Mobile reel transport device for component reel packaging system

Patent metadata

Field	Value
Publication number	US-12473166-B2
Application number	US-202217724742-A
Country	US
Kind code	B2
Filing date	Apr 20, 2022
Priority date	Mar 24, 2022
Publication date	Nov 18, 2025
Grant date	Nov 18, 2025

Abstract

A mobile reel transport device includes an automated guided vehicle (AGV) having a mobile cart with wheels for maneuvering through a facility. The AGV includes a reel manipulator mounted to the mobile cart. The reel manipulator has a movable component movable relative to the mobile cart and an end effector at a distal end of the movable component. The end effector is configured to pick up and manipulate a reel. The AGV includes a reel positioning device at the distal end of the movable component. The reel positioning device includes an imaging device for imaging the reel and environment and generating an image. The reel manipulator is operable to move the end effector based on the image.

First claim

What is claimed is:

1 . A mobile reel transport device comprising:
an automated guided vehicle (AGV) having a mobile cart with wheels for maneuvering through a facility; a reel manipulator mounted to the mobile cart, the reel manipulator having a movable component movable relative to the mobile cart and an end effector at a distal end of the movable component, the end effector configured to pick up and manipulate a reel; and a reel positioning device at the distal end of the movable component, the reel positioning device including an imaging device for imaging the reel and environment and generating an image, the reel positioning device determining a position and an angular orientation of the reel based on the image; wherein the reel manipulator is operable to move the end effector based on the position and move a rotational orientation of the end effector based on the angular orientation of the reel determined based on the image.

2 . The mobile reel transport device of claim 1 , wherein the imaging device is a camera.

3 . The mobile reel transport device of claim 1 , wherein the reel positioning device includes a controller analyzing the image to determine the angular orientation of the reel, the controller controlling an angular position of the end effector based on the determined angular orientation of the reel from the image analysis.

4 . The mobile reel transport device of claim 1 , wherein the movable component is capable of changing an angular orientation of the end effector to orient the end effector relative to the reel.

5 . The mobile reel transport device of claim 1 , wherein the movable component is capable of moving the end effector in three-dimensional space.

6 . The mobile reel transport device of claim 1 , wherein the movable component includes a multi-axis robot arm.

7 . The mobile reel transport device of claim 1 , wherein the reel positioning device includes a distance sensor configured to detect a distance from the end effector to the reel.

8 . The mobile reel transport device of claim 7 , wherein the distance sensor is a laser sensor.

9 . The mobile reel transport device of claim 1 , wherein the AGV includes a communication module configured to wirelessly communicate with a call center to control operation of the AGV.

10 . A component reel packaging system for loading components on reels, the component reel packaging system comprising:
a reel loading workstation having a reel support; a mobile reel transport device movable relative to the reel loading workstation, the mobile reel transport device including an automated guided vehicle (AGV) having a mobile cart with wheels for maneuvering the mobile reel transport device relative to the reel loading workstation, the mobile reel transport device including a reel manipulator mounted to the mobile cart having a movable component movable relative to the mobile cart and an end effector at a distal end of the movable component configured to pick up and manipulate a reel, and the mobile reel transport device including a reel positioning device at the distal end of the movable component having an imaging device for imaging the reel and environment and generating an image, the reel positioning device determining a position and an angular orientation of the reel based on the image, the reel manipulator being operable to move the end effector based on the position and move a rotational orientation of the end effector based on the angular orientation of the reel determined based on the image; wherein the reel positioning device is configured to pick up an empty reel and place the empty reel on the reel support; wherein the empty reel is configured to be loaded with components at the reel loading workstation; and wherein the reel positioning device is configured to pick up the full reel loaded with components and move the full reel away from the reel support.

11 . The component reel packaging system of claim 10 , wherein the reel support includes a shaft configured to rotatably receive the reel.

12 . The component reel packaging system of claim 10 , wherein the reel loading workstation includes a parking spot, the mobile reel transport device is movable into and out of the parking spot, the reel manipulator being located at a known, predetermined position relative to the reel support when the mobile transport device is at the parking spot.

13 . The component reel packaging system of claim 10 , wherein the reel positioning device includes a controller analyzing the image to determine the angular orientation of the reel, the controller controlling an angular position of the end effector based on the determined angular orientation of the reel from the image analysis.

14 . The component reel packaging system of claim 10 , wherein the movable component is capable of changing an angular orientation of the end effector to orient the end effector relative to the reel.

15 . The component reel packaging system of claim 10 , wherein the reel positioning device includes a distance sensor configured to detect a distance from the end effector to the reel.

16 . A component reel packaging system for loading components on reels, the component reel packaging system comprising:
an empty reel rack configured to hold an empty reel stack of empty reels; a full reel rack configured to hold a full reel stack of full reels; a reel loading workstation near the empty reel rack and the full reel rack, the reel loading workstation having a reel support configured to support a reel for loading components on the reel; a mobile reel transport device movable relative to the empty reel rack, the full reel rack, and the reel loading workstation, the mobile reel transport device including an automated guided vehicle (AGV) having a mobile cart with wheels for maneuvering the mobile reel transport device, the mobile reel transport device including a reel manipulator mounted to the mobile cart having a movable component movable relative to the mobile cart and an end effector at a distal end of the movable component configured to pick up and manipulate a reel, and the mobile reel transport device including a reel positioning device at the distal end of the movable component having an imaging device for imaging the reel and environment and generating an image, the reel positioning device determining a position and an angular orientation of the reel based on the image, the reel manipulator being operable to move the end effector based on the position and move a rotational orientation of the end effector based on the angular orientation of the reel determined based on the image; wherein the reel positioning device is configured to pick up an empty reel from the empty reel stack at the empty reel rack and place the empty reel on the reel support; wherein the empty reel is configured to be loaded with components at the reel loading workstation; and wherein the reel positioning device is configured to pick up the full reel loaded with components and move the full reel from the reel support to the full reel stack at the full reel rack.

17 . The component reel packaging system of claim 16 , wherein the reel positioning device determines an angular orientation of the empty reel from the image by the imaging device prior to pick up of the empty reel and controls an angular orientation of the end effector based on the determined angular orientation of the empty reel, and wherein the reel positioning device determines an angular orientation of the loaded reel on the reel support from the image by the imaging device prior to pick up o

Assignees

• Te Connectivity Solutions Gmbh
• Tyco Electronics Shanghai Co Ltd

Inventors

• Fei Yiyun
• Solanki Swapnilsinh
• Wen Du
• Osunkwo Sonny O
• Yang An

Classifications

• B25J9/1697

  Vision controlled systems · CPC title

• B65H2801/81

  Packaging machines · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B65H2405/422

  Trolley, cart, i.e. support movable on floor · CPC title

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title