CA3229818A1 - Rod handling system and method - Google Patents
Rod handling system and method Download PDFInfo
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- CA3229818A1 CA3229818A1 CA3229818A CA3229818A CA3229818A1 CA 3229818 A1 CA3229818 A1 CA 3229818A1 CA 3229818 A CA3229818 A CA 3229818A CA 3229818 A CA3229818 A CA 3229818A CA 3229818 A1 CA3229818 A1 CA 3229818A1
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- rod
- handling system
- articulated arm
- cylinder arrangement
- rod handling
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005553 drilling Methods 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 11
- 230000001276 controlling effect Effects 0.000 description 24
- 230000008901 benefit Effects 0.000 description 20
- 230000033001 locomotion Effects 0.000 description 12
- 238000005065 mining Methods 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241001568665 Ocinebrellus inornatus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/146—Carousel systems, i.e. rotating rack systems
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
- E21D20/006—Machines for drilling anchor holes and setting anchor bolts having magazines for storing and feeding anchoring-bolts
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Earth Drilling (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A rod handling system is described herein, which comprises a substantially cylindrical rod magazine for storing a plurality of rods, wherein the rod magazine is arranged to rotate around its longitudinal axis; and a rod gripping assembly comprising at least one articulated arm, and a cylinder arrangement arranged to actuate the at least one articulated arm, wherein the cylinder arrangement comprises at least two cylinders fixedly connected in series, and wherein the cylinder arrangement is adjustable to at least three end positions including a first end position enabling the articulated arm to execute to a parking position, a second end position enabling the articulated arm to execute to a free position, and a third end position enabling the articulated arm to execute to an access position. A method for rod handling performed by the rod handling system is also described.
Description
ROD HANDLING SYSTEM AND METHOD
TECHNICAL FIELD
The present disclosure relates to a rod handling system comprising a rod magazine and a rod gripping assembly. The present disclosure further relates to a method performed by the rod handling system and a method for controlling operation of the rod handling system.
BACKGROUND
Drilling rods are necessary for drilling boreholes in a mining or construction work site.
The drilling rod may have a length of several meters.
At intervals, the need arises to connect two or more drilling rods to form a drill string in order to achieve a borehole having a depth larger than the length of each individual drilling rod. For example, an operator may start drilling a borehole with a first drilling rod and thereafter connect a second drilling rod to the first drilling rod while the first drilling rod is still in the borehole. Further drilling of the borehole with the connected first and second drilling rods will obtain a depth corresponding roughly to the total length of the first and second drilling rods. This process may be repeated with a number of drilling rods until a borehole having a desired depth is achieved.
A rod handling system as described in W02019108119 or W0201638252 has been developed to facilitate storage and mechanical handling of the drilling rods.
The rod handling system may comprise a substantially cylindrical rod magazine for storing a plurality of drilling rods, wherein the rod magazine is arranged to rotate around its longitudinal axis. The rod handling system may further comprise a gripping device configured to remove a drilling rod from the rod magazine, and place the drilling rod on the drilling axis or back into the rod magazine.
The gripping device in the state of art is often regulated by a complicated actuating system, which could be challenging for automation. The actuating system usually comprises a number of mobile components which requires costly maintenance and service. The gripping device may be actuated by a conventional cylinder arrangement as described in CN212716483U, wherein two single-position hydraulic cylinders are combined to actuate the gripping device. The gripping device may also be actuated by
TECHNICAL FIELD
The present disclosure relates to a rod handling system comprising a rod magazine and a rod gripping assembly. The present disclosure further relates to a method performed by the rod handling system and a method for controlling operation of the rod handling system.
BACKGROUND
Drilling rods are necessary for drilling boreholes in a mining or construction work site.
The drilling rod may have a length of several meters.
At intervals, the need arises to connect two or more drilling rods to form a drill string in order to achieve a borehole having a depth larger than the length of each individual drilling rod. For example, an operator may start drilling a borehole with a first drilling rod and thereafter connect a second drilling rod to the first drilling rod while the first drilling rod is still in the borehole. Further drilling of the borehole with the connected first and second drilling rods will obtain a depth corresponding roughly to the total length of the first and second drilling rods. This process may be repeated with a number of drilling rods until a borehole having a desired depth is achieved.
A rod handling system as described in W02019108119 or W0201638252 has been developed to facilitate storage and mechanical handling of the drilling rods.
The rod handling system may comprise a substantially cylindrical rod magazine for storing a plurality of drilling rods, wherein the rod magazine is arranged to rotate around its longitudinal axis. The rod handling system may further comprise a gripping device configured to remove a drilling rod from the rod magazine, and place the drilling rod on the drilling axis or back into the rod magazine.
The gripping device in the state of art is often regulated by a complicated actuating system, which could be challenging for automation. The actuating system usually comprises a number of mobile components which requires costly maintenance and service. The gripping device may be actuated by a conventional cylinder arrangement as described in CN212716483U, wherein two single-position hydraulic cylinders are combined to actuate the gripping device. The gripping device may also be actuated by
2 a combination of a single-position hydraulic cylinder and a rotary switch. In general, the cylinder arrangement for actuating the gripping device is bulky and heavy, Mining is an inherently risky occupation. The mining environment is harmful for human health, with dangers ranging from rock collapses to inhalation of toxic particles. It should always be prioritized to minimize exposure of personnel to the harmful mining environment. Therefore, it is preferred to have a mechanized operation of rod handling which can be controlled from a cabin where operators are protected. The mechanized operation also reduces manual workload for operators thereby increasing work efficiency and productivity. The work efficiency and productivity can be further increased by automatic controls of the mechanized operation.
SUMMARY
In view of the above, one object of the present disclosure is therefore to reduce manual workload and risks for personnel at the site during operations of rod handling.
Another object of the disclosure is to increase work efficiency and productivity.
Yet another object of the disclosure is to provide a novel and advantageous solution for rod handling.
Yet another object of the disclosure is to provide a robust and reliable solution for rod handling.
Yet another object of the disclosure is to provide a lean and cost-efficient solution for rod handling.
Yet another object of the disclosure is to provide an alternative solution for rod handling.
Yet another object of the disclosure is to improve mechanization and automation of rod handling.
The above mentioned objects are achieved according to a first aspect of the disclosure by a rod handling system comprising a substantially cylindrical rod magazine for storing a plurality of rods, wherein the rod magazine is arranged to rotate around its longitudinal axis; and a rod gripping assembly comprising at least one articulated arm, and a cylinder arrangement arranged to actuate the at least one articulated arm, wherein the cylinder arrangement comprises at least two cylinders fixedly connected in series, and wherein the cylinder arrangement is adjustable to at least three end
SUMMARY
In view of the above, one object of the present disclosure is therefore to reduce manual workload and risks for personnel at the site during operations of rod handling.
