JP2019076573A - Medicament delivery device, and medicament sorting apparatus and medicament dispenser including the same - Google Patents

Abstract

The present invention provides a medicine transport apparatus capable of rearranging medicines stored in a storage tray into an arrangement that improves convenience, a medicine sorting apparatus including the same, and a medicine dispensing apparatus.
A medicine transfer device (10) includes a picking unit (20) and a control unit (50). The control unit 50 acquires information on the expiration date of the medicine D stored in the storage tray T2 from the storage unit 51. The picking unit 20 rearranges the medicines D stored in the storage tray T2 in the storage tray T2. The control unit 50 controls the picking unit 20 so that the medicines D are arranged in order of shorter expiration date from the takeout side of the storage tray T2 based on the information on the expiration date acquired by the medicine expiration date information acquisition unit.
[Selected figure] Figure 11

Description

  The present invention relates to a medicine transfer device for transferring medicine stored in a storage tray in a storage tray, and a medicine sorting device and a medicine dispensing device including the same.

In recent years, for example, in order to reduce the work load in a hospital that handles a large number and types of drugs, a drug dispensing apparatus that automatically dispenses a desired drug onto a tray according to prescription information has been used.
This automates the task of taking out necessary medicines one by one to the tray by the pharmacist etc., greatly reducing the workload, and preventing the occurrence of human error such as mistaken type and quantity of medicine to be taken out. be able to.

On the other hand, after the tray dispensed automatically by the medicine dispensing apparatus is transported to a patient's room etc., the condition of the patient may be suddenly changed, and the dispensed medicine may be returned without being used. .
Such large-scale hospitals frequently return such dispensed medicines, and the types and amounts of medicines returned are so large that sorting the large number of returned medicines becomes a heavy burden. It was

  For example, in Patent Document 1, the returned medicines stored in a non-aligned state are picked one by one, the type, size, etc. of the returned medicines are recognized, and a predetermined storage tray is selected according to the type and size. Disclosed is a return medicine sorting apparatus that performs automatic sorting to be stored.

JP, 2013-215343, A

However, the above-mentioned conventional medicine sorting apparatus has the following problems.
That is, in the medicine sorting apparatus disclosed in the above-mentioned publication, the medicine sorted into the storage tray is stored in the storage tray regardless of the expiration date.
For example, when the medicine is discharged from the storage tray, the transport unit is configured to preferentially discharge the medicine having a short expiration date based on the information on the expiration date included in the medicine type information stored in the storage unit. It is controlled. However, even in this case, it is necessary to pull out the storage tray to the maximum in order to take out the medicine having a short expiration date placed on the back side of the storage tray, which may lower the efficiency.

Also, when a user such as a pharmacist or a nurse pulls out the storage tray from the front of the device and refills it into a storage or the like, if medicines are lined up in the storage tray without considering the expiration date, medicine It is necessary to confirm the expiration date of each one, which is not convenient.
An object of the present invention is to provide a medicine transport apparatus capable of rearranging medicines stored in a storage tray into an arrangement that improves convenience, a medicine sorting apparatus including the same, and a medicine dispensing apparatus.

  The medicine transfer device according to the first aspect of the invention is a medicine transfer device for rearranging medicine stored in a state of being sorted by type in a predetermined storage tray, and includes a medicine deadline information acquisition unit, a first transfer unit, and the like. , And a control unit. The medicine deadline information acquisition unit acquires information on the expiration date of the medicine stored in the storage tray. The first transport unit rearranges the medicines stored in the storage tray in the storage tray. The control unit controls the first transport unit based on the information on the expiration date acquired by the medicine expiration date information acquisition unit, such that the medicines are arranged in the order of shorter expiration dates from the takeout side of the storage tray.

Here, in the medicine transport apparatus, information on the expiration date of the medicine stored in the storage tray is acquired, and the medicines are rearranged so as to be arranged from the takeout side of the storage tray in order from the one with the shortest expiration date.
Here, the present medicine transport device is, for example, a medicine sorting device which sorts a plurality of kinds of drugs returned from a sick room such as a hospital according to types and stores them in a storage tray, or desired based on prescription information from a storage tray. It is mounted on a medicine dispenser that discharges medicine to a dispensing tray.

Then, the medicine deadline information acquisition unit may acquire, for example, a barcode attached to the surface of the medicine, character information, etc. by reading using a barcode reader, a camera, etc. You may obtain the time limit information stored in.
In addition, it is preferable that sorting of medicines is performed, for example, when the medicine conveyance device is mounted on a medicine sorting apparatus, when sorting operation is not performed. In addition, when the medicine transport device is mounted on the medicine dispensing device, it is preferable that the operation be performed when the dispensing operation is not performed.

Thus, based on the medicine expiration date information, for example, a user such as a pharmacist pulls out the storage tray and repacks it into the storage or the like by rearranging the medicines in the storage tray from the removal side of the storage tray in order of shorter expiration date. Even in this case, there is no need to check the expiration dates of medicines one by one.
In addition, for example, even when the medicine is dispensed from the storage tray, the medicines are arranged in the order of shorter expiration dates from the removal side of the storage tray, so the amount of withdrawal of the storage tray can be minimized.

As a result, it is possible to rearrange the medicines stored in the storage tray into an arrangement that improves the convenience.
A medicine transfer device according to a second aspect of the present invention is the medicine transfer device according to the first aspect, wherein the storage tray is substantially horizontal between the predetermined standby position and the transfer position where the drug is taken out by the first transfer portion. It further comprises a storage tray transport unit for drawing out along the direction.

Here, when the medicine is stored in the storage tray or taken out from the storage tray, the storage tray transport unit pulls the storage tray from the standby position to the transport position.
Thus, for example, even when the storage tray is provided in a plurality of stages in the vertical direction, the necessary storage tray can be pulled out to store or take out the medicine.

A medicine transfer device according to a third aspect of the present invention is the medicine transfer device according to the second aspect, wherein the control unit is configured to store the storage tray according to the position of the medicine to be transferred by the first transfer portion in the storage tray. The storage tray transport unit is controlled so as to adjust the amount of withdrawal.
Here, when the medicine in the storage tray is taken out, it is adjusted so that the amount of withdrawal necessary to take out the medicine to be conveyed can be obtained.

Thus, as described above, since the medicines in the storage tray are rearranged from the removal side in the order of shorter expiration date, the storage tray conveyance unit can take out the desired medicine with the minimum withdrawal amount. .
As a result, the process of taking out the medicine from the storage tray can be carried out efficiently.
A medicine transfer device according to a fourth aspect of the present invention is the medicine transfer device according to the second or third aspect, wherein the first transfer portion is configured to store the storage tray in the vertical direction when the amount of withdrawal of the storage tray is equal to or greater than a predetermined amount. It is located in the position which interferes with.

Here, when the storage tray is pulled out by a predetermined amount or more, there is a positional relationship in which the first transport unit and the storage tray interfere in the vertical direction.
As a result, since the medicines in the storage tray are rearranged from the removal side in the order of shorter expiration dates by the rearrangement control described above, the medicine storage tray is smaller than the predetermined amount so that the extracted storage tray does not interfere with the first conveyance unit. The medicine can be taken out with the withdrawal amount of.

As a result, if the withdrawal amount is less than the predetermined amount, the first transport unit can be moved in the vertical direction with the storage tray being pulled out, so that the medicine can be transported more efficiently.
A medicine transfer device according to a fifth aspect of the present invention is the medicine transfer device according to any one of the first to fourth aspects, wherein the first transfer portion has an adsorbing portion for adsorbing the drug in the storage tray. doing.

Here, the first transport unit adsorbs and transports a desired chemical using the adsorption unit.
In this manner, the desired medicine can be reliably lifted from the storage tray or placed on the storage tray with a simple configuration.
A medicine transfer device according to a sixth aspect of the present invention is the medicine transfer device according to the fifth aspect, wherein the first transfer portion has a single adsorption portion.

