Automated drill rod manipulation system for mining operations

Abstract

A rod manipulation system is provided and includes a base displaceable along a predetermined path and a robot arm operatively connected to the base and operable to move in a 3D environment around the base. The system also includes a robot end effector operatively coupled to a free end of the robot arm and which has a rod handler comprising a first jaw and a second jaw pivotally coupled to one another to grasp a rod therebetween. Each jaw portion includes a retrieval portion operable to grasp and retrieve a rod from an adjacent container containing a plurality of rods and a connection portion operable to grasp and fasten the rod to an adjacent machine, where grasping the rod with the retrieval portion and the connection portion includes moving at least one of the first jaw and the second jaw relative to each other.

Description

AUTOMATED DRILL ROD MANIPULATION SYSTEM FORMINING OPERATIONSTECHNICAL FIELD

[0001] The technical field generally relates to mining equipment, and more specifically to automated drill rod manipulation system operable to connect drill rods to a drilling machine.BACKGROUND

[0002] Mining operations can include various equipment, such as hydraulic and / or pneumatic machines, mechanical shovels, loaders, crushers, excavators, drilling machines / rigs, etc. These machines and equipment typically require human operators or control systems enabling autonomous operations, or a combination of both.

[0003] Underground mining operations can provide for difficult working conditions, such as low visibility, dusty air and a generally wet / humid working environment. Workers are often required to lift and carry heavy loads, such as during operation of heavy machinery or while assisting machines, such as drilling rigs, which require upkeep, maintenance and repair.

[0004] There is thus a need for a technology that overcomes at least some of the drawbacks of what is known in the field.SUMMARY

[0005] According to an aspect, a robotic drilling rod manipulation system for cooperating with a drilling machine during mining operations within a mine is provided. The robotic drilling rod manipulation system includes a container configured to hold a plurality of drilling rods adapted to be coupled to the drilling machine; and a robot. The robot includes a robot base adapted to move along the mine; a robot arm operatively connected to the robot base and operable to move in a 3D environment around the robot; a robot end effector operatively coupled to a free end of the robot arm and comprising a rod handlerconfigurable between a retrieval configuration, where the rod handler is operable to selectively retrieve a drilling rod from the container, and a connection configuration, where the rod handler is operable to couple the drilling rod to the drilling machine.

[0006] According to another aspect, a method to operate a robotic drilling rod manipulation system, the method comprises: grasping and retrieving a drilling rod from a container with a first portion of a rod handler of the robotic drilling rod manipulation system; placing the drilling rod on a drilling rod support provided on the container; grasping the drilling rod on the drilling rod support with a second portion of the rod handler; engaging the drilling rod with a drilling machine; and operating the second portion of the rod handler to connect the drilling rod to the drilling machine.

[0007] According to another aspect, a drill rod manipulator is provided. The drill manipulator includes a robot base adapted to move along a predetermined path; a robot arm operatively connected to the robot base and operable to move in a 3D environment around the robot base; a robot end effector operatively coupled to a free end of the robot arm and comprising: a support plate rotatably coupled to the free end of the robot arm; a first jaw coupled to the support plate on a first side thereof; and a second jaw coupled to the support plate on a second side thereof, the first and second jaws being configured to cooperate to grasp and manipulate a drill rod.

[0008] According to another aspect, a rod manipulation system is provided and includes a base displaceable along a predetermined path; a robot arm operatively connected to the base and operable to move in a 3D environment around the base; a robot end effector operatively coupled to a free end of the robot arm and having a rod handler comprising a first jaw and a second jaw pivotally coupled to one another to grasp a drill rod therebetween, each jaw portion comprising: a retrieval portion operable to grasp and retrieve the drill rod from an adjacent container containing a plurality of drill rods; and a connection portion operable to grasp and fasten the drill rod to an adjacent machine,wherein grasping the drill rod with the retrieval portion and the connection portion includes moving at least one of the first jaw and the second jaw relative to each other.

[0009] According to another aspect, a rod handler of a rod manipulation system having a robot arm is provided. The rod manipulation system includes a support plate rotatably coupled to the robot arm; a first jaw coupled to the support plate on a first side thereof; and a second jaw coupled to the support plate on a second side thereof, the first jaw and the second jaw being configured to cooperate to grasp and manipulate a drill rod at respective locations along the drill rod, each one of the first jaw and the second jaw comprising: a lower part operable to retrieve the drill rod from an adjacent location; and an upper part configured to grasp and hold the drill rod, a connection assembly operatively connected to at least one of the first jaw and the second jaw and being operable to rotate the drill rod held by the upper part to enable connecting the drill rod to an adjacent drilling machine.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a perspective view of a drill rod manipulator provided with a robot arm in accordance with an embodiment.

[0011] Figure 2 is a perspective view of a distal end of the robot arm shown in Figure1 , showing a rod handler, in accordance with an embodiment.

[0012] Figure 3 is a perspective view of the distal end of the robot arm shown in Figure2, showing jaws of the rod handler spaced from one another, in accordance with an embodiment.

[0013] Figure 4 is a perspective view of a motorized jaw of the rod handler, in accordance with an embodiment.

[0014] Figure 5 is a perspective of a support jaw of the rod handler, in accordance with an embodiment.

[0015] Figure 6 is a side view of the jaws of the rod handler shown in Figure 2 in a retrieval configuration, in accordance with an embodiment.

[0016] Figure 7 is a side view of the jaws of the rod handler shown in Figure 2 in a connection configuration, in accordance with an embodiment.

[0017] Figure 8 is a side view of the jaws shown in Figure 7, showing gearboxes provided proximate a connection area of the jaws, in accordance with an embodiment.

[0018] Figure 9 is a front view of a roller of the motorized jaw shown in Figure 4, showing a diamond-shaped pattern, in accordance with an embodiment.

[0019] Figure 10 is perspective view of a portion of the rod handler shown in Figure 2, showing a vision system installed thereon, in accordance with an embodiment.

[0020] Figure 11 is a perspective view of a rod container in accordance with an embodiment.

[0021] Figure 12 is a perspective view of a drilling rod manipulation system, showing the drill rod manipulator shown in Figure 1 retrieving a drill rod from the rod container shown in Figure 11 , in accordance with an embodiment.

[0022] Figure 13 is a perspective view of the drilling rod manipulation system shown in Figure 12, showing the drill rod manipulator connecting the drill rod to a drilling machine, in accordance with an embodiment.

[0023] Figure 14 is a perspective view of the drilling machine shown in Figure 13, showing a funnel for guiding the drill rods into a drilling head, in accordance with an embodiment.DETAILED DESCRIPTION

[0024] As will be explained below in relation to various implementations, the present disclosure describes apparatuses, systems and methods for performing underground mining operations, such as drilling, in a generally continuous manner. More specifically, the present disclosure relates to a drill rod manipulator configured to assist drilling machines by providing (e.g., loading) new drill rods to the drilling machines without human intervention.

[0025] In some embodiments, the present disclosure describes devices, systems and methods associated with underground drilling operations. The drilling operations can include a drilling machine, such as drill rigs, configured to drill holes in rock or soil as part of an exploration process, for example. Drill rods are used in rotary drilling machines to spin under pressure in order to cut through rock. As the drilling machine drills into the rock, other drilling rods must be screwed into the drilling machine to reach a desired depth. For example, a series of 10-foot-long or 5-foot-long drill rods can becoupled together to drill a hole having a desired depth. Drill rods are configured to be mounted on top of each other in an end-to-end fashion to increase the overall length of the assembly.

