Kabushiki Kaisha Yaskawa Denki

Fumiaki Furusawa

Makoto Umeno

Kenichi Tachibana

Kenji Matsukuma

A fluid transfer system includes a multi-jointed robot which is capable of transferring a vial and a syringe, and a syringe driving apparatus. The syringe driving apparatus includes a cylinder body holder which holds a cylinder body of the syringe, an actuator which pulls and pushes a plunger of the syringe, and a rotation mechanism configured to make the cylinder body holder and the actuator freely rotatable about an axial line intersecting with a center axial line of the syringe.

Fluid transfer apparatus, fluid transfer control method, fluid transfer controller, fluid transfer system, and medicine manufacturing method

A fluid transfer system includes a multi-jointed robot, a syringe actuator configured to pull and push a plunger of a syringe, and a controller. The controller performs control of the multi-jointed robot so as to reverse a vertical relation between the vial and the syringe in a state where a vial containing a liquid is disposed on a lower side of the syringe and a needle of the syringe punctures the vial, and control of the syringe actuator so as to absorb a liquid in the vial into the syringe by pulling the plunger in a state where the vial is disposed on an upper side of the syringe.

Liquid transfer system, liquid transfer control method, liquid transfer controller, and medicine manufacturing method

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.

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Fukuoka, Japan

Fumiaki Furusawa