Here, the medicine stored in the storage tray is rearranged using a single adsorption unit.
This makes it possible to rearrange medicines in ascending order of the expiration date of medicines using empty space and the like in the storage tray.
A medicine transfer device according to a seventh invention is the medicine transfer device according to the fifth invention, wherein the first transfer unit has a plurality of suction units.

Here, the medicines stored in the storage tray are rearranged using a plurality of suction units.
As a result, even if the inside of the storage tray is full of medicines, it is possible to rearrange medicines in order of shorter medicine expiration date by using a plurality of adsorption units.
A medicine transfer device according to an eighth aspect of the present invention is the medicine transfer device according to the seventh aspect, wherein the control unit drives and controls the plurality of suction units independently.

Here, a plurality of adsorption units for adsorbing a chemical are driven independently.
As a result, in a state where the first adsorption unit adsorbs the drug, the second adsorption unit can be lowered to place the drug, and the sorting control with a high degree of freedom can be performed.
A medicine transfer device according to a ninth aspect of the present invention is the medicine transfer device according to any one of the first to eighth aspects, further comprising a storage unit in which information regarding the expiration date is stored.

Here, the medicine deadline information acquisition unit acquires information on the expiration date of the medicine stored in the storage unit.
As a result, it is possible to easily obtain information on the necessary expiration date from the storage unit without performing an operation of reading a bar code, character information, and the like attached to the surface of the medicine stored in the storage tray.

The medicine sorting apparatus according to the tenth invention is acquired by the medicine conveying apparatus according to any one of the first to ninth inventions, a medicine information acquiring unit for acquiring medicine type information, and a medicine information acquiring unit. And a second transport unit for storing medicines for each type in the storage tray based on the type information.
Here, the medicine transfer device described above is mounted on, for example, a medicine sorting device that sorts returned medicines according to types and stores them in a storage tray.

Thus, for example, after the returned medicines and the like are sorted by type and stored in the storage tray, the chemicals stored in the storage tray can be held in the storage tray in the order of shorter expiration dates from the removal side.
The medicine sorting apparatus according to an eleventh aspect of the present invention is the medicine sorting apparatus according to the tenth aspect of the present invention, wherein the control unit performs sorting of the medicine in the storage tray when the sorting operation is not performed.

Here, the medicine rearrangement control described above is performed while the sorting operation in the medicine sorting apparatus is not performed.
Thereby, before the sorting operation is started, or while the sorting operation is stopped, the medicines in the storage tray can be sorted in the order of shorter expiration date.
A medicine dispensing apparatus according to a twelfth aspect of the present invention includes the medicine delivery apparatus according to any one of the first to ninth aspects, a prescription information acquiring unit for acquiring information on a prescription prepared for each patient, and prescription information And a discharge mechanism for discharging the medicine from the storage tray to a predetermined delivery tray based on the prescription information acquired by the acquisition unit.

Here, the medicine transfer device described above is mounted on a medicine dispensing device that takes out the medicine stored in the storage tray and discharges it to the dispensing tray, for example, based on prescription information.
Thus, for example, after the returned medicines and the like are sorted by type and stored in the storage tray, the chemicals stored in the storage tray can be held in the storage tray in the order of shorter expiration dates from the removal side.

As a result, since the medicine discharged to the payout tray based on the prescription information can be easily taken out and discharged from the takeout side of the storage tray, the efficiency of the payout processing can also be improved.
A medicine dispensing apparatus according to a thirteenth aspect of the present invention is the medicine dispensing apparatus according to the twelfth aspect, wherein the control unit performs sorting of the medicine in the storage tray when the dispensing operation is not performed.

Here, the medicine rearrangement control described above is performed while the dispensing operation in the medicine dispensing device is not performed.
By this, before the dispensing operation is started or while the dispensing operation is stopped, it is possible to rearrange the medicines in the storage tray in the order of shorter expiration date.
As a result, when the dispensing operation is started or restarted, it is possible to easily take out the desired medicine having the shortest expiration date from the takeout side of the storage tray and to discharge it to the delivery tray.

  According to the medicine transfer device according to the present invention, the medicines stored in the storage tray can be rearranged into an arrangement which improves the convenience.

The front view which shows the external appearance of the medicine dispensing apparatus which concerns on one Embodiment of this invention. The front view which shows the state which opened the door of the medicine assortment apparatus of FIG. (A)-(d) is a figure which shows the kind of medicine sorted by the medicine sorting apparatus of FIG. The perspective view which shows the returned-goods medicine tray in which the returned medicine shown in FIG. 3 (a)-FIG.3 (d) was mounted in non-alignment. The figure which shows the breakdown of five types of storage trays set to the drug assortment apparatus of FIG. (A)-(c) is a perspective view, a side view, and a front view showing composition of a storage tray in which medicines sorted by a medicine sorting apparatus of Drawing 1 are stored. (A)-(c) is a perspective view, a side view, and a front view showing composition of a storage tray in which medicines sorted by a medicine sorting apparatus of Drawing 1 are stored. (A)-(c) is a perspective view, a side view, and a front view showing composition of a storage tray in which medicines sorted by a medicine sorting apparatus of Drawing 1 are stored. (A)-(c) is a perspective view, a side view, and a front view showing composition of a storage tray in which medicines sorted by a medicine sorting apparatus of Drawing 1 are stored. (A)-(c) is a perspective view, a side view, and a front view showing composition of a storage tray in which medicines sorted by a medicine sorting apparatus of Drawing 1 are stored. FIG. 2 is a control block diagram showing the configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a plan view showing an internal configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a plan view showing an internal configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing the internal configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing a plurality of medicines placed in a return medicine tray and a camera for acquiring image information of the medicines from above in the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing the configuration of a picking unit and the like for picking a medicine and transporting it to a predetermined place in the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing a medicine confirmation unit that judges the kind of medicine and the like, and a camera that is disposed above the medicine confirmation unit in FIG. 1 and that acquires image information of the medicine placed on the medicine confirmation unit. The chemical | medical agent sorting apparatus of FIG. 1 WHEREIN: The perspective view which shows the position of the conveyance mechanism of a storage tray in a storage tray mounting space and a returned-goods classification space, and a picking part. (A) And (b) is a side view and a perspective view showing the flow at the time of the medicine by which adsorption transportation is carried out by the picking part stored in a storage tray. (A) And (b) is a side view and a perspective view showing the flow at the time of the medicine by which adsorption transportation is carried out by the picking part stored in a storage tray. (A)-(e) is a schematic diagram which shows the flow when the chemical | medical agent stored in the storage tray is rearranged in a storage tray based on expiration date information in the medicine sorting apparatus of FIG. (A)-(e) is a schematic diagram which shows the flow when the chemical | medical agent stored in the storage tray is rearranged in a storage tray based on expiration date information in the medicine sorting apparatus of FIG. The side view which shows the positional relationship of the storage tray pulled out by the storage tray conveyance part in the medicine sorting apparatus of FIG. 1, a picking part, and a 2nd chemical | medical check part. (A), (b) is a side view which shows the interference relation of the storage tray pulled out in the medicine assortment apparatus of FIG. 1, a picking part, and a 2nd medicine confirmation part. In (a) to (e), in the medicine sorting apparatus according to another embodiment of the present invention, using two adsorption units, the medicine stored in the storage tray is stored in the storage tray based on the expiration date information. The schematic diagram which shows the flow at the time of being rearranged. In (a) to (e), in the medicine sorting apparatus according to another embodiment of the present invention, using two adsorption units, the medicine stored in the storage tray is stored in the storage tray based on the expiration date information. The schematic diagram which shows the flow at the time of being rearranged. The whole view showing the composition of the medicine delivery system containing the medicine assortment device concerning another embodiment of the present invention. FIG. 28 is a control block diagram of a returned medicine assortment device (drug assortment device) included in the medicine delivery system of FIG. 27.

