GB2616341A

GB2616341A - Reel alignment control

Info

Publication number: GB2616341A
Application number: GB2300195.1A
Authority: GB
Inventors: Kay Matthew; Sinclair Ashley; Beardsmore Darren
Original assignee: Gripple Automation Ltd
Current assignee: Gripple Automation Ltd
Priority date: 2022-01-14
Filing date: 2023-01-06
Publication date: 2023-09-06

Abstract

A dereeler control apparatus (600 fig.5) for a wire cutting system 1 has means for receiving reel position information from a reel alignment sensor 104. The reel position information is dependent on whether the reel 500 and the reel clamps 102 are aligned relative to each other, and if so, and outputting (708 fig.7) a clamping control signal. Alignment may be determined using a light beam 106 passing through a hole 103 and being detected by the alignment sensor 104. The reel clamp may be pivotable and actuators (112, 114, 116 fig.3) may automatically move the reel clamp axis until alignment is achieved.

Description

TITLE

Reel alignment control

FIELD OF THE INVENTION

Embodiments of the present invention relate to a dereeler and control of the dereeler. In particular, but not exclusively, they relate to a dereeler of a wire cutting and fusing system.

BACKGROUND TO THE INVENTION

A wire cutting & fusing system is configured to automatically cut wire via fusing technology into required lengths.

A wire cutting and fusing system is also configured to automatically cut wire rope of various strand assemblies into required lengths, and fuse the cut ends of the wire rope to prevent fraying (supporting ease of insertion into end use). The cutting and fusing may occur in the same operation. For example, an electric current may be passed through the cross-section of the wire rope to cut the wire and melt the cut ends. The melting fuses the strands together whilst under tension to achieve a supreme finish. The finish is similar to the result from a welded application.

The wire is supplied on a reel (also referred to as a drum). The reel is inserted into a dereeler of the wire cutting system. The dereeler is a machine configured to engage the reel and draw wire from the reel at a controlled rate. The controlled rate is linked to the timing of cutting operations, via sensors and control apparatus.

When a reel needs to be changed, the operator removes an empty reel from the dereeler, inserts a new reel into the dereeler, and causes the dereeler to clamp the reel. The reel should be precisely aligned with reel clamps of the dereeler. The dereeler may not physically locate on the through hole of the reel supplied, due to inconsistencies in the manufacture of the reels and the centre-point of the reel in most occasions not being accurate or reliable.

BRIEF DESCRIPTION OF VARIOUS EMBODIMENTS OF THE INVENTION

According to various, but not necessarily all, embodiments of the invention there is provided a dereeler control apparatus for a dereeler of a wire cutting system, the dereeler control apparatus comprising means for: receiving reel position information from a reel alignment sensor, wherein the reel position information is dependent on a position of a reel to be engaged by reel clamps of the dereeler; determining, based on the reel position information, whether the reel and the reel clamps are aligned relative to each other; and outputting a clamping control signal when the determination is that the reel and the reel clamps are aligned relative to each other.

An advantage is that reels are easier to load, which could otherwise be a cumbersome operation as reels are heavy, negating the need to utilize other means to lift the reel into position.

The dereeler control apparatus may be configured to control one or more actuators to move the reel clamps to move a reel clamp axis. The one or more actuators may move the reel clamps in substantially a same direction as each 25 other.

An advantage is that different reel dimensions can be accommodated The dereeler control apparatus may be configured to control the one or more actuators to automatically (without user intervention) move the reel clamp axis until the determination that the reel and the reel clamps are aligned relative to each other. In dependence on said determination, the reel clamp axis may stop being moved.

An advantage is that the dereeler is easier to reconfigure because the dereeler can 'find' the dimensions of the new reel despite inconsistencies in the reel geometry. This also allows different utilization of different reels.

The dereeler control apparatus may be configured to control a clamp height actuator of the one or more actuators, to vary a height of the reel clamps. The height may be varied relative to a supporting surface of the reel, such as the ground.

An advantage is that different reel diameters can be accommodated.

The dereeler control apparatus may be configured to control the clamp height actuator to automatically (without user intervention) vary the height of the reel clamps, until the determination that the reel and the reel clamps are aligned relative to each other. In dependence on said determination, the height may stop being varied.

An advantage is that the dereeler is easier to reconfigure because the dereeler can 'find' the diameter of the new reel.

A structure supporting the reel clamps may be pivotable by the clamp height actuator to vary the height of the reel clamps along an arc.

