US 9,808,402 B2
Liquid medicine preparation system and method of preparing liquid medicine
Hiroaki Murakami, Kitakyushu (JP); Makoto Umeno, Kitakyushu (JP); and Shigeji Tasaka, Kitakyushu (JP)
Assigned to KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu-shi (JP)
Filed on Dec. 14, 2015, as Appl. No. 14/967,369.
Claims priority of application No. 2015-022637 (JP), filed on Feb. 6, 2015.
Prior Publication US 2016/0228329 A1, Aug. 11, 2016
Int. Cl. A61J 1/20 (2006.01); B25J 9/00 (2006.01); B25J 21/00 (2006.01); A61J 1/16 (2006.01)
CPC A61J 1/20 (2013.01) [A61J 1/16 (2013.01); A61J 1/2096 (2013.01); B25J 9/0087 (2013.01); B25J 21/00 (2013.01)] 13 Claims
OG exemplary drawing
1. A liquid medicine preparation system that prepares a liquid medicine, the system comprising:
a preparation zone in which preparation work of the liquid medicine is performed by a robot; and
a storing zone which has a plurality of first spaces each of which is capable of storing a container housing the liquid medicine prepared,
wherein the storing zone includes:
a storage rack on which a mounter to which a tray housing the container is mountable is arranged while being stacked in multiple stages, and
a taking-in-and-out device configured to perform taking in and out of the tray with respect to the mounter,
wherein the storing zone further includes a rack moving device that moves the storage rack inside and outside the storing zone,
wherein the mounter includes a partition plate which covers a lower side in a vertical direction of the tray and is attachable to and detachable from the mounter, and
further comprising a photoelectric sensor which is arranged in a vicinity of the storage rack, emits light in a stacking direction of the mounter, and detects popping up of the tray and the partition plate from the storage rack.