JP3083166B2 - Dispensing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dispensing device, and
The present invention relates to a dispensing device for automatically dispensing a predetermined number of predetermined tablets including a fraction of the tablet sheets based on a preset program, based on a preset program, based on a preset program.

[0002]

2. Description of the Related Art In recent years, dispensing operations in pharmacies such as hospitals have been performed manually by pharmacists and the like, and the frequency of dispensing various tablets including capsules of these drugs has been increasing. This tablet is called a PTP tablet sheet, and is in a packaging format in which the tablet side is pressed to break the aluminum sheet portion at the bottom to take out the tablet. Generally, ten or more tablets are taken as one sheet. It is supplied in sheet form.

A pharmacist dispenses a PTP tablet sheet to a patient based on a doctor's prescription. Particularly, in general hospitals and the like where the medical care field is wide, the types of tablets that can be always taken out are limited. More than 600 types were required, and not only required storage space, but also the task of dispensing based on prescriptions was extremely mentally and physically burdensome.

[0004] One of the co-applicants of the present application has filed an application for "a device for removing a blister package" to provide an automatic dispensing plan. When the present proposal is arranged in accordance with the language of the present application, a case shelf partitioned and formed in multiple stages vertically and horizontally, and a tablet case which is stored in the case shelf and has a remaining storage portion for storing a fraction of a tablet sheet. A discharge box arranged on the side of the case shelf, an XY carriage for moving up, down, left and right on the front of the case shelf, and a head device provided on the XY carriage. A positioning mechanism for positioning with respect to the shelf;
b) a cutter device having vertical and horizontal blades for cutting off a fraction of the tablet sheet; c) a holding device of a vacuum pump for preventing the tablet sheet from moving during cutting; and d) a holding device for holding the tablet sheet end. E) a Z for gripping by the gripping device and moving in the Z direction to take out the tablet sheet from the tablet case to the outside, cut the fraction, and return to the remaining storage section.
A dispensing device in which a carriage and a f) a box having an opening / closing mechanism for dropping or holding the taken-out tablet sheet are mounted on a head device, and a tablet case based on a command from a control device. The tablet sheet is taken out from the container, a fraction is cut off by a cutter device of a head device, the fraction device is returned to the remaining storage portion after cutting, and then temporarily stored in a box portion of the head device. The dispensing device is configured to move onto a discharge box provided in the dispenser and operate the opening / closing mechanism to drop the dispensed tablet sheet into the discharge box.

[0005]

However, in the above-described dispensing device, when positioning the head device with respect to the case shelf, the XY carriage is moved in accordance with a predetermined size of the case shelf. If the position of the tablet case is displaced due to the deformation of the case shelf due to the weight of the tablet and the weight of many tablet sheets, or the deformation of the case shelf due to temperature change, etc., the head device should be accurately positioned with respect to the tablet case. However, there is a problem that the tablet sheet cannot be gripped.

Accordingly, the present invention has been made in view of the above-mentioned problem, and an object of the present invention is to allow a head device to be moved relative to a tablet case even when the position of the tablet case is shifted due to deformation of a case shelf or the like. The present invention is to provide a dispensing device that can be positioned accurately by using the dispensing device, and does not cause a failure to grasp the tablet sheet.

[0007]

Means for Solving the Problems and

In order to solve the above-mentioned problems and achieve the object,
The dispensing device of the present invention is provided with a case shelf provided on a frame main body and divided and formed in a vertical and horizontal multi-stage; a tablet case base attached to a predetermined position of the case shelf, and detachably attached to the tablet case base. A housing portion provided in the housing portion and adjustable in accordance with the size of the tablet sheet;
A tablet case including a remaining number storage portion for storing a fraction of the tablet sheet, and a take-out mechanism for taking out the tablet sheet to the outside; an X carriage device provided in the frame housing; and an X carriage device provided in the X carriage device A Y-carriage device that is provided; a head device that is provided to be driven in the up-down longitudinal direction of the Y-carriage device and that moves along the front side surface of the case shelf; A pressing mechanism for pressing the take-out mechanism; a gripping device for gripping an end of the tablet sheet taken out by the pressing mechanism; a gripping device for moving the tablet sheet out of the tablet case by moving in the Z direction. A Z-carriage device mounted with the gripping device for removal to the
A first drop lid having an opening / closing mechanism for dropping or holding the tablet sheet moved in the direction; the first drop lid is opened, and temporarily stores the tablet sheet dropped by the release of the gripping device; A box; a second drop lid having an opening / closing mechanism provided at the bottom of the box; a punching mechanism provided on the frame housing main body, for cutting out a fraction of the tablet sheet; and preventing the tablet sheet from moving during the punching. A cutter mechanism comprising: a holding mechanism for holding the cutter unit; and a sweeper mechanism for removing the fraction after cutting the fraction and dropping it to the lower part; a cutter unit located below the cutter unit, and the second unit after the head unit is moved. A discharge box located below the drop lid; a third drop lid which can be opened and closed at the bottom of the discharge box; and a tablet take-out provided on the lower side of the third drop lid and on both sides. And a drive control device connected to the devices and mechanisms, wherein the tablet case faces the head of the tablet case. And on a plane perpendicular to the Z-axis, a marker having a substantially right-angled triangular shape whose base is perpendicular to the Y-axis, and the head device has a point projected on the marker at one point on the head device. Detecting means for detecting that the marker has crossed the outline of the marker, wherein the drive control device moves the projection point from outside the marker on the Y axis toward the hypotenuse, across the bottom of the marker. Moving the head so as to detect the length of the movement line of the projected point cut by the base and the oblique side of the marker from the detection signal of the detection means, and the length and the shape of the marker The relative position of the projected point with respect to the marker is detected from the information and the head device is positioned so that the projected point comes to the position of the vertex of the marker. Since the positioning can be performed accurately, the tablet sheet acts so as not to lose grip.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a dispensing apparatus will be described in detail below with reference to the drawings, by constitution. (Overall Configuration) FIG. 1 is an external perspective view of a dispensing device according to an embodiment, and shows a part of the front left side of the dispensing device cut away due to space restrictions.

In FIG. 1, the entire dispensing apparatus has a substantially “U” -shaped projected shape on a plane, and each component described below is formed by welding an angle member or the like with a welding screw or the like. The external dimensions are 1.8 m in height, 1.8 m in width, and 1.2 m in depth, by being provided on the frame 100 and being detachably attached to the frame 100 from the outside. Occupying a small floor area.

