Rod feeding apparatus in core drilling

Abstract

A rod feeding apparatus of the type used in underground and surface mining core drilling is disclosed. The apparatus has a receptacle configured to contain outer rods in a rod storage area. A rod discharging mechanism is configured to support the rods within the rod storage area, and actuatable to displace the rods upwardly and discharge one or more rods from the rod storage area. A rod dispenser associated with the receptacle is adapted to receive the one or more rods discharged from the rod storage area by action of the rod discharging mechanism, and to expose them onto a rod collection area of the rod dispenser for access.

Description

ROD FEEDING APPARATUS IN CORE DRILLINGCROSS-REFERENCE TO RELATED APPLICATION

[0001] The application claims the priority of U.S. provisional patent application no. 63 / 704,728, the entire content of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The application relates to rod feeding apparatuses of the type used in underground and surface mining core drilling.BACKGROUND

[0003] In core drilling, cores of rock material are mined. In such cases, to reach suitable drilling depths, outer tubes are assembled end to end to form an elongated rod or pipe in which inner tubes may be conveyed from a distal head assembly to a proximal end. As the elongated rod may be several thousand feet long, the assembly of outer rods may be manipulation intensive. Outer rods may be prone to wear and damages when manipulated during assembly to or disassembly from an elongated rod, and during manipulations for storage. In certain applications, such as underground mining applications, the assembly, storage and manipulation of outer rods may have to be performed in a confined and soiled environment, which may impose rod manipulation challenges. Notably, when outer rods are stored, the humidity and grease on the outer rods may result in the outer rods bulking up and being tied together, for instance by freeze.SUMMARY

[0004] In one aspect, there is provided a rod feeding apparatus for outer rods, the rod feeding apparatus comprising: a receptacle configured to contain a plurality of outer rods in a rod storage area; a rod discharging mechanism configured to support the plurality ofouter rods within the rod storage area, the rod discharging mechanism actuatable to displace the plurality of outer rods upwardly and discharge one or more outer rods from the rod storage area; and a rod dispenser associated with the receptacle, the rod dispenser adapted to receive the one or more outer rods discharged from the rod storage area by action of the rod discharging mechanism, and to expose the one or more outer rods onto a rod collection area of the rod dispenser for access.

[0005] In accordance with the above aspect, for example, the rod dispenser includes at least one actuator adapted to discard a first one of the one or more rods from a first section of the rod collection area to a second section of the rod collection area of the rod dispenser.

[0006] In accordance with the above aspects, for example, the rod dispenser is actuatable to move between a rod loading position and a rod unloading position, the rod collection area inclined downwardly in the rod unloading position, and the rod collection area inclined upwardly in the rod loading position.

[0007] In accordance with the above aspects, for example, the rod dispenser is pivotable and includes at least one actuator to pivot the rod dispenser relative to the receptacle.

[0008] In accordance with the above aspects, for example, the rod dispenser is supported by an extendable member, the extendable member extendable between a retracted condition and an extended position.

[0009] In accordance with the above aspects, for example, the extendable member has a locking mechanism to selectively lock the extendable member at least in the retracted condition or the extended position.

[0010] In accordance with the above aspects, for example, the rod discharging mechanism includes at least one flexible tensile element to support the plurality of rods.

[0011] In accordance with the above aspects, for example, the at least one flexible tensile element is a chain.

[0012] In accordance with the above aspects, for example, when the plurality of rods are accumulated in the rod storage area, the plurality of rods are supported by a portion of the at least one flexible tensile element.

[0013] In accordance with the above aspects, for example, the at least one flexible tensile element has a segment extending between opposite ends of the receptacle, the plurality of rods in the rod storage area supported by the segment.

[0014] In accordance with the above aspects, for example, the at least one flexible tensile element is in rolling engagement with rolling members.

[0015] In accordance with the above aspects, for example, the rod discharging mechanism includes an actuator operatively coupled to the at least one flexible tensile element, the actuator operable to: shorten the segment of the at least one flexible tensile element to reduce an effective volume of the rod storage area by an upward displacement of the segment towards a discharge end of the receptacle, and lengthen the segment of the at least one flexible tensile element to increase the effective volume of the rod storage area by a lowering displacement of the segment within the rod storage area.

[0016] In accordance with the above aspects, for example, the actuator is a first actuator, the rod discharging mechanism including a second actuator, the first actuator and the second actuator coupled to respective opposite ends of the at least one flexible tensile element.

[0017] In accordance with the above aspects, for example, the first actuator and the second actuator have a stroke displacement, a sum of the stroke displacement of the first actuator and the second actuator corresponding to a length delta of the segment upon actuation to shorten and lengthen the segment.

[0018] In accordance with the above aspects, for example, the at least one flexible tensile element includes a first flexible tensile element and a second flexible tensile element, the first flexible tensile element and the second flexible tensile element extending on opposite sides of the receptacle for supporting the plurality of rods in the rod storage area.

[0019] In accordance with the above aspects, for example, the segment of the at least one flexible tensile element, when the apparatus is in an unloaded condition, is inclined from a lower end of the segment on a side of the receptacle proximate the rod dispenser to an upper end of the segment on an opposite side of the receptacle that is distal to the rod dispenser.

[0020] In accordance with the above aspects, for example, an angle 0 of the segment of the at least one flexible tensile element between the lower end of the segment and the upper end of the segment is in accordance with sin-1 (H / L), where H is a relative elevation between the lower end and the upper end of the segment, and L is a length of the segment between the lower end and the upper end of the segment.

[0021] In accordance with the above aspects, for example, the apparatus firther comprises a rod collector configured to grasp a discharged one of the plurality of rods from the rod collection area of the rod dispenser.

[0022] In accordance with the above aspects, for example, the rod collector is mounted on a retractable subframe connected to the receptacle.

[0023] In accordance with the above aspects, for example, the receptacle has side walls delimiting opposite sides of the rod storage area, an open width between the side walls may generally correspond to a length of the plurality of rods, the side walls adapted to center the plurality of rods within the receptacle.

[0024] In another aspect, there is provided a method for unloading rods from a rod feeding apparatus, comprising: reducing an available space within a receptacle of the apparatus, the available space loaded with a plurality of the rods, including displacing the plurality of rods upward, towards a discharging end of the receptacle, discharging rods from the discharging end of the receptacle towards a rod dispenser, and picking the discharged rods from a rod collection area on the rod dispenser.

[0025] In accordance with the above aspect, for example, reducing the available space includes lifting the plurality of rods within the receptacle by rising a deformable support from a bottom of the receptacle towards the discharging end of the receptacle.

[0026] In accordance with the above aspects, for example, rising the deformable support includes forcing a shift of rods in a stack of the plurality of rods within the receptacle.

[0027] In accordance with the above aspects, for example, displacing the plurality of rods upward includes shortening a segment of the deformable support extending between opposite sides of the receptacle, the plurality of rods in the receptacle supported by the segment.

