JP2020072826A - Medicine delivery device, medicine sheet rotation device and medicine sheet rotation method - Google Patents

Abstract

To provide a medicine delivery device capable of omitting fractions properly, without aligning an orientation of a pocket and an orientation of a wide edge by a user, in filling of a PTP sheet in a medicine storage cassette.SOLUTION: There are states of a PTP sheet 100 which are a first state in which a pocket is directed to a front surface and a wide edge 100a is at a left position, a second state in which the pocket is directed to a front surface and the wide edge 100a is at a right position, a third state in which the pocket is directed to a rear surface and the wide edge 100a is at the left position, and a fourth state in which the pocket is directed to the rear surface and the wide edge 100a is at the right position. Regardless of a state of a beginning PTP sheet 100 delivered, two state changes can be generated, out of a state change by rotation around a long axis, a state change by rotation around a short axis, and a state change by rotation around a normal line, thereby aligning a state of the PTP sheets to any one state.SELECTED DRAWING: Figure 17

Description

  The present invention relates to a medicine dispensing device and a medicine sheet rotating device for dispensing a medicine sheet such as a PTP (Press Through Package) sheet or a blister packaging sheet.

  The drug dispensing device includes a large number of drug storage cassettes that store PTP sheets for each drug, and dispenses the required number of PTP sheets from the drug storage cassette selected based on the input prescription data. .. As such a medicine dispensing device, there is a medicine dispensing device disclosed in Patent Document 1 and Patent Document 2.

  The drug storage cassette provided in the drug delivery device of Patent Document 1 stores a plurality of PTP sheets side by side so that the surfaces on the pocket formation side face the same direction in the upright state. A pressing operation device that pushes the PTP sheet toward the front side of the medicine storage cassette is provided on the back side of the medicine storage cassette. A slit for dispensing is formed on the bottom of the front side wall of the medicine storage cassette, and when the push-out member pushes the PTP sheet at the frontmost position downward, the PTP sheet is taken out from the slit. ..

  Similarly, the drug storage cassette of Patent Document 2 is also stored side by side so that the surfaces on which pockets are formed face in the same direction when a plurality of PTP sheets are set upright, but they are generated by the vibration discharge mechanism. The PTP sheet is paid out by the vibration that occurs. Here, a drug sheet such as a PTP sheet has flat edges (sheet portions) at both ends, but one edge is wider than the other edge. This wide edge is commonly called an ear. In the medicine dispensing device having a function of cutting a fraction of the packaged medicine from the medicine sheet, if the orientation of the pocket or the wide edge of the medicine sheet taken out from the medicine accommodating cassette is not uniform, the fraction of the packed medicine can be properly cut out. May not be.

JP, 2011-41789, A Patent No. 4347183

  By the way, a plurality of PTP sheets are packaged in a bundle, and normally, in order to reduce the stacking height, one PTP sheet has a pocket portion (convex portion) on the other side. The PTP sheet is placed in the non-pocket portion (corresponding to the concave portion) and overlapped. The two PTP sheets thus stacked are accommodated in the medicine accommodating cassette, and even if the first PTP sheet is pushed as in Patent Document 1, only this one PTP sheet is dispensed. I can't. Further, as in Patent Document 2, even if vibration is applied to the PTP sheets, if the two superposed PTP sheets are firmly bonded, they cannot be separated one by one. Further, even if the PTP sheets can be separated, the directions of the PTP sheets remain opposite to each other, and the payout cannot be properly performed. Therefore, when replenishing the PTP sheet to the medicine storage cassette in the medicine dispensing device described in Patent Document 1 and Patent Document 2, the bundle of PTP sheets taken out from the packaging bag is once separated and the orientation is aligned and replenished. It was necessary to do the work, and it took time to replenish.

  In view of the above circumstances, the present invention is directed to a case where two drug sheets are stacked with the surfaces on which the pockets are formed facing each other, or when the directions of the pockets cannot be aligned in the same direction. There is provided a medicine dispensing method, a medicine accommodating cassette, and a medicine dispensing device capable of dispensing a medicine sheet one by one even when a plurality of sheets are accommodated in a stacked manner.

The drug delivery device of the present invention includes a drug storage cassette in which a plurality of drug sheets are stored side by side in the normal direction of the sheet surface, and a drug delivery unit that dispenses the drug sheet from the drug storage cassette. In the device,
The medicine accommodating cassette includes a accommodating section for accommodating the medicine sheet, a dispensing section for dispensing a medicine sheet in the accommodating section, and a moving operation section for moving the medicine sheet in the accommodating section toward the dispensing section. And a restriction unit that restricts the top drug sheet contained in the accommodation unit from being dispensed from the dispensing unit,
The dispensing operation unit has a removal unit that holds and takes out the leading drug sheet and a removal unit that holds the leading drug sheet at a speed faster than the moving speed of the drug sheet by the moving operation unit. Then, a movement control unit for moving the drug sheet in the moving direction by the moving operation unit and dispensing the leading drug sheet is provided.

  In the case of the above configuration, the take-out section holding the leading medicine sheet is faster than the moving operation section moves the medicine sheet, and the moving operation section moves the medicine sheet in a direction. Move to. As described above, when the leading drug sheet moves quickly, the space between the leading and the second drug sheets is widened, and the restriction portion is easily inserted between the leading and the second drug sheets. In other words, when the drug sheet is dispensed, the restricting portion is accurately positioned between the leading drug sheet and the second drug sheet to enable dispensing of the leading drug sheet, and Stop the movement of the second drug sheet with high certainty. Further, when the two drug sheets are accommodated in a state in which the surfaces on which the pocket portions are formed face each other, or when the directions of the pocket portions are not aligned in the same direction, a plurality of drug sheets are accommodated in an overlapping manner. In the case of the above, the drug sheets can be paid out one by one. Since the moving direction of the medicine sheet coincides with the protruding direction of the pocket section, the pocket section does not become an obstacle in the movement of the medicine sheet.

  The medicine accommodating cassette may include an adjusting unit that adjusts a speed at which the moving operation unit moves the medicine sheet.

  The movement control unit is faster than the movement operation unit moves the medicine sheet after moving the ejection unit in a direction opposite to the direction in which the movement operation unit moves the medicine sheet, The moving operation unit may move the ejection unit holding the leading drug sheet in a direction in which the drug sheet is moved. In this way, by increasing the distance between the leading medicine sheet and the restriction section at the time of paying out, the moving operation section moves the take-out section in a direction opposite to the direction in which the medicine sheet is moved. You can As a result, the time from when the take-out section starts moving the leading medicine sheet to when the leading medicine sheet gets over the restriction section increases. Therefore, even when the difference between the speed (V1) at which the take-out section moves the medicine sheet and the speed (V2) at which the moving operation section moves the medicine sheet is small, when the leading medicine sheet passes through the restriction section. The distance between the leading drug sheet and the second drug sheet can be increased, and the above-mentioned restriction portion can easily enter between the leading drug sheet and the second drug sheet.

  As the limiting portion, a contact member that comes into contact with the edge of the leading drug sheet, a support portion that movably supports the contact member so that the contact member can get over the edge of the drug sheet, and the movement operation unit. A first limiting portion having a biasing member that biases the contact member so as to stop the movement of the medicine sheet due to Good.

  In addition to the first limiting portion, a second limiting portion that comes into contact with the edge of the leading drug sheet may be provided.

  The second limiting portion may bring a rotatably provided roller into contact with the edge of the leading drug sheet.

  The first limiting portion may be provided at a position contacting a long side edge of the medicine sheet, and the second limiting portion may be provided at a position contacting a short side edge of the medicine sheet.

  The extraction unit may hold the first drug sheet by adsorption.

  The medicine sheets may be accommodated in the accommodating portion side by side in the horizontal direction.

  A plurality of drug storage cassettes may be provided, and the dispensing operation unit may move the disposition range of the plurality of drug storage cassettes vertically and horizontally to dispense a drug sheet from a designated drug storage cassette.

  Further, the medicine accommodating cassette according to the present invention is such that an accommodating portion for accommodating a medicine sheet, a dispensing section for dispensing the medicine sheet from the accommodating section, and a movement for moving the medicine sheet in the accommodating section toward the dispensing section. In a medicine accommodating cassette including an operating portion, a contact member that contacts the edge of the leading medicine sheet, and a support portion that movably supports the contact member so that the contact member can pass over the edge of the medicine sheet. And a biasing member that biases the contact member so as to stop the movement of the medicine sheet by the movement operation unit, while allowing the contact member to pass over when dispensing. A part is provided in the payout part.

  With the above configuration, when the drug sheet is dispensed, the contact member can overcome the edge of the drug sheet against the biasing member. After overcoming in this manner, the contact member is returned by the biasing member and is positioned between the leading medicine sheet and the succeeding medicine sheet, and enables the dispensing of the leading medicine sheet, The urging member stops the movement of the subsequent medicine sheet. As a result, when two drug sheets are stacked with the surfaces on which the pockets are formed facing each other, or when the pockets are not aligned in the same direction, multiple drug sheets are stacked and stored. Even in such a case, the medicine sheets can be paid out one by one.

  The medicine storage cassette may include a second restriction portion that is in contact with the edge of the leading medicine sheet, in addition to the first restriction portion.

  Further, in the medicine storage cassette, the second restricting portion may bring a roller rotatably provided into contact with the edge of the leading medicine sheet.

  Further, in the medicine storage cassette, the first limiting portion is provided at a position contacting an edge of a long side of the medicine sheet, and the second limiting portion is provided at a position contacting an edge of a short side of the medicine sheet. May be.

  Further, the drug delivery method of the present invention uses the drug container cassette, holds the leading drug sheet in the container, and pushes the drug sheet in a direction opposite to the moving direction of the drug sheet by the moving operation unit, By pulling the drug sheet in the same direction as the moving direction at a speed higher than the moving speed of the drug sheet by the moving operation unit, the contact member of the first limiting unit is moved to the first drug sheet and the second contact member. It is characterized in that it is located between the medicine sheet and the medicine sheet.

Further, the medicine dispensing device of the present invention includes a medicine housing cassette in which a plurality of medicine sheets are housed side by side in the normal direction of the sheet surface, and a dispensing operation unit for dispensing the medicine sheet from the medicine housing cassette. In the drug dispensing device,
The medicine accommodating cassette includes a accommodating section for accommodating the medicine sheet, a dispensing section for dispensing a medicine sheet in the accommodating section, and a moving operation section for moving the medicine sheet in the accommodating section toward the dispensing section. And a restriction unit that restricts the top drug sheet contained in the accommodation unit from being dispensed from the dispensing unit,
The dispensing operation unit holds the leading drug sheet so that the interval between the dispensing unit that holds and takes out the leading drug sheet and the leading drug sheet and the second drug sheet is widened. And a movement control section for moving the take-out section and paying out the leading medicine sheet.

  With the above configuration, the take-out section holding the leading drug sheet moves so as to widen the interval between the leading drug sheet and the second drug sheet. Therefore, when the drug sheet is dispensed, the restriction unit is located between the leading drug sheet and the second drug sheet, which enables dispensing of the leading drug sheet and the second drug sheet. Stop the movement of the seat. As a result, when two drug sheets are stacked with the surfaces on which the pockets are formed facing each other, or when the pockets are not aligned in the same direction, multiple drug sheets are stacked and stored. Even in such a case, the medicine sheets can be paid out one by one.

Further, the medicine dispensing device of the present invention includes a medicine housing cassette in which a plurality of medicine sheets are housed side by side in the normal direction of the sheet surface, and a dispensing operation unit for dispensing the medicine sheet from the medicine housing cassette. In the drug dispensing device,
The medicine accommodating cassette includes a accommodating section for accommodating the medicine sheet, a dispensing section for dispensing a medicine sheet in the accommodating section, and a moving operation section for moving the medicine sheet in the accommodating section toward the dispensing section. And a restriction unit that restricts the top drug sheet contained in the accommodation unit from being dispensed from the dispensing unit,
The limiting section includes a first limiting section that contacts the long side of the leading drug sheet and a second limiting section that contacts the short side of the leading drug sheet,
The dispensing operation unit moves the dispensing unit holding the medicine sheet in a direction in which the dispensing operation unit holds and takes out the leading medicine sheet and the moving operation unit moves the medicine sheet, and And a movement control unit for dispensing the top drug sheet,
The position of the first limiting portion is displaceable.