(Embodiment 1)
It will be as follows if the medicine assortment apparatus 10 which mounts the medicine conveyance apparatus concerning one Embodiment of this invention is demonstrated using FIGS. 1-24 (b).
In the present embodiment, the front of the medicine sorting apparatus 10 means the front shown in FIG. 1 and the back means the surface on the opposite side.

(Exterior configuration of the medicine sorting apparatus 10)
The medicine sorting apparatus 10 according to the present embodiment is, for example, a medicine which is installed in a hospital or the like, and among the medicines carried out to a hospital room or the like based on prescription information for each patient, the medicine returned due to sudden change of patient's condition or the like. D is sorted and stored in a predetermined storage tray T2.
Specifically, as shown in FIG. 1, the medicine sorting apparatus 10 includes a main body 10a, doors 10b and 10c attached to the front of the main body 10a, and a monitor 50a.

The main body portion 10a is a substantially rectangular parallelepiped housing, and the two doors 10b and 10c are attached to the front so as to be openable and closable.
When the door 10b is opened, as shown in FIG. 2, the returned medicine tray storage space S1 in which the returned medicine tray T1 on which the plurality of returned medicines D are placed in a non-aligned state is exposed to the outside. Then, the returned drug tray storage space S1 is provided with a returned drug tray setting unit 11 in which a plurality of returned drug trays T1 are set along the vertical direction. Then, the medicine D returned from the patient's room etc. is set to be stacked on the returned medicine tray installation portion 11 in the returned medicine tray storage space S1 by the pharmacist etc. in a state where it is put in unaligned in the returned medicine tray T1. .

  When the door 10c is opened, as shown in FIG. 2, a storage tray placement space S3 in which a storage tray T2 storing the medicine D sorted after return is placed is exposed to the outside. The storage tray placement space 12 is provided with a storage tray setting unit 12 in which a plurality of types of storage trays T2 having different widths and the like in the vertical direction and the horizontal direction are installed. Then, the medicines D returned from the patient's room etc. are sorted according to the type etc. in the medicine sorting apparatus 10, and automatically stored in the appropriate storage tray T2 installed in the storage tray installation unit 12.

A plurality of types of storage trays T2 are arrayed in the vertical direction and the horizontal direction in the storage tray setting unit 12, and a user such as a pharmacist opens the door 10c on the front of the main body portion 10a and removes the storage tray T2. I do.
The monitor 50a is provided on the upper left of the front of the main unit 10a, and receives inputs of various settings and performs various displays such as a setting screen and an error occurrence screen. The monitor 50a is connected to a control unit (control unit, medicine due date information acquiring unit) 50 (see FIG. 11) that controls the medicine sorting apparatus 10.

(Type of drug D)
Here, as shown in FIGS. 3A to 3D, the medicine D handled in the medicine sorting apparatus 10 of the present embodiment includes a medicine to be contained and a plurality of kinds of medicines different in shape and size. It is. Specifically, as shown in FIG. 3 (a), a drug D1 having an elongated outer shape and a short ampoule shape, and as shown in FIG. 3 (b), a drug D2 having an elongated outer shape and a long ampoule shape As shown in FIG. 3C, a drug D3 having a thick bottle shape and a drug D4 having a thick and long bottle shape are included as shown in FIG. 3D.

The drugs D1 to D4 shown in FIG. 3A to FIG. 3D are an example of the drug D handled in the drug sorting apparatus 10 according to the present embodiment, and in fact, they have many more shapes and types. Shall be treated.
Therefore, in the medicine sorting apparatus 10 of the present embodiment, the medicines D1 to D4 having various shapes and sizes are sorted and processed, and a storage tray having an appropriate size and width corresponding to the medicines D1 to D4. Implement control to store in T2.

Further, on the outer peripheral surface of each drug D1 to D4, a barcode B1 is attached, in which type information such as the type of drug contained in each drug D1 to D4 is recorded.
The type information recorded in the barcode B1 is read by the barcode reader (drug information acquisition unit) 31 of the first medicine check unit 30 mounted on the medicine sorting apparatus 10.
Furthermore, as shown in FIG. 4, the returned drug D is placed on the returned drug tray T1 exclusively for returned drugs in an unaligned state, and is set in the returned drug tray setting unit 11 in the drug sorting apparatus 10 as it is. Ru.

(Type of storage tray T2)
In the medicine sorting apparatus 10 of the present embodiment, the various medicines D described above are sorted by type, and a suitable storage tray T2 is selected from a plurality of kinds of storage trays T2 corresponding to each medicine D and stored. Do.
In the present embodiment, as shown in FIG. 5, the tray numbers 1 to 5 are assigned, and the pitch, width, the number of medicines D, etc. of the recesses T2z (see FIG. 7A etc.) holding medicines D are different. Five types of storage trays T2 are used. Identification information such as the tray numbers of the five types of storage trays T2 shown in FIG. 5 and the pitch and width of the recesses T2z are stored in advance in the storage unit 51 described later.

As shown in FIG. 5, the storage tray T2a (refer to FIG. 6) of tray No. 1 is set in the width S (small) size, the pitch 21 mm of the concave portion T2z, the number 10 of medicines D, and the medicine sorting apparatus 10 There are a total of 15 trays, and a total of 150 contained medicines. Therefore, a thin and short medicine D such as an ampoule vial is stored in the storage tray T2a.
Specifically, as shown in FIGS. 6A to 6C, the storage tray T2a has a bar code B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. Each is provided. A plurality of concavities and convexities (concave portions T2z) are formed in the storage tray T2a in which the medicine D is stored.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2a is recorded, and the identification information is read and acquired by a barcode reader 25 described later.
Recesses T2z for forming a plurality of irregularities formed on the bottom surface of the storage tray T2a are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. And the recessed part T2z hold | maintains the chemical | medical agent D conveyed to the storage tray T2a in the part of a hollow.

As shown in FIG. 5, the storage tray T2b (see FIG. 7) of tray No. 2 is set in the width S (small) size, the pitch 38 mm of the concave portion T2z, the number of medicines 5 contained, and the medicine sorting apparatus 10 There are 15 trays in total and 75 in total stored medicine. Therefore, the medicine D which is thin and medium in length is stored in the storage tray T2b.
Specifically, as shown in FIGS. 7A to 7C, the storage tray T2b has a bar code B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. Each is provided. A plurality of concavities and convexities (concave portions T2z) are formed in the storage tray T2b in which the medicine D is stored.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2b is recorded, and the identification information is read and acquired by the barcode reader 25 described later.
Recesses T2z forming a plurality of irregularities formed on the bottom surface of the storage tray T2b are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. Then, the recess T2z holds the medicine D transported to the storage tray T2b at the portion of the recess.

As shown in FIG. 5, the storage tray T2c (refer to FIG. 8) of tray No. 3 is set in a width M (medium) size, a pitch 21 mm of recessed portions T2z, 10 pieces of medicine D, and the medicine sorting apparatus 10 There are 10 trays in total and 100 in total containing medicines. Therefore, thick and short medicines D such as plastic bottles are stored in the storage tray T2c.
Specifically, as shown in FIGS. 8A to 8C, the storage tray T2c has a bar code B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. Each is provided. Further, a plurality of concavities and convexities (concave portions T2z) are formed inside the medicine tray D of the storage tray T2c.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2c is recorded, and the identification information is read and acquired by the barcode reader 25 described later.
Recesses T2z for forming a plurality of irregularities formed on the bottom surface of the storage tray T2c are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. And the recessed part T2z hold | maintains the chemical | medical agent D conveyed to the storage tray T2c in the part of a hollow.

