JP2008237245A - Cassette position detection method for medicine dispenser and device for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for detecting a cassette position of a medicine dispenser and a device for the same, capable of easily and quickly recognizing a position of a tablet cassette on a cassette rack. <P>SOLUTION: The medicine dispenser is constituted so that an X position and Y position data in a light reflection part near right and left both ends of a rack plate of the cassette rack and X position data in the light reflection part 535 of respective tablet cassettes 500 are respectively detected by performing scanning with a light sensor 432 fitted to a chucking unit 400, and the Y position data in the light reflection part 535 of the respective tablet cassettes 500 is operated on the basis of the position data. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a cassette position detection method for a dispensing device and an apparatus therefor, and more particularly to a cassette position detection method for a dispensing device for automatically dispensing a package-type tablet called a PTP (press-through package) tablet sheet into a tablet cassette. And the apparatus thereof.

  Traditionally, pharmacists perform dispensing work in pharmacies such as hospitals according to doctors' prescriptions, but in general hospitals where medical fields are wide, there are many types of tablets that can be taken out at all times, and storage locations are limited. Not only was it necessary, but the work of dispensing based on prescriptions was very mentally and physically burdensome.

  Therefore, a dispensing device has been developed that automatically dispenses a predetermined number of predetermined tablets including a fraction of a PTP tablet sheet based on a preset program (see, for example, Patent Documents 1 and 2). The PTP tablet sheet is a packaging format in which tablets are taken out by breaking the aluminum sheet portion at the bottom by pressing the tablet side. Generally, 10 or more tablets are made into one sheet. Supplied.

  Here, the tablet cassette in which a plurality of PTP tablet sheets are placed is housed in a cassette shelf, and the claw portion of the chucking device mounted on the head device is directly in the groove formed on the front surface of the tablet cassette. Intrusion and relative positioning are performed, and the PTP tablet sheet at the lowest position in the tablet cassette is chucked and taken out to the outside.

  In this tablet cassette 1000, as shown in FIG. 10, a stopper 1100 having a circular flange is hooked at a semicircular portion so that one stopper can be used for two. A pair of knurled screws 1200 are provided on the opposite side to the stopper 1100, and the knurled screws 1200 are screwed into a female screw 1500 of a fixed bar 1400 that also serves as a reinforcement fixed to the cassette shelf 1300. Both ends of the tablet cassette 1000 are fixed to the cassette shelf 1300.

  Here, PTP tablet sheets (not shown) have various outer shapes, and a pair of width regulating members 1011 are provided on the inner side of the outer wall body 1010 of the tablet cassette 1000 in order to regulate and accommodate these outer shapes. ing. These width regulating members 1011 are fixed by screws 1040 inserted through the long holes 1030 drilled in the front wall body 1020, and after loosening these screws 1040, the width regulating members 1011 are attached to the PTP tablet sheet. The width direction of all PTP tablet sheets can be regulated by providing a gap in the width dimension and fixing it. Further, a barcode 1023 for identifying the PTP tablet sheet is affixed to the rear wall body 1024, so that the user can check with a barcode reader each time to prevent erroneous insertion when the PTP tablet sheet is attached or detached. ing.

Note that a square marker 1021 and a right triangle marker 1022 are painted or printed on the upper portion of the front wall 1020, and these are detected by a position detection sensor (not shown) mounted on the head device 2000. This is for relative positioning of the head device with respect to the tablet cassette 1000 during the dispensing operation.
JP-A-4-269960 Japanese Utility Model Publication No. 5-052233

  In the above prior art, since the width dimensions of the tablet cassette 1000 are the same, for example, the position of the tablet cassette 1000 on the cassette shelf 1300 can be specified only by the position of the stopper 1100. However, in this case, even when a narrow PTP tablet sheet is used in combination, a wide cassette width is always required, and therefore a wasteful arrangement space on the cassette shelf is required.

  Here, it is conceivable to use a tablet cassette 1000 having a width dimension corresponding to the sheet width of the PTP tablet sheet. In this case, since the width dimension for each tablet cassette 1000 is different, There is a problem that it is difficult to detect the position of the tablet cassette 1000, and accordingly, it is difficult to recognize the drug information of the PTP tablet sheet loaded on the tablet cassette. This problem becomes serious when considering the frequency of cassette exchange and rearrangement as the number of drug types increases in the future.

  Therefore, when the tablet cassette 1000 on the cassette shelf 1300 is scanned and the cassette position is automatically detected, since many tablet cassettes 1000 are installed on the cassette shelf 1300, all the tablet cassettes 1000 are scanned. A new problem occurs that takes time to complete.

  This invention is made in view of such a situation, and provides the cassette position detection method of a dispensing apparatus and its apparatus which can detect the position of the tablet cassette on a cassette shelf easily and rapidly. Objective.

  A first invention (method) is a cassette position detection method of a dispensing device in which a plurality of cassettes each capable of containing a medicine are arranged side by side on a cassette shelf extending in the left-right direction, and is provided on the cassette shelf side. A step of detecting a cassette shelf position detected portion that indicates positions in the left and right and up and down directions at at least two locations spaced apart in the left and right direction of the cassette shelf by a cassette shelf position detecting means movable relative to the cassette shelf; Detecting a cassette position detected portion provided on each cassette side on the cassette shelf and indicating a position of each cassette in the left-right direction by a cassette position detecting means movable relative to each cassette; , Left and right and vertical positions at at least two locations on the cassette shelf side detected by the cassette shelf position detection means, and the cassette position detection And a step of calculating a vertical position corresponding to the horizontal position on each cassette side based on the horizontal position on each cassette side detected in the stage. is there.