[0026] In some situations, the drill rods can be damaged and / or become dull during the drilling operations, thus requiring maintenance such as needing to replace the drill rod. As will be described further below, the drill rod manipulator is configured to assist drilling machines to replace the drill rod, among other functionalities. The drill rod manipulator is autonomously operable and operates without human intervention. It should be noted that, as used herein, the expression “without human intervention” can refer to machines, devices and / or a step of a process or method which requires no human intervention, either directly, indirectly or both.

[0027] The drill rod manipulator can therefore be an autonomous system configured to automatically load new drill rods into the drilling machine (i.e., an automated drill rod manipulator system). In some embodiments, the drill rod manipulator corresponds to a robotic system configured to manipulate and move objects without human intervention. The robotic system includes a robot having an arm provided with a rod handler configured to grasp and manipulate drill rods, and a drill rod container, such as a drill rod sloop, positioned proximate the robot and configured to assist the rod handler in grasping the drill rods. For instance, the container can define predetermined storage locations for each drill rod which can be detectable and / or known by the robot. The robot can therefore use its rod handler to grasp the desired drill rod from the corresponding storage location.

[0028] As will be described further below, the rod handler can be adapted to perform a multi-step operation including, for example, retrieve a drill rod from the container, install the drill rod on the drilling machine and fasten or attach the drill rod to the drilling machine to enable the drilling machine to resume drilling operations. It should be noted that, as used herein, the expression “install the drill rod on the drilling machine” can refer to the installation of the drill rod on the drilling machine, such as on the corresponding structure of the drilling machine configured to receive and hold the drill rods, or the installation / connection of the drill rod to the drill rod already mounted to the drilling machine (e.g., to lengthen the drill rod).

[0029] It should be understood that a drilling machine (or drill rig) is typically equipped with a table that moves linearly along a mast. The table is provided with a transmission.As we drill, the transmission rotates, and the table slowly descends along the mast to assist in drilling through the rock. In order to allow the drill rod to rotate, the drill rod is connected in a predetermined manner to the drilling machine. For instance, within the transmission are a set of jaws operable to grip and rotate the drill rod to perform the drilling. Once the table reaches a lowest position along the mast, another drill rod is required to continue drilling. In some embodiments, to ensure that the drill rod(s) already in the hole does not fall out, a clamp is secured to the drilling machine. The clamp does not rotate nor does it slide. The clamp is attached to the bottom of the drilling machine and has similar jaws as those of the transmission configured to grasp the drill rod once the table is in (or proximate to) the lowest position. Once the clamp jaws are activated / engaged, the transmission jaws can be released, a new drill rod can be installed and the process repeated.

[0030] In some embodiments, an inner tube can be deployed within the drilling rods before adding another drilling rod. The inner tube is adapted to retrieve a core sample. The core sample is retrieved and can then be analyzed by geologists to make decisions about an area's exploitability. This process is referred to as an exploration.

[0031] In some embodiments, the rod handler includes jaws shaped and sized to enable grasping the drill rods, and motors operable to rotate the drill rod about its longitudinal axis in order to fasten (e.g., screw) the drill rod into the drilling machine. The jaws can also be adapted to grasp the drill rods in two separate configurations, such as in a first configuration for retrieving the drill rods from the container, and a second configuration for fastening the drill rods to the drilling machine. The rod handler has two (2) jaws spaced from each other to enable grasping the drill rods at two (2) separate locations.

[0032] Each jaw includes a pair of jaw sections (e.g., each side of the jaws) adapted to pivot relative to one another to enable grasping objects therebetween. The jaw sections each include a proximal portion pivotally coupled to the proximal portion of the other jaw section, and a distal portion provided with fingers shaped and configured to grasp and hold the drilling rods. More specifically, the distal portions (e.g., the fingers) define a first gripping area therebetween, and the proximal portions define a second gripping area therebetween. As will be described further below, during retrieval operations (e.g., from the container), the rod handler is configured to grasp the drilling rods using the fingers and holds onto the drilling rod, which is positioned in the first gripping area. In this embodiment, the drilling rod can be transferred to the second gripping area, eitherdirectly or via additional manipulation steps, such that the drilling rod is positioned and held between the proximal portions. The motors are coupled about the rod handler and adapted to cooperate with the second gripping area. Particularly, operation of the motors can urge the drilling rod in rotation when the drilling rod is held in the second gripping area only.

[0033] In this embodiment, the rod handler includes a pair of jaws, spaced from one another to provide at least two gripping points on the drilling rod. In other words, the drilling rod is held at two separate locations along its length during manipulation and operation of the rod handler. Each jaw can be provided with motors to assist in fastening the drill rod to the drilling machine. Alternatively, only one of the pair of jaws can be provided with motors, while the other jaw can be adapted to provide additional support and maintain the drill rod aligned along a known and / or desired axis to facilitate installation on the drilling machine, for example.

[0034] In some embodiments, the robot includes a base adapted to travel, such as along the mine drifts and tunnels, autonomously. It should be noted that the robot can be provided with a vision system configured to assist the robot in various tasks, such as travelling and detecting obstacles, and can also assist the rod handler in detecting the drill rods to facilitate handling (e.g., grasping, picking up, manipulating, etc.). Once the drill rod manipulator has grasped a drill rod, the robot is configured to connect the drill rod to the drilling machine. The vision system can further assist the robot by confirming the orientation of the drill rod relative to the drilling machine, thereby ensuring that the drill rod is connected in the appropriate manner (e.g., with the threads facing outwardly). In some embodiments, the vision system can be provided with integrated artificial intelligence (Al) in order to further assist the drill rod manipulator in its operations. For instance, in some embodiments, image banks of commonly used tools and components in drilling operations can be accessed by the Al to determine the required next steps of the drilling process.

[0035] The vision system can include a combination of components, such as a one or more cameras, lasers, sensors, etc., cooperating together to determine a generally specific size, location and / or orientation of surrounding objects (e.g., obstacles, drill rod containers, drill rods, drilling machines, etc.). The vision system can also scan and / or analyze the condition of various objects and tools, such as the threads on the drill rods, for example. This can be facilitated by enabling the Al to access data regarding theseobjects and tools in different working conditions (e.g., new, slightly used, used, worn down, damaged, etc.).

[0036] With reference to Figures 1 , 2, an embodiment of a drill rod manipulator 10 is shown. The drill rod manipulator 10 can be part of a drilling rod manipulation system 11 configured to assist a drilling machine 120 (seen in Figures 12 to 14) during mining operations within a mine . In this embodiment, the drill rod manipulator 10 is adapted to cooperate with a drilling machine configured for underground drilling operations, although other configurations are possible. The drilling rod manipulation system 11 can also include a rod container 100 (seen in Figure 11) shaped and sized to house a plurality of drill rods 5. As will be described below in relation to various embodiments, the drill rod manipulator 10 is operable to retrieve or collect the drill rods from the container 100 positioned nearby, and install and connect the drill rod to the drilling machine 120 without human intervention.

[0037] In this embodiment, the drill rod manipulator 10 includes a robotic system 12 (hereafter simply referred to as a “robot”) moveable and operable to autonomously assist the drilling machine during drilling operations. For instance, the robot 12 is operable to autonomously install drill rods in the drilling machine to reduce downtime of the drilling machine (e.g., time spent not drilling) and improve efficiency of the overall operations.

