JP2019107462A - Medicine dispenser - Google Patents

Abstract

To provide a medicine dispenser which facilitates cleaning work of stuck powders.SOLUTION: Power is provided for a distribution tray 201 having an annular medicine input groove 208 in which powders are input, with the distribution tray rotatably driven. A part or all of the distribution tray is arranged in the distribution tray storage opening 206 of a table member 205. The table member has a table surface, with at least the lowest part of the medicine input groove arranged in a position lower than the table surface of the table member. Consequently, there is little space hidden behind view between the table surface and the distribution tray, which prevents powders and dust from entering, thereby facilitating cleaning work.SELECTED DRAWING: Figure 18

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a drug delivery device, and more particularly to a drug delivery device provided with a powder delivery device for delivering a powder.

In the present specification, powder is a powder or particulate drug in the form, and "drug" includes powder. The device according to the invention is in principle a device for handling powders, but in cases where it is not necessary to distinguish between powders and other forms of drugs, powders may be referred to as drugs.
BACKGROUND ART In recent years, a medicine dispensing apparatus having a powder medicine dispensing apparatus and a drug medicine dispensing function has been introduced in large hospitals and large-scale pharmacies. Here, the powder package device is a device for individually packaging a single dose of powder and the like. The use of the powder packaging device can automate most of the work of packaging a single dose of powder and the like.
The powder dispensing and packaging apparatus 900 disclosed in Patent Document 1 is an apparatus for individually packaging a single dose of powder, and as shown in FIG. 74, a drug supply apparatus 901, a powder dispensing apparatus 902, and a drug package inside. And a device 903.
The powder feeder 906 is provided with a piezoelectric element (not shown) below the trough 910 to vibrate the trough 910.

As shown in FIG. 74, the powder dispensing device 902 is composed of a dispensing tray 912 and a scraping device 915. Dispensing tray 912 has a large opening at the center. Further, the distribution tray 912 has a circular arc in cross section around the above-mentioned opening, and a groove 916 having an annular plan view is surrounded. Dispensing tray 912 is rotated by motor 919 at a constant speed.
The scraping device 915 is composed of a lifting arm whose tip is lifted and lowered by turning and a scraping mechanism.
The scraping mechanism has a disc 917 rotated by a motor, and a scraping plate 918 is provided on the disc 917.

In the prior art, as shown in FIG. 74, there is a table 908, and a distribution tray 912 is placed on the table. That is, as shown in FIG. 74, substantially the entire distribution tray 912 protrudes above the table 908.
A motor or gear for raising and lowering the scraping mechanism is on the table 908 and protrudes from the central opening of the distribution plate 912.

  The medicine packaging device 903 is constituted by a packaging hopper 920 and a packaging device 921 as shown in FIG.

The appearance of a powder dispensing device 902 in the prior art is disclosed in US Pat.
In the powder dispensing apparatus 902 in the prior art, a distribution tray 912 is mounted on a table, and a motor and a gear box project from the center of the distribution tray 912. Therefore there are many irregularities on the table. In addition, since the distribution tray 912 is placed on the table, there are many parts that are behind objects.

Next, the procedure for packaging the powder using the powder packaging apparatus 900 will be described.
The work of dispensing the medicine is performed by operating the medicine dispensing and packaging apparatus 900 according to the prescription of the doctor. That is, the pharmacist confirms the doctor's prescription, and takes out the medicine bottle containing the prescribed powder from the medicine cabinet (not shown). A balance such as a balance is then used to weigh out the total weight of the specific powder prescribed.
Then, the weighed powder is introduced into the input hopper 905 of the medicine supply device 901.
At the same time, the piezoelectric element (not shown) of the powder feeder 906 is energized to vibrate the trough 910, and the distribution tray 912 is rotated.
The powder charged into the charging hopper 905 falls from the opening at the lower end of the charging hopper 905 to the trough 910 of the powder feeder 906. The trough 910 then vibrates, causing the powder to slowly move distally and drop into the dispensing tray 912.

  On the other hand, since the dispensing tray 912 is rotating at a predetermined speed, the powder falling from the trough 910 is evenly distributed in the grooves 916 of the dispensing tray 912.

  Once the powder has dropped onto the distribution tray 912, the rotation of the distribution tray 912 is once stopped. Thereafter, the disc 917 of the removal device 915 is dropped into the groove 916 of the distribution tray 912. After that, the dispensing tray 912 is rotated by an angle according to the number of dispensing, and a dose of powder is collected on the front side of the disc 917. Then, the disc 917 is rotated, and the powder pill is scraped out of the distribution plate 912 by the scraping plate 918 and is put into the packaging hopper 920. The powder dropped from the packaging hopper 920 is packaged by the packaging device 921.

When a series of operations are completed, the inside of the distribution plate 912 and the scraping mechanism (disc 917, scraping plate 918) are cleaned with a vacuum cleaner (not shown).
The pharmacist manually performs the cleaning work of the inside of the dispensing tray 912 and the scraping mechanism. The cleaning operation of the inside of the dispensing tray 912 and the scraping mechanism is performed each time one kind of powder medicine is packaged.
That is, in the case where the drug A is packaged, and then the drug B is packaged, cleaning is performed immediately after the drug A is packaged, and then the drug B is packaged.
In addition, each part of the powder dispensing and packaging apparatus 900 is cleaned after the work of the day is completed or immediately before the work of the day is started.
That is, the groove 916 of the distribution plate 912, the motor projecting from the center of the distribution plate 912, the lift arm, the disk 917, the scraping plate 918, the table, etc. are wiped with a clean cloth and further cleaned with a vacuum cleaner.
In the drug delivery device, powder contamination must be strictly prevented, and the above-mentioned cleaning operation is extremely important and an indispensable operation.

JP, 2010-70204, A JP 2004-305721 A

As mentioned above, the cleaning operation is important and an indispensable operation.
However, the cleaning operation is a troublesome operation. An object of the present invention is, therefore, to improve the prior art drug delivery device and to provide a drug delivery device that is easy to clean and can be cleaned more cleanly than before.

  In order to solve the above problems, the present invention provides a table member, a dispensing tray provided with an annular drug loading groove at its periphery and rotated by power, a powder loading device for loading a powder into the dispensing tray, and a dispensing tray And the scraping device for scraping the powdery powder introduced into the container from the drug feeding groove, the table member has a table surface on which the article can be placed, and the table surface is provided with a distribution tray storage opening, the distribution The dish is partially or entirely inserted into the dish holding opening of the table member, and the lowest part of the medicine feeding groove of the dish is located below the table surface.

  According to the above configuration, there is less shadow between the table surface and the distribution plate. Therefore, it is difficult for powder and dust to get in and cleaning is easy.

  Preferably, at least 90 percent of the diameter of the distribution dish is below the table surface. This makes it easy to wipe the drug input groove with a cloth.

  The scraping device comprises a scraping arm whose tip end is moved up and down, and a scraping mechanism provided at the tip of the scraping arm, the distribution tray has an equipment storage opening, and the scraping arm and / or the scraping arm It has a motor for driving the scraping mechanism, part or all of the motor is in the equipment storage opening, and the proximal end of the scraping arm is in or just above the equipment storage opening and the distal end is Preferably, there is a lid that overhangs the equipment storage opening side in a cantilever shape and covers the motor. In this way, the central portion of the distribution dish is less uneven and easy to clean.

  Preferably, there is a turntable at the lower part of the table member, and the scraping device is installed on the turntable. In this way, the removal device can be rotated as a whole.

  The lid has an opening for projecting the scraping arm, and the opening is provided with a door member, and the door member operates according to the elevation of the scraping arm to open the opening area of the opening It is preferable to increase or decrease. In this way, it is difficult for dust and powder residue to enter into the lid and it is clean.

  The lid is preferably smooth in part or all of the top surface. In this case, since the lid is smooth, it is easy to wipe with a cloth or the like and easy to clean.

  The scraping device includes a scraping arm, a motor for rotating the scraping mechanism, a scraping plate and scraping mechanism provided at the tip of the scraping arm, and scraping about the rotation axis in the longitudinal direction. It has a plane rotating means for rotating the whole of the arm in a plane, and further has a cleaning device, and the cleaning device projects in a cantilever shape from the table member side and the tip end side is powered up and down. It has a cleaning brush that is rotated by the power provided at the tip of the arm, a rotating device that rotates the cleaning brush, and suction means, and the tip of the cleaning arm is lowered to insert the cleaning brush into the medicine feeding groove The cleaning brush is rotated to clean the medicine insertion groove, and the groove cleaning operation of suctioning the drug residue by the suction means, and the scraping device is rotated flatly to be close to the cleaning device, and the cleaning brush is rotated. Clean out the scraping mechanism Is preferably capable of executing a scooping portion cleaning operation for sucking the residue of the drug by suction means. In this way, the inside of the distribution plate and the removal mechanism can be cleaned automatically.

  The scraping mechanism moves in the vicinity of the scraping plate, which is moved relative to the dispensing dish in a state of being inserted into the drug feeding groove of the dispensing dish and scrapes the powder in the drug feeding groove, and rotates in the vicinity of the scraping plate. It has a scraping plate for scraping the deposited powder out of the medicine feeding groove, and a partition plate which is in contact with the scraping plate and is opposed substantially parallel to the scraping plate with a fixed gap. The cleaning brush includes a cleaning brush for cleaning the scraping mechanism, the cleaning brush includes a hub member, and the flocked row is provided on the outer periphery of the hub member, and the flocked row extends over at least three rows. The flocked rows provided on both ends include a central direction inclined bristle group flocked in a direction in which the tip end is inclined toward the center side of the hub member, and the tip end side of the flocked row on the center side is one end of the hub member One end direction inclined hair group which is planted in the direction to incline toward the part side and the tip side go to the other end side of the hub member When cleaning the scraping mechanism, the cleaning brush is rotated, and one side or the other side of the scraping plate is one end side or the other side. A central direction inclined hair group belonging to the other side flocked row and a one end direction inclined hair group belonging to the center side flocked row or the other direction direction inclined hair group are in contact, and one side and the other side of the partition plate It is preferable that a central direction inclined hair group belonging to the end or first end side flocked row and a other end direction inclined hair group or one end direction inclined hair group belonging to the center side flocked row be in contact with each other. In this way, the brush can be applied to the scraping plate and the partition plate of the scraping mechanism for cleaning. Therefore, the removal mechanism can be cleaned more completely and contamination can be prevented.

  The hub member preferably has two or more rows of grooves on the outer peripheral surface, and the scraping plate and the partition plate preferably enter into the grooves during the scraping portion cleaning operation. By doing this, it is possible to clean the back side of the scraping plate and the partition plate.

  The brush cover has a brush cover provided with an exposure opening for surrounding the cleaning brush and exposing a part of the circumferential surface of the cleaning brush, and suction means for suctioning the inside of the brush cover under negative pressure, the suction means connected to the brush cover Is preferred. In this way, the powder residue is dropped from the surface of the scraping mechanism by pressing the rotating brush. The thus dropped residue enters the brush cover and is sucked by the suction means. The connection site of the suction means is preferably the area opposite to the exposure opening.

  A drug packaging device is provided below the table member, and a powder loading hopper for loading the powder scraped out from the drug loading groove and dropping the powder onto the drug packaging device, and suction for suctioning negative pressure in the powder loading hopper The table member has a drug loading opening for loading the powder scraped out of the drug loading groove, and the hopper closing member is provided at a position away from the drug loading opening, and the powder loading hopper is The powder is loaded into the drug loading opening in a state of being moved to a position directly below the pill, and the drug is dropped to the drug packaging device side, and the suction means is operated with the powder loading hopper being moved to the position of the hopper closing member. Preferably, it is possible to aspirate the powder residue in the powder input hopper. In this way, the powder input hopper can be cleaned automatically.

  Preferably, the hopper closing member has a power operated opening / closing mechanism, and a part of the hopper closing member is pressed against the hopper to close the powder charging hopper. In this way, negative pressure can be applied to the inside of the powder charging hopper, and the residue of the powder charging hopper is not scattered to the medicine packaging device side or the distribution plate side.

  The powder charging apparatus comprises a medicine container and a container mounting apparatus for mounting the medicine container and acting on the medicine container to discharge the medicine from the medicine container, the container mounting apparatus being fixed to the table member side, Preferably, the drug container is removable from the container placement device. In this way, the powder injection device also has less unevenness, and cleaning becomes easier.

  The drug container has a drug discharge unit for discharging the drug, and the container mounting device includes a vibrating table, vibrating means for vibrating the vibrating table, container holding means for fixing the drug container to the vibrating table, weight of the drug container The drug container is placed on the vibrating table, the drug container is fixed to the vibrating table by the container holding means, the vibrating table is vibrated, and Preferably, the powder can be discharged little by little and the powder can be poured into the distribution dish so that the amount of drug discharged from the drug container can be detected by the weighing means. In this way, the drug container is fixed to the vibrating table, and the drug container is brought into direct contact with the vibrating table. By vibrating the shaking table in this state, it is possible to vibrate the whole or a part of the medicine container. Therefore, the drug in the drug container is slowly moved to the drug outlet side, the drug is rectified, the flow becomes laminar and is discharged from the drug outlet. Further, since the container mounting device is equipped with a weight measuring means, the discharge amount of the medicine can be detected, and the work of weighing out the powder can be automated.

  Preferably, the drug container is partially or entirely magnetic, and the container holding means has a magnet. In this case, since the drug container is held by the magnetic force, the drug container can be easily attached and detached.

  The drug container is partially or entirely magnetic, and the container holding means has a permanent magnet and an electromagnet, at least the magnetic force of the permanent magnet fixes the drug container to the vibrating table, and the electromagnet is energized to generate the magnetic force of the permanent magnet Preferably, the fixation of the drug container to the vibrating table is released by generating a magnetic force that cancels out. In this case, the container holding means has a permanent magnet and an electromagnet, and at least the magnetic force of the permanent magnet fixes the medicine container to the vibrating table. Therefore, when the medicine container is attached to the main body device, the amount of electricity supplied to the electromagnet is small. If a configuration is employed in which the drug container is fixed to the vibrating table only by the magnetic force of the permanent magnet, it is not necessary to energize the electromagnet while the drug container is fixed to the vibrating table. Therefore, the electromagnet does not generate heat and the drug in the drug container is not heated. In addition, since the electromagnet need not be energized while the drug container is fixed to the vibrating table, power consumption is small. Therefore, the power consumption is small even in the entire medicine dispensing apparatus, and since the heat generation is small, it is difficult to affect the medicine.

The weight of the drug container prior to discharging the drug is measured by the weight measurement means, and the weight of the drug container is monitored by the weight measurement means when the powder is discharged little by little from the drug container. It is preferable to have a weighing function to stop the discharge of the powder from the medicine container when or at the time when the present weight, which is the weight, corresponds to the value obtained by subtracting the target discharge amount from the original weight.
In addition to the means for measuring the weight of the drug container, the measurement of the weight of the drug container may or may not be direct or indirect. That is, only the weight of the medicine container may be measured directly, or the weight including equipment such as a vibration table may be measured.
In this way, using the original weight of the drug container before discharging the drug and the current weight of the drug container, the current weight corresponds to the value obtained by subtracting the target discharge amount from the original weight. Stop the vibration of the shaking table. Alternatively, in consideration of the weight of the drug in the process of dropping, the current weight is slightly smaller than the value obtained by subtracting the target discharge amount from the original weight, and the vibration of the vibrating table is stopped when the values substantially match. Therefore, after the target amount of drug is discharged, the vibration of the vibrating table is stopped and the discharge of drug is stopped.
In a state in which the medicine container is mounted on the container mounting device, it is desirable that the axis of the medicine container be in a posture in which the axis direction of the medicine container is directed in the tangential direction of the distribution dish.
It is desirable that a residual drug detection sensor be provided at or near the dispensing tray, the hopper, and / or the scraping mechanism.
The residual drug detection sensor is an optical sensor, and preferably has a main body device and a fiber, and the tip portion of the fiber is at or near the distribution tray, hopper, and / or scraping mechanism.

  The whole or a part is covered with a case, and the case has a door so that the medicine container can be taken in and out inside, there is a medicine container temporary storage unit in the door or near the door, medicine The container temporary placement unit has an engagement lever that engages with a portion of the medicine container, and a holding member that interlocks with the engagement lever, and when the medicine container is placed on the medicine container temporary placement unit, the engagement lever Is preferably pushed down by the weight of the medicine container, and the holding member moves or changes its posture to be able to hold the medicine container. In this way, when placing the medicine container on the medicine container temporary placement part, the holding member is in an unobtrusive position. Therefore, the medicine container can be easily installed in the medicine container temporary storage unit. The holding member appears at a position where the medicine container can be held by simply placing the medicine container on the medicine container temporary storage unit, and the medicine container is held so as not to drop.

  It is preferable that a container moving means is provided, the container moving means moves the medicine container to a predetermined position, the cleaning unit is provided, and the container moving means moves the medicine container to the cleaning unit to clean the outer surface of the medicine container . In this way, the drug residue adhering to the outer surface of the drug container is removed. In particular, the drug residue is likely to adhere around the drug outlet of the drug container. Therefore, it is desirable to clean the periphery of the medicine discharge unit by the cleaning unit.

  It is desirable that the cleaning unit be provided with a suction device.

The cleaning unit has a container contact unit, and the container moving unit preferably presses the medicine container against the container contact unit to clean the medicine container.
Here, the medicine container is pressed against the container contact portion using the container moving means, and the medicine container is cleaned. For example, the container moving unit is used to press the medicine container against the container contact portion, and the medicine container is moved in this state to wipe the outer surface of the medicine container.
In this way, synergy can be obtained by combining with the configuration in which the suction unit is provided in the cleaning unit. By providing the suction unit in the cleaning unit, the medicine wiped and peeled off by the container contact unit is suctioned by the suction unit. Therefore, the removed drug can be prevented from falling or floating in the device as it is.

A drug packaging device is provided below the table member, and a powder loading hopper for loading the powder scraped out from the drug loading groove and dropping the powder onto the drug packaging device, and suction for suctioning negative pressure in the powder loading hopper Means and cleaning agent feeding means for feeding the cleaning agent into the powder feeding hopper, and the hopper cleaning function for feeding the powder into the powder feeding hopper and sucking the inside of the powder feeding hopper to negative pressure by the suction means It is preferable to have.
Here, a cleaning agent charging means for charging the cleaning agent into the powder charging hopper is provided. Here, the "cleaning agent" is a prescribed cleaning agent, and is a powder for cleaning the inside of the hopper. As the "cleaning agent", one which is harmless even if it enters a person's mouth is selected regardless of the presence or absence of medicinal effects. The "cleaning agent" functions as a peeling material.
In this case, the inside of the powder charging hopper is suctioned to a negative pressure by the suction means while the cleaning agent is being charged into the powder charging hopper. Therefore, the "cleaning agent" flies in the powder charging hopper and collides with the inner wall of the powder charging hopper to peel off the powder residue.

  The powder introduction hopper has an introduction side opening for introducing the powder, a medicine discharge port located below the introduction side and discharging the powder, and a suction opening connected to suction means. It is a suction path between the aspiration opening and the aspiration means, and is curved to a position near the aspiration opening, which is lower than the introduction side opening and at a height close to the introduction side opening than the drug outlet. It is preferred that there be a path. In this way, a swirling flow is generated inside the powder injection hopper, and the medicine attached to the inner wall of the powder injection hopper can be peeled off and discharged together with the cleaning agent.

A medicine packaging device is provided below the table member, and there is a powder input hopper having a drug outlet, and the powder scraped out from the drug input groove is input to the powder injection hopper and the powder outlet from the drug outlet to the drug packaging side It is preferable that an air blow nozzle be provided in the vicinity of the medicine discharge port of the powder injection hopper. In this way, the vicinity of the drug outlet can be cleaned.
That is, according to the present inventors' experience, it is difficult to clean the medicine discharge port portion of the powder injection hopper. In particular, the outer part of the medicine discharge port of the powder injection hopper is difficult to clean.
Therefore, a nozzle for air blow is provided in the vicinity of the medicine discharge port of the powder injection hopper, and air is blown to the medicine discharge port to clean the medicine discharge port.

It is preferable that a plurality of distribution dishes be provided, and a partition be provided between the distribution dishes.
Some powders have extremely small particles and tend to float in the air. Also, some powders have relatively large and light particles, and such powders may fly with such force when they are dispensed from the distribution dish. Therefore, in a drug delivery device having a plurality of dispensing trays, there is a concern that floating or flying powder drops may fall onto neighboring dispensing trays. Therefore, a partition wall is provided between the distribution dishes, and even if the powder is suspended, it does not go to the adjacent distribution dishes.

