JP2017012415A - Liquid medicine filling system, liquid medicine filling method, robot system and tray - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a liquid medicine filling system capable of improving a working efficiency.SOLUTION: A liquid medicine filling system 1 comprises: arms 120, 130 having a pair of claws 121, 131 which are opened; and a tray 200 having a gripped part for mounting plural vials, and being gripped, lifted up and moved in the air by the claws 121, 131. A robot 10 grips a preparation tray 200 by the claw 121 of the right arm 120, and grips a work tray 300 by the claw 131 of the left arm 130, and drives a trunk 110 and arms 120, 130, thereby accessing a working appliance and working object, and sandwiches or hooks the appliance and the object by the claws 121, 131 for gripping and operating the appliance and the object.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a chemical filling system, a chemical filling method, a robot system, and a tray.

  Patent Document 1 describes an automatic adjustment system in which a medicine is adjusted by a robot using various devices arranged in a safety cabinet.

International Publication No. 2014/054183

  The problem to be solved by the present invention is to provide a chemical solution filling system, a chemical solution filling method, a robot system, and a tray that improve work efficiency.

  A chemical solution filling system according to one aspect of the present invention is a chemical solution filling system that fills a plurality of vials with a chemical solution, and includes an arm having a pair of claws that opens and closes, the plurality of vials, And a tray provided with a gripped portion that is gripped and lifted and moved in the air.

  In the chemical solution filling system according to one aspect of the present invention, the movement of the gripped portion in the air may include reversal.

  In addition, a chemical solution filling system according to one aspect of the present invention includes a plurality of trays including a plurality of the arms, a preparation tray for placing the plurality of vials, and a work tray for placing the plurality of vials. A plurality of the arms, by stacking the work tray on the preparation tray on which the plurality of vials are placed, and inverting the top and bottom of the preparation tray and the work tray in a stacked state A transfer control unit that controls the plurality of arms to reverse the directions of the plurality of vials and to transfer the plurality of vials from the preparation tray to the working tray may be provided.

  Further, in the chemical solution filling system according to one aspect of the present invention, when the transfer control unit stacks the work tray on the preparation tray, the plurality of arms incline the preparation tray with respect to a horizontal direction. The plurality of arms may be controlled so that the work trays are stacked in a state where the operation is performed.

  Further, in the chemical solution filling system according to one aspect of the present invention, the transfer control unit is configured such that one arm of the plurality of arms grips the preparation tray, the other arm grips the work tray, and the preparation The one arm and the other arm may be controlled to transfer the plurality of vials from a tray to the working tray.

  According to another aspect of the present invention, there is provided a chemical liquid filling system, a main body that stores a chemical liquid, a nozzle assembly that is attached to the main body and that dispenses the chemical liquid according to an external operation, and is attached to the nozzle assembly. And a disc-shaped operation receiving unit that is held by the pair of claws and receives the external operation by an operation of at least one of the plurality of arms.

  According to another aspect of the present invention, there is provided a chemical solution filling system that operates the nozzle assembly so that the plurality of vials placed on the work tray are sequentially discharged from the dispenser and filled in order. You may have a dispenser control part which controls these arms so that the work tray may be moved.

  Further, in the chemical solution filling system according to one aspect of the present invention, the nozzle assembly may include a nozzle body extending in the horizontal direction and a nozzle tip portion that is bent with respect to the nozzle body and extends in the horizontal direction. Good.

  Moreover, the chemical filling system according to one aspect of the present invention is a pair of detachable claws that can be attached to and detached from the distal ends of the pair of nails by being relatively moved along the first direction with respect to the pair of nails. And may further include

  Moreover, the chemical | medical solution filling system by 1 side of this invention has the fixing | fixed part which fixes the said attachment-and-detachment nail | claw regarding the said 1st direction, and can move regarding the 2nd direction orthogonal to the said 1st direction. Also good.

  In the chemical solution filling system according to one aspect of the present invention, the pair of attachment / detachment claws may be opened and closed to hold a plurality of lids attached to the vial.

  Further, in the chemical filling system according to one aspect of the present invention, a work booth provided with a work space, a storage booth connected to the work booth and the external space so as to be able to be cut off, and the plurality of arms, A conveyance control unit that controls the plurality of arms so as to transfer the detachable claws accommodated in the accommodation booth to the work space.

  Moreover, the chemical | medical solution filling system by one side of this invention may be provided in at least one part of the said storage booth, and may have the sterilization area | region which sterilizes the said attachment / detachment nail | claw.

  In the method for filling a liquid medicine according to one aspect of the present invention, the work tray is stacked on the preparation tray on which a plurality of vials are placed, and the preparation tray and the work tray are turned upside down in a stacked state. The transfer control unit controls the plurality of arms so that the directions of the plurality of vials are reversed and the plurality of vials are transferred from the preparation tray to the work tray.

  In the chemical solution filling method according to one aspect of the present invention, when the plurality of vials are transferred from the preparation tray to the working tray, one of the plurality of arms is placed with the plurality of vials. The transfer control unit controls the one arm so that the preparation tray is gripped in a state inclined with respect to the horizontal direction, and the other arm of the plurality of arms is inclined with respect to the horizontal direction. The transfer control unit may control the other arm so that the work tray overlaps the preparation tray.

  A robot system according to an aspect of the present invention includes an arm having a pair of claws that are opened and closed, a tray on which the plurality of containers are placed, and a gripped portion that is gripped by the claws and lifted and moved in the air is provided. And having.

  In the robot system according to one aspect of the present invention, the movement of the gripped part in the air may include reversal.

  A robot system according to an aspect of the present invention includes a plurality of trays including a plurality of the arms, a preparation tray on which the plurality of containers are placed, and a work tray on which the plurality of containers are placed. Then, the plurality of arms overlap the preparation tray on which the plurality of eases are placed, and in an overlapped state, the preparation tray and the work tray are turned upside down. You may have the transfer control part which reverses direction of these containers, and controls these arms so that these containers may be moved from the preparation tray to the work tray.

  In the robot system according to one aspect of the present invention, when the transfer control unit stacks the work tray on the preparation tray, the plurality of arms tilt the preparation tray with respect to a horizontal direction. The plurality of arms may be controlled so that the work trays are stacked in a state.

  The tray according to one aspect of the present invention is provided with a gripped portion on which a plurality of containers are placed, gripped by a claw provided on an arm, and lifted and moved in the air.

