Abstract:
An apparatus and method are presented for removing container covers within a controlled environment enclosure without using gloves. The apparatus comprises an articulated arm apparatus and a gripping apparatus and can further comprise a controller. The articulated arm apparatus can be configurable for holding and moving a container in three dimensions; and the gripping apparatus can be configured for gripping a container cover sealing the container. The method comprises moving the container using the articulated arm apparatus while holding a gripping area of the container cover substantially stationary using the gripping apparatus. The apparatus can further comprise a sensor configured for supplying information to the controller for determining the location of the container cover gripping area and an orientation of the container cover. The method can further comprise inspecting the container cover using the sensor. The container can be moved along a path and within a space determined by the controller.

Description:
FIELD OF THE INVENTION 
       [0001]    This document relates generally to controlled environment enclosures and in particular to a method and apparatus for removing covers from sealed containers in controlled environment enclosures. 
       BACKGROUND OF THE INVENTION 
       [0002]    Controlled environment enclosures are known in the art and are used, for example, for containment of hazardous materials or to provide controlled environments with limited numbers of particulates. 
         [0003]    In the art, controlled environment enclosures are typically fitted with ports for transfer of materials in and out of the enclosure and the ports are fitted with gloves for manual manipulation of equipment, parts or materials inside the enclosure. Such gloves are subject to significant risk of puncture, the consequences of which can be severe. 
         [0004]    In some examples known in the art the controlled environment enclosure is also used to limit exposure to viable particulates such a bacteria and fungi. The controlled environment enclosures may be required for aseptic processing of cell cultures or for the manufacture of pharmaceutical products, medical devices, food or food ingredients. In such applications the requirement is for the controlled environment enclosure to be decontaminated. This can be done thermally using steam or chemically using chemical agents. Suitable chemical agents known in the art include hydrogen peroxide, ozone, beta-propiolactone, aziridine, formaldehyde, chlorine dioxide, ethylene oxide, propylene oxide, and peracetic acid. In most cases the decontamination and sterilization operations have to be preceded by a cleaning process. Such cleaning processes have the function of removing major contamination by simple mechanical and chemical action. 
         [0005]    In some prior art examples the controlled environment also contains automated equipment. Such automated equipment can include machines for manipulation of parts or as containers, including test tubes, roller bottles, cell culture dishes, bottles, vials, ampoules and syringes. Typical examples of such manipulations are inspection, filling and capping. 
         [0006]    Parts to be manipulated in controlled environment enclosures can be packaged in a container such as a tub. The container can be closed with a cover consisting of a sheet of flexible material, which generally is heat sealed to the container. The container and contents are decontaminated using a chemical agent, plasma or radiation. 
         [0007]    The automated equipment located in the controlled environment is typically of such a size and complexity that it cannot be operated fully automatically without human intervention. Such human intervention typically requires the use of gloves with the associated risk of puncture. A typical example of human intervention that involves the use of gloves is the removal of container covers. 
       SUMMARY OF THE INVENTION 
       [0008]    In view of the above background there remains a need for an apparatus and method for removal of container covers within controlled environments that does not require human intervention via the use of gloves. 
         [0009]    In a first aspect a method is presented for removing within a controlled environment enclosure a container cover from a sealed container, the sealed container sealed by the container cover, the method comprising moving the container while holding a gripping area of the container cover substantially stationary. The moving of the container comprises holding the container with an articulated arm apparatus disposed within the controlled environment whilst removing the container cover by a first manipulation of the articulated arm apparatus. The method further comprises a second manipulating of the articulated arm apparatus to position along a trajectory the sealed container within a reach of a gripping apparatus disposed within the controlled environment, and gripping the gripping area with the gripping apparatus. 
         [0010]    The positioning of the sealed container comprises placing the gripping area of the container cover between two gripping elements of the gripping apparatus, the first and second of the two gripping elements respectively comprising first and second mutually parallel and mutually engagable grip surfaces. The method further comprises rotating at least one of the gripping elements. The positioning of the gripping area can comprise placing the gripping area proximate and substantially facing the first grip surface. The rotating of at least one of the gripping elements can comprise moving the second of the two gripping elements in a plane substantially parallel to the first grip surface. 
