ELEMENT

TECHNICAL FIELD

The present disclosure relates to a feeding device for feeding a rock reinforcing element into a borehole, and a method performed by the feeding device for feeding the rock reinforcing element into the borehole. The present disclosure further relates to a method for controlling operation of the feeding device for feeding the rock reinforcing element into the borehole.

BACKGROUND

Rock bolt reinforcement is commonly used for providing support to the roof or sides of a cavity in underground mining and in civil engineering. The bolt may be installed in a borehole drilled into the roof or walls of a rock formation. One of the major ways of anchoring the bolt in place is adhesive fastening with a cement- or resin-based grout material, a.k.a. grouting. The bolt may be inserted into a borehole before or after filling the borehole with the grout material.

The bolt may be a steel rod, a rebar, or a cable bolt. The cable bolt is a reinforcing element made of steel wires in the form of a strand or rope. It may be necessary to coat the steel surface of at least a part of the cable bolt with a material, such as plastics, for debonding the cable bolt from the cured grout material thereby achieving a debond cable bolt a.k.a. a yielding cable bolt. Compared to a plain cable bolt, the debond cable bolt has improved dynamic properties for withstanding large deformations of a rock mass. A bird cage cable bolt is a type of cable bolt modified to form bird cage like bulbs when filled with a grout material. The bulbs cause considerable forces perpendicular to the hole wall compressing the grout and at the same time reduce compressive forces parallel to the hole axis thereby decreasing cable movement in a rock mass, as a result of which the bird cage cable bolt performs better than a plain cable bolt for rock reinforcement.

The configuration of a feeding device for feeding a reinforcing element into a borehole would be dependent on the type of the reinforcing element. WO9848147A1 discloses a feeding device for feeding a bird cage cable bolt a.k.a. bulb-anchor wire, wherein the compressive force against the bulb-anchor wire is kept constant during the feeding process. The feeding device of WO9848147A1 would be inappropriate for feeding a debond cable bolt comprising coated surface and plain steel surface which have different durability. The same amount of compressive force applied on the debond cable bolt would be insufficient for feeding the plain section with steel surface while having damaged the coated surface thereby dysfunction in debonding.

Mining is an inherently risky occupation. The mining environment is harmful for human health, with dangers ranging from rock collapses to inhalation of toxic particles. It should always be prioritized to minimize exposure of personnel to the harmful mining environment. Therefore, a mechanized operation of feeding a reinforcing element into a borehole has been developed which can be controlled from a cabin where operators are protected. The mechanized operation also reduces manual workload for operators thereby increasing work efficiency and productivity. The safety, work efficiency and productivity can be further increased by remote and/or automatic controls of the mechanized operation.

SUMMARY

In view of the above, one object of the present disclosure is therefore to reduce manual workload and risks for personnel at the site during operations for feeding a reinforcing element, in particular a debond cable bolt, into a borehole.

Another object of the disclosure is to increase work efficiency and productivity.

Yet another object of the disclosure is to provide a novel and advantageous solution for feeding a reinforcing element, in particular a debond cable bolt, into a borehole.

Yet another object of the disclosure is to provide a flexible solution for feeding a reinforcing element, in particular a debond cable bolt, into a borehole.

Yet another object of the disclosure is to provide a robust and reliable solution for feeding a reinforcing element, in particular a debond cable bolt, into a borehole.

Yet another object of the disclosure is to provide an alternative solution for feeding a reinforcing element, in particular a debond cable bolt, into a borehole.

Yet another object of the disclosure is to improve mechanization and automation of the process for feeding a reinforcing element, in particular a debond cable bolt, into a borehole. The above mentioned objects are achieved according to a first aspect of the disclosure by a feeding device comprising at least two roller assemblies for feeding a reinforcing element along a feeding axis into a borehole, wherein each roller assembly comprises at least one first feed wheel comprising a primary peripheral surface configured to interact with the reinforcing element, at least one second feed wheel comprising a secondary peripheral surface configured to interact with the reinforcing element, wherein each feed wheel is configured to rotate around a rotation axis perpendicular to the feeding axis, wherein at least one of the feed wheels of each roller assembly is a drive wheel; a feed motor configured to actuate rotation of the drive wheel around the rotation axis; and an actuator means configured to displace the at least one first feed wheel and/or the at least one second feed wheel along a displacement axis in a first transverse direction toward the feeding axis such that the primary peripheral surface and the secondary peripheral surface can be braced against the reinforcing element at the feeding axis for exerting a compressive force on the reinforcing element; characterized in that the at least two roller assemblies are configured to interact separately and successively with the reinforcing element during feeding of the latter into the borehole.

