EP4695493A1 - Dispositif de manipulation de tige - Google Patents

Dispositif de manipulation de tige

Info

Publication number
EP4695493A1
EP4695493A1 EP23718369.4A EP23718369A EP4695493A1 EP 4695493 A1 EP4695493 A1 EP 4695493A1 EP 23718369 A EP23718369 A EP 23718369A EP 4695493 A1 EP4695493 A1 EP 4695493A1
Authority
EP
European Patent Office
Prior art keywords
rod
handling device
boom
drill
rod handling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23718369.4A
Other languages
German (de)
English (en)
Inventor
Sooraj KANNADIPARAMBIL
Asgar HUSSAIN
Carl Johan CARLSSON
Diwakar GOPU
Mattias DANIELSSON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Publication of EP4695493A1 publication Critical patent/EP4695493A1/fr
Pending legal-status Critical Current

Links

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
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position
    • 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
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/087—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods by means of a swinging arm

Definitions

  • the present disclosure relates to a rod handling device. It further relates to a drill rig comprising a rod handling device and a method for handling drill rods.
  • Drilling penetrates deep into the ground and brings up samples of what is found at a specified depth. If there is any mineralization at given points far beneath the surface, drilling can give a straightforward answer and can quantify its presence at a particular depth.
  • Core drilling yields a solid, cylinder shaped sample of the ground at an exact depth and reverse circulation drilling yields a crushed sample, comprising cuttings from a fairly well determined depth in the hole.
  • the depth may be 1000 meters or more.
  • drill rods must be transferred between a drill rod storage and a drill rig.
  • a rod handling device may be used for transferring drill rods between a drill rod storage and a drill rig.
  • drill rigs that have integrated rod sloops for storage of the drill rods.
  • the rod sloops have limited capacity and may need to be refilled.
  • the drill sloops often comprise drill rods with specific diameter or length, since they are usually customized.
  • the rod sloops When the rod sloops are integrated on the drill rig, they occupy space of the drill rig, and the drill rig needs to accommodate for increased weight due to rod sloop plus the drill rods’ weight. Sometimes center of gravity (COG) offset is caused. Further, the rod sloop is built for picking drill rods from a specific location. An intermediate rod rest assembly may be used between the drill rig and the rod sloop. The rod rest assembly also requires a customized rod sloop. If the rod sloop is integrated on the drill rig, it requires space, and the drill rig needs to accommodate for increased weight. If the rod sloop is external, it requires alignment with the drill rig, which is time consuming.
  • COG center of gravity
  • Another problem is that the design is made such that the same drill rod will be used for drilling resulting in increased rod-wear.
  • Transfer of the drill rods may be performed manually and due to the substantial weight of each drill rod there is a severe risk of injury to workers.
  • Drill rigs may be located in areas which are not easy to get access to by conventional transport, such as by trains or trucks. Thus, there may be a problem with the transport of the rod sloop and the rod handling device to the location.
  • the present disclosure intends to provide an in at least some aspect improved rod handling device to be used at drill rigs, for example exploration drill rigs.
  • the present disclosure provides a rod handling device according to claim 1.
  • the rod handling device is configured to be mounted on a mast of a drill rig.
  • the rod handling device comprises: a boom configured to be rotatably mounted on the mast, a first set of actuators configured to rotate the boom about a first axis of rotation perpendicular to a longitudinal axis of the mast, and about a second axis of rotation perpendicular to a longitudinal axis of the boom, and a rod gripper assembly being rotatably attached to the boom about a third axis of rotation perpendicular to the longitudinal axis of the boom.
  • the rod gripper assembly comprises at least one mechanical gripper, the rod gripper assembly being configured to releasably grip a drill rod.
  • the rod handling device provides high movability of the gripper assembly which improves the possibility to reach drill rods outside a drill rig. This may improve the functionality of the drill rig.
  • the drill rig does not need a rod sloop and the rod handling device may be used on places which are difficult to reach by normal transportation.
  • the first set of actuators may comprise a first actuator and a second actuator, at least one of the first and second actuators being a linear actuator. The actuators achieve the possibility of rotation around the axes of rotation.
  • the first set of actuators may comprise two rotary actuators.
  • Rotary actuators are smooth in operation. Further, the torque available is constant over an entire work sector.
  • the first set of actuators may comprise two linear actuators.
  • the rod handling device may comprise a rotary actuator which is configured to rotate the rod gripper assembly about the third axis of rotation.
  • a rotary actuator achieves good movability to the rod gripper assembly.
  • the rod handling device may comprise a linear actuator which is configured to rotate the rod gripper assembly about the third axis of rotation.
  • the boom may have a length of 1.0 to 6.0 meters, or preferably a length of 1.5 to 5.0 meters.
  • the boom may be adjustable, and the rod handling device may comprise a second set of at least one actuator configured to extend and retract the boom along the longitudinal axis of the boom.
  • the actuators facilitate the possible extension and retraction of the boom.
  • the second set of the at least one actuator may be at least one linear actuator.
