Robot Arm Pouring Control Using Scale Feedback for Target Mass
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Solution Overview
Problem
Robot arms face challenges in precisely transferring pourable or deformable media from one vessel to another due to limitations in motion planning and control, often resulting in spills and inaccuracies in transferring a fixed volume or mass.
Innovation Solution
A method using a robot arm with two control loops to regulate the movement parameters, where the first control loop adjusts the mass flow based on the actual and target filling mass, and the second control loop adjusts the robot arm's movement to achieve precise transfer by controlling the mass flow, with the second vessel positioned on a scale to accurately determine and maintain the target mass.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a robot arm uses simple mathematical models for motion planning, then the planning and execution is simpler, but it cannot handle deformable objects or pourable media accurately
Solution Approach 1:
The system continuously measures the actual mass of the medium transferred using a scale and feeds this information back to the control unit. The control unit compares the actual mass with the target mass and adjusts the robot arm's motion parameters in real-time to achieve precise transfer of pourable media, resolving the contradiction between simple motion planning and high precision transfer.
2Productivity
If the robot arm moves rapidly to transfer the medium, then the transfer speed increases, but spillage occurs due to rapid or erratic movements
Solution Approach 1:
The scale provides real-time feedback on the actual mass transfer, allowing the control unit to monitor and adjust the robot arm's movement speed and acceleration. This feedback mechanism enables the system to move quickly when appropriate while slowing down or stabilizing when needed to prevent spillage, thus resolving the contradiction between transfer speed and spillage control.
3Ease of operation
If the robot arm tilts the container to pour the medium, then the transfer process is initiated, but it is difficult to control the precise volume or mass transferred
Solution Approach 1:
The scale continuously measures the actual mass of medium transferred during the tilting and pouring process. The control unit receives this feedback and adjusts the robot arm's tilting angle and movement in real-time to achieve the target mass transfer, resolving the contradiction between ease of pouring and precision in transferring defined mass.
Solution Approach 2:
The system replaces manual control of pouring with an automated control system that uses sensor feedback from the scale to precisely control the robot arm's movements. This substitution of mechanical control with feedback-based automated control enables precise mass transfer while maintaining ease of operation.
4Productivity
If the robot arm completely empties the first container, then all medium is transferred, but it is difficult to control the exact target mass
Solution Approach 1:
The scale provides continuous feedback on the actual mass transferred, allowing the control unit to stop the transfer process precisely when the target mass is reached, rather than completely emptying the container. This feedback mechanism enables both complete transfer of the required amount and accurate control of the target mass, resolving the contradiction between productivity and precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method achieves high precision and reproducibility in transferring pourable media, reducing human error and ensuring accurate transfer of target masses, making it suitable for regulated environments like pharmaceutical or food production.
Implementation Method 1
the second vessel is positioned on a scale, wherein a movement of the robot arm is controlled by at least one movement parameter
Implementation Method 2
a) The medium dispensed from the first container is transferred to the second container primarily by the effect of gravity
Data Source
Figure 1a~1h
Figure 2a~2c
Figure 3
AI summary
The invention relates to a method for transferring a pourable medium (10) from a first vessel (12) into a second vessel (14), by means of a robot arm (16), wherein a movement (18) of the robot arm (16) can be controlled by at least one movement parameter (BP), including, inter alia, the following method steps: d) determining the mass of the medium (10) transferred into the second vessel (14) as an actual filling mass (IFM), and also the variation over time of the actual filling mass (IFM) of the medium (10) as an actual mass flow (IMS), by means of a balance (24), e) calculating a correcting mass flow (StMS) as a correcting variable (26) of a first control circuit (28) while taking into account the actual filling mass (IFM) and the intended filling mass (SFM), f) using the correcting variable (26) of the first control circuit (28) as a reference variable (30) of a second control circuit (32), 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 (16) as a correcting variable (40) of the second control circuit (32) while taking into account the intended mass flow (SMS) and the actual mass flow (IMS), and h) performing the movement (18) of the robot arm (16), on the basis of the at least one movement parameter (BP). The invention also relates to a device (42) for carrying out the above method.