Robotic filling systems and methods

• US 10,261,940 B2
• Filed: 08/17/2017
• Issued: 04/16/2019
• Est. Priority Date: 03/04/2008
• Status: Active Grant

• Current Assignee: Vanrx Pharmasystems Inc. (Danaher Corporation)
• Original Assignee: Vanrx Pharmasystems Inc. (Danaher Corporation)
• Inventors: Procyshyn, Christopher, Gold, Ross M.
• Primary Examiner(s): Gudorf, Laura A
• Application Number:
  US15/680,114
• Publication Number:
  US 20180189275A1
• Time in Patent Office: 607 Days
• CPC Class Codes: B25J 21/00 Chambers provided with manipulation devices constructional features of the mounting of the manipulator in the wall B25J1/08 ; glove-boxes for nuclear applications G21F7/04
• CPC Class Codes: B65B 3/003 Filling medical containers such as ampoules, vials, syringes or the like
• CPC Class Codes: B65B 55/027 Packaging in aseptic chambers
• CPC Class Codes: B65B 7/2807 Feeding closures
• CPC Class Codes: B65B 7/2821 applying plugs or threadless stoppers for bottles or jars B67B1/04
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/10 Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices G01N35/0099 takes precedence
• CPC Class Codes: G06F 1/1626 with a single-body enclosure integrating a flat display, e.g. Personal Digital Assistants [PDAs]
• CPC Class Codes: G06F 1/1632 External expansion units, e.g. docking stations
• CPC Class Codes: G06F 1/1696 the I/O peripheral being a printing or scanning device
• CPC Class Codes: G06F 16/00 Information retrieval; Database structures therefor; File system structures therefor
• CPC Class Codes: H04M 1/04 Supports for telephone transmitters or receivers
• CPC Class Codes: H04M 1/72409 by interfacing with external accessories hands-free H04M1/60
• CPC Class Codes: H04M 1/7246 by connection of exchangeable housing parts

Abstract

Systems and methods are disclosed, which permit filling containers with a product. A filling arm is disposed within a chamber and an optical sensor is configured to sense openings of the containers within the chamber. Locations of the sensed openings are used to guide the filling arm to fill the containers with a product.

Claims

1. A system for filling containers with a product, comprising:

an aseptic controlled environment chamber;

a filling arm disposed within the chamber; and

a sensor configured to sense openings of the containers within the chamber, wherein locations of the sensed openings are used to automatically guide the filling arm to fill the containers with product; and

a stopper disk stack configured to hold stoppers for use in closing openings of the containers, wherein the stopper disc stack is configured to be introduced within the chamber without disrupting the aseptic controlled environment chamber.

2. The system of claim 1 wherein the sensor includes an optical sensor.

3. The system of claim 1 wherein the sensor includes a camera system.

4. The system of claim 1 wherein the sensor includes a laser system.

5. The system of claim 1 further comprising a first controller portion responsive to the sensor to identify locations of openings of the containers, and a second controller portion responsive to the first controller portion and being operative to guide the filling arm to fill the containers.

6. The system of claim 5 wherein the first and second controller portions are part of the same controller.

7. The system of claim 5 wherein the first controller portion includes pattern recognition software.

8. The system of claim 1 wherein the filling arm is an articulated filling arm including at least a first member and a second member joined by an articulation, wherein the second member includes means for filling containers.

9. The system of claim 1 wherein the filling arm includes a servo-driven robotic arm.

16. The system of claim 8 wherein the articulated filling arm has a range of motion that allows the articulated holding arm to move the means for filling to fill the containers within the chamber.

10. A system for filling containers with a product, comprising:

an aseptic controlled environment chamber;

a filling arm disposed within the chamber; and

a sensor configured to sense openings of the containers within the chamber, wherein locations of the sensed openings are used to automatically guide the filling arm to fill the containers with product; and

an articulated holding arm disposed within the chamber including at least a first member and a second member joined by an articulation, wherein the second member includes means for holding a group of containers.

11. The system of claim 10 wherein the articulated holding arm has a range of motion that allows the articulated holding arm to move the means for holding to a plurality of different positions in the chamber.

12. The system of claim 11 wherein the means for holding includes means for holding a tray.

13. The system of claim 12 wherein the sensor is configured to sense openings of the containers disposed in a tray while the tray is being held by the means for holding a tray.

14. The system of claim 10 wherein the articulated holding arm includes a robotic apparatus.

15. The system of claim 10 further comprising a controller for operating the articulated holding arm in response to the sensor.

17. The system of claim 10 wherein the articulated holding arm includes a servo-driven robotic arm.

18. The system of claim 10 wherein the sensor includes an optical sensor.

19. The system of claim 10 wherein the sensor includes a camera system.

20. The system of claim 10 wherein the sensor includes a laser system.

21. The system of claim 10 further comprising a first controller portion responsive to the sensor to identify locations of openings of the containers, and a second controller portion responsive to the first controller portion and being operative to guide the filling arm to fill the containers.

22. The system of claim 21 wherein the first and second controller portions are part of the same controller.

23. The system of claim 21 wherein the first controller portion includes pattern recognition software.

24. The system of claim 10 wherein the filling arm is an articulated filling arm including at least a first member and a second member joined by an articulation, wherein the second member includes means for filling containers.

25. The system of claim 24 wherein the articulated filling arm has a range of motion that allows the articulated holding arm to move the means for filling to fill the containers within the chamber.

26. The system of claim 10 wherein the filling arm includes a servo-driven robotic arm.