It is an external appearance front view which shows the chemical | medical solution filling system which concerns on this embodiment. It is a block diagram which shows the physical system configuration | structure of the chemical | medical solution filling system which concerns on this embodiment. It is a block diagram which shows the functional system structure of the chemical | medical solution filling system which concerns on this embodiment. It is a figure which shows the state in which the several vial was mounted in the preparation tray. It is a figure which shows the state which accumulated the work tray with respect to the preparation tray. It is a figure which shows the state after inversion of a preparation tray and a work tray. It is a figure which shows the state in which the several vial was mounted in the work tray. It is a top view which shows the attachment / detachment nail | claw with which the nail | claw of the right arm was mounted | worn. It is a top view which shows the mode before mounting | wearing of a detachable nail | claw. It is a top view which shows the mode in the middle of mounting | wearing of a detachable nail | claw. It is a top view which shows a mode that mounting | wearing of the attachment / detachment nail was completed. It is a side view which shows the mode before mounting | wearing of a detachable nail | claw. It is a side view which shows a mode that mounting | wearing of the attachment / detachment nail was completed. It is a side view which shows a mode that a right arm is moved so that the hole of an attachment / detachment nail | claw may remove | deviate from a projection part. It is a side view which shows a mode that a right arm is moved so that the hole of an attachment / detachment claw may fit in a projection part. It is a side view which shows a mode that the hole of the attachment-and-detachment nail was fitted in the projection part. It is a side view which shows a mode that a right arm is moved so that the mounting part of a detachable nail may be pulled out from the mounting hole of a nail | claw. It is a perspective view for demonstrating the dispenser of this embodiment. It is a perspective view for demonstrating the crimping apparatus of this embodiment. It is a flowchart explaining control of the robot of this embodiment. It is a flowchart explaining the detail of the transfer control by a transfer control part. It is a figure explaining the modification of the transfer control by a transfer control part. It is a flowchart explaining the detail of the chemical | medical solution filling control by a dispenser control part. It is a figure explaining filling of the chemical | medical solution to the vial by the dispenser which concerns on the modification of this embodiment. It is a flowchart explaining the detail of attachment control by the attachment / detachment control part. It is a flowchart explaining the detail of the caulking control by a caulking control part. It is a flowchart explaining the detail of the removal control by an attachment / detachment control part.

  FIG. 1 is an external front view showing a chemical liquid filling system according to an embodiment of the present invention (hereinafter referred to as the present embodiment). In this embodiment, an automatic work cell in which a robot is arranged in a cell box will be described as an example of a chemical solution filling system. In the following description, the posture of the robot 10 shown in FIG. 1 is referred to as a basic posture. When the robot 10 in the basic posture is viewed from the front, the left direction is the positive direction of the X axis, and the robot 10 in the basic posture is viewed from the front. The rear direction is defined as the positive direction of the Y axis, and the upper direction in the vertical direction is defined as the positive direction of the Z axis.

  The chemical solution filling system 1 according to this embodiment is used in fields such as biotechnology and medicinal chemistry that require sterilization of work tools and work objects in order to avoid contamination (contamination) during work. In the region where the sterility is maintained, the robot 10 is automatically filled with the chemical solution into the vial. In the following description, a work implement means what is used as a part of a work apparatus. In addition, the work target refers to an object that can be subjected to an operation such as processing in the work and is a raw material of a product obtained as a result of the work or a part thereof.

  The chemical filling system 1 includes a robot 10, a work booth 20, and a storage booth 30. The inside of the work booth 20 is almost aseptic. The work booth 20 is provided with a work space 21 (see FIG. 2) in which various work tools and work objects are arranged and the work is performed by the robot 10.

  The robot 10 is disposed in the work booth 20. The robot 10 is a so-called articulated robot, and includes a body 110 and a right arm 120 and a left arm 130 provided on the body 110. The right arm 120 is provided with a pair of claws 121 (121a, 121b) that are opened and closed, and the left arm 130 is provided with a pair of claws 131 (131a, 131b) that are opened and closed. 1 shows a state in which the robot 10 grips a preparation tray 200 (to be described later) with the claw 121 of the right arm 120 and grips a work tray 300 (to be described later) with a claw 131 of the left arm 130.

  The robot 10 drives the body 110 and the arms 120 and 130 to access work tools, work objects, and the like, and grips and manipulates them by pinching or hooking them with the claws 121 and 131. .

  The storage booth 30 is provided on the right arm 120 side when viewed from the robot 10 in the basic posture, and can store each work implement and work target. The location and number of the storage booths 30 are not limited to those shown in FIG. 1, and one or more storage booths may be further provided on the back side of the robot 10 in the basic posture.

  The storage booth 30 is connected to the work booth 20 by an opening / closing door (not shown) and is connected to the external space G by an opening / closing door (not shown). In addition, about the opening / closing door which interrupts | blocks the storage booth 30 and the work booth 20, the robot 10 may be opened / closed using the arms 120 and 130, or automatically opened / closed by other automatic equipment or the like. You may do it.

  In the present embodiment, sterilization is performed on the work implement and work target to be housed in a state where the housing booth 30 is sealed. This is because the work implements and work objects carried from the external space G into the storage booth 30 are in contact with human hands and outside air, and thus may be contaminated if used as they are. An appropriate sterilizer such as a heat-drying sterilizer, an autoclave, a chemiclave, or an ultraviolet / radiation sterilizer may be attached to the storage booth 30. In the case where a plurality of storage booths 30 are provided, the same sterilizer may be attached, or different types of sterilizers may be attached so that the storage booth 30 is properly used according to the contents to be stored. May be. Further, for example, when an operation for handling a substance harmful to the human body such as an anticancer agent is performed, an exhaust device for decompressing the inside of the booth may be attached to the storage booth 30 so that the harmful substance does not leak to the outside.

  FIG. 2 is a block diagram showing a physical system configuration of the chemical liquid filling system according to the present embodiment. The chemical solution filling system 1 includes a robot 10, a booth (work booth 20 and storage booth 30), and a controller 40. The robot 10 can access the work booth 20 and the storage booth 30 by the right arm 120 and the left arm 130.

  The controller 40 has a program storage unit 41 that stores an operation program of the robot 10 in advance. Then, the controller 40 executes an operation program stored in the program storage unit 41 via an I / O (Input / Output) 42 in accordance with a user operation of the external device 50 or a signal from the external device 50.

  FIG. 3 is a block diagram showing a functional system configuration of the chemical liquid filling system according to the present embodiment. The chemical solution filling system 1 includes the robot 10 and the above-described controller 40 that controls the robot 10. The controller 40 includes a work control unit 44 including a conveyance control unit 45, a transfer control unit 46, a dispenser control unit 47, an attachment / detachment control unit 48, and a caulking control unit 49. The work control unit 44 controls the robot 10 so that the robot 10 performs work on a work target such as the vial 100 using the work implement. In this embodiment, the work control unit 44 is realized as software by an operation program executed by the controller 40, and is not necessarily provided as a physically distinguishable mode.

