JP2022080780A - Medicine distribution device and injection delivering system - Google Patents

Abstract

To provide a medicine distribution device capable of distributing a medicine more accurately by allowing correct recognition of a medicine shape.SOLUTION: A medicine distribution device has a container where multiple medicines are placed, a first reading part for determining the shape of the multiple medicines, a second reading part for reading information of the medicine by imaging the medicine, first transfer means for transferring the medicine placed on the container to the first reading part, and oscillation means for oscillating the container. The first reading part images in plural times the image of the medicine, and during imaging, the medicine placed on the first reading part is moved by the oscillation means, and each image imaged before and after oscillation is compared with each other, and when each medicine shape before and after oscillation agrees with each other, the medicine is transferred.SELECTED DRAWING: Figure 1

Description

The present invention relates to a drug sorting device for collecting drugs for each shape and an injectable drug dispensing system using the drug sorting device.

There is known a drug sorting device that arranges and arranges the collected drugs according to their shapes after being paid out once.
In such a drug sorting device, there is known a device that photographs a drug placed on a tray, determines the shape by image recognition, and then changes the placement position according to the shape of each drug (for example). See Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2011-10768 Japanese Unexamined Patent Publication No. 2018-138199

In such a drug sorting device, when determining the shape of a drug by image recognition, it is required to confirm the presence or absence of the drug placed on the container and whether the shape can be correctly recognized.
However, it has been known that the shape and position of the drug cannot be correctly grasped, for example, when the drugs overlap in the container or when the drug moves out of the range where the image is taken. ..

In order to solve the above problems, the present invention comprises a container in which a plurality of drugs are placed, a first reading unit for determining the shape of the plurality of drugs, and an image of the drugs. It has a second reading unit for reading information on the drug, a first transfer means for transferring the drug placed on the container to the first reading unit, and a swinging means for swinging the container. The first reading unit captures an image of the drug a plurality of times, and during the imaging, the drug placed on the first reading unit is moved by the shaking means, and images are taken before and after the shaking. The images are compared, and when the shapes of the medicines match before and after the shaking, the medicines are transferred.

According to the present invention, it is possible to correctly recognize the shape of a drug and sort the drug more accurately.

It is a figure which shows an example of the structure of the drug sorting apparatus. It is a figure which shows an example of the structure of the shape determination part in a drug sorting apparatus. It is a figure which shows an example which looked at the structure of the drug sorting apparatus from the upper surface side. It is a figure which shows an example of the structure of the deadline reading unit. It is a figure which shows an example of the structure of a control part. It is a figure which shows an example of the operation when a drug is returned. It is a figure which shows an example of the movement to the shape determination part of a container. It is a figure which shows the comparative example of the shape determination in the shape determination part. It is a figure which shows the example which made the shape determination correctly about the comparative example shown in FIG. It is a figure which shows an example of the operation when a drug is returned. It is a figure which shows an example of the reading operation in the deadline reading part. It is a figure which shows an example of the operation of the 2nd transfer means and the 3rd transfer means. It is a figure which shows an example of the operation of the 3rd transfer means. It is a perspective view which shows the shape of the medicine placing part of a storage tray. It is a figure which shows an example of the shape of a drug. It is a figure which shows an example of the operation in the deadline reading part in the medicine | medicine of the shape shown in FIG. It is a figure which shows an example of the structure of the collection tray. It is a figure which shows an example of the operation of the collection tray shown in FIG. It is a figure which shows an example of the structure of an injectable medicine dispensing system. It is a figure which shows an example of the operation of the drug sorting apparatus in the embodiment shown in FIG.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a configuration example of a drug sorting device 100 that sorts drugs by transporting the drug 1 placed in the container 50 to a transfer destination for each predetermined shape.
The drug sorting device 100 includes a container 50 on which a plurality of drugs 1 are placed, a shape determination unit 10 as a first reading unit that determines the shape of the drug 1 when the container 50 is moved to the position, and a drug. The expiration date reading unit 20, which is the second reading unit that reads information such as the expiration date of the drug 1 when 1 is moved to the relevant position, and the first, which transfers the drug 1 placed on the container 50 to the expiration date reading unit 20. It has a transfer means 60 and a swinging means 51 that swings the container 50 in the shape determination unit 10 as described later.
Further, the drug sorting device 100 is arranged in the vicinity of the deadline reading unit 20, and is extruded by the extrusion unit 30 and the extrusion unit 30 driven to abut and extrude the drug 1 placed on the deadline reading unit 20. The second transfer means 70 for transferring the medicine 1 and the third transfer means 80 as a robot arm for arranging the medicine 1 transferred by the second transfer means 70 on the storage tray 110 which is the transfer destination, and each of these parts. It has a control unit 90 as a control device which is a control board for control.

