The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 27, 2024
Filed:
Nov. 21, 2019
Bayer Aktiengesellschaft, Leverkusen, DE;
Leslaw Mleczko, Dormagen, DE;
Armin Schweiger, Bergisch Gladbach, DE;
Kathrin Wegener, Neuss, DE;
Carl-Helmut Coulon, Bonn, DE;
BAYER AKTIENGESELLSCHAFT, Leverkusen, DE;
Abstract
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.