The actuator means is also configured to release the compressive force from the reinforcing element by displacing the at least one first feed wheel and/or the at least one second feed wheel along the displacement axis in a second transverse direction away from the feeding axis AF such that the primary peripheral surface and/or the secondary peripheral surface are out of contact with the reinforcing element. The second transverse direction may be opposite to the first transverse direction.

The at least two roller assemblies of the feeding device as was described above may be controlled to exert constant unitary compressive force or section-specific compressive force on the reinforcing element during the process of feeding the reinforcing element.

Thus, the feeding device according to the present disclosure provides a more flexible feeding device suitable for feeding a variety of types of reinforcing element. The reinforcing element may be a continuous elongated element suitable for rock reinforcement. Preferably, the reinforcing element 8 may be a cable bolt. More preferably, the reinforcing element may be a debond cable bolt.

In some embodiments, the at least one first feed wheel or the at least one second feed wheel of each roller assembly is configured to rotate freely around the rotation axis perpendicular to the feeding axis. When a roller assembly comprises only one drive wheel, all feed wheels of the roller assembly feed the reinforcing element in a substantially similar manner without need of control means.

In some embodiments, a roller assembly may comprise two or more drive wheels, which generates larger rotation force thereby larger feed force. Each drive wheel needs to be controlled by means of the feed motor and optionally a transmission so as to limit or prevent a variation of the respective rotation speed of the drive wheels.

In some embodiments, the displacement axis is perpendicular to the rotation axis. In this way the at least one of the feed wheels of each roller assembly may be displaced within the same plane as the feeding axis such that the primary peripheral surface and the secondary peripheral surface can be braced against the reinforcing element at the feeding axis in a straightforward and accurate manner.

In some embodiments, the feeding device as was described above comprises a first roller assembly configured to feed a first section of the reinforcing element, and a second roller assembly configured to feed a second section of the reinforcing element. The roller assemblies of the feeding device as was described above may exert sectionspecific compressive force on a reinforcing element which may have different sections with different properties, or constant unitary compressive force on a reinforcing element which may have homogeneous properties. Thus, the present disclosure provides a more flexible feeding device suitable for feeding a variety of types of reinforcing element, preferably a cable bolt, and more preferably a debond cable bolt.

In some embodiments, each feed wheel of the first roller assembly comprises a first surface material for interaction with the first section of the reinforcing element, each feed wheel of the second roller assembly comprises a second surface material for interaction with the second section of the reinforcing element. The roller assemblies of the feeding device as was described above have the advantage of facilitating exertion of section-specific compressive force on the reinforcing element which may have different sections with different surface properties and durability, which section-specific compressive force ensures integrity of the reinforcing element without compromising feeding efficiency. Thus, the present disclosure provides a robust and reliable feeding device suitable for feeding the reinforcing element which may have different sections with different surface properties and durability.

In some embodiments, the feeding device as was described above further comprises a detection means for distinguishing between the first section and the second section of the reinforcing element. The detection means facilitates an automatic switch e.g. from the first roller assembly to the second roller assembly in an accurate and timely manner.

In some embodiments, the feeding device as was described above further comprises a measuring wheel, and a rotation sensor for detecting rotation of the measuring wheel thereby determining a feed length of the reinforcing element. The measuring wheel together with the rotation sensor enables an accurate and simple measurement of a feed length of the reinforcing element . The feed length of the reinforcing element may serve as a parameter for distinguishing between the first section and the second section of the reinforcing element, which facilitates an automatic switch e.g. from the first roller assembly to the second roller assembly in an accurate and timely manner.

In some embodiments, at least one of the feed wheels is a measuring wheel, and wherein the feeding device further comprises a rotation sensor for detecting rotation of the measuring wheel thereby determining a feed length of the reinforcing element. In this way, the feeding device as was described above may comprise less components, whereby production and service costs may be reduced. This configuration has the advantage of providing a lean model of the feed device 20 with reduced weight.

