JP6709023B2 - Chemical liquid filling system, chemical liquid filling method, robot system, and tray - Google Patents

Description

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

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

International Publication No. 2014/054183

An object of the present invention is to provide a chemical liquid filling system, a chemical liquid filling method, a robot system, and a tray that improve work efficiency.

A drug solution filling system according to one aspect of the present invention is a drug solution filling system for filling a drug solution into a plurality of vials, wherein an arm having a pair of claws that opens and closes and the plurality of vials are placed, and the claws are placed. And a tray provided with a portion to be grasped which is grasped by and lifted and moved in the air.

Further, in the liquid medicine filling system according to the aspect of the present invention, the movement of the gripped portion in the air may include reversal.

Further, the chemical liquid filling system according to one aspect of the present invention includes a plurality of the trays, each of which has a plurality of the arms and includes a preparation tray for mounting the plurality of vials and a work tray for mounting the plurality of vials. Having a plurality of the arms, by stacking the work tray on the preparation tray on which the plurality of vials are placed, and by inverting the preparation tray and the work tray upside down in the stacked state. A transfer control unit that controls the plurality of arms so as to transfer the plurality of vials from the preparation tray to the work tray by reversing the directions of the plurality of vials may be provided.

Further, in the chemical liquid filling system according to the aspect of the present invention, the transfer control unit causes the plurality of arms to tilt the preparation tray with respect to a horizontal direction when the work tray is stacked on the preparation tray. The plurality of arms may be controlled so that the work trays are stacked in this state.

Further, in the chemical liquid filling system according to the aspect of the present invention, in the transfer controller, one arm of a plurality of arms holds the preparation tray, and another arm holds the work tray, The one arm and the other arm may be controlled to transfer the plurality of vials from a tray to the work tray.

Also, a chemical liquid filling system according to one aspect of the present invention is attached to a main body that stores a chemical liquid, a nozzle assembly that is attached to the main body, and that discharges the chemical liquid according to an external operation, and the nozzle assembly. A disc-shaped operation receiving portion that is held by the pair of claws and receives the external operation by the operation of at least one of the plurality of arms may be included.

In addition, the chemical liquid filling system according to one aspect of the present invention operates the nozzle assembly so as to discharge the chemical liquid from the dispenser into the plurality of vials placed on the work tray in order. A dispenser control unit that controls the plurality of arms to move the work tray may be included.

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

In addition, the chemical liquid filling system according to one aspect of the present invention includes a pair of detachable claws that can be respectively attached to and detached from the distal ends of the pair of claws by being relatively moved in the first direction with respect to the pair of claws. You may further have and.

In addition, the chemical liquid filling system according to one aspect of the present invention includes a fixing portion that fixes the detachable claw in the first direction and is movable in a second direction orthogonal to the first direction. Good.

In the drug solution filling system according to one aspect of the present invention, the pair of attachment/detachment claws may open and close to hold a plurality of lids attached to the vials.

Further, the chemical liquid filling system according to one aspect of the present invention includes a work booth provided with a work space, a storage booth connected to each of the work booth and the external space in a disconnectable manner, and the plurality of arms. A transfer control unit that controls the plurality of arms so as to transfer the detachable claws stored in the storage booth to the work space.

Further, the chemical liquid filling system according to one aspect of the present invention may have a sterilization region which is provided in at least a part of the storage booth and which sterilizes the detachable claw.

A chemical solution filling method according to one aspect of the present invention, by stacking a work tray with respect to a preparation tray on which a plurality of vials are placed, and by inverting the preparation tray and the work tray upside down in the stacked state, A 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.

Further, in the chemical liquid filling method according to one aspect of the present invention, when transferring the plurality of vials from the preparation tray to the work tray, one arm of the plurality of arms is mounted with the plurality of vials. The transfer control unit controls the one arm so as to grip the preparation tray in a state of being 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 one aspect of the present invention is a tray provided with an arm having a pair of claws that opens and closes, and a gripped part on which the plurality of containers are placed, gripped by the claws, lifted, and moved in the air. And have.

Further, in the robot system according to the aspect of the present invention, the movement of the gripped portion in the air may include reversal.

In addition, a robot system according to one aspect of the present invention includes a plurality of the arms, and a plurality of trays including a preparation tray for mounting the plurality of containers and a work tray for mounting the plurality of containers. Then, the plurality of arms, by stacking the work tray to the preparation tray on which the plurality of easy is placed, by inverting the preparation tray and the work tray in the stacked state, A transfer control unit that reverses the directions of the plurality of containers and controls the plurality of arms to move the plurality of containers from the preparation tray to the work tray may be included.