  It is preferable to have partition cleaning means for cleaning the partition. In this case, since the partition wall cleaning means for cleaning is provided, the powder adhering to the partition wall is removed. Therefore, the next packaging operation can be prevented while the medicine used in the previous packaging operation remains attached to the partition wall, and contamination can be prevented.

  It is preferable that a cover member which covers a part or all of the distribution dish is provided at the top of the distribution dish. As mentioned above, some of the powders have particles that are very small and are likely to float in the air. Therefore, in the present invention, a cover member is provided on the top of the distribution plate so that the floating powder does not spread. The covering also prevents the floating powder from falling into the distribution dish.

  It is preferable to have a surveillance camera that monitors the discharge of the drug from the drug container. By doing this, it is possible to grasp the state in which the medicine is discharged.

  It is preferable that the scraping plate, the scraping plate, and the partition plate be integral, and that the scraping plate be rotated when cleaning the scraping mechanism, and that the distance between the scraping plate and the hub member be changed during cleaning. . In this way, the scraping mechanism can be cleaned more cleanly. Further, not only the outer peripheral portion of the scraping plate but also a portion closer to the center can be cleaned. Furthermore, even if the scraping plate has a complicated shape, it can be cleaned entirely.

  The drug delivery device of the present invention has less unevenness overall and is easy to clean. Moreover, the drug delivery device of the present invention is less likely to cause contamination of the powder and has high safety.

BRIEF DESCRIPTION OF THE DRAWINGS The external appearance perspective view of the drug delivery device of embodiment of this invention. FIG. 2 is a perspective view showing the inside of the medicine delivery device in FIG. The perspective view of the medicine feeder of the embodiment of the present invention. The perspective view of a medicine container. FIG. 5 is an exploded perspective view of the drug container of FIG. 4; Sectional drawing which shows the behavior at the time of the medicine inside the medicine container of FIG. 4 being discharged | emitted. The perspective view of the container mounting apparatus employ | adopted with a chemical | medical feeder. The disassembled perspective view of the container mounting apparatus of FIG. The longitudinal cross-sectional perspective view of the container mounting apparatus of FIG. The longitudinal side view of the container mounting apparatus of FIG. FIG. 2 is a perspective view of a drum member. The perspective view which shows a container storage part. FIG. 13 is a cross-sectional view of the container storage unit of FIG. 12; The side view which shows the procedure which mounts | wears a container storage part with a medicine container. The top view which shows the state in front of returning a medicine container to a drum member. The elements on larger scale of FIG. 15 which show the procedure of returning a medicine container to a drum member. The perspective view of the medicine division field of a medicine delivery device. The side view which penetrated a part of medicine division field of a medicine delivery device. The disassembled perspective view of the drug division area | region of a drug delivery device. The top view of the medicine division field of a medicine delivery device. The perspective view of the removal apparatus arrange | positioned on the turntable. The perspective view seen from another angle of the arm for scrapings of FIG. The skeleton diagram which shows the power transmission system of the motive power of the removal apparatus of FIG. The arm side power transmission system of the removal apparatus of FIG. 21, and the perspective view of a positioning mechanism. The disassembled perspective view of the receiving member of the removal apparatus of FIG. FIG. 26 is a perspective view of the receiving member of FIG. 25. FIG. 23 is a side view of the positioning pin and the ejection arm of FIG. 21, in which (a) shows a state in which the positioning pin is retracted into the turntable and the ejection arm is raised (b Shows the state where the positioning pin protrudes from the turntable and the scraping arm is lowered. The perspective view of the lid of a distribution dish. FIG. 29 is a partially enlarged perspective view showing a state in which the scraping arm in the lowered posture protrudes from the arm protruding opening of the lid of FIG. 28; In FIG. 29, the partial expansion perspective view which shows the state which the arm for scrapings turned up. The perspective view of a hopper closure member. The perspective view of the medicine packing field of the medicine delivery device. The perspective view of the cleaning brush. The disassembled perspective view of the cleaning brush of FIG. The perspective view of a cleaning device. The perspective view of the cleaning apparatus seen from the angle different from FIG. The perspective view of the cleaning apparatus of the state which the arm for cleaning bent. The longitudinal cross-sectional view of the cleaning brush. The longitudinal cross-sectional view of the brush which is cleaning the scraping mechanism of the scraping arm. The conceptual diagram which shows the state which is injecting the medicine into the medicine injection | throwing-in hopper. The conceptual diagram which shows the state by which the hopper closing member was arrange | positioned on the chemical | medical agent injection hopper. The conceptual diagram which shows the state which is sucking the residue of the powdered medicine in a chemical | medical agent input hopper. BRIEF DESCRIPTION OF THE DRAWINGS The perspective view of the robot used with the drug delivery device of embodiment of this invention. The perspective view which shows the state which the container holding palm part of the hand part of the robot approached the medicine container. The container holding palm part is a perspective view which shows the state which is fixed to the drug container and lifts the drug container. The perspective view which shows the state which changed the angle of the arm of a robot from the state of FIG. The perspective view in the state where a medicine container approached a medicine shelf. FIG. 52 is a perspective view showing the medicine container placed on the medicine rack of FIG. 47; The perspective view which looked at the medicine container from the medicine shelf side. The perspective view shown transparently of the inside of another medicine delivery device of the embodiment of the present invention. The perspective view of the medicine container temporary storage part provided in the door part of the medicine delivery apparatus of FIG. 1, and the perspective view of the cleaning part provided in the case. The disassembled perspective view of a scraping member. Sectional perspective view of scraping member. The perspective view which shows the halfway process at the time of mounting | wearing a medicine container with the medicine container temporary storage part shown in FIG. The perspective view which shows the state which mounted | worn the drug container on the drug container temporary storage part shown in FIG. FIG. 52 is a perspective view of a lever member and a holding member of the drug container temporary placement unit shown in FIG. 51. The state which hold | maintained the chemical | medical agent container by the hand part of the robot employ | adopted by other embodiment of this invention, Comprising: The side view of the hand part and chemical | medical agent container which show the state which fractured a part of hand part. The drug container is hold | maintained by the hand part of a robot, and the perspective view which shows the relationship of both immediately before installing a drug container in a container mounting apparatus. The drug container is hold | maintained by the hand part of a robot, and the perspective view which shows the relationship of both immediately after installing a drug container in a container mounting apparatus. The conceptual diagram which shows the chemical | medical agent injection | throwing-in hopper employ | adopted by other embodiment of this invention, and the member of the vicinity. The conceptual diagram which shows the state which injected | threw-in the washing | cleaning material to the chemical | medical agent injection | pouring hopper of FIG. The conceptual diagram which shows the state which attracts | sucks the washing | cleaning material in a chemical | medical agent injection hopper in the state which closed the lower opening-closing member. The conceptual diagram which shows the state which is suctioning the cleaning material in a chemical | medical agent injection hopper in the state which open | released the opening-and-closing member of the lower part. The conceptual diagram which shows the state which is injecting air from the air nozzle to the opening-closing member of the lower part of a chemical | medical agent injection hopper. The perspective view of a medicine injection hopper. The perspective view of the medicine division field of the medicine delivery device of other embodiments of the present invention. The perspective view of the medicine division field of the medicine delivery device of further another embodiment of the present invention. FIG. 67 is a perspective view showing a hopper closing member of the medicine delivery device shown in FIG. 67, wherein (a) shows a state in which the partition member protrudes from the hopper closing member, and (b) shows a state in which the partition member is rotating. (C) shows a state in which the partition member is housed in the hopper closing member. FIG. 68 is an exploded perspective view of the hopper closing member shown in FIG. 67. The perspective view of the cleaning brush of other embodiment. FIG. 71 is an exploded perspective view of the cleaning brush of FIG. 70. FIG. 6A is a cross-sectional view showing a state where the scraping mechanism of the scraping arm is being cleaned, wherein (a) shows that the brush is at a site other than the partition plate and the brush is in proximity to the scraping mechanism; (B) shows that the brush is at the site of the partition and the brush is close to the scraping mechanism, (c) is that the brush is at the site of the partition and the brush is away from the scraping mechanism Show the condition. FIG. 52 is a perspective view showing a modified example of the drug container temporary placement unit shown in FIG. 51. Explanatory drawing of the conventional powder medicine packing apparatus.

The drug delivery device 1 according to the embodiment of the present invention will be further described below, but in order to facilitate understanding, the outline and rough operation of the drug delivery device 1 will be described first, and then the respective members and devices will be described in detail. Do.
The medicine delivery device 1 of the present embodiment is surrounded by a housing 7 and the inside thereof is divided into a medicine shelf area 100, a medicine division area 200, and a medicine packaging area 300.
In the medicine rack area 100, a container storage device 101 for installing the medicine container 2 is provided.
The container storage apparatus 101 has a vertical drum member 102 that rotates in a substantially horizontal direction, and a plurality of container installation parts 103 are provided on the outer peripheral surface of the drum member 102. In the present embodiment, the container setting unit 103 is provided in three stages. Moreover, 12 container installation parts 103 are provided in one row, and a total of 36 medicine containers 2 can be attached.

  The drum member 102 is rotated by a motor, and the desired medicine container 2 is brought close to the robot 702 of the container moving means 700 described later, and is removed by the robot 702.

  A container moving means 700 is provided in the area from the medicine rack area 100 to the medicine dividing area 200. As shown in FIG. 43, in the container moving means 700, a robot 702 is provided to a lifting mechanism 701 provided in the vertical direction. The robot 702 has two arm members 705 and 706 and a hand unit 707. The hand portion 707 is provided with an electromagnet and can magnetically hold the iron plate of the medicine container 2.

The medicine dividing area 200 is an area in which two distribution trays 201 are installed in a buried state, and the container placement device 3 and the cleaning device 500 are disposed around the area. In addition, a scraping device 930 is provided in the medicine dividing area 200, and a scraping arm 931 of the scraping device 930 protrudes from each of the distribution dishes 201 of the medicine dividing area 200.
That is, in the medicine divided area 200, there is a flat table member 205. The table member 205 is a flat surface on which an object can be placed. That is, the table member 205 has a table surface 205a on which articles can be placed.
As shown in FIG. 17, the table member 205 is provided with the distribution plate accommodation openings 206 at two places. That is, the distribution dish accommodation opening 206 is opened at two places on the table surface 205a.
And, a distribution tray 201 is provided in the distribution tray accommodation opening 206.
The distribution tray 201 is a plate-like member provided with an equipment storage opening 210 at the center. The dispensing tray 201 is provided with a drug feeding groove 208 on the upper surface side. The drug introduction groove 208 is also referred to as “R groove”, and its cross-sectional shape is an arc shape. The medicine feeding groove 208 is in the vicinity of the outer edge of the distribution tray 201 and annularly surrounds the equipment storage opening 210.

The distribution tray 201 is completely accommodated in the distribution tray housing opening 206, and any portion is below the surface (table surface 205a) of the table member 205.
The distribution tray 201 can be rotated at a constant speed by a tray rotation mechanism 211 described later. It can also be rotated by a predetermined angle.
As described later, the plate rotating mechanisms 211 are all provided below the table member 205.

  The scraping device 930 has a scraping side power transmission system 932 and an arm side power transmission system 933 as shown in FIG. The scraping side power transmission system 932 has a motor 950, and by operating the motor 950, the scraping mechanism 606 provided on the scraping arm 931 can be driven. The arm side power transmission system 933 has a motor 960, and can operate the motor 960 to raise and lower the scraping arm 931.

In the present embodiment, a turntable 604 is provided below the table member 205, and a scraping arm 931 is fixed to the turntable 604.
Therefore, by rotating the turntable 604, the entire scraping device 930 can be pivoted.

Further, the ground clearance of most of the motors 950 and 960 is below the surface (table surface 205 a) of the table member 205.
The proximal end portion of the scraping arm 931 is fixed to the turntable 604 side, and the tip portion protrudes outward from the equipment housing opening 210 of the distribution tray 201.
Accordingly, the proximal end side of the scraping arm 931 is at a position in or immediately above the equipment storage opening 210, and the distal end side protrudes in a cantilever shape from the equipment storage opening 210 side.

A lid 207 (covering member) is provided in the equipment housing opening 210 of the distribution tray 201 to cover the motors 950 and 960 (FIG. 21). The lid 207 is fixed to the turntable 604 side, and rotates integrally with the turntable 604. The outer diameter of the lid 207 is substantially equal to the equipment storage opening 210 provided at the center of the distribution tray 201 and enters the equipment storage opening 210. However, the lid 207 does not contact or engage with the distribution tray 201, and the lid 207 and the distribution tray 201 can be rotated relative to each other.
The lid 207 is substantially planar with the top surface excluding a part of the projecting portion. More specifically, three-quarters or more of the area is smooth when the lid 207 is viewed in plan.
Further, the lid 207 has an opening for causing the scraping arm 931 to protrude. And the door member is provided in this opening. The door member is always closed by gravity. Then, when the scraping arm 931 is pivoted in the direction approaching the vertical posture, the scraping arm 931 is pushed to open the door member. On the other hand, when the scraping arm 931 pivots in the direction approaching the horizontal posture, the door member moves in the closing direction by the force of the biasing member.

The cleaning device 500 has a cleaning arm 501 which protrudes like a cantilever from the table member 205 side and whose front end side is lifted and lowered by power, and a cleaning brush 502 is provided at its front end.
The cleaning brush 502 is rotatably mounted in the brush cover 503. As shown in FIG. 36, the brush cover 503 has an opening 503a (exposure opening) on the front end side, and a part of the cleaning brush 502 is exposed from the opening 503a.

The cleaning brush 502 is flocked on the periphery of the hub member.
In the present embodiment, flocking is applied in four rows around the hub member. Of the four rows of flocking rows, the outer flocking rows are provided such that the tip side is directed inward. On the other hand, in the center of the flocking row, one is flocked in the right direction and the other is flocked in the left direction, and as a whole, the tips are distributed in the left and right direction.
Therefore, the flocked rows of the cleaning brush 502 are provided in three or more rows, and the flocked rows on both ends include a central direction inclined bristle group which is flocked in a direction in which the tip end inclines toward the center of the hub member In the flocked row on the side, the direction in which the tip end is inclined toward the one end of the hub member and the tip end is inclined toward the other end of the hub member And the other end direction inclined hair group which is flocked.
Moreover, the hub member is provided with a groove between the flocking rows.

The container placement device 3 is provided on the table member 205. In the present embodiment, three sets of container placement devices 3 are provided around the distribution tray 201.
The container placement device 3 has a vibrating table 20 and weight measurement means 25 for measuring the weight of the medicine container 2 directly or indirectly.
The main parts of the container mounting device 3 are all buried below the table member 205, and only a part including the surface of the vibrating table 20 is exposed from the table member 205.
The vibrating table 20 is provided with container holding means for temporarily fixing the medicine container 2 to the vibrating table 20. The container holding means is specifically a magnet. More specifically, it is an electromagnet of a structure called a self holding solenoid 30. The self-holding solenoid 30 is a combination of a permanent magnet and an electromagnet, and exerts an attracting force mainly by the permanent magnet at all times. When the magnetically held one is detached from the self holding solenoid 30, the electromagnet is energized to generate a magnetic force in the opposite direction to the permanent magnet, thereby canceling the magnetic force of the permanent magnet.
Alternatively, even during adsorption, the electromagnet is energized to generate a magnetic force in the same direction as the permanent magnet, and at the time of detachment, a current in the reverse direction is flowed to generate the magnetic force in the reverse direction to the permanent magnet.
In the present embodiment, the medicine container 2 is placed on the container placement device 3, and the vibrating table 20 can be vibrated to discharge the medicine from the medicine container 2. Further, the weight change of the medicine container 2 at that time is detected by the weight measuring means 25.

  The table member 205 is further provided with a drug inlet 241. A hopper closing member 400 is provided at a position slightly away from the medicine feeding opening 241 of the table member 205 to the front side. The hopper closing member 400 has a main body portion 401 and a middle lid portion 402, and the middle lid portion 402 moves away from the main body portion 401 by power.

In the medicine packaging area 300 (FIG. 2), a medicine packaging apparatus 410 shown in FIG. 32 is incorporated. The medicine packaging apparatus 410 is a machine for packaging medicines one by one, similarly to known ones, and is constituted by a packing paper feeding apparatus and a packing apparatus, as known. Moreover, the powder injection | throwing-in hopper 413 (drug injection | throwing-in hopper) which inject | pours a chemical | medical agent into a packaging part is provided.
The medicine package device of the present embodiment moves in the longitudinal direction as a whole.
That is, in the present embodiment, the medicine packaging device 410 moves as a whole. That is, when the medicine is packaged, the loading opening of the powder loading hopper 413 is located at the position of the drug loading opening 241, and when the packaging operation is completed, the drug packaging device 410 moves to the front side as a whole and the powder is dispensed. The inlet opening of the inlet hopper 413 reaches the position of the hopper closing member 400. After that, the cleaning operation of the powdered medicine charging hopper 413 and the like is performed.

In addition, as another configuration, a remaining medicine detection sensor is provided in all of the distribution tray 201, the powder charging hopper 413, and the ejection mechanism 606.
The residual drug detection sensor is an optical sensor, has a main body device and a fiber, and the tip portion of the fiber is provided in the distribution tray 201 or the like or in the vicinity thereof.
Furthermore, a dividing wall (not shown) may be provided between the two distribution dishes 201. When the partition wall is provided, there is no possibility that the powder in one of the distribution trays 201 may be scattered to the other distribution tray 201. Moreover, it is preferable to provide a partition cleaning means for cleaning this partition. That is, it is possible to avoid the situation where the powder adhering to the partition scatters and mixes in different types of medicine.

Next, the outline and rough operation of the medicine delivery device 1 will be described.
The drug delivery device 1 of the present embodiment automatically performs an operation of selecting a drug according to a prescription, an operation of injecting a predetermined amount of drug into the distribution plate 201, and an operation of dividing the drug and injecting into the drug packaging device 410. Can be done.
Thereafter, the dispensing tray 201 is automatically cleaned, and the ejection mechanism 606 is also cleaned automatically.
After that, the inside of the powder injection hopper 413 is also cleaned automatically.

That is, the medicine delivery device 1 of the present embodiment automatically selects the medicine container 2 according to the prescription. Specifically, the drum member 102 of the container storage device 101 is rotated to bring the desired medicine container 2 closer to the container moving means 700. Then, the medicine container 2 is held by the hand portion 707 of the container moving means 700, and the arm or the like is operated to place the medicine container 2 on the vibrating table 20 of the container mounting device 3.
In addition, when mix | blending a some chemical | medical agent and enclosing it in one package, the some chemical | medical agent container 2 is installed in the container mounting apparatus 3. FIG.

Then, the vibrating table 20 is vibrated. As a result, the powder in the medicine container 2 moves slowly, is discharged from the medicine container 2 and falls onto the distribution tray 201.
Before and after the start of vibration, the dispenser plate 201 of the powder dispenser 202 is rotated. Before and after the start of vibration, the weight of the medicine container 2 is measured. Meanwhile, the weight of the medicine container 2 is monitored, and the vibration of the vibrating table 20 is stopped when the total dropped amount of the powder has reached the desired weight.
That is, the weight measurement means 25 measures the original weight G which is the weight of the drug container 2 before discharging the drug, and when the powder is discharged little by little from the drug container 2, the weight of the drug container 2 is measured by the weight measurement means 25. Monitor. Then, the discharge of the powder from the drug container 2 is stopped when or at the time when the current weight g of the drug container 2 matches or substantially matches the value obtained by subtracting the target discharge amount from the original weight G.

Thereafter, the rotation of the dispensing tray 201 is stopped. Then, the motor 950 (FIG. 21) is rotated forward to swing the scraping arm 931, and the tip end is lowered to lower the scraping mechanism 606, and the scraping mechanism 606 is placed in the drug feeding groove 208 of the distribution plate 201. Put in
Then, the distribution plate 201 is rotated by an angle corresponding to the number of distribution, and is drawn onto the scraping plate 609. Thereafter, the motor 950 is reversely rotated, and the scraping plate 609 is rotated, the medicine is scooped up by the scraping plate 607, discharged from the distribution plate 201, and charged into the medicine feeding opening 241.
The drug loaded into the drug loading opening 241 drops the powder loading hopper 413 and is carried to the drug packaging apparatus 410 and packaged by the drug packaging apparatus 410.
This operation is sequentially repeated, and all the medicine in the distribution tray 201 is discharged, and each medicine is packaged by the medicine packaging device 410.