On the opposite sides of this U-shaped frame 100, a total of 140 tablet cases 200 (in the case of standard specifications) are provided on the case shelves 105 provided respectively as shown in the figure. It is provided detachably. A large number of the above-mentioned PTP tablets are stacked and accommodated in these tablet cases 200 in the vertical direction. The case shelf 105 is provided with five stages vertically, as shown in the figure.
Is set at a predetermined position to prevent erroneous insertion, and a pin constituting a binary value is provided. By matching with a groove provided in the tablet case 200,
Prevents incorrect insertion.

These tablet cases 200 are inserted and fixed at predetermined positions on the case shelf 105 from the outside of the apparatus. Can be removed so that a predetermined PTP tablet sheet can be supplied. The configuration of the tablet case 200 will be described later.

In the tablet case 200 having the above-described structure, the user can attach and detach all the tablet cases 200 by opening and closing the slide door 101 which can be freely opened laterally outside the frame 100. Are provided so as to be adjacent to each other without any gap as shown in the figure, thereby enabling maximum storage of tablets. A door switch 119 is provided at the lower edge of the slide door 101 to monitor the open / closed state of the slide door and prevent the operation of the apparatus in the open state.

Next, on the side surfaces of the case shelf 105 facing each other, there are provided heads 400 which are driven in the X and Y arrow directions in the figure along the side surfaces. In order to make the head 400 movable vertically and horizontally, the head 400 is vertically movable along the Y rail 303 provided below the XY carriage 300, while the XY carriage 300 is mounted on the ceiling of the frame 100. It is guided by an X rail 302 provided in the section.

Accordingly, the Y carriage motor 301 for driving the head 400 in the vertical direction is the XY carriage 30.
The X carriage motor 305 for driving the XY carriage 300 in the X arrow direction is mounted on the frame 10.
0 is fixed to the right end. Thus, case shelf 1
Head 400, which is moved vertically and horizontally along 05,
After the head 400 is moved to a position facing the predetermined tablet case 200, the nail in the head 400 moves in the direction of the arrow Z in FIG. The obtained PTP tablet is taken out and stored in a storage section provided below the head 400.

While maintaining this state, the head 400 is moved right above the discharge box 601 disposed on the right side in the figure, and the PTP tablet is dropped into the discharge box 601. At the bottom of the discharge box 601, there is provided a third drop lid 602, which will be described later. The PTP tablets are dropped onto the conveyor 300 by sliding the third drop lid 602. The conveyor 300 is capable of transporting PTP tablets in the front-rear direction in the drawing, and transports the PTP tablets to the first tablet removal box 603 in the front or the second tablet removal box 605 in the rear and drops the PTP tablets.

With the above-described configuration operation, the tablet case 20
Since the selected PTP tablet in 0 is transported to the first tablet unloading box 603, it is delivered to the patient, while the PTP tablet transported to the second tablet unloading box 605 is compatible with the prescription. It is not treated as bad and is not handed over to patients to prevent accidents. Next, the PTP tablets to be taken out from the tablet case 200 are, for example, a plurality of PTP tablets, each of which is made up of a plurality of 10 tablets, each of which is taken out of the tablet case 200, and the PTP tablets are taken out by nails as described above. However, for example, when dispensing three PTP tablets a day for one week, it is necessary to take out 3 × 7 = 21 tablets, and it is necessary to cut out one tablet sheet from ten tablet sheets. Occurs.

In the drawing, a cutter 500 provided at an intermediate height position on the right side of the frame 100 is provided for cutting out the required number of pieces from the PTP tablet sheet, and the structure will be described later. As shown in the figure, one unit is disposed at a position along a side surface formed by five stages of case shelves 105. The discharge box 601 described above is located below the cutter 500, and the cutter 50
In this configuration, a fraction of the tablets cut at 0 are dropped into the discharge box 601.

The remaining portion of the PTP tablet sheet, whose fraction has been cut off, is returned to the remaining number storage section provided at the bottom of the dispensing case 200, and the remaining number is determined by the type, arrangement position, The information is stored in the storage unit of the control terminal device described later together with the number information. A drawer-type controller 700 is provided below the case shelf 105 of the frame 100, and performs drive control of each component described later based on a control command from a control terminal device.

Here, the description of the above-mentioned dispensing device based on FIG.
Although 00 has been described as an example in which two units are provided, the case shelf 10 is not necessarily provided in consideration of prevention of the entire device from falling down.
5 does not need to be provided for two rows, and may be provided for one row. Incidentally, the configuration in which the case shelves 105 are provided in two rows in parallel is based on the configuration of the conventional dispensing case shelves manually by a dispenser, and is used without discomfort by a dispenser accustomed to the conventional dispensing case shelves. And installation area. Here, the case shelves 105 are not limited to two rows, and more cases can be handled by arranging more cases in parallel and communicating with each other by the conveyor 600. It is. (Explanation by Type of PTP Tablet Sheet) FIG. 2 is a plan view of each type of PTP tablet sheet.
And a PTP tablet sheet A having vertical perforations 4, horizontal perforations 3 and ears 2, and 20 tablet portions 5 as well as vertical perforations 3 and horizontal perforations 4. And a PTP tablet sheet C having 21 perforated portions and a vertical perforated portion 4 and a horizontal perforated portion 3, respectively. .

These PTP tablet sheets A, B, and C are a lower nail body 401, an upper right nail body 410, and a left upper nail body 4 which are the nails for chucking provided on the above-mentioned head 400.
The center positions along the longitudinal direction are respectively gripped by 12. The PTP tablet sheet A is convenient because the ears 2 are just grasped, but the PTP tablet sheet B has no ears, so that a small part of the edge of the sheet 1 is nailed as shown in the figure. However, as shown in the figure, a slight edge is gripped.

The PTP tablet sheet C is generally provided with a large ear 2 as shown in the figure. In many cases, the tablet name and the name of the manufacturer are printed on this part. Similarly, the central portion of the PTP tablet sheet C is gripped by the nail. The P thus grasped by the claw body
If the TP tablet sheet does not require fractional cutting,
As described above, the first tablet unloading box 60 via the discharge box 601
3 transported to another.

On the other hand, when, for example, only one tablet portion 5 is to be cut off from the PTP tablet sheet A, as shown in FIG. The transverse section 8 is punched along the eye 3. As shown in the figure, the vertical cut portion 7 and the horizontal cut portion 8 are punched extra at the intersection of each other so that the punching can be reliably performed.

When four tablet portions 5 are cut off from the PTP tablet sheet B, the transverse section 8 is punched at one time along the horizontal perforation 3 as shown in the drawing. The cut 8 has a sufficient overall length. And P before punching
When seven tablet parts 5 are cut off from the TP tablet sheet C as shown in the figure, the vertical perforated part 7 is punched out along the vertical perforated part 4 as shown, and then the horizontal perforated part 3 is cut out. In order to keep the gripping state, the transverse section 8 is punched out twice for the following.