  The conveyance control unit 45 controls the robot 10 so that the robot 10 conveys the work implement and the work target between the work booth 20 and the storage booth 30. The transfer control unit 46 controls the robot 10 so that the robot 10 transfers the vial 100 from the preparation tray 200 to the work tray 300. The dispenser control unit 47 controls the robot 10 so that the vial 100 placed on the work tray 300 is filled with the chemical solution using the dispenser 400 (see FIG. 10). The attachment / detachment control unit 48 controls the robot 10 so that the attachment / detachment claw 125 (see FIG. 6 and the like) is attached to and detached from the claw 121. The caulking control unit 49 controls the robot 10 to caulk the aluminum cap 160 against the vial 100 using the caulking device 500 (see FIG. 11). Details of the control of the robot 10 by these control units will be described later.

  Here, the preparation tray will be described with reference to FIGS. 1 and 4A, and the work tray will be described with reference to FIGS. 1 and 5B. FIG. 4A shows a state where a plurality of vials are placed on the preparation tray, and FIG. 5B shows a state where a plurality of vials are placed on the work tray.

  The preparation tray 200 is a table on which the vial 100 is placed with the opening downward in the vertical direction in a preparation stage of work performed on the vial 100. Since the vial 100 is placed on the preparation tray 200 with the opening facing downward in the vertical direction, it is possible to prevent dust from entering from the opening in the preparation stage of the work. In addition, the work tray 300 is a table on which the vial 100 is placed with the opening facing upward in the vertical direction during work on the vial 100. In the following description, the surface on the lower side in the vertical direction of each tray in a state where the vial 100 is placed is defined as a lower surface.

  In this embodiment, as an example, as shown in FIG. 4A and the like, four vials 100 can be placed in one direction (direction along the X axis), and the other direction (direction along the Y axis). ) Shows the preparation tray 200 and the work tray 300 on which three vials 100 can be placed, but the number of vials 100 that can be placed in each row is not limited to this, and a plurality of vials 100 are placed. Any configuration may be used.

  As illustrated in FIG. 4A, the preparation tray 200 includes a placement plate 210, a holding plate 220 that holds the vial 100, and a gripped portion 230. The mounting plate 210 has a support leg 211 extending from the lower surface and a plurality of insertion holes 212 through which the vial 100 is inserted. The holding plate 220 has a support leg 221 extending with respect to the mounting plate 210 and an insertion hole 222 through which the bottle neck of the vial 100 is inserted. Since the diameter of the insertion hole 222 is smaller than the diameter of the body of the vial 100, the vial 100 is held in contact with the holding plate 220.

  The gripped portion 230 of the preparation tray 200 is provided on the lower surface of the mounting plate 210, is sandwiched and gripped by the claws 121 and 131 of the arms 120 and 130, and is moved in the air. In addition, since the movement here includes reversal as described later, the gripped portion 230 has a shape that does not easily fall off from the claws 121 and 131 regardless of the posture. It is said. For example, as shown in the drawing, it may be a shape in which a wide handle is provided at the end of the grip. FIG. 1 shows how the robot 10 grips the gripped portion 230 with the claw 121 of the right arm 120, lifts the preparation tray 200, and moves in the air.

  As illustrated in FIG. 5B, the work tray 300 includes a placement plate 310 and a gripped portion 330. The mounting plate 310 has support legs 311 extending from the lower surface and a plurality of holes 312 into which the bottom of the vial 100 is fitted.

  The gripped portion 330 of the work tray 300 is provided on the lower surface of the mounting plate 310, is gripped by the claws 121 and 131 of the arms 120 and 130, is lifted and moved in the air. The movement here includes inversion as described later. The shape of the gripped portion 330 is the same as that of the gripped portion 230 of the preparation tray 200. FIG. 1 shows how the robot 10 grips the gripped portion 330 with the claw 131 of the left arm 130, lifts the work tray 300, and moves in the air.

  The gripped portions 230 and 330 are not limited to those provided at the positions shown in FIGS. 4 and 5, but are gripped by the claws 121 and 131 of the arms 120 and 130 and lifted and moved in the air. If so, it may be provided at other positions on the preparation tray 200 and the work tray 300, and the number thereof is not limited to one, and a plurality of them may be provided on each tray.

  Next, the attachment / detachment claw 125 of this embodiment will be described with reference to FIG. In order to attach a lid (rubber stopper 150, aluminum cap 160 (see FIG. 11), etc.) to a plurality of vials 100, the rubber stoppers are gripped one by one by the claws 121 and conveyed to the opening of the vial 100. When the operation is repeated, the work time becomes long. Therefore, the chemical solution filling system 1 according to the present embodiment has a detachable claw 125 that can be attached to and detached from the tip of the claw 121 so as to enable a plurality of lids to be gripped and transported together in order to shorten the work time. Have. FIG. 6 shows a state where three rubber plugs 150 are held together by the attachment / detachment claws 125a, 125b attached to the claws 121a, 121b of the right arm 120. In the present embodiment, the detachable claw 125 that can be attached to and detached from the claw 121 of the right arm 120 will be described, but a detachable claw that can be attached to and detached from the claw 131 of the left arm 130 may be further included.

  As shown in FIG. 6, the right arm 120 has a pair of claws 121a and 121b that open and close. The claws 121a and 121b have grooves 121a1 and 121b1 on the side surfaces facing each other, and the claws 121a and 121b are gripped by fitting the vial 100 or the like into the grooves 121a1 and 121b1. The attachment / detachment claws 125a and 125b have a plurality of grooves 125a1 and 125b1 on the side surfaces facing each other.

  When the claws 121a and 121b are opened from each other, the detachable claws 125a and 125b are also opened from each other. When the claws 121a and 121b are closed from each other, the detachable claws 125a and 125b are also closed from each other. First, as shown in FIG. 6, the detachable claws 125 a and 125 b are arranged at positions where the plurality of rubber stoppers 150 are sandwiched between the grooves 125 a 1 and 125 b 1 in a state where they are open to each other. Thereafter, by moving the claws 121a and 121b in the direction of closing each other (in the direction of the arrow in FIG. 6), the plurality of rubber stoppers 150 are held together by the attachment / detachment claws 125a and 125b.

  In FIG. 6, the number of the grooves 125a1 and 125b1 is three in order to show the attaching / detaching claws 125a and 125b that can hold three rubber plugs and the like together. However, the number of the grooves 125a1 and 125b1 is not limited to this. The number of grooves 125a1 and 125b1 may be increased or decreased according to the number of the like.