         [0011]    The positioning of the container can further comprise straightening the gripping area if the gripping area is bent toward the first grip surface by contacting to the first grip surface to one of the gripping area and a part of the cover in contact with the gripping area. The moving of the second gripping element can comprise straightening the gripping area if the gripping area is bent toward the second gripping element by contacting the second grip surface to the other of the gripping area and the part of the cover in contact with the gripping area. 
         [0012]    The method can further comprise lowering the container or rotating the container about an axis substantially in the plane of the cover. This is done by a third manipulating of the articulated arm apparatus. The rotating or raising of the gripping area is to an extent that allows the gripping apparatus to remain clear of the container during the removing the container cover. 
         [0013]    The removing the container cover can be removing the container cover simultaneously along two edges of the container. The first manipulating of the articulated arm apparatus can comprise moving the container with respect to the gripping apparatus. Moving the container with respect to the gripping apparatus can comprise moving the container substantially diagonally with respect to the gripping apparatus. The moving the container with respect to the gripping apparatus can comprise moving the container along a predetermined path within a predetermined space. One or both of the predetermined path and the predetermined space can be determined using a controller. The predetermined path can be a circular path. 
         [0014]    The trajectory of the container can be based on information obtained from a sensor. The information can comprise one or both of position information and orientation information about the gripping area. 
         [0015]    The method can further comprise inspecting the container cover using a sensor. The method can further comprise selecting an alternative gripping area of the container cover based on the inspecting; gripping the alternative gripping area with the gripping apparatus; and removing the container cover by moving the container. 
         [0016]    The method can further comprise moving the gripping apparatus away from an operational area of the articulated arm apparatus after removing the container cover. 
         [0017]    In a further aspect there is provided an apparatus comprising a controlled environment enclosure; and within the controlled environment enclosure an articulated arm apparatus and a rotary gripping apparatus. The articulated arm apparatus can be configurable for holding and moving a container in three dimensions; and the rotary gripping apparatus can be configured for gripping a gripping area of a container cover sealing the container. The rotary gripping apparatus can comprise two gripping elements having facing mutually engagable surfaces, at least one of the two gripping elements being rotatable about a common axis with the other of the two gripping elements to grip the gripping area of the container cover between the two facing mutually engagable surfaces. The articulated arm apparatus can comprise at least two arm segments, at least one arm segment being configurable to hold the container. 
         [0018]    The articulated arm apparatus and the rotary gripping apparatus can be separated by a distance large enough for the gripping apparatus to not interfere with the working of the articulated arm apparatus. The apparatus can further comprise a controller for controlling at least the articulated arm apparatus and the gripping apparatus. The moving the container can be moving the container along a path that is determined by the controller and the moving the container is contained within a space determined by the controller. 
         [0019]    The apparatus can further comprise a sensor configured for supplying information to the controller for determining at least one of a location of the container cover gripping area and an orientation of the container cover. The articulated arm apparatus can be at least one of automatically controlled and reprogrammable. The gripping apparatus can be at least one of automatically controlled and reprogrammable. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0020]    In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. 
           [0021]      FIG. 1  shows a controlled environment enclosure containing an articulated arm apparatus for handling of containers and an apparatus for gripping of container covers. 
           [0022]      FIG. 2  shows an example of a container. 
           [0023]      FIG. 3  shows a detail view of a container showing an example of the cover extending outside the outline of the top surface of the container. 
           [0024]      FIG. 4  shows a gripping apparatus with gripping jaws partially opened. 
           [0025]      FIG. 5  shows a top view perspective of an articulated arm apparatus and gripping apparatus near an initial stage of removal of a cover from a container. 
           [0026]      FIG. 6  shows a top view perspective of an articulated arm apparatus and gripping apparatus at a first intermediate stage of removal of a container cover from a container. 
           [0027]      FIG. 7  shows a top view perspective of an articulated arm apparatus and gripping apparatus at a second intermediate stage of removal of a container cover from a container. 
           [0028]      FIG. 8  shows a top view perspective of an articulated arm apparatus and gripping apparatus at near complete stage of removal of a container cover from a container 
           [0029]      FIG. 9A  is a flow diagram for a method to remove a cover of a container in a controlled environment enclosure. 
           [0030]      FIG. 9B  is a more detailed flow diagram of part of the method of  FIG. 9A . 