[0028] In accordance with the above aspects, for example, rising the deformable support includes operating an actuator to pull on the deformable support.

[0029] In accordance with the above aspects, for example, discharging rods includes lining up discharged rods in a parallel manner on a rod collection area of the rod dispenser.

[0030] In accordance with the above aspects, for example, the method further comprises discarding one of the discharged rods in the rod collection area from the other discharged rods.

[0031] In accordance with the above aspects, for example, picking the discharged rods includes picking the discarded one of the discharged rods with a rod collector.

[0032] In accordance with the above aspects, for example, picking the discharged rods with the rod collector includes displacing a robotic arm towards the rod dispenser until an end effector of the rod collector is at a reaching distance from one of the discharged rods on the rod dispenser, and actuating the end effector to collect the one of the discharged rods.

[0033] In accordance with the above aspects, for example, picking the discharged rods includes picking a single one of the discharged rods at a time.DESCRIPTION OF THE DRAWINGS

[0034] Reference is now made to the accompanying figures in which:

[0035] Fig. 1 is a perspective view of a rod feeding apparatus containing a bundle of rods, according to an embodiment.

[0036] Fig. 2 is another perspective view of the rod feeding apparatus of Fig. 1 , in a partially unloaded state.

[0037] Fig. 3A is an exploded perspective view of the rod feeding apparatus of Fig. 1 , according to an embodiment.

[0038] Fig. 3B is a close up view of components of a rod discharging system of the rod feeding apparatus of Fig. 1 , according to an embodiment.

[0039] Figs. 4A, 4B and 4C are side elevation view of the rod feeding apparatus of Fig. 1 , in three different loading states.

[0040] Figs. 5A, 5B and 5C are close up views of a rod dispenser of the rod feeding apparatus of Fig. 1 , illustrating a sequence of operation thereof, according to an embodiment.

[0041] Fig. 6A is a perspective partial view of a variant of the rod feeding apparatus of Fig. 1 , including a rod collector, according to an embodiment, shown in one configuration.

[0042] Fig. 6B is another perspective partial view of the variant of the rod feeding apparatus of Fig. 6A with the rod collector, in another configuration.

[0043] Fig. 7 is a perspective view of a variant of the rod feeding apparatus of Fig. 1 .

[0044] Fig. 8 is an partial exploded view of the variant of Fig. 7.

[0045] Fig. 9A is a partial cross-sectional view of a rod dispenser of the rod feeding apparatus of Fig. 7, in a rod unloading configuration of the rod feeding apparatus.

[0046] Fig. 9B is a partial cross-sectional view of the rod dispenser of Fig. 9A, in a rod loading configuration of the rod feeding apparatus.DETAILED DESCRIPTION

[0047] Referring to the drawings and more particularly to Figs. 1-2, a rod feeding apparatus in accordance with the present disclosure is generally shown at 10. The rod feeding apparatus 10 may be used in the context of core drilling, in underground or surface mining applications, and may perform different functions. One such function may be to stock up outer tubes, also referred to herein as outer rods, to assemble or disassemble with an elongated pipe of outer tubes. Another such function may be to feed outer tubes to a rod handling apparatus, such as a rod handling apparatus as disclosed in International Patent Application PCT / CA2020 / 050105, published as W02020154804A1 , the entire content of which is incorporated herein by reference, and / or a drill rig.

[0048] According to an embodiment, the rod feeding apparatus 10 is configured to stock a plurality of outer rods 11. The rod feeding apparatus 10 is configured to support the plurality of outer rods 11 , and contain them in a rod storage area 12. The rod feeding apparatus 10 may be mounted to a vehicle, or transported with a fork lift or crane, for example. For simplicity, the rod feeding apparatus 10 is shown alone, though it can be readily mounted to a supporting vehicle, equipment, structure.

[0049] The rod feeding apparatus 10 includes : a receptacle 20 configured to contain outer rods 11. The receptacle 20 defines the rod storage area 12 and is configured to contain the plurality of outer rods 11 in a stacked and bundled manner, in which the outer rods 11 are all generally longitudinally parallel to one another; a rod discharging mechanism 30 configured to support the plurality of outer rods 11 within the rod storagearea 12. The rod discharging mechanism 30 is actuatable to displace the plurality of outer rods upwardly and discharge one or more outer rods 11 from the rod storage area 12; and a rod dispenser 40 associated with the receptacle 20. The rod dispenser 40 is adapted to receive the rods 11 discharged from the rod storage area 12, by action of the rod discharging mechanism, and to expose and / or line up rods 11 discharged onto a rod collection area 13 of the rod dispenser 40 to access.

[0050] In some variants, the apparatus 10 may include a rod collector 50 to pick a rod from the collection area 13.

[0051] A system may include the rod feeding apparatus 10 and a controller 60. A controller 60 may be operatively connected to the various motors / actuators of the rod feeding apparatus 10. The controller 60 may include one or more processing units and transitory computer-readable memory communicatively coupled to the processing unit(s) and comprising computer-readable program instructions executable by the processing unit(s) for operating the rod feeding apparatus 10 in the manner described herein. In an embodiment, the controller 60 may have a remote user interface communicatively coupled with the controller 60. The remote user interface may be a handheld device that is manually operable to select operating modes, start and / or stop an actuation sequence of the mechanism 30, dispenser 40, and / or rod collector 50 (if present, as described later). Other types of user interface could be contemplated, e.g., self-standing user interface, wired or wireless. The controller 60 could be embedded into the user interface in variants.

[0052] In the embodiment shown, the receptacle 20 is sized so that the rod storage area 12 may receive about 300-350 rods 11 , in a particular embodiment, 330 rods 11. The rods 11 are in a stacked and bundled manner as illustrated, in which the rods 11 are all generally longitudinally parallel to one another, i.e., longitudinal axes of the rods 11 are parallel to one another (within ± 5 degrees). In some applications, core drilling involves the drilling of bed rock over a distance of approximately 1300 meters. The receptacle 20 fully loaded with rods 11 may be sized to contain a sufficient number of rods 11 to feed a drilling or rod handling apparatus for one full hole drilling operation, without recharging. The number and size of rods 11 may vary depending on the applications, hence variants of the apparatus 10 could be sized to receive more or less rods 11 .

[0053] The receptacle 20 could be loaded on site, manually or with an appropriate boom, crane, or the like. The receptacle 20 could be pre-loaded before installing the apparatus 10 at a drilling station. The receptacle 20 may thus contain a plurality of rods 11 , which may be pre-loaded at the ground surface, then carried to an underground location to take part of an underground drilling station. This is one possible method to utilize the apparatus 10. The receptacle 20 could be loaded with rods 11 by manpower, or a crane or other lifting equipment, as other possibilities. As will be described later, the receptacle 20, once depleted (or partially depleted), can be re-loaded with the same rods 11 that were taken out for the drilling operation, once the operation is concluded and the elongated rod disassembled. The loading of the receptacle 20 with those used rods 11 is described later herein as part of an exemplary loading procedure.

