Robotic filling systems and methods

Patent metadata

Field	Value
Publication number	US-10901941-B2
Application number	US-201916356734-A
Country	US
Kind code	B2
Filing date	Mar 18, 2019
Priority date	Mar 4, 2008
Publication date	Jan 26, 2021
Grant date	Jan 26, 2021

Abstract

Systems and methods are disclosed, which permit filling containers with a product. A filling atm 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 atm to fill the containers with a product.

First claim

What is claimed is:

1. A system for filling containers with a product, comprising:
an aseptic controlled environment chamber;
a filling arm disposed within the chamber;
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 port for providing access to the chamber, and at least one proximity sensor disposed proximate the port.

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

11. The system of claim 8 wherein the articulated holding arm includes a servo-driven robotic arm.

12. A system for filling containers with a product, comprising:
an aseptic controlled environment chamber;
a filling arm disposed within the chamber, wherein the filling arm includes a servo-driven robotic arm having a holding arm adapted to engage the tray;
a tray structured and arranged to hold a plurality of containers; 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.

13. The system of claim 1 further comprising a port with a door, and the servo-driven robotic arm is configured to open and close the door.

14. The system of claim 1 wherein the sensor is an optical sensor and is mounted on a top surface of the chamber.

15. The system of claim 14 wherein the sensor has a sensing cone configured to locate centers of the openings of the containers.

16. The system of claim 1 further comprising a stoppering aim configured to stopper or otherwise close the openings of the containers.

17. The system of claim 1 further comprising a tray structured and arranged to hold a plurality of containers.

18. The system of claim 12 further comprising a port for providing access to the chamber, and at least one proximity sensor disposed proximate the port.

19. The system of claim 12 wherein the holding arm is generally U-shaped.

20. The system of claim 12 wherein the chamber further comprises a port having a door, and the holding arm is adapted to open and close the door.

21. The system of claim 20 wherein the holding arm includes a hook.

22. The system of claim 12 wherein the sensor is an optical sensor and is mounted on a top surface of the chamber.

23. The system of claim 22 wherein the sensor has a sensing cone configured to locate centers of the openings of the containers.

24. The system of claim 12 further comprising a stoppering arm configured to stopper or otherwise close the openings of the containers.

25. The system of claim 12 wherein the sensor includes an optical sensor.

26. The system of claim 12 wherein the sensor includes a camera system.

27. The system of claim 12 wherein the sensor includes a laser system.

28. The system of claim 12 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.

29. The system of claim 28 wherein the first and second controller portions are part of the same controller.

30. The system of claim 28 wherein the first controller portion includes pattern recognition software.

31. The system of claim 12 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.

32. The system of claim 31 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.

33. The system of claim 12 wherein the filling arm includes a servo-driven robotic arm.

34. The system of claim 31 wherein the articulated holding arm includes a servo-driven robotic arm.

Assignees

• Vanrx Pharmasystems Inc

Inventors

• Procyshyn Christopher
• Gold Ross M

Classifications

• G06F16/00 Primary

  Information retrieval; Database structures therefor; File system structures therefor · CPC title

• B25J21/00 Primary

  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 title

• H04M1/72409

  by interfacing with external accessories (hands-free H04M1/60) · CPC title

• B65B7/2821

  applying plugs or threadless stoppers (for bottles or jars B67B1/04) · CPC title

• H04M1/04

  Supports for telephone transmitters or receivers · CPC title