Systems and methods for engaging features of a drill tool

Abstract

Systems and methods for aligning and engaging features on a drill tool of a drill string with a gripping tool are provided. The systems and methods may include using a datum of the drill tool (e.g., a reduced diameter portion) to initially align the drill tool with the gripping tool, moving the gripping tool to engage the drill tool, and subsequently lowering and rotating the drill string to position the features of the drill tool in engagement with a grip opening of the gripping tool.

Description

572057-5001031SYSTEMS AND METHODS FOR ENGAGING FEATURES OF A DRILL TOOLCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to and the benefit of co-pending U.S. Provisional Application No. 63 / 789,771, filed April 16, 2025, the entire disclosure of which is hereby incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] This disclosure relates generally to drill strings and, more particularly, systems and methods for adding, removing, or replacing components of a drill string.BACKGROUND

[0003] Drill strings for rotary drills may include various components, e g., drill pipes, subs, hammers, etc., coupled via threaded joints that are sufficiently torqued to withstand drill conditions and forces encountered during operation. To add, remove, or replace components or segments of the drill string, the joint may be first broken with a breakout wrench and a rotary head can finish unthreading.SUMMARY

[0004] The present disclosure provides a method by which a gripping tool (e g., wrenching components) can be used to autonomously engage a drill tool (e.g., a drill pipe or other component) of a drill string in a consistent, reliable fashion. The gripping tool may include a deck wrench, also referred to as a slide wrench. The slide wrench is movable for engaging a drill tool of the drill string. In some embodiments, the drill tool includes a datum that can be used to ensure the wrench aligns with and properly engages the drill tool. In some embodiments, the datum may be a reduced diameter portion that can be received by and freely rotate within the slide wrench. For example, the datum may be a neck portion or neck of the drill tool. The neck may exist on drill tools to572057-5001031enable storage of the drill tool in the pipe carousel. However, the systems and methods hereof can advantageously use this pre-existing feature to assist in engaging the drill tool with the slide wrench in an efficient, cost-effective manner.

[0005] In one independent aspect, provided herein is a method of handling a drill string of an industrial machine. The method includes: moving a carriage operably coupled to the drill string to a predetermined position; advancing a gripping tool toward a drill tool of the drill string when the carriage is at the predetermined position, whereby a grip opening of the gripping tool receives a datum of a drill tool of the drill string; lowering the carriage while rotating the drill tool within the grip opening of the gripping tool to align an engagement feature of the drill tool in the grip opening; and assembling or disassembling the drill string via engagement between the gripping tool and the engagement feature.

[0006] In some aspects, the predetermined position correlates to alignment between the gripping tool and the datum of the drill tool.

[0007] In some aspects, the method further includes controlling movement of the carriage to the predetermined position via a controller.

[0008] In some aspects, the method further includes determining, via the controller using feedback from a sensor, that the engagement between the gripping tool and the engagement feature exists and initiating assembly or disassembly of the drill string in response to the determination.

[0009] In some aspects, the method further includes monitoring, via the controller using feedback from a sensor, for the engagement between the gripping tool and the engagement feature and terminating the lowering of the carriage in response to detecting that the engagement exists.

[0010] In some aspects, the method further includes continuing to lower the carriage relative to the gripping tool after detecting that the engagement feature is aligned in the grip opening to increase engagement between the gripping tool and the engagement feature.

[0011] In some aspects, the datum is a reduced diameter portion of the drill tool sized to freely rotate within the grip opening while the carriage is lowered.

[0012] In some aspects, the reduced diameter portion includes a neck portion of the drill tool, the neck portion being configured to enable storage of the drill tool in a pipe carousel of the industrial machine.572057-5001031

[0013] In some aspects, the gripping tool prevents rotation of the drill tool during assembly or disassembly of the drill string, the drill tool is a first drill tool, and the method further includes rotating a second drill tool relative to the first drill tool to assemble or disassemble the drill string.

[0014] In some aspects, the gripping tool causes rotation of the drill tool to assemble or disassemble the drill tool on the drill string.

[0015] In some aspects, the method further includes determining, via a controller using timebased actuation or sensor feedback, that the gripping tool has sufficiently advanced toward the drill tool to receive the datum prior to the lowering of the carriage.

[0016] In another independent aspect, provided herein is a system for handling a drill string of an industrial machine. The drill string includes drill tools coupled together to form the drill string. The drill string is movable relative to the industrial machine via a carriage. The system includes a gripping tool including a grip opening configured to engage a drill tool of the drill string, and a controller. The controller is configured to: cause movement of the carriage to a predetermined position; cause the gripping tool to advance toward the drill tool when the carriage is at the predetermined position; determine that the gripping tool has advanced to receive a datum of the drill tool; in response to the determination, cause the carriage to lower while rotating the drill tool within the grip opening of the gripping tool to align an engagement feature of the drill tool in the grip opening; and initiate assembly or disassembly of the drill string via engagement between the gripping tool and the engagement feature.

[0017] In some aspects, an actuator assembly is configured to move the carriage along a mast of the industrial machine, and the controller is configured to control the actuator assembly to move the carriage to the predetermined position.

[0018] In some aspects, the datum is a reduced diameter portion of the drill tool sized to freely rotate within the grip opening of the gripping tool.

[0019] In some aspects, the system further includes at least one sensor, and the controller is configured to determine, based on feedback from the at least one sensor, that the engagement feature is engaged by the gripping tool.572057-5001031

[0020] In some aspects, the engagement feature includes a plurality of flats defined on an outer profile of the drill tool, and the grip opening of the gripping tool is sized and shaped to complement the plurality of flats.

[0021] In some aspects, the system further includes a linear actuator operably coupled to the gripping tool and configured to advance the gripping tool toward the drill tool, and the controller is configured to control the linear actuator to advance the gripping tool when the carriage is at the predetermined position.

[0022] In some aspects, the controller is configured to determine, using time-based actuation or sensor feedback, that the gripping tool has sufficiently advanced toward the drill tool to receive the datum prior to the lowering of the carriage.

[0023] In another independent aspect, provided herein is an industrial machine that includes the system of any one of the above-described aspects. The industrial machine also includes a mast and the carriage operably coupled to the mast and movable with the drill string along the mast.

[0024] In some aspects, the industrial machine is a blasthole drill.

[0025] Features of the above-described aspects can be combined in any suitable combination.