When all the medicine in the distribution tray 201 has been discharged, the groove cleaning operation is performed. That is, the motor 960 is rotated forward, the scraping arm 931 is swung, the tip end is raised, and the scraping mechanism 606 is taken out from the medicine insertion groove 208 of the distribution plate 201.
Subsequently, the cleaning arm 501 of the cleaning device 500 is rotated to lower the cleaning brush 502 provided at the tip, and the cleaning brush 502 is inserted into the medicine insertion groove 208 of the distribution plate 201.
Then, while rotating the cleaning brush 502, the distribution plate 201 is rotated.
As a result, the residue of the drug remaining in the drug feeding groove 208 of the distribution tray 201 is scraped off by the cleaning brush 502, and the residue which has been blown up is sucked by the suction means. As a result, the inside of the medicine feeding groove 208 is cleaned.
When the groove cleaning operation is completed, the cleaning arm 501 is rotated to raise the cleaning brush 502 provided at the tip, and the cleaning brush 502 is taken out from the medicine insertion groove 208 of the distribution plate 201.

It is desirable that the suction by the suction unit be continued while the cleaning brush 502 is raised. By doing so, the medicine adhering to the cleaning brush 502 can be prevented from falling to the distribution plate 201 when the cleaning brush 502 is raised.
In addition, since the cleaning condition of the dispensing tray 201 is confirmed by the residual medicine detection sensor 372 after cleaning the dispensing tray 201, the distribution tray 201 continues to rotate even after the cleaning brush 502 is raised. Therefore, with the distribution tray 201 kept rotating, the cleaning brush 502 continues rotating while suctioning by the suction means, and after raising the cleaning brush 502, the cleaning brush 502 is rotated and suction by the suction means is stopped. Do.

And after that, the removal part cleaning operation is performed.
That is, the turntable 604 built under the table is rotated, and the entire scraping device 930 is pivoted to move the scraping mechanism 606 of the scraping device 930 to the vicinity of the cleaning device 500. Since the lid 207 and the distribution tray 201 can be relatively rotated, they rotate together with the turntable 604.
The cleaning arm 501 of the cleaning device 500 is slightly inclined, and as shown in FIG. In that state, the cleaning brush 502 is rotated. As a result, the residue of the drug stuck to the scraping mechanism 606 is scraped off by the cleaning brush 502 and enters the brush cover 503. Then, the residue in the brush cover 503 is sucked by the vacuum device 515 (suction unit). As a result, the ejection mechanism 606 is cleaned.

Further, in the medicine dispensing apparatus 1 of the present embodiment, the hopper cleaning operation is performed in parallel with the groove cleaning operation and the scraping portion cleaning operation.
That is, when all the medicine in the dispensing tray 201 has been discharged and packaging of the medicine is completed, the medicine packing device 410 is moved as a whole to bring the injection opening of the powder injection hopper 413 to the position of the hopper closing member 400. Then, the hopper closing member 400 is operated to cause the inner lid portion 402 to protrude, and the charging opening of the powder charging hopper 413 is closed. Then, in this state, the suction member is operated to clean the inside of the powder input hopper 413.
In addition, when there is an opening and closing device at the end of the powder injection hopper 413, the opening and closing device is opened and closed.

In the medicine delivery device 1 of the present embodiment, the above operation is repeated to carry out weighing, division, packaging and cleaning of medicine.
In addition, when the work of one day is completed or when the work of the early morning is started, the entire medicine dispensing device 1 is manually cleaned.
That is, wipe up each member on the table with a clean cloth to remove dust and powder residue.
Here, since the medicine dispensing apparatus 1 of the present embodiment has few irregularities on the table, manual cleaning is easy.

That is, in the medicine delivery device 1 of the present embodiment, the distribution tray 201 is at a lower position than the upper surface (table surface 205a) of the table member 205, and the height of the medicine insertion groove 208 is equal to that of the table member 205 (actually Somewhat lower). Therefore, the wiping operation by human power is easy.
Further, the distribution tray 201 is structured to be embedded in the table member 205, and a negative portion does not occur between the lower surface of the distribution tray 201 and the upper surface of the table member 205 (table surface 205a). Therefore, dust and powder do not get into the gap and are clean.

  Further, in a state where the lid 207 is at the center of the distribution tray 201, the top surface of the lid 207 is generally flat, so the task of wiping the lid is easy. In addition, it is clean because dust etc. does not get caught in the gap.

  The medicine dispensing apparatus 1 of the present embodiment is equipped with a cleaning mechanism according to the operation, shape, and application of each mechanism, so the cleaning performance is greatly improved, contamination of the powder is difficult to occur, and safety is high. .

Next, each member and apparatus of the drug delivery device 1 will be described.
(1) Drug container The drug container 2 is a sealed container, and comprises the container body 5, the transport iron plate portion 157, the fixing iron plate portion 6, the lid member 120, and the information recording member 15. There is.
The container main body 5 is a vertically long container made of resin, and one end in the longitudinal direction is opened to constitute the medicine discharge portion 8.
Further, the container body 5 is provided with a transport iron plate portion 157. In the present embodiment, the transport iron plate portion 157 is divided into two small transport iron plate portions 157a and 157b. The transport iron plate portion 157 is made of a steel plate containing a magnetic component such as ferrite.

The lid member 120 is configured of a lid main body portion 125, a movable lid portion 134, a rectifying coil 126, and a comb-shaped rectifying member 130. Further, the desiccant 182 is disposed on the lid member 120 as shown in FIG.
The movable lid portion 134 has a knob portion 147, and pressing the knob portion 147 opens the movable lid portion 134. Then, the movable lid 134 is maintained in the open state.
The lid member 120 is mounted on the container main body 5 as shown in FIG.
An engagement protrusion 370 is provided on the surface of the lid member 120. There is a recess 371 at the rear end of the medicine container 2.

The fixing iron plate portion 6 is a steel plate containing a magnetic component such as ferrite. The fixing iron plate portion 6 is attached to the peripheral wall lower surface 12 at the outer peripheral portion of the container main body 5. The surface to which the fixing iron plate portion 6 is attached and the surface to which the conveying iron plate portion 157 is attached face each other. Also, the container body 5 itself may be a magnetic body, and the entire medicine container may be a magnetic body.
The medicine container 2 is placed in the vertical posture at the time of storage, and is set in the horizontal posture at the time of use.
Further, the medicine container 2 is provided with an information recording member 15 such as a bar code, an RFID (Radio Frequency IDentification), a bar code or the like. In the present embodiment, a chip of an RFID is attached as the information recording member 15. In the information recording member 15, the type of medicine filled in the medicine container 2 is recorded.

(2) Container Mounting Device The container mounting device 3 is, as shown in FIG. 7 to FIG. 10, a vibrating table 20, vibration means 21a and 21b, an intermediate table 22, an antivibration table 23, weight measuring means 25 from the top. The base member 26 is configured.

  The vibrating table 20 is a block-shaped mounting table. The external shape of the vibrating table 20 is as shown in FIGS. 7, 8, 9, 10, and is a substantially rectangular parallelepiped.

Self-holding solenoids 30 a and 30 b are incorporated in the mounting surface 61.
On the short side surfaces 63a and 63b of the vibrating table 20, inclined surfaces 67a and 67b are formed in the central portion.

The excitation means 21a and 21b are piezoelectric elements.
As shown in FIG. 8, the intermediate table 22 has a substantially “H” shape in plan view in its overview.
The intermediate base 22 has a slope 78a. The inclined surface 67 a of the vibrating table 20 is on the extension of the inclined surface 78 a of the intermediate base 22.

Inside the intermediate base 22, there is a large cavity 75, and the back of the main body 76 is widely open.
As shown in FIG. 8, the vibration isolation table 23 is a plate body in which a central portion is protruded to provide a space inside.

  Next, the positional relationship of each structural member of the container mounting apparatus 3 of this embodiment is demonstrated. In the container mounting device 3, as shown in FIGS. 7, 8, 9 and 10, vibration means 21 a and 21 b are provided between the vibrating table 20 and the intermediate table 22.

  In the present embodiment, the vibration means 21a and 21b are present between the vibration table 20 and the intermediate table 22, and the vibration table 20 is not supported at portions other than the vibration means 21a and 21b. Therefore, the vibrating table 20 has a structure in which it is supported from the intermediate table 22 in a hollow manner by the vibration means 21a and 21b.

  Further, at the lower part of the intermediate stand 22, a vibration isolation stand 23 is disposed. In the present embodiment, there is no member for connecting the intermediate stand 22 and the vibration isolation stand 23 other than the vibration isolation member 40. Therefore, the intermediate base 22 is supported by the anti-vibration member 40 so as to be hollow from the anti-vibration base 23.

In the lower part of the vibration isolation table 23, weight measuring means 25 is disposed as shown in FIGS.
Most of the weight measuring means 25 is, as shown in FIGS. 8, 9 and 10, in a ridge 80 provided at the center of the vibration isolation table 23, the upper mounting surface 36 of the weight measuring means 25 is It is connected to the inner surface of the top surface 81 of the projection 80 of the pedestal 23.
On the other hand, the lower mounting surface 37 of the weight measuring means 25 is attached to the base member 26.
The base member 26 is mounted in the vicinity of the dispensing tray 201 of the powder dispensing device 202 via the vibration isolation member 41 as in the previous embodiment.

(3) Drug feeder (powder dispenser)
In the medicine delivery device 1 of the present embodiment, the medicine container 2 and the container placement device 3 constitute a set of medicine feeders 50 (powder injection devices).
That is, the medicine container 2 and the container placement device 3 are separate, and when the powder is packaged, both are combined to constitute the medicine feeder 50.
The medicine feeder 50 has a function of stopping energization of the self-holding solenoid 30 built in the vibrating table 20 to fix the medicine container 2 to the vibrating table 20 and vibrating the medicine container 2 to discharge the powder.
That is, in the present embodiment, the medicine container 2 is stored in the vertical posture, and the powder is stored in the powder storage portion 17. In the present embodiment, the medicine container 2 is held by the hand 707 of the robot 702, the medicine container 2 is moved, and the medicine container 2 is placed on the container mounting device 3 as shown in FIG.
More specifically, as shown in FIG. 2, the medicine container 2 is moved and its posture is changed. That is, the drug container 2 is moved to the vicinity of the container mounting device 3, and the drug container 2 is placed on a horizontal position and placed on the vibrating table 20.

Then, the current supply to the self-holding solenoid 30 built in the vibration table 20 is stopped. As a result, the magnetic force of the permanent magnet is restored and a magnetic force is generated in the vibrating table 20, and the fixing iron plate portion 6 of the medicine container 2 is adsorbed to the vibrating table 20.
Then, a current of a constant frequency is supplied to the vibration means 21a and 21b to generate vibration, and the vibration table 20 is vibrated by this vibration.
Before and after the start of vibration, the dispenser plate 201 of the powder dispenser 202 is rotated.

Before and after the start of vibration, the weight of the medicine container 2 is measured. The weight of the medicine container 2 is a value obtained by subtracting a constant value from the detected weight of the weight measuring means 25. More specifically, the weight of the medicine container 2 is obtained by subtracting the weight of the member above the weight measuring means 25 of the container mounting device 3 from the detected weight of the weight measuring means 25.
The weight of the medicine container 2 immediately after installation on the vibrating table 20 is stored as the original weight G. Also, the weight of the drug container 2 is constantly monitored. That is, the current weight of the drug container 2 is monitored as the current weight g.

  When the vibrating table 20 starts vibrating, the medicine container 2 vibrates. Here, in the present embodiment, the medicine container 2 is firmly joined to the vibrating table 20 by the permanent magnets of the self-holding solenoids 30a and 30b, and the adhesion degree with the vibrating table 20 is also high. , Vibrate at the same frequency as the vibration table 20. As a result, the powder medicine stored in the powder medicine storage unit 17 of the medicine container 2 moves slowly toward the medicine discharge unit 8 side.

  The powder then passes to the narrowing opening 13 formed by the portion of the comb-like flow straightening member 130. The powder that has passed through the narrowed opening 13 is discharged to the outlet passage 18. Then, the powder flows in the outlet passage 18 like a stream of river, finally reaches the drug outlet 8 of the drug container 2, falls like a waterfall, and enters the drug inlet groove 208 of the lower distribution tray 201.

Dropping of the powder is confirmed by the decrease in the weight of the medicine container 2. That is, in the present embodiment, even when the powder is dropped from the drug discharge portion 8 of the drug container 2, the current weight of the drug container 2 is continuously monitored as the current weight g. Then, the original weight G of the medicine container 2 immediately after installation on the vibrating table 20 and the current weight g are compared, and the falling amount H (G minus g) of the powder is constantly calculated.
Then, when the total dropped amount H of the powder has reached a desired weight, the vibration of the vibrating table 20 is stopped.

(4) Container Storage Device The container storage device 101 has a drum member 102 as shown in FIG. The drum member 102 is a cylindrical member and has a hollow inside.
The drum member 102 is vertically disposed and rotatably disposed, and a large gear 304 is provided on the lower end side.

  A container setting unit 103 is provided on the circumferential surface of the drum member 102. In the present embodiment, as described above, the container setting unit 103 is provided in three stages. In addition, 12 container installation parts 103 are provided in one row, and a total of 36 container installation parts 103 are provided.

In the present embodiment, the container setting unit 103 is configured by a vertical wall 320 and a mounting table (bottom support portion) 323 as shown in FIG. The vertical wall 320 is provided with a side support member 321, a mounting detection member 322, and an upper engagement portion 325.
The mounting table (bottom support portion) 323 supports the bottom surface on the basis of the posture in which the medicine container 2 is placed vertically, and functions as a bottom support portion.
The side support member 321 is formed by bending a metal plate as shown in FIGS. 12 and 13 and has a front wall and left and right side walls. The left and right side walls have a slightly inclined posture with respect to the front wall, and have the same opening angle as the fixing iron plate portion 6 of the container body 5. The side support members 321 support three of the side surfaces of the medicine container 2.

The upper engaging portion 325 has a shaft portion, and the tip end side thereof has a bowl shape. The upper engagement portion 325 is in the vicinity of the upper end of each container placement portion 103 and protrudes from the vertical wall 320. The upper engaging portion 325 swings up and down around the base end side. In the upper engaging portion 325, the shaft portion always maintains a horizontal posture. Further, the upper engaging portion 325 is biased by a biasing means (not shown) so that the shaft portion is kept horizontal.
On the other hand, when receiving a strong external force, the upper engaging portion 325 is pivoted, and the free end side of the upper engaging portion 325 escapes upward against the biasing force of the biasing means.

  The mounting detection member 322 has a projecting member. The mounting detection member 322 is located below the upper engaging portion 325, and the projecting member protrudes outward from the vertical wall 320. The projecting member is also kept projecting outward by a biasing member (not shown). The biasing member that biases the projecting member has a weak biasing force, and when pushed against something, the projecting member easily sinks into the inside of the drum member 102. That is, although the projecting member always protrudes toward the outside of the drum member 102, when the drug container 2 is attached to the container setting portion 103, the projecting member is pushed by the drug container 2 and embedded in the drum member 102; It projects to the inside of the drum member 102.

Further, the mounting table 323 is provided with a lower engaging portion 326. The lower engaging portion 326 is also maintained in a projecting state by a biasing member (not shown).
As described above, the medicine container 2 is provided with the engagement projection 370 on the lid member 120. There is a recess 371 at the rear end of the medicine container 2.
The upper engaging portion 325 is pivoted upward as shown by an arrow as shown in FIG. 14 by pressing the lid member 120 of the medicine container 2. The lower engaging portion 326 is sunk in the mounting table 323 by pressing the fixing iron plate portion 6 of the medicine container 2.
When the medicine container 2 is pressed against the container setting portion 103, the upper engaging portion 325 and the lower engaging portion 326 escape against the force of the biasing member. Then, when the medicine container 2 reaches the predetermined position, the upper engaging portion 325 is returned by the biasing member (not shown) and engaged with the engaging projection 370 of the lid member 120. The lower engaging portion 326 is returned by a biasing member (not shown) and engaged with the recess 371 at the rear end of the medicine container 2.
When taking out the medicine container 2, the medicine container 2 is held by the robot 702 or the like and pulled away from the container setting unit 103. At this time, the upper engagement portion 325 and the lower engagement portion 326 are released against the force of the biasing member and disengaged.

A geared motor 302 is provided in the vicinity of the drum member 102, and a small gear 303 attached to the geared motor 302 is engaged with a large gear 304 attached to the drum member 102.
Therefore, when the geared motor 302 is rotated, the drum member 102 is rotated.

Further, as shown in FIG. 11, a protrusion detection sensor 330 is provided in the vicinity of the drum member 102. The pop-out detection sensor 330 is an optical sensor composed of a light emitter 331 and a light receiver 332. For example, the light emitter 331 is provided near the drum member 102 on the upper side. On the other hand, the light receiver 332 is provided at a position below the light emitter 331 in the vertical direction.
A straight line of light connecting the light emitter 331 and the light receiver 332 of the pop-out detection sensor 330 is parallel to the drum member 102. Further, the straight line of light does not intersect with the rotation locus when the drum member 102 is rotated in a state where the medicine container 2 is correctly attached to the container setting unit 103.
On the other hand, in the case where the pushing of the drug container 2 into the container setting portion 103 is insufficient and the drug container 2 is not accurately attached to the container setting portion 103, the rotation locus when the drum member 102 is rotated. Interact with.

  Therefore, if there is the drug container 2 that is not correctly attached to the container setting unit 103, the drug container 2 blocks the light emitted from the light emitter 331 when the drum member 102 is rotated, and the light receiver 332 The light to the light is interrupted. Therefore, in the present embodiment, it is possible to drive the geared motor 302 to rotate the drum member 102, and to detect whether or not the medicine container 2 already mounted on the container setting unit 103 is mounted in a normal posture.

Inside the drum member 102, a protruding member detection sensor 333 (FIG. 15) for detecting the posture of the protruding member of the mounting detection member 322 described above is provided. The projecting member detection sensor 333 is an optical sensor or a proximity sensor.
The protruding member detection sensor 333 is attached to a vertical shaft separately from the drum member 102, and the protruding member detection sensor 333 does not rotate even when the drum member 102 rotates. Since it is provided across the steps, a total of three protruding member detection sensors 333 are provided corresponding to each step, one by one.
In the present embodiment, the protruding member detection sensor 333 is provided in the vicinity of the mounting stage of the medicine container 2 described later.
Therefore, when the medicine container 2 is attached to the container setting unit 103, it can be detected whether or not the medicine container 2 is in the proper position.
In addition, it is possible to drive the geared motor 302 to rotate the drum member 102, and to detect whether the medicine container 2 already mounted on the container setting unit 103 is attached in a normal posture.

Further, in the vicinity of the drum member 102, an information read / write device 335 such as an RFID reader is provided.
In the present embodiment, since the container installation units 103 are provided in three stages, a total of three information read / write devices 335 are provided corresponding to each stage.
In the present embodiment, when the geared motor 302 is driven to rotate the drum member 102, the medicine container 2 attached around the drum member 102 is rotated together with the drum member 102. Therefore, the medicine containers 2 attached around the drum member 102 approach the information read / write device 335 one by one in order. In this embodiment, the information read / write device 335 is operated at an appropriate timing, and the type of medicine stored in each medicine container 2 is read from the RFID attached to each medicine container 2 and stored in a control device (not shown) Do. That is, the position where the medicine container 2 is attached and the medicine contained therein are stored in the control device in association with each other.
Also, it is used for the purpose of rewriting the information already stored in the control device and checking the contents.

  Further, the drum member 102 is appropriately rotated, and it is detected by the protruding member detection sensor 333 and the pop-out detection sensor 330 whether or not the medicine container 2 is properly attached.

(5) Dispensing tray In the medicine delivery device 1 of the present embodiment, two sets of dispensing tray 201 are provided.
The two distribution dishes 201 have the same size and structure. That is, the distribution tray 201 is disk-shaped, and the equipment storage opening 210 is provided at the center. As described above, the dispensing tray 201 is provided with the medicine feeding groove 208 on the upper surface side. The drug introduction groove 208 is a groove having a shallow depth, and has a circular arc shape in cross section. The medicine feeding groove 208 is in the vicinity of the outer edge of the distribution tray 201 and annularly surrounds the equipment storage opening 210.

The lower side of the distribution tray 201 is held by the guide and can be rotated.
Further, the inner surface of the equipment storage opening 210 protrudes downward, and the gear teeth are incised on the outer peripheral portion thereof.
A motor 209 is provided at the lower part of the distribution plate 201, and a gear provided to the motor 209 is engaged with a tooth of a gear provided to the distribution plate 201. Therefore, when the motor 209 is rotated, the distribution tray 201 is rotated.