  A second invention (apparatus) is a cassette position detecting device for a dispensing device in which a plurality of cassettes each capable of containing a medicine are arranged in parallel on a cassette shelf extending in the left-right direction. A cassette shelf position detecting means for detecting a position in the direction is provided so as to be movable relative to the cassette shelf, and a cassette position detecting means for detecting the position of each cassette on the cassette shelf in the left-right direction is provided. Provided relative to each cassette so that the cassette shelf position detection means can detect the cassette shelf position in at least two locations separated in the left-right direction on the cassette shelf side, and on the cassette shelf A cassette position detected portion that can be detected by the cassette position detecting means is provided on each cassette side, and the cassette shelf position detecting means Based on the left and right and vertical positions in at least two of the cassette shelves that have been taken out and the horizontal positions on the respective cassette sides detected by the cassette position detecting means, A cassette position calculating means for calculating a vertical position corresponding to the position is provided.

  According to the first and second inventions, the cassette shelf position detected portion that is provided on the cassette shelf side and indicates positions in the left and right and up and down directions in at least two places separated in the left and right direction of the cassette shelf includes the cassette shelf A cassette position detected portion that is detected by a cassette shelf position detecting means that is movable relative to the shelf and is provided on each cassette side on the cassette shelf, and indicates the position of each cassette in the left-right direction. And at least two positions on the cassette shelf side detected by the cassette shelf position detecting means and detected by the cassette position detecting means. The vertical position corresponding to the horizontal position on each cassette side is calculated based on the horizontal position on each cassette side. Although the detection time of at least two locations on the cassette shelf side by the relative movement of the cassette shelf position detection means to the cassette shelf and the calculation time are slightly increased, the cassette position detection means occupies the majority of the detection time for each cassette. The detection time on the cassette side by relative movement can be greatly shortened. Therefore, even if many cassettes are installed on the cassette shelf, the position of the cassette on the cassette shelf can be detected easily and quickly.

  Even if the cassettes on the cassette shelf are exchanged or rearranged, it is not necessary to manually confirm the arrangement after the exchange or rearrangement of the respective cassettes. As a result, the degree of freedom in arranging the cassettes on the cassette shelf is improved, and as many cassettes as possible can be mounted on the cassette shelf, so that the medicine storage efficiency is high. In addition, this medicine includes ampules and the like in addition to tablets and PTP tablet sheets (tablet sheets).

  In a third invention (apparatus), a plurality of tablet cassettes each having a cassette width corresponding to the width dimension of the tablet sheet move in a predetermined space facing a cassette shelf arranged in the left-right direction corresponding to the width direction. A cassette position detecting device of a dispensing device having a chucking unit for chucking the tablet sheets loaded in each tablet cassette one by one, and the left and right and upper and lower sides of the cassette shelf in the chucking unit. A cassette shelf position detecting means for detecting the position in the direction is provided, and a cassette position detecting means for detecting the horizontal position of each tablet cassette on the cassette shelf is provided, and the cassette shelf is separated in the left and right direction. The cassette shelf position that can be detected by the cassette shelf position detection means on the side facing the chucking unit in at least two places. The cassette detected by the cassette shelf position detection means is provided with a detection part, a cassette position detection part that can be detected by the cassette position detection means on the side of each tablet cassette facing the chucking unit. The vertical position corresponding to the horizontal position on each cassette side based on the horizontal and vertical positions on at least two places on the shelf and the horizontal position on each cassette side detected by the cassette position detecting means. A cassette position calculating means for calculating the position in the direction is provided.

  According to the third aspect of the invention, the chucking unit is provided with cassette shelf position detecting means for detecting the horizontal and vertical positions of the cassette shelf, and the horizontal direction of each tablet cassette on the cassette shelf. Cassette position detection means for detecting the position of the cassette shelf, and the cassette shelf that can be detected by the cassette shelf position detection means on the side facing the chucking unit in at least two places spaced apart in the left-right direction of the cassette shelf. A position detected portion is provided, and a cassette position detected portion that can be detected by the cassette position detecting means is provided on the side of each tablet cassette facing the chucking unit, and is detected by the cassette shelf position detecting means. Left and right and up and down positions in at least two locations of the cassette shelf, and the cassette position Since the vertical position corresponding to the horizontal position on each cassette side is calculated based on the horizontal position on each cassette side detected by the detection means, the cassette shelf of the cassette shelf position detection means is calculated. Although the detection time of at least two locations on the cassette shelf side due to relative movement with respect to the time and the calculation time slightly increase, the detection time on the cassette side due to relative movement with respect to each cassette of the cassette position detection means occupies the majority of the detection time. It can be greatly shortened. Therefore, even when a tablet cassette having a width dimension corresponding to the sheet width of the PTP tablet sheet is used and many cassettes are installed on the cassette shelf, the position of the cassette on the cassette shelf can be easily and quickly. Will be able to be detected.

  Even if the cassettes on the cassette shelf are exchanged or rearranged, it is not necessary to manually confirm the arrangement after the exchange or rearrangement of the respective cassettes. As a result, the degree of freedom in arranging the cassettes on the cassette shelf is improved, and as many cassettes as possible can be mounted on the cassette shelf, so that the medicine storage efficiency is high.

  According to a fourth aspect of the present invention, the cassette shelf position detected portion is a light reflecting portion provided on a side of the cassette shelf facing the chucking unit, and the cassette shelf position detecting means includes An optical sensor that projects light onto the light reflecting portion and receives the reflected light is preferable.