An advantage of the pivoting is that different diameter reels can be used on the de-reeler allowing full flexibility of the machine end use.

Outputting the clamping control signal may cause a clamping actuation of at least one of the reel clamps by a clamping actuator. The clamping actuation may reduce a separation between the reel clamps until sides of the reel are engaged by the reel clamps. The dereeler control apparatus may be configured to initiate the clamping actuation automatically (without user manual user intervention with the reel), in dependence on the determination that the reel and the reel clamps are aligned relative to each other. In some examples, once an interlocking device of a door arrangement is engaged, this actions the dereeler to clamp and lift the reel into position.

An advantage is that reels are easier to load, because alignment does not require trial and error.

The dereeler control apparatus may be configured to initiate the automatic clamping actuation further in dependence on detection that a door arrangement of the dereeler is in a closed state. The initiation may further require detection that an interlocking device of the door arrangement is in a locked state.

The dereeler control apparatus may be configured to set a clamping force of the clamping actuation in dependence on detected electrical load by the clamping actuator.

Following the clamping actuation, the dereeler control apparatus may be configured to control the clamp height actuator to lift the reel from a supporting surface, via the reel clamps. The dereeler control apparatus may be configured to perform the lifting once the setting of the clamping force is complete.

The reel may be flanged. The reel clamps may be configured to engage with flanges of the reel. Each reel clamp may define part of a plug-socket connection between the reel clamp and a corresponding side of the reel. The reel clamps may be configured as plugs, each configured to engage with a socket on the corresponding side of the reel. Alternatively, the reel clamps may be configured as sockets and the reel may comprise plugs.

The reel may comprise a through-hole. The through-hole may be along a central spindle of the reel. The through-hole may be a socket of the plug-socket connection but may not be utilizable in all cases due to inconsistencies in centrality of the through-hole.

The reel clamps may be tapered. For example, the tapered reel clamps may be frustroconical.

An advantage of the tapering is that different through-hole diameters can be accommodated. Another advantage is that initial alignment does not have to be as precise, because the reel clamps self-align the reel as they clamp on the reel.

The reel position information received by the dereeler control apparatus may be dependent on whether the reel clamps and the through-hole of the reel are aligned relative to each other. The reel alignment sensor may comprise a sensing axis substantially coaxial with a reel clamp axis. The reel alignment sensor may comprise a light emitter and a light detector. The light emitter may be configured to emit a beam of directed light, such as a laser, towards the light detector. The beam may be unbroken when the through-hole of the reel is aligned with the beam, and broken when blocked by another part of the reel.

One or both reel clamps may comprise a light aperture therethrough, enabling the beam of directed light to pass through the through-hole of the reel.

According to various, but not necessarily all, embodiments of the invention there is provided a dereeler system for a wire cutting system, the dereeler system comprising the dereeler control apparatus and the dereeler.

The dereeler may comprise the clamping actuator and/or the clamp height actuator and/or the reel alignment sensor. The dereeler system may comprise a human-machine interface.

The dereeler may comprise a housing comprising an opening configured to enable the reel to be rolled into the housing. The dereeler may comprise the door arrangement configured to cover the opening.

According to various, but not necessarily all, embodiments of the invention there is provided a wire cutting system comprising the dereeler system and a wire cutting apparatus.

According to various, but not necessarily all, embodiments of the invention there is provided a method of controlling a dereeler of a wire cutting system, the method comprising: receiving reel position information from a reel alignment sensor, wherein the reel position information is dependent on a position of a reel to be engaged by reel clamps of the dereeler; determining, based on the reel position information, whether the reel and the reel clamps are aligned relative to each other; and outputting a clamping control signal when the determination is that the reel and the reel clamps are aligned relative to each other.

According to various, but not necessarily all, embodiments of the invention there is provided computer software that, when run on a computer, causes performance of any one or more of the methods described herein. According to a further aspect of the invention there is provided a non-transitory computer readable medium comprising computer readable instructions that, when executed by a processor, cause performance of any one or more of the methods described herein.

