ROBOT SYSTEM, LIQUID TRANSFER CONTROLLER, LIQUID TRANSFER CONTROL METHOD, AND MEDICINE MANUFACTURING METHOD
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United States of America Patent
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Issued Date -
Sep 10, 2015
app pub date -
Mar 2, 2015
filing date -
Mar 5, 2014
priority date (Note) -
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Abstract
A robot system includes a multi-jointed robot, a syringe actuator which pulls and pushes a plunger of a syringe having a needle, and the controller which controls the multi-jointed robot to handle a vial 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 a liquid in the vessel is absorbed through the needle by pulling the plunger after the first control module controls the multi-jointed robot, and a third control module which controls the multi-jointed robot such that the needle is inclined with respect to the cap of the vessel by changing an orientation of at least one of the vessel and the syringe after the first control module controls the multi-jointed robot.
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