Further, when only one tablet portion 5 is cut off from the PTP tablet sheet C as shown in the figure,
As shown by a solid line, the lower nail body 401, the upper right nail body 410, and the upper left nail body 412 hold the upper nail body 412, and after punching a vertical cut portion 7 along a vertical perforation 4 with a cutter described later,
The transverse section 8 is punched out along the horizontal perforation 3. Thereafter, only the upper right nail body 410 is independently separated from the lower nail body 401, gripped only by the lower nail body 401 and the upper left nail body 412, and moved in the Z direction in the figure to make one tablet unit 5 While holding only the tablet, the tablet portion 5 remaining on the cutter is dispensed by a cutter sweeper described later. Then, the lower nail body 401
Then, the upper right nail body 410 and the upper left nail body 412 are moved to the positions shown by broken lines and gripped again.

As described above, the punching order is to prevent the tablet portion 5 from falling off the PTP tablet sheet,
Consideration has been given to punching even when the number of remaining tablet portions 5 from the PTP tablet sheet is reduced and the claw body is at a position where it interferes with the punching portion of the cutter 500. (Configuration of Upper and Lower Claw Body) FIG.
FIG. 4 is an external perspective view of the tablet sheet, showing the above-described head 400;
The lower nail body 401, the upper right nail body 410, and the upper left nail body 412 for chucking are moved in the direction of the arrow Z in the figure to grip the ears 2 of the PTP tablet sheet A from above and below. I have to.

Here, since the PTP tablet sheet A tends to warp to the tablet 5 side during heat packing,
For this correction, the lower nail parts 403 and 405 of the lower nail body 401
It is preferable to slightly incline as shown in the side view of FIG. The upper right nail body 410 is driven independently of the lower nail body 401, the upper left nail body 412, and the claw 411 of the upper right nail body 410, which is the opposing gripper, and the left upper nail body 412. 413 is also formed to be slightly inclined in the shape of "C".

The lower claw portion 403 of the lower claw body 401 described above,
Openings 402 are formed between the holes 405 to allow the PTP tablet sheet to sufficiently penetrate into the cutter 500 when the above-described vertical cuts 7 are punched with the cutter 500.
Even when the rest is returned to the tablet case 200, the tablet case 200 can be sufficiently infiltrated. A hole 406 is formed in the lower claw portion 405 of the lower claw body 401 configured as described above, and a light receiving and emitting sensor 407 is built in the lower claw portion 405 to enable detection of a gripping state.

With the upper and lower claws having the above structure, the PTP tablet sheet having a warp on the tablet portion 5 side is flattened, the grip state is detected, and the upper claws are independently driven. After punching out a fraction of a minute from a tablet sheet, it can be gripped if it cannot be gripped by both claws. (Structure of Tablet Case) FIG. 4 is a perspective view of the tablet case, and one of the tablet cases 200 fixed to the case shelf 105 of the frame 100 is connected to the above-mentioned upper right nail 41.
FIG. 3 is a diagram showing the position of the left and right upper nail members 412 and the lower nail member 401 so that the mutual positional relationship can be understood.

In this figure, the tablet case 200 is composed of a mounting base 201 fixed on the case shelf 105 and a case 202 which is slidable in the longitudinal direction of the mounting base 201 so as to be detachable. , PTP tablet sheets A, B, C described in FIG.
Are stacked and accommodated. Further, inside the mounting base 201, a remaining number storage portion 203 for returning and storing the remaining number of the PTP tablet sheet is provided with an opening to the claw body as shown in the figure. ing.

As described with reference to FIG. 1, the tablet case 200 is mounted on the case shelf 105 so as to be adjacent to each other without any gap. They are flush with each other as shown. In addition, since the stopper 106 is attached so as to be adjacent to each other without a gap, the stopper 106 having a circular flange portion provided for fixing one end of the attachment base 201 to the case shelf 105 is provided as shown in FIG. It is hung at a semicircular portion so that it can be used for two vehicles. The other end of the mounting base 201 serves as the slide door 101 described above.
A pair of knurled screws 209 are provided on the left and right sides of a portion where the knurled screw 209 can be opened and closed.
Is fixed to the case shelf 105 by screwing it into a female threaded portion 108 of the fixing bar 107, which also serves as reinforcement and is fixed to the case shelf 105, as shown by a broken line.

As described above, the case shelves 105 for fixing the mounting base 201 are provided in five stages vertically, as described above.
A predetermined combination of eight pins 106 shown by broken lines constituting a binary value for enabling 0 to be mounted at a predetermined position is provided, and the bottom member 223 of the remaining number storage portion 203 of the mounting base 201 is provided. The erroneous attachment is reliably prevented by matching with the groove 215 formed in the groove.

The bottom member 223 of the remaining storage portion 203
A pair of width regulating members 204 are provided on the upper side and fixed after being adjusted to match the width dimension of the PTP tablet sheet, while the tablet portion 5 of the PTP tablet sheet is pressed and held by a light force from above. Springs 207 are provided from the ceiling of the remaining number storage section 203. Next, as described with reference to FIG. 2, the PTP tablet sheets A, B, C,... Have different external dimensions including the height, but the external dimensions of the tablet case 200 are all the same, and the injection is performed. Due to mass production by molding or the like, the case 202, which is a portion for accommodating the PTP tablet sheet from above the arrow D2 in FIG. 4, can be adjusted according to the external dimensions of the PTP tablet sheet. And, it is structured so as to be detachable from the mounting base 201 described above.

That is, as shown in FIG.
A groove 230 is formed in the base member 210 of No. 02, and by matching these with pins (not shown) fixed on the mounting base 201, the matching between the case shelf 105 and the mounting base 201 described above is achieved. In the same manner as in the method described above, erroneous insertion is prevented. On the bottom surface of the base member 210 of the case portion 202, a hooked portion that is hooked on a slide hooking member (not shown) provided on the mounting base 201 is fixed, while the stopper portion 211 shown in FIG. It is locked by a lock 208 fixed to the member 210 so as to be fixed at a position shown in the figure.

Next, the PTP tablet sheets A, B, C,... Described in FIG. 2 have different external dimensions including the height. A pair of width regulating members 213 is provided inside the illustrated outer wall body 212 having the body 210 as a base. These width regulating members 213 are fixed by screws 216 inserted through long holes formed in the front wall 214, and after loosening these screws 216, the width regulating members 212 are fixed.
Is fixed by providing a gap in the width dimension of the PTP tablet sheet so that the width direction of all PTP tablet sheets can be regulated. Further, in order to regulate the longitudinal direction of the PTP tablet sheet, the PTP tablet sheet is formed by the front wall 214.
While the front end portion including the ear portion 2 is regulated, the rear end is regulated by an integral body of the rod 224 and the rod base 225 which are movable on the base member 210 in the longitudinal direction.

