Abstract: A gripper provides for gripping labware having a variety of diameters and shapes. The gripper includes a support structure having a center axis, a motor, and a gripper stage. The gripper stage includes a plurality of blades, each of the blades having a first end through which a blade rotation axis extends, a second end that is circumferentially and radially moveable to rotate the blade about the blade rotation axis, and c) a center portion. A ring structure is coupled to the motor to rotate the ring structure around the center axis. The ring structure, as it rotates, moves the second end of each blade to rotate the blade about the blade rotation axis of the blade to shift the center portion towards the center axis to contact an outer portion of a vessel extending along the center axis.

Abstract: A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.

Abstract: A cleaning system is provided. The cleaning system includes a robot cleaner and a station. The robot cleaner includes a pad fixing part on which a cleaning pad is detachably mounted, a lifter to lift a part of the robot cleaner at which the pad fixing part is positioned, and a pad detacher to detach the cleaning pad mounted on the pad fixing part. The station includes a pad storage box in which a cleaning pad that is to be provided to the robot cleaner is stored, a pad coupling part on which a cleaning pad that is to be coupled to the robot cleaner is rested, and a pad supplier to supply the cleaning pad stored in the pad storage box to the pad coupling part.

Abstract: A robotic end-tool including a divider restraining mechanism that utilizes a movable foot structure to restrain divider inserts during the automated extraction of objects from a box using a robot mechanism. The end-tool includes a frame connected to the robotic mechanism and an object gripping device (e.g., a suction cup) connected to the frame. The foot structure is connected to one end of a guide rod that is restricted to move in an axial direction by a linear bearing that is attached to the frame. Before each automated extraction the robot mechanism manipulates the frame to position the object gripping device mechanism over a targeted object. During each extraction operation the foot structure applies and maintains a restraining force on the divider insert while object gripping device is manipulated by the robot mechanism to secure and then extract the selected object out of its associated storage compartment.

Abstract: The present disclosure provides a collaborative robot arm and a joint module. The joint module includes a housing, a driving assembly, and a multi-turn absolute encoder. The joint module detects the angular position of the output shaft and records a number of rotating revolutions of the output shaft only by means of the multi-turn absolute encoder. The multi-turn absolute encoder includes a base, a bearing, a rotating shaft, an encoding disk, and a circuit board, the encoding disk is rotatably connected with the base by the rotating shaft and the bearing, the circuit board is fixedly connected with the base, and the reading head on the circuit board detects the angular position of the output shaft cooperatively with the encoding disk, making the multi-turn absolute encoder be an integrated structure. The base and the rotating shaft are detachably connected with the housing and the output shaft respectively.

Abstract: A moment arm extension system and method for improving the mechanical advantage of a wearable assistance device by increasing the moment arm of a force-bearing member relative to an underlying body segment of a user are disclosed. The moment arm extension system achieves this by shifting the force-bearing member to lie farther away from the body segment of the user.

Abstract: A teaching device generating an operation program for executing an operation of a robot having a base and a robot arm including a proximal arm coupled to the base and a distal arm coupled to a side opposite to the base of the proximal arm is provided. The teaching device includes: a display unit displaying a first operation unit accepting an operation of designating the proximal arm of the robot arm and changing an attitude of the robot arm and a second operation unit accepting an operation of designating a position of a control point set for the robot arm and changing the attitude of the robot arm; and an operation program generation unit generating the operation program, based on the attitude designated at the first operation unit or the second operation unit.

Abstract: A system and method for a planar positioning system for an output member, the system having a pair of x-coordinate linear carriages and a pair of y-coordinate linear carriages. The system has a guide mechanism for the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages. The system has a plurality of movement and constraining cables extending from the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages to the output member for driving the output, wherein the pair of x-coordinate linear carriages and the output member move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member move in sync in the y-direction. A restraint mechanism restrains the output member in an additional degree of freedom besides the x- and y-directions. The restraint can be a cable uptake and release device.

Abstract: A mechanism (30) and a method for inserting an elongate member (35) through an aperture of a body, along a longitudinal axis (35), the mechanism comprising a feed portion (42) comprising a feed actuator (43) configured to engage with and drive the elongate member along the longitudinal axis; and, a twist portion (44) comprising a twist actuator (82) configured to engage with the feed portion and rotate the elongate member about the longitudinal axis.