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

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

It is an appearance front view showing the medical fluid filling system concerning this embodiment. It is a block diagram which shows the physical system configuration 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 by which several vial was mounted in the preparation tray. It is a figure showing the state where a work tray was piled up to a preparation tray. It is a figure which shows the state after reversal of a preparation tray and a work tray. It is a figure which shows the state by which several vial was mounted in the work tray. It is a top view which shows the attachment/detachment claw attached to the claw of a right arm. It is a top view which shows a state before attachment of a detachable claw. It is a top view which shows the state in the middle of attachment of a detachable claw. It is a top view which shows a mode that attachment of the attachment/detachment nail was completed. It is a side view showing a state before attachment of a detachable claw. It is a side view which shows a mode that attachment of the attachment/detachment nail was completed. It is a side view showing a mode that a right arm is moved so that a hole of an attachment-and-detachment nail may come off from a projection part. FIG. 11 is a side view showing a state in which the right arm is moved so that the hole of the attachment/detachment claw fits the protrusion. It is a side view which shows a mode that the hole of an attachment/detachment nail was fitted in the protrusion part. FIG. 11 is a side view showing a state in which the right arm is moved so as to pull out the attachment part of the removable nail from the attachment hole of the nail. It is a perspective view for explaining the dispenser of this embodiment. It is a perspective view for explaining the caulking device of this embodiment. It is a flow chart explaining control of the robot of this embodiment. It is a flowchart explaining the detail of the transfer control by the transfer control unit. It is a figure explaining the modification of transfer control by a transfer control part. It is a flow chart explaining details of medical fluid filling control by a dispenser control part. It is a figure explaining filling of the chemical|medical solution into the vial by the dispenser which concerns on the modification of this embodiment. 6 is a flowchart illustrating details of mounting control by a mounting/demounting control unit. It is a flow chart explaining details of caulking control by a caulking control part. 7 is a flowchart illustrating details of removal control by the attachment/detachment control unit.

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 the present embodiment, an automatic work cell in which a robot is arranged in a cell box will be described as an example of a chemical liquid 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 back direction is defined as the positive direction of the Y-axis, and the upward direction in the vertical direction is defined as the positive direction of the Z-axis.

The chemical liquid filling system 1 according to the present embodiment is used in fields such as biotechnology and medicinal chemistry that require sterilization of a work implement or a work target in order to avoid contamination (contamination) during work, and is almost used. The robot 10 automatically fills the vial with the drug solution in an aseptic region. In the following description, the working tool refers to one used as a part of the working device. In addition, the work target refers to a work to which an operation such as processing is added, which is a raw material of a product obtained as a result of the work or a part thereof.

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

The robot 10 is arranged in the work booth 20. The robot 10 is a so-called articulated robot and has 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 open and close, and the left arm 130 is provided with a pair of claws 131 (131a, 131b) that open and close. It should be noted that FIG. 1 shows a state in which the robot 10 grips a preparation tray 200 described later by the claw 121 of the right arm 120 and grips a work tray 300 described later by the claw 131 of the left arm 130.

The robot 10 drives the body 110 and the arms 120 and 130 to access a work tool, a work target, and the like, and grips and operates them by sandwiching them with the claws 121 and 131 or hooking them. ..

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 tool and work target. The location and the number of the accommodation booths 30 are not limited to those shown in FIG. 1, and one or more accommodation booths may be further provided on the back side of the robot 10 in the basic posture.

The storage booth 30 is disconnectably connected to the work booth 20 by an opening/closing door (not shown), and is also disconnectably connected to the external space G by an opening/closing door (not shown). Regarding the opening/closing door that shuts off the storage booth 30 and the work booth 20, the robot 10 may be opened/closed by using the arms 120 and 130, or may be automatically opened/closed by another automatic facility or the like. You may do it.

In the present embodiment, sterilization processing is performed on the work implement and the work target to be housed in a state where the housing booth 30 is sealed. This is because each work implement and the work target carried from the external space G into the storage booth 30 are in contact with human hands and the outside air, and therefore, if they are used as they are, they may cause contamination (contamination). The storage booth 30 may be equipped with an appropriate sterilizer such as a heat dry sterilizer, an autoclave, a chemiclave, an ultraviolet/radiation sterilizer. When 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 used properly according to the contents to be stored. May be. Further, for example, when performing a work for handling a substance harmful to the human body such as an anti-cancer agent, it is preferable to install an exhaust device for depressurizing the booth inside the storage booth 30 so that the harmful substance does not leak outside.