  According to the invention of claim 4, the cassette shelf position detected part is a light reflecting part provided on the side of the cassette shelf facing the chucking unit, and the cassette shelf position detecting means Since the optical sensor projects light onto the light reflecting portion and receives the reflected light, the cassette position can be easily and quickly detected with a simple configuration.

  According to a fifth aspect of the present invention, the cassette position detected portion is a light reflecting portion provided on a side of the cassette shelf facing the chucking unit, and the cassette position detecting means It is preferable that the optical sensor emits light to the part and receives the reflected light.

  According to the fifth aspect of the present invention, the cassette position detected portion is a light reflecting portion provided on a side of the cassette shelf facing the chucking unit, and the cassette position detecting means Since it is an optical sensor that projects light onto the part and receives the reflected light, the cassette position can be easily and quickly detected with a simple configuration.

  According to a sixth aspect of the present invention, it is preferable that the cassette shelf position detecting means also serves as the cassette position detecting means.

  According to the sixth aspect of the present invention, since the cassette shelf position detection means also serves as the cassette position detection means, the cassette position can be detected easily and quickly with a simpler configuration.

  As in the seventh aspect of the present invention, it is preferable that a cassette shelf position detected portion that can be detected by the cassette shelf position detecting means is provided in the vicinity of both left and right ends of the cassette shelf.

  According to the seventh aspect of the present invention, the cassette shelf position detected portions that can be detected by the cassette shelf position detecting means are provided in the vicinity of the left and right ends of the cassette shelf. It can be detected quickly. When the cassette shelf position detected part is provided near both the left and right ends of the cassette shelf plate, the interpolation method as the data interpolation method is used. This is because a more accurate vertical position of the cassette can be obtained than the extrapolation method used in the case of being provided off.

  According to the first and second inventions, the cassette shelf position detected portion that is provided on the cassette shelf side and indicates the left and right and up and down positions in at least two places spaced apart in the left and right direction of the cassette shelf includes the cassette shelf A cassette position detected portion that is detected by a cassette shelf position detecting means that is movable relative to the shelf and is provided on each cassette side on the cassette shelf, and indicates the position of each cassette in the left-right direction. And at least two positions on the cassette shelf side detected by the cassette shelf position detecting means and detected by the cassette position detecting means. The vertical position corresponding to the horizontal position on each cassette side is calculated based on the horizontal position on each cassette side. Although the detection time of at least two locations on the cassette shelf side by the relative movement of the cassette shelf position detection means to the cassette shelf and the calculation time are slightly increased, the cassette position detection means occupies the majority of the detection time for each cassette. The detection time on the cassette side by relative movement can be greatly shortened. Therefore, even if many cassettes are installed on the cassette shelf, the position of the cassette on the cassette shelf can be detected easily and quickly.

  Even if the cassettes on the cassette shelf are exchanged or rearranged, it is not necessary to manually confirm the arrangement after the exchange or rearrangement of the respective cassettes. As a result, the degree of freedom in arranging the cassettes on the cassette shelf is improved, and as many cassettes as possible can be mounted on the cassette shelf, so that the medicine storage efficiency is high.

  According to the third aspect of the invention, the chucking unit is provided with cassette shelf position detecting means for detecting the horizontal and vertical positions of the cassette shelf, and the horizontal direction of each tablet cassette on the cassette shelf. Cassette position detection means for detecting the position of the cassette shelf, and the cassette shelf that can be detected by the cassette shelf position detection means on the side facing the chucking unit in at least two places spaced apart in the left-right direction of the cassette shelf. A position detected portion is provided, and a cassette position detected portion that can be detected by the cassette position detecting means is provided on the side of each tablet cassette facing the chucking unit, and is detected by the cassette shelf position detecting means. Left and right and up and down positions in at least two locations of the cassette shelf, and the cassette position Since the vertical position corresponding to the horizontal position on each cassette side is calculated based on the horizontal position on each cassette side detected by the detection means, the cassette shelf of the cassette shelf position detection means is calculated. Although the detection time of at least two locations on the cassette shelf side due to relative movement with respect to the time and the calculation time slightly increase, the detection time on the cassette side due to relative movement with respect to each cassette of the cassette position detection means occupies the majority of the detection time. It can be greatly shortened. Therefore, even when a tablet cassette having a width dimension corresponding to the sheet width of the PTP tablet sheet is used and many cassettes are installed on the cassette shelf, the position of the cassette on the cassette shelf can be easily and quickly. Will be able to be detected.

  Even if the cassettes on the cassette shelf are exchanged or rearranged, it is not necessary to manually confirm the arrangement after the exchange or rearrangement of the respective cassettes. As a result, the degree of freedom in arranging the cassettes on the cassette shelf is improved, and as many cassettes as possible can be mounted on the cassette shelf, so that the medicine storage efficiency is high.

  FIG. 1 is an exploded perspective view showing main components of a dispensing device 1 according to an embodiment of the present invention.

  As shown in FIG. 1, the dispensing device 1 includes two Y carriages 200 and 200 provided on the left and right sides of the box-shaped device main body 100, and X carriages supported by the Y carriages 200 and 200, respectively. 300, 300, two chucking units 400, 400 supported by these X carriages 300, 300, and two on the front left and right sides of the apparatus main body 100, which correspond to a plurality of tablet cassettes (corresponding to cassettes). ) 500, 500,..., Cassette shelves 600, 600 that can be mounted side by side, cutting units 700, 700 disposed below the cassette shelves 600, 600, and left and right cassette shelves 600, One transfer conveyor disposed below the left and right ends of both cassette shelves 600, 600 below 600 And a knit 800.

