公开(公告)号：US20150251780A1

公开(公告)日：2015-09-10

申请号：US14636179

申请日：2015-03-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenji MATSUKUMA ,  Kenichi TACHIBANA ,  Fumiaki FURUSAWA ,  Makoto UMENO

IPC: B65B3/00

CPC classification number: B65B3/003 ,  A61J1/201 ,  A61J1/2096 ,  B25J9/0087

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.

Abstract translation: 流体输送系统包括能够输送小瓶和注射器的多关节机器人以及注射器驱动装置。 注射器驱动装置包括：保持注射器的缸体的缸体保持器，拉动并推动注射器的柱塞的致动器;以及旋转机构，其构造成使得缸体保持器和致动器能够绕轴线自由旋转 与注射器的中心轴线相交。

公开(公告)号：US20150251778A1

公开(公告)日：2015-09-10

申请号：US14634894

申请日：2015-03-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenichi TACHIBANA ,  Fumiaki FURUSAWA ,  Makoto UMENO

IPC: B65B3/00

CPC classification number: B65B3/003 ,  A61J1/20 ,  A61J1/2096 ,  B25J9/0087

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 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.

Abstract translation: 机器人系统包括多关节机器人，一个拉针并推动具有一针的注射器的柱塞的注射器致动器; 以及控制器，其控制多关节机器人来处理存储液体的容器和注射器并控制注射器致动器。 所述控制器包括第一控制模块，所述第一控制模块控制所述多接头机器人，使得所述注射器的针穿刺所述容器的帽;第二控制模块，其控制所述注射器致动器，使得所述注射器中的空气通过 在所述第一控制模块控制所述多关节机器人之后，在所述容器位于所述注射器的上侧的状态下推动所述柱塞，并且所述针的前端部位于所述容器的液体的上侧， 第三控制模块，其通过在所述第二控制模块控制所述第一控制模块之后在所述针的所述液体中位于所述容器中的所述液体中的状态下拉动所述柱塞来控制所述注射器致动器，使得所述容器中的液体通过所述针被吸收 注射器执行器。

公开(公告)号：US20140106386A1

公开(公告)日：2014-04-17

申请号：US14140566

申请日：2013-12-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto UMENO ,  Teruyasu ARAI

IPC: C12Q1/37

CPC classification number: C12Q1/24 ,  B25J9/0087 ,  B25J15/0033 ,  C12M23/50 ,  C12Q1/37 ,  G01N33/53 ,  G01N35/0099

Abstract: A liquid processing system to process liquid biological material includes: a trunk provided turnable on an axis, set within a predetermined work space; a first arm provided to the trunk and having at least three degrees of freedom or higher degrees of freedom; a second arm provided to the trunk and having at least three degrees of freedom or higher degrees of freedom; a driving mechanism configured to drive each of the trunk, the first arm, and the second arm; and physiochemical equipment situated within the work space and within the range of movement of at least one of the first and the second arm. The driving mechanism is operated by teaching playback based on the positions and shapes of the physiochemical equipment, and the biological material is processed using the physiochemical equipment.

Abstract translation: 一种处理液体生物材料的液体处理系统包括：设置在预定工作空间内的可在轴线上转动的躯干; 提供给躯干并具有至少三个自由度或更高自由度的第一臂; 设置在躯干上并具有至少三个自由度或更高自由度的第二臂; 构造成驱动躯干，第一臂和第二臂中的每一个的驱动机构; 以及位于工作空间内并且在第一和第二臂中的至少一个的移动范围内的物理化学设备。 驱动机构通过基于物理化学设备的位置和形状的教学回放进行操作，并且使用物理化学设备处理生物材料。

公开(公告)号：US20150251779A1

公开(公告)日：2015-09-10

申请号：US14634895

申请日：2015-03-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenichi TACHIBANA ,  Fumiaki FURUSAWA ,  Makoto UMENO

IPC: B65B3/00

CPC classification number: B65B3/003 ,  A61J1/201 ,  A61J1/2096 ,  B25J9/0087

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.