FIG. 2 is a block diagram showing the physical system configuration of the chemical liquid filling system according to the present embodiment. The chemical liquid 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 the operation program stored in the program storage unit 41 via the I/O (Input/Output) 42 in response to a user's 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 liquid filling system 1 includes a robot 10 and the above-described controller 40 that controls the robot 10. The controller 40 has 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 works on a work target such as the vial 100 using a work tool. In the present embodiment, the work control unit 44 is realized as software by the operation program executed by the controller 40, and does not necessarily have to be provided as a physically distinguishable mode.

The transfer control unit 45 controls the robot 10 so that the robot 10 transfers 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 drug solution using the dispenser 400 (see FIG. 10). The attachment/detachment control unit 48 controls the robot 10 to attach/detach the attachment/detachment claw 125 (see FIG. 6 and the like) to/from the claw 121. The caulking control unit 49 controls the robot 10 using the caulking device 500 (see FIG. 11) to caulk the aluminum cap 160 on the vial 100. The 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 its opening facing downward in the vertical direction in the preparation stage of the 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 through the opening in the preparation stage of the work. The work tray 300 is a table on which the vial 100 is placed with its opening facing upward in the vertical direction during work on the vial 100. In the following description, the vertical lower surface of each tray when the vial 100 is placed is referred to as the lower surface.

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

As shown in FIG. 4A, the preparation tray 200 includes a mounting plate 210, a holding plate 220 that holds the vial 100, and a grasped 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 into 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, and is gripped by the claws 121 and 131 of the arms 120 and 130, lifted, and moved in the air. It should be noted that the movement here includes reversal as will be described later, so that the grasped portion 230 does not easily fall off the claws 121 and 131 regardless of its posture. It is said that. For example, as shown in the figure, it is preferable to have a shape in which a wide handle is provided at the end of the grip. FIG. 1 illustrates a state in which 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 shown in FIG. 5B, the work tray 300 has a mounting 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 fits.

The gripped portion 330 of the work tray 300 is provided on the lower surface of the mounting plate 310, gripped by the claws 121 and 131 of the arms 120 and 130, lifted, and moved in the air. The movement here includes reversal as will be 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 grasped portions 230 and 330 are not limited to those provided at the positions shown in FIGS. 4 and 5, but are grasped by the claws 121 and 131 of the arms 120 and 130, lifted and moved in the air. In that case, the preparation tray 200 and the work tray 300 may be provided at other positions, and the number thereof is not limited to one, and a plurality of trays may be provided.

Next, the attachment/detachment claw 125 of the present embodiment will be described with reference to FIG. In order to attach lids (rubber stoppers 150, aluminum caps 160 (see FIG. 11), etc.) to a plurality of vials 100, it is said that the rubber stoppers are gripped one by one by the claws 121 and transported to the opening of the vial 100. When the operation is repeated, the working time becomes long. Therefore, in the chemical liquid filling system 1 according to the present embodiment, in order to shorten the working time, a detachable claw 125 that is detachable and attachable to the tip of the claw 121 is provided so that a plurality of lids can be collectively gripped and transported. Have. FIG. 6 illustrates a state in which three rubber plugs 150 are to be collectively held by the attachment/detachment claws 125a and 125b attached to the claws 121a and 121b of the right arm 120. In addition, in the present embodiment, the detachable claw 125 that is attachable to and detachable from the claw 121 of the right arm 120 will be described, but the detachable claw that is detachable 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 opens and closes. The claws 121a and 121b have grooves 121a1 and 121b1 on their side surfaces facing each other, and the claws 121a and 121b are gripped by fitting the vial 100 and the like into the grooves 121a1 and 121b1. In addition, 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 open to each other, the removable claws 125a and 125b are also open to each other, and when the claws 121a and 121b are closed to each other, the removable claws 125a and 125b are also closed to each other. First, as shown in FIG. 6, the attachment/detachment claws 125a and 125b are arranged at positions where a plurality of rubber stoppers 150 are sandwiched between the grooves 125a1 and 125b1 in a state where they are opened to each other. After that, by moving the claws 121a and 121b in the direction of closing each other (the direction of the arrow in FIG. 6), the detachable claws 125a and 125b collectively hold the plurality of rubber plugs 150.

In FIG. 6, the number of the grooves 125a1 and 125b1 is three in order to show the attaching/detaching claws 125a and 125b capable of collectively gripping three rubber stoppers, but the number of the grooves 125a1 and 125b1 is not limited to this, and the rubber stoppers to be collectively gripped are not limited to this. The number of the grooves 125a1 and 125b1 may be increased or decreased depending on the number of the grooves.