  According to the above configuration, the limiting section includes a first limiting section that contacts the long side of the leading drug sheet and a second limiting section that contacts the short side of the leading drug sheet. Since the position of the first limiting portion is displaceable, the first limiting portion is located between the first drug sheet and the second drug sheet when the drug sheet is dispensed, and the first drug sheet is discharged. And the movement of the second drug sheet is stopped. As a result, when two drug sheets are stacked with the surfaces on which the pockets are formed facing each other, or when the pockets are not aligned in the same direction, multiple drug sheets are stacked and stored. Even in such a case, the medicine sheets can be paid out one by one.

  As the first limiting portion, a contact member that comes into contact with the edge of the leading drug sheet, a support portion that movably supports the contact member so that the contact member can get over the edge of the drug sheet, and the movement. The contact member may be urged so as to stop the movement of the medicine sheet by the operation unit, and the urging member may allow the contact member to pass over when the dispensing is performed.

  The second limiting section may bring a roller provided rotatably into contact with the edge of the leading medicine sheet.

  The extraction unit may hold the first drug sheet by adsorption.

  The medicine sheets may be accommodated in the accommodating portion side by side in the horizontal direction.

  A plurality of drug storage cassettes may be provided, and the dispensing operation unit may move the placement range of the plurality of drug storage cassettes vertically and horizontally to dispense a drug sheet from a designated drug storage cassette.

  Further, the drug delivery method of the present invention uses the drug container cassette, sucks the center side of the leading drug sheet in the container, and pulls the drug sheet in the same direction as the moving direction of the drug sheet to draw the drug. It is characterized in that the center side of the sheet is bent, and the contact member of the first limiting portion is located between the leading drug sheet and the second drug sheet at the bent portion.

Further, the medicine dispensing device of the present invention includes a medicine housing cassette in which a plurality of medicine sheets are housed side by side in the normal direction of the sheet surface, and a dispensing operation unit for dispensing the medicine sheet from the medicine housing cassette. In the drug dispensing device,
The medicine accommodating cassette includes a accommodating section for accommodating the medicine sheet, a dispensing section for dispensing a medicine sheet in the accommodating section, and a moving operation section for moving the medicine sheet in the accommodating section toward the dispensing section. And a restriction unit that restricts the top drug sheet contained in the accommodation unit from being dispensed from the dispensing unit,
The limiting section includes a first limiting section that is in contact with the long side of the leading drug sheet,
In the dispensing operation unit, the distance between the ejection unit that holds and ejects the leading medicine sheet and the central portion in the long side direction of the leading medicine sheet and the central portion in the long side direction of the second medicine sheet is The distance between the long side edge of the first drug sheet and the long side edge of the second drug sheet is larger than the distance between the first drug sheet and the second drug sheet. It is characterized by further comprising: a movement control unit that moves the take-out unit that holds the drug sheet so that the first restriction unit is located and dispenses the leading drug sheet.

  With the above configuration, when dispensing the drug sheet, the first limiting portion is located between the leading drug sheet and the second drug sheet, and enables dispensing of the leading drug sheet. , The movement of the second drug sheet is stopped. As a result, when two drug sheets are stacked with the surfaces on which the pockets are formed facing each other, or when the pockets are not aligned in the same direction, multiple drug sheets are stacked and stored. Even in such a case, the medicine sheets can be paid out one by one.

  Further, the medicine dispensing device of the present invention is based on the result of detection by the take-out section for taking out the medicine sheet in the medicine accommodating cassette, the wide edge detecting section for detecting the wide edge of the medicine sheet, and the wide edge detecting section. And a rotation operation unit that rotates the medicine sheet so that the medicine sheet has a predetermined orientation.

  With such a configuration, based on the result detected by the wide edge detection unit, the medicine sheet is rotated so that the direction of the medicine sheet becomes a predetermined direction. Even if the directions are not uniform, the direction of the wide edge can be made constant.

  A pocket detection unit that detects a pocket of the drug sheet is provided, and the rotation operation unit is based on a result detected by the pocket detection unit and a result detected by the wide edge detection unit, and the drug sheet. The drug sheet may be rotated so that the direction of the pocket and the direction of the wide edge of the drug sheet are constant.

  With such a configuration, based on the result detected by the pocket detection unit and the result detected by the wide edge detection unit, the pocket orientation and the wide edge orientation of the drug sheet are made constant. Since the medicine sheet is rotated, the orientation of the pocket and the width of the wide edge can be made constant even if the orientation of the pocket and the width of the medicine sheet are not uniform.

  The rotation operation unit may include both-axis rotation units that rotate the medicine sheet about a first axis and a second axis that are orthogonal to each other in the plane. Alternatively, the rotation operation unit rotates the medicine sheet around a normal rotation unit that rotates about the normal line and around a first axis or a second axis orthogonal to each other in the plane of the medicine sheet. It may be provided with a rotating part around the axis.

  The pocket detection unit has a movable member arranged in the extraction unit and a movement amount detection unit that detects the movement amount of the movable member, and the extraction unit takes out the drug sheet in the drug storage cassette. Sometimes, the pocket may be detected based on the amount of movement of the movable member in contact with the drug sheet.

  Alternatively, the pocket detection unit includes a pressure detection unit that detects the pressure of the suction suction unit provided in the extraction unit, and the pocket is detected based on the pressure during the suction operation of the suction suction unit with respect to the drug sheet. May be detected.

  The wide edge detection unit may detect the wide edge based on an interval between the grip claws when the drug sheet is gripped. The wide edge detection unit may be provided in the rotation operation unit.

Further, the medicine dispensing device of the present invention is based on the result of detection by the take-out section for taking out the medicine sheet in the medicine accommodating cassette, the wide edge detecting section for detecting the wide edge of the medicine sheet, and the wide edge detecting section. And a rotation operation unit that rotates the medicine sheet so that the medicine sheet has a predetermined orientation,
The rotation operation unit includes a normal rotation unit that contacts the sheet surface of the medicine sheet and rotates the medicine sheet about the normal line of the sheet surface.
It is characterized in that the medicine sheet is transferred between the take-out section and the normal rotation section.

  With such a configuration, the drug sheet can be aligned in a certain direction by the normal rotation unit.

Further, the medicine dispensing device of the present invention is based on the result of detection by the take-out section for taking out the medicine sheet in the medicine accommodating cassette, the wide edge detecting section for detecting the wide edge of the medicine sheet, and the wide edge detecting section. And a rotation operation unit that rotates the medicine sheet so that the medicine sheet has a predetermined orientation,
The rotation operation unit includes a normal rotation unit that contacts the sheet surface of the drug sheet and rotates the drug sheet around the normal line of the sheet surface, and the extraction unit is attached to the drug sheet. It is characterized in that it has a plurality of holding contact portions that come into contact with each other, and that the rotation section around the normal line has one or a smaller number of rotation contact portions that come into contact with the drug sheet.

  With such a configuration, since the take-out section has a plurality of holding contact sections that come into contact with the medicine sheet, the medicine sheet is firmly held. Further, since the normal rotation unit has one rotation contact unit that is in contact with the drug sheet or a smaller number than the holding contact unit, the normal rotation unit can be made compact.

  A pocket detection unit that detects a pocket of the drug sheet is provided, and the rotation operation unit is based on a result detected by the pocket detection unit and a result detected by the wide edge detection unit, and the drug sheet. The drug sheet may be rotated so that the direction of the pocket and the direction of the wide edge of the drug sheet are constant.

  The take-out portion may be movably provided in a direction normal to the seat surface.

  The take-out unit may perform an operation of storing the drug sheet in a fraction storage sheet storage unit provided in the drug storage cassette.

  In the case where the ejection unit is provided with a plurality of suction cups for holding the drug sheet, when accommodating the drug sheet in the sheet storage unit for cutting out the fractions, the stop of the sheet adsorption by the suction cups is stopped. It may be performed at different times.

  A feed screw provided in a direction intersecting the normal line direction of the sheet surface of the drug sheet, a moving member moving on the feed screw, one end connected to the moving member, and the other end connected to the take-out portion. The swing arm may be provided, and a guide that guides the take-out portion in a direction normal to the sheet surface of the drug sheet.

  The operation speed for guiding the take-out portion in the normal direction to the sheet surface of the medicine sheet may be slower as the take-out portion approaches the medicine sheet.

  A movable plate that moves together with the extraction unit may engage with the medicine storage cassette, and the movable plate may move the medicine storage cassette by movement of the extraction unit.

  The movable plate may form a part of the pocket detector.

  A device for pulling out the drug storage cassette to take out the drug sheet is provided integrally with the extraction unit, and the device is engaged with a part of the drug storage cassette in the pulled out state. An engagement portion may be provided to prevent the displacement of the drug storage cassette after being pulled out.

  The transport unit for receiving the drug sheet taken out by the unloading unit is provided, and this transport unit contacts the rear end of the drug sheet passing through the downstream end in the transport direction and contacts the drug sheet until just before falling. You may have a contact member which makes a posture approach horizontal.

  A transport unit that receives the drug sheet taken out by the take-out unit, an intermediate stocker with a shutter unit that receives the cut-off fractional packaging drug, and the drug sheet and the fractional packaging drug that are transported from the transport unit are stocked. And a mixing stocker that comprises, after the drug sheet is transported to the mixing stocker from the transport unit, the shutter unit is opened and the fraction of the packaged drug is dropped into the mixing stocker from above. Good.

  The stocker is provided with a stocker in which the medicine sheet is temporarily accommodated, and two shutters are rotatably provided at the bottom of the stocker so as to cause asymmetry in the opening / closing operation. May be easily broken.

  Further, the medicine dispensing method of the present invention is a medicine dispensing method using a medicine dispensing device having a rotation operation unit for rotating the medicine sheet, and is a sheet storage for fraction cutout provided in the medicine accommodating cassette. When a process for accommodating the drug sheet in a predetermined direction is required for a section, a drug sheet facing a predetermined direction among a plurality of drug sheets taken out from the drug accommodating cassette is accommodated in the sheet storage unit. It is characterized by doing. With this method, the rotation processing of the medicine sheet by the rotation operation unit can be minimized.

  In the medicine dispensing method, the last medicine sheet may be rotated by the rotation operation unit when all the medicine sheets taken out are not oriented in a predetermined direction.

  According to the present invention, when the two drug sheets are accommodated in a state in which the surfaces on which the pocket portions are formed face each other, or when the pocket portions cannot be aligned in the same direction, a plurality of drug sheets are stacked. Even if they are stored together, the drug sheets can be dispensed one by one. Therefore, it becomes possible to take out a plurality of drug sheets packaged in a bundle from the package and store them in the drug storage cassette as they are without aligning the orientation, so that the drug filling time in the drug storage cassette can be significantly increased. Can be reduced to