The container 50 is, for example, as shown in FIG. 2A, a tray-shaped plastic container in which a plurality of agents 1 are miscellaneously arranged.
The drug 1 is, for example, an ampoule of an injectable drug or the like that has been paid out once but returned without being used. The user can arrange a plurality of the returned medicines 1 in a container 50 side by side on each shelf from the front side of the medicine sorting device 100 as shown in FIG.
The shape determination unit 10 includes a camera 11 as a photographing means for photographing the drug 1 arranged on the container 50, and an image recognition unit 12 for determining the shape of the agent 1 from the image photographed by the camera 11. Have.
As shown in FIG. 1, the camera 11 is arranged above a predetermined mounting position of the container 50, and functions as a photographing means capable of photographing the drug 1 placed in the container 50.
The image recognition unit 12 is a control unit connected to the camera 11, and reads the shape of the drug 1 from the image taken by the camera 11, and the shape of the drug 1 is a plurality of pre-registered shape patterns (a plurality of shape patterns (). For example, which of the ampoule shape and plastic ampoule shape used for the syringe) is examined and determined. For example, the image recognition unit 12 captures the region of the drug 1 as shown by the broken line in FIG. 2 (b) from the image of the container 50 as shown in FIG. 2 (b) taken by the camera 11 as viewed from above. You may take a method of extracting, examining the matching rate between the extracted drug 1 and the pre-registered shape pattern, and determining that the drug 1 has the shape when the matching rate exceeds the threshold value. The image recognition method of may be used.

The rocking means 51 is a swinging means for vibrating or rotating the container 50 to roll and move the drug 1 so that the shape of the drug 1 can be easily grasped by the image recognition unit 12. The rocking means 51 may be a plate-shaped member provided with a motor as a driving member that swings parallel to the mounting surface of the drug 1, for example, parallel to the XY plane in FIG. Alternatively, the swinging means 51 may swing by moving it up and down in the Z direction.
Even when the image recognition unit 12 cannot grasp the correct shape due to the agents 1 overlapping each other, the overlapping agents 1 are separated from each other by shaking the container 50 by the shaking means 51, and the individual agents are separated from each other. Or, the drug 1 that was out of the photographing range of the camera 11 moves into the photographing range of the container 50 due to the shaking and becomes recognizable.
Here, for example, the case where the drug 1 is out of the photographing range of the camera 11 includes a case where the drug 1 is near the side wall surface of the container 50 and the image recognition unit 12 cannot correctly recognize the boundary between the container 50 and the drug 1.

The first transfer means 60 is an adsorption type pickup unit for taking out the drug 1 whose shape has been correctly recognized by the image recognition unit 12 from the container 50 and transferring it. In the present embodiment, the nozzle 61 and the solenoid valve 62 are used. have.
When the first transfer means 60 grasps the position of the drug 1 on the container 50 from the image recognition unit 12 as shown in FIG. 3, the first transfer means 60 moves toward the position in each direction of the XYZ3 axis and adsorbs the drug 1. .. The first transfer means 60 transfers and arranges the drug 1 to a predetermined position of the deadline reading unit 20 in such a manner that the drug 1 is adsorbed on the tip of the nozzle 61.

As shown in FIG. 3, the deadline reading unit 20 is arranged above the pair of rollers 21 and 22 extending in the front-rear direction of the drug sorting device 100 and the rollers 21 and 22 as shown in FIG. It has two cameras 23 and 24 that read character information such as the expiration date from the surface.
The deadline reading unit 20 is also located on the rollers 21 and 22, and is arranged on the rearmost side reading position 25 and the rear side reading position 25 on the front side of the rear side reading position 25, and is arranged on the same straight line as each other. It has a front reading position 26.
An extruding portion 30 is provided at the rearmost end of the rollers 21 and 22 so as not to interfere with the rollers 21 and 22 and to be extruded to the front side to press the roller 21 and 22 while contacting the drug 1. There is.
The extrusion portion 30 moves the drug 1 arranged at the rear reading position 25 so as to be pushed toward the front reading position 26 by pressing from the rear side. As described above, the linear direction from the rear reading position 25 to the front reading position 26 is the extrusion direction, which is the traveling direction of the extrusion portion 30.
Above the rear reading position 25, the camera 23 is arranged toward the rear reading position 25 so as to focus on the side surface of the drug 1 arranged at the rear reading position 25.
Above the front reading position 26, the camera 24 is arranged toward the front reading position 26 so as to focus on the side surface of the agent 1 arranged at the front reading position 26.

