JP2019076571A - Drug sorting apparatus, drug put-out system with the same, and drug sorting method - Google Patents

Abstract

To provide a drug sorting apparatus, a drug put-out system with the same, and a drug sorting method capable of efficiently performing a process from the acquisition of drug classification information to the storage of the drugs.SOLUTION: A drug sorting apparatus 10 comprises a bar code reader 31, a storage tray installation section 12, a placement bowl 35, a single picking part 20, and a control unit 50. The placement bowl 35 temporarily holds a drug D of which classification information is acquired by the bar code reader 31. The single picking part 20 conveys a drug D to the bar code reader 31 and further conveys a drug D of which classification information is acquired by the bar code reader 31 to a storage tray T2. The control unit 50 controls the picking part 20 such that a first drug is stored from the placement bowl 35 to a storage tray T2 while the classification information of a second drug different from the first drug among a plurality of drugs D is being acquired by the bar code reader 31.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a medicine sorting apparatus for sorting medicines according to type, size, shape and the like and storing them in a predetermined storage case, a medicine dispensing system including the same, and a medicine sorting method.

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

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

  For example, in Patent Document 1, the returned medicines stored in a non-aligned state are picked one by one, the kind and size of the returned medicines are recognized, and sorting is automatically performed according to the kind and size. A return drug sorting apparatus for performing is disclosed.

JP, 2013-215343, A

However, the above-mentioned conventional medicine sorting apparatus has the following problems.
That is, in the medicine assortment apparatus disclosed in the above publication, picking is carried out by using the picking device to convey the returned drug to the temporary storage unit and acquiring and analyzing the image before conveying it to the identification unit. Since the position etc. which should be detected are detected, the efficiency of processing until conveyance of a returned medicine, identification, and storage will fall.

  An object of the present invention is to provide a drug sorting apparatus capable of efficiently performing processing from acquisition of drug type information to storage, a drug dispensing system including the same, and a drug sorting method.

  The medicine sorting apparatus according to the first aspect of the present invention is a medicine sorting apparatus for sorting and storing a plurality of kinds of medicines according to types, comprising a single medicine information acquisition unit, a storage tray setting unit, a standby medicine holding unit, And a control unit. The medicine information acquisition unit acquires type information of a plurality of medicines. In the storage tray installation unit, a storage tray for storing the medicine whose type information has been acquired is installed. The standby medicine holding unit temporarily holds the medicine whose type information has been acquired by the medicine information acquiring unit. The single transport unit transports the medicine to the medicine information acquisition unit, and transports the medicine whose type information has been acquired by the medicine information acquisition unit to the storage tray placed on the storage tray installation unit. The control unit is connected to the medicine information acquisition unit and the transport unit, and while the type information of the second medicine different from the first medicine included in the plurality of medicines is acquired by the medicine information acquisition unit, The transport unit is controlled such that the first medicine is stored in the storage tray from the standby medicine holding unit.

Here, in the medicine sorting apparatus in which plural kinds of medicines are classified according to types by a single conveyance unit and stored in the storage tray, before storing medicines whose type information is acquired in the medicine information acquisition unit in the storage tray A standby medicine holding unit for temporarily holding is provided.
Here, the medicine sorting apparatus is, for example, an apparatus for sorting a plurality of returned medicines and the like into a predetermined storage tray and storing the same, and is installed in a hospital or the like handling a large amount of medicine.

And, the type of medicine includes, for example, the type of medicine, the shape, size, and internal volume of the medicine container.
Further, the medicine information acquisition unit includes, for example, means for reading information such as barcodes and characters attached to medicine, and means for acquiring type information such as shape and size of a medicine container.
Generally, in order to acquire drug information, it is necessary to adjust the direction of the drug in order to read a bar code attached to the surface of the drug, character information and the like, so an operation such as rotating the drug is required. For this reason, it takes a certain amount of time to obtain information on medicines, resulting in a decrease in efficiency.

In the medicine sorting apparatus of the present invention, a standby medicine holding unit is provided so that the transport unit can perform other operations while acquiring such time-consuming chemical information.
Thereby, the control unit controls the single conveyance unit to convey the medicine to the medicine information acquisition unit and to acquire other medicine (second medicine) type information. (1) The medicine can be transported from the standby medicine holding unit to the storage tray.

Therefore, since the time while medicine type information is being acquired in the medicine information acquisition part can be used effectively, processing from acquisition of medicine type information to storage is performed more efficiently than before. Can.
The medicine sorting apparatus according to the second invention is the medicine sorting apparatus according to the first invention, and the control unit is configured to convey the first medicine to the medicine information acquiring unit, and the medicine information acquiring unit acquires the type information. After that, the first medicine is conveyed to the standby medicine holding unit, and the second medicine is conveyed to the medicine information acquiring unit, and while the type information of the second medicine is acquired in the medicine information acquiring unit, the first medicine is kept standby The transport unit is controlled to transport from the holding unit to the storage tray.

Here, after the type information of the first medicine is acquired first and conveyed and held in the standby medicine holding unit, the second medicine is conveyed to the medicine information acquiring unit to acquire the type information of the second medicine. In the meantime, the first medicine is transported to the storage tray.
Thus, the first medicine held in the standby medicine holding unit can be conveyed to the storage tray by using the time during which the type information of the second medicine conveyed after the first medicine is acquired. it can.

As a result, processing from acquisition of medicine type information to storage can be performed more efficiently than in the past.
A medicine sorting apparatus according to a third aspect of the present invention is the medicine sorting apparatus according to the first or second aspect, wherein the storage tray installation unit acquires type information from the installation area in which a plurality of storage trays are installed. A storage tray transport unit is provided for transferring a specific storage tray for storing a medicine to a storage area adjacent to the installation area.

Here, the storage tray installation unit is provided with a storage tray transport unit that transports the storage tray from the installation area where the plurality of storage trays are installed to the storage area where the medicine to be stored is transported by the transport unit. .
Thereby, the medicine transported to the storage tray by the transport unit can be stored in the storage tray in the storage area.

The medicine sorting apparatus according to the fourth invention is the medicine sorting apparatus according to any one of the first to third inventions, and the standby medicine holding unit is a mounting table on which the medicine is placed.
Here, a mounting table for temporarily holding the medicine is used as the standby medicine holding unit.
Thus, the standby medicine holding unit can be configured with a simple configuration, and the above-described effects can be obtained.

A medicine sorting apparatus according to a fifth aspect of the present invention is the medicine sorting apparatus according to the fourth aspect, wherein the mounting table is disposed in the vicinity of the medicine information acquiring unit.
Here, the mounting table is disposed in the vicinity of the medicine information acquisition unit.
As a result, the medicine whose type information has been acquired by the medicine information acquisition unit can be quickly transported to the mounting table disposed in the vicinity thereof. Thus, the transport unit can efficiently shift to the next operation.

The medicine sorting apparatus according to the sixth aspect of the present invention is the medicine sorting apparatus according to the fourth or fifth aspect of the present invention, wherein the medicine information acquiring unit, the mounting table, and the storage tray setting unit are arranged in this order from the upstream side It is arranged.
Here, a mounting table is provided between the medicine information acquisition unit and the storage tray installation unit.
Thus, for example, the medicine (the first medicine) whose type information is acquired in the medicine information acquisition unit is transported to the adjacently disposed mounting table, and the next medicine (the second medicine) is transported to the medicine information acquisition unit. Can.

A medicine sorting apparatus according to a seventh invention is the medicine sorting apparatus according to any one of the first to sixth inventions, wherein the transport unit has a plurality of holding units for holding a drug.
Here, a plurality of holding units for holding the medicine are provided in a single conveyance unit.
Thereby, it is a single conveyance part, Comprising: A several chemical | medical agent can be conveyed simultaneously.
The medicine sorting apparatus according to the eighth invention is the medicine sorting apparatus according to the seventh invention, wherein the standby medicine holding unit is one of the plurality of holding units.

Here, in the single conveyance unit having the plurality of holding units described above, one of the plurality of holding units is used as the standby medicine holding unit.
Thus, for example, in the case of a conveyance unit having two holding units, one of the two medicines (first medicine) is conveyed to the medicine information acquisition unit while holding the two medicines, and the type information is acquired. After that, by replacing it with another drug (second drug), it is possible to temporarily hold the first drug for which the type information has been acquired.

