KR101194189B1 - Automatic medication control system - Google Patents

Abstract

The present invention is provided with a plurality of storage shelves therein, the main body is provided with a door for the user to draw in and out, the drug inlet and outlet is installed on one side of the main body to draw or withdraw the drug into the interior of the body, The robot transport unit and the main body, the chemical extracting inlet and the robot transporting unit is installed inside the main body to receive the chemicals drawn in the chemical inlet and outlet into each storage space of the main body, or to draw out the medicines stored in the storage space; It relates to a drug storage and drug withdrawal automation management system comprising a control unit for controlling the operation of.
Accordingly, the main body can store and withdraw a plurality of drugs of the same size in various sizes, as well as prescribe a drug stored according to the prescription, strengthen drug management and drug security according to the characteristics of the drug, inventory of drugs The present invention relates to a drug storage and management device that allows for efficient management and drug management.

Description

Automatic drug control system for drug storage and withdrawal

The present invention relates to a management system for storing a plurality of drugs and automatically manages the withdrawal of the drug, it is possible to automatically withdraw a number of drugs in one body and to store the drug automatically according to the user's requirements The present invention relates to a drug storage and withdrawal automation management system for storing drugs in an optimal environment.

In general, when a large number of drugs are stored and managed, such as a hospital or a large pharmacy, the types of drugs administered to each patient are very diverse, and as the development of pharmacy, new new drugs appear every year, and the types of drugs to be dealt with gradually increase. Doing.

As a result, the management of drugs is becoming more complicated, and due to the large amount of data on drugs, it is difficult to properly manage them.In the case of pharmaceutical preparations, manual preparation takes a long time due to preparation and there is a risk of seriously harming the patient's health due to errors. As they occur, increasingly automated inventory management systems are being introduced.

However, the drug has a technical difficulty in transporting and loading the automated device because it does not have a uniform size, there is a problem in the inventory of the drug and recognize the drug in a limited space, gripping, transport is not easy.

Therefore, in consideration of the ease of inventory identification and withdrawal while reducing the manufacturing cost, a drug storage and drug withdrawal automation management system has been proposed.

The present invention has been made to solve the above-described problems, embodiments of the present invention has the purpose of storing the drug in one main body, and automatically draw or withdraw the drug into the interior of the main body.

In addition, the present invention has an object to measure the size when the drug is introduced into the body.

Furthermore, the present invention has an object to measure the shade of the drug formed by the light source in measuring the size of the drug.

In addition, an object of the present invention is to record the information of the drug to be drawn in and out of the body and to record the recorded label on the drug.

Furthermore, an object of the present invention is to ensure that the information of the drug is attached to the drug when the drug is introduced.

In addition, an object of the present invention is to accommodate the chemicals drawn into or taken out of the main body horizontally, vertically, and rotated so as to be accommodated in each storage space or taken out.

In addition, an object of the present invention is to be inserted directly into the storage space of the main body to transfer a plurality of drugs at a time.

Furthermore, an object of the present invention is to transport the drug so as not to fall to the set position.

It is also an object of the present invention to allow the drug to be held and rotatable in a limited space.

It is also an object of the present invention to store a pharmaceutical together with other drugs.

Furthermore, it is an object of the present invention to draw, prepare, package and take out pharmaceuticals stored with other medicines.

In addition, an object of the present invention is to allow the space containing the pharmaceutical preparation to be opened separately from the outside of the main body.

In addition, an object of the present invention is to allow the pharmaceutical preparation is accommodated, and the space to be prepared can be withdrawn to the outside of the main body.

In addition, an object of the present invention is to maintain the optimum temperature and humidity conditions in the space for storing the drug.

In addition, an object of the present invention is to store a large amount of drugs, to automatically enter and store all of the information.

In addition, an object of the present invention is to enable a retry if a large amount of drug information is not recognized.

In addition, an object of the present invention is to recognize and store the size information of the drug.

In addition, the present invention is to transport the drug while holding the suction plate.

In addition, the present invention is to recognize the information of the drug in various aspects.

In addition, the present invention is to enter the information of the drug, to record it and to manage the entry and exit of the drug accordingly.

In order to solve the above problems, the drug storage and drug take-out automation management system of the present invention is provided with a plurality of storage shelves in an embodiment, the main body is provided with a door for the user to draw in and out, one side of the main body A medicine inlet and outlet which is installed at the inside of the main body to draw or withdraw the medicine and the medicine which is installed at the inside of the main body and drawn in at the medicine outlet is stored in each storage space of the main body or in a storage space. And a controller for controlling the operation of the robot transporting unit and the main body, and the drug extracting and entering unit and the robot transporting unit.

The chemical withdrawal part is installed to connect the inside and the outside of the main body through an opening formed in one side of the main body is a chemical seating conveyor that the drug is seated on the upper surface, and when the drug is introduced or withdrawn to the drug seating conveyor A door member that moves up and down to open or close the opening of the main body, and a shadow recognition provided with a light source installed at a lower side of the chemical seating conveyor to recognize a shadow of the bottom of the medicine seated on the chemical seating conveyor. A sensor is installed on one side of the door member, and the door member is lifted and a height measuring sensor for measuring the height of the medicine seated on the chemical seating conveyor is included.

The chemical seating conveyor is characterized in that formed of a light transmitting material.

One side of the drug intake and extraction unit is characterized in that the information on the drug introduced into the main body to print the information on the label and a label attaching device for attaching the label to the drug is further installed.

The label attaching device is located inside the main body, and prints the label on the upper side of the drug, and a label printer for discharging the printed label, the label printed by the label printer is raised and lowered to attach to the drug Characterized in that consisting of a label attaching machine.

The robot conveying unit is vertical to each of the receiving spaces of the main body along the vertical axis, the main guide rails respectively installed on the ceiling surface and the bottom surface of the main body, the vertical guide rods inserted into the main guide rails and sliding left and right. It is characterized in that it comprises a robot arm rotatably installed in addition to the horizontal, moving up and down.

The robot arm is conveyed together in the front-rear direction (X axis). A gripper having a pair of side-by-side grippers whose width (Y-axis) of the inner side facing each other to grip the medicine is provided, and the gripper of the gripper is released before and after release of the gripper for further transportation of other medicines. It characterized in that it comprises a bottom conveying unit is provided with a conveyor belt for transporting the drug in the direction (X axis) and a rotating part installed below the bottom conveying unit to rotate the bottom conveying unit.

The holding part is placed in the front and rear direction rail inside the housing, coupled to the belt rotated in the front and rear direction by the drive motor is moved in the front and rear direction, the upper portion is provided with a pinion that is rotated by the operating motor and the pinion; The rack is coupled to the pinion so as to be opened to the left and right through the rotation of the pinion, characterized in that it comprises a bracket coupled to the vertical plate coupled to the gripper at the end of the rack.

A pair of the gripper is installed in parallel, characterized in that the inclined pad protrudes on the opposite inner surface on both sides of the gripper.

The front and rear ends of the upper surface of the robot arm is characterized in that the stopper plate is further provided to move up and down to prevent separation of the drug.

The front and rear ends of the upper surface of the robot arm is characterized in that the position sensor for detecting the drug is further provided.

The length of the robot arm is characterized in that it is formed to a length that can be rotated inside the main body when rotated by the rotating unit.

The main body is disposed in communication with the discharge passage so as to prepare a pharmaceutical, each of the drug discharge unit is installed with a plurality of tablet cassettes detachably installed by the robot transfer unit, and located in the lower side of the drug discharge unit discharged from the discharge passage The tablet cassette for receiving the drug and the medicines respectively contained in a separate distribution tray packaged with a wrapping paper, characterized in that the packaging further includes a printing machine for printing information of the drug on the wrapping paper and a sealer for sealing the wrapping paper; It is done.

The drug discharge part is formed in a door type in which one side is hinged to the main body so that the discharge passage is located on the front side of the main body, and the front of the main body on which the tablet cassette shelf is installed is openable from the outside. It is characterized by being able to.