[0026] The following description and the appended figures set forth certain features for purposes of illustration. Advantages will become more apparent when reading the present disclosure in its entirety.BRIEF DESCRIPTION OF DRAWINGS

[0027] So that the above recited features may be understood in detail, a more particular description, briefly summarized above, may be had by reference to example aspects, some of which are illustrated in the appended drawings.

[0028] FIG. l is a side view of an industrial machine.

[0029] FIG. 2 is a perspective view of a portion of a wrench assembly of the industrial machine of FIG. 1.

[0030] FIG. 3 is an isolated perspective view of a drill tool for a drill pipe.572057-5001031

[0031] FIG. 4 is a process of aligning and engaging a slide wrench of a wrench assembly with a drill tool of a drill string.

[0032] FIG. 5 depicts the slide wrench advanced toward the drill tool during a step of the process of FIG. 4.

[0033] FIGS. 6 and 7 depict movement of the drill string relative to the slide wrench during a step of the process of FIG. 4.

[0034] Corresponding reference numbers in the drawings indicate corresponding parts.DETAILED DESCRIPTION

[0035] The embodiments described herein are not limited to the details of the configuration and arrangement of components set forth in the following description or illustrated in the accompanying drawings. The embodiments are capable of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein are for the purpose of description and should not be regarded as limiting. When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” and “the” are intended to mean that there are one or more of the elements. The use of “including,” “comprising,” or “having” and variations thereof are meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. References to “one embodiment” or “an embodiment” of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0036] In addition, embodiments may include hardware, software, and electronic components or modules that, for purposes of discussion, may be illustrated and described as if the majority of the components were implemented solely in hardware. However, one of ordinary skill in the art, and based on a reading of this detailed description, would recognize that, in at least one embodiment, the electronic-based aspects may be implemented in software (for example, stored on a non-transitory computer-readable medium) executable by one or more electronic processors, such as a microprocessor and / or application-specific integrated circuits (“ASICs”). As such, it should be noted that a plurality of hardware-based and software-based devices, as well as a572057-5001031plurality of different structural components, may be utilized to implement the embodiments. For example, “servers,” “computing devices,” “controllers,” “processors,” and the like, described in the specification can include one or more electronic processors, one or more computer-readable medium modules, one or more input / output interfaces, and various connections (for example, a system bus) connecting the components.

[0037] Relative terminology, such as, for example, “about,” “approximately,” “substantially,” and the like, used in connection with a quantity or condition would be understood by those of ordinary skill to be inclusive of the stated value and have the meaning dictated by the context (for example, the term includes at least the degree of error associated with the measurement accuracy, tolerances (for example, manufacturing, assembly, use, and the like) associated with the particular value, and the like).

[0038] Functionality described herein as being performed by one component may be performed by multiple components in a distributed manner. Likewise, functionality performed by multiple components may be consolidated and performed by a single component. Similarly, a component described as performing particular functionality may also perform additional functionality not described herein. For example, a device or structure that is “configured” in a certain way is configured in at least that way but may also be configured in ways that are not explicitly listed.

[0039] Embodiments described herein relate to systems and methods for assembling or disassembling drill strings used in drills, such as rotary blasthole drills. The drill string may be comprised of multiple components or segments that are coupled via threaded joints. Components or segments of the drill string include, for example, drill pipes, subs, hammers, bits, etc. For simplicity, the components or segments may be referred to herein individually as a “drill tool,” this term encompassing various components that can be included on a drill string. Each adjacent pair of drill tools in the drill string is coupled together via a threaded connection on each end to allow additional drill tools to be added. The joints between adjacent drill tools are sufficiently torqued to withstand drill conditions and forces encountered during operation. During a makeup operation, a first drill tool can be added to the drill string by holding a second drill tool in the drill string in place while the first drill tool is threadedly connected to the second drill tool to a desired572057-5001031torque. During a breakout operation, a drill tool can be removed and / or replaced by first breaking the joint between the drill tool and the adjacent drill tool and then unthreading the drill tool.

[0040] The threaded joints may be broken with a breakout wrench before a rotary head finishes unthreading via rotation of the drill string. In some applications, the drill tool to be removed and / or replaced (also referred to as a “first” drill tool) is rotated relative to a “second” drill tool or a remainder of the drill string that is kept stationary using a gripping tool, such as a deck wrench or slide wrench. The slide wrench may support and rotationally fix (or limit) the second drill tool while the first drill tool adjacent to the second drill tool (or remainder of the drill string) is rotated to break the joint and unthread the first drill tool from the drill string. In some embodiments, the second drill tool (or remainder of the drill string) may be rotated while the first drill tool is fixed (or limited) rotationally to break the joint and unthread the first drill tool from the drill string. In some embodiments, the second drill tool may be removed and / or replaced via the operations described above. In some embodiments, the second drill tool may be positioned below the first drill tool, for example, the second drill tool may be a “lower” drill tool and the first drill tool may be an “upper” drill tool. In some embodiments, the first drill tool may be positioned below the second drill tool, for example, the first drill tool may be the lower drill tool and the second drill tool may be the upper drill tool.

[0041] The deck wrench or slide wrench may include a thick plate with a grip opening (e.g., a generally U-shaped opening) with engagement (e.g., wrenching) features defined therein that complement engagement features (e.g., flats) defined or machined on the outer profile of drill tools of the drill string. The grip opening of the wrench can engage the engagement features to align and rotationally fix or limit the drill string (or the second drill tool) during rotation of the first drill tool. In some embodiments, the grip opening of the wrench can engage the engagement features to align and rotationally fix or limit the first drill tool during rotation of the drill string (or during rotation of the adjacent, second drill tool).

[0042] The systems and methods of this disclosure may contribute to or enable automated operations in drilling (e.g., blasthole drilling) to enhance safety and improve efficiency through automation. To provide a fully autonomous drill, all steps of the drilling process must be automated. One of these steps in the drilling process includes the makeup, breakout, and replacement operations for the drill tools of the drill string (e.g., for multipass drilling). One step572057-5001031within the process of adding and removing drill tools on a drill string is threading or unthreading a pipe connection. The upper part of the joint (e.g., the upper drill tool or the remainder of the drill string) can be spun (or rotated) by a carriage (also referred to as a rotary head or top head), or by a wrenching component, while the lower part of the joint (e.g., the lower drill tool being added or removed) is held in place to couple or decouple the drill tools via threading or unthreading. In some embodiments, the lower part of the joint (e.g., the lower drill tool) can be spun (or rotated) by a carriage, or by a wrenching component, while the upper part of the joint (e.g., the upper drill tool) is held in place to couple or decouple the drill tools via threading or unthreading. Engaging the lower (or upper) part of the joint in a manner that can resist the high torques applied by pipe handling tools and endure the tough environment is a difficult process to automate.