[0054] In the embodiment shown, the receptacle 20 has a structure that may include one or more of beams, panels, brackets, and / or other structural components which, once assembled, form a frame assembly (which can simply be referred to as a frame) or box of the apparatus 10. The structure forming the frame assembly can be welded, fastened, or both. Components of the rod discharging mechanism 30, the rod dispenser 40, and the rod collector 50 (in variants) may be mounted to that frame assembly.

[0055] The receptacle 20 has a base 21 configured to be anchored or supported on a supporting environment (e.g., rock, slab). In the embodiment shown, the base 21 includes forklift pockets 21A adapted to receive forks of a forklift for transporting / handling the apparatus 10, with or without rods 11 stored therein.

[0056] The receptacle 20 has opposite left and right side walls, referred to herein as side walls 22. As shown, the receptacle 20 may have an open top for receiving rods 11 and discharging rods 11 therefrom. The side walls 22 delimit the opposite sides of the rod storage area 12. An open width between the side walls 22 may generally correspond to the length of the rods 11. As such, when the rods 11 are deposited into the rod storage area 12, the side walls 22 may serve as alignment features to maintain the plurality of rods 11 stacked in a relatively centered manner within the receptacle 20. The open width between the side walls 22 may be dimensioned so as to generally correspond to the length of the rods 11 to be stored. A tight tolerancing between the open width and thelength of the rods 11 may allow a more precise crosswise alignment of the rods 11 when they lie on the rod collection area 13 for subsequent picking by the rod collector 50. The use of tighter tolerances may improve the positional accuracy and operational reliability during rod picking tasks performed by the rod collector 50.

[0057] Referring to Fig. 2, the receptacle 20 has a front end 23 and rear end 24. The expressions “front”, “rear”, “lateral” and “sides” are used herein as a way to relatively distinguish between the components of the receptacle 20. However, these expressions are merely used as monikers, as the orientation of the receptacle 20 could result in the front being the rear or a side, etc. In the embodiment shown, the front end 23 and rear end 24 are partially open ends. In variants, the front and rear ends 23, 24 of the receptacle 20 could be closed. As shown in Fig. 2, the front and rear ends 23, 24 of the receptacle 20 each include a pair of lateral posts 23L, 23R, 24L, 24R. As shown, the lateral posts 23L, 23R, 24L, 24R extend from the base 21. The lateral posts 23L, 23R, 24L, 24R, with the side walls 22, form surrounding wall sections of the rod storage area 12. The lateral posts are made of a brackets and bars, as an option. Other structural members or arrangement could be contemplated. In the embodiment shown, the posts 23L, 23R, 24L, 24R flare upwardly. The rod storage area 12 is correspondingly flared. Stated otherwise, the bottom of the rod storage area 12 has a smaller open cross-section than at a top (or discharging end) thereof. Such a flared shape may facilitate the loading / unloading of rods 11 . The rod storage area 12 has a reversed trapezoidal shape in the embodiment shown, but the rod storage area 12 and / or the receptacle 20 could have other opening shapes, e.g., rectangular, square, as some possibilities. In the embodiment shown, the front posts 23L, 23R extend obliquely forwardly, whereas the rear posts 24L, 24R extend obliquely rearwardly. As shown, the side walls 22 extends from a front one to a rear one of the posts 23L, 23R, 24L, 24R. In the embodiment shown, the side walls 22 fully close the right and left sides of the receptacle 20, between the respective front and rear posts 23L, 23R, 24L, 24R. One or more transverse members 25 (e.g., beam, bracket, bar) may extend between and interconnect the pair of front posts 23L, 23R, and / or the pair of rear posts 24L, 24R, for added frame rigidity. Those members 25 are optional. Wear plates 26 are shown in Fig. 2 and Fig. 3A. Such wear plates 26 can be mounted on the base 21 , between a respective front post 23L, 23R and rear post 24L, 24R, and / or on an inner side (side facing towards the rod storing area 12) of the respective front post 23L, 23R andrear post 24L, 24R. These wear plates 26 are configured to interface between the front / rear posts 23L, 23R, 24L, 24R, or base 21 , and a chain segment of the rod discharging mechanism 30. These wear plates 26 are optional.

[0058] With continued reference to Fig. 2 and additional reference to Figs. 3A-3B, components of the rod discharging mechanism 30 are mounted to the posts 23L, 23R, 24L, 24R. Some of such components are partially hidden by front and rear covers 27F, 27R of the posts 23L, 23R, 24L, 24R on Fig. 2. Features of the rod discharging mechanism 30 will thus now be described with reference to Figs. 3A-3B.

[0059] As mentioned above, the rod discharging mechanism 30 is actuatable to displace the plurality of rods 11 upwardly and discharge one or more outer rods 11 from the rod storage area 12. The rod discharging mechanism 30 is adapted to support the plurality of rods 11 within the rod storage area 12, and displace the stack of rods 11 within the rod storing area 12, either upward to progressively discharge the rods 11 from the discharging end of the receptacle 20, until the receptacle 20 is emptied, or downwardly to progressively increase the available space to receive rods 11 within the rod storage area 12 as rods 11 are being loaded into the receptacle 20, individually or in small batches, to fill the rod storing area 12. A loading / reloading procedure will be described later. When the rod discharging mechanism 30 is actuated to displace the plurality of rods 11 upwardly, the combination of the force applied to the bundle of rods 11 by the rod discharging mechanism 30 and gravity may result in shear forces or like forces on the bundle of rods 11 , causing at least some of the rods 11 to move relative to one another.

[0060] In the embodiment shown, the rod discharging mechanism 30 includes chains 31. In variants, belts could also be contemplated, for example, or any other non rigid support whose tension could be adjusted (e.g., tarp, conveyor, carpet, track, strap, belt, webbing, rope). The non rigid supports contemplated herein, such as the chains 31 , may be flexible, support high tensile strength longitudinally, while being relatively compliant in a bending / transverse direction. Such supports may be referred to as a flexible tensile elements. Such a flexible tensile element may be easily bendable across its width, allowing to conform to a curved path, such as by wrapping around pulleys, rollers, sprockets, while being capable of withstanding high tension. In the embodiment shown,there is a pair of chains 31 L, 31 R located on opposite sides of the receptacle 20. In Fig. 3A two pairs of chains 31 L, 31 R are illustrated, though this is optional. A portion (or segment) of the chains 31 L, 31 R supports the rods 11. The chains 31 L, 31 R have opposite ends 31 E, and an upper chain segment 31 II configured to support the rods 11 at opposite ends or end portions thereof. The chains 31 are mounted in driving engagement on sprockets 32. In the embodiment shown, each chain 31 forms an open loop and engages sprockets 32 mounted at ends of a respective front post 23L, 23R and a rear post 24L, 24R. An additional, bottom, sprocket 32 is mounted on or close from the base 21 , at a base of respective front posts 23L, 23R. The upper chain segment 31 II of the chains 31 L, 31 R extends between one of the sprocket 32 mounted on a front post 23L, 23R and another one of the sprocket 32 mounted on a rear post 24L, 24R. The chains and sprockets arrangement is one possibility. In variants, a belt and pulley / rollers arrangement could also be contemplated, for example, tarp, conveyor, carpet, strap, belt, webbing, track and rollers, etc.). In variants, rolling members other than sprockets may be contemplated, such as rollers, pulleys.