A lid 207 is provided at the portion of the above-mentioned equipment storage opening 210. The lid 207 is fixed to the turntable 604 side, and rotates integrally with the turntable 604. The outer diameter of the lid 207 is substantially equal to the equipment storage opening 210 provided at the center of the distribution tray 201, and since it enters the equipment storage opening 210, the equipment storage opening 210 is substantially closed to cover the internal equipment. However, the lid 207 does not contact or engage with the distribution tray 201, and the lid 207 and the distribution tray 201 can be rotated relative to each other.
The lid 207 has an opening for projecting the scraping arm 931, and the opening is provided with a door member, and the door member operates in accordance with the elevation of the scraping arm 931. Therefore, the opening area is increased or decreased according to the elevation of the scraping arm 931, and the opening area is kept to the necessary minimum.

The specific shape and structure of the lid 207 is as shown in FIG. 28 and is constituted by the lid main body 212 and the door member 213. The lid main body 212 is as thin as a beret, and has a circular lower side top surface 230, and a lower side wall around the lower side top surface 230.
A raised portion 231 is formed on part of the peripheral end of the top surface of the lid 207. The raised portion 231 is at a slightly eccentric position. That is, the raised portion 231 has three raised side surfaces connected to three sides of the upper side top surface and the upper side top surface. Of the three side faces of the protuberances, the two opposing faces are wide in area, and the remaining face is the connection between the two faces.
The distance from one side of the raised portion to the periphery of the lower side top surface is different from the distance from the side of the raised portion opposite thereto to the periphery of the lower side upper surface.

In the present embodiment, a large opening 232 is provided from the top surface of the raised portion 231 to the side wall portion of the lid main body 212. Further, at an inner edge of the opening 232, a guide portion (not shown) is provided.
A pair of ribs is provided on the back surface side of the lid 207 and in the vicinity of the opening 232. The rib is provided with a shaft insertion hole (not shown).

The door member 213 covers the opening 232 so as to be able to open and close, and has a main body portion and a swing shaft piece 233. In the door member 213, the side surface of the main body engages with a guide (not shown) provided at the edge of the opening 232, and the swinging shaft piece 233 engages with a shaft insertion hole (not shown).
The door member 213 is closed by its own weight and closes the opening 232 of the lid main body 212. On the other hand, when it is lifted by external force, it opens without difficulty.
Therefore, the opening 232 is opened minimally by the lid 207, and the entry of dust and the like is prevented.

(6) Turn Table The turn table 604 is a circular plate, and gear teeth are incised on the outer periphery thereof. The turntable 604 is rotatably supported by three guides provided on the outer periphery. Further, as shown in FIG. 18, a motor 650 is provided in the vicinity of the turn table 604, and a gear 651 provided on the motor 650 is engaged with a gear tooth 605 provided on the outer periphery of the turn table 604. It is correct. Therefore, when the motor 650 is rotated, the turntable 604 is rotated.

(7) Scraping Device Next, the scraping device 930 will be described.
FIG. 21 is a perspective view of the scraping device 930, and FIG. 22 is a perspective view of the scraping mechanism 606 attached to the tip of the scraping arm 931 of the scraping device 930. FIG. 23 is a skeleton diagram showing a power transmission system of power of the scraping device 930.
As shown in FIG. 21, the scraping device 930 has a scraping arm 931 and a scraping mechanism 606 provided at the tip of the scraping arm 931.
Further, as shown in FIG. 23, the scraping device 930 has a scraping side power transmission system 932 surrounded by a broken line D, and an arm side power transmission system 933 surrounded by a broken line E.
The scraping mechanism 606 of the scraping device 930 is driven by the scraping side power transmission system 932.

The scraping mechanism 606 is a member having a scraping plate 609, a scraping plate 607, and a partition plate 603, as shown in FIG. The scraping plate 609 is a disk made of a thin plate.
The partition plate 603 is a thin plate disposed in parallel to the scraping plate 609, and has a fan-like shape. That is, the partition plate 603 is a substantially triangular plate shaped by an arc having a central angle of about 30 degrees and two sides of a straight line.
The partition plate 603 is disposed in parallel with the scraping plate 609. The straight side forming the central angle of the partition plate 603 and the scraping plate 609 are connected by the scraping plate 607. The scraping plate 607 is orthogonal to the scraping plate 609 as well as to the partition plate 603.
The scraping mechanism 606 is at the tip of the scraping arm 931, and the scraping plate 609 is rotated by the scraping side power transmission system 932 (FIG. 23) described later.

  The scraping arm 931 is a pivoting arm having a base end in the turntable 604, and is swung up and down by an arm side power transmission system 933.

  The scraping arm 931 has a housing having an elongated, substantially square pole-like outer shape, and a cavity is formed inside the housing. That is, the housing of the removal arm 931 has a structure in which the four sides are surrounded by the pair of opposing side plates 934a and 934b, the top plate 934d, and the bottom plate 934c. Further, a proximal end side plate 935 is provided on the proximal end side of the scraping arm 931.

A shaft member 614 is provided on the proximal end side of the removal arm 931. The shaft member 614 penetrates the side plates 934a and 934b. Further, a shaft member 615 is provided on the tip end side of the scraping arm 931. The shaft members 614 and 615 are parallel to each other and extend in a direction orthogonal to the longitudinal direction of the ejection arm 931, respectively.
As shown in FIG. 21, the middle part of the scraping arm 931 is slightly bent. That is, a portion between one end (proximal end) of the scraping arm 931 on which the shaft member 614 (FIG. 23) is provided and the other end (distal end) on which the shaft member 615 (FIG. 23) is provided. But it is slightly bent.

A protrusion 936 (FIG. 26) is provided in the vicinity of the proximal end of the scraping arm 931. The bottom plate 934 c of the housing of the removal arm 931 is curved along the outer shape of the protrusion 936. The projecting portion 936 constitutes a pressing surface 936 a on a part of the bottom plate 934 c. The pressing surface 936a is inclined with respect to the top plate 934d.
Further, in the vicinity of the base ends of the side plates 934a and 934b, holes 937a and 937b (only a hole 937b of the side plate 934b is depicted in FIG. 21) through which the shaft member 614 is inserted are provided.
Further, the proximal side plate 935 is provided with a receiving member 938.

As shown in FIG. 21, the receiving member 938 has a fixing portion 939 and a pressing portion 940.
The fixing portion 939 includes a fixing plate 939a fixed by screwing or the like to the proximal end side plate 935, and an overhanging plate 939b which is continuous with the fixing plate 939a. The overhang plate 939 b is provided with a hole 941. That is, when the fixing plate 939 a is fixed to the base end side plate 935 of the scraping arm 931, the overhanging plate 939 b projects in the longitudinal direction of the scraping arm 931. Further, the hole 941 of the overhang plate 939b is opened in the direction orthogonal to the shaft member 614 passing through the holes 937a and 937b of the side plates 934a and 934b.

The pressing portion 940 is configured of a coil spring 942 and a spring fixing member 943.
The spring fixing member 943 is composed of a bolt portion 943a and a nut portion 943b. The bolt portion 943a passes through the hole 941 of the overhang plate 939b from below, and the bolt portion 943a is screwed with the nut portion 943b.

  A spring mounting portion 944 is provided on the bolt portion 943a. The spring mounting portion 944 is composed of a flange portion 944a and a convex portion 944b projecting downward from the flange portion 944a. When the bolt portion 943a and the nut portion 943b are screwed in, the flange portion 944a of the bolt portion 943a approaches the overhang plate 939b of the fixing portion 939. Then, the flange portion 944a can be brought into contact with the projecting plate 939b to be integrated.

  The coil spring 942 is a compression spring. One end (upper end) of the coil spring 942 is engaged with the convex portion 944 b of the spring mounting portion 944, and the coil spring 942 is mounted to the spring mounting portion 944. The other end (lower end) of the coil spring 942 is attached to the mounting member 945 by engaging a protrusion 946 of the mounting member 945 described later.

As shown in FIG. 23, in the removal-side power transmission system 932, a gear 628 is attached to a drive shaft 950a of the motor 950. In the present embodiment, power is transmitted from the motor 950 to the gear train formed by the gears 628 641 633, and power is further transmitted from the gear 633 through the shaft member 614 to the drive pulley 623. The power is transmitted from the drive side pulley 623 to the driven side pulley 682 via the toothed belt 634.
That is, in the present embodiment, the scraping side power transmission system 932 includes a gear train constituted by the gears 628 641 633, the shaft member 614, the driving pulley 623, the toothed belt 634, the driven pulley 682 and the shaft member It consists of 615. The gear 641 may be provided with a one-way clutch to prevent the removal mechanism 606 from rotating in the reverse direction.

  The arm side power transmission system 933 has a motor 960, a positioning mechanism 961, and a swing mechanism 962, as shown in FIG.

  Motor 960 is a separate motor from motor 950. That is, the motor 960 is a motor that drives only the arm side power transmission system 933, and can be rotationally driven in the reverse direction to the forward direction. A gear 951 (pinion) is attached to a drive shaft 960 a of the motor 960.

  The positioning mechanism 961 includes a positioning pin 952, guide members 953a and 953b, a coupling member 954, and a fixed engagement member 670.

The positioning pin 952 is a round bar-like member, and a rack portion 955 is formed on the side surface of the cylinder. The tip side of the positioning pin 952 is tapered like a pencil. The tapered tip portion of the positioning pin 952 is engageable with the groove 672 of the stationary engagement member 670 installed on the outside of the turntable 604.
Positioning pins 952 are disposed on the turntable 604. Positioning pin 952 is orthogonal to the axis of drive shaft 960 a of motor 960. Further, a gear 951 (pinion) mounted to the drive shaft 960 a is engaged with the rack portion 955 of the positioning pin 952. That is, when the motor 960 is driven in the forward and reverse directions, power is transmitted from the gear 951 to the rack portion 955, and the positioning pin 952 linearly reciprocates.

  The guide members 953a and 953b are disposed on the turntable 604 and guide the reciprocating positioning pins 952.

The connection member 954 is a member that connects the rear end portion of the positioning pin 952 and a swing mechanism 962 described later. The connecting member 954 is connected to the rear end portion of the positioning pin 952 by a pin 949. That is, the connecting member 954 and the positioning pin 952 are connected to be relatively rotatable via the pin 949.
Further, the connecting member 954 can be reciprocated along a linear guide (not shown) provided on the scraping device 930. The linear guide extends in the longitudinal direction of the positioning pin 952. That is, the connecting member 954 can reciprocate in the longitudinal direction of the positioning pin 952 together with the positioning pin 952.
Further, the connecting member 954 is prevented from rotating about an axis in the longitudinal direction by the above-mentioned linear guide (not shown). Therefore, the positioning pin 952 integral with the connecting member 954 is also non-rotatable. Therefore, the rack portion 955 of the positioning pin 952 is always engaged with the gear 951.

  The stationary engagement member 670 has a groove 672 engageable with the positioning pin 952. Further, the fixed side engaging member 670 is disposed on the fixing member 699 adjacent to the outer peripheral side of the turntable 604.

  The positioning mechanism 961 reciprocates the positioning pin 952 in conjunction with the raising and lowering of the ejection arm 931. When the positioning pin 952 protrudes from the turntable 604, the positioning pin 952 and the groove 672 of the fixed side engaging member 670 are engaged, and the turntable 604 is non-rotatably fixed. Further, when the positioning pin 952 retracts into the turntable 604, the engagement between the positioning pin 952 and the groove 672 is released, and the turntable 604 becomes rotatable.

  The swing mechanism 962 has a placement member 945 and a swing member 947. The mounting member 945 and the swinging member 947 are integrally fixed by screws 948 a and 948 b. That is, the placement member 945 and the swinging member 947 can not move relative to each other.

  The swinging member 947 is a substantially L-shaped plate-like member as shown in FIG. The swinging member 947 is provided with two holes (not shown) through which the screws 948a and 948b are inserted. One end of the swinging member 947 is connected to the connecting member 954 by a pin 956 so as to be relatively rotatable. The other end of the swinging member 947 is penetrated by the shaft member 614. That is, the swinging member 947 can swing around the shaft member 614. Both ends of the shaft member 614 are supported by support members 963 and 964 (FIGS. 21 and 23) fixed on the turntable 604.

The mounting member 945 has a main body 957 and mounting portions 958 and 959 as shown in FIG.
The main body 957 is a plate disposed in the vertical posture. The main body 957 is provided with holes 965a and 965b for inserting the screws 948a and 948b. Two places on the upper side of the main body 957 are bent vertically to form mounting portions 958 and 959. The placement portion 958 and the placement portion 959 are both orthogonal to the main body 957, and both are not in the same plane, but are mutually inclined.
A protrusion 946 is provided on the mounting portion 958. The projection 946 engages with the coil spring 942 and has a function of fixing the coil spring 942 to the mounting portion 958.
As shown in FIG. 24, the swinging member 947 and the mounting member 945 are integrally fixed by two screws 948a and 948b.

  As shown in FIG. 26, the lower end portion of the coil spring 942 is fixed to the mounting portion 958 of the mounting member 945. The upper end of the coil spring 942 is fixed to a spring fixing member 943 of the fixing portion 939. The flange portion 944 a of the spring mounting portion 944 is in contact with the overhang plate 939 b of the fixing portion 939. That is, the overhang plate 939b is sandwiched between the flange portion 944a and the nut portion 943b. The coil spring 942 is disposed between the flange portion 944 a on the fixing portion 939 side and the mounting portion 958 of the mounting member 945 of the swing mechanism 962. The coil spring 942 is compressed.

  As shown in FIG. 26, a pressing surface 936a of the scraping arm 931 is placed on the placement portion 959 of the placement member 945.

The proximal end of the scraping arm 931 is penetrated by the shaft member 614. The shaft member 614 penetrates the side plates 934a and 934b of the scraping arm 931, and inside the scraping arm 931, as shown in FIG.
Since the shaft member 614 is supported by the support members 963 and 964, the proximal end side of the ejection arm 931 is supported by the shaft member 614.
The pressing surface 936 a of the scraping arm 931 is placed on the placement portion 959 of the placement member 945. The pressing surface 936 a is formed on the tip side of the insertion portion of the shaft member 614 in the scraping arm 931. Therefore, the placement unit 959 presses the pressing surface 936a formed on the bottom plate 934c from the lower side, or by placing the pressing surface 936a on the placement unit 959, the placement arm 945 for the scraping arm 945. Support.
That is, the mounting member 945 prevents rotation of the scraping arm 931 around the shaft member 614 due to its own weight.

  Next, the operation of the scraping device 930 will be described.

  With the positioning pin 952 retracted into the turntable 604, the turntable 604 can rotate. At this time, as shown in FIG. 27 (a), the scraping arm 931 is elevated. That is, the swinging member 947 of the swing mechanism 962 shown in FIGS. 23 and 76 rotates counterclockwise around the shaft member 614 and stops, and the mounting portion 959 of the mounting member 945 is lifted. Therefore, the scraping arm 931 whose pressing surface 936a is pressed by the mounting portion 959 is in the raised posture shown in FIG. 27 (a).

  From this state, when the motor 960 is driven to cause the positioning pin 952 to protrude from the turntable 604 and engage with the groove 672 of the fixed side engaging member 670, the turntable 604 is non-rotatably fixed. Further, the connecting member 954 integral with the positioning pin 952 pulls the swinging member 947 of the swing mechanism 962 via the pin 956. Therefore, the swinging member 947 rotates clockwise about the shaft member 614. The mounting member 945 integral with the rocking member 947 also pivots clockwise integrally with the rocking member 947. As a result, the position of the mounting portion 959 is lowered and the position of the mounting portion 958 is raised, so that the tip end side of the scraping arm 931 is lowered to be in the state shown in FIG.

  From the state shown in FIG. 27 (a) to the state shown in FIG. 27 (b), when the swinging member 947 rotates around the shaft member 614, the pin 956 fixed to the swinging member 947 Directly below the shaft member 614) and slightly rise from the turntable 604. That is, although the distance between the pin 956 and the shaft member 614 is always constant, in the state shown in FIG. 27B, the pin 956 is at a higher position than in the state shown in FIG.

  As described above, the height position of the pin 956 changes with the rotation of the swinging member 947. However, since the connecting member 954 and the positioning pin 952 are connected by the pin 949, the connecting member 954 centers the pin 952 The connecting member 954 swings about the pin 949 while following the projecting movement of the positioning pin 952, and can lift the end of the connecting member 954 to which the pin 956 is connected. .

  When the scraping arm 931 assumes the lowered posture shown in FIG. 27B, the motor 950 shown in FIG. 23 is driven. The driving force of the motor 950 is transmitted to the scraping plate 609 through the drive shaft 950 a, gears 628, 641, 633, shaft member 614, drive side pulley 623, toothed belt 634, driven pulley 682, shaft member 615. Ru.

  Also, when the drug removal operation is completed, the motor 950 is stopped and the tip end side of the removal arm 931 is raised. That is, the motor 960 is rotated in the reverse direction, the positioning pin 952 is retracted onto the turntable 604, and the mounting member 945 of the swing mechanism 962 is rotated counterclockwise around the shaft member 614. As a result, the mounting portion 959 of the mounting member 945 is elevated, and the tip end side of the scraping arm 931 is elevated.

  The scraping plate 609 of the scraping mechanism 606 may collide with the distribution plate 201 when the scraping arm 931 changes from the raised position to the lowered position. However, the impact generated at that time is relieved by the coil spring 942 of the fixed portion 939.

  Although not shown in FIG. 23, the gear 641 is preferably provided with a one-way clutch. The one-way clutch prevents reverse rotation of the scraping plate 609 due to its own weight.

(8) Hopper Closing Member The hopper closing member 400 has a main body portion 401 and a middle lid portion 402. The main body portion 401 has a substantially rectangular planar shape and a plate shape having a thickness of about 1 cm.
The area of the middle lid 402 is smaller than the area of the main body 401. The shape of the inner lid 402 is substantially rectangular and is similar to the main body.
The outer cover 402 is made of resin on the outer surface. The middle lid portion 402 is disposed parallel to the main body portion 401, and is guided so as to approach and separate while maintaining the parallel state.
In addition, a motor (opening / closing mechanism) and a cam are built in between the inner lid 402 and the main body 401, and by rotating the motor, the inner lid 402 moves in parallel with respect to the main body 401 and approaches・ Separate. That is, while the motor makes one rotation, the main body portion 401 and the middle lid portion 402 can exhibit the close state shown in FIG. 41 and the separated state shown in FIG. Therefore, when the motor is stopped at an appropriate rotational position, the inner lid 402 can be stopped at the close position shown in FIG. 41 or the separated position shown in FIG.

(9) Drug Packaging Device The drug packaging device 410 is a device having a packaging paper supply device and a packaging device as a basic configuration. Further, as an accessory device, a powder charging hopper 413 for powder charging and a suction device 415 (suction means) are provided.
The packing paper feeding apparatus is a part for feeding a sheet-like paper divider to the packing part.
The packing apparatus is a part which folds a sheet-like parting paper, introduces a powder into it, and then fuses the side of the sheet to form a bag. The packing paper feeder and the packing device adopted in the present embodiment are all known ones, and the detailed description will be omitted.

The powder injection hopper 413 is for introducing the powder to the medicine packaging apparatus 410 side, and has a funnel shape. That is, the powder injection hopper 413 has an introduction side opening having a large opening area and a discharge side opening (a medicine discharge port) having a small opening area. The discharge side opening is at the lower end of the powder injection hopper 413, and an open / close plate 416 is provided. The opening and closing plate 416 can be opened and closed by power and can open and close the discharge side opening.
The discharge side opening of the powder input hopper 413 leads to the packaging device of the medicine packaging device 410 and introduces the powder into the folded sheet.

In the present embodiment, a suction device 415 is connected to a midway portion of the powder injection hopper 413. The suction device 415 is a known vacuum suction device, and is configured by a negative pressure generator such as a blower and a vacuum hose.
In the present embodiment, a vacuum hose is connected to the middle part of the powder injection hopper 413.

The paper supply unit, the packing unit, and the powder input hopper 413 are unitized, and the three units are integrated.
Further, in the present embodiment, rails 417 are provided in the medicine packaging area 300 and on both sides of the medicine packaging apparatus 410. A rack 418 is provided near the rail 417.
On the other hand, on the side of a unit such as the paper supply unit, a rail engaging portion (not shown) engaged with the rail 417 and a traveling motor are provided. The traveling motor is provided with a pinion and engaged with the rack 418 described above.
Therefore, the medicine packaging device 410 can move integrally in the back and forth direction.