It is explanatory drawing which showed the medicine delivery device which concerns on one Embodiment of this invention. It is the block diagram which showed the outline of the control system of the drug delivery device of FIG. 1A is a perspective view showing a dispensing operation section and a medicine storage cassette provided in the medicine dispensing apparatus of FIG. 1, and FIG. 6B is an enlarged view of a suction operation section provided in the dispensing operation section. 3C is a perspective view of the suction cup of the suction operation unit. 1A is a perspective view showing a dispensing operation section and a medicine storage cassette provided in the medicine dispensing apparatus of FIG. 1, and FIG. 6B is a suction of a suction operation section provided in the dispensing operation section. It is explanatory drawing which showed the relationship between a part and a medicine sheet. It is the perspective view which showed the dispensing operation part and the chemical | medical agent accommodation cassette which were provided in the chemical | medical agent dispensing apparatus of FIG. It is the perspective view which showed the dispensing operation part provided in the medicine dispensing device of FIG. It is the perspective view which showed the dispensing operation part provided in the medicine dispensing device of FIG. It is the perspective view which showed the chemical | medical agent accommodation cassette provided in the chemical | medical agent delivery apparatus of FIG. It is a perspective view from the other direction of the medicine storage cassette of FIG. 8A is a perspective view showing the internal structure of the medicine storage cassette of FIG. 8, and FIG. 8B is a perspective view of the constant force spring. FIG. 9 is a perspective view showing an internal structure of the medicine storage cassette of FIG. 8. 8A and 8B are front views showing the internal structure of the medicine storage cassette of FIG. FIGS. 13A and 13B are explanatory diagrams showing the positional relationship between the PTP sheet bent by suction and the limiting portion. FIGS. 13A and 13B are explanatory diagrams showing the positional relationship between the PTP sheet bent by suction and the limiting portion. It is explanatory drawing which showed the other structural example of the 1st restriction | limiting part which can be used with the chemical | medical agent accommodation cassette of embodiment of this invention. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the axis | shaft which rotates a medicine sheet. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the relationship of the axis | shaft which rotates a medicine sheet, and the pocket of a medicine sheet, and the direction of a wide edge. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the rotation operation example of a chemical | medical agent sheet. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the rotation operation example of a chemical | medical agent sheet. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the rotation operation example of a chemical | medical agent sheet. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the rotation operation example of a chemical | medical agent sheet. It is a figure which shows other embodiment of this invention, Comprising: It is a perspective view which showed the dispensing operation part provided in the chemical | medical agent dispensing apparatus. FIG. 23 is a perspective view showing a dispensing operation unit of FIG. 22. It is the perspective view which showed the suction main body part of the dispensing operation part of FIG. 23A is a perspective view showing the suction main body portion and the normal rotation portion of FIG. 23, and FIG. 19B is a perspective view showing the normal rotation portion. 7 is a flow chart showing an operation such as suction at the time of delivering a medicine sheet between the suction main body section and the normal rotation section. FIG. 23 is a perspective view showing a front-back movement device of the dispensing operation unit of FIG. 22. FIG. 23 is a perspective view showing a front-back movement device of the dispensing operation unit of FIG. 22. FIG. 23 is a perspective view showing a second grip section and a lid opening / closing section 5 of the dispensing operation section of FIG. 22. FIG. 23 is a perspective view showing a sheet grip portion of the payout operation portion of FIG. 22. FIG. 23 is a perspective view showing a cutter unit, a transport unit and the like of the dispensing operation unit of FIG. 22. FIG. 23 is a perspective view showing a cutter unit, a transport unit and the like of the dispensing operation unit of FIG. 22. FIG. 32 is an enlarged perspective view showing the sheet conveying unit of FIG. 31. It is explanatory drawing which showed operation | movement of the sheet conveyance part of FIG. 31A is an enlarged perspective view of the intermediate stocker of FIG. 31, and FIG. 31B is an explanatory view showing a state where the shutter of the intermediate stocker is overlapped with the medicine sheet and jammed. It is explanatory drawing which showed operation | movement of the sheet conveyance part of FIG. FIG. 23 is a perspective view showing a suction main body section, a transport section, and a weight measuring section of the dispensing operation section of FIG. 22. 37A and FIG. 37B are enlarged perspective views of the weight measuring unit of FIG. It is explanatory drawing which showed the schematic structure of the weight measurement part of FIG. It is explanatory drawing which showed the relationship between the weight measurement part of FIG. 37, and the inclination part of a conveyance part. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the relationship between the holding | grip nail | claw of a sheet | seat holding part, a PTP sheet, and a cutter part. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the relationship between the holding | grip nail | claw of a sheet | seat holding part, a PTP sheet, and a cutter part. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the relationship between the holding | grip nail | claw of a sheet | seat holding part, a PTP sheet, and a cutter part. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the relationship between the holding | grip nail | claw of a sheet | seat holding part, a PTP sheet, and a cutter part. It is a figure which shows embodiment of this invention, Comprising: It is explanatory drawing which showed the relationship between a holding | maintenance main-body part, a PTP sheet, and a suction cup. 3A and 3B are perspective views of the suction cup of FIG. 3C. FIG. 47 is a six-sided view (front, back, plane, bottom, right side, left side) of the suction cup of FIG. 46.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1, a plurality of loading spaces 101a are provided vertically and horizontally in the drug delivery device 101 of this embodiment, and the drug storage cassette 1 is provided in each of the loading spaces 101a in the front-back direction (depth). It is installed so that it can be taken in and out. The dispensing operation unit 110 of the medicine dispensing device 101 is provided so as to be movable in the up-down direction and the left-right direction in the arrangement range of the medicine accommodating cassette 1. Further, the medicine dispensing device 101 is provided with a display 102 and an input unit 103. Note that FIG. 1 shows a front side direction and a rear side direction of the medicine dispensing device 101.

  As shown in FIG. 2, the control unit 105 of the medicine dispensing apparatus 101 processes the information input from the input unit 103, and displays the processed information on the display 102. For example, the operator uses the input unit 103 to make an initial input for inputting which PTP sheet 100 is stored in which medicine storage cassette 1, and the like when replenishing the PTP sheet 100 in the medicine storage cassette 1. It is possible to input the number of sheets, input prescription information for payout, and the like. Various types of information can be stored in the storage unit 104 by the processing of the control unit 105. Further, the control unit 105 moves the payout operation unit 110 to the target drug storage cassette 1 based on the prescription information, and executes the payout process of the PTP sheet 100.

  The medicine storage cassette 1 is formed with a storage portion 11 in which the PTP sheet 100 is stored. A plurality of PTP sheets 100 can be accommodated in the accommodating portion 11 in an upright state while being stacked in the lateral direction. That is, the plurality of PTP sheets 100 are arranged in the normal direction of the sheet surface. In this embodiment, the normal line of the sheet surface is the normal line at the central position of the sheet surface of the PTP sheet 100. Here, the normal line at the center position of the seat surface is parallel to the perpendicular line (orthogonal line) of the seat surface when it is assumed that the PTP sheet 100 is not a curved surface but a flat surface. Further, in this embodiment, the direction of the normal line to the sheet surface is equal to the front-rear direction and the moving direction of the medicine storage cassette 1.

  FIG. 3 to FIG. 5 show a state in which the dispensing operation unit 110 is close to the dispensing unit 2 of the target medicine storage cassette 1. In the state shown in these figures, the lid 4 of the medicine containing cassette 1 is opened.

  The dispensing operation section 110 is a lid opening / closing section 5 for opening / closing the lid 4, a suction operation section (extracting section) 6 for sucking and pulling out the leading PTP sheet 100 in the medicine containing cassette 1, and a withdrawal section. The first gripping part 7 that grips the PTP sheet 100 that has been gripped, and the second gripping part 8 that receives the PTP sheet 100 from the first gripping part 7 and performs the necessary operation.

  The lid opening / closing portion 5 includes, for example, a shaft portion that engages with an engaging portion formed on the lid 4, and the shaft portion is arced in a state in which the shaft portion is engaged with the engaging portion. By moving along the orbit, the lid 4 is opened and closed. Further, the lid 4 is rotatably provided with a sheet storage unit 41 for accommodating the PTP sheet 100 for fraction cutting. The lid opening / closing part 5 includes, for example, a shaft part that engages with an engagement part formed in the sheet storage part 41, and the shaft part is engaged with the engagement part. Is moved along an arcuate path to rotate the sheet storage unit 41.

  The suction operation unit 6 includes a suction main body 61 as shown in an enlarged view in FIG. The suction body 61 is provided with four suction cups 61a in the lateral direction. Further, as shown in an enlarged manner in FIGS. 3C, 46A, 46B, and 47, since each suction cup 61a has a constricted portion, the suction surface of the suction cup 61a. Can be easily deformed in the direction of arrow A in FIG. Therefore, the bent surface of the PTP sheet 100 can be easily adsorbed. Further, as shown in an enlarged view in FIG. 4B, each suction cup 61a has a horizontally long flat shape and a height of the pocket portion so that the suction cup 61a can be inserted between the pocket portions of the PTP sheet 100. Has a length in the front-rear direction that can exceed. A tube is connected to each suction cup 61a, and an air suction device is connected to this tube.

  In addition, the suction operation unit 6 is provided with a pocket detection unit 62 for determining whether or not the pocket portion forming surface of the PTP sheet 100 faces the payout side. The pocket detection unit 62 includes, for example, a movable plate 62a movably provided in the front-rear direction, a rack unit fixed to an inner surface of the movable plate 62a, a pinion meshing with the rack unit, The pinion consists of a rotary potentiometer fixed to the shaft. Since the rotation amount of the potentiometer when the movable plate 62a hits the pocket of the PTP sheet 100 is different from the rotation amount of the potentiometer when the movable plate 62a does not hit the pocket of the PTP sheet 100, the PTP sheet is different. It is possible to detect whether the pocket portion forming surface of 100 faces the payout side. It should be noted that the movable plate 62a is formed with two tip contact portions, and the two tip contact portions contact the PTP sheet 100.

  Further, as shown in FIG. 3B, a convex portion 62b is fixed to the upper surface of the movable plate 62a. Further, the suction operation unit 6 is provided with an electromagnetic solenoid 62c and an operation lever 62d swingable by the electromagnetic solenoid 62c. When the electromagnetic solenoid 62c is turned on when the PTP sheet 100 is dispensed, the operating lever 62d swings, and the swinging of the operating lever 62d pushes the convex portion 62b to move the movable plate 62a to the medicine accommodating cassette. I will move to 1. This allows the movable plate 62a to hit the pocket portion of the PTP sheet 100. Before the next payout, the electromagnetic solenoid 62c is turned off and the operation lever 62d returns to the initial position.

  The suction body 61 of the suction operation unit 6 can be moved in the vertical direction by the lifting device 64. As shown in FIGS. 6 and 7, the lifting device 64 includes, for example, a moving nut 64a fixed to the base of the suction body 61 and a feed screw 64b screwed to the moving nut 64a. A motor 64c for rotating the feed screw 64b, a belt transmission mechanism 64d for transmitting the driving force of the motor 64c to the feed screw 64b, and a guide 64e for stabilizing the vertical movement of the forward / backward movement device 63 are provided. The vertical position of the suction operation unit 6 can be adjusted by the elevating device 64.

  The elevating device 64 can be moved in the front-rear direction (direction approaching and separating from the dispensing portion 2 of the medicine storage cassette 1) by the front-rear moving device 65. The forward / backward moving device 65 includes, for example, a moving nut 65a fixed to a base portion of the lifting device 64, a feed screw 65b screwed to the moving nut 65a, and a motor 65c for rotating the feed screw 65b. A belt transmission mechanism 65d for transmitting the driving force of the motor 65c to the feed screw 65b and a guide 65e for stabilizing the movement of the elevating device 64 are provided.

  The back-and-forth moving device 65 in the suction operation unit 6 is faster than the moving operation unit 3 described later in the medicine container 1 moving the PTP sheet 100, and the moving operation unit 3 moves the PTP sheet 100. The leading PTP sheet 100 can be sucked in the direction of movement to move the suction body 61.

  When the suction operation unit 6 is moved to the medicine storage cassette 1 side by the forward / backward movement device 65, the suction main body unit 61 sucks the sheet portion of the leading PTP sheet 100. When the pocket portion of the leading PTP sheet 100 faces the payout operating portion 110, the movable plate 62a of the pocket detection portion 62 is displaced in accordance with the convex height of the pocket portion. The positional displacement can be detected by the resistance value (voltage value) of the potentiometer described above.

  The first grip portion 7 includes a grip body portion 71 that is rotatable about a vertical axis, a rotating portion 72 that rotates the grip body portion 71, and a front-rear moving device that moves the rotating portion 72 in the front-rear direction. 73 and an elevating device 74 for elevating the front-back moving device 73.

  The grip body 71 includes a long claw portion 71a and a short claw portion 71b. The long claw portion 71a or the short claw portion 71b is fixed to, for example, a rack. A pinion that is rotated by a motor is meshed with the rack, and the long claw portion 71a and the short claw portion 71b can be narrowed or widened by driving the motor. Thereby, the PTP sheet 100 can be gripped. A transmissive optical sensor pair is provided on the long claw portion 71a and the short claw portion 71b, and the PTP sheet 100 is positioned between the long claw portion 71a and the short claw portion 71b. It can be detected by a pair of sensors.

  The rotating portion 72 includes a belt 72a wound around a pulley 71c of the grip body 71 and a motor 72b that rotationally drives the belt 72a. When the motor 72b rotates, the grip body 71 rotates and the positional relationship between the long pawl 71a and the short pawl 71b changes. The rotating portion 72 is fixed to the front-rear moving plate 72c.

  The forward / backward moving device 73 includes a moving nut fixed to a base portion of the forward / backward moving plate 72c, a feed screw 73a screwed to the moving nut, and a screw side pulley fixed to the feed screw 73a. The drive pulley 73b, a belt wound around these pulleys, a motor 73c that drives the drive pulley 73b, and a guide that guides the front-rear moving plate 72c are provided. The gripper body 71 can be moved back and forth from a position near the lid 4 of the medicine storage cassette 1 to a position near the second gripper 8 by the longitudinal movement device 73.