The storage tray T2d (refer to FIG. 9) of tray No. 4 is set in a width M (medium) size, a pitch 38 mm of concave portions T2z, five pieces of medicine D, and the medicine sorting apparatus 10 as shown in FIG. There are 10 trays in total and 50 trays in total containing medicines. Therefore, the medicine D having a large thickness and a medium length is stored in the storage tray T2d.
Specifically, as shown in FIGS. 9A to 9C, the storage tray T2d has a bar code B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. Each is provided. A plurality of concavities and convexities (concave portions T2z) are formed in the storage tray T2d in which the medicine D is stored.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2d is recorded, and the identification information is read and acquired by the barcode reader 25 described later.
Recesses T2z for forming a plurality of irregularities formed on the bottom surface of the storage tray T2d are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. And the recessed part T2z hold | maintains the chemical | medical agent D conveyed to the storage tray T2d in the part of a hollow.

As shown in FIG. 5, the storage tray T2e (refer to FIG. 10) of the tray No. 5 is set in the width L (large) size, the pitch 38 mm of the recess T2z, the number of medicines 5 contained, and the medicine sorting apparatus 10 There are 6 trays in total and 30 trays in total containing medicines. Therefore, the thickest and longest medicine D such as a large plastic bottle is stored in the storage tray T2e.
Specifically, as shown in FIGS. 10A to 10C, the storage tray T2e has a bar code B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. Each is provided. A plurality of concavities and convexities (concave portions T2z) are formed in the storage tray T2e in which the medicine D is stored.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2e is recorded, and the identification information is read and acquired by a barcode reader 25 described later.
Recesses T2z forming a plurality of irregularities formed on the bottom surface of the storage tray T2e are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. And the recessed part T2z hold | maintains the chemical | medical agent D conveyed by the storage tray T2e in the part of a hollow.

In addition, the five types of storage trays T2a to T2e described above have three types of widths S, M, and L and a common height, in appearance, as shown in FIGS. It has a depth.
(Internal configuration of the medicine sorting apparatus 10)
The medicine sorting apparatus 10 according to the present embodiment configures a control block shown in FIG. 11 centering on the control unit 50.

The control unit 50 is provided inside the medicine sorting apparatus 10, and as shown in FIG. 11, the monitor 50a, the returned drug tray conveyance unit 13, the cameras C1 and C2, the picking unit (first conveyance unit) 20, The first medicine check unit 30, the bar code readers 25 and 31, the storage tray conveyance unit 14, the second medicine check unit 40, and the storage unit 51 are connected.
The returned drug tray transport unit 13 opens the door 10b attached to the main body 10a described above and transports the returned drug tray T1 set in the returned drug tray installation unit 11 in a predetermined direction.

Specifically, as shown in FIG. 12, the returned drug tray transport unit 13 is moved from the returned drug tray storage space S1 disposed on the front side in the main body portion 10a to the picking space S2 disposed on the back side. , Return drug delivery tray T1.
That is, in the medicine sorting apparatus 10 of the present embodiment, when the sorting operation is started, as shown in FIG. 12, the plurality of medicines D for which the returned goods tray transport unit 13 is returned are placed in a non-aligned state. The returned medicine tray T1 is transported from the returned medicine tray storage space S1 to a predetermined picking space S2 side.

The storage tray transport unit 14 transports the plurality of storage trays T2 set in the storage tray installation unit 12 in a predetermined direction by opening the door 10c attached to the main body unit 10a described above.
Specifically, as shown in FIG. 12 and FIG. 13, the storage tray conveyance unit 14 separates the returned medicines disposed on the back side from the storage tray placement space S3 disposed on the front side in the main body 10 a. The storage tray T2 is conveyed to the space S4 so as to be drawn out.

That is, in the medicine sorting apparatus 10 of the present embodiment, when the sorting operation is started, as shown in FIG. 12, the storage tray conveyance unit 14 appropriately stores the medicine D absorbed and conveyed by the picking unit 20. The tray T2 is transported so as to be pulled out from the storage tray placement space S3 to the returned medicine sorting space S4 side.
Further, in this embodiment, even when the medicines D stored in the storage tray T2 are rearranged according to the predetermined conditions after the sorting operation, the storage tray conveyance unit 14 draws the storage tray T2 to the returned medicine sorting space S4. Transport At this time, the storage tray conveyance unit 14 is controlled to adjust the amount of withdrawal in accordance with the position of the medicine D to be taken out in the storage tray T2.

  That is, for example, when the medicine D to be taken out is disposed on the most take-out side of the storage tray T2, the storage tray conveyance unit 14 has the minimum extraction amount that can be taken out by the suction unit 20a of the picking unit 20. Pull out the storage tray T2. On the other hand, when the medicine D to be taken out is disposed at the deepest side in the storage tray T2, for example, the storage tray conveyance unit 14 sets the maximum extraction amount that can be taken out by the suction unit 20a of the picking unit 20. Pull out the storage tray T2.

The rearranging control of the medicines D in the storage tray T2 will be described in detail later.
Further, in the medicine sorting apparatus 10 according to the present embodiment, the storage tray conveyance unit 14 moves to the height of a desired level among the storage trays T2 arranged in the vertical direction, and stores the desired contents. The tray T2 is transported to the returned medicine sorting space S4.

As shown in FIG. 15, the camera C1 is provided above the returned medicine tray T1 transported to the picking space S2. Then, the camera C1 obtains an image including a plurality of medicines D placed on the returned medicine tray T1 transported to the picking space S2.
Thereby, the control unit 50 specifies a position for picking one of the plurality of medicines D placed in the non-aligned state in the return medicine tray T1 using the image information acquired by the camera C1. .

The camera C2 is disposed above the first medicine check unit 30, as shown in FIG. Then, the camera C2 acquires an image of a label portion including the barcode B1 attached to the medicine D.
Thereby, the control unit 50 uses the image information acquired by the camera C2 to read the character information included in the label attached to the surface of the medicine D, and the medicine D placed on the first medicine confirmation unit 30. Check the expiration date (expiration date) of.

Here, the term of validity of the drug D means a term of use in which the components of various drugs contained in the drug D properly act. Therefore, it is preferable that the medicines D sorted by type in the medicine sorting apparatus 10 and stored in the storage tray T2 be used in order from those with the shorter expiration date when they are reused.
The control unit 50 stores information on the expiration date of the medicine D read using the image captured by the camera C2 in the storage unit 51. Thus, the control unit 50 can acquire information on the expiration date of the medicine D from the storage unit 51 when performing sorting control of the medicine D in the storage tray T2 described later.

The picking unit 20 adsorbs a plurality of returned medicines D placed in a non-aligned state in the returned medicine tray T1 by a single adsorption unit 20a provided at the tip portion, and moves in a predetermined direction In order to transport it, it is provided inside the main body 10a in a movable state in a three-dimensional direction.
Specifically, when the sorting operation is started, the picking unit 20 moves from the returned medicine tray T1 to the first medicine checking unit 30, from the first medicine checking unit 30 to the waiting stand 35, and from the waiting stand 35 to the storage tray T2. The chemical D is adsorbed and transported in the adsorption unit 20a.

Then, as shown in FIG. 16, the picking unit 20 can carry the medicine D in such a three-dimensional direction, as shown in FIG. 16, the vertical support 21a, the belt 21b, the motor 21c, the horizontal support 22a, the belt 22b, and the motor 22c, a horizontal support 23a and the like.
For example, the picking unit 20 causes the motor 21c to rotate the belt 21b provided along the Z direction between the two vertical columns 21a and 21a arranged along the Z direction (vertical direction). Thereby, the picking unit 20 can move in the Z direction (vertical direction), and can perform, for example, an adsorption operation of the drug D, an operation of placing the drug D on each tray, and the like.