  Next, with reference to FIG. 7A to FIG. 7C and FIG. 8A to FIG. As shown in FIG. 7, a mounting hole 127 extending along the Y-axis direction is formed on the tip surface of the claw 121a, and a groove 127a is formed on the inner peripheral surface of the mounting hole 127. On the other hand, the detachable claw 125a has a mounting portion 126 that extends along the Y-axis direction and is inserted into the mounting hole 127 of the claw 121a. The mounting portion 126 is provided with a protruding portion 126a. The protruding portion 126a is pushed into the mounting portion 126 by a pressing force acting from the outside, and is provided so as to protrude from the side surface of the mounting portion 126 when the pressing force acting from the outside is released. For example, an elastic member such as a spring is provided at the end of the protruding portion 126a in the protruding direction, and the protruding portion 126a protrudes from the side surface of the mounting portion 126 by the elastic force of the elastic member.

  7A and 8A show a state before the attachment / detachment claw 125a is attached. First, the attachment / detachment claw 125a is fixed on the work space 21, and the attachment portion 126 of the attachment / detachment claw 125a is inserted to the right so that the attachment hole 127 of the claw 121a is inserted. This is done by moving the arm 120 in the negative direction of the Y axis.

  Here, in the present embodiment, the work space 21 is provided with two protrusions 21a that protrude in the positive direction of the Z-axis and that are aligned in the Y-axis direction. On the other hand, the attachment / detachment claw 125a is provided with two holes 125a2 penetrating along the Z-axis. By placing the attachment / detachment claw 125a on the work space 21 so that the two protrusions 21a fit in the two holes 125a2, the attachment / detachment claw 125a moves in the Y-axis direction (first direction) on the work space 21. Is regulated.

  FIG. 7B shows a state in which the mounting portion 126 of the detachable claw 125a is being inserted into the mounting hole 127 of the claw 121a. When the mounting portion 126 of the attachment / detachment claw 125a is inserted through the mounting hole 127 of the claw 121a by moving the right arm 120 in the negative direction of the Y axis, 126 a receives a pressing force from the tip surface of the claw 121 a and is pushed into the mounting portion 126. Further, when the right arm 120 is moved in the negative direction of the Y-axis, as shown in FIG. 7B, the protruding portion 126a receives a pressing force from the inner peripheral surface of the mounting hole 127 and is pushed into the mounting portion 126. To maintain.

  7C and 8B show a state where the attachment of the detachable claw 125a is completed. As shown in FIG. 7C, in a state where the mounting portion 126 of the detachable claw 125a is inserted to the back of the mounting hole 127 of the claw 121a, the protruding portion 126a reaches the groove 127a and is received from the inner peripheral surface of the mounting hole 127. The pressing force is released, the protrusion protrudes from the side surface of the mounting portion 126, and fits into the groove 127a. As described above, the protrusion 126a fits into the groove 127a, whereby the attachment of the attachment / detachment claw 125a to the claw 121a is completed.

  Thereafter, as shown in FIG. 8C, the right arm 120 is moved in the positive direction (second direction) of the Z-axis so that the hole 125a2 of the attachment / detachment claw 125a is disengaged from the protrusion 21a of the work space 21. When the hole 125a2 of the attachment / detachment claw 125a is detached from the projection 21a of the work space 21, the attachment / detachment claw 125a can be moved in the air inside the work booth 20 by operating the right arm 120. Even if the right arm 120 is moved in the air inside the work booth 20 with the attachment / detachment claw 125a attached to the claw 121a, the protrusion 126a is caught on the inner peripheral surface of the groove 127a, so that the attachment / detachment claw 125a is detached from the claw 121a. There is no.

  Next, with reference to FIG. 7 and FIG. 9, the removal of the attachment / detachment claw 125a will be described. First, by operating the right arm 120, the detachable claw 125a is positioned above the protrusion 21a of the work space 21, as shown in FIG. 9A. Then, as shown in FIG. 9B, the attachment / detachment claw 125a is moved in the negative direction (second direction) of the Z-axis so that the protrusion 21a of the work space 21 fits into the hole 125a2 of the attachment / detachment claw 125a. put on top. In this state, the attachment / detachment claw 125a is restricted from moving in the Y-axis direction (first direction). Then, as shown in FIG. 9C, the right arm 120 is moved in the positive direction of the Y-axis direction. At this time, the projecting portion 126a received a pressing force from the inner peripheral surface of the groove 127a and was pressed into the mounting portion 126, and further received a pressing force from the inner peripheral surface of the mounting hole 127 and was pressed into the mounting portion 126. The state is maintained (see FIG. 7B). Further, by moving the right arm 120 in the positive direction of the Y-axis, the detachable claw 125a is removed from the claw 121a, and the protrusion 126a is released from the pressing force received from the inner peripheral surface of the mounting hole 127, and the mounting portion 126 It will be in the state which protruded from the side surface (refer FIG. 7A).

  It should be noted that the protruding portion 126a is removed by being completely hooked on the inner peripheral surface of the groove 127 during removal so as to avoid the state where the protruding portion 126a is completely hooked on the tip surface of the claw 121a during mounting and cannot be mounted. A cylindrical member having a hemispherical tip whose diameter gradually decreases in the protruding direction so as to avoid being incapable of being formed.

  In addition, the mechanism for mounting | wearing the nail | claw 121a with the attachment-and-detachment nail | claw 125a is not restricted to what was demonstrated in this embodiment. For example, the detachable claw 125a may have a mounting hole, and the claw 121a may have a mounting portion that is inserted through the mounting hole.

  In addition, the fixing portion for fixing the attachment / detachment claw 125a is not limited to the protrusion 21a described in the present embodiment, and the attachment / detachment claw 125a is fixed in the first direction, and the second portion orthogonal to the first direction is used. As long as it can move in the direction of. For example, the attachment / detachment claw 125a may have a protrusion that extends along the Z-axis direction, and a hole may be provided as a fixing part into which the protrusion fits in the work space 21. Further, the fixing portion is not limited to the one provided in the work space 21, and may be provided in another space in the work booth 20, or may be a tray as another member provided with the fixing portion. It may be configured to be separately attached to the work space 21.

  Next, the dispenser of this embodiment is demonstrated with reference to FIG. 1, FIG. The dispenser 400 is attached to the main body 410 that stores the chemical liquid, the nozzle assembly 420 that is attached to the main body 410 and measures and discharges the chemical liquid stored in the main body 410 in response to an external operation, and the external assembly. A disk-shaped operation receiving unit 430 and a frame body 440 fixed to the main body 410.

  The operation receiving unit 430 attached to the upper part of the nozzle assembly 420 is configured to be movable up and down, and is configured to measure and discharge the chemical liquid stored in the main body 410 by moving downward. The nozzle assembly 420 includes a nozzle body 421 that extends in the positive direction of the Y axis and a nozzle tip 422 that extends in the negative direction of the Z axis. A chemical solution is discharged from the nozzle tip 422.