Another object of the disclosure is to increase work efficiency and productivity.
Yet another object of the disclosure is to provide a novel and advantageous solution for rod handling.
Yet another object of the disclosure is to provide a robust and reliable solution for rod handling.
Yet another object of the disclosure is to provide a lean and cost-efficient solution for rod handling.
Yet another object of the disclosure is to provide an alternative solution for rod handling.
Yet another object of the disclosure is to improve mechanization and automation of rod handling.
The above mentioned objects are achieved according to a first aspect of the disclosure by a rod handling system comprising a substantially cylindrical rod magazine for storing a plurality of rods, wherein the rod magazine is arranged to rotate around its longitudinal axis; and a rod gripping assembly comprising at least one articulated arm, and a cylinder arrangement arranged to actuate the at least one articulated arm, wherein the cylinder arrangement comprises at least two cylinders fixedly connected in series, and wherein the cylinder arrangement is adjustable to at least three end
3 positions including a first end position enabling the articulated arm to execute to a parking position, a second end position enabling the articulated arm to execute to a free position, and a third end position enabling the articulated arm to execute to an access position.
The rod handling system according to the present disclosure solves the problem of providing a rod handling system with a lightweight and straightforward actuating mechanism. The problem is solved by adopting a multi-position cylinder arrangement involved in actuating the at least one articulated arm, wherein the multi-position cylinder arrangement comprises at least two cylinders fixedly connected in series. The multi-position cylinder arrangement is more compact and less heavy than the conventional single-position cylinder arrangement. The multi-position cylinder arrangement also provides a less complicated actuating mechanism than the conventional single-position cylinder arrangement.
The rod handling system according to the present disclosure has advantages of reduced weight thereby reducing energy consumption and operating costs for rod handling. The rod handling system according to the present disclosure has further advantages of a lean design thereby reducing manufacturing and maintenance costs.
The rod handling system according to the present disclosure may also comprise less mobile components due to the multi-position cylinder arrangement, which further reduces the manufacturing and maintenance costs. The rod handling system according to the present disclosure has further advantages of providing a straightforward and economical actuating mechanism without the need for elaborate electronic control, which facilitates automation of a rod handling process.
In the rod handling system as was described above, the at least two cylinders may be connected back-to-back or in-line. Preferably, the at least two cylinders are connected back-to back for more flexibility of providing the at least three end positions.
In the rod handling system as was described above, the cylinder arrangement may comprise two cylinders of identical diameter or different diameter.
Preferably, the two cylinders of the cylinder arrangement have identical diameter for reducing manufacturing and maintenance costs.
In the rod handling system as was described above, the cylinder arrangement may comprise two cylinders with different stroke length. The cylinder arrangement with two cylinders of different stroke length enables four end positions.
The rod handling system according to the present disclosure solves the problem of providing a rod handling system with a lightweight and straightforward actuating mechanism. The problem is solved by adopting a multi-position cylinder arrangement involved in actuating the at least one articulated arm, wherein the multi-position cylinder arrangement comprises at least two cylinders fixedly connected in series. The multi-position cylinder arrangement is more compact and less heavy than the conventional single-position cylinder arrangement. The multi-position cylinder arrangement also provides a less complicated actuating mechanism than the conventional single-position cylinder arrangement.
The rod handling system according to the present disclosure has advantages of reduced weight thereby reducing energy consumption and operating costs for rod handling. The rod handling system according to the present disclosure has further advantages of a lean design thereby reducing manufacturing and maintenance costs.
The rod handling system according to the present disclosure may also comprise less mobile components due to the multi-position cylinder arrangement, which further reduces the manufacturing and maintenance costs. The rod handling system according to the present disclosure has further advantages of providing a straightforward and economical actuating mechanism without the need for elaborate electronic control, which facilitates automation of a rod handling process.
In the rod handling system as was described above, the at least two cylinders may be connected back-to-back or in-line. Preferably, the at least two cylinders are connected back-to back for more flexibility of providing the at least three end positions.
In the rod handling system as was described above, the cylinder arrangement may comprise two cylinders of identical diameter or different diameter.
Preferably, the two cylinders of the cylinder arrangement have identical diameter for reducing manufacturing and maintenance costs.
In the rod handling system as was described above, the cylinder arrangement may comprise two cylinders with different stroke length. The cylinder arrangement with two cylinders of different stroke length enables four end positions.
4 In the rod handling system as was described above, the cylinder arrangement may comprise two cylinders with identical stroke length. The cylinder arrangement with two cylinders of identical stroke length enables three end positions.
In the rod handling system as was described above, the rod gripping assembly may further comprise a displacement device, wherein the articulated arm is removably mounted on the displacement device. At intervals, the need arises to use two or more articulated arms for securing the safety of rod gripping. In some embodiments, the two or more articulated arms may be removably mounted on the displacement device, whereby the articulated arms may be simultaneously actuated by actuating the displacement device.
In the rod handling system as was described above, the displacement device may be rotatable around an axis in parallel with the longitudinal axis of the substantially cylindrical rod magazine. In some embodiments, the linear motion produced by the cylinder arrangement generates circular motion of the rotatable displacement device, which enables the articulated arm(s) to execute to the parking position, free position or access position.
In the rod handling system as was described above, the rod gripping assembly may further comprise a support arm, and wherein the displacement device is connected to the cylinder arrangement via the support arm. In some embodiments, the linear motion produced by the cylinder arrangement generates circular motion of the support arm thereby circular motion of the rotatable displacement device, which enables the articulated arm(s) to execute to the parking position, free position or access position.
In the rod handling system as was described above, the parking and access positions may at least partially overlap. In some embodiments, the articulate arm may be parked at least partially within the rod magazine, which could require enlargement of the rod magazine. Thus, a separate and independent parking position for the articulated arm outside of the rod magazine has advantages of benefiting a lean and lightweight design of the rod handling system.
The above mentioned objects are achieved according to a second aspect of the disclosure by a rig comprising the rod handling system as was described above.
The rig according to the present disclosure has all the advantages that have been described above in conjunction with the rod handling system as was described above.
In the rod handling system as was described above, the rod gripping assembly may further comprise a displacement device, wherein the articulated arm is removably mounted on the displacement device. At intervals, the need arises to use two or more articulated arms for securing the safety of rod gripping. In some embodiments, the two or more articulated arms may be removably mounted on the displacement device, whereby the articulated arms may be simultaneously actuated by actuating the displacement device.