[0061] As shown in Fig. 3B, each end 31 E of the chains 31 L, 31 R is operatively coupled to a respective actuator 33. The actuators 33 are mounted to the base 21 or a post 23. Upon actuation of the actuators 33, the chains 31 L, 31 R rollingly engage onto their respective sprockets 32 (bottom sprocket and the pair of upper sprockets).

[0062] Returning to Fig. 2, the actuators 33AL, 33AR, 33BL, 33BR (referred to generally as actuators 33) are linear actuators. In variants, other types of actuators could be contemplated, such as rotary actuators, winches, for example. In some embodiments, the actuators are hydraulic actuators, but other types of power supplied actuators could be contemplated such as electric actuators.

[0063] In operation, the actuators 33 may pull on respective ends of the chains 31 (left and right side chains 31 L, 31 R) from their extended state to their retracted state to progressively shorten the upper chain segment 31 U that supports the rods 11. As this happens, as illustrated in Figs. 4A to 4C, the rods 11 within the rod storage area 12 are displaced upwardly (lifted), towards the discharging end of the receptacle 20. Such a displacement of the stack of rods 11 causes stress on adjacent ones of the rods 11 , suchthat the stack of rods 11 deforms, as a consequence of the lifting by the upper chain segment 31 II. Such forced shifting of the rods 11 stacked may be desirable since, in some use scenarios, humidity, grease, dirt, ice etc., may cause the rods 11 to get stuck to another. The lifting of the stack of rods 11 by a deformable I non-rigid support as described herein (e.g., the chains 31) may force a relative movement of the rods, hence limit such effect. The deformable support (e.g., the chains 31) changes its shape at the interface with the rods 11 , such that the force applied to the rods 11 may differ from rod 11 to rod 11 , causing the stress and subsequent separation between the rods 11 . As the upper chain segment 31 II is shortened by the operation of the actuator 33, the effective volume of the rod storage area 12 is reshaped by an upward displacement of the upper chain segment 31 II towards the discharging end of the receptacle 20.

[0064] In the opposite direction, as the actuators 33 are retracting towards their retracted state, the upper chain segment 31 II lengthens, thereby lowering the rods 11 within the rod storage area 12. Figs. 4A-4C show the apparatus 10 in a fully loaded condition, partially loaded condition, and unloaded (substantially) condition. As shown in Fig. 4A when the actuators are in their fully extended state, the upper chain segment 31 II of each chain 31 L, 31 R is at maximum deflection. As shown, the upper chain segment 31 II generally follows the shape of the receptacle 20 (here reversed trapezoidal). The upper chain segment 31 II may lie against a wall of the receptacle 20, when in the fully loaded condition. The upper chain segment 31 II may lie on a bottom of the receptacle 20. The upper chain segment 31 II of each chain 31 extends along a front post 23L, 23R and a rear post 24L, 24R - of a same side of the receptacle 20 - and the base 21 between such posts. A plurality of rods 11 can be accumulated in the belly of the deflected upper chain segment 31 II, and supported at their opposite rod ends. The rod storing area 12 is at its maximum volume in the fully loaded condition to accommodate the largest amount of rods 11 in the receptacle 20. In that fully loaded condition, an effective volume of the rod storage area 12 may be at its greatest (largest available space within the rod storage area 12 to pile up the rods 11). In the state shown in Fig. 4B, the actuators 33 are in a partially extended state, and the receptacle 20 is in a partially loaded condition. In a partially loaded condition, the effective volume of the rod storage area 12 may be reshaped I reduced as the upper chain segments 31 II, being shortened, delimit a smaller available space for the outer rods 11 . Upon actuation of the actuators 33 to get from thefully loaded condition to the unloaded condition, the upper chain segments 31 II, being shortened, are displaced upward, thereby reducing the effective volume of the rod storage area 12 as the upper chain segments 31 II rise from a bottom the receptacle 20. In Fig. 4C, the upper chain segment 31 II is at its shortest length with little to no deflection, and the rod storing area 12 is emptied, with a small amount of rods 11 remaining on the upper chain segment 31 II. It should be understood that the upper chain segment 31 II could be cleared from any rods 11 in this state. As can be seen, the upper chain segment 31 II extends along an inclined plane P1 , with a lower end 31 LIL of the upper chain segment 31 II on the side of the receptacle 20 from which the rod dispenser 40 extends (or stated otherwise, the side proximate the rod dispenser 40). The lower end 31 LIL may in a variant be the discharging end of the receptacle 20. An upper end 31 LIT of the upper chain segment 31 II is at the opposite side, the side distal from the rod dispenser 40). The lower end 31 LIL is at a relative elevation from the upper end 31 LIT of the upper chain segment 31 II, where the lower end 31 LIL is lower than the upper end 31 LIT. The relative elevation is based on the apparatus 10 being horizontal, with the relative elevation being substantially parallel to the gravity vector. In an embodiment, the inclined plane P1 is at at least at an angle 0 of 10 degrees. Such angle may be taken with reference to the horizontal, when the apparatus 10 lies on a horizontal ground, or be in accordance with sin-1(H / L), where H is a relative elevation between the lower end 31 LIL and the upper end 31 LIT of the upper chain segment 31 II and L is a length of the upper chain segment 31 II between the lower end 31 LIL and the upper end 31 LIT thereof, in the unloaded condition. Such downward inclination from the lower end 31 LIL of the upper chain segment 31 II may cause the rods 11 being discharged from the rod storage area 12 to roll / slide out from the receptacle 20 by gravity onto the rod collection area 13. Such relatively small angle 0 may allow a smooth transition of the rods 11 rolling / sliding out from the receptacle 20 towards the rod dispenser 40. Other angles, e.g., more inclined plane could be contemplated, at least 15 degrees, e.g., 20 degrees ± 5 degrees, such as between 25 degrees and 45 degrees, in variants. For example, in some variants, the angle may be 30 degrees ± 5 degrees, or 40 degrees ± 5 degrees, as other possibilities among others.