  In the present embodiment, the robot 10 operates the operation receiving unit 430 by the operation of the right arm 120. Since the operation reception part 430 is disk shape, it can be hold | gripped with the nail | claw 121 from any direction.

  Furthermore, the operation | movement which fills the chemical | medical solution in the several vial 100 in order with the dispenser 400 is demonstrated. The robot 10 holds the work tray 300 on which the plurality of vials 100 are placed by the left arm 130, and moves the work tray 300 so that the opening of the vial 100 is positioned directly below the nozzle tip 422 of the dispenser 400. . The robot 10 grips and operates the operation receiving unit 430 of the dispenser 400 with the nail 121 of the right arm 120 to measure and discharge the chemical solution stored in the main body 410 and fill the vial 100 with the chemical solution. In FIG. 10, the illustration of the arms 120 and 130 of the robot 10 is omitted.

  Further, the left arm 130 of the robot 10 moves the work tray 300 so that the opening of the vial 100 that is not filled with the chemical solution is located immediately below the nozzle tip 422 of the dispenser 400. And the operation reception part 430 is operated with the right arm 120, and the chemical | medical solution is filled in the vial 100. FIG. The above operation is sequentially performed on all the vials 100 placed on the work tray 300. In addition, by moving the work tray 300 by the left arm 130 so that the adjacent vials 100 are sequentially filled with the chemical solution, the multiple vials 100 can be efficiently filled with the chemical solution in a short time.

  In the present embodiment, the dispenser 400 is stored in the storage booth 30 before the work starts. The robot 10 is installed in the work space 21 by gripping and transporting the frame body 440 by the claws 121 and the claws 131.

  With reference to FIG. 1 and FIG. 11, the caulking apparatus of this embodiment will be described. The caulking device 500 includes a tightening unit 510 and a lever 520 that operates the tightening unit 510. The fastening portion 510 fastens and fixes the aluminum cap 160 attached to the vial 100 so as to close the opening of the vial 100.

  The operation of caulking the aluminum cap 160 to the plurality of vials 100 in order by the caulking device 500 will be described. The robot 10 grips the work tray 300 on which a plurality of vials 100 with the aluminum caps 160 mounted by the left arm 130 and the aluminum cap 160 is positioned directly below the tightening portion 510 of the caulking device 500. Move 300. Then, when the robot 10 operates the lever 520 of the caulking device 500 with the right arm 120, the aluminum cap 160 is fastened and fixed to the vial 100.

  Further, the left arm 130 of the robot 10 moves the work tray 300 so that the vial 100 in which the aluminum cap 160 is not tightened is positioned directly below the tightening portion 510 of the caulking device 500. Then, the lever 520 is operated by the right arm 120 and the aluminum cap 160 is fastened to the vial 100. The above operation is sequentially performed on all the vials 100 placed on the work tray 300. In addition, the work tray 300 is moved by the left arm 130 so that the adjacent vials 100 are sequentially tightened, whereby the plurality of vials 100 are efficiently tightened to the vials 100 in a short time. be able to.

  Next, an example of an operation for obtaining a plurality of vials filled with a chemical solution according to the present embodiment will be specifically described with reference to FIGS. In this embodiment, the vial 100, the rubber stopper 150, and the aluminum cap 160 are used as work objects. In addition, as the work implement, a preparation tray 200, a work tray 300, a dispenser 400, a caulking device 500, a rubber stopper tray (not shown), an aluminum cap tray (not shown), and detachable claws 125a and 125b are used.

  Prior to work automatically performed by the robot 10, first, a work target and a work implement are prepared by a human hand or other equipment. Specifically, a preparation tray 200 in which a plurality of vials 100 are placed, an empty work tray 300, a dispenser 400 in which a chemical solution is accommodated, a caulking device 500, and a plurality of rubber stoppers 150 are placed in the storage booth 30. The rubber stopper tray, the aluminum cap tray on which the plurality of aluminum caps 160 are placed, and the detachable claws 125a and 125b are accommodated. The vial 100 is held by the holding plate 220 through the insertion hole 212 of the mounting plate 210 and the insertion hole 222 of the holding plate 220 with the opening directed downward in the vertical direction (the negative direction of the Z axis). In this state, a plurality of sheets are placed on the preparation tray 200 (see the preparation tray 200 and the vial 100 shown in FIG. 4A).

  Next, sterilization is performed on the work object and the work implement accommodated in the accommodation booth 30. In addition, you may sterilize with respect to all the work objects and work tools, and there may exist what does not perform a sterilization process depending on the work tool accommodated and the use and kind of work object.

  FIG. 12 is a flowchart for explaining control of the robot according to the present embodiment. The work control unit 44 moves the robot 10 so that the robot 10 performs work on the vial 100 using each work tool after completion of the work target, work tool preparation, and sterilization processing before starting the work described above. Control.

  In step S <b> 1, the conveyance control unit 45 controls the robot 10 so that the work object and the work implement accommodated in the accommodation booth 30 are conveyed to the work space 21. Specifically, the robot 10 performs the following operations. First, the robot 10 uses the arms 120 and 130 to open an open / close door (not shown) that shuts off the storage booth 30 and the work booth 20. Then, the robot 10 grips each work object and work implement accommodated in the accommodation booth 30 with the claws 121 and 131 of the arms 120 and 130 and conveys them to the work space 21. When conveyance of each work object and work implement to the work space 21 is completed, the robot 10 closes the open / close door so as to shut off the storage booth 30 and the work booth 20. The attachment / detachment claw 125a is arranged in the work space 21 so that the hole 125a2 of the attachment / detachment claw 125a fits into the protrusion 21a formed in the work space 21. The same applies to the detachable claw 125b.

  In step S <b> 2, the transfer control unit 46 controls the robot 10 so that the robot 10 collectively transfers the plurality of vials 100 from the preparation tray 200 to the work tray 300. Here, details of this step will be described with reference to FIGS. 4, 5, and 13. FIG. 13 is a flowchart illustrating details of transfer control by the transfer control unit.

  In step S21, the robot 10 grips and lifts the gripped portion 230 of the preparation tray 200 with the claw 121 of the right arm 120, and grips and lifts the gripped portion 330 of the work tray 300 with the claw 131 of the left arm 130. .

  In step S <b> 22, the work tray 300 is stacked on the preparation tray 200. Specifically, the work tray 300 is overlaid on the preparation tray 200 so that the bottoms of the plurality of vials 100 fit into the holes 312 of the placement plate 310 of the work tray 300, respectively (see FIG. 4B). As shown in FIG. 4B, the meaning of overlapping here does not mean that the preparation tray 200 and the work tray 300 are physically brought into contact with each other, but means that they are arranged to face each other.