[0038] The robot 12 can include a base 14 and a robot arm 16 operatively mounted to the base 14. In some embodiments, the base 14 can be displaced to enable moving the robot arm 16 to a desired location, such as proximate to the container and / or the drilling machine, for example. The base 14 can include an integrated motion system 15, such as wheels, chains, tracks, treads, etc., or can be moved via a separate machine or vehicle. Once in position, the robot arm 16 can be operated to assist the drilling machine without human intervention. In this embodiment, the robot arm 16 includes a plurality of arm sections 18 pivotally connected to one another and / or to the base 14 in order to enable movement thereof, such as movement in a 3D environment around the base 14, for example. The robot arm 16 also includes a robot end effector 20 coupled to a free end thereof (e.g., opposite the base 14) and comprising at least one functional component of the robot 12. In this embodiment, the robot end effector 20 includes a rod handler 22 configured to retrieve, grip, move and manipulate various items, such as drill rods.

[0039] Still with reference to Figures 1 and 2, the robot arm 16 can include a first arm section 18a pivotally connected to the base 14 and adapted to pivot about a first motion axis A1 , which can be relatively vertical, although other configurations (e.g., other angles) are possible. Additional arm sections can be coupled to one another in an end- to-end manner. For instance, in this embodiment, the robot arm includes a second arm section 18b pivotally coupled to a distal end of the first arm section 18a, a third arm section 18c pivotally coupled to a distal end of the second arm section 18b and a fourth arm section 18d pivotally coupled to a distal end of the third arm section 18c. Each arm section 18a, 18b, 18c, 18d can be adapted to pivot about respective motion axes A1 , A2, A3, A4 to enable complex and / or three-dimensional movements of the robot arm 16.

[0040] In some embodiments, the arm sections can each be adapted to pivot and / or rotate about one or more axes. For example, the arm sections can pivot about a first axis, which can be transverse relative to its longitudinal axis, and also rotate about its longitudinal axis. In this embodiment, and as seen in Figure 2, the third arm section 18c is operable to pivot about the third motion axis A3, but can also rotate about its longitudinal axis (e.g., following arrow L3). The fourth arm section 18d can have a similar configuration, where the fourth arm section is operable to pivot about the fourth motion axis A4 and about an additional axis H1. In some embodiments, the motion axes A4 and H1 can have coincident pivot points, although other configurations are possible. The second, third and fourth motion axes A2, A3, A4 can extend transversely relative to the first motion axis A1 . More specifically, the first motion axis A1 can be substantially vertical, and the second, third and fourth motion axes can be generally horizontal. In this embodiment, the second, third and fourth motion axes are parallel to one another, and can further be perpendicular to the first motion axis. It should be noted that the robot arm can include additional arm sections adapted to pivot, rotate and / or otherwise move in any suitable manner to increase the flexibility of the robot arm. Alternatively, the robot can have fewer arm sections to simplify the motion of the robot arm in its environment, for example. In other words, the robot can have redundant degrees of freedom (e.g., with more arm sections) or less than 6 degrees of freedom (e.g., with less arm sections). In other embodiments, the robot can be a parallel robot or a serial robot having joints with at least one linear degree of freedom or multiple degrees of freedom in rotation and / or in translation (ex. cardan joint or spherical joint).

[0041] In some embodiments, the rod handler 22 is coupled to the fourth arm section 18d, such as to a distal end thereof. The rod handler 22 can be pivotally coupled to the fourth arm section and operable to rotate about a rod handler motion axis H1. In this embodiment, the rod handler motion axis H1 extends transversely relative to at least one of the motions axes of the arm sections. In other words, the rod handler motion axis H1 represents a last serial degree of freedom of the robot arm 18 and is non- redundant with at least one other degree of freedom. More particularly, the rod handler motion axis H1 is perpendicular to at least the fourth motion axis A4 (as seen in Figure 2), although other configurations are possible.

[0042] As previously mentioned, the rod handler 22 is adapted to perform multiple tasks in order to assist the drilling machine. For example, the rod handler 22 can be configurable in a retrieval configuration, where the rod handler is operable to selectively retrieve drill rods from the nearby container, and a connection configuration, where the rod handler is operable to insert and / or fasten the drill rods to the drilling machine. In this embodiment, and with reference to Figures 2 and 3, the rod handler 22 includes a support plate 24 configured to be connected to the fourth arm section 18d and rotate about the fourth motion axis A4. The rod handler 22 further includes a jaw assembly 30 mounted to the support plate 24 and operable to grasp, release and fasten the drill rods. For example, in this embodiment, the jaw assembly 30 includes at least one grasping device (e.g., a gripper) or jaw 32 provided with jaw sections 33 configured to cooperate to grasp components (e.g., drill rods) therebetween. The rod handler 22 can further include a cable management system (not shown) to protect and manage the cables for electromechanical components such as actuators, vision system, sensors, etc. In some embodiments, the rod handler can include additional and / or alternate grasping devices such as devices configured to grasp via suction, via magnets, etc., for example.

[0043] More particularly, in this embodiment, the jaw assembly 30 includes a pair of jaws 32 spaced from one another along the support plate 24. The pair of jaws 32 can be operated independently from one another, or configured to operate (e.g., open and close) generally simultaneously. It is appreciated that providing a pair of jaws 32 to grasp the drill rods can increase the stability of the drill rods when being retrieved and manipulated by the rod handler. At least one of the pair of jaws 32 can be slidably coupled to the support plate 24 such that a distance between the pair of jaws can be adjusted, for example. It is thus noted that one or both of the jaws 32 can be axiallydisplaced along the support plate 24. The displacement can be made manually, automatically (e.g., via motors, steppers, etc.), or a combination of both.

[0044] In this embodiment, the structural features of each jaw of the pair of jaws 32 can be substantially the same. For example, and with reference to Figures 4 and 5, the jaws 32 can include first and second jaw sections 34, 35 pivotally coupled to each other to enable grasping functionalities. In other words, the first and second jaw sections 34, 35 are adapted to move towards and away from one another to grasp the drill rods therebetween. Each jaw section can be formed of a single piece. It should be noted that, as used herein, the expression “single piece” can refer to a part or piece which does not include interconnected and disconnectable parts forming a whole, but rather a single, monolithic part or piece. The single piece can have different portions, although the different portions cannot be disconnected from one another as they are part of the same monolithic structure. However, it is appreciated that other configurations are possible. For instance, one or more of the jaw sections 34, 35 can consist of an assembly of parts, such as a four-bar mechanism or an underactuated mechanism.

[0045] In this embodiment, the jaws 32 each include a corresponding number of first and second jaw sections. For example, and as seen in Figures 4 and 5, each jaw 32 includes two (2) first jaw sections 34 and two (2) second jaw sections 35 (e.g., two pairs of plates) aligned in pairs to enable grasping the drill rod therebetween. In addition, the first jaw sections 34 can be secured to one another and adapted to move as a single unit. The second jaw sections 35 can similarly be secured together, either as an alternative to the first jaw sections or in addition thereto. In some embodiments, one of the first and second jaw sections can be operable to pivot relative to the other jaw section to enable grasping the drill rods, while the other jaw section can remain generally static. For example, the second jaw section 35 can be adapted to remain static, while the first jaw section 34 is operable to pivot relative to the second jaw. It should also be noted that, in some embodiments, both the first jaw section and the second jaw section can be operable to pivot relative to each other for grasping the drill rods. The first jaw section and the second jaw section can pivot with respect to a common axis or with respect to two distinct axes, both options allowing the jaw sections to move between the retrieval configuration and the connection configuration.