This integral body is adjustable by tightening a screw 216 in the figure, so that the longitudinal direction of all PTP tablet sheets can be regulated. In the center of the rod base 225, an extraction portion 2 of an extraction member 205 described later is provided.
A recess 233 into which the infiltration part 06 infiltrates is formed, so that the PTP tablet sheet placed at the lowermost stage can be taken out from the opening 220 opened below the front wall 214. On the other hand, a tongue 218 is provided above the opening 220 of the front wall 214 so as to be vertically adjustable by a screw 216, and once the height of the tablet portion 5 of the PTP tablet sheet is regulated, the height is regulated once. So that two PTP tablet sheets are not discharged.

Further, a rear wall 226 is integrally and vertically suspended on the side of the base member 210 facing the front wall 214 as shown in the figure, and the handle 22 fixed to the rear wall 226 is provided.
7 is pulled in the direction of arrow D1, the lock 208 is released, and the case 202 is taken out. afterwards,
A predetermined number of PTP tablet sheets are accommodated in the case unit 202 from the direction of arrow D2.

Next, in order to push out the lowermost PTP tablet sheet from the opening 220 toward the upper and lower claws, the take-out member 205 is provided so as to partially protrude from the remaining number storage portion 203. The take-out member 205 is pressed by a pin 436 of a pusher 435 provided on the head 400 described above.

The take-out member 205 is used to
3 and a return spring 22
9, the remaining number of storage units 2 is moved to the position shown in the drawing.
A part thereof protrudes from 03, and its position is regulated by a stopper (not shown). This take-out member 20
The take-out portion 206 integrally formed at the rear end of the take-out member 5 is provided so as to be adjustable in the longitudinal direction of the take-out member 205,
It can be adjusted in the longitudinal direction of the PTP tablet sheet.

When the take-out member 205 described above is pressed by the pusher 435 mounted on the above-mentioned head 400, the take-out portion 206 retracts into the concave portion 233, and as a result, the PTP tablet sheet located at the lowermost stage − Fall by its own weight, and the rear end is in a state of catching the extraction unit 206.
Thereafter, when the pusher 435 is retracted from the take-out member 205, the take-out member 205 returns to the original position by the action of the return spring 229 provided in the take-out member 205. Since the rear end of the PTP tablet sheet is hooked, the above-mentioned ear portion 2 of the PTP tablet sheet comes out of the opening 220 this time.

As described above, the lowermost PTP tablet sheet is sequentially sent out from the opening 220, so that the upper and lower claws grip the ears 2 and the like and proceed to the next step. . Above the front wall 214, the square marker 22
2 and a right triangle triangle 221 are painted or printed. These markers are detected by a position detection sensor mounted on the head 400 to perform relative positioning of the head 400 with respect to the tablet case 200. (Configuration of XY Carrier) Next, FIG. 5 is a side view of the XY carriage 310 schematically illustrated in FIG. 1, illustrating the relative positional relationship between the tablet case 200 and the head 400 and also showing sensors. FIG.

In FIG. 5, an X rail 302 is provided on the ceiling of the frame 100,
A rail 360 is provided below 00. With these rails, the XY carriage 3 is moved in the front and back directions on the paper.
An arm 350 is fixed below the XY carriage 310 for slidingly guiding the arm 10, and a Y rail 303 indicated by a broken line is provided in the longitudinal direction of the arm 350.

A rotatable roller 352 is provided at the lower end of the arm 350. As a result of the roller 352 being guided with respect to the rail 360, the XY carriage 3
The one body of the arm 10 and the arm 10 is guided in the front and back directions on the paper. Next, the head 400 is guided vertically by the rail 303, and a single belt 320 is stretched as shown in the figure, and the head 400 is attached to the Y carriage motor 30 mounted on the XY carriage 301.
1 is driven. For this, Y
A pulley 306 is fixed to the output shaft of the carriage motor 301, while the belt 30 is
7 is installed.

A pulley 311 is integrally fixed to the pulley 312, and a belt 308 is stretched between the pulley 311 and the pulley 313.
After the driving belt 320 for the head 400 is fixed at both ends by a stopper 321 as shown in the figure, the direction is changed by pulleys 315 and 316 rotatable on the side surface of the head 400. The tension pulley 323 is stretched to prevent slack.

A sensor 330 and a sensor 333 are provided at the upper and lower portions of the arm 350, and a sensor 332 is provided at an intermediate portion. Is performed. The upper and lower limit positions are detected by the sensors 330 and 333, and the initialization position of the head 400 is detected by the sensor 332.

The tablet case 200 is arranged vertically as shown in the figure, and has PTP tablet sheets A, B, C,... In the section 203, PTP tablet sheets A, B, C,... The upper and lower claws 401 and 41 of the head 400 are
0 and 412 move to perform the grip shown in FIG.

As can be seen from the above description, since no sensors are provided in the tablet case 200, there is no electrical connection between the tablet case 200 and a control unit described later. FIG. 6 is a front view of the XY carriage 310 of FIG. 5 and also shows sensors. In the figure, an X-rail 302 is provided on the ceiling of the above-described frame 100, and is slidably guided on an XY carriage 310 in the left-right direction. The arm 350 described above is fixed to the XY carriage 310, and the head 400 is
, And are driven up and down. One belt 376 is stretched over the XY carriage 310 as shown in the figure, and is driven by an X carriage motor 305 provided on the frame 100.
For this purpose, the XY carriage 310 is provided with rotatable pulleys 377 and 378, but the method of stretching the belt 376 is substantially the same as the method in FIG.

Next, for detecting the position of the XY carriage 310, sensors 391, 393, and 392 are provided at the left and right portions of the frame, and the left and right positions are detected by an actuator 390 provided on the XY carriage 310. Is performed. The left and right limit positions are detected by the sensors 391 and 393, and the initialization position of the head 400 is detected by the sensor 392. (Structure of Head) FIG. 7 is a partially cutaway perspective view of the head. In FIG. 7, the lower nail 401 of the upper and lower nails for gripping the PTP tablet sheet is positioned as indicated by the broken line in the figure. It is reciprocated at the position shown by the solid line. On both sides of the lower claw body 401, a first right dropping lid 468 and a first left dropping lid 469 are respectively rotated around the shaft 465 to prevent the PTP tablet sheet once gripped from falling and cut the fraction. It is provided to be.

The first right drop lid 4 is temporarily moved by the lower claw body 401.
68 and the first left dropping lid 469, the PTP tablet sheet drawn from the tablet case 200, and if there is no need for the above-described fractional punching in FIG.
68 and the first left drop lid 469 are opened downward to release the gripping of the nail, and the PTP tablet sheet is dropped into the box 477.