As a result, while the type information of the second medicine is acquired, the first medicine held by one of the holding units can be transported to the storage tray, so that the above-described effect can be obtained.
A medicine sorting apparatus according to a ninth aspect of the present invention is the medicine sorting apparatus according to the first aspect, wherein the medicine information acquisition unit has a recess for holding the medicine. The standby medicine holding portion is provided at the extended portion of the recess.

Here, in the configuration in which the medicine information acquisition unit acquires medicine type information in a state where the medicine is held in the recess, the standby medicine holding unit is provided at a portion where the recess is extended.
Thereby, the extension part can be used as a standby medicine holding part only by moving the medicine whose type information is acquired in the medicine information acquisition part to the part extended in the recess.

A medicine sorting apparatus according to a tenth aspect of the present invention is the medicine sorting apparatus according to the ninth aspect of the present invention, including a moving member for sliding the medicine placed on the medicine information acquisition unit in the recess.
Here, a moving member is used to slide the medicine whose type information has been acquired by the medicine information acquisition unit in the recess.
Thus, the medicine held in the recess of the medicine information acquisition unit can be slid by the moving member in the recess.

The medicine sorting apparatus according to an eleventh aspect of the present invention is the medicine sorting apparatus according to the tenth aspect, wherein the moving member slides the medicine whose type information has been acquired by the medicine information acquiring unit in a recess and stands by Move to the medicine holding unit.
Here, using the moving member, the medicine whose type information has been acquired by the medicine information acquisition unit is slide-moved in the recess and moved to the standby medicine holding unit.

Thus, the medicine whose type information has been acquired in the recess of the medicine information acquisition unit can be slid by the moving member in the recess and moved to the extension portion of the recess as the standby medicine holding unit.
According to a twelfth aspect of the present invention, there is provided a medicine dispensing system according to any one of the first to eleventh inventions, wherein medicines contained in prescription information are dispensed from a medicine sorted out on the basis of prescription information for each patient. And a medicine dispensing apparatus for dispensing medicine other than the medicine dispensed from the medicine sorting apparatus to the dispensing tray based on the prescription information.

Here, for the medicine stored in the storage tray in the medicine sorting apparatus described above, the medicine contained in the prescription information prepared for each patient is dispensed to a predetermined delivery tray, and the medicine sorting apparatus includes the medicine included in the prescription information. The system will be configured to dispense medicines that have not been dispensed from the medicine dispenser to the dispensing tray.
Thereby, medicines, such as returned-goods medicine sorted in the medicine sorting device mentioned above, can be reused again based on prescription information.

  The medicine sorting method according to the thirteenth invention is a medicine sorting method for sorting a plurality of types of drugs according to types and storing them in a storage tray, wherein a drug information acquiring unit for obtaining type information of a plurality of types of medicine is The step of conveying the first medicine contained in the plurality of kinds of medicine by the one conveyance unit, the step of acquiring the kind information of the first medicine in the medicine information acquisition part, and the first medicine having the kind information acquired The standby medicine holding unit temporarily holds, the step of holding the first medicine, the step of conveying the second medicine contained in the plurality of medicines to the medicine information acquiring unit, and the second medicine of the second medicine in the medicine information acquiring unit Conveying the first medicine from the standby medicine holding unit to the storage tray while the type information is acquired.

Here, in the medicine sorting method in which a single transport unit sorts a plurality of medicines according to types and stores them in the storage tray, before storing the medicine whose type information has been acquired in the medicine information acquisition section in the storage tray. Hold temporarily in the standby medicine holding unit.
Here, the medicine sorting method is, for example, a method for sorting a plurality of returned medicines and the like and sorting and storing them in a predetermined storage tray, and is implemented in a hospital or the like that handles a large amount of medicine.

And, the type of medicine includes, for example, the type of medicine, the shape, size, and internal volume of the medicine container.
Further, the medicine information acquisition unit includes, for example, means for reading information such as barcodes and characters attached to medicine, and means for acquiring type information such as shape and size of a medicine container.
Generally, in order to acquire drug information, it is necessary to adjust the direction of the drug in order to read a bar code attached to the surface of the drug, character information and the like, so an operation such as rotating the drug is required. For this reason, it takes a certain amount of time to obtain information on medicines, resulting in a decrease in efficiency.

In the medicine sorting method of the present invention, a standby medicine holding unit is provided so that a single transport unit can perform another operation during acquisition of such time-consuming medicine information.
Thereby, the control unit controls the single conveyance unit to convey the medicine to the medicine information acquisition unit and to acquire other medicine (second medicine) type information. (1) The medicine can be transported from the standby medicine holding unit to the storage tray.

  Therefore, since the time while medicine type information is being acquired in the medicine information acquisition part can be used effectively, processing from acquisition of medicine type information to storage is performed more efficiently than before. Can.

  According to the medicine sorting apparatus according to the present invention, processing from acquisition of medicine type information to storage can be efficiently performed.

The front view which shows the external appearance of the medicine dispensing apparatus which concerns on one Embodiment of this invention. The front view which shows the state which opened the door of the medicine assortment apparatus of FIG. (A)-(d) is a figure which shows the kind of medicine sorted by the medicine sorting apparatus of FIG. The perspective view which shows the returned-goods medicine tray in which the returned medicine shown in FIG. 3 (a)-FIG.3 (d) was mounted in non-alignment. The figure which shows the breakdown of five types of storage trays set to the drug assortment apparatus of FIG. (A)-(c) is a perspective view which shows an example of the storage tray in which the medicine sorted by the medicine sorting apparatus of FIG. 1 is stored. FIG. 2 is a control block diagram showing the configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a plan view showing an internal configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a plan view showing an internal configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing the internal configuration of the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing a plurality of medicines placed in a return medicine tray and a camera for acquiring image information of the medicines from above in the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing the configuration of a picking unit and the like for picking a medicine and transporting it to a predetermined place in the medicine sorting apparatus of FIG. 1; FIG. 2 is a perspective view showing a medicine confirmation unit that judges the kind of medicine and the like, and a camera that is disposed above the medicine confirmation unit in FIG. 1 and that acquires image information of the medicine placed on the medicine confirmation unit. The chemical | medical agent sorting apparatus of FIG. 1 WHEREIN: The perspective view which shows the position of the conveyance mechanism of a storage tray in a storage tray mounting space and a returned-goods classification space, and a picking part. (A) And (b) is a side view and a perspective view showing the flow at the time of the medicine by which adsorption transportation is carried out by the picking part stored in a storage tray. (A) And (b) is a side view and a perspective view showing the flow at the time of the medicine by which adsorption transportation is carried out by the picking part stored in a storage tray. The schematic diagram which shows the operation range of the picking part in the medicine sorting apparatus of FIG. (A)-(c) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray, kind information is acquired, and it stores in a storage tray in the medicine sorting apparatus of FIG. (A)-(c) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray, kind information is acquired, and it stores in a storage tray in the medicine sorting apparatus of FIG. (A)-(c) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray, kind information is acquired, and it stores in a storage tray in the medicine sorting apparatus of FIG. (A)-(d) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray, kind information is acquired, and it stores in a storage tray in the medicine sorting apparatus of FIG. The schematic diagram which shows the operating range of the picking part in the chemical | medical agent sorting apparatus which concerns on other Embodiment 2 of this invention. (A)-(c) is a schematic diagram which shows the process until a medicine is taken out from a return medicine tray, type information is acquired, and it stores in a storage tray in the medicine sorting apparatus of FIG. (A)-(d) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray, type information is acquired, and it stores in a storage tray in the medicine sorting apparatus of FIG. The perspective view which shows the structure of the 1st chemical | medical agent confirmation part mounted in the chemical | medical agent sorting apparatus which concerns on other embodiment of this invention. (A)-(c) is a perspective view which shows the flow from reading of the kind information of the chemical | medical agent in the 1st chemical | medical agent confirmation part of FIG. 25 to temporary placement in a recessed part. (A)-(c) is a perspective view which shows the flow from reading of the kind information of the chemical | medical agent in the 1st chemical | medical agent confirmation part of FIG. 25 to temporary placement in a recessed part. (A)-(c) is a perspective view which shows the flow from reading of the kind information of the chemical | medical agent in the 1st chemical | medical agent confirmation part of FIG. 25 to temporary placement in a recessed part. (A)-(c) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray in the 1st medicine confirmation part of FIG. 25, type information is acquired, and it stores in a storage tray. (A)-(c) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray in the 1st medicine confirmation part of FIG. 25, type information is acquired, and it stores in a storage tray. (A)-(d) is a schematic diagram which shows the process until a medicine is taken out from a returned-goods medicine tray in the 1st medicine confirmation part of FIG. 25, type information is acquired, and it stores in a storage tray. The figure which compared the cycle time until the medicine by the medicine assortment apparatus of FIG. 1 and FIG. 22 is taken out from a return medicine tray, type information is acquired, and it stores in a storage tray. The whole view showing the composition of the medicine delivery system concerning another embodiment of the present invention.