Further, the picking unit 20 causes the motor 22c to rotate the belt 22b provided along the horizontal support 22a disposed along the X direction (horizontal direction) (the width direction of the main body 10a). Thus, the picking unit 20 can move in the X direction (horizontal direction), and can perform, for example, an operation of transporting the medicine D in the width direction of the main body 10 a.
Similarly, the picking unit 20 is a motor (not shown) provided along a horizontal support 23a disposed along the Y direction (horizontal direction) (the depth direction of the main body 10a) (not shown). Rotate by). Thereby, the picking unit 20 can move in the Y direction (horizontal direction), and can perform, for example, an operation of transporting the medicine D in the depth direction of the main body 10 a.

Specifically, when the sorting operation is started, the picking unit 20 moves from the returned medicine tray T1 to the first medicine checking unit 30, from the first medicine checking unit 30 to the waiting stand 35, and from the waiting stand 35 to the storage tray T2. And transport the drug D by adsorption.
Then, as shown in FIG. 16, the picking unit 20 can carry the medicine D in such a three-dimensional direction, as shown in FIG. 16, the vertical support 21a, the belt 21b, the motor 21c, the horizontal support 22a, the belt 22b, and the motor 22c, a horizontal support 23a and the like.

  For example, the picking unit 20 causes the motor 21c to rotate the belt 21b provided along the Z direction between the two vertical columns 21a and 21a arranged along the Z direction (vertical direction). Thereby, the picking unit 20 can move in the Z direction (vertical direction), and can perform, for example, an adsorption operation of the drug D, an operation of placing the drug D on each tray, and the like.

Further, the picking unit 20 causes the motor 22c to rotate the belt 22b provided along the horizontal support 22a disposed along the X direction (horizontal direction) (the width direction of the main body 10a). Thus, the picking unit 20 can move in the X direction (horizontal direction), and can perform, for example, an operation of transporting the medicine D in the width direction of the main body 10 a.
Similarly, the picking unit 20 is a motor (not shown) provided along a horizontal support 23a disposed along the Y direction (horizontal direction) (the depth direction of the main body 10a) (not shown). Rotate by). Thereby, the picking unit 20 can move in the Y direction (horizontal direction), and can perform, for example, an operation of transporting the medicine D in the depth direction of the main body 10 a.

The rearranging control of the medicines D in the storage tray T2 using the picking unit 20 will be described in detail later.
The bar code reader 25 is disposed in the vicinity of the picking unit 20 as shown in FIG. 18 and the like, moves integrally with the picking unit 20 and moves in a three-dimensional direction. Then, the bar code reader 25 reads the bar code B2 attached to the storage tray T2 and acquires identification information of the storage tray T2 before storing the medicine D adsorbed and transported by the picking unit 20 in the storage tray T2. .

As shown in FIGS. 12 and 13, the first medicine check unit 30 is disposed between the picking space S2 formed in the inside of the main body 10a and the returned medicine sorting space S4. Then, the first medicine check unit 30 checks the type and the like of the returned medicine D absorbed and held by the picking unit 20 in the picking space S2.
Specifically, as shown in FIG. 17, the first medicine check unit 30 has a bar code reader 31, a holding plate 32, a roller 33, and a motor 33a. The first medicine confirmation unit 30 is disposed below the camera C2 installed to confirm the expiration date of the medicine D, and the medicine formed in the recess formed by the holding plate 32 and the roller 33 arranged close to each other Hold D Then, the first medicine check unit 30 rotates the medicine D by rotating the roller 33 with the motor 33a while holding the medicine D, and the bar code attached to the medicine D with the bar code reader 31 described later. Read and acquire type information of B1.

  The barcode reader (drug information acquisition unit) 31 is disposed obliquely above the drug D held in the recess formed by the holding plate 32 and the roller 33, as shown in FIG. Then, the barcode reader 31 reads the barcode B1 attached to the drug D rotated by the roller 33 rotationally driven by the motor 33a, and acquires type information on the type of drug D (type of drug etc.).

As shown in FIGS. 13 and 14, the second medicine check unit 40 is fixed to the horizontal support 22a via the support 40a below the return medicine sorting space S4 in the main body 10a. Thus, the second medicine check unit 40 is attached to be movable in the vertical direction together with the picking unit 20.
Then, the second medicine check unit 40 checks the type and the like of the medicine D which is taken out from the inside of the storage tray T2 by the picking unit 20 and is adsorbed and transported to the delivery tray T3.

The second medicine confirmation unit 40 has a configuration necessary for incorporating the medicine sorting apparatus 10 into the medicine dispensing system 100 and using it (refer to the other embodiment (A) and FIG. 27 described below) When the apparatus 10 is used alone, it is not mounted.
The storage unit 51 stores a control program for driving and controlling the above-described components. Then, as the identification information acquired from the barcode B2 attached to the storage tray T2, the storage unit 51 has a tray number, a tray width, a pitch, the number of medicines put in one tray, as shown in FIG. A table showing the relationship between the maximum number of trays stored in the apparatus and the maximum number of stored chemicals is stored. Furthermore, the storage unit 51 stores, for example, information corresponding to the barcode B2 attached to each storage tray T2 as identification information of the storage tray T2.

  When the table shown in FIG. 5 is stored in the storage unit 51, the identification information obtained from the barcode B2 may be, for example, only the tray number. Even in this case, by reading the barcode B2 and acquiring the tray number, it is possible to easily recognize the identification information (pitch, etc.) of the storage tray T2 corresponding to the tray number by referring to the table of FIG. it can.

Further, the storage unit 51 stores the positions of the plurality of storage trays T2 stored in the storage tray placement space S3 in association with the tray numbers.
Furthermore, the storage unit 51 stores information on the expiration date of the medicine D read using the image captured by the above-described camera C2.
<Flow of storing medicine D in storage tray T2>
The medicine sorting apparatus 10 according to the present embodiment includes the above-described components, and sorts and stores the returned medicine D in an appropriate storage tray T2 corresponding to the shape and size of the medicine D.

Specifically, the control unit 50 first controls the return medicine tray transport unit 13 so that one return medicine tray T1 is transferred from the return medicine tray storage space S1 to the picking space S2 as shown in FIG. Transport
Next, the control unit 50 selects the medicine D to be stored in the storage tray T2 from among the plurality of medicines D placed in the non-aligned state in the return medicine tray T1 shown in FIG. At this time, the control unit 50 sets the picking position of the medicine D based on the image information acquired by the camera C1 shown in FIG.

Next, the control unit 50 controls the picking unit 20 to adsorb a desired medicine D from the returned goods tray T1 and transport the medicine D to the first medicine confirmation unit 30.
Next, in order to confirm the type (drug or the like) of the drug D placed in the first drug check unit 30, the control unit 50 rotationally drives the roller 33 by the motor 33a as shown in FIG. The medicine D is rotated, and the bar code reader 31 reads the bar code B1 attached to the medicine D. Thereby, the kind information of medicine D can be obtained.

At this time, as shown in FIG. 17, the control unit 50 controls the camera C2 placed above the first medicine check unit 30, and acquires image information of the medicine D. This makes it possible to obtain information on the expiration date of the drug D attached to the outer peripheral surface of the drug D together with the bar code B1.
Next, the control unit 50 controls the picking unit 20 to adsorb the medicine D placed on the first medicine confirmation unit 30, and the concave portion of the waiting stand 35 disposed adjacent to the first medicine confirmation unit 30. Transport to 35a.

Next, the control unit 50 controls the picking unit 20 to adsorb the medicine D placed in the recess 35 a of the waiting stand 35 and transport the medicine D above the return medicine sorting space S4.
Next, the control unit 50 controls the storage tray conveyance unit 14 to store the stage including the storage tray T2 for storing the medicine D for which the type information is acquired, from the storage tray placement space S3 to the return medicine sorting space Transport to S4.