[0046] Still referring to Figures 4 and 5, the first jaw sections 34 are operatively coupled to an actuator 36 operable to engage the first jaw sections 34 in rotation. In this embodiment, the actuator 36 is connected to a proximal end 34a of the first jawsections 34 and the second jaw sections 35 are pivotally connected between the proximal and distal ends of the first jaw sections 34. The actuator 36 can be any suitable mechanism operable to engage the first jaw sections in rotation, such as a cylinder or rod 37 configured to extend and retract in order to pivot the first jaw sections 34 towards and away from the second jaw sections 35, respectively. It is appreciated that the actuator 36 can alternatively be connected to the second jaw sections 35, or connected to both the first and second jaw sections. In yet another possible embodiment, the jaws 32 can be provided with two (2) actuators connected to respective jaw sections.

[0047] With reference to Figures 6 and 7, in addition to Figures 4 and 5, the jaw sections 34, 35 can be shaped and adapted to grasp drill rods 5 at one or more locations therebetween. For example, when retrieving the drill rods from the nearby container, the jaw sections 34, 35 can be adapted to grasp and hold the drill rods in a first area, whereas when fastening the drill rods to the drilling machine, the jaw sections can be adapted to hold and manipulate the drill rods in a second area. In some embodiments, each one of the first jaw sections 34 and the second jaw sections 35 includes a retrieval portion 38 defining a retrieval area 40 therebetween, and a connection portion 42 defining a connection area 44 therebetween. It should therefore be noted that, when operating the rod handler in the retrieval configuration, the jaws 32 are configured to grasp and hold the drill rod 5 using respective retrieval portions 38 of each jaw section in order to position the drill rod 5 in the retrieval area 40, as seen in Figure 6. Similarly, when operating the rod handler in the connection configuration, the jaws 32 are configured to grasp the drill rod 5 using the connection portion 42 of each jaw section to position the drill rod in the connection area 44, as seen in Figure 7.

[0048] As previously stated, the first and second jaw sections 34, 35 can be formed of a single piece. As such, it is noted that, in this embodiment, relative movement between the retrieval portion 38 and the connection portion 42 of the same jaw section is prevented. However, it is appreciated that other configurations are possible, such as having jaw sections made up of multiple pieces and / or allowing relative movement between the different pieces of a same jaw section, for example. As seen in Figure 6, the shape and design of the first and second jaw sections 34, 35 allow for the retrieval area 40 to communicate with the connection area 44. In other words, the retrieval and connection areas are adjacent and communicate with one another. Moreover, it should also be noted that, in some embodiments, the retrieval and connection areas can be defined by common parts of the jaw sections.

[0049] In this embodiment, the retrieval portions 38, and therefore the retrieval area 40, are provided at the distal end of the jaw, and the connection portions 42, and therefore the connection area 44, are provided near the proximal end of the jaw. In this embodiment, the jaw sections 34, 35 are pivotally connected to each other at respective connection portions 42. With reference to Figures 4 to 7, the retrieval portion 38 of each jaw section can include one or more fingers 46 shaped and sized to engage (e.g., contact) the drill rod. Each finger 46 can provide a singular contact point (e.g., one-dimensional) with the drill rod 5, two or more contact points, and / or define one or more contact surfaces (e.g., 2-dimensional), for example.

[0050] In this embodiment, the retrieval portions 38 further includes contact pads 48 connected to and extending from the fingers 46. As seen in Figures 4 and 5, the contact pads 48 can extend between adjacent fingers 46 (e.g., the contact pad 48 extending between fingers 46 of the first jaw sections 34), or in a direction away from the adjacent finger (e.g., the contact pads 48 extending from the fingers 46 of the second jaw sections 35). This configuration can enable the jaws to grasp the exterior and / or the interior surfaces of drill rods. Particularly, and as an example, the exterior surface can be engaged by moving the jaw sections towards each other and grasping the drill rod between the jaw sections, and the interior can be engaged by extending the outwardly extending contact pads within a hollow interior of the drill rod and moving the jaw sections away from each other.

[0051] Each contact pad 48 can include a solid base 50 provided with a protective coating 52. The solid base 50 can be integrally formed with the one-piece jaw section, for example, and the protective coating 52 can be configured to facilitate grasping the drill rods. In some embodiments, the protective coating 52 includes a flexible material, such as neoprene or rubber, enabling firmly grasping the drill rods while also conforming to their respective shapes and sizes. It is appreciated that the protective coating 52 can be provided on one or both sides of each contact pad 48. The protective coating 52 can be adapted to assist the robot in manipulating inner tubes (not shown) which are shaped and sized to engage a hollow interior of the drill rods. In mining operations, the inner tubes are used to enable retrieval of samples from the bottom of drilled holes. Further, in some embodiments, the inner tubes are slidably coupled to the drill rods and thus do not require mechanical connection (e.g., fastening, screwing, etc.). The manipulation of the inner tubes can therefore be done using only the retrieval portions 38 of each jaw, although other configurations are possible.

[0052] In some embodiments, replacement of inner tubes can be required during mining operations. For instance, once a first inner tube has retrieved a sample of material (e.g., rock) at the bottom of the drilled hole, the filled inner tube is returned to the drilling machine and retrieved to enable a second inner tube to be dispatched within the drill rods in order to collect and retrieve a second sample. Inner tubes (e.g., empty inner tubes) can be positioned in a standby location proximate the drilling machine to facilitate their insertion into the drilling rods. The inner tube engaged within the drill rods can collect a sample and be returned to the drilling machine where it can be retrieved by the drill rod manipulator, such as by the rod handler (e.g., by the retrieval portions 38). The retrieved inner tube (e.g., the full inner tube) can be set aside and / or stored, and a new (e.g., empty) inner tube can be grasped and inserted into the drilling rods in order to collect another sample.

[0053] The retrieved inner tubes and the empty inner tubes can be stored in an inner tube container, similar to the drill rods, which are stored in the rod container 100 (seen in Figures 11 to 13). In some embodiments, the inner tube container corresponds to the same container as the rod container such that both he inner tubes and the drill rods are stored in the same container. The inner tube container can further include an inner tube support where the inner tube can be placed between operations of the robot. For instance, the inner tube can be placed on the inner tube support after having been retrieved from the inner tube container, and prior to being fed to the drilling machine. It is appreciated that, since the inner tubes do not require fastening, the manipulation of the inner tubes can be done entirely by the retrieval portion of the jaws. In other words, in some embodiments, the connection portion of the jaws is not required in the manipulation process of the inner tubes.

[0054] It should be noted that this process can be accomplished as required / desired in combination with the connection of additional drill rods. For example, the same drill rod manipulator can alternate between installing a new drill rod and manipulating the inner tubes. Alternatively, a second drill rod manipulator can be provided, with a first drill rod manipulator being configured to load drill rods, and a second drill rod manipulator being configured to load inner tubes. It should be understood that other configurations are possible and can be implemented.

[0055] In some embodiments, the jaws 32 are provided with a connection assembly 60 adapted to cooperate with any given drill rod held between the jaw sections, and operable to enable rotation of the drill rod about its longitudinal axis. It is noted that thedrill rod can be connected (e.g., fastened and / or screwed) to the drilling machine via the rotation imparted by the connection assembly 60. In other words, when operating the rod handler in the connection configuration, as seen in Figure 7, the drill rod 5 is held in the connection area 44 and is engageable by the connection assembly 60 which is operable to engage the drill rod in rotation.

