Abstract: A fluid transfer system includes a multi-jointed robot which is capable of transferring a vial and a syringe, and a syringe driving apparatus. The syringe driving apparatus includes a cylinder body holder which holds a cylinder body of the syringe, an actuator which pulls and pushes a plunger of the syringe, and a rotation mechanism configured to make the cylinder body holder and the actuator freely rotatable about an axial line intersecting with a center axial line of the syringe.

Abstract: A fluid transfer system includes a multi-jointed robot, a syringe actuator configured to pull and push a plunger of a syringe, and a controller. The controller performs control of the multi-jointed robot so as to reverse a vertical relation between the vial and the syringe in a state where a vial containing a liquid is disposed on a lower side of the syringe and a needle of the syringe punctures the vial, and control of the syringe actuator so as to absorb a liquid in the vial into the syringe by pulling the plunger in a state where the vial is disposed on an upper side of the syringe.

Abstract: A robot system includes a multi-jointed robot, a syringe actuator which pulls and pushes a plunger of a syringe having a needle; and a controller which controls the multi jointed robot to handle a vessel storing a liquid and the syringe and controls the syringe actuator.

Abstract: A fluid transfer system includes a multi-jointed robot which is capable of transferring a vial and a syringe, and a syringe driving apparatus. The syringe driving apparatus includes a cylinder body holder which holds a cylinder body of the syringe, an actuator which pulls and pushes a plunger of the syringe, and a rotation mechanism configured to make the cylinder body holder and the actuator freely rotatable about an axial line intersecting with a center axial line of the syringe.

Abstract: A robot system includes a multi-jointed robot, a syringe actuator which pulls and pushes a plunger of a syringe having a needle, and the controller which controls the multi-jointed robot to handle a vial and the syringe and controls the syringe actuator. The controller includes a first control module which controls the multi-jointed robot such that the needle of the syringe punctures a cap of the vessel, a second control module which controls the syringe actuator such that a liquid in the vessel is absorbed through the needle by pulling the plunger after the first control module controls the multi-jointed robot, and a third control module which controls the multi-jointed robot such that the needle is inclined with respect to the cap of the vessel by changing an orientation of at least one of the vessel and the syringe after the first control module controls the multi-jointed robot.

Abstract: A fluid transfer system includes a multi-jointed robot, a syringe actuator configured to pull and push a plunger of a syringe, and a controller. The controller performs control of the multi-jointed robot so as to reverse a vertical relation between the vial and the syringe in a state where a vial containing a liquid is disposed on a lower side of the syringe and a needle of the syringe punctures the vial, and control of the syringe actuator so as to absorb a liquid in the vial into the syringe by pulling the plunger in a state where the vial is disposed on an upper side of the syringe.

Abstract: A robot system includes a multi-jointed robot, a syringe actuator which pulls and pushes a plunger of a syringe having a needle; and a controller which controls the multi jointed robot to handle a vessel storing a liquid and the syringe and controls the syringe actuator.

Abstract: An improved process for producing a formed activated coke for simultaneous desulfurization and denitrification, which includes passing a ground coal through a tubular or cylindrical carbonization retort by using a hot gas stream, to subject the coal to preliminary carbonization to obtain a semi-coke, adding a caking agent to the semi-coke and forming the mixture, subjecting the formed material to carbonization to obtain a formed coke, and transferring the formed coke from the top to the bottom of a vertical multi-tubular retort of indirect heating and cooling (cooling is optional) type that includes a distribution section, a heating section, an activation section and a cooling section (the distribution section and the cooling section are optional) arranged in this order (the distribution section is at the top), to activate the formed coke.