[0065] The pulling on the chains 31 on opposite sides of the receptacle 20 can be synchronized, for instance by actuation by the controller 60. A first set of actuators 33AL,33AR can be actuated simultaneously. The actuators 33AL, 33AR, here extending generally horizontally along the base 21 , may be paired on a same parallel hydraulic circuit, supplying a pressurized fluid (e.g., oil) to the paired actuators 33AL, 33AR to actuate them. Similarly, a second set of actuators 33BL, 33BR may also be paired to be actuated simultaneously. All actuators 33, here the four actuators 33AL, 33AR, 33BL, 33BR can be actuated simultaneously, to retract or extend in unison. In an embodiment, the actuators 33 from a same set (pair of actuators) have a same stroke displacement. Actuators from different sets may have the same or a different stroke displacement. In the embodiment shown, a sum of the stroke displacement of the actuators 33 coupled to opposite ends 31 E of a same chain 31 L, 31 R corresponds to the length delta of the upper chain segment 31 II in the fully loaded condition versus the unloaded condition, or stated differently the length delta between the maximum length of the upper chain segment 31 II and the minimum length of the upper chain segment 31 II. In an embodiment, a single actuator 33 is used, and is coupled to the left and right chains 31 L, 31 R by a transmission 35, such that the rotation of the chains 31 L and 31 R is synchronized. Moreover, the use of single deformable support, such as a belt or track, may remove the need for synchronization. A single actuator 33 or a plurality of actuators 33 coupled to that single deformable support may be considered, in some variants. In variants where there is a single actuator 33 in the form of a linear actuator, to act on one or more of the deformable support(s) to shorten / lengthen the upper segment 31 II, the stroke displacement of that single actuator 33 may correspond to the length delta referred to above.

[0066] In at least some embodiments, a transmission 35 between the left and right chains 31 L, 31 R may ensure that the lifting of the rods 11 is leveled and / or balanced. In the embodiment shown, the transmission 35 includes a shaft 35S interconnecting left and right sprockets 32 that are drivingly engaged with the respective chains 31 L, 31 R on the left and right side of the receptacle 20. Upon actuation of the actuators 33, the chains 31 L, 31 R, which are drivingly engaged to a respective sprocket 32 coupled via the transmission 35, may rotate these sprockets 32 in a synchronized manner. The transmission 35 may balance the load exerted by the actuators on the left and right sides of the receptacle 20 to lift the rods 11 and thus compensate for an uneven force delivery, and / or elongation / retraction, of the respective actuators 33 acting on the left and right chains 31 L, 31 R. The force delivered by the actuators 33 coupled to opposite ends 31 Eof one chain 31 may thus be transmitted to the chain 31 on the opposite side of the receptacle 20 via the transmission 35, whether or not all the actuators 33 are in a perfectly synchronized actuation scheme. Another effect of such mechanical synchronization between the actuation of the left and right side chains 31 L, 31 R is that the rods 11 may remain supported relatively leveled as they are lifted within the rod storage area 12. If the apparatus 10 is installed on a leveled surface, this may also translate in a generally equal tension within the left and right chains 31 L, 31 R. In the embodiment shown, as best seen in Fig. 3A, there is a plurality of transmissions 35, each interconnecting a pair of sprockets 32 (a left / right pair). A single transmission 35 could be contemplated in variants.

[0067] As mentioned above, the rod dispenser 40 is adapted to receive outer rods 11 discharged from the rod storage area 12 by the operation of the rod discharging mechanism 30, as described above. This is illustrated in Figs. 4A to 4C. As shown, the rod dispenser 40 extends from a side of the receptacle 20. As rods 11 are discharged from the upper chain segment 31 II, they may roll and / or slide out from the stack of outer rods 11 towards the rod dispenser 40, by gravity.

[0068] Referring to Figs. 5A to 5C, as shown, the rods 11 leaving the stack of rods 11 may line up, one beside another, on a first section 41 A of the rod collection area 13, in a parallel manner. In an embodiment, as shown, the first section 41A has a surface or plane P2 extending downwardly from the lower end 31 LIL of the upper chain segment 31 II. In at least some embodiments, the plane P2 may extend at a more abrupt angle relative to the angle of the plane P1. This is optional. In an embodiment, the plane P2 may extend at an angle p of 15 degrees ± 5 degrees. In the embodiment shown, the first section 41 A of the rod collection area 13 has support members 43 on which one or more rods 11 can be lined-up serially. As shown, the support members 43 define the plane P2. A pair of support members 43 (Fig. 3A) as shown is only one possibility. The first section 41 A could have a flat panel for supporting the serially aligned rods 11 , as another possible option.

[0069] Referring to Figs. 5A to 5C, in the embodiment shown, the rod dispenser 40 includes at least one actuator 44, in the embodiment shown a pair of actuators 44 (see Fig. 3A) adapted to discard a first one of the one or more rods 11 from the first section 41 A of the rod collection area 13 to a second section 41 B of the rod collection area 13 ofthe rod dispenser 40. As shown, in an embodiment, the first section 41A of the rod collection area 13 to a second section 41 B of the rod collection area 13 of the rod dispenser 40. The actuator(s) 44 may be hydraulic actuators, in an embodiment. The actuators 44, also referred to as kickers, can move a single rod 11 at a time from the first section 41 A to the second section 41 B of the collection area 13. As shown in Fig. 5A, a first one of the rods 11 on the first section 41 A is abutted against a step or stopper 45, and generally aligned with a stroke vector of the actuator(s) 44. Upon actuation of the actuator(s) 44, a single rod 11 may be discarded from the first section 41 A to route it towards the second section 41 B of the rod collection area 13. This is shown by the sequence of operation of Figs. 5B-5C. By discarding a single rod 11 to isolate it from the other rods 11 in the collection area 13, that rod 11 can be more easily collected, manually or by automation. Collisions with rods or accidental discharge of multiple rods 11 when a rod 11 is collected, either manually or via the rod collector 50 (described later), may be mitigated. The actuator(s) 44 includes tip 46 configured to engage a rod 11 sidewise. The tip 46 is shaped so as to direct the rod 11 to be discarded towards the second section 42B of the collection area 13. Once the rod 11 is released from engagement with the stopper 45 by the actuator(s) 44, the rod 11 may, by gravity, roll and / or slide into the second section 42B collection area 13.

[0070] In variants, the rod dispenser 40 may not have such actuator(s) 44 to discard individual rods 11 from one section to another section of the rod collection area 13. For example, in some variants, one or more rods 11 discharged from the receptacle 20 may roll and / or slide off the stack of rods 11 towards the rod dispenser 40. The rod dispenser 40 may be adapted to serially align rods 11 , only by the effect of gravity, into the collection area 13. A rod collector 50 may be configured to collect a first one of the rods 11 lined up in the series of rods 11 on the collection area 13. Such first one of the rods 11 lined up in the series of rods 11 may be a rod 11 at an end of the series of lined-up rods 11 , The collection area 13 could be inclined, as shown, to force the rods 11 to line up one beside another, by gravity.