Next, the attachment of the attachment/detachment claw 125 will be described with reference to FIGS. 7A to 7C and FIGS. 8A to 8C. 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 attachment/detachment claw 125a has a mounting part 126 that extends along the Y-axis direction and is inserted into the mounting hole 127 of the claw 121a, and the mounting part 126 is provided with a protrusion 126a. The protruding portion 126a is provided so as to be pushed into the mounting portion 126 by a pressing force applied from the outside and protrude from the side surface of the mounting portion 126 when the pressing force applied 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 elastic force of the elastic member causes the protruding portion 126a to protrude from the side surface of the mounting portion 126.

7A and 8A show a state before the attachment/detachment claw 125a is attached. The attachment/detachment claw 125a is first attached to the claw 121a by first fixing the attachment/detachment claw 125a on the work space 21 and inserting the attachment part 126 of the fixed attachment/detachment claw 125a into the attachment hole 127 of the claw 121a. This is performed 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, which are protrusions in the positive direction of the Z-axis and are arranged in the Y-axis direction, as fixing portions. On the other hand, the attachment/detachment claw 125a is provided with two holes 125a2 penetrating along the Z axis. By disposing the attachment/detachment claw 125a on the work space 21 so that the two protrusions 21a fit into 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 where the mounting portion 126 of the detachable claw 125a is being inserted into the mounting hole 127 of the claw 121a. When the protrusion 126a reaches the tip surface of the claw 121a while the mounting portion 126 of the attachment/detachment claw 125a is being inserted into the mounting hole 127 of the claw 121a by moving the right arm 120 in the negative direction of the Y axis, the protrusion 126a receives a pressing force from the tip surface of the claw 121a 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 126 a 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 in which the attachment/detachment claw 125a is completely attached. As shown in FIG. 7C, in a state where the mounting portion 126 of the attachment/detachment claw 125a is inserted deep into the mounting hole 127 of the claw 121a, the protrusion 126a reaches the groove 127a and receives from the inner peripheral surface of the mounting hole 127. The pressing force is released, the side surface of the mounting portion 126 is projected, and the groove 127a is fitted. In this way, by fitting the protrusion 126a into the groove 127a, the attachment of the attachment/detachment claw 125a to the claw 121a is completed.

After that, 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. Since the hole 125a2 of the attachment/detachment claw 125a is disengaged from the protrusion 21a of the work space 21, the attachment/detachment claw 125a can be moved in the air in the work booth 20 by operating the right arm 120. Even when the right arm 120 is moved in the air in 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 separated from the claw 121a. There is no.

Next, the removal of the attachment/detachment claw 125a will be described with reference to FIGS. 7 and 9. First, the right arm 120 is operated to position the attachment/detachment claw 125a 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 125a2 of the work space 21 fits into the hole 125a2 of the attachment/detachment claw 125a, and the work space 21 is moved. 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 Y-axis direction. At this time, the projecting portion 126a receives a pressing force from the inner peripheral surface of the groove 127a and is pressed into the mounting portion 126, and further receives a pressing force from the inner peripheral surface of the mounting hole 127 and is 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 attachment/detachment claw 125a is removed from the claw 121a, and the protrusion 126a releases the pressing force applied from the inner peripheral surface of the attachment hole 127, so that the attachment part 126a. Is projected from the side surface (see FIG. 7A).

In addition, the protrusion 126a is completely hooked on the tip end surface of the claw 121a at the time of mounting so as to avoid being in a state where it cannot be mounted, and is completely hooked on the inner peripheral surface of the groove 127 at the time of removal. In order to avoid the impossible state, a cylindrical member having a hemispherical tip whose diameter gradually decreases in the protruding direction is used.

The mechanism for attaching the detachable claw 125a to the claw 121a is not limited to the mechanism described in the present embodiment. For example, the attachment/detachment claw 125a may have a mounting hole, and the claw 121a may have a mounting portion that is inserted into the mounting hole.

Further, the fixing portion for fixing the attachment/detachment claw 125a is not limited to the protrusion 21a described in the present embodiment, but the attachment/detachment claw 125a is fixed in the first direction, and the second portion orthogonal to the first direction is fixed. Anything that can be moved in the direction of. For example, the attachment/detachment claw 125a may have a protrusion extending along the Z-axis direction, and the work space 21 may be provided with a hole as a fixing portion into which the protrusion is fitted. Further, the fixing portion is not limited to the one provided in the work space 21, and may be provided in another space inside the work booth 20, or a tray or the like as another member provided with the fixing portion. The structure may be separately attached to the work space 21.

Next, the dispenser of the present embodiment will be described with reference to FIGS. 1 and 10. 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 discharges the chemical liquid stored in the main body 410 according to an external operation, and the nozzle assembly 420. A disc-shaped operation receiving portion 430 for receiving the information and a frame body 440 fixed to the main body 410.