In some embodiments, the measuring wheel is configured to rotate freely around a rotation axis perpendicular to the feeding axis. Thus, the rotation axis of the measuring wheel is parallel to the rotation axis of the feed wheel thereby ensuring an accurate and simple measurement of the feed length of the reinforcing element.

In some embodiments, the at least one actuator means of each roller assembly is configured to displace the at least one first feed wheel and the at least one second feed wheel simultaneously along the displacement axis. Thus, the present disclosure provides alternative ways for the at least one actuator means of each roller assembly to displace the feed wheels along a displacement axis in a first transverse direction toward the feeding axis for exerting a compressive force on the reinforcing element, or in a second transverse direction away from the feeding axis for releasing the compressive force from the reinforcing element.

The above mentioned objects are also achieved according to a second aspect of the disclosure by a rig comprising at least one feeding device as was described above.

In some embodiments, the rig may further comprise a system for securing a reinforcing element in a borehole. The rig according to the present disclosure has all the advantages that have been described above in conjunction with the feeding device for feeding a reinforcing element along a feeding axis into a borehole.

The above mentioned objects are also achieved according to a third aspect of the disclosure by a method performed by the feeding device as was described above for feeding a reinforcing element along a feeding axis into a borehole, the method comprising steps of

(i) engaging a roller assembly by means of the at least one actuator means displacing the at least one first feed wheel and/or the at least one second feed wheel along a displacement axis in a first transverse direction toward the feeding axis such that the primary peripheral surface and the secondary peripheral surface can be braced against the reinforcing element at the feeding axis for exerting a compressive force on the first section of the reinforcing element;

(ii) advancing a first section of the reinforcing element along the feeding axis into the borehole by means of the feed motor actuating rotation of the drive wheel around the rotation axis perpendicular to the feeding axis;

(iii) optionally, detecting a second section of the reinforcing element by means of the detection means distinguishing between the first section and the second section of the reinforcing element;

(iv) optionally, determining a feed length of the reinforcing element by means of the rotation sensor detecting rotation of the measuring wheel;

(v) disengaging the roller assembly by means of the at least one actuator means displacing the at least one first feed wheel and/or the at least one second feed wheel along the displacement axis in a second transverse direction away from the feeding axis such that the primary peripheral surface and/or the secondary peripheral surface are out of contact with the reinforcing element for releasing the compressive force from the reinforcing element;

(vi) repeating the steps (i) to (v) with each of the at least two roller assemblies separately and successively to feed a full length of the reinforcing element into the borehole.

The method according to the present disclosure has all the advantages that have been described above in conjunction with the feeding device for feeding a reinforcing element along a feeding axis into a borehole. The method according to the present disclosure for feeding a reinforcing element along a feeding axis into a borehole may be at least partially mechanized and/or automatized.

The above mentioned objects are also achieved according to a fourth aspect of the disclosure by a method performed by a control unit or a computer connected to the control unit for controlling operation of the feeding device as was described above for feeding a reinforcing element along a feeding axis into a borehole, the method comprising actions of controlling operation of the at least one actuator means, controlling operation of the at least one feed motor, optionally, obtaining data from the detection means, and optionally, obtaining data from the rotation sensor.

The method performed by a control unit or a computer connected to the control unit for controlling operation of the feeding device as was described above has all the advantages that have been described above in conjunction with the feeding device for feeding a reinforcing element along a feeding axis into a borehole. The method performed by a control unit or a computer connected to the control unit for controlling operation of the feeding device as was described above has further advantages of at least partly automatizing the method as was described above for feeding a reinforcing element along a feeding axis into a borehole.

The above mentioned objects are also achieved according to a fifth aspect of the disclosure by a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the feeding device for feeding a reinforcing element along a feeding axis into a borehole.

In some embodiments, there is provided a computer program which comprises program code for causing a control unit or a computer connected to the control unit to carry out the method as was described above for controlling operation of the feeding device for feeding a reinforcing element along a feeding axis into a borehole.

The computer program product provides all the advantages that have been described above in conjunction with the method performed by a control unit or a computer connected to the control unit for controlling operation of the feeding device for feeding a reinforcing element along a feeding axis into a borehole.

The above mentioned objects are also achieved according to a sixth aspect of the disclosure by a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the feeding device for feeding a reinforcing element along a feeding axis into a borehole.