[0056] In this embodiment, the connection assembly 60 includes a rod engaging device 62 connected to at least one of the first and second jaw sections 34, 35. The rod engaging device 62 is adapted to extend, at least partially, into the connection area 44 to enable contact with the rod held therein. The rod engaging device 62 is operable to urge the drill rod in rotation about its longitudinal axis. For example, the rod engaging device 62 can include at least one cylinder or roller 64 adapted to contact the drill rod held within the connection area 44. The roller 64 is adapted to spin about a roller axis and transmit a corresponding rotational motion to the drill rod, which can then be fastened to the drilling machine. In this embodiment, the roller axis corresponds to the longitudinal axis of the roller 64 and can be parallel to the longitudinal axis of the drill rod, although other configurations are possible.

[0057] Still referring to Figures 4 to 7, the roller 64 can be coupled between two adjacent and parallel jaw sections, such as between two first jaw sections 34 or between two second jaw sections 35. In this embodiment, the rod engaging device 62 includes a plurality of rollers 64 such that at least one roller 64 is provided between the two first jaw sections 34, and at least another one roller 64 is provided between the second jaw sections 35. Each roller 64 is adapted to rotate about its roller axis, such that each roller assists in fastening the drill rod. However, it is appreciated that one or more rollers can be substantially static and adapted to simply support the drill rod, for example. In some embodiments, each roller 64 can be made of or include a polymer (e.g., a polymer core or a polymer coating) adapted to prevent damaging the drill rod upon making contact with it. However, it is noted that other materials are possible and may be used.

[0058] In some embodiments, each jaw section can be provided with a latching mechanism configured to provide access to the rollers 64, thus enabling disconnection and connection of the rollers to the jaw sections when desired / required. It is therefore noted that the latching mechanism facilitates maintenance of the jaws 32 and / or the connection assembly 60. In other words, the rollers 64 of the connection assembly 60 can be removably connected to the rod handler (e.g., to the jaws 32).

[0059] In some embodiments, the pair of jaws 32 can include a motorized jaw 70 (Figure 4) and a support jaw 72 (Figure 5). The motorized jaw 70 is provided with one or more motors 75 operatively coupled to the rollers 64 in order to engage the rollers in rotation, which in turn engage the drill rod in rotation for fastening to the drilling machine. In this embodiment, the rollers 64 of the motorized jaw 70 are coupled to respective motors 75, although it is noted that a single motor can alternatively be adapted to operate two or more rollers 64. The motors can be electric motors, or any other suitable type of motor. Each motor 75 can be independently operable or linked to the other motors to enable simultaneous operation (e.g., simultaneous rotation of each roller). In this embodiment, the motors 75 of the motorized jaw 70 and the actuators 36 of the first jaw sections 34 are the same actuators to standardize the design of the rod handler. However, it is appreciated that other configurations are possible, such as providing a plurality of actuators connected to respective systems, for example.

[0060] With reference to Figure 8, the motors 75 can be coupled to respective rollers 64 using a gear assembly or gearbox 76. The gearbox 76 can allow for the motors 75 to be spaced further from the connection area 44, and therefore further from the drill rod held therein. This configuration can be useful in order to prevent, or at least reduce, interference between the drill rod and the motors. In some embodiments, each gear of a given gearbox 76 can have the same size (i.e., with the same pitch diameter and the same diametral pitch), such that the gearbox 76 has a ratio of 1 :1. However, it is appreciated that other configurations are possible, such as having gearboxes with different ratios, for example.

[0061] As seen in Figure 9, the rollers 64 of the motorized jaw can have a patterned or textured outer surfaces 66 configured to facilitate or improve engagement with the drill rod, thereby correspondingly improving the transmission of the rotation movement to the drill rod. The outer surfaces 66 can have a repeating diamond-shaped pattern, although other configurations are possible. In some embodiments, the pattern (e.g., the diamond pattern) is defined via any suitable method, such as via thermal treatment of the outer surfaces 66, for example. In this embodiment, the outer surface of each roller of the support jaw is substantially smooth, although other configurations are possible, such as providing a textured surface, for example.

[0062] In this embodiment, the rollers of the support jaw 72 are not coupled to the motors 75 or any other motion inducing components. Instead, the rollers 64 of the support jaw 72 are configured to provide additional support to the drill rod and are freeto rotate about their respective roller axes. The rollers 64 of each jaw can be aligned with one another to increase stability of the drill rod within the rod handler as the robot manipulates the drill rod, for example. In some embodiments, upon reaching the drilling machine and prior to fastening the drill rod, the support jaw 72 can be operated to slightly release tension on the drill rod. For example, the actuator can be powered down or at least partially reverted in order to have the support jaw 72 open. However, it should be noted that the opening of the support jaw is not sufficient to release the drill rod, which thereby remains aligned along the desired axis.

[0063] From the above, it is noted that the rollers 64 do not engage the retrieval area 40. Therefore, the lower part of each jaw (e.g., the fingers) are not encumbered by the presence of motors and other components, which can facilitate retrieval of the drill rods from the container. As will be described further below, the container can be designed to facilitate cooperation with the drill rod manipulator 10, such as during retrieval operations, connection operations and / or any intermediate steps before, during or after the retrieval and connection operations.

[0064] With reference to Figures 1 , 2 and 10, the drill rod manipulator 10 can be provided with a vision system 80 configured to assist the drill rod manipulator, and corresponding parts, to move, operate and function without human intervention. The vision system 80 can include various components such as one or more cameras 82, one or more sensors, one or more lasers 84, etc. The cameras 82 can be provided at different locations about the drill rod manipulator 10 to provide the desired field of vision. In this embodiment, the vision system 80 includes a single camera 82 mounted to the rod handler 22, such as to the support plate 24 between the jaws 32. The camera can be configured to automatically detect surrounding objects, such as the drill rod container, the drilling machine, obstacles along the mine drifts and tunnels and / or other mining equipment, for example.

[0065] The camera 82 cooperates with a laser 84 designed to determine the size and relative positions of the objects detected by the camera. Therefore, the exact (or relatively exact) locations of the drill rod container and of the drilling machine can be known by the drill rod manipulator. It should be noted that providing a vision system adapted to determine the position of the drilling machine relative to the drill rod manipulator 10 enables these systems (i.e., the drilling machine and the drill rod manipulator) to be separate machines. This configuration can increase to versatility of the drill rod manipulator 10 as it is not linked and limited to a single drilling machine,among others. In this embodiment, the orientation of each drill rod within the container can be determined via the vision system, which enables the robot to adapt and grasp the drill rod in the desired manner.

[0066] Upon grasping the drill rods, the vision system 80 can be adapted to scan and analyze the drill rod to determine the orientation of the drill rod between the jaw sections, the condition of the drill rod (e.g., of the threads), etc. it is noted that, if the orientation of the drill rod is found to be incorrect, the drill rod can be released from the jaws, deposited and re-grasped. This process is possible if the environment allows it (e.g., if the size of the mine is sufficient to enable the required movements of the robot arm). Otherwise, the drill rod might be rejected.

[0067] In some embodiments, the vision system 80 is linked to an integrated artificial intelligence (Al) system. For instance, the Al can have access to image banks of specific objects, such as the drill rod container, the drilling machine, etc., thereby enabling the drill rod manipulator to detect and recognize these objects. The Al system can also assist in determining the condition of various components of the drill rod manipulator. For example, the image banks can include drill rods having threads in different conditions, ranging from very poor / broken to in excellent condition. The vision system, in combination with the Al, can therefore be adapted to assess the condition of the drill rods during operation (i.e., in real-time), and without human intervention.