  • the boom may be adjustable, and the rod handling device may comprise a second set of at least two actuators configured to extend and retract the boom along the longitudinal axis of the boom.
  • the second set of the at least two actuators may be at least two linear actuators.
  • the boom may be an extendable boom. Further, the boom may be a hydraulic extendable boom.
  • the extendable boom may be comprised of several extension booms, which together form an extendable boom.
  • the boom may have a length of 1.0 to 2.0 meters when the boom is fully retracted.
  • the boom may have a length of 2.0 to 6.0 meters when the boom is fully extended.
  • the rod handling device may comprise an attachment element, such as a bracket, wherein the boom is configured to be mounted on the mast via the attachment element.
  • the bracket facilitates the attachment of the boom to the mast.
  • the first set of actuators may be arranged on the attachment element.
  • the boom may be a telescopic boom, comprising one fixed tube and at least one sliding tube.
  • a telescopic boom may facilitate the possible extension and retraction of the boom.
  • the at least one sliding tube may be movable by at least one actuator of the second set of actuators.
  • the boom may be a telescopic boom, comprising one fixed tube and at least two sliding tubes.
  • the sliding tubes may be movable by at least two actuators of the second set of actuators.
  • each of the fixed tube and the at least one slidable tube may have a length of 1.0 to 2.0 meters, or preferably a length of 1.4 to 2.0 meters.
  • the rod gripper assembly may comprise at least one magnetic gripper.
  • a magnetic gripper may facilitate the gripping ability of the rod gripper assembly. It may be easier to grip a drill rod and the drill rods do not need to be lying in order or in a rod sloop. Further, a rod sloop may not be needed since the gripping of the drill rods is facilitated by the rod gripper assembly.
  • the rod gripper assembly may comprise at least two magnetic grippers.
  • two magnetic grippers When two magnetic grippers are used it may be more flexible to reach rods and the rods may be lying randomly and may anyway be reached and gripped by the rod gripper assembly.
  • the centre-to-centre distance between the magnetic grippers may be 0.8 to 2.5 meters, or preferably may be 0.9 to 1.4 meters.
  • the rod gripper assembly may comprise a beam having a longitudinal axis which is perpendicular to the longitudinal axis of the boom, wherein the at least one mechanical gripper is attached to the beam, and wherein the beam is movable along its longitudinal axis. The picking and dropping of drill rods are facilitated.
  • the rod gripper assembly may comprise a beam having a longitudinal axis which is perpendicular to the longitudinal axis of the boom, wherein the at least one magnetic gripper and the at least one mechanical gripper are attached to the beam, and wherein the beam is movable along its longitudinal axis.
  • the possibility to move the magnetic gripper and the mechanical gripper along the longitudinal axis of the beam further facilitates the possibility to grip drill rods which are arranged randomly outside the drill rig, and further, the length of the drill rods may vary.
  • the at least one mechanical gripper and two magnetic grippers are attached to the beam and the centre-to-centre distance between the magnetic grippers may be 0.8 to 2.5 meters, or preferably is 0.9 to 1.4 meters.
  • the beam may comprise a mid-portion and first and second opposite end portions, wherein the at least one mechanical gripper is attached to the mid-portion and wherein the at least one magnetic gripper comprises a first magnetic gripper attached to the first end portion and a second magnetic gripper attached to the second end portion.
  • the arrangement of the mechanical gripper and the magnetic grippers improves the possibility of gripping drill rods which are located on a location outside a drill rig and not specifically arranged in any order.
  • the rod handling device may be configured to transfer a drill rod between a first position and a rotation unit of a drill rig.
  • the first position may be located outside the drill rig.
  • the new rod handling device which comprises a boom which is configured to be rotatable mounted on the mast, has an improved movability and can reach outside the drill rig.
  • the rod handling device may operate from a 45 to 90 degrees drilling angle a. It may be possible to mount the rod handling device on a mast which is inclined. For example, the mast may be inclined with an angle of 45 degrees to a horizontal direction.
  • the rod handling device may be heli-portable. This makes it possible to transport the rod handling device to an area which may be difficult to reach by normal transport, such as by train or trucks.
  • the rod handling device may comprise lifting lugs configured for helicopter portability.
  • the lifting lugs make it possible to transport the rod handling device to an area which is not easy to reach by normal transport.
  • the rod handling device may be configured to be mounted on a mast of an exploration drill rig.
  • the rod handling device is configured in a way which is suitable for exploration drill rigs.
  • the flexibility of the rod handling device makes it possible to use long drill rods for use in exploration drill rigs which need to drill very deep holes.
  • the rod handling device may be configured to be mounted on a mast of a core drill rig.
  • the core drill rig may be a surface core drill rig.
  • the at least one mechanical gripper may be adjustable to different rod sizes. It is very advantageous to being able to handle drill rods of different size.
  • the at least one magnetic gripper may be adjustable to different rod sizes. It is very advantageous to being able to handle drill rods of different size, both in length and thickness of the drill rods.
  • the present disclosure provides a method for transferring a drill rod between a first position and a second position at a rotation unit of a drill rig using the rod handling device as disclosed herein.