  In step S23, the transfer control unit 46 controls the right arm 120 and the left arm 130 so that the stacked preparation tray 200 and work tray 300 are turned upside down (see FIG. 5A). By this step, the opening of the vial 100 is placed on the work tray 300 in a state in which the opening is directed upward in the vertical direction (the positive direction of the Z axis).

  In step S24, the transfer control unit 46 controls the right arm 120 so as to move the preparation tray 200 away from the work tray 300 (see FIG. 5B). Through the steps as described above, the transfer control for transferring the plurality of vials 100 from the preparation tray 200 to the work tray 300 ends.

  FIG. 14 is a diagram for explaining a modification of the transfer control by the transfer control unit. Also in this modification, first, the gripped portion 230 of the preparation tray 200 is gripped and lifted by the claw 121a of the right arm 120, and the gripped portion 330 of the work tray 300 is gripped and lifted by the claw 131a of the left arm 130.

  Since the insertion hole 212 of the mounting plate 210 and the insertion hole 222 of the holding plate 220 are formed to have a clearance with respect to the vial 100, the vial 100 is inserted through the preparation tray 200 in a horizontal state. When the holes are inserted, the positions of the vials 100 with respect to the insertion holes are sparse in each vial. Therefore, when stacking the work tray 300 on the preparation tray 200, as shown in FIG. 14, the transfer control unit 46 is arranged so that the preparation tray 200 is inclined with respect to the horizontal direction (X-axis direction). The right arm 120 is controlled. When the preparation tray 200 is inclined with respect to the horizontal direction, all of the plurality of vials 100 are biased to one side so as to have a gap (see FIG. 14) having a maximum width C from the inner peripheral surface of the insertion hole 212. In this state, it is placed on the preparation tray 200.

  In this state, the transfer control unit 46 controls the left arm 130 so that the work tray 300 overlaps the preparation tray 200. Since the positions of the plurality of vials 100 placed on the preparation tray 200 are arranged, it is easy to fit the holes 312 of the work tray 300 to the bottom of the vial 100, and when the preparation tray 200 and the work tray 300 are reversed. In addition, work errors such as the vial 100 being detached from the work tray 300 and falling off are less likely to occur.

  Further, returning to FIG. In step S <b> 3, the dispenser controller 47 controls the robot 10 so that the vial 100 is filled with the chemical solution stored in the dispenser 400. Details of this step will be described with reference to FIGS. FIG. 15 is a flowchart for explaining the details of the chemical liquid filling control by the dispenser control unit.

  In step S31, the arm 130 is moved so that one of the vials 100 placed on the work tray 300 is disposed immediately below the nozzle tip 422 of the dispenser 400 (see FIG. 10).

  In step S <b> 32, the nozzle assembly 420 of the dispenser 400 is operated with the right arm 120 to fill the vial 100 with the chemical solution. Specifically, by holding the operation receiving unit 430 of the dispenser 400 with the nail 121 of the right arm 120 and moving the operation receiving unit 430 in the negative direction of the Z-axis, the chemical liquid stored in the dispenser 400 is transferred to the tip of the nozzle. The liquid is discharged from 422, and the vial 100 is filled with the chemical solution from the opening of the vial 100.

  If all the vials 100 placed on the work tray 300 have not been filled with the chemical solution (NO in S33), the opening of the vial 100 that is not filled with the chemical solution is directly below the nozzle tip 422 in step S31. The left arm 130 moves the work tray 300 so that the work tray 300 is disposed. In S32, the dispenser 400 is operated with the right arm 120 to fill the vial 100 with the chemical solution.

  When all of the vials 100 placed on the work tray 300 are filled with the chemical liquid (YES in S33), the chemical liquid filling control for filling the chemical liquid into the vial 100 by the dispenser control unit 47 is ended.

  FIG. 16 is a view for explaining filling of a liquid medicine into a vial by a dispenser according to a modification of the present embodiment, and is a view of a work tray on which a plurality of vials are placed and a dispenser as viewed from above. The dispenser 400 according to this modification includes a nozzle body 421 extending in the positive direction of the Y axis and a nozzle tip 425 that is bent with respect to the nozzle body 421 and extends in the positive direction of the X axis. The nozzle tip 425 may be configured integrally with the nozzle main body 421 or may be configured to be detachable from the nozzle tip 422 shown in FIG.

  As shown in FIG. 16, the nozzle tip 425 is provided to be bent with respect to the nozzle body 421, so that by moving the work tray 300 along the Y-axis direction, a plurality of nozzles arranged along the Y-axis direction are provided. When sequentially filling the vial 100 with the chemical solution, the nozzle body 421 does not pass directly above the opening of the vial 100. Therefore, contamination in the vial 100 can be suppressed.

  Specifically, first, the vials 100 arranged in a row along the Y-axis direction are sequentially filled with a chemical solution, and then the work tray 300 is moved in the positive direction of the Y-axis to temporarily work. The tray 300 is avoided from directly below the nozzle body 421. Then, the working tray 300 is moved in the X-axis direction, and the working tray along the Y-axis is sequentially filled with the chemical solution with respect to the vials 100 arranged in a row different from the row previously filled with the chemical solution. Move 300. By repeating such an operation, all the vials 100 placed on the work tray 300 can be filled without passing the nozzle body 421 directly above the opening of any vial 100. .

  Further, returning to FIG. In S4, the attachment / detachment control unit 48 controls the right arm 120 so that the attachment / detachment claws 125a, 125b are attached to the claws 121a, 121b of the right arm 120, respectively. The details of this step will be described with reference to FIGS. FIG. 17 is a flowchart for explaining the details of the attachment control by the attachment / detachment control unit. As described above, the attachment / detachment claw 125a is disposed in the work space 21 so that the protrusion 21a of the work space 21 fits into the hole 125a2 of the attachment / detachment claw 125a.

  In S41, the right arm 120 moves so that the mounting portion 126 of the detachable claw 125a fits into the mounting hole 127 of the claw 121. Specifically, the right arm 120 is moved in the negative direction of the Y axis so that the mounting portion 126 of the detachable claw 125a fits into the mounting hole 127 of the claw 121 (see FIG. 8A). Then, the mounting portion 126 is inserted through the mounting hole 127 until the protruding portion 126a of the mounting portion 126 fits into the groove 127a of the mounting hole 127 (see FIGS. 7C and 8B).

  In step S42, the right arm 120 is moved in the positive direction of the Z-axis so that the hole 125a2 of the attachment / detachment claw 125a is removed from the protrusion 21a (see FIG. 8C). Through the above steps, the mounting control for mounting the detachable claw 125a on the claw 121a is completed.