The operation receiving unit 430 attached to the upper portion of the nozzle assembly 420 is configured to be vertically movable, and when it is moved downward, the chemical solution contained in the main body 410 is metered and discharged. The nozzle assembly 420 has a nozzle body 421 extending in the positive Y-axis direction and a nozzle tip portion 422 extending in the negative Z-axis direction. The chemical liquid is discharged from the nozzle tip portion 422.

In the present embodiment, the robot 10 operates the operation reception unit 430 by the operation of the right arm 120. Since the operation receiving unit 430 has a disc shape, the operation receiving unit 430 can be held by the claw 121 from any direction.

Further, the operation of sequentially filling the plurality of vials 100 with the liquid medicine by the dispenser 400 will be described. The robot 10 holds the work tray 300 on which a 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 located directly below the nozzle tip 422 of the dispenser 400. .. Then, the robot 10 grips and operates the operation receiving unit 430 of the dispenser 400 with the claw 121 of the right arm 120, so that the drug solution contained in the main body 410 is metered and discharged, and the vial 100 is filled with the drug solution. Note that, 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 not filled with the drug solution is located immediately below the nozzle tip portion 422 of the dispenser 400. Then, the operation reception unit 430 is operated by the right arm 120 to fill the drug solution into the vial 100. The above operation is sequentially performed on all the vials 100 placed on the work tray 300. By moving the work tray 300 by the left arm 130 so that the adjacent vials 100 are sequentially filled with the drug solution, the drug solution can be efficiently charged into the plurality of vials 100 in a short time.

In this embodiment, the dispenser 400 is housed in the housing booth 30 before the work is started. The robot 10 is installed in the work space 21 by gripping and transporting the frame body 440 with the claws 121 and 131.

The caulking device of the present embodiment will be described with reference to FIGS. 1 and 11. The caulking device 500 includes a tightening portion 510 and a lever 520 that operates the tightening portion 510. The tightening portion 510 tightens and fixes the aluminum cap 160 mounted so as to close the opening of the vial 100 to the vial 100.

The operation of crimping the aluminum caps 160 on the plurality of vials 100 in order by the crimping device 500 will be described. The robot 10 holds the work tray 300 on which a plurality of vials 100 each having the aluminum cap 160 attached are placed by the left arm 130 so that the aluminum cap 160 is located immediately below the tightening portion 510 of the caulking device 500. Move 300. Then, the robot 10 operates the lever 520 of the caulking device 500 with the right arm 120 to tighten and fix the aluminum cap 160 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 located immediately below the tightening portion 510 of the caulking device 500. Then, the right arm 120 operates the lever 520 to tighten the aluminum cap 160 to the vial 100. The above operation is sequentially performed on all the vials 100 placed on the work tray 300. The work tray 300 is moved by the left arm 130 so that the adjacent vials 100 are tightened in order, so that the aluminum caps 160 are tightened to the vials 100 efficiently and in a short time. be able to.

Next, an example of an operation of obtaining a plurality of vials filled with the drug solution according to the present embodiment will be specifically described with reference to FIGS. 12 to 19. In the present embodiment, the vial 100, the rubber stopper 150, and the aluminum cap 160 are used as work targets. Further, as the work tools, the preparation tray 200, the work tray 300, the dispenser 400, the caulking device 500, the rubber stopper tray (not shown), the aluminum cap tray (not shown), and the attachment/detachment claws 125a and 125b are used.

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

Next, the work target and the work equipment housed in the housing booth 30 are sterilized. It should be noted that all the work objects and work tools may be sterilized, or some work tools and work objects may not be sterilized depending on the usage and type of the work tool and work object to be stored.

FIG. 12 is a flowchart illustrating the control of the robot of this embodiment. The work control unit 44 controls the robot 10 so that the robot 10 performs a work on the vial 100 using each work tool after the work target before the work start, the preparation of the work tool, and the sterilization process are completed. Control.

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

In step S2, the transfer control unit 46 controls the robot 10 so that the robot 10 transfers the plurality of vials 100 from the preparation tray 200 to the work tray 300 in a lump. Details of this step will now be described with reference to FIGS. 4, 5 and 13. FIG. 13 is a flowchart illustrating details of the 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 grips the gripped portion 330 of the work tray 300 with the claw 131 of the left arm 130. ..

In step S22, 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 mounting plate 310 of the work tray 300 (see FIG. 4B). Note that, as shown in FIG. 4B, the overlapping here does not mean that the preparation tray 200 and the working tray 300 are physically in contact with each other, but that they are arranged so as 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 with the opening thereof facing upward in the vertical direction (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 in the direction away from the work tray 300 (see FIG. 5B). By the steps described above, the transfer control for transferring the plurality of vials 100 from the preparation tray 200 to the work tray 300 is completed.