In some embodiments, there is provided a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit or a computer connected to the control unit to carry out the method as was described above for controlling operation of the feeding device for feeding a reinforcing element along a feeding axis into a borehole.

The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.

BRIEF DESCRIPTION OF THE DRAWINGS

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

In the drawings:

Figure 1 is a schematic representation of a mining or construction work rig;

Figure 2 depicts a top view (I, III) and a bottom view (II, IV) of a feeding device with two roller assemblies in disengaged mode (I, II) or engaged mode (III, IV);

Figure 3 depicts a left side view (I) and a right side view (II) of the feeding device as illustrated in Figure 2 in the feeding direction of a reinforcing element;

Figure 4 is a schematic representation depicting a method performed by a feeding device for feeding a reinforcing element along a feeding axis into a borehole; and

Figure 5 is a block diagram illustrating a control unit and connections with the control unit.

DETAILED DESCRIPTION

The present disclosure aims to reduce or even eliminate exposure of personnel to the hazardous work environment during operations for feeding a reinforcing element along a feeding axis into a borehole. The present disclosure further aims to reduce manual workload without compromising work efficiency or productivity. The present disclosure improves the mechanized operation of feeding a reinforcing element into a borehole by providing a novel, flexible, robust and reliable solution which is advantageous over the state of the art. The present disclosure also enables improved remote and/or automatic controls of the mechanized operation of feeding a reinforcing element into a borehole.

According to a first aspect of the disclosure (Figs. 2 and 3), there is provided a feeding device 20 comprising at least two roller assemblies 1 , 2 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9, wherein each roller assembly 1, 2 comprises at least one first feed wheel 1a, 2a comprising a primary peripheral surface 11, 21 configured to interact with the reinforcing element 8, at least one second feed wheel 1b, 2b comprising a secondary peripheral surface 12, 22 configured to interact with the reinforcing element 8, wherein each feed wheel 1a, 2a, 1b, 2b is configured to rotate around a rotation axis AR perpendicular to the feeding axis AF, wherein at least one of the feed wheels 1a, 1b, 2a, 2b of each roller assembly 1 , 2 is a drive wheel; a feed motor 3 configured to actuate rotation of the drive wheel 1a, 1b, 2a, 2b around the rotation axis AR; and an actuator means 4 configured to displace the at least one first feed wheel 1a, 2a and/or the at least one second feed wheel 1b, 2b along a displacement axis (AD) in a first transverse direction toward the feeding axis AF such that the primary peripheral surface 11 , 21 and the secondary peripheral surface 12, 22 can be braced against the reinforcing element 8 at the feeding axis AF for exerting a compressive force on the reinforcing element 8; characterized in that the at least two roller assemblies 1 , 2 are configured to interact separately and successively with the reinforcing element 8 during feeding of the latter into the borehole 9.

With a “drive wheel” is herein meant a powered feed wheel which is driven by the feed motor 3.

The frictional force generated between the peripheral surfaces 11 , 12, 21 , 22 of the feed wheels 1a, 1b, 2a, 2b and the surface of the reinforcing element 8, and the rotation force generated by the feed motor 3 are utilized to produce a feed force for advancing the reinforcing element 8.

The feed motor 3 may be a motor of any type suitable for the intended use. In some embodiments, the feed motor 3 may be an in-wheel motor (Fig. 2). The feed motor 3 may be coupled directly to a drive wheel.

The actuator means 4 is also configured to release the compressive force from the reinforcing element 8 by displacing the at least one first feed wheel 1a, 2a and/or the at least one second feed wheel 1b, 2b along the displacement axis AD in a second transverse direction away from the feeding axis AF such that the primary peripheral surface 11, 21 and/or the secondary peripheral surface 12, 22 are out of contact with the reinforcing element 8. The second transverse direction may be opposite to the first transverse direction.

The at least two roller assemblies 1 , 2 of the feeding device 20 as was described above may be controlled to exert constant unitary compressive force or section-specific compressive force on the reinforcing element 8 during the process of feeding the reinforcing element 8.

Thus, the feeding device 20 according to the present disclosure provides a more flexible feeding device suitable for feeding a variety of types of reinforcing element 8. The reinforcing element 8 may be a continuous elongated element suitable for rock reinforcement. Preferably, the reinforcing element 8 may be a cable bolt. More preferably, the reinforcing element 8 may be a debond cable bolt.