(Embodiment 1)
It will be as follows if the medicine sorting apparatus 10 which concerns on one Embodiment of this invention is demonstrated using FIGS. 1-21 (d).
In the present embodiment, the front of the medicine sorting apparatus 10 means the front shown in FIG. 1 and the back means the surface on the opposite side.

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

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

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

A plurality of types of storage trays T2 are arrayed in the vertical direction and the horizontal direction in the storage tray setting unit 12, and a user such as a pharmacist opens the door 10c on the front of the main body portion 10a and removes the storage tray T2. I do.
The monitor 50a is provided on the upper left of the front of the main unit 10a, and receives inputs of various settings and performs various displays such as a setting screen and an error occurrence screen. And the monitor 50a is connected to the control part 50 (refer FIG. 7) which controls the drug assortment apparatus 10. As shown in FIG.

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

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

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

(Type of storage tray T2)
In the medicine sorting apparatus 10 of the present embodiment, the various medicines D described above are sorted by type, and a suitable storage tray T2 is selected from a plurality of kinds of storage trays T2 corresponding to each medicine D and stored. Do.
In the present embodiment, as shown in FIG. 5, the tray numbers 1 to 5 are assigned, and the pitch, width, the number of medicines D, etc. of recesses T2z (see FIG. 6A etc.) holding medicines D are different. Five types of storage trays T2 are used. Identification information such as the tray numbers of the five types of storage trays T2 shown in FIG. 5 and the pitch and width of the recesses T2z are stored in advance in the storage unit 51 described later.

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

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

As shown in FIG. 5, the storage tray T2b of tray No. 2 (see FIG. 6B) has a width S (small) size, a pitch 38 mm of the concave portion T2z, the number of medicines D contained, and the medicine sorting apparatus 10 The total number of trays set is 15 and the total number of stored medicines is 75. Therefore, the medicine D which is thin and medium in length is stored in the storage tray T2b.
Specifically, as shown in FIG. 6B, the storage tray T2b is provided with a bar code (identification information) B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. It is done. A plurality of concavities and convexities (concave portions T2z) are formed in the storage tray T2b in which the medicine D is stored.

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

As shown in FIG. 5, the storage tray T2 of tray No. 3 has a width M (medium) size, a pitch 21 mm of the concave portion T2z, several tens of medicines D, and the total number of trays 10 set in the medicine sorting apparatus 10 Each tray contains 100 medicines. Therefore, thick and short medicines D such as plastic bottles are stored in the storage tray T2.
Specifically, the storage tray T2 is provided with a bar code (identification information) B2 at a first end in the longitudinal direction, and a handle N at a second end on the opposite side. A plurality of concavities and convexities (concave portions T2z) are formed inside the medicine tray D of the storage tray T2.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2 is recorded, and the identification information is read and acquired by the barcode reader 25 described later.
Recesses T2z for forming a plurality of irregularities formed on the bottom surface of the storage tray T2 are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. And the recessed part T2z hold | maintains the chemical | medical agent D conveyed to the storage tray T2 in the part of a hollow.

As shown in FIG. 5, the storage tray T2c (refer to FIG. 6C) of tray No. 4 has a width M (medium) size, a pitch 38 mm of recesses T2z, the number of medicines D contained, and the medicine sorting apparatus 10 There are 10 trays in which the tray is set and 50 trays in which the stored medicines are stored. Therefore, the medicine D having a large thickness and a medium length is stored in the storage tray T2c.
Specifically, as shown in FIG. 6C, the storage tray T2c is provided with a bar code (identification information) B2 at the first end in the longitudinal direction and a handle N at the second end on the opposite side. It is done. Further, a plurality of concavities and convexities (concave portions T2z) are formed inside the medicine tray D of the storage tray T2c.

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

As shown in FIG. 5, the storage tray T2 having the tray number 5 has a width L (large) size, a pitch 38 mm of the concave portion T2z, five pieces of medicine D, and the total number of trays 6 set in the medicine sorting apparatus 10. Each tray contains 30 medicines. Therefore, the thickest and longest medicine D such as a large plastic bottle is stored in the storage tray T2.
Specifically, the storage tray T2 is provided with a bar code (identification information) B2 at a first end in the longitudinal direction, and a handle N at a second end on the opposite side. A plurality of concavities and convexities (concave portions T2z) are formed inside the medicine tray D of the storage tray T2.

In the barcode B2, identification information on the type (pitch, width, etc.) of the storage tray T2 is recorded, and the identification information is read and acquired by the barcode reader 25 described later.
Recesses T2z for forming a plurality of irregularities formed on the bottom surface of the storage tray T2 are formed in accordance with the shape and size of each medicine D, and are provided at a constant pitch. And the recessed part T2z hold | maintains the chemical | medical agent D conveyed to the storage tray T2 in the part of a hollow.

The five types of storage trays T2a to T2c and the like described above have three types of widths such as S, M, and L, and a common height in appearance, as shown in FIGS. 6A to 6C. , Has depth.
(Internal configuration of the medicine sorting apparatus 10)
The medicine sorting apparatus 10 of the present embodiment constitutes a control block shown in FIG. 7 centering on the control unit 50.

The control unit 50 is provided inside the medicine sorting apparatus 10, and as shown in FIG. 7, the monitor 50a, the returned drug tray conveyance unit 13, the cameras C1 and C2, the picking unit (single conveyance unit) 20, The first medicine confirmation unit 30, the barcode readers 25 and 31, the storage tray conveyance unit 14, the second medicine confirmation unit 40, and the storage unit 51 are connected.
The returned drug tray transport unit 13 opens the door 10b attached to the main body 10a described above and transports the returned drug tray T1 set in the returned drug tray installation unit 11 in a predetermined direction.

Specifically, as shown in FIG. 8, the returned drug tray transport unit 13 moves from the returned drug tray storage space S1 disposed on the front side in the main body portion 10a to the picking space S2 disposed on the back side. , Return drug delivery tray T1.
That is, in the medicine sorting apparatus 10 of the present embodiment, when the sorting operation is started, as shown in FIG. 8, the plurality of medicines D for which the returned goods tray transport unit 13 is returned are placed in a non-aligned state. The returned medicine tray T1 is transported from the returned medicine tray storage space S1 to a predetermined picking space S2 side.

The storage tray transport unit 14 transports the plurality of storage trays T2 set in the storage tray installation unit 12 in a predetermined direction by opening the door 10c attached to the main body unit 10a described above.
Specifically, as shown in FIG. 8 and FIG. 9, the storage tray conveyance section 14 sorts the returned medicines disposed on the back side from the storage tray placement space S3 disposed on the front side in the main body section 10a. The storage tray T2 is transported to the space S4.

That is, in the medicine sorting apparatus 10 of the present embodiment, when the sorting operation is started, as shown in FIG. 8, the storage tray conveyance unit 14 appropriately stores the medicine D adsorbed and conveyed by the picking unit 20. The tray T2 is transported from the storage tray placement space S3 to the return medicine sorting space S4 side.
In the medicine sorting apparatus 10 according to the present embodiment, the storage tray transport unit 14 moves to the desired height of the storage tray T2 of each row arranged in the vertical direction, and stores the desired storage. The tray T2 is transported to the returned medicine sorting space S4.

