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US 9,868,552 B2Granted
Fluid transfer apparatus, fluid transfer control method, fluid transfer controller, fluid transfer system, and medicine manufacturing method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKenji Matsukuma, Kenichi Tachibana, Fumiaki Furusawa, Makoto Umeno
Life of this patent
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Abstract
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.
Claims14
A fluid transfer system comprising:
- a multi jointed robot configured to transfer a vessel and a syringe;
- a syringe driving apparatus;
- and
- a controller configured to perform control of the multi jointed robot and the syringe driving apparatus,
- wherein the syringe driving apparatus includes
- a cylinder body holder configured to hold a cylinder body of the syringe,
- an actuator configured to pull and push 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, and
- wherein the controller is configured to control the multi-jointed robot so as to reverse a vertical relation between the vessel and the syringe in a state where the vessel is punctured by a needle of the syringe after disposing the vessel on a lower side of the syringe and making the needle of the syringe puncture the vessel.
6 more elements
A fluid transfer apparatus comprising:
- a multi jointed robot configured to transfer a vessel and a syringe;
- and
- a syringe driving apparatus,
- wherein the syringe driving apparatus includes
- a cylinder body holder configured to hold a cylinder body of the syringe,
- an actuator configured to pull and push 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 so as to allow the multi jointed robot to reverse a vertical relation between the vessel and the syringe.
4 more elements
Dependencies are inferred from the claim text.