In some embodiments, each roller assembly 1 , 2 may comprise an even number of feed wheels 1a, 1b, 2a, 2b, which has the advantage of ensuring that the feeding process may be performed in a precise and robust manner.

In some embodiments, the at least one first feed wheel 1a, 2a or the at least one second feed wheel 1 b, 2b of each roller assembly 1 , 2 is configured to rotate freely around the rotation axis AR perpendicular to the feeding axis AF. When a roller assembly 1 , 2 comprises only one drive wheel, all feed wheels 1a, 1b, 2a, 2b of the roller assembly 1 , 2 may feed the reinforcing element 8 in a substantially similar manner without need of control means.

In some embodiments (Figs. 2 and 3), a roller assembly 1 , 2 may comprise two or more drive wheels 1a, 1b, 2a, 2b, which generates larger rotation force thereby larger feed force. The rotation of each drive wheel 1a, 1b, 2a, 2b needs to be controlled by means of the feed motor 3 so as to limit or prevent a variation of the respective rotation speed of the drive wheels 1a, 1b, 2a, 2b. The feeding device 20 may further comprise a transmission 80 to facilitate the control of rotation of a drive wheel 1a, 1b, 2a, 2b. Each feed motor 3 may be connected to an I/O module or I/O relay module, which I/O module or I/O relay module may be connected to two or more feed motors 3.

In the embodiment as illustrated in Figs. 2 and 3, all feed wheels 1a, 1b, 2a, 2b of the feeding device 20 are drive wheels, wherein each drive wheel 1a, 1b, 2a, 2b is connected to a feed motor 3 configured to actuate rotation of the drive wheel 1a, 1b, 2a, 2b around the rotation axis AR. In Figs. 2 and 3, an open arrow indicates a feeding direction of a reinforcing element 8.

In some embodiments (Figs. 2 and 3), the displacement axis AD is perpendicular to the rotation axis AR. In this way the at least one of the feed wheels 1a, 1b, 2a, 2b of each roller assembly 1 , 2 may be displaced within the same plane as the feeding axis AF such that the primary peripheral surface 11 , 21 and the secondary peripheral surface 12, 22 can be braced against the reinforcing element 8 at the feeding axis AF in a straightforward and accurate manner.

In some embodiments, the feeding device 20 comprises a first roller assembly 1 configured to feed a first section 8a of the reinforcing element 8, and a second roller assembly 2 configured to feed a second section 8b of the reinforcing element 8.

The roller assemblies 1 , 2 of the feeding device 20 as was described above may exert section-specific compressive force on a reinforcing element 8 which may have different sections 8a, 8b with different properties, or constant unitary compressive force on a reinforcing element 8 which may have homogeneous properties. Thus, the present disclosure provides a more flexible feeding device 20 suitable for feeding a variety of types of reinforcing element 8, preferably a cable bolt, and more preferably a debond cable bolt.

In some embodiments, each feed wheel 1a, 1b of the first roller assembly 1 comprises a first surface 11, 12 material for interaction with the first section 8a of the reinforcing element 8, each feed wheel 2a, 2b of the second roller assembly 2 comprises a second surface 21, 22 material for interaction with the second section 8b of the reinforcing element 8.

The roller assemblies 1 , 2 of the feeding device 20 as was described above have the advantage of facilitating exertion of section-specific compressive force on the reinforcing element 8 which may have different sections 8a, 8b with different surface properties and durability, which section-specific compressive force ensures integrity of the reinforcing element 8 without compromising feeding efficiency. Thus, the present disclosure provides a robust and reliable feeding device 20 suitable for feeding the reinforcing element 8 which may have different sections 8a, 8b with different surface properties and durability.

In some embodiments, each feed wheel 1a, 1b of the first roller assembly 1 comprises a steel surface for interaction with the first section 8a of the reinforcing element 8, each feed wheel 2a, 2b of the second roller assembly 2 comprises a plastic surface for interaction with the second section 8b of the reinforcing element 8. Thus, this specific configuration of the feeding device 20 is suitable for feeding e.g. a debond cable bolt comprising a first section 8a with plain steel surface and a second section 8b with plastic surface which sections have different surface properties and durability.