  The lifting device 74 includes a moving nut 74a fixed to the forward / backward moving device 73, a feed screw screwed to the moving nut 74a, a screw side pulley 74b fixed to the feed screw, and a drive side pulley 74c. A belt wound around these pulleys, a motor 74d for driving the drive pulley 74c, and a guide for the forward / backward movement device 73. By the elevating device 74, it is possible to access the second grip portion 8 side from an upper position, move the lid 4 from the upper position, and the like.

  The second grip portion 8 includes a grip body portion 81 that is rotatable about a horizontal axis, a rotating portion 82 that rotates the grip body portion 81, and a left-right moving device that moves the rotating portion 82 in the left-right direction. And 83.

  The grip body 81 includes a first claw 81a and a second claw 81b. The first claw portion 81a or the second claw portion 81b is fixed to, for example, a rack. A pinion that is rotated by a motor is meshed with the rack, and the first claw portion 81a and the second claw portion 81b narrow or widen the mutual distance by driving the motor. Thereby, the PTP sheet 100 can be gripped. The first claw portion 81a and the second claw portion 81b are provided with a transmissive optical sensor pair, and the PTP sheet 100 is located between the first claw portion 81a and the second claw portion 81b. This can be detected by the optical sensor pair. Further, whether the wide edge 100a called the ear of the PTP sheet 100 is gripped by the grip body 81 or the pocket is gripped depends on whether the first claw part 81a and the second claw part 81b at the completion of gripping. It can be judged by the relative position with. Further, the completion of gripping can be determined by the torque control of the motor. Of course, a contact sensor or an image sensor can be used to determine whether the wide edge 100a is gripped or the pocket portion is gripped.

  The rotating portion 82 includes a belt 82a wound around a pulley 81c of the grip body 81 and a motor 82b that rotationally drives the belt 82a. When the motor 82b rotates, the grip body 81 rotates and the positional relationship between the first claw 81a and the second claw 81b changes. The rotating portion 82 is fixed to the left and right moving plate 82c.

  The left / right moving device 83 includes a moving nut 83a fixed to the left / right moving plate 82c, a feed screw 83b screwed to the moving nut 83a, a screw side pulley 83c fixed to the feed screw 83b, and a drive nut. A side pulley 83d, a belt wound around these pulleys 83c and 83d, and a motor 83e for driving the drive side pulley 83d are provided. The lateral movement device 83 allows the grip body 81 to retract laterally when the first grip 7 descends.

  When paying out the PTP sheet 100, the first gripping part 7 grips the PTP sheet 100 sucked and discharged by the suction operation part 6. At this time, the long claw portion 71a of the first grip portion 7 is located on the cassette side. Then, the first grip portion 7 passes the PTP sheet 100 to the grip body portion 81 of the second grip portion 8 by the operations of the rotating portion 72, the forward / backward moving device 73, and the elevating device 74. At this point, it is possible to determine whether or not the pocket forming surface of the PTP sheet 100 faces the payout side by the pocket detecting portion 62 of the suction operation portion 6, so that the pocket forming surface faces a certain direction. In addition, the PTP sheet 100 can be delivered to the grip body 81 of the second grip 8. Then, since it is possible to detect whether the wide edge 100a is gripped by the grip body 81 or the pocket is gripped, the rotation operation of the PTP sheet 100 by the second grip 8 based on the detection result and When the first gripping portion 7 holds the PTP sheet 100 in the sheet storage portion 41 of the lid 4 by the rotation operation of the PTP sheet 100 by the first gripping portion 7, the PTP sheet 100 is oriented in a fixed direction. Can be held with. Detailed operations for holding the PTP sheet 100 in a fixed orientation will be described later.

  As shown in FIGS. 8, 9, 10 (A), 10 (B), and 11, the dispensing unit 2 and the lid 4 at which the PTP sheet 100 is dispensed are provided at the front side positions of the medicine storage cassette 1. Is provided. The lid 4 is opened upward. The lid 4 is formed with a notch 4a having a shape into which the long claw 71a and the short claw 71b of the grip body 71 of the first grip 7 can enter. When the dispensed PTP sheet 100 is set in the sheet storage unit 41, the grip body unit 71 moves in the horizontal direction and enters the cutout portion 4a of the opened lid 4. At this time, the sheet storage unit 41 is in a state of being opened by the lid opening / closing unit 5.

  As shown in FIG. 12 (A) and FIG. 12 (B) as well, the dispensing unit 2 is provided with the first restricting units 21 at two upper and lower positions. The first limiting portion 21 includes a contact member 21a that contacts the upper edge or lower edge of the leading PTP sheet 100, and the contact member 21a so that the contact member 21a can pass over the upper edge or lower edge of the PTP sheet 100. A support portion 21b that movably supports 21a and a spring (biasing member) 21c that biases the contact member 21a in a direction in which the PTP sheet 100 is stopped are provided. The contact member 21a located on the upper side and the contact member 21a located on the lower side are in contact with both the upper and lower edges of the two PTP sheets 100 having different height positions which are overlapped with each other with faces on which pocket portions are formed facing each other. It is placed at a high height.

  The support portion 21b is a horizontal axis, and the contact member 21a is rotatably supported around the horizontal axis. Then, both side portions of the spring 21c are wound around the support portion 21b and both side ends are fixed. Then, the central portion of the spring 21c is engaged with the contact member 21a. The support portion 21d supporting the upper first limiting portion 21 may be screwed into the vertically long slot 21e so that the height of the upper first limiting portion 21 can be adjusted.

  Separately from the first limiting portion 21, second limiting portions 22 are provided at two left and right positions so as to contact the left and right edges of the leading PTP sheet 100. The second limiting portion 22 is composed of a roller that is rotatably provided, and the right and left edges of the leading PTP sheet 100 contact the surface of the roller. Note that, in FIG. 12B, the positions of the left and right edges of the two PTP sheets 100 that are overlapped with the surfaces on which the pocket portions are formed facing each other are aligned. Further, the support portion 21b intersects with the axis of the roller. The second limiting portion 22 is provided on the side plate of the accommodating portion 11, and if the side plate is provided so as to be adjustable in the width direction, the width direction of the second limiting portion 22 may be changed depending on the size of the PTP sheet 100. You can adjust the position.

  The PTP sheet 100 is accommodated in the accommodating portion 11 of the medicine accommodating cassette 1 such that the long side is horizontal and the short side is vertical. Therefore, the first limiting portion 21 contacts the long side edge of the PTP sheet 100, and the second limiting portion 22 contacts the short side edge of the PTP sheet 100. When the degree of movement restriction on the side of the short side of the PTP sheet 100 is increased, bending is likely to occur on the center side of the edge of the long side.

  A moving operation unit 3 that moves the PTP sheet 100 toward the payout unit 2 is provided in the accommodation unit 11. The moving operation unit 3 includes, for example, a pressing member 31 that contacts the PTP sheet 100 and a constant force spring (for example, a product name Conston spring) 32. The pressing force of the constant load spring 32 is set so that the PTP sheet 100 does not pass over the first and second limiting portions 21 and 22 only by this pressing force. The constant load spring 32 is provided with a lock portion 32a, and the PTP sheet 100 can be set while the moving operation portion 3 is moved to the rear position and locked. Then, when the lock is released after the PTP sheet 100 is set, the pressing operation on the PTP sheet 100 is started. Further, the constant load spring 32 has a winding spring, and the tip end of the winding spring is fixed near the payout portion 2. The lock portion 32a is provided with a gear portion 32b as shown in FIG. 10 (B). The gear portion 32b meshes with a tooth-shaped portion formed on the bottom surface of the housing portion 11, and the rotation of the gear portion 32b is restricted to lock the moving operation portion 3. Become. Further, for example, if a damper (for example, an oil damper) 32c is provided on the gear portion 32b, the operating speed of the moving operation portion 3 can be adjusted. In this case, the damper 32c serves as an adjusting unit that adjusts the speed at which the moving operation unit 3 moves the PTP sheet 100.

  With such a configuration, an operation of sucking the leading PTP sheet 100 by the suction operation unit 6 and pulling out the PTP sheet 100 from the dispensing unit 2 in the same direction as the moving direction by the moving operation unit 3 is performed. At this time, the contact member 21a can overcome the edge of the PTP sheet 100 against the biasing force of the spring 21c. After overcoming in this way, the contact member 21a is returned by the spring 21c, is positioned between the leading PTP sheet 100 and the second PTP sheet 100, and dispenses the leading PTP sheet 100. And the movement of the second PTP sheet 100 is stopped by the urging force of the spring 21c.

  As a result, as shown in FIG. 12 (B), when two PTP sheets 100 are stacked with the surfaces on which the pocket portions are formed facing each other, or when the pocket portions are aligned in the same direction. Even if a plurality of PTP sheets 100 are stacked and accommodated without being stored, the PTP sheets 100 can be paid out one by one.

  Here, the following two methods are conceivable as specific methods for paying out the PTP sheets 100 one by one as described above.

  The first method is to suck the top PTP sheet 100 in the storage section 11 by the suction operation section 6 and push the PTP sheet 100 in a direction opposite to the moving direction of the PTP sheet 100 by the moving operation section 3. By pulling the PTP sheet 100 in the same direction as the moving direction at a speed higher than the moving speed of the PTP sheet 100 by the moving operation unit 3, the contact member 21a of the first limiting unit 21 is moved to the top. The first PTP sheet 100 is paid out by arranging it between the PTP sheet 100 and the second PTP sheet 100. The first method can be carried out by arranging the first limiting portion 21 in the left and right positions instead of the second limiting portion 22. Further, the first method can be carried out even when the upper, lower, left, and right arrangement relationships of the first limiting portion 21 and the second limiting portion 22 are reversed. Further, it is not always necessary to dispose the first limiting portion 21 on the center side of the edge of the PTP sheet 100.

  Here, the back-and-forth moving device (movement control unit) 65 moves the suction operation unit (take-out unit) 6 in a direction opposite to the direction in which the movement operation unit 3 moves the PTP sheet 100. The moving motion unit 3 is faster than the moving speed of the PTP sheet 100, and the suction motion unit 6 holds the leading PTP sheet 100 in a direction in which the moving motion unit 3 moves the PTP sheet 100. It is better to move. In this way, the moving operation unit 3 moves the suction operation unit 6 in a direction opposite to the direction in which the PTP sheet 100 is moved, so that the first PTP sheet 100 and the first restricting unit at the time of paying out. The distance to 21 can be increased. This increases the time from when the suction operation unit 6 starts moving the leading PTP sheet 100 to when the leading PTP sheet 100 passes over the first limiting unit 21. Therefore, even if the difference between the speed at which the suction operation unit 6 moves the PTP sheet 100 and the speed at which the movement operation unit 3 moves the PTP sheet 100 is small, the leading PTP sheet 100 passes through the first restriction unit 21. At this time, the distance between the first PTP sheet 100 and the second PTP sheet 100 can be increased, and the first restriction portion 21 easily enters between the first PTP sheet 100 and the second PTP sheet 100. Become.

  This means that the front-rear moving device (movement control unit) 65 holds the leading PTP sheet 100 so as to widen the gap between the leading PTP sheet 100 and the second PTP sheet 100. This corresponds to moving the suction operation unit 6.

  In the second method, the suction operation unit 6 sucks the center side of the leading PTP sheet 100 in the accommodation unit 11, and as shown in FIGS. 13 (A) and 13 (B), the leading PTP sheet 100 is sucked. The leading PTP sheet 100 is bent by pulling the PTP sheet 100 in the same direction as the moving direction of the sheet 100. Then, as shown in FIGS. 14 (A) and 14 (B), the contact member 21a of the first limiting portion 21 is connected to the leading PTP sheet 100 and the second portion at the bent portion of the PTP sheet 100. This is a method in which the PTP sheet 100 is positioned between the PTP sheet 100 and only the top PTP sheet 100 is paid out. In this embodiment, since the second PTP sheet 100 has the second restriction portion 22, the center of the leading PTP sheet 100 is not projected and the end thereof is not projected. The second PTP sheet 100 is the leading PTP sheet 100. By being restrained so that it does not move forward at the end of the, the distance between the central portion of the leading PTP sheet 100 and the central portion of the second drug sheet increases.

  This second method can also be implemented by arranging the first limiting portion 21 in the left and right positions instead of the second limiting portion 22. In this case, it is conceivable to increase the spring force of the first limiting portion 21 arranged in the left and right positions and reduce the amount of protrusion of the claw, as compared with the first limiting portion 21 arranged in the vertical position.

