# US 2014/0196411 A1 · Robotic filling systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0196411 A1 - Document ID: US20140196411A1 - Status: Published application - Kind: A1 - Application number: 13/744,408 - Filed: 2013-01-17 - Published: 2014-07-17 - Earliest claimed: 2013-01-17 - Assignees: Vanrx Pharmasystems Inc. - Inventors: Christopher Procyshyn; Ross M. Gold - Web page: https://patentgrep.com/patent/US20140196411A1 ## CPC - B65B 3/003: {Filling medical containers such as ampoules, vials, syringes or the like} - B65B 43/46: using grippers - B25J 21/005: {Clean rooms} - B25J 21/02: Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls {(glove- boxes for removal of dirt B08B15/026; glove-boxes shielded against radiation G21F7/04)}; Gloves therefor - B65B 7/00: Closing containers or receptacles after filling - B65B 7/2821: {applying plugs or threadless stoppers (for bottles or jars B67B1/04)} - B65B 43/54: Means for supporting containers or receptacles during the filling operation - B65B: MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING (bundling and pressing devices for cigars A24C1/44; devices for tensioning and securing binders adapted to be supported by the article or articles to be bound B25B25/00; applying closure members to bottles, jars or similar containers B67B1/00-B67B6/00; concurrent cleaning, filling and closing of bottles B67C7/00; emptying bottles, jars, cans, casks, barrels or similar containers B67C9/00) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## 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 ### Claim 1 A method for transferring an item into a chamber configured to maintain an environmental condition, the method comprising providing the chamber, the chamber comprising at least one port and a holding arm, the holding arm disposed within the chamber; operating the holding arm to engage with the item; and operating the holding arm to transport the item through the at least one port into the chamber. ### Claim 2 (depends on 1) The method of claim 1, wherein the operating the holding arm to engage with the item is operating the holding arm to engage an end effect tool of the holding arm with the item. ### Claim 3 (depends on 1) The method of claim 1, further comprising operating the holding arm to open the at least one port. ### Claim 4 (depends on 3) The method of claim 3, wherein the operating the holding arm to open the at least one port comprises operating the holding arm to engage an end effect tool of the holding arm with a locking portion of the at least one port to open a door of the port interior to the chamber. ### Claim 5 (depends on 4) The method of claim 4, wherein the operating the holding arm to engage with the item is operating the holding arm to engage the end effect tool of the holding arm with the item. ### Claim 6 (depends on 3) The method of claim 3, further comprising operating the holding arm to close the port. ### Claim 7 (depends on 1) The method of claim 1, wherein the item is a tray bearing containers to be filled and the transporting the item into the chamber comprises moving the tray bearing the containers to be filled to a filling position within reach of a filling arm disposed within the chamber. ### Claim 8 (depends on 7) The method of claim 7, wherein the moving the tray bearing the containers to a filling position comprises positioning the containers within a sensing cone of a sensor disposed to sense an area within the chamber. ### Claim 9 (depends on 7) The method of claim 7, wherein the moving the tray bearing the containers to a filling position comprises positioning the containers within a sensing cone of a sensor disposed within the chamber. ### Claim 10 (depends on 1) The method of claim 1, further comprising attaching to the at least one port a transfer container containing the item. ### Claim 11 (depends on 10) The method of claim 10, further comprising containing a first exterior surface of the port and a second exterior surface of the transfer container against each other. ### Claim 12 (depends on 11) The method of claim 11, further comprising attaching to the at least one port a transfer isolator. ### Claim 13 (depends on 1) The method of claim 1, wherein the environmental condition is an aseptic condition. ### Claim 14 (depends on 1) The method of claim 1, wherein the holding arm is an articulated arm; and the operating the holding arm is operating the articulated arm. ### Claim 15 (depends on 1) The method of claim 1, wherein the holding arm is a robotic arm; and the operating the holding arm is operating the robotic arm. ### Claim 16 (depends on 1) The method of claim 1, wherein the holding arm is a servo-driven robotic arm; and the operating the holding arm is operating the servo-driven robotic arm. ### Claim 17 A method for filling containers with a product within a chamber configured to maintain an environmental condition, the method comprising providing the chamber, the chamber comprising at least one port, a holding arm and a filling arm both disposed within the chamber and both operable by a user exterior to the