A mining vehicle

Abstract

A mining vehicle (100) comprises a body (102), a boom assembly (122), a drill system (140), a drive system (130) and a control system. The boom assembly (122) is configured to be mounted to the body (102). The drill system (140) is configured to be mounted to the boom assembly (122). The drive system (130) comprises a transmission system (136) and a ground engaging system (132) that is configured to be connected to the transmission system (136). The drive system (130) comprises an electric drive motor (131). The electric drive motor (131) is configured to be connected to the body (102), to be connected to the transmission system (136), and to drive the transmission system (136), thereby driving the ground engaging system (132). The control system is configured to enable control the electric drive motor (131).

Description

A MINING VEHICLETECHNICAL FIELD

[0001] The disclosure relates to a mining vehicle. Some embodiments of the disclosure relate to a drill rig comprising an electric drive motor. Some embodiments of the disclosure relate to a cooling system for a drill rig.BACKGROUND

[0002] Mining vehicles can be used at mines for a range of mining operations. Drill rigs, loaders and haulage trucks are examples of mining vehicles that are used in mines. Mining vehicles are typically driven by combustion engines. The combustion engine of a mining vehicle combusts a fuel, such as diesel, to drive one or more systems of the mining vehicle.

[0003] The combustion process of a mining vehicle combustion engine results in the production of exhaust which is exhausted into the environment surrounding the mining vehicle. The exhaust of a diesel engine comprises carbon monoxide, hydrocarbons, particulate matter and nitrogen oxides. While some of the components of the exhaust of a combustion engine can be removed using exhaust gas treatment technologies, the use of a combustion engine typically results in an increase in concentration of the components of the exhaust in the air surrounding the mining vehicle.

[0004] Underground mines typically include one or more ventilation systems. The ventilation systems of an underground mine are configured to draw air from outside the underground mine into the underground regions of the mine and / or to extract air from the underground regions and expel it outside the underground mine. By doing so, the ventilation systems reduce the risk that the quality of the air in the underground regions decreases to a point that it has an adverse effect on humans working in those regions. That is, the ventilation systems reduce the likelihood that combustion particulates (e.g. diesel particulates) accumulate in any one underground region.

[0005] It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country.SUMMARY OF THE DISCLOSURE

[0006] In some embodiments of the disclosure, there is provided a mining vehicle. The mining vehicle may comprise: a body, a boom assembly, a drill system, a drive system and a control system. The boom assembly may be configured to be mounted to the body. The drill system may be configured to be mounted to the boom assembly. The drill system may comprise configured to be mounted to the boom assembly. The drive system may comprise a transmission system, a ground engaging system and an electric drive motor. The ground engaging system may be configured to be connected to the transmission system. The electric drive motor may be configured to be connected to the body. The electric drive motor may be configured to be connected to the transmission system. The electric drive motor may be configured to drive the transmission system, thereby driving the ground engaging system. The control system may be configured to control the electric drive motor. The control system may be configured to enable control of the electric drive motor.

[0007] The boom assembly may comprise a boom arm and a boom actuator configured to be actuated to move the boom arm.

[0008] The control system may comprise a user interface that is configured to enable a user to input control commands.

[0009] The control system may be configured to control the electric drive motor based at least in part on the control commands.

[0010] The body may comprise a first body portion and a second body portion.

[0011] The first body portion may be pivotable with respect to the second body portion.

[0012] The mining vehicle may comprise a pivot assembly configured to enable the first body portion to pivot with respect to the second body portion.

[0013] The body may comprise a frame. The frame may comprise a plurality of structural members that are connected together.

[0014] The frame may comprise a lower frame portion comprising a first plurality of the structural members connected together.

[0015] The frame may comprise an upper frame portion comprising a second plurality of the structural members connected together.

[0016] The frame may comprise a plurality of vertical frame members connecting the lower frame portion and the upper frame portion.

[0017] The second body portion may comprise the frame.

[0018] The frame may comprise an electric drive motor mounting portion.

[0019] The electric drive motor may be configured to be mounted to the electric drive motor mounting portion of the frame such that at least part of the electric drive motor is below an upper part of the lower frame portion.

[0020] The mining vehicle may further comprise a tramming hydraulic system. The tramming hydraulic system may comprise a tramming hydraulic pump unit. The tramming hydraulic pump unit may comprise a tramming hydraulic pump and a tramming pump drive motor that is configured to drive the tramming hydraulic pump. The tramming hydraulic system may comprise one or more tramming hydraulic conduits that are fluidly connected to the tramming hydraulic pump.

[0021] The tramming pump drive motor may be a direct current (DC) radial flux motor or a DC axial flux motor.

[0022] The boom actuator may be a hydraulic actuator.

[0023] The tramming hydraulic system may comprise the boom actuator.

[0024] The tramming hydraulic pump unit may be configured to enable actuation of the boom actuator.

[0025] The tramming hydraulic system may comprise one or more tramming hydraulic system actuators. The one or more tramming hydraulic system actuators comprise one or more of a steering actuator, a jack leg actuator, and a canopy actuator. The tramming hydraulic pump unit may be configured to enable actuation of the one or more tramming hydraulic system actuators.

[0026] The drill system may comprise a drill system frame, and a drill rod rotating system mounted to the drill system frame. The drill rod rotating system may comprise: a drilling motor; a gearbox; and a drill rod engagement system. The drill rod engagement system may be configured to engage a drill rod. The gearbox may comprise a drive end and a non-drive end. The drilling motor may be connected to the drive end. The drill rod engagement system may be connected to the non-drive end. The drilling motor may be configured to drive the drive end of the gearbox to cause rotation of the drill rod engagement system, thereby rotating the drill rod.

[0027] The drilling motor may be a DC radial flux motor or a DC axial flux motor.

[0028] The mining vehicle may further comprise a drilling hydraulic system. The drilling hydraulic system may comprise a drilling hydraulic pump unit. The drilling hydraulic pumpunit may comprise a drilling hydraulic pump, and a drilling pump drive motor that is configured to drive the drilling hydraulic pump. The drilling hydraulic system may comprise one or more drilling hydraulic conduits that are fluidly connected to the drilling hydraulic pump.

[0029] The drilling pump drive motor may be a DC radial flux motor or a DC axial flux motor.

[0030] The drill system may comprise a drill system actuator. The drill system actuator may be a hydraulic actuator. The drilling hydraulic pump unit may be configured to enable actuation of the drill system actuator.

[0031] The drill system actuator may be configured to be actuated to move the drill rod rotating system with respect to the drill system frame. The drill system actuator may be configured to be actuated to move the drill rod engagement system. The drill system actuator may be configured to be actuated to move a rod holder of the mining vehicle.

[0032] The drill system actuator may be a linear actuator that is configured to be actuated to move the drill rod rotating system with respect to the drill system frame, in a drilling direction.

[0033] The mining vehicle may further comprise a runner assembly. The runner assembly may comprise a runner, a plurality of slides operably connected to the runner, and a plurality of track members. Each track member may define a respective track that is configured to cooperate with the slides to enable the runner to move with respect to the drill system frame. The drill rod rotating system may be mounted to the runner.

[0034] The mining vehicle may further comprise power system. The power system may comprise an energy storage system. The energy storage system may comprise an energy storage device, a battery management system configured to control a value of one or more operating parameters of the energy storage device, and an energy storage system heat exchange module that is configured to be thermally connected to the energy storage device.

[0035] The energy storage device may be mountable to the energy storage system heat exchange module.

[0036] The energy storage system may comprise an energy storage system frame. The energy storage system heat exchange module may be mountable to the energy storage system frame.

[0037] The energy storage system frame may comprise forklift tines configured to enable the energy storage system frame to be moved by a forklift.

[0038] The energy storage system may be removably connectable to the body of the mining vehicle.

[0039] The power system may be electrically connectable to one or more of the drive system, the drill system, the tramming pump drive motor, and the drilling motor.

[0040] The power system may comprise a charger module. The charger module may comprise an electrical connector that is configured to enable the charger module to connect to an external energy source. The charger module may be configured to be electrically connected to the energy storage device. The charger module may be configured to enable charging of the energy storage device when the charger module is electrically connected to the external energy source.

[0041] The charger module may comprise one or more of an alternating current (AC) to direct current (DC) converter, a power factor correction module, and a DC to DC converter.

[0042] The charger module may be configured to be mounted to the body of the mining vehicle.

[0043] The mining vehicle may further comprise a heat exchange system.

[0044] The heat exchange system may comprise a first heat exchange pump, and one or more first heat exchange conduits that are configured to be fluidly connected to the first heat exchange pump. The first heat exchange pump and the one or more first heat exchange conduits may together define at least part of a first heat exchange circuit.

[0045] The heat exchange system may comprise a first heat exchanger. The one or more first heat exchange conduits may be configured to be fluidly connected to the first heat exchanger. The first heat exchange pump, the first heat exchanger and the one or more first heat exchange conduits may together define at least part of the first heat exchange circuit.

[0046] The first heat exchange circuit may define a first heat exchange circuit volume that is configured to receive a first heat exchange fluid. The first heat exchange circuit may be configured such that, in use, the first heat exchange fluid receives thermal energy from one or more of the energy storage device, the battery management system, the energy storage system heat exchange module, and the drill system.

[0047] The first heat exchange pump may be configured to pump the first heat exchange fluid through the first heat exchange circuit.

[0048] The mining vehicle may further comprise the first heat exchange fluid.

[0049] The heat exchange system may comprise a second heat exchange pump. The heat exchange system may comprise one or more second heat exchange conduits that areconfigured to be fluidly connected to the second heat exchange pump. The second heat exchange pump and the one or more second heat exchange conduits may together define at least part of a second heat exchange circuit.

[0050] The heat exchange system may comprise a second heat exchanger. The one or more second heat exchange conduits may be configured to be fluidly connected to the second heat exchanger. The second heat exchange pump, the second heat exchanger and the one or more second heat exchange conduits may together define at least part of the second heat exchange circuit.

[0051] The second heat exchange circuit may define a second heat exchange circuit volume that is configured to receive a second heat exchange fluid. The second heat exchange circuit is configured such that, in use, the second heat exchange fluid receives thermal energy from one or more of the tramming pump drive motor, the drilling pump drive motor, and the charger module.

[0052] The second heat exchange pump may be configured to pump the second heat exchange fluid through the second heat exchange circuit.

[0053] The mining vehicle may comprise the second heat exchange fluid.

[0054] The heat exchange system may comprise a third heat exchange pump. The heat exchange system may comprise one or more third heat exchange conduits that are configured to be fluidly connected to the third heat exchange pump. The third heat exchange pump and the one or more third heat exchange conduits together define at least part of a third heat exchange circuit.

[0055] The heat exchange system may comprise a third heat exchanger. The heat exchange system may comprise one or more third heat exchange conduits that are configured to be fluidly connected to the third heat exchanger. The third heat exchange pump, the third heat exchanger and the one or more third heat exchange conduits may together define at least part of the third heat exchange circuit.

[0056] The third heat exchange circuit may define a third heat exchange circuit volume that is configured to receive a third heat exchange fluid. The third heat exchange circuit may be configured such that, in use, the third heat exchange fluid receives thermal energy from one or more of the tramming hydraulic system, the drill rod rotating system, and the drilling hydraulic system.

[0057] The third heat exchange pump may be configured to pump the third heat exchange fluid through the third heat exchange circuit.

[0058] The mining vehicle may comprise the third heat exchange fluid.

[0059] The mining vehicle may comprise a heat exchange unit. The heat exchange unit may comprise a first inlet opening, a first outlet opening, a first fluid path that extends from the first inlet opening to the first outlet opening such that the first inlet opening and the first outlet opening are fluidly connected, a second inlet opening, a second outlet opening, and a second fluid path that extends from the second inlet opening to the second outlet opening such that the second inlet opening and the second outlet opening are fluidly connected. The first fluid path may be thermally connected to the second fluid path. The first fluid path may be fluidly isolated from the second fluid path.

[0060] The first heat exchange pump and the one or more first heat exchange conduits may be configured to be fluidly connected to the first fluid path.

[0061] The second heat exchange pump and the one or more second heat exchange conduits may be configured to be fluidly connected to the second heat exchange volume.