According to various, but not necessarily all, embodiments of the invention there is provided a control apparatus for a reel receiving apparatus, the control apparatus comprising means for: receiving reel position information from a reel alignment sensor, wherein the reel position information is dependent on a position of a reel to be engaged by reel clamps of the dereeler; determining, based on the reel position information, whether the reel and the reel clamps are aligned relative to each other; and outputting a clamping control signal when the determination is that the reel and the reel clamps are aligned relative to each other.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of various examples of embodiments of the present invention reference will now be made by way of example only to the accompanying drawings in which: FIG. 1 illustrates an example of a wire fuse cutting system; FIG. 2 illustrates an example of reel clamps and a reel alignment sensor of a dereeler; FIG. 3 illustrates an example of at least part of a dereeler; FIG. 4 illustrates an example of at least part of a dereeler, and a reel; FIG. 5 illustrates an example of a control apparatus; FIG. 6 illustrates an example of a non-transitory computer-readable storage medium; and FIG. 7 illustrates an example of a method.

DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS OF THE 25 INVENTION FIG. 1 illustrates a wire fuse cutting system 1 (also referred to as wire cutting system, wire cutting and fusing system). The wire fuse cutting system 1 comprises a dereeler 100, a wire fuse cutting apparatus 200, and a container 300, such as a tray, for receiving lengths of cut wire. The dashed line in FIG. 1 represents wire 400 drawn through the wire fuse cutting system 1, from the dereeler 100 to the wire cutting apparatus 200.

The dereeler 100 is configured to support and unwind (dereel) a reel of wire 400 at a controlled rate. The wire 400 may be stranded or monofilament wire, depending on the implementation. In at least some examples, the wire 400 is a metal wire. However, other wire materials and/or constructions could be used.

The dereeler 100 comprises a dereeling mechanism (not shown) configured to extract wire 400 from the reel at a controlled rate. The exact implementation of the dereeling mechanism is outside the scope of this disclosure.

The wire fuse cutting apparatus 200 is configured to receive the extracted wire 400 from the dereeler 100. In some examples, the wire cutting apparatus 200 is a wire cutting and fusing apparatus. The wire cutting and fusing apparatus 200 can comprise electrodes (not shown) configured to pass a high electrical current, similar to that of an electrical arc, where two copper points transfer electrical energy through the cross-section of the wire 400, to cut the wire 400 and simultaneously melt (fuse) the cut ends.

The container 300 is configured to receive the cut lengths of wire 400 from the wire cutting apparatus 200. For example, a kick-out mechanism (not shown) of the wire cutting apparatus 200 may be configured to automatically (without user intervention) push each cut length of wire 400 into the container 300 following each cutting operation. A mechanical drive feature may be incorporated at the fuse cutting process and also in the kick out tray mechanism.

In more detail, the dereeler 100 illustrated in FIG. 1 comprises a housing 118 containing the dereeling mechanism and other components of the dereeler 100 The housing 118 of the dereeler 100 comprises an opening 120 through which 30 a reel can be inserted or extracted. As shown, the opening 120 may be a floor level opening so that reels can be rolled along the ground into the dereeler 100 through the opening 120. This minimises the need for lifting equipment or manual lifting.

FIG. 1 further shows an example of a door arrangement 122 of one or more 5 doors, covering the opening 120. The doors are closed when the dereeler 100 is in-use, and can be opened for swapping reels.

FIG. 2 illustrates internal components of the dereeler 100, and illustrates a reel 500 of wire. More specifically, the internal components of the dereeler 100 comprise at least reel clamps 102 and a reel alignment sensor 104.

A reel clamp 102 is provided to each side of the reel. The illustrated reel clamps 102 are laterally separated from each other and coaxial with each other. The reel clamps 102, when engaged with the reel 500 may enable the reel 500 to rotate about a rotation axis (reel clamp axis 105) defined by the pair of reel clamps 102.

The reel clamps 102 in FIG. 2 are movable towards each other, along the reel clamp axis 105, to engage with the flanges 502 of the reel 500, and in the opposite direction to release the reel 500.

The engagement between the reel clamps 102 and the reel 500 may be a plug-socket engagement. In the illustrated example, each reel clamp 102 is a plug and the reel 500 comprises sockets. For example, the socket of the reel 500 can be a through-hole 504 along the central axis of the reel 500, through the spindle of the reel 500. The through-hole 504 extends from flange to flange.

In another embodiment, each reel clamp 102 is a socket and the reel 500 comprises plugs.

In further embodiments, the engagement between the reel clamps 102 and the reel 500 may be frictional without a plug-socket connection.

The illustrated reel clamps 102 are tapered plugs. Their cross-sectional area reduces with increasing proximity to the flange 502 of the reel 500. In FIG. 2, but not necessarily in all examples, the tapered reel clamps 102 are frustroconical in shape and are designed to allow ease of location on the central reel through-hole.