           [0031]      FIG. 9C  is a more detailed flow diagram of part of the method of  FIG. 9A . 
           [0032]      FIG. 10A  is a flow diagram for a further method to remove a cover of a container in a controlled environment enclosure. 
           [0033]      FIG. 10B  is a more detailed flow diagram of part of the method of  FIG. 10A . 
           [0034]      FIG. 10C  is a more detailed flow diagram of part of the method of  FIG. 10A . 
           [0035]      FIG. 11  is a more detailed flow diagram of part of  FIG. 9A  and  FIG. 10A . 
       
    
    
     DETAILED DESCRIPTION 
       [0036]      FIG. 1  shows an apparatus  100  comprising a controlled environment enclosure  120 , a gripping apparatus  113  and an articulated arm apparatus  115 , both inside the controlled environment enclosure  120  and arranged for positioning and relocation of a container  114  within the controlled environment enclosure  120  without requiring direct human intervention and the associated use of gloves. Container  114  can be, for example, a tub. The term “tub” as used herein is used to describe any container suitable for holding parts, trays of nested arrangements of parts, a stack of trays with nested arrangements of parts, or combinations thereof. 
         [0037]    The apparatus  100  can further comprise of a sensor  160  for sensing the container  114 . 
         [0038]    The controlled environment enclosure  120  can comprise windows  121 , an inlet filter  130 , an inlet valve  131 , a blower  132 , an outlet filter  133  and an outlet valve  134 . The characteristics of blower  132 , inlet filter  130 , and outlet filter  133  are chosen to yield a controlled environment inside controlled environment enclosure  120 . The contents of the controlled environment enclosure  120  can be protected by airflow while having one or more openings (not shown). 
         [0039]    In another embodiment the controlled environment enclosure  120  can be fully sealed and be operated at a positive or negative pressure differential relative to the surroundings. Those skilled in the art will understand that several other filter and blower arrangements can be used to establish a controlled environment inside controlled environment enclosure  120 . A suitable controlled environment can be obtained, for example without limitation, by means of any one or more of turbulent airflow, horizontal unidirectional airflow and vertical unidirectional airflow. 
         [0040]    The operation of the gripping apparatus  113  and the articulated arm apparatus  115  is controlled by a means located outside of environment enclosure  120 . In some embodiments the means of controlling apparatus  113 , apparatus  115  and enclosure  120  require a local or remote operator input device such as joy stick control, push button control, emergency stop, touch screen human machine interface, keyboard, mouse, handheld device or the like. Typically one or more of such input devices are connected to a controller  140 . In  FIG. 1 , a laptop computer programmed with suitable software is shown as an example of controller  140 . In other embodiments controller  140  can be a variety of other means such as operator interface panel, programmable logic controller, programmable automation controller, a desktop computer or a remote I/O module with embedded logic functions. In some embodiments the controller  140  can consist of a plurality of the aformentioned controllers. 
         [0041]    The controller  140  provides control instructions to apparatus  100  over control line  150 . Control line  140  is a schematic representation of all of the required mechanical linkages, electrical wiring, pneumatic, hydraulic and wireless connections to operate apparatus  100 . 
         [0042]    The container  114  can be manipulated inside the controlled environment enclosure  120  by mechanical means, for example, an articulated arm apparatus  115 . Suitable robotic arm manipulation systems for mechanically manipulating the container  114  include, but are not limited to, 6-axis robotic arms, Selective Compliant Articulated Robot Arm (SCARA) systems, r-theta robots, and assemblies of linear actuators and rotary actuators, or combinations thereof. 
         [0043]    In one embodiment of the apparatus  100  the articulated arm apparatus  115  can be the articulated arm apparatus described in U.S. Provisional Patent Application 61/596,698, which is incorporated herein by reference. 
         [0044]    The controlled environment enclosure  120 , in some examples, includes a sensor  160  for sensing the container  114  and a container cover  116  for the container  114 . In the example shown in  FIG. 1  the sensor is mounted to the top surface of the controlled environment enclosure  120 . In other embodiments it can be mounted at another suitable location to monitor the interior of controlled environment enclosure  120 . The sensor  160 , in one example is an optical sensor. In other examples the sensor  160  can be one of a variety of other types of sensors, such as a camera system, a laser system or an ultrasonic sensing system. In yet other examples the sensor  160  is an assembly that consists of a plurality of sensing elements. The sensor  160  has a sensing cone (not shown) or multiple sensing cones than can cover a small, a large area or both; depending on the characteristics of the sensor  160  used. 