[0062] The first heat exchange circuit may define the first heat exchange volume.

[0063] The second heat exchange circuit may define the second heat exchange volume.

[0064] The heat exchange unit may comprise a thermally conductive wall. The thermally conductive wall may define, on a first side, at least part of a boundary of the first fluid path, and on a second side, at least part of a boundary of the second fluid path.

[0065] The energy storage system heat exchange module may comprise a fluid inlet opening, a fluid outlet opening, and an energy storage system heat exchanger channel that extends from the fluid inlet opening to the fluid outlet opening such that the fluid inlet opening and the fluid outlet opening are fluidly connected.

[0066] The energy storage system heat exchange module may further comprise: a first plate comprising a first plurality of grooves; and a second plate comprising a second plurality of grooves. The first plate and the second plate may be configured to be connected such that each of the first plurality of grooves is aligned with a respective groove of the second plurality of grooves to define a plurality of channels that comprises the energy storage system heat exchanger channel.

[0067] In some embodiments of the disclosure, there is provided a cooling system. The cooling system may comprise: a first heat exchanger; a second heat exchanger; a heat exchange unit comprising: a first fluid path; and a second fluid path; one or more first heat exchange conduits that are configured to be fluidly connected to the first heat exchanger and the first fluid path to define at least part of a first heat exchange circuit; and one or moresecond heat exchange conduits that are configured to be fluidly connected to the second heat exchanger and the second fluid path to define at least part of a second heat exchange circuit. The first fluid path may be thermally connected to the second fluid path. The first fluid path may be fluidly isolated from the second fluid path.

[0068] In some embodiments, the first heat exchanger comprises: a first heat exchanger inlet; and a first heat exchanger outlet; the second heat exchanger comprises: a second heat exchanger inlet; and a second heat exchanger outlet; the heat exchange unit comprises: a first heat exchange unit inlet; and a second heat exchange unit inlet; the one or more first heat exchange conduits are configured to connect to the first heat exchanger outlet and to the first heat exchange unit inlet; and the one or more second heat exchange conduits are configured to connect to the second heat exchanger outlet and to the second heat exchange unit inlet.

[0069] In some embodiments, the cooling system comprises a first heat exchange pump; and a second heat exchange pump; wherein: the first heat exchange pump is fluidly connected to the first fluid path and is configured to pump a first heat exchange fluid through the first fluid path; the second heat exchange pump is fluidly connected to the second fluid path and is configured to pump a second heat exchange fluid through the second fluid path.

[0070] In some embodiments, the heat exchange unit comprises a thermally conductive wall that defines: on a first side, at least part of a boundary of the first fluid path; and on a second side, at least part of a boundary of the second fluid path.BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Embodiments of the invention are described further below by way of example only with reference to the accompanying Figures, of which:Figure 1 shows a perspective view of a mining vehicle, according to some embodiments;Figure 2 shows a part of the perspective view of Figure 1, according to some embodiments;Figure 3 shows a side view of the mining vehicle, according to some embodiments;Figure 4 shows a front view of the mining vehicle, according to some embodiments;Figure 5 shows another side view of the mining vehicle, according to some embodiments;Figure 6 shows a rear view of the mining vehicle, according to some embodiments;Figure 7 shows a top view of the mining vehicle, according to some embodiments;Figure 8 shows a bottom view of the mining vehicle, according to some embodiments;Figure 9 shows a perspective view the mining vehicle of Figure 1 with a number of components of the mining vehicle hidden, according to some embodiments;Figure 10 shows a side view of the components of the mining vehicle that are shown in Figure 9, according to some embodiments;Figure 11 shows a front view of the components of the mining vehicle that are shown in Figure 9, according to some embodiments;Figure 12 shows another side view of the components of the mining vehicle that are shown in Figure 9, according to some embodiments;Figure 13 shows a rear view of the components of the mining vehicle that are shown in Figure 9, according to some embodiments;Figure 14 shows a top view of the components of the mining vehicle that are shown in Figure 9, according to some embodiments;Figure 15 shows a bottom view of the components of the mining vehicle that are shown in Figure 9, according to some embodiments;Figure 16 shows a perspective view of a rear portion of the mining vehicle, according to some embodiments;Figure 17 shows another perspective view of the rear portion of the mining vehicle shown in Figure 16, according to some embodiments;Figure 18 shows a perspective view of part of a power system of the mining vehicle, according to some embodiments;Figure 19 shows another perspective view of the part of the power system shown in Figure 18, according to some embodiments;Figure 20 shows a perspective view of the part of the power system shown in Figure 18, with a number of wall panels hidden, according to some embodiments;Figure 21 shows a schematic diagram of a heat exchange system of the mining vehicle, according to some embodiments; andFigure 22 shows a schematic diagram of an electrical network of the mining vehicle, according to some embodiments.DETAILED DESCRIPTION

[0072] The present disclosure relates to a mining vehicle. In particular, the present disclosure relates to an electrically powered mobile diamond drill rig that is configured to use an onboard battery to power tramming operations and drilling operations.

[0073] A mobile diamond drill rig is a mining vehicle that is configured to use a diamond impregnated drill bit to drill holes into a mine face. The holes may be drilled to enable the collection of one or more core samples. The core samples can be collected and analysed, with the analysis providing an indication of one or more characteristics of the mine face (e.g. the concentration of a metal in the ore body forming the mine face).

[0074] Drill rigs used in underground mines are typically operated using alternating current (AC) electricity provided by an AC electrical network of the underground mine and / or by an onboard combustion engine. For example, a drill rig may be electrically connected to the AC electrical network, which may be used to power one or more components of the drill rig. The AC electrical network may be used to energise a three-phase induction motor that is configured to drive a hydraulic circuit of the drill rig. The hydraulic circuit may control a hydraulic rotary chuck of the drill rig. The rotary chuck is operable to hold a drill rod, connected at one end to a diamond impregnated drill bit. A drill system of the drill rig may be powered, using energy supplied by the AC electrical network, to rotate the drill rod and the connected drill bit and to drive the drill bit into the mine face, thereby enabling a hole in the mine face to be drilled. Alternatively, an onboard combustion engine may generate the mechanical and / or electrical energy required to drive the hydraulic circuit and / or the drill system.

[0075] Upon completion of a drilling operation, a drive system of the drill rig may be used to move the drill rig to another drilling location. Moving the drill rig from one location to another location within the underground mine may be referred to as tramming. The drive system of a drill rig used at a mine is typically powered by the onboard diesel engine or the AC electrical network. In the latter case, the drill rig may comprise an electric motor that is configured to be powered using the AC electrical network, to drive the drive system. The AC electrical network may comprise an electric cable coupled to a power station. The drill rig may pull the electric cable with it as it trams from one location to another, with the electrical cable being sufficiently long to enable the movement of the drill rig.

[0076] Rather than relying on an AC electrical network of a mine or an onboard diesel engine, the drill rig of the present disclosure comprises an onboard energy storage system configured to power operation of the drill rig.Mining Vehicle 100

[0077] Figures 1 to 8 show a mining vehicle 100, according to some embodiments. The mining vehicle 100 is an underground mining vehicle. In particular, the mining vehicle 100 is a drill rig. The drill rig is configured to be used in an underground mine. Figures 9 to 15 show the mining vehicle 100 with a number of components hidden. Figures 9 to 15 may be said to show a portion 101 of the mining vehicle 100. Figures 16 and 17 show another portion 103 of the mining vehicle 100. The portion 103 shown in Figures 16 and 17 may be said to be a rear portion of the mining vehicle 100.

[0078] The mining vehicle 100 comprises a body 102. The body 102 supports a number of components of the mining vehicle 100. The body 102 comprises a first body portion 104. The first body portion 104 supports a number of components of the mining vehicle 100. The first body portion 104 may be referred to as a front body portion.

[0079] The first body portion 104 comprises a first frame 106. The first frame 106 comprises a plurality of structural members 108. The structural members 108 of the first frame 106 may be referred to as first frame structural members. The structural members 108 are connected to form the first frame 106. For example, the structural members 108 may be welded together to form the first frame 106. The structural members 108 can define walls of the first frame 106.

[0080] The body 102 comprises a second body portion 110. The second body portion 110 supports a number of components of the mining vehicle 100. The second body portion 110 may be referred to as a rear body portion.

[0081] The second body portion 110 comprises a second frame 112. The second frame 112 comprises a plurality of structural members 114. The structural members 114 of the second frame 112 may be referred to as second frame structural members. The structural members 114 are connected to form the second frame 112. For example, the structural members 114 may be welded together to form the second frame 112.

[0082] The second frame 112 comprises a lower frame portion 118. The lower frame portion 118 comprises a first plurality of the structural members 114 of the second frame 112. The structural members 114 of the lower frame portion 118 are connected together. For example, they may be welded together. The lower frame portion 118 is configured to support a number of components of the mining vehicle 100, as described herein.

[0083] The second frame 112 comprises an upper frame portion 120. The upper frame portion 120 comprises a second plurality of the structural members 114 of the secondframe 112. The structural members of the upper frame portion 120 are connected together. For example, they may be welded together. The upper frame portion 120 is configured to support a number of components of the mining vehicle 100.

[0084] The second frame 112 comprises a plurality of vertical frame members 121. One or more of the vertical frame members 121 are connected to the lower frame portion 118. One or more of the vertical frame members 121 are connected to the upper frame portion 120. The vertical frame members 121 may therefore be said to connect the lower frame portion 118 and the upper frame portion 120. The vertical frame members 121 extend vertically between the lower frame portion 118 and the upper frame portion 120.

[0085] The first body portion 104 is connected to the second body portion 110, thereby forming at least part of the body 102. The body 102 comprises a joint 116. The first body portion 104 and the second body portion 110 are connected at the joint 116. The joint 116 enables the first body portion 104 to move with respect to the second body portion 110. In particular, the joint enables the first body portion 104 to move with respect to the second body portion 110 in at least one degree of freedom. The joint 116 inhibits relative movement between the first body portion 104 and the second body portion 110. In particular, the joint 116 inhibits relative movement between the first body portion 104 and the second body portion 110 in at least one degree of freedom. The degree(s) of freedom in which the joint 116 enables relative movement between the first body portion 104 and the second body portion 110 are different from the degree(s) of freedom in which the joint 116 inhibits relative movement between the first body portion 104 and the second body portion 110.

[0086] In the illustrated embodiment, the joint 116 is in the form of a pivot assembly 116. The joint 116 may therefore be referred to as a pivot assembly 116 or a pivot 116. The joint 116 is configured to enable the first body portion 104 to pivot, about a joint axis, with respect to the second body portion 110. In other words, the joint 116 is configured to enable the first body portion 104 to rotate, about the joint axis, with respect to the second body portion 110. The joint axis may be referred to as a pivot axis. The first body portion 104 may therefore be said to be pivotable with respect to the second body portion 110. Alternatively, the first body portion 104 may be said to be rotatable with respect to the second body portion 110. The pivot axis is a vertical axis. That is, the pivot axis extends vertically. The joint 116 is configured to inhibit relative translation between the first body portion 104 and the second body portion 110.

[0087] It will be understood that a first component may be ‘pivotable’ with respect to a second component if the first component is capable of pivoting with respect to the second component about an axis.

[0088] In some embodiments, the mining vehicle 100 comprises a joint actuator. The joint actuator is configured to be actuated to cause relative movement of the first body portion 104 and the second body portion 110 about the joint 116. The joint actuator may comprise a rotary actuator. The joint actuator may comprise a linear actuator. In some embodiments, the mining vehicle 100 comprises a plurality of joint actuators. The plurality of joint actuators may comprise one or more rotary actuators and / or one or more linear actuators.Boom Assembly 122

[0089] The mining vehicle 100 comprises a boom assembly 122. The boom assembly 122 is configured to be mounted to the body 102. In the embodiment illustrated in Figure 1, the boom assembly 122 is mounted to the body 102. The boom assembly 122 comprises a body mounting portion 123. The body mounting portion 123 is configured to enable the boom assembly 122 to be mounted to the body 102.

[0090] The body 102 comprises a boom assembly mounting portion 126. In particular, the first body portion 104 comprises the boom assembly mounting portion 126. The boom assembly mounting portion is configured to enable the boom assembly 122 to be mounted to the body 102. The body mounting portion 123 of the boom assembly 122 is configured to be connected to the boom assembly mounting portion 126 of the body 102.