  Regarding the attachment of the attachment / detachment claw 125b, the same control as the attachment control of the attachment / detachment claw 125a may be performed separately, but at the same time when the attachment part 126 of the attachment / detachment claw 125a is inserted into the attachment hole 127 of the claw 121a. By placing the attachment / detachment claw 125b in the work space 21 so that the attachment portion of the attachment / detachment claw 125b is inserted into the attachment hole of 121b, the attachment / detachment claw 125b can be attached together with the attachment of the attachment / detachment claw 125a. The time required for wearing nails can be shortened.

  Further, returning to FIG. In S5, the rubber stopper 150 and the aluminum cap 160 are attached to each of the plurality of vials 100 filled with the chemical solution. Specifically, first, the three rubber plugs 150 are held together by the attachment / detachment claws 125a and 125b attached to the claw 121 of the right arm 120 (see FIG. 6). Then, the right arm 120 is moved so that the three rubber stoppers 150 are positioned directly above the openings of the three vials 100 placed on the work tray 300. Then, by moving the claws 121a and 121b away from each other, the attachment / detachment claw 125a and the attachment / detachment claw 125b are separated from each other, the gripping of the rubber stopper 150 is released, and the three rubber stoppers 150 are opened in each of the three vials 100. Is attached to the vial 100 so as to be closed. Further, the rubber stopper 150 is pressed into the opening of the vial 100 by pushing the rubber stopper 150 into the vial 100 with the attaching / detaching claws 125a and 125b.

  Similarly, three aluminum caps are held together by the attachment / detachment claws 125a and 125b attached to the claws 121a and 121b of the right arm 120. Then, the right arm 120 is moved so that the rubber stoppers 150 are respectively attached to the plurality of vials 100 that are press-fitted.

  Further, returning to FIG. In S <b> 6, the caulking control unit 49 controls the robot 10 so that the aluminum cap 160 is caulked against the vial 100 using the caulking device 500. Details of this step will be described with reference to FIGS. FIG. 18 is a flowchart for explaining the details of the caulking control by the caulking control unit.

  In S61, the left arm 130 that holds the work tray 300 is placed so that one of the vials 100 placed on the work tray 300 and fitted with the aluminum cap 160 is disposed directly below the tightening portion 510 of the caulking device 500. Move (see FIG. 11).

  In S62, the lever 520 of the caulking device 500 is operated with the right arm 120, and the aluminum cap 160 is caulked against the vial 100. Specifically, by pressing the lever 520 with the right arm 120, the tightening unit 510 is operated to tighten the aluminum cap with respect to the vial 100.

  When the caulking operation of the aluminum cap 160 has not been completed on all the vials 100 placed on the work tray 300 (NO in S63), the vial 100 in which the aluminum cap 160 is not caulked is the tightening unit 510 in step S61. The left arm 130 is moved so as to be disposed immediately below the head. In S62, the lever 520 is operated with the right arm 120, and the aluminum cap 160 is caulked against the vial 100.

  When the caulking operation of the aluminum cap 160 is completed on all the vials 100 placed on the work tray 300 (YES in S63), the caulking control by the caulking control unit 49 ends. In order to increase the efficiency of the caulking operation for a plurality of vials 100, first, an aluminum cap is caulked in order for the three vials 100 arranged along the Y-axis direction, and further three vials 100 in another row are arranged. It is better to repeat the operation of crimping the aluminum cap in order.

  Further, returning to FIG. In S7, the attachment / detachment control unit 48 moves the right arm 120 so as to remove the attachment / detachment claws 125a, 125b from the claws 121a, 121b of the right arm 120, respectively. Details of this step will be described with reference to FIGS. FIG. 19 is a flowchart for explaining details of the removal control by the attachment / detachment control unit.

  In S71, the right arm 120 is moved in the negative direction of the Z axis so that the hole 125a2 of the attachment / detachment claw 125a fits into the protrusion 21a of the work space 21 (see FIGS. 9A and 9B). In S72, the right arm 120 is moved in the positive direction of the Y-axis so as to pull out the mounting portion 126 of the attachment / detachment claw 125a from the mounting hole 127 of the claw 121a (see FIG. 9C). By the steps as described above, the removal control for removing the attachment / detachment claw 125a from the claw 121a is completed.

  Further, in step S <b> 8 of FIG. 12, the transfer control unit 45 controls the robot 10 so as to transfer the work object and the work implement arranged in the work space 21 to the storage booth 30. By performing each control as described above, the operation of obtaining a plurality of vials 100 filled with the chemical solution in this embodiment is completed.

  Since the chemical solution filling system 1 according to the present embodiment performs work on the vial 100 using a plurality of arms, the work efficiency is high and it is suitable for the production of a small variety of products. In particular, since one arm can hold the gripped portion 330 of the work tray 300 on which a plurality of vials 100 as work targets are placed and move in the air, the other arm can operate the work implement. Work can be done efficiently and automatically. Furthermore, since a configuration in which each operation is performed on a plurality of vials 100 is employed, work efficiency is improved as compared with a case where each of the plurality of vials 100 is sequentially held by an arm. The work time can be greatly reduced. Specifically, since the transfer control unit 46 includes transfer control in which a plurality of vials 100 placed on the preparation tray 200 are transferred together to the work tray 300, the work time can be shortened. In addition, since the dispenser control unit 47 includes the chemical solution filling control for sequentially filling the chemical solutions while the plurality of vials 100 are placed on the work tray 300, the working time can be shortened. In addition, since the caulking control unit 49 includes caulking control for caulking the aluminum cap 160 to the plurality of vials 100 while the plural vials 100 are placed on the work tray 300, the working time can be shortened. Furthermore, since the attachment / detachment claws 125a and 125b collectively hold the plurality of rubber stoppers 150 and the aluminum cap 160 and attach them to the plurality of vials 100, the operation time can be shortened.

  In the present invention, the work objects and work tools to be used are not limited to those described in the present embodiment, and various work objects and work tools can be used according to the contents of the work. For example, in the present embodiment, the vial 100 has been described as an example of a container. However, the present invention is not limited to this, and the vial 100 is not limited to this, and may be a raw material of a product obtained as a result of work or a part thereof. Other containers may be used. Moreover, you may perform the measurement discharge of the chemical | medical solution with respect to a container using a syringe, a pipette, etc. FIG. Further, the tray of the present invention is not limited to the preparation tray 200 and the work tray 300 described in the present embodiment, and a plurality of containers are placed, held by arm claws, lifted and moved in the air. Any tray may be used as long as the gripped portion is provided.

