There are two main tools for mining ore: the steel pickaxe and the drill. Each has its pros and cons, which I won't go into here. While it's common knowledge that a drill mines ore faster, finding even rough estimates is nearly impossible. To determine this, I conducted a short test. The test is subject to error due to the fact that I'm not Shiva and only have two hands. I used a mobile phone as a stopwatch.
The character had the Miner 69er skill level 5 and miner armor level 6. All The Art of Mining books had also been read.
The pickaxe was equipped with the following modifications: an ergonomic handle, an iron scrap, a rock breaker, and a weight. The drill was equipped with a large tank, an iron scrap, a rock breaker, and a weight.
The test ore vein consisted of a 400-block, 20x20-sized vein.

Time spent on extraction:
Iron.
Pickaxe 16:01
Drill 8:53 (4 refills)
Coal.
Pickaxe 8:01
Drill 8:45 (4 refills)
Gravel.
I didn't use the pickaxe; it'll be the same as for coal.
Drill 4:54 (2 refills)
I used a gravel block because the sand block from the creative menu yielded clay and sand when harvested, instead of stone and sand. For some reason, I couldn't find the sand block that fills veins in the creative menu.
I hope someone will need these numbers.
The character had the Miner 69er skill level 5 and miner armor level 6. All The Art of Mining books had also been read.
The pickaxe was equipped with the following modifications: an ergonomic handle, an iron scrap, a rock breaker, and a weight. The drill was equipped with a large tank, an iron scrap, a rock breaker, and a weight.
The test ore vein consisted of a 400-block, 20x20-sized vein.

Time spent on extraction:
Iron.
Pickaxe 16:01
Drill 8:53 (4 refills)
Coal.
Pickaxe 8:01
Drill 8:45 (4 refills)
Gravel.
I didn't use the pickaxe; it'll be the same as for coal.
Drill 4:54 (2 refills)
I used a gravel block because the sand block from the creative menu yielded clay and sand when harvested, instead of stone and sand. For some reason, I couldn't find the sand block that fills veins in the creative menu.
I hope someone will need these numbers.