Abstract: A joint mechanism includes a balancer mechanism for generating an auxiliary torque that counteracts a load torque around the rotational center line of the arm applied to the support member by the weight of the arm. The balancer mechanism includes: a balancer body including a casing rotatably supported with respect to a base, a piston rod inserted into the casing, and a traction means for pulling the piston rod; and a transmission member for converting a traction force generated by the traction means into the auxiliary torque and transmitting the auxiliary torque to the arm. The transmission member is pivotally supported with respect to the base as a separate body from the support member, one end of the transmission member is engaged with an end of the piston rod, and the other end of the transmission member is engaged with the arm.

Abstract: An object induction system is disclosed for assigning handling parameters to an object. The system includes an analysis system, an association system, and an assignment system. The analysis system includes at least one characteristic perception system for providing perception data regarding an object to be processed. The association system includes an object information database and assigns association data to the object responsive to commonality with any of the characteristic perception data with any of the characteristic recorded data. The assignment system is for assigning programmable motion device handling parameters to the indicia perception data based on the association data, and includes a workflow management system as well as a separate operational controller.

Abstract: A robot control system includes a robot having a servo control unit, a lower-level control apparatus transmitting a control command to the servo control unit and receiving robot status information representing a status of the robot from the servo control unit with respect to each preset control period, and an upper-level control apparatus transmitting command information for creation of the control command to the lower-level control apparatus. The lower-level control apparatus transmits the robot status information to the upper-level control apparatus in synchronization with the control period. The upper-level control apparatus transmits the command information to the lower-level control apparatus within a predetermined transmission time shorter than the control period from a time when receiving the robot status information from the lower-level control apparatus.

Abstract: A dynamic messaging system for factory automation devices that provides flexible data transport, presentation and scheduling. Custom message instructions are provided to robot controllers using configuration templates which are loadable without rebooting the controller or affecting ongoing operations of the robot. The configuration templates contain data definitions only and no executable code. Custom data messages are sent from the robot controller based on triggers, including periodic timers, transmission of a current message, change of device elements and programmatic requests. Custom message attributes such as transmission rate and priority can be set, and messages may include file attachments. A message template creator, external to the robot controller, creates the configuration templates, ensures message uniqueness and generates data ingestion schema.

Abstract: Implementations are directed to training a machine learning model that, once trained, is used in performance of robotic grasping and/or other manipulation task(s) by a robot. The model can be trained using simulated training examples that are based on simulated data that is based on simulated robot(s) attempting simulated manipulations of various simulated objects. Portion(s) of the model can also be trained based on real training examples that are based on data from real-world physical robots attempting manipulations of various objects. The simulated training examples can be utilized to train the model to predict an output that can be utilized in a particular task—and the real training examples used to adapt at least a portion of the model to the real-world domain can be tailored to a distinct task. In some implementations, domain-adversarial similarity losses are determined during training, and utilized to regularize at least portion(s) of the model.

Abstract: Provided is an information processing apparatus including a communication unit that transmits sensing data collected by an autonomous mobile object to a server, in which the communication unit transmits the sensing data related to a predetermined learning target to the server, and receives a dictionary for recognition generated by recognition learning using the sensing data collected by a plurality of the autonomous mobile objects and related to the learning target. In addition, provided is an information processing apparatus including a control unit that controls presentation of a progression status related to recognition learning for generating a dictionary for recognition used for an autonomous mobile object, in which the recognition learning is executed by using sensing data collected by a plurality of the autonomous mobile objects and related to a predetermined learning target.

Abstract: A system is provided for an automation tool system that is adapted to analyze data structures for robotic process automation (RPA) solutions. The system includes a processor and a computer readable medium operably coupled thereto, to perform operations which include receiving a data structure for an automated computing task for the RPA solutions of a computing system, wherein the data structure comprises one or more computing assets for one or more data processing workflows, parsing the data structure, accessing rule scoring parameters for determining a set of best practices identified for construction of the automated computing task for the RPA solutions of the computing system, scoring the automated computing task for the RPA solutions for the computing system based on the parsing and the rule scoring parameters, and outputting, based on scoring the automated computing task, a score of the automated computing task for the data structure.

Abstract: A robot system includes: a robot comprising a joint driven by a motor; and a circuitry configured to: execute position control of the motor based on position commands; store torque commands generated based on the position commands during execution of the position control of the motor; and execute torque control of the motor based on the stored torque commands.

Abstract: A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm, and a hose coupling an end effector of the programmable motion robotic system to a vacuum source. The hose is attached to at least one arm section of the articulated arm by a pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints.