Abstract translation: 一种机器人系统包括多关节机器人，一个拉针并推动具有一针的注射器的柱塞的注射器致动器，以及控制该多关节机器人处理小瓶和该注射器并控制该注射器致动器的控制器。 所述控制器包括：第一控制模块，其控制所述多关节机器人，使得所述针筒的针穿刺所述容器的帽;第二控制模块，其控制所述注射器致动器，使得所述容器中的液体通过所述针被 在第一控制模块控制多关节机器人之后拉动柱塞;以及第三控制模块，其控制多关节机器人，使得针相对于容器的帽倾斜，通过改变至少一个 第一控制模块控制多关节机器人后的容器和注射器。

公开(公告)号：US20150151434A1

公开(公告)日：2015-06-04

申请号：US14613266

申请日：2015-02-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto UMENO

IPC: B25J15/00 ,  B25J15/02 ,  B25J9/00 ,  B66C1/42

CPC classification number: B25J15/0038 ,  B25J9/0087 ,  B25J15/0033 ,  B25J15/0253 ,  B25J18/00 ,  B66C1/42 ,  G01N35/0099 ,  G01N2035/0405 ,  Y10S901/31 ,  Y10T74/20305

Abstract: A robot hand includes a first bit, a second bit, a first holding member, and a second holding member. The second bit holds a microtube between the first bit and the second bit. The first holding member is disposed on the first bit. The second holding member is disposed on the second bit. The second holding member holds a vessel between the first holding member and the second holding member.

Abstract translation: 机器人手包括第一位，第二位，第一保持构件和第二保持构件。 第二位保持第一位和第二位之间的微管。 第一保持构件设置在第一位上。 第二保持构件设置在第二位上。 第二保持构件在第一保持构件和第二保持构件之间保持容器。

公开(公告)号：US20140172167A1

公开(公告)日：2014-06-19

申请号：US14109848

申请日：2013-12-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenji MATSUKUMA ,  Makoto UMENO ,  Takashi SUYAMA

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/161 ,  B25J9/1671 ,  B25J9/1692 ,  G05B2219/37453 ,  G05B2219/40323

Abstract: A teaching data generator includes a storage device. An arithmetic device includes a first window display section to cause a display device to display a first window displaying first images respectively corresponding to some pieces of work unit job data stored in the storage device and included in teaching data. The first images are arranged in an execution order of pieces of work respectively corresponding to the some pieces of the work unit job data. A first job editing section performs an editing operation including replacing the some pieces of the work unit job data with other pieces of the work unit job data stored in the storage device, and changing the execution order. A teaching data generation section generates the teaching data based on a display content of the first window changed in accordance with the editing operation.

Abstract translation: 教学数据生成器包括存储装置。 运算装置包括第一窗口显示部分，用于使显示装置显示分别对应于存储在存储装置中并包括在教学数据中的一些作业单元作业数据的第一图像的第一窗口。 第一图像以分工对应于一些作业单元作业数据的工作片段的执行顺序排列。 第一作业编辑部执行编辑操作，包括用存储在存储装置中的其他作业单元作业数据替换一部分作业单元作业数据，并且改变执行顺序。 教学数据生成部基于根据编辑操作而变更的第一窗口的显示内容生成教学数据。

公开(公告)号：US20170043887A1

公开(公告)日：2017-02-16

申请号：US15222530

申请日：2016-07-28

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Shigeji TASAKA ,  Seiki ONO ,  Makoto UMENO

IPC: B65B3/26 ,  A61J1/16 ,  B65B3/00 ,  B01F15/00 ,  B25J11/00 ,  B01F3/08 ,  B01F15/02 ,  A61J1/20 ,  B65B3/12

CPC classification number: B01F15/00746 ,  A61J1/16 ,  A61J1/165 ,  A61J1/2096 ,  B01F11/0025 ,  B01F13/1072 ,  B01F15/0237 ,  B25J9/0087

Abstract: A method is for preparing a medical/chemical solution by mixing a medical/chemical substance housed in a sealed container with a solution housed in a bag. The method includes transferring, from the bag into a syringe, an amount of the solution that is to be injected into a plurality of the containers. With the container and the syringe being held, at least one of a robot and a syringe driver configured to drive a plunger of the syringe is controlled so as to inject the amount of the solution into the plurality of the containers from the syringe.