  • the method comprises: gripping the drill rod by the rod gripper assembly,
  • the first position may be located in a drill rod storage, such as a rod sloop or it may be located on the ground.
  • a facilitated gripping of drill rods may be achieved with the method and an increased freedom of gripping drill rods of different sizes and different lengths.
  • a method for transferring a drill rod wherein the first position may be outside the drill rig. This may be achieved due to the improved movability of the rod handling device.
  • an electronic control unit configured to control the rod handling device as disclosed herein is provided to perform the method as disclosed herein.
  • a drill rig comprising a rod handling device as disclosed herein and a mast, the rod handling device being mounted on the mast.
  • heli-portable is meant that it is portable by a helicopter.
  • a mast is meant a supporting device extending in a longitudinal direction.
  • the mast is extending from a drill rig and may be a support for a rod handling device and a rotation unit for example.
  • the mast may be extended in a direction upwards from the drill rig.
  • the mast may extend at an angle of 45-90 degrees to the horizontal direction.
  • the rod handling device By mounted on a mast, is meant that that the rod handling device is detachably arranged on the mast.
  • the rod handling device is configured to be mounted on a mast, which means that the rod handling device may be mounted on the mast when needed.
  • the rod handling device When the rod handling device is not in use, it may be located outside the drill rig in a storage. Further, if there is no rod handling device near the drill rig, a rod handling device may be transported to the drill rig, for example by a helicopter.
  • Figure 1 shows a rod handling device as disclosed herein, wherein the rod handling device is mounted on a mast.
  • Figure 2 shows a rod gripper assembly as disclosed herein.
  • Figure 3 shows a boom as disclosed herein.
  • Figure 4 shows a rod handling device as disclosed herein.
  • Figure 5 shows a rod handling device as disclosed herein, wherein the rod handling device is mounted on a mast and the rod handling device is arranged in a stage of a process for transferring a drill rod.
  • Figure 6 shows a rod handling device as disclosed herein.
  • Figure 7 shows a rod handling device as disclosed herein, wherein the rod handling device is mounted on a mast and the rod handling device is arranged in a stage of a process for transferring a drill rod.
  • Figure 8 shows a rod handling device mounted on a mast, wherein a rotation unit is arranged on the mast.
  • Figure 9 shows the rod handling device as shown in figure 8, mounted on a mast, but seen from another side view.
  • Figure 10 shows a mechanical gripper as disclosed herein.
  • Figure 11 shows a rod handling device mounted on a mast which is inclined in relation to the horizontal direction, wherein a rotation unit is arranged on the mast.
  • Figure 12 shows a drill rig comprising a mast and a rod handling device mounted on the mast.
  • Figure 13 shows a flow chart disclosing the actions of the method according to the disclosure.
  • Rod handling devices are used for picking drill rods from a rod sloop and transferring the drill rod to a rotation unit.
  • the rod sloop and the rotation unit are usually arranged on a drill rig.
  • the rod sloop itself, and the rod sloop including drill rods, may be heavy and occupies space on the drill rig. Further, the rod handling device including the rod sloop may be cumbersome to transport, especially when the location of the drill rig is difficult to reach with convention transportation means.
  • exploration drill is to be performed, very deep drill holes are desired. Many drill rods need to be used for drilling a deep hole. This means that several drill rods are arranged in a drill rod storage.
  • the present disclosure solves at least partially some of the problems mentioned above.
  • a rod handling device as disclosed herein has a possibility to move in several directions with large freedom of movement. Further, the rod handling device can move a rod between a rod storage location and a rotation unit even when the rod storage is located quite far away from the rotation unit.
  • the rod handling device is designed to attach and detach quickly to and from a drill rig, respectively. This may reduce the lead time for assembly or disassembly.
  • a further advantage with the new rod handling device may also be that an operator does not need to lift the drill rod.
  • the rod handling device as disclosed herein is configured to be mounted on a mast of a drill rig.
  • Fig. 12 shows a drill rig 100 having a mast 101 on which a rod handling device 121 according to the present disclosure is mounted.
  • a rod handling device 121 mounted on a mast 101 is further shown in figures 1 , 5, 7, 8, 9, and 11.
  • the rod handling device 121 comprises: a boom 141 configured to be rotatably mounted on the mast 101 , a first set of actuators 142, 143 configured to rotate the boom 141 about a first axis of rotation A1 perpendicular to a longitudinal axis LM of the mast 101 , and about a second axis of rotation A2 perpendicular to a longitudinal axis L of the boom 141 , and a rod gripper assembly 161 being rotatably attached to the boom 141 about a third axis of rotation A3 perpendicular to the longitudinal axis L of the boom 141.
  • the rod gripper assembly 161 according to an embodiment is further shown in figure 2. It comprises at least one mechanical gripper 163 and is configured to releasably grip a drill rod 164.
  • the rod handling device 121 may be arranged on the mast 101 by fastening elements, such as screws, nails, bolts, or similar.
  • the rod handling device 121 may be transported to a drill rig 100 and then mounted on a mast 101.