In the rod handling system as was described above, the displacement device may be rotatable around an axis in parallel with the longitudinal axis of the substantially cylindrical rod magazine. In some embodiments, the linear motion produced by the cylinder arrangement generates circular motion of the rotatable displacement device, which enables the articulated arm(s) to execute to the parking position, free position or access position.
In the rod handling system as was described above, the rod gripping assembly may further comprise a support arm, and wherein the displacement device is connected to the cylinder arrangement via the support arm. In some embodiments, the linear motion produced by the cylinder arrangement generates circular motion of the support arm thereby circular motion of the rotatable displacement device, which enables the articulated arm(s) to execute to the parking position, free position or access position.
In the rod handling system as was described above, the parking and access positions may at least partially overlap. In some embodiments, the articulate arm may be parked at least partially within the rod magazine, which could require enlargement of the rod magazine. Thus, a separate and independent parking position for the articulated arm outside of the rod magazine has advantages of benefiting a lean and lightweight design of the rod handling system.
The above mentioned objects are achieved according to a second aspect of the disclosure by a rig comprising the rod handling system as was described above.
The rig according to the present disclosure has all the advantages that have been described above in conjunction with the rod handling system as was described above.
5 In some embodiments, the rig as was described above may further comprise a carrier and a boom, wherein the boom is connected at a terminal end to the carrier and at an opposite terminal end to a mounting device, and wherein the rod handling system is arranged on the mounting device. In some embodiments, the mounting device may 5 comprise a feeding device configured to shuttle the rod handling system.
The above mentioned objects are achieved according to a third aspect of the disclosure by a method for rod handling performed by the rod handling system as was described above, wherein the method comprises steps of ¨ adjusting the cylinder arrangement to the first end position enabling the articulated arm to execute to the parking position, or the second end position enabling the articulated arm to execute to the free position, or the third end position enabling the articulated arm to execute to an access position;
¨ aligning the rod with a drilling axis by means of the articulated arm at the free position;
¨ placing a rod into the rod magazine or removing the rod from the rod magazine by means of the articulated arm at the access position; and ¨ rotating the rod magazine for receiving the rod or removing the rod from the rod magazine.
The method for rod handling performed by the rod handling system according to the present disclosure has all the advantages that have been described above in conjunction with the rod handling system.
The above mentioned objects are achieved according to a fourth aspect of the disclosure by a method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system as was described above for rod handling, wherein the method comprises the actions of obtaining (101) data, controlling (102) operation of rod gripping assembly, and controlling (103) rotation of the rod magazine (7).
The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system has the advantage of at least partially automatizing the method for rod handling according to the present disclosure and performed by the rod handling system as was described above.
The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system has all the
The above mentioned objects are achieved according to a third aspect of the disclosure by a method for rod handling performed by the rod handling system as was described above, wherein the method comprises steps of ¨ adjusting the cylinder arrangement to the first end position enabling the articulated arm to execute to the parking position, or the second end position enabling the articulated arm to execute to the free position, or the third end position enabling the articulated arm to execute to an access position;
¨ aligning the rod with a drilling axis by means of the articulated arm at the free position;
¨ placing a rod into the rod magazine or removing the rod from the rod magazine by means of the articulated arm at the access position; and ¨ rotating the rod magazine for receiving the rod or removing the rod from the rod magazine.
The method for rod handling performed by the rod handling system according to the present disclosure has all the advantages that have been described above in conjunction with the rod handling system.
The above mentioned objects are achieved according to a fourth aspect of the disclosure by a method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system as was described above for rod handling, wherein the method comprises the actions of obtaining (101) data, controlling (102) operation of rod gripping assembly, and controlling (103) rotation of the rod magazine (7).
The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system has the advantage of at least partially automatizing the method for rod handling according to the present disclosure and performed by the rod handling system as was described above.
The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system has all the
6 advantages that have been described above in conjunction with the method for rod handling performed by the rod handling system as was described above.
The above mentioned objects are achieved according to a fifth aspect of the disclosure by a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system for rod handling.
The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the rod handling system for rod handling.
The above mentioned objects are also achieved according to yet another aspect of the disclosure by a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the rod handling system for rod handling.
The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.
BRIEF DESCRIPTION OF THE DRAWINGS
With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.
In the drawings:
Figure 1 is a schematic representation of a mining or construction work rig;
Figure 2 depicts a rod handling system in a perspective view;
Figure 3 depicts a perspective view of a cylinder arrangement in a first end position (a) enabling the articulated arm to execute to a parking position (b);
Figure 4 depicts a perspective view of a cylinder arrangement in a second end position (a) enabling the articulated arm to execute to a free position (b);
Figure 5 depicts a perspective view of a cylinder arrangement in a third end position (a) enabling the articulated arm to execute to an access position (b);
The above mentioned objects are achieved according to a fifth aspect of the disclosure by a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system for rod handling.
The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the rod handling system for rod handling.
The above mentioned objects are also achieved according to yet another aspect of the disclosure by a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the rod handling system for rod handling.
The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.
BRIEF DESCRIPTION OF THE DRAWINGS
With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.
In the drawings:
Figure 1 is a schematic representation of a mining or construction work rig;
Figure 2 depicts a rod handling system in a perspective view;
Figure 3 depicts a perspective view of a cylinder arrangement in a first end position (a) enabling the articulated arm to execute to a parking position (b);
Figure 4 depicts a perspective view of a cylinder arrangement in a second end position (a) enabling the articulated arm to execute to a free position (b);
Figure 5 depicts a perspective view of a cylinder arrangement in a third end position (a) enabling the articulated arm to execute to an access position (b);
7 Figure 6 is a schematic representation of four end positions (i) ¨ (iv) of a cylinder arrangement with two cylinders connected back-to-back, wherein the two cylinders have identical diameter and different stroke length;
Figure 7 is a block diagram depicting a method for controlling operation of the rod handling system;
Figure 8 is a block diagram illustrating a control unit and connections with the control unit.
DETAILED DESCRIPTION
The present disclosure aims to provide a lean and cost-efficient rod handling solution.
The present disclosure further aims to reduce manual workload without compromising work efficiency or productivity in order to reduce or even eliminate exposure of personnel to the hazardous work environment. The present disclosure improves mechanization and automation of the operations for rod handling by providing a novel, robust and reliable solution which is advantageous over the state of the art.
According to a first aspect of the disclosure, there is provided a rod handling system 6 comprising a substantially cylindrical rod magazine 7 for storing a plurality of rods 15, wherein the rod magazine 7 is arranged to rotate around its longitudinal axis Al; and a rod gripping assembly comprising at least one articulated arm 9, and a cylinder arrangement 10 arranged to actuate the at least one articulated arm 9, wherein the cylinder arrangement 10 comprises at least two cylinders 11, 12 fixedly connected in series, and wherein the cylinder arrangement 10 is adjustable to at least three end positions including a first end position enabling the articulated arm to execute to a parking position, a second end position enabling the articulated arm to execute to a free position, and a third end position enabling the articulated arm to execute to an access position.