Abstract translation: 一种用于通过将容纳在密封容器中的医疗/化学物质与容纳在袋中的溶液混合来制备医疗/化学溶液的方法。 该方法包括从袋中注入一定量的待注入到多个容器中的溶液。 在保持容器和注射器的情况下，控制构造成驱动注射器的柱塞的机器人和注射器驱动器中的至少一个，以从注射器将溶液的量注入到多个容器中。

公开(公告)号：US20160144507A1

公开(公告)日：2016-05-26

申请号：US14945435

申请日：2015-11-19

Applicant: NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY ,  Kabushiki Kaisha Yaskawa Denki

Inventor： Toru NATSUME ,  Takashi NAGASAKI ,  Makoto UMENO ,  Tatsuro IPPOSHI ,  Kazuhiro KARIYAZAKI

IPC: B25J9/16

CPC classification number: B25J9/1628 ,  B25J9/1656 ,  B25J9/1679 ,  G01N35/0092 ,  G05B2219/40113 ,  G05B2219/45092

Abstract: Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

Abstract translation: 提供了一种操作命令生成装置，其被配置为生成操作命令，该操作命令是由包括机器人的处理系统将执行的作业的集合，所述操作命令基于包括表示要在容器上执行的处理的处理符号的协议图 所述操作命令生成装置包括：处理作业生成单元，被配置为基于所述处理符号生成用于使所述处理系统在所述工作区域对所述容器执行处理的作业; 以及传送作业生成单元，其被配置为当由所述处理符号表示的处理不是在同一容器上执行的处理时，生成将所述容器从所述工作区域转移到后退区域的作业，所述处理由 过程符号已经执行。

公开(公告)号：US20160144506A1

公开(公告)日：2016-05-26

申请号：US14945437

申请日：2015-11-19

Applicant: NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY ,  Kabushiki Kaisha Yaskawa Denki

Inventor： Toru NATSUME ,  Takashi NAGASAKI ,  Makoto UMENO ,  Tatsuro IPPOSHI ,  Kazuhiro KARIYAZAKI

IPC: B25J9/16

CPC classification number: B25J9/1602 ,  B25J9/1612 ,  B25J9/1656 ,  B25J9/1661 ,  G01N35/0092 ,  G05B2219/36025 ,  G05B2219/40113 ,  G05B2219/45092 ,  Y10S901/02

Abstract: Provided is an operation command generation device including: an execution order determination unit configured to determine, based on respective arrangement positions of a plurality of process symbols each representing a process for a process subject on a protocol chart including the plurality of process symbols, an execution order of the plurality of process symbols; and a process symbol conversion unit configured to respectively convert the plurality of process symbols into jobs for a process system including at least a robot so that processes represented by the plurality of process symbols are executed in the execution order determined by the execution order determination unit.

Abstract translation: 提供一种操作命令生成装置，包括：执行顺序确定单元，被配置为基于在包括多个处理符号的协议图上表示处理对象的处理的多个处理符号的各自的排列位置，确定执行 多个处理符号的顺序; 以及处理符号转换单元，被配置为分别将所述多个处理符号转换为至少包括机器人的处理系统的作业，使得由所述执行顺序确定单元确定的执行顺序执行由所述多个处理符号表示的处理。

公开(公告)号：US20150210410A1

公开(公告)日：2015-07-30

申请号：US14679003

申请日：2015-04-05

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY

Inventor： Makoto UMENO ,  Kohei MIYAUCHI ,  Takashi SUYAMA ,  Toru NATSUME

IPC: B65B3/00 ,  A61J1/20 ,  A61J1/16

CPC classification number: B65B3/003 ,  A61J1/065 ,  A61J1/16 ,  A61J1/201 ,  A61J1/2096

Abstract: An automatic preparation system according to embodiments includes a work table, a robot, and a jig. The robot is disposed near the work table and includes a plurality of arms. The jig is provided on the work table and rotatably holds a syringe. The robot, after taking out the syringe from a syringe storage case and attaching the syringe to the jig, operates the arms in a cooperative manner to perform a preparation of a medication using the syringe.

Abstract translation: 根据实施例的自动准备系统包括工作台，机器人和夹具。 机器人设置在工作台附近并且包括多个臂。 夹具设置在工作台上并可旋转地保持注射器。 机器人在将注射器从注射器储存盒中取出并将注射器附接到夹具之后，以协作的方式操作臂，以使用注射器进行药物的制备。