FIG. 2 also illustrates the reel alignment sensor 104 of the dereeler 100. Various types of reel alignment sensor may be used. In this example, the reel alignment sensor 104 comprises a laser sensor. The laser sensor is defined by a light emitter and a light detector (not shown). The laser sensor emits a beam 106 of directed light (laser). The emitted beam 106 may be unbroken when the through-hole 504 of the reel 500 is aligned with the beam 106, and broken when the beam 106 is blocked by another part of the reel 500. Therefore, the output of the laser sensor changes based on whether the beam 106 can pass all the way through the through-hole 504 of the reel 500.

In other embodiments, the reel alignment sensor 104 is a different type of sensor. For example, a pixelated imaging sensor such as a camera may be used, in conjunction with machine vision software should additional location features be required.

In FIG. 2, the reel alignment sensor 104 is positioned so that the beam 106 can only pass through the through-hole 504 of the reel 500 when the through-hole 504 is aligned with the reel clamps 102. Therefore, one or both of the reel clamps 102 comprises a light aperture 103 therethrough, so that the beam 106 emitted from behind a reel clamp 102 can pass through the light aperture 103 of the reel clamp 102. A light aperture 103 may be a through-hole through the centre of a reel clamp 102, coaxial with the reel clamp axis 105.

FIG. 2 therefore shows that the dereeler 100 is configured to enable a control apparatus to detect that the reel 500 and the reel clamps 102 are aligned relative to each other. Based on this detection, the control apparatus may automatically initiate clamping actuation of the reel clamps 102 to engage the reel 500, or in other embodiments the user may be prompted to initiate the automatically-controlled clamping actuation.

FIG. 3 illustrates the components of FIG. 2 and further optional features of the dereeler 100. FIG. 3 illustrates a plurality of actuators 112, 114, 116 enabling the reel clamps 102 to be moved while the user is at a remote location (i.e., while the door arrangement 122 of FIG. 1 is closed). FIG. 3 further illustrates example movable structures/mechanisms connecting the reel clamps 102 to the actuators 112, 114, 116.

FIG. 3 illustrates a clamping actuator 112 configured to actuate one of the reel clamps 102 to reduce the separation between the reel clamps 102 until the sides of the reel 500 are engaged by the reel clamps 102. The clamping actuator 112 may comprise an electric motor or the like.

A screw mechanism or other mechanism may be used to move a reel clamp 102. Depending on the mechanism used, a single clamping actuator 112 may 20 actuate one reel clamp 102 or both reel clamps 102, or each reel clamp may be provided with a separate clamping actuator.

FIG. 3 further illustrates a clamp height actuator 114 configured to control a height of the reel clamps 102, to move the reel clamp axis 105 up or down relative to the supporting surface of the reel 500, such as the ground. This is useful because a small reel has a small diameter, so its through-hole is lower down compared to the through-hole of a large reel. Therefore, height-adjustment of the reel clamps 102 enables different reel diameters to be accommodated. The clamp height actuator 114 may comprise an electric motor or the like connected to a lifting assembly, such as a wire lifting assembly, for lowering and raising of the clamped reel.

In FIG. 3, the clamp height actuator 114 is configured to move a structure 110 that supports both reel clamps 102. Therefore, a single clamp height actuator 114 can adjust the height of both reel clamps 102 simultaneously, thereby moving the reel clamp axis. The illustrated structure 110 comprises a pair of arms 108 connected to each other by a central body 126, each arm 108 comprising a reel clamp 102.

The clamp height actuator 114 of FIG. 3 may comprise a winch actuator, using a pulley or other tether to lift at least one of the arms 108. The structure 110 of FIG. 3 is rotatable about a pivot 124. Therefore, operation of the clamp height actuator 114 rotates the structure 110 clockwise or anticlockwise about its pivot 124. This causes the reel clamps 102 to move upwardly or downwardly along an arc.

It would be appreciated that in other embodiments, the height adjustment direction may be linear rather than rotational. Additionally, or alternatively, the reel clamps 102 may be actuatable together in one or more horizontal directions.

Looking at the structure 110 in more detail, the clamping actuator 112 is mounted to one of the arms 108 of the structure 110. Therefore, when the structure 110 moves, the clamping actuator 112 stays in a fixed position relative to its reel clamp 102. The clamping actuator 112 is configured to move its reel clamp relative to said arm 108.