  The work by the robot 10 does not have to be performed using all the work tools prepared in the storage booth 30, and may be performed using work tools depending on the work target or the content of the work. Therefore, it is possible to cope with various work by stocking various work tools in the storage booth 30 in advance. In the present embodiment, the work implements such as the dispenser 400 and the caulking device 500 have been described as being transportable between the storage booth 30 and the work booth 20, but are fixed to the work space 21 of the work booth 20. May be used.

  Note that the scope of application of the present invention is not limited to the fields of biotechnology and medicinal chemistry described in the present embodiment, and a robot system used in other fields as long as the robot can automatically perform work. It may be.

  1 chemical filling system, 10 robot, 20 work booth, 21 work space, 21a protrusion, 30 storage booth, 40 controller, 41 program storage unit, 42 I / O, 44 work control unit, 45 transport control unit, 46 transfer Control unit, 47 Dispenser control unit, 48 Detachment control unit, 49 Caulking control unit, 50 External equipment, 100 Vials, 110 Body, 120 Right arm, 121a, 121b Claw, 121a1 groove, 125a, 125b Detachment claw, 125a1, 125b1 groove , 125a2 hole, 126 mounting portion, 126a protruding portion, 127 mounting hole, 127a groove, 130 left arm, 131 nail, 150 rubber stopper, 160 aluminum cap, 200 preparation tray, 210 mounting plate, 211 support foot, 212 insertion hole 220 holding plate 22 Support foot, 222 insertion hole, 230 gripped portion, 300 work tray, 310 mounting plate, 311 support foot, 312 insertion hole, 330 gripped portion, 400 dispenser, 410 body, 420 nozzle assembly, 421 nozzle body, 422 Nozzle tip portion, 425 Nozzle tip portion, 430 operation accepting portion, 440 frame, 500 caulking device, 510 clamping portion, 520 lever.

Claims (20)

A chemical filling system for filling a plurality of vials with a chemical,
An arm having a pair of claws to open and close;
A tray on which the plurality of vials are placed and provided with a gripped portion that is gripped by the claw and lifted and moved in the air;
A chemical filling system.   The chemical solution filling system according to claim 1, wherein the movement of the gripped portion in the air includes inversion. A plurality of the arms,
A plurality of trays including a preparation tray for placing the plurality of vials and a work tray for placing the plurality of vials;
The plurality of arms overlap the preparation tray on the preparation tray on which the plurality of vials are placed, and in the stacked state, the preparation tray and the work tray are turned upside down, thereby the plurality of the plurality of arms. The chemical solution filling system according to claim 2, further comprising a transfer control unit that controls the plurality of arms so as to reverse the direction of the vials and transfer the plurality of vials from the preparation tray to the work tray.   The transfer control unit, when stacking the work tray on the preparation tray, the plurality of arms so that the work tray is stacked in a state where the preparation tray is inclined with respect to the horizontal direction. The chemical | medical solution filling system of Claim 3 which controls an arm.   The transfer control unit is configured to transfer one or more vials from the preparation tray to the work tray by one arm of the plurality of arms holding the preparation tray and the other arm holding the work tray. The chemical solution filling system according to claim 3 or 4, wherein the one arm and the other arm are controlled.   A main body for storing a chemical liquid, a nozzle assembly attached to the main body and metering and discharging the chemical liquid in response to an external operation, and attached to the nozzle assembly and held by the pair of claws and at least of the plurality of arms The chemical solution filling system according to any one of claims 3 to 5, further comprising a dispenser including a disk-shaped operation receiving unit that receives the external operation by one operation.   The plurality of vials placed on the work tray are controlled by operating the nozzle assembly and moving the work tray so that the chemical liquid is discharged from the dispenser and filled in order. The chemical | medical solution filling system of Claim 6 which has a dispenser control part which performs.   The said nozzle assembly is a chemical | medical solution filling system of Claim 6 or 7 which has the nozzle main body extended in a horizontal direction, and the nozzle front-end | tip part bent with respect to the said nozzle main body, and extended in a horizontal direction. A pair of detachable claws that can be attached to and detached from the tip portions of the pair of claws by being relatively moved along the first direction with respect to the pair of claws;
The chemical solution filling system according to any one of claims 3 to 8, further comprising:   The chemical solution filling system according to claim 9, further comprising: a fixing portion that fixes the detachable claw in the first direction and is movable in a second direction orthogonal to the first direction.   The chemical solution filling system according to claim 10, wherein the pair of detachable claws grips a plurality of lids attached to the vial by being opened and closed. A work booth with a work space;
A storage booth connected to the work booth and the external space so as to be shut off,
A transfer control unit that controls the plurality of arms so that the plurality of arms transfer the detachable claws accommodated in the accommodation booth to the work space;
The chemical solution filling system according to claim 9, comprising:   The chemical | medical solution filling system of Claim 12 which has a sterilization area | region which is provided in at least one part of the said storage booth, and sterilizes the said attachment / detachment nail | claw.   A plurality of arms stack the work tray on the preparation tray on which the plurality of vials are placed, and in the stacked state, the top and bottom of the preparation tray and the work tray are turned upside down to thereby change the orientation of the plurality of vials. A chemical solution filling method in which a transfer control unit controls the plurality of arms so as to reverse and transfer the plurality of vials from the preparation tray to the work tray. When transferring the plurality of vials from the preparation tray to the working tray,
The transfer control unit controls the one arm so that one arm of the plurality of arms grips the preparation tray on which the plurality of vials are placed in an inclined state with respect to a horizontal direction. ,
The transfer control unit controls the other arm so that another arm of the plurality of arms overlaps the work tray with the preparation tray inclined with respect to a horizontal direction. The chemical | medical solution filling method of description. An arm having a pair of claws to open and close;
A tray on which a plurality of containers are placed, a gripped portion that is gripped by the claws and lifted and moved in the air;
A robot system.   The robot system according to claim 16, wherein the movement of the gripped part in the air includes inversion. A plurality of the arms,
A plurality of trays including a preparation tray for placing the plurality of containers and a work tray for placing the plurality of containers;
The plurality of arms overlaps the work tray with the preparation tray on which the plurality of containers are placed, and in the stacked state, the preparation tray and the work tray are turned upside down. 18. The robot system according to claim 17, further comprising a transfer control unit that controls the plurality of arms so as to reverse the direction of the containers and transfer the plurality of containers from the preparation tray to the work tray.   The transfer control unit, when stacking the work tray on the preparation tray, the plurality of arms so that the work tray is stacked in a state where the preparation tray is inclined with respect to the horizontal direction. The robot system according to claim 18, wherein the robot is controlled.   A tray on which a plurality of containers are placed, a gripped portion that is gripped by a claw provided on an arm, lifted, and moved in the air is provided.

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