A rod gripper and a rod handling apparatus

Abstract

A rod gripper (300) configured to releasably grip a drill rod (10) for transfer of the drill rod, comprising: a first jaw (301), a second jaw (302) opposite to the first jaw (301) and pivotable about a pivot axis (A), the jaws being configured to releasably grip a drill rod (10) extending in parallel to the pivot axis, the first jaw (301) comprising a first V-shaped gripping surface (310) and the second jaw (302) comprising a second V-shaped gripping surface (320), wherein the second V-shaped gripping surface comprises an outermost surface portion (324) extending between a corner portion (326) of the second V-shaped gripping surface and an outermost edge (325) thereof, wherein a radial vector (R) extends between the pivot axis and the outermost edge of the second V-shaped gripping surface, and wherein an angle (P) between the outermost surface portion and the first radial vector is at least 40°.

Description

[0001] A ROD GRIPPER AND A ROD HANDLING APPARATUS

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a rod gripper for gripping a drill rod, a rod gripper assembly, a rod handling apparatus, a rod handler, and a drill rig. The disclosed equipment may be used in connection with rock drilling.

[0004] BACKGROUND

[0005] In rock drilling processes using a drill rig, it is necessary when drilling deep holes to join a plurality of drill rods to form a drill string. During assembly, and disassembly, of the drill string, drill rods must be transferred between a drill rod storage and a drill rig. Transfer of the drill rods is often performed, at least in part, manually. Due to the substantial weight of each drill rod, there is a severe risk of injury to workers.

[0006] In some cases, transfer of the drill rods to / from the drill rig involves the use of a rod handler mounted on the drill rig and / or a rod handling apparatus configured to pick drill rods from a rod storage. Such rod handlers and rod handling apparatuses are configured to pick up and leave a drill rod, such as by using rod grippers comprising opposing gripping jaws. The gripping jaws are adapted to grip drill rods of a certain diameter, and the rod grippers may therefore comprise exchangeable parts to ensure that a good grip of the drill rod is achieved.

[0007] However, in order to securely grip the drill rod, the gripping jaws need to be operated with high precision when approaching and closing around the drill rod. If the rod gripper is slightly misaligned or offset with respect to the drill rod, gripping is often impossible. This makes it difficult to fully automate the rod handling process.

[0008] Hence, there is a need for a versatile rod gripper that is less sensitive to misalignment and that is easier to operate than known rod grippers, thereby facilitating automation of the rod handling process. SUMMARY

[0009] A primary object of the present disclosure is to achieve an in at least some aspect improved rod gripper for gripping drill rods, as well as an in at least some aspect improved rod gripper assembly, rod handling apparatus, rod handler, and drill rig. In particular, it is an object to achieve a rod gripper that alleviates at least some of the drawbacks associated with prior art rod grippers, such as the sensitivity to misalignment.

[0010] According to a first aspect, at least the primary object is achieved by a rod gripper configured to releasably grip a drill rod for transfer of the drill rod according to claim 1. The rod gripper comprises a first jaw and a second jaw arranged opposite to the first jaw. The second jaw is pivotable with respect to the first jaw about a pivot axis and the first and second jaws are configured to releasably grip a drill rod having a longitudinal axis parallel to the pivot axis. The first jaw comprises a first V-shaped gripping surface and the second jaw comprises a second V-shaped gripping surface as seen in a first plane perpendicular to the pivot axis. The second V-shaped gripping surface comprises an outermost surface portion extending between a corner portion of the second V-shaped gripping surface and an outermost edge thereof. A radial vector is defined that extends between the pivot axis and the outermost edge of the second V-shaped gripping surface. As seen in the first plane, an angle between the outermost surface portion and the first radial vector is at least 40°. Preferably, the angle between the outermost surface portion and the first radial vector is at least 45°.

[0011] The V-shaped gripping surfaces improve the versatility of the rod gripper in comparison with C-shaped gripping surfaces, since the same rod gripper may be used for a wider range of rod diameters. Furthermore, by providing the pivotable second jaw with an angle as defined above, the second jaw may be used to scoop up the drill rod, hence reducing sensitivity to alignment of the rod gripper with respect to the drill rod to be gripped. The rod gripper may thereby be used to grip a drill rod even in cases in which it is not optimally positioned with respect to the drill rod.

[0012] Optionally, the second jaw is configured to scoop up the drill rod and press it against the first V-shaped gripping surface of the first jaw.

[0013] Optionally, the rod gripper further comprises a holder to which the first jaw is fixed, and an actuator configured to pivot the second jaw relative to the first jaw and to the holder. The second jaw may thereby be actuated to grip the drill rod by scooping it up, and to subsequently release the drill rod from the grip.

[0014] Optionally, the first jaw comprises a first external surface opposite to the first V-shaped gripping surface, and, in a cartesian coordinate system in which the pivot axis defines an X axis, the first plane is a YZ plane, and the first external surface extends at least in part in a second plane parallel with or essentially parallel with a XZ plane, the first jaw does not extend past or substantially past the holder in the Y direction. By “substantially past” is herein intended that no more than 10 % of a total width of the first jaw, as measured in the

[0015] Y direction, extends past the holder in the Y direction.

[0016] Optionally, the first jaw comprises a first innermost portion on which a first innermost surface portion of the first V-shaped gripping surface is provided, and a first outermost portion on which a first outermost surface portion of the first V-shaped gripping surface is provided, the first innermost portion being closer to the pivot axis than the first outermost portion. The first outermost portion may have an elongated straight shape as seen in the first plane. By providing the first jaw with an outermost portion having an elongated straight shape, the first jaw can be made relatively thin as seen in the first plane, enabling the rod gripper to grip a drill rod located relatively close to another drill rod. Hence, the rod gripper with this configuration is suitable for gripping drill rods stacked in a drill rod storage, such as in a storage comprising a plurality of horizontally oriented drill rods.