The height adjustment actuator 114 may be mounted to the housing 118 (FIG. 1), enabling the height adjustment actuator to move the structure 110.

The structure 110 of FIG. 3 comprises a central body 126 interconnecting the arms 108. The central body 126 may have a variable length, controlled by a clamp separation actuator 116.

The clamp separation actuator 116 may enable a coarse 'in-out' adjustment, and the clamping actuator 112 may enable a final clamping adjustment in the same direction.

In the illustrated example, the central body 126 comprises variable-length members interconnecting the arms 108, wherein the clamp separation actuator 116 is configured to vary the length of at least one of the variable-length members, to vary the separation between the reel clamps 102.

FIG. 4 illustrates the dereeler components of FIG. 3, with a reel 500 shown between the reel clamps 102. The reel 500 is resting on a supporting surface such as the ground or a floor panel of the housing 118. One or more chocks 128 may be located inside the housing 118, e.g., resting on the ground, to prevent the reel 500 from rolling back out of the opening 120. The chocks 128 may be sufficiently low that the reel 500 can be easily manually pushed into the chocks 128, and sufficiently high that the reel 500 cannot easily roll out of the chocks 128 without manual intervention. The chocks 128 may set the initial position of the reel 500 relative to the reel clamps 102. A reel 500 may be either positioned between the chocks 128 or to a side of one of the chocks 128.

FIG. 5 illustrates an example of a dereeler control apparatus 600. The dereeler control apparatus 600 may control functions of just the dereeler 100, or of the dereeler 100 in combination with the wire cutting apparatus 200 and/or the container 300 of FIG. 1.

The dereeler control apparatus 600 may comprise at least one controller. The dereeler control apparatus 600 may be implemented in hardware alone, have certain aspects in software including firmware alone or can be a combination of hardware and software (including firmware).

The dereeler control apparatus 600 comprises means for performing one or more of the methods described herein. In examples, the means are: at least one processor 604; and at least one memory 606 including at least one computer program code 608, the at least one memory 606 and the at least one computer program code 608 configured to, with the at least one processor 604, cause the apparatus 102 at least to perform one or more of the methods described herein.

As illustrated in FIG. 6, the computer program 608 may arrive at the dereeler control apparatus 600 via any suitable delivery mechanism 612. The delivery mechanism 612 may be, for example, a machine readable medium, a computer-readable medium, a non-transitory computer-readable storage medium, a computer program product, a memory device, a record medium such as a Compact Disc Read-Only Memory (CD-ROM) or a Digital Versatile Disc (DVD) or a solid state memory, an article of manufacture that comprises or tangibly embodies the computer program 608.

FIG. 5 further illustrates the dereeler control apparatus 600 comprising at least one interface 602 for receiving and/or sending signals.

The interface 602 is configured to receive reel position information from the reel alignment sensor 104. The reel position information may comprise, for example, information indicating whether the beam 106 is broken or unbroken, which depends on the position of the reel 500 relative to the reel clamps 102.

The interface 602 may also be configured to receive inputs from and/or transmit outputs to a human-machine interface (HMI 610). The human-machine interface 610 may comprise a user input device and/or a user output device. For example, the human-machine interface 610 may comprise a touch-screen display or the like.

The interface 602 may be configured to receive information from a door sensor 614, indicative of whether the door arrangement is in an open state or a closed state.

FIG. 5 further illustrates the interface 602 being configured to transmit output signals to the actuators 112, 114, 116.

FIG. 7 illustrates an example method 700 of controlling the dereeler 100. The method 700 may be computer-implemented. The method 700 may be implemented by the dereeler control apparatus 600.

The method 700 may be initiated by determining that a reel loading event condition is satisfied. For example, this can comprise receiving a user input signal from the human-machine interface 610 indicating that a reel is to be changed. Alternatively, this can comprise determining that the door arrangement 122 of FIG. 1 is open, via a door sensor 614. The reel will not function should the aforementioned sensors not be engaged. In some examples, once an interlocking device of the door arrangement 122 is engaged, this actions the dereeler to clamp and lift the reel into position. The interlocking device may lock the door arrangement closed.

The method 700 comprises, at block 702, controlling the clamp height actuator 114 to vary a height of the reel clamps 102. The dereeler control apparatus 600 may be configured to control the clamp height actuator 114 to automatically (without user intervention) vary the height of the reel clamps 102. This enables the reel clamps 102 to 'find' the size of the reel 500 by moving in parallel with each other towards or away from the ground surface on which the reel 500 rests.

