Robotic Pouring Control Using Dual Feedback Loops
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic arms face challenges in accurately transferring a defined mass of pourable media from one vessel to another due to limitations in handling deformable objects and the complexity of controlling movements to prevent spillage and achieve precise volume or mass transfer.
Innovation Solution
A method utilizing two control loops to control the movement of a robotic arm, where the first control loop adjusts the mass flow rate based on the actual and target filling mass, and the second control loop adjusts the movement parameters to achieve a target mass flow rate, ensuring precise transfer of a defined mass of pourable medium by controlling the robotic arm's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robotic arm is used to transfer pourable medium, then automation is improved, but manufacturing precision deteriorates due to difficulty in controlling movement for precise mass transfer
Solution Approach 1:
The system continuously measures the actual mass flow rate of the pourable medium and compares it to the target mass flow rate, adjusting the robotic arm's movement parameters in real-time based on the deviation to achieve precise mass transfer
Solution Approach 2:
The robotic arm's movement parameters are dynamically adjusted during the transfer process based on feedback from mass flow rate measurements, allowing the system to adapt to variations in pouring characteristics and maintain precision
2Productivity
If movement speed is increased to improve productivity, then productivity is improved, but reliability deteriorates due to spillage from quick or unsteady movements
Solution Approach 1:
The system monitors the actual mass flow rate and adjusts the robotic arm's movement speed and stability in real-time, allowing faster transfer while preventing spillage through continuous correction of movement deviations
Solution Approach 2:
The movement parameters of the robotic arm are continuously adjusted during the transfer process based on measured mass flow rate deviations, optimizing both speed and stability dynamically
3Device complexity
If simple mathematical models are used for rigid objects, then device complexity is reduced, but manufacturing precision deteriorates when handling deformable objects or pourable media
Solution Approach 1:
Instead of relying on complex predictive models for deformable objects, the system uses simple control models combined with real-time feedback from mass measurements to achieve precise control of pourable media transfer
Solution Approach 2:
The system replaces complex mechanical control models with a feedback-based control system that uses simple measurements and calculations to achieve precise control, substituting sophisticated prediction with empirical correction
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 reproducibility and accuracy in transferring a defined mass of pourable medium, reducing human error and ensuring safe handling of hazardous materials, particularly suitable for regulated environments like pharmaceutical and food production.
Implementation Method 1
determining the mass of the medium that has been filled into the second vessel as the actual filling mass, and also the change in the actual filling mass of the medium over time as the actual mass flow rate, preferably by means of a balance
Implementation Method 2
positioning the second vessel such that medium poured out of the first vessel gets into the second vessel essentially by the effect of gravity
Data Source
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 118) 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 (30; as an actual mass flow (IMS), by means of a balance 124), c) 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 (FM) and the intended filling mass (SFM), f) using the correcting variable (26) of die 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), or, the basis of the at least one movement parameter (BP). The invention also relates to a device (2) for carrying out the above method.