  That is, the medicine packaging device 410 can reciprocate between the lower position of the ejection mechanism 606 shown in FIG. 40 and the lower position of the hopper closing member 400 shown in FIG. When the medicine packaging device 410 is in the position shown in FIG. 41, as shown in FIG. 42, the inner lid portion 402 of the hopper closing member 400 can close the introduction side opening of the powder injection hopper 413.

  As shown in FIG. 42, when the discharge side opening is closed by the opening and closing plate 416 and the introduction side opening is closed by the middle lid portion 402 of the closing member 400, the inside of the powder injection hopper 413 is shut off from the outside. Then, when the suction device 415 is operated, the residue of the powder in the powder charging hopper 413 is suctioned and removed.

(10) Table member The table member 205 is made of a glossy smooth plate made of stainless steel or the like as shown in FIG. The table member 205 has a table surface 205a. The table surface 205 a constitutes the upper surface of the table member 205. The table member 205 is provided with the distribution tray accommodation opening 206 at two places. That is, two distribution dish accommodation openings 206 are opened in the table surface 205a. Further, three container mounting device openings 240 are provided around the distribution tray housing opening 206 respectively. A medicine input opening 241 and a closure member installation opening 242 are provided between the distribution tray accommodation openings 206.
The distribution dish receiving opening 206 is a large circular opening with an outer diameter. The outer diameter of the distribution tray receiving opening 206 is larger than the outer diameter of the distribution tray 201, and the distribution tray 201 fits completely into the distribution tray receiving opening 206.
Two distribution tray accommodation openings 206 are provided side by side, and a part is in communication.

  The container mounting device opening 240 is a rectangular opening and is provided so as to surround the distribution dish storage opening 206. The center line of the container placement device opening 240 is parallel to the tangent of the distribution dish storage opening 206. Therefore, in a state where the medicine container 2 is attached to the container mounting device 3, the axis of the medicine container 2 is in a posture in which the axis direction of the medicine container 2 is directed in the tangential direction of the distribution tray 201.

A medicine feeding opening 241 and a closing member installation opening 242 are provided at positions on the front side of the drawing between the distribution tray accommodation openings 206. In the present embodiment, the medicine injection opening 241 and the closing member installation opening 242 communicate with each other and are integrated.
Inside the closure member installation opening 242 there is a step.

  The two distribution trays 201 described above are both accommodated in the distribution tray housing opening 206, and any portion of the distribution tray 201 is below the upper surface (table surface 205a) of the table member 205.

Further, since the outer diameter of the distribution tray 201 is smaller than the inner diameter of the distribution tray receiving opening 206 as described above, there is a slight gap between the outer edge of the distribution tray 201 and the inner edge of the distribution tray receiving opening 206.
Around the outer edge of the distribution tray 201 is a bowl-shaped receiving member 243 (FIG. 18). The above-described receiving member 243 is disposed below the gap formed between the outer edge of the distribution tray 201 and the inner edge of the distribution tray receiving opening 206, and the powder dropped into the gap drops into the receiving member 243.

  The closing member installation opening 242 is provided with a hopper closing member 400. In the hopper closing member 400, the lower surface of the main body portion is supported by the step portion, and the middle lid portion 402 protrudes to the lower portion of the table member 205.

The drug packaging device 410 is also below the table member 205. And always, it is on the back side of the device, and the insertion opening of the powder injection hopper 413 is at the lower part of the medicine insertion opening 241 of the table member 205.
Further, as described above, the drug packaging device 410 is entirely movable, and when the packaging operation is completed, the drug packaging device 410 is moved to the front side as a whole, and the loading opening of the powder loading hopper 413 is a hopper closing member. It reaches 400 positions.

(11) Cleaning Device The cleaning device 500 has a cleaning arm 501 whose front end side is moved up and down by power, and a cleaning brush 502 is provided at its front end. The cleaning brush 502 is rotatably mounted in the brush cover 503. A suction device is connected to the brush cover 503.

As shown in FIG. 33, when the cleaning brush 502 is viewed macroscopically, there is a hub member 505 provided with two grooves C and D, and the circumferential surface of the hub member 505 is flocked. .
As shown in FIG. 34, when the cleaning brush 502 is disassembled, four disk-shaped brushes 506a, 506b, 506c, and 506d are connected by the same rotation shaft 508. That is, the cleaning brush 502 has two central disk-shaped brushes 506 a and 506 b and two side disk-shaped brushes 506 c and 506 d, the centers of which are connected by the rotating shaft 508. However, the two central disk-shaped brushes 506a and 506b are in close contact with each other and apparently form one central brush 507.

  The side surface side disk shaped brushes 506c, 506d have a thin disk portion. The disk portion is a disk having a shaft insertion hole at the center, and has an outer peripheral surface and a side surface. And small holes are provided at equal intervals on the circumferential surface of the disk portion. Here, the small holes are inclined in the axial direction of the cleaning brush 502. That is, the extension line of the small hole goes toward the central axis side of the cleaning brush 502 but does not pass through the center of the disc portion.

The side disk-shaped brushes 506c and 506d are flocked by using the small holes. The flocked hair is made of a rigid and self-supporting hair material, and the hair material is bundled into several tens to form a hair bundle, and one end side of the hair bundle is inserted into the small hole and adhered.
Therefore, the free end side of the hair bundle protrudes from the circumferential surface of the disk portion. However, since the small hole for embedding the hair bundle is formed in the inclined direction as described above, the hair bundle is in a posture inclined toward the side as a whole.

  The two central disk brushes 506a, 506b also have a thin disk portion. The structure of the two central disk-shaped brushes 506a and 506b is also the same as that of the side-surface-side disk-shaped brushes 506c and 506d described above, and is flocked using small holes formed in the inclined direction. Also in the two central disk-shaped brushes 506a and 506b, the hair bundle is in a posture inclined toward the side as a whole.

The two central disk brushes 506a, 506b are joined in close contact. When the two central disk-shaped brushes 506a and 506b which are matched are made into one central brush 507, it has a shape like a thick rotary brush. That is, the disk portion of the matching structure is a disk having a shaft insertion hole at the center. Small holes are provided at equal intervals on the circumferential surface of the disk portion also in the disk portion of the matching structure.
However, in the present embodiment, the small holes are provided in two rows.
The small holes are inclined in the axial direction of the cleaning brush 502. That is, the extension line of the small hole goes toward the central axis side of the cleaning brush 502 but does not pass through the center of the disc portion.
Here, assuming that one side of the disk portion of the central brush 507 is A side and the other is B side, the hair tips embedded in one hole row have their hair tips inclined toward the A side, In the hair bundle embedded in the other hole row, the hair tip is inclined toward the B side.
That is, in the central brush 507, a hair bundle inclined to one side and a hair bundle inclined to the other are mixed.
Further, although the small holes are provided at equal intervals in one hole row and the other hole row, the distribution angles of the small holes are shifted. Therefore, the central brush 507 has a structure in which hair bundles inclined toward one side and hair bundles inclined toward the other are alternately arranged.

In the cleaning brush 502, side surface side disk-shaped brushes 506c and 506d are disposed on both sides of the central brush 507 at the center, and the rotary shaft 508 is inserted into three parts for integration. Each disk brush is integrally fixed to the rotating shaft 508 and does not allow relative rotation.
A gear is provided at the end of the rotating shaft 508.

  Further, as shown in FIG. 38, there is a gap between the central brush 507 and the side surface side disk-shaped brushes 506c and 506d on both sides, and an annular groove is formed by the gap. That is, there is an annular groove C between one side disc-shaped brush 506c and the central brush 507, and there is an annular groove D between the other side disc-shaped brush 506d and the central brush 507.

Further, the two side disk-shaped brushes 506c and 506d arranged on both sides of the central brush 507 are attached in such a posture that their tips are inclined toward the central brush 507 side.
As a result, the cleaning brush 502 has a hub member 505, and a flocked row is provided on the outer periphery of the hub member 505.
Further, the flocked rows are provided over four rows, and the flocked rows on both end sides are a central direction inclined hair group which is flocked in a direction in which the tip side inclines toward the center side of the hub member 505. The flocked row on the central side has one end direction inclined bristle group flocked in a direction in which the tip end inclines toward one end of the hub member 505 and the tip end toward the other end portion of the hub member 505 And the other end direction inclined hair group which is flocked in the inclined direction.

The brush cover 503 is a housing that can cover most of the cleaning brush 502. In the present embodiment, the brush cover 503 has a cochlea-like main body. That is, the side surface shape of the main body portion has an arc-shaped surface portion of about 180 degrees or less, and the both end sides of the arc-shaped surface portion are extended. The two extensions extend in an angular spread with one another and are generally shaped like a cochlea. The ends of the two extensions are open.
In addition, a connection portion is provided at a part of the main body portion. The connection is hollow and in communication with the space in the body.

More specifically, the brush cover 503 has two side walls 510 and a circumferential wall 509 connecting the ends of the two side walls except the opening 513.
Each of the two side walls 510 is a combination of an arc-shaped surface portion 511 of about 180 degrees or less and an extension wall portion 512 in which both end sides of the arc-shaped surface portion 511 are extended. The left and right sides of the extension wall portion 512 are linear, and the side of the tip is arc-shaped. Therefore, one side of the side wall 510 is an arc-shaped side.
An opening 513 is formed between the arc-shaped sides of the two side walls 510.

Here, in the present embodiment, the two side walls 510 are opposed in parallel, but the shapes of the two side walls 510 are different.
That is, as described above, the two side walls 510 are obtained by integrating the arc-shaped surface portion 511 and the extension wall portion 512. Here, the arc-shaped surface portions 511 of the two side walls 510 have the same shape and the same area, but the sizes of the extension wall portions 512 are different from each other.
That is, one of the extension wall portions 512 is large and the other is small.
In the large extension wall portion 512a, the straight portions on the left and right sides are longer than the other extension wall portion 512b.
The curvature of the arc-shaped side portion of the large extension wall portion 512a is equal to the curvature of the medicine insertion groove 208 of the distribution tray 201 described above.
Further, the total length of the arc-shaped side portion is longer than the medicine feeding groove 208 of the distribution tray 201. Therefore, when the arc-shaped portion is aligned with the medicine feeding groove 208 of the distribution tray 201, the two coincide with each other without a gap, and both ends of the arc-shaped side portion extend slightly outside from the medicine feeding groove 208.

In the small extension wall portion 512b, straight portions on the left and right sides are shorter than the other extension wall portion 512a. The curvature of the arc-shaped side of the small extension wall 512b is equal to the curvature of the drug insertion groove 208 of the distribution plate 201, but the total length is the arc-shaped side of the large extension wall 512a. It is short compared with.
Therefore, when the arc-shaped portion of the opening 513 of the brush cover 503 is aligned with the medicine feeding groove 208 of the distribution tray 201, a gap is formed between the opening end of the side wall 510 on the smaller side and the medicine feeding groove 208.

The cleaning brush 502 described above is rotatably disposed in the brush cover 503. Most of the cleaning brush 502 fits in the space in the brush cover 503, and only a part of the cleaning brush 502 is exposed from the opening 513.
The gear 504 provided on the cleaning brush 502 is exposed to the outside of the brush cover 503.
The brush cover 503 is attached to the tip of the cleaning arm 501 in a state of including the cleaning brush 502.

  Further, the connection portion of the brush cover 503 is connected to the cleaning arm 501. Here, the cleaning arm 501 also functions as a vacuum flow path, and the inside is hollow. The proximal end of the cleaning arm 501 is connected to a vacuum device 515 (suction means).

The cleaning arm 501 is an arm that swings with the table member 205 side as a base end, and the pin 555 which is the swing center is fixed to the table member 205 side (more precisely, the frame). The pin 555, which is the center of oscillation, is provided horizontally.
A fixed gear 516 is provided on the side surface of the cleaning arm 501. The central axis of the fixed gear 516 coincides with the pin 555. The fixed gear 516 is integral with the cleaning arm 501, and the two do not rotate relative to each other.
A swinging motor 517 is provided on the side of the table member 205 near the cleaning arm 501. The rocking motor 517 is provided with a gear 518, which is engaged with the fixed gear 516 described above. Therefore, when the rocking motor 517 is rotated, the fixed gear 516 is rotated. The fixed gear 516 is integrally provided to the cleaning arm 501, and the cleaning arm 501 swings around the rotation shaft 556 of the fixed gear 516.
As a result, the tip end side of the cleaning arm 501 moves up and down.

A gear train is formed on the other side of the cleaning arm 501. The gear trains are all configured by idle gears 514a to 514e, and can freely rotate with respect to the cleaning arm 501. A gear at the end of the gear train engages with a gear 504 provided on the brush cover 503.
A brush motor 519 (rotation device) is provided on the side of the table member 205 near the cleaning arm 501. The brush motor 519 is provided with a gear 520, which is engaged with one of a gear train provided on the other side of the cleaning arm 501 described above. Therefore, in the present embodiment, a series of gear trains are formed from the gear 520 provided on the brush motor 519 to the gear 504 provided on the cleaning brush 502, and a series of power transmission paths exist. Therefore, when the brush motor 519 is rotated, the cleaning brush 502 attached to the front end side of the cleaning arm 501 is rotated.

(12) Container Moving Means The container moving means 700 is configured of a lift mechanism 701 and a robot 702. The elevating mechanism 701 is a linear guide provided in the vertical direction, and is configured of a linear rail 703 and an elevating table 704. A rack (not shown) is formed on the linear rail 703, and a motor and a pinion gear (not shown) are provided on the lift table 704.
The lift platform 704 moves up and down by operating a motor (not shown).

The robot 702 has two arm members 705 and 706 and a hand unit 707.
That is, the first arm member 705 is attached to the elevating table 704 via a vertical shaft (not shown), and rotates in the horizontal direction centering on the elevating table 704 by driving a motor attached to the elevating table 704 . The motor attached to the lift platform 704 projects upward.
The second arm member 706 is attached to the tip of the first arm member 705 via a vertical shaft (not shown), and drives the motor attached to the tip of the first arm member 705 to thereby drive the first arm member 705. Horizontally around the tip of the The motor attached to the first arm member 705 protrudes upward.
Each of the first arm member 705 and the second arm member 706 described above has a small thickness with respect to the width, and its cross-sectional shape is flat.

The hand portion 707 has a wrist portion 708 and a container holding palm portion 709. The wrist 708 is an arm shorter than the arm members 705 and 706 described above. The wrist portion 708 is attached to the tip of the second arm member 706 via a vertical axis (not shown), and rotates horizontally around the tip of the second arm member 706 by driving a motor.
The wrist portion 708 is higher in height than the arm members 705 and 706 described above, and the motor is incorporated in the arm member.

The container holding palm portion 709 is a rectangular plate, and is attached to the tip of the wrist portion 708 through the attachment fitting 710.
The mounting bracket 710 is a bracket bent in a direction perpendicular to the plane formed by the container holding palm portion 709, and one end thereof is axially fixed to the wrist portion. The shaft to which the mounting bracket 710 is attached is disposed in the horizontal direction, and the container holding palm portion 709 rotates around the horizontal axis by a motor provided at the wrist portion.
Therefore, the container holding palm portion 709 can take a parallel posture as shown in FIGS. 44 and 45 or a vertical posture as shown in FIG.
The wrist portion 708 can also be rotated in the horizontal direction.
An electromagnet is attached to the container holding palm portion 709.

  The container moving means 700 can take out the medicine container 2 from the container setting unit 103 of the drum member 102, move the medicine container 2 to the container placement device 3, and deliver the medicine container 2 to the container placement device 3. Further, the medicine container 2 can be taken out of the container placement device 3 and moved to the drum member 102, and the medicine container 2 can be delivered to the container setting unit 103.

When taking out the medicine container 2 from the container setting part 103 of the drum member 102, as shown in FIG. 46, the container holding palm part 709 is brought close to the medicine container 2 with the vertical posture. Then, the container holding palm portion 709 is pressed against the transport iron plate portion 157 attached to the medicine container 2. Thereafter, the electromagnet provided in the container holding palm portion 709 is energized to adsorb the transport iron plate portion 157 provided in the medicine container 2. Then, the arm members 705, 706 are retracted to withdraw the medicine container 2.
Then, the arm member or the like is operated to move the medicine container 2 to the vicinity of the lower distribution tray 201. Further, the posture of the container holding palm portion 709 is changed to the parallel posture as shown in FIG. 45 and brought close to the vibrating table of the container mounting device 3.
Then, the container holding palm portion 709 of the container moving means 700 is lowered to place the medicine container 2 on the container mounting device 3.
Then, the current supply to the electromagnet on the hand portion 707 side is stopped, and instead, the magnetic force of the container mounting device 3 is restored.
Thus, the medicine container 2 is delivered from the hand 707 side to the container mounting device 3 side.

When the dispensing operation is completed, the medicine container 2 is returned to the drum member 102 in the reverse path.
Here, when the drug container 2 is returned to the drum member 102, as shown in FIG. 2, while rotating the wrist portion 708 of the hand portion 707 horizontally, the drum member 102 is rotated and the drug container 2 is specified. The container setting unit 103 is made to face.
That is, the container mounting portion 103 of the drum member 102 of the present embodiment includes the side support member 321 as described above, and the side support member 321 has the same opening angle as the fixing iron plate portion 6 of the container body 5. doing. Therefore, the surface of the drum member 102 is not flat, and a part of the side support member 321 protrudes radially. Therefore, when the container moving means 700 is easily moved to bring the medicine container 2 close to the drum member 102, the medicine container 2 will come into contact with the side support member 321.

Therefore, in the present embodiment, as shown in FIG. 15, the wrist portion 708 of the hand portion 707 is rotated horizontally, and the drum member 102 is also rotated so that the peripheral speed becomes equal to that.
Then, as if the two gears meshed, the hand portion 707 and the drum member 102 are rotated in the reverse direction, and the medicine container 2 is made to face the specific container setting portion 103. Thereafter, the arm unit is operated to push the medicine container 2 into the container setting part 103 of the drum member 102, and the medicine container 2 is engaged with the container setting part 103. When the medicine container 2 is attached in the normal posture, the projecting member is inserted into the drum member 102. Whether or not the medicine container 2 is attached in a normal posture is detected by an optical sensor provided in the drum member 102.
Thereafter, the magnetic force of the hand portion 707 is eliminated, and the hand portion 707 is detached from the medicine container 2.
In the present embodiment, the container moving means 700 is also used when moving the medicine container 2 installed in the medicine container temporary storage unit 11 to be described later to the drum member 102.

(13) Frame and Case The medicine delivery device 1 of the present embodiment has a structure in which a frame is made of steel and each member and device are attached to the frame.
In addition, the frame is entirely covered by the housing 7 and the inside and the outside are shielded.
A dehumidifier and a temperature controller are provided in the housing 7, and the temperature and humidity inside are maintained in a predetermined range. Further, two fans are provided on the top surface of the housing 7 so that the inside of the housing 7 can be ventilated.
The housing 7 is generally divided into a shelf area housing 100a covering the medicine shelf area 100, a division area housing 200a covering the medicine dividing area 200, and a packaging area housing 300a covering the medicine packaging area 300. .
The shelf area housing 100a and the divided area housing 200a are made of transparent resin, and the inside can be observed. On the other hand, the packaging area housing 300a is made of steel plate and can not see the inside.

  The shelf area housing 100a has a smaller planar occupied area than the other two. Therefore, the shelf area housing 100 a is designed to be placed on the medicine dividing area 200. In the present embodiment, the shelf area housing 100a is at a position closer to the left as viewed from the front. Therefore, only a part of the upper part of the medicine divided area 200 communicates with the shelf area housing 100a, and the remaining part does not communicate and is a ceiling surface.

The shelf area housing 100 a is provided with a door 9. The door 9 is opened and closed by a hinge and is a wing type door.
In the present embodiment, the door 9 is opened to the left and opens in the pulling direction. That is, when the door 9 is opened, the door 9 protrudes outward from the space in the shelf area housing 100a. The door 9 is an entrance and exit for taking the medicine container 2 into and out of the medicine dispensing device 1. In the medicine delivery device 1 of the present embodiment, the medicine container 2 is taken in and out only from the door 9 in principle. That is, in the medicine dispensing apparatus 1 of the present embodiment, the medicine container 2 is taken in and out only from the door 9 except when dealing with an abnormality such as a failure.

  In the present embodiment, the drug container temporary storage unit 11 is provided inside the door 9. The drug container temporary placement unit 11 functions as an introducing unit when the drug container 2 is introduced into the housing 7. It also functions as a take-out part when taking out the medicine container 2 from inside the housing 7.