[0091] The boom assembly 122 comprises a boom arm 124. The boom arm 124 extends away from the body mounting portion 123. The boom arm 124 extends in a longitudinal direction. That is, a longitudinal dimension of the boom arm 124 (i.e. a dimension of the boom arm 124 measured in a longitudinal direction) is longer than a radial dimension of the boom arm 124 (i.e. a dimension of the boom arm 124 measured in a direction that is orthogonal to the longitudinal direction).

[0092] The boom assembly 122 comprises a boom actuator 128. The boom actuator 128 is configured to be actuated to move the boom arm 124. The boom actuator 128 may comprise a linear actuator. The boom actuator 128 may comprise a rotary actuator. The boom actuator is a hydraulic actuator. In some embodiments, the boom assembly 122 comprises a plurality of boom actuators 128. The plurality of boom actuators 128 may comprise one or more linearactuators and one or more rotary actuators. The plurality of boom actuators 128 may comprise an actuator that is configured to move a drill system frame 142, with respect to the boom arm 124. Specifically, this boom actuator 128 may be configured to rotate the drill system frame 142 with respect to the boom arm 124. One or more of the plurality of boom actuators 128 may be hydraulic actuators.Drive System 130

[0093] The mining vehicle 100 comprises a drive system 130. The drive system 130 is configured to drive the mining vehicle 100. In other words, the drive system 130 is configured to enable the mining vehicle 100 to move from a first location to a second location. That is, the drive system 130 is configured to tram the mining vehicle 100. In some embodiments, the drive system 130 may be referred to as a tramming system.

[0094] The drive system 130 comprises an electric drive motor 131. The electric drive motor 131 is configured to be connected to the body 102. In particular, the electric drive motor 131 is mounted to the second body portion 110.

[0095] The mining vehicle 100 comprises an electric drive motor mounting portion 138. The second body portion 110 comprises the electric drive motor mounting portion 138. In particular, the second frame 112 comprises the electric drive motor mounting portion 138. The electric drive motor mounting portion 138 may comprise, or be in the form of a mounting bracket onto which the electric drive motor 131 is mounted. The electric drive motor 131 is configured to be mounted to the body 102 such that at least part of the electric drive motor 131 is below an upper part of the lower frame portion 118.

[0096] The drive system 130 comprises a ground engaging system 132. The ground engaging system 132 comprises a plurality of wheels 134. The ground engaging system 132 comprises a number of front wheels 134. In the illustrated embodiment, the ground engaging system 132 comprises two front wheels 134. The ground engaging system 132 comprises a number of rear wheels 134. In the illustrated embodiment, the ground engaging system 132 comprises two rear wheels 134.

[0097] It will be understood that in some embodiments, the ground engaging system 132 may be provided in a different form. For example, in some embodiments, the ground engaging system 132 may comprise one or more track systems. Alternatively, the ground engaging system 132 may comprise a different number of wheels to that described above. For example, the ground engaging system 132 may comprise 6 or more wheels.

[0098] The drive system 130 comprises a transmission system 136. The transmission system 136 is configured to transmit kinetic energy from the electric drive motor 131 to the ground engaging system 132. In other words, the transmission system 136 is configured to transmit power from the electric drive motor 131 to the ground engaging system 132. The electric drive motor 131 is configured to be connected to the transmission system 136. In the embodiment illustrated in Figures 1 to 8, the electric drive motor 131 is shown mounted to the body 102 and connected to the transmission system 136. The ground engaging system 132 is configured to be connected to the transmission system 136. That is, each of the wheels 134 is configured to be connected to the transmission system 136. In the embodiment shown in Figures 1 to 8, the wheels 134 are each connected to the transmissions system 136. The electric drive motor 131 is therefore able to drive each of the wheels 134. When connected, the wheels 134 support the weight of the mining vehicle 100.Drill System 140

[0099] The mining vehicle 100 comprises a drill system 140. Figure 2 shows a zoomed perspective view of the drill system 140. In particular, Figure 2 shows region A of Figure 1. The drill system 140 is configured to engage a drill rod and to move the drill rod. The drill system 140 can rotate the drill rod about a drilling axis. The drill system 140 can also move the drill rod along the drilling axis.

[0100] The drill system 140 is configured to be mounted to the boom assembly 122. In the embodiment illustrated in Figures 1 to 8, the drill system 140 is mounted to the boom assembly 122.

[0101] The drill system 140 comprises a drill system frame 142. The drill system frame 142 is configured to support one or more components of the drill system 140. The drill system frame 142 may be referred to as a feed frame. The drill system frame 142 comprises a boom assembly mounting portion 144. The boom assembly mounting portion 144 is configured to enable the drill system frame 142 to be mounted to the boom assembly 122. That is, the drill system frame 142 connects to the boom assembly 122 at the boom assembly mounting portion 144.

[0102] The drill system 140 comprises a drill rod rotating system 146. The drill rod rotating system 146 is configured to rotate the drill rod that is engaged by the drill system 140. The drill rod rotating system 146 is mounted to the drill system frame 142. In particular, the drill rod rotating system 146 is slidably mounted to the drill system frame 142.

[0103] Referring to Figure 2, the drill system 140 comprises a runner assembly 143. The runner assembly 143 is configured to enable relative movement between the drill system frame 142 and the drill rod rotating system 146. That is, the runner assembly 143 is configured to enable the drill rod rotating system 146 to be slidably mounted to the drill system frame 142. The runner assembly 143 comprises a runner 141.

[0104] The runner assembly 143 includes a number of pairs of opposed slides 145. The pairs of opposed slides 145 are mounted to the runner 141. The slides 145 are mounted to the runner 141 to form lines of slides 145 on each side portion of the runner 141.

[0105] The runner assembly 143 comprises a number of elongate track members 147. In the illustrated embodiment, the runner assembly 143 comprises a pair of opposed elongate track members 147. The elongate track members 147 are mounted to the drill system frame 142. In some embodiments, the drill system frame 142 comprises the elongate track members 147. The elongate track members 147 define a longitudinal length. In other words, the elongate track members 147 extend in a longitudinal direction. The longitudinal direction in which the elongate track members 147 extend may be parallel to a longitudinal axis 151 of the drill system frame 142. The elongate track members 147 each define a track 149. The track 149 is configured to cooperate with a number of the slides 145 to enable the runner 141 to move with respect to the drill system frame 142. In use, the slides 145 may slide along the track 149 with movement of the runner 141 with respect to the elongate track members 147. As the drill rod rotating system 146 is mounted to the runner 141, movement of the runner 141 causes corresponding movement of the drill rod rotating system 146.

[0106] The drill rod rotating system 146 comprises a drilling motor 148. In some embodiments, the drilling motor 148 is a DC motor. In particular, the drilling motor 148 may be a DC radial flux motor or a DC axial flux motor. In some embodiments, the drill rod rotating system 146 comprises a plurality of drilling motors 148. For example, the embodiment illustrated in Figures 1 to 8 comprises two drilling motors 148. The plurality of drilling motors 148 may be connected such that the output of the motors is combined into a single output at an output shaft.

[0107] The drill rod rotating system 146 comprises a gearbox 150. The gearbox 150 comprises a drive end 152. The gearbox 150 comprises a non-drive end 154. The gearbox 150 extends from the drive end 152 to the non-drive end 154. The gearbox 150 may be mounted to the drill system frame 142. Specifically, the gearbox 150 is mounted to the runner 141. The gearbox 150 is therefore indirectly mounted to the drill system frame 142,via the runner 141. The drilling motor 148 is connected to the drive end 152 of the gearbox 150.

[0108] The drill rod rotating system 146 comprises a drill rod engagement system 156. The drill rod engagement system 146 is configured to engage with a drill rod. When the drill rod engagement system 156 is engaged with the drill rod, the drill rod engagement system 156 inhibits relative movement between the drill rod and at least part of the drill rod engagement system 156. The drill rod engagement system 156 comprises one or more drill rod engaging portions. In some embodiments, the drill rod engagement system 156 comprises a plurality of drill rod engaging portions. The drill rod engaging portion(s) are configured to engage the drill rod to inhibit relative movement of the drill rod with respect to the drill rod engagement system 156. The drill rod engaging portion(s) may be moveable with respect to a body of the drill rod engagement system 156. The body of the drill rod engagement system 156 may be fixedly connected to the gearbox 150, drilling motor 148 and / or another component of the mining vehicle 100. The drill rod engagement system 156 is connected to the runner 141. Movement of the runner 141 causes corresponding movement of the drill rod engagement system 156.

[0109] The drill rod engagement system 156 may comprise a chuck mechanism. The chuck mechanism is configured to engage an end of the drill rod. The chuck mechanism may comprise the drill rod engaging portion(s).

[0110] The drill rod engagement system 146 is connected to the non-drive end 154 of the gearbox 150. The drilling motor 148 is configured to drive the drive end 152 of the gearbox 150 to cause rotation of the drill rod engagement system 156, thereby rotating the drill rod that is engaged by the drill rod engagement system 156.

[0111] The runner 141 may be considered to be a frame of the drill rod rotating system 146. One or more components of the drill rod rotating system 146 are mountable to the runner 141. For example, one or more of the drill rod engagement system 156, the gearbox 150 and the drilling motor 148 is mounted to the runner 141.Hydraulic Systems

[0112] The mining vehicle 100 comprises a plurality of hydraulic systems. The hydraulic systems are used to operate a number of the components of the mining vehicle 100. Tramming Hydraulic System 158

[0113] The mining vehicle 100 comprises a tramming hydraulic system 158. The tramming hydraulic system 158 is used to control a number of components of the mining vehicle 100.The tramming hydraulic system 158 comprises a tramming hydraulic pump unit 160. The tramming hydraulic pump unit 160 comprises a tramming pump drive motor 162. The tramming pump drive motor 162 may comprise a DC radial flux motor. The tramming pump drive motor 162 may comprise a DC axial flux motor.

[0114] The tramming hydraulic pump unit 160 comprises a tramming hydraulic pump 164 (see Figure 14). The tramming hydraulic pump 164 comprises a tramming hydraulic pump inlet. The tramming hydraulic pump 164 comprises a tramming hydraulic pump outlet. The tramming hydraulic pump 164 is configured to pump a hydraulic fluid from the tramming hydraulic pump inlet to the tramming hydraulic pump outlet.

[0115] The tramming pump drive motor 162 is connected to the tramming hydraulic pump 164. Rotation of a rotor of the tramming pump drive motor 162 drives the tramming hydraulic pump 164. In other words, the tramming pump drive motor 162 is configured to drive the tramming hydraulic pump 164. The tramming pump drive motor 162 is mounted to the body 102. In particular, the tramming pump drive motor 162 is mounted to the second body portion 110.

[0116] The tramming hydraulic system 158 comprises a number of tramming hydraulic conduits (not shown). The tramming hydraulic conduits fluidly connect the components of the tramming hydraulic system 158. A number of the tramming hydraulic conduits are fluidly connected to the tramming hydraulic pump 164. It will be understood that two components are fluidly connected if a fluid is able to flow from one component to the other (e.g. in use). The fluid may flow through a fluid flow path of the relevant system via one or more intermediate components. That is, two components can be fluidly connected without being physically connected. One of the tramming hydraulic conduits connects to the tramming hydraulic pump inlet. One of the tramming hydraulic conduits connects to the tramming hydraulic pump outlet.

[0117] The tramming hydraulic system 158 comprises the boom actuator 128. The boom actuator 128 is fluidly connected to the tramming hydraulic pump 164. In particular, the boom actuator 128 is fluidly connected to the tramming hydraulic pump 164 via the tramming hydraulic conduits. The tramming hydraulic pump unit 160 is configured to pump the hydraulic fluid to drive the boom actuator 128. In other words, the tramming hydraulic pump unit 160 is configured to enable actuation of the boom actuator 128.

[0118] The tramming hydraulic system 158 comprises a tramming hydraulic system actuator 166. The tramming hydraulic system actuator 166 is fluidly connected to thetramming hydraulic pump 164. In particular, the tramming hydraulic system actuator 166 is fluidly connected to the tramming hydraulic pump 164 via the tramming hydraulic conduits. The tramming hydraulic pump unit 160 is configured to pump the hydraulic fluid to drive the tramming hydraulic system actuator 166. In other words, the tramming hydraulic pump unit 160 is configured to enable actuation of the tramming hydraulic system actuator 166.

