Bayer Aktiengesellschaft

Kathrin Wegener

Leslaw Mleczko

Carl-Helmut Coulon

Armin Schweiger

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.

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Neuss, Germany

Kathrin Wegener