  In the payout of the PTP sheet 100 as in the second method, the first limiting unit 21 is provided, and the front-rear moving device (movement control unit) 65 is provided with the central portion in the long side direction of the leading PTP sheet 100. The distance between the long side direction central portion of the second PTP sheet 100 is greater than the distance between the long side direction end portion of the leading PTP sheet 100 and the long side direction end portion of the second PTP sheet 100. Then, the suction operation unit 6 holding the PTP sheet 100 is moved so that the first limiting unit 21 is located between the first PTP sheet 100 and the second PTP sheet 100. become.

  Note that, as shown in FIG. 15, a first limiting portion 21A can be provided instead of the first limiting portion 21. The first restriction portion 21A supports a contact member 21a that contacts the edge of the leading PTP sheet 100, and a support that movably supports the contact member 21a so that the contact member 21a can get over the edge of the PTP sheet 100. A portion 21b and a spring (urging member) 21c for urging the contact member 21a in a direction in which the PTP sheet 100 is stopped are provided. The support portion 21b is, for example, a cylindrical member, and the contact member 21a having a plunger-shaped body is linearly supported in the cylindrical member. The spring 21c is, for example, a coil-shaped spring and is provided in the cylindrical member.

  Further, although the suction operation section 6 is shown as the take-out section holding the PTP sheet 100, the suction is not limited to such suction, and the first PTP sheet 100 in the medicine containing cassette 1 is adhered or grasped and discharged. You may do it.

  FIG. 16 is an explanatory diagram showing three axes when the PTP sheet 100 is rotated. The three axes include the normal to the sheet surface of the PTP sheet 100, the minor axis, and the major axis. The minor axis and the major axis correspond to the first axis and the second axis that are orthogonal to each other in the plane of the PTP sheet 100. An example of the position of the center of rotation about the major axis is the axis passing through the center of the PTP sheet 100 in the short side direction. An example of the position of the center of rotation about the minor axis is the axis passing through the center of the PTP sheet 100 in the longitudinal direction. An example of the center of rotation about the normal is the intersection of the center of rotation about the major axis and the center of rotation about the minor axis. Here, the PTP sheet 100 is line-symmetric with respect to the second axis (long axis). If the center of rotation about the normal is provided near the intersection of the center of rotation about the major axis and the center of rotation about the minor axis, the space required for rotation about the normal can be reduced. The size of the device can be reduced.

  FIG. 17 is an explanatory diagram showing changes in the state of the PTP sheet 100. The state of the PTP sheet 100 includes a first state in which the pocket is face-up and the wide edge 100a is in the left position, a second state in which the pocket is face-up and the wide edge 100a is in the right position (the state shown in FIG. 16), and the pocket is There is a third state in which the wide edge 100a is facing down and is in the left position, and a fourth state in which the pocket is facing down and the wide edge 100a is in the right position. Regardless of the state of the discharged top PTP sheet 100, the state change due to the rotation around the major axis, the state change due to the rotation around the minor axis, and the state due to the rotation around the normal line. By causing two state changes among the changes, it is possible to align any one of the states. That is, the pocket direction of the PTP sheet 100 and the direction of the wide edge 100a can be uniformly aligned.

  As shown in FIG. 18 (A), when the front PTP sheet 100 has the pocket in the first state in which the pocket is face-up (toward the payout side) and the wide edge 100a is in the left position, as shown in FIG. When the PTP sheet 100 is gripped by the long claw portion 71a and the short claw portion 71b of the main body 71, the short claw portion 71b is located on the pocket side. Since the control unit 105 recognizes the orientation of the pocket when the leading PTP sheet 100 is taken out from the medicine storage cassette 1, for example, as shown in FIG. 18C, the pocket faces toward the front in the figure. As described above, the grip body 71 is rotated so that the shallow position of the left edge of the PTP sheet 100 (the position that is less than the width of the wide edge 100a and does not cover the pocket) is the first and second claw portions of the second grip portion 8. It is held by 81a and 81b. From the distance between the first and second claws 81a and 81b when gripping, it is possible to know whether or not the wide edge 100a is gripped. In the state of FIG. 18C, the control unit 105 determines that the wide edge 100a is gripped, temporarily releases the grip, and the operation of the front-rear moving device 73 causes the control unit 105 to move as shown in FIG. 18D. Then, it is gripped again at a deep position, and the pocket is turned to the back side in the drawing by the pivoting motion of the second gripping part 8 about the horizontal axis (about the seat length axis). That is, the long claw portion 71a is located on the pocket side of the PTP sheet 100. After that, as shown in FIG. 18E, the PTP sheet 100 is gripped by the long claw portions 71a and the short claw portions 71b of the grip body 71, and the PTP sheet 100 is gripped by the operation of the front-rear moving device 73 and the like. As shown in F), the PTP sheet 100 is held in the sheet storage unit 41 of the lid 4. At this time, the long claw portion 71a of the grip body 71 laterally moves and enters the cutout portion 4a of the lid 4. In this state, the pocket of the PTP sheet 100 faces the lid 4, and the wide edge 100a faces the left side.

  As shown in FIG. 19 (A), when the pocket of the leading PTP sheet 100 is in the second state in which the pocket is face-up (toward the payout side) and the wide edge 100a is in the right position, as shown in FIG. When the PTP sheet 100 is gripped by the long claw portion 71a and the short claw portion 71b of the main body 71, the short claw portion 71b is located on the pocket side. Since the control unit 105 recognizes the direction of the pocket when the leading PTP sheet 100 is taken out from the medicine storage cassette 1, for example, as shown in FIG. 19 (C), the pocket faces toward the front in the figure. Thus, the grip body 71 is rotated, and the shallow position of the left edge of the PTP sheet 100 is gripped by the first and second claws 81a and 81b of the second grip 8. From the distance between the first and second claws 81a and 81b when gripping, it is possible to know whether or not the wide edge 100a is gripped. In the state of FIG. 19C, the control unit 105 determines that the side other than the wide edge 100a is gripped. Next, the grip body 71 is moved upward to rotate the positions of the long claws 71a and the short claws 71b by 180 ° around the vertical axis (around the short axis of the seat), and as shown in FIGS. ), The long claw portion 71a is positioned on the pocket side of the PTP sheet 100. After that, as shown in FIG. 19F, the PTP sheet 100 is held in the sheet storage unit 41 of the lid 4. At this time, the long claws 71a of the grip body 71 enter the notches 4a of the lid 4. In this state, the pocket of the PTP sheet 100 faces the lid 4, and the wide edge 100a faces the left side.

  As shown in FIG. 20 (A), when the pocket of the leading PTP sheet 100 is in the third position in which the pocket is facing down (facing the cassette) and the wide edge 100a is in the left position, as shown in FIG. When the PTP sheet 100 is gripped by the long claws 71a and the short claws 71b of the grip body 71, the long claws 71a are located on the pocket side. Since the control unit 105 recognizes the orientation of the pocket when the leading PTP sheet 100 is taken out from the medicine storage cassette 1, for example, as shown in FIG. 20 (C), the pocket faces toward the front in the figure. Thus, the grip body 71 is rotated, and the shallow position of the left edge of the PTP sheet 100 is gripped by the first and second claws 81a and 81b of the second grip 8. From the distance between the first and second claws 81a and 81b when gripping, it is possible to know whether or not the wide edge 100a is gripped. The control unit 105 determines that the side other than the wide edge 100a is gripped in the state of FIG. Next, as shown in FIG. 20 (D), FIG. 20 (E), and FIG. 20 (F), the PTP sheet 100 is held in the sheet storage unit 41 of the lid 4 by the operation of the forward / backward moving device 73 and the like. Let At this time, the long claws 71a of the grip body 71 enter the notches 4a of the lid 4. In this state, the pocket of the PTP sheet 100 faces the lid 4, and the wide edge 100a faces the left side.

  As shown in FIG. 21 (A), when the front PTP sheet 100 has the pocket facing downward (toward the cassette side) and the wide edge 100a is in the right position in the fourth state, as shown in FIG. When the PTP sheet 100 is gripped by the long claws 71a and the short claws 71b of the grip body 71, the long claws 71a are located on the pocket side. Since the control unit 105 recognizes the orientation of the pocket when the leading PTP sheet 100 is taken out from the medicine storage cassette 1, for example, as shown in FIG. 21 (C), the pocket faces toward the front in the figure. Thus, the grip body 71 is rotated, and the shallow position of the left edge of the PTP sheet 100 is gripped by the first and second claws 81a and 81b of the second grip 8. From the distance between the first and second claws 81a and 81b when gripping, it is possible to know whether or not the wide edge 100a is gripped. 21C, the control unit 105 determines that the wide edge 100a is gripped in the state of FIG. 21C, releases the grip once, and operates the forward / backward movement device 73 to perform the operation shown in FIGS. As shown in (E), it is gripped again at a deep position, and the pocket is turned to the back side in the drawing by the pivoting operation of the second grip portion 8 about the horizontal axis (about the seat longitudinal axis). Further, the grip body 71 is moved upward to rotate the positions of the long claws 71a and the short claws 71b by 180 ° around the vertical axis (around the sheet short axis), and the long claws 71a are moved to the PTP sheet. Position it on the side of 100 pockets. After that, the PTP sheet 100 is held in the sheet storage section 41 of the lid 4 by the operation of the forward / backward moving device 73 and the like, as shown in FIG. At this time, the long claw portion 71a of the grip body 71 enters the cutout portion 4a of the lid 4. In this state, the pocket of the PTP sheet 100 faces the lid 4, and the wide edge 100a faces the left side.

  In the above example, the first grip portion 7 and the second grip portion 8 serve to rotate the PTP sheet 100 around the first axis and the second axis that are orthogonal to each other in the plane of the PTP sheet 100. However, the rotating portions around both axes are not limited to the above-described configurations.

  Further, the PTP sheet 100 is rotated about a normal line that rotates about its normal line, and an axis rotation unit that rotates about a first axis or a second axis orthogonal to each other in the plane of the PTP sheet 100. And a moving part (for example, the first gripping part 7 or the second gripping part 8). The normal rotation unit can be realized by using a mechanism (motor or the like) that rotates the suction operation unit 6 around the normal line. Further, by the operation of the forward / backward moving device 65, the normal rotation unit can approach the medicine sheet in the normal direction (front-back direction) of the sheet surface of the medicine sheet and contact the sheet surface. .. A tube is connected to the rear portion of the suction cup 61a, and an air suction device is connected to the tube. Therefore, the tube should be provided longer so that the rotation of the suction operation unit 6 can be absorbed. It's good to leave.

  In the above example, the pocket detection unit 62 includes a movable plate 62a provided in the suction operation unit 6 and a movement amount detection unit (the potentiometer) that detects the movement amount of the movable member, Although the pocket is detected based on the amount of movement until the movable member comes into contact with the leading PTP sheet 100, the pocket detection unit 62 is not limited to the above configuration.

  For example, the pocket detection unit 62 is a pressure detection unit that detects the pressure (tube internal pressure or the like) of the suction suction unit (the suction cup 61a) provided in the suction operation unit 6 (this pressure detection unit is, for example, the air suction device). It is possible to detect the pocket based on the pressure during the suction operation of the suction suction portion with respect to the leading PTP sheet 100. For example, based on the dimension data of the PTP sheet 100 to be dispensed, which is read out from the master table (chemicals database), the height of the suction main body portion 61 becomes the height of the pocket position in the first suction. The lifting device 64 is operated. If the pocket of the PTP sheet 100 is the front side, the suction cup 61a is inclined due to the interference of the pocket and the suction cannot be performed properly, and the pressure does not reach the specified pressure. It can be determined that After the first suction, in the second suction, the lifting device 64 is used so that the height of the suction main body 61 becomes the height of the non-pocket position (the position between the pockets). The suction body 61 is moved up and down. As a result, the suction cup 61a is attracted to the non-pocket portion of the PTP sheet 100, and the PTP sheet 100 can be dispensed.

  Further, in the above example, it is detected whether the wide edge 100a of the PTP sheet 100 faces left or right, but the invention is not limited to this. It is also possible to set the PTP sheet 100 in the medicine accommodating cassette 1 so that its major axis is vertical. In this case, it is possible to detect whether the wide edge 100a of the PTP sheet 100 is facing up or down. You can

  Next, a dispensing operation unit 110A according to another embodiment will be described with reference to FIGS. 22 to 40.

