公开(公告)号：US20150251781A1

公开(公告)日：2015-09-10

申请号：US14636180

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 ,  A61J1/20 ,  A61J1/2096 ,  B25J9/0087

Abstract: 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.

Abstract translation: 流体输送系统包括多关节机器人，配置成拉动和推动注射器的柱塞的注射器致动器以及控制器。 控制器执行多关节机器人的控制，以便在包含液体的小瓶设置在注射器的下侧并且注射器的针穿刺小瓶的状态下，反转小瓶和注射器之间的垂直关系 以及控制注射器致动器，以便在小瓶被设置在注射器的上侧的状态下拉动柱塞，从而将小瓶中的液体吸收到注射器中。

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：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。