A robot system includes a multi-jointed robot, a syringe actuator which pulls and pushes a plunger of a syringe having a needle; and a controller which controls the multi jointed robot to handle a vessel storing a liquid and the syringe and controls the syringe actuator. The controller includes a first control module which controls the multi-jointed robot such that the needle of the syringe punctures a cap of the vessel, a second control module which controls the syringe actuator such that the air in the syringe is sent into the vessel by pushing the plunger in a state where the vessel is positioned on an upper side of the syringe and a tip portion of the needle is positioned on an upper side of the liquid in the vessel after the first control module controls the multi-jointed robot, and a third control module which controls the syringe actuator such that the liquid in the vessel is absorbed through the needle by pulling the plunger in a state where the tip portion of the needle is positioned in the liquid in the vessel after the second control module controls the syringe actuator.
Robot system, liquid transfer controller, liquid transfer control method, and medicine manufacturing method
12.12.2017
Patent
Elektronische Ressource
Englisch
IPC: | B66C Krane , CRANES / A61J Behälter, besonders ausgebildet für medizinische oder pharmazeutische Zwecke , CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES / B65B MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS , Verpackungsmaschinen, -geräte, -vorrichtungen, Verpackungsverfahren für Gegenstände oder Materialien |
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