The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 23, 2024
Filed:
May. 16, 2019
Krones Aktiengesellschaft, Regensburg, DE;
Christian Dany, Rosenheim, DE;
Arsalan Mehdi, Rosenheim, DE;
Erhard Beer, Ebbs, AT;
Manuel Kollmuss, Raubling, DE;
Krones Aktiengesellschaft, Neutraubling, DE;
Abstract
The invention relates to a method to calibrate a handling device () including a handling robot or parallel kinematic robot (), with a tool head () suspended from at least two parallel kinematically movable arms (). Each of the at least two arms comprises an upper arm, which is movable between two end positions about a defined upper-arm swivel axis (). Each of the at least two arms also comprises a lower arm (), which is swivelably mounted on the upper arm. The upper arms are brought into approximately corresponding angular positions by detection of load torques and/or of angle positions. First one, than another of the upper arms is brought into one of the two end positions, and the angular position reached is detected and used for the position initialization or angle initialization of the particular upper arm, whereupon the upper arm is returned.