Abstract: A control method for a robot system is a control method for a robot system including a conveying device configured to convey a target object and a robot configured to perform work while following the target object conveyed by the conveying device, the control method for the robot system including an image acquiring step for imaging, a plurality of times, the target object conveyed by the conveying device and acquiring a plurality of images, a reciprocating displacement information acquiring step for acquiring, based on the plurality of images, reciprocating displacement information indicating periodical reciprocating displacement in a width direction orthogonal to a conveying direction of the target object, and a correcting step for correcting a position command for the robot based on the reciprocating displacement information.

Abstract: A robot control system includes robot controller circuitry that controls a robot, and host controller circuitry that communicates with the robot controller circuitry. The host controller circuitry further executes a control program, and transmits a command according to an execution result of the control program to the robot controller circuitry, and the robot controller circuitry further receives the command from the host controller circuitry, and executes pre-processing according to the command.

Abstract: A program generation device includes a display; at least one memory configured to store an operation symbol including information in relation to an operation command of a robot, and an auxiliary symbol including information in relation to a control command for adding an operation of the robot or for correcting the operation of the robot defined by at least one operation symbol; and at least one processor configured to obtain information in relation to setting of at least one of the operation symbol or the auxiliary symbol, and cause the display to display the operation symbol and the auxiliary symbol so as to align the operation symbol and the auxiliary symbol in order of operations of the robot based on the obtained information in relation to setting.

Abstract: A trajectory plan generation device executes a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point, a second search process for searching for a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point, a determination process for determining second trajectory information indicating positions and postures of movement destinations of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process, and an output process.

Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis.

Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.

Abstract: Systems, methods, and apparatuses for handling and manipulating packages in automated or semi-automated fashion and packages adapted for the same. The systems may include package-holding devices, package-manipulating devices, and package-detection components for locating packages or portions thereof in a three-dimensional space. The packages may include features that enable automated or semi-automated handling and manipulation thereof, such as different types of opening/closing mechanisms with different geometric structures that allow for holding, shifting, and manipulating the packages and/or portions thereof with the package-manipulating devices. The packages additionally or alternatively may include mechanical fasteners, magnets, and/or spring-biased opening/closing mechanisms for keeping the packages closed prior to manipulation thereof.

Abstract: Apparatuses, systems, and techniques to grasp objects with a robot. In at least one embodiment, a neural network is trained to determine a grasp pose of an object within a cluttered scene using a point cloud generated by a depth camera.

Abstract: A computing system may include a fail-safe learning engine configured to access camera data captured by multiple cameras positioned within an environment during a learning phase, generate training data based on the camera data captured by the multiple cameras, and construct a human detection model using the training data. The computing system may also include a fail-safe trigger engine configured to access camera data captured by the multiple cameras positioned within the environment during an active phase, and the camera data captured during the active phase may include a target object. The fail-trigger engine may further be configured to provide, as an input to the human detection model, the camera data that includes the target object and execute a fail-safe action in the environment responsive to the determination, provided by the human detection model, indicating that the target object is a human.

Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.

Abstract: A robot system with a robot that has a camera and a remote control station that can connect to the robot. The connection can include a plurality of privileges. The system further includes a server that controls which privileges are provided to the remote control station. The privileges may include the ability to control the robot, joint in a multi-cast session and the reception of audio/video from the robot. The privileges can be established and edited through a manager control station. The server may contain a database that defines groups of remote control station that can be connected to groups of robots. The database can be edited to vary the stations and robots within a group. The system may also allow for connectivity between a remote control station at a user programmable time window.

Abstract: In a method of operation of a robot, the robot identifies a set of candidate actions that may be performed by the robot, and collects, for each candidate action of the set of candidate actions, a respective set of ancillary data. The robot transmits a request for instructions to a tele-operation system that is communicatively coupled to the robot. The request for instructions includes each candidate action and each respective set of ancillary data. The robot receives, and executes, the instructions from the tele-operation system. The robot updates a control model, based at least in part on each candidate action, each respective set of ancillary data, and the instructions, to increase a level of autonomy of the robot. The robot may transmit the request for instructions to the tele-operation system in response to determining the robot is unable to select a candidate action to perform in furtherance of an objective.

Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

Abstract: A robot control device executes assist control for generating an assist force in a direction of an external force applied to a robot in a case where a position of the robot is located in a first area set in a work area of the robot when the external force is applied to the robot. The robot control device stops the execution of the assist control in a case where the position of the robot is located in a second area set outside the work area of the robot. The robot control device restricts the execution of the assist control in a case where the position of the robot is located in a third area set outside the first area and inside the second area.