A receiving portion 71, which is a support portion for supporting the drug 1 from below, is provided at the lower portion of the front reading position 26 in contact with the drug 1.
As will be described later, the second transfer means 70 is free in the XZ plane around the Y direction axis after reading the deadline, provided that the drug 1 extruded by the extrusion section 30 reaches the receiving section 71. It is a pickup module that moves the drug 1 within the reach of the robot arm of the third transfer means 80 by moving to. In other words, the second transfer means 70 is composed of a receiving portion 71 that supports the drug 1 from below at the front reading position 26, and a rotating means that rotates the receiving portion 71.
The third transfer means 80 is a robot arm that, after the receiving portion 71 of the second transfer means 70 rotates, grabs the drug 1 placed on the receiving portion 71 and carries it to the storage tray 110.
The third transfer means 80 is, for example, among the storage trays 110 having a plurality of drug 1s by the control unit 90 based on the information on the deadline and shape of the drug 1 read by the deadline reading unit 20 and the shape determination unit 10. It is controlled which position in which stage.

The control unit 90 is a control unit that controls each unit of the drug sorting device 100, and functions as a control terminal for performing computer control, for example.
In the present embodiment, the control unit 90 includes an image recognition unit 12 that determines the shape of the drug 1 as shown in FIG. 5, and an NG determination unit 91 for processing as an NG product based on the deadline and shape of the drug 1. It also has an alignment determination unit 92 for determining in which storage tray 110 the medicine 1 within the deadline is to be placed.

Using such a configuration, the operation when the dispensed drug 1 charged in the container 50 is placed on the desired storage tray 110 will be described with reference to the flow chart of FIG.

First, the container 50 is placed at a predetermined position of the drug sorting device 100 in a state where a plurality of drugs 1 are placed in the container 50 (step S101).
In step S101, as shown in FIGS. 7A to 7D, the elevator unit 52 provided with the swinging means 51 and provided on the back side of the sorting device 100 extends the arm 53 of the sorting device 100. A configuration was used in which the container 50 placed on the front side was pulled in while being held and raised to move the container 50 to a position corresponding to the shape determination unit 10. However, the configuration is not limited to this, and any moving method may be used as long as the container 50 is held and moved within the shooting range of the camera 11.
On condition that the container 50 is in the shape determination unit 10, the camera 11 photographs the container 50 and the drug 1 (step S102), and the image recognition unit 12 uses the drug from the first image data acquired in step S102. The shape of 1 is determined (step S103).
If the shape is known in step S103, the image recognition unit 12 provisionally determines the shape of the drug 1 based on the shape determination result in step S103, and then uses the swinging means 51. The container 50 is shaken (step S104).
After swinging in step S104, the camera 11 is used again to acquire the second image data (step S105).

In the image recognition unit 12, the shape determination result acquired from the second image data acquired in step S105 is the shape determination result of step S103 acquired from the first image data captured in step S102. It is examined whether or not they match (step S106).
In this way, step S106 verifies whether or not the shape determination results match before and after step S104 in which the swing is performed.

In step S106, when the shape determination results match before and after the swing, the image recognition result acquired from the first image data and the image recognition result acquired from the second image data are equal. It means that. That is, there is a high possibility that the shape of the drug 1 can be correctly recognized.
On the other hand, for example, if the image recognition unit 12 cannot determine the shape of the drug 1, the shapes of the drug 1 should not match between the first and second sheets.
Further, for example, in step S102, as illustrated in FIG. 8 as a comparative example surrounded by a broken line, the drugs may overlap each other and recognize the two drugs as one drug. The broken line in FIG. 8 virtually shows the recognition range of the drug 1 by the image recognition unit 12. When the two overlapping agents 1 are recognized as one as shown in FIG. 8, it is expected that the agents 1 will be separated from each other by the swing of step S104. Therefore, it can be inferred that the second image data acquired in step S105 does not completely match the first image data because the two agents 1 are recognized as separate bodies as illustrated in FIG. 9.

As described above, the image recognition unit 12 compares the image data before and after the shaking or the shape determination result of the drug 1 recognized from the image data in step S106, and if they match, the drug 1 is tentatively determined. If the shape determination result of the above is determined to be correct and does not match, the process is repeated from the swing step of step S104.
At this time, the second image data is referred to as "first image data", that is, "image data before shaking", and the third image data is referred to as "second image data", that is, "shaking". By treating it as "later image data", it is possible to compare the image data before and after the repeated rocking step.