In some embodiments, the feeding device 20 further comprises a detection means 70 for distinguishing between the first section 8a and the second section 8b of the reinforcing element 8.

The detection means 70 may be a sensor of any type suitable for the intended use, such as a position sensor, a resolver, a microswitch, a rotating pulse sensor or a rotation sensor 17. The detection means 70 monitors the process of feeding the reinforcement element 8 and facilitates an automatic switch e.g. from the first roller assembly 1 to the second roller assembly 2 in an accurate and timely manner.

In some embodiments (Figs. 2 and 3), the feeding device 20 as was described above further comprises a measuring wheel 7, and a rotation sensor 17 for detecting rotation of the measuring wheel 7 thereby determining a feed length of the reinforcing element 8.

The rotation of the measuring wheel 7 produces a signal that is proportional to the feed length of the reinforcing element 8, which signal is detected by the rotation sensor 17. The measuring wheel 7 together with the rotation sensor 17 enables an accurate and simple measurement of a feed length of the reinforcing element 8. The feed length of the reinforcing element 8 may serve as a parameter for distinguishing between the first section 8a and the second section 8b of the reinforcing element 8, which facilitates an automatic switch e.g. from the first roller assembly 1 to the second roller assembly 2 in an accurate and timely manner.

The feeding device 20 as demonstrated in Figs. 2 and 3 further comprises a base body 10, a support arm 5 and a spring 6, wherein the measuring wheel 7 and the rotation sensor 17 are arranged at a first end of the support arm 5, a second end of the support arm 5 is fixedly connected to the base body 10, and the spring 6 connects the first end of the support arm 5 to the base body 10. The spring 6 is configured to ensure a communication between the measuring wheel 7 and a reinforcing element 8 during feeding of the reinforcing element 8. This configuration has the advantage of saving space thereby increasing the compactness of the feeding device 20.

In some embodiments, at least one of the feed wheels 1a, 1b, 2a, 2b is a measuring wheel, and wherein the feeding device 20 further comprises a rotation sensor for detecting rotation of the measuring wheel 1a, 1b, 2a, 2b thereby determining a feed length of the reinforcing element 8.

By means of having a feed wheel with dual functions as was described above the feeding device 20 may comprise less components, which may reduce production and service costs. This configuration has the advantage of providing a lean model of the feed device 20 with reduced weight.

In some embodiments, the measuring wheel 7; 1a, 1b, 2a, 2b is configured to rotate freely around a rotation axis AFT perpendicular to the feeding axis AF.

Thus, the rotation axis AFT of the measuring wheel is parallel to the rotation axis AR of the feed wheel thereby ensuring an accurate and simple measurement of the feed length of the reinforcing element 8.

In the feeding device 20 as demonstrated in Fig. 2, each roller assembly 1 , 2 has one actuator means 4 configured to displace one feed wheel 1b, 2b.

In some embodiments, the at least one actuator means 4 of each roller assembly 1, 2 is configured to displace the at least one first feed wheel 1a, 2a and the at least one second feed wheel 1b, 2b simultaneously along the displacement axis AD.

Thus, the present disclosure provides alternative ways for the at least one actuator means 4 of each roller assembly 1 , 2 to displace the feed wheels 1a, 1b, 2a, 2b along a displacement axis AD in a first transverse direction toward the feeding axis AF such that the primary peripheral surface 11, 21 and the secondary peripheral surface 12, 22 can be braced against the reinforcing element 8 at the feeding axis AF for exerting a compressive force on the reinforcing element 8, or in a second transverse direction away from the feeding axis AF such that the primary peripheral surface 11 , 21 and/or the secondary peripheral surface 12, 22 are out of contact with the reinforcing element 8 for releasing the compressive force from the reinforcing element 8.

The actuator means 4 may be an actuator of any type suitable for the intended use. The actuator means 4 may be a thrust actuator, a linear electric actuator, a hydraulic or pneumatic cylinder, or a multi-position cylinder.

According to a second aspect of the disclosure, there is provided a rig 200 comprising at least one feeding device 20 as was described above (Fig. 1). The rig 200 may be a complex equipment intended for earth surface use or underground use. The rig 200 may be a mining or construction work rig adapted for various mining operations or construction work. In some embodiments (Fig. 1), the rig 200 may further comprise a carrier 210 and a boom 220, wherein the boom 220 is connected at a terminal end to the carrier 210 and at an opposite terminal end to a mounting device 300, and wherein the feeding device 20 is arranged on the mounting device 300.

