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US 2016/0334429 A1Published application
Rack for dispensing and dispensing system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsNoriko ABE, Yukio Hashiguchi, Makoto Umeno, Hiroshi Kumagai, Yukiko Sawada, Motohisa Kamei
Life of this patent
Estimating the term…
Abstract
A rack includes a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed and a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container.
Claims14
A rack for dispensing comprising:
- a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed;
- and
- a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder.
A rack for dispensing comprising:
- a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed;
- a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder;
- a stage holder that holds the stage in such a way that the stage is rotatable around a first axis that extends along a direction in which the container holder and the camera are aligned with each other, is parallel to a central axis of the camera, and is positioned between the central axis of the camera and the stage;
- and
- an angle keeper that allows rotation of the stage when torque resulting from external force acts on the stage and restricts rotation of the stage when no torque resulting from external force acts on the stage.
2 more elements
A rack for dispensing comprising:
- a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed;
- a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder;
- a stage holder that holds the stage in such a way that the stage is rotatable around a first axis that extends along a direction in which the container holder and the camera are aligned with each other, is parallel to a central axis of the camera, and is positioned between the central axis of the camera and the stage;
- and
- means for allowing rotation of the stage when torque resulting from external force acts on the stage and restricting rotation of the stage when no torque resulting from external force acts on the stage.
2 more elements
A dispensing system comprising:
- a rack for dispensing including
- a container holder that is fixed to a stage and holds a container that contains a liquid to be dispensed, and
- a camera that is fixed to the stage and located in a position where the camera is capable of capturing an image of the container held by the container holder;
- a robot;
- and
- a controller configured to control the robot so as to transport the container and cause the container holder to hold the container, acquire information on a position of a liquid surface of the liquid based on the image captured with the camera, control the robot so as to tilt the rack, and control the robot so as to cause a dispenser to descend based on the information on the position of the liquid surface when the liquid is sucked into the dispenser.
3 more elements
Dependencies are inferred from the claim text.