With a "rod" 15 is herein meant a slim straight piece or bar or piping of material, such as a drilling rod a.k.a. drill pipe used in a mining or construction work site.
With a "cylinder" 11 or 12 is herein meant a hydraulic or pneumatic cylinder comprising a piston 13 inside a hollow cylinder (Fig. 6), or an electrical linear actuator.
At the parking position, the at least one articulated arm 9 may be set in a stand-by mode (Fig. 3). The articulated arm 9 is configured to grip or release a rod 15.
Figure 7 is a block diagram depicting a method for controlling operation of the rod handling system;
Figure 8 is a block diagram illustrating a control unit and connections with the control unit.
DETAILED DESCRIPTION
The present disclosure aims to provide a lean and cost-efficient rod handling solution.
The present disclosure further aims to reduce manual workload without compromising work efficiency or productivity in order to reduce or even eliminate exposure of personnel to the hazardous work environment. The present disclosure improves mechanization and automation of the operations for rod handling by providing a novel, robust and reliable solution which is advantageous over the state of the art.
According to a first aspect of the disclosure, there is provided a rod handling system 6 comprising a substantially cylindrical rod magazine 7 for storing a plurality of rods 15, wherein the rod magazine 7 is arranged to rotate around its longitudinal axis Al; and a rod gripping assembly comprising at least one articulated arm 9, and a cylinder arrangement 10 arranged to actuate the at least one articulated arm 9, wherein the cylinder arrangement 10 comprises at least two cylinders 11, 12 fixedly connected in series, and wherein the cylinder arrangement 10 is adjustable to at least three end positions including a first end position enabling the articulated arm to execute to a parking position, a second end position enabling the articulated arm to execute to a free position, and a third end position enabling the articulated arm to execute to an access position.
With a "rod" 15 is herein meant a slim straight piece or bar or piping of material, such as a drilling rod a.k.a. drill pipe used in a mining or construction work site.
With a "cylinder" 11 or 12 is herein meant a hydraulic or pneumatic cylinder comprising a piston 13 inside a hollow cylinder (Fig. 6), or an electrical linear actuator.
At the parking position, the at least one articulated arm 9 may be set in a stand-by mode (Fig. 3). The articulated arm 9 is configured to grip or release a rod 15.
8 At the free position, the at least one articulated arm 9 may be engaged in aligning the rod 15 with a drilling axis A3 (Fig. 4).
With a "drilling axis" A3 is herein meant a literally drilling axis or a longitudinal axis of a borehole.
At the access position, the at least one articulated arm 9 may place a rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 (Fig. 5).
The cylinder arrangement 10 may be a multi-position cylinder arrangement of any type for the intended use. The cylinder arrangement 10 according to the present disclosure is distinguished from a conventional combination of two or more single-position cylinders in that the cylinder arrangement 10 comprises at least two cylinders 11, 12 fixedly connected in series (Fig. 6). The cylinders 11, 12 can produce various motions when operated independently and simultaneously, which facilitates positioning of multiple mechanical components at one time, thereby advantageous for actuating the at least one articulated arm 9 in the rod handling system 6 according to the present disclosure.
The cylinder arrangement 10 is adjustable to at least three end positions. In some embodiments the cylinder arrangement 10 may comprise at least one electrical linear actuator capable of providing an infinite number of adjustable end positions within the length of the at least one electrical linear actuator. Preferably, the cylinder arrangement 10 comprises at least two hydraulic or pneumatic multi-position cylinders 11, 12. The cylinder arrangement 10 is able to serve the purpose of two or more types of single-position cylinders thereby providing an alternative and economical solution for rod handling.
The cylinder arrangement 10 is a space-saving solution without the need of a position-measuring system, which contributes to the lean and compact design of the rod handling system 6 according to the present disclosure.
In some embodiments, the rod gripping assembly may further comprise a position sensor 16 that can detect movements of the at least one articulated arm 9 before converting them into signals suitable for processing, transmission or control (Fig. 2).
The position sensor 16 may be of any type for the intended use. A typical position sensor 16 may be a resolver which is a type of rotary electrical transformer used for measuring degrees of rotation.
With a "drilling axis" A3 is herein meant a literally drilling axis or a longitudinal axis of a borehole.
At the access position, the at least one articulated arm 9 may place a rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 (Fig. 5).
The cylinder arrangement 10 may be a multi-position cylinder arrangement of any type for the intended use. The cylinder arrangement 10 according to the present disclosure is distinguished from a conventional combination of two or more single-position cylinders in that the cylinder arrangement 10 comprises at least two cylinders 11, 12 fixedly connected in series (Fig. 6). The cylinders 11, 12 can produce various motions when operated independently and simultaneously, which facilitates positioning of multiple mechanical components at one time, thereby advantageous for actuating the at least one articulated arm 9 in the rod handling system 6 according to the present disclosure.
The cylinder arrangement 10 is adjustable to at least three end positions. In some embodiments the cylinder arrangement 10 may comprise at least one electrical linear actuator capable of providing an infinite number of adjustable end positions within the length of the at least one electrical linear actuator. Preferably, the cylinder arrangement 10 comprises at least two hydraulic or pneumatic multi-position cylinders 11, 12. The cylinder arrangement 10 is able to serve the purpose of two or more types of single-position cylinders thereby providing an alternative and economical solution for rod handling.
The cylinder arrangement 10 is a space-saving solution without the need of a position-measuring system, which contributes to the lean and compact design of the rod handling system 6 according to the present disclosure.
In some embodiments, the rod gripping assembly may further comprise a position sensor 16 that can detect movements of the at least one articulated arm 9 before converting them into signals suitable for processing, transmission or control (Fig. 2).
The position sensor 16 may be of any type for the intended use. A typical position sensor 16 may be a resolver which is a type of rotary electrical transformer used for measuring degrees of rotation.
9 The rod handling system 6 solves the problem of providing a rod handling system with a lightweight and straightforward actuating mechanism. The problem is solved by adopting a multi-position cylinder arrangement 10 involved in actuating the at least one articulated arm 9, wherein the multi-position cylinder arrangement 10 comprises at least two cylinders 11, 12 fixedly connected in series. The multi-position cylinder arrangement 10 is more compact and less heavy than the conventional single-position cylinder arrangement. The multi-position cylinder arrangement 10 also provides a less complicated actuating mechanism than the conventional single-position cylinder arrangement.