The drug dispensing unit and the drug packing unit are provided with draw guide rails on both sides thereof and can be withdrawn from the main body, and the drug dispensing unit is provided with a rotating shaft connected to the driving unit so as to be rotatable in the extracted state.

The main body is characterized in that the refrigeration means and humidifying means for maintaining a constant temperature and humidity of the main body is provided.

The main body is introduced with a large amount of drugs, it is characterized in that it is further provided with a mass drug withdrawal entry to recognize the type of drug.

The mass drug withdrawal unit is to put the drug into the mass drug introduction body installed in communication with the main body, the drug passing through the inside of the mass drug introduction body from the outside to form a loop, and the mass drug introduction body The shadow recognition unit for generating the contour information by recognizing the contour of the drug passing through the inside, the transport robot arm for gripping and transporting the drug based on the contour information and the barcode of the drug to be transported to the drug information It comprises a bar code recognition unit to obtain.

The transfer unit includes an external conveyor belt unit for moving the medicine into the inside of the bulk drug inlet body through an injection gate formed on one side of the bulk drug inlet body at the drug inlet formed outside the body of the bulk drug inlet body, and the inlet gate. An inner conveyor belt including a horizontal conveyor belt and a horizontally installed transmissive conveyor belt which is positioned at the end of the inclined conveyor belt for transmitting the chemical passing through the chemicals and the inlet conveyor, and a return gate formed at one side of the mass chemical introduction body. It characterized in that the inclined block is formed in front of the conveyor belt so that the medicine passes back to the input unit.

When the contour information of the medicine obtained from the shadow recognition unit is unclear, the transport robot arm is characterized in that to move the position of the drug on the translucent conveyor belt so that the contour recognition of the drug is made.

The transfer robot arm is characterized in that the suction plate is provided at the bottom to suck the air gripping the upper surface of the drug.

The bar code recognition unit includes a first bar code reader for scanning the bottom surface of the drug horizontally rotated in the air gripped by the transfer robot arm, and a second, third bar code reader for scanning alone or simultaneously the upper needle side of the drug Characterized in that included.

The control unit includes an input unit for inputting the information of the medicine to be drawn in and out of the main body is recorded in the database, and includes a calculation unit for calculating the information input from the input unit and a transmission unit for transmitting a driving command to each part It features.

Chemical storage and drug take-out automated management system according to an embodiment of the present invention as described above to keep most drugs in one body, to automatically draw or withdraw the goods inside the body to minimize manual labor As a result, labor costs can be reduced.

In addition, since the present invention can measure the size of the drug introduced into the main body to calculate and transport the appropriate position to enter the drug to efficiently utilize the space in which the drug is stored can accommodate as many drugs in a narrow space as possible It works.

In addition, the present invention can measure the size of the drug by measuring the bottom of the drug and the height of the drug in measuring the size of the drug, so that the drug storage by selecting the storage space of the drug that can accommodate the height or bottom of the drug It can work.

In addition, the present invention has an effect that it is easy to manage the expiration date or use history of the drug by attaching a label in which the information of the drug is recorded on the drug drawn out to the main body.

In addition, the present invention is to move the robot arm vertically and horizontally in a narrow working space except the storage space in which the drug is stored, rotatable movement is also possible to move the robot arm free, there is an effect of easy to store or take out the drug. .

In addition, the present invention has the effect of being able to draw out the gripping portion can be drawn into the interior of the shelf containing the medicine to make a plurality of drugs at once or to take out the medicine contained in the inside of the shelf.

In addition, the present invention has the effect of preventing the drug is dropped to the outside of the robot arm when the drug is mounted on the robot arm is moved to the outside of the robot arm.

In addition, the present invention has the effect of easy storage and management of the drug because it can withdraw all the drugs in one body by storing the medicines prepared by prescription and other drugs together.

In addition, according to the present invention, as the pharmaceutical preparations stored in the main body are packaged inside the main body and taken out to the outside of the main body, the copper wire of the worker is limited to the main body, thereby effectively managing and removing the chemicals.

In addition, the present invention can be opened from the outside of the main body of the pharmaceutical cassette containing the tablet cassette containing the pharmaceutical agent has the effect of easy cleaning of the tablet cassette and the discharge passage containing the medicine.

In addition, the present invention is formed so that the drug discharge portion and the pharmaceutical packaging for dispensing the pharmaceutical preparation to the outside of the main body to manually clean or maintain the drug discharge portion and the pharmaceutical packaging portion remains a large amount of pharmaceutical dust due to the characteristics of the pharmaceutical preparation There is an easy effect.

In addition, the present invention has the effect of preventing the deterioration of the drug by maintaining the temperature and humidity conditions of the main body at the optimum conditions of drug storage.

In addition, the present invention is to put a large amount of drugs into the body to automatically enter the information of the drug, labor costs are saved, there is an effect that can prevent the occurrence of errors due to handwriting.

In addition, according to the present invention, as the inclined block for reinjecting the chemical through the outer conveyor belt and the inner conveyor and the return gate is formed, the manual information can be minimized by retrying when the chemical information is not input at once. It can be effective.

In addition, the present invention can move the position of the drug by moving the light-transmissive conveyor belt has an effect that can accurately grasp the contour information of the drug.

In addition, since the present invention can read the barcode of the drug in a number of ways with a plurality of barcode readers, the time to recognize the barcode of the drug is reduced and the accuracy is increased.

In addition, the present invention automatically inputs and records all the information by the controller, as well as manually input, so that only the administrator can control it, there is an effect that the security efficiency for poisons or special drugs is increased. .

1 is a schematic perspective view of a drug storage and drug take-out automated management system according to an embodiment of the present invention.
Figure 2 is a part of the main body of the drug storage and chemical import and export automated management system according to the present invention.
Figure 3a is a view showing that the drug is seated in the drug seat conveyor of the drug intake and extraction of the drug storage and automated chemical import and export management system according to the present invention.
Figure 3b is a view showing a shadow recognition process of the drug intake and extraction part of the drug storage and automated drug import and export management system according to the present invention.
Figure 3c is a view showing the bottom shadow of the drug recognized through the drug entry and exit of the drug storage and drug take-out automated management system according to the present invention.
Figure 3d is a view showing the measurement of the height of the drug while the drug entry and exit door member is lifted in the drug entry and exit of the drug storage and drug take-out automation management system according to the present invention.
Figure 4 is a view showing the labeling portion of the drug storage and chemical import and export automated management system according to the present invention.
5 is a view showing a mass drug withdrawal of the drug storage and drug take-out automated management system according to the present invention.
6 is a schematic front view of the present invention shown in FIG.
7 is a schematic side view of the present invention shown in FIG.
Figure 8 is an exploded perspective view showing the robot arm of the drug storage and chemical import and export automated management system according to an embodiment of the present invention.
9 is a schematic front cross-sectional view of the present invention shown in FIG.
10 is a schematic side cross-sectional view of the present invention shown in FIG. FIG. 11 is a schematic plan sectional view of the present invention shown in FIG.
FIG. 12A is a view illustrating shelf insertion of the robot arm shown in FIG. 8; FIG.
FIG. 12B is a view showing that the robot arm shown in FIG. 8 grips a medicine and rests on the robot arm; FIG.
Figure 12c is a view showing that the drug transported to the robot arm shown in Figure 8 is transferred to the other side.
Figure 12d is a view showing that a plurality of drugs are seated and transported to the robot arm shown in FIG.
Figure 12e is a view showing that the robot arm is rotated by the chemical seated on the robot arm shown in FIG.
Figure 13 is a view showing the drug packaging of the drug storage and withdrawal automatic management system of medicines according to the present invention.
14 is a schematic side cross-sectional view of the drug packaging shown in FIG.
15 is a view schematically showing a control unit of the drug storage and withdrawal automated management system of the medicine according to the present invention.