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

Since the insertion hole 212 of the mounting plate 210 and the insertion hole 222 of the holding plate 220 are formed with a size having a clearance with respect to the vial 100, the vial 100 is inserted in the preparation tray 200 in a horizontal state. When the vials 100 are inserted into the holes, 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). Control the right arm 120. Since 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) with the inner peripheral surface of the insertion hole 212 and the maximum width C. 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 is overlaid on the preparation tray 200. Since the positions of the plurality of vials 100 placed on the preparation tray 200 are arranged, it becomes easy to fit the hole 312 of the work tray 300 in the bottom portion of the vial 100, and when the preparation tray 200 and the work tray 300 are inverted. In addition, a work error such as the vial 100 being detached from the work tray 300 and falling is less likely to occur.

Further, returning to FIG. 12, the description will be continued. In step S3, the dispenser control unit 47 controls the robot 10 so that the drug solution contained in the dispenser 400 is filled in the vial 100. The details of this step will be described with reference to FIGS. FIG. 15 is a flowchart illustrating 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 located immediately below the nozzle tip 422 of the dispenser 400 (see FIG. 10).

In step S32, the right arm 120 operates the nozzle assembly 420 of the dispenser 400 to fill the vial 100 with the drug solution. Specifically, by grasping the operation receiving unit 430 of the dispenser 400 with the claw 121 of the right arm 120 and moving the operation receiving unit 430 in the negative direction of the Z-axis, the liquid medicine contained in the dispenser 400 is transferred to the nozzle tip. Discharge from 422, and the vial 100 is filled with the drug solution through the opening of the vial 100.

If all of the vials 100 placed on the work tray 300 have not been completely filled with the drug solution (NO in S33), the opening of the vial 100 not filled with the drug solution is directly below the nozzle tip 422 in step S31. The left arm 130 moves the work tray 300 so as to be arranged at. Then, in S32, the dispenser 400 is operated by the right arm 120 to fill the drug solution into the vial 100.

When the filling of the drug solution into all the vials 100 placed on the work tray 300 is completed (YES in S33), the drug solution filling control for filling the vial 100 with the drug solution by the dispenser control unit 47 ends.

FIG. 16 is a diagram for explaining the filling of the drug solution into the vial by the dispenser according to the modification of the present embodiment, and is a view of the work tray on which a plurality of vials are placed and the dispenser as seen from above. The dispenser 400 according to the present modification has 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 integrally formed with the nozzle body 421, or may be detachably provided to the nozzle tip 422 shown in FIG.

As shown in FIG. 16, since the nozzle tip portion 425 is provided so as to be bent with respect to the nozzle body 421, a plurality of nozzles are arranged along the Y-axis direction by moving the work tray 300 along the Y-axis direction. When the drug solution is sequentially filled in the vial 100, 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 the drug solution, and then the work tray 300 is moved in the positive direction of the Y-axis to perform the work once. Avoid the tray 300 directly below the nozzle body 421. Then, the work tray 300 is moved in the X-axis direction so that the vials 100 arranged in a row different from the row previously filled with the drug solution in advance are filled with the drug solution in order along the Y axis. Move 300. By repeating such an operation, it is possible to fill the drug solution into all the vials 100 placed on the work tray 300 without passing the nozzle body 421 right above the opening of any of the vials 100. ..

Further, returning to FIG. 12, the description will be continued. In S4, the attachment/detachment control unit 48 controls the right arm 120 so that the attachment/detachment claws 125a and 125b are attached to the claws 121a and 121b of the right arm 120, respectively. The details of this step will be described with reference to FIGS. 7, 8 and 17. FIG. 17 is a flowchart for explaining the details of the mounting control by the attachment/detachment control unit. As described above, the attachment/detachment claw 125a is arranged 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 is moved so that the mounting portion 126 of the attachment/detachment 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 attachment/detachment claw 125a fits into the mounting hole 127 of the claw 121 (see FIG. 8A). Then, the mounting portion 126 is inserted into 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 Z-axis direction so that the hole 125a2 of the attachment/detachment claw 125a is disengaged from the protrusion 21a (see FIG. 8C). With the above steps, the mounting control for mounting the detachable claw 125a on the claw 121a is completed.

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

Further, returning to FIG. 12, the description will be continued. At 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 collectively held 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 located directly above the respective openings of the three vials 100 placed on the work tray 300. Then, by moving the claws 121a and 121b so as to be separated from each other, the detachable claw 125a and the detachable claw 125b are separated from each other, the grip of the rubber stopper 150 is released, and the three rubber stoppers 150 are opened by the three vials 100, respectively. Is attached to the vial 100 so as to close. Further, the rubber stopper 150 is pushed into the vial 100 by the attaching/detaching claw 125a and the attaching/detaching claw 125b, so that the rubber stopper 150 is pressed into the opening of the vial 100.