[0071] As shown in Fig. 5C and with additional reference to Fig. 2, in the embodiment shown, a discarded rod 11 in the collection area 13 is supported by the rod dispenser 40. The discarded rod 11 may remain in a stationary position in the collection area 13, withthe rod 11 lying against an abutment bracket 47. As shown, the abutment bracket 47 is located at an overhanging end the rod dispenser 40, on a side of the receptacle 20. The discarded rod 11 has a generally free surrounding space, except for the abutment bracket 47 and support members 48 of the rod dispenser 40 that support the discarded rod 11. The discarded rod 11 may thus be collected from the collection area 13, without or with limited interference and / or contact with the other lined-up rods 11. The discarded rod 11 can be collected to be brought to a drill rig and / or to a rod handling apparatus of the drilling station (one example described in PCT / CA2020 / 050105), for subsequent manipulations.

[0072] The receptacle 20 may be progressively depleted of the rods 11 stacked therein, by discarding rods 11 one by one, via the rod dispenser 40, and then collecting such rods 11 for drilling operations. Referring to Figs. 6A-6B, a variant of the apparatus 10 includes a rod collector 50 configured to grasp a discarded rod 11 from the rod dispenser 40. The rod collector 50 may be automated and / or controlled by an operator to grasp one discarded rod 11 and bring it to a subsequent apparatus of the drilling station, e.g., a rod handling apparatus, as described in PCT / CA2020 / 050105, or a drill rig, for example. In the variant shown, the rod collector 50 includes a robotic arm 51. The robotic arm 51 can that of a collaborative robot, as commercialized by Universal Robots, for example. Other robotic arms with sufficient payload to handle a rod (e.g., 20-40 kg payload) could be contemplated, or other articulated arm or structure to take a rod from the rod dispenser 40 to a drill rig or rod handling apparatus could also be contemplated.

[0073] As shown in Fig. 6A, an end effector 52 is mounted at a free end of the robotic arm 51. The end effector 52 is adapted to grasp one discarded rod 11 on the rod dispenser 40. In an embodiment, the end effector 52 may clamp the discarded rod 11. In variants, the end effector 52 may be hydraulically, pneumatically or electrically actuated. In the variant shown, the rod collector 50 is mounted on a retractable subframe 53 connected to the receptacle 20. In the variant shown, the retractable subframe 53 is pivotally mounted to the receptacle 20. This configuration can save space when the apparatus 10 is transported or not in use, for example. In Fig. 6A, the subframe 53 is shown in a deployed position. Deployment can be made by an actuator 54, however manual deployment is another possibility. In the deployed position, the base of the rodcollector 50 can be maintained at a fixed distance from the rod dispenser 40, on a side of the receptacle 20. As such, once the distance from the rod dispenser 40 is set, programming of the rod collector 50 to perform repetitive tasks to carry one rod from the rod dispenser 40 to the drill rig or rod handling apparatus, following a predetermined displacement path relative to a fixed reference point may be simplified.

[0074] In at least some embodiments, the controller 60 of the apparatus 10, or a separate robot controller, can be programmed with a set of instructions which, when implemented by one or more processing unit(s) of the controller 60, can: displace the robotic arm 51 towards the rod dispenser 40 until the end effector 52 is at a reaching distance from a discarded rod 11 on the rod dispenser 40, and actuate the end effector 52 so as to collect the discarded rod 11. In at least some embodiments, the discarded rod 11 to be grasped is isolated from other lined-up rods 11 supported by the rod dispenser 40. A displacement of the end effector 52 along a displacement path may be performed by a series of movements of the robotic arm 51. The robotic arm 51 may perform a series of programmed movements in multiple degrees of freedom to displace that rod 11 along a predetermined displacement path. In an application, for example, the discarded rod 11 collected from the rod dispenser 40 may be brought onto a drill rig (not shown) or rod handling apparatus (not shown) for subsequent drilling operations, e.g., installation of the rod onto a drill rig or feeding a rod to a rod handling apparatus for assembling such rod onto an elongated rod on the drill rig. The rod collector 50 may be controlled to automatically feed rods from the rod feeding apparatus 10 to the subsequent machine receiving such rods, without hand-to-steel manipulation by a worker, by repeating multiple operating cycles programmed in the controller 60.

[0075] As shown in Fig. 6B, when the rod collector 50 is not in operation, the subframe 53 may be retracted, to reduce the overall footprint and facilitate the transportation of the apparatus 10 on / off site. The subframe 53 may include a locking mechanism to mechanically lock the subframe 53 in the retracted position, for safety.

[0076] The rod collector 50 may be programmed to take outer rods 11 back to the rod storage area 12 (see Fig. 2) as outer rods 11 are disassembled from the elongated rod on the drill rig. For example, the rod collector 50 may be programmed so as to collect adisassembled outer rod from the drill rig or rod handling apparatus, and reload the rod storage area 12.

[0077] It is desirable to limit impacts on the outer rods during the disassembly and loading of the rod storage area 12. As such, the rod collector 50 may be configured to deposit an outer rod on the chains 31 L, 31 R of the rod discharging mechanism 30.

[0078] One exemplary procedure to load / reload the apparatus 10 with outer rods 11 is now presented. As a rod loading procedure is initiated, the rod discharging mechanism 30 may be brought into its unloaded condition in which the upper chain segment 31 II of the chains 31 L, 31 R are fully undeflected or in a partially deflected state. As such, the upper chain segment 31 II may extend at an elevated height from the bottom of the rod storage area 12, such as in Fig. 4B, to limit the drop height of the rods 11 into the storage area 12, for damage control. Indeed, such loading procedure may reduce impacts on the rods 11 being loaded, e.g., impact against other outer rods stored, or with the structure of the receptacle 20. As the storage area 12 gets progressively filled with rods, the upper chain segments 31 II may be lengthened as a consequence of the progressive extension of the actuators 33, thereby leaving more and more space in the storage area 12 to receive rods 11 , as the stack of rods 11 builds up. While the rods 11 present in the storage area 12 may rub onto each others as the upper chain segment 31 II is lengthened to progressively increase the available space of the rod storage area 12, such rubbing is less damageable for the rods 11 than drop impacts.

[0079] This rod loading method is only one possibility, and varies depending on the deformable support used. For example, in surface mining applications, or during a rod pre-loading procedure at the surface, a plurality of rods 11 may be deposited into the receptacle 20 with a crane or via other lifting equipment, via the open top of the receptacle 20. While less desirable for safety reasons, rods 11 could also be loaded manually into the receptacle 20 by a worker.

[0080] The actuated components of the apparatus 10 can be controlled remotely by the operation of a remote user interface of the controller 60. Such a remote user interface could be a control station communicatively coupled with the controller 60, or forming partof the controller 60, a mobile device, a remote server in wired or wireless communication with the controller 60, for example. An operator may control the rod feeding, discharge and / or load / reload of the apparatus 10, without or with limited hand-to-steel handling, thereby easing the drilling operations and limiting physical involvements of the operator in the rod handling sequences.