In some examples, the method 700 may require detection that the door arrangement 122 of FIG. 1 is closed, before starting this actuation.

In addition to, or instead of varying the height, the method 700 may control the clamp separation actuator 116 to vary the clamp separation, and/or the reel clamps 102 could be moved together in a horizontal direction by a suitable actuator.

In an alternative embodiment, a user manually sets the height of the reel clamps 102, for example by setting a height of the structure 110. The structure 110 may comprise a variable-length foot, for example, to set the height.

The method 700 comprises, at block 704, receiving reel position information from the reel alignment sensor 104 (e.g., laser sensor). The reel position information is dependent on a position of the reel 500 to be engaged by the reel clamps 102 of the dereeler 100.

The reel position information may comprise, for example, information indicating whether the beam 106 is broken or unbroken, which depends on the position of the reel 500 relative to the reel clamps 102, or more specifically the position of the through-hole 504 of the reel 500 relative to the reel clamps 102.

The method 700 comprises, at decision block 706, determining, based on the reel position information, whether the reel 500 and the reel clamps 102 are aligned relative to each other.

This decision block can be implemented by determining whether the beam 106 is broken or unbroken If the beam 106 is still broken, the method 700 may loop to block 702 to continue automatically moving the reel clamps 102 (e.g., height). Alternatively, in a manual implementation, an output signal could be rendered to the user via the human-machine interface 610, indicating that alignment has not been found.

Satisfaction of the decision block 706 may require at least that the beam 106 is no longer broken, indicating that the through-hole 504 of the reel 500 is aligned with the reel clamps 102. Therefore, the method 700 progresses to block 708.

A further precondition of block 706 may be that the door arrangement 122 of FIG. 1 is closed.

The method 700 comprises, at block 708, outputting a clamping control signal when the determination is that the reel 500 and the reel clamps 102 are aligned relative to each other.

Outputting the clamping control signal may cause or enable a clamping actuation of the reel clamps 102 by the clamping actuator 112. The clamping actuation may move the reel clamps 102 closer to each other, to engage with sides of the reel 500. For example, the plug-socket engagement may occur as a result of the clamping actuation.

The dereeler control apparatus 600 may be configured to initiate the clamping actuation automatically (without user intervention), upon the determination that the reel 500 and the reel clamps 102 are aligned relative to each other.

In alternative embodiments, clamping is not initiated automatically. Outputting the clamping control signal may comprise causing information to be rendered by a user output device to indicate that the reel 500 and the reel clamps 102 are aligned relative to each other. This enables the user to then manually initiate the clamping actuation via the human-machine interface 610. Once manually initiated, the clamping actuation may be controlled automatically, this supports the safe use of the reel whilst the door arrangement is closed.

Part of automatically controlling the clamping actuation involves setting a correct clamping force on the reel 500. The dereeler control apparatus 600 may be configured to set a clamping force of the clamping actuation in dependence on detected electrical load by the clamping actuator 112. For example, the clamping actuation may stop increasing once an overcurrent associated with the clamping actuator 112 is detected.

Following the clamping actuation, the dereeler control apparatus 600 may be configured to control the clamp height actuator 114 to lift the reel 500 from a floor surface, by the reel clamps 102. This may be done automatically, e.g., following the overcurrent detection.

In an example implementation of the method 700 of FIG. 7, a user loads a new reel into approximate alignment with the reel clamps 102, closes the door arrangement 122, and this action of closing the door arrangement 122 triggers the reel clamps 102 to automatically close onto the reel 500. If there is some misalignment, the feedback loop in the method 700 of FIG. 7 reduces the misalignment first, and then clamps onto the reel 500.

If the feedback loop only controls the reel clamps 102 in a limited number of degrees of freedom (e.g., height along arc), then optionally the small floor-mounted chocks 128 shown in FIG. 4 may be provided to help the user to position the reel 500 along the degree of freedom of movement of the variable-height reel clamps 102.

Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the invention as claimed. For example, the invention may be applied to a different type of reel receiving apparatus, not limited to the dereeler described herein.

Features described in the preceding description may be used in combinations other than the combinations explicitly described.

Although functions have been described with reference to certain features, 30 those functions may be performable by other features whether described or not.

Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not.