The rod handling system 6 has advantages of reduced weight thereby reducing energy consumption and operating costs for rod handling. The rod handling system 6 has further advantages of a lean design thereby reducing manufacturing and maintenance costs. The rod handling system 6 may also comprise less mobile components due to the multi-position cylinder arrangement 10, which further reduces the manufacturing and maintenance costs. The rod handling system 6 has further advantages of providing a straightforward and economical actuating mechanism without the need for elaborate electronic control, which facilitates automation of a rod handling process.
In the rod handling system 6, the at least two cylinders 11, 12 may be connected back-to-back or in-line. Preferably, the at least two cylinders are connected back-to-back for more flexibility of providing the at least three end positions.
In some embodiments, the cylinder arrangement 10 comprises at least two hydraulic or pneumatic multi-position cylinders 11, 12 each with a piston rod 17 or 18, wherein one of the piston rods 17 or 18 may be trunnion mounted (Figs. 3 - 5). The trunnion mounting of one of the piston rods 17 or 18 provides an economical solution for actuating the at least one articulated arm 9 without the need for elaborate electronic control.
In some embodiments, the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 may travel along the same axis A4 (Figs. 3a, 4a and 5a). In some embodiments, the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 travel in opposite directions along the same axis A4, wherein the at least two cylinders 11, 12 are connected back-to-back (Figs. 3a, 4a and 5a).
In some embodiments, the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 may travel along different parallel axes.
The cylinder arrangement 10 may be adjustable to each of the at least three end positions directly, or through at least one intermediate position. In some embodiments, travel of the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 is stopped at the end of each stroke (Figs. 3 ¨ 5), which provides a 5 straightforward and efficient solution for the process of regulating actuation of the cylinder arrangement 10 thereby facilitating automation of the process.
In the rod handling system 6, the cylinder arrangement 10 may comprise two cylinders 11, 12 of identical diameter or different diameter. Preferably, the two cylinders 11, 12 of the cylinder arrangement 10 have identical diameter (Fig. 6). In some embodiments,
The rod handling system 6 has advantages of reduced weight thereby reducing energy consumption and operating costs for rod handling. The rod handling system 6 has further advantages of a lean design thereby reducing manufacturing and maintenance costs. The rod handling system 6 may also comprise less mobile components due to the multi-position cylinder arrangement 10, which further reduces the manufacturing and maintenance costs. The rod handling system 6 has further advantages of providing a straightforward and economical actuating mechanism without the need for elaborate electronic control, which facilitates automation of a rod handling process.
In the rod handling system 6, the at least two cylinders 11, 12 may be connected back-to-back or in-line. Preferably, the at least two cylinders are connected back-to-back for more flexibility of providing the at least three end positions.
In some embodiments, the cylinder arrangement 10 comprises at least two hydraulic or pneumatic multi-position cylinders 11, 12 each with a piston rod 17 or 18, wherein one of the piston rods 17 or 18 may be trunnion mounted (Figs. 3 - 5). The trunnion mounting of one of the piston rods 17 or 18 provides an economical solution for actuating the at least one articulated arm 9 without the need for elaborate electronic control.
In some embodiments, the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 may travel along the same axis A4 (Figs. 3a, 4a and 5a). In some embodiments, the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 travel in opposite directions along the same axis A4, wherein the at least two cylinders 11, 12 are connected back-to-back (Figs. 3a, 4a and 5a).
In some embodiments, the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 may travel along different parallel axes.
The cylinder arrangement 10 may be adjustable to each of the at least three end positions directly, or through at least one intermediate position. In some embodiments, travel of the pistons 13 of the at least two hydraulic or pneumatic multi-position cylinders 11, 12 is stopped at the end of each stroke (Figs. 3 ¨ 5), which provides a 5 straightforward and efficient solution for the process of regulating actuation of the cylinder arrangement 10 thereby facilitating automation of the process.
In the rod handling system 6, the cylinder arrangement 10 may comprise two cylinders 11, 12 of identical diameter or different diameter. Preferably, the two cylinders 11, 12 of the cylinder arrangement 10 have identical diameter (Fig. 6). In some embodiments,
10 the two cylinders 11, 12 may share an integrated cylinder housing, which reduces manufacturing and maintenance costs.
In the rod handling system 6, the cylinder arrangement 10 may comprise two cylinders
In the rod handling system 6, the cylinder arrangement 10 may comprise two cylinders
11, 12 with different stroke length (Figs. 3 ¨ 6). The cylinder arrangement 10 with two cylinders 11, 12 of different stroke length enables four end positions A, B, C
and D (Fig.
6). The end position A is achieved when both cylinders 11, 12 are retracted (Fig. 6-i).
The end position B is achieved when the cylinder 11 is advanced and the cylinder 12 is retracted (Fig. 6-ii). The end position C is achieved when the cylinder 11 is retracted and the cylinder 12 is advanced (Fig. 6-iii). The end position D is achieved when both cylinders 11, 12 are advanced (Fig. 6-iv).
In the rod handling system 6, the cylinder arrangement 10 may comprise two cylinders with identical stroke length. The cylinder arrangement with two cylinders of identical stroke length enables three end positions A, B/C and D (Fig. 6), wherein the end positions B and C overlaps completely.
As illustrated in Fig. 3a, a first end position corresponds to the end position A (Fig. 6-i) achieved when both cylinders 11, 12 are retracted, which first end position enables the articulated arm to execute to a parking position (Fig. 3b).
As illustrated in Fig. 4a, a second end position corresponds to the end position B (Fig.
6-ii) achieved when the cylinder 11 is advanced and the cylinder 12 is retracted, which second end position enables the articulated arm to execute to a free position (Fig. 4b).
In some embodiments, a second end position may correspond to the end position C
(Fig. 6-iii) achieved when the cylinder 12 is advanced and the cylinder 11 is retracted, which second end position enables the articulated arm to execute to a free position.
As illustrated in Fig. 5a, a third end position corresponds to the end position D (Fig. 6-iv) achieved when both cylinders 11, 12 are advanced, which third end position enables the articulated arm to execute to an access position (Fig. 5b).
In the rod handling system 6, the rod gripping assembly may further comprise a displacement device 8, wherein the at least one articulated arm 9 is removably mounted on the displacement device 8 (Fig. 2). At intervals, the need arises to use two or more articulated arms for securing the safety of rod gripping. In some embodiments, the two or more articulated arms may be removably mounted on the displacement device 8, whereby the articulated arms 9 may be simultaneously actuated by actuating lo the displacement device 8.