The first right drop lid 468 and the first left drop lid 4
To describe a configuration in which the sheet 69 is rotated by approximately 90 degrees to drop the sheet, a bevel gear 463 fixed to one end of each shaft 465 is simultaneously meshed with a bevel gear 463. A lever 462 is fixed to a shaft integrally connecting the bevel gears 463, and transmits the driving force of a rotary solenoid lever 461 provided below the head 400 to the lever 462. A lock 467 is fixed to one of them, and the first right dropping lid 468 and the first left dropping lid 469 are positioned.

At the bottom of the box 477, a second drop cover 470 shown by a broken line and a solid line in the drawing is disposed with one end thereof being pivotally supported, and a bracket 473 provided integrally with the second drop cover 470 is provided. It is set at a position shown by a solid line by a spring 471 stretched between the head and the head 400, and usually forms a bottom cover of the box 477. The second drop cover 470 is provided on the arm 4 of the rotary solenoid 475 provided below the cutter 500 in FIG.
The turning operation of 79 is transmitted to the bracket 473 and moved to the position shown by the broken line. As a result, the PTP tablet sheets A, B and C dropped into the box 477 are dropped downward as shown in the figure.

Subsequently, a palm ridge mechanism for driving the upper and lower claws in the Z arrow direction between the solid line and the dashed line in the figure includes a Z carriage 456 guided in the longitudinal direction of the Z rail 457 and a Z rail. A pulley 455 and a pulley 453 are provided above both ends of 457, and an endless belt 454 is stretched between them. A part of the endless belt 454 is fixed to the Z carriage 456, while a pulley 453 is attached to one end of the pulley 453.
A shaft 452 to which 51 is fixed is fixed.

On the other hand, a Z carriage motor 448 such as a stepping motor is provided at the bottom of the head 400, and a belt 450 is stretched between a pulley 449 and a pulley 451 fixed to its output shaft. Z
The rotational driving force of the carriage motor 448 is
To 56. The head 400 described above has the above-mentioned Y rail 303 and belt 320 provided on one side as shown in the figure, but with such a configuration, there is no obstructive member and it is easy to approach each part. I can do it.

FIG. 8 is an external perspective view of the head, and shows a structure in which the upper claw body is driven independently of the lower claw body 401. 8 and 3, an upper right nail body 410 and an upper left nail body 412 independently driven with respect to the lower nail body 401 are shown.
Are fixed to the lower end of a plunger 428 which is independently guided in a vertical direction by a plunger guide 429.

These plunger guides 429 are mounted and fixed on the above-mentioned Z carriage 456. A right solenoid 420 and a left solenoid 421 which are arranged in parallel to these and drive the plunger 428 downward are shown in the figure. It is further mounted and fixed. A coil spring 423 is fixed to the upper end of the plunger 421 of these solenoids, while the other end of the coil spring 423 is connected to an arm 424 having one end pivotally supported by a bracket 425 fixed on a Z carriage. Hanging on a pin. A pin 426 is fixed to the tip of the rotation of the arm 424, and the pin 426 is connected to the plunger 4.
In this configuration, the bracket 427 fixed to 28 is pressed and moved downward.

With the above configuration, the upper right nail body 410 and the upper left nail body 412 are independently driven with respect to the lower nail body 401 as needed to grip the PTP tablet sheet. Next, tablet case 2
In order to remove the PTP tablet sheet from the opening 220 of the head 400, the pusher 435 provided for pushing the above-mentioned removal member 205 is provided at the bottom of the head 400.
00 in the longitudinal direction. For this purpose, shafts 437 are suspended from both ends of the pusher 435, which are slidably guided by guides 438, and a hook member 434 is fixed in the middle of the shaft 437.

The arm 434 of the rotary solenoid 440 is hooked on the hook member 434. When the rotary solenoid 440 is energized, the arm 439 is driven to rotate in the direction of arrow D3 in FIG. The pin 436 fixed at the center is moved to the position shown by the broken line. Further, on the upper portion of the pusher 435, there is provided a claw protection plate 432 formed with a notch into which the upper claw body penetrates, thereby preventing a finger or the like from entering.

Next, a sensor 444 for detecting the marks 221 and 222 of the tablet case 200 and a sensor 442 are provided on the upper surface of the head 400, and the head 400 is positioned relative to the tablet case 200. Like that. FIG. 9 is a layout view of sensors of the head 400. In this drawing, an actuator 480 is fixed to the Z carriage 456. Sensors 482, 481, 487, and 483 are provided on the head side as shown in the figure, and the position of the Z carriage 456 is detected by an actuator 480.

While the movement limit position is detected by the sensors 482 and 483, the movement of the Z carriage 456 is detected by the sensor 487 at the time of initialization, and deceleration is started, and the sensor 481 is stopped. On the other hand, an actuator 484 and a sensor 485 for detecting the rotation state of the above-mentioned first drop lid 468, and an actuator 488 and a sensor 487 for detecting the open / close state of the second drop lid 470.
Are also provided as shown.

A presence / absence sensor 486 for detecting whether or not a PTP tablet sheet exists in the box 477 is provided on a wall portion of the box 477. Box 4
A sensor 476 which operates when the number of PTP tablet sheets dropped into 77 becomes full is provided above the presence / absence sensor 486. Next, FIG. 10 is a layout diagram of the sensors of the head 400, and illustrates the sensors of the portion described in FIG. In this drawing, the Z carriage 45
The actuator 49 is attached to a plunger integrally provided with a pawl for controlling the drive of the solenoids 420 and 421 of FIG.
4, 496 are fixed respectively. A light emitting unit 489 and a light receiving element 490 such as a CCD are built in the sensor 444 so that a distance can be detected. The sensor 442 also has a built-in light emitting unit 491 so as to detect a marker on the tablet case 200. (Structure of cutter) Next, the cutter 5 will be described with reference to FIG.
00 will be described. FIG. 11 is a partially cutaway perspective view of the cutter. The vertical cutting portion 7 of the tablet sheet, which is fixed to the frame 100 of FIG. 1 by a bracket 530 or the like and is held by the upper and lower claws of the head 400 and moved. And a function of punching out the transverse section 8 (FIG. 2), a function of pressing so as not to move during the punching, and a function of dropping a fraction after the punching into the discharge box via the shutter 535.

To provide these functions, the cutter 5
As shown in the figure, the reference numeral 00 is formed in the shape of a square "B" at each edge of the base plate 533 and the upper plate via a horizontal plate 527. The turning power of the cutter motor 515 is transmitted to the upper plate 509 by a cutter motor 515 serving as a driving source for punching and a belt 517, and the belt tensioner 5
A flywheel 516, which is always rotated in one direction during operation of the apparatus, is supported by a bearing body 520 fixed on the upper plate 509 and provided with tension.