[0017] By a straight shape is herein intended a shape with at least two opposing straight or essentially straight sides as seen in the first plane.

[0018] Optionally, the first outermost surface portion extends in parallel with a first portion of a first external surface of the first jaw opposite to the first outermost surface portion. The first outermost portion hereby obtains a straight shape.

[0019] Optionally, the first outermost portion has a larger extension in the Z direction than in the

[0020] Y direction. Hence, a relatively thin outermost portion can be provided that enables the rod gripper to be moved in the Z direction into relatively narrow spaces between neighbouring stacks of drill rods. Optionally, the rod gripper is configured to grip a drill rod having a diameter of 20-200 mm, preferably 40-150 mm, wherein the first outermost portion has an extension in the Y direction of 5-40 mm, preferably 10-30 mm. When the first outermost portion has an extension within the lower end of the range, the rod gripper is generally suitable for gripping of drill rods having relatively small diameters, and vice versa.

[0021] Optionally, the first outermost surface portion is a planar surface portion, and / or the first innermost surface portion is a planar surface portion. Hence, a line contact may be established between the respective planar surface portion and the drill rod.

[0022] Optionally, in a cartesian coordinate system in which the pivot axis defines an X axis, and the first plane is a YZ plane, the first outermost surface portion extends in a second plane parallel or essentially parallel with a XZ plane. By “essentially parallel” is herein intended a plane that differs by ±10° or less from a parallel extension. The first outermost surface portion may, by way of example, be slightly turned in a counterclockwise direction with respect to the XZ plane.

[0023] Optionally, as seen in the first plane, the outermost edge of the second V-shaped gripping surface follows a first circle arc when the second jaw is pivoted about the pivot axis, wherein the first circle arc intersects the first jaw at the first outermost surface portion.

[0024] This reduces the sensitivity to misalignment of the rod gripper with respect to the drill rod to be gripped.

[0025] Optionally, the first circle arc intersects the first jaw closer to an outermost end of the first outermost surface portion than to a corner of the first V-shaped gripping surface.

[0026] Optionally, an innermost surface portion of the second V-shaped gripping surface is a planar surface portion.

[0027] Optionally, the second jaw comprises a second gripping surface where at least a portion of the second gripping surface is having a polygonal shape. Providing the second gripping surface with a polygonal shape improves the versatility of the rod gripper in comparison with for example, a curved surface portion, since the same rod gripper may be used for an even wider range of rod diameters. Optionally the second jaw comprises a second innermost portion on which a second innermost surface portion of the second V-shaped gripping surface is provided, wherein the second innermost portion is closer to the pivot axis than the second outermost portion, and wherein the second innermost surface portion is a V-shaped surface portion. The second innermost surface portion may extend between the second corner portion and an innermost edge of the second outermost surface portion of the second V-shaped gripping surface.

[0028] The V-shaped surface portion improves the versatility of the rod gripper in comparison with for example, planar surface portions, since the same rod gripper may be used for an even wider range of rod diameters.

[0029] Optionally, the second jaw comprises a second innermost portion on which a second innermost surface portion of the second gripping surface is provided, where the second innermost portion is closer to the pivot axis than the second outermost portion and is a V- shaped surface portion. As mentioned above, providing the second innermost portion of the second jaw with a V-shaped surface improves the versatility of the rod gripper in comparison with for example, a single planar or a curved surface portion, since the same rod gripper may be used for an even wider range of rod diameters.

[0030] In embodiments, the technology disclosed relates to a rod gripper configured to releasably grip a drill rod for transfer of the drill rod. The rod gripper may then comprise a first and a second jaw arranged opposite to the first jaw where the second jaw is being pivotable with respect to the first jaw about a pivot axis. The first and second jaws may then be configured to releasably grip a drill rod having a longitudinal axis parallel to the pivot axis. The first jaw may then comprise a first gripping surface and the second jaw may comprise a second gripping surface. The second jaw may then comprise a second innermost portion on which a second innermost surface portion of the second gripping surface is provided, and where the second innermost portion is closer to the pivot axis than the second outermost portion and is a V-shaped surface portion.

[0031] Optionally, the outermost surface portion of the second V-shaped gripping surface is a curved surface portion. The rod gripper can thereby more easily scoop up a drill rod and grip it. A radius of curvature of the curved surface portion should herein preferably be larger than a radius of curvature of the drill rod to be gripped, such that a line contact can be established between the curved surface portion and the drill rod. In at least some embodiments a radius of curvature of the curved surface portion may be less than or equal to the radius of curvature of the drill rod to be gripped. However, it is also possible to make the second outermost surface portion a planar surface portion.

[0032] Optionally, the outermost surface portion of the second V-shaped gripping surface is a V- shaped surface portion. The V-shaped surface portion improves the versatility of the rod gripper in comparison with for example, a single planar or curved surface portion, since the same rod gripper may be used for an even wider range of rod diameters.

[0033] Optionally, the outermost edge of the second V-shaped gripping surface is at a first radial distance from the pivot axis, and a radially outermost point of the second jaw is at a second radial distance from the pivot axis, the first radial distance being within a range of 80-100%, preferably 90-98%, more preferably 95-97%, of the second radial distance. Hence, the radially outermost point follows a second circle arc when the second jaw is pivoted about the pivot axis, wherein the first circle arc may have a radius which is 80- 100%, preferably 90-98%, more preferably 95-97%, of a radius of the second circle arc. This ensures that the second jaw can be pivoted to grip a target drill rod from a drill rod cassette or similar, without colliding with any adjacent drill rod located in a lower layer of drill rods. It is beneficial for the strength of the second jaw to have the radially outermost point located radially outside of the outermost edge of the second outermost portion, i.e., to have the second radial distance slightly larger than the first radial distance.

