SAMPLING SYSTEM AND METHOD FOR OPERATING A SAMPLING SYSTEM

Description

[0001] The invention relates to a dispensing system and a method for operating a dispensing system.

[0002] Such a dispensing system is used for filling and emptying containers, especially drums, filled with liquid chemicals. The system comprises a dispensing head that can be attached to a dip tube of the container. Using the dispensing head, liquid can be drawn from the container via the dip tube or added to the container.

[0003] Once a filling or emptying process is complete, the dispensing head is removed from the dip tube and the dip tube is sealed with a dip tube closure, so that the container can then be transported without any liquid escaping from the container.

[0004] With conventional dispensing systems, attaching and detaching the dispensing head is typically done manually by a user. A disadvantage of this method is the considerable personnel effort required, especially in larger systems with numerous containers to which dispensing heads need to be connected. Furthermore, there is a risk of the user(s) coming into contact with potentially hazardous chemicals.

[0005] In principle, automated attachment of dispensing heads to containers using robots is also possible. To locate the dip tube or the container opening in which the dip tube is stored, image processing systems are typically used. These systems allow the container to be optically detected, and the container opening visible in the captured images can then be located and approached by the robot carrying a dispensing head.

[0006] The use of image processing systems is complex and expensive. In particular, high computing power must be provided for image analysis. Finally, image processing systems are susceptible to interference such as stray light, contamination, and the like.

[0007] EP 3 988 499 A1 relates to a method for supplying a mobile utility unit with a consumable. The consumable is conveyed to a supply inlet of the utility unit via a movable conveying connection of a maintenance station. The supply inlet of the utility unit is identified. The conveying connection is then fluidically connected to the identified supply inlet. The consumable is conveyed to the supply inlet. After the conveying of the consumable is complete, the conveying connection is fluidly disconnected from the supply inlet.

[0008] WO 2015 / 032604 A1 concerns a dispensing system for filling and emptying containers and includes a container closure which is inserted into a container opening that receives a bung head. A dip tube connected to the bung head has a dispensing connection element connected to the dip tube or the bung head. A transponder generating a signal is provided, whereby a monitoring signal is generated depending on the transponder signal, indicating whether a permissible connection of the dispensing connection element to the container is present.

[0009] The invention is based on the objective of ensuring a rational, reliable operation of a dispensing system.

[0010] The features of the independent claims are provided to solve this problem. Advantageous embodiments and expedient further developments are described in the dependent claims.

[0011] The invention relates to a dispensing system comprising a robot and at least one container with an opening to which a dispensing head can be attached, enabling the removal of liquid from or addition of liquid to the container. The dispensing head can be automatically mounted to the container opening by the robot. An RFID chip is located on the container in the area of ​​the opening. A measuring head is attached to a movable robot arm, containing a coil of an RFID reading unit. The RFID reading unit reads a code from the RFID chip when the chip is within its reading range. Upon reading the code, it is received by a control unit of the robot as a positioning signal. This signal allows the dispensing head to be positioned at the container opening. The measuring head is equipped with at least one tactile sensor that can detect the contours of the container.

[0012] The invention further relates to a method for operating a withdrawal system.

[0013] According to the invention, fully automated operation of the dispensing system is ensured. Attaching or detaching dispensing heads to container openings is performed without personnel by means of a robot. This system can also be used in systems with multiple containers to which different dispensing heads are attached.

[0014] The robot can not only automatically attach and detach a dispensing head from the opening of a container, but also, with the dispensing head detached, attach a closure to the opening and detach it again as needed. Once the container opening is sealed, the container can be transported without any leakage.

[0015] Advantageously, a dip tube is stored in the container opening. One opening of the dip tube can then be closed with a dip tube cap. Once the cap is removed, a dispensing head can be attached. These processes are also performed automatically by the robot.

[0016] According to the invention, an RFID chip is permanently mounted in the outer region of the container surrounding the container opening or in the area of ​​the dip tube that opens at the container opening. At least one code is stored in this chip in a known manner. Correspondingly, the measuring head, as well as each removal head that can be attached to the robot arm, has a coil as the sensor element of an RFID reading unit. The electronic components of the RFID reading unit are integrated into the robot itself. When the measuring head or a removal head is connected to the robot arm, the coil located there, together with the electronic components of the robot, forms a complete RFID reading unit.