Hereinafter, with reference to the preferred embodiment of the accompanying drawings, the configuration and operation of the present inventors drug storage and take-out automated management system of the drug will be described in detail.

1 is a schematic perspective view of a drug storage and chemical import and export automated management system according to an embodiment of the present invention, Figure 2 is a view of the main body of the drug storage and chemical import and export automated management system according to the present invention.

As shown, the drug storage and chemical import and export automated management system 1 according to an embodiment of the present invention is formed to open the main body 10 and a side of the main body 10 having a plurality of storage spaces therein; The medicine inlet and outlet part 20 for introducing or withdrawing the medicine into the body 10 and the medicine drawn in the medicine outlet part 20 are stored in each storage space of the body 10 or stored in the storage space. The robot transfer unit 30 for taking out the medicine, and the control unit 60 for controlling the operation of the main body 10 and the drug take-out and opening 20 and the robot transfer unit 30.

In addition, it is preferable to further include a mass drug withdrawal unit 21 for classifying a large amount of drugs into the main body 10, and a drug packaging unit 40 for preparing and packaging the drug.

The main body 10 is a storage space in which drugs are stored, and a plurality of shelves are installed. As shown in FIG. 2, the shelf is divided into a front shelf 110 and a rear shelf 120 at the front and rear sides of the main body 10, respectively, and is disposed between the front shelf 110 and the rear shelf 120. Work spaces 130, which can be driven by the robot transfer unit 30 to be described later, are formed to store or take out drugs on each shelf.

In addition, one side of the main body 10 is provided with a main body door 11 so that an operator can directly enter the work space 130 inside the main body 10 to perform the work manually.

And, in the case of some special drugs, such as injection drugs among the drugs accommodated in the main body 10 is required for refrigeration lower than room temperature, refrigeration means for storing the drug in the main body 10 to store the special drugs (not shown) ) May be provided.

The refrigerating means is made of a conventional refrigerating and air-conditioning device which is operated by being supplied with power, or more preferably, is made of a thermoelectric element having a simple configuration and small power consumption and volume.

Thus, the drug required to be refrigerated, such as injection medicine can be stored in the main body 10, and the object of the storage drug is diversified. Further, although not shown, it is preferable to further install a normal temperature and humidity control means or the like to prevent the heat generated in the refrigerating means from affecting the stored chemicals in the main body 10.

3a is a view showing that the drug is seated in the drug storage conveyor of the drug extraction and entry of the drug storage and drug take-out automated management system according to the present invention, Figure 3b is a drug storage and drug take-out automated management system according to the present invention A diagram illustrating a shadow recognition process of a drug extraction entrance.

Figure 3c is a view showing the shade of the bottom of the drug recognized through the drug intake and out part of the drug storage and automated drug import and export management system according to the present invention, Figure 3d is a drug storage and chemical import and export automated management system according to the present invention It is a diagram showing that the height of the drug while the drug entry and exit door member is lifted from the drug entry and exit portion to measure the height.

As shown in FIGS. 3A to 3D, the drug inlet / out part 20 is located at one side of the main body 10 but is recessed inward to form a medicine installed below the medicine inlet 20a forming a predetermined space. And the chemical seat conveyor 201, and the chemical draw-in and out door member 203 to move up and down to open or close one side of the main body 10 when the chemical is introduced or withdrawn to the chemical seat conveyor 201 and , A shadow recognizer 205 installed on the lower side of the chemical seating conveyor 201 and photographing the bottom surface of the medicine seated on the chemical seating conveyor 201, and one side of the chemical draw-out door member 203. As the door member 203 is elevated, a height measurer (not shown) for measuring the height of the medicine seated on the chemical seating conveyor 201 is included.

As shown in FIG. 3A, the drug seating conveyor 201 recognizes a barcode of the medicine M on the front thereof, and inputs a type, an expiration date, etc. of the medicine to be introduced into the controller 40 to be described later. 201a) is installed.

The chemical seating conveyor 201 is a conveyor belt connecting the inner side of the main body 10 and the chemical inlet / outlet 20 as shown in FIG. 3B, and is driven by a plurality of drawer rollers 202 to be chemically placed conveyor. It is preferable to allow the medicine (M) seated on the 201 to be drawn into the inside of the main body (10).

Here, the upper side and the lower side of the chemical seating conveyor 201, which becomes the conveyor belt, the light source 206 and the lower side of the chemical seating conveyor 201, which illuminates the upper side of the medicine M seated on the medicine seating conveyor 201 as a vision system. Is installed in the shade recognizer 205 to recognize the shadow of the bottom of the drug is installed. At this time, the chemical seating conveyor 201 is made of a material that can transmit the light of the light source 206 is made of a mesh network, such as cloth, PVC, synthetic resin is configured to transmit the outline of the drug by the light to the bottom. Although not shown, the shadow recognizer 205 is provided with a hopper collecting light on the top to receive the light passing through the hopper to generate contour information.

Thus, when the light source 206 is operated on the back of the chemical seating conveyor 201, as shown in Figure 3c, the shadow recognizer 205 installed on the back of the drug seating conveyor 201 shadows the bottom of the drug (M) You can recognize the shadow of the drug through.

At this time, the specific configuration of the size and contour recognition of the drug by the shadow recognizer according to the contents described in the known European Patent Publication EP0298588 "Shadow detecting optical micrometer", European Patent Publication EP0338446 "optical convex surface profiling and gauging apparatus and method therefor". .

The contour information obtained by the shadow recognizer is configured to set the drug seating conveyor 201 as the coordinate plane in the control unit 60, and obtain information about the position of the drug at which position by obtaining the contour formed by the drug as a coordinate value, It contains information about the size calculated from the outline.

The contour information is transmitted to the control unit 60, and the control unit 60 controls the operation of the robot arm so that the robot arm, which will be described later, grips the center of the upper surface of the medicine to be transferred to the suction plate based on the contour information.

Then, the chemical draw-out door member 203 installed on one side of the chemical seating conveyor 201 made of a conveyor belt when the bottom surface of the medicine (M) is imaged through the shadow recognizer 205 in the above-mentioned chemical seating conveyor 201 As shown in FIG. 3D, the height of the medicine M is measured while elevating the chemical access door member 203.

In detail, the height measuring device of the medicine (M) is installed so that the light-emitting light source can be received as the medicine entrance and exit door member 203 is elevated to lead the drug (M) into the interior of the main body (10) As the chemical draw-out door member 203 is raised and lowered, the height of the medicine M may be measured. At this time, the drug (M) is preferably seated on the corner portion (0) where the chemical seating conveyor 201 and the chemical draw-out door member 203 meet so that the height measuring device for measuring the height can be operated.

This is because the edge part 0 becomes a reference point of the coordinate for calculating the width | variety of the chemical | medical agent M. FIG.

Accordingly, as shown in FIG. 3A, the user scans the barcode of the medication M in the barcode reader 201a to introduce the medication M into the body 10, and then opens the medication M. FIG. It is seated on the corner portion 0 between the chemical seating conveyor 201 and the chemical draw-out door member 203.

Thereafter, as shown in FIG. 3B, when the shadow recognizer 205 and the light source 206 are operated to illuminate the light source 206, the shadow recognizer 205 is chemically placed conveyor 201 as shown in FIG. 3C. Recognizing the shadow that is the bottom of the drug (M) through the back of the) and transmits to the control unit 60, the control unit 40 calculates the width of the bottom of the drug (M) through the shadow-recognized information.

Next, the chemical draw-out door member 203 is moved up and down to transmit the height of the drug (M) measured by the height measuring device to the control unit 60, the drug (M) is a drug seating conveyor 201 made of a conveyor belt It is drawn into the inside of the main body 10 through.

When the base area and the height of the drug (M) is measured through the above process, the controller 60 calculates the volume of the drug introduced through the bottom area information and the height information of the drug (M).

When the volume of the drug is calculated, the control unit 60 searches for the front shelf 110 or the rear shelf 120 that can accommodate the drug (M) and transfer the drug (M) in the robot transfer unit 30 to be described later To keep it.

