公开(公告)号：US11964395B2

公开(公告)日：2024-04-23

申请号：US17262383

申请日：2019-05-16

Applicant: Krones Aktiengesellschaft

Inventor： Christian Dany ,  Arsalan Mehdi ,  Erhard Beer ,  Manuel Kollmuss

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1692 ,  B25J9/1623 ,  B25J13/085 ,  B25J13/088 ,  G05B2219/39024 ,  G05B2219/40267 ,  G05B2219/42304 ,  G05B2219/50391

Abstract: The invention relates to a method to calibrate a handling device (18) including a handling robot or parallel kinematic robot (24), with a tool head (28) suspended from at least two parallel kinematically movable arms (26). 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 (38). Each of the at least two arms also comprises a lower arm (40), 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.