[0017] In principle, it is also possible to integrate a complete RFID reading unit into the measuring head.

[0018] If the measuring head is positioned close to the container opening, i.e., at a small distance from the container opening, the container's RFID chip is within the reading range of the RFID reading unit, allowing the code to be read from the RFID chip by the RFID reading unit. According to the invention, when the code is read, it is used as a positioning signal, thus making the position of the container opening, where a removal head is to be placed, known within the robot.

[0019] This method takes advantage of the fact that the current position of the measuring head within the robot is known. When the RFID chip's code is read, the current position of the measuring head is used as a positioning signal in the control unit, defining the location of the container opening.

[0020] In a manner known per se, the spatial position of the robot arm is detected by means of sensors on the robot and fed to the control unit.

[0021] After the positioning signal has been determined, the measuring head is removed from the robot arm. A removal head is then attached to the robot arm, and the removal head can be positioned at the container opening using the positioning signal.

[0022] A key advantage of the invention is that the RFID system, with the RFID chip on the container and the RFID reading unit on the measuring head, forms a very simple and cost-effective sensor system, allowing the measuring head to be positioned precisely at the container opening. In particular, the RFID system is considerably less expensive than an image processing system. Furthermore, it is advantageous that the RFID system is insensitive to external interference.

[0023] The RFID chip makes it particularly advantageous to be able to identify the container.

[0024] For this purpose, data is encoded in the RFID chip's code that identifies the container and / or the liquid stored in the container.

[0025] This results in a particularly efficient design of the dispensing system, as the RFID system fulfills a dual function: on the one hand, container identification, and on the other hand, positioning of the measuring head at the container opening. The RFID system, which forms the identification system, thus simultaneously provides the sensors for positioning the measuring head, eliminating the need for additional sensors in this regard.

[0026] This identification is performed using a picking head attached to the robot arm. Based on the container identification, an automatic check is also carried out to determine whether the picking head is even permitted to be connected to the dip tube of the specific container.

[0027] According to a constructive and practical design, the container opening is located in the ceiling of the container.

[0028] The container typically has a hollow cylindrical shape or the shape of a barrel, with the lid lying in a horizontal plane when the container is placed on a horizontal surface. Generally, the container can also be cuboid or similar in shape.

[0029] The dip tube, located in the container opening, terminates at the container's ceiling. The RFID chip can be located there, near the edge of the dip tube.

[0030] According to the invention, at least one tactile sensor is assigned to the measuring head, by means of which the contours of the container can be detected.

[0031] In particular, the tactile sensor is a force sensor.

[0032] The tactile sensor can be part of the measuring head. It is advantageous to integrate the tactile sensor into the robot, allowing it to detect deflections or forces acting on segments of the measuring head.

[0033] In order to attach a sampling head to the container opening, the position of the opening on the container must first be determined, i.e., specifically its location in the container's ceiling. The same applies to attaching or removing the dip tube closure from the container opening.

[0034] According to the invention, the position of the container opening is determined by means of a coarse positioning followed by a fine positioning.

[0035] The coarse and fine positioning is performed using the measuring head mounted on the robot arm.

[0036] First, during the rough positioning, the contour of the container is scanned using the tactile sensor of the measuring head.

[0037] The lid of the container is being searched for.

[0038] The area of ​​the container's ceiling, in which the container opening is located, is conveniently scanned using the tactile sensor.

[0039] For this purpose, the height of the container is advantageously first scanned with the tactile sensor, and then an edge of the container protruding above the ceiling.

[0040] In this process, the measuring head is moved across the ceiling in a search cycle until the RFID chip is within the reading range of the RFID reading unit at the container opening.

[0041] The tactile sensor repeatedly comes into contact with the edge of the container. When this occurs, the measuring head is moved back towards the center of the container, with the direction of movement of the measuring head being continuously varied to cover the entire area of ​​the lid.