Next, as shown in FIGS. 19 (a) and 19 (b), the control unit 50 moves the picking unit 20 having adsorbed the chemical D to the front of the storage tray T2 and moves the bar code together with the picking unit 20. The reader 25 is used to read the barcode B2 of the storage tray T2 which is the storage destination.
At this time, the control unit 50 refers to the identification information including the tray number obtained from the bar code B2, the number or the pitch of the concave portion T2z, and the like to store the medicine D adsorbed and transported in the picking unit 20. Then, it is determined whether or not the pitch, width, and the like of the recess T2z of the storage tray T2 are appropriate.

Here, when it is determined that the storage tray T2 is appropriate, the control unit 50 controls the picking unit 20 to be determined as appropriate as illustrated in FIGS. 20 (a) and 20 (b). The medicine D being adsorbed and transported is placed in a predetermined recess T2z in the storage tray T2.
On the other hand, if it is determined that the storage tray T2 is not appropriate, the width and length of the medicine D may be determined based on the identification information obtained from the bar code B2, using the recess T2z or the width of the storage tray T2. It is possible that is not correct.

Therefore, the control unit 50 controls the picking unit 20 to repeat the process of reading the barcode B2 of another storage tray T2 until an appropriate storage tray T2 is found for the medicine D being suctioned and transported.
Thereby, after confirming whether the storage tray T2 is an appropriate storage destination based on the acquired identification information of the storage tray T2, after the medicine D transported by the picking unit 20, the storage tray T2 Can be stored.

Therefore, for example, even when the user installs a plurality of types of storage trays T2 at an arbitrary position, it is confirmed that the storage tray T2 corresponds to the medicine D transported by the picking unit 20, D can be stored.
As a result, in the plurality of storage trays T2 installed in the storage tray installation unit 12, the medicine D corresponding to each storage tray T2 can be stored appropriately.

<Control to rearrange medicines D in storage tray T2>
In the medicine sorting apparatus 10 of this embodiment, the medicines D stored in the storage tray T2 are rearranged according to the procedure shown in FIGS. 21 (a) to 21 (e) and 22 (a) to 22 (e). Implement control.
In the present embodiment, when there is one or more vacant spaces in the storage tray T2 before the sorting control is performed, for example, when four or less medicines D are stored in the five storage tray T2. Will be explained.

Specifically, as shown in FIG. 21A, the storage tray T2 has a fourth, a first, a second, a third, and a third expiration date in order from the takeout side (the side to be pulled out). Drug D is stored in short order in the
Here, the expiration date of each medicine D stored in the storage tray T2 corresponds to the medicine due date information of each medicine D acquired by the first medicine confirmation unit 30 described above by the control unit 50, and the storage tray that is the storage destination. It is acquired by taking out from the memory | storage part 51 with which identification information etc. of T2 were preserve | saved.

First, in the control unit 50, as shown in FIG. 21 (b), the medicine D having the fourth shortest expiration date arranged on the takeout side is adsorbed by the adsorption unit 20a. Thereby, the part by the side of the taking-out in storage tray T2 can be opened.
Next, as shown in FIG. 21C, the control unit 50 moves the adsorbing unit 20a to transport the medicine D having the fourth shortest expiration date to the fourth vacant portion from the takeout side.

Next, as shown in FIG. 21D, the control unit 50 causes the suction unit 20a to suction and lift the medicine D whose expiration date is the first shortest.
Next, as shown in FIG. 21 (e), the control unit 50 moves the adsorption unit 20a, and the expiration date is first at the most extraction side position where the fourth medicine D was initially disposed. Transport a short drug D to the

Next, as shown in FIG. 22A, the control unit 50 adsorbs and lifts the medicine D having the second shortest expiration date by the adsorbing unit 20a.
Next, as shown in FIG. 22 (b), the control unit 50 moves the adsorption unit 20a, and the expiration date is at the second position from the take-out side where the first medicine D was first placed. Transport the second shortest drug D.

Next, as shown in FIG. 22C, the control unit 50 adsorbs and lifts the medicine D having the third shortest expiration date by the adsorbing unit 20a.
Next, as shown in FIG. 22 (d), the control unit 50 moves the adsorption unit 20a, and the expiration date is at the third position from the take-out side where the second medicine D was first disposed. The third shortest drug D is transported.

As a result, as shown in FIG. 22E, the control unit 50 can rearrange the four medicines D stored in the storage tray T2 from the removal side in the order of shorter expiration date.
It is preferable that the sort control of the medicines D in the storage tray T2 be performed while the sorting operation of the medicine sorting apparatus 10 is not performed.
Here, while the sorting operation of the drug sorting apparatus 10 is not performed includes, for example, when the power of the drug sorting apparatus 10 is turned on, when the operation is stopped, and after the end of the operation.

As a result, it is possible to rearrange the medicines in the storage tray T2 in the order of shorter expiration dates, using the time before the sorting operation of the drug sorting apparatus 10 is started or while the sorting operation is stopped. Thus, the sorting control of the medicines D in the storage tray T2 can be performed without reducing the efficiency of the sorting operation.
Further, in the medicine sorting apparatus 10 according to the present embodiment, as shown in FIG. 23, the storage tray T2 is transported between the storage tray placement space S3 and the return medicine sorting space S4 by the storage tray transport unit 14 described above. Ru. Then, the storage tray conveyance unit 14 is controlled such that the control unit 50 adjusts the amount of withdrawal of the storage tray T2 according to the position in the storage tray T2 of the medicine D taken out by the suction unit 20a of the picking unit 20. Ru.

  Specifically, for example, when the medicine D to be taken out is disposed on the most take-out side of the storage tray T2, for example, the storage tray conveyance unit 14 pulls out the storage tray T2 so as to obtain the minimum withdrawal amount (see FIG. 24 (a)). On the other hand, when the medicine D to be taken out is disposed at the deepest side in the storage tray T2, for example, the storage tray transport unit 14 pulls out the storage tray T2 so as to achieve the maximum withdrawal amount (FIG. b) see).

At this time, when the amount of withdrawal of the storage tray T2 exceeds a predetermined amount, as shown in FIG. 23, the picking unit 20 interferes with the upper side of the withdrawn storage tray T2, and the second medicine confirmation portion 40 interferes with the lower side. Placed in position.
The picking unit 20 and the second medicine checking unit 40 are both connected to a common member (horizontal support 22a) as shown in FIG. 23, and along the vertical support 21a, in the vertical direction (vertical direction) Move together.

For this reason, in order to move the picking unit 20 in order to transport the chemical D adsorbed and transported by the adsorption unit 20a of the picking unit 20, the amount of withdrawal of the drawn storage tray T2 becomes less than a predetermined amount. It is necessary to move it to the storage tray placement space S3 side.
Therefore, for example, as shown in FIG. 24A, when the medicine D to be taken out is disposed on the most take-out side of the storage tray T2, the storage tray T2 is pulled out with the minimum pulling amount, The second medicine check unit 40 does not interfere with the storage tray T2 in the upward direction.

As a result, since the picking unit 20 can move upward, the adsorbed drug D can be transported upward.
On the other hand, for example, as shown in FIG. 24 (b), when the medicine D to be taken out is disposed at the deepest side in the storage tray T2, the storage tray T2 is pulled out with the maximum pulling amount, The picking unit 20 and the second medicine check unit 40 interfere with the storage tray T2 in the vertical direction.

As a result, since the picking unit 20 can not move upward and downward, in this state, the adsorbed medicine D can not be conveyed upward or downward, so the extracted storage tray T2 is not moved. It is necessary to return to the storage tray placement space S3 side.
As described above, in the medicine sorting apparatus 10 of the present embodiment, when the medicine D stored in the storage tray T2 is taken out by the suction unit 20a of the picking unit 20 and proceeds to the next step (dispensing process etc.), In consideration of the subsequent processing efficiency, it is preferable to minimize the amount of withdrawal of the storage tray T2.