  Hereinafter, representative components of a plurality of components will be described.

  The Y carriage 200 includes a servo motor 210, a ball screw 220 in the vertical axis direction (Y direction in FIG. 1) driven by the servo motor 210, vertical guides 230 and 230 respectively disposed on the left and right of the ball screw 220, The X carriage 300 includes a carriage main body 310 that moves up and down together with the nut 240 by the rotation of the ball screw 220 while being guided by the vertical guides 230 and 230, and the carriage main body. On 310, a servo motor 410, a ball screw 415 in the horizontal axis direction (X direction in FIG. 1) driven by the servo motor 410, and a nut (not shown) are provided.

  2 is a perspective view of the tablet cassette 500 as viewed from the side facing the chucking unit 400, FIG. 3 is a perspective view showing a state in which a plurality of tablet cassettes 500 are arranged on the shelf board 602, and FIG. FIG. 5 is a side cross-sectional view showing a state before the sheet cueing, and FIG. Hereinafter, the side facing the chucking unit 400 of the tablet cassette 500 is referred to as the front, and the opposite side is referred to as the rear.

  The tablet cassette 500 in the present embodiment is formed to be slightly wider than various PTP tablet sheets (tablet sheets, which correspond to medicines) 900 to be loaded. Accordingly, a plurality of tablet cassettes 500 having different width dimensions are prepared according to the widths of various PTP tablet sheets 900. As shown in FIG. 2, the specific configuration thereof includes a long cassette base 510 having a concave cross section and a cassette body 520 that is detachably fitted from the longitudinal direction of the cassette base 510. ing.

  As shown in FIGS. 4 and 5, protrusions 512 and 512 having L-shapes in a side view are formed in the front and rear (and left and right), respectively, on the back side of the bottom plate 511 of the cassette base 510, and the rear end of the bottom plate 511 is A tongue piece 513 that is bent upward and has elasticity is formed. A support member 514 having a reverse concave shape in cross section is formed on the surface side of the rear portion of the bottom plate 511, and two left and right tongue pieces 515 and 515 that are cantilevered by the support member 514 are formed so as to be lowered toward the front. Has been. As shown in FIG. 2, the support member 514 and the tongue pieces 515 and 515 are both disposed in the left and right side walls 516 and 517 of the cassette base 510, and the tongue pieces 515 and 515 are used for the PTP tablet sheet. A fraction of 900, 900,... Is chucked. However, the number of the strips 515 is not limited to two but may be one or three or more.

  The cassette main body 520 further includes a main body upper part 530 on which a plurality of PTP tablet sheets 900, 900,... Can be stacked, and a main body lower part 540 attached integrally with the lower part of the main body upper part 530. .

  The main body lower part 540 is arranged in a state where the cassette main body 520 is assembled to the cassette base 510 and is buried in the left and right side walls 516 and 517 of the cassette base 510. A link mechanism (not shown) for sequentially taking out the PTP tablet sheets 900 stacked at the bottom of the main body upper portion 530 is provided on the bottom plate 541 having a long shape.

  As shown in FIG. 2, the main body upper part 530 is embedded in the left and right side walls 516 and 517 of the cassette base 510 from the rear part to the intermediate part in the assembled state of the cassette main body 520 to the cassette base 510, It is L-shaped in side view and is projected from the left and right side walls 516 and 517 of the cassette base 510 from the front to the front, and the projected front wall 531 is bent inward at the front end. Are arranged opposite to each other through a predetermined gap. The upper ends of the front wall 531 are connected to each other by a reinforcing plate 532. A rod-like member 533 is erected on the rear portion of the main body upper portion 530 so as to be able to rise and fall, and when the PTP tablet sheets 900, 900,. , 900,... Are sandwiched so that the PTP tablet sheets 900, 900,.

  As shown in FIG. 2, an IC tag 534 for detecting the cassette specification of each tablet sheet 900, 900,... Is attached to the front surface of the upper body 530, and the cassette position detection is directly above it. A light reflecting portion 535 is additionally provided. Further, as shown in FIG. 3, light reflection portions 650 for detecting the cassette shelf position are attached near the left and right ends of the shelf 602 of the cassette shelf 600.

  The reader 431 mounted on the chucking unit 400 can read the cassette width information and the cassette specification information stored in the IC tag 534 in a non-contact manner, and the optical sensor 432 reads the light. The cassette position information can be read in a non-contact manner by the reflection portion 535, and the cassette shelf position can be read in a non-contact manner by the light reflection portion 650 by the light sensor 432.

  In this case, each of the PTP tablet cassettes 500, 500,... Mounted on the shelf plate 602 of the cassette shelf 600 is scanned for one X position (horizontal position) and Y position (vertical position). This is shown in FIG.

  That is, in FIG. 6, the X1 position and the Y1 position are scanned for the rightmost tablet cassette 500, and the Xn position and the Yn position are scanned for the nth tablet cassette 500 on the left side.

  However, scanning the X and Y positions of each PTP tablet cassette 500, 500,... In this way takes time because of the large number of cassettes.

  Therefore, in the present embodiment, an optical sensor 432 as a cassette shelf position detecting unit for detecting the X position and the Y position of the shelf 602 of the cassette shelf 600 is provided so as to be movable relative to the shelf 602. The optical sensor 432 as a cassette position detecting means for detecting the X position of each tablet cassette 500, 500,... On the shelf plate 602 is relative to each tablet cassette 500, 500,. X positions and Y positions of light reflecting portions (corresponding to cassette shelf position detected portions) 650 provided near the left and right ends of the shelf plate 602, and each PTP tablet cassette 500, 500,..., Based on the X position of the light reflecting portion (corresponding to the cassette position detected portion) 535 attached to each of the PTP tablet cassettes 500, 5. 0, was constructed ... of the Y position to compute respectively.