[0042] This search continues until the RFID chip is within the reading range of the RFID reader. The RFID reader then reads the code from the RFID chip to perform fine positioning and uses the current position of the measuring head as a positioning signal, which defines the position of the container opening.

[0043] After precise positioning, the robot picks up a picking head from a storage unit and attaches it to the robot arm in place of the measuring head. The picking head is then positioned at the container opening using the positioning signal and secured there.

[0044] After the container is filled or emptied, the robot detaches the dispensing head from the container opening and removes it. Then, a tool with a closure is attached to the robot arm in place of the dispensing head and positioned at the container opening. The robot then automatically attaches the closure to the container opening.

[0045] The method according to the invention can be modified such that no special measuring head is used to generate the position signal. Rather, a measuring head or a tool can be used as a measuring head, since these units also have coils for reading the RFID code.

[0046] In this case, only a tactile sensor needs to be provided on the respective removal head or tool.

[0047] The invention will be explained below with reference to the drawings. The drawings show: Figure 1: Schematic representation of the dispensing system according to the invention. Figure 2: Top view of the upper side of a container for the dispensing system according to the invention. Figure 1 Figure 3: Detail view of a measuring head connected to a robot arm. Figure 4: Detail view of a removal head connected to a robot arm. Figure 5: Detail view of a tool holding a closure, connected to a robot arm. Figure 6: First view of a measuring head being positioned by a robot. Figure 7: Second view of a measuring head being positioned by a robot. Figure 8: View of a removal head being positioned by a robot. Figure 9: View of a tool being positioned by a robot.

[0048] Figure 1Figure 1 schematically shows an embodiment of the dispensing system 1 according to the invention for transportable containers 2, which may in particular be drums or the like. A liquid 3 is stored in the respective container 2. The liquids 3 stored in such containers 2 are in particular liquid specialty chemicals.

[0049] The extraction system 1 comprises a extraction head 4, which can be attached to a dip tube 5. The dip tube 5 is mounted in a container opening 6 of the container 2. The longitudinal axis of the dip tube 5 runs in a vertical direction.

[0050] The dispensing head 4 is used to extract liquid 3 from the container 2. It can also be used to fill containers 2. For this purpose, the dispensing head 4 has a liquid connection 4a at its upper end. A line 7 is connected to this liquid connection 4a, leading to a pump 8. The line 7 can be in the form of a hose. The pump 8 is controlled by a controller (not shown).

[0051] As from the Figure 1 and 2 As can be seen, the container 2 has a ceiling 2a running in a plane on its upper side, from which an edge 2b protrudes upwards.

[0052] The container opening 6 with the immersion tube 5 inserted therein is located in the ceiling 2a. An RFID chip 9, containing at least one code, is located in the outlet area of ​​the immersion tube 5. This code encodes data that uniquely identifies the container 2 and / or the liquid 3 stored therein.

[0053] The removal system 1 is operated automatically by means of a robot 10 ( Figures 6 to 9 The robot 10 has, in a known manner, a three-dimensionally movable, extendable and retractable robot arm 11, which can perform work movements. The robot arm 11 is controlled by a control unit 12. The current position of the robot arm 11 in space is continuously detected by means of sensors integrated into the robot 10.

[0054] The robot arm 11 has a connection flange 13 to which different components of the removal system 1 can be automatically attached and connected ( Figures 3 to 5 ).

[0055] The first component that can be connected to the connection flange 13 of the robot arm 11 is a measuring head 14 ( Figure 3 The measuring head 14 incorporates a coil 15, which forms the sensor element of an RFID reading unit. The electronic components of the RFID reading unit are integrated into the robot 10.

[0056] Furthermore, the measuring head 14 has a projection 16 extending from its underside, which forms a tactile element connected to a tactile sensor (not shown), in particular a force sensor, in the robot 10. The tactile sensor thus formed can detect forces acting on the measuring head 14.

[0057] As a second component, a removal head 4 can be connected to the robot arm 11 ( Figure 4The extraction head 4 has a connector 17 for connection to the immersion tube 5. The extraction head 4 also has a coil 15a which, together with the electronic components in the robot 10, forms an RFID reading unit.

