Bayer Aktiengesellschaft

Armin Schweiger

Carl-Helmut Coulon

Leslaw Mleczko

Kathrin Wegener

Daniel Felipe Ordoñez Apraez

Carsten Thomas

Daniel Felipe Ordoñez Apræz

System for automatically manipulating primary packaging in secondary packaging, comprising a robot having at least one robot arm with a clamping gripper installed at a tool centre point, wherein each tool centre point has a force-torque sensor, an image recording module for recording images of at least the upper segment of the primary packaging, comprising at least two stereo cameras for recording 3-D images, and one or more processors for providing a three-dimensional point cloud, controlling the image recording module and controlling the robot on the basis of the analysis of the three-dimensional point cloud and the measurements from the force-torque sensors.

Autonomous manipulation of flexible primary packaging in dimensionally stable secondary packaging by means of robots

The invention relates to a method for transferring a pourable medium () from a first vessel () into a second vessel (), by means of a robot arm (), wherein a movement) of the robot arm () can be controlled by at least one movement parameter (BP), including, inter alia, the following method steps: d) determining the mass of the medium () transferred into the second vessel () as an actual filling mass (IFM), and also the variation over time of the actual filling mass (IFM) of the medium (; as an actual mass flow (IMS), by means of a balance), c) calculating a correcting mass flow (StMS) as a correcting variable () of a first control circuit () while taking into account the actual filling mass (FM) and the intended filling mass (SFM), f) using the correcting variable () of die first control circuit () as a reference variable () of a second control circuit () for the purpose that the calculated correcting mass flow (StMS) is used as the intended mass flow (SMS), g) calculating the at least one movement parameter (BP) of the robot arm () as a correcting variable () of the second control circuit () while taking into account the intended mass flow (SMS) and the actual mass flow (IMS), and h) performing, the movement () of the robot arm (), or, the basis of the at least one movement parameter (BP). The invention also relates to a device () for carrying out the above method.

Method for transferring a pourable medium

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Bergisch Gladbach, Germany

Armin Schweiger