By the way, in step S106, which is the determination step, when the shape determination results of the agent 1 before and after the swing match, the NG determination unit 91 checks whether the shape of the agent 1 can be correctly determined (step S107). .. Specifically, it is determined whether or not the shape determination result of the drug 1 grasped by the image recognition unit 12 matches the shape data stored in advance.
When it is confirmed in step S107 that the image recognition unit 12 correctly determines the shape of the agent 1, the agent 1 is conveyed to the rear reading position 25 of the deadline reading unit 20 by using the first transfer means 60 (1st transfer means 60). Step S200), the process is repeated sequentially from step S101 for the next drug. Alternatively, if the drug 1 whose shape determination result has not yet been determined remains in the container 50, the treatment is continued for those drugs 1.

On the other hand, in step S106, when the shape determination results of the drug 1 before and after the swing match, but the shape of the drug 1 does not match the shape data stored in advance, the drug 1 is determined to be NG. It is determined by the unit 91 to be an NG product (No in step S107), and is conveyed to the NG tray 120 (step S108). The transfer of the drug 1 when such an NG determination is made will be described later.

Now, in step 200, the case where the drug 1 is transported to the deadline reading unit 20 will be described subsequently with reference to FIG.
In the present embodiment, as shown in FIG. 4, the deadline reading unit 20 is arranged above the pair of rollers 21 and 22 extending in the front-rear direction of the drug sorting device 100 and the drugs 21 and 22. It has two cameras 23 and 24 that read character information including an expiration date from the surface of 1.
First, the control unit 90 determines whether or not the medicine 1 carried by the first transfer means 60 has a shape that is easy to rotate (step S201). Specifically, if the drug 1 has a vial or ampoule shape that is easy to rotate, the process proceeds to step S202, and if the drug 1 has a plastic ampoule shape that is difficult to rotate due to being caught, the process proceeds to step S210.
First, the case where the drug 1 has an ampoule shape that is easy to rotate will be described.
When the drug 1 is placed between the rollers 21 and 22 at the rear reading position 25 by the first transfer means 60 as shown in FIG. 11A and the first transfer means 60 retracts, the rollers 21 and 22 move in the same direction. The camera 23 rotates to take a panoramic image of the circumferential side surface of the drug 1 (shooting step S202).
In step S202, when the rollers 21 and 22 rotate as shown in FIG. 11B, the agent 1 is driven to rotate due to such rotation. At this time, since the side surface of the drug 1 appears to rotate on the camera 23, information Q such as the bar code of the drug 1 and the expiration date written at an arbitrary position on the side surface is read (reading step S203). .. Here, a method of reading the barcode and expiration date written on the drug 1 by the camera 23 by image recognition is used, but the method is not limited to this method. Further, the control unit 90 has the drug data in the drug master data stored in the drug sorting device 100 or outside the drug sorting device 100 from the bar code of the drug 1 read by the deadline reading unit 20 in the reading step S203. By collating with, the type of the drug 1 can be specified.

When the barcode of the drug 1 and the expiration date are read in the reading step S203, the control unit 90 uses the extrusion unit 30 to face the extrusion direction as shown in FIG. 11 (c), that is, the rear reading position 25. Is pushed out toward the front reading position 26 (step S204).
In the present embodiment, the pushing direction is a direction along the extending direction of the rollers 21 and 22, that is, a direction toward the front of the drug sorting device 100.
At the lower part of the front reading position 26, a receiving portion 71 of the second transfer means 70 is provided on a substantially extension line of the rollers 21 and 22, and as shown in FIG. 11D, the agent 1 is most extruded by the extrusion portion 30. When pushed forward, the drug 1 is located on the receiving portion 71.

The second transfer means 70 moves together with the receiving portion 71 as shown in FIGS. 12 (a) to 12 (c), provided that the drug 1 is arranged on the receiving portion 71 as shown in FIG. 11 (d). Then, the drug 1 is transferred into the movable range of the third transfer means 80 (step S300).
The alignment determination unit 92 of the control unit 90 determines where to place the drug 1 in the storage tray 110 from the information such as the barcode read in the reading step S203 (step S301).
In step S301, for example, the alignment determination unit 92 sets the type of the drug 1 specified from the barcode of the drug 1 read by the deadline reading unit 20 and the sizes of S, M, and L arbitrarily set for each drug. Based on this, the destination of the drug 1 is determined. The identification of the drug 1 from the reading step S203 and the transfer of the drug 1 as described in steps S204 and S300 are internally performed in parallel, and the order may be changed, but the description is simplified. The explanations were given in the order shown in FIG. 10 for the purpose of.
The third transfer means 80 is a robot arm, which picks up the drug 1 on the receiving portion 71 as shown in FIGS. 12 (c) and 12 (d), and is overlapped by the movement in the XY direction and the movement in the Z direction. The drug 1 is placed at a predetermined position on the storage tray 110 (step S302).
The "predetermined position" of the storage tray 110 is, for example, read from the bar code of the drug 1 by collating the data of the drug in the alignment determination unit 92 or in the drug master stored outside the drug sorting device 100. The size of the drug 1 may be determined based on the size of each of the drugs 1, for example, S, M, and L, or the place where the drug 1 is placed may be changed depending on the type and shape of the drug 1.