[0068] The Al system can also be adapted to run diagnostics on the components of the drill rod manipulator. For example, the electrical motors can be individually assessed for their performance. As mentioned, each motor of the drill rod manipulator can be operated independently, which can enable gathering data on each motor’s performance. This can be useful in various situations, such as when the drill rod manipulator malfunctions. For example, if the drill rod is threaded incorrectly into the drilling machine, it will be possible to detect it by analyzing the data relative to the performance of the motors (e.g., current, ratio, speed, etc.). The Al system can be adapted to perform this analysis and correct the situation accordingly. Alternatively, the data can be transferred automatically to operators (e.g., at surface), who can react accordingly.

[0069] With reference to Figure 11 , the drill rod container 100 can be designed to position the drill rods 5 held within in a desired and / or predetermined configuration. For example, the container can define drill rod slots configured to receive one drill rod in aspecific orientation. It is noted that different-sized drill rods can be housed within the container. In some embodiments, the drill rod slots are shaped to receive a drill rod of a specific size. The drill rod slots can be spaced from one another by a predetermined distance, which can enable and facilitate insertion of the jaws to retrieve the drill rods. In some embodiments, the spacing between adjacent drill rods can be between about 1 inch and 5 inches, such as about 3 inches, although any other suitable distance can be used.

[0070] The container 100 can also assist in transitioning from the retrieval operation to the connection operation. In this embodiment, the container 100 can include a rod support 102 shaped and sized to receive a drill rod thereon. For example, the drill rod manipulator 10 can move the rod handler within the container to grab a drill rod 5 using the retrieval portions of the jaws. Once the drill rod is removed from the container, the rod handler is adapted to deposit the drill rod onto the rod support 102. The rod handler can then realign as required to grasp the drill rod once again, but this time, using the connection portions of the jaws. The inspection of the drill rod (e.g., threads condition, orientation of the drill rod, etc.) can be done at this step of the process. It is appreciated that this process can be done substantially backwards, for example, if a drill rod is to be replaced or stored in the container.

[0071] It should be noted that the rod support 102 can be spaced from the storage area of the container to provide space / clearance to the rod handler. Alternatively, and as seen in Figure 11 , the rod support 102 can include one or more hooks 104 extending from a side of the container 100 and configured to hold one rod 5 thereon. In some embodiments, the inner tube support can have the same configuration as the rod support 102. Alternatively, when the inner tube container and the rod container correspond to the same container, the rod support 102 can correspond to the inner tube support (i.e., the inner tubes and the drill rods can both be placed on the rod support). The geometry of the container 100 can be adapted to provide the required clearance to the rod handler for facilitating the transition from the retrieval operation to the connection operation. For example, the container 100 can be provided with one or more lateral openings 106 enabling the rod handler to extend further inward to enable grasping the drill rod positioned on the hooks 104 with the connection portions. In other words, the lateral openings 106 can allow the rod handler to move inwardly to grasp the drill rod without contacting the structure of the container.

[0072] Referring to Figures 12 to 14, the drilling rod manipulation system 11 is shown. The drill rod manipulator 10 is shown retrieving the drill rod 5 from the rod container 100 (Figure 12) and moving the drill rod 5 for connecting to the drilling machine 120 (Figure 13). Prior to performing the tasks of selecting, retrieving, moving and inserting the rod 5 in the drilling machine 120, in some embodiments, the drill rod manipulator 10 can be adapted to perform a calibration following a calibration protocol.

[0073] The calibration allows the drilling rod manipulation system 11 to learn the positions of the drilling machine 120 and the rod container 100 with respect to the robot 12. In this embodiment, the calibration is made in two (2) steps: calibration of the position and of the orientation of the drilling machine 120 and calibration of the position and of the orientation of the rod container 100.

[0074] The calibration of the drilling machine 120 can be performed using the vision system 80 mounted on the end effector 20 of the robot 12. For instance, the robot 12 can be positioned at a location allowing the vision system 80 to record various points on a mast 122 of the drilling machine 120 (e.g., three (3) points). With the recorded points, the robot 12 is adapted to determine the relative position and orientation of the drilling machine 120. Therefore, an inclination of the drilling machine relative to the robot can be calculated / defined. The robot 12 can then be adapted to position the end effector 20 parallel to the mast 122 and move along an axis thereof to locate a funnel 124 provided proximate to a drilling head 126. Once an outer edge 125 of the funnel 124 is located, the robot 12 records multiple (i.e., three or more) points on the drilling head 126 to determine a drilling axis 128 parallel to the inclination of the drilling machine 120 previously determined.

[0075] This completes the calibration of the drilling machine 120. It is understood that other approaches are possible to calibrate the position and the orientation of the drilling machine 120 and its different components (e.g., the mast 122, the funnel 124 and its outer edge 125, the drilling head 126, the drilling axis 128, etc.)

[0076] In this embodiment, the calibration of the rod container 100 can also be performed using the vision system 80. The robot 12 determines the position and the orientation of the rod container 100 by recording a plurality of points (e.g., at least three points) thereof. Once the location of the rod container is recorded, the robot 12 is adapted to determine the location and the position of each drill rod 5 and / or each inner tube within the container. The calibration of the rod container is complete and thedrilling rod manipulation system 11 is ready to operate. Similar to the calibration of the drilling machine 120, the calibration of the rod container 100 can be made using any other suitable approach. It is possible for the calibration protocol to use predefined positions on the rod container (e.g., corners, calibration points identified with calibration code, etc.) or a calibration surface included in and / or around the rod container.

[0077] Once the calibration protocol is completed, the drilling rod manipulation system 11 is ready to operate. Therefore, when the robot 12 receives a signal that a new drill rod is required, the robot can perform the following steps:• From a home position (e.g., a position where the robot is waiting to receive instructions), retrieving a drill rod 5 from the rod container 100 using a lower part of the jaws (e.g., using the retrieval portions 38);• Positioning the drill rod 5 on the rod support 102;• Inspecting the retrieved drill rod 5 to determine an orientation thereof, locate a threaded end and ensure conformity of the threads;• Retrieving the rod from the support using an upper part of the jaws (e.g., using the connection portions 42);• Aligning the drill rod with the drilling axis 128 of the drilling machine 120;• Inserting the threaded end of the drill rod in drilling head 126 via the funnel 124 for connection with a previous drill rod;• Releasing the drill rod 5 and moving back to the home position.

[0078] It is understood that the steps described can be modified depending to the robot instructions. It should also be noted that other steps can be performed by the robot, in addition or as an alternative to the described steps, and that the order of the steps can be modified. The steps described above can be cyclically repeated to retrieve and connect additional drill rods, as required.

[0079] While the present disclosure relates to operation of a drill rod manipulator for assisting a drilling machine to operate without human intervention, it should be appreciated that the devices, systems and methods described herein can be used in different contexts, fields and / or for other purposes. It should be understood that the drill rod manipulator is provided with the appropriate electronics to enable autonomous operation (e.g., a controller, a processor, a memory, a transmitter, etc.) and that these electronics can communicate with each other and / or with a remote device, such as a computer, phone or tablet of the operator (e.g., located outside the undergroundinfrastructure). In some embodiments, the drill rod manipulator can be controllable and customizable via a console (e.g., remotely or directly), enabling the drill rod manipulator to be operated semi-autonomously, if required. Therefore, an operator can be allowed to control the drill rod manipulator to have it perform specific tasks. In some embodiments, the drill rod manipulator can be operated in an “automatic mode” where the robot is autonomous (e.g., has control over its actions), a “semi-automatic mode”, where commands can be inputted by an operator and the robot autonomously performs the associated action, and a “manual mode”, where the robot is fully controlled by the operator.