[0034] Optionally, the angle between the outermost surface portion and the first radial vector is within a range of 40-80°, preferably 45-70°, more preferably 45-60°.

[0035] Optionally, a first corner angle of the first V-shaped gripping surface is larger than a second corner angle of the second V-shaped gripping surface. By providing a first V- shaped gripping surface with a larger corner angle and a second V-shaped gripping surface with a smaller corner angle, the rod gripper can be configured for scooping up the drill rod holding it firmly between the V-shaped gripping surfaces.

[0036] Optionally, the first corner angle is within a range of 106-135°, preferably 110-130°. Optionally, the second corner angle is within a range of 85-105°, preferably 85-100°. The range may be applicable, for example, in embodiments where the innermost portion and / or the outermost portion of the second V-shaped gripping surface is a planar surface.

[0037] Optionally, the second corner angle is within a range of 75-100°, preferably 80-95°. The range may be applicable, for example, in embodiments where the innermost portion and / or the outermost portion of the second V-shaped gripping surface is a V-shaped surface portion.

[0038] According to a second aspect, a rod gripper assembly comprising two rod grippers according to the first aspect is provided, wherein the two rod grippers are offset from one another along the pivot axis, and wherein the two rod grippers are configured to be operated together to releasably grip a drill rod. By using a rod gripper assembly comprising two rod grippers configured to be operated together, a better stability can be achieved than by using a single rod gripper. If using a single rod gripper instead of a rod gripper assembly, the single rod gripper should have a larger extension along the pivot axis in comparison with each rod gripper of a rod gripper assembly.

[0039] According to a third aspect, a rod handling apparatus configured to automatically transfer a drill rod between a first position within a drill rod storage and a second position outside of the drill rod storage is provided. The drill rod storage is configured to store a plurality of drill rods. The rod handling apparatus comprises a frame arrangement configured to hold the drill rod storage, at least one rod gripper according to the first aspect, movably mounted to the frame arrangement, and a set of actuators configured to move the at least one rod gripper relative to the frame arrangement.

[0040] According to a fourth aspect, a rod handler configured to be mounted on a boom or drill unit of a drill rig is provided. The rod handler comprises at least one rod gripper according to the first aspect and an actuator assembly configured to move the at least one rod gripper relative to the boom or drill unit.

[0041] According to a fifth aspect, a drill rig including the rod handler according to the fourth aspect is provided. Other embodiments, examples and advantages of the rod gripper, rod gripper assembly, rod handler, and drill rig will be presented and further explained in the detailed description and the appended drawings.

[0042] DEFINITIONS

[0043] By a V-shaped gripping surface is intended a surface which, as seen in the first plane perpendicular to the pivot axis, has the general shape of a V. The V-shaped gripping surface may comprise two planar surface portions formed at an angle relative to one another as seen in the first plane. The V-shaped gripping surface may further comprise one planar surface portion and one curved surface portion. In this case, as seen in the first plane, a line in the form of a chord can be drawn between an outermost point and an innermost point of the curved surface portion, which line extends at an angle relative to the planar surface portion. The V-shaped gripping surface may further comprise two curved surface portions, wherein a respective line in the form of a chord can be drawn between an outermost point and an innermost point of the respective curved surface portion, the respective lines extending at an angle with respect to one another. A radius of curvature of each curved surface portion should be larger than a radius of curvature of a rod to be gripped by the rod gripper. However, in at least some embodiments it may be possible for the radius of curvature a curved surface portion to be less than or equal to a radius of curvature of a rod to be gripped by the rod gripper. The V-shaped gripping surface may further comprise at least one V-shaped surface portion. In this case, as seen in the first plane, a line can be drawn between an outermost point and an innermost point of the V-shaped surface portion, which line extends at an angle relative to the planar surface portion, or in some embodiments a chord of a curved surface portion, or a line drawn between an outermost point and an innermost point of a further V-shaped surface portion.

[0044] The two surface portions of the V-shaped gripping surface may be connected by a curved corner portion, or a sharp corner may be formed between the two surface portions. When the corner portion is curved, a border between the corner portion and the adjacent surface portion may be defined as a point where the radius of curvature changes from a radius of curvature of the surface portion into a radius of curvature of the corner portion, as seen in the first plane. When the corner portion is curved, it should have a smaller radius of curvature than each one of the surface portions. When the outermost surface portion of the second V-shaped gripping surface is a curved surface portion, the angle between the outermost surface portion and the first radial vector is the angle between the chord of the outermost surface portion and the first radial vector.

[0045] When the outermost surface portion is a V-shaped surface portion, the angle between the outermost surface portion and the first radial vector is the angle between the line drawn between an outermost point and an innermost point of the V-shaped surface portion and the first radial vector.

[0046] The corner angle of the V-shaped gripping surface is the angle between the two surface portions as seen in the first plane, or between one planar surface portion and the chord of the curved surface portion / the line drawn between an outermost point and an innermost point of the V-shaped surface portion, or between the chords of two curved surface portions, or between the line drawn between an outermost point and an innermost point of the V-shaped surface portion and the chord of a curved surface portion, or between the line drawn between an outermost point and an innermost point of two V-shaped surface portions.

[0047] BRIEF DESCRIPTION OF THE DRAWINGS (OPTIONAL)

[0048] With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.

[0049] In the drawings:

[0050] Fig. 1 is a schematic diagram of a drill rig and a rod handling apparatus in which a rod gripper according to the disclosure may be used,

[0051] Fig. 2 is an end view of a rod gripper according to an embodiment of the disclosure,

[0052] Fig. 3 is an end view of a rod gripper according to an embodiment of the disclosure,

[0053] Fig. 4 is another end view of the rod gripper shown in Fig. 1 ,

[0054] Fig. 5 is another end view of the rod gripper shown in Fig. 1 ,

[0055] Fig. 6 is a perspective view of a rod handling apparatus in which a rod gripper according to the disclosure may be used, and

[0056] Fig. 7 is an end view of the rod handling apparatus shown in Fig. 5. The drawings show diagrammatic, exemplifying embodiments of the present disclosure and are thus not necessarily drawn to scale. It shall be understood that the embodiments shown and described are exemplifying and not limiting. It shall also be noted that some details in the drawings may be exaggerated in order to better describe and illustrate the disclosure. Like reference characters refer to like elements throughout the description, unless expressed otherwise.