  The principle is shown in FIG. That is, in FIG. 7, assuming that the coordinates of the light reflecting portion 650 at the left end of the shelf 602 are Pl (Xl, Yl) and the coordinates of the light reflecting portion 650 at the right end are Pr (Xr, Yr), W = Xl−Xr, H = Y1-Yr.

  Since the inclination angle θ of the shelf plate 602 is equal to arctan (H / W), when the X position of the tablet cassette 500 is detected, the Y position of the tablet cassette 500 can be calculated by the following equation (1).

Y = Yr + (X−Xr) tan (arctan (H / W))
= Yr + (X-Xr) .tan (arctan ((Y1-Yr) / (X1-Xr)))
= Yr + (X-Xr). (Y1-Yr) / (X1-Xr) (1)
As shown in FIG. 1, the chucking unit 400 includes a Z carriage 411 extending forward (Z direction in FIG. 1) from the carriage body 310, a rotary solenoid 420 disposed at the rear portion of the Z carriage 411, and the rotary A chuck 430 driven by a solenoid 420, lateral guides 440 and 440 respectively disposed on the left and right sides of the chuck 430, a primary bucket 450 provided at a lower portion between the lateral guides 440 and 440, and a front of the primary bucket 450 And a secondary bucket 480 with a shutter 470 provided below the primary bucket 450. The Z carriage 411 is composed of a servo motor (not shown), a ball screw, and a nut.

  When the punching of the PTP tablet sheet 900 is not necessary, the chuck 430 moves forward in response to an operation command from the controller 10 described later, and the pressing member of the tablet cassette 500 directly by the chuck 430. By pushing 543, the pushing member (not shown) is moved forward by the function of the link mechanism.

  By pressing the rear end of the PTP tablet sheet 900 loaded on the lowermost side of the tablet cassette 500 with the moved extruding member, the front end of the PTP tablet sheet 900 slightly protrudes from the tablet cassette 500. From the state shown in FIG. 4 to the state shown in FIG. 5, so-called cueing is performed. The chucked PTP tablet sheet 900 is chucked by the chuck 430 and pulled forward, and the chucking by the chuck 430 is released in order to drop the pulled PTP tablet sheet 900 into the primary bucket 450. The primary bucket 450 is moved onto the secondary bucket 480 using the X carriage 300 and the Y carriage 200. Then, a bottom shutter (not shown) of the primary bucket 450 is opened, and the PTP tablet sheet 900 is dropped into the secondary bucket 480. Next, the bottom shutter 470 of the secondary bucket 480 is opened, and the PTP tablet sheet 900 is dropped onto the transport conveyor unit 800.

  The cutting unit 700 includes a vertical blade and a horizontal blade (not shown) for punching out the fraction of the PTP tablet sheet 900. Even when it is necessary to punch out the PTP tablet sheet 900, as described above, the pressing member 543 of the tablet cassette 500 is pressed by the chuck 430 of the chucking unit 400, and the pushing member is directed forward by the link mechanism. Move to.

  By pressing the rear end of the PTP tablet sheet 900 loaded on the lowermost side of the tablet cassette 500 with the moved extruding member, the PTP tablet sheet 900 is cued. The chucked PTP tablet sheet 900 is chucked by the chuck 430 and pulled forward, and this time, the pulled PTP tablet sheet 900 is transported to the cutting unit 700 while being chucked. Then, the PTP tablet sheet 900 is punched by using the vertical blade and the horizontal blade, and the PTP tablet sheet 900 corresponding to the punched fraction is dropped directly onto the transport conveyor unit 800.

  The remaining part of the PTP tablet sheet 900 that has been punched out is returned to the original tablet cassette 500 while being chucked by the chuck 430. In this case, the remaining part of the PTP tablet sheet 900 is the tongue of the cassette base 510. It is inserted and stored in the remaining storage section 515a below the pieces 515, 515 in a cueing state.

  The remaining portion of the PTP tablet sheet 900 stored in the remaining storage portion 515a is then chucked by the chuck 430 with the remaining portion of the PTP tablet sheet 900 and pulled forward, and is formed by the line sensor 460. Check. Then, when it is not necessary to punch out the remaining part of the PTP tablet sheet 900, the chucking by the chuck 430 is released in order to drop the remaining part of the PTP tablet sheet 900 into the primary bucket 450. The primary bucket 450 is moved onto the secondary bucket 480 using the X carriage 300 and the Y carriage 200. Then, a bottom shutter (not shown) of the primary bucket 450 is opened, and the PTP tablet sheet 900 is dropped into the secondary bucket 480. Next, the bottom shutter 470 of the secondary bucket 480 is opened, and the PTP tablet sheet 900 is dropped onto the transport conveyor unit 800.

  On the other hand, even when it is necessary to punch the remaining fraction of the remaining portion of the PTP tablet sheet 900, as described above, the chuck 430 can cue it from the remaining portion storage portion 515a under the tongue pieces 515 and 515 of the cassette base 510. The remaining portion of the PTP tablet sheet 900 is chucked and pulled forward. The remaining portion of the pulled PTP tablet sheet 900 is conveyed to the cutting unit 700 while being chucked. Then, the remaining part of the PTP tablet sheet 900 is punched using the vertical blade and the horizontal blade, and the PTP tablet sheet 900 corresponding to the further punched part is dropped directly onto the transport conveyor unit 800.