[0043] The systems and methods of this disclosure may address or overcome at least some of the challenges and shortcomings related to automating drill tool handling processes and operations. For example, the systems and methods hereof may facilitate an automated makeup, breakout, and / or replacement operation for drill tools on a drill pipe at lower cost and / or complexity relative to existing methods. On smaller contour (or track) drills, two opposing cylinders with serrated dies can be used to grip the lower drill tool. This eliminates the need for a method to align the drill tool to a wrench because there are no flats or other engagement features on the pipe. However, this is expensive relative to the slide wrench, takes up more space on the drill deck, and has a higher risk of dropping a drill tool into the hole.

[0044] On some drills, half flats (or “D-slots”) are machined into the drill tool, rather than full flats. A deck wrench system with two opposing cylinders, coupled to a pawl via a spring, can extend until the springs are compressed. The pipe can be rotated until the springs extend and the pawls engage the half flats, halting pipe rotation. Again, the wrench assembly is more complex and therefore more expensive. Additionally, the half flats only resist rotation in the unthread direction. Therefore, the tools must be spun in the unthread direction while attempting to engage the flats. Since there are multiple threaded joints above the joint to be decoupled, this increases the risk of accidentally unthreading the wrong joint. Moreover, it is difficult to add drill tools and thread them together when the rotation is only resisted in one direction. The half flats also have half the bearing area as full flats to support the drill tool weight in deep multi-pass holes, increasing the risk of dropping a pipe down the hole. Finally, the reliability of the springs in the deck wrench to extend may be a recurring issue, making this too unreliable for an autonomous solution.572057-5001031

[0045] Some attempts have been made to automate the slide wrench system by combining the theory of the half flats and deck wrench system with the slide wrench and full flats system, but this is subject to the same reliability, cost, and space constraint issues seen with springs on the deck wrench system. The use of persistent machine data has also been proposed to track the orientation of the flats based on when the drill tool was removed from the drill tool storage device. This relies on very accurate sensor data and assumes the drill tools do not rotate relative to each other during the drilling process. Reliance on persistent data is undesirable.

[0046] The systems and methods of this disclosure address at least some of the shortcomings and overcome at least some of the disadvantages associated with automated drill tool handling. The present systems and methods can advantageously provide improved procedures for autonomously aligning and engaging the engagement features of the wrench and the drill tool. In this way, the systems and methods can be implemented to enable automation of the pipe handling process. The systems and methods described herein also provide an efficient and cost-effective process to couple or decouple drill tools of the drill string. Advantageously, the systems and methods can be implemented in various drill types that utilize deck wrenches or slide wrenches for drill string makeup, breakout, and / or replacement operations. In particular, the systems and methods hereof can utilize existing, low-cost components (e.g., the slide wrench and a datum, such as a “neck” or reduced diameter portion, of the drill tool) and sensor feedback to facilitate proper alignment and engagement between the wrench and the drill tool. The datum may be an existing feature of the drill tool for another purpose, which may eliminate the need for additional machining on the drill tool. For example, the neck may be provided on the drill tool to enable storage of the drill tool in the pipe carousel. The systems and methods hereof utilize this pre-existing feature to assist in aligning and engaging the pipe with the slide wrench. As described above, the slide wrench is the tool typically used to resist the rotation and support the drill tool that is to be held stationary during the unthreading process.

[0047] In some embodiments, a slide wrench or a deck wrench is movably positioned relative to a deck of a makeup / breakout assembly with a hole through which the drill string passes. The drill string may comprise a series of drill tools, at least one of which has a datum, such as a neck portion, and one or more engagement features (e.g., flats) defined proximate the neck portion. The neck portion may have a diameter smaller than the nominal diameter of the tool. The diameter of the neck portion may be approximately equal to or different from the distance across the572057-5001031engagement features of the tool. In some embodiments, the diameter of the neck portion may be greater than the distance across the engagement features of the tool. In some embodiments, the diameter of the neck portion may be smaller than the distance across the engagement features of the tool. The bottom end of a first (e.g., upper) drill tool is coupled to the top end of a second (e.g., lower) drill tool via a threaded connection. The top end of the first drill tool may be connected to the carriage (or to other drill tools that ultimately are connected to the carriage) so that the carriage can rotate and raise / lower the drill tool along the length of the drill string. The carriage travels along a mast until the neck of the one of the drill tools is aligned with the slide wrench. Any suitable mechanism can be used to raise and lower the carriage, such as a drivetrain, a rack and pinion, a chain driven by a motor (e.g., an electric motor) or sprocket, a cable driven by actuators (e.g., hydraulic cylinders), combinations thereof, and the like. In some embodiments, movement (e.g., lowering) of the carriage relative to the mast can be controlled using the weight of the carriage and leakage or bleed out of the hydraulic system. In this way, the carriage may be controlled to slowly drift or travel down the mast.

[0048] Alignment between the slide wrench and the datum (e.g., the neck) of a drill tool can be determined based on a determined position of the carriage relative to the mast and a predetermined position of the datum along the drill string and / or distance of the datum relative to the carriage. This can be calibrated or determined during installation or according to a known configuration of the drill string and the drill tools included in the drill string. For example, the slide wrench can have a known (predetermined or fixed) location relative to the mast, and for each drill tool that includes a datum, the vertical position or distance of the datum relative to the carriage can be determined or calibrated before, during, and / or after installation. In this way, when the carriage is at a location relative to the mast that correlates to a datum being at or proximate to the location of the slide wrench relative to the mast, this can indicate alignment between the datum and the slide wrench. Various types of sensors or other positioning devices can be used to obtain feedback indicative of a position of the carriage for locating the carriage. Non-limiting examples of sensors that can be used, in any combination, to locate the carriage include an encoder and / or a resolver used in conjunction with the carriage travel drivetrain or with a chain pulldown driven by a motor or sprocket, a transducer used to measure a cylinder length of hydraulic cylinders that drive a cable pulldown, or encoders used on the sheaves of a cable or chain driven system. Sensor feedback may additionally or alternatively be provided to measure the speed of the carriage relative to the mast572057-5001031and actively control the speed of the carriage (e.g., via controlled speed of the motors, chain, cable, hydraulic cylinders, etc.).