In the present embodiment, for example, as shown in FIGS. 13 and 14, the storage tray 110 has a valley shape having a V-shaped cross section according to the size of the ampoule shape of the drug 1 (each size of S, M, L). It has an accommodating portion in which the receiving blades 111 and the notches 112 are alternately formed.
In addition, in FIG. 13A, the enlarged perspective view of the part A surrounded by the alternate long and short dash line is shown as FIG.
When the medicine 1 is placed on the upper left of the S size storage tray 110, the alignment determination unit 92 holds the medicine 1 at a position sandwiched by the notch 112 as shown in FIG. 13 (b). The transfer means 80 is inserted, the arm-shaped chuck 81 is opened, and the device returns to a predetermined position.
In this way, the ampoule-shaped drug 1 is placed in the storage tray 110 at a position sandwiched by the notch 112. In the present embodiment, the notch 112 is a gap portion provided so that the chuck 81 of the third transfer means 80 can easily enter.
As a matter of course, when the medicine 1 is picked by the chuck 81, it is more stable to hold the portion close to the center of gravity of the medicine 1 with the chuck 81. Therefore, the central portion of the medicine 1 is the storage tray 110 shown in FIGS. 13 and 14. It is preferable to place it on the portion sandwiched between the notches 112 of the above. The shape of the storage tray 110 is not limited to such a configuration. However, it is more desirable that the shape of the storage tray 110 is such that the medicine 1 can be prevented from rolling during storage.

Next, a case where the agent 1 is determined in step S201 to have a plastic ample shape that is difficult to rotate will be described.
At this time, the first transfer means 60 conveys the drug 1 toward the rear reading position 25, as in the case of the ampoule shape (step S210).
As shown in FIG. 15, the plastic ample shape is a shape obtained by cutting out one from a series of groups, and it is known that it is difficult to follow the rotation of the rollers 21 and 22 because burrs and the like in the cut out portion are caught. Has been done.
Therefore, when the image recognition unit 12 determines that the drug 1 has a plastic ample shape, the control unit 90 extrudes the plastic ample-shaped drug 1 placed at the rear reading position 25 as shown in FIG. 16 (a). It is pushed out toward the front reading position 26 by the portion 30 (step S211).
At this time, of course, the drug 1 passes through the rear reading position 25, but it is not necessary to operate the camera 23.

The tip of the drug 1 extruded to the front reading position 26 by the extrusion portion 30 is abutted against the abutting portion 31 as shown in FIG. 16 (b). Further, FIG. 16C is a diagram showing an example of an image taken by the camera 24 in step S212.
When the agent 1 comes into contact with the abutting portion 31, the pressure applied to the extrusion portion 30 naturally changes. Therefore, the control unit 90 causes the agent 1 to abut against the abutting portion 31 with the pressure change of the pressure detecting means provided in the pressing portion 30. It is possible to detect that the product is sandwiched between the product and the extrusion unit 30.
As shown in FIG. 16 (c), the extruded portion 30 sandwiches the agent 1 from the abutting portion 31 by rotating the portion in contact with the agent 1 in the circumferential direction with the extrusion direction as the central axis. While rotating while rotating, the camera 24 is used to take an image of the side surface in the circumferential direction (step S212).
As shown in step S212, the extruded portion 30 fixes the drug 1 by sandwiching the drug 1 with the abutting portion 31, and the drug 1 described on the side surface of the drug 1 by the rotation of the extruded section 30. Information can be read.

In step S212, when the extrusion portion 30 is rotated, the agent 1 is rotated by such rotation. At this time, since the side surface of the drug 1 appears to rotate on the camera 24, information Q such as the bar code of the drug 1 and the expiration date written on the side surface is read (reading step S213). Here, as in step S203, a method of reading the barcode and expiration date written on the drug 1 by the camera 24 by image recognition is used, but the method is not limited to this method.