On the other hand, when the drug (M) withdraws to the outside of the main body 10, if the drug (M) to be withdrawn through the reverse process as described above is seated on the drug seat conveyor 201 made of a conveyor belt 203 is opened and the take-out roller 202 is rotated in reverse to draw the medicine M. FIG.

Figure 4 is a view showing the labeling portion of the drug storage and chemical import and export automated management system according to the present invention.

On one side of the drug withdrawal access portion 20 is inputted to the control unit 40 and the changed information of the drug, and is also attached to the label attachment portion 50 for printing on the drug.

In detail, when the drug is introduced, it is enough to read the barcode of the new drug introduced from the drug inlet / out unit 20 and accommodate the inside of the main body 10, but it is a bulk drug that contains a large amount of the drug or narcotic. For drugs that require special care, such as drugs, it is necessary to record how much the drug is used and how much drug should be left when the drug is withdrawn and partially used and stored in the body 10. .

The labeling unit 50 is lowered to the upper side of the medicine (M) when the medicine (M) is introduced through the draw-out door 203 installed on one side of the chemical seating conveyor 201 (M) Label printer 51 is installed to discharge the label (L) printed with a bar code information, and the label labeling device made to move up and down to press and attach when the discharged label (L) is seated on the upper surface of the drug (M) ( 53).

Thus, when the administrator inputs the information of the medicine through the control unit 60, that is, the expiration date of the medicine or the remaining amount of the medicine, etc., the label attaching part 50 outputs the barcode label L in which the medicine information is input. Allow to attach to the drug.

Such labeling portion 50 of the drug can be used not only when the drug is introduced, but also when the drug is taken out to be transferred to the labeling portion 50 by the robot arm 310 as needed. .

Figure 5 is a view showing a mass drug withdrawal of the drug storage and drug take-out automated management system according to the present invention, Figure 6 is a view showing one side of the bulk drug withdrawal unit according to the present invention, Figure 7 It is a figure which shows the other side of the bulk medicines draw-out entrance which concerns on this invention.

As shown, when a large amount of medicine (M) is accommodated in the main body 10, when using the drug withdrawal unit 20 as described above takes a long time to classify drugs, so separate mass drug withdrawal It is preferable that 21 is further provided.

Mass drug withdrawal unit 21 is similar to the drug withdrawal unit 20, the drug transport unit 210 for transporting the drug, transfer robot arm 220, shadow recognition unit 230, barcode recognition unit ( 240 and outlet 250 are included.

Mass drug withdrawal unit 21 is installed inside the mass drug introduction body 22 installed in communication with the main body 10 on one side of the main body 10, the mass drug introduction body 22 is the drug is injected from the outside The chemical inlet 23, an inlet gate 24 through which the injected chemicals are introduced into the bulk medicine inlet body 22, and a blowout outlet 25 through which the injected chemicals are returned to the outside is provided.

The drug transport unit 210 moves the medicines loaded in the medicine input unit 23 provided on one side of the mass drug introduction body 22 in small amounts into the main body, and the shadow recognition unit 230 is a mass drug introduction body ( 22) The location of the drug transported into the drug generation unit 210 as the contour information is generated, the transfer robot arm 220 is gripped and transported to the drug by the controller receiving the contour information. In addition, the barcode recognition unit 240 obtains the drug information through the barcode attached to the drug during the process of moving the drug by the transfer robot arm 220, and receives the drug information to the controller. Since the drug information obtained up to the drug information is moved to the outlet 250 by the transfer robot arm 220, the drug placed in the outlet 250 is then transported and stored in a predetermined shelf of the main body (10).

The drug information is information such as the name of the drug, the date of manufacture, the management grade of the drug, etc., and is used for inventory management based on the acquired drug information. Successful drug acquisition in the present invention is regarded as successful drug classification.

The drug delivery unit 210 is operated according to the transfer instruction of the control unit, the drug loaded into the drug injection unit 23 through the inlet gate 24 formed on the rear side of the bulk drug introduction body 22, the mass drug introduction body ( 22) 차례로 is transferred inward, and generates the contour signal by passing through the shadow recognition unit 230 during the transport of the drug. In addition, when the shadow recognition unit 230 fails to obtain the contour information of the drug is discharged to the return gate 26 formed in one side of the front side of the large amount of drug retracting body 22 is transported to the drug injection unit 23 again. The drug thus transported again attempts to recognize the contour information of the medicine through the entrance gate 24 by the medicine transport unit 210 again by the shadow recognition unit 230.

In this way, the drug is looped by the drug transfer unit 210 (loop), so if the contour recognition of any one of the drugs fails to move the robot robot 220 to hold the drug does not stop the operation of the entire device In addition, it is possible to obtain the contour information of the remaining drugs and classify drugs. Therefore, even if the user does not intervene, the classification operation for the drug that can obtain the contour information is made without stopping, and the drug is placed in a specific situation and fails to obtain the contour information, the contour of the medicine again in the shadow recognition unit 230 in a loop transfer Attempt to obtain information to classify drugs.

Referring to Figure 5, the drug delivery unit 210, the outer conveyor belt portion 211 provided on the outer side of the mass drug introduction body 22, and the inner conveyor belt portion located inside the mass drug introduction body 22. 213 and the inclined block 215 for moving the medicine failed to obtain the contour information back to the medicine input unit 23.

The outer conveyor belt portion 211 forms the bottom surface of the chemical input portion 23 and the first conveyor belt 211a for moving the loaded chemicals to the rear of one side of the bulk chemical introduction body 22 and the first conveyor belt. It is installed at a lower position than 211b, and operates in a vertical direction with the first conveyor belt 211a to inject the chemicals transferred from the first conveyor belt 211a to the inlet gate 24 formed at one rear of the main body. It comprises a second conveyor belt 211b.

The first and second conveyor belts have a known configuration that is operated by a motor, and the first conveyor belt and the second conveyor belt are configured so that a large amount of chemicals are not introduced into the entrance gate based on the quantity of chemicals loaded. It is controlled by the controller 60 to operate intermittently.

On the other hand, the inner conveyor belt 213 is the inclined conveyor belt 213a for moving the drug passing through the inlet gate 24 to the front of the inside of the mass drug inlet body 22, and the end of the inclined conveyor belt 213a. And a horizontal translucent conveyor belt 214 positioned and transmitting light.

One end of the inclined conveyor belt 213a is positioned lower than the inlet gate 24 so that a small amount of chemical falling from the inlet gate 24 is scattered by the drop impact. A plurality of horizontal inclined jaw 213b is formed on the inclined conveyor belt 213a at intervals, so that the medicines are caught on the horizontal inclined jaw 213b and transferred one by one.

On the other hand, the translucent conveyor belt 214 is located in front of the mass drug introduction body 22, and moves the medicine away from the other end of the inclined conveyor belt (213a) to the front. The translucent conveyor belt 214 is made of a material that can pass light, and constitutes a part of the shadow recognition unit. That is, the contour robot recognizes the contour information of the medicine placed on the translucent conveyor belt 214 by the transfer robot arm 220 to grip the transfer.

On the other hand, the inclined block 215 is provided in front of the light-transmissive conveyor belt 214, so that the medicine passes through the return gate 26 and the medicine back to the chemical injection unit 23 when it fails to obtain the contour information of the medicine. The inclined surface 216 of the inclined block 215 is formed to face the return gate 26 so that the chemical is moved to the side by riding the inclined surface discharged to the return gate 26 by the operation of the translucent conveyor belt 214.

In addition, the light-transmissive conveyor belt 214 is installed higher than the first conveyor belt 211a, the bottom of the return gate 26 is formed to be inclined so that the chemicals moved to the return gate by the inclined block 215, the first conveyor It is configured to fall naturally on the belt.