  As shown in FIGS. 22 and 23, the dispensing operation unit 110A includes a lid opening / closing unit 5 for opening / closing the lid 4 of the medicine storage cassette 1 and the inside of the medicine storage cassette 1 as in the dispensing operation unit 110. While the suction operation unit (takeout unit) 6 for sucking and pulling out the first PTP sheet 100 is provided, the first gripping unit 7 is not provided.

  The payout operating unit 110A rotates the PTP sheet 100 around the normal line rotation unit 13 that rotates about the normal line of the sheet surface of the PTP sheet 100 and the PTP sheet 100 within the plane of the sheet surface. The second grip portion 8 that rotates about the long axis of the above. The second grip portion 8 also functions as a detection portion for the wide edge 100a. In this embodiment, the normal line of the sheet surface is the normal line at the central position of the sheet surface of the PTP sheet 100. Here, the normal line at the center position of the seat surface is parallel to the perpendicular line (orthogonal line) of the seat surface when it is assumed that the PTP sheet 100 is not a curved surface but a flat surface. Further, in this embodiment, the direction of the normal line to the sheet surface is equal to the front-back direction, the direction in which the PTP sheets 100 are arranged in the medicine storage cassette 1, and the movement direction of the medicine storage cassette 1.

  As shown in FIG. 24, FIG. 25 (A) and FIG. 25 (B), the normal rotation unit 13 includes a suction rotary pipe unit 13a at the center position of four horizontally aligned suction cups 61a. .. A suction cup portion 13b is provided at the tip of the suction rotary pipe portion 13a. The rear portion of the suction rotary pipe portion 13a is supported by the bearing portion 13c. A rotary joint 13d is connected to the rear end of the suction rotary pipe portion 13a, and the rotary joint 13d is connected to a dedicated suction pump via a tube. Further, the belt 13e is wound around the rear portion of the suction rotary pipe portion 13a and the drive pulley of the motor 13f. When the motor 13f operates, the suction rotary pipe portion 13a rotates around its central axis.

While the suction rotary pipe portion 13a is fixed in the front-rear direction, the suction main body portion 61 can be moved in the front-rear direction by the guide rail 61c, and the following operation is performed by this front-rear movement. In this embodiment, as described above, the front-rear direction, the direction of the normal to the sheet surface, and the direction in which the PTP sheets 100 are arranged in the medicine storage cassette 1 are the same, and the suction cup portion is the same. The suction direction of 13b is also the same as the front-back direction and the like.
(1) The movable body 62a having a hook shape is moved more than the suction cup 61a by moving the suction main body 61 in the direction approaching the medicine containing cassette 1 (the direction toward the back side of the medicine dispensing apparatus 101). The engagement portion of the medicine accommodating cassette 1 is engaged with the medicine accommodating cassette 1 in a state where the medicine accommodating apparatus 101 is slightly protruded (a state where the medicine ejecting apparatus 101 is slightly protruded in the inner side). Although this engagement is performed from the upper side, the raising and lowering of the suction body 61 for this purpose will be described later.
(2) The drug storage cassette 1 is pulled out from the loading space 101a by moving the suction main body 61 in the direction away from the loading space 101a (the direction that is the front side of the drug dispensing device 101). When the medicine storage cassette 1 is pulled out, the suction main body portion 61 rises and the movable plate 62a of the pocket detection portion 62 separates from the engagement portion of the medicine storage cassette 1. Then, the operation of opening the lid 4 is executed.
(3) By moving the suction main body 61 in the direction approaching the medicine storage cassette 1, the suction cup 61a is brought into contact with the PTP sheet 100 in the medicine storage cassette 1 to suck the PTP sheet 100. At this time, the direction of the pocket portion of the PTP sheet 100 is detected by the movable plate 62a.
(4) The leading PTP sheet 100 is pulled out from the medicine storage cassette 1 by moving the suction main body 61 in the direction away from the loading space 101a.

  When the operation of engaging the engaging portion of the medicine accommodating cassette 1 from above and the operation of releasing the engagement are performed, the elevating device 640 operates to elevate the suction main body 61 and the like. The lifting device 640 rotates the feed screw 640b by the motor 640a. A moving nut 640c is screwed onto the feed screw 640b, and the chassis 640d is moved up and down by the movement of the moving nut 640c. The chassis portion 640d is provided with the suction main body portion 61 and a front-back moving device 650 that moves the suction main body portion 61 back and forth. This front-rear moving device 650 has a different mechanism from the front-rear moving device 65. The specific structure of the front-rear moving device 650 will be described in detail later.

  If it is determined from the detection result by the movable plate 62a that the pocket portion of the PTP sheet 100 faces the front side (sucker side), the suction main body portion 61 is set to the PTP sheet by the operation (4). 100 is passed to the second grip portion 8. The second grip portion 8 turns the pocket portion to the back side (drug holding cassette side). Then, the suction main body 61 receives the PTP sheet 100 from the second grip portion 8.

  Here, as shown in FIGS. 45 (A) and 45 (B), when the four suction cups 61a of the suction main body 61 approach the sheet surface of the PTP sheet 100 and come into contact with the second gripping portion, The warp of the PTP sheet 100 caused by the suction cup 61a near the position 8 contacting the sheet surface of the PTP sheet 100 causes only the suction cup 61a near the second gripping portion 8 to contact the PTP sheet 100. Occurs. In this case, since the other suction cups 61a cannot suck the PTP sheet 100, the suction main body portion 61 may not be able to receive the PTP sheet 100 from the second grip portion 8. Therefore, as shown in FIG. 45 (C), after the suction cup 61a is moved forward of the sheet supporting surface of the second grip portion 8 (toward the medicine accommodating cassette 1), the suction cup 61a is moved to the state shown in FIG. ), The suction cup 61a is retracted to the position of the seat supporting surface of the second grip portion 8 or a position in the vicinity thereof. By this operation, it becomes possible to suck the PTP sheet 100 with many suction cups 61a. Therefore, even if the second grip portion 8 releases the gripped state of the PTP sheet 100, the PTP sheet 100 does not drop, and the suction main body portion 61 can reliably receive the PTP sheet 100.

  Further, when the second grip portion 8 grips the PTP sheet 100, the second grip portion 8 determines whether the gripping side is the wide edge 100a of the PTP sheet 100. When the second grip portion 8 grips the wide edge 100a, the normal rotation by the normal rotation portion 13 is not performed, and the suction main body 61 is attached to the medicine accommodating cassette 1. The PTP sheet 100 is moved in the approaching direction and dropped on the sheet storage unit 41 of the lid 4. The wide edge 100a of the PTP sheet 100 dropped on the sheet storage section 41 faces the sheet gripping section 14 described later, and the side opposite to the wide edge 100a is a cutter section provided in the dispensing operation section 110A. It will turn to the side of 15. Even when the pocket portion of the PTP sheet 100 faces the back side, the suction main body portion 61 passes the PTP sheet 100 to the second grip portion 8 for detecting the wide edge 100a. However, in this case, the PTP sheet 100 is not rotated by the second grip portion 8.

  On the other hand, when the second grip portion 8 grips the opposite side of the wide edge 100a, the suction main body 61 passes the PTP sheet 100 to the normal rotation unit 13. The normal rotation unit 13 rotates the PTP sheet 100 around the normal line. At this time, it is necessary to reliably transfer the PTP sheet 100 from the four suction cups 61a to the suction rotary pipe portion 13a.

  In FIG. 26, the PTP sheet 100 is passed from the four suction cups 61a to the suction cup portion 13b of the suction rotation pipe portion 13a, the PTP sheet 100 is rotated by 180 °, and the PTP sheet 100 is rotated by the suction rotation pipe portion. It is the flowchart which showed the operation | movement which is handed over again to the said 4 suction cups 61a from the suction cup part 13b of 13a. The operation of changing the direction of the pocket portion and the wide edge 100a of the PTP sheet 100 is executed when the PTP sheet 100 for cutting out fractions is required, and when the fractional packaging medicine is not required or the lid 4 is used. If the PTP sheet 100 for cutting out a fraction already exists in the sheet storage unit 41 of FIG. Further, when the operation of changing the orientation of the pocket portion and the wide edge 100a of the PTP sheet 100 is not necessary, the suction main body portion 61 is pulled out of the four pieces after the PTP sheet 100 is pulled out from the medicine accommodating cassette 1. The suction of the PTP sheet 100 by the suction cup 61a is stopped, and the PTP sheet 100 is dropped into the sheet conveying unit 16 and discharged.

  In the above flowchart, the “suction rotary pump” is a pump connected to the suction rotary pipe part 13a, and the “suction pump” is a pump connected to the four suction cups 61a (pad parts) for transferring the PTP sheet 100. Yes, in the "rotation transfer position", the suction cup portion 13b at the tip of the suction rotation pipe portion 13a and the four suction cups 61a are flush with each other, and in the "rotation position", the suction main body portion 61 retracts, The two suction cups 61a are separated from the suction cup portion 13b in a direction away from the PTP sheet 100. That is, the "rotation position" is a position where only the suction cup portion 13b of the suction rotation pipe portion 13a adsorbs the PTP sheet 100.

  When the PTP sheet 100 is taken out from the medicine storage cassette 1, the suction pump is turned on (step S1), the suction main body 61 approaches the medicine storage cassette 1, and the four suction cups 61a are placed inside the medicine storage cassette 1. The top PTP sheet 100 is adsorbed (step S2). Then, the suction rotary pump is turned on (step S3), and the suction main body 61 is moved to the rotation transfer position (step S4). Next, it is judged whether or not the suction main body 61 has reached the rotation transfer position (step S5), and when it reaches, the suction pump is stopped, for example, 0.15 seconds after that time (step S6). , Suction of all the suction cups 61a is stopped (step S7). By stopping the suction pump after the elapse of 0.15 seconds, the PTP sheet 100 is reliably passed from the suction main body 61 to the suction rotation pipe section 13a of the normal rotation section 13. be able to.

  Next, the suction body 61 moves to the rotation position (step S8). Whether or not the suction body 61 has reached the rotational position can be determined by, for example, the number of pulses of the drive motor for the movement (step S9). When it is determined that the suction main body 61 has reached the rotation position, the suction rotation pipe portion 13a rotates 180 ° (step S10). Then, it is determined whether or not this 180 ° rotation is completed (step S11). This determination can be made based on, for example, the number of pulses of the drive motor that rotates the suction rotary pipe portion 13a by 180 °. This 180 ° rotation reverses the direction of the wide edge 100a of the PTP sheet 100.

  After the PTP sheet 100 is rotated 180 °, the suction pump is turned on (step S12). Then, 0.1 seconds after the suction pump is turned on (step S13), the suction main body 61 is, for example, at a position closer to the medicine storage cassette 1 by 1 mm than the rotation transfer position (hereinafter referred to as a pushing position). Is moved to (step S14). By moving the suction main body 61 to the pushing position in this way, the four suction cups 61a can surely come into contact with the PTP sheet 100, and it is possible to prevent the PTP sheet 100 from dropping due to poor suction.

  Next, it is determined whether or not the suction body 61 has reached the pushing position (step S15). This determination can be made based on, for example, the number of pulses of the drive motor that moves the suction main body 61 back and forth. When, for example, 0.3 seconds have passed since the suction main body 61 reached the pushing position (step S16), the four suction cups 61a suck the PTP sheet 100 based on the change in suction pressure by the suction pump, for example. It is determined whether or not it has been done (step S17), and when it is determined that the suction is possible, the suction rotary pump is turned off (step S18).

  After the rotation process for obtaining the PTP sheet 100 for fraction cutting is completed, the elevating device 64 moves the normal rotation unit 13 and the suction main body 61 that adsorbs the PTP sheet 100. The height of the sheet storage unit 41 of the lid 4 is raised. In addition, the front-rear moving device 650 advances the suction main body 61 that adsorbs the PTP sheet 100. As the suction main body 61 advances, the PTP sheet 100 is positioned above the sheet storage unit 41. When the suction of the four suction cups 61a is stopped, the PTP sheet 100 falls into the sheet storage unit 41.

  Here, when the suction pump is turned off and the suction by the four suction cups 61a is simultaneously turned off, the PTP sheet 100 jumps up due to the force of the four suction cups 61a returning to the natural shape, and the sheet storage. The part 41 may not fall to an appropriate position. When the PTP sheet 100 is not in the proper position in the sheet storage unit 41, the PTP sheet 100 is gripped by the sheet gripping unit 14 (see FIG. 30) to cut the fraction, and the PTP sheet 100 is cut by the cutter unit 15 (see FIG. 31). A problem may occur in the process of moving to the position.