The structure of the medicine container temporary placement unit 11 is the same as the container placement unit 103. The container setting unit 103 has the same structure as that of the above-described one attached to the drum member 102, and includes a vertical wall 320 and a mounting table 323. The vertical wall 320 is provided with a side support member 321, a mounting detection member 322, and an upper engagement portion 325.
Furthermore, the drug container temporary placement unit 11 is provided with an information read / write device (FIG. 47) such as an RFID reader / writer. Further, the drug container temporary placement unit 11 is provided with a weight measurement unit that measures the weight of the drug container 2.

In the present embodiment, when the medicine container 2 is introduced into the housing 7 or taken out, and when the packaging is finished and the medicine container 2 is returned to the container storage apparatus 101, the medicine contained in the medicine container 2 Perform the function of weighing the amount of
That is, when the medicine in the medicine container 2 runs short, the medicine container 2 is taken out from the medicine dispensing device 1 and the medicine container 2 is replenished with medicine, but when returning the medicine container 2 to the medicine dispensing device 1, the medicine container 2 Weight is measured and stored in a controller (not shown). Further, the information is recorded on the information recording member 15 mounted on the medicine container 2.
As a specific procedure, the door 9 is opened by operating a switch (not shown), and the medicine container 2 is placed in the medicine container temporary storage unit 11. Thereafter, when the switch (not shown) is operated, the door 9 is automatically closed and the weight of the medicine container 2 is measured.

Also, when the packaging is finished and the medicine container 2 is returned to the container storage apparatus 101, the medicine container 2 is held by the hand unit 707 of the robot 702, the medicine container 2 is moved, and installed in the medicine container temporary storage unit 11. . Then, the weight of the medicine container 2 is measured. Further, the information of the information recording member 15 attached to the medicine container 2 is rewritten.
When the weight of the medicine container 2 exceeds the range assumed for the discharge amount of medicine, notification is made by a not-shown notification means.

  The divided region housing 200 a is provided with a large sliding door 105. That is, guide rails are provided at both ends of the front wall of the medicine dividing area 200, and the lower half of the front wall of the dividing area case 200a is fitted, and the door portion is opened and closed vertically by a motor not shown. Do.

(14) Modification (container installation part)
The following configuration can be considered as a modification of the container installation unit. As shown in FIG. 49, the container installation unit 340 of the modified example has a vertical wall 341 and a mounting table 343. The vertical wall 320 has an opening 346, and in the opening 346, a protrusion (storage part side upper engagement part to container engagement part) 347 protrudes upward.
In addition, on the mounting table 343, a storage unit side lower engaging portion 348 is provided. The storage unit side lower engagement portion 348 is a protrusion.
The medicine container 2 employed in the present embodiment has a recess 371 at the rear end. A container side engaging portion 352 is provided on the peripheral wall lower surface 12 of the container body 5. The position of the container side engaging portion 352 is a position on the peripheral wall lower surface 12 slightly closer to the lid member 120 than the center, and does not hit the vibrating table 20 when the medicine container 2 is installed on the vibrating table 20. The container side engagement portion 352 is ring-shaped, and is provided with a square hole 351 penetrating in the longitudinal direction of the medicine container 2.

In the present embodiment, the container side engaging portion 352 of the medicine container 2 is inserted into the opening 346, and the medicine container 2 is pushed down, and the protrusion of the container setting portion 340 in the hole 351 of the container side engaging portion 352 The medicine container 2 is lowered to the container setting portion 340 by inserting the engaging portion (container engaging portion) 347.
At this time, a protrusion (storage unit side lower engaging portion) 348 provided on the mounting table 343 engages with the recess 371 of the medicine container 2.
The container setting portion 340 of the present embodiment has a protrusion (storage portion side upper engaging portion to container engaging portion) 347 engaged with a part of the drug container 2, and the protrusion moves the drug container 2 downward from above. The drug container 2 is engaged with the drug container 2 by sliding the drug container 2 from the upper side to the lower side. Further, by sliding the drug container 2 from the lower side to the upper side, the engagement between the drug container 2 and the projection (storage unit side upper engaging portion to container engaging portion) 347 is released.

(15) Modification (container storage device)
In the embodiment described above, the drum member 102 is provided, and the container placement portion 103 is disposed circumferentially. However, the present invention is not limited to this configuration, and as shown in FIG. 49, the container setting unit 340 may be disposed in a plane.
The entire structure of the medicine delivery device 800 in the modification is, for example, as shown in FIG. The medicine delivery device 800 is functionally divided into a medicine shelf area 803, a medicine division area 805, and a medicine packaging area 806 in the vertical direction.
In the uppermost medicine rack area 803, medicine container storage racks 801 are arranged around the periphery, and a medicine container transfer device 802 is provided inside thereof.
The medicine rack area 803 is dehumidified by a dehumidifying device (not shown). Further, a dust collector (not shown) is provided inside the medicine rack area 803, and dust in the medicine rack area 803 is removed. For example, a blower fan is provided in the medicine shelf area 803, and the air in the medicine shelf area 803 is circulated by the blower fan. Then, a filter is provided in a fixed ventilation path such as the suction side of the blower fan to remove dust and the like floating in the medicine shelf area 803.

  The medicine container moving device 802 has an up-and-down elevating shaft 810, a horizontal movement arm 808, and a hand unit 812 for holding the medicine container 2. The horizontal movement arm 808 has joints 813 and 814 at two places as shown in FIG. The hand unit 812 can change the posture of the medicine container 2. In the medicine container moving device 802, the hand portion 812 of the electromagnet 807 is adopted.

In the medicine delivery device 800 of the present embodiment, a shelf member 815 is provided in the medicine shelf area 803, and the shelf member 815 is placed on the rail 816. In the vicinity of the rail 816, a rack not shown is provided. On the other hand, the shelf member 815 is provided with a traveling motor, and the traveling motor is provided with a pinion and engaged with the rack described above.
In the medicine delivery device 800 of the present embodiment, the shelf member 815 moves in the front-rear direction as a whole and advances to approach the distribution tray 201 when the medicine container 2 is taken out.
Next, supplementary description of details and other modified examples will be described.

(16) Opening and closing of lid of container body Although the opening and closing means of the movable lid (opening and closing lid) 134 of the container body 5 is optional, it is recommended to provide the hand 707 of the robot 702 with the opening and closing means.
FIG. 57 shows an example in which the container holding palm portion 709 of the hand portion 707 is provided with an opening / closing means. The hand portion 707 shown in FIG. An opening and closing member 419 is provided in the opening 426. The opening and closing member 419 is an “L” -shaped member, and has contact members 420 and 421 on two sides.
In addition, the opening and closing member 419 swings around the root portions of the contact members 420 and 421 on the two sides. The opening and closing member 419 is swung by the power of a solenoid, a motor or the like (not shown).

When the container body 5 is held by the hand portion 707, the pinching portion (operation portion) 147 provided on the movable lid portion 134 of the container body 5 enters the opening 426 of the hand portion 707 as shown in FIG. At this time, the knob portion 147 enters between the contact members 420 and 421 on the two sides of the opening and closing member 419.
In this state, the opening and closing member 419 is swung left and right as shown by an arrow by a solenoid or the like (not shown). As a result, the opening and closing member 419 is engaged with the knob portion 147, the knob portion 147 is swung, and the movable lid portion 134 is opened and closed.

  The container placement device 3 may be provided with the opening / closing means of the movable lid portion 134 of the container main body 5. Alternatively, an independent opening / closing means for the movable lid 134 may be installed.

(17) Attitude when moving container body The drug container 2 is installed on the container setting portion 103 of the drum member 102 as described above, held by the hand portion 707 of the robot 702 and moved, as shown in FIG. It is placed on the container placement device 3. If the medicine container 2 is moved in a horizontal posture, the medicine discharge portion 8 side of the medicine container 2 is turned up as shown in FIG. 58 immediately before the medicine container 2 is placed on the container mounting device 3. Similarly, it is desirable to tilt once. By tilting the medicine container 2 so that the medicine discharge part 8 side is up, the powder in the powder storage part 17 is moved away from the medicine discharge part 8 side.
By this posture changing operation, the spilled medicine is prevented from spilling out when the movable lid portion 134 is opened.

(18) Procedure for removing the container body from the container placement apparatus When removing the medicine container 2 from the container placement unit 103, the drug container 2 is placed on the container placement apparatus 3 After closing the movable lid 134, the drug container 2 is held by the hand 707 of the robot 702 and moved.
The most recommended operation is to bring the hand portion 707 close to the container main body 5 and align the container holding palm portion 709 of the hand portion 707 with the medicine container 2 installed in the container mounting device 3 as shown in FIG. 57, and the knob portion 147 shown in FIG. Then, the open / close member 419 is operated to close the movable cover 134. At this time, the magnet on the hand portion 707 side is kept off, and the container body 5 is fixed to the container mounting device 3 side by the magnetic force generated by the container mounting device 3 side, and thereafter, the container mounting device The magnetic force on the side 3 is stopped, and the magnet on the hand 707 side is turned on to hold the container body 5 on the hand 707 side.
By performing this operation, it is possible to prevent spillage of the medicine from the medicine discharge part 8 of the medicine container 2 due to the vibration when the medicine container 2 is adsorbed by the hand part 707.
That is, when the magnetic force on the hand unit 707 side is expressed before closing the movable cover 134 after the predetermined amount of dispensing is finished, the movement at the time of adsorbing the medicine container 2 is stopped in the vicinity of the movable cover 134 Medicine spills out. On the other hand, if the magnetic force on the hand 707 side is developed after the movable lid 134 is closed and the medicine container 2 is adsorbed on the hand 707 side, the medicine will not spill out.

(19) Covering of distribution dish It is desirable to provide a cover 220 on the upper surface side of the distribution dish 201 as shown in FIG. When a plurality of distribution trays 201 are provided as in the above-described embodiment, it is desirable to partition the area where the distribution trays 201 are provided by the partition wall 221.
That is, the particles of the powder are different depending on the medicine, and some of the particles are very fine. Powders of very fine particles may float with even slight air movement.
Therefore, in a drug delivery device having a plurality of dispensing trays 201, it is conceivable that the powder charged in one of the dispensing trays 201 floats and falls onto the other dispensing tray 201. As a matter of fact, even if the suspended powder drops into the other distribution tray 201, the amount is extremely small and it does not seem to affect the patient. However, it is possible and possible to take measures to prevent it.

FIG. 67 shows an example in which a cover 220 is provided on the upper surface side of the distribution tray 201 in order to meet this request. The shroud 220 covers an area of 30 to 100 percent of the dispensing tray 201.
In the present embodiment, an area of about 30 percent of the distribution tray 201 is covered. The cover 220 is fixed to the table member 205 and is cantilevered on the distribution plate 201 with the table member 205 side as a base end.

The height of the cover 220 is such a height that the scraping plate 609 does not interfere when moving the scraping mechanism 606 to the cleaning device 500 side.
That is, the scraping arm 931 of the scraping device 930 is raised on the upper side to move the scraping mechanism 606 to the upper side, and then the turntable 604 is rotated to move the scraping mechanism 606 to the cleaning device 500 side. Then, the scraping plate 609 passes over the cover 220.

In the present embodiment, in the vicinity of the cleaning device 500, the cover 220 is missing.
In the present embodiment, the cover 220 is constituted by one central cover member 222 and two end cover members 223.
The central covering member 222 is installed across the two distribution trays 201 and covers an area from the vicinity of the powder injection hopper 413 to the vicinity of the cleaning device 500.
Further, a partition wall 221 is suspended below the central covering member 222. The lower end of the partition wall 221 is fixed to the table member 205. Therefore, the partition wall 221 also functions as a support member for supporting the central cover member 222.
Although the end covering member 223 is on both sides of the central covering member 222, there is a gap between the end covering member 223 and the central covering member 222 for inserting the cleaning brush 502 of the cleaning device 500. It is secured.

Further, in the embodiment shown in FIG. 67, the hopper closing member 400 is also provided with the partition wall 430. The partition wall 430 provided on the hopper closing member 400 is movable, and protrudes and retracts from the hopper closing member 400.
FIG. 69 is an exploded perspective view of members related to the partition wall 430 in the hopper closing member 400. FIG.

The hopper closing member 400 has a main body 431, a cleaning member 432, and a partition wall 430. The main body 431 has a slit 433 formed from the top surface to the side.
Further, on the top surface of the main body 431, a recess 424 for mounting the cleaning member 432 is provided. Further, engaging grooves 425 are provided on both side portions of the recess 424.
The partition wall 430 has a plate shape, and is inserted into the slit 433 in the top surface portion of the main body portion 431. The partition wall 430 also has a pivot shaft 435. A motor (not shown) for rotating the rotation shaft 435 is built in the main body 431, and the partition wall 430 is in the slit 433 and rotates around the rotation shaft 435.

Therefore, the partition wall 430 is pivoted to the side of the main body 431 as shown in FIG. 68 (a) and as shown in FIG. 68 (b), and finally to the main body as shown in FIG. 68 (c). A posture to be accommodated in the slit 433 of 431 can be taken.
Further, in the present embodiment, the cleaning member 432 is provided on the top surface of the main body 431. The cleaning member 432 is a thin member and has a frame member 436 made of metal and a central member 437. The frame member 436 is a member having a U shape in plan view, and having three sides.

The central member 437 is a thin plate made of soft but somewhat stiff rubber or resin. The central member 437 is provided with a slit 438. The slit 438 is in the form of a notch open at one end. The width of the slit 438 is narrower than the width of the slit 433 provided in the main body 431. Further, the width of the slit 438 is narrower than the thickness of the partition wall 430.
The cleaning member 432 is attached to the recess 424 on the top surface of the main body 431. The side portions of both sides of the cleaning member 432 are engaged with the engagement grooves 425 provided in the recess 424, and the cleaning member 432 is slid forward or backward by the engagement grooves 425 by the engagement grooves 425. It can be detached from the main body 431.
As described above, the partition wall 430 pivots from the position projecting to the side of the main body 431 as shown in FIG. 68A, and is accommodated in the slit 433 of the main body 431. The partition wall 430 passes through the slit 438 of the central member 437. And since the central member 437 is made of a soft but somewhat elastic rubber or resin, and the width of the slit 438 is narrower than the thickness of the partition wall 430, the partition wall 430 passes through the slit 438. The slit 438 of the central member 437 wipes both sides of the partition wall 430. Therefore, when the partition wall 430 is accommodated in the main body 431, the partition wall 430 is cleaned.
Further, as described above, in the present embodiment, the cleaning member 432 can be detached from the main body portion 431 by sliding it relative to the main body portion 431, so that the cleaning member 432 can be removed and cleaned by washing with water or the like. .

(20) Drug Container Temporary Placement Unit Next, a modification of the drug container temporary placement unit 11 provided in the door unit 9 will be described.
FIG. 51 shows a drug container temporary placement unit 250 according to another embodiment. The drug container temporary storage unit 250 is attached to the door 9 and moves together with the door 9 as in the previous embodiment.
The medicine container temporary placement unit 250 is configured of a mounting table 251, an engagement lever 252, and a holding member 253. The holding member 253 is in the form of a fence and holds the medicine container 2.
The mounting table 251 is configured of a backrest 255 disposed in an upright posture or a slightly inclined posture, and a pedestal 256 disposed in a substantially horizontal posture.
The backrest portion 255 has a large rectangular installation portion 257 in the center, and rectangular side portions 258a and 258b on both sides thereof.
The side portions 258a and 258b are inclined toward the front side with respect to the installation portion 257.
At the center of the pedestal 256 is a large cutout 260.

The engagement lever 252 is disposed in the notch 260 of the pedestal 256. The engagement lever 252 and the holding member 253 are engaged, and when the engagement lever 252 is lowered, the holding member 253 is raised.
The engagement lever 252 is formed by bending a metal plate. The engagement lever 252 is a kind of lever, and as shown in FIG. 56, there is a fulcrum area 261 at the center, a container contact part 262 as a point of force on one end side, and an action part 263 on the other side.
The fulcrum area 261 is an area in which the plate material is bent in an “L” shape, and the swing shaft 265 is at the corner.

  Further, one end of the fulcrum area 261 is bent to provide a container abutting portion 262. The other end of the fulcrum area 261 is bent to provide an action part 263. The action portion 263 is provided with a hole 264.

The holding member 253 is formed by bending a wire to the left and right.
The holding member 253 has a rotation shaft portion 269 at the center, and both ends thereof are bent to form connecting portions 266a and 266b. Furthermore, the tip end sides of the connecting portions 266a and 266b are bent in the direction away from the rotation shaft portion 269, and side holding portions 267a and 267b are provided. The tip end sides of the side holding portions 267a and 267b are bent in the direction in which they approach each other, and front side holding portions 268a and 268b are provided.

The engagement lever 252 engages with a frame (not shown) and swings about the swing shaft 265.
The holding member 253 is in the vicinity of the engagement lever 252, and the rotation shaft portion 269 is disposed in parallel with the swing shaft 265 of the engagement lever 252.
The rotating shaft portion 269 of the holding member 253 is held by the bearing 273 and swings around the rotating shaft portion 269.

The engagement lever 252 and the holding member 253 are engaged via the spring 270 and the connection fitting 271.
The connection fitting 271 is integrally attached to the rotation shaft 269 of the holding member 253. The connection fitting 271 is provided with a hole 275.
The spring 270 is a torsion coil spring, has a coil portion 274 at the center, and has engaging portions at both ends.
The coil portion 274 of the spring 270 is attached to the holding member 253 around the rotation shaft portion 269. The one engagement portion of the spring 270 is engaged with the hole 264 of the action portion 263 of the engagement lever 252. The other engaging portion of the spring 270 is engaged with the hole 275 of the connection fitting 271 attached to the holding member 253.
Therefore, when the container contact portion 262 of the engagement lever 252 is pushed down, the engagement lever 252 rotates clockwise based on FIG. 56, and the spring 270 is rotated counterclockwise. Then, the holding member 253 engaged with the spring 270 rotates counterclockwise, and raises the side holding portions 267a and 267b and the front side holding portions 268a and 268b.
In addition, the container contact part 262 of the engagement lever 252 always protrudes upward from the notch part 260 of the base part 256 of the mounting base 251. As shown in FIG.

When attaching the medicine container 2 to the medicine container temporary storage unit 250, the medicine container 2 is placed on the mounting table 251 using a human hand or the hand unit 707 of the robot 702.
As described above, the container contact portion 262 of the engagement lever 252 protrudes upward from the notch portion 260 of the mounting table 251. Therefore, when the medicine container 2 is placed on the mounting table 251, the container contact portion 262 shakes. As a result, the side holders 267a and 267b and the front holders 268a and 268b rise. The side holding portions 267a and 267b hold the side surface of the medicine container 2, and the front side holding portions 268a and 268b hold the transport iron plate portion 157 side of the medicine container 2. Further, the fixing iron plate 6 side of the medicine container 2 is held by the backrest 255 of the mounting table 251.
Accordingly, the drug container 2 is held on the five sides by the pedestal portion 256 and the backrest portion 255 of the mounting table 251, and the side holding portions 267a and 267b and the front side holding portions 268a and 268b of the holding member 253 and does not fall off.

(21) Cleaning of drug container (scrambler)
In the embodiment shown in FIG. 51, based on the state in which the door 9 is closed, the scraping member 280 (cleaning part) is provided at a position directly above the medicine container temporary storage part 250. The scraping member 280 is provided not on the door 9 but on the main body side of the medicine dispensing device 1.
The scraping member 280 has a recess 281 (container contact portion) whose cross-sectional shape conforms to the shape of the container body 5. A suction port 282 is opened inside the recess 281 (container contact portion), and the suction port 282 is connected to a suction device (not shown).

52 is an exploded perspective view of the scraping member 280, and FIG. 53 is a cross-sectional perspective view of the scraping member 280.
The scraping member 280 is configured by a main body 283 and a wiping member 234 as shown in FIG.
The main body portion 283 is made of hard resin, and the concave portion 281a is provided as described above.

The wiping member 234 is made of soft resin or rubber such as silicone rubber, and the concave portion 281 b is provided similarly to the main body portion 283.
The wiping member 234 is attached to the lower part of the main body 283 with a slight gap. Further, as shown in FIG. 53, the tip of the concave portion 281b of the wiping member 234 is located at a position slightly before the tip of the concave portion 281a of the main body 283.
Further, as described above, there is a slight gap between the wiping member 234 and the main body 283, and the gap is the suction port 282.