[0057] DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0058] The rod gripper according to the present disclosure is intended for use in connection with a drill rig used in rock drilling, both in overground and underground applications.

[0059] Fig. 1 shows a schematic overview of a drill rig 200 and a rod handling apparatus 100 with a left-hand configuration arranged side by side between first and second side walls 1, 2 of a drill cuddy, close to a front wall 3 of the drill cuddy. The drill rig 200 comprises a drill unit 210 that holds a drill string 230 arranged for drilling a hole in the first side wall 1. The drill rig 200 further comprises a rod handler 220 provided in connection with the drill unit 210. The rod handler 220 is configured to pick up a drill rod 10 from a rod gripper assembly 120 of the rod handling apparatus 100 and transfer it to the drill string 230, where it is used for drilling a hole. The drill unit 210 may during a drilling operation use several drill rods 10 that together form the drill string 230. The number of drill rods 10 needed depends on the depth of the drilled hole.

[0060] The rod handling apparatus 100 schematically illustrated in Fig. 1 is configured to automatically transfer the drill rod 10 between a first position within a drill rod storage 51 and a second position outside of the drill rod storage 51. The rod gripper assembly 120 is configured to releasably grip the drill rod 10 such that it may be transferred between the first position and the second position. In the shown embodiment, the second position is illustrated by the rod handler 220 of the drill unit 210. It is to be noted that other embodiments are possible, e.g., the second position could comprise a further rod handling apparatus, a further drill rod storage, or similar.

[0061] Fig. 2 illustrates a rod gripper 300 according to a first embodiment of the disclosure. The rod gripper 300 may be used in the rod handling apparatus 100, in which the rod gripper 300 may form part of the rod gripper assembly 120. The rod gripper 300 may further be provided on the rod handler 220, where it may form part of a similar rod gripper assembly and used to pick up and / or deliver the drill rod 10 to / from the rod gripper assembly 120.

[0062] The rod gripper 300 is configured to releasably grip a drill rod 10 for transfer of the drill rod 10. The rod gripper 300 comprises a first jaw 301 and a second jaw 302 arranged opposite to the first jaw 301. The second jaw 302 is pivotable with respect to the first jaw 301 about a pivot axis A. The first and second jaws 301, 302 are configured to releasably grip a drill rod 10 having a longitudinal axis parallel to the pivot axis A. The first jaw 301 comprises a first V-shaped gripping surface 310 and the second jaw 302 comprises a second V-shaped gripping surface 320 as seen in a first plane P1 perpendicular to the pivot axis A, such as in the plane illustrated in Fig. 2. In a cartesian coordinate system XYZ, the pivot axis A defines an X axis and the first plane P1 is a YZ plane.

[0063] The first V-shaped gripping surface 310 comprises a first innermost surface portion 312, provided on a first innermost portion 311 of the first jaw 301. It further comprises a first outermost surface portion 314 provided on a first outermost portion 313 of the first jaw 301. The first innermost portion 311 is closer to the pivot axis A than the first outermost portion 313. A first corner portion 316 is formed between the first outermost surface portion 314 and the first innermost surface portion 312, with a first corner angle a1. Hence, the first outermost surface portion 314 extends between the first corner portion 316 and outermost end 315 of the first outermost surface portion 314.

[0064] The second V-shaped gripping surface 320 comprises a second innermost surface portion 322, provided on a second innermost portion 321 of the second jaw 302. It further comprises a second outermost surface portion 324 provided on a second outermost portion 323 of the second jaw 302. The second innermost portion 321 is closer to the pivot axis A than the second outermost portion 323. A second corner portion 326 is formed between the second outermost surface portion 324 and the second innermost surface portion 322, with a second corner angle a2. Hence, the second outermost surface portion 324 extends between the second corner portion 326 and an outermost edge 325 of the second outermost surface portion 324 of the second V-shaped gripping surface 320.

[0065] A radial vector R extends between the pivot axis A and the second outermost edge 325 of the second V-shaped gripping surface 320. As seen in the first plane P1 , an angle between the second outermost surface portion 324 and the first radial vector R is at least 40°, preferably at least 45°. The second outermost surface portion 324 is herein a curved surface portion, wherein the angle p is measured between a chord of the second outermost surface portion 324, illustrated by a dashed line in Fig. 2. The angle may be within a range of 40-80°, preferably 45-70°, more preferably 45-60°. In at least some embodiments, including the embodiment described with reference to Fig. 3, the possible range of the angle p may differ.

[0066] In the illustrated embodiment, the first corner angle a1 of the first V-shaped gripping surface 310 is larger than the second corner angle a2 of the second V-shaped gripping surface 320. The first corner angle a1 may be within the range of 106-135°, preferably 110-130°. The second corner angle a2 may be within the range of 80-105°, preferably 85-100°. In at least some embodiments, including the embodiment described with reference to Fig. 3, the possible range of the second corner angle a2 may differ.

[0067] The first and second corner portions 316, 326 are in the illustrated embodiment rounded corners, although they may in other embodiments be sharp corners.