[0119] The tramming hydraulic system actuator 166 is a hydraulic actuator. The tramming hydraulic system actuator 166 may be a linear actuator. The tramming hydraulic system actuator 166 may be a rotary actuator. The tramming hydraulic system 158 of the mining vehicle 100 of Figures 1 to 8 comprises a plurality of tramming hydraulic system actuators 166 A, 166B, 166C.

[0120] The tramming hydraulic system 158 comprises a steering actuator 166A (see Figures 8 and 15). The steering actuator 166A is one of the tramming hydraulic system actuators 166 A, 166B, 166C. The steering actuator 166 A is fluidly connected to the tramming hydraulic pump 164. In particular, the steering actuator 166 A is fluidly connected to the tramming hydraulic pump 164 via the tramming hydraulic conduits. The tramming hydraulic pump unit 160 is configured to pump the hydraulic fluid to drive the steering actuator 166A. In other words, the tramming hydraulic pump unit 160 is configured to enable actuation of the steering actuator 166 A. The steering actuator 166A is connected, at a first end portion, to the first body portion 104. The steering actuator 166A may be pivotably connected to the first body portion 104. The steering actuator 166 A is connected, at a second end portion, to the second body portion 110. Actuation of the steering actuator 166A causes the first body portion 104 to pivot with respect to the second body portion 110, about the joint 116.

[0121] The steering actuator 166 A is a linear actuator. Actuation of the steering actuator 166A to increase a length of the steering actuator 166A causes the first body portion 104 to pivot with respect to the second body portion 110, about the joint 116, in a first direction. Actuation of the steering actuator 166A to decrease a length of the steering actuator 166A causes the first body portion 104 to pivot with respect to the second body portion 110, about the joint 116, in a second direction. The second direction is opposite to the first direction.

[0122] The tramming hydraulic system 158 comprises a jack leg actuator 166B (see Figure 1). The jack leg actuator 166B is configured to be actuated to raise or lower a jack leg 168 of the mining vehicle 100. The mining vehicle 100 of Figures 1 to 8 comprises a plurality of jack legs 168, each actuated by a respective jack leg actuator 166B. That is, theillustrated tramming hydraulic system 158 comprises a plurality of jack leg actuators 166B. In particular, the illustrated mining vehicle 100 comprises four jack leg actuators 166B.

[0123] Each jack leg actuator 166B is one of the tramming hydraulic system actuators 166A, 166B, 166C. The jack leg actuators 166B are fluidly connected to the tramming hydraulic pump 164. In particular, the jack leg actuators 166B are fluidly connected to the tramming hydraulic pump 164 via the tramming hydraulic conduits. The tramming hydraulic pump unit 160 is configured to pump the hydraulic fluid to drive the jack leg actuators 166B. In other words, the tramming hydraulic pump unit 160 is configured to enable actuation of the jack leg actuators 166B.

[0124] The jack leg actuators 166B are connected, at a first end portion, to the body 102. In the illustrated embodiment, two of the jack leg actuators 166B are connected to the first body portion 104. These two jack leg actuators 166B are connected on opposing left and right (with reference to a forward direction of the mining vehicle 100) sides of the first body portion 104. Two of the jack leg actuators 166B are connected to the second body portion 110. These two jack leg actuators 166B are connected on opposing left and right (with reference to a forward direction of the mining vehicle 100) sides of the second body portion 110.

[0125] Each of the jack leg actuators 166B is connected, at a second end portion, to the respective jack leg 168. Actuation of one of the jack leg actuators 166B causes the respective jack leg 168 to move.

[0126] The jack leg actuators 166B are linear actuators. Actuation of one of the jack leg actuators 166B to increase a length of the actuator 166B causes the jack leg 168 that is connected to that jack leg actuator 166B to move in the direction of the increase in length. In the illustrated case, this actuation causes the jack leg 168 to move downwards, towards the ground. Actuation of one of the jack leg actuators 166B to decrease a length of the actuator 166B causes the jack leg 168 that is connected to that jack leg actuator 166B to move in the direction of the decrease in length. In the illustrated case, this actuation causes the jack leg 168 to move upwards, away from the ground. In other words, the jack leg actuators 166B are configured to be actuated to move the respective jack legs 168 between a retracted position and an extended position. In the extended position, the jack legs 168 stabilise the mining vehicle 100 by providing an additional point of contact with the ground.

[0127] The mining vehicle 100 comprises a canopy 169. The canopy 169 is configured to protect an operator of the mining vehicle 100. The tramming hydraulic system 158 comprisesa canopy actuator 166C (see Figure 1). The canopy actuator 166C is one of the tramming hydraulic system actuators 166A, 166B, 166C. The canopy actuator 166C is fluidly connected to the tramming hydraulic pump 164. In particular, the canopy actuator 166C is fluidly connected to the tramming hydraulic pump 164 via the tramming hydraulic conduits. The tramming hydraulic pump unit 160 is configured to pump the hydraulic fluid to drive the canopy actuator 166C. In other words, the tramming hydraulic pump unit 160 is configured to enable actuation of the canopy actuator 166C. The canopy actuator 166C is connected, at a first end portion, to the first body portion 104. The canopy actuator 166C is connected, at a second end portion, to the canopy 169. Actuation of the canopy actuator 166C causes the canopy 169 to move.

[0128] The canopy actuator 166C is a linear actuator. Actuation of the canopy actuator 166C to increase a length of the actuator 166C causes the canopy 169 that is connected to that canopy actuator 166C to move in the direction of the increase in length. In the illustrated case, this actuation causes the canopy 169 to move upwards, away from the ground. Actuation of the canopy actuator 166C to decrease a length of the actuator 166C causes the canopy 169 to move in the direction of the decrease in length. In the illustrated case, this actuation causes the canopy 169 to move downwards, towards the ground. In other words, the canopy actuator 166C is configured to be actuated to move the canopy 169 between an upper position and a lower position.Drilling Hydraulic System 170

[0129] The mining vehicle 100 comprises a drilling hydraulic system 170. The drilling hydraulic system 170 is used to control a number of components of the mining vehicle 100. The drilling hydraulic system 170 comprises a drilling hydraulic pump unit 172 (see Figure 9). The drilling hydraulic pump unit 172 comprises a drilling pump drive motor 174. The drilling pump drive motor 174 may comprise a DC radial flux motor. The drilling pump drive motor 174 may comprise a DC axial flux motor. The drilling pump drive motor 174 is mounted to the body 102. In particular, the drilling pump drive motor 174 is mounted to the second body portion 110.

[0130] The drilling hydraulic pump unit 172 comprises a drilling hydraulic pump 176. The drilling hydraulic pump 176 comprises a drilling hydraulic pump inlet. The drilling hydraulic pump 176 comprises a drilling hydraulic pump outlet. The drilling hydraulic pump 176 is configured to pump a hydraulic fluid from the drilling hydraulic pump inlet to the drilling hydraulic pump outlet.

[0131] The drilling pump drive motor 174 is connected to the drilling hydraulic pump 176. Rotation of a rotor of the drilling pump drive motor 174 drives the drilling hydraulic pump 176. In other words, the drilling pump drive motor 174 is configured to drive the drilling hydraulic pump 176.

[0132] The drilling hydraulic system 170 comprises a number of drilling hydraulic conduits (not shown). The drilling hydraulic conduits fluidly connect the components of the drilling hydraulic system 170. A number of the drilling hydraulic conduits are fluidly connected to the drilling hydraulic pump 176. One of the drilling hydraulic conduits connects to the drilling hydraulic pump inlet. One of the drilling hydraulic conduits connects to the drilling hydraulic pump outlet.

[0133] The drilling hydraulic system 170 comprises a drill system actuator 178 (see Figure 2). The drill system actuator 178 is fluidly connected to the drilling hydraulic pump 176. In particular, the drill system actuator 178 is fluidly connected to the drilling hydraulic pump 176 via the drilling hydraulic conduits. The drilling hydraulic pump unit 172 is configured to pump the hydraulic fluid to drive the drill system actuator 178. In other words, the drilling hydraulic pump unit 172 is configured to enable actuation of the drill system actuator 178.

[0134] The drill system actuator 178 is a hydraulic actuator. The drill system actuator 178 may be a linear actuator. The drill system actuator 178 may be a rotary actuator. The drilling hydraulic system 170 of the mining vehicle 100 of Figures 1 to 8 comprises a plurality of drill system actuators 178.

[0135] The drilling hydraulic system 170 comprises a runner actuator 178A (see Figures 1 and 2). The runner actuator 178A is one of the drill system actuators 178. The runner actuator 178 A is fluidly connected to the drilling hydraulic pump 176. In particular, the runner actuator 178 A is fluidly connected to the drilling hydraulic pump 176 via the drilling hydraulic conduits. The drilling hydraulic pump unit 172 is configured to pump the hydraulic fluid to drive the runner actuator 178A. In other words, the drilling hydraulic pump unit 172 is configured to enable actuation of the runner actuator 178A.

[0136] The runner actuator 178A is connected, at a first end portion, to the drill system frame 142. The runner actuator 178 A is connected, at a second end portion, to the runner 141. Actuation of the runner actuator 178A causes the runner 141 to move with respect to the drill system frame 142. As the drill rod rotating system 146 is connected to the runner 141, this movement of the runner 141 causes corresponding movement of the drill rod rotatingsystem 146. It may therefore be said that the runner actuator 178A is configured to be actuated to move the drill rod rotating system 146 with respect to the drill system frame 142.

[0137] The runner actuator 178A is a linear actuator. Actuation of the runner actuator 178A to increase a length of the runner actuator 178A causes the runner 141 to move along the drill system frame 142 in the direction of the increase in length. In the illustrated case, this actuation causes the runner actuator 178A to move away from a proximal end 182 of the drill system frame 142, towards a distal end 184 of the drill system frame 142. It will be understood that the distal end 184 of the drill system frame 142 is further away from the body 102 than the proximal end 182 of the drill system frame 142. Therefore, actuation of the runner actuator 178A to increase the length of the runner actuator 178A causes the drill rod rotating system 146 to move along the drill system frame 142 in the direction of the increase in length. When the runner actuator 178A is extended to its maximum allowable length, the runner 141, and therefore the drill rod rotating system 146 may be said to be in an extended position.

[0138] The axis along which the runner 141 may be moved with respect to the drill system frame 142 may be said to be a drilling axis. In some embodiments, the drilling axis is parallel to the longitudinal axis 151 of the drill system frame 142. A direction of movement along the drilling axis, from the proximal end 182 of the drill system frame 142, towards the distal end 184 of the drill system frame 142, may be said to be a drilling direction. The runner actuator 141 is therefore configured to be actuated to move the drill rod rotating system 146, with respect to the drill system frame 142, in the drilling direction.

[0139] Actuation of the runner actuator 178A to decrease a length of the runner actuator 178A causes the runner 141 to move along the drill system frame 142 in the direction of the decrease in length. In the illustrated case, this actuation causes the runner actuator 178A to move towards the proximal end 182 of the drill system frame 142, away from the distal end 184 of the drill system frame 142. Therefore, actuation of the runner actuator 178A to decrease the length of the runner actuator 178A causes the drill rod rotating system 146 to move along the drill system frame 142 in the direction of the decrease in length. This direction may be opposite to the drilling direction. The runner actuator 141 is therefore configured to be actuated to move the drill rod rotating system 146, with respect to the drill system frame 142, in a direction that is opposite to the drilling direction.

[0140] When the runner actuator 178A is actuated to its minimum allowable length, the runner 141, and therefore the drill rod rotating system 146 may be said to be in a retractedposition. The runner actuator 178A may therefore be said to be configured to be actuated to move the drill rod rotating system 146 between the extended position and the retracted position.