Here, the medicine that failed to obtain the contour information is returned to the first conveyor belt (211a) through the first, second conveyor belts (211a, 211b), the inclined conveyor belt (213a), the translucent conveyor belt (214), the drug transfer unit Circulated by 210.

Referring to Figure 6, it describes a transfer robot arm 220 for gripping the drug.

The transfer robot arm 220 is a horizontal member 222 and a horizontal member 222 slidably coupled to guide rails 221 installed along the front and rear longitudinal directions on both sides of the mass chemical introduction body 22. A vertical axis 223 slidable along the longitudinal direction of the horizontal member on the horizontal member and movably coupled in the vertical direction at the same time, and an adsorption plate 224 rotatably coupled to the lower portion of the vertical axis 223 and holding the medicine. It is made to include.

That is, the horizontal member 222 is movable on the X axis along the guide rail 221, the vertical axis 223 is movable on the Y axis along the horizontal member 222 and is moved on the arranging Z axis (up and down direction) The suction plate 224 is rotatable with the Z axis as the rotation axis.

In addition, the suction plate 224 is an air nozzle is used as a gripping means for lifting the drug. The gripping means can then be dedicated to other known gripping means such as grippers having a mechanical mechanism. However, in order to expose as much as possible the barcode printed on one side of the drug or attached in the form of a sticker, it is preferable to use a suction plate that can hold the drug on one side.

The algorithm of the transfer robot arm and the control unit for controlling the transfer robot arm having such a configuration is configured through the configuration of a known four-axis robot and its control method.

6 to 7, other configurations such as a shadow recognition unit and a barcode recognition unit will be described.

First, the shadow recognition unit 230 is a translucent conveyor belt 214 formed of a material that transmits light, such as a chemical seating conveyor 201 of the drug taking-out portion 20 is installed on the upper side, the mass drug introduction body 22 It includes a light source (not shown) installed on the ceiling and a shade recognizer 231 installed on the lower portion of the translucent conveyor belt 214 to recognize the outline of the drug formed by the light emitted from the light source.

On the other hand, the shadow recognizer 231 is located in the lower portion of the translucent conveyor belt 214 is coupled to the lower portion of the hopper 233 for collecting light to receive the light passing through the hopper to generate the contour information to the controller 60 Send it.

The contour information obtained by the shadow recognition unit 230 sets the light-transmissive conveyor belt 214 as the coordinate plane, obtains the contour formed by the chemical as a coordinate value, and information about the position where the chemical is located, and the contour. It includes information about the size calculated from.

The contour information is transmitted to the control unit, and the control unit controls the operation of the transport robot arm so that the transport robot arm grips and transports the center of the upper surface of the medicine to the suction plate based on the contour information.

On the other hand, the barcode recognition unit 240 recognizes the barcode of the drug to be transported by the robot arm to obtain the drug information.

Bar code recognition unit 240 is configured to include a bar code reader having at least one known configuration, preferably the bottom, side, top surface of the drug (M) lifted in the air by the transfer robot arm 220 It is preferable that three barcode readers 241, 242, 243 are provided to scan the at one time.

That is, the barcode reader includes a first barcode reader 241 for scanning the bottom surface of the medicine lifted by the robot arm, and second and third barcode readers 242 and 243 for scanning the side and top surfaces of the medicine alone or simultaneously.

In this case, the third bar code reader is inclined side by side with the second bar code reader to have a bar code recognition direction obliquely.

The first to third bar code readers 241, 242, and 243 have scannable angle ranges, and scan spaces 244 in which barcodes attached to any one of each side of the drug can be quickly recognized by the first to third bar code readers. ) Is formed in a three-dimensional space, and the transport robot arm 220 is operated so that the drug held within the range of the scan space (244).

This scans the barcode formed on any one of three sides of the drug (M), that is, the bottom, one side, and the top surface at a time, and if the barcode is not recognized on the three sides by rotating the adsorption plate 224 On the other side, you will scan the barcode.

On the other hand, when the barcode is formed on the upper surface of the drug, the suction plate is not able to recognize the barcode even by the rotation of the tool portion by covering the barcode. In this case, the medicine is placed on the light transmitting table formed on the first bar code reader 241 and the mobile robot arm 220 is moved for a while, so that the second bar code reader 242 scans the bar code formed on the top of the drug.

The drug information thus obtained is stored in the control unit and transmitted to the robot arm 310 of the main body 10, and the drug is transported by the robot arm 310 of the main body 10 through the transfer robot arm 220. It is moved to the outlet 250.

At this time, a discharge conveyor belt 251 for transporting the drug to the outside of the main body is provided in the lower portion of the discharge port 250, the robot of the robot arm 2 to take the chemicals of the main body of the robot to take the chemicals Transfer the medicine to the outside.

On the other hand, when the barcode recognition unit 240 fails to acquire the drug information, the drug outlet may be further included 25 is discharged to the outside of the main body.

In other words, if the acquisition of the drug information fails, such as when the barcode of the drug is lost or damaged, these drugs are taken out to obtain the drug information for the next drug.

To this end, an export passage 25a connected to the outlet 25 is formed between the first barcode reader 241 and the discharge port 250, and the robot arm 2 carries the drug for which the barcode is not recognized. Dropped from above is configured to discharge the medicine to the outlet 25.

This has the effect that the device does not stop by the drug is not recognized by the bar code, the classification operation for the next drug can be continued.

Figure 8 is an exploded perspective view showing the robot arm of the drug storage and chemical import and export automated management system according to an embodiment of the present invention.

9 is a schematic front cross-sectional view of the present invention shown in FIG. 10 is a schematic side cross-sectional view of the present invention shown in FIG. FIG. 11 is a schematic plan sectional view of the present invention shown in FIG. 12 is a schematic illustration of the operation of the robotic arm used in the present invention shown in FIG.

As shown, the robot transfer unit 30 is coupled to the longitudinal axis 303 which slides left and right on the main guide rail 301 formed on the ceiling surface and the bottom surface of the main body 10, the vertical axis 30 And consists of a robot arm 310 which slides up and down and rotates. The robot arm 310 is transported in the vertical or horizontal direction by the main guide rail 301 and the vertical axis 303, and the chemicals drawn in the chemical inlet / outlet part 20 are the front shelf 110 or the rear shelf 120. ) To be transported and stored or withdrawn from the front shelf 110 or rear shelf 120.

Here, the robot arm 310 is held together in the front-rear direction (X axis), the holding part including a pair of side-by-side gripper 321 is adjusted to the width (Y axis) of the inner surface facing each other to hold the drug ( 320 and a conveyor belt 341 which transfers the medicine in the front and rear direction (X axis) after the gripper 321 is released for further transportation of the medicine and other medicines that are gripped and transported by the gripper 321. The bottom conveying part 340 and a rotating part 350 for rotating (Z-axis) the housing 311 on which the grip part 320 and the bottom conveying part 340 are seated.

The gripping part 320 holds a drug placed on a shelf, a chemical inlet, etc., and then puts it on the conveyor belt 341, or holds a drug on the conveyor belt 341, and then puts it on a shelf, an outlet, etc. do.

The bottom transfer unit 340 transfers the chemicals raised by the gripper 320 to the rear or front through the conveyor belt 341 so that the gripper 320 can move other drugs onto the robot arm 310. It plays a role.

The rotating part 350 allows the gripping part 320 and the bottom conveying part 340 to be rotated by the rotation shaft 351 so that the chemicals held by the gripping part 320 do not pass through the bottom conveying part 340. It can be moved by the rotation of 310 to release the gripping.

Thus, since a plurality of drugs can be sequentially loaded in the front and rear length direction of the conveyor belt 341, it has the advantage of transporting a plurality of drugs at the same time.

In other words, in drawing out a plurality of chemicals scattered around the shelves, the robot arm can carry and transport a plurality of chemicals in sequence so that the robot arm collects and loads the chemicals by moving each shelf where the chemicals are stored to the shortest distance. It is moved to the drug withdrawal unit 20 it is possible to discharge the loaded drug at once. Therefore, the section in which the robot arm moves is shortened the moving section of the robot arm when performing a task of storing or discharging a large amount of chemicals, thereby reducing the amount of operation of the robot and delaying aging of the equipment.