[0080] It will be appreciated from the foregoing disclosure that there is provided various implementations of a drill rod manipulator (also called drill loader) configured to assist a drilling machine without human intervention. The drill rod manipulator can perform tasks, or parts thereof, typically done by a human operator, thereby reducing the risk of associated injuries. The present disclosure may be embodied in other specific forms without departing from the subject matter of the claims. The described example implementations are to be considered in all respects as being only illustrative and not restrictive. For example, while the drill rod manipulator has been described as being configured to install drill rods, it should be noted that the drill rod manipulator can be adapted to disconnect / disassemble the drill rods. In such instances, the rod handler can grasp onto the drill rod installed on the drilling machine using the connection portions of the jaws, actuate the connection assemblies to unscrew the drill rod, manipulate and deposit the disconnected drill rod onto the container (e.g., on the drilling rod support), grasp the drill rod with the retrieval portions and position the drill rod within the container for storage. It should also be noted that the rod handler can also be operable to insert inner tubes within the drill rods, and retrieve the inner tubes from the drill rods (e.g., using the retrieval portions).

[0081] In the present disclosure, an implementation is an example or embodiment of the drill rod manipulator. The various appearances of “one implementation,” “an implementation” or “some implementations” do not necessarily all refer to the same implementations. Although various features may be described in the context of a single implementation, the features may also be provided separately or in any suitable combination. Conversely, although the drill rod manipulator may be described herein in the context of separate implementations for clarity, it may also be embodied in a single implementation. Reference in the specification to “some implementations”, “an implementation”, “one implementation”, or “other implementations”, means that aparticular feature, structure, or characteristic described in connection with the implementations is included in at least some implementations, but not necessarily in all implementations.

[0082] As used herein, the terms “coupled”, “coupling”, “attached”, ’’connected” or variants thereof as used herein can have several different meanings depending in the context in which these terms are used. For example, the terms coupled, coupling, connected or attached can have a mechanical connotation. For example, as used herein, the terms coupled, coupling or attached can indicate that two elements or devices are directly connected to one another or connected to one another through one or more intermediate elements or devices via a mechanical element depending on the particular context.

[0083] Similarly, positional descriptions such as “top”, “bottom”, “above”, “under”, “below”, “left”, “right”, “front”, “rear”, “parallel”, “perpendicular”, “transverse”, “inner”, “outer”, “internal”, “external”, and the like should, unless otherwise indicated, be taken in the context of the figures and should not be considered limiting.

[0084] In the above description, the same numerical references refer to similar elements. Furthermore, for the sake of simplicity and clarity, namely so as to not unduly burden the figures with several references numbers, not all figures contain references to all the components and features, and references to some components and features may be found in only one figure, and components and features of the present disclosure which are illustrated in other figures can be easily inferred therefrom. The implementations, geometrical configurations, materials mentioned and / or dimensions shown in the figures are optional, and are given for exemplification purposes only.

[0085] In addition, although the optional configurations as described herein and illustrated in the accompanying drawings comprises various components and although the optional configurations of the drill rod manipulator may consist of certain geometrical configurations as explained and illustrated herein, not all of these components and geometries are essential and thus should not be taken in their restrictive sense, i.e. should not be taken as to limit the scope of the present disclosure. It is to be understood that other suitable components and cooperations thereinbetween, as well as other suitable geometrical configurations may be used for the implementation and use of the drill rod manipulator, and corresponding parts, asbriefly explained and as can be easily inferred herefrom, without departing from the scope of the disclosure.

Claims

CLAIMS:1 . A robotic drilling rod manipulation system for cooperating with a drilling machine during mining operations within a mine, the robotic drilling rod manipulation system comprising: a container configured to hold a plurality of drilling rods adapted to be coupled to the drilling machine; and a robot comprising: a robot base adapted to move along the mine; a robot arm operatively connected to the robot base and operable to move in a 3D environment around the robot; a robot end effector operatively coupled to a free end of the robot arm and comprising a rod handler configurable between a retrieval configuration, where the rod handler is operable to selectively retrieve a drilling rod from the container, and a connection configuration, where the rod handler is operable to couple the drilling rod to the drilling machine.

2. The robotic drilling rod manipulation system of claim 1 , wherein the rod handler comprises a jaw provided with a first jaw section and a second jaw section pivotally coupled to one another to enable grasping the drilling rod with the jaw, between the first jaw section and the second jaw section, when operating the rod handler in the retrieval configuration and in the connection configuration.

3. The robotic drilling rod manipulation system of claim 2, wherein each jaw section comprises a retrieval portion defining a retrieval area therebetween, and wherein operating the rod handler in the retrieval configuration to collect the drilling rod from the container includes grasping the drilling rod using the retrieval portion of each jaw section to position the drilling rod in the retrieval area.

4. The robotic drilling rod manipulation system of claim 3, wherein each jaw section comprises a connection portion defining a connection area therebetween, and wherein operating the rod handler in the connection configuration includes grasping the drilling rod using the connection portion of each jaw section to position the drilling rod in the connection area.

5. The robotic drilling rod manipulation system of claim 4, wherein the retrieval portion is adjacent to the connection portion to have the connection area communicate with the retrieval area.

6. The robotic drilling rod manipulation system of claim 4 or 5, wherein the first jaw section is a one-piece part of the jaw, and wherein relative movement between the connection portion and the retrieval portion of the first jaw section is prevented.

7. The robotic drilling rod manipulation system of any one of claims 4 to 6, wherein the second jaw section is a one-piece part of the jaw, and wherein relative movement between the connection portion and the retrieval portion of the second jaw section is prevented.

8. The robotic drilling rod manipulation system of any one of claims 4 to 7, wherein the retrieval portion of each jaw is provided at a distal end thereof.

9. The robotic drilling rod manipulation system of any one of claim 4 to 8, wherein the connection portion of each jaw is provided at a proximal end thereof.

10. The robotic drilling rod manipulation system of any one of claims 4 to 9, wherein the connection portion of the first jaw section is pivotally coupled to the connection portion of the second jaw section.

11. The robotic drilling rod manipulation system of any one of claims 4 to 10, wherein the second jaw section is static, and wherein the first jaw section is operable to pivot relative to the second jaw section to enabling grasping the drilling rod therebetween.

12. The robotic drilling rod manipulation system of any one of claims 4 to 11 , wherein the retrieval portions of the first jaw section and the second jaw section comprises fingers.

13. The robotic drilling rod manipulation system of claim 12, wherein the retrieval portion includes one or more contact pads extending transversely relative to the fingers.

14. The robotic drilling rod manipulation system of claim 13, wherein the one or more contact pads of at least one jaw section are connected to and extend between the fingers.

15. The robotic drilling rod manipulation system of claim 14, wherein the one or more contact pads of at least one jaw section are connected to and extend outwardly and away from the fingers.

16. The robotic drilling rod manipulation system of any one of claims 13 to 15, wherein each contact pad is provided with a protective coating.

17. The robotic drilling rod manipulation system of claim 16, wherein the protective coating includes a layer of resilient material.

18. The robotic drilling rod manipulation system of claim 16 or 17, wherein the protective coating includes a layer of rubber adapted to conform to the geometry of the drilling rod during grasping thereof.

19. The robotic drilling rod manipulation system of any one of claims 4 to 18, wherein the jaw of the rod handler corresponds to a first jaw, and wherein the rod handler further comprises a second jaw, the first and second jaws being configured to grasp the drilling rod together.

20. The robotic drilling rod manipulation system of claim 19, wherein the robot end effector comprises a support plate operatively coupled to the free end of the robot arm, and wherein the first jaw and the second jaw are coupled to the support plate and spaced from one another along a length of the support plate.