[0141] As described herein, the drill rod rotating system 146 comprises the drill rod engagement system 156 that comprises one or more drill rod engaging portions. The drilling hydraulic system 170 comprises a drill rod engagement actuator (not shown). The drill rod engagement actuator is one of the drill system actuators 178. The drill rod engagement actuator is fluidly connected to the drilling hydraulic pump 176. In particular, the drill rod engagement actuator is fluidly connected to the drilling hydraulic pump 176 via the drilling hydraulic conduits. The drilling hydraulic pump unit 172 is configured to pump the hydraulic fluid to drive the drill rod engagement actuator. In other words, the drilling hydraulic pump unit 172 is configured to enable actuation of the drill rod engagement actuator. Actuation of the drill rod engagement actuator causes movement of one or more of the drill rod engaging portion(s).

[0142] In some embodiments, the drilling hydraulic system 170 comprises a plurality of drill rod engagement actuators. Each drill rod engagement actuator may be operably connected to a respective drill rod engaging portion of the drill rod engagement system 156.

[0143] Actuation of one of the drill rod engagement actuators causes movement of the drill rod engaging portion to which it is connected. The drill rod engagement actuator can be actuated to move the drill rod engaging portion between an engaged position in which it engages a drill rod, and a disengaged position in which it does not engage the drill rod.

[0144] The drilling hydraulic system 170 comprises a rod holder actuator (not shown). The rod holder actuator is one of the drill system actuators 178. The rod holder actuator is fluidly connected to the drilling hydraulic pump 176. In particular, the rod holder actuator is fluidly connected to the drilling hydraulic pump 176 via the drilling hydraulic conduits. The drilling hydraulic pump unit 172 is configured to pump the hydraulic fluid to drive the rod holder actuator. In other words, the drilling hydraulic pump unit 172 is configured to enable actuation of the rod holder actuator. Actuation of the rod holder actuator causes movement of one or more drill rod holders.

[0145] In some embodiments, the drilling hydraulic system 170 comprises a plurality of rod holder actuators. Each rod holder actuator may be operably connected to a respective drill rod holder.Power System 186

[0146] The mining vehicle 100 comprises a power system 186. The power system 186 powers the mining vehicle 100. The power system 186 comprises a cable reel 187 (shown schematically in Figures 21 and 22, hidden in Figures 1 to 20). The power system 186 comprises an electrical cable that is configured to enable the mining vehicle 100 to connect to an external AC power source.

[0147] The power system 186 comprises an energy storage system 188. The energy storage system 188 is configured to store energy. The stored energy is used to power the mining vehicle 100 when required. The energy storage system 188 is removably connectable to the body 102 of the mining vehicle 100. The energy storage system 188 is configured to be connected to the second body portion 110. That is, the second body portion 110 is configured to support the energy storage system 188.

[0148] The energy storage system 188 comprises an energy storage device 190. The energy storage device 190 is configured to store energy. The stored energy is used to power the mining vehicle when required. The energy storage device 190 may be in the form of a battery. For example, the energy storage device 190 may be in the form of a lithium-ion battery. In some embodiments, the energy storage system 188 comprises a plurality of energy storage devices 190. As illustrated in Figure 20, the energy storage system 188 comprises a plurality of rows of energy storage devices 190. In other words, the energy storage devices 190 are arranged in layers. A number of the energy storage devices 190 may be electrically connected to each other. For example, a number of the energy storage devices 190 may be connected in series. Alternatively, a number of the energy storage devices 190 may be connected in parallel.

[0149] The energy storage system 188 comprises a battery management system 192. The battery management system 192 is configured to control a value of one or more operating parameters of the energy storage device 190. The one or more operating parameters may comprise one or more of output voltage, output current and temperature.

[0150] The energy storage system 188 comprises an energy storage system heat exchange module 194. The energy storage system heat exchange module 194 is configured to be thermally connected to the energy storage device 190. The energy storage device 190 is mountable to the energy storage system heat exchange module 194. In some embodiments, the energy storage system heat exchange module 194 comprises an energy storage device mounting portion. The energy storage device mounting portion is configured to enable the mounting of the energy storage device 190 to the energy storage system heat exchangemodule 194. When the energy storage device 190 is mounted to the energy storage system heat exchange module 194, the energy storage device 190 is in thermal contact with the energy storage system heat exchange module 194. For example, the energy storage device 190 may be in direct contact with the energy storage system heat exchange module 194. Alternatively, the energy storage device 190 may be in indirect contact with the energy storage system heat exchange module 194. For example, a thermal paste may be disposed between the energy storage device 190 and the energy storage system heat exchange module 194.

[0151] The illustrated energy storage system 188 comprises a plurality of energy storage system heat exchange modules 194. Each energy storage system heat exchange module 194 is in thermal contact with a plurality of energy storage devices 190. The energy storage system heat exchange modules 194 are stacked such that the energy storage system 188 comprises layers of connected energy storage system heat exchange module 194 and energy storage device 190 groups.

[0152] The energy storage system 188 comprises an energy storage system frame 196. The energy storage system frame 196 is configured to support the plurality of energy storage devices 190. The energy storage system frame 196 is configured to support the plurality of energy storage system heat exchange modules 194. Each of the energy storage system heat exchange modules 194 are configured to be connected to the energy storage system frame 196. The energy storage system frame 196 comprises a plurality of frame structural members 198. The frame structural members 198 are connected together to form the energy storage system frame 196.

[0153] The energy storage system frame 196 comprises forklift tines 200. The forklift tines 200 are configured to enable the energy storage system frame 196 to be moved by a forklift. The forklift tines 200 are connected to the structural members 198. The illustrated energy storage system frame 196 comprises three forklift tines 200.

[0154] The energy storage system 188 comprises a plurality of energy storage system wall panels 197. The energy storage system wall panels 197 are configured to be connected to the energy storage system frame 196. The energy storage system wall panels 197 are configured to at least partially contain the energy storage devices 190 and / or the energy storage system heat exchange modules 194. The energy storage system wall panels 197 therefore provide a layer of protection to the energy storage devices 190.

[0155] The power system 186 is configured to be electrically connected to the drive system 130. Specifically, the power system 186 is configured to be electrically connected to the electric drive motor 131 (see Figure 22). When connected, the energy storage devices 190 are configured to provide power to the electric drive motor 131, thereby enabling the electric drive motor 131 to operate. The power system 186 is configured to be electrically connected to a plurality of the components of the mining vehicle 100. The power system 186 is electrically connected to one or more of the electrically powered components of the mining vehicle 100. In some embodiments, the power system 186 is configured to power every electrical system of the mining vehicle 100. In this way, the mining vehicle 100 may be completely energy independent while the energy storage devices 190 store energy.

[0156] The power system 186 is configured to be electrically connected to the drill system 140. Specifically, the power system 186 is configured to be electrically connected to the drilling motor 148. When connected, the energy storage devices 190 are configured to provide power to the drilling motor 148, thereby enabling the drilling motor 148 to operate.

[0157] The power system 186 is configured to be electrically connected to the drilling hydraulic system 170. Specifically, the power system 186 is configured to be electrically connected to the drilling pump drive motor 174. When connected, the energy storage devices 190 are configured to provide power to the drilling pump drive motor 174, thereby enabling the drilling pump drive motor 174 to operate.

[0158] The power system 186 comprises a charger module 202 (see Figure 9). In particular, the power system 198 of the illustrated embodiment comprises a plurality of charger modules 202. The charger module 202 comprises an electrical connector (not shown). The electrical connector is configured to enable the charger module 202 to connect to an external energy source. The charger module 202 is configured to be electrically connected to the energy storage devices 190. In some embodiments, the charger module 202 is connected to the energy storage devices 190 via an electrical connection that is in-build into the mining vehicle 100. Such an electrical connection may be a permanent connection.

[0159] The charger module 202 is configured to enable charging of the energy storage devices 190. Specifically, the charger module 202 is configured to enable charging of the energy storage devices 190 when the charger module 202 is electrically connected to the external energy source. The charger module 202 is configured to convert input electricity to a form suitable for use in charging the energy storage devices 190. For example, the external energy source may provide AC electricity. In such a case, the charger module 202 may beconfigured to convert the AC electricity to DC electricity within a certain voltage range, so that the energy storage devices 190 can be appropriately charged.

[0160] The charger module 202 may comprise an AC to DC converter. The AC to DC converter is configured to convert AC input electricity to DC output electricity. The charger module 202 may comprise a power factor correction module. The power factor correction module is configured to correct a power factor of the DC output electricity that is output from the AC to DC converter. The charger module 202 may comprise a DC to DC converter. The DC to DC converter is configured to convert the corrected DC output electricity that is output from the power factor correction module to a form suitable for charging the energy storage devices 190. For example, the DC to DC converter may be configured to change a voltage of the DC output electricity that is output from the power factor correction module.

[0161] The charger module 202 is configured to be mounted to the body 102 of the mining vehicle 100. In the illustrated embodiment, the charger module 202 is mounted to the second body portion 110.Heat Exchange System 204

[0162] The mining vehicle 100 comprises a heat exchange system 204. The heat exchange system 204 may be referred to as a cooling system. The heat exchange system 204 is configured to enable the circulation of one or more heat exchange fluids through respective head exchange circuits. In doing so, the heat exchange fluid(s) can absorb heat from one or more components of the mining vehicle 100. Figure 21 is a schematic representation of the heat exchange system 204.

[0163] The heat exchange system 204 comprises a first heat exchange pump 206. The first heat exchange pump 206 is mounted to the body 102. In the illustrated embodiment, the body 102 comprises a heat exchange support system support structure 207. The heat exchange support system support structure 207 comprises a flat floor onto which one or more components of the heat exchange system 204 are mounted. The heat exchange support system support structure 207 is supported above the energy storage system 188. The heat exchange system 204 comprises a first heat exchange fluid tank 212. The first heat exchange fluid tank 212 is configured to house a first heat exchange fluid. The first heat exchange fluid may comprise one or more or water and glycol. The heat exchange system 204 comprises a first heat exchanger 214. One or more of the first heat exchange pump 206, the first heat exchange fluid tank 212 and the first heat exchanger 214 are mounted to the heat exchange support system support structure 207.

[0164] The heat exchange system 204 comprises a number of first heat exchange conduits 208. The first heat exchange conduits 208 are fluidly connected to the first heat exchange pump 206. The first heat exchange conduits 208 are fluidly connected to the first heat exchange fluid tank 212. The first heat exchange conduits 208 are fluidly connected to the first heat exchanger 214. The first heat exchange pump 206 and the first heat exchange conduits 208 together define at least part of a first heat exchange circuit 210. The first heat exchange circuit 210 may be referred to as a first fluid circuit. The first heat exchange circuit 210 defines a first heat exchange circuit volume that is configured to receive the first heat exchange fluid. The first heat exchange pump 206, the first heat exchanger 214 and the first heat exchange conduits 208 together define at least part of the first heat exchange circuit 210. The first heat exchange pump 206 and the one or more first heat exchange conduits 208 are configured to be fluidly connected to define at least part of the first heat exchange volume.

[0165] The first heat exchange pump 206 is configured to pump the first heat exchange fluid through the first heat exchange circuit 210. By doing so, the first heat exchange pump 206 is configured to cool one or more components of the mining vehicle 100.

[0166] As described herein, the energy storage system 188 comprises the energy storage system heat exchange module 194. The energy storage system heat exchange module 194 defines an energy storage system heat exchange fluid path. The energy storage system heat exchange fluid path forms part of the first heat exchange circuit 210. The energy storage system heat exchange fluid path may be considered to be one or more of the first heat exchange conduits 208. At least part of the energy storage system heat exchange fluid path may extend between a first opening of one of the energy storage system heat exchange modules 194 and a second opening of one of the energy storage system heat exchange modules 194. The first opening may be on an opposing side of the energy storage system heat exchange module 194 as the second opening. The energy storage system heat exchange fluid path may therefore extend through a significant length of the energy storage system heat exchange module 194.

[0167] The illustrated energy storage system 188 comprises a plurality of energy storage system heat exchange modules 194. In particular, the illustrated energy storage system 188 comprises four energy storage system heat exchange modules 194. The fluid paths through the energy storage system heat exchange modules 194 may be connected in series. In the illustrated embodiment, the fluid paths through the energy storage system heat exchangemodules 194 may be connected in series in groups of two. That is, the second opening of the upper- most energy storage system heat exchange module 194 is fluidly connected to the first opening of the immediately lower energy storage system heat exchange module 194. This configuration provides the four first heat exchange conduits 208 projecting out of the energy storage system wall panels 197 as shown in Figures 19 and 20. Two of these first heat exchange conduits 208 are inlets and two are outlets. In such an arrangement, the first opening of the upper-most energy storage system heat exchange module 194 acts as an inlet of that pair of modules 194, and the second opening of the immediately lower energy storage system heat exchange module 194 acts as an outlet of that pair of modules 194. The lower two energy storage system heat exchange modules 194 may be configured the same way.