[0049] Once aligned, the slide wrench can be advanced toward the drill tool such that the grip opening (e.g., U-shaped opening) of the wrench accommodates the datum, such as a neck, of the drill tool. A linear actuator (e.g., a hydraulic cylinder) can be used to move the slide wrench relative to the drill tool. In some embodiments, a determination may be made that the slide wrench has advanced sufficiently toward the drill string to accommodate the neck of the drill tool. This determination may be made via time-based actuation and / or using sensor feedback. For example, sensor feedback can indicate a pressure spike in a hydraulic system used to rotate the drill string, which indicates that the slide wrench is in contact with the drill tool. In some embodiments, a sensor internal to the linear actuator or external to the linear actuator for the slide wrench can determine that the slide wrench has sufficiently extended to receive or accommodate the drill tool. Non-limiting examples of internal sensors include an internal proximity sensor, an internal linear transducer, and the like. Non-limiting examples of external sensors include a camera / optical sensor, an external proximity sensor, an external limit switch, an external string potentiometer, and the like.

[0050] During and / or after alignment between the wrench and the drill tool and moving the wrench to receive or accommodate the drill tool, the carriage can slowly rotate the drill tool (e.g., via rotation of the drill string) in the drilling direction (as if to tighten the threaded joint) or in a direction opposite the drilling direction (as if to unthread the joint) while the carriage slowly travels down the mast. In some embodiments, the drill tool may be rotated in the drilling direction and the opposite direction, at alternating intervals, while the carriage travels down the mast. The datum (e.g., the neck) of the drill tool may freely rotate in the grip opening of the slide wrench when the slide wrench is advanced to receive the datum to allow rotation of the drill tool at this stage. The drill string may be rotated via a rotary motor (e.g., a hydraulic rotary motor) located in the carriage. The rotation of the drill string and / or drill tool can be controlled via current control to the hydraulic pumps and / or via a feedback loop that measures shaft speed via an encoder (e.g., on the motor or the gearbox), a flow meter, and / or other sensors.

[0051] Rotational and vertical movement of the drill tool may continue until feedback indicates that the engagement features (e.g., flats) have been engaged by the wrench. Such572057-5001031engagement of the engagement features can be determined using a pressure spike in the hydraulic system, a rotary encoder value or resolver, and the like. Other sensors could be used to determine engagement between the wrench and the engagement features. It is possible that carriage travel will stop before the engagement features are engaged by the wrench, for example, if the top of the neck is resting on the slide wrench but the flats are misaligned. The carriage may have sufficient rotary torque to continue rotating the drill tool until the flats are aligned and settle into the wrench. In some embodiments, the drill tool may be rotated in the drilling direction, the opposite direction, or both in an alternating manner, to correct misalignment between the flats and the wrench. In some embodiments, engagement between the engagement features (e.g., flats) of the drill tool and the slide wrench may be determined according to a position of the carriage. For example, if, after advancing the slide wrench to receive the datum, the carriage is lowered a predetermined distance from the predetermined alignment position, it may be determined that the distance traveled by the carriage and the drill string has sufficiently moved the engagement features into engagement with the grip opening. Optionally, once the drill tool can no longer rotate, the carriage may travel farther down the mast to ensure greater engagement of the flats by the wrench. At this point, the engagement procedure is complete and the joint can be unthreaded. Such unthreading may be performed through the use of the carriage (e.g., via the rotary motor that rotates the drill string) and / or additional mechanisms (e.g., a mast-mounted breakout wrench).

[0052] Particular embodiments of the systems and methods of this disclosure will now be described with reference to the drawings, which can include any of the features described above. It is appreciated and understood that various additions, omissions, and changes could be made without departing from the scope of this disclosure. For example, different sensors and values of the sensors can be used to provide feedback or perform one or more of the determinations described herein. Additional intelligence can be utilized, such as checking whether the hole of the drilling application is deep enough to run the routine, checking the condition of the wrench or pipe with machine vision, or other methods. The drill tools described herein are provided by way of example. Additional or other drill tools can be included and utilized in the systems and methods hereof. For example, the drill string may include a component that has some free travel (e.g., 2 to 2.5 inches) such that a drill tool can lower into the wrench more freely. Such components may reduce or alleviate the amount of control required for lowering the carriage into position for aligning the drill tool with the slide wrench. For example, in some embodiments, the carriage can be lowered to a572057-5001031predetermined or terminal position, and subsequent rotation of the drill tool or drill string allows the drill tool to lower into further engagement with the wrench via the additional free travel stroke of the free travel component. In some embodiments, a floating shock or cushion sub can be coupled between the second drill tool, or the first drill tool, and the carriage top head. A floating shock sub has a certain amount of free travel to assist in the threading and unthreading operation. In this case, the floating shock sub may aid in the process in that, when the flats align with the wrench, the drill tool will freely fall into the wrench and engage faster than slowly lowering the carriage.

[0053] It is also appreciated and understood that the systems and methods hereof can be utilized with various geometries of the slide wrench. In some embodiments, the grip opening may be generally U-shaped. The grip opening is not limited to any particular curvature or other profile for defining a “U-shape.” For example, the grip opening may not be curved on the portion that engages the engagement features (e.g., flats) of the drill tool. The grip opening may engage all or some (e.g., fewer than all) of the engagement features of the drill tool. For example, the drill tool may include six flats machined into a hexagon shape and the slide wrench via the grip opening may engage three of the six flats. Correspondingly, various geometries of the drill tool can be utilized. For instance, a narrower neck and flats to ensure the wrench more easily fits around the neck. Flats that are not the same distance across as the diameter of the neck may be used. The engagement features (e.g., flats) of the drill tool may or may not be parallel to each other. There may be two or more than two engagement features (e.g., two or more than two flats). As a nonlimiting example, the drill tool may include three flats angled and spaced apart at 120° intervals, or six flats that may be contiguous in a hexagonal shape.