[0068] The second jaw 302 of the rod gripper 300 is in the illustrated embodiment configured to scoop up the drill rod 10 and press it against the first V-shaped gripping surface 310 of the first jaw 301. For this purpose, the second jaw 302 is pivotably connected to a holder 303 to which the first jaw 301 is fixed. Reference is made to Fig. 4, illustrating the second jaw 302 of the rod gripper 300 illustrated in Fig. 2 in a first position p1 , in which the rod gripper 300 is open, and in a second position p2, in which the rod gripper 300 is closed and grips a drill rod 10 between the V-shaped gripping surfaces 310, 320. An actuator 306 is further provided, which is configured to pivot the second jaw 302 relative to the first jaw 301 and to the holder 303 about the pivot axis A. The actuator 306 is herein a linear actuator.

[0069] Even though the first jaw 301 is herein illustrated as being fixed to the holder 303, it is in other embodiments possible that the first jaw as well as the second jaw can be pivotable with respect to the holder. This may facilitate placing / dropping of a drill rod 10 after delivery to a target location. In such embodiments, two actuators may be provided, or a single actuator actuating both jaws.

[0070] The first jaw 301 has a first external surface 317, opposite to the first V-shaped gripping surface 310. The first outermost portion 313 of the first jaw 301 has an elongated straight shape as seen in the first plane P1 , with the first outermost surface portion 314 and an outermost part 317a of the first external surface 317 extending in parallel, or essentially in parallel, as illustrated in Fig. 2. In the cartesian coordinate system XYZ, the outermost part 317a of the first external surface 317 extends in a second plane P2 parallel with or essentially parallel with a XZ plane. The second plane P2 is illustrated by a dash-dotted line.

[0071] The first outermost portion 313 herein has a larger extension in the Z direction than in the

[0072] Y direction. In the Y direction, the first outermost portion 313 may have an extension y1 of 5-40 mm, preferably 10-30 mm. The first jaw 301 illustrated in Fig. 4 does not extend substantially past the holder 303 in the Y direction, meaning that the second plane P2 is at a distance from the XZ plane which is not more than 10% larger than a largest distance between an external surface 307 of the holder 303 and the XZ plane as measured in the

[0073] Y direction. When drill rods 10 are stacked in first, second, third and fourth vertical columns S1, S2, S3, S4 and in first, second and third horizontal layers L1 , L2, L3, as illustrated in Fig. 4, this configuration allows the rod gripper 300 to grip a topmost target drill rod 10’ from the second column S2 without touching any drill rod 10 located in the adjacent first column S1 , even when the first column S1 comprises one or more drill rods located above the target drill rod 10’ of the second column S2. The rod gripper 300 is herein moved downward along the Z axis to reach the target drill rod 10’.

[0074] The second outermost portion 323 of the second jaw 302 has a pointed shape as seen in the first plane P1, such that it can scoop up a drill rod 10. A second external surface 327 of the second jaw 302, opposite to the second V-shaped gripping surface 320, has an outermost portion 327a adjacent to the outermost edge 325, which is designed to enable pivoting of the second jaw 302 to grip a target drill rod 10’ without colliding with any drill rod 10 in an adjacent column. In Fig. 4, this is illustrated with the target drill rod 10’ located in the second layer L2 and the second column S2. As can be seen, the relatively flat lower end of the second jaw 302 allows it to be pivoted from the first position p1 to the second position p2 without colliding with a drill rod 10 located in the third layer L3 and third column S3.

[0075] As seen in the first plane P1 and as illustrated in Fig. 2, the outermost edge 325 follows a first circle arc C1 when the second jaw 302 is pivoted about the pivot axis A. The first circle arc C1 herein intersects the first jaw 301 at the first outermost surface portion 314, closer to the outermost end 315 than to the first corner 316. A radially outermost point 327a on the second external surface 327 is herein located outside of the first circle arc C1 to provide sufficient thickness and thereby strength of the pointed second jaw 302, in particular of the outermost edge 325. During pivoting of the second jaw 302 about the pivot axis A, the radially outermost point 327a follows a second circle arc C2, indicated by a dashed line. Both circle arcs C1 , C2 are centred on the pivot axis A. The outermost edge 325 of the second V-shaped gripping surface 320 is at a first radial distance r1 from the pivot axis A, corresponding to a radius of the first circle arc C1. The radially outermost point 327a of the second jaw 302 is at a second radial distance r2 from the pivot axis A, corresponding to a radius of the second circle arc C2. The first radial distance r1 is within a range of 80-100%, preferably 90-98%, more preferably 95-97%, of the second radial distance r2. This ensures that, during pivoting, the second jaw 302 does not collide with any drill rod 10 in a layer below the target drill rod 10’.

[0076] In the illustrated embodiment, the first and second innermost surface portions 312, 322 are planar surface portions, as well as the first outermost surface portion 314. However, the second outermost surface portion 324 is a curved surface portion having a radius of curvature larger than a radius of the drill rod 10 to be gripped. The curved second outermost surface portion 324 facilitates scooping up of the drill rod 10 using the second jaw 302. However, in other embodiments, the second outermost surface portion may be a planar surface portion.

[0077] In ideal rod gripping situations, the rod gripper 300 is prior to starting the pivotal movement of the second jaw 302 positioned such that the first V-shaped surface 310 is as close to the drill rod 10 to be gripped as possible. In such situations, the second jaw 302 does not need to displace the drill rod 10 in order for the rod gripper 300 to grip the drill rod 10. Such an ideal situation is illustrated in Fig. 4. In non-ideal situations, the second jaw 302 needs to displace the drill rod 10 during the course of pivoting the second jaw 302 toward the first jaw 301. Depending on the position of the rod gripper 300 relative to the drill rod 10, it may displace the dill rod 10 in the Y direction and / or in the Z-direction.