[0081] Referring to Figs. 7-8, and 9A-9B, a variant of the apparatus 10 will now be described. For brevity, like features will not be described again, and the above description with respect to various embodiments similarly applies to that variant. Like features will bear the same reference numbers for ease of reference and simplicity.

[0082] In the variant, as shown in Fig. 8, the apparatus 10 includes a frame assembly 70 having a first portion 71 and a second portion 72 couplable with the first portion to define respective portions of the receptacle 20, once assembled. Each portion 71 , 72 may be formed of a plurality of beams, panels, brackets, and / or other structural components. Each portion 71 , 72 may be formed as separate welded (or otherwise one-piece) structures that can be joined together to form the receptacle 20. Such a segmented frame assembly 70 may facilitate handling and installation of the apparatus in underground environment where space may be limited for transportation. In some embodiments, transverse members 73 (a.k.a., beams) may extend between the first and second portions 71 , 72 and interconnect them. As shown in Fig. 8, the base 21 may be segmented, with each portion 71 , 72 defining respective portions of the base 21. In an embodiment, the frame assembly 70 may be separable along a separation plane PP, with such separation plane PP being parallel to a longitudinal plane of the deformable supports (e.g., chains 31), though with some transverse members 73 being normal to the separation plane PP, the transverse members 73 being separable from respective halves of the frame assembly 70. In an embodiment, the separation plane PP may be a median plane of the frame assembly 70, with the median plane extending between and parallel to the deformable supports on opposite sides of the receptacle 20. The separation plane PP of the frame assembly 70 may be parallel with the unloading direction of the rods 11 from the upper segment 31 II. Each portion 71 , 72 may form the respective halves of the frame assembly 70, but this is optional. The base 21 may have forklift pockets 21A on more than one side of each portion 71 , 72, for handling the separate structures from morethan one side. The respective portions of the base 21 defined by the first and second portions 71 , 72 may define a connecting interface 74 that facilitates alignment and coupling therebetween during assembly. As shown, the connecting interface 74 may include a male-female connection to facilitate the alignment of the portions 71. 72 coming together. Fasteners may be used to couple the portions 71 , 72 at the connecting interface 74, as one possibility among others. Interlocking features could be another option. Once connected, the connecting interface 74 may extend in the separation plane PP (or be intersected by it). Other configurations could be contemplated, such as with the connecting interface 74 offset with respect to each other, i.e., not intersected by a same plane. The frame assembly 70 may optionally include a cage structure 75 (Fig. 7) extending over the rod storage area 12. The cage structure 75 may prevent large debris (e.g., rocks) from falling in the rod storage area 12, and / or define a barrier for the outer rods 11 to direct (funnel) them towards the rod dispenser 40. In an embodiment, the cage structure 75 may prevent an overflow of the outer rods towards the rod dispenser 40, by preventing a bulk of outer rods to uncontrollably trickle down towards the rod dispenser 40 during a rod unloading process.

[0083] In at least some embodiments, as in the variant shown, the rod dispenser 40 is actuatable to move between a rod loading position and a rod unloading position. These positions are respectively shown in Figs. 9A-9B. In the rod unloading position, the rod collection area 13 may be inclined downwardly from the lower end 31 LIL of the upper chain segment 31 II to expose the one or more outer rods 11 thereon away from the receptacle 20. The rod collection area 13 may face forward of the front end 23. The rod collection area 13 may be inclined upwardly from the lower end 31 LIL of the upper chain segment 31 II in the rod loading position so as to force outer rods 11 thereon to be directed towards the receptacle 20, by gravity.

[0084] In at least some embodiments, as shown, the rod dispenser 40 is pivotable. An actuator 49 may be operable to pivot the rod dispenser 40 relative to the receptacle 20. In an embodiment, there may be a pair of actuators 49, as shown, though a single one or more is also considered. A pivot axis X of the rod dispenser 40 may extend transversely with respect to the unloading direction of the outer rods 11 onto the rod dispenser 40, in some embodiments. As shown in Fig. 8, the rod dispenser 40 may be pivotally coupledto the frame assembly 70, here to the transverse member 73 extending between the first and second portions 71 , 72. While the actuators 49 are not shown in the variant of Figs. 1-6B, they may be used in such variant.

[0085] In an embodiment, the rod dispenser 40 may be supported by an extendable member 49A. The extendable member 49A may be extendable between a retracted condition and an extended condition as the rod dispenser 40 pivots from a rod loading position to a rod unloading position. The extendable member 49A may be a telescopic member (e.g., tube, pin), a guide and rail assembly, slide rails, as some possibilities among others. In some embodiments, the extendable member 49A may have a locking mechanism 49B (or hydraulic port) to selectively lock or block the extendable member 49A at least in the retracted condition or the extended position. Intermediary positions may also be contemplated. A lock pin, lever, latch or other manual mechanisms may be used to selectively lock the extension of the extendable member 49A. An automated mechanism, for example using one or more actuators, or powered components could be considered in variants.

[0086] According to the above, a method for unloading rods 11 from a rod feeding apparatus 10 is now described. The method includes reducing the available space within the receptacle 20 of the apparatus 10, the available space loaded with a plurality of the rods 11 , for instance by reducing a concavity formed by a deformable support(s) 31. Reducing the available space within the receptacle includes displacing the plurality of rods 11 upward, towards a discharging end of the receptacle 20. Rods 11 are discharged from the discharging end of the receptacle 20 towards the rod dispenser 40, as the available space is progressively reduced and rods 11 from the plurality of rods 11 are raised above the receptacle 20. The discharged rods on the rod dispenser 40 can be picked from the rod collection area 13. The reduction of the available space, which may include the lifting of the plurality of rods 11 within the receptacle 20, can be effectuated by rising a deformable support, also referred to herein as a flexible tensile element, from a bottom of the receptacle 20 towards the discharging end of the receptacle 20, to reduce a size of a concavity it forms and in which the rods 11 may be accommodated. As this occurs, the rising of the deformable support may include a forced shifting of rods 11 in a stack of the plurality of rods 11 within the receptacle 20. As described herein, thedisplacement of the plurality of rods 11 upward may shorten a segment 31 II of the deformable support 31 extending between opposite sides of the receptacle 20, The plurality of rods 11 in the receptacle 20 are supported by such segment 31 II. The rising of the deformable support may include an operation of one or more actuators 33, to pull on the deformable support 31. The pulling may be simultaneous at opposite ends of the deformable support 31 , by respective actuators 33. Discharging rods 11 may include lining up discharged rods 11 in a parallel manner on the rod collection area 13 of the rod dispenser 40. The method may further includes discarding one of the discharged rods 11 in the rod collection area 13 from the other discharged rods 11. The picking of the discharged rods 11 may be performed by a rod collector 50, as described herein. The rod collector 50 may pick a discarded one of the discharged rods 11 on the rod dispenser 40. The picking by the rod collector 50 may include displacing a robotic arm 51 towards the rod dispenser 40 until an end effector 52 of the rod collector 50 is at a reaching distance from one of the discharged rods 11 on the rod dispenser 40, and actuating the end effector 52 to collect it. The rod collector 50 could pick more than one rod at a time, though in an embodiment, there is a single one of the discharged rods 11 that is picked at a time. 30. The method of any one of claims 21 to 29, wherein picking the discharged rods includes picking a single one of the discharged rods at a time.