Abstract: Systems and methods for laser and imaging odometry for autonomous robots are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may utilize images captured by a sensor and encoded with a depth parameter to determine its motion and localize itself. The determined motion and localization may then be utilized to verify calibration of the sensor based on a comparison between motion and localization data based on the images and motion and localization data based on data from other sensors and odometry units of the robot.

Abstract: Implementations are described herein for reducing the time and costs associated with the crop scouting in a crop field. In various implementations, a method is implemented using one or more processors, and the method include: operating, based on a type and arrangement of a crop field, a robot to travel along a trajectory through the crop field using a first gait. The robot includes one or more vision sensors. The first gait includes a first repeating cycle of poses of the robot. The method can further include: synchronizing operation of one or more of the vision sensors with one or more poses of the first repeating cycle of poses of the multi-legged robot to capture one or more initial sequences of images depicting one or more points-of-interest of crops growing in the crop field.

Abstract: A control apparatus includes a control unit that controls a first motor and a second motor. The control unit controls a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance and controls, using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Abstract: A hair clipper or cutter is provided with an adjustment slider that adjusts the gap between an inner and outer blade. A yoke is attached to the inner blade. The adjustment slider may be configured with preset gap lengths and may be adjustable before, after, or during a hair cutting operation. A T-guide couples the adjustment slider to the inner blade to slidably move the inner blade relative to the outer blade. The yoke, inner blade, outer blade and/or T-guide may be magnetized to create an attractive or repulsive force between the inner blade and the outer blade.

Abstract: A hair-cutting appliance comprising at least 19 hair-cutting units (10), each comprising a guard element (20) and a rotatably arranged hair-cutting element (15) having at least one hair-cutting edge (16), is provided. The hair-cutting units of the hair-cutting appliance are relatively small, a base of the guard element having a diameter in a range of 7 mm to 13 mm. In order to have a relatively small guard element (20) which is of robust and uncomplicated design, and which is capable of contributing to excellent hair-cutting results without causing skin irritation, it is proposed to let both an inner surface (35) and an outer surface (36) of an annular shaving track (30) of the guard element (20) have a conical shape relative to a central axis (21) of the guard element (20), in a similar slanting orientation relative to the central axis (21), in at least a hair-cutting portion of the shaving track (30).

Abstract: An implement including a first plate and a second plate, each plate having a contact surface which abuts a contact surface of the other plate to establish an interface plane, and a gradient of at least one additive that is more concentrated at the interface plane and less concentrated in decreasing amounts progressing away from the interface plane and the contact surface for each plate, wherein the at least one additive alters at least one property of each plate. Materials with internal gradients and methods of making same.

Abstract: A knife for a cutting apparatus forms incision lines and cuts on a side wall of a capsule made of plastics intended to close a container and it is suitable for performing cuts and incisions when the capsule is rotated around a rotation axis and moved along a path to interact with the knife in an advancement direction. The knife includes a vertically stacked layered structure of cutting tools. First and second spaced cutting tools form spaced circumferential cuts on the side wall and a third cutting tool arranged between the first and second cutting tools forms oblique cuts on the side wall defining connecting portions connecting the tamper ring and the side wall.

Abstract: A pocket-cutting device routs staggered pockets in elongated joinery member. The pocket-cutting device includes a base having a worktop, a clamp assembly for clamping the joinery member to the worktop, a router assembly for routing the pockets in the joinery member, a drill assembly for drilling bores in the joinery member, and a guide mounted in the worktop dimensioned and configured to position the joinery member in first and second positions relative to the router assembly for routing first and second pockets and first and second bores in the joinery member at staggered positions. A method of using the staggered pockets is also disclosed.

Abstract: A woodworking bridge has two base walls or components that enable the bridge to span an abutment or joint between two work pieces. A top surface enables a clamp to engage the bridge to permit the clamp to apply a clamping force to a first work piece and a second work piece on both sides of the joint and prevent the clamp from contacting the joint. This allows any adhesive that oozes from the joint to be cleaned without curing in the top surface and/or the bottom surface of the two work pieces. The work pieces may then be stained without any cured adhesive in the pores of the work pieces where stain is applied.