When the barcode, expiration date, etc. of the drug 1 are read at the front reading position 26, the second transfer means 70 rotates together with the receiving portion 71 as described above, and the drug 1 is transferred to the third transfer means 80. It is transferred into the movable range (step S300).
From step S300 onward, there is no change in the configuration in which the ampoule shape, the plastic ampoule shape, and the vial shape are placed on the predetermined storage tray 110 by using the third transfer means 80, so that they overlap. The explanation to be given will be omitted.

By the way, in step S106, although the shape determination results of the drug 1 before and after the swing match, the shape of the drug 1 does not match the shape data stored in advance, or in steps S203 and S212, the drug 1 is used. When the expiration date has been exceeded, the drug 1 is determined to be an NG product by the NG determination unit 91.
The NG determination will be described.

As shown in FIG. 17, the NG tray 120 is connected to a mounting portion 121 on which the drug 1 is dropped by a gently inclined portion 122 from the mounting portion 121, and a flat portion 123 for storing the drug 1 and an inclined portion. It is a drug container having a cushioning material 124 attached to the lower part of 122.
The NG tray 120 is a box-shaped container with an open upper portion, and a mounting portion 121, an inclined portion 122, and a flat portion 123 are surrounded by a side wall of the NG tray 120.

When the drug 1 is transported to the NG tray 120 as an NG product in step S108, the first transfer means 60 first moves the drug 1 to the rear reading position 25.
When the drug 1 is determined to be NG, the control unit 90 moves the drug 1 by the extrusion unit 30 as shown in FIGS. 11 and 16, and uses the second transfer means 70 to move the drug 1 to the third transfer means. Transfer to 80 movable ranges.
The control unit 90 moves the NG tray 120 in the −X direction as shown in FIG. 18 during such transfer.
The third transfer means 80 places the NG-determined drug 1 on the placement unit 121.
At this time, in the vicinity of the mounting portion 121, it is preferable to slow down the transfer of the third transfer means 80 in the Z direction because it is possible to further prevent damage to the drug 1.
As shown in FIG. 17, the mounting portion 121 is provided at the right end portion of the NG tray 120, and is arranged on the upper side of the flat portion 123 when the cross section of the NG tray 120 is viewed. ..
The drug 1 placed on the mounting portion 121 is guided to the flat portion 123 along the inclined portion 122 and is held by the flat portion 123 as shown in FIG.

The flat portion 123 is a part of a member constituting the bottom surface of the NG tray 120, and functions as a drug storage unit for storing the rolled drug 1 when the drug 1 moves from the inclined portion 122.
In the present embodiment, the inclined portion 122 is a slope formed of a linear soft material connecting the flat portion 123 and the mounting portion 121, and the flat portion 123 which is the bottom surface of the NG tray 120 and the inclined portion 122. A sheet-shaped cushioning material 124 is arranged between the lower surface and the lower surface. As the cushioning material 124, a rubber material may be used in addition to, for example, a silicon sheet or other resin material. Further, the cushioning material 124 may be provided on the flat portion 123 as well.
If the cushioning material 124 is arranged in this way, the medicine 1 transferred by the first transfer means 60, the second transfer means 70, and the third transfer means 80 and dropped onto the mounting portion 121 is the flat portion 123. It has the effect of softening the impact when rolling to and preventing damage to the drug 1.
Further, the shape of the inclined portion 122 may be a smooth curved slope instead of a straight line.
When the drug 1 transferred to the NG tray 120 in step S108 falls apart from the third transfer means 80 on the mounting portion 121 in this way, it passes through the mounting portion 121 and the inclined portion 122 to the flat portion 123. Is stored.
In this way, the operator can transfer the drug 1 whose expiration date has expired or whose shape is unknown to the NG tray 120 as an NG product. Since the NG tray 120 can be removed from the drug sorting device 100, when such an NG product comes out, the operator takes out the NG tray 120, checks the contents, and performs appropriate processing such as disposal and storage. ..
In the present embodiment, due to the configuration of the drug sorting device 100, the drug 1 is transported to the NG tray 120 by using three transfer means of the first transfer means 60, the second transfer means 70, and the third transfer means 80. However, the configuration is not limited to this.

By the way, the drug sorting device 100 can also be operated as a part of the injectable drug dispensing system that dispenses the drug 1 placed on the storage tray 110 by using the third transfer means 80.