  • the drill rods 164 may be moved quite long distances since the rod handling device 121 is versatile and has a high degree of movability.
  • a rod handling system including a rod sloop is arranged on a drill rig from which the drill rod is gripped.
  • Such a movement is limited.
  • the possibility of movement as disclosed for a rod handling device 121 as disclosed herein is large, compared to rod handling systems arranged on a drill rig.
  • the rod handling device 121 as disclosed herein provides a movability and versatility which make it possible to reach drill rods lying outside the drill rig.
  • the boom 141 is rotatable about a first axis of rotation A1 perpendicular to the longitudinal axis LM of the mast, and about a second axis of rotation A2 perpendicular to the longitudinal axis L of the boom.
  • the axes A1 and A2 are shown in figures 5 and 7.
  • a first set of actuators 142, 143 are configured to rotate the boom 141 about a first axis of rotation A1 and about a second axis of rotation A2.
  • the first set of actuators may comprise a first actuator 142 and a second actuator 143.
  • One of the first and second actuators 142, 143 may be a linear actuator 142.
  • the second actuator 143 may be a linear actuator or a rotary actuator.
  • first set of actuators 142, 143 may comprise two rotary actuators (not shown).
  • the first set of actuators may comprise two linear actuators.
  • the rod handling device 121 as disclosed herein may comprise a rotary actuator 122 which is configured to rotate the rod gripper assembly 161 about the third axis of rotation A3, which is also shown in for example figures 5-7. This further improves the movability of the rod handling device 121.
  • the rod gripper assembly 161 may reach to locations which otherwise may be difficult to reach. It may also be an advantage in case the transport takes time.
  • the rod handling device 121 may comprise a linear actuator (not shown) which is configured to rotate the rod gripper assembly 161 about the third axis of rotation A3.
  • the boom 141 may have a length of 1.0 to 6.0 meters or preferably a length of 1.5 to 5.0 meters.
  • the boom 141 may be adjustable.
  • the rod handling device 121 as disclosed herein may comprise a second set of at least one actuator 149 configured to extend and retract the boom 141 along the longitudinal axis L of the boom 141. Further, the rod handling device may comprise a second set of at least two actuators 149, 148 configured to extend and retract the boom 141 along the longitudinal axis L of the boom 141.
  • Figure 3 shows a boom 141, which in figure 4 is connected to a rod gripper assembly 161.
  • the rod gripper assembly 161 is connected to the boom 141 by an attachment element 151.
  • the attachment element 151 is also shown in figure 2 on the rod gripper assembly 161.
  • the second set of actuators 149, 148 may be two linear actuators 149, 148.
  • the second set of actuators may be a linear actuator 149 which is connected to a chain or rope construction with a pulley.
  • the actuators disclosed herein may be hydraulic actuators. Further, the actuators disclosed herein may be electronic or pneumatic actuators.
  • the boom 141 may be extended to a length of up to 6 meters. This is an advantage when a first location 102 comprising the drill rods 164 are arranged at a distance from the drill rig 100.
  • the rod handling device 121 as disclosed herein may comprise an attachment element
  • attachment element 144 such as a bracket, wherein the boom 141 is configured to be mounted on the mast 101 via the attachment element 144.
  • the attachment element 144 may be seen in figures 4 and 6, which shows a rod handling device 121.
  • the entire bracket 144 plus the boom 141 mounted thereto can be rotated with the help of the rotary actuator 143.
  • the first set of actuators 142, 143 may be arranged on the attachment element 144.
  • the rod handling device may be mounted on the mast 101 , as shown in figures 1, 5, 7, 8, 9, 11 and 12 for example.
  • the boom 141 may be an extendable boom. When the boom 141 is extendable, it is possible to reach far away from the mast 101 , which is advantageous.
  • the extendable boom 141 may be a hydraulic extendable boom.
  • the extendable boom 141 may be comprised of several extension booms, which together form an extendable boom.
  • the boom 141 may have a length of 1.0 to 2.0 meters when the boom is fully retracted.
  • the boom 141 may have a length of 2.0 to 6.0 meters when the boom is fully extended.
  • the boom 141 may be a telescopic boom 141, comprising one fixed tube 147 and at least one sliding tube 146.
  • a telescopic boom 141 is shown in for example figures 1, 3 and 4.
  • a fixed tube 147 and two sliding tubes 145, 146 are shown, but it is not necessary to have two sliding tubes.
  • the telescopic boom may comprise only one sliding tube and a fixed tube.
  • the telescopic boom may comprise one fixed tube 147 and two or more sliding tubes 147, 146.
  • Each of the fixed tube and the at least one slidable tube may have a length of 1.0 to 2.0 meters, or preferably a length of 1.4 to 2.0 meters.
  • the fixed tube 147 and the sliding tubes 146, 145 may have different forms.
  • the cross- sectional form of the fixed tube and the sliding tubes may be round, square, rectangular, hexagonal or any preferred profile.
  • the telescopic boom 141 may comprise wear pads 150.
  • the wear pads 150 may be arranged inside or outside the telescopic boom 141.