  Therefore, the suction off timings of the four suction cups 61a are not matched. As an example, the air suction of the inner two suction cups 61a of the four suction cups 61a is turned off, the air suction of one of the two outer suction cups 61a is turned off, and the air suction of the other suction cup 61a is then turned off. Turn off. The air suction can be turned off, for example, by providing an electromagnetic valve in each of the three branch paths connected to one suction pump and turning the electromagnetic valve on and off. Of course, it is not limited to such a specific configuration. The order of the suction off operation of the four suction cups 61a is not limited, and the air suction may be turned off from the outer suction cups 61a.

  After the PTP sheet 100 is dropped into the sheet storage unit 41, the sheet gripping unit 14 and the cutter unit 15, which will be described later, perform a process of cutting out a fraction of the packaged medicine. Further, when it is necessary to take out a plurality of PTP sheets 100 based on the prescription data, the suction main body 61 is operated by the suction main body 61 from the medicine accommodating cassette 1 in parallel with the operation of cutting out a fraction of the packaged medicine. The operation of taking out the sheet is repeated, and the taken out PTP sheet 100 is sequentially dropped into the sheet conveying unit 16. As described above, if the operation of taking out the PTP sheet 100 from the medicine containing cassette 1 is performed in parallel with the process of cutting out the fractional packaged medicine, the time required for the dispensing can be shortened.

  For example, the operation of setting the PTP sheet 100 for fraction cutting into the sheet storage unit 41 is performed on the PTP sheet 100 first taken out from the medicine storage cassette 1. Then, a first process for cutting out a fraction of the packaged medicine from the PTP sheet 100 set in the sheet storage unit 41, and a second process for taking out the necessary number of PTP sheets 100 from the medicine accommodating cassette 1 by the suction main body 61. In parallel. Even when the PTP sheets 100 taken out after the first and second ones are set in the sheet storage unit 41, the first process and the second process can be performed in parallel. In addition, if the PTP sheet 100 for fractional cutout or some fractional packaging medicines already remain in the sheet storage unit 41, and if fractional cut is performed using this, the second process should be executed during that period. When the inside of the sheet storage unit 41 becomes empty during the second processing, the second processing is temporarily stopped and the PTP sheet 100 for fraction cutting is set in the sheet storage unit 41. May be performed.

  Further, the following process may be performed when the prescription data requires a process of paying out a plurality of PTP sheets 100 and also a PTP sheet 100 for fraction cutting. For example, the direction of the wide edge 100a of the PTP sheet 100 first taken out from the medicine storage cassette 1 is detected by the second grip portion 8. When the wide edge 100a does not face the predetermined direction, the first PTP sheet 100 is dropped and paid out. Similar processing is performed on the subsequent PTP sheet 100.

  Here, for example, when it is necessary to dispense three PTP sheets 100 and a fraction of the packaged medicine, if the wide edge 100a of the third PTP sheet 100 is in the predetermined direction, The third PTP sheet 100 taken out is set in the sheet storage unit 41. That is, the PTP sheet 100 taken out as the third sheet is used as the PTP sheet 100 for fraction cutting. Since the number of PTP sheets 100 to be dispensed is three, the PTP sheets 100 are subsequently taken out from the medicine storage cassette 1 and dispensed.

  On the other hand, when the wide edge 100a of the third PTP sheet 100 taken out does not face a predetermined direction, the third PTP sheet 100 is dropped and paid out. Then, the fourth PTP sheet 100 is taken out from the medicine containing cassette 1. When the wide edge 100a of the fourth PTP sheet 100 is not oriented in a predetermined direction, the PTP sheet 100 is rotated by the normal rotation unit 13 and set in the sheet storage unit 41.

  That is, when it is necessary to store the PTP sheet 100 in a predetermined orientation in the fraction storage sheet storage unit 41 provided in the medicine storage cassette 1, a plurality of PTPs taken out from the medicine storage cassette 1 are required. The PTP sheet 100 facing the predetermined direction among the sheets 100 is stored in the sheet storage unit 41. Then, when all the taken out PTP sheets 100 are not oriented in a predetermined direction, the last PTP sheet 100 is rotated by the normal rotation unit 13 which is a rotation operation unit.

  According to the above method, the rotation operation of the PTP sheet 100 by the rotation operation unit can be minimized, so that the time for the medicine dispensing process can be shortened. In this case, there is a possibility that the mechanical detection operation by the second grip portion 8 for detecting the direction of the wide edge 100a of the PTP sheet 100 may increase. Here, if the configuration is such that the orientation of the wide edge 100a of the PTP sheet 100 taken out from the medicine storage cassette 1 is detected by the image sensor, the mechanical detection operation is not necessary, and the payout is made by improving the image processing speed. You can save time.

  In the above method, among the plurality of PTP sheets 100 taken out from the medicine storage cassette 1, the PTP sheet 100 in which the direction of the wide edge 100a and the direction of the pocket portion are both in the predetermined directions is set in the sheet storage unit 41. It may be housed in. When one or both of the orientations of the wide edges 100a and the pocket portions of all the taken out PTP sheets 100 are not oriented in the predetermined orientation, the normal rotation portion 13 which is the rotation operation portion and And / or the second PTP sheet 100 is rotated by the second grip portion 8. It should be noted that the pocket portion of the PTP sheet 100 taken out from the medicine storage cassette 1 can also be detected by the image sensor.

  27 and 28 show the forward-backward movement device 650. In this front-back moving device 650, the axial direction of the feed screw 650a is set in a direction intersecting the front-back direction. In this embodiment, the axial direction of the feed screw 650a is set in the horizontal direction orthogonal to the front-rear direction, and the feed screw 650a is rotated by the motor 650d. A moving nut 650b is screwed onto the feed screw 650a. One end of a swing arm 650c is rotatably connected to the moving nut 650b, and the other end of the swing arm 650c is rotatably connected to the chassis of the suction body 61. The chassis is guided in the front-rear direction by the guide rail 61c. That is, the suction main body 61 is moved by the swing arm mechanism in which the axial direction of the feed screw is set in a direction intersecting the direction in which the medicine storage cassette 1 is pulled out (the normal direction of the sheet surface of the PTP sheet 100, the front-back direction). Moved back and forth. Therefore, the length (depth) in the front-rear direction of the front-rear moving device 650 can be shortened, and the length in the front-rear direction of the medicine dispensing device 101 can be shortened. In addition, in the case of the conventional slide shaft system, a space for front and rear strokes is required.

  Further, the number of drug sheets that can be stored can be increased by increasing the length of the drug storage cassette 1. Even if the rotation speed of the motor 650d is constant, the moving speed of the other end of the swing arm 650c becomes slower as the moving nut 650b is fed. It becomes slower on the edge side. Therefore, the speed of the other end of the swing arm 650c becomes slower as it approaches the medicine storage cassette 1, and the four suction cups 61a with respect to the leading PTP sheet 100 do not slow down the rotation speed of the motor 650d. The contact can be made at a slow rate. Therefore, the suction cup 61a can be adsorbed on the surface of the PTP sheet 100 while spreading along the surface of the PTP sheet 100.

  FIG. 29 shows the second grip portion 8 and the lid opening / closing portion 5. The second grip portion 8 includes a grip body portion 81 that is rotatable about a horizontal axis, a rotating portion 82 that rotates the grip body portion 81, and a left-right moving device that moves the rotating portion 82 in the left-right direction. And 83. Further, the lid opening / closing portion 5 includes a shaft portion 51 that engages with an engaging portion formed on the lid 4, and the shaft portion 51 is engaged with the engaging portion. The lid 4 is opened and closed by moving 51 along an arcuate trajectory. Further, the lid opening / closing part 5 includes a shaft part 52 that engages with an engaging part formed in the sheet storage part 41, and is in a state where the shaft part 52 is engaged with the engaging part. The sheet storage section 41 is rotated by rotating the shaft section 52. By rotating and closing the sheet storage unit 41, the PTP sheet 100 in the sheet storage unit 41 is positioned at a fixed place.

  FIG. 30 shows the sheet grip portion 14. The sheet gripping section 14 includes a sheet gripping claw 14a and a moving section 14b for moving the sheet gripping claw 14a in the left-right direction of the lid 4. The sheet gripping claw 14a grips the wide edge 100a of the PTP sheet 100 held in the sheet storage unit 41 from the lateral direction of the lid 4. The sheet gripping claw 14a is moved by the moving section 14b, enters the side portion of the sheet storage section 41, and positions the other edge of the PTP sheet 100 at the cutting section of the cutter section 15. When the sheet gripping claw 14a enters the sheet storage unit 41 side, the sheet storage unit 41 is opened to a substantially horizontal position.

  FIG. 31 shows the medicine containing cassette 1, the cutter unit 15, the sheet conveying unit 16, and the like. Although not shown in this figure, the sheet gripping claw 14a grips the wide edge 100a of the PTP sheet 100 held in the sheet storage unit 41 from the lateral direction of the lid 4. The cutter unit 15 can be moved toward and away from the lid 4 from the side of the lid 4 by the moving unit 150. The fraction cutting process is executed in a state where the cutter unit 15 is close to the side of the lid 4.

  Further, a guide protrusion 151 protruding in the horizontal direction is provided at a position on the side of the medicine containing cassette 1 and on a lower side of the cutter unit 15. Since the cutter unit 15 is provided in the payout operation unit 110A, it moves integrally when the payout operation unit 110A moves, and the positional relationship among the guide protrusion 151, the cutter unit 15, and the suction operation unit 6 is constant. is there. On the other hand, a guide concave portion 1a into which the guide protrusion 151 is fitted when the medicine accommodating cassette 1 is advanced is formed at the tip end side of the side surface plate of the medicine accommodating cassette 1. When the medicine storage cassette 1 is pulled out from the loading space 101a, the guide recess 151a is engaged with the guide protrusion 151, and the displacement of the medicine storage cassette 1 is prevented. That is, the positional relationship among the medicine containing cassette 1, the cutter unit 15, and the suction operation unit 6 becomes constant in a state where the medicine containing cassette 1 is pulled out.

  Further, in the dispensing operation unit 110A, an intermediate stocker 152 is provided below the cutter unit 15. On the shutter plate 152a of the intermediate stocker 152, a fraction of the packaging medicine cut by the cutter unit 15 is dropped. When the shutter plate 152a is slid by the shutter drive unit 152b, the fraction of the packaged medicine that has lost its support by the shutter plate 152a falls onto the mixing stocker 17, which is the final stocker in the dispensing operation unit 110A.

  A sheet conveying unit 16 is provided below the lid 4 of the medicine storage cassette 1 pulled out from the loading space 101a. The PTP sheet 100 taken out from the medicine storage cassette 1 is dropped onto the sheet conveying section 16 by the four suction cups 61a. That is, with respect to the PTP sheet 100 that is not cut out for the fraction, the suction by the four suction cups 61a is stopped after the PTP sheet 100 is taken out from the medicine storage cassette 1, and the PTP sheet 100 immediately falls into the sheet conveying unit 16. ..

  When both the PTP sheet 100 and the fractional packaged medicine are dispensed, the fractional packaged medicine is cut by the cutter unit 15 in parallel with the operation of conveying the PTP sheet 100 to the mixing stocker 17 by the sheet conveying unit 16. At this time, the shutter plate 152a is closed, and the cut fraction of the packaged medicine falls on the shutter 152a and stands by. After the fact that all of the PTP sheets 100 have been sent to the mixing stocker 17 is confirmed by, for example, a sheet count value by a sensor (not shown), the shutter 152a is opened and the fractional packaging medicine drops into the mixing stocker 17. That is, after the PTP sheet 100 is conveyed from the sheet conveying unit 16 to the mixing stocker 17, the shutter 152a is opened and the fraction of the packaged medicine drops from above into the mixing stocker 17. The fractional packaged medicine in the mixing stocker 17 and the PTP sheet 100 are finally transferred to a tray for a patient. At this time, the fractional packaged medicine can exist on the PTP sheet 100, and between the PTP sheets 100. It is possible to prevent a state in which a fraction of the packaging medicine is caught and cannot be seen.

  As shown in FIG. 32, the sheet conveying section 16 is located above the mixing stocker 17, and the PTP sheet 100 conveyed by the sheet conveying section 16 goes under the intermediate stocker 152. Thus, it falls into the mixing stocker 17.