chamber; operating the holding arm to transfer into the chamber a tray bearing the containers; guiding a filling portion of the filling arm to a location over an opening of at least one of the containers; dispensing the product into the at least one of the containers via the filling portion. ### Claim 18 (depends on 17) The method of claim 17, further comprising obtaining sensing data from a sensor disposed to sense an area within the chamber; and identifying the location based on the sensing data. ### Claim 19 (depends on 18) The method of claim 18, wherein the identifying the location comprises operating pattern recognition software to recognize a pattern in the sensing data. ### Claim 20 (depends on 17) The method of claim 17, further comprising obtaining sensing data from a sensor disposed within the chamber; and identifying the location based on the sensing data. ### Claim 21 (depends on 17) The method of claim 17, wherein the method further comprises operating a stoppering arm disposed within the chamber to place a closure in the opening of the at least one of the containers. ### Claim 22 (depends on 21) The method of claim 21, wherein operating the stoppering arm to place a closure in the opening of the at least one of the containers comprises picking at least one closure from a plurality of recesses. ### Claim 23 (depends on 22) The method of claim 22, wherein the picking at least one closure from a plurality of recesses comprises picking at least one stopper from a stopper disc stack disposed inside the chamber. ### Claim 24 (depends on 21) The method of claim 21, wherein the holding arm is an articulated arm; and the operating the holding arm is operating the articulated arm. ### Claim 25 (depends on 21) The method of claim 21, wherein the holding arm is a robotic arm; and the operating the holding arm is operating the robotic arm. ### Claim 26 (depends on 21) The method of claim 21, wherein the holding arm is a servo-driven robotic arm; and the operating the holding arm is operating the servo-driven robotic arm. ### Claim 27 (depends on 17) The method of claim 17, wherein operating the holding arm to transfer into the chamber the tray bearing the containers comprises: operating the holding arm to open the at least one port; operating the holding arm to engage with the tray; and operating the holding arm to transport the tray bearing the containers through the at least one port into the controlled environment. ### Claim 28 (depends on 27) The method of claim 27, wherein the operating the holding arm to engage with the tray is operating the holding arm to engage an end effect tool of the holding arm with the tray. ### Claim 29 (depends on 27) The method of claim 27, further comprising operating the holding arm to open the at least one port. ### Claim 30 (depends on 29) The method of claim 29, wherein the operating the holding arm to open the at least one port comprises operating the holding arm to engage an end effect tool of the holding arm with a locking portion of the at least one port to open a door of the port interior to the chamber. ### Claim 31 (depends on 30) The method of claim 30, wherein the operating the holding arm to engage with the item is operating the holding arm to engage the end effect tool of the holding arm with the tray. ### Claim 32 (depends on 29) The method of claim 29, further comprising operating the holding arm to close the port. ### Claim 33 (depends on 27) The method of claim 27, further comprising attaching to the at least one port a transfer container containing the item. ### Claim 34 (depends on 33) The method of claim 33, wherein the operating the holding arm to open the at least one port comprises containing a first exterior surface of the port and a second exterior surface of the transfer container against each other. ### Claim 35 (depends on 34) The method of claim 34, wherein the transfer container is a transfer isolator. ### Claim 36 (depends on 17) The method of claim 17, wherein the transporting the tray bearing the containers into the chamber comprises moving the tray bearing the containers to a filling position within reach of the filling arm. ### Claim 37 (depends on 36) The method of claim 36, wherein the moving the tray bearing the containers to a filling position comprises positioning the containers within a sensing cone of a sensor of the chamber. ### Claim 38 (depends on 17) The method of claim 17, wherein the environmental condition is an aseptic condition. ### Claim 39 (depends on 17) The method of claim 17, wherein at least one of the holding arm and the filling arm is an articulated arm; and the operating the holding arm is operating the articulated arm. ### Claim 40 (depends on 17) The method of claim 17, wherein at least one of the holding arm and the filling arm is a robotic arm; and the operating the holding arm is operating the robotic arm. ### Claim 41 (depends on 17) The method of claim 17, wherein at least one of the holding arm and the filling arm is a servo-driven robotic arm; and the operating the holding arm is operating the servo-driven robotic arm.