[0168] Fluid passing through the energy storage system heat exchange fluid path absorbs thermal energy from one or more components of the energy storage system 188. In the illustrated embodiment, the energy storage system heat exchange module 194 is thermally connected to the energy storage devices 190. The energy storage system heat exchange module 194 may also be thermally connected to the battery management system 192. Fluid passing through the energy storage system heat exchange fluid path may therefore absorb thermal energy from one or more of the energy storage devices 190 and the battery management system 192. Therefore, the first heat exchange fluid that is pumped through the first heat exchange circuit 210 cools the energy storage system 188. In particular, the first heat exchange fluid that is pumped through the first heat exchange circuit 210 cools the energy storage devices 190. The first heat exchange fluid may also cool the battery management system 192.

[0169] The drilling motor 148 comprises a drilling motor fluid path. The drilling motor fluid path may be considered to be one or more of the first heat exchange conduits 208. That is, the drilling motor fluid path may form part of the first heat exchange circuit 210. Fluid passing through the drilling motor fluid path absorbs thermal energy from the drilling motor 148. Therefore, the first heat exchange fluid that is pumped through the first heat exchange circuit 210 cools the drilling motor 148.

[0170] In the illustrated embodiment, the first heat exchange pump 206 is therefore configured to pump the first heat exchange fluid through the energy storage system 188 and the drill system 140 to cool those systems. The drilling motor fluid path is downstream of the energy storage system heat exchange fluid path in the first heat exchange circuit 210. The first heat exchanger 214 is positioned downstream of the energy storage system 188 and thedrill system 140 in the first heat exchange circuit 210. After being pumped through the first heat exchanger 214, the first heat exchange fluid is returned to the first heat exchange fluid tank 212, thereby completing the first heat exchange circuit 210.

[0171] The heat exchange system 204 comprises a second heat exchange pump 218. The heat exchange system 204 comprises a second heat exchange fluid tank 220. The heat exchange system 204 comprises a second heat exchanger 222. One or more of the second heat exchange pump 218, the second heat exchange fluid tank 220 and the second heat exchanger 222 are mounted to the heat exchange support system support structure 207. The heat exchange system 204 comprises a number of second heat exchange conduits 224. The second heat exchange conduits 224 are fluidly connected to the second heat exchange pump 218. The second heat exchange conduits 224 are fluidly connected to the second heat exchange fluid tank 220. The second heat exchange conduits 224 are fluidly connected to the second heat exchanger 222. The second heat exchange pump 218 and the second heat exchange conduits 224 together define at least part of a second heat exchange circuit 226.The second heat exchange circuit 226 may be referred to as a second fluid circuit. The second heat exchange circuit 226 defines a second heat exchange circuit volume. The second heat exchange circuit volume is configured to receive a second heat exchange fluid. The second heat exchange fluid may comprise one or more of water and glycol. The second heat exchange pump 218, the second heat exchanger 222 and the second heat exchange conduits 224 together define at least part of the second heat exchange circuit 226.

[0172] The second heat exchange pump 218 is configured to pump the second heat exchange fluid through the second heat exchange circuit 226. By doing so, the second heat exchange pump 218 is configured to cool one or more components of the mining vehicle 100.

[0173] The tramming pump drive motor 162 comprises a tramming pump drive motor fluid path. This fluid path may, for example, be defined by a housing of the tramming pump drive motor 162. The tramming pump drive motor fluid path may be considered to be one or more of the second heat exchange conduits 224. That is, the tramming pump drive motor fluid path may form part of the second heat exchange circuit 226. Fluid passing through the tramming pump drive motor fluid path absorbs thermal energy from the tramming pump drive motor 162. Therefore, the second heat exchange fluid that is pumped through the second heat exchange circuit 226 cools the tramming pump drive motor 162.

[0174] The drilling pump drive motor 174 comprises a drilling pump drive motor fluid path. This fluid path may, for example, be defined by a housing of the drilling pump drivemotor 174. The drilling pump drive motor fluid path may be considered to be one or more of the second heat exchange conduits 224. That is, the drilling pump drive motor fluid path may form part of the second heat exchange circuit 226. Fluid passing through the drilling pump drive motor fluid path absorbs thermal energy from the drilling pump drive motor 174. Therefore, the second heat exchange fluid that is pumped through the second heat exchange circuit 226 cools the drilling pump drive motor 174.

[0175] The charger module 202 comprises a charger module fluid path. This fluid path may, for example, be defined by a housing of the charger module 202. The charger module fluid path may be considered to be one or more of the second heat exchange conduits 224. That is, the charger module fluid path may form part of the second heat exchange circuit 226. Fluid passing through the charger module fluid path absorbs thermal energy from the charger module 202. Therefore, the second heat exchange fluid that is pumped through the second heat exchange circuit 226 cools the charger module 202.

[0176] In the illustrated embodiment, the second heat exchange pump 218 is configured to pump the second heat exchange fluid through the tramming pump drive motor 162, the drilling pump drive motor 174 and the charger module 202 to cool those systems. The second heat exchanger 222 is positioned downstream of the tramming pump drive motor 162, the drilling pump drive motor 174 and the charger module 202 in the second heat exchange circuit 226. After being pumped through the second heat exchanger 222, the second heat exchange fluid is returned to the second heat exchange fluid tank 220, thereby completing the second heat exchange circuit 226.

[0177] The heat exchange system 204 comprises a third heat exchange pump 228. The heat exchange system 204 comprises a third heat exchange fluid tank 230. The heat exchange system 204 comprises a third heat exchanger 232. The heat exchange system 204 comprises a number of third heat exchange conduits 234. The third heat exchange conduits 234 are fluidly connected to the third heat exchange pump 228. The third heat exchange conduits 234 are fluidly connected to the third heat exchange fluid tank 230. The third heat exchange conduits 234 are fluidly connected to the third heat exchanger 232. The third heat exchange pump 228 and the third heat exchange conduits 234 together define at least part of a third heat exchange circuit 236. The third heat exchange circuit 236 may be referred to as a third fluid circuit. The third heat exchange pump 228, the third heat exchanger 232 and the third heat exchange conduits 234 together define at least part of the third heat exchange circuit 236.

[0178] The third heat exchange pump 228 is configured to pump a third heat exchange fluid through the third heat exchange circuit 236. By doing so, the third heat exchange pump 228 is configured to cool one or more components of the mining vehicle 100. The third heat exchange fluid may comprise one or more of water and glycol.

[0179] The tramming hydraulic system 158 comprises a tramming hydraulic system fluid path. The tramming hydraulic system fluid path forms part of the third heat exchange circuit 236. The tramming hydraulic system fluid path may be considered to be one or more of the third heat exchange conduits 234. Fluid passing through the tramming hydraulic system fluid path absorbs thermal energy from one or more components of the tramming hydraulic system 158. In the illustrated embodiment, the tramming hydraulic system actuator(s) 166 defines at least part of the tramming hydraulic system fluid path. In particular, a housing of the tramming hydraulic system actuator(s) 166 may define the tramming hydraulic system fluid path. Fluid passing through the tramming hydraulic system fluid path therefore cools the tramming hydraulic system actuator(s) 166. That is, the third heat exchange fluid that is pumped through the third heat exchange circuit 236 cools the tramming hydraulic system actuator(s) 166.

[0180] The drilling hydraulic system 170 comprises a drilling hydraulic system fluid path. The drilling hydraulic system fluid path may be considered to be one or more of the third heat exchange conduits 234. That is, the drilling hydraulic system fluid path may form part of the third heat exchange circuit 236. Fluid passing through the drilling hydraulic system fluid path absorbs thermal energy from one or more components of the drilling hydraulic system 170. In the illustrated embodiment, the drill system actuator 178 defines at least part of the drilling hydraulic system fluid path. In particular, a housing of the drill system actuator 178 may define at least part of the drilling hydraulic system fluid path. Fluid passing through the drilling hydraulic system fluid path therefore cools the drill system actuator 178. That is, the third heat exchange fluid that is pumped through the third heat exchange circuit 236 cools the drill system actuator 178.

[0181] The drill rod rotating system 146 comprises a drill rod rotating system fluid path. The drill rod rotating system fluid path may be considered to be one or more of the third heat exchange conduits 234. That is, the drill rod rotating system fluid path may form part of the third heat exchange circuit 236. Fluid passing through the drill rod rotating system fluid path absorbs thermal energy from one or more components of the drill rod rotating system 146. In the illustrated embodiment, the gearbox 150 defines at least part of the drill rod rotatingsystem fluid path. Fluid passing through the drill rod rotating system fluid path therefore cools the gearbox 150. That is, the third heat exchange fluid that is pumped through the third heat exchange circuit 236 cools the gearbox 150. The drill rod engagement system 156 defines at least part of the drill rod rotating system fluid path. Fluid passing through the drill rod rotating system fluid path therefore cools the drill rod engagement system 156. That is, the third heat exchange fluid that is pumped through the third heat exchange circuit 236 cools the drill rod engagement system 156.

[0182] In the illustrated embodiment, the third heat exchange pump 228 is therefore configured to pump the third heat exchange fluid through the tramming hydraulic system 158, the drilling hydraulic system 170 and the drill rod rotating system 146 to cool those systems. The third heat exchanger 232 is positioned downstream of the tramming hydraulic system 158, the drilling hydraulic system 170 and the drill rod rotating system 146 in the third heat exchange circuit 236. After being pumped through the third heat exchanger 232, the third heat exchange fluid is returned to the third heat exchange fluid tank 230, thereby completing the third heat exchange circuit 236.

[0183] The mining vehicle 100 comprises a heat exchange unit 238. The heat exchange unit 238 is configured to enable heat exchange between the first heat exchange fluid that is being pumped through the first heat exchange circuit 210 and the second heat exchange fluid that is being pumped through the second heat exchange circuit 226. The heat exchange unit 238 comprises a first inlet defining a first inlet opening. The heat exchange unit 238 comprises a first outlet defining a first outlet opening. The heat exchange unit 238 comprises a first fluid path. The first fluid path extends from the first inlet opening to the first outlet opening. The first inlet opening and the first outlet opening are therefore fluidly connected via the first heat exchange circuit 210. The first fluid path may be referred to as a first heat exchange channel.

[0184] The first inlet, the first outlet and the first fluid path may be defined by a first heat exchange tube of the heat exchange unit 238. Alternatively, one or more of the first inlet, the first outlet and the first fluid path may be defined by a shell of the heat exchange unit 238.

[0185] The first inlet is connected to one of the first heat exchange conduits 208, downstream of the first heat exchanger 214. The first outlet is connected to another one of the first heat exchange conduits 208. The first flow path is downstream of the first heat exchanger 214 and upstream of an inlet of the first heat exchange fluid tank 212.

[0186] The first fluid path therefore forms part of the first heat exchange circuit 210. As such, the first heat exchange pump 206 and the one or more first heat exchange conduits 208 are configured to be fluidly connected to the first fluid path.

[0187] The heat exchange unit 238 comprises a second inlet defining a second inlet opening. The heat exchange unit 238 comprises a second outlet defining a second outlet opening. The heat exchange unit 238 comprises a second fluid path. The second fluid path extends from the second inlet opening to the second outlet opening. The second inlet opening and the second outlet opening are therefore fluidly connected via the second heat exchange circuit 226. The second fluid path may be referred to as a second heat exchange channel.

[0188] The second inlet, the second outlet and the second fluid path may be defined by a second heat exchange tube of the heat exchange unit 238. Alternatively, one or more of the second inlet, the second outlet and the second fluid path may be defined by a shell of the heat exchange unit 238.

[0189] The second inlet is connected to one of the second heat exchange conduits 224, downstream of the second heat exchanger 222. The second outlet is connected to another one of the second heat exchange conduits 224. The second flow path is downstream of the second heat exchanger 222 and upstream of an inlet of the second heat exchange fluid tank 220.