As shown in FIG. 11, the camera C1 is provided above the returned medicine tray T1 transported to the picking space S2. Then, the camera C1 obtains an image including a plurality of medicines D placed on the returned medicine tray T1 transported to the picking space S2.
Thereby, the control unit 50 specifies a position for picking one of the plurality of medicines D placed in the non-aligned state in the return medicine tray T1 using the image information acquired by the camera C1. .

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

The picking unit 20 adsorbs the plurality of returned chemicals D placed in the non-aligned state in the returned medicine tray T1 by the suction unit 20a at the tip and transports the medicines in a predetermined direction. Are provided inside the main body 10a in a movable state.
Specifically, when sorting operation is started, the picking unit 20 moves from the returned medicine tray T1 to the first medicine confirmation unit 30, from the first medicine confirmation unit 30 to the mounting table (standby medicine holding unit) 35, the mounting table The chemical D is adsorbed and conveyed in the adsorption unit 20a from the storage tray 35 to the storage tray T2.

Then, as shown in FIG. 12, the picking unit 20 can carry the medicine D in such a three-dimensional direction, as shown in FIG. 12, the vertical support 21a, the belt 21b, the motor 21c, the horizontal support 22a, the belt 22b, and the motor 22c, a horizontal support 23a and the like.
For example, the picking unit 20 causes the motor 21c to rotate the belt 21b provided along the Z direction between the two vertical columns 21a and 21a arranged along the Z direction (vertical direction). Thereby, the picking unit 20 can move in the Z direction (vertical direction), and can perform, for example, an adsorption operation of the drug D, an operation of placing the drug D on each tray, and the like.

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

The transport control using the picking unit 20 will be described in detail later.
The barcode reader (tray information acquisition unit) 25 is disposed in the vicinity of the picking unit 20 as shown in FIG. 14, FIG. 15A, etc., and moves integrally with the picking unit 20 in a three-dimensional direction. . Then, the bar code reader 25 reads the bar code B2 attached to the storage tray T2 and acquires identification information of the storage tray T2 before storing the medicine D adsorbed and transported by the picking unit 20 in the storage tray T2. .

As shown in FIGS. 8 and 9, the first medicine check unit 30 is disposed between the picking space S2 formed in the inside of the main body 10a and the returned medicine sorting space S4. Then, the first medicine check unit 30 checks the type and the like of the returned medicine D absorbed and held by the picking unit 20 in the picking space S2.
Specifically, as shown in FIG. 13, the first medicine check unit 30 has a barcode reader 31, a holding plate 32, a roller 33, and a motor 33a. The first medicine confirmation unit 30 is disposed below the camera C2 installed to confirm the expiration date of the medicine D, and the medicine formed in the recess formed by the holding plate 32 and the roller 33 arranged close to each other Hold D Then, the first medicine check unit 30 rotates the medicine D by rotating the roller 33 with the motor 33a while holding the medicine D, and the bar code attached to the medicine D with the bar code reader 31 described later. Read and acquire type information of B1.

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

  The mounting table 35 is in the vicinity of the first medicine confirmation unit 30, as shown in FIGS. 8 and 9, in order to temporarily hold the medicine D for which the type information has been acquired by the first medicine confirmation unit 30. , And the first medicine check unit 30 and the returned medicine sorting space S4. More specifically, as shown in FIG. 13, the mounting table 35 is fixed to the side surface of the first medicine check unit 30 via an L-shaped metal fitting.

In the medicine sorting apparatus 10 of the present embodiment, by utilizing the mounting table 35, the medicine D is efficiently stored in the storage tray T <b> 2 using the single picking unit 20.
As shown in FIGS. 9 and 10, the second medicine check unit 40 is disposed below the returned medicine sorting space S4 in the main body 10a via the support 40a. Then, the second medicine check unit 40 checks the type and the like of the medicine D which is taken out from the inside of the storage tray T2 by the picking unit 20 and is adsorbed and transported to the delivery tray T3.

The second medicine confirmation unit 40 has a configuration necessary for incorporating the medicine sorting apparatus 10 into the medicine dispensing system 100 and using it (refer to the other embodiment (A) below and FIG. 26), and When the apparatus 10 is used alone, it is not mounted.
The storage unit 51 stores a control program for driving and controlling the above-described components. Then, as the identification information acquired from the barcode B2 attached to the storage tray T2, the storage unit 51 has a tray number, a tray width, a pitch, the number of medicines put in one tray, as shown in FIG. A table showing the relationship between the maximum number of trays stored in the apparatus and the maximum number of stored chemicals is stored. Furthermore, the storage unit 51 stores, for example, information corresponding to the barcode B2 attached to each storage tray T2 as identification information of the storage tray T2.

<Flow of storing medicine D in storage tray T2>
The medicine sorting apparatus 10 according to the present embodiment includes the above-described components, sorts the returned medicine D according to the type of medicine D, and stores the medicine D in the storage tray T2.
Specifically, first, the control unit 50 controls the returned drug tray transport unit 13 so that one returned drug tray T1 is transferred from the returned drug tray storage space S1 to the picking space S2 as shown in FIG. Transport

Next, the control unit 50 sorts out the plurality of medicines D placed in the non-aligned state in the return medicine tray T1 shown in FIG. 4 and stores the medicine D (first medicine) in the storage tray T2. Choose). At this time, the control unit 50 sets the position for picking the medicine D based on the image information acquired by the camera C1 shown in FIG.
Next, the control unit 50 controls the picking unit 20 to adsorb a desired medicine D from the returned goods tray T1 and transport the medicine D to the first medicine confirmation unit 30.

Next, in order to confirm the type (drug or the like) of the drug D placed on the first drug check unit 30, the control unit 50 rotationally drives the roller 33 by the motor 33a as shown in FIG. The medicine D is rotated, and the bar code reader 31 reads the bar code B1 attached to the medicine D. Thereby, the kind information of medicine D can be obtained.
At this time, as shown in FIG. 13, the control unit 50 controls the camera C <b> 2 placed above the first medicine check unit 30 to acquire image information of the medicine D. Thereby, it is possible to obtain information on the expiration date of the drug D attached to the outer peripheral surface of the drug D together with the bar code B1.

Next, the control unit 50 controls the picking unit 20 to adsorb the medicine D placed on the first medicine confirmation unit 30, and the concave portion of the mounting table 35 disposed adjacent to the first medicine confirmation unit 30. Transport to 35a.
Next, the control unit 50 causes the medicine D (first medicine) placed on the mounting table 35 from among the plurality of medicines D placed in the non-aligned state in the returned-goods medicine tray T1 shown in FIG. 4. Next, the medicine D (second medicine) to be stored in the storage tray T2 is selected by sorting.

Next, the control unit 50 controls the picking unit 20 to adsorb a desired medicine D (second medicine) from the returned goods tray T1 and transports the medicine D (second medicine) to the first medicine confirmation unit 30.
Next, as shown in FIG. 13, the control unit 50 causes the motor 33a to rotate the roller 33 to rotate the medicine D, and the bar code reader 31 applies the bar code B1 attached to the medicine D (the second medicine). Read At the same time, the control unit 50 controls the picking unit 20 to adsorb again the medicine D (first medicine) placed on the mounting table 35 and transport the medicine D above the return medicine sorting space S4.

That is, in the medicine sorting apparatus 10 according to the present embodiment, the picking unit 20 is controlled while the type information of the medicine D transported as the second medicine is acquired by the bar code reader 31, and The placed medicine D as the first medicine is transported to the storage tray T2.
Next, the control unit 50 controls the storage tray conveyance unit 14 to store the stage including the storage tray T2 for storing the medicine D for which the type information is acquired, from the storage tray placement space S3 to the return medicine sorting space Transport to S4.

Next, as shown in FIGS. 15 (a) and 15 (b), the control unit 50 moves the picking unit 20 having adsorbed the chemical D to the front of the storage tray T2 and moves the bar code together with the picking unit 20. The reader 25 is used to read the barcode B2 of the storage tray T2 which is the storage destination.
At this time, the control unit 50 refers to the identification information including the tray number obtained from the bar code B2, the number of concave portions T2z, and the like, and stores the medicine D adsorbed and transported in the picking unit 20. It is determined whether the pitch, width, and the like of the recess T2z of the storage tray T2 are appropriate.