In addition, the number of chemicals that can be processed per unit time is much higher than that of a conventional robot that repeatedly moves the drug inlet / out unit 20 and the shelf and discharges medicines one at a time. That is, because a plurality of drugs can be stored or withdrawn at a time, the time required for transportation of a large amount of drugs is reduced. Therefore, the automatic drug management system can be enlarged.

The gripper 320 includes a transfer table 322 and a bracket 13 for moving the gripper 321 in the front-back direction (X direction) or in the left-right direction (Y direction) to adjust the gap between the grippers 321. Included.

Referring to FIG. 8, the housing 311 forming the outer shape of the robot arm 310 is formed to have a length smaller than the width between the front shelf 110 and the rear shelf 120 so that the housing 311 is connected to the rotating unit 350. Is formed so as to be rotatable, and the bottom rail 312 is formed in the front and rear directions on both sides of the bottom of the housing 311.

The lower guider 323 is provided on both sides of the bottom surface of the transfer table 322 so as to correspond to the bottom rail 312 so that the transfer table 322 is movable along the bottom rail 312 in a forward and backward direction. In addition, the belt 324 is fixed to the front and rear ends of the transfer table 322, the belt 324 is a pulley 325 provided at the front and rear ends of the housing 311 and either pulley 325 The rotation is controlled by the drive motor 326 for rotating the.

Accordingly, the transfer table 322 connected to the belt 324 driven by the drive motor 326 may be transported in the front-rear direction. Here, the gripper 321 coupled with the transfer table 322 is transferred along with the transfer table 322 through the bracket 330 as the transfer table 322 moves in the front-back direction as described above.

In addition, the upper surface of the transfer table 322 is provided with a pinion 328, the rotation is controlled by the operating motor 327 provided on the lower portion of the transfer table 322. In addition, the front rail and the rear surface of the upper portion of the transfer table 322 may be further provided with a side rail (329) which is slidably coupled to the side guider described later.

As shown in FIGS. 10 to 11, a pair of brackets 330 are provided on the left and right sides of the housing 311 so as to be spaced apart or close to each other by the rotation of the pinion 329 (Y direction). The upper portion is coupled to each gripper 321.

Specifically, when viewed from the front, the brackets coupled to the left side (hereinafter referred to as the left brackets) will be described. The left bracket includes a vertical plate 331 and a vertical plate (parallel to be positioned in parallel with the side of the housing 311). The rack 333 coupled to the front of the pinion 328 is coupled to protrude into the housing 311 from the bottom of the 331 is coupled. In addition, the vertical plate 331 is provided with a side guider 335 coupled to the rack 333 side by side to the side rails 329 slidably coupled to the side rails 329 for smoother left and right movement. . In addition, the upper gripper 321 is coupled to the upper portion of the vertical plate 331.

In addition, the right bracket 330 coupled to the opposite side of the left bracket is also provided with a vertical plate 331, the rack 333 and the side guider 335, the rack 333 is coupled to the rear of the pinion 328. In addition, the side guider 335 is slidably coupled to the side rails formed at the rear of the transfer table 322, the gripper 321 of the right side is coupled to the upper portion of the vertical plate (331).

Thus, by the rotation of the pinion 328, the brackets 330 are moved away from each other or close to each other in the left and right directions (Y direction), so that the grippers 321 are moved away from each other or close to each other, the drug through the gripper 321 You can grasp the.

The gripper 321 may have a length equal to the length of the front and back of the housing 311 and may be formed in parallel, and the inclined pad 321a may protrude from the end portions of the inner surfaces facing each other. The pad 321a may be made of an elastic material, such as rubber or silicone, to prevent the gripped drug from slipping.

As the pad is protruded from the inner side as described above, it is possible to selectively grip only the drug located in the front or the rear of the plurality of drugs of the same size located on the conveyor belt.

On the other hand, the bottom transfer portion 340 is coupled to the inside of the lid 313, the incision groove 314 is formed in the front and rear direction on the upper surface. The bottom transfer part 340 is a pulley 343 provided in the front and rear inside the lid, a belt motor 345 for rotating the pulley 343 and a conveyor belt 341 wound around the pulley and moved in the front and rear directions. Is done. At this time, the conveyor belt 341 is coupled to the height of the cutting groove 314 of the lid 313, to form a bottom on which the drug is raised.

In addition, the front and rear ends of the upper surface of the robot arm 310 may be further provided with a stopper plate 316 for lifting in order to prevent the separation of the drug.

The stopper plate 316 is coupled to the slits 315 respectively formed at the front and rear ends of the lid 313, and the upper portion of the slit 315 is rotated by the rotation of the motor 317 provided in the lid 313. Or ascend into the slit 315.

The stopper plate 316 rises during the movement of the robot arm 310 to prevent the chemicals deposited on the conveyor belt 341 from falling. In addition, when the drug is moved backward by the operation of the bottom transfer unit 340, the stopper plate 316 provided at the rear end is raised so that the drug does not fall to the rear.

When the robot arm 310 is moved to the stopper plate 316 or the bottom transfer part 340 is operated, chemicals do not fall off the robot arm 310 and fall outwards to be safely transported.

The front and rear ends of the upper surface of the robot arm 310 may be further provided with a position sensor 318 for recognizing the position of the drug.

The position sensor 318 is provided at the front and rear ends of the upper surface of the robot arm 310, respectively. At this time, the position sensor 318 is a sensor using a known infrared ray is configured to detect the drug passing through the front and rear ends of the robot arm 100 to calculate the distance that the drug should be moved when the drug is withdrawn It is a reference point.

That is, in order to stably place the drug on the shelf from the size of the drug and the length of the shelf input in advance, the control device (not shown) is designed to move the drug forward or backward from the position sensor 318, the position is specified according to the design. Calculate the length of the drug to be moved. After holding the drug through the gripper 321, the gripper 321 is moved forward and backward by the length of the drug, and then the drug M is placed on the shelf by releasing the grip of the gripper 321.

Thus, the position sensor 318 is a reference point for counting the movement length of the above-described drug. That is, since the drug transported by the gripper 321 in the position sensor 318 passes through the end of the robot arm 310, the gripper 321 is moved forward and backward by the moving length of the drug, thereby stabilizing the drug on the shelf. You can put it on.

Hereinafter, with reference to the accompanying Figures 12a to 12e, the operation of the robot transfer unit of the automatic drug management system according to an embodiment of the present invention.

Explain the process of withdrawing multiple drugs on the shelf.

First, the robot arm 310 is transported along the main guide rail 301 and the vertical axis 303 to the object shelf in which the medicine M is located. The height of the robot arm 310 is positioned lower than the target shelf so that the robot arm 310 is not caught by the front end of the robot arm 310 when the medicine is horizontally moved.

The operation motor 327 is operated such that the gripper 321 is widened in the left-right direction (Y direction) wider than the width of the medicine M based on the size information of the medicine M previously input. Thereafter, the driving motor 326 is operated to move the gripper 321 in the front-rear direction (X direction) as shown in FIG. 12A so that the pads 321a are positioned at both sides of the chemicals.

Thereafter, as shown in FIG. 12B, the operating motor 327 is rotated in the opposite direction to grip the medicine M with the gripper 321, and then rotate the driving motor 326 in the opposite direction to move the medicine to the conveyor belt. Placed on 341, the gripper 321 is opened to release the grip.

Then, by driving the belt motor 345 as shown in Figure 12c, by operating the conveyor belt 341, by moving the drug (M) to the center of the bottom transfer portion 340, the next drug is to be loaded Free up space.

Next, the robot arm 310 is moved to another shelf, and repeats the above-described process to load a plurality of drugs (M) on the conveyor belt 341 as shown in Figure 12d.