  On the other hand, the remaining part of the PTP tablet sheet 900 that has been subjected to further blanking is returned to the original tablet cassette 500 while being chucked by the chuck 430. In this case, the remaining part of the PTP tablet sheet 900 is also the cassette base 510. Are inserted and stored in the remaining storage portion 515a below the tongue pieces 515, 515.

  In this way, the PTP tablet sheet 900 loaded on the tablet cassette 500 is dispensed to its fraction without waste.

  The transport conveyor unit 800 includes a roller group or the like 801 and tablet takeout buckets 802 and 802 that are moved in the front / rear and left / right directions by the roller group or the like. Then, the PTP tablet sheet 900 dropped from the secondary bucket 480 via the shutter 470 or its remaining part is moved in the front / rear / left / right direction by a roller group 801 and dropped into one of the tablet takeout buckets 802 and 802. It is like that.

  On the other hand, the remaining portion or further remaining portion of the PTP tablet sheet 900 dropped from the cutting unit 700 is similarly moved in the front-rear and left-right directions by the roller group 801 and dropped into one of the tablet take-out buckets 802 and 802.

  In this way, the dispensed buckets 802 and 802 accommodate the dispensed PTP tablet sheet 900 or the remainder thereof.

  FIG. 8 is a functional block diagram showing a control system related to cassette position detection and the like of the dispensing device 1, and FIG. 9 is a flowchart showing a schematic operation related to cassette position detection and the like of the dispensing device 1.

  As shown in FIG. 8, the control system related to the cassette position detection of the dispensing device 1 is based on the controller 10 attached to the dispensing device 1, various data from the controller 10 and prescription data inputted separately. And a control device 20 that performs various calculations and the like.

  The controller 10 reads the cassette shelf position data for capturing the X position and Y position data near the left and right ends of the shelf 602 of the cassette shelf 600 detected by the optical sensor 432 by the scanning operation of the chucking unit 400 before dispensing. .., The cassette position data capturing unit 27 for capturing the X position data of each tablet cassette 500, 500,... Detected by the optical sensor 432, and at the same time, detected by the reader 431. A cassette specification data capturing unit 28 for capturing drug information included in the cassette specification data and a command signal for controlling the scanning operation before dispensing of the chucking unit 400 are directed to the chucking unit 400. The first operation command unit 31 to output and the chucking unit 400 during dispensing A command signal for controlling the king operation and a second operation command unit 32 that outputs to the chucking unit.

  The control device 20 is configured by a general-purpose or dedicated computer that is arranged close to the dispensing device 1, and includes a ROM 21, a RAM 22, a display unit 23, an input unit 24, a CPU 25, and a storage unit 30. . The ROM 21 stores a control program of the dispensing device 1 and various preset data, and the RAM 22 temporarily stores data. The display unit 23 is composed of an LCD or the like, and displays various messages to the user. The input unit 24 is for inputting various instructions and prescription data of the user.

  The CPU 25 controls the entire operation of the dispensing device 1 via the controller 10 in accordance with a control program stored in advance in the ROM 21. The shelf 602 of the cassette shelf 600 is used using the above equation (1). Of the tablet cassettes 500, 500,... On the shelf plate 602 based on the X position and Y position data in the vicinity of the left and right ends of the tablet and the X position data of the tablet cassettes 500, 500,. It functions as a cassette position calculating means for calculating Y position data. The Y position data of each of the tablet cassettes 500, 500,..., Together with the X position data of the respective tablet cassettes 500, 500,..., The drug information included in the cassette specification data, and the prescription data It is used to calculate operation data for operating the chucking unit 400 during dispensing.

  The storage unit 30 stores all the cassette specification data from the controller 10, the shelf position data, and the like via the CPU 25. The storage unit 30 may be provided outside the control device 20 or on the controller 10 side.

  Hereinafter, the scanning operation related to the cassette position detection and the like of the dispensing device 1 will be described with reference to FIG. Now, it is assumed that the chucking unit 400 is in a standby state, for example, on the lower left side (home position) in FIG. When the power is turned on in FIG. 9 in such an initial state, first, initial setting such as setting of a default value in the RAM 54 is performed (step S1). Then, it is assumed that the user selects a scanning operation with the input unit (step S2). In this case, the scanning operation of each tablet cassette 500, 500,... Is started according to a preset program (step S3).

  For example, from the home position, the uppermost shelf 602 of the cassette shelf 600 and each tablet cassette 500, 500,... Fixed on the shelf 602 are scanned from left to right, and the lower step On the contrary, scan from right to left. Then, the scanning is finished on the left or right side of the lowermost stage, and the chucking unit 400 returns to the home position.

  During this scanning operation, the optical sensor 432 projects near the left and right ends of the shelf 602 included in the reflected light by projecting to the light reflecting portions 650 provided near the left and right ends of the shelf 602 of the cassette shelf 600. After detecting the X position and Y position data, each tablet cassette 500, 500,... Is projected onto the light reflecting portion 535 attached to the front surface of each tablet cassette 500, 500,. .., X position data is detected, and at the same time, the reader 431 detects cassette specification data stored in an IC tag 534 attached to the front of each tablet cassette 500, 500,. (Step S4).

  Next, the X position and Y position data detected by the optical sensor 432 in the vicinity of both left and right ends of the shelf 602 of the cassette shelf 600 are captured by the cassette shelf position data capturing unit 26 and detected by the optical sensor 432. The X position data of each of the tablet cassettes 500, 500,... Is fetched by the cassette position data fetching unit 27, and the cassette specification data detected by the reader 431 is fetched by the cassette specification data fetching unit 28 (step S5). .