In some embodiments, the rig 200 may further comprise a system for securing a reinforcing element 8 in a borehole 9.

The rig 200 according to the present disclosure has all the advantages that have been described above in conjunction with the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

According to a third aspect of the disclosure, there is provided a method performed by the feeding device 20 as was described above for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9. The method comprises the following steps, which steps may be taken in any suitable order.

Step (i): engaging a roller assembly 1 , 31 by means of the at least one actuator means 4 displacing the at least one first feed wheel 1a, 31a and/or the at least one second feed wheel 1b, 31b along a displacement axis AD in a first transverse direction toward the feeding axis AF such that the primary peripheral surface 11 and the secondary peripheral surface 12 can be braced against the reinforcing element 8 at the feeding axis AF for exerting a compressive force on the reinforcing element 8 (Fig. 4II).

Step (ii): advancing a first section 8a of the reinforcing element 8 along the feeding axis AF into the borehole 9 by means of the feed motor 3 actuating rotation of the drive wheels 1a, 1b, 31a, 31b around the rotation axis AR perpendicular to the feeding axis AF (Fig. 4II).

Step (iii): optionally, detecting a second section 8b of the reinforcing element 8 by means of the detection means distinguishing between the first section 8a and the second section 8b of the reinforcing element 8.

Step (iv): optionally, determining a feed length of the reinforcing element 8 by means of the rotation sensor 17 detecting rotation of the measuring wheel 7, 37 (Fig. 4II).

Step (v): disengaging the roller assembly 1, 31 by means of the at least one actuator means 4 displacing the at least one first feed wheel 1a, 31a and/or the at least one second feed wheel 1b, 31b along the displacement axis AD in a second transverse direction away from the feeding axis (AF) such that the primary peripheral surface 11 and/or the secondary peripheral surface 12 are out of contact with the reinforcing element 8 for releasing the compressive force from the reinforcing element 8 (Fig. 4IV).

Step (vi): repeating the steps (i) to (v) with each of the at least two roller assemblies 1 , 2, 31, 32 separately and successively to feed a full length of the reinforcing element 8 into the borehole 9 (Fig. 4IV-V).

The method according to the present disclosure has all the advantages that have been described above in conjunction with the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