Here, the robot arm 310 may rotate to move to another shelf in the process of moving to another shelf, as shown in Figure 12e.

On the other hand, in order to discharge the chemicals loaded on the robot arm 310, the robot arm 310 is transported higher than the chemical seating conveyor 301, the left and right (Y direction) movement and the front and rear direction (X direction) of the gripper 321 ) In combination with movement to discharge the chemicals to the chemical seating conveyor (301) in turn.

At this time, the movement of the gripper by the drive motor, the operation motor, the belt motor and the movement distance of the conveyor belt are calculated by the controller based on the size of the automatic chemical management system and the information of the previously input chemical size. In this case, the drug slipping may occur on the conveyor belt, so that the drug can be controlled to move the front and rear direction (X direction) of the gripper for carrying and unloading the drug from the starting point of the drug being detected by the position sensor.

On the other hand, in the case of transporting a large number of chemicals of different chemical sizes, the chemicals are loaded into the robot arm in order from the smallest chemicals to the largest chemical sizes so that sequential gripping is possible through a gripper having a parallel straight inner surface. Be sure to

In addition, in the case of extracting a plurality of chemicals stored in the front shelf and the rear shelf, as well as the gripping portion as described above and the rotational direction of the conveyor belt provided in the bottom conveying portion by varying the rotational direction of the plurality of chemicals It can be placed on the bed and transferred at once.

FIG. 13 is a view illustrating a medicine packaging unit of a drug storage and automatic import / export management system according to the present invention, and FIG. 14 is a schematic side cross-sectional view of the medicine packaging unit illustrated in FIG. 13.

Referring to the drawings, the drug packaging part 40 is dispensed so that the pharmaceutical drug discharge portion 41 and the drug discharged to be located at the lower side of the drug discharge portion 41, each of which dispensing the pharmaceutical preparation required Dispensing tray 414, the drug discharge unit 41 and the distribution tray 414 to pack the medicine, a printing machine 45 for printing the type of medicine on the wrapping paper and a sealing device 46 for sealing the wrapping paper is included. Is done.

Here, the drug discharge unit 41 transfers the medicine transferred through the discharge passage 413 from the tablet cassette 412 mounted on the tablet cassette shelf 42 and the medicine added to the distribution tray 414 to the hopper ( 44, the drug collected in the hopper 44 is packaged in a wrapping paper printed by the printing unit 45, but the tablet drug is wrapped in a sealing unit 46 for sealing the wrapping paper to the outside of the main body 10 It is configured to be discharged to.

The drug discharge unit 41 includes a tablet cassette shelf 42 installed inside the main body 10, and the tablet cassette shelf 42 is located at the front shelf 110 side of the main body 10.

A hinge member 431 is provided at one side of the tablet cassette shelf 42 in contact with the outer surface of the main body 10 to rotate the tablet cassette shelf 42 at the front of the main body 10 so that the main body 10 is opened. It is preferable that 43 is formed.

Thus, the administrator can manually clean the tablet cassette shelf 42 and the discharge passage 413 by opening the door 43.

In addition, as shown in FIG. 14 as another embodiment, the drug packaging portion 40 is provided on both sides and the upper and lower surfaces, respectively, the guide rail 418 is provided with a main body so that it can be separated from the main body 10 It is preferable that it can be taken out in front of (10).

At this time, the lower side of the drug discharge unit 41 is provided with a rotating shaft 417 to be rotated by a driving unit (not shown) to rotate the drug discharge unit 41 for the convenience of the administrator, the dust is the powder of the tablet Not only can the existing purification cassette 412 or the discharge passage 413 be cleaned, but also the foreign matter present in the distribution tray 414, the printer 45, and the sealer 46 can be cleaned.

The tablet cassette shelf 42 is provided with a cassette holder 411 to accommodate the tablet cassette 412. The cassette supporter 411 supports the tablet cassette 412 mounted on the upper surface, and rotates a rotating body (not shown) provided inside the tablet cassette 412 through a built-in motor to form the inside of the tablet cassette 412. Discharge one tablet at a time.

The tablet cassette 412 may be detachably mounted to the cassette holder 411 by the robot arm 310 of the robot transfer unit 30.

The tablet cassette 412 is all installed to communicate with the discharge passage 413 and the discharge passage 413 is installed to communicate with the tablet cassette 412, the tablet discharged from the tablet cassette 412 is discharge passage 413 Through the hopper 44 can be packed together.

Here, the discharge passage 413 is located on the front side of the main body 10 is preferably installed in communication with each tablet cassette 412.

The distribution tray 414 may be further provided to protrude toward the front side of the main body 10 and further include a tray cover 414a so that the upper surface thereof can be opened and closed manually. The distribution tray 414 allows to separately store and receive the medicine manually prepared by the pharmacist on the upper surface, and the tray cover 414a serves to prevent foreign substances from flowing into the distribution tray 414.

Accordingly, when the administrator inputs the tablet medicine data through the control unit 60, the tablet medicines contained in each tablet cassette 412 accommodated in the tablet cassette 412 are transferred to the hopper 44 through the discharge passage 413. Stacked on each wrapper and sealed with a seal 64.

Here, the packaging paper can directly print the information of the medicine, that is, the name of the patient, the type of medicine and the taking method, etc. by the printing unit 45, the label is attached to the labeling unit 50 by the robot arm 310 May be

In addition, the discharge of the tablet drug is discharged to the outside of the main body 10 directly from the sealing portion 64, or is transported by the robot arm 310 is discharged to the outside of the main body 10 through the drug extracting portion 20 It may be.

15 is a view schematically showing a control unit of a drug storage and withdrawal automated management system of medicine according to the present invention.

Referring to the drawings, the control unit 60, as the input unit 61, may enter information about the medicine directly stored by the administrator through a touch display provided on the outer surface of the main body 10, barcodes installed on each part It can also be entered automatically through the recognizer.

And, the information recorded in the control unit 60 through the input unit 61 is necessary by the calculation unit (not shown), such as calculating the contour information of the medicine through the bottom and height of the medicine recognized by the shadow recognizer, for example. The information is calculated, and the driving command is transmitted to each part through the transmission unit 63 to perform each command.

In addition, although not shown in the control unit 60, the security means is provided so that only the authorized administrator can operate.

Such drug storage and drug withdrawal automatic management system inputs the information of the drug into the main body 10, can be stored in the appropriate position according to the input information, and automatically withdraw the necessary drugs as well as preparation Tablets that should be also have the advantage that can be packaged and withdrawn.

In addition, since the data for each drug stored in the main body 10 is input, there is an advantage that can automatically manage all of the expiration date, storage conditions, etc. of the drug comprehensively.

M: Drug L: Label
0: Corner part 1: Chemical storage management system
10: main body 11: main door
110: front shelf 120: rear shelf 130: working space
20: chemicals entry and exit 20a: chemicals entrance
201: chemical loading conveyor 201a: barcode reader
203: Draw-out door 205: Shadow recognizer 206: Light source
21: mass drug withdrawal entry 22: bulk drug withdrawal
23: chemical injection port 24: chemical injection gate
25: Inlet 25a: Outgoing passage
26: return gate
210: drug delivery unit
211: outer conveyor belt portion 213: inner conveyor belt portion
214: light transmitting conveyor belt 215: inclined block
220: transfer robot arm
221: guide rail 222: horizontal member
223: vertical axis 224: suction plate
230: shadow recognition unit
231: shadow recognizer 233: hopper
240: barcode recognition unit
241.242,243: 1st, 2nd, 3rd bar code recognizer 244: Scan space
250: outlet 251: exhaust conveyor belt
30: robot transfer unit
301: main guide rail 303: vertical axis
310: robot arm
311 housing 312 bottom rail 313 lid
314: cutting groove 316: stopper plate 317: motor
318: position sensor
320: holding part
321: gripper 322: feeder 323: lower guider
324: Belt 325: Pulley 326: Drive motor
327 operation motor 328 pinion 329 side rail
330: Bracket
331: vertical plate 333: rack 335: side guider
340: bottom transfer unit
341 Conveyor Belt 343 Pulley 345 Belt Motor
350: rotating part
351: rotary shaft 353: rotary drive motor
40: medicine packaging part
41: drug outlet 42: tablet cassette shelf 43: door
44 Hopper 45 Printing Part 46 Sealing Part
411: cassette holder 412: tablet cassette 413: discharge passage
414: distribution tray 414a: cover 415: drug delivery unit
50: labeling unit 51: label printer 53: labeling machine
60 control unit 61 input unit 63 transmission unit

