US 12,280,982 B2
Doffing apparatus and automatically guided vehicle comprising the same
Kallin Kurtz, Apison, TN (US); and Wes Moore, Rock Spring, GA (US)
Assigned to Columbia Insurance Company, Omaha, NE (US)
Filed by COLUMBIA INSURANCE COMPANY, Omaha, NE (US)
Filed on May 31, 2022, as Appl. No. 17/828,197.
Application 17/828,197 is a continuation of application No. 17/085,021, filed on Oct. 30, 2020, granted, now 11,498,799.
Claims priority of provisional application 62/929,471, filed on Nov. 1, 2019.
Prior Publication US 2022/0289514 A1, Sep. 15, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B65H 67/04 (2006.01); B60P 1/02 (2006.01); B60P 1/40 (2006.01); B60P 3/035 (2006.01); B65G 1/08 (2006.01); B66F 9/06 (2006.01); B66F 9/075 (2006.01); B66F 9/19 (2006.01); G05D 1/00 (2006.01); B65G 61/00 (2006.01); F16H 25/20 (2006.01)
CPC B65H 67/0411 (2013.01) [B60P 1/022 (2013.01); B60P 1/40 (2013.01); B60P 3/035 (2013.01); B65G 1/08 (2013.01); B66F 9/063 (2013.01); B66F 9/0755 (2013.01); B66F 9/195 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0236 (2013.01); B65G 61/00 (2013.01); F16H 25/20 (2013.01)] 19 Claims
OG exemplary drawing
 
1. 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.