Movable Platform Coordination for Robotic Container Fluid Interface
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Solution Overview
Problem
Existing pharmaceutical preparation systems lack efficient mechanisms for precise and synchronized movement of containers to enable fluid interfaces between different types of containers, such as vials and syringes, within a robotic system.
Innovation Solution
A pharmaceutical preparation system with intersecting first and second axes, comprising a platform with container-receiving modules, a manipulator, and synchronized mechanisms for linear displacement along these axes, controlled by a controller to facilitate fluid interfaces between containers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a robotic system uses multiple separate mechanisms for moving containers, then each mechanism can be simple and reliable, but the system lacks the ability to achieve precise synchronized fluid interfaces between different container types
Solution Approach 1:
The patent combines multiple movement mechanisms (platform movement along first axis, manipulator movement along second axis) into a synchronized system controlled by a single controller. The controller coordinates both mechanisms to move simultaneously, enabling precise fluid interfaces between containers while managing the complexity through centralized control logic.
Solution Approach 2:
The system employs dynamic coordination where the controller adjusts the movement of the platform and manipulator in real-time based on their respective positions and the required fluid interface alignment. This dynamic synchronization allows the system to adapt during operation to achieve precise alignment between different container types.
2Adaptability or versatility
If the system uses a fixed platform position, then the structure is simple and stable, but the system cannot efficiently accommodate different container types and sizes for fluid transfer
Solution Approach 1:
The platform is transformed from a fixed structure to a dynamic one capable of movement along the first axis. The controller manages this movement to accommodate different container types and sizes, enabling the system to adapt its configuration based on the specific containers being used while maintaining structural stability through controlled motion.
Solution Approach 2:
The movable platform design provides universal adaptability to handle various container types (vials, syringes, IV bags) and sizes. By enabling platform movement, the system becomes multi-functional, capable of accommodating different container configurations without requiring separate fixed structures for each container type.
3Manufacturing precision
If the manipulator moves independently without coordination, then the manipulator mechanism is simple, but fluid interface alignment with containers on the platform cannot be achieved
Solution Approach 1:
The synchronized control system incorporates feedback mechanisms where the controller monitors the positions of both the platform and manipulator, and adjusts their movements accordingly. This feedback loop ensures that the manipulator and platform coordinate their actions to achieve precise fluid interface alignment between containers.
Solution Approach 2:
The system implements dynamic synchronized control where the manipulator's movement along the second axis is coordinated with the platform's movement along the first axis. The controller continuously adjusts both mechanisms' positions and speeds to maintain proper alignment for fluid interfaces, creating a dynamically coordinated automated system.
Data Source
AI summary
A pharmaceutical preparation system is provided defining first and second axes which intersect each other. The system includes: at least one platform comprising at least one container-receiving module configured to receive a first container; a first mechanism operably connected to the platform for linearly displacing the platform along the first axis; a manipulator configured for holding and manipulating a second container; a second mechanism operably connected to the manipulator for linearly displacing the manipulator along the second axis; and a controller configured for: a. instructing the second mechanism to linearly displace the manipulator; b. instructing the first mechanism to linearly displace the platform; and c. synchronizing actuation of the first and second mechanisms to enable a fluid interface between the first container received at the at least one container-receiving module and the second container held by the manipulator.