         [0045]    In other embodiments of this invention the controlled environment chamber  120  contains articulated arm apparatus  115  plus at least one further articulated arm apparatus (not shown in the interest of clarity). The additional at least one further articulated arm apparatus can be used, for example, for activities that can follow removal of the container cover  116  from the container  114 . Apparatus  100  can be used for functions preceding the function of the filling system described in U.S. patent application Ser. No. 12/393,183, which is incorporated herein by reference. 
         [0046]    In yet another embodiment gripping apparatus  113  is added to a filling system as described in U.S. Patent Application 61/033,682, with element 30 of U.S. Patent Application 61/033,682 as the equivalent of articulated arm apparatus  115  of the present specification, chamber 20 of U.S. Patent Application 61/033,682 as the equivalent of controlled environment enclosure  120  of the present specification, and optical sensor 12 of U.S. Patent Application 61/033,682 as the equivalent of sensor  160  of the present specification. U.S. Patent Application 61/033,682 is hereby incorporated by reference. 
         [0047]    The articulation of arm apparatus  115  can be remoted operated by the operator. In another embodiment the articulated arm apparatus  115  can be an automatically controlled articulated arm. In yet another embodiment the articulated arm apparatus can be a reprogrammable automatically controlled articulated arm. 
         [0048]      FIG. 2  shows a bottom view of an example of the container  114 . The container  114  can be made of a metal, glass, plastic or a composite material, but typically the tub  114  is a single use thin walled container. Thin walled single use containers are typically made by a low cost process, such as thermoforming or injection molding. As shown in  FIG. 2 , the container  114  can have features such as tapered sidewalls that assist in manufacturability, but are more difficult to hold than an object with rigid parallel walls. All four walls forming the sides of the container  114  can have a step  201 . 
         [0049]      FIG. 3  shows a detail view of container  114 . The kind of container  114  typically employed in the pharmaceutical industry is characterized by a top lip  302  that provides a surface area for a sealed connection to the container cover  116 . The term “cover” is used here to describe any surface material, including but not limited to a flexible sheet made of plastic material, a polymeric membrane or an impermeable laminated foil. 
         [0050]    The container cover  116  can extend outside the outline of the top lip  302  of the tub  114  in at least one location, and typically extends outside the outline of the top lip  302  in a plurality of locations. The at least one area of container cover  116  that extends outside the outline of the top lip  302  provides a gripping area  301  that can be used as access for clamping. Clamping on the gripping area  301  can be complicated by the flexibility of the material of the container cover  116 . The gripping area  301  can be level, bent upwards, or bent downwards. 
         [0051]      FIG. 4  shows an example embodiment of the gripping apparatus  113 . An upper arm  406  is rotatably connected to a main shaft  403  by a radial seal  405 . The main shaft  403  is rigidly connected to a lower arm  404  by a fully sealed joint. The main shaft  403  is rotatably connected to a base flange  401  by a radial seal  402 . The base flange  401  is sealably connected to controlled environment enclosure  120 . The tip of lower arm  404  and the tip of upper arm  406  have mutually facing and mutually engagable grip surfaces  407  and  408  respectively such that the mutually facing flat grip surfaces  407  and  408  are mutually engagable in the absence of any material, such as container cover material, being disposed between the surfaces. The grip surface  407  can be an upper surface of the tip of lower arm  404  and the grip surface  408  can be a lower surface of the tip of the upper arm  406 . 
         [0052]    In one embodiment of the gripping apparatus  113  the lower arm  404  is stationary and upper arm  406  is rotatable about a cylindrical axis of main shaft  403 . In another embodiment of the gripping apparatus  113  the upper arm  406  is stationary and lower arm  404  is rotatable about the cylindrical axis of main shaft  403 . In yet a further embodiment both upper arm  406  and lower arm  404  are rotatable about the cylindrical axis of main shaft  403 . 
