ROBOT SYSTEM, LIQUID TRANSFER CONTROLLER, LIQUID TRANSFER CONTROL METHOD, AND MEDICINE MANUFACTURING METHOD

摘要

A robot system comprises a multi-joint robot (20), a syringe driving device (30) for pushing and pulling a plunger (17c) of a syringe (17) equipped with a needle (17e), a control device (100) controlling movements of the multi-joint robot (20) to deal with a vial (16) and the syringe (17) and controlling movements of the syringe driving device (30) at the same time. The control device (100) carries out: control on the movements of the multi-joint robot (20) to enable the needle (17e) of the syringe (17) to puncture a cap (16c) of the vial (16); control on the movements of the syringe driving device (30) to push the vial (16) and transfer air in the syringe (17) to the vial, in a state that the vial (16) is positioned above the syringe (17) and an front end of the needle (17e) is positioned above a liquid in the vial (16), after that; and control on the movements of the syringe driving device (30) to pull the plunger (17c) and suck the liquid in the vial (16) through the needle, in a state that the front end of the needle (17e) is positioned in the liquid, after that.