[0078] Fig. 3 illustrates an end view of a rod gripper 300 according to an embodiment of the disclosure. The rod gripper 300 is configured to releasably grip a drill rod 10 for transfer of the drill rod. The rod gripper comprises a first jaw 301, and a second jaw 302 arranged opposite to the first jaw 301 , the second jaw 302 being pivotable with respect to the first jaw 301 about a pivot axis A. The first and second jaws 301 , 302 are configured to releasably grip a drill rod 10 having a longitudinal axis parallel to the pivot axis A. The first jaw 301 comprises a first V-shaped gripping surface 310 and the second jaw 302 comprises a second gripping surface 320 as seen in a first plane P1 perpendicular to the pivot axis A. The second gripping surface 320 comprises an outermost surface portion 324 extending between a corner portion 326 of the second gripping surface 320 and an outermost edge 325 thereof. A radial vector R is defined that extends between the pivot axis A and the outermost edge 325 of the second gripping surface 320, and wherein, as seen in the first plane P1 , an angle p between the outermost surface portion 324 and the first radial vector R is at least 35°.

[0079] In the shown embodiment the second jaw 302 comprises a second gripping surface 320 where at least a portion of the second gripping surface 320 is having a polygonal shape. In at least some embodiments the second gripping surface 320, may comprise a V- shaped gripping surface. In the shown embodiment the second jaw 302 comprises a second innermost portion 321 on which a second innermost surface portion 322 of the second gripping surface 320 is provided, wherein the second innermost portion 321 is closer to the pivot axis A than the second outermost portion 323, and wherein the second innermost surface portion 322 is a V-shaped surface portion. The second innermost surface portion 321 may extend between the second corner portion 326 and an innermost edge 330 of the second outermost surface portion 324 of the second gripping surface 320.

[0080] Furthermore, in the shown example the second innermost surface portion 322 comprises an innermost first surface portion 331 and an innermost second surface portion 332. The innermost first surface portion 331 extends from the corner portion 326, and the innermost second surface portion 332 extends from the innermost edge 330 of the second gripping surface 320. A third corner angle a3 may be defined between the innermost first surface portion 331 and the innermost second surface portion 332. The third corner angle a3 may be within a range of 130-175°. In the shown embodiment the innermost first surface portion 331 and the innermost second surface portion 332 comprise planar surfaces. In at least some embodiments the innermost first surface portion 331 and / or the innermost second surface portion 332 may comprise V-shaped surfaces and / or curved surfaces.

[0081] Where the innermost first surface portion 331 and / or the innermost second surface portion 332 comprise a curved surface and / or a V-shaped surface, the third corner angle a3 may be defined using the chord of the curved surface / the line drawn between an outermost point and an innermost point of the V-shaped surface.

[0082] Furthermore, the outermost surface portion 324 of the second gripping surface 320 is a V- shaped surface portion, in the shown example the outermost surface portion 324 comprises an outermost first surface portion 333 and an outermost second surface portion 334. The outermost first surface portion 333 extends from the corner portion 326, and the outermost second surface portion 334 extends from the outermost edge 325 of the second gripping surface 320. A fourth corner angle a4 may be defined between the outermost first surface portion 333 and the outermost second surface portion 334. The fourth corner angle a4 may be within a range of 130-175°. In the shown embodiment the outermost first surface portion 333 comprises a planar surface and the outermost second surface portion 334 comprises a curved surface. In the shown embodiment the fourth corner angle a4 may be defined between the outermost first surface portion 333 and the chord of the outermost second surface portion 334, illustrated by a dashed line in Fig. 3. In at least some embodiments the outermost first surface portion 333 and / or the outermost second surface portion 334 may comprise planar surfaces, V-shaped surfaces and / or curved surfaces. Where the outermost first surface portion 333 and / or the outermost second surface portion 334 comprise a curved surface and / or a V-shaped surface, the angle may be defined using the chord of the curved surface / the line drawn between an outermost point and an innermost point of the V-shaped surface.

[0083] A radial vector R extends between the pivot axis A and the second outermost edge 325 of the second V-shaped gripping surface 320. As seen in the first plane P1 , an angle p between the second outermost surface portion 324 and the first radial vector R is at least 35°, preferably at least 40°. The second outermost surface portion 324 is herein V-shaped surface portion, wherein the angle is measured between a line drawn between an outermost point and an innermost point of the V-shaped surface portion, illustrated by a dashed line in Fig. 3. The angle p may be within a range of 35-75°, preferably 40-65°, more preferably 40-55°.

[0084] The first V-shaped gripping surface 310 comprises a first innermost surface portion 312, provided on a first innermost portion 311 of the first jaw 301. It further comprises a first outermost surface portion 314 provided on a first outermost portion 313 of the first jaw 301. The first innermost portion 311 is closer to the pivot axis A than the first outermost portion 313. A first corner portion 316 is formed between the first outermost surface portion 314 and the first innermost surface portion 312, with a first corner angle a1. Hence, the first outermost surface portion 314 extends between the first corner portion 316 and outermost end 315 of the first outermost surface portion 314.

[0085] The second corner portion 326 is formed between the second outermost surface portion 324 and the second innermost surface portion 322, with a second corner angle a2. In the shown embodiment the second corner angle a2 is measured between the line drawn between the outermost point and the innermost point of the V-shaped surface portion of the second outermost surface portion 324 and a line drawn between an outermost point and an innermost point of the V-shaped surface portion of the second innermost surface portion 322, illustrated by a pair of dashed lines in Fig. 3.

[0086] In the illustrated embodiment, the first corner angle a1 of the first V-shaped gripping surface 310 is larger than the second corner angle a2 of the second gripping surface 320. The first corner angle a1 may be within the range of 106-135°, preferably 110-130°. The second corner angle a2 may be within the range of 75-100°, preferably 80-95°. The first and second corner portions 316, 326 are in the illustrated embodiment rounded corners, although they may in other embodiments be sharp corners.