[0190] The second fluid path therefore forms part of the second heat exchange circuit 226. As such, the second heat exchange pump 218 and the one or more second heat exchange conduits 224 are configured to be fluidly connected to the second fluid path.

[0191] The heat exchange unit 238 may be a double tube heat exchanger. The heat exchange unit 238 may be a shell and tube heat exchanger.

[0192] The first fluid path is thermally connected to the second fluid path. For example, the structure of the heat exchange unit 238 that forms the first fluid path (e.g. the first tube) may be physically connected to the structure of the heat exchange unit 238 that forms the second fluid path (e.g. the second tube). These structures may be connected via a conductor, so that heat from the hotter of the first heat exchange fluid and the second heat exchange fluid can conduct to the colder of the heat exchange fluids.

[0193] In some embodiments, the heat exchange unit 238 comprises a thermally conductive wall. The thermally conductive wall may define, on a first side, at least part of a boundary of the first fluid path. The thermally conductive wall may define, on a second side, at least part of a boundary of the second fluid path.

[0194] The first fluid path is fluidly isolated from the second fluid path. That is, the heat exchange unit 238 is configured such that fluid from the first fluid path is inhibited from entering the second fluid path. Similar, fluid from the second fluid path is inhibited from entering the first fluid path. In other words, the heat exchange unit 238 is configured to prevent or inhibit the leak of fluid from one of the first fluid path and the second fluid path to the other of the first fluid path and the second fluid path.Control System

[0195] The mining vehicle 100 comprises a control system. The control system comprises an electrical network 264. The electrical network 264 may be referred to as an electrical system. At least part of the electrical network is shown in Figure 22. A number of the systems of the mining vehicle 100 are connected with electrical connections 266. The control system comprises a user interface 258. The user interface 258 comprises operator controls 260. An operator of the mining vehicle 100 can operate the operator controls 260 to control one or more systems of the mining vehicle 100. In other words, the user interface 258 is configured to enable a user (e.g. the operator) to input control commands. The control system is configured to control one or more components of the mining vehicle 100 based on the control commands. For example, tramming operations may be controlled by the operator controls 260. In this case, the controller is configured to control the electric drive motor 131, based at least in part on the control commands. In other words, the control system may be configured to enable control of the electric drive motor 131. In such a case, the control system may be configured to enable control of the electric drive motor 131 (and / or one or more of the other motors) via the operator controls 260 and the controller. The control system is configured to enable control of drilling operations (e.g. control of one or more components of the boom assembly 122, drill system 140 and the drilling hydraulic system 170). Energy management, for example, values of operating parameters of the power system 186 may also be controllable using the control system. Thermal management, for example, values of operating parameters of the cooling system 204 may also be controllable using the control system (e.g. heat exchange fluid flow rates, target component temperatures etc.). The operator controls 260 comprise an electrical panel 262. The operator may use the electrical panel 262 to control one or more systems of the mining vehicle 100.

[0196] The control system comprises at least one processor. The control system comprises memory. The control system comprises a sensing system. The sensing system comprises one or more sensors. The at least one processor is configured to be in communication with thememory. The at least one processor is configured to be in communication with the sensing system. The sensing system is configured to communicate with the at least one processor. In some embodiments, the sensing system is configured to provide sensor data determined from one or more of the sensors to the at least one processor. In some embodiments, the at least one processor is configured to receive the sensor data from the sensing system. In some embodiments, the at least one processor is configured to retrieve the sensor data from the sensing system. The at least one processor is configured to store the sensor data in the memory.

[0197] The at least one processor is configured to execute program instructions stored in the memory to cause the control system to perform one or more functions. The program instructions are accessible by the at least one processor, and are configured to cause the at least one processor to function as described herein. In some embodiments, the program instructions may be referred to as control system program instructions.

[0198] In some embodiments, the program instructions are in the form of program code. The at least one processor comprises one or more microprocessors, central processing units (CPUs), application specific instruction set processors (ASIPs), application specific integrated circuits (ASICs), graphics processing units (GPUs), tensor processing units (TPUs), field-programmable gate arrays (FPGAs) or other processors capable of reading and executing program code. The at least one processor is configured to execute the program instructions to control one or more of the systems of the mining vehicle 100. For example, the controller is configured to control one or more of the boom actuator 128, the drive system 130, the electric drive motor 131, the drill system 140, the drill rod rotating system 146, the drilling motor 148, the tramming hydraulic system 158, the tramming hydraulic pump unit 160, the tramming pump drive motor 152, the tramming hydraulic pump 164, the tramming hydraulic system actuator 166, the drilling hydraulic system 170, the drilling hydraulic pump unit 172, the drilling pump drive motor 174, the drilling hydraulic pump 176, the drill system actuator(s) 178, the power system 186, the energy storage system 188, the energy storage device 190, the battery management system 192, the charger module 202 and the heat exchange system 204, or one of the components thereof.

[0199] The memory may comprise one or more volatile or non-volatile memory types. For example, the memory may comprise one or more of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The memory is configured to store program code accessible bythe at least one processor. The program code may comprise executable program code modules. In other words, the memory is configured to store executable code modules configured to be executable by the at least one processor. The executable code modules, when executed by the at least one processor cause the at least one processor to perform certain functionality, as described herein.Advantages

[0200] The mining vehicle 100 of the present application does not emit the exhaust and associated particulate matter that is typically emitted by mining vehicles powered by combustion engines. The mining vehicle 100 therefore provides a significant environmental benefit compared to combustion engine powered mining vehicles. That is, the mining vehicle 100 can have a lower lifetime environmental footprint than combustion engine powered mining vehicles.

[0201] Further, the ventilation requirements resulting from the use of the mining vehicle 100 in an underground environment are significantly less than those imposed by combustion-powered mining vehicles. That is, the ventilation system of an underground mine at which the mining vehicle 100 is used can facilitate a lower amount of air changes per hour within the underground mine, whist maintaining the same air quality or better air quality than would be achievable if a combustion engine powered mining vehicle was used. By improving the air quality at an underground mine, the risks associated with adverse health effects to workers in the mine that are caused by low air quality can be reduced.

[0202] Further, ventilation systems at underground mines are associated with significant capital costs at installation and ongoing costs resulting from equipment maintenance and power consumption. By reducing the requirements of the ventilation system, the mining vehicle 100 of the present disclosure can significantly reduce both the capital costs associated with the installation of a ventilation system and the ongoing costs, as a lower throughput ventilation system can be used, with such a ventilation system consuming less energy than a standard system.

[0203] The mining vehicle 100 of the present application can also be operated with more versatility than other mining vehicles. As described herein, some mining vehicles are configured to connect to an AC electrical network of the mine for power. This requires transporting an electrical cable with the mining vehicle, with the movement of such a mining vehicle being constrained by the AC electrical network and the length of the electrical cable. The mining vehicle 100 of the present application can operate independent of any externalelectrical network. The mining vehicle 100 is therefore not subject to the physical constraints that other mining vehicles may be subject to.

[0204] As described herein, the mining vehicle 100 of the present application includes the on-board charger module 202 that enables the energy storage devices 190 to be charged. This provides significant advantages in that the energy storage devices 190 can be charged with a simple electrical connection to an external energy source. If the charger module 202 was not on-board, an external charger module would need to be provided every time the mining vehicle 100 was to be charged. This would mean that an external charger module would likely be required at every mine face of an underground mine. By including the charger module 202 on the mining vehicle, this problem is overcome.

[0205] The heat exchange system 204 of the mining vehicle 100 also provides a number of advantages. Battery systems heat up significantly with use. This is a particular problem in applications requiring large batteries and high rates of power draw. Traditional battery cooling systems are often reliant on airflow for cooling. For example, electric cars can use a heat exchanger configured to dissipate heat from their battery system as the car drives, as there is a constant supply of circulating air at ambient temperature. This is not the case for mining vehicles. For example, drill rigs often operate at a mine face for an extended period of time during drilling operations. Drill rigs are stationary during these mining operations, so a battery cooling system is not able to take advantage of the airflow that electric cars are able to utilise for cooling.

[0206] The heat exchange system 204 of the present application includes a number of heat exchangers. The heat exchange system 204 also comprises the heat exchange unit 238 which facilitates a transfer of heat between the first heat exchange circuit 210 and the second heat exchange circuit 226. The energy storage devices 190 of the mining vehicle 100 can generate significant heat during prolonged use, particularly compared to other cooled components of the mining vehicle 100 (e.g. the motors). The temperature for the first heat exchange fluid, which is used to cool the energy storage devices 190, is therefore likely to be greater than that of the second heat exchange fluid during use of the mining vehicle 100. The inclusion of the heat exchange unit 238 can allow this temperature difference to be used to improve the effectiveness and / or the efficiency of the heat exchange system 204. The first heat exchange fluid is first cooled at the first heat exchanger 214; however, the heat exchange unit 238 allows the first heat exchange fluid to be cooled further, by enabling heat transfer from the first heat exchange fluid to the cooler second heat exchange fluid. The heat exchangesystem 204 of the present application can therefore enable the mining vehicle 100 to operate in applications requiring higher energy output from the energy storage devices 190, for a longer period of time than vehicles that do not include the heat exchange system 204.

[0207] As described herein, one or more of the electric motors of the mining vehicle 100 may be in the form of a DC axial flux motor or a DC radial flux motor. These motors are significantly more energy efficient than traditional AC induction motors, or other kinds of motors that may be used in mining operations. At least in part by virtue of the inclusion of DC axial flux motors and / or DC radial flux motors for one or more of the electric drive motor 131, drilling motor 148, tramming pump drive motor 162 and drilling pump drive motor 174, the mining vehicle 100 described herein can be significantly more energy efficient than conventional mining vehicles (e.g. conventional drill rigs).

[0208] Many modifications may be made to the embodiments described herein without departing from the spirit and scope of the disclosure. For example, while the description of the present application is in the context of a drill rig, it will be understood that one or more of the features described herein may be applicable to another mining vehicle, such as a loader or a haulage truck.

[0209] In the claims which follow and in the preceding description, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the disclosure.

Claims

CLAIMS1. A mining vehicle comprising: a body; a boom assembly that is configured to be mounted to the body; a drill system that is configured to be mounted to the boom assembly; a drive system comprising: a transmission system; a ground engaging system that is configured to be connected to the transmission system; an electric drive motor that is configured to: be connected to the body; be connected to the transmission system; and drive the transmission system, thereby driving the ground engaging system; and a control system that is configured to enable control the electric drive motor.

2. The mining vehicle of claim 1, wherein the boom assembly comprises: a boom arm; and a boom actuator configured to be actuated to move the boom arm.

3. The mining vehicle of claim 1 or claim 2, wherein: the control system comprises a user interface that is configured to enable a user to input control commands; and the control system is configured to control the electric drive motor based at least in part on the control commands.

4. The mining vehicle of any one of claims 1 to 3, wherein: the body comprises: a first body portion; and a second body portion; and the first body portion is pivotable with respect to the second body portion.

5. The mining vehicle of claim 4, comprising a pivot assembly configured to enable the first body portion to pivot with respect to the second body portion.

6. The mining vehicle of any one of claims 1 to 5, wherein the body comprises a frame comprising a plurality of structural members that are connected together.

7. The mining vehicle of claim 6, wherein the frame comprises: a lower frame portion comprising a first plurality of the structural members connected together; an upper frame portion comprising a second plurality of the structural members connected together; and a plurality of vertical frame members connecting the lower frame portion and the upper frame portion.

8. The mining vehicle of claim 7, when dependent on claim 4, wherein the second body portion comprise the frame.

9. The mining vehicle of any one of claims 6 to 8, wherein the frame comprises an electric drive motor mounting portion.

10. The mining vehicle of claim 9, wherein the electric drive motor is configured to be mounted to the electric drive motor mounting portion of the frame such that at least part of the electric drive motor is below an upper part of the lower frame portion.

11. The mining vehicle of any one of claims 1 to 10, further comprising a tramming hydraulic system, the tramming hydraulic system comprising: a tramming hydraulic pump unit comprising: a tramming hydraulic pump; and a tramming pump drive motor that is configured to drive the tramming hydraulic pump; and one or more tramming hydraulic conduits that are fluidly connected to the tramming hydraulic pump.