         [0053]    The gripping apparatus  113  can be remotely operated by the operator. In another embodiment the gripping apparatus  113  can be automatically controlled. In yet another embodiment the gripping apparatus  113  can be a reprogrammable automatically controlled gripping apparatus. 
         [0054]    We now describe at the hand of  FIG. 1 ,  FIG. 2 ,  FIG. 3 , and  FIG. 4 , as well as the flow diagrams in  FIG. 9A ,  FIG. 9B ,  FIG. 9C ,  FIG. 10A ,  FIG. 10B ,  FIG. 10C  and  FIG. 11 , a method for using the apparatus  100  to remove the cover  116  of the container  114 . The method comprises using the sensor  160  to detect an orientation of the gripping area  301 , and to communicate with the controller  140  over control line  150 . The method further comprises planning the trajectory of the container  114  using the controller  140  so that gripping apparatus  113  can access the gripping area  301 . 
         [0055]    In one example embodiment, shown in  FIG. 9A  and expanded on in  FIG. 9B  and  FIG. 9C , the method comprises the sensor  160  sensing [ 510 ] information concerning the gripping area  301  and communicating [ 512 ] the sensed information to the controller  140  over control line  150 . The sensed information can be the position of the gripping area  301  or the orientation of gripping area  301  or both. The sensed information can be used as input information by the controller  140  for determining [ 514 ] a trajectory for the articulated arm apparatus  115  along which to position the sealed container  114  within a reach of the gripping apparatus  113 . 
         [0056]    The cover gripping sequence can be initiated by rotating [ 520 ] the upper arm  406  and the lower arm  404  of the gripping apparatus  113  with respect to each other by an angle that separates the mutually facing grip surfaces  407  and  408  located on respectively lower arm  404  and upper arm  406  by at least the width of the container  114 . This can be done by rotating one or both of the arms  406  and  404 . 
         [0057]    The method further comprises manipulating [ 530 ] articulated arm apparatus  115  to move the container  114  along the trajectory that places the gripping area  301  above the grip surface  407  of the lower arm  404 . This has the result of moving [ 532 ] the container  114  towards the lower arm  404  in a trajectory that results in a bottom surface of the top lip  302  of container  114  nearing or contacting the grip surface  407  of the lower arm  404 . At least during the last section of the approach, the container  114  can be moved to cause the bottom surface of the top lip  302  to substantially slide along the grip surface  407  of the lower arm  404 . During this section of the approach, the tip of the lower arm  404  can be bending [ 534 ] the gripping area  301  upward in the case where gripping area  301  happens to be orientated downward to below the top lip  302 . 
         [0058]    The method further comprises rotating [ 540 ] upper arm  406  to grip the gripping area  301 . This comprises moving [ 542 ] the tip of upper arm  406  comprising the surface  408  over the container cover  116  during its travel to the gripping area  301 . As the upper arm  406  approaches the gripping area  301 , it can slide over the container cover  116  above the top surface of top lip  302 . During this action, the tip of the upper arm  406  can be bending [ 544 ] down to a substantially horizontal orientation any upward bent parts of cover  116 , including specifically the gripping area  301 . 
         [0059]    In another example embodiment of the method, shown in  FIG. 10A  and expanded on in  FIG. 10B  and  FIG. 10C , the sensor  160  also senses the orientation of the gripping area  301  and communicates the sensed orientation to the controller  140  over control line  150 . The sensed orientation of the gripping area  301  can, as before, be used as input information by controller  140  to determine a trajectory for the articulated arm apparatus  115  along which to position the sealed container  114  within a reach of the gripping apparatus  113 . 
         [0060]    The cover gripping sequence can, as above, be initiated with the rotating [ 550 ] of the upper arm  406  and the lower arm  404  of the gripping apparatus  113  with respect to each other by an angle that separates the mutually facing grip surfaces  407  and  408  located on respectively lower arm  404  and upper arm  406  by at least the width of the container  114 . 
         [0061]    The method further comprises manipulating [ 560 ] articulated arm apparatus  115  to move the container  114  along the trajectory that places the gripping area  301  below the grip surface  408  of the upper arm  406 . This has the result of moving [ 562 ] the container  114  towards the upper arm  406  in a trajectory that results in a top surface of the top lip  302  of container  114 , covered by cover  116 , nearing or contacting the grip surface  408  of the upper arm  406 . At least during the last section of the approach, the container  114  can be moved to cause the top surface of the top lip  302 , covered by cover  116 , to substantially slide along the surface  408  of the upper arm  406 . During this section of the approach, the tip of the upper arm  406  can be bending [ 564 ] the gripping area  301  downward in the case where gripping area  301  happens to be orientated upward to above the top lip  302 . 