Claims (23)

A main body having a plurality of storage shelves therein;
A chemical withdrawal unit installed at one side of the main body to draw or withdraw chemicals into the main body;
Robot transporting unit for storing the chemicals drawn in the chemical withdrawal unit into each storage space inside the main body, or withdraw the chemicals stored in the storage space;
It includes a control unit for controlling the operation of the main body, the drug extracting and entering and the robot transfer unit,
The robot transfer unit main guide rails respectively installed on the ceiling surface and the bottom surface of the main body,
A longitudinal stem inserted into the main guide rail and sliding left and right;
Chemical storage and chemical import and export automation management system comprising a robot arm installed to move and rotate along the vertical axis.
The method of claim 1,
The drug withdrawal entry and exit portion is installed to connect the inside and the outside of the main body through the opening formed on one side of the main body is a chemical seating conveyor that the drug is seated on the upper surface;
A door member which moves up and down to open or close the opening of the main body when the chemical is introduced into or withdrawn from the chemical seating conveyor; and
A shadow recognition sensor installed at a lower side of the chemical seating conveyor and provided with a light source to recognize a shadow of the bottom surface of the medicine seated on the chemical seating conveyor; And
And a height measuring sensor installed at one side of the door member to lift and raise the door member and to measure the height of the chemical seated on the chemical seating conveyor.
The method of claim 2,
The drug storage conveyor is a chemical storage and chemical import and export automation management system, characterized in that formed of a light transmitting material.
The method of claim 1,
One side of the drug withdrawal entry and exit management system for drug storage and drug withdrawal, characterized in that the information on the drug that is introduced into the main body to print the information on the label and a label attaching machine for attaching the label to the drug further installed .
The method of claim 4, wherein
The label attaching device is located inside the main body, and prints the label on the upper side of the drug, and a label printer for discharging the printed label, the label printed by the label printer is raised and lowered to attach to the drug Drug storage and chemical import and export automation management system, characterized in that consisting of a label adhering.
delete The method of claim 1,
The robot arm is conveyed together in the front-rear direction (X axis). A gripper having a pair of side-by-side grippers having a width (Y-axis) of the inner side facing the drug to be gripped; and,
A bottom conveyer having a conveyor belt for transporting the medicine in the front and rear direction (X axis) after the gripper is released from the gripper for further transportation of the medicine held by the gripper; And
Is installed on the lower side of the bottom transfer portion rotating portion for rotating the bottom transfer; drug storage and drug take-out automated management system comprising a.
8. The method of claim 7,
The holding part is placed in the front and rear direction rail inside the housing, coupled to the belt is rotated in the front and rear direction by the drive motor is moved in the front and rear direction, the upper portion is provided with a pinion is rotated by the operating motor; ,
The rack is coupled to the pinion so as to be opened to the left, right through the rotation of the pinion, and the bracket is coupled to the vertical plate is coupled to the gripper at the end of the rack; drug storage and drug take-out automated management system.
The method of claim 8,
A pair of the gripper is installed in parallel, both sides of the gripper, drug storage and drug take-out automated management system, characterized in that the inclined pad protrudes on the inner side facing each other.
8. The method of claim 7,
The front and rear ends of the upper surface of the robot arm further comprises a stopper plate which is raised and lowered to prevent the drug from leaving the drug storage and drug take-out automated management system.
8. The method of claim 7,
Front and rear ends of the upper surface of the robot arm is a drug storage and drug take-out automated management system, characterized in that the position sensor for detecting the drug is further provided.
8. The method of claim 7,
The length of the robot arm is a chemical storage and drug take-out automated management system, characterized in that formed in the length that can be rotated inside the body when rotated by the rotating unit.
The method of claim 1,
The main body is provided in communication with the discharge passage so as to prepare a pharmaceutical preparation, respectively, the drug discharge unit including a tablet cassette shelf which is equipped with a plurality of tablet cassette detachably installed by the robot transfer unit;
Located in the lower side of the drug discharge unit and the tablet cassette for receiving the drug discharged from the discharge passage and packaged in each of the drugs contained in a separate distribution tray with a wrapping paper, the printing machine for printing the information of the drug on the wrapping paper and sealing the wrapping paper Pharmaceutical packaging unit containing a sealer; drug storage and drug take-out automated management system, characterized in that further provided.
The method of claim 13,
The drug discharge part is formed in a door type in which one side is hinged to the main body so that the discharge passage is located on the front side of the main body, and the front of the main body on which the tablet cassette shelf is installed is openable from the outside. Drug storage and chemical import and export automation management system characterized in that it is possible to.
The method of claim 13,
The drug dispensing unit and the drug packaging unit is provided with a guide guide rail on both sides is withdrawable from the main body, the drug discharge unit is a chemical storage, characterized in that the rotating shaft connected to the drive unit is provided to be rotatable in the extracted state and Drug entry and exit automation management system.
The method of claim 1,
The main body is a drug storage and chemical import and export automation management system, characterized in that the refrigeration means and humidification means for maintaining a constant temperature and humidity of the main body is provided.
The method of claim 1,
The main body is a drug storage and drug import and export automated management system, characterized in that the mass drug withdrawal entry portion that is added to allow the large amount of drugs to be recognized, the type of drugs.
18. The method of claim 17,
The mass drug withdrawal unit is injected into the mass drug introduction body is installed in communication with the main body, the drug delivery unit passing through the inside of the mass drug introduction body from the outside to form a loop; and,
The mass drug introduction body is a shadow recognition unit for generating contour information by recognizing the contour of the drug passing through the inside; And,
A transport robot arm for gripping and transporting the medicine based on the contour information; And
Drug storage and chemical import and export automated management system comprising a; barcode recognition unit for obtaining the drug information by recognizing the barcode of the drug to be transferred.
19. The method of claim 18,
The transfer unit includes an outer conveyor belt unit for moving the medicine into the inside of the bulk drug inlet body through an injection gate formed on one side of the bulk drug inlet body from the medicine inlet formed on the outer side of the bulk drug inlet body;
An inner conveyor belt including an inclined conveyor belt for moving the medicine passing through the injection gate and a horizontally installed translucent conveyor belt positioned at an end of the inclined conveyor belt to transmit light; And
And a slanted block formed in front of the conveyor belt so that the medicine passes back to the input part by passing through the return gate formed at one front side of the mass chemical introduction body.
20. The method of claim 19,
When the contour information of the medicine obtained from the shadow recognition unit is unclear, the transport robot arm moves the position of the medicine on the translucent conveyor belt so that the contour recognition of the medicine is made. Management system.
19. The method of claim 18,
The transport robot arm is a medicine storage and drug take-out automated management system, characterized in that the suction plate is provided with a suction plate for gripping the upper surface of the drug at the bottom.
19. The method of claim 18,
The barcode recognition unit includes a first barcode reader for scanning the bottom surface of the drug is rotated horizontally in the air held by the transfer robot arm;
Drug storage and drug take-out automated management system, characterized in that it comprises a second, third bar code reader for scanning alone or simultaneously the upper needle side of the drug.
The method of claim 1,
The control unit includes an input unit for inputting the information of the medicine to be drawn in and out of the main body is recorded in the database, and includes a calculation unit for calculating the information input from the input unit and a transmission unit for transmitting a driving command to each part Drug storage and chemical import and export automation management system characterized by.

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