Here, when it is determined that the storage tray T2 is appropriate, the control unit 50 controls the picking unit 20 and is determined to be appropriate as shown in FIGS. 16 (a) and 16 (b). The medicine D being adsorbed and transported is placed in a predetermined recess T2z in the storage tray T2.
On the other hand, if it is determined that the storage tray T2 is not appropriate, the width and length of the medicine D may be determined based on the identification information obtained from the bar code B2, using the recess T2z or the width of the storage tray T2. It is possible that is not correct.

Therefore, the control unit 50 controls the picking unit 20 to repeat the process of reading the barcode B2 of another storage tray T2 until an appropriate storage tray T2 is found for the medicine D being suctioned and transported.
<Flow of storage of medicine D in storage tray T2>
In the medicine sorting apparatus 10 according to the present embodiment, a specific conveyance process for taking out the medicine D from the returned medicine tray T1 and storing it in the storage tray T2 using the single picking unit 20 will be described with reference to FIGS. It will be as follows if it demonstrates using (c).

  As shown in FIG. 17, the medicine sorting apparatus 10 of the present embodiment is, from the upstream side in the transport direction, the returned medicine tray T1 disposed in the picking space S2, the first medicine confirmation unit 30, the mounting table 35, the returned medicine A storage tray T2 arranged in the sorting space S4 is arranged. Then, the picking unit 20 moves from the returned medicine tray T1 disposed in the picking space S2 to the storage tray T2 disposed in the returned medicine sorting space S4 in the inside of the main body portion 10a of the medicine sorting device 10 It is installed in the state which can carry out.

Furthermore, the mounting table 35 is disposed between the picking space S2 and the returned medicine sorting space S4, and in the vicinity of the first medicine checking unit 30.
Then, as shown in FIG. 18A, the control unit 50 controls the picking unit 20 to first adsorb and take out the medicine D (first medicine A) from the returned medicine tray T1.
Next, as shown in FIG. 18B, the control unit 50 controls the picking unit 20 to convey the medicine D (first medicine A) to the first medicine confirmation unit 30. Here, the first medicine check unit 30 acquires type information attached to the medicine D (first medicine A).

Next, as shown in FIG. 18C, the control unit 50 controls the picking unit 20 so that the type information is acquired from the first medicine confirmation unit 30 to the mounting table 35 (D medicine (first medicine). Transport A).
Next, as shown in FIG. 19A, the control unit 50 controls the picking unit 20 to adsorb and take out the second medicine D (second medicine B) from the returned-goods medicine tray T1 again. .

Next, as shown in FIG. 19B, the control unit 50 controls the picking unit 20 to transport the medicine D (second medicine B) to the first medicine confirmation unit 30. Here, the first medicine check unit 30 acquires type information attached to the medicine D (second medicine B).
Next, as shown in FIG. 19C, the control unit 50 controls the picking unit 20 while the type information of the medicine D (second medicine B) is acquired in the first medicine confirmation unit 30. The chemical D (first chemical A) placed on the mounting table 35 is adsorbed.

Next, as shown in FIG. 20A, the control unit 50 controls the picking unit 20 to transport and store the absorbed medicine D (first medicine A) to the storage tray T2.
That is, in the medicine sorting apparatus 10 of the present embodiment, the operation until the medicine D (first medicine A) shown in FIGS. 19C and 20A is adsorbed from the mounting table 35 and stored in the storage tray T2 Is performed using the time while the type information of the drug D (second drug B) is acquired.

Next, as shown in FIG. 20 (b), the control unit 50 controls the picking unit 20 to move onto the first medicine confirmation unit 30, and the medicine D (second medicine B for which type information is acquired) ) To adsorb.
Next, as shown in FIG. 20C, the control unit 50 controls the picking unit 20 to transport the medicine D (second medicine B) whose type information has been acquired and adsorbed to the mounting table 35. .
Next, as shown in FIG. 21A, the control unit 50 controls the picking unit 20 to adsorb and take out the third medicine D (third medicine C) from the returned-goods medicine tray T1 again. .

Next, as shown in FIG. 21B, the control unit 50 controls the picking unit 20 to convey the medicine D (third medicine C) to the first medicine confirmation unit 30. Here, the first medicine check unit 30 acquires type information attached to the medicine D (third medicine C).
Next, as shown in FIG. 21C, the control unit 50 controls the picking unit 20 while the type information of the medicine D (third medicine C) is acquired in the first medicine confirmation unit 30. The chemical D (second chemical B) placed on the mounting table 35 is adsorbed.

Next, as shown in FIG. 21D, the control unit 50 controls the picking unit 20 to transport and store the absorbed medicine D (second medicine B) to the storage tray T2.
That is, in the medicine sorting apparatus 10 of the present embodiment, the operation until the medicine D (second medicine B) shown in FIG. 21C and FIG. 21D is adsorbed from the mounting table 35 and stored in the storage tray T2. Is performed using the time while the type information of the drug D (third drug C) is acquired.

In the medicine sorting apparatus 10 of the present embodiment, the above steps are repeated.
As described above, in the medicine sorting apparatus 10 according to the present embodiment, the type information is acquired by the bar code reader 31 when the single picking unit 20 sorts the plurality of kinds of medicines D by type and stores them in the storage tray. A mounting table 35 is provided which temporarily holds the medicine D before storing it in the storage tray T2.

Generally, acquisition of the character information of drug D attached to the surface of drug D, such as expiration date, takes a plurality of images while changing the direction of drug D to read them, and complex image processing To extract character information. For this reason, it takes a certain amount of time to obtain information on medicines, resulting in a decrease in efficiency.
In the medicine sorting apparatus 10 according to the present embodiment, the loading unit 20 can carry out another operation (the operation of storing the first medicine in the storage tray T2) while acquiring the medicine information requiring such a time. A table 35 is provided.

Thereby, even if the picking unit 20 is single, the control unit 50 conveys the medicine D to the bar code reader 31 and performs processing for acquiring kind information of the medicine D (second medicine). The medicine D (first medicine) can be transported from the mounting table 35 to the storage tray T2.
Therefore, the time during which the type information of the medicine D is acquired can be effectively utilized by the barcode reader 31 of the first medicine confirmation unit 30 or the camera C2, and therefore, the type information of the medicine D is Processing from acquisition to storage can be implemented efficiently.

Second Embodiment
It will be as follows if the medicine assortment apparatus 110 which concerns on one Embodiment of this invention is demonstrated using FIGS. 22-24 (d).
In the present embodiment, the picking unit 20 includes only one suction unit 20 a in that the single picking unit 120 includes the two first suction units 120 a and the second suction unit 120 b. The configuration is different from that of the first embodiment. However, since the other configuration is substantially the same as that of the first embodiment, the same reference numerals are given in the present embodiment, and the detailed description thereof will be omitted.

  As shown in FIG. 22, the medicine sorting apparatus 110 according to the present embodiment includes the returned medicine tray T1, the first medicine confirmation unit 30, and the returned medicine sorting space S4 disposed in the picking space S2 in order from the upstream side in the transport direction. A storage tray T2 arranged is arranged. Then, the picking unit 120 moves from the returned medicine tray T1 disposed in the picking space S2 to the storage tray T2 disposed in the returned medicine sorting space S4 within the main body 10a of the medicine sorting device 10, It is installed in the state which can carry out.

  As shown in FIG. 23A, the control unit 50 controls the picking unit 120 to first adsorb and take out two medicines D (first medicine A and second medicine B) from the return medicine tray T1. . Specifically, the first adsorption unit 120a provided at the tip of the picking unit 120 adsorbs the medicine D (first medicine A) and the second adsorption unit 120b adsorbs the medicine D (second medicine B), respectively. Take out from the returned medicine tray T1.

  Next, as shown in FIG. 23 (b), the control unit 50 controls the picking unit 120 so that one of the two medicines D adsorbed to the first medicine confirmation unit 30 (first medicine A Transport). Specifically, the control unit 50 controls the picking unit 120 to move to above the first medicine confirmation unit 30, and then stops adsorption by the first adsorption unit 120a, and then the medicine D (first medicine A) Are transported to the first medicine confirmation unit 30.