         [0062]    The method further comprises rotating [ 570 ] the lower arm  404  to grip the gripping area  301 . This comprises moving [ 572 ] the tip of lower arm  404  comprising the grip surface  407  under the bottom surface of top lip  302  during its travel to the gripping area  301 . As the lower arm  404  approaches the gripping area  301 , it can slide along the bottom surface of top lip  302 . During this action, the tip of the lower arm  404  can be bending [ 574 ] up to a substantially horizontal orientation any downward bent parts of cover  116 , including specifically the gripping area  301 . 
         [0063]    The gripping apparatus  113  works for a wide range of thickness of the container cover  116  by clamping the gripping area  301  of container cover  116  in between the mutually facing grip surfaces  407  and  408  located on respectively the lower arm  404  and the upper arm  406 . 
         [0064]    The method provides for removing [ 580 ] the container cover  116  in the controlled environment enclosure  420 . This is shown in expanded form in  FIG. 11 . Once the gripping apparatus  113  has gripped the gripping area  301  and is holding the gripping area  301  substantially stationary, the method can proceed further with manipulating [ 582 ] the articulated arm apparatus  120  to either lower the container  114  or rotate the container  114  about an axis substantially in the plane of the cover. This manipulating [ 582 ] is to a degree that positions and/or orients the container  114  and cover  116  such that clearance is established for the two arms  404  and  406  of the gripping apparatus  113  to clear the cover  116  and container  114  during the subsequent removal of the cover  116  from the container  114 . 
         [0065]    Referring to the articulated arm apparatus  115  and the gripping apparatus  113  as shown in  FIGS. 5-8 , the container cover  116  can be removed by moving the container  114  in a substantially diagonal trajectory by manipulating [ 584 ] articulated arm apparatus  115  while the gripping apparatus  113  is holding the gripping area  301  substantially stationary. The term “substantially diagonal is used in this specification to describe a direction of motion parallel to the diagonal of the container  114  between the two sides of the container  114  that teminate jointly at the location of the gripping area  301 . The substantially diagonal trajectory minimizes a total length of adhesive that is being opened at any given time. As shown in  FIGS. 5-8 , the substantially diagonal trajectory can be obtained by rotating the articulated arm apparatus  115  in direction A. This particular choice of motion can keep all moving parts participating in removing the container cover  116  confined to a small space within the controlled environment enclosure  420 . The controller  140  can be configured for predetermining the small space before the motion is conducted by predetermining the path for the container  114  to follow while being held by the articulated arm apparatus  115 . The predetermined path can be, but is not limited to, a circular path. 
         [0066]    In another embodiment the container cover  116  can be removed by a more general direction of motion of container  114  by manipulating [ 584 ] articulated arm apparatus  115  while the gripping apparatus  113  is holding the gripping area  301  substantially stationary. In this embodiment the articulated arm apparatus  115  is not limited to being rotated. This motion of the container  114  can be executed in a fashion and direction such as to remove the container cover  116  simultaneously along two edges of the container  114 , starting from the gripping area  301 . 
         [0067]      FIGS. 5-8  provide an example of removal of the container cover  116  by a pushing motion of articulated arm apparatus  115 . In a further embodiment, the container cover  116  can be removed in a pulling motion by articulated arm apparatus  115 . 
         [0068]    The sensor  160  can be used for verifying the completeness of removal of the container cover  116 . If, for some undetermined reason, the gripping apparatus  113  were to lose its grip on the container cover  116  during the removal of the container cover  116 , the articulated arm apparatus  115  can continue moving the container  114  with the partially removed container cover  116 . In the event of such partial removal of container cover  116 ; the previously described process of orienting substantially horizontally any up- or downward bent areas of the cover  116 , including the gripping area  301 , can be repeated after the articulated arm apparatus  115  repositions the gripping area  301  near the tip of the lower arm  404 . If the gripping area  301  were to be no longer available, for example if the gripping area  301  were torn off, the process of gripping the gripping area  301  can be repeated after redirecting the articulated arm apparatus  115  to another suitable available gripping area  301 . 