FIG. 19 shows a schematic configuration of the injectable drug dispensing system 300 according to FIG.
The injectable drug dispensing system 300 functions as an automatic dispensing device that dispenses necessary drugs to the dispensing tray 310 according to information such as prescription data and electronic medical records sent by communication from, for example, the host device 500.
In the present embodiment, the injectable drug dispensing system 300 is arranged in a line along the transfer path of the dispensing tray 310 from right to left, including a tray supply device 320, a form issuing device 330, a drug sorting device 100, and an infusion liquid dispensing device. It is a series of systems in which 350 and a tray storage device 360 are arranged side by side.
While the delivery tray 310 is transferred from the tray supply device 320 to the tray storage device 360, the form 331, the drug 1 such as an injectable drug, and the infusion solution 2 are sequentially charged into the delivery tray 310. In order to automatically control such a series of operations, a controller 390 including a microprocessor or the like is also provided. The controller 390 obtains prescription data or dispensing instruction sheet data or injection instruction sheet data derived from the prescription data from an appropriate input device or another computer, for example, a prescription order entry system as shown by the host device 500, and is based on such data. It is designed to generate control commands, extract data, and send commands and data to each device constituting the injectable drug dispensing system 300.

The payout tray 310 is, for example, a box-shaped container made of metal or hard plastic with an open upper surface, and is normally mounted on the tray supply device 320 in an empty state. When the delivery tray 310 is discharged from the tray supply device 320, it is conveyed to the tray storage device 360 through a transport path 340 arranged so as to penetrate each device below the injection dispensing system 300. The payout tray 310 is placed in a predetermined position of the tray storage device 360 after the drug 1, the infusion 2, the prescription data, the form 331 showing the dispensing instruction sheet data, the injection instruction sheet data, etc. are inserted into each device. Will be done.

The form issuing device 330 includes a printer 332 for outputting the form 331 and a sending device 333 for sending the form 331 printed / output from the printer 332 to the corresponding payout tray 310, and printed. When the payout tray 310 corresponding to the form 331 arrives, the form 331 is sent out toward the payout tray 310 below.

In the drug dispensing device 100, as already described as the first embodiment, the returned drugs 1 are arranged in an aligned manner on the storage tray 110, and the position of the drugs 1 is controlled by the control unit 90. ..
Therefore, for example, if the returned drug 1 is still within the expiration date and the drug 1 required for the newly flowed prescription data is in any of the storage trays 110, the third drug 1 is used. The transport means 80 can dispense the agent 1 toward the payout tray 310.

Such a specific operation will be described.
FIG. 20 shows, as an example, the operation of the drug dispensing device 100 when the drug 1 to be dispensed is stored in the fourth stage from the top stage.
First, when the position of the drug 1 is confirmed from the data stored in the control unit 90 as shown in FIG. 20 (a), as shown in FIG. 20 (b), a plurality of agents are moved along with the movement of the third transfer means 80. The storage trays 110 that are stacked and loaded are vertically divided between the third and fourth stages from the top and lifted. In the present embodiment, in order to move the storage tray 110 in the Z direction, a lifter 113 for inserting and lifting a pin is provided below the third-stage storage tray 110, but the configuration is not limited to this. do not have.
The third transfer means 80 moves to a predetermined XY coordinate where the drug 1 is located in the storage tray 110 in the fourth stage from the top in the opened state, and moves by sandwiching the drug 1 in the chuck 81. do.
When the arm portion of the third transfer means 80 comes out of the operating range of the storage tray 110, the lifter 113 is lowered to return to the state in which the storage trays 110 are stacked, and the third transfer means 80 is in a state of gripping the medicine 1. It descends to the lower end again.

A tray elevating unit 341 for lifting the payout tray 310 upward is provided in a portion of the drug sorting device 100 that constitutes a part of the transport path 340.
The tray elevating unit 341 raises the payout tray 310 to a height at which the medicine 1 enters the payout tray 310 when the third transfer means 80 moves to the lower end again, and the third transfer means 80 pays the medicine 1. In the middle of the start, it maintains such a rise.
That is, if a plurality of drugs 1 described in the form 331 are stored in the drug dispensing device 100, the third transfer means 80 pays all the required drugs 1 in the state shown in FIG. 20 (c). It keeps rising until it is released.

When all the medicines have been dispensed, the tray elevating unit 341 lowers the payout tray 310 and transfers it along the transport path 340. In addition, if there is a stored drug 1 in the payout tray 310 that has flowed based on the command from the host device 500, the drug 1 is added to the payout tray 310 by repeating the payout as described above. Can be supplied.