A fly clutch 519 is provided on the rotating shaft of the flywheel 516.
A solenoid 521 is provided on the side surface of the bearing body 520 so as to be engaged with the dock clutch 519 during one rotation of the bearing 6. On the other hand, as shown in the figure, an eccentric body 512 is fixed to the rotating shaft of the flywheel 516 on the side opposite to the dock clutch 519, and the rotation amount of one rotation of the rotating shaft of the flywheel 516 is equal to the vertical reciprocating movement amount. Has been converted to.

A shaft bracket 514 is fixed to the eccentric body 512 via a bracket 513. The shaft bracket 514 has a movable base 507 that is vertically movably supported via a pair of shafts 511 with respect to a shaft bushing 508 fixed to the upper plate 509. A mechanism is configured to convert the rotation amount corresponding to the rotation so that the moving base 507 moves in the direction of arrow D5 in the figure.

On the bottom surface of the moving base 507, a vertical blade 501 for punching the vertical cut portion 7 and a horizontal blade 503 for punching the horizontal cut portion 8 shown in FIG. They are attached to each other with a slight inclination. The relative positioning is accurately set below the vertical blade 501 and the horizontal blade 503, so that the vertical blade 501 can penetrate the vertical die hole 502 and the horizontal blade 503 can penetrate the horizontal die hole 504. Dice 5 that can be made
05 is adjusted and fixed on a base plate 533 serving as a base of the cutter.

In the space between the moving base 507 and the die 505, a retainer 506 for holding the PTP tablet sheet so as not to move when punching a fraction of the PTP tablet sheet is the same as the moving base 507 in the direction of arrow D5 in the figure. And is provided by a mechanism described later. Die 5
A rotary solenoid 475 that drives the head 400 to open the second drop lid 470 described with reference to FIG. 7 is provided below the frame 100 via a bracket with respect to the frame 100, and the arm 479 opens the second drop lid 470. Works as described above to eliminate the need for punching
The P tablet sheet is dropped into the lower discharge box.

On the other hand, the moving base 507 and the die 50
Die 5 after punching on the left end of the space between
A sweeper 510 is provided for moving the tablets remaining on the part 05 from the dice 505 to the right front in the figure and dropping them on the shutter 535. Upper plate 5
A sweeper motor 525, which can rotate forward and backward for driving the sweeper 510 and is decelerated via a gear head, is fixed to the right end on the top 09. Pulley 5 fixed to the output shaft of sweeper motor 525
A belt 539 is stretched between the pulley 536 and a pulley 536 shown by a broken line rotatably provided by a horizontal plate 527, and the driving force of the sweeper motor 525 is applied to the pulley 5.
Power is transmitted to 36.

Next, FIG. 12 is a partially cutaway perspective view of the cutter 500, and shows a drive configuration of the retainer 506 and the sweeper 510 of FIG. In FIG. 12, a pair of shafts 531 is provided so as to bridge between left and right horizontal plates 527, and thereby a sweeper carriage 550 is slidably supported in the longitudinal direction of arrow D7 in the figure. Have been. Sweeper Carrier 550
Since a part of the belt 548 stretched between the pulley 536 and the pulley 547 is fixed between the left and right horizontal plates 527, the belt can be reciprocated by the drive of the sweeper motor 525. .

An L-shaped bracket 523 is fixed to the sweeper carriage 550 as shown in the figure, and the tablets on the die 505 are dropped onto the shutter 535 as the sweeper carriage 550 moves. On the other hand, a retainer 50 for pressing the tablet against the die 505 side is used.
The guide shaft 5 is connected to the guide shaft 6 via a pair of bushes 546.
53 is fixed, is provided with a biasing force to move upward by a return spring 554, and is inserted and supported in a hole formed in the upper plate 509.

On the rear surface of the upper plate 509, a portion sandwiched by the guide shaft 553 is provided with a rotary solenoid 5.
52 is fixed, and this rotary solenoid 552
Arm 551 is fixed to the retainer 5.
The retainer 506 is moved downward by pressing the block 555 provided on the reference numeral 06. The block 555 is vertically movably supported by a pair of shafts fixed on the retainer 506, while being provided via a return spring 556 shown in the drawing, so that the rotational driving force of the rotary solenoid 552 is reduced. Return spring 55
The arrow D8 in FIG.
Since it is transmitted in the direction, the tablet can be pressed down while absorbing fluctuations in the height of the tablet.

The retainer 506 includes the above-described die 5
Openings 542 and 543 are formed at positions opposing the vertical die hole 502 and the horizontal die hole 504 of FIG.
06 is out of the way. Next, FIG.
Is an external perspective view of the cutter, showing a sensor-related mounting diagram. In FIG. 13, a vertical blade 501 and a horizontal blade 503 are provided.
The actuator 5 is provided at the rear end of the movable base 507 provided with
The movement position of the movement base 507 is detected by detecting the actuator 537 by the sensor 538 provided on the upper plate 509 described above.

On the other hand, below the vertical die hole 502 and the horizontal die hole 504 of the die 505, a trash box 540 for storing the vertical trash 4a and the horizontal trash 3a, which become the sheet waste after punching, is indicated by a broken line in FIG. After being moved to the position, it is provided so as to be detachable so that the sheet waste can be treated at regular intervals. FIG. 14 shows the cutter 5
FIG. 10 is a perspective view showing a state where the above-described retainer 506 and the position of the sweeper carriage 550 provided at 00 are mounted and other sensors are attached. In this drawing, an actuator 563 is provided on a block 555 for vertically driving the retainer 506, and a sensor 56 provided on an upper plate 509 is provided.
The vertical driving position of the retainer 506 is detected by detecting the passing state of the actuator 563 by the devices 4 and 565.

On the other hand, an actuator 567 is provided as shown for detecting the moving position of the sweeper carriage 550, and a sensor 5 provided on the upper plate 509 is provided.
The movement position of the sweeper carriage 550 is detected by detecting the passing state of the actuator 567 by the 67, 569. In addition to the above sensors, position sensors 560 and 561 such as an optical position detector that allows detection light to reach a portion near the vertical die hole 502 of the die 505 are fixed to the upper plate 509 and the frame.