Here, the first medicine check unit 30 acquires type information attached to the medicine D (first medicine A).
Next, as shown in FIG. 23C, the control unit 50 controls the picking unit 20 so that the medicine D (first medicine) for which the type information has been acquired in the first medicine confirmation unit 30 is again generated. While adsorbing in the adsorbing unit 120 a, the adsorption of the second adsorbing unit 120 b is stopped and the second medicine D (second medicine B) is conveyed to the first medicine confirmation unit 30. That is, here, as shown in FIG. 24C, the first and second adsorption units 120a and 120b are controlled to select the medicine D (first medicine A) on the first medicine confirmation unit 30, and the picking unit At 120, replace the adsorbed drug D (second drug B).

Here, the first medicine check unit 30 acquires type information attached to the medicine D (second medicine B).
Next, as shown in FIG. 24A, the control unit 50 selects the picking unit while the type information of the second medicine D (second medicine B) is acquired in the first medicine confirmation unit 30. By controlling 120, the medicine D (first medicine A) adsorbed by the first adsorption unit 120a is conveyed to the storage tray T2 and stored.

That is, in the medicine sorting apparatus 110 of the present embodiment, the medicine D (first medicine A) shown in FIG. 23C and FIG. 24A is stored in the storage tray T2 from the state where the medicine D (first medicine A) is adsorbed The operations up to are performed using the time while the type information of the medicine D (second medicine B) is acquired in the first medicine confirmation unit 30.
Next, as shown in FIG. 24B, the control unit 50 controls the picking unit 120 to adsorb and take out the third medicine D (third medicine C) from the returned-goods medicine tray T1.

  Next, as shown in FIG. 24C, the control unit 50 controls the picking unit 20 so that the medicine D (second medicine B) whose type information has been acquired in the first medicine confirmation unit 30 is read again. While adsorbing in the second adsorbing unit 120 b, the adsorption of the first adsorbing unit 120 a is stopped and the third medicine D (third medicine C) is conveyed to the first medicine checking unit 30. That is, here, as shown in FIG. 25C, the first and second adsorbing parts 120a and 120b are controlled, and the medicine D (second medicine B) on the first medicine confirmation part 30 and the picking part At 120, replace the adsorbed drug D (third drug C).

Here, the first medicine check unit 30 acquires type information attached to the medicine D (third medicine C).
Next, as shown in FIG. 24D, the control unit 50 selects the picking unit while the type information of the third medicine D (third medicine C) is acquired in the first medicine confirmation unit 30. By controlling 120, the medicine D (second medicine B) adsorbed by the second adsorption unit 120b is conveyed to the storage tray T2 and stored.

Then, in the medicine sorting apparatus 110 of the present embodiment, the above steps are repeated.
As described above, in the medicine sorting apparatus 110 according to the present embodiment, the picking unit 120 includes the two suction units (the first suction unit 120a and the second suction unit 120b).
As a result, it is possible to use one of the two first suction units 120a and the second suction unit 120b for transportation and the other suction unit as a standby medicine holding unit.

As a result, as in the first embodiment described above, the time during which the type information of the medicine D is acquired in the bar code reader 31 of the first medicine confirmation unit 30 can be effectively utilized, so The processing from acquisition of medicine D type information to storage can be performed efficiently.
(Embodiment 3)
The medicine sorting apparatus according to one embodiment of the present invention will be described below with reference to FIGS. 25 to 31 (d).

Here, in the present embodiment, in place of the mounting table 35 provided as the standby medicine holding unit, the mounting unit 235 provided in the portion where the recess 234 for holding the medicine D in the first medicine confirmation unit 230 is extended The second embodiment differs from the first and second embodiments in that it is used as a standby medicine holding unit.
In addition, about another structure, since it is substantially the same as the said Embodiment 1, in this embodiment, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted.

The medicine sorting apparatus of the present embodiment is provided with a first medicine checking unit 230 as a configuration corresponding to the first medicine checking unit 30 of the first embodiment, as shown in FIG.
As shown in FIG. 25, the first medicine check unit 230 includes a bar code reader (drug information acquisition unit) 231, a holding plate 232, a roller 233, a motor 233a, a recess 234, a placement unit 235, an urging member 236, and an engagement member. It has stop plates 237a and 237b.

  The barcode reader (drug information acquisition unit) 231 has a configuration corresponding to the barcode reader 31 of the first embodiment, and the diagonal of the drug D held in the recess 234 formed by the holding plate 232 and the roller 233. It is located at the top. Then, the barcode reader 231 reads the barcode B1 attached to the drug D rotated by the roller 233 rotationally driven by the motor 233a, and acquires type information on the type of drug D (type of drug etc.).

The holding plate 232 forms a recess 234 for holding the medicine D whose type information is to be acquired, between the holding plate 232 and the roller 233 closely arranged.
The roller 233 is in contact with the drug D held in the recess 234, and rotates the drug D by being rotationally driven by the motor 33a. Thereby, the barcode reader 231 acquires type information of the barcode B1 attached to the medicine D.

The placement unit 235 is disposed on an extension of the recess 234 formed between the holding plate 232 and the roller 233, and is provided as a standby medicine holding unit that temporarily holds the medicine D for which type information has been acquired. It is done.
The biasing member 236 is provided at one end of the recess 234 to slide the drug D held in the recess 234 in the recess 234. The biasing member 236 is biased from the one end of the recess 234 toward the mounting portion 235. Thus, the biasing member 236 slides the medicine D whose type information has been acquired in the recess 234 and conveys the medicine D to the placement unit 235.

The locking plates 237 a and 237 b are provided for positioning the medicine D by stopping the movement by contacting a part of the medicine D slidingly moving in the recess 234 by the biasing member 236.
<Operation of First Drug Confirmation Unit 230>
In the present embodiment, the first medicine check unit 230 operates along the flow shown in FIG. 26 (a) to FIG. 28 (c).

Specifically, when the medicine D is transported to the first medicine confirmation unit 230 by the picking unit 20, the medicine D is held in the recess 234, as shown in FIG. 26 (a).
Next, as shown in FIG. 26B, the biasing member 236 disposed at the first end (initial position) moves along the recess 234, and the medicine D in the recess 234 is engaged with the locking plate 237a. It slides until it abuts. Thereby, the medicine D in the recess 234 can be aligned with the barcode reader 231.

Next, as shown in FIG. 26C, the biasing member 236 is returned to the first end which is the initial position. Then, in this state, the roller 233 is rotationally driven by the motor 233a and the medicine D is rotated, whereby the type information of the medicine D is acquired by the barcode reader 231.
Next, as shown in FIG. 27A, in order to move the medicine D whose type information has been acquired to the placement unit 235, the locking plate 237a is moved to the upper retracted position.

Next, as shown in FIG. 27B, the biasing member 236 is moved along the recess 234 to slide the medicine D to a position where it contacts the locking plate 237b.
Next, as shown in FIG. 27C, the biasing member 236 is returned to the first end which is the initial position again.
Next, as shown in FIG. 28A, the locking plate 237a which has been moved to the upper retracted position is returned to the initial position in the recess 234.

Next, as shown in FIG. 28B, the new medicine D is conveyed into the recess 234 by the picking unit 20.
Next, as shown in FIG. 28C, the biasing member 236 disposed at the first end (initial position) moves along the recess 234, and the new medicine D in the recess 234 is locked. It is slid until it abuts on the plate 237a. Thereby, the new medicine D can be aligned with the barcode reader 231.

Then, while the new medicine D is rotated to acquire the type information, the first medicine D held by the placement part 235 provided in the extended part of the recess 234 is stored by the picking part 20 as a storage tray Transport to T2.
<Flow of storing medicine D in storage tray T2>
In this embodiment, the medicine D is taken out from the returned-goods medicine tray T1 and stored in the storage tray T2 according to the flow shown in FIGS. 29 (a) to 31 (d) using the first medicine confirmation unit 230.