The scraping member 280 is a member provided to clean the side surface of the medicine container 2. In the embodiment described above, the medicine is supplied to the distribution tray 201 directly from the medicine container 2. Therefore, after the drug is supplied, the drug may be attached to the side surface of the drug container 2 due to the influence of static electricity or the like. In particular, the drug may stick in the vicinity of the drug discharge portion 8 of the drug container 2.
Then, the side surface of the medicine container 2 is pressed against the recess 281 (container contact portion) of the scraping member 280, and the medicine container 2 is slid downward or upward.
At the same time, the suction device (not shown) is activated.
Here, in the present embodiment, there is a main body portion 283 which is hard and high in rigidity, and there is a slightly soft wiping member 234 below it. Further, the wiping member 234 protrudes further than the main body portion 283. Therefore, when the medicine container 2 is slid downward or upward, the wiping member 234 wipes the vicinity of the medicine discharger 8 on the side of the medicine container 2 and the stuck medicine is dropped. Thus, the medicine adhering to the side surface of the medicine container 2 is wiped off and sucked from the suction port 282 into the suction device. Therefore, even if a drug residue remains on the side of the drug container 2, it is cleaned by the scraping member 280.

As described above, the drug container 2 is attached to the drug container temporary storage unit 250 by using a human hand or the hand unit 707 of the robot 702, but the drug container 2 is temporarily stored by using the hand unit 707 of the robot 702. When attaching to the part 250, it is desirable to wipe the side of the medicine container 2 with the scraping member 280 and then attach it to the medicine container temporary storage part 250. That is, the drug container 2 held by the hand 707 is pressed against the container contact portion 281, and the drug adhering to the side surface of the drug container 2 is scraped off.
Also, when returning the used medicine container 2 to the container setting part 103 of the drum member 102 by the robot 702, it is preferable to wipe the side of the medicine container 2 with the scraping member 280 and then attach it to the medicine container temporary placement part 250.

(22) Hopper Cleaning In the hopper cleaning operation described above, it is recommended that a cleaning agent be introduced into the powder injection hopper 413. The cleaning agent is a release agent, is a powder other than the prescribed medicine, and is a powder for cleaning the inside of the hopper. In addition, cleaning agents are selected that have no harm even if they enter the mouth of a person, regardless of the presence or absence of medicinal effects.
The cleaning agent is, for example, powder or particles harmless to the human body such as baking soda powder, lactose, starch and the like.
FIG. 60 is a conceptual view of an embodiment provided with a function of injecting a cleaning agent into the powder charging hopper 413 at the time of cleaning operation.
In the embodiment shown in FIG. 60, a cleaning agent feeding device 423 is provided in the vicinity of the inlet side opening of the powder charging hopper 413. Further, an opening / closing plate 416 is provided at the discharge side opening (drug outlet) of the end of the powder injection hopper 413, and an air nozzle 422 is provided in the vicinity of the outside of the opening / closing plate 416.

The powder injection hopper 413 has, for example, a shape as shown in FIG. 65, and there is a discharge side opening (drug discharge port) 1000 at the bottom and an introduction side opening 1001 at the top. Further, an opening and closing plate 416 is provided at the discharge side opening 1000.
A suction opening 1002 is opened on the side of the powder injection hopper 413. The suction opening 1002 is at least above the discharge opening 1000 and at a height closer to the introduction opening 1001 than the discharge opening 1000. An extension of the central axis XX in the planar direction of the suction opening 1002 passes near the central axis Z-Z of the powder injection hopper 413. That is, the suction opening 1002 is provided at the center of the side surface of the powder injection hopper 413 in plan view.
The shape of the suction opening 1002 is flat, and the lateral width is wider than the longitudinal length. A pipe member 1010 such as a pipe or a hose is connected to the suction opening 1002, and the end of the pipe member 1010 is connected to the suction device 415. That is, the pipe member 1010 constitutes a part of the suction passage from the suction opening 1002 to the suction device 415.

Further, in the present embodiment, the pipe member 1010 has a curved portion 1012. That is, in the present embodiment, the suction path, and the position immediately adjacent to the suction opening 1002 is largely curved. That is, when the tubular member 1010 is viewed from above, the curved portion 1012 is recognized.
The suction opening 1002 is flat. Therefore, the flow velocity of the air in the vicinity of the suction opening 1002 is different between the side near the outside of the curve and the side near the inside.

The hopper cleaning operation performed by charging the cleaning agent is performed in the following procedure.
In the first step, the cleaning agent is charged into the powder charge hopper 413. At this time, the opening and closing plate 416 at the end of the powder injection hopper 413 is closed.
Then, the charging opening of the powder charging hopper 413 is closed by the hopper closing member 400. In this state, the suction member is operated. As a result, a strong air flow is generated in the powder injection hopper 413, and the cleaning agent is vigorously swirled and collides with the inner wall of the powder injection hopper 413.
Here, since the opening / closing plate 416 at the end of the powder charging hopper 413 is closed, the amount of air supplied into the powder charging hopper 413 is limited. Therefore, although the cleaning agent swirls in the powder charging hopper 413, the amount of air suctioned by the suction member is small. Therefore, the cleaning agent is merely stirred in the powder charging hopper 413, and the amount sucked by the suction member is small.
Therefore, the cleaning agent stays in the powder injection hopper 413 and collides with the inner wall of the powder injection hopper 413 for a long time. Also, as in the case of a cyclone type vacuum cleaner, the centrifugal force of the cleaning agent acts to hit the inner surface of the powder injection hopper 413, so the impact impact is large. Therefore, the medicine adhering to the inner wall of the powder injection hopper 413 is peeled off.

Then, the open / close plate 416 at the end of the powder injection hopper 413 is opened. More preferably, the opening and closing of the opening and closing plate 416 is repeated.
As a result, outside air is introduced from the end of the powder injection hopper 413 into the powder injection hopper 413 which tends to have a negative pressure, a more intense air flow is generated in the powder injection hopper 413, and the cleaning agent is vigorously swirled and the powder injection is performed. The medicine which collides with the inner wall of the hopper 413 and adheres to the inner wall of the powder injection hopper 413 is peeled off.

In particular, in the present embodiment, since the suction opening 1002 is flat and the suction path is a position close to the suction opening 1002, the flow velocity of air in the vicinity of the suction opening 1002 is outside the curve. It is different on the near side and the near side on the inside.
In the present embodiment, the flow velocity of air increases in the vicinity of the inner wall 1003, and the flow velocity of air decreases in the vicinity of the opposing inner wall 1006.
Therefore, a strong swirling flow is generated in the powder injection hopper 413. In addition, air is introduced from the discharge side opening 1000 provided at the lower part of the powder injection hopper 413. Therefore, the air flow travels from the lower side to the upper side with the turning along the inner wall of the powder injection hopper 41. Therefore, the introduced cleaning agent acts as if it scrapes the inner wall of the powder charging hopper 41 to peel off the medicine, winds it up with the cleaning agent, and discharges it by the suction member.
In the present embodiment, since the suction opening 1002 is provided in the vicinity of the upper end of the powder charging hopper 413, substantially all the inner walls of the powder charging hopper 413 are cleaned.

The peeled drug is sucked out by the suction member together with the cleaning agent and discharged out of the powder charging hopper 413.
When the opening and closing plate 416 is repeatedly opened and closed, agitation of the cleaning agent in a state where the cleaning agent is stopped in the powder charging hopper 413 and agitation of the cleaning agent performed while introducing air and discharging a part of the cleaning agent are repeated. Will be

The medicine attached to the outer surface of the opening and closing plate 416 is removed by blowing air from an air nozzle 422 provided in the vicinity of the opening and closing plate 416.
That is, according to the experience of the present inventors, the medicine may adhere to the opening / closing plate 416 provided at the discharge side opening 1000 of the powder injection hopper 413. Here, the inner side of the opening and closing plate 416 (the inner surface side of the powder charging hopper 413) can be cleaned using the above-mentioned cleaning agent by using an impact of stirring, but the outer side surface of the opening and closing plate 416 itself collides with the cleaning agent. I can not do it.
Therefore, in the present embodiment, air is blown directly from the air nozzle 422 provided in the vicinity of the opening and closing plate 416 toward the outside of the opening and closing plate 416 to remove the medicine attached to the outside of the opening and closing plate 416.

In addition, since the opening and closing plate 416 is provided at a position recessed into the normal device, it is difficult to apply the air injection when the opening and closing plate 416 closes the discharge side opening 1000. So, in this embodiment, the air nozzle 422 is provided in the position which the air injected in the attitude | position in which the opening-and-closing board 416 was open hits.
Further, since there is a packing paper in the vicinity of the opening and closing plate 416, the drug peeled off by air is collected in the packing paper.
A series of operations will be described together. A cleaning agent is charged into the powder charging hopper 413 to start suction, and the opening and closing plate 416 is opened and closed in the latter half of the suction. Directly blow air towards the outside. Stop suction and air after 5 to 10 seconds.

In the embodiment shown in FIG. 60, the cleaning agent charging device 423 is provided in the vicinity of the inlet side opening of the powder injection hopper 413, but the cleaning agent may be injected into the powder injection hopper 413 by using the medicine container 2. . That is, in the previous embodiment, the cleaning agent charging device 423 is provided as the cleaning agent charging means for charging the cleaning agent, but the medicine container 2 may be used as the cleaning agent charging means.
For example, a cleaning agent such as baking soda is filled in a specific medicine container 2 and stored in the container storage device 101 like the other medicine containers 2.
Then, the cleaning agent in the medicine container 2 is charged into the powder charging hopper 413 by the operation similar to the operation of taking out the powder from the normal medicine container 2 and charging it into the powder charging hopper 413.

Specifically, if the medicine that needs cleaning work is packaged, or if the remaining medicine sensor shows that the powder dosing hopper 413 is dirty, the cleaning agent is filled automatically or manually. The drug container 2 is selected.
Then, the medicine container 2 is held by the hand portion 707 of the robot 702, the medicine container 2 is moved, and the medicine container 2 filled with the cleaning agent is placed on the container mounting device 3.
Thereafter, the anti-vibration table 23 of the container mounting device 3 is operated to introduce the powder from the medicine container 2 into the dispensing tray 201 of the powder dispensing device 202. Then, the cleaning agent is discharged from the distribution tray 201 by the scraping device 930, and is injected into the powder injection hopper 413.
Note that this series of operations is performed at a speed faster than the operation speed at the time of ordinary medicine package.

  In addition, when carrying out the usual medicine package, the opening and closing plate 416 is closed when the medicine is supplied from the medicine container 2 to the powder injection hopper 413, but when the cleaning agent is injected into the powder injection hopper 413, the opening and closing board Keep 416 closed.

(23) Residual drug detection sensor Next, the residual drug detection sensor 372 for the distribution tray 201 will be supplementarily described. The residual medicine detection sensor 372 (hereinafter simply referred to as the residual medicine detection sensor 372) for the distribution tray 201 is an optical sensor, and is a unit in which a light emitting unit and a light receiving unit are integrated.
The light projecting portion of the residual drug detection sensor 372 irradiates a beam having a width corresponding to the width of the medicine insertion groove 208 of the distribution tray 201 as shown in FIG. The light emitting unit of the residual drug detection sensor 372 is fixed, and the area irradiated with the beam is limited to a certain area.
When there is no contamination or residual medicine at the irradiation position of the beam, the light emitted from the light emitting unit is specularly reflected on the surface of the medicine insertion groove 208 and does not return to the light receiving unit.
On the other hand, if there is dirt or residual medicine at the irradiation position of the beam, the light irradiated from the light emitting part strikes the residual medicine etc. and is irregularly reflected, and a part enters the light receiving part of the residual medicine detection sensor 372.
Therefore, it is possible to detect whether or not the irradiation unit has stains or residual medicine.

The remaining drug detection work is performed by irradiating light from the light emitting unit of the remaining drug detection sensor 372 (hereinafter simply referred to as the remaining drug detection sensor 372) while rotating the distribution tray 201.
Specifically, after the surface of the distribution tray 201 is cleaned by the cleaning device 500, the remaining medicine detection operation is performed.
As described above, cleaning of the distribution plate 201 is performed by rotating the distribution plate 201 one rotation or more (for example, twice) while rotating the cleaning brush 502. Thereafter, the rotation of the cleaning brush 502 is stopped, and the distribution plate 201 is further rotated one or more turns. At that time, light is emitted from the light emitting unit of the residual medicine detection sensor 372 to check whether there is any stain or residual medicine.
Then, when the light receiving unit detects light and it is determined that there is residual medicine or the like on the distribution plate 201, the cleaning brush 502 is rotated again to clean the distribution plate 201 again. If there is no remaining medicine or the like on the distribution plate 201, the cleaning arm 501 is rotated to raise the cleaning brush 502 provided at the tip, and the cleaning brush 502 is taken out from the medicine insertion groove 208 of the distribution plate 201.

  If the residual medicine detection sensor 372 detects dirt or residual medicine despite cleaning of the surface of the distribution tray 201, a configuration may be employed in which the user is notified by sound or video. In response to the notification, the user visually confirms the state of the distribution tray 201, and can confirm whether the cause of the notification is contamination, foreign matter, or a drug residue.

  If there is a drug residue, cleaning with the cleaning brush 502 is performed again, and then the remaining drug detection with the remaining drug detection sensor 372 is performed. Even if this operation is performed a plurality of times (for example, three times), when a residue is confirmed on the distribution tray 201, an alarm by sound or image is issued. There are a release mode and a skip mode as an alarm. The release mode is a mode in the case where the alarm being issued is stopped and the cleaning by the cleaning brush 502 is performed again. The skip mode is a mode in which a warning is issued, but the cleaning with the cleaning brush 502 is not performed, and the user confirms the presence or absence of residual medicine and manually cleans it as necessary.

(24) Rubbing Portion Cleaning In the above-described scraping portion cleaning operation, it is desirable to change the relative position of the cleaning brush 502 and the scraping mechanism 606 during the operation.
Hereinafter, the cleaning brush 521 which is a modification of the cleaning brush 502 will be described.
The cleaning brush 521 employed in the present embodiment is used in place of the cleaning brush 502 in the cleaning device 500 shown in FIGS. The cleaning brush 521 has a hub member 522 provided with two grooves 525 and 526 (FIG. 72) similar to the cleaning brush 502 described above, and the circumferential surface of the hub member 522 is flocked. .
The cleaning brush 521 of this embodiment has a structure in which three disk-shaped brushes 526a, 526b, and 526c are connected.

  The flocking is given to the disk shaped brushes 526a and 526c on the side. The hair bundles 523a, 523b (central direction inclined hair groups) flocked to the disk-shaped brushes 526a, 526c are all inclined toward the center. As shown in FIG. 71, the hair bundles 523 (flocked row) flocked to the disk-shaped brushes 526a and 526c include long hair bundles 523a of hair legs and short hair bundles 523b of hair legs.

  The central disk-shaped brush 526 b is flocked in two rows. In the hair bundle 524 which is flocked in each row, a hair bundle 524a (one end direction inclined hair group) with long hair legs inclined toward the side, and a hair bundle 524b with short hair legs inclined toward the side Directionally inclined hair group) and a hair bundle 524 c in which hair legs are long and straight flocked.

  As shown in FIG. 22, the scraping mechanism 606 is a member having a scraping plate 609, a scraping plate 607, and a partition plate 603. The scraping plate 609, the scraping plate 607, and the partition plate 603 are integrally configured. A rubber or resin circumferential seal material 683 is provided around the scraping plate 609 so as to be in close contact with the medicine feeding groove 208 of the distribution plate 201. In addition, a sealing material 685 for scraping off rubber or resin is provided on the end of the scraping plate 607 so as to be in close contact with the medicine feeding groove 208.

In the scraping portion cleaning operation, the cleaning brush 521 is pressed against the side surfaces of the scraping plate 609, the scraping plate 607, and the partition plate 603, the circumferential seal member 683 and the scraping seal member 685 for cleaning. Therefore, as shown in FIGS. 72 (a) and 72 (b), the scraping plate 609 of the scraping mechanism 606 and the partition plate 603 are deeply inserted into the grooves 525 and 526 of the cleaning brush 521 in principle.
However, when the scraping plate 607 rotates and the scraping plate 607 and the partition plate 603 are cleaned by the cleaning brush 521, the cleaning brush 521 is too strong in contact with the scraping plate 607 or the scraping seal material 685. As a result, there is a concern that the scratching sealing material 685 or the like may be damaged. Therefore, when the scraping plate 607 is rotated and the scraping plate 607 and the partition plate 603 are cleaned by the cleaning brush 521, the cleaning arm 501 is swung to clean as shown in FIG. 72 (c). It is desirable to move the brush 521 (hub member 522) away from the ejection mechanism 606.

In an ideal operation, first, the scraping plate 609 of the scraping mechanism 606 and the partition plate 603 are deeply inserted into the grooves 525 and 526 of the cleaning brush 521 and the scraping plate 609 is rotated while the cleaning brush 521 is rotated. When the scraping plate 607 rotates and approaches the cleaning brush 521 (hub member 522), the cleaning brush 521 is slightly removed. Then, when the cleaning brush 521 passes the scraping plate 607, the cleaning brush 521 is brought closer to the scraping mechanism 606 again, and the cleaning brush 521 is deeply inserted into the scraping mechanism 606.
Then, after the scratching plate 609 rotates once or a plurality of times, the cleaning brush 521 is slightly released. In that state, while rotating the cleaning brush 521, the scraping plate 609 is rotated to intensively clean the circumferential seal member 683 and the scratching seal member 685.

(25) Surveillance camera Next, surveillance camera 540 which supervises that the medicine charge is discharged from medicine container 2 is explained. One surveillance camera 540 is installed next to the above-described residual drug detection sensor 372. The monitoring camera 540 is provided with a rotating device (not shown), and can change the shooting position.
The monitoring camera 540 is set so as to particularly photograph the vicinity of each container mounting device 3. More specifically, in the state where the medicine container 2 is installed in each container mounting device 3, the vicinity of the medicine discharge portion 8 of the medicine container 2 and the distribution tray 201 are photographed.
The image captured by the monitoring camera 540 can be viewed in real time by a personal computer or the like provided outside. Also, an image captured by the monitoring camera 540 may be recorded in a storage medium (not shown) and confirmed later.
The medicine delivery apparatus 1 of the present embodiment is entirely covered with the housing 7 as described above, and the medicine is distributed in the enclosed space, but in the present embodiment, the monitoring camera 540 for photographing the inside of the housing 7 Is provided. Therefore, the user can check the falling condition of the powder and the distribution condition with respect to the distribution plate 201 by looking at a personal computer or the like provided outside.
Also, the user can adjust the vibration intensity of the vibration isolation table 23 or adjust the rotational speed of the distribution tray 201 by observing the falling state of the powder.
As described above, since the video captured by the monitoring camera 540 is recorded on a recording medium (not shown), it can be used to pursue the cause if there is a problem.

(26) Information Recording Member As described above, an RFID chip is attached to the medicine container 2 as the information recording member 15.
The information recording member 15 records the remaining amount of the medicine in the medicine container 2 in addition to the name of the medicine.
In the present embodiment, when the medicine delivery device 1 is activated, the container storage device 101 reads the types and remaining amounts of medicine contained in all the medicine containers 2 mounted on the drum member 102 from the information recording member 15. And stored in the control unit. That is, the drum member 102 is rotated, and the information read / write device 335 reads the information of the information recording member 15. Further, it is confirmed and recorded at which position of the drum member 102 the medicine container 2 is accommodated.

  In the present embodiment, an information read / write device 27 is provided in the vicinity of the container placement device 3. Then, when the medicine container 2 is taken out from the container storage device 101 and the medicine container 2 is placed on the container placement device 3 in order to pack the medicine, it is confirmed whether it is the target medicine.

  When the dispensing operation is completed, the remaining amount of the medicine in the medicine container 2 recorded on the information recording member 15 is rewritten by the information read / write device 27 in the vicinity of the container mounting device 3.

  In addition, before the packaging is completed and the medicine container 2 is returned to the container storage device 101, the medicine container 2 is placed on the medicine container temporary storage unit 11, and the weight of the medicine container 2 is measured again. Thus, in the drug delivery device 1 of the present embodiment, the weight of the drug is double confirmed.

  After the drug container 2 is returned from the drug container temporary storage unit 11 to the container storage device 101, the drum member 102 is rotated to bring the returned drug container 2 close to the information reading / writing device 335, and the drug returned to the container storage device 101. It is confirmed that the container 2 is the original drug container 2.