Similarly, with respect to the aluminum cap, the three detachable claws 125a and 125b attached to the claws 121a and 121b of the right arm 120 are also collectively held. 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. 12, the description will be continued. In S6, the caulking control unit 49 controls the robot 10 so that the aluminum cap 160 is caulked to the vial 100 using the caulking device 500. Details of this step will be described with reference to FIGS. 11 and 18. FIG. 18 is a flowchart illustrating details of the crimping control performed by the crimping control unit.

In S61, the left arm 130 for gripping 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 arranged immediately below the tightening portion 510 of the caulking device 500. Move (see FIG. 11).

In step S62, the right arm 120 operates the lever 520 of the caulking device 500 to caulk the aluminum cap 160 with respect to the vial 100. Specifically, by pushing the lever 520 with the right arm 120, the tightening portion 510 is operated so as to tighten the aluminum cap on the vial 100.

When the caulking work of the aluminum caps 160 is not completed for all the vials 100 placed on the work tray 300 (NO in S63), the vials 100 in which the aluminum caps 160 are not caulked are tightened at the tightening portion 510 in step S61. The left arm 130 is moved so as to be arranged immediately below. Then, in S62, the lever 520 is operated by the right arm 120 to crimp the aluminum cap 160 to the vial 100.

When the caulking work of the aluminum caps 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 improve the efficiency of the caulking work for a plurality of vials 100, first, the three vials 100 arranged along the Y-axis direction are caulked with aluminum caps in order, and then the three vials 100 in the other rows are further caulked. It is recommended to repeat the operation of crimping the aluminum cap in order.

Further, returning to FIG. 12, the description will be continued. 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. The details of this step will be described with reference to FIGS. 9 and 19. FIG. 19 is a flowchart illustrating the 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 that the mounting portion 126 of the attachment/detachment claw 125a is pulled out from the mounting hole 127 of the claw 121a (see FIG. 9C). Through the steps described above, the removal control for removing the attachment/detachment claw 125a from the claw 121a is completed.

Further, in step S8 of FIG. 12, the transfer control unit 45 controls the robot 10 so as to transfer the work target 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 drug solution in the present embodiment is completed.

The drug solution filling system 1 according to the present embodiment performs work on the vial 100 using a plurality of arms, and thus has good work efficiency and is suitable for production of a large amount of small quantities. In particular, since one arm can grip 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, and the other arm can operate the work implement, Work can be automatically performed efficiently. Furthermore, since a configuration is adopted in which each work is performed collectively on a plurality of vials 100, work efficiency is improved as compared with the case where work is performed by sequentially gripping each of the plurality of vials 100 with an arm. However, the working time can be greatly reduced. Specifically, the transfer control unit 46 includes transfer control for collectively transferring the plurality of vials 100 placed on the preparation tray 200 to the work tray 300, so that the work time can be shortened. Further, since the dispenser control unit 47 includes the chemical liquid filling control for sequentially filling the chemical liquid with the plurality of vials 100 placed on the work tray 300, the working time can be shortened. Further, the caulking control unit 49 includes caulking control in which the aluminum caps 160 are sequentially caulked on the plurality of vials 100 while the plurality of vials 100 are placed on the work tray 300, so that 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 the plurality of vials 100 to the plurality of vials 100, the working time can be shortened.

In the present invention, the work target and the work implement to be used are not limited to those described in the present embodiment, and various work targets and work implements can be used according to the content of the work. For example, although the vial 100 has been described as an example of the container in the present embodiment, the present invention is not limited to this, and may be a raw material of a product obtained as a result of the operation filled with a liquid or a part thereof. It may be another container. The medicinal solution may be dispensed into the container by using a syringe, a pipette or the like. 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, but a plurality of containers are placed on the tray, and the tray is gripped by the arm claws and lifted and moved in the air. Any tray may be used as long as it has a gripped portion.

