# US 8,739,598 B2 · System and method for calibrating an automated materials handling system

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- Number: US 8,739,598 B2
- Document ID: US8739598B2
- Status: Granted
- Kind: B2
- Application number: 13/026,617
- Filed: 2011-02-14
- Published: 2011-06-09
- Granted: 2014-06-03
- Earliest claimed: 2008-01-10
- Assignees: Parata Systems, LLC
- Applicants: Mark Uebel; James Robert Rivenbark, Jr.; Jonathan Daniel Brandmeyer; Christopher Todd Hilliard
- Inventors: Mark Uebel; James Robert Rivenbark, Jr.; Jonathan Daniel Brandmeyer; Christopher Todd Hilliard
- Web page: https://patentgrep.com/patent/US8739598B2

## CPC

- B25J 9/1692: {Calibration of manipulator}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A method of calibrating positions within a materials handling system, wherein the materials handling system includes multiple stations for carrying out tasks and a carrier that is movable between the multiple stations, includes the steps of: providing calibration points at a plurality of the multiple stations; moving the carrier to at least some of the calibration points; contacting the calibration points; recording the locations of the calibration points; and determining locations of key components of the stations based on the locations of the calibration points. In some embodiments, the method includes contacting the calibration points with a calibration tool, which may include: a cylindrical body; a groove in the cylindrical body sized and configured to receive jaws from the carrier; and a cylindrical upper flange positioned on an upper end of the cylindrical body. In this configuration, the tool can be gripped by the carrier and employed to perform a variety of calibration functions.

## Claims

### Claim 1

A calibration tool for an automated materials handling system, the materials handling system having a carrier that is configured to move between multiple stations within the system, the tool comprising:
a cylindrical body having a first diameter;
a cylindrical groove in the cylindrical body sized and configured to receive jaws from the carrier; and;
a cylindrical flange positioned on an end of the cylindrical body having a second diameter, the second diameter exceeding the first diameter.

### Claim 2 (depends on 1)

The tool defined in claim 1, wherein the second diameter is between about 1.5 and 2.5 inches.

### Claim 3 (depends on 1)

The tool defined in claim 1, wherein the flange has a thickness of between about 0.1 and 0.3 inches.

### Claim 4 (depends on 1)

The tool defined in claim 1, wherein the body has a flat lower surface.

### Claim 5 (depends on 1)

The tool defined in claim 1, wherein the flange has a flat upper surface.

### Claim 6

A calibration tool for an automated materials handling system, the materials handling system having a carrier that is configured to move between multiple stations within the system, the tool comprising:
a cylindrical body with a flat lower surface and having a first diameter;
a cylindrical groove in the cylindrical body sized and configured to receive jaws from the carrier; and;
a cylindrical flange positioned on an upper end of the cylindrical body, the flange having a flat upper surface and a second diameter, the second diameter exceeding the first diameter.

### Claim 7 (depends on 6)

The tool defined in claim 6, wherein the second diameter is between about 1.5 and 2.5 inches.

### Claim 8 (depends on 6)

The tool defined in claim 6, wherein the flange has a thickness of between about 0.1 and 0.3 inches.