  Then, based on the X position and Y position data near the left and right ends of the shelf 602 of the cassette shelf 600 and the X position data of each tablet cassette 500, 500,..., Each tablet cassette 500, 500,. ... Y position data is calculated by the CPU 25 (step S6).

  The cassette specification data and the X position and Y position data of each tablet cassette 500, 500,... Are associated with a flag or the like and stored in the storage unit 30 (step S7).

  The scanning operation before dispensing of the chucking unit 400 is ended (step S8).

  Then, it returns to step S2, and since it is not a scanning operation this time (NO in step S2), the chucking operation at the time of dispensing of the chucking unit 400 is started (step S9). Since this operation is the normal dispensing operation described in each of the above components, the description thereof is omitted.

  According to this embodiment, the optical sensor 432 is provided in the chucking unit 400, and the light reflection that can be detected by the optical sensor 432 on the side facing the chucking unit 400 in the vicinity of the left and right ends of the shelf 602 of the cassette shelf 600. Is provided with a light reflecting portion 535 that can be detected by the optical sensor 432 on the side of each tablet cassette 500, 500,... Facing the chucking unit 400, and detected by the optical sensor 432. Based on the X position and Y position data in the vicinity of the left and right ends of the shelf 602 of the cassette shelf, and the X position data of each tablet cassette 500, 500,. Since the Y position data of 500, 500,... Is calculated, the optical sensor 432 of the chucking unit 400 has a cover. The optical sensor of the chucking unit 400 occupies the majority of the detection time, although the detection time of the light reflection portions 535 near the left and right ends on the cassette shelf 600 side by the relative movement to the rack shelf 600 and the calculation time are slightly increased. The detection time on the side of each of the tablet cassettes 500, 500,... By the relative movement with respect to the respective tablet cassettes 500, 500,. Accordingly, even when a tablet cassette 500 having a width dimension corresponding to the sheet width of the PTP tablet sheet 900 is used and a large number of tablet cassettes 500 are installed on the cassette shelf 600, the tablet cassette on the cassette shelf 600 is used. 500 positions can be easily and quickly detected.

  And even if the tablet cassettes 500, 500,... On the cassette shelf 600 are replaced or rearranged, the tablet cassettes 500, 500,. There is no need to check the placement. As a result, the degree of freedom of arrangement of the tablet cassette 500 on the cassette shelf 600 is improved, and as many tablet cassettes 500 as possible can be mounted on the cassette shelf 600, so that the storage efficiency of the tablet sheets 900 is high. Become.

  In the above embodiment, the two cassette shelves 600 and 600 are arranged on the left and right. However, the cassette shelves 600 and 600 may be arranged on the front and back, or one or three or more cassette shelves may be arranged. Good. In that case, it is preferable from the viewpoint of work efficiency that the number of carriages, chucking units, cutting units, and the like correspond to this.

  Moreover, in the said embodiment, in order to simplify the structure of the dispensing apparatus 1, the optical sensor 432 is used as a cassette shelf position detection means, and the light reflection part 650 is provided in front of the tablet cassette 500 as a cassette shelf position detected part. Is attached. More specifically, a light reflecting tape may be used as the cassette shelf position detected portion, and another type of sensor such as an ultrasonic sensor may be used as the cassette position detecting means.

  Moreover, in the said embodiment, in order to simplify the structure of the dispensing apparatus 1, the optical sensor 432 is used as a cassette position detection means, and the light reflection part 535 is attached to the front surface of the tablet cassette 500 as a cassette position detected part. is doing. More specifically, a light reflecting tape may be used on the front surface of the tablet cassette 500 as the cassette position detected portion, and other types of sensors such as an ultrasonic sensor are used as the cassette position detecting means. Also good.

  Moreover, in the said embodiment, as shown in FIG. 2, the light reflection part 535 is attached on the front surface of the upper part 530 of the main body of the tablet cassette 500 directly above the IC tag 534. Good. In that case, it is preferable that the reader 431 and the optical sensor 432 mounted on the chucking unit 400 are also arranged upside down from the viewpoint of ensuring the efficiency of the scanning operation.

  Moreover, in the said embodiment, in order to simplify the structure of the dispensing apparatus 1, although the single optical sensor 432 is combined as a cassette shelf position detection means and a cassette position detection means, cassette shelf position detection means Separate optical sensors may be used as the cassette position detecting means.

  In the above embodiment, the light reflecting portions 650 are provided near the left and right ends of the shelf 602 of the cassette shelf 600. However, the positions of the light reflecting portions 650 may be at least two locations separated in the left and right direction of the shelf 602. That's fine. However, since the interpolation method as the data interpolation method is used when it is near the left and right ends of the shelf 602, than the extrapolation method used when the shelf 602 is deviated from the vicinity of the left and right ends. Accurate Y position data of the tablet cassette 500 is obtained.

  Moreover, in the said embodiment, although the tablet cassette 500 which can load the PTP tablet sheet 900 is illustrated, the application range of this invention is not limited to this, For example, this invention is a tablet, a PTP tablet sheet, an ampule. Needless to say, the present invention can also be applied to various cassettes capable of storing general drugs such as the above. The shape of the cassette is not limited to the specific shape as illustrated above, and may be a predetermined shape that can be juxtaposed on the cassette shelf.