Therefore, in the medicine sorting apparatus 10 according to the present embodiment, the medicines D sorted by type from the returned goods medicine tray T1 and stored in the storage tray T2 are rearranged from the removal side in the order of shorter expiration dates. .
As a result, since the medicine D having the shortest expiration date in the storage tray T2 to be removed from the storage tray T2 is disposed at a position near the removal side of the storage tray T2, the amount of withdrawal of the storage tray T2 is minimum. The second medicine check unit 40 does not interfere with the storage tray T2 in the upward direction.

As a result, since the picking unit 20 can move upward, the adsorbed medicine D can be transported upward, and the subsequent processing can be performed efficiently.
Second Embodiment
The drug delivery device according to another embodiment of the present invention is described below with reference to FIGS. 25 (a) to 25 (e) and 26 (a) to 26 (e).

Here, in the medicine transfer device according to the present embodiment, a single adsorption unit is used in that the picking unit 120 includes a plurality of (two) adsorption units 120a and 120b (see FIG. 25A and the like). The configuration is different from the configuration of the first embodiment in which the transport control of the medicine D is performed using 20a.
In addition, since the medicine assortment apparatus of this embodiment is equipped with the structure common to the said embodiment about the other structure, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted.

In the medicine sorting apparatus according to the present embodiment, the picking unit (first process) including the two suction units 120a and 120b according to the procedure shown in FIGS. 25 (a) to 25 (e) and 26 (a) to 26 (e). Using the transport unit (second transport unit) 120, the sorting control of the medicine D stored in the storage tray T2 is performed.
In addition, in this embodiment, when storage tray T2 before implementing rearrangement control is full, the case where five chemical | medical agents D are stored in storage tray T2 containing five, for example is demonstrated.

Specifically, as shown in FIG. 25A, the storage tray T2 has the fourth, first, second, fifth, and third shortest expiration dates in order from the takeout side (the side to be pulled out). Drug D is stored in order.
First, as shown in FIG. 25 (b), the control unit 50 uses the two suction units 120a and 120b to pick up the medicine D which is disposed closest to the takeout side and whose fourth and expiration date is the shortest. . As a result, it is possible to clear the two most takeout sides of the storage tray T2.

Next, as shown in FIG. 25C, the control unit 50 moves the two adsorbing units 120a and 120b, and while the medicine D having the fourth shortest expiration date is adsorbed to the adsorbing unit 120a, the control unit 50 first The short medicine D is conveyed to the most taken-out position where the fourth medicine D was placed first.
As described above, the suction operation, the movement operation in the vertical direction, and the like of the two suction units 120a and 120b are independently controlled.

Next, as shown in FIG. 25 (d), the control unit 50 moves the adsorbing units 120a and 120b so that the medicine D having the fourth shortest expiration date is adsorbed to the adsorbing unit 120a, and is the fifth shortest. Adsorb and lift the drug D.
Next, as shown in FIG. 25 (e), the control unit 50 moves the adsorbing units 120a and 120b so that the medicine D which is the fifth shortest expiration date is adsorbed to the adsorbing unit 120a, and is the fourth shortest. The drug D is transported to the position where the fifth drug D was placed first.

Next, as shown in FIG. 26 (a), the control unit 50 moves the adsorbing units 120a and 120b to keep the drug D having the fifth shortest expiration date adsorbed to the adsorbing unit 120a. It adsorbs and lifts the third shortest drug D placed at a distant position.
Next, as shown in FIG. 26 (b), the control unit 50 moves the adsorbing units 120 a and 120 b so that the medicine D having the third shortest expiration date is adsorbed to the adsorbing unit 120 a and is fifth shortest. The medicine D is conveyed to a position far from the takeout side where the third medicine D was placed first.

Next, as shown in FIG. 26 (c), the control unit 50 moves the adsorbing units 120a and 120b, and while the medicine D having the third shortest expiration date is adsorbed to the adsorbing unit 120a, Adsorb and lift the second shortest drug D placed at the second position.
Next, as shown in FIG. 26 (d), the control unit 50 moves the adsorbing units 120a and 120b so that the drug D having the third shortest expiration date is adsorbed to the adsorbing unit 120a, and is second shortest. The medicine D is conveyed to the second position from the take-out side where the first medicine D was placed first.

Next, as shown in FIG. 26 (e), the control unit 50 takes out the medicine D adsorbed to the adsorbing part 120a with the third shortest expiration date and the take-out side on which the second medicine D is first disposed. Transport to the third position from.
As a result, even when the storage tray T2 stores the full medicine D, the medicine D can be rearranged in the order of shorter expiration dates from the take-out side by using the two adsorption units 120a and 120b.

[Other embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention.
(A)
In the above embodiment, an example in which the medicine transport apparatus of the present invention is mounted on the medicine sorting apparatus 10 for taking out the returned medicine D one by one from the returned medicine tray T1 and storing the medicine D in the appropriate storage tray T2 is exemplified. explained. However, the present invention is not limited to this.

For example, as shown in FIG. 27, a medicine dispensing system in which the function of the medicine sorting apparatus 10 including the medicine transporting apparatus of the present invention is added to the medicine dispensing apparatus for dispensing the desired medicine D to the dispensing tray T3 based on prescription information. It may be configured as 100.
The drug dispensing system 100 includes, as shown in FIG. 27, a tray supply device 101, a plastic bottle dispensing device 102, a return drug sorting device (corresponding to the drug sorting device 10) 103, an ampoule vial dispensing device 104, a label injection paper loading device 105, And a tray storage and transfer device 106.

The tray supply device 101 is disposed on the most upstream side (the left end in FIG. 27) of the medicine dispensing system 100, as shown in FIG. Then, the tray supply device 101 is set in a state in which the payout trays T3 are stacked, and feeds an empty payout tray T3 to the downstream side.
The plastic bottle delivery device 102 stores the plastic bottle-like medicine D, and as shown in FIG. 27, is disposed downstream of the tray supply device 101. Then, the plastic bottle delivery device 102 dispenses the plastic bottle (drug D) included in the prescription information on the payout tray T3 conveyed from the tray supply device 101.

  The return medicine sorting apparatus 103 is an apparatus for automatically sorting a plurality of returned medicines D corresponding to the medicine sorting apparatus 10 described above, and as shown in FIG. It is arranged. Then, the return medicine assortment apparatus 103 takes out the return medicine which has been sorted in the return medicine assortment apparatus 103 and stored in the storage tray T2 based on the prescription information, and pays it out to the delivery tray T3.

Thereby, the returned drug D is reused by being paid out to the delivery tray T3 again as the drug to be administered to the patient after the expiration date and the like of the drug are confirmed.
The returned medicine sorting apparatus 103 may be disposed on the upstream side of the plastic bottle dispensing apparatus 102.
However, in general, plastic bottles D are large and heavy, so taking into consideration the risk of damaging ampoule D, etc. dispensed from drug sorting apparatus 10, the pro bottle is first taken out. It is desirable to pay out to T3. Therefore, the medicine sorting apparatus 10 is preferably disposed at the position shown in FIG.

The ampoule vial dispensing device 104 stores the ampoule-like medicine D, and as shown in FIG. 27, is disposed downstream of the returned medicine sorting device 103. Then, the ampoule vial dispensing device 104 dispenses the ampoule vial (drug D) included in the prescription information to the dispensing tray T3 conveyed from the upstream side.
The label injection prescription loading device 105 is a device for printing a patient name, prescription information and the like on a predetermined label, and is disposed downstream of the ampoule vial dispensing device 104 as shown in FIG. Then, the label injection prescription loading device 105 creates a label on which prescription information and the like are printed based on the prescription information, and inserts the label into the payout tray T3 conveyed from the upstream side. As a result, the pharmacist or the like can easily check whether the medicine D dispensed to the dispensing tray T3 is appropriate by confirming the label inserted to the dispensing tray T3.