PTP gripped by the upper and lower claws
While the side edges of the tablet sheets A and B are detected by the position sensor 560, the leading end of the insertion of the PTP tablet sheet A is detected by the position sensor 561, so that the PTP tablet sheet at the time of punching operation is detected. By locating the origin, it is possible to punch a fraction of PTP tablet sheets of various different shapes. (Configuration of Conveyor) FIG. 15 is a perspective view of the conveyor 600 described in FIG. The components that have already been described will be given the numbers only and will not be described, and the detailed components will be described. Both ends of the rollers 611, 6 are provided between the first tablet unloading box 603 and the second tablet unloading box 605.
12, a belt 610 made of an endless belt having both inner end portions movably supported as shown in the figure.
Is stretched.

The belt 610 receives power from a belt motor 613, which is a reversible motor and is shown by a broken line in the figure, and has side walls 618 and 608 fixed to the frame 100 on both sides of the upper surface of the belt 610. In order to prevent the tablet sheet from dropping when the tablet sheet is conveyed. At a predetermined position further above these side walls 618 and 608, the shutter 53 of the cutter 500 described above is provided.
5 and a corresponding discharge box 601 are provided below the second dropping lid 470 of the head 400 at corresponding positions. As shown in the drawing, the discharge box 601 has only four side surfaces with upper and lower surfaces opened, and tablets are dropped into the discharge box 601 via the upper surface.

The bottom of the discharge box 601 is indicated by a dashed arrow D in the figure.
The third drop lid 602 slidably driven in ten directions is slidably driven, and the opening 60 of the third drop lid 602 is provided.
When the tablet 6 moves to the bottom position of the discharge box 601, the tablets in the discharge box 601 drop onto the belt 610 via the opening 606. The configuration for sliding the third dropping lid 602 is such that the third dropping lid 602 is made movable by a guide (not shown) provided along the longitudinal direction of the belt 310, while the side face of the third dropping lid 602 is provided. Belt 6
A portion of the belt 16 is fixed, one end of the belt 616 is supported by a roller 617, and the other end is supported and stretched by a pulley of a motor 615.

With the above configuration, the tablets in the discharge box 601 are dropped into either the first tablet take-out box 603 or the second tablet take-out box 605. Next, FIG. 16 is a mounting diagram of sensors of the conveyor 600. Sensors 631 for detecting whether the first tablet unloading box 603 and the second tablet unloading box 605 are set normally are provided on both sides of the belt. It is provided on a corresponding frame 100.

On the other hand, an actuator 622 is provided on the side surface of the third drop lid 602, and the movement position of the third drop lid 602 is detected by detecting the actuator 622 by the sensors 624 and 625. ing. Next, the presence / absence sensor 630 for detecting the presence / absence of an article is provided at the upper part of both ends of the belt, and the presence / absence sensor 630 for detecting the presence / absence of an article is also provided in the discharge box 601 while detecting the tablet immediately before falling. Have been. (Explanation of Control Device) FIG. 17 is a block diagram of the dispensing device of FIG. 1, and shows the above-mentioned sensors and other connection states connected to the CPU device 710 built in the controller 700 of FIG. .

In FIG. 17, a control terminal device 800 shown by a broken line is separately constructed from the dispensing device of FIG. 1 and connected by using a personal computer or the like as shown in FIG. By performing the operation, registration, dispensing, and the like of the tablets stored in the tablet case 200 described above are performed. The control terminal device 800 includes an input keyboard 801
A display 802 and a storage unit 803 are built in, and a personal computer or the like may be used. However, a personal computer may be specially designed and provided in the space shown in FIG.

The position sensors 560 and 561 described above are connected to the CPU device 710 as shown in FIG.
Drive control for cutting positioning is performed. Also,
To the CPU device 710, all the sensors 109 and the like for detecting the above-described limit detection and the like are all connected. Further, the presence / absence sensor 630 for detecting the presence / absence of an article and others are also connected.

Next, a motor driver 730 for amplifying a power from a power supply section 720 for driving other motors such as the Y carriage motor 301 described above is connected to an output section of the CPU device 710 as shown in the figure. In addition, a motor driver 7 for amplifying the power from the power supply unit 720 for driving the above-described rotary solenoid 420 and the like.
30 is connected to the output section of the CPU device 710 as shown. Further, an alarm lamp 701 for notifying an abnormal operation is connected to an output section of the CPU device 710.

Next, the operation of the dispensing device of the embodiment will be described.
This will be described with reference to the flowcharts shown in FIGS. First, the overall operation will be described, and then each subroutine will be described. (Overall Operation) FIG. 18 is a flowchart showing the overall operation of the dispensing device of the embodiment.

First, the flowchart of FIG. 11 is roughly divided into a first half start preparation part and a second half automatic operation part. For example, in a hospital or the like, when the dispensing operation for the day is completed, the dispensing device is stopped, the power of the dispensing device is turned on again in the morning of the next day, and operation is started. At the time of start-up, the device is reset to the initial state, or
An operation of warming up each part of the device is required. Step S100 to Step S11 in the first half
A start preparation part 4 is a part where resetting of the dispensing device to an initial state, warming up of each part of the device, and the like are performed. In the latter half of step S116
Step S124 is a part of the automatic operation, in which the actual automatic dispensing operation is performed after the dispensing device is reset to the initial state.

First, the start preparation part will be described. In step S100 of the figure, according to the type of the PTP tablet sheet described above, the outer shape of each tablet sheet, the number of tablets vertically and horizontally, the number of tablets of the whole sheet, The pitch size of each tablet, whether the ears are on the front, back, left and right,
In the tablet case 200, the tablet sheet is stored, and sheet data such as the position of the tablet case 200 on the case shelf 105 is input to the control terminal device 800 by the operator. These sheet data are stored and stored in the areas DM1001 to DM1019 of the storage unit of the control terminal device 800 in a correspondence relationship as shown in FIG. In step S102, an initial setting (data extraction processing) for converting the input sheet data into data necessary for controlling the movement of each part of the dispensing apparatus is performed. The details of the initialization subroutine will be described later.

Next, in step S104, the operator moves the upper and lower claws for gripping the tablet sheet mounted on the head 400 to the initializing positions in the XYZ directions (the reference position for going to take the tablet sheet). ) Is input from the control terminal device 800. Step S10
6, the positioning to the initialization position is performed. The procedure is as follows.
Is executed at the initialization position in the Z direction. Here, the reason why the initialization positioning in the Z-axis direction is performed first is that the dispensing device is protruding in the direction of the cutter 500 when the dispensing device is stopped in the middle of cutting the tablet sheet due to, for example, a power failure. This is for pulling the upper and lower claws into the head 400 so that the upper and lower claws do not collide with surrounding members and are not damaged.