[0054] Referring now to FIG. 1, an industrial machine (e.g., a drill such as a blasthole drill 10) includes a drill tower or mast 14, a base 18 (e.g., a machinery house) beneath the drill tower 14 that supports the drill tower, an operator cab 22 coupled to the base 18, and crawlers 26 driven by a crawler drive 30. The crawlers 26 may drive the blasthole drill 10 along aground surface 34. The blasthole drill 10 also includes a drill string 38 including a plurality of components or segments such as, for example, drill pipes, a sub (e.g., a shock sub, a floating shock sub, a thread saver, a bit sub, or crossover sub), a hammer, a drill bit, and / or a bit stabilizer, or any combination thereof. The components or segments of the drill string 38 may be individually referred to as a “drill tool,” this term encompassing various components that can be included on a drill string.572057-5001031The drill string 38 is configured to extend downward (e.g., vertically) through the ground surface 34 and into a borehole.

[0055] The blasthole drill 10 also includes leveling jacks 42 to support the blasthole drill 10 on the ground surface 34, a brace 46 that supports the drill tower 14 on the base 18, a drill head motor 50 coupled to the drill tower 14 that rotatably drives a drill head 54, and a coupling 58 that couples together the drill head 54 with an upper end 60 of the drill string 38. The drill head motor 50 may include, for example, a hydraulic rotary motor. The drill head motor 50 may drive the drill string 38 to rotate about an axis A. The drill head 54 may be coupled to or integrated with a carriage 62 that may house the drill head motor 50. The carriage 62 may be operably coupled to the mast 14 and can move vertically relative to the mast along or parallel to the axis A via an actuator assembly 124. The actuator assembly 124 may include any suitable drive or actuation mechanism for causing movement of the carriage 62. For example, the actuator assembly 124 may include a drivetrain, a rack and pinion, a chain driven by a motor (e.g., an electric motor) or sprocket, a cable driven by actuators (e.g., hydraulic cylinders), combinations thereof, and the like. In some embodiments, movement (e.g., lowering) of the carriage 62 relative to the mast 14 can be controlled using the weight of the carriage and leakage or bleed out of the actuator assembly 124 (e g., a hydraulic system). In this way, the carriage 62 may be controlled to slowly drift or travel down the mast. Other constructions of the blasthole drill 10 do not include, for example, the operator cab 22, the brace 46, or one or more other components as described above.

[0056] The blasthole drill 10 also includes a makeup and / or breakout wrench assembly 100 for applying torque to the drill string 38 in order to couple drill tools of the drill string and / or to uncouple drill tools (e.g., adjacent drill tools that become fixed together due to flexing, binding, and welding caused by operational stresses on the drill string 38). The wrench assembly 100 can be used to add, remove, and / or replace drill tools of the drill string 38. In some embodiments, the wrench assembly 100 is used as a retrofit or additional component for the blasthole drill 10. In some embodiments, the wrench assembly 100 may be an integral component of the blasthole drill 10. The wrench assembly 100 may be coupled to a lower plate or deck 108 (see FIG. 2) of the drill tower 14. In some embodiments, the wrench assembly 100 is coupled to the base 18.

[0057] In some embodiments, the wrench assembly 100 may include wrenching components that generally operate to add, remove, or replace drill tools of the drill string 38 according to572057-5001031techniques known to those skilled in the art. In some embodiments, the wrench assembly 100 may be configured according to the teachings of U.S. Publication No. 2017 / 0234085 Al, published August 17, 2017, titled “ADJUSTABLE BREAKOUT WRENCH FOR A MINING MACHINE,” the disclosure of which is hereby incorporated herein by reference in its entirety. In some embodiments, the wrench assembly 100 includes a gripping tool, such as a slide wrench 110 (FIG.2), that engages and rotationally fixes or limits movement of a drill tool while an adjacent drill tool or the remainder of the drill string 38 is rotated to make or break a threaded joint. In some embodiments, rotation of the drill tool to be added or removed can be performed via the drill head motor 50 and / or an additional wrenching component (e.g., an additional makeup or breakout wrench) while the adjacent drill tool or the remainder of the drill string 38 is rotationally fixed via the slide wrench 110. In some embodiments, the drill tool to be added or removed may be rotationally fixed (e.g., via the slide wrench or another makeup or breakout wrench) while the adjacent drill tool and / or remainder of the drill string is rotated.

[0058] The wrench assembly 100 may include a controller 102 configured to execute one or more control functions to control operation of the wrench assembly 100. The controller 102 may be a centralized or decentralized network of controllers. The controller 102 may include one or more processing units or processors (“the processor”) 126, one or more memory units (“the memory”) 128, and one or more input / output (I / O) units (“the I / O unit”) 130. The processor 126 can include, for example, a microprocessor, an application-specific integrated circuit (“ASIC”), or another suitable electronic device. The memory 128 (for example, one or more non-transitory computer-readable storage mediums) may also include data storage of any suitable type. The controller 102, via the processor 126, the memory 128, and the I / O unit 130, may communicate with external devices over one or more data connections, buses, wireless connections, wired connections, or a combination thereof.

[0059] In some embodiments, the controller 102 can receive feedback or signals from sensors (e.g., sensors 104, 106) and execute one or more control functions (e.g., for controlling the carriage 62, the drill head motor 50, and / or the slide wrench 110) based on the sensor data. The sensors can include various sensor types for obtaining or acquiring data desirable for the function and control of the controller 102 as described herein. For example, the sensor 104 can include encoder(s), resolver(s), transducer(s), flow meter(s), or the like that are suitable for obtaining feedback or signals indicative of a position and / or movement speed of the carriage 62 and / or a rotational speed572057-5001031of the motor 50 and / or the drill string 38. For example, the sensor 106 can include internal sensors for a linear actuator (e.g., hydraulic cylinder) of the slide wrench 110, such as an internal proximity sensor, an internal linear transducer, and the like, and / or external sensors such as a camera / optical sensor, an external proximity sensor, an external limit switch, an external string potentiometer, and the like. In some embodiments, the sensor 106 may include an encoder, resolver, or a camera / optical sensor. Although two sensors 104, 106 are depicted in FIG. 1, it is understood and appreciated that any number of sensors can be included and implemented to obtain the data or feedback desired for the function and control of the controller 102 as described herein.

[0060] Referring to FIG. 2, a portion of the wrench assembly 100 is shown, including the slide wrench 110 that is movable relative to the deck 108 of the drill tower. In some embodiments, the slide wrench 110 may include and / or may be operably coupled to an actuator 132 (shown in FIG.5), e.g., a linear actuator such as a hydraulic cylinder. The slide wrench 110 may be movable relative to the deck 108 toward and away from the drill string 38. The drill string 38 may extend generally perpendicular to the deck 108 through a drill string opening 112 defined in the deck. The slide wrench 110 may include a grip opening 114 that receives and accommodates a drill tool of the drill string 38 when the slide wrench 110 moves toward the drill string.