  FIG. 33 shows the sheet conveying unit 16 in an enlarged manner. A belt conveyor 16a is provided at the bottom of the sheet conveying section 16. When the belt conveyor 16a is driven, the PTP sheet 100 is conveyed to the mixing stocker 17. If the belt conveyor 16a is operated during the period when the suction main body 61 takes out and drops the PTP sheet 100, the dropped PTP sheet 100 is immediately moved, so that the PTP sheet 100 is already dropped on the PTP sheet 100. It is possible to prevent a situation in which another PTP sheet 100 is dropped. Further, the sheet conveying unit 16 is provided with an inclined portion 16b that inclines downward toward the belt conveyor 16a, and the PTP sheet 100 falling from above is gently placed on the belt conveyor 16a by the inclined portion 16b. The PTP sheet 100 is guided and prevented from being damaged.

  A contact piece 16c is provided on the upper side of the outlet of the sheet conveying section 16 at a position slightly higher than the height of the PTP sheet 100 on the belt conveyor 16a. Here, in the structure in which the contact piece 16c is not provided, when the PTP sheet 100 passes through the downstream end of the belt conveyor 16a and tries to fall, the rear end portion of the PTP sheet 100 floats up and the front end portion thereof rises. Collides with the lower PTP sheet 100 while facing downward. Since the contact piece 16c reduces the lifting of the rear end of the PTP sheet 100, it is possible to prevent the leading end of the falling PTP sheet 100 from colliding with the lower PTP sheet 100 and prevent the PTP sheet 100 from being damaged. To be done.

  Instead of the contact piece 16c, a contact roller 16d may be provided as shown in FIG. The contact roller 16d is urged downward by, for example, a spring connected to a bearing, contacts the PTP sheet 100 passing on the belt conveyor 16a while rotating, and presses the PTP sheet 100 downward. The contact roller 16d can also reduce the lifting of the rear end portion of the PTP sheet 100. Further, since the contact roller 16d is urged by the spring and comes into rotational contact with the PTP sheet 100, it is possible to press the PTP sheet 100 regardless of the pocket height (thickness) of the PTP sheet 100, The horizontal state of the PTP sheet 100 can be maintained as much as possible.

  FIG. 35 (A) shows the mixing stocker 17 in an enlarged manner. A first shutter 17a and a second shutter 17b are provided below the mixing stocker 17 so as to be openable and closable. By adopting the two-shutter configuration, it is possible to eliminate the need for the large rotation area required in the one-shutter configuration, and it is possible to reduce the size of the device. However, in the case of the two-sheet shutter configuration, as shown in FIG. 35B, the PTP sheet 100 may be caught between the two shutters and caught.

  The first shutter 17a and the second shutter 17b are respectively connected to the shaft 17c, and the two shafts 17c are simultaneously rotated by the rotation of the motor 17d. The rotation of the motor 17d is transmitted to the shaft 17c by, for example, a gear mechanism. The first shutter 17a has a flat plate shape, while the second shutter 17b has a shape in which the front end side is bent inside the mixing stocker 17. Therefore, asymmetry occurs in the opening / closing operations of the first shutter 17a and the second shutter 17b. Note that the first shutter 17a and the second shutter 17b prevent the PTP sheet 100 from dropping from the clearance between the leading ends by overlapping the leading ends thereof.

  FIG. 36 shows how the PTP sheet 100 in the mixing stocker 17 drops due to the opening operation of the first shutter 17a and the second shutter 17b. As can be seen from these figures, since the horizontal posture of the PTP sheet 100 is collapsed, it is possible to prevent the PTP sheet 100 from staying between the first shutter 17a and the second shutter 17b. In particular, as shown in FIG. 35 (B), when a plurality of PTP sheets 100 are overlapped while staying in a horizontal posture and stay between two shutters, the PTP sheets 100 tend not to fall. As described above, since the horizontal posture of the PTP sheet 100 is collapsed, the PTP sheet 100 can be easily dropped. That is, even if the gap when the first shutter 17a and the second shutter 17b are opened is smaller than the short side of the PTP sheet 100, the horizontal posture of the PTP sheet 100 is collapsed, and the PTP sheet 100 falls from the gap. You can do it.

  In the above example, the shapes of the first shutter 17a and the second shutter 17b are made different from each other to cause asymmetry in these operations, but a difference other than the shape (for example, two shutters is used). Asymmetry may be caused by the difference in the operation timing, the rotation speed, and the like.

  FIG. 37 shows the positional relationship among the suction main body 61, the sheet conveying unit 16, and the weight measuring unit 18. When the medicine storage cassette 1 is pulled out by the backward movement of the suction main body 61, the medicine storage cassette 1 is positioned on the weight measuring unit 18. Two pins 181a are erected on the cassette pedestal 181 of the weight measuring unit 18, and these two pins 181a can be fitted into the recesses formed on the back surface of the medicine containing cassette 1. Further, the cassette cradle 181 is provided with an electromagnet 181b, and when the electromagnet 181b is turned on, the magnetic substance provided on the back surface of the medicine containing cassette 1 is magnetically attracted, and the medicine containing cassette 1 is Are suction-fixed onto the cassette pedestal 181.

  Further, the inclined portion 16b of the sheet conveying portion 16 is biased to the rear side of the medicine dispensing device 101 (outside of the sheet conveying portion 16) by a spring 16e as shown in FIG. When the weight measuring unit 18 rises, the roller 182 that rises together pushes the inclined portion 16b, and the inclined portion 16b resists the bias of the spring 16e and the front side of the medicine dispensing device 101 (the sheet conveyance (Inside part 16). As a result, the upper portion of the weight measuring unit 18 is opened, and the medicine storage cassette 1 can be fixed on the cassette receiving base 181.

  38 (A) and 38 (B) show the weight measuring unit 18 in an enlarged manner. The moving nut 182 is screwed into the feed screw 183 arranged in the horizontal direction. When the feed screw 183 is rotated by the motor 184, the move nut 182 is guided by the guide shaft 185 to move in the horizontal direction. The horizontal movement of the moving nut 182 causes the link 186 to operate. The cassette pedestal 181 is connected to the link 186. The cassette cradle 181 is supported by a guide rail 187 provided in the vertical direction, and the motor 184 is driven by a predetermined number of pulses to raise the cassette cradle 181 by a predetermined distance. When the cassette pedestal 181 is raised by a predetermined distance, the two pins 181a are fitted in the recesses formed on the back surface of the medicine containing cassette 1. Further, the electromagnet 181b is turned on, and the total weight of the medicine containing cassette 1 is added to the cassette receiving table 181.

  As shown in FIG. 39, one end (action point) of the strain detection block 181d is fixed to the end of the cassette pedestal 181 at the bottom of the cassette pedestal 181 by a bolt 181e. Further, the other end portion (fixing point) of the strain detection block 181d is fixed to the support portion 181g by a bolt 181f. A line connecting the fixed point and the action point of the strain detection block 181d is orthogonal (intersecting) to the drawing direction (front-back direction) of the medicine storage cassette 1. With such a configuration, the dispensing operation unit 110A can be made thinner than in the case where the line connecting the fixed point and the action point of the strain detection block is parallel to the drawing direction of the medicine storage cassette 1. .. The supporting portion 181g is connected to the moving nut 182. The central portion of the strain detection block 181d is hollowed out, and the strain sensor 181c is provided at a portion where strain is generated by a load (see a hatched portion in the drawing). From the value of the strain sensor 181c when the total weight of the medicine containing cassette 1 is added to the cassette receiving base 181, the number of PTP sheets 100 set in the cassette receiving base 181 can be known.

  When the weight of the medicine storage cassette 1 is measured, the engagement of the movable plate 62a of the pocket detector 62 with the medicine storage cassette 1 is released. Further, the cutter portion 15 may be moved in order to release the engagement between the guide protrusion 151 and the guide recess 1a.

  Further, in the above-mentioned embodiment, both the direction of the pocket and the direction of the wide edge of the drug sheet taken out from the drug storage cassette are uniformly aligned, but the user aligns the direction of the pockets to place the drug sheet in the drug storage cassette. When setting, it is possible to omit the means for detecting the pocket and the means for inverting the pocket direction.

  Further, if the directions of at least the wide edges of the drug sheet taken out from the drug storage cassette can be uniformly aligned, it is possible to perform fraction cutting on the drug sheet even if the pocket orientation is not aligned.

  FIG. 41 shows the relationship among the grip claws 14a of the sheet gripping section 14, the PTP sheet 100, and the cutter section 15. When the cutter portion 15 is composed of, for example, a fixed blade 15a and a movable blade 15b, it is desirable that the sheet side (non-pocket side) of the PTP sheet 100 faces the fixed blade 15a side. In this case, the distance between the seat side and the fixed blade 15a can be set to be small so that the bending of the sheet when the fraction is cut by the movable blade 15b can be reduced. On the other hand, as shown in FIG. 42, when allowing the pocket side of the PTP sheet 100 to face the fixed blade 15a, the fixed blade 15a is positioned so as not to hit the pocket of the PTP sheet 100. Need to let. Therefore, the bending of the sheet when the fraction is cut by the movable blade 15b becomes large. However, if the bending of the sheet is within a certain range, it is possible to appropriately cut the fraction on the PTP sheet 100.

  Further, as shown in FIG. 43, when the cutter portion 15 is composed of two movable blades 15b, the bending of the sheet when the fraction is cut by the movable blades 15b can be reduced regardless of which direction the pocket is facing. It is possible to appropriately perform fraction cutting on the sheet 100. Further, as shown in FIG. 44, the grip claws 14a of the sheet gripping portion 14 are movably provided in the normal direction of the sheet surface (direction toward and away from the fixed blade 15a), and the PTP sheet 100 is cut. Then, the PTP sheet 100 is moved closer to the fixed blade 15a to cut a fraction. Even in such a case, since the sheet bending when the fraction is cut by the movable blade 15b can be reduced, it is possible to appropriately perform the fraction cut on the PTP sheet 100.

  That is, the PTP sheet 100 is rounded off even if the pocket detecting means and the pocket direction reversing means are omitted and the user does not set the medicine sheet in the medicine accommodating cassette with the pockets in the same direction. It can be done properly.

  With the above-described configuration, even if the wide edges of the medicine sheet taken out from the medicine accommodating cassette are not aligned, the wide edges of the medicine sheet can be made uniform in direction. Alternatively, the orientation of the pocket and the width of the wide edge can be made constant even if the orientation of the pocket and the width of the wide edge of the medicine sheet taken out from the medicine storage cassette are not uniform.

  Although the embodiments of the present invention have been described with reference to the drawings, the present invention is not limited to the illustrated embodiments. Various modifications and variations can be made to the illustrated embodiment within the same range as the present invention or within an equivalent range.

1 Drug Storage Cassette 11 Storage Unit 12 Partition Plate 13 Rotating Unit Around Normal Line (Rotating Operation Unit)
13b Sucker part (rotating contact part)
14 Sheet Gripping Section 15 Cutter Section 16 Sheet Conveying Section 16c Contact Piece (Contact Member)
16d Contact roller (contact member)
17 Mixing Stocker 17a First Shutter 17b Second Shutter 2 Discharge Part 21 First Limiting Part 21a Contact Member 21b Support Part 21c Spring (Biasing Member)
22 2nd restriction part 3 Moving operation part 31 Holding member 32 Constant load spring 32c Damper (adjusting means)
4 Lid 4a Cutout 41 Sheet Storage 50 Discharge Operation 6 Suction Operation (Extraction)
61 suction body 61a sucker (holding contact part)
62 Pocket Detecting Unit 64 Lifting Device 65 Forward / Backward Moving Device (Movement Control Unit)
7 First grip (rotating motion part)
71a Long claw 71b Short claw 71 Gripping body 72 Rotating part 73 Front-rear moving device 74 Lifting device 8 Second gripping part (rotating motion part)
81 Grip main body 81a First claw 81b Second claw 82 Rotating part 83 Left and right moving device 101 Drug dispensing device 110 Dispensing operating part 110A Dispensing operating part 152 Intermediate stocker

Claims (1)

  A wide-width edge determining unit that determines the orientation of the wide-edge of the drug sheet, and based on the orientation of the wide edge determined by the wide-edge determining unit, at least the wide-edge of the drug sheet faces a certain direction. A drug sheet rotating device, comprising: a rotation operation unit that rotates the medicine sheet; and a cutter unit that cuts the medicine sheet with the wide edge oriented in a fixed direction.

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