21. The robotic drilling rod manipulation system of claim 20, wherein the first jaw and the second jaw are provided at opposite ends of the support plate.

22. The robotic drilling rod manipulation system of claim 20 or 21 , wherein each jaw section comprises a pair of plates spaced and connected to one another, each plate having respective fingers at a distal end thereof.

23. The robotic drilling rod manipulation system of claim 22, wherein each jaw comprises a connection assembly communicating with the connection area and operable to connect the drilling rod to the drilling machine.

24. The robotic drilling rod manipulation system of claim 23, wherein the connection assembly comprises at least one roller adapted to engage the drilling rod upon positioning the drilling rod in the connection area, the at least one roller being operable to rotate the drilling rod about its longitudinal axis to fasten the drilling rod to the drilling machine.

25. The robotic drilling rod manipulation system of claim 24, wherein the at least one roller is operable to rotate about a roller axis, and wherein the roller axis is parallel to the longitudinal axis of the drilling rod when then drilling rod is grasped by the jaw.

26. The robotic drilling rod manipulation system of claim 24 or 25, wherein the at least one roller is rotatably coupled between the pair of plates of at least one jaw section.

27. The robotic drilling rod manipulation system of any one of claims 24 to 26, wherein at least one of the first jaw and the second jaw is a motorized jaw, and wherein the connection assembly of the motorized jaw comprises a motor operable to engage the at least one roller in rotation.

28. The robotic drilling rod manipulation system of claim 27, wherein the connection assembly of the motorized jaw comprises a plurality of rollers and a plurality of motors.

29. The robotic drilling rod manipulation system of claim 28, wherein the plurality of rollers of the motorized jaw is operatively coupled to respective motors.

30. The robotic drilling rod manipulation system of claim 29, wherein the motors of the motorized jaw are independently operable to engage the corresponding roller in rotation.

31. The robotic drilling rod manipulation system of any one of claims 27 to 30, wherein each roller of the motorized jaw comprises a textured outer surface configuredto improve engagement with the drilling rod and assist in engaging the drilling rod in rotation.

32. The robotic drilling rod manipulation system of claim 31 , wherein the textured outer surface includes a repeating diamond pattern.

33. The robotic drilling rod manipulation system of any one of claims 4 to 32, wherein the container is adapted to contain a plurality of different shapes of drilling rods.

34. The robotic drilling rod manipulation system of any one of claims 4 to 33, wherein the container comprises a drilling rod support adapted to receive and hold the drilling rod in a predetermined support configuration.

35. The robotic drilling rod manipulation system of claim 34, wherein, when in the retrieval configuration, the rod handler is operable to collect the drilling rod from within the container and deposit the drilling rod onto the drilling rod support, and wherein, when in the connection configuration, the rod handler is operable to grasp the drilling rod from the drilling rod support to insert and connect the drilling rod into the drilling machine.

36. The robotic drilling rod manipulation system of any one of claims 1 to 35, wherein the robot can detect the container and the drilling rods in the container using a vision system.

37. The robotic drilling rod manipulation system of any one of claims 1 to 36, wherein the robot is configured to operate substantially continuously and without human intervention.

38. A method to operate a robotic drilling rod manipulation system, the method comprises: grasping and retrieving a drilling rod from a container with a first portion of a rod handler of the robotic drilling rod manipulation system; placing the drilling rod on a drilling rod support provided on the container;grasping the drilling rod on the drilling rod support with a second portion of the rod handler; engaging the drilling rod with a drilling machine; and operating the second portion of the rod handler to connect the drilling rod to the drilling machine.

39. The method of claim 38, wherein operating the second portion of the rod handler to connect the drilling rod to the drilling machine includes rotating the drilling rod about a longitudinal axis of the drilling rod inside the rod handler to fasten the drilling rod to the drilling machine.

40. The method of claim 38 or 39, wherein engaging the drilling rod with the drilling machine comprises putting the drilling rod in abutting contact with an installed drilling rod on the drilling machine, and wherein operation of the second portion of the rod handler comprises fastening the drilling rod to the installed drilling rod.

41. The method of any one of claims 38 to 40, wherein grasping the drilling rod in the container with the first portion of the rod handler is done without human intervention.

42. The method of any one of claims 38 to 41 , wherein placing the drilling rod on the drilling rod support is done without human intervention.

43. The method of any one of claims 38 to 42, wherein grasping the drilling rod on the drilling rod support with the second portion of the rod handler is done without human intervention.

44. The method of any one of claims 38 to 43, wherein engaging the drilling rod with the drilling machine is done without human intervention.

45. The method of any one of claims 38 to 44, wherein operating the second portion of the rod handler to connect the drilling rod to the drilling machine is done without human intervention.

46. The method of any one of claims 38 to 45, wherein the steps of the method are performed in order, and wherein performing the method steps in reverse order enablesthe robotic drilling rod manipulation system to disconnect the drill rod from the drilling machine.

47. The method of any one of claims 38 to 46, further comprising inserting an inner tube within the drilling rod.

48. The method of claim 47, wherein inserting the inner tube comprises: grasping and retrieving the inner tube from a standby location proximate the drilling machine; engaging the inner tube within a hollow interior of the drilling rod on the drilling machine; and releasing the inner tube.

49. The method of claim 48, further comprising, prior to grasping and retrieving the inner tube from the standby location, removing a previous inner tube from within the hollow interior of the drilling rod and setting the previous inner tube aside.

50. The method of any one of the preceding claims, the standby location of the inner tube includes an inner tube support connected to an inner tube container.

51. The method of the previous claim, wherein the inner tube support and the drilling rod support are the same.

52. The method of any one of the preceding claims, wherein the inner tube container and the container are the same.

53. The method of any one of claims 38 to 51 , wherein the robotic drilling rod manipulation system is the robotic drilling rod manipulation system of any one of claims 1 to 37.

54. A drill rod manipulator, comprising: a robot base adapted to move along a predetermined path; a robot arm operatively connected to the robot base and operable to move in a 3D environment around the robot base;a robot end effector operatively coupled to a free end of the robot arm and comprising: a support plate rotatably coupled to the free end of the robot arm; a first jaw coupled to the support plate on a first side thereof; and a second jaw coupled to the support plate on a second side thereof, the first and second jaws being configured to cooperate to grasp and manipulate a drill rod.

55. A rod manipulation system, comprising: a base displaceable along a predetermined path; a robot arm operatively connected to the base and operable to move in a 3D environment around the base; a robot end effector operatively coupled to a free end of the robot arm and having a rod handler comprising a first jaw and a second jaw pivotally coupled to one another to grasp a drill rod therebetween, each jaw portion comprising: a retrieval portion operable to grasp and retrieve the drill rod from an adjacent container containing a plurality of drill rods; and a connection portion operable to grasp and fasten the drill rod to an adjacent machine, wherein grasping the drill rod with the retrieval portion and the connection portion includes moving at least one of the first jaw and the second jaw relative to each other.

56. A rod handler of a rod manipulation system having a robot arm, comprising: a support plate rotatably coupled to the robot arm; a first jaw coupled to the support plate on a first side thereof; and a second jaw coupled to the support plate on a second side thereof, the first jaw and the second jaw being configured to cooperate to grasp and manipulate a drill rod at respective locations along the drill rod, each one of the first jaw and the second jaw comprising:a lower part operable to retrieve the drill rod from an adjacent location; and an upper part configured to grasp and hold the drill rod, a connection assembly operatively connected to at least one of the first jaw and the second jaw and being operable to rotate the drill rod held by the upper part to enable connecting the drill rod to an adjacent drilling machine.

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