[0058] Advantageously, a storage area is provided in the robot 10 area in which different removal heads for different containers 2 are stored. If the removal head 4 has been connected to the immersion tube 5 by means of the robot 10, the RFID chip 9 of the immersion tube 5 is within the reading range of the RFID reading unit of the removal head 4 and at least one code is read from the RFID chip 9.

[0059] The code identifies container 2 and / or its contents. This information allows, in particular, the determination of whether or not the dispensing head 4 is suitable for supplying or dispensing liquid 3.

[0060] As a third component, a tool 18 can be attached to the robot arm 11, and a dip tube closure 19 can be stored on the tool 18. The robot-controlled tool 18 can automatically close an opening in the dip tube 5 with the dip tube closure 19 if no removal head 4 is connected there. Likewise, the tool 18 can also be used to release the dip tube closure 19 from the dip tube 5.

[0061] In order to automatically connect a sampling head 4 to the dip tube 5 of the container 2, the position of the container opening 6 with the dip tube 5 must first be determined.

[0062] For this purpose, the measuring head 14 is connected to the robot arm 11 ( Figures 6 and 7). The measuring head 14 first performs a coarse positioning based on signals from the tactile sensor and then a fine positioning by reading the code from the RFID chip 9 of the immersion tube 5. First, the height of the container 2 is scanned with the measuring head 14, in which the measuring head 14 is guided against the ceiling 2a of the container 2 and the tactile sensor generates a signal by contacting the ceiling 2a ( Figure 6 ). Then the measuring head 14 is guided close above the ceiling 2a until it is guided against the edge 2b of the container 2 and the tactile sensor generates a signal again ( Figure 7From the edge 2b of container 2, the measuring head 14 is guided towards the center of container 2 until it again approaches the edge 2b of container 2, at which point the tactile sensor generates a new signal. The measuring head 14 is guided in this way above the lid 2a of container 2 until it approaches the container opening 6, at which point the tactile sensor again emits a signal. The measuring head 14 then approaches the container opening 6 until the RFID chip 9 is within the reading range of the coil 15. The RFID reader then reads the code from the RFID chip 9 and uses it as a positioning signal, such that the position of the measuring head 14 at the time the code is read is adopted as the position of the container opening 6.

[0063] After the position of the container opening 6 has been determined, the measuring head 14 is placed in a storage position and then a removal head 4 is automatically connected to the robot arm 11 by means of the robot 10. Then, the removal head 4 is guided to this container opening 6 by the robot arm 11 based on the known position of the container opening 6 ( Figure 8 Then, using the robot 10, the sampling head 4 is connected to the immersion tube 5.

[0064] Now liquid 3 can be taken from or added to container 2.

[0065] Once this process is completed, the removal head 4 is automatically detached from the immersion tube 5 by means of the robot 10 and the robot 10 places the removal head 4 in storage.

[0066] The tool 18 is then automatically connected to the robot arm 11 with the dip tube closure 19. The robot arm 11 guides the tool 18 to the container opening 6, and then the tool 18 closes the opening of the dip tube 5 with the dip tube closure 19.

[0067] Container 2 can now be removed. Reference symbol list

[0068] (1) Sampling system (2) Container (2a) Lid (2b) Rim (3) Liquid (4) Sampling head (5) Immersion tube (6) Container opening (7) Line (8) Pump (9) RFID chip (10) Robot (11) Robot arm (12) Control unit (13) Connection flange (14) Measuring head (15) Coil (15a) Coil (16) Attachment (17) Connector (18) Tool (19) Immersion tube closure

Claims

1. Extraction system (1) with a robot (10) with at least one container (2) with a container opening (6) to which an extraction head (4) can be connected so that, by means of the extraction head (4) can be used to remove liquid (3) from the container (2) or to feed liquid (3) into the container (2), characterised in that the extraction head (4) can be mounted automatically on the container opening (6) by means of the robot (10), wherein an RFID chip (9) is present on the container (2) in the area of the container opening (6), and wherein a measuring head (14) can be attached to a movable robot arm (11), in which a coil (15) of an RFID reading unit is present, wherein a code can be read from the RFID chip (9) can be read out when it is located in the reading range of the RFID reading unit, wherein when the code is read out, it is transferred to a control unit (12) of the robot (10) as a positioning signal, on the basis of which the extraction head (4) can be positioned at the container opening (6), and wherein at least one tactile sensor is assigned to the measuring head (14), by means of which the contours of the container (2) can be detected.