  • the sliding tubes 145, 146 may be movable by at least one actuator 149 of the second set of actuators 149.
  • the sliding tubes 145, 146 may be at least two. Further, the sliding tubes 145, 146 may be three or more.
  • the sliding tubes may be movable by a second set of actuators which may comprise two actuators 148, 149 or more.
  • the mechanical gripper 163 may grip around the drill rod 164 from the first location 102.
  • the drill rods 164 may be arranged in the first location 102.
  • the first location 102 may be a rod sloop or directly on the ground.
  • the drill rods 164 do not need to be in any order or do not need to be lying in any direction.
  • the rod gripper assembly 161 disclosed herein may comprise one magnetic gripper 162, shown in for example figure 2.
  • the rod gripper assembly 161 comprises a magnetic gripper 162
  • the gripping of a drill rod 164 is facilitated.
  • the drill rod 164 may be lying oriented in any direction and a plurality of drill rods 164 does not have to be arranged according to any specific order.
  • the magnetic gripper 162 touches a drill rod 164
  • the drill rod 164 will be picked up by the magnetic gripper 162. It may be easier to pick drill rods 164 from a random pile with a magnetic gripper 162.
  • a rod sloop may not be needed. This is further an advantage, since the rod sloop may be limited to a certain number of rods.
  • a magnetic gripper 162 may reduce the crushing force on the drill rod 164.
  • the rod gripper assembly 161 may comprise two magnetic grippers 162. Two or more magnetic grippers 162 may improve the possibility to grip a drill rod 164.
  • the rod gripper assembly 162 comprises one or more magnetic grippers 162
  • the drill rod 164 will be lifted up by the rod gripper assembly 161 by the magnetic grippers 162.
  • the magnetic gripper or grippers 162 makes the gripping facilitated by that the arrangement and location of the drill rod 164 is not important.
  • the drill rod 164 may be picked by touching the magnetic gripper or magnetic grippers 162.
  • the size of the drill rod 164, both diameter and length, may vary.
  • the mechanical gripper 163 may then grip around the drill rod 164 and safely keep the drill rod 164 in place, when the drill rod 164 continues to be moved by the rod gripper assembly 161.
  • the mechanical gripping may be performed when the drill rod 164 has been lifted up a distance
  • the gripping of drill rods 164 having different diameters and length is facilitated by the rod gripper assembly comprising magnetic grippers.
  • any rod sloop may be handled by the rod gripper assembly 161 as disclosed herein.
  • the centre-to-centre distance between the magnetic grippers 162 may be 0.8 to 2.5 meters, or preferably may be 0.9 to 1.4 meters.
  • the magnetic grippers 162 may be permanent, electromagnetic or some other preferred magnetic gripper.
  • the magnetic grippers 162 may be detachably attached or they may be securely attached to the rod gripper assembly 161.
  • the rod gripper assembly 161 may comprise a beam 165 having a longitudinal axis BL which is perpendicular to the longitudinal axis L of the boom 141.
  • a rod gripper assembly may comprise a beam 165 having a longitudinal axis BL which is perpendicular to the longitudinal axis L of the boom 141.
  • the beam 165 is movable along its longitudinal axis BL by a sliding tube 169, which is arranged in parallel with the beam 165 and to which the beam 165 is mechanically connected.
  • the movability of the beam 165 further enables the rod gripper assembly 161 to pick drill rods 164 at any location and in any order.
  • a linear actuator 170 may provide the movability of the beam 165.
  • the movability of the beam 165 further facilitates the gripping or dropping of a drill rod 164 to a rotation unit 103 of a drill rig 100.
  • the at least one mechanical gripper 163 and two magnetic grippers 162 are attached to the beam 165 and the centre- to-centre distance between the magnetic grippers 162 may be 0.8 to 2.5 meters, or preferably is 0.9 to 1.4 meters.
  • the beam 165 shown in figure 2 comprises a mid-portion and first and second opposite end portions 167, 168.
  • the mechanical gripper 163 is attached to the mid-portion and the two magnetic grippers 162 are attached to the first end portion 167 and the second end portion 168, respectively.
  • An improved gripping capability is obtained by combining two magnetic grippers 162 with a mechanical gripper 163.
  • a magnetic gripper 162 along with a mechanical gripper 163 ensures a smooth and safe operation.
  • the rod handling device 121 as disclosed herein may be configured to transfer a drill rod 164 between a first position 102 and the rotation unit 103 of a drill rig 100.
  • the first position 102 may advantageously be located outside the drill rig 100, to avoid that the weight of the rods 164 is loaded on the drill rig. Further, if a rod sloop is used, the weight of the rod sloop will also be outside the drill rig 100. If a rod sloop is used, it does not need to be customized due to the large freedom of the rod handling device 121 as disclosed herein.
  • the rod handling device 121 as disclosed herein can operate from a 45 to 90 degrees drilling angle a. This may be achieved by that the mast 101 arranged on the drill rig 100 is leaning by an angle a. A mast 101 arranged with an axis which is perpendicular to the horizontal direction is considered to have an angle of 90 degrees. Thus, an angle 45 degrees will be an angle a of 45 degrees to the horizontal direction.