  When the medicine container 2 is accommodated in the medicine delivery device 1 from the outside, information on the medicine accommodated in the medicine container 2 is input to an input device (not shown). Then, the medicine container 2 is placed in the medicine container temporary placement unit 11 and the weight of the medicine container 2 is measured by operating a predetermined switch, and the weight is written to the information recording member 15. Further, the information on the medicine is read out from the information recording member 15, and it is confirmed that the medicine is the medicine inputted by the user to the input device.

The same applies to the case where the medicine in the medicine container 2 runs short and the medicine container 2 is refilled with the medicine and the medicine delivery device 1 contains the medicine container 2.
When the medicine in the medicine container 2 is insufficient, the medicine container 2 is moved from the container placement device 3 or the container storage device 101 to the medicine container temporary placement unit 11 of the door 9. Then, the door 9 is automatically opened, and the user can take out the medicine container 2.

When a medicine (hyperparamedicine drug) not normally stored in the container storage apparatus 101 is packaged, the medicine container 2 containing the medicine is put into the medicine dispensing apparatus 1 according to the above-described procedure. The information on the medicine (emergency medicine) is read out from the information recording member 15, and it is confirmed that the medicine is the medicine inputted by the user to the input device.
In the case of using the emergency medicine, the medicine container 2 is directly carried to the container mounting device 3 and the distribution is started.
The drug container 2 filled with the emergency drug is moved to the drug container temporary storage unit 11 immediately after the dispensing is completed. Then, the door 9 is automatically opened, and the user can take out the medicine container 2.

  There is no need to open the large sliding door 105 of the divided area housing 200a in normal work, but when the door 105 is opened when any trouble occurs, the environment where the drug container 2 of the container storage device 101 can be freely inserted and removed. Become. Therefore, when the door 105 is closed for the purpose of confirming that the medicine container 2 is not replaced and confirming the position of the medicine container 2 again, the drum member is the same as when the medicine dispensing device 1 is activated. The types and remaining amounts of medicine contained in all the medicine containers mounted on 102 are read from the information recording member 15 and recorded in the control device. That is, the drum member 102 is rotated, and the information read / write device 335 reads the information of the information recording member 15. Further, it is confirmed and recorded at which position of the drum member 102 the medicine container 2 is accommodated.

  Instead of the drug container temporary storage units 11 and 250 shown in FIGS. 47, 48 and 51, a box-shaped drug container temporary storage unit 111 shown in FIG. 73 may be employed. The drug container temporary placement unit 111 only mounts the drug container 2, and there are no moving members such as the container contact unit 262 and the side holding units 267a and 267b of the drug container temporary placement unit 250 shown in FIG. . That is, the medicine container temporary placement unit 111 places the medicine container 2 on the mounting table 113, and holds the lower side surface of the medicine container 2 by the guide unit 112. Thereby, the holding of the medicine container 2 is stabilized. In the drug container temporary storage unit 111 shown in FIG. 73, the front of the drug container 2 is not held, but the left and right guides 112 are connected to each other, or the front is completely closed. You may provide separately the mechanism which prevents these.

DESCRIPTION OF SYMBOLS 1 drug delivery apparatus 2 drug container 3 container mounting apparatus 7 frame 8 drug discharge part 9 door part 11 container temporary placement part 15 information recording member 16 information reading means 19 weight measuring means 20 vibrating table 21 vibrating means 25 weight measuring means 30 Self-holding solenoid 50 drug feeder (powder injection device) 100 drug shelf area 101 container storage device 102 drum member 103 container setting section 200 drug dividing area 201 dispensing tray 202 drug dispensing apparatus 208 drug input groove 300 drug packaging area 321 side support member 322 attachment detection member 325 upper engagement portion 326 lower engagement portion 330 protrusion detection sensor 333 projecting member detection sensor 335 information reading device 410 medicine packaging device 930 scraping device

One mode of the present invention for solving the above-mentioned subject is a medicine delivery device which has a dispensing tray provided with an annular medicine feeding groove in a peripheral part, and a scraping device for scraping off the powder which has been dumped into the dispensing pan. The scraping device has a scraping mechanism, has suction means, and has one cleaning device, and the one cleaning device is provided at a cleaning arm and at the tip of the cleaning arm The cleaning device includes a cleaning brush that is rotated by the selected power, and the cleaning device connected to the suction unit inserts the cleaning brush into the medicine insertion groove and rotates the cleaning brush to rotate the cleaning brush. It is possible to execute a groove cleaning operation in which the drug feeding groove is cleaned and the drug residue is suctioned by the suction means, and the one cleaning brush is rotated to clean the scraping mechanism to remove the drug residue. It is possible to execute the scratching part cleaning operation that sucks with suction means A drug dispensing device, characterized in that there.
The above aspect has a plane rotating means for rotating the whole of the scraping arm in a plane, and the scraping portion cleaning operation is performed by rotating a scraping device in a planar manner to be close to the cleaning device Is preferred.
In the above aspect, the scraping mechanism moves relative to the distribution plate in a state where the scraping mechanism is inserted into the drug feeding groove, and scrapes the powder in the drug feeding groove, and a scraping plate near the scraping plate And a scraping plate for scraping the powder which has been rotated and scraped out of the medicine feeding groove, and in contact with the scraping plate and facing the scraping plate at substantially constant intervals facing the scraping plate. And the cleaning brush includes a hub member, and the flocked row is provided on the outer periphery of the hub member, and the flocked row is provided over at least three rows. The flocking rows on both end sides include a central direction inclined hair group flocked in a direction in which the tip side inclines toward the center side of the hub member, and the flocking row on the center side has one tip side of the hub member One end direction inclined hair group which is flocked in a direction inclining toward the end side of the And the other end direction inclined bristle group which is planted in a direction inclining toward the other end side, and when cleaning the scraping mechanism, the cleaning brush is rotated, at which time the scraping plate The central direction inclined hair group belonging to the flocked row at one end side or the other end and the one direction inclined hair group belonging to the flocked row at the center side or the other direction inclined hair group are in contact with one surface and the other surface of And a central direction inclined hair group belonging to the flocked row on the other end side or one end side on one surface and the other surface of the partition plate, and an other direction tilted hair group belonging to the flocked row on the central side or one direction inclination It is preferred that the hair groups be in contact.
In the above aspect, the cleaning brush has a hub member, and the flocked row is provided on the outer periphery of the hub member, and the hub member has two or more rows of grooves on the outer peripheral surface, and scrapes In the case of a part cleaning operation, it is preferable that the scraping plate and the partition plate get into the groove.
In the above aspect, the first cleaning device has a brush cover including an exposure opening that encloses the periphery of the cleaning brush and exposes a part of the circumferential surface of the cleaning brush, and the suction unit is connected to the brush cover Preferably, the inside of the brush cover is sucked to a negative pressure.
The above-mentioned mode has a table member, a medicine packaging device is provided under the table member, and the powder charging hopper which is charged with the powder scraped out from the medicine feeding groove and which drops the powder onto the medicine packaging device side It is possible to suction the inside of the powder charging hopper under negative pressure by suction means, and the table member has a drug charging opening for charging the powder scraped out from the drug charging groove, and the drug The hopper closing member is provided at a position away from the loading opening, and the powder is loaded into the drug loading opening in a state where the powder loading hopper is moved to a position immediately below the drug loading opening The medicine is dropped and the suction means is operated in a state where the powder injection hopper is moved to the position of the hopper closing member, and the powder residue in the powder injection hopper is aspirated. It is preferable.
In this preferred embodiment, it is further preferable that the hopper closing member has a power operated opening / closing mechanism, and a part of the hopper closing member is pressed against the powder charging hopper to close the powder charging hopper.
Another aspect of the present invention is a table member, a dispensing tray provided with an annular drug loading groove at its periphery and powered by power, and a powder that is fixed at a position outside the area of the dispensing tray and loads the dispensing tray The pick-up device includes a feeding device and a scraping device for scraping the powdered medicine loaded into the distribution plate from the drug feeding groove, and the scraping device comprises a scraping arm, a motor for rotating the scraping mechanism, and a scraping arm. A scraping plate provided at the tip and a scraping mechanism, and a plane rotating means for planarly rotating the whole of the scraping arm around the longitudinal rotation axis, the scraping mechanism A scraping plate which moves relative to the distribution plate and is inserted into the feeding groove and scrapes the powder in the drug feeding groove, and a powder which is in the vicinity of the scraping plate and is rotated and scraped A cleaning brush having a scraping plate for scraping out, and having a cleaning brush for cleaning the scraping mechanism; It has a hub member, a drug dispensing device characterized by flocking row on the outer circumference of the hub member is provided.
The invention relating to the present invention comprises a table member, a dispensing plate provided with an annular drug loading groove at its periphery and rotated by power, a powder feeding device for loading a powder into the dispensing plate, and a dispensing plate. The table member has a table surface on which articles can be placed, and the table surface is provided with a distribution plate storage opening, the distribution plate being one of the above A part or all of the medicine is inserted into the dispensing tray receiving opening of the table member, and the lowest part of the medicine feeding groove of the dispensing tray is located below the table surface.
Preferably, the powder dosing device is fixed at a position outside the area of the dispensing tray.
A preferred embodiment includes a table member, a power-operated dispensing plate provided with an annular drug loading groove at its periphery, and a powder dosing device fixed at a position outside the area of the dispensing plate and loading the powder into the dispensing plate. And a scraping device for scraping the powdery medicine charged into the dispensing dish from the medicine feeding groove, the table member has a table surface, the table surface is provided with a dispensing dish receiving opening, and the dispensing dish is a part thereof Alternatively, the medicine dispensing apparatus is characterized in that the whole is inserted into the distribution tray receiving opening of the table member, and the lowest part of the medicine feeding groove of the distribution tray is located below the table surface.

Claims (32)

A table member,
An annular drug inlet groove in the periphery and a power-driven distribution plate;
A powder feeding device for charging the dispensing plate with powder;
And a scraping device for scraping the powder introduced into the distribution plate from the drug feeding groove,
The table member has a table surface on which articles can be placed, and the table surface is provided with a distribution tray receiving opening,
The distribution dish is characterized in that a part or all of the distribution dish is inserted into the distribution dish receiving opening of the table member, and the lowest part of the medicine feeding groove of the distribution dish is located below the table surface. Drug delivery device.   The medicine dispensing apparatus according to claim 1, wherein the distribution tray has a portion of 90% or more of its diameter located below the table surface. The scraping device includes a scraping arm whose tip end is moved up and down, and a scraping mechanism provided at the tip of the scraping arm,
The distribution tray has an equipment storage opening and has a motor for driving the scraping arm and / or the scraping mechanism, and a part or all of the motor is in the equipment storage port, and the base of the scraping arm The medicine delivery according to claim 1 or 2, characterized in that the end side is in or immediately above the equipment storage opening, and the tip end side overhangs from the equipment storage opening side in a cantilever shape and has a cover for covering the motor. apparatus.   The medicine delivery device according to any one of claims 1 to 3, wherein a turntable is provided at a lower part of the table member, and a scraping device is installed on the turntable.   The lid has an opening for projecting the scraping arm, and the opening is provided with a door member, and the door member operates according to the elevation of the scraping arm to open the opening area of the opening The medicine dispensing apparatus according to claim 3 or 4, wherein the medicine is increased or decreased.   The medicine dispensing apparatus according to any one of claims 3 to 5, wherein a part or all of the top surface of the lid is smooth. The scraping device includes a scraping arm, a motor for rotating the scraping mechanism, a scraping plate and scraping mechanism provided at the tip of the scraping arm, and scraping about the rotation axis in the longitudinal direction. It has a plane rotating means for rotating the whole of the arm in a plane.
The cleaning device further includes a cleaning arm that protrudes like a cantilever from the table member side and the tip end side is lifted and lowered by power, and a cleaning brush that is rotated by the power provided at the tip of the cleaning arm; The cleaning brush has a rotating device for rotating the cleaning brush and suction means, and the tip end side of the cleaning arm is lowered to insert the cleaning brush into the medicine feeding groove, and the cleaning brush is rotated to clean the medicine feeding groove Groove cleaning operation of suctioning the residue of
The scraping device can be rotated flatly to be close to the cleaning device, the cleaning brush can be rotated to clean the scraping mechanism, and the scraping part cleaning operation can be performed in which the drug residue is suctioned by the suction means. The drug delivery device according to any one of claims 1 to 6, characterized in that The scraping mechanism moves in the vicinity of the scraping plate, which is moved relative to the dispensing dish in a state of being inserted into the drug feeding groove of the dispensing dish and scrapes the powder in the drug feeding groove, and rotates in the vicinity of the scraping plate. It has a scraping plate for scraping the deposited powder out of the medicine feeding groove, and a partition plate which is in contact with the scraping plate and is opposed substantially parallel to the scraping plate with a fixed gap. ,
The cleaning brush has a cleaning brush for cleaning the scraping mechanism, the cleaning brush has a hub member, and a flocked row is provided around the hub member,
The flocking rows are provided in at least three rows,
The flocked rows on both ends include a central direction inclined bristle group which is flocked in a direction in which the tip end inclines toward the center side of the hub member,
The flocking row on the center side has one end direction inclined hair group flocked in a direction in which the tip side is inclined toward one end side of the hub member and the tip side inclines toward the other end side of the hub member Including the other end direction inclined hair group flocked in the direction,
When cleaning the scraping mechanism, the cleaning brush is rotated, and at that time, the central inclined hair group belonging to the flocked row at one end side or the other end side on one surface and the other surface of the scraping plate, One end direction inclined hair group or the other direction inclination hair group belonging to the flocked row of
A central direction inclined hair group belonging to the other end side or one end side flocked row and a other end direction inclined hair group belonging to the center side flocked row or one end direction inclined hair group are in contact with one surface and the other surface of the partition plate The drug delivery device according to any one of claims 1 to 7, characterized in that:   The medicine according to claim 8, wherein the hub member has two or more rows of grooves on the outer peripheral surface, and the scratching plate and the partition plate enter into the grooves during the scratching portion cleaning operation. Dispensing device.   The brush cover has a brush cover provided with an exposure opening for surrounding the cleaning brush and exposing a part of the circumferential surface of the cleaning brush, and suction means for suctioning the inside of the brush cover under negative pressure, the suction means connected to the brush cover The drug delivery device according to any one of claims 7 to 9, characterized in that A drug packaging device is provided below the table member, and a powder loading hopper for loading the powder scraped out from the drug loading groove and dropping the powder onto the drug packaging device, and suction for suctioning negative pressure in the powder loading hopper Have a means,
The table member has a drug loading opening for loading the powder scraped out of the drug loading groove, and a hopper closing member is provided at a position away from the drug loading opening,
A state where the powder injection hopper is moved to the position of the hopper closing member, the medicine is dropped to the medicine packaging apparatus side, and the powder injection hopper is moved to the position of the hopper closing member. 11. The medicine dispensing apparatus according to any one of claims 1 to 10, wherein the suction means is operated to allow suction of the powder residue in the powder charging hopper.   The medicine dispensing apparatus according to claim 11, wherein the hopper closing member has a power operated opening / closing mechanism, and presses a part of the hopper closing member against the powder charging hopper to close the powder charging hopper. The powder charging apparatus includes a medicine container, and a container placement apparatus on which the medicine container is placed and which acts on the medicine container to discharge the medicine from the medicine container.
The medicine delivery device according to any one of claims 1 to 12, wherein the container placement device is fixed to the table member side, and the medicine container is detachable from the container placement device. The drug container has a drug outlet for discharging the drug,
The container mounting apparatus includes a vibrating table, a vibrating unit that vibrates the vibrating table, a container holding unit that fixes the drug container to the vibrating table, and a weight measuring unit that measures the weight of the drug container directly or indirectly. Have
Place the drug container on the vibrating table, fix the drug container on the vibrating table by the container holding means, vibrate the vibrating table, discharge the powder little by little from the drug discharge part, and put the powder into the distribution plate to measure the weight The drug delivery device according to claim 13, characterized in that it is possible to detect the discharge amount of the drug from the drug container by means.   The medicine dispensing apparatus according to claim 13 or 14, wherein the medicine container is partially or entirely magnetic and the container holding means has a magnet.   The drug container is partially or entirely magnetic, and the container holding means has a permanent magnet and an electromagnet, at least the magnetic force of the permanent magnet fixes the drug container to the vibrating table, and the electromagnet is energized to generate the magnetic force of the permanent magnet 16. The medicine delivery device according to any one of claims 13 to 15, wherein the fixation of the medicine container to the shaking table is released by generating a magnetic force that cancels out.   The weight of the drug container prior to discharging the drug is measured by the weight measurement means, and the weight of the drug container is monitored by the weight measurement means when the powder is discharged little by little from the drug container. 14. The method according to claim 13, further comprising a weighing function to stop the discharge of the powder from the medicine container when or when the present weight of the container matches or substantially matches the value obtained by subtracting the target discharge amount from the original weight. 15. The drug delivery device according to any one of 16.   18. The medicine dispensing apparatus according to any one of claims 13 to 17, wherein when the medicine container is mounted on the container mounting device, the axis of the medicine container is oriented in the tangential direction of the distribution plate.   19. The medicine dispensing apparatus according to any one of claims 1 to 18, wherein a residual drug detection sensor is provided at least one of a dispensing tray, a powder charging hopper, and a scraping mechanism, or in the vicinity thereof.   The residual drug detection sensor is an optical sensor, and has a main device and a fiber, and the tip portion of the fiber is located at or near the distribution tray, the powder input hopper, and the ejection mechanism. The drug delivery device according to 19.   The whole or a part is covered with a case, and the case has a door so that the medicine container can be taken in and out inside, there is a medicine container temporary storage unit in the door or near the door, medicine The container temporary placement unit has an engagement lever that engages with a portion of the medicine container, and a holding member that interlocks with the engagement lever, and when the medicine container is placed on the medicine container temporary placement unit, the engagement lever 21. The medicine dispensing apparatus according to any one of claims 1 to 20, wherein the medicine container is pushed down by the weight of the medicine container, and the holding member moves or changes its posture to be able to hold the medicine container.   A container moving means is provided, the medicine container is moved to a predetermined position by the container moving means, a cleaning unit is provided, and the medicine container is moved to the cleaning unit by the container moving means to clean the outer surface of the medicine container. 22. The medicine delivery device according to any one of claims 1 to 21.   The medicine dispensing apparatus according to claim 22, wherein the cleaning unit is provided with a suction device.   The medicine dispensing apparatus according to claim 22 or 23, wherein the cleaning unit has a container contact unit, and the container moving unit presses the medicine container against the container contact unit to clean the medicine container.   A drug packaging device is provided below the table member, and a powder loading hopper for loading the powder scraped out from the drug loading groove and dropping the powder onto the drug packaging device, and suction for suctioning negative pressure in the powder loading hopper Means and cleaning agent feeding means for feeding the cleaning agent into the powder feeding hopper, and the hopper cleaning function for feeding the powder into the powder feeding hopper and sucking the inside of the powder feeding hopper to negative pressure by the suction means 25. A drug delivery device according to any of the preceding claims, characterized in that it comprises.   The powder introduction hopper has an introduction side opening for introducing the powder, a medicine discharge port located below the introduction side and discharging the powder, and a suction opening connected to suction means. It is a suction path between the aspiration opening and the aspiration means, and is curved to a position near the aspiration opening, which is lower than the introduction side opening and at a height close to the introduction side opening than the drug outlet. 26. The drug delivery device of claim 25, wherein there is a channel.   A medicine packaging device is provided below the table member, and there is a powder input hopper having a drug outlet, and the powder scraped out from the drug input groove is input to the powder injection hopper and the powder outlet from the drug outlet to the drug packaging side 27. The medicine dispensing apparatus according to any one of claims 1 to 26, wherein a nozzle for air blow is provided in the vicinity of a medicine discharge port of the powder injection hopper, and a nozzle for air blow is provided.   28. The medicine dispensing device according to any one of claims 1 to 27, wherein a plurality of dispensing trays are provided, and a partition wall is provided between the dispensing trays.   30. The medicine dispensing apparatus according to claim 29, further comprising partition cleaning means for cleaning the partition.   30. The medicine delivery device according to any one of claims 1 to 29, wherein a covering member for covering a part or all of the distribution dish is provided at the top of the distribution dish.   31. The medicine dispensing apparatus according to any one of claims 1 to 30, further comprising a monitoring camera that monitors that the medicine is discharged from the medicine container.   The scraping plate, the scraping plate, and the partition plate are integrated, and when cleaning the scraping mechanism, the scraping plate is rotated, and the distance between the scraping plate and the hub member is changed during cleaning. The medicine delivery device according to any one of claims 8 to 10.

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