Specifically, as shown in FIG. 29A, the control unit 50 controls the picking unit 20 to first adsorb and take out the medicine D (first medicine A) from the returned-goods medicine tray T1.
Next, as shown in FIG. 29 (b), the control unit 50 controls the picking unit 20 to transport the medicine D (first medicine A) to the concave part 234 of the first medicine confirmation unit 230. Here, the first medicine check unit 230 acquires type information attached to the medicine D (first medicine A).

Next, as shown in FIG. 29C, the control unit 50 controls the biasing member 236 so that the medicine whose type information has been acquired from the concave portion 234 to the placement portion 235 provided in the extension portion thereof. Transport D (the first medicine A). At the same time, the picking unit 20 is controlled to again adsorb and take out the second medicine D (second medicine B) from the returned medicine tray T1.
Next, as shown in FIG. 30A, the control unit 50 controls the picking unit 20 to convey the medicine D (second medicine B) to the recess 234 of the first medicine confirmation unit 230.

Next, as shown in FIG. 30 (b), the control unit 50 selects the picking unit while the type information attached to the medicine D (second medicine B) is acquired in the first medicine confirmation unit 230. 20 is controlled to adsorb the medicine D (first medicine A) placed on the placement unit 235.
Next, as shown in FIG. 30C, the control unit 50 controls the picking unit 20 to transport and store the adsorbed medicine D (first medicine A) to the storage tray T2.

That is, in the medicine sorting apparatus according to the present embodiment, the operation until the medicine D (first medicine A) shown in FIG. 30 (b) and FIG. 30 (c) is adsorbed from the placement unit 235 and stored in the storage tray T2. Is performed using the time while the type information of the drug D (second drug B) is acquired.
Next, as shown in FIG. 31A, the control unit 50 controls the biasing member 236 to slide the medicine D held in the concave portion 234 to the placement unit 235, and the picking unit 20 is moved. Control is moved onto the returned medicine tray T1 to adsorb the medicine D (third medicine C).

Next, as shown in FIG. 31B, the control unit 50 controls the picking unit 20 to convey the medicine D (third medicine C) to the recess 234 of the first medicine confirmation unit 230.
Next, as shown in FIG. 31 (c), the control unit 50 selects the picking unit while the type information attached to the medicine D (third medicine C) is acquired in the first medicine confirmation unit 230. 20 is controlled to adsorb the medicine D (second medicine B) placed on the placement unit 235.

Next, as shown in FIG. 31D, the control unit 50 controls the picking unit 20 to transport and store the absorbed medicine D (second medicine B) to the storage tray T2.
The above steps are repeated in the medicine sorting apparatus of the present embodiment.
In the medicine sorting apparatus according to the present embodiment, the recess 234 is extended so that the picking unit 20 can perform another operation (the operation of storing the first medicine in the storage tray T2) while acquiring time-consuming drug information. A mounting portion 235 is provided in the portion.

  Thereby, the control unit 50 slides the medicine D, for which the type information is acquired, to the placement unit 235 in the recess 234 using the biasing member 236, so that the picking unit 20 is single. During the process of conveying the drug D to the bar code reader 231 and acquiring type information of the drug D (second drug), the other drug D (first drug) from the placement unit 235 to the storage tray T2 It can be transported.

  Thus, since the time during which the type information of the medicine D is acquired by the bar code reader 231 or the like of the first medicine confirmation unit 230 can be effectively used, the acquisition of the type information of the medicine D is more than conventional. The same effect as the above-mentioned embodiment that processing to storage can be performed efficiently can be acquired.

With the configuration described in the first and second embodiments described above for one embodiment of the present invention, the time per cycle (cycle time) for picking the medicine from the returned goods tray T1 and storing it in the storage tray T2 is compared. The results are shown in FIG.
In the present embodiment, as shown in FIG. 1 to No. The effect of the present invention was verified by taking three configurations of 3 as an example.

No. Reference numeral 1 denotes a configuration of a comparative example for comparing the effects of the present invention that there is one picking unit, one suction unit, no mounting table, and no moving means to the mounting table.
No. 2 shows the configuration of the first embodiment described above in which there is one picking unit 20, one suction unit 20a, and a mounting table 35, and the suction unit 20a is used as a moving means to the mounting table 35. .

No. 3 has one picking unit 20, two suction units (a first suction unit 120a and a second suction unit 120b) instead of the mounting table, and one of the two suction units is used as a moving means to the mounting table , And the configuration of the second embodiment described above.
No. The fourth embodiment uses the biasing member 236 provided in the first medicine confirmation unit 230 as a moving means to the mounting table (recess), with one picking unit 20 and one suction unit. It shows the configuration.

Therefore, in the present embodiment, No. Comparative example 1 and No. 1 as an example of the present invention. 2, No. 3, No. In comparison with 4, it was verified how the expected cycle time changed.
As a result, as shown in FIG. In No. 1, the expected cycle time was 26.87 seconds, whereas no. It was found that the efficiency of about 32% can be achieved at 18.16 seconds in the second case.

And No. In No. 3, No. In comparison with the configuration of 2, it is expected that the number of processes in one cycle is reduced from 13 to 7 by using the two first suction units 120a and the second suction unit 120b instead of the mounting table 35. The cycle time was 18.24 seconds, No. It has been found that an efficiency of about 32% can be achieved as compared with 1.
Furthermore, no. In No. 4, the expected cycle time is 15.60 seconds. It was found that an efficiency of about 42% can be achieved as compared with 1.

From the above, it has been found that according to the configurations of the first, second and third embodiments described above, it is possible to obtain an effect that the processing from acquisition of medicine type information to storage can be efficiently performed.
[Other embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention.

(A)
In the above embodiment, the medicine assortment apparatus 10 alone is taken out and taken out of the returned medicine D one by one from the returned medicine tray T1 and stored in the appropriate storage tray T2. However, the present invention is not limited to this.
For example, as shown in FIG. 33, the medicine dispensing system 100 is configured as a medicine dispensing system 100 in which the function of the medicine sorting apparatus 10 of the present invention is added to the medicine dispensing apparatus that dispenses the desired medicine D to the dispensing tray T3 based on prescription information. It is also good.

As shown in FIG. 33, the medicine dispensing system 100 includes a tray supply device 101, a plastic bottle dispensing device 102, a returned drug sorting device (corresponding to the drug sorting device 10) 103, an ampoule vial dispensing device (drug dispensing device) 104, and a label injection. It is provided with a paper tray loading device 105 and a tray storage and transfer device 106.
The tray supply device 101 is disposed on the most upstream side (the left end in FIG. 33) of the medicine dispensing system 100, as shown in FIG. Then, the tray supply device 101 is set in a state in which the payout trays T3 are stacked, and feeds an empty payout tray T3 to the downstream side.

The plastic bottle dispenser 102 stores plastic bottle chemicals D, and as shown in FIG. 33, is disposed downstream of the tray supply device 101. Then, the plastic bottle delivery device 102 dispenses the plastic bottle (drug D) included in the prescription information on the payout tray T3 conveyed from the tray supply device 101.
The return medicine sorting apparatus 103 is an apparatus for automatically sorting a plurality of returned medicines D corresponding to the medicine sorting apparatus 10 described above, and as shown in FIG. It is arranged. Then, the return medicine assortment apparatus 103 takes out the return medicine which has been sorted in the return medicine assortment apparatus 103 and stored in the storage tray T2 based on the prescription information, and pays it out to the delivery tray T3.

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

The ampoule vial dispensing device 104 stores the ampoule-like medicine D, and as shown in FIG. 33, is disposed downstream of the returned drug sorting device 103. Then, the ampoule vial dispensing device 104 dispenses the ampoule vial (drug D) included in the prescription information to the dispensing tray T3 conveyed from the upstream side.
The label injection prescription loading device 105 is a device for printing a patient name, prescription information and the like on a predetermined label, and as shown in FIG. 33, is disposed downstream of the ampoule vial dispensing device 104. Then, the label injection prescription loading device 105 creates a label on which prescription information and the like are printed based on the prescription information, and inserts the label into the payout tray T3 conveyed from the upstream side. As a result, the pharmacist or the like can easily check whether the medicine D dispensed to the dispensing tray T3 is appropriate by confirming the label inserted to the dispensing tray T3.