Claims

CLAIMS1. A rod feeding apparatus for outer rods, the rod feeding apparatus comprising: a receptacle configured to contain a plurality of outer rods in a rod storage area; a rod discharging mechanism configured to support the plurality of outer rods within the rod storage area, the rod discharging mechanism actuatable to displace the plurality of outer rods upwardly and discharge one or more outer rods from the rod storage area; and a rod dispenser associated with the receptacle, the rod dispenser adapted to receive the one or more outer rods discharged from the rod storage area by action of the rod discharging mechanism, and to expose the one or more outer rods onto a rod collection area of the rod dispenser for access.

2. The rod feeding apparatus of claim 1 , wherein the rod dispenser includes at least one actuator adapted to discard a first one of the one or more rods from a first section of the rod collection area to a second section of the rod collection area of the rod dispenser.

3. The rod feeding apparatus of claim 1 or claim 2, wherein the rod dispenser is actuatable to move between a rod loading position and a rod unloading position, the rod collection area inclined downwardly in the rod unloading position, and the rod collection area inclined upwardly in the rod loading position.

4. The rod feeding apparatus of any one of claims 1 to 3, wherein the rod dispenser is pivotable and includes at least one actuator to pivot the rod dispenser relative to the receptacle.

5. The rod feeding apparatus of any one of claims 1 to 4, wherein the rod dispenser is supported by an extendable member, the extendable member extendable between a retracted condition and an extended position.

6. The rod feeding apparatus of claim 5, wherein the extendable member has a locking mechanism to selectively lock the extendable member at least in the retracted condition or the extended position.

7. The rod feeding apparatus of any one of claims 1 to 6, wherein the rod discharging mechanism includes at least one flexible tensile element to support the plurality of rods.

8. The rod feeding apparatus of claim 7, wherein the at least one flexible tensile element is a chain.

9. The rod feeding apparatus of any one of claims 7 and 8, wherein when the plurality of rods are accumulated in the rod storage area, the plurality of rods are supported by a portion of the at least one flexible tensile element.

10. The rod feeding apparatus of any one of claims 7 and 8, wherein the at least one flexible tensile element has a segment extending between opposite ends of the receptacle, the plurality of rods in the rod storage area supported by the segment.

11. The rod feeding apparatus of any one of claims 7 to 10, wherein the at least one flexible tensile element is in rolling engagement with rolling members.

12. The rod feeding apparatus of any one of claims 10 and 11 , wherein the rod discharging mechanism includes an actuator operatively coupled to the at least one flexible tensile element, the actuator operable to: shorten the segment of the at least one flexible tensile element to reduce an effective volume of the rod storage area by an upward displacement of the segment towards a discharge end of the receptacle, and lengthen the segment of the at least one flexible tensile element to increase the effective volume of the rod storage area by a lowering displacement of the segment within the rod storage area.

13. The rod feeding apparatus of claim 12, wherein the actuator is a first actuator, the rod discharging mechanism including a second actuator, the first actuator and the second actuator coupled to respective opposite ends of the at least one flexible tensile element.

14. The rod feeding apparatus of claim 13, wherein the first actuator and the second actuator have a stroke displacement, a sum of the stroke displacement of the first actuatorand the second actuator corresponding to a length delta of the segment upon actuation to shorten and lengthen the segment.

15. The rod feeding apparatus of any one of claims 7 to 14, wherein the at least one flexible tensile element includes a first flexible tensile element and a second flexible tensile element, the first flexible tensile element and the second flexible tensile element extending on opposite sides of the receptacle for supporting the plurality of rods in the rod storage area.

16. The rod feeding apparatus of any one of claims 10 to 15, wherein the segment of the at least one flexible tensile element, when the apparatus is in an unloaded condition, is inclined from a lower end of the segment on a side of the receptacle proximate the rod dispenser to an upper end of the segment on an opposite side of the receptacle that is distal to the rod dispenser.

17. The rod feeding apparatus of claim 16, wherein an angle 0 of the segment of the at least one flexible tensile element between the lower end of the segment and the upper end of the segment is in accordance with sin_1(H / L), where H is a relative elevation between the lower end and the upper end of the segment, and L is a length of the segment between the lower end and the upper end of the segment.

18. The rod feeding apparatus of any one of claims 1 to 17, further comprising a rod collector configured to grasp a discharged one of the plurality of rods from the rod collection area of the rod dispenser.

19. The rod feeding apparatus of claim 18, wherein the rod collector is mounted on a retractable subframe connected to the receptacle.

20. The rod feeding apparatus of any one of claims 1 to 19, wherein the receptacle has side walls delimiting opposite sides of the rod storage area, an open width between the side walls may generally correspond to a length of the plurality of rods, the side walls adapted to center the plurality of rods within the receptacle.

21. A method for unloading rods from a rod feeding apparatus, comprising:reducing an available space within a receptacle of the apparatus, the available space loaded with a plurality of the rods, including displacing the plurality of rods upward, towards a discharging end of the receptacle, discharging rods from the discharging end of the receptacle towards a rod dispenser, and picking the discharged rods from a rod collection area on the rod dispenser.

22. The method of claim 21 , wherein reducing the available space includes lifting the plurality of rods within the receptacle by rising a deformable support from a bottom of the receptacle towards the discharging end of the receptacle.

23. The method of claim 22, wherein rising the deformable support includes forcing a shift of rods in a stack of the plurality of rods within the receptacle.

24. The method of any one of claims 22 and 23, wherein displacing the plurality of rods upward includes shortening a segment of the deformable support extending between opposite sides of the receptacle, the plurality of rods in the receptacle supported by the segment.

25. The method of any one of claims 22 to 24, wherein rising the deformable support includes operating an actuator to pull on the deformable support.

26. The method of any one of claims 21 to 25, wherein discharging rods includes lining up discharged rods in a parallel manner on a rod collection area of the rod dispenser.

27. The method of any one of claims 21 to 26, further comprising discarding one of the discharged rods in the rod collection area from the other discharged rods.

28. The method of claim 27, wherein picking the discharged rods includes picking the discarded one of the discharged rods with a rod collector.

29. The method of any one of claims 21 to 28, wherein picking the discharged rods with the rod collector includes displacing a robotic arm towards the rod dispenser until an endeffector of the rod collector is at a reaching distance from one of the discharged rods on the rod dispenser, and actuating the end effector to collect the one of the discharged rods.

30. The method of any one of claims 21 to 29, wherein picking the discharged rods includes picking a single one of the discharged rods at a time.

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