Fig. 4 illustrates an example embodiment of the method performed by the feeding device 20 as was described above for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9. In Fig. 4, a horizontal open arrow indicates either a first transverse direction of displacing a feed wheel 31a, 31b, 32a, 32b toward the feeding axis AF or a second transverse direction of displacing a feed wheel 31a, 31b, 32a, 32b away from the feeding axis AF; an upward open arrow indicates a feeding direction of the reinforcing element 8; a downward open arrow indicates a moving direction of the feeding device 20; and a curved open arrow indicates a rotation direction of a feed wheel 31a, 31b, 32a, 32b or a measuring wheel 37. In the example embodiment as demonstrated in Fig.4, the reinforcing element 8 comprises a first section 8a and a second section 8b; the feeding device 20 comprises a first roller assembly 31, a second roller assembly 32 and a measuring wheel 37; wherein each roller assembly 31, 32 comprises a first feed wheel 31a, 32a and a second feed wheel 31b, 32b. The method comprises the following steps in any suitable order: mounting the feeding device 20 with the reinforcing element 8 (Fig. 4I); engaging the first roller assembly 31 by means of the at least one actuator means displacing the first feed wheel 31a and the second feed wheel 31b along a displacement axis AD in a first transverse direction toward the feeding axis AF such that the primary peripheral surface and the secondary peripheral surface can be braced against the first section 8a of the reinforcing element 8 at the feeding axis AF for exerting a compressive force on the first section 8a of the reinforcing element 8 (Fig. 4II); advancing the first section 8a of the reinforcing element 8 along the feeding axis AF into the borehole 9 by means of the feed motor actuating rotation of the drive wheel 31a, 31b around the rotation axis AR perpendicular to the feeding axis Ap (Fig. 4II); determining a feed length of the reinforcing element 8 by means of the rotation sensor detecting rotation of the measuring wheel 37 (Fig. 411); pausing the feed motor at the exit of the first section 8a of the reinforcing element 8 from the feeding device 20 (Fig. 4111); engaging the second roller assembly 32 by means of the at least one actuator means displacing the first feed wheel 32a and the second feed wheel 32b along a displacement axis AD in a first transverse direction toward the feeding axis AF such that the primary peripheral surface and the secondary peripheral surface can be braced against the second section 8b of the reinforcing element 8 at the feeding axis AF for exerting a compressive force on the second section 8b of the reinforcing element 8 (Fig. 4111); disengaging the first roller assembly 31 by means of the at least one actuator means displacing the at least one first feed wheel 31a and the at least one second feed wheel 31b along the displacement axis AD in a second transverse direction away from the feeding axis AF such that the primary peripheral surface and the secondary peripheral surface are out of contact with the reinforcing element 8 for releasing the compressive force from the first section 8a of the reinforcing element 8 (Fig. 4IV); advancing the second section 8b of the reinforcing element 8 along the feeding axis AF into the borehole 9 by means of the feed motor actuating rotation of the drive wheel 32a, 32b around the rotation axis AR perpendicular to the feeding axis AF (Fig. 4IV); pausing the feed motor at the exit of the second section 8b of the reinforcing element 8 from the feeding device 20 (Fig. 4V); disengaging the second roller assembly 32 by means of the at least one actuator means 4 displacing the at least one first feed wheel 32a and the at least one second feed wheel 32b along the displacement axis AD in a second transverse direction away from the feeding axis (AF) such that the primary peripheral surface and the secondary peripheral surface are out of contact with the reinforcing element 8 for releasing the compressive force from the second section 8b of the reinforcing element 8 (Fig. 4V); dismounting the feeding device 20 from the reinforcing element 8 (Fig. 4V); and ensuring that the reinforcing element 8 is completely in the borehole 9 with a push leg 30 (Fig. 4V). The method according to the present disclosure for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9 may be at least partially mechanized and/or automatized.

According to a fourth aspect of the disclosure, there is provided a method performed by a control unit 50 or a computer connected to the control unit 50 for controlling operation of the feeding device 20 as was described above for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9, the method comprises the following actions in any suitable order: controlling operation of the at least one actuator means 4, controlling operation of the at least one feed motor 3, optionally, obtaining data from the detection means 70, and optionally, obtaining data from the rotation sensor 7.

In some embodiments, the method further comprises an optional action of controlling operation of the transmission 80 (Fig. 5).

As illustrated in Fig. 5, the control unit 50 may be connected with a feed motor 3, an actuator means 4, a rotation sensor 7, a detection means 70 and a transmission 80 via the communication links 50a, 50b, 50c, 50d and 50e respectively. The control unit 50 comprises a processor 51, a memory 52 and a data port 53. The processor 51 is usually an electronic processing circuitry that processes input data and provides appropriate output.

The method performed by a control unit 50 or a computer connected to the control unit

50 for controlling operation of the feeding device 20 as was described above has all the advantages that have been described above in conjunction with the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

The method performed by a control unit 51 or a computer connected to the control unit

51 for controlling operation of the feeding device 20 as was described above has further advantages of at least partly automatizing the method as was described above for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

According to a fifth aspect of the disclosure, there is provided a computer program product comprising instructions which, when executed on at least one processor 51 , cause the at least one processor 51 to carry out the method as was described above for controlling operation of the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9. According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit 50 or a computer connected to the control unit 50 to carry out the method as was described above for controlling operation of the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

The computer program product provides all the advantages that have been described above in conjunction with the method performed by a control unit 50 or a computer connected to the control unit 50 for controlling operation of the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

According to a sixth aspect of the disclosure, there is provided a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 51, cause the at least one processor 51 to carry out the method as was described above for controlling operation of the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

According to some embodiments herein there is provided a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit 50 or a computer connected to the control unit 50 to carry out the method as was described above for controlling operation of the feeding device 20 for feeding a reinforcing element 8 along a feeding axis AF into a borehole 9.

The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.

The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.

Although the invention has been described in terms of example embodiments as set forth above, it should be understood that the examples are given solely for the purpose of illustration and are not to be construed as limitations of the claims, as many variations thereof are possible without departing from the scope of the invention. Each feature disclosed or illustrated in the present disclosure may be incorporated in the claims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.