In the rod handling system 6, the displacement device 8 may comprise a shaft rotatable around a longitudinal axis A2 of the shaft, wherein the longitudinal axis A2 of the shaft is in parallel with the longitudinal axis Al of the substantially cylindrical rod magazine 7 (Fig. 2). In some embodiments, the linear motion produced by the cylinder arrangement 10 generates circular motion of the rotatable displacement device 8, which enables the articulated arm(s) 9 to execute to the parking position (Fig. 3b), free position (Fig. 4b) or access position (Fig. 5b).
In the rod handling system 6, the rod gripping assembly may further comprise a support arm 14, and wherein the displacement device 8 is connected to the cylinder arrangement 10 via the support arm 14 (Fig. 2). In some embodiments, the linear motion produced by the cylinder arrangement 10 generates circular motion of the support arm 14 thereby circular motion of the rotatable displacement device 8, which enables the articulated arm(s) 9 to execute to the parking position Fig. 3b), free position (Fig. 4b) or access position (Fig. 5b).
In the rod handling system 6, the parking and access positions may at least partially overlap. In some embodiments, the articulate arm 9 may be parked at least partially within the rod magazine 7, which could require enlargement of the rod magazine thereby increased size and weight of the rod handling system 6. Thus, a separate and independent parking position for the articulated arm 9 outside of the rod magazine 7 has advantages of benefiting a lean and lightweight design of the rod handling system 6 (Fig. 3b).
According to a second aspect of the disclosure, there is provided a rig 1 comprising the rod handling system 6 as was described above (Fig. 1). The rig 1 has all the
and D (Fig.
6). The end position A is achieved when both cylinders 11, 12 are retracted (Fig. 6-i).
The end position B is achieved when the cylinder 11 is advanced and the cylinder 12 is retracted (Fig. 6-ii). The end position C is achieved when the cylinder 11 is retracted and the cylinder 12 is advanced (Fig. 6-iii). The end position D is achieved when both cylinders 11, 12 are advanced (Fig. 6-iv).
In the rod handling system 6, the cylinder arrangement 10 may comprise two cylinders with identical stroke length. The cylinder arrangement with two cylinders of identical stroke length enables three end positions A, B/C and D (Fig. 6), wherein the end positions B and C overlaps completely.
As illustrated in Fig. 3a, a first end position corresponds to the end position A (Fig. 6-i) achieved when both cylinders 11, 12 are retracted, which first end position enables the articulated arm to execute to a parking position (Fig. 3b).
As illustrated in Fig. 4a, a second end position corresponds to the end position B (Fig.
6-ii) achieved when the cylinder 11 is advanced and the cylinder 12 is retracted, which second end position enables the articulated arm to execute to a free position (Fig. 4b).
In some embodiments, a second end position may correspond to the end position C
(Fig. 6-iii) achieved when the cylinder 12 is advanced and the cylinder 11 is retracted, which second end position enables the articulated arm to execute to a free position.
As illustrated in Fig. 5a, a third end position corresponds to the end position D (Fig. 6-iv) achieved when both cylinders 11, 12 are advanced, which third end position enables the articulated arm to execute to an access position (Fig. 5b).
In the rod handling system 6, the rod gripping assembly may further comprise a displacement device 8, wherein the at least one articulated arm 9 is removably mounted on the displacement device 8 (Fig. 2). At intervals, the need arises to use two or more articulated arms for securing the safety of rod gripping. In some embodiments, the two or more articulated arms may be removably mounted on the displacement device 8, whereby the articulated arms 9 may be simultaneously actuated by actuating lo the displacement device 8.
In the rod handling system 6, the displacement device 8 may comprise a shaft rotatable around a longitudinal axis A2 of the shaft, wherein the longitudinal axis A2 of the shaft is in parallel with the longitudinal axis Al of the substantially cylindrical rod magazine 7 (Fig. 2). In some embodiments, the linear motion produced by the cylinder arrangement 10 generates circular motion of the rotatable displacement device 8, which enables the articulated arm(s) 9 to execute to the parking position (Fig. 3b), free position (Fig. 4b) or access position (Fig. 5b).
In the rod handling system 6, the rod gripping assembly may further comprise a support arm 14, and wherein the displacement device 8 is connected to the cylinder arrangement 10 via the support arm 14 (Fig. 2). In some embodiments, the linear motion produced by the cylinder arrangement 10 generates circular motion of the support arm 14 thereby circular motion of the rotatable displacement device 8, which enables the articulated arm(s) 9 to execute to the parking position Fig. 3b), free position (Fig. 4b) or access position (Fig. 5b).
In the rod handling system 6, the parking and access positions may at least partially overlap. In some embodiments, the articulate arm 9 may be parked at least partially within the rod magazine 7, which could require enlargement of the rod magazine thereby increased size and weight of the rod handling system 6. Thus, a separate and independent parking position for the articulated arm 9 outside of the rod magazine 7 has advantages of benefiting a lean and lightweight design of the rod handling system 6 (Fig. 3b).
According to a second aspect of the disclosure, there is provided a rig 1 comprising the rod handling system 6 as was described above (Fig. 1). The rig 1 has all the
12 advantages that have been described above in conjunction with the rod handling system 6.
The rig 1 may be a complex equipment intended for earth surface use or underground use. The rig 1 may be a mining or construction work rig adapted for various mining operations or construction work. Fig. 1 shows schematically a mining or construction work rig 1 comprising a carrier 2 and a boom 4, wherein the boom 4 is connected at a terminal end to the carrier 2 and at an opposite terminal end to a mounting device 5, and wherein the rod handling system is arranged on the mounting device 5. In some embodiments, the mounting device may comprise a feeding device configured to shuttle the rod handling system 6. In some embodiments, the rig 1 may be a drill rig comprising the rod handling system 6 as was described above and a drilling machine, wherein the rod handling system 6 and the drilling machine are arranged on the mounting device 5.
According to a third aspect of the disclosure, there is provided a method for rod handling performed by the rod handling system 6 as was described above. The method comprises the following steps, which steps may be taken in any suitable order.
Step 1: adjusting the cylinder arrangement 10 to the first end position (Fig. 3a) enabling the articulated arm 9 to execute to a parking position (Fig. 3b), or the second end position (Fig. 4a) enabling the articulated arm 9 to execute to a free position (Fig. 4b), or the third end position (Fig. 5a) enabling the articulated arm 9 to execute to an access position (Fig. 5b).
At the parking position, the at least one articulated arm 9 may be set in a stand-by mode (Fig. 3).
At the free position, the at least one articulated arm 9 may be engaged in aligning the rod 15 with a drilling axis A3 (Fig. 4).
At the access position, the at least one articulated arm 9 may place a rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 (Fig. 5).
