Note: Descriptions are shown in the official language in which they were submitted.
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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
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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
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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.
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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.
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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
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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);
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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.
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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.
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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.
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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
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.
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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
7
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
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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.
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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.
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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.
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WO 2023/068975
PCT/SE2021/051067
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.
CA 03229818 2024- 2- 22