It is a disassembled perspective view which shows the main components of the dispensing apparatus which concerns on one Embodiment of this invention. It is the perspective view seen from the side facing a chucking unit of a tablet cassette. It is a perspective view which shows a mode that several tablet cassette is arranged in a line on the shelf board. It is a sectional side view which shows the state before the sheet | seat cueing of a tablet cassette. It is a sectional side view which shows the state at the time of the sheet | seat search of a tablet cassette. It is explanatory drawing which shows the case where the X and Y position of each tablet cassette currently arranged in the shelf of a cassette shelf is detected. It is a principle figure which shows the cassette position detection method of this dispensing apparatus. It is a functional block diagram which shows the control system which concerns on the cassette position detection etc. of this dispensing apparatus. It is a flowchart which shows schematic operation | movement which concerns on the cassette position detection etc. of this dispensing apparatus. It is a perspective view which shows the structure of the tablet cassette in an example of the past.

Explanation of symbols

1 Dispensing device 10 Controller 20 Control device 25 CPU (including a function as a cassette position calculating means)
26 Cassette shelf position data acquisition unit 27 Cassette position data acquisition unit 28 Cassette specification data acquisition unit 30 Storage unit 31 First operation command unit 32 Second operation command unit 100 Main body 200 Y carriage 300 X carriage 400 Chucking unit 431 Reader 432 Optical sensor (corresponds to cassette position detection means and cassette shelf position detection means)
500 Tablet cassette (corresponds to a cassette)
534 IC tag 535 Light reflecting portion (corresponding to cassette position detected portion)
600 Cassette shelf 602 Shelf plate 650 Light reflecting portion (corresponding to cassette shelf position detected portion)
700 Cutting unit 800 Conveyor unit 900 PTP tablet sheet (corresponds to tablet sheet, drug)

Claims (7)

A cassette position detection method for a dispensing device in which a plurality of cassettes each capable of containing a drug are arranged side by side on a cassette shelf extending in the left-right direction,
A cassette shelf position that is provided on the cassette shelf side and that is capable of moving relative to the cassette shelf with respect to a cassette shelf position detected portion that indicates positions in the left and right and up and down directions in at least two locations separated in the left and right direction Detecting with the detecting means;
A step of detecting a cassette position detected portion provided on each cassette side on the cassette shelf and indicating a position in the left-right direction of each cassette by a cassette position detecting means movable relative to each cassette;
Based on the left and right and vertical positions in at least two locations on the cassette shelf side detected by the cassette shelf position detection means, and the horizontal position on each cassette side detected by the cassette position detection means, A cassette position detecting method for a dispensing device, comprising a step of calculating a vertical position corresponding to a horizontal position on each cassette side. A cassette position detection device for a dispensing device in which a plurality of cassettes each capable of containing a medicine are arranged side by side on a cassette shelf extending in the left-right direction,
A cassette shelf position detecting means for detecting the horizontal and vertical positions of the cassette shelf is provided so as to be movable relative to the cassette shelf, and for detecting the horizontal position of each cassette on the cassette shelf. The cassette position detecting means is provided to be movable relative to each cassette,
The cassette shelf position detection means that can be detected by the cassette shelf position detection means is provided in at least two places separated in the left-right direction of the cassette shelf, and each cassette on the cassette shelf is detected by the cassette position detection means. Each possible cassette position detection part is provided,
Based on the left and right and vertical positions in at least two locations on the cassette shelf side detected by the cassette shelf position detection means, and the horizontal position on each cassette side detected by the cassette position detection means, A cassette position detecting device for a dispensing apparatus, comprising a cassette position calculating means for calculating a vertical position corresponding to a horizontal position on each cassette side. A plurality of tablet cassettes each having a cassette width corresponding to the width dimension of the tablet sheet move in a predetermined space facing the cassette shelf arranged in the left-right direction corresponding to the width direction, and are loaded in each tablet cassette. A cassette position detection device for a dispensing device provided with a chucking unit for chucking the tablet sheets one by one,
The chucking unit is provided with cassette shelf position detection means for detecting the horizontal and vertical positions of the cassette shelf, and the cassette position for detecting the horizontal position of each tablet cassette on the cassette shelf. Providing detection means;
A cassette shelf position detected portion that can be detected by the cassette shelf position detecting means is provided on the side facing the chucking unit in at least two locations separated in the left-right direction of the cassette shelf, and the chuck of each tablet cassette is provided. A cassette position detected portion that can be detected by the cassette position detecting means is provided on the side facing the king unit,
Based on the horizontal and vertical positions in at least two locations of the cassette shelf detected by the cassette shelf position detection means, and the horizontal position on the side of each cassette detected by the cassette position detection means, A cassette position detecting device for a dispensing device, comprising a cassette position calculating means for calculating a vertical position corresponding to a horizontal position on each cassette side.   The cassette shelf position detected part is a light reflecting part provided on the side of the cassette shelf facing the chucking unit, and the cassette shelf position detecting means projects light on the light reflecting part and reflects it. 4. The cassette position detecting device for a dispensing device according to claim 3, wherein the cassette position detecting device is a light sensor for receiving light.   The cassette position detected portion is a light reflecting portion provided on a side of the cassette shelf facing the chucking unit, and the cassette position detecting means projects light on the light reflecting portion and reflects the reflected light. 5. The cassette position detecting device for a dispensing device according to claim 3, wherein the cassette position detecting device is a light sensor for receiving light.   6. The cassette position detecting device for a dispensing apparatus according to claim 2, wherein the cassette shelf position detecting means also serves as the cassette position detecting means.   The dispensing device according to any one of claims 2 to 6, wherein a cassette shelf position detected portion that can be detected by the cassette shelf position detecting means is provided near both left and right ends of the cassette shelf. Cassette position detection device.

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