Abstract: The present disclosure relates to the technical field of wood preparation, and in particular, to a method and device for preparing a magnetic bamboo wood. A technical problem to be solved in the present disclosure is that: Lignin in a wood will affect the soaking efficiency of the wood during soaking of the wood. In the present disclosure, sodium hydroxide and sodium sulfite in a ratio of 2:1 are put into the soaking bucket in sequence through the high-precision powder weighing equipment and are fully dissolved in distilled water to obtain a solution, so that the solution reacts with the lignin in the bamboo wood to elute the lignin, which increases the porosity of the bamboo wood, improves the soaking efficiency, and improves the magnetism of the bamboo wood.

Abstract: A wood chip material, especially a fireproof water resistant wood chip material, especially a fireproof water resistant wood chip material to make oriented strand boards which consists of a mixture containing 30 to 43 weight percent of wood chips, 53 to 61.9 weight percent of an aqueous solution of silicate, 2 to 5 weight percent of aluminium hydroxide, 1 to 3 weight percent of water, 0.1 to 1 weight percent of a stabilizer of the aqueous solution of silicate, and a hardener of the aqueous solution of sodium silicate in the concentration of 0.5 to 5 weight percent to the pure aqueous solution of sodium silicate providing always that the density of the aqueous solution of sodium silicate ranges from 1370 to 1400 kg/m3 and the SiO2 to NA2O molar ratio in the aqueous solution of sodium silicate ranges from 3.2 to 3.4.

Abstract: An improved engineered wood product, and related methods, with improved actual and apparent surface quality. The product includes a high basis weight fines layer overlaying a strand matrix base layer, with one or more overlay layers. The fines layer may be placed between the overlay layers, if multiple overlays are present. The configuration of fines layer and overlay layer(s) minimizes the presence of sub-surface imperfections that may result in visible telegraphing on the exposed surface. A light pattern or texture may be embossed on the outermost overlay layer during the pressing process. Additionally, a paint primer layer or coating with added aggregate may be applied to help camouflage inherent sub-surface defects.

Abstract: A process for preparing a component, which may constitute an interconnector for a fuel cell (SOFC) or a high-temperature electrolyser (HTE), may include: (a) preparing a substrate made of metal alloy, the base element of which is iron (Fe) or nickel (Ni), the substrate having two main flat faces; (b) tape casting a thick ceramic layer; (c) localized removal at one or more locations, of material of the tape-cast thick ceramic layer; (d) hot pressing the green thick ceramic layer tape; and (e) grooving the thick ceramic layer so as to delimit channels that are suitable for distributing and/or collecting gases. A component may be obtained from such a process.

Abstract: A preform can be made from two different materials that do not bond together by a bi-injection process, using the same mold. First an outer preform can be fashioned first, then an inner preform molded through a center hole in the outer preform, and the preforms connected. Inner/outer preform materials can be different, e.g., PET/polyolefin or polyamide, or the same, e.g., PET/PET. To prevent mutual bonding during molding of the second, a non-stick coating can be sprayed on a surface portion of the first preform prior to molding, the second. Manufacturing order can be either outer/inner, or inner/outer, and the non-stick coating sprayed on the inside/outside of the perform first molded.

Abstract: The present invention describes a process to convert non-biodegradable polymeric raw materials or pellets/granules into biodegradable raw materials/pellets/granules by applying enzyme-based coating, in water or suitable solvent or combination thereof, on their surfaces, before construction of the components from them.

Abstract: The present disclosure provides a pellet. In an embodiment, the pellet includes a body having a first end and an opposing second end. The body is composed of a polymeric material. The body has a length and a diameter (body diameter). A channel having a diameter (channel diameter), extends through the body from the first end to the second end. The pellet has a channel diameter-to-body diameter ratio from 0.05 to 0.45. The present disclosure also provides a process for soaking the pellet in a liquid additive and forming a loaded pellet with the additive in the pellet body.

Abstract: A heavy load vortex internal apparatus is provided having a vibration channel for receiving plastic granular material. The vibration channel has a channel floor and two side walls opposite each other, where the length of the vibration channel is greater in the longitudinal direction than the maximum height and width of a channel cross section perpendicular to the longitudinal direction. At least two vibration generators are provided for generating a vibration excitation having a transverse component perpendicular to a vertical plane in the longitudinal direction. At least two channel carriers are spaced apart from each other in the longitudinal direction, each supporting the channel floor and the side walls from the outside and bridging the vibration channel opposite the channel floor. One of the vibration generators in each case is fastened to at least two of the channel carriers. Also provided is a method for crystallization of plastic granular material.