[0087] Fig. 5 illustrates gripping of a drill rod 10 by means of the rod gripper 300 when the rod gripper 300 is not in an optimal starting position for gripping the drill rod 10. As can be seen, the drill rod 10 is located relatively far from the first innermost surface portion 312 of the first jaw 301 in the Z direction, herein corresponding to a vertical direction. However, thanks to the configuration of the rod gripper 300, the second jaw 302 is able to scoop up the drill rod 10 and push it toward the first outermost surface portion 314. As the second jaw 302 is further pivoted toward the first jaw 301 , it rolls the drill rod 10 upward and into a position in which it rests against the surface portions 312, 314 of the first jaw 301 as well as the surface portions 322, 324 of the second jaw 302. Hence, a firm grip can be achieved even when the rod gripper 300 was initially misaligned with respect to the drill rod 10.

[0088] The second jaw 302 may comprise a replaceable body 328 which is mounted onto a core 329, as illustrated in Fig. 2. The replaceable body 328 may be adapted to a specific drill rod diameter, thus allowing the same rod gripper 300 to be used for a plurality of drill rod dimensions by simply replacing the body 328. The second V-shaped gripping surface 320 as well as the second external surface 327 may in such embodiments be provided on the replaceable body 328. The replaceable body 328 may be attached to the core 329 by means of fasteners, such as screws, plugs, clamps, or similar. Similarly, the first jaw 301 may comprise a replaceable body 318 mounted onto the holder 303 (see Fig. 2) such that the replaceable body 318 may be adapted to a specific drill rod diameter, thus allowing the same rod gripper 300 to be used for a plurality of drill rod dimensions by simply replacing the body 318.

[0089] Fig. 6 illustrates the rod gripper 300 forming part of a rod handling apparatus 100 configured to automatically transfer a drill rod 10 between a first position within a drill rod storage 51 and a second position outside of the drill rod storage 51. The drill rod storage 51 is configured to store a plurality of drill rods 10, herein horizontally oriented drill rods 10. The rod handling apparatus 100 comprises a frame arrangement 101 configured to hold the drill rod storage 51, which is herein comprised in a removable drill rod cassette 50. The rod handling apparatus 100 further comprises a rod gripper assembly 120 comprising two rod grippers 300, 300’ movably mounted to the frame arrangement 101 , and a set of actuators configured to move the rod gripper assembly 120 relative to the frame arrangement 101.

[0090] The rod gripper assembly 120 may be movable relative to the frame arrangement 101 along three directions comprising the X direction, the Y direction and the Z direction. The rod gripper assembly 120 may further be rotatable relative to the frame arrangement 101 about a first rotational axis A1 and a second rotational axis A2.

[0091] The rod gripper assembly 120 may be configured to hold the drill rod 10 oriented in parallel or essentially in parallel with a bottom of the drill rod storage 51 in the second position, such as in a horizontal or essentially horizontal orientation. The rod gripper assembly 120 may further be configured to hold the drill rod 10 oriented in parallel or essentially in parallel with the bottom throughout the transfer between the first position and the second position. Hence, the rod gripper assembly 120 can pick up the drill rod 10 in a first orientation parallel to the bottom and at a first vertical level and drop it off in a second orientation parallel with the bottom and at a second vertical level. The bottom may be defined by a horizontal plane, or a plane that is offset from a horizontal plane by a small amount, such as by a few degrees. In the shown embodiment, the frame arrangement 101 comprises a pair of fixed top beams 102, 103. The rod handling apparatus 100 further comprises a movable beam assembly 150 via which the rod gripper assembly 120 is movably mounted to the top beams 102, 103 of the frame arrangement 101. The movable beam assembly 150 comprises a first movable beam 151, and a second movable beam 152. The rod gripper assembly 120 is mounted to the second movable beam 152. The pair of top beams 102, 103 extend along the Y direction and are arranged at first and second ends 104, 105 of the frame arrangement 101, respectively.

[0092] The first movable beam 151 extends along the X direction and is movably attached to the pair of top beams 102, 103 to be linearly movable in the Y direction relative to the pair of top beams 102, 103. The second movable beam 152 extends along the Z direction and is movably mounted to the first movable beam 151 to be linearly movable in the first direction X relative to the first movable beam 151. The second movable beam 152 is shown as movably mounted to the first movable beam 151 via a movable cradle 153. The second movable beam 152 is herein further movable in the vertical Z direction relative to the cradle 153, whereby the rod gripper assembly 120 is movable in the Z direction relative to the frame arrangement 101. Actuators, such as linear and / or rotatable actuators, may be provided for moving the movable beams relative to the frame arrangement 101.

[0093] Fig. 7 illustrates the rod gripper 300 of the rod gripper assembly 120 when picking up a drill rod 10 from a bottom layer of drill rods within the drill rod storage 51 of the rod handling apparatus 100. As can be seen, the first jaw 301 is able to reach in between two adjacent columns of drill rods. The solid arrows illustrate picking directions for picking drill rods from the drill rod storage 51. The picking order can be varied by picking drill rods 10, one at a time, either in a first direction corresponding to a negative Y direction, or in a second direction corresponding to a negative Z direction.

[0094] The rod gripper assembly 120 allows a sliding movement of the rod grippers 300, 300’ relative to the drill rod 10, by adjusting a pressure that the second jaw 302 applies on the drill rod 10 when pushing it toward the first jaw 301.

[0095] It is to be understood that the present disclosure is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

Claims

CLAIMS1. A rod gripper (300) configured to releasably grip a drill rod (10) for transfer of the drill rod, the rod gripper comprising: a first jaw (301), a second jaw (302) arranged opposite to the first jaw (301), the second jaw (302) being pivotable with respect to the first jaw (301) about a pivot axis (A), the first and second jaws (301 , 302) being configured to releasably grip a drill rod (10) having a longitudinal axis parallel to the pivot axis (A), wherein the first jaw (301) comprises a first V-shaped gripping surface (310) and the second jaw (302) comprises a second V-shaped gripping surface (320) as seen in a first plane (P1 ) perpendicular to the pivot axis (A), wherein the second V-shaped gripping surface (320) comprises an outermost surface portion (324) extending between a corner portion (326) of the second V- shaped gripping surface (320) and an outermost edge (325) thereof, wherein a radial vector (R) is defined that extends between the pivot axis (A) and the outermost edge (325) of the second V-shaped gripping surface (320), and wherein, as seen in the first plane (P1 ) , an angle (P) between the outermost surface portion (324) and the first radial vector (R) is at least 40°.