         [0069]    For the sake of clearly differentiating between the different manipulations that are undertaken by the articulated arm apparatus  120 , we refer to the manipulating [ 584 ] of the articulated arm apparatus  120  to remove the cover  116  as a “first manipulation”, and the manipulating [ 530 ] and [ 560 ] of the articulated arm apparatus  120  to position the container  114  between the lower arm  402  and the upper arm  406  as a “second manipulating”, while we refer to the manipulating [ 582 ] of the articulated arm apparatus  120  to lower the container  114  or to rotate the container  114  about an axis substantially in the plane of the cover  116  as a “third manipulating”. The gripping apparatus  113  is not limited to the example shown in  FIG. 4 . In other embodiments the gripping apparatus  113  can comprise a pair of prongs with narrow gap in between, one of which slides over and the other slides under the gripping area, thereby clamping the cover by friction caused by rotation of both prongs. In yet another embodiment the gripper can be of the type described in German Patent DE4419475, hereby incorporated herein by reference. In yet other embodiments the gripper apparatus can comprise gripping devices that are commercially available, such as parallel grippers, angular grippers or inflatable bellow grippers. 
       Additional Notes 
       [0070]    The drawings and the associated descriptions are provided to illustrate embodiments of the invention and not to limit the scope of the invention. Reference in the specification to “one embodiment” or “an embodiment” is intended to indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least an embodiment of the invention. The appearances of the phrase “in one embodiment” or “an embodiment” in various places in the specification are not necessarily all referring to the same embodiment. 
         [0071]    As used in this disclosure, except where the context requires otherwise, the term “comprise” and variations of the term, such as “comprising,” “comprises” and “comprised” are not intended to exclude other additives, components, integers or steps. 
         [0072]    In the foregoing specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawing are, accordingly, to be regarded in an illustrative rather than a restrictive sense. It should be appreciated that the present invention should not be construed as limited by such embodiments. 
         [0073]    From the foregoing description it will be apparent that the present invention has a number of advantages, some of which have been described herein, and others of which are inherent in the embodiments of the invention described or claimed herein. Also, it will be understood that modifications can be made to the device, apparatus and method described herein without departing from the teachings of subject matter described herein. As such, the invention is not to be limited to the described embodiments except as required by the appended claims. 
       PARTS LIST 
       [0000]    
       
           100  apparatus 
           113  gripping apparatus 
           114  container 
           115  articulated arm apparatus 
           116  container cover 
           120  controlled environment enclosure 
           140  controller 
           150  control line 
           160  sensor 
           121  window 
           130  inlet filter 
           131  inlet valve 
           132  blower 
           133  outlet filter 
           134  outlet valve 
           201  step 
           301  gripping area 
           302  top lip 
           401  base flange 
           402  radial seal 
           403  main shaft 
           404  lower arm 
           405  radial seal 
           406  upper arm 
           407  grip surface 
           408  grip surface 
         [ 510 ] sensing the orientation of the gripping area 
         [ 512 ] communicating the sensed orientation to 
         [ 514 ] determining a trajectory 
         [ 520 ] rotating the upper arm and the lower arm with respect to each other 
         [ 530 ] manipulating the articulated arm apparatus 
         [ 532 ] moving the container toward the lower arm 
         [ 534 ] bending up the gripping area 
         [ 540 ] rotating the upper arm to grip the gripping area 
         [ 542 ] moving the tip of the upper arm over the container cover 
         [ 544 ] bending down bent parts of the cover including the gripping area 
         [ 550 ] rotating the upper arm 
         [ 560 ] manipulating the articulated arm apparatus 
         [ 562 ] moving the container toward the upper arm 
         [ 564 ] bending down the gripping area 
         [ 570 ] rotating the lower arm to grip the gripping area 
         [ 572 ] moving the tip of lower arm under the bottom surface of the container top lip 
         [ 574 ] bending up bent parts of the cover including the gripping area 
         [ 580 ] removing the container cover 
         [ 582 ] manipulating the articulated arm apparatus to establish clearance for arms 
         [ 584 ] moving the container in a substantially diagonal trajectory