2. Extraction system (1) according to claim 1, characterised in that the current position of the measuring head (14) is detected in the robot (10).

3. Extraction system (1) according to one of claims 1 or 2, characterised in that the spatial position of the robot arm (11) is detected by means of a sensor system of the robot (10) and is fed to the control unit (12).

4. Extraction system (1) according to one of claims 1 to 3, characterised in that a dip tube (5) is mounted in the container opening (6), to which the extraction head (4) can be connected.

5. Extraction system (1) according to claim 4, characterised in that the RFID chip (9) is arranged in the edge area of the dip tube (5) which is located in the container opening (6).

6. Extraction system (1) according to one of claims 1 to 5, characterised in that the container (2) can be identified by means of the RFID chip (9), wherein data identifying the container (2) and / or the liquid (3) stored in the container (2) are encoded in the code of the RFID chip (9).

7. Extraction system (1) according to one of claims 1 to 6, characterised in that when the withdrawal head (4) is closed by a closure, the opening and closing of the closure being carried out automatically by means of the robot (10), wherein a tool (18) can be attached to the robot arm (11) with the closure in order to open or close the container opening (6).

8. Extraction system (1) according to one of claims 1 to 7, characterised in that the tactile sensor is a force sensor.

9. Method for operating an extraction system (1) with a robot (10) with at least one container (2) with a container opening (6), to which an extraction head (4) can be connected, so that liquid (3) can be removed from the container (2) or liquid (3) can be supplied to the container (2) by means of the extraction head (4), characterised in that the extraction head (4) is automatically mounted on the container opening (6) by means of the robot (10), wherein an RFID chip (9) is present on the container (2) in the area of the container opening (6), and wherein a measuring head (14) can be attached to a movable robot arm (11), in which a coil (15) of an RFID reading unit is present, wherein a code is read out from the RFID chip (9) with the RFID reading unit, when it is located in the reading range of the RFID reading unit, whereby when the code is read out, it is transferred to a control unit (12) of the robot (10) as a positioning signal, on the basis of which the extraction head (4) is positioned at the container opening (6), wherein the measuring head (14) is assigned at least one tactile sensor, by means of which the contours of the container (2) are detected, and wherein the position of the container opening (6) is determined, wherein the coarse positioning and fine positioning is carried out with the measuring head (14) mounted on the robot arm (11), and wherein during the coarse positioning the contour of the container (2) is scanned by means of the tactile sensor of the measuring head (14).

10. Method according to claim 9, characterised in that the area of a lid (2a) of the container (2) in which the container opening (6) is located is scanned by means of the tactile sensor.

11. Method according to claim 10, characterised in that the tactile sensor is first used to scan the height of the container (2) and then a rim (2b) of the container (2) protruding above the top (2a), and that in a search run, the measuring head (14) is guided over the top (2a) until the RFID chip (9) at the container opening (6) is within the reading range of the RFID reading unit.

12. Method according to claim 11, characterised in that fine positioning of the measuring head (14) at the container opening (6) is carried out by reading the code from the RFID chip (9) and transferring it as a positioning signal.

13. Method according to claim 12, characterised in that, after fine positioning has been completed, an extraction head (4) is picked up from a storage location by means of the robot (10) and attached to the robot arm (11) in place of the measuring head (14), and then positioned at the container opening (6) using the positioning signal and attached there.

14. Method according to claim 13, characterised in that, after filling or emptying the container (2), the extraction head (4) is detached from the container opening (6) by means of the robot (10) and removed from it, and that then, instead of the extraction head (4), a tool (18) with a closure is attached to the robot arm (11) and then positioned at the container opening (6), whereupon the closure is fastened to the container opening (6).

15. Method according to one of claims 9 to 14, characterised in that an extraction head or a tool (18) is used as the measuring head (14).