  • the rod handling device 121 may be heli-portable. As mentioned above, it means that the rod handling device 121 may be portable by a helicopter or helicopter-portable. This is advantageous since the rod handling device 121 may be transported to an area which may be difficult to reach by normal transportation, such as by train or truck. The transportation by helicopter may then be possible.
  • the rod handling device 121 may be quick to attach to or detach from a mast 101 of a drill rig 100.
  • the rod handling device 121 may comprise lifting lugs 123.
  • Lifting lugs 123 are shown on a rod handling device shown in Figure 6.
  • the lifting lugs 123 may be configured for helicopter portability. That might be necessary in order to be able to transport the rod handling device 121 by a helicopter.
  • the lifting lugs 123 are arranged on a location of the rod handling device 121 which is suitable for hanging down from the helicopter.
  • the rod handling device 121 may comprise stands 124, which are provided for resting the rod handling device 121 on the ground.
  • the stands 124 may be detachable.
  • the rod handling device 121 may be configured to be mounted on a mast 101 of an exploration drill rig 100. Exploration drill rigs are used above the ground. When drilling for exploration deep holes are desired, which means that the drill string, i.e. the combination of several drill rods, will be long. Many drill rods may be used, further, the length of the drill rods may be quite long. The length of the drill rod may be between 1.2 and 6 meters, or even longer. The holes may be up to 1000 meters or up to 1400 meters long. This means that many drill rods may be needed. For coal mining, which is a production drilling and not an exploration drilling, as comparison, the holes may be about 10-60 meters long. For exploration drilling there is thus a large need for many drill rods.
  • the magnetic gripper 162 and the mechanical gripper 163 are adjustable to different rod sizes. This is achieved by, for example, that the mechanical gripper 163 is formed by two parts of which each is V-formed. Then the drill rod 164 may have a broad range of diameter. An example of a mechanical gripper 163 is shown in figure 10.
  • the mechanical gripper 163 may be actuated by a linear actuator 171 for example.
  • the magnetic gripper 162 may have a form which fits to a drill rod 164.
  • the magnetic gripper 162 may be substantially flat or it may also have a kind of V-form for fitting to a drill rod 164.
  • a method for transferring a drill rod 164 between a first position 102 and a second position at a rotation unit 103 of a drill rig 100.
  • the first position 102 may be located in a rod sloop or on the ground.
  • the method uses the rod handling device 121 as disclosed herein.
  • the method is illustrated in the flow chart shown in figure 13 and comprises the actions listed below, which may be taken in any suitable order. Optional actions are marked by dashed lines.
  • the method provides large movability for the rod gripper assembly 161, which facilitates the possibility to transfer drill rods 164 between the rotation unit of the drill rig 100 and the location of the drill rods.
  • the method may comprise retracting and extending the boom 141 along the longitudinal direction L of the boom 141.
  • the retracting and extending of the boom 141 may be performed with a second set of at least one actuator 149.
  • the first position 102 may be outside the drill rig 100.
  • an electronic control unit 155 configured to control the rod handling device as disclosed herein is provided to perform the method as disclosed herein.
  • An example of a process for transferring a drill rod 164 between a first location 102 and a rotation unit 103 of a drill rig 100 will be described in the following with reference to figures 1, 5, 7, 8 and 9. In this description it is referred to a process wherein the rod gripper assembly 161 comprises a magnetic gripper 162. However, it is not necessary that a magnetic gripper is comprised and the steps for the magnetic gripper may be emitted.
  • FIG 8 a mast 101 and a rod handling device 121 are shown.
  • the rod handling device 121 is mounted on the mast 101.
  • the rod handling device 121 in this position is also shown in figure 9.
  • the rod gripper assembly 161 is rotated about the third axis A3 by the rotary actuator 122 so that the rod gripper assembly 161 is arranged close to the mast 101 and the drill rod 164.
  • the magnetic gripper 162 may be unclamped and the mechanical gripper 163 may be opened. The unclamping of the magnetic gripper 162 may be performed by switching off the magnetic grippers 162 and the mechanical gripper 163 may be opened by hydraulic actuators 171.
  • the magnetic grippers 162 may be switched on and attach to the drill rod 164.
  • the mechanical gripper 163 closes towards the drill rod 164.
  • the beam 165 may be slidably moved along the longitudinal axis BL of the beam 165. This facilitates the gripping or dropping of the drill rod 164 by or from the rotation unit 103. By such a movement, the beam 165 may be moved in a direction which is parallel with the longitudinal direction LM of the mast 101. Further, the rotation unit 103 may be moved on the mast 101 in the direction towards the rod handling device 121.
  • the boom 141 may be extended in order to move the rod gripper assembly 161 including a rod 164 away from the mast 101.
  • a linear actuator 142 of the first set of actuators will be actuated and rotate the boom 141 along with the rod gripper assembly 161 around the mast 101. The rotation may be 120 degrees.