Next, the head 400 is positioned in the XY directions by the movement of the XY carriage. Then, in the subsequent operation, the head 400 is moved based on the initialization position in the XY directions, and the Z carriage 456 on which the upper and lower claws are supported moves the initialization position in the Z direction relative to the head 400. Moved to the reference. Here, with reference to FIG. 9, a description will be given of a method of positioning at the initialization position in the XYZ directions.
56 is once driven in a direction to draw the tablet sheet into the head 400. When the actuator 480 attached to the Z carriage 456 is located between the sensor 487 and the sensor 483, the actuator 480
Is detected first by the sensor 487, at which point the speed of the Z carriage motor 448 is reduced, and the actuator 480 approaches the sensor 481 at the reduced speed. Then, the moment the actuator 480 passes the sensor 481, the Z carriage motor 448 is stopped, and the Z carriage 456 is positioned at the initialization position in the Z direction. When the actuator 480 is located closer to the sensor 482 than the sensor 487, the Z carriage 456 once moves to the position of the sensor 482, and is then driven in the opposite direction to reach the position of the sensor 487. Return. And it is driven again at the speed reduced in the opposite direction,
It stops at the position of the sensor 481.

Next, in the X direction, in FIG.
The head 400 is temporarily moved rightward along the X rail. If the arm 350 is located at an intermediate position between the sensors 391 and 392 as shown, the actuator 390 passes through the position of the sensor 392 during the movement, and the actuator 390 and the sensor 39
The movement in the X direction is stopped at the position where 2 coincides, and this position becomes the initialization position in the X direction. When the arm 350 is located at an intermediate position between the sensor 392 and the sensor 393, the actuator 390 is first detected by the sensor 393 which is a limit switch, and then moved in the opposite direction, and the sensor 392 and the actuator 390 are moved. Stop at the matched position. Then, that position becomes the initialization position in the X direction. In the same manner in the Y direction, the head 400 is connected to the actuator 331, as shown in FIG.
It stops at the position where the sensor 332 matches, and that position becomes the initialization position in the Y direction.

Next, in step S108, the operator issues a payout operation instruction, and in step S110, the payout operation is executed. And the tablet case 200 in the dispensing device
Other parts (for example, the inside of the head 400, the cutter 5
00 inside the first tablet unloading box 6
03 or the second tablet unloading box 605. Although details of the operation of the dispensing operation will be described later, even if the dispensing device is forcibly stopped during the dispensing operation due to a power failure or the like, the dispensing operation is performed in the dispensing device at the time of starting the next device. This is performed in order to pay out all remaining tablets and clear the dispensing device to the initial state.
In addition, as described above, it also serves to warm up the apparatus.

Next, in step S112, step S10
At 6 and step S110, it is confirmed whether or not there is an error in the operation of each part of the dispensing device. If there is no error, the process proceeds to step S114, and in performing the subsequent automatic dispensing operation, the tablet is taken out only from the right case shelf 105A, the tablet is taken out only from the left case shelf 105B, or A choice is made whether to take out the tablets from both.

Here, for example, the case shelves 10 on both sides are always
When setting to take out tablets from 5A and 105B,
When one of the XY carriages or the cutter or the like is broken and cannot be used, an error occurs and the inconvenience that the entire dispensing apparatus cannot be used occurs.
In step S114, even in the case of a failure as described above, if only one of the case shelves (105A or 105B) can be used in time, by selecting the case shelf, the device can be used even if the other side is out of order. Thus, the above-described inconvenience can be prevented.

On the other hand, if there is an error in step S112, the process proceeds to step S113, and the operator inputs an instruction to switch to manual operation from the control terminal device 800. With this instruction, the control system of the dispensing device is connected to a manual operation box (not shown), and in step S115,
Manual operation button in this manual operation box, or
The dispensing device is driven by a reset button or the like, and error processing is performed. Thereafter, the process returns to step S104, and an instruction for searching for an initialization position is issued again, and the subsequent operations are continued.

When the selection of the case shelves is completed in step S114, the process then enters the automatic operation part from step S116. First, in step S116, the operator writes a prescription command for each patient in the control terminal device 800. Next, in step S118, it is determined whether or not a prescription command has been written in step S116. If a prescription command has been written, the process proceeds to step S119, in which an automatic dispensing operation, which will be described in detail later, is performed. Return and wait until the next prescription command is written. If the control terminal device 800 returns without writing a prescription command in step S116, it is determined in step S118 that there is no prescription command, and the process proceeds to step S120 to prepare for stopping the dispensing device. Will be When this stop preparation is completed,
In step S122, a stop preparation completion signal is output.
At 124, a command to stop the dispensing device is issued to the control terminal device 80.
Enter 0. Then, the dispensing device is stopped in step S126.

The overall operation of the dispensing device has been described above. (Subroutine) Next, the subroutine in the flowchart of the overall operation shown in FIG. 18 will be described in detail. FIG. 19 is a flowchart showing a subroutine for initialization. First, in step S100 in FIG. 18, the operator writes sheet data in the control terminal device 800, and then inputs an instruction for a sheet data decomposition calculation in step S202. By this instruction, C
The PU device 710 performs a decomposition calculation of these data based on the above-described sheet data, and specifically, performs XYZ
Data such as the number of steps of each drive motor in the XYZ directions for driving in the directions is created. Next, step S20
In 6, the operator issues a cut point calculation instruction from the control terminal device 800, and in step S208, the CP
The U device 710 calculates the XZ coordinate of the cut point corresponding to each tablet sheet, and stores the XZ coordinate in the storage unit. Here, the cut point indicates the intersection of the horizontal perforation 3 and the vertical perforation 4 of each tablet sheet shown in FIG. Next, in step S210, the operator inputs, from the control terminal device 800, an instruction to create individual information such as whether or not tablet sensing described later is necessary and whether the tablet sensing direction is the X direction or the Z direction. Then, the CPU device 710 creates individual information, and also stores the individual information in the storage unit of the control terminal device 800. With the above, the initial setting (sheet data processing) is completed.

Next, FIGS. 20A and 20B show the payout operation subroutine in step S110 in FIG. When the operator instructs the dispensing operation in step S108 of FIG. 18, first, in step S302, when a problem occurs in a part of the dispensing device during the dispensing operation and the operation stops there. In preparation, the payout timer is started. If the payout operation is not completed even after the payout operation has started and the set time of the payout timer has elapsed, an error is output. Next, in step S304, the conveyor 600 is operated in the forward direction in FIG.
The tablets on the top 10 are dispensed to the first tablet unloading box 603. In step S306, in step S304, the conveyor 6
00, when the tablet is dispensed, the operator takes it out, and during the automatic dispensing operation after the dispensing operation,
Since it is necessary to prevent the dispensed unnecessary tablets from being mixed, an instruction to check the contents of the first tablet dispensing box is output from the dispensing device. This instruction is transmitted to the operator by blinking a lamp or a buzzer