12. The mining vehicle of claim 11, wherein the tramming pump drive motor is a direct current (DC) radial flux motor or a DC axial flux motor.

13. The mining vehicle of claim 11 or claim 12, when dependent on claim 2, wherein: the boom actuator is a hydraulic actuator; the tramming hydraulic system comprises the boom actuator; and the tramming hydraulic pump unit is configured to enable actuation of the boom actuator.

14. The mining vehicle of any one of claims 11 to 13, wherein: the tramming hydraulic system comprises one or more tramming hydraulic system actuators; the one or more tramming hydraulic system actuators comprise one or more of: a steering actuator; a jack leg actuator; and a canopy actuator; and the tramming hydraulic pump unit is configured to enable actuation of the one or more tramming hydraulic system actuators.

15. The mining vehicle of any one of claims 1 to 14, wherein the drill system comprises: a drill system frame; and a drill rod rotating system mounted to the drill system frame, the drill rod rotating system comprising: a drilling motor; a gearbox; and a drill rod engagement system; and wherein: the drill rod engagement system is configured to engage a drill rod; the gearbox comprises a drive end and a non-drive end; the drilling motor is connected to the drive end; the drill rod engagement system is connected to the non-drive end; and the drilling motor is configured to drive the drive end of the gearbox to cause rotation of the drill rod engagement system, thereby rotating the drill rod.

16. The mining vehicle of claim 15, wherein the drilling motor is a DC radial flux motor or a DC axial flux motor.

17. The mining vehicle of any one of claims 1 to 16, further comprising a drilling hydraulic system, the drilling hydraulic system comprising: a drilling hydraulic pump unit comprising: a drilling hydraulic pump; and a drilling pump drive motor that is configured to drive the drilling hydraulic pump; and one or more drilling hydraulic conduits that are fluidly connected to the drilling hydraulic pump.

18. The mining vehicle of claim 17, wherein the drilling pump drive motor is a DC radial flux motor or a DC axial flux motor.

19. The mining vehicle of any one of claims 15 to 18, wherein the drill system comprises a drill system actuator.

20. The mining vehicle of claim 19, when dependent on claim 17, wherein: the drill system actuator is a hydraulic actuator; and the drilling hydraulic pump unit is configured to enable actuation of the drill system actuator.

21. The mining vehicle of claim 19 or claim 20, wherein the drill system actuator is configured to be actuated to move: the drill rod rotating system with respect to the drill system frame; the drill rod engagement system; or a rod holder of the mining vehicle.

22. The mining vehicle of any one of claims 19 to 21, wherein the drill system actuator is a linear actuator that is configured to be actuated to move the drill rod rotating system with respect to the drill system frame, in a drilling direction.

23. The mining vehicle of any one of claims 15 to 22, further comprising a runner assembly, the runner assembly comprising: a runner; a plurality of slides operably connected to the runner; and a plurality of track members, each track member defining a respective track that is configured to cooperate with one or more of the slides to enable the runner to move with respect to the drill system frame; wherein the drill rod rotating system is mounted to the runner.

24. The mining vehicle of any one of claims 1 to 23, further comprising a power system, the power system comprising: an energy storage system comprising: an energy storage device; a battery management system configured to control a value of one or more operating parameters of the energy storage device; and an energy storage system heat exchange module that is configured to be thermally connected to the energy storage device.

25. The mining vehicle of claim 24, wherein the energy storage device is mountable to the energy storage system heat exchange module.

26. The mining vehicle of claim 24 or claim 25, wherein: the energy storage system comprises an energy storage system frame; and the energy storage system heat exchange module is mountable to the energy storage system frame.

27. The mining vehicle of claim 26, wherein the energy storage system frame comprises forklift tines configured to enable the energy storage system frame to be moved by a forklift.

28. The mining vehicle of any one of claims 24 to 27, wherein the energy storage system is removably connectable to the body of the mining vehicle.

29. The mining vehicle of any one of claims 24 to 28, wherein the power system is electrically connectable to one or more of: the drive system; the drill system; the tramming pump drive motor; and the drilling motor.

30. The mining vehicle of any one of claims 24 to 29, wherein: the power system comprises a charger module; and the charger module: comprises an electrical connector that is configured to enable the charger module to connect to an external energy source; is configured to be electrically connected to the energy storage device; and is configured to enable charging of the energy storage device when the charger module is electrically connected to the external energy source.

31. The mining vehicle of claim 30, wherein the charger module comprises one or more of: an alternating current (AC) to direct current (DC) converter; a power factor correction module; and a DC to DC converter.

32. The mining vehicle of claim 30 or claim 31, wherein the charger module is configured to be mounted to the body of the mining vehicle.

33. The mining vehicle of any one of claims 1 to 32, further comprising a heat exchange system.

34. The mining vehicle of claim 33, wherein the heat exchange system comprises: a first heat exchange pump; and one or more first heat exchange conduits that are configured to be fluidly connected to the first heat exchange pump; wherein the first heat exchange pump and the one or more first heat exchange conduits together define at least part of a first heat exchange circuit.

35. The mining vehicle of claim 34, wherein: the heat exchange system comprises a first heat exchanger; the one or more first heat exchange conduits are configured to be fluidly connected to the first heat exchanger; and the first heat exchange pump, the first heat exchanger and the one or more first heat exchange conduits together define at least part of the first heat exchange circuit.

36. The mining vehicle of claim 34 or claim 35, when dependent claim 24, wherein: the first heat exchange circuit defines a first heat exchange circuit volume that is configured to receive a first heat exchange fluid; and the first heat exchange circuit is configured such that, in use, the first heat exchange fluid receives thermal energy from one or more of: the energy storage device; the battery management system; the energy storage system heat exchange module; and the drill system.

37. The mining vehicle of any one of claims 34 to 36, wherein the first heat exchange pump is configured to pump the first heat exchange fluid through the first heat exchange circuit.

38. The mining vehicle of claim 36, further comprising the first heat exchange fluid.

39. The mining vehicle of any one of claims 33 to 38, wherein the heat exchange system comprises: a second heat exchange pump; and one or more second heat exchange conduits that are configured to be fluidly connected to the second heat exchange pump; wherein the second heat exchange pump and the one or more second heat exchange conduits together define at least part of a second heat exchange circuit.

40. The mining vehicle of claim 39, wherein: the heat exchange system comprises a second heat exchanger;the one or more second heat exchange conduits are configured to be fluidly connected to the second heat exchanger; and the second heat exchange pump, the second heat exchanger and the one or more second heat exchange conduits together define at least part of the second heat exchange circuit.

41. The mining vehicle of claim 39 or claim 40, when dependent on claim 11, 17 or 30, wherein: the second heat exchange circuit defines a second heat exchange circuit volume that is configured to receive a second heat exchange fluid; and the second heat exchange circuit is configured such that, in use, the second heat exchange fluid receives thermal energy from one or more of: the tramming pump drive motor; the drilling pump drive motor; and the charger module.

42. The mining vehicle of claim 41, wherein the second heat exchange pump is configured to pump the second heat exchange fluid through the second heat exchange circuit.

43. The mining vehicle of claim 41 or claim 42, further comprising the second heat exchange fluid.

44. The mining vehicle of any one of claims 33 to 43, wherein the heat exchange system comprises: a third heat exchange pump; and one or more third heat exchange conduits that are configured to be fluidly connected to the third heat exchange pump; wherein the third heat exchange pump and the one or more third heat exchange conduits together define at least part of a third heat exchange circuit.

45. The mining vehicle of claim 44, wherein: the heat exchange system comprises a third heat exchanger; the one or more third heat exchange conduits are configured to be fluidly connected to the third heat exchanger; andthe third heat exchange pump, the third heat exchanger and the one or more third heat exchange conduits together define at least part of the third heat exchange circuit.

46. The mining vehicle of claim 44 or claim 45, when dependent on claim 11 or claim 17, wherein: the third heat exchange circuit defines a third heat exchange circuit volume that is configured to receive a third heat exchange fluid; and the third heat exchange circuit is configured such that, in use, the third heat exchange fluid receives thermal energy from one or more of: the tramming hydraulic system; the drill rod rotating system; and the drilling hydraulic system.

47. The mining vehicle of claim 46, wherein the third heat exchange pump is configured to pump the third heat exchange fluid through the third heat exchange circuit.

48. The mining vehicle of claim 46 or claim 47, further comprising the third heat exchange fluid.

49. The mining vehicle of any one of claims 41 to 44, when dependent on claim 36, further comprising: a heat exchange unit comprising: a first inlet opening; a first outlet opening; a first fluid path that extends from the first inlet opening to the first outlet opening such that the first inlet opening and the first outlet opening are fluidly connected; a second inlet opening; a second outlet opening; and a second fluid path that extends from the second inlet opening to the second outlet opening such that the second inlet opening and the second outlet opening are fluidly connected; wherein: the first fluid path is thermally connected to the second fluid path; andthe first fluid path is fluidly isolated from the second fluid path.

50. The mining vehicle of claim 49, wherein the first heat exchange pump and the one or more first heat exchange conduits are configured to be fluidly connected to the first fluid path.

51. The mining vehicle of claim 49 or claim 50, wherein the second heat exchange pump and the one or more second heat exchange conduits are configured to be fluidly connected to the second heat exchange volume.

52. The mining vehicle of any one of claims 49 to 51, wherein the first heat exchange circuit defines the first heat exchange volume.

53. The mining vehicle of any one of claims 49 to 52, wherein the second heat exchange circuit defines the second heat exchange volume.

54. The mining vehicle of any one of claims 49 to 53, wherein the heat exchange unit comprises a thermally conductive wall that defines: on a first side, at least part of a boundary of the first fluid path; and on a second side, at least part of a boundary of the second fluid path.

55. The mining vehicle of any one of claims 24 to 32, or any one of claims 33 to 54 when dependent on claim 24, wherein the energy storage system heat exchange module comprises: a fluid inlet opening; a fluid outlet opening; and an energy storage system heat exchanger channel that extends from the fluid inlet opening to the fluid outlet opening such that the fluid inlet opening and the fluid outlet opening are fluidly connected.

56. The mining vehicle of claim 55, wherein the energy storage system heat exchange module further comprises: a first plate comprising a first plurality of grooves; and a second plate comprising a second plurality of grooves;wherein: the first plate and the second plate are configured to be connected such that each of the first plurality of grooves is aligned with a respective groove of the second plurality of grooves to define a plurality of channels that comprises the energy storage system heat exchanger channel.

57. A cooling system comprising: a first heat exchanger; a second heat exchanger; a heat exchange unit comprising: a first fluid path; and a second fluid path; one or more first heat exchange conduits that are configured to be fluidly connected to the first heat exchanger and the first fluid path to define at least part of a first heat exchange circuit; and one or more second heat exchange conduits that are configured to be fluidly connected to the second heat exchanger and the second fluid path to define at least part of a second heat exchange circuit; wherein: the first fluid path is thermally connected to the second fluid path; the first fluid path is fluidly isolated from the second fluid path.

58. The cooling system of claim 57, wherein: the first heat exchanger comprises: a first heat exchanger inlet; and a first heat exchanger outlet; the second heat exchanger comprises: a second heat exchanger inlet; and a second heat exchanger outlet; the heat exchange unit comprises: a first heat exchange unit inlet; and a second heat exchange unit inlet;the one or more first heat exchange conduits are configured to connect to the first heat exchanger outlet and to the first heat exchange unit inlet; and the one or more second heat exchange conduits are configured to connect to the second heat exchanger outlet and to the second heat exchange unit inlet.

59. The cooling system of claim 57 or claim 58, further comprising: a first heat exchange pump; and a second heat exchange pump; wherein: the first heat exchange pump is fluidly connected to the first fluid path and is configured to pump a first heat exchange fluid through the first fluid path; and the second heat exchange pump is fluidly connected to the second fluid path and is configured to pump a second heat exchange fluid through the second fluid path.

60. The cooling system of any one of claims 57 to 59, wherein the heat exchange unit comprises a thermally conductive wall that defines: on a first side, at least part of a boundary of the first fluid path; and on a second side, at least part of a boundary of the second fluid path.

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