  As shown in FIG. 33, the tray storage transfer device 106 is disposed on the downstream side of the label injection note inserting device 105 and on the most downstream side (right end in FIG. 1) of the medicine dispensing system 100. Then, the tray storage transfer device 106 stores a delivery tray T3 including the medicine D and the label dispensed based on the prescription information, and the necessary dispensing tray T3 is taken out by the pharmacist or the like.

With the above configuration, the drug dispensing system 100 dispenses the appropriate drug D to the dispensing tray T3 based on the prescription information, and reuses the returned medicines automatically sorted by the returned medicine assortment apparatus 103. be able to.
(B)
In the above embodiment, an example in which the barcode reader 31 is used as the medicine information acquisition unit which reads and acquires type information (bar code B1) attached to each medicine D has been described. However, the present invention is not limited to this.

For example, in a configuration in which an IC tag is attached to the medicine D instead of the barcode, a device or the like that can communicate with the IC tag may be used instead of the barcode reader.
Furthermore, instead of the bar code reader, a camera that acquires image information for determining the shape or size of the medicine may be used.
(C)
In the above embodiment, an example in which the plurality of storage trays T2 corresponding to a plurality of types of medicines D are respectively stored has been described. However, the present invention is not limited to this.

For example, in the case where a plurality of types of medicines are sorted by type and controlled to be stored in different storage trays, the number of storage trays may be one.
(D)
In the above embodiment, the medicine sorting apparatus 10 for sorting returned medicines has been described as an example. However, the present invention is not limited to this.

For example, the medicines sorted into the storage tray by the medicine sorting apparatus of the present invention are not limited to returned medicines.
(E)
In the above-described embodiment, an example in which the storage unit 51 for storing various information is provided in the medicine sorting apparatus 10 has been described. However, the present invention is not limited to this.

For example, various types of information may be stored in an external server, a cloud space, or the like, and information may be acquired using communication means or the like when necessary.
That is, in the medicine sorting apparatus of the present invention, the storage unit is not an essential component, and may be provided outside the apparatus.
(F)
In the above embodiment, the transport of the medicine D from the first medicine confirmation unit 30 to the mounting table (standby medicine holding unit) 35 has been described by way of an example in which the picking unit 20 performs the conveyance. However, the present invention is not limited to this.

  For example, as a means for transporting the medicine from the first medicine confirmation unit to the standby medicine holding unit such as the mounting table, a holding plate included in the first medicine confirmation unit other than means using a robot arm such as a picking unit, Alternatively, the holding plate and the roll may be rotated to convey the medicine held in the recess between the holding plate and the roll to the adjacent standby medicine holding portion.

  The drug sorting apparatus according to the present invention has the effect of being able to efficiently carry out processing from acquisition of drug type information to storage, and thus can be widely applied to various devices and systems that handle a wide variety of drugs. It is.

DESCRIPTION OF SYMBOLS 10 medicine assortment apparatus 10a main-body part 10b door 10c door 11 return medicine tray installation part 12 storage tray installation part 13 return medicine tray conveyance part 14 storage tray conveyance part 20 picking part (single conveyance part)
20a suction unit 21a vertical support 21b belt 21c motor 22a horizontal support 22b belt 22c motor 23a horizontal support 25 bar code reader 30 first medicine check unit 31 bar code reader (drug information acquisition unit)
32 holding plate 33 roller 33a motor 35 mounting table (stand-by chemical holding unit)
35a recessed part 40 second medicine check part 40a support part 42 holding plate 43 roller 43a motor 44 medicine receiving tray 44a motor 50 control part 50a monitor 51 storage part (first and second storage parts)
60 prescription information acquisition unit 61 label creation unit 100 drug dispensing system 101 tray supply device 102 plastic bottle dispensing device 103 return drug sorting device (drug sorting device)
104 ampule vial dispensing device 105 label injection paper loading device 106 tray storage and transfer device 110 drug sorting device 120 picking unit 120a first adsorption unit 120b second adsorption unit 230 first medicine confirmation unit 231 bar code reader (drug information acquisition unit)
232 holding plate 233 roller 233a motor 234 recessed portion 235 mounting portion (standby medicine holding portion)
236 Biasing member (moving member)
237a, 237b Locking plate B1 Bar code (type information)
B2 barcode (identification information)
C1, C2 Camera D Drug D1 to D4 Drug N Handle S1 Returned Medicine Tray Storage Space S2 Picking Space S3 Storage Tray Placement Space S4 Returned Medicine Sorting Space T1 Returned Medicine Tray T2 Storage Tray T2a to T2c Storage Tray T2z Concave T3 Payout Tray

Claims (13)

A drug sorting device that sorts and stores multiple types of drugs by type.
A medicine information acquisition unit for acquiring type information of the plurality of medicines;
A storage tray setting unit in which a storage tray for storing the medicine whose type information has been acquired is installed;
A standby medicine holding unit for temporarily holding the medicine whose type information has been acquired by the medicine information acquiring unit;
A single conveyance for conveying the medicine to the medicine information acquisition unit and conveying the medicine whose type information is acquired in the medicine information acquisition unit to the storage tray placed on the storage tray installation unit Department,
While the type information of the second medicine which is connected to the medicine information acquisition unit and the transport unit and is different from the first medicine included in the plurality of medicines is acquired by the medicine information acquisition unit A control unit configured to control the transport unit such that the first medicine is stored in the storage tray from the standby medicine holding unit;
The drug sorting device is equipped with. The control unit conveys the first medicine to the standby medicine holding unit after the first medicine is conveyed to the medicine information acquiring unit and the medicine information acquiring unit acquires the type information. The first medicine is conveyed from the standby medicine holding unit to the storage tray while the medicine is conveyed to the medicine information acquisition unit and the type information of the second medicine is acquired in the medicine information acquisition unit. Control the transport unit,
The medicine sorting apparatus according to claim 1. The storage tray setting unit is configured to transfer a specific storage tray for storing the medicine whose type information has been acquired from the installation area in which a plurality of storage trays are installed to a storage area adjacent to the installation area. Have a tray transport unit,
The medicine sorting apparatus according to claim 1 or 2. The standby medicine holding unit is a mounting table on which the medicine is placed;
The medicine sorting apparatus according to any one of claims 1 to 3. The mounting table is disposed in the vicinity of the medicine information acquisition unit,
The medicine sorting apparatus according to claim 4. The medicine information acquisition unit, the mounting table, and the storage tray setting unit are arranged in this order from the upstream side in the medicine transport direction,
The medicine sorting apparatus according to claim 4 or 5. The transport unit has a plurality of holding units for holding the medicine.
The medicine dispensing apparatus according to any one of claims 1 to 6. The standby medicine holding unit is one of the plurality of holding units.
The medicine sorting apparatus according to claim 7. The medicine information acquisition unit has a recess for holding the medicine,
The standby medicine holding portion is provided at an extended portion of the recess.
The medicine sorting apparatus according to claim 1. It has a moving member that slides the medicine placed on the medicine information acquisition unit in the recess.
The medicine sorting apparatus according to claim 9. The moving member slides the medicine whose type information has been acquired by the medicine information acquisition unit in the recess and moves the medicine to the standby medicine holding unit.
The medicine sorting apparatus according to claim 10. 12. The medicine sorting apparatus according to any one of claims 1 to 11, wherein the medicine contained in the prescription information is dispensed to a predetermined delivery tray from among the medicines sorted based on the prescription information for each patient. ,
A medicine dispensing apparatus for dispensing medicines other than the medicine dispensed from the medicine sorting apparatus to the dispensing tray based on the prescription information;
Drug delivery system with. It is a medicine sorting method in which a plurality of medicines are classified according to kinds and stored in a storage tray,
Conveying a first medicine included in the plurality of medicines by a single conveyance unit to a medicine information acquisition unit that acquires type information of the plurality of medicines;
Acquiring the type information of the first medicine in the medicine information acquisition unit;
Holding the first medicine in a standby medicine holding unit for temporarily holding the first medicine for which the type information has been acquired;
Conveying the second medicine contained in the plurality of medicines to the medicine information acquiring unit;
Conveying the first medicine from the standby medicine holding unit to the storage tray while the type information of the second medicine is acquired in the medicine information acquiring unit;
The drug sorting method is equipped with.

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