Step 2: aligning the rod 15 with a drilling axis A3 by means of the articulated arm 9 at the free position.
The rig 1 may be a complex equipment intended for earth surface use or underground use. The rig 1 may be a mining or construction work rig adapted for various mining operations or construction work. Fig. 1 shows schematically a mining or construction work rig 1 comprising a carrier 2 and a boom 4, wherein the boom 4 is connected at a terminal end to the carrier 2 and at an opposite terminal end to a mounting device 5, and wherein the rod handling system is arranged on the mounting device 5. In some embodiments, the mounting device may comprise a feeding device configured to shuttle the rod handling system 6. In some embodiments, the rig 1 may be a drill rig comprising the rod handling system 6 as was described above and a drilling machine, wherein the rod handling system 6 and the drilling machine are arranged on the mounting device 5.
According to a third aspect of the disclosure, there is provided a method for rod handling performed by the rod handling system 6 as was described above. The method comprises the following steps, which steps may be taken in any suitable order.
Step 1: adjusting the cylinder arrangement 10 to the first end position (Fig. 3a) enabling the articulated arm 9 to execute to a parking position (Fig. 3b), or the second end position (Fig. 4a) enabling the articulated arm 9 to execute to a free position (Fig. 4b), or the third end position (Fig. 5a) enabling the articulated arm 9 to execute to an access position (Fig. 5b).
At the parking position, the at least one articulated arm 9 may be set in a stand-by mode (Fig. 3).
At the free position, the at least one articulated arm 9 may be engaged in aligning the rod 15 with a drilling axis A3 (Fig. 4).
At the access position, the at least one articulated arm 9 may place a rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 (Fig. 5).
Step 2: aligning the rod 15 with a drilling axis A3 by means of the articulated arm 9 at the free position.
13 In some embodiments as illustrated in Figs. 3b, 4b and 5b, the longitudinal axis Al of the rod magazine 7 (not visible) is in parallel with the drilling axis A3 when the articulated arm 9 aligns the rod 15 with the drilling axis A3.
Step 3: placing a rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 by means of the articulated arm 9 at the access position.
Step 4: rotating the rod magazine 7 for receiving the rod 15 or removing the rod 15 from the rod magazine 7.
The method for rod handling performed by the rod handling system 6 according to the present disclosure has all the advantages that have been described above in conjunction with the rod handling system 6 as was described above.
According to a fourth aspect of the disclosure, there is provided a method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the rod handling system 6 as was described above for rod handling. Example embodiments of the method will be described in a general way by referring to Fig. 7.
The method comprises the following actions, which actions may be taken in any suitable order.
Action 101: obtaining data The action 101 may comprise one or more sub-actions of obtaining data from a sensing system comprising a position sensor 16. The data may provide information about degrees of rotation of the displacement device 8 and/or the at least one articulated arm 9.
Action 102: controlling operation of the rod gripping assembly The action 102 may comprise one or more sub-actions of controlling operation of the cylinder arrangement 10 configured to actuate the at least one articulated arm 9 for standing-by at the parking position, or aligning a rod 15 with a drilling axis A3 at the free position, or placing the rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 at the access position.
The action 102 may further comprise one or more sub-actions of controlling operation of the at least one articulated arm 9 for gripping or releasing a rod 15, or initiating a standing-by mode.
Action 103: controlling rotation of the rod magazine 7 The action 103 may comprise one or more sub-actions of controlling rotation of the rod magazine 7 for receiving a rod 15 or removing the rod 15 from the rod magazine 7.
Step 3: placing a rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 by means of the articulated arm 9 at the access position.
Step 4: rotating the rod magazine 7 for receiving the rod 15 or removing the rod 15 from the rod magazine 7.
The method for rod handling performed by the rod handling system 6 according to the present disclosure has all the advantages that have been described above in conjunction with the rod handling system 6 as was described above.
According to a fourth aspect of the disclosure, there is provided a method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the rod handling system 6 as was described above for rod handling. Example embodiments of the method will be described in a general way by referring to Fig. 7.
The method comprises the following actions, which actions may be taken in any suitable order.
Action 101: obtaining data The action 101 may comprise one or more sub-actions of obtaining data from a sensing system comprising a position sensor 16. The data may provide information about degrees of rotation of the displacement device 8 and/or the at least one articulated arm 9.
Action 102: controlling operation of the rod gripping assembly The action 102 may comprise one or more sub-actions of controlling operation of the cylinder arrangement 10 configured to actuate the at least one articulated arm 9 for standing-by at the parking position, or aligning a rod 15 with a drilling axis A3 at the free position, or placing the rod 15 into the rod magazine 7 or removing the rod 15 from the rod magazine 7 at the access position.
The action 102 may further comprise one or more sub-actions of controlling operation of the at least one articulated arm 9 for gripping or releasing a rod 15, or initiating a standing-by mode.
Action 103: controlling rotation of the rod magazine 7 The action 103 may comprise one or more sub-actions of controlling rotation of the rod magazine 7 for receiving a rod 15 or removing the rod 15 from the rod magazine 7.
14 As illustrated in Fig. 8, the control unit 20 may be connected with a rod gripping assembly and a rod magazine 7 via the communication links 200a and 200b respectively. The control unit 20 comprises at least one processor 21, at least one memory 22 and at least one data port 23. The at least one processor 21 is usually an electronic processing circuitry that processes input data and provides appropriate output.
The above mentioned method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the rod handling system 6 has the advantage of at least partially automatizing the method for rod handling according to the present disclosure and performed by the rod handling system 6.
The above mentioned method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the rod handling system 6 has all the advantages that have been described above in conjunction with the method for rod handling performed by the rod handling system 6.
According to a fifth aspect of the disclosure, there is provided a computer program product comprising instructions which, when executed on at least one processor 21, cause the at least one processor 21 to carry out the method as was described above for controlling operation of the rod handling system 6.
According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit 20 or a computer connected to the control unit 20 to carry out the method as was described above for controlling operation of the rod handling system 6.
The computer program may comprise routines for obtaining 101 data from a sensing system. The computer program may further comprise routines for controlling 102 operation of rod gripping assembly and controlling 103 rotation of the rod magazine 7.
The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the rod handling system 7 for rod handling.
According to a yet another aspect of the disclosure, there is provided a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 21, cause the at least one processor 21 to carry out the method as was described above for controlling operation of the rod handling system 6 for rod handling.
The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product. The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.
5 Although the invention has been described in terms of example embodiments as set forth above, it should be understood that the examples are given solely for the purpose of illustration and are not to be construed as limitations of the claims, as many variations thereof are possible without departing from the scope of the invention. Each feature disclosed or illustrated in the present disclosure may be incorporated in the 10 claims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.