[0061] In FIG. 2, two individual drill tools 116, 118 of the drill string 38 are shown and may be referred to as a first drill tool 116 and a second drill tool 118. In some embodiments, the first drill tool 116 may be an upper drill tool and the second drill tool 118 may be a lower drill tool. In some embodiments, the first drill tool 116 may be the lower drill tool and the second drill tool 118 may be the upper drill tool. The top end of the second drill tool 118 may be coupled to the bottom end of the first drill tool 116, or vice versa, via a threaded connection. One or each drill tool 116, 118 may include a datum, here a neck or a reduced diameter portion 120, and engagement features 122 defined in the outer profile of the drill tool 116, 118. The engagement features 122 may include flats, for example. The second drill tool 118 is shown with engagement features 122 defined adjacent the neck 120 and between the neck 120 and the top end of the drill tool 118.

[0062] The grip opening 114 is generally sized and shaped to complement the outer profile of the drill tool 116, 118 at the engagement features 122. In particular, the grip opening 114 is sized and shaped to receive one of the drill tools 116, 118 and engage the engagement features 122 to prevent (or, in some embodiments, cause) rotation of the drill tool during a makeup or breakout572057-5001031operation. For example, the grip opening 114 may receive and rotationally fix the second drill tool 118 via engagement with the engagement features 122 while the first drill tool 116 is rotated during a makeup or breakout operation. In some embodiments, the first drill tool 116 may be rotated via the drill head motor 50 and / or an additional wrenching component (e.g., an additional makeup or breakout wrench) while the second drill tool 118, or the remainder of the drill string 38, is rotationally fixed via the slide wrench 110. In some embodiments, the grip opening 114 may be generally U-shaped, but the grip opening is not limited to any particular curvature or other profile for defining a “U-shape.” For example, the grip opening may not be curved on the portion that engages the engagement features 122 of the drill tool 116, 118. The grip opening may engage all or some (e.g., fewer than all) of the engagement features 122 of the drill tool 116, 118. For example, the engagement features 122 may include six flats machined into a hexagon shape, and the slide wrench 110 via the grip opening 114 may engage three of the six flats. The grip opening 114 may also be sized and shaped to allow the drill tool to freely rotate therein when the datum (e.g., the neck 120) is received in the grip opening.

[0063] The engagement features 122 can include flats or any other suitable feature that allows engagement with the slide wrench 110 as described herein. In some embodiments, the engagement features 122 include flats that have an approximately equal or different distance across the drill tool 116, 118 as the diameter of the neck 120. In some embodiments, the diameter of the neck 120 may be greater than the distance across the engagement features 122 (e.g., flats) of the drill tool 116, 118. In some embodiments, the diameter of the neck 120 may be smaller than the distance across the engagement features 122 (e.g., flats) of the drill tool 116, 118. A narrower neck and flats may facilitate fitting the wrench around the neck and subsequently the flats. Flats that are not the same distance across as the diameter of the neck may be used. The engagement features (e.g., flats) of the drill tool may or may not be parallel to each other. There may be two or more than two engagement features (e.g., two or more than two flats). As a non-limiting example, the drill tool may include three flats angled and spaced apart at 120° intervals, or six flats that may be contiguous in a hexagonal shape.

[0064] FIG. 3 depicts an isolated view of a drill tool 200, which may be used as the first drill tool 116 and / or the second drill tool 118 of FIG. 2. The drill tool 200 in this example is a drill pipe segment having a generally cylindrical profile with a first end 202 and a second end 204. The first end 202 defines a threaded opening 206 configured to receive and couple to a threaded end of an572057-5001031adjacent drill tool on a drill pipe. The second end 204 has a threaded stem 208 configured for insertion into a threaded end of another adjacent drill tool on a drill pipe. Multiple drill tools 200 can be coupled to one another via the threaded connection between the first end 202 of one drill tool 200 and the second end 204 of another drill tool 200.

[0065] The drill tool 200 also includes a first set of engagement features 210 (e.g., flats) defined in the cylindrical profile proximate the first end 202, and a second set of engagement features 212 (e.g., flats) defined in the cylindrical body proximate the second end 204. The engagement features 210, 212 may form the engagement features 122 described above for engaging the slide wrench 110. The cylindrical body also includes a reduced diameter portion 214 (e.g., a neck) proximate the second end 204. The reduced diameter portion 214 may define a datum, here a neck or a reduced diameter portion 120, sized for being received by and freely rotatable in the grip opening 114 of the slide wrench 110. The reduced diameter portion 214 may be defined in the cylindrical profile of the drill tool 200 proximate the second set of engagement features 212. The second set of engagement features 212 may be positioned between the reduced diameter portion 214 and the stem 208. In some embodiments, the drill tool 200 may include a reduced diameter portion proximate the first end 202. The reduced diameter portion(s) of the drill tool 200 may also enable storage of the drill tool 200 in a pipe carousel of an industrial machine, such as the drill 10 of FIG. 1.

[0066] Described further below are example implementations for aligning and engaging the slide wrench 110 with the engagement features 122 (e.g., the engagement features 210 and / or 212 of FIG. 3). Once aligned and engaged with the engagement features 122, the slide wrench 110 or gripping tool can prevent (or, in some embodiments, cause) rotation of the drill tool (e.g., the second drill tool 118, which may be in the form of the drill tool 200 shown in FIG. 3) during a makeup or breakout operation. For example, the slide wrench 110 or gripping tool may prevent (or, in some embodiments, cause) rotation of the second drill tool 118 while the first drill tool 116 is rotated in an unthread direction to remove the first drill tool 116 from the drill string 38 during a breakout operation. For example, the slide wrench 110 or gripping tool may prevent (or, in some embodiments, cause) rotation of the second drill tool 118 while the first drill tool 116 is rotated in a thread direction to add the first drill tool 116 during a makeup operation. It is appreciated and understood that, in some embodiments, the first drill tool 116 (which may be in the form of the drill tool 200 of FIG. 3) can be held stationary, e.g., via the slide wrench 110, while the second572057-5001031drill tool 118 and / or remainder of the drill string 38 rotates during makeup or breakout. That is, either the first drill tool 116 or the second drill tool 118 can be rotated (e.g., via the drill head motor 50 and / or an additional wrenching component) while the other drill tool 116, 118 and / or remainder of the drill string 38 remains stationary, e.g., via the slide wrench 110, during makeup or breakout.