2. The rod gripper according to claim 1 , wherein the second jaw (302) is configured to scoop up the drill rod (10) and press it against the first V-shaped gripping surface (310) of the first jaw (301).

3. The rod gripper according to claim 1 or 2, further comprising: a holder (303) to which the first jaw (301) is fixed, an actuator (306) configured to pivot the second jaw (302) relative to the first jaw (301) and to the holder (303).

4. The rod gripper according to claim 3, wherein the first jaw (301) comprises a first external surface (317) opposite to the first V-shaped gripping surface (310), and wherein, in a cartesian coordinate system (XYZ) in which the pivot axis defines an X axis, the first plane (P1) is a YZ plane, and the first external surface (317) extends at least in part in a second plane (P2) parallel with or essentially parallel with a XZ plane, the first jaw (301) does not extend past or substantially past the holder (303) in the Y direction.

5. The rod gripper according to any one of the preceding claims, wherein: the first jaw (301) comprises a first innermost portion (311) on which a first innermost surface portion (312) of the first V-shaped gripping surface (310) is provided, and a first outermost portion (313) on which a first outermost surface portion (314) of the first V-shaped gripping surface (310) is provided, the first innermost portion (311) being closer to the pivot axis (A) than the first outermost portion (313), and wherein the first outermost portion (313) has an elongated straight shape as seen in the first plane, and / or wherein the first outermost surface portion (314) extends in parallel with a first portion (317a) of a first external surface (317) of the first jaw (301) opposite to the first outermost surface portion (314).

6. The rod gripper according to claim 5 in combination with claim 4, wherein the first outermost portion (313) has a larger extension in the Z direction than in the Y direction.

7. The rod gripper according to claim 6, wherein the rod gripper (300) is configured to grip a drill rod (10) having a diameter of 20-200 mm, preferably 40-150 mm, and wherein the first outermost portion (313) has an extension (y 1 ) in the Y direction of 5-40 mm, preferably 10-30 mm.

8. The rod gripper according to any one of claims 5-7, wherein the first outermost surface portion (314) is a planar surface portion, and / or wherein the first innermost surface portion (312) is a planar surface portion.

9. The rod gripper according to claim 8, wherein, in a cartesian coordinate system in which the pivot axis (A) defines an X axis, and the first plane is a YZ plane, the first outermost surface portion (314) extends in a second plane (P2) parallel or essentially parallel with a XZ plane.

10. The rod gripper according to any one of claims 5-9, wherein the outermost edge (325) of the second V-shaped gripping surface (320) follows a first circle arc (C1) when the second jaw (302) is pivoted about the pivot axis (A), wherein the first circle arc (C 1 ) intersects the first jaw (301) at the first outermost surface portion (314).

11. The rod gripper according to claim 10, wherein the first circle arc (C1) intersects the first jaw (301) closer to an outermost end (315) of the first outermost surface portion (314) than to a corner (316) of the first V-shaped gripping surface (310).

12. The rod gripper according to any one of the preceding claims, wherein the second jaw (302) comprises a second innermost portion (321) on which a second innermost surface portion (322) of the second V-shaped gripping surface (320) is provided, wherein the second innermost portion (321) is closer to the pivot axis (A) than the second outermost portion (323), and wherein the second innermost surface portion (322) is a V- shaped surface portion.

13. The rod gripper according to any one of the preceding claims, wherein the outermost surface portion (324) of the second V-shaped gripping surface (320) is a curved surface portion.

14. The rod gripper according to any one of claims 1-12, wherein the outermost surface portion (324) of the second V-shaped gripping surface (320) is a V-shaped surface.

15. The rod gripper according to any one of the preceding claims, wherein the outermost edge (325) of the second V-shaped gripping surface (320) is at a first radial distance (r1) from the pivot axis (A), and wherein a radially outermost point (327a) of the second jaw (302) is at a second radial distance (r2) from the pivot axis (A), the first radial distance (r1) being within a range of 80-100%, preferably 90-98%, more preferably 95- 97%, of the second radial distance (r2).

16. The rod gripper according to any one of the preceding claims, wherein a first corner angle (a1) of the first V-shaped gripping surface (310) is larger than a second corner angle (a2) of the second V-shaped gripping surface (320).

17. A rod gripper assembly (120) comprising two rod grippers (300, 300’) according to any one of the preceding claims, wherein the two rod grippers (300, 300’) are offset from one another along the pivot axis (A), and wherein the two rod grippers (300, 300’) are configured to be operated together to releasably grip a drill rod (10).

18. A rod handling apparatus (100) configured to automatically transfer a drill rod (10) between a first position within a drill rod storage (51) and a second position outside of the drill rod storage (51), the drill rod storage (51) being configured to store a plurality of drill rods (10), the rod handling apparatus (100) comprising: - a frame arrangement (101) configured to hold the drill rod storage (51),- at least one rod gripper (300) according to any one of claims 1-16 movably mounted to the frame arrangement (101), and- a set of actuators configured to move the at least one rod gripper (300) relative to the frame arrangement (101).

19. A rod handler (220) configured to be mounted on a boom or drill unit (220) of a drill rig (200), the rod handler (220) comprising at least one rod gripper (300) according to any one of claims 1-16 and an actuator assembly configured to move the at least one rod gripper relative to the boom or drill unit (220).

20. A drill rig (200) including the rod handler (220) according to claim 19.

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