It should be noted that the work by the robot 10 does not have to be performed by using all the work implements prepared in the storage booth 30, and may be performed by using the work implement depending on the work target or the content of the work. Therefore, by stocking various work tools in the storage booth 30 in advance, it is possible to deal with various work. In addition, in this embodiment, although the work implements such as the dispenser 400 and the caulking device 500 that can be transported between the storage booth 30 and the work booth 20 are described, the work implements 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 robot systems used in other fields as long as they automatically perform work by a robot. May be

1 chemical liquid filling system, 10 robot, 20 work booth, 21 work space, 21a projecting part, 30 accommodation booth, 40 controller, 41 program storage part, 42 I/O, 44 work control part, 45 transfer control part, 46 transfer Control unit, 47 Dispenser control unit, 48 Attachment/detachment control unit, 49 Caulking control unit, 50 External device, 100 Vial, 110 Body, 120 Right arm, 121a, 121b claw, 121a1 groove, 125a, 125b Detachment claw, 125a1, 125b1 groove , 125a2 hole, 126 mounting part, 126a protruding part, 127 mounting hole, 127a groove, 130 left arm, 131 claw, 150 rubber stopper, 160 aluminum cap, 200 preparation tray, 210 mounting plate, 211 support foot, 212 insertion hole , 220 holding plate, 221 support foot, 222 insertion hole, 230 gripped part, 300 work tray, 310 mounting plate, 311 support foot, 312 insertion hole, 330 gripped part, 400 dispenser, 410 body, 420 nozzle assembly , 421 nozzle body, 422 nozzle tip, 425 nozzle tip, 430 operation accepting section, 440 frame, 500 caulking device, 510 tightening section, 520 lever.

Claims (9)

A drug solution filling system for filling drug solutions into a plurality of vials,
A plurality of arms having a pair of claws that open and close,
A tray provided with the plurality of vials, a tray provided with a gripped portion that is gripped by the pair of claws, lifted, and moved in the air
Have
The movement of the gripped portion in the air includes a plurality of trays including a preparation tray that includes inversion and that loads the plurality of vials, and a work tray that loads the plurality of vials,
The plurality of arms overlaps the work tray with respect to the preparation tray on which the plurality of vials are placed, and inverts the preparation tray and the work tray in the stacked state. A reversing control unit that reverses the direction of the vials, and controls the plurality of arms to transfer the plurality of vials from the preparation tray to the work tray;
At least one of the plurality of arms, a main body containing a chemical liquid, a nozzle assembly attached to the main body, which discharges the chemical liquid according to an external operation, and a nozzle assembly attached to the nozzle assembly. A dispenser including an operation receiving unit that receives the external operation by one operation,
A liquid medicine filling system having. The operation receiving unit is disc-shaped,
The chemical solution filling system according to claim 1. The transfer control unit is configured such that, when stacking the work tray on the preparation tray, the plurality of arms stack the work tray in a state in which the preparation tray is inclined with respect to the horizontal direction. The chemical solution filling system according to claim 1, which controls the arm. The transfer control unit transfers one of the plurality of vials from the preparation tray to the work tray by one of the arms holding the preparation tray and the other arm holding the work tray. The chemical solution filling system according to any one of claims 1 to 3, wherein the one arm and the other arm are controlled. Control the plurality of arms to operate the nozzle assembly and move the work tray so that the drug solution is discharged from the dispenser and sequentially filled in the plurality of vials placed on the work tray. The liquid medicine filling system according to any one of claims 1 to 4, further comprising: The chemical liquid filling system according to claim 1, wherein the nozzle assembly includes a nozzle body that extends in the horizontal direction and a nozzle tip portion that is bent with respect to the nozzle body and extends in the horizontal direction. A drug solution filling system for filling drug solutions into a plurality of vials,
A plurality of arms having a pair of claws that open and close,
A tray on which the plurality of vials are placed, and a gripped portion that is gripped by the pair of claws, lifted, and moved in the air is provided,
Have
The movement of the gripped portion in the air includes a plurality of trays including a preparation tray that includes inversion and that loads the plurality of vials, and a work tray that loads the plurality of vials,
The plurality of arms overlaps the work tray with respect to the preparation tray on which the plurality of vials are placed, and inverts the preparation tray and the work tray in the stacked state. A reversing control unit that reverses the direction of the vials, and controls the plurality of arms to transfer the plurality of vials from the preparation tray to the work tray;
A pair of detachable claws that can be respectively attached to and detached from the tip portions of the pair of claws by being relatively moved in the first direction with respect to the pair of claws;
Further has
A fixing part that fixes the pair of detachable claws in the first direction and is movable in a second direction orthogonal to the first direction;
The pair of detachable claws holds a plurality of lids attached to the vials by opening and closing.
Chemical filling system. A work booth with a work space,
An accommodating booth that is disconnectably connected to the work booth and the external space,
A transport control unit that controls the plurality of arms so that the plurality of arms transfers the pair of detachable claws housed in the housing booth to the working space;
The chemical liquid filling system according to claim 7, further comprising: The chemical liquid filling system according to claim 8, further comprising a sterilization region which is provided in at least a part of the storage booth and which sterilizes the pair of detachable claws.

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