[0067] Referring now to FIG. 4, an example process 300 for aligning and engaging the slide wrench 110 with the engagement features 122 of the drill tool (e.g., the second drill tool 118 of FIG. 2) is shown. One, some, or all steps of the process 300 can be automated. For example, the process 300 may be autonomously controlled via the controller 102. In some embodiments, the controller 102 utilizes sensor feedback, e.g., via the sensors 104, 106, for autonomously controlling the process 300.

[0068] The process 300 includes moving 302 the carriage 62 to a predetermined position. Movement of the carriage 62 can be caused and controlled via the actuator assembly 124 as described herein. The predetermined position may be determined via the controller 102 and / or stored in the memory 128 for autonomously controlling the moving 302 operation. Movement of the drill string 38 can be caused by movement of the carriage 62, which may be controlled via the controller 102. The carriage 62 and the drill string 38 may be raised and / or lowered during the movement 302. The predetermined position may be a vertical position of the carriage 62 relative to the mast 14. The predetermined position may correlate to a position of the datum (e.g., the neck 120) of the second drill tool 118 that aligns with the grip opening 114 of the slide wrench 110. In some embodiments, the correlation between the vertical position of the carriage 62 and the vertical position of the neck(s) 120 of the drill tool(s) can be calibrated or determined (e.g., via the controller 102) during installation or according to a known configuration of the drill string 38 and the drill tools included in the drill string 38, which may be stored in the memory 128. The vertical position of the slide wrench 110 relative to the mast 14 may also be known or predetermined (e.g., determined via the controller 102 and / or stored in the memory 128). In this way, the carriage 62 can be moved 302 to a location relative to the mast 14 that correlates to a neck 120 being at or proximate to the location of the slide wrench 110 relative to the mast, such that the grip opening 114 of the slide wrench 110 is aligned with the neck 120.

[0069] In some embodiments, moving 302 the carriage 62 includes determining or monitoring the vertical location of the carriage 62 against the predetermined position, e.g., via the controller572057-5001031102. In some embodiments, the controller 102 may receive feedback from one or more sensors (e.g., the sensor 104) to determine or monitor the vertical location of the carriage 62. Various types of sensors or other positioning devices can be used to obtain feedback indicative of a position of the carriage 62. Non-limiting examples of sensors that can be used, in any combination, to locate the carriage include an encoder and / or a resolver used in conjunction with the carriage travel drivetrain or with a chain pulldown driven by a motor or sprocket, a transducer used to measure a cylinder length of hydraulic cylinders that drive a cable pulldown, or encoders used on the sheaves of a cable or chain driven system. Sensor feedback may additionally or alternatively be provided to measure the speed of the carriage relative to the mast and actively control the speed of the carriage (e.g., via controlled speed of the motors, chain, cable, hydraulic cylinders, etc.).

[0070] Once the carriage 62 is moved 302 to the predetermined position and the slide wrench 110 is aligned with the neck 120, the slide wrench 110 is advanced 304 toward and receives the neck 120 in the grip opening 114 (shown in FIG. 5). One or more linear actuators 132 (e.g., a hydraulic cylinder and / or ram) can be used to advance 304 the slide wrench 110. In some embodiments, a determination may be made (e.g., via the controller 102) that the slide wrench 110 has sufficiently advanced 304 for receiving and accommodating the neck 120. This determination may be made via the controller 102 using time-based actuation and / or using sensor feedback (e.g., via the sensor 104 and / or 106). For example, sensor feedback can indicate a pressure spike in a hydraulic system used to rotate the drill string 38, which indicates that the slide wrench 110 is in contact with the drill tool. In some embodiments, a sensor 134, which may be internal to the linear actuator 132 or external to the linear actuator 132 for the slide wrench 110, can determine that the slide wrench has sufficiently extended to receive or accommodate the drill tool. Non-limiting examples of internal sensors for the actuator 132 include an internal proximity sensor, an internal linear transducer, and the like. Non-limiting examples of external sensors for the actuator 132 include a camera / optical sensor, an external proximity sensor, an external limit switch, an external string potentiometer, and the like.

[0071] During and / or after advancing 304 the slide wrench 110 toward the drill string 38, at step 306, the carriage 62 can be slowly lowered and the drill string 38 can be slowly rotated as described herein. For example, the drill string 38 may be rotated in the drilling direction (as if to tighten the threaded joint) or in a direction opposite the drilling direction (as if to unthread the joint) while the carriage 62 slowly travels down the mast 14. The carriage 62 is lowered at 306 to572057-5001031bring the engagement features 122 into the grip opening 114, and the drill string 38 is rotated at 306 to align the engagement features 122 in the grip opening 114. The movement at 306 is shown in FIGS. 6 and 7.

[0072] The drill string 38 may be rotated at 306 of FIG. 4 via the drill head motor 50 (e.g., a hydraulic rotary motor) located in the carriage 62. The rotation of the drill string 38 and / or drill tool can be controlled via current control to the hydraulic pumps and / or via a feedback loop that measures shaft speed via an encoder (e.g., on the motor or the gearbox), a flow meter, and / or other sensors. Rotational and vertical movement of the drill tool 38 (and vertical movement of the carriage 62) may continue at 306 until feedback (e.g., received by the controller 102) indicates that the engagement features 122 have been engaged by the wrench 110. Such engagement of the engagement features 122 and the wrench 110 can be determined at 308 using a pressure spike in the hydraulic system, a rotary encoder value or resolver, and the like. Other sensors could be used to determine engagement between the wrench 110 and the engagement features 122 at 308. At 308, if there is no engagement determined, the process 300 may continue at 306. If, at 308, engagement between the wrench 110 and the engagement features 122 is determined, the process 300 may be complete and the joint can be assembled (e.g., threaded) or disassembled (e.g., unthreaded). For example, in a breakout operation, such disassembly or unthreading may be performed through the use of the carriage (e.g., via the rotary motor that rotates the drill string) and / or additional mechanisms (e.g., a mast-mounted breakout wrench).