  • the boom 141 in this arrangement of the boom 141 after this movement is shown in figure 5.
  • the beam 165 and the drill rod 164 are oriented in a longitudinal direction BL of the beam 165 and the drill rod 164, which is in parallel with the longitudinal direction LM of the mast 101.
  • the rotary actuator 143 of the first set of actuators will rotate the boom 141 by 90 degrees.
  • the arrangement of the rod handling device 121 after this movement is shown in figure 7. If the drilling is at 45 degrees, i.e. the mast 101 is inclined to an angle 45 degrees, the rotary actuator 143 may in some examples rotate by 135 degrees.
  • the linear actuator 142 of the first set of actuators, the second set of linear actuators 149 and the rotary actuator 122 configured to rotate the rod gripper assembly about the third axis of rotation, work together or separately based on the requirements to reach the desired first location 102 for dropping the drill rod 164. This may be performed as described below.
  • the next movement may be to rotate the rod gripper assembly 161 about the third axis of rotation A3 by the rotary actuator 122.
  • the rod gripper assembly 161 will then reach further out from the mast 101.
  • This arrangement of the rod handling device 121 is shown in figure 1.
  • the rotation may be about 130 degrees.
  • the boom 141 may be extended.
  • the boom 141 may be a telescopic boom, as shown in for example figures 1, 3 and 4.
  • the rotary actuator 143 of the first set of actuators may also be actuated to rotate the rod gripper assembly 161 to be able to align to the first location 102.
  • the first location may be a rod sloop or possibly the ground.
  • the first location 102 may be outside the drill rig.
  • the linear actuator 142 may be used to reach the first location 102.
  • the rod handling device 121 will leave the drill rod 164 at the first location 102 by opening the mechanical gripper 163 and switching off the magnetic gripper 162.
  • the drill rod 164 will then be placed in the first location 102 as shown in figure 1.
  • a telescopic boom facilitates so that the drill rod 164 may be dropped anywhere in a rod sloop or on a location on the ground. There is no specific requirement of picking and/or dropping from the same location.
  • the boom 141 and the rod gripper assembly 161 may be returned back to the previous position with the help of the linear actuator 142 of the first set of actuators, the second set of linear actuators 149 and the rotary actuator 122, configured to rotate the rod gripper assembly about the third axis of rotation, similar to the position shown in figure 7.
  • the rotary actuator 143 of the first set of actuators rotates back 90 degrees to a position as shown in figure 5.
  • the rod handling device 121 may be moved back to a drill rod centralized in the rotation unit 103 for picking up another drill rod 164. The process may then be repeated. Further, in the opposite way, a drill rod 164 may be transported from the first location 102 to the rotation unit 103.
  • the start position for this movement may be as in figure 1.
  • the magnetic gripper 162 is switched off and the mechanical gripper 162 is open.
  • the magnetic gripper 162 engages with the drill rod 164.
  • the drill rod 164 is lifted up by retracting the boom 141 and rotating the boom 141 about the second rotation axis A2 by the linear actuator 142 of the first set of actuators.
  • the rod gripper assembly 161 and the drill rod 164 is lifted from the first location 102.
  • the mechanical gripper 163 may close around the drill rod 164.
  • the boom 141 For further movement to the rotation unit 103, the boom 141 is retracted. Further, the boom 141 may be rotated about the second axis A2. The rod gripper assembly 161 may be rotated about the third axis A3 to be moved back closer to the mast 101. The rotation may be about 130 degrees. This arrangement of the rod handling device 121 after this movement is shown in figure 7.
  • the boom 141 is rotated by the rotary actuator 143 that rotates the boom 141 about the first axis A1.
  • the boom 141 may be rotated about 90 degrees.
  • the boom 141 is rotated around the second rotation axis A2.
  • the rod gripper assembly 161 is moved back to the same side of the mast 101 as the rotation unit 103.
  • the rod gripper assembly 161 may then, if needed, be moved closer to the mast 101 by retracting the boom 141.
  • the rod gripper assembly 161 is supposed to reach the rotation unit 103 to be able to add a drill rod 164 in the rotation unit 103.
  • the rotation unit 103 may be movable along the longitudinal direction LM of the mast 101.
  • the rotation unit may be arranged on a cradle which is arranged on the mast 101 and movable on the mast. In this manner the drill rod 164 may reach the rotation unit 103 by that the rotation unit 103 is moved towards the drill rod 164. The drill rod 164 may also be moved towards the rotation unit 103 by that the beam 165 is moved in the direction towards the rotation unit 103. The beam 165 may be movable in the longitudinal axis BL of the beam 165. The process of leaving a drill rod 164 to the rotation unit 103 may be repeated.
  • the movements described above may be performed with or without a drill rod 164.
  • the same movements are made when moving between the first location 102 and the rotation unit 103 irrespective if a drill rod is transported.
  • the rod handling system 121 may be used for moving drill rods 164 in both directions.
  • gripping with a rod gripper assembly comprising a magnetic gripper 162.
  • Those steps may be emitted, when the rod gripper assembly 161 only comprises at least one mechanical gripper 163.
