. A continuous sampling device with a bucket attachment / detachment and a swirling movement type mining method with drift correction according to claim 1, characterized in that. 5. The rope attachment control device at the time of loading the bucket must be properly attached to the endless rope that is driven inside the ship and enters the sea from the trailing descending guide vehicle without leakage. .. In order to keep the coordinates of the bifurcated rope for attaching the bucket of the endless rope at a position where the hook hardware can easily be hung, grasp the rope with two rollers in front of the rear guide car, and the entire two rollers are
The crust deposit according to claim 1, wherein it is necessary to rotate the rope by another servo mechanism to correct the twist of the rope and correct the twist of the rope. This mechanism is provided. Continuous bucket mining method with detachable bucket and swirl-moving mining method with drift correction.