  As shown in FIG. 27, the tray storage transfer device 106 is disposed on the downstream side of the label injection note inserting device 105 and on the most downstream side of the medicine dispensing system 100 (right end in FIG. 27). Then, the tray storage transfer device 106 stores a delivery tray T3 including the medicine D and the label dispensed based on the prescription information, and the necessary dispensing tray T3 is taken out by the pharmacist or the like.

With the above configuration, the drug dispensing system 100 dispenses the appropriate drug D to the dispensing tray T3 based on the prescription information, and reuses the returned medicines automatically sorted by the returned medicine assortment apparatus 103. be able to.
The return medicine sorting apparatus 103 (drug sorting apparatus 10) included in the medicine dispensing system 100 includes a prescription information acquisition unit 60 in addition to the configuration of the first embodiment, as shown in FIG. Then, the second medicine check unit 40 functions as a discharge mechanism for discharging the desired medicine D to the predetermined payout tray T3 based on the prescription information.

Thereby, for example, the prescription information created for each patient may be acquired from an external server or the like, and the medicine D stored in the storage tray T2 may be taken out and dispensed to the payout tray T3 based on the prescription information. it can.
Moreover, it is preferable that reordering control of the medicine D in the storage tray T2 described above is performed while the dispensing operation of the medicine dispensing system 100 is not performed.

Here, the period during which the dispensing operation of the medicine dispensing system 100 is not performed includes, for example, when the power of the medicine dispensing system 100 is turned on, when the operation is stopped, after the operation, and the like.
Thus, it is possible to rearrange the medicines in the storage tray T2 in the order of shorter expiration dates, using the time before the dispensing operation of the medicine dispensing system 100 is started or during which the dispensing operation is stopped. Therefore, the rearrangement control of the medicine D in the storage tray T2 can be performed without reducing the efficiency of the payout operation.

Further, the drug delivery device of the present invention may be installed in the drug delivery device instead of the drug sorting device included in the drug delivery system 100 shown in FIG.
(B)
In the above embodiment, an example using the control unit 50 that takes out the expiration date information stored in the storage unit 51 as the medicine expiration date information acquiring unit that acquires information on the expiration date of the medicine D stored in the storage tray T2 is used. I mentioned and explained. However, the present invention is not limited to this.

For example, the medicine deadline information acquisition unit is not limited to a configuration in which the control unit retrieves the expiration date information stored in the storage unit, and reads barcodes and character information attached to the surface of the medicine retrieved from the storage tray. A means such as a barcode reader or a camera may be used.
(C)
In the above embodiment, the medicine sorting apparatus 10 including the storage unit 51 for storing the type information (the kind, size, shape, expiration date of medicine) of the medicine D has been described as an example. However, the present invention is not limited to this.

For example, medicine type information may be stored in an external server, a cloud space, or the like, and information may be acquired using communication means or the like when necessary.
That is, in the medicine conveyance device of the present invention, the storage unit is not an essential component, and may be provided outside the device.
(D)
In the above embodiment, the medicine sorting apparatus 10 for sorting returned medicines has been described as an example. However, the present invention is not limited to this.

For example, the medicines sorted into the storage tray by the medicine sorting apparatus of the present invention are not limited to returned medicines.
(E)
In the above embodiment, an example in which a single transport robot (picking unit 20) is used as the first transport unit and the second transport unit has been described. However, the present invention is not limited to this.

  For example, the first picking unit corresponding to the first transport unit and the second picking unit corresponding to the second transport unit may be separately provided.

  The drug delivery device of the present invention has the effect of being able to rearrange the drugs stored in the storage tray into an array that improves the convenience, and thus is widely applied to various devices and systems that handle a wide variety of drugs. It is possible.

DESCRIPTION OF SYMBOLS 10 Medicine assortment apparatus 10a Body part 10b Door 10c Door 11 Returned medicine tray setting part 12 Storage tray setting part 13 Returned medicine tray conveyance part 14 Storage tray conveyance part 20 Picking part (1st conveyance part, 2nd conveyance part)
20a suction unit 21a vertical support 21b belt 21c motor 22a horizontal support 22b belt 22c motor 23a horizontal support 25 bar code reader 30 first medicine check unit 31 bar code reader (drug information acquisition unit)
32 holding plate 33 roller 33a motor 35 standby stand 35a recessed portion 40 second medicine confirmation unit (discharge mechanism)
40a support unit 50 control unit (control unit, medicine due date information acquisition unit)
50a Monitor 51 Storage Unit 60 Prescription Information Acquisition Unit 100 Drug Dispensing System 101 Tray Supply Device 102 Plastic Bottle Dispensing Device 103 Returned Drug Assortment Device 104 Ampoule Vial Dispensing Device 105 Label Injection Paper Loading Device 106 Tray Storage Transfer Device 120 Picking Portion (1st Transport unit, second transport unit)
120a, 120b Adsorption section B1 Bar code B2 Bar code C1, C2 Camera D Drug D1 to D4 Drug N Handle S1 Returned medicine tray storage space S2 Picking space S3 Storage tray placement space S4 Returned medicine sorting space T1 Returned medicine tray T2 Storage tray T2a to T2e Storage tray T2z Recess T3 Payout tray

Claims (13)

A medicine conveying apparatus for rearranging medicine stored in a state of being sorted by type in a predetermined storage tray,
A medicine deadline information acquisition unit for acquiring information on the expiration date of the medicine stored in the storage tray;
A first transport unit that rearranges the medicines stored in the storage tray in the storage tray;
A control unit that controls the first transport unit such that the medicines are arranged in the order of shorter expiration dates from the removal side of the storage tray based on the information on the expiration dates acquired by the medicine expiration date information acquisition unit When,
Chemical transport device equipped with. The apparatus further comprises a storage tray transport unit for drawing out the storage tray along a substantially horizontal direction between a predetermined standby position and a transport position at which the medicine is taken out by the first transport unit.
The drug delivery device according to claim 1. The control unit controls the storage tray transport unit to adjust the amount of withdrawal of the storage tray according to the position of the medicine to be transported by the first transport unit in the storage tray.
The drug delivery device according to claim 2. The first transport unit is disposed at a position where it interferes with the storage tray in the vertical direction when the amount of withdrawal of the storage tray is equal to or more than a predetermined amount.
The drug delivery device according to claim 2 or 3. The first transport unit has an adsorption unit that adsorbs the medicine in the storage tray.
The drug delivery device according to any one of claims 1 to 4. The first transport unit includes a single suction unit.
The drug delivery device according to claim 5. The first transport unit includes a plurality of the suction units.
The drug delivery device according to claim 5. The control unit drives and controls the plurality of suction units independently.
The drug delivery device according to claim 7. It further comprises a storage unit in which information on the expiration date is stored,
The drug delivery device according to any one of claims 1 to 8. The drug delivery device according to any one of claims 1 to 9,
A medicine information acquisition unit for acquiring medicine type information;
A second transport unit that stores the medicines for each type in the storage tray based on the type information acquired by the medicine information acquisition unit;
The drug sorting device is equipped with. The control unit performs sorting of the medicine in the storage tray when sorting operation is not performed.
The medicine sorting apparatus according to claim 10. The drug delivery device according to any one of claims 1 to 9,
A prescription information acquisition unit for acquiring information on a prescription created for each patient;
A discharge mechanism for discharging the medicine from the storage tray to a predetermined delivery tray based on the prescription information acquired by the prescription information acquisition unit;
The drug dispensing device that is equipped with. The control unit performs sorting of the medicine in the storage tray when the dispensing operation is not performed.
The medicine dispensing apparatus according to claim 12.

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