In the present embodiment, the second reading unit 20 includes a front reading position 26 and a rear reading position 25 arranged in the same linear shape as each other. Further, the drug sorting device 100 of the present embodiment has an extrusion unit 30 that is driven so as to abut and push out the drug 1 arranged at the rear reading position 25 in contact with the drug.
Further, in the present embodiment, the second reading unit 20 reads information such as a barcode of the drug 1 at the front reading position 26 or the posterior reading position based on the shape of the drug 1 determined by the image recognition unit 12. Change whether to read at 25.
With this configuration, when the drug 1 has a shape that is easy to rotate, the information such as the bar code can be read by the driven rotation by the rollers 21 and 22, so that the information such as the bar code of the drug 1 can be read at high speed.

Further, in the present embodiment, the second reading unit 20 has rollers 21 and 22 that abut on the drug 1 from below at the rear reading position 25 and rotate the drug 1.
According to such a configuration, since the information such as the bar code can be read by the driven rotation by the rollers 21 and 22, the information such as the bar code of the drug 1 can be read at high speed.

Further, in the present embodiment, the second reading unit 20 has the abutting portion 31 with which the drug 1 abuts at the front reading position 26, and the extrusion section 30 sandwiches the drug 1 with the abutting portion 31. The drug 1 is fixed at the same time, and the information on the drug described on the side surface of the drug 1 is read by the rotation of the extrusion unit 30.
With this configuration, when the medicine 1 has a shape that is easy to rotate, information such as a bar code can be read by driven rotation by the rollers 21 and 22, and when the shape is difficult to rotate, the extrusion portion 30 and the abutting portion 31 It can be rotated at the front reading position 26 which can be pinched by.
By using the two reading positions together in this way, accurate information can be read regardless of the shape of the drug 1.

Further, in the present embodiment, the receiving portion 71 that supports the lower portion of the drug 1 at the front reading position 26 is provided, and the receiving portion 71 moves in a direction orthogonal to the traveling direction of the extrusion section 30 to transfer the drug 1. The second transfer means 70 is configured.
With this configuration, after reading information such as a barcode at the front reading position 26, the information can be promptly transferred to the storage tray 110 by the third transfer means 80, which contributes to speeding up the drug sorting.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be appropriately modified within the scope of the claims.
For example, the information Q read by the deadline reading unit 20 is a bar code including a GS1 code, information such as an expiration date, etc. in the above embodiment, but is used to read character information including other stamps, drug names, and the like. It may be.
Further, for reading the character information by image recognition, OCR or the like is used in the embodiment, but other methods may be used.

10 First reading unit (shape determination unit)
20 Second reading unit (deadline reading unit)
21, 22 Rollers 23, 24 Camera 25 Rear reading position 26 Front reading position 30 Extruding part 31 Butting part 50 Container 51 Swinging means 60 First transfer means 70 Second transfer means 71 Support part (receiving part)
80 Third transfer means 81 Chuck 100 Drug sorting device

Claims (6)

A container in which multiple drugs are placed and
A first reading unit that determines the shape of the plurality of drugs, and
A second reading unit that reads information on the drug by photographing the drug,
A first transfer means for transferring the drug placed in the container to the first reading unit, and
A swinging means for swinging the container and
Have,
The first reading unit captures an image of the drug a plurality of times, and during the imaging, the drug placed on the first reading unit is moved by the rocking means, and images are taken before and after the rocking. A drug sorting device, characterized in that the images are compared and the drug is transferred when the shapes of the drugs match before and after the rocking. The drug sorting apparatus according to claim 1.
The second reading unit includes a front reading position and a rear reading position arranged in the same linear line with each other.
It has an extruder driven to push the drug placed in the rear reading position in contact with the drug.
The second reading unit is characterized in that it changes whether to read the information of the drug at the front reading position or the posterior reading position based on the shape of the drug determined by the first reading unit. Drug sorting device. The drug sorting apparatus according to claim 1 or 2.
The second reading unit has an abutting portion to which the drug abuts at the front reading position.
The extruded portion is characterized in that the drug is fixed by sandwiching the drug with the abutting portion and the information of the drug described on the side surface of the drug is read by the rotation of the extruded portion. Drug sorting device. The drug sorting apparatus according to any one of claims 1 to 3.
The second reading unit is a drug sorting device having a roller that abuts on the drug from below at the rear reading position and rotates the drug. The drug sorting apparatus according to any one of claims 1 to 4.
It has a support portion that supports the lower part of the drug at the front reading position.
A drug sorting device comprising the second transfer means for transferring the drug by moving the support portion in a direction orthogonal to the traveling direction of the extrusion section. An injectable drug dispensing system comprising the drug sorting device according to any one of claims 1 to 5.

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