[0073] In some embodiments, the determination at 308 can be made using a position of the carriage 62. For example, if, following step 304 and during step 306, the vertical position of the carriage is lowered a sufficient distance from the predetermined position at 302, it may be determined at 308 that the engagement features 122 are now aligned within the grip opening 114. That is, the change in vertical position of the carriage 62 can signal that the drill string 38, and more particularly the drill tool, has lowered to such an extent that the engagement features 122 must be aligned in the grip opening 114 (otherwise, the drill tool would abut the slide wrench and prevent such downward movement). The vertical position of the carriage 62 can be correlated to the vertical position of the engagement features 122 similar to the correlation to the datum (e.g., the neck 120) described above, using calibration or a pre-determined configuration of the drill string components relative to the carriage 62, which may be stored in the memory 128.572057-5001031

[0074] In some embodiments, the process 300 can optionally include step 310, in which the carriage 62 and / or the drill string 38 may be lowered farther down the mast 14 to ensure greater engagement of the engagement features 122 by the wrench 110. The step 310 may occur after the determination at 308 that the engagement of the engagement features 122 and the wrench 110 exists. In some embodiments, the step 310 may include lowering the carriage 62 and / or the drill string 38 for a predetermined duration or predetermined distance after the determination at step 308. In some embodiments, the predetermined distance and / or duration for continuing to lower the carriage 62 and / or the drill string 38 at step 310 may be stored in the memory 128, and the step 310 may be executed or controlled via the controller 102. In some embodiments, the drill string 38 may include a free travel component, e.g., a floating shock sub, such that a drill tool can lower into the wrench 110 at step 310 more freely. The free travel component may enable lowering the drill string 38 the predetermined distance following the determination at step 308.

[0075] The configurations of the embodiments described above can be incorporated in any combination. In other embodiments, other configurations are possible. For example, those of skill in the art will recognize, according to the principles and concepts disclosed herein, that various combinations, sub-combinations, and substitutions of the components discussed above can provide a system incorporating aspects and principles of the present disclosure.

[0076] The embodiment(s) described above and illustrated in the figures are presented by way of example only and are not intended as a limitation upon the concepts and principles of the present disclosure. As such, it will be appreciated that variations and modifications to the elements and their configuration and / or arrangement exist within the spirit and scope of one or more independent aspects as described.

Claims

572057-5001031CLAIMSWhat is claimed is:

1. A method of handling a drill string of an industrial machine, the method comprising: moving a carriage operably coupled to the drill string to a predetermined position; advancing a gripping tool toward a drill tool of the drill string when the carriage is at the predetermined position, whereby a grip opening of the gripping tool receives a datum of a drill tool of the drill string;lowering the carriage while rotating the drill tool within the grip opening of the gripping tool to align an engagement feature of the drill tool in the grip opening; andassembling or disassembling the drill string via engagement between the gripping tool and the engagement feature.

2. The method of claim 1, wherein the predetermined position correlates to alignment between the gripping tool and the datum of the drill tool.

3. The method of claim 2, further comprising controlling movement of the carriage to the predetermined position via a controller.

4. The method of claim 3, further comprising determining, via the controller using feedback from a sensor, that the engagement between the gripping tool and the engagement feature exists and initiating assembly or disassembly of the drill string in response to the determination.

5. The method of claim 3, further comprising monitoring, via the controller using feedback from a sensor, for the engagement between the gripping tool and the engagement feature and terminating the lowering of the carriage in response to detecting that the engagement exists.

6. The method of claim 5, further comprising continuing to lower the carriage relative to the gripping tool after detecting that the engagement feature is aligned in the grip opening to increase engagement between the gripping tool and the engagement feature.572057-50010317. The method of claim 1, wherein the datum is a reduced diameter portion of the drill tool sized to freely rotate within the grip opening while the carriage is lowered.

8. The method of claim 7, wherein the reduced diameter portion comprises a neck portion of the drill tool, the neck portion being configured to enable storage of the drill tool in a pipe carousel of the industrial machine.

9. The method of claim 1, wherein the gripping tool prevents rotation of the drill tool during assembly or disassembly of the drill string, wherein the drill tool is a first drill tool, and wherein the method further comprises rotating a second drill tool relative to the first drill tool to assemble or disassemble the drill string.

10. The method of claim 1, wherein the gripping tool causes rotation of the drill tool to assemble or disassemble the drill tool on the drill string.

11. The method of claim 1, further comprising determining, via a controller using time-based actuation or sensor feedback, that the gripping tool has sufficiently advanced toward the drill tool to receive the datum prior to the lowering of the carriage.

12. A system for handling a drill string of an industrial machine, wherein the drill string includes drill tools coupled together to form the drill string, wherein the drill string is movable relative to the industrial machine via a carriage, the system comprising:a gripping tool including a grip opening configured to engage a drill tool of the drill string; anda controller configured to:cause movement of the carriage to a predetermined position;cause the gripping tool to advance toward the drill tool when the carriage is at the predetermined position;determine that the gripping tool has advanced to receive a datum of the drill tool;572057-5001031in response to the determination, cause the carriage to lower while rotating the drill tool within the grip opening of the gripping tool to align an engagement feature of the drill tool in the grip opening; andinitiate assembly or disassembly of the drill string via engagement between the gripping tool and the engagement feature.

13. The system of claim 12, wherein an actuator assembly is configured to move the carriage along a mast of the industrial machine, wherein the controller is configured to control the actuator assembly to move the carriage to the predetermined position.

14. The system of claim 12, wherein the datum is a reduced diameter portion of the drill tool sized to freely rotate within the grip opening of the gripping tool.

15. The system of claim 12, further comprising at least one sensor, wherein the controller is configured to determine, based on feedback from the at least one sensor, that the engagement feature is engaged by the gripping tool.

16. The system of claim 12, wherein the engagement feature comprises a plurality of flats defined on an outer profile of the drill tool, and wherein the grip opening of the gripping tool is sized and shaped to complement the plurality of flats.

17. The system of claim 12, further comprising a linear actuator operably coupled to the gripping tool and configured to advance the gripping tool toward the drill tool, wherein the controller is configured to control the linear actuator to advance the gripping tool when the carriage is at the predetermined position.

18. The system of claim 17, wherein the controller is configured to determine, using timebased actuation or sensor feedback, that the gripping tool has sufficiently advanced toward the drill tool to receive the datum prior to the lowering of the carriage.572057-500103119. An industrial machine comprising the system of claim 12, the industrial machine further comprising a mast and the carriage operably coupled to the mast and movable with the drill string along the mast.

20. The industrial machine of claim 19, wherein the industrial machine is a blasthole drill.

Images