Patent ID: 11964395
Assignee: KRONES AG
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 9:
10. A program-controlled handling device (18) including a parallel kinematic robot (24), with a tool head (28) suspended from at least two parallel-kinematically movable arms (26), wherein each of the at least two arms (26) comprises an upper arm (36), which is motor-movable between two end positions about a defined upper-arm swivel axis (38), and also comprising a lower arm (40), which is mounted swivelably movable on the upper arm (36), and
wherein the arms (26) hold a tool head (28), which is movably suspended from at least two lower arms (40), and which tool head (28) has a length-variably or articulately movable cardan shaft (30) between a stationary drive motor (44) and the tool head (28), which is movable about at least one rotational axis, and wherein the tool head (28) is movable within a defined movement range by program-controlled and mutually coordinated swivel movements of the upper arms (36) and the lower arms (40), further comprising a central control unit, in which control programs for the control of all movements of the at least two movable arms (26) are stored, which control programs comprise a referencing program, calibration program, or initialization program or a plurality of referencing programs, calibration programs, or initialization programs,
wherein the control programs are adapted to:
move a first of the at least two upper arms (36) into one of the two end positions by motorized swiveling about the particular upper-arm swivel axis (38); and the angular position reached in this connection is sensor-detected and used for the position initialization or angle initialization of the first upper arm (36), whereupon the first upper arm (36) is returned from its end position into a defined angular position or into the previously assumed initial angular position, and
move a second of the at least two upper arms (36) into one of its two end positions by motorized swiveling about the particular upper-arm swivel axis (38); and the angular position reached in this connection is sensor-detected and used for the position initialization or angle initialization of the relevant second upper arm (36), whereupon the second upper arm (36) is returned from its end position into a defined angular position or into the previously assumed initial angular position.