Whilst endeavoring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.

Claims

CLAIMS1. A dereeler control apparatus for a dereeler of a wire cutting system, the dereeler control apparatus comprising means for: receiving reel position information from a reel alignment sensor, wherein the reel position information is dependent on a position of a reel to be engaged by reel clamps of the dereeler; determining, based on the reel position information, whether the reel and the reel clamps are aligned relative to each other; and outputting a clamping control signal when the determination is that the reel and the reel clamps are aligned relative to each other.
2. The dereeler control apparatus of claim 1, configured to control one or more actuators to move the reel clamps to move a reel clamp axis.
3. The dereeler control apparatus of claim 2, configured to control the one or more actuators to automatically move the reel clamp axis until the determination that the reel and the reel clamps are aligned relative to each other.
4. The dereeler control apparatus of claim 2 or 3, configured to control a clamp height actuator of the one or more actuators, to vary a height of the reel clamps.
5. The dereeler control apparatus of claim 4, configured to control the clamp height actuator to automatically vary the height of the reel clamps, until the determination that the reel and the reel clamps are aligned relative to each other.
6. The dereeler control apparatus of claim 4 or 5, wherein a structure supporting the reel clamps is pivotable by the clamp height actuator to vary the height of the reel clamps along an arc.
7. The dereeler control apparatus of any preceding claim, wherein outputting the clamping control signal causes a clamping actuation of at least one of the reel clamps by a clamping actuator.
8. The dereeler control apparatus of claim 7, wherein the clamping actuation reduces a separation between the reel clamps until sides of the reel are engaged by the reel clamps.
9. The dereeler control apparatus of claim 7 or 8, configured to initiate the clamping actuation automatically, in dependence on the determination that the reel and the reel clamps are aligned relative to each other.
10. The dereeler control apparatus of claim 9, wherein engagement of a door arrangement interlocking device is configured to action the dereeler to clamp and lift the reel into position.
11. The dereeler control apparatus of claim 9 or 10, configured to initiate the automatic clamping actuation further in dependence on detection that a door arrangement of the dereeler is in a closed state.
12. The dereeler control apparatus of any one of claims 7 to 11, configured to set a clamping force of the clamping actuation in dependence on detected electrical load by the clamping actuator.
13. The dereeler control apparatus of any one of claims 7 to 12, dependent through claim 4, configured to control the clamp height actuator to lift the reel from a supporting surface, via the reel clamps, following the clamping actuation.
14. The dereeler control apparatus of any preceding claim, wherein the reel is flanged, wherein the reel clamps are configured to engage with flanges of the reel, and wherein each reel clamp defines part of a plug-socket connection between the reel clamp and a corresponding side of the reel.
15. The dereeler control apparatus of any preceding claim, wherein the reel clamps are tapered.
16. The dereeler control apparatus of any preceding claim, wherein the reel position information received by the dereeler control apparatus is dependent on whether the reel clamps and a through-hole of the reel are aligned relative to each other.
17. The dereeler control apparatus of claim 16, dependent through claim 2, wherein the reel alignment sensor comprises a sensing axis substantially coaxial with the reel clamp axis.
18. The dereeler control apparatus of claim 17, wherein the reel alignment sensor comprises a light emitter and a light detector, wherein the light emitter is configured to emit a beam of directed light towards the light detector, and wherein the beam is unbroken when the through-hole of the reel is aligned with the beam, and broken when blocked by another part of the reel.
19. The dereeler control apparatus of claim 18, wherein one or each of the reel clamps comprises a light aperture therethrough, enabling the beam of directed light to pass through the through-hole of the reel.
20. A dereeler system for a wire cutting system, the dereeler system comprising the dereeler control apparatus and the dereeler, of any one of the preceding claims.
21. The dereeler system of claim 20, wherein the dereeler comprises a housing comprising an opening configured to enable the reel to be rolled into the housing.
22. A wire cutting system comprising the dereeler system of claim 21, and a wire cutting apparatus.
23. A method of controlling a dereeler of a wire cutting system, the method comprising: receiving reel position information from a reel alignment sensor, wherein the reel position information is dependent on a position of a reel to be engaged by reel clamps of the dereeler; determining, based on the reel position information, whether the reel and the reel clamps are aligned relative to each other; and outputting a clamping control signal when the determination is that the reel and the reel clamps are aligned relative to each other.
24. Computer software that, when run on a computer, causes performance of the method of claim 23.