US 12,280,982 B2Granted

Doffing apparatus and automatically guided vehicle comprising the same

AssigneeColumbia Insurance Company

InventorsKallin Kurtz, Wes Moore

Life of this patent

Estimating the term…

Loading patent…

Abstract

A doffing apparatus can be configured to couple to an automatically guided vehicle (AGV). The doffing apparatus can comprise at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, and at least one driver, each driver being configured to move along a respective elongate arm to move a bobbin toward the distal end of the elongate arm. The doffing apparatus can further comprise at least one alignment device. The doffing apparatus can further comprise a processor, wherein the processor is configured to: receive feedback from the at least one alignment device, provide a control signal to cause the AGV to align the elongate arm with a receptacle at a loader, and move the driver a select distance along the length of the elongate arm.

Claims19

Dependent claims

A doffing apparatus that is configured to couple to an automatically guided vehicle (AGV), the doffing apparatus comprising:

at least one elongate arm, each elongate arm of the at least one elongate arm having a proximal end, a distal end, and a length, wherein at least a portion of each elongate arm of the at least one elongate arm is configured to support at least one bobbin on the elongate arm;
at least one driver, each driver of the at least one driver being configured to move along a respective elongate arm of the at least one elongate arm, wherein when at least one bobbin is supported on the respective elongate arm, distal movement of the driver along the respective elongate arm is configured to move the at least one bobbin toward the distal end of the elongate arm;
and
at least one alignment device, wherein each alignment device of the at least one alignment device comprises a sensor that is positioned at the distal end of a respective elongate arm of the at least one elongate arm, wherein the sensor of each alignment device of the at least one alignment device is configured to provide an output indicative of a location of the respective elongate arm with respect to one or more target locations, wherein each alignment device of the at least one alignment device comprises a laser range detector, wherein the laser range detector is configured to:
emit a laser beam toward a surface of the one or more target locations;
receive a reflection of the laser beam from the surface of the one or more target locations;
and
determine a distance from the laser range detector to the surface of the one or more target locations based on the received reflection of the laser beam.

5 more elements

A doffing system comprising:

an AGV;
a doffing apparatus comprising:
at least one elongate arm, each elongate arm of the at least one elongate arm having a proximal end, a distal end, and a length, wherein at least a portion of each elongate arm of the at least one elongate arm is configured to support at least one bobbin on the elongate arm;
and
at least one driver, each driver of the at least one driver being configured to move along a respective elongate arm of the at least one elongate arm, wherein when at least one bobbin is supported on the respective elongate arm, distal movement of the driver along the respective elongate arm is configured to move the at least one bobbin toward the distal end of the elongate arm;
at least one alignment device, wherein each alignment device of the at least one alignment device comprises a sensor that is positioned at the distal end of a respective elongate arm of the at least one elongate arm, wherein the sensor of each alignment device of the at least one alignment device is configured to provide an output indicative of a location of the respective elongate arm with respect to one or more target locations;
and
at least one processor, wherein the at least one processor is configured to:
receive feedback from a first alignment device of the at least one alignment device,
wherein the first alignment device is configured to provide an output indicative of the location of a first elongate arm of the at least one elongate arm with respect to the one or more target locations;
provide a control signal to cause the AGV to align the first elongate arm with a receptacle at a loader;
and
cause a first driver of the at least one driver to move a select distance along the length of the first elongate arm,
wherein the doffing apparatus further comprises a chassis that is coupled to an upper surface of the AGV, wherein the AGV comprises a riser that is configured to move the upper surface of the AGV and, therefore, the chassis along a vertical axis, thereby moving the at least one arm of the doffing apparatus along the vertical axis.

11 more elements

A doffing system comprising:

an AGV;
a doffing apparatus comprising:
at least one elongate arm, each elongate arm of the at least one elongate arm having a proximal end, a distal end, and a length, wherein at least a portion of each elongate arm of the at least one elongate arm is configured to support at least one bobbin on the elongate arm;
and
at least one driver, each driver of the at least one driver being configured to move along a respective elongate arm of the at least one elongate arm, wherein when at least one bobbin is supported on the respective elongate arm, distal movement of the driver along the respective elongate arm is configured to move the at least one bobbin toward the distal end of the elongate arm;
at least one alignment device, wherein each alignment device of the at least one alignment device comprises a sensor that is positioned at the distal end of a respective elongate arm of the at least one elongate arm, wherein the sensor of each alignment device of the at least one alignment device is configured to provide an output indicative of a location of the respective elongate arm with respect to one or more target locations, wherein each alignment device of the at least one alignment device comprises a laser range detector, wherein the laser range detector is configured to:
emit a laser beam toward a surface of the one or more target locations;
receive a reflection of the laser beam from the surface of the one or more target locations;
and
determine a distance from the laser range detector to the surface of the one or more target locations based on the received reflection of the laser beam;
and
at least one processor, wherein the at least one processor is configured to:
receive feedback from a first alignment device of the at least one alignment device,
wherein the first alignment device is configured to provide an output indicative of the location of a first elongate arm of the at least one elongate arm with respect to the one or more target locations;
provide a control signal to cause the AGV to align the first elongate arm with a receptacle at a loader;
and
cause a first driver of the at least one driver to move a select distance along the length of the first elongate arm.

14 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/828,197Filed 31 May 2022 · continuation
Priority: 1 Nov 2019
Published: US 2022/0289514 A115 Sep 2022
Granted: 22 Apr 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification29 codes

B65H 67/0411
Arrangements for removing completed take-up packages or for loading an empty core: for removing completed take-up packages
B60P 1/022
With parallel up-and-down movement of load supporting or containing element: with a loading platform outside the wheels
B60P 1/40
Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading: using screw conveyors thereon
B60P 3/035
Vehicles adapted to transport, to carry or to comprise special loads or objects: for transporting reel units

Family

Application62/929,471Us provisional application · filed 1 Nov 2019
Application17/085,021Parent of this continuation · filed 30 Oct 2020
US 2022/0289514 A1Pre-grant publication · published 15 Sep 2022
US 11,498,799 B2Parent of this continuation
US 2021/0130123 A1Published application
US 12,280,982 B2This patent

From the US filing history. Foreign family members aren’t listed.