  • the rod gripper assembly 161 does in some embodiments, not comprise a magnetic gripper.
  • the steps regarding any actuating or gripping or attaching with a magnetic gripper is then not used.
  • the gripping will then start with the gripping with at least one mechanical gripper 163, which will start from the position of the drill rod 164. Further, the dropping of the drill rod 164 is performed by the mechanical gripper 163.
  • the mast 101 may also be inclined. When the mast 101 is standing in a vertical direction, as can be seen in figures 8 and 9, it has an angle of 90 degrees in relation to the horizontal direction. In figure 11 is a mast 101 arranged with the angle 45 degrees in relation to the horizontal direction. The mast 101 may be inclined between 90 and up to 45 degrees.
  • the movements of the drill rod 164 between the first location 101 and the rotation unit 103 may be performed in the same manner as disclosed herein. However, the rotation angles of the parts of the rod handling device 121 mentioned may vary and be different.
  • An electronic control unit 155 (schematically illustrated in figures 4 and 6) configured to control the rod handling device 121 such that the above actions are carried out may further be provided.
  • the electronic control unit 155 may be configured for controlling operation of the rod handling device 121 in response to signals received from an external control unit (not shown), such as a control unit of the drill rig 100 or another remotely located control unit.
  • the electronic control unit 155 may include a microprocessor, a microcontroller, a programmable digital signal processor or another programmable device.
  • the control unit 155 comprises electronic circuits and connections (not shown) as well as processing circuitry (not shown) for communicating with different parts of the rod handling device 121 as well as with the external control unit.
  • control unit 155 may be configured for communicating with various sensors, devices, systems and control units of the rod handling device 121 and of the rotation unit 103.
  • the control unit 155 controls the actuators 142, 143 for rotational movement of the boom 141 as well as the actuator 122 for rotational movement of the rod gripper assembly 161.
  • the control unit 155 may further control the actuators 149, 148 for linear movement of the sliding tubes, control of the actuator 170 for linear movement of the beam 165 and control of the actuator 171 for rotational movements of the mechanical gripper(s) 163.
  • Certain positions of the rod handling device 121 may be taught to the control unit 155 so that the rod handling device 121 can be efficiently moved between predetermined positions.
  • the electronic control unit 155 may comprise modules in either hardware or software, or partially in hardware or software, and communicate using known transmission buses such a CAN-bus and/or wireless communication capabilities.
  • the processing circuitry may be a general-purpose processor or a specific processor.
  • the control unit 155 may comprise a non-transitory memory for storing computer program code and data.
  • the skilled person realizes that the electronic control unit 155 may be embodied by many different constructions.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Abstract

La présente invention concerne un dispositif de manipulation de tige (121) conçu pour être monté sur un mât (101) d'un appareil de forage (100), le dispositif de manipulation de tige (121) comprenant : - une flèche (141) conçue pour être montée de manière rotative sur le mât (101), - un premier ensemble d'actionneurs (142), (143) conçu pour mettre en rotation la flèche (141) autour d'un premier axe de rotation A1 perpendiculaire à un axe longitudinal LM du mât (101), et autour d'un deuxième axe de rotation A2 perpendiculaire à un axe longitudinal L de la flèche (141), - un ensemble de préhension de tige (161) étant fixé de manière rotative à la flèche (141) autour d'un troisième axe de rotation A3 perpendiculaire à l'axe longitudinal L de la flèche (141), l'ensemble préhenseur de tige (161) comprenant au moins un préhenseur mécanique (163), l'ensemble préhenseur de tige (161) étant conçu pour la préhension de manière amovible d'une tige de forage (164).
EP23718369.4A 2023-04-12 2023-04-12 Dispositif de manipulation de tige Pending EP4695493A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2023/050338 WO2024215226A1 (fr) 2023-04-12 2023-04-12 Dispositif de manipulation de tige

Publications (1)

Publication Number Publication Date
EP4695493A1 true EP4695493A1 (fr) 2026-02-18

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Application Number Title Priority Date Filing Date
EP23718369.4A Pending EP4695493A1 (fr) 2023-04-12 2023-04-12 Dispositif de manipulation de tige

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EP (1) EP4695493A1 (fr)
CN (1) CN120958212A (fr)
WO (1) WO2024215226A1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MX2007003309A (es) * 2004-09-22 2007-11-09 Nat Oilwell Lp Sistema de soporte de pruebas.
NO20110638A1 (no) * 2011-04-29 2012-10-30 Seabed Rig As Rorhandteringsmaskin
CA2850746C (fr) * 2013-04-30 2021-03-16 Arctic Drilling Company Oy Ltd. Manipulation de tiges de forage automatique
RU2686220C1 (ru) * 2015-11-16 2019-04-24 Шлюмбергер Текнолоджи Б.В. Нижний стабилизирующий рычаг для буровой установки
NO20230209A1 (en) * 2020-09-01 2023-03-02 Canrig Robotic Technologies As Tubular handling system

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WO2024215226A1 (fr) 2024-10-17

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