The above mentioned method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the rod handling system 6 has the advantage of at least partially automatizing the method for rod handling according to the present disclosure and performed by the rod handling system 6.
The above mentioned method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the rod handling system 6 has all the advantages that have been described above in conjunction with the method for rod handling performed by the rod handling system 6.
According to a fifth aspect of the disclosure, there is provided a computer program product comprising instructions which, when executed on at least one processor 21, cause the at least one processor 21 to carry out the method as was described above for controlling operation of the rod handling system 6.
According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit 20 or a computer connected to the control unit 20 to carry out the method as was described above for controlling operation of the rod handling system 6.
The computer program may comprise routines for obtaining 101 data from a sensing system. The computer program may further comprise routines for controlling 102 operation of rod gripping assembly and controlling 103 rotation of the rod magazine 7.
The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the rod handling system 7 for rod handling.
According to a yet another aspect of the disclosure, there is provided a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 21, cause the at least one processor 21 to carry out the method as was described above for controlling operation of the rod handling system 6 for rod handling.
The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product. The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.
5 Although the invention has been described in terms of example embodiments as set forth above, it should be understood that the examples are given solely for the purpose of illustration and are not to be construed as limitations of the claims, as many variations thereof are possible without departing from the scope of the invention. Each feature disclosed or illustrated in the present disclosure may be incorporated in the 10 claims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.
Claims (14)
1. A rod handling system comprising a substantially cylindrical rod magazine for storing a plurality of rods, wherein the rod magazine is arranged to rotate around its longitudinal axis (AU; and a rod gripping assembly comprising at least one articulated arm, and a cylinder arrangement arranged to actuate the at least one articulated arm, wherein the cylinder arrangement comprises at least two cylinders fixedly connected in series, and wherein the cylinder arrangement is adjustable to at least three end positions including a first end position enabling the articulated arm to execute to a parking position, a second end position enabling the articulated arm to execute to a free position, and a third end position enabling the articulated arm to execute to an access position.
2. The rod handling system according to claim 1, wherein the at least two cylinders are connected back-to-back or in-line.
3. The rod handling system according to claim 1 or 2, wherein the cylinder arrangement comprises two cylinders of identical diameter.
4. The rod handling system according to claim 3, wherein the cylinder arrangement comprises two cylinders with different stroke length.
5. The rod handling system according to claim 3, wherein the cylinder arrangement comprises two cylinders with identical stroke length.
6. The rod handling system according to any one of claims 1 to 5, wherein the rod gripping assembly further comprises a displacement device, wherein the articulated arm is removably mounted on the displacement device.
7. The rod handling system according to claim 6, wherein the displacement device is rotatable around an axis (A2) in parallel with the longitudinal axis (A1) of the rod magazine.
8. The rod handling system according to claim 6 or 7, wherein the rod gripping assembly further comprises a support arm, and wherein the displacement device is connected to the cylinder arrangement via the support arm.
9. The rod handling system according to any one of claims 1 to 8, wherein the parking and access positions at least partially overlap.
10. A rig comprising the rod handling system according to any one of claims to 9.
11. The rig according to claim 10 comprising a carrier and a boom, wherein the boom is connected at a terminal end to the carrier and at an opposite terminal end to a mounting device, and wherein the rod handling system is arranged on the mounting device.
12. A method for rod handling performed by the rod handling system according to any one of claims 1 to 9, wherein the method comprises steps of adjusting the cylinder arrangement to a first end position enabling the articulated arm to execute to a parking position, or a second end position enabling the articulated arm to execute to a free position, or a third end position enabling the articulated arm to execute to an access position;
aligning the rod with a drilling axis (A3) by means of the articulated arm at the free position;
placing a rod into the rod magazine or removing the rod from the rod magazine by means of the articulated arm at the access position; and rotating the rod magazine for receiving the rod or removing the rod from the rod magazine.
aligning the rod with a drilling axis (A3) by means of the articulated arm at the free position;
placing a rod into the rod magazine or removing the rod from the rod magazine by means of the articulated arm at the access position; and rotating the rod magazine for receiving the rod or removing the rod from the rod magazine.
13. A method performed by a control unit or a computer connected to the control unit for controlling operation of the rod handling system according to any one of claims 1 to 9 for rod handling, wherein the method comprises the actions of obtaining data, controlling operation of the rod gripping assembly, and controlling rotation of the rod magazine.
14. A computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method according to claim 13.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/SE2021/051067 WO2023068975A1 (en) | 2021-10-22 | 2021-10-22 | Rod handling system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA3229818A1 true CA3229818A1 (en) | 2023-04-27 |
Family
ID=78483461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3229818A Pending CA3229818A1 (en) | 2021-10-22 | 2021-10-22 | Rod handling system and method |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN118103581A (en) |
| AU (1) | AU2021470266A1 (en) |
| CA (1) | CA3229818A1 (en) |
| WO (1) | WO2023068975A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1483865B1 (en) * | 1966-08-10 | 1970-01-22 | Salzgitter Maschinen Ag | DEVICE FOR INSERTING AND REMOVING BORING BARS OF A DRILLING MACHINE IN OR. FROM A MAGAZINE FIXED ON THE LATTER |
| GB1196159A (en) * | 1966-10-07 | 1970-06-24 | Atlas Copco Ab | Improvements in Drilling Machines |
| FI853767L (en) * | 1984-10-18 | 1986-04-19 | Inco Ltd | CARGO FORMING LADDNINGSANORDNING FOER BORR. |
| EP0819820A1 (en) * | 1996-07-19 | 1998-01-21 | Doll Fahrzeugbau Gmbh | Horizontal drilling machine |
| PL3191679T3 (en) | 2014-09-12 | 2020-05-18 | Arctic Drilling Company Oy Ltd | Rod magazine system and method |
| SE541990C2 (en) | 2017-11-30 | 2020-01-14 | Epiroc Rock Drills Ab | Rod feeding device and method of rod feeding device |
| CN212716483U (en) | 2020-06-18 | 2021-03-16 | 中国铁建重工集团股份有限公司 | Automatic rod adding mechanism of drilling and splitting trolley |
-
2021
- 2021-10-22 WO PCT/SE2021/051067 patent/WO2023068975A1/en active Application Filing
- 2021-10-22 AU AU2021470266A patent/AU2021470266A1/en active Pending
- 2021-10-22 CN CN202180103237.0A patent/CN118103581A/en active Pending
- 2021-10-22 CA CA3229818A patent/CA3229818A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023068975A1 (en) | 2023-04-27 |
| CN118103581A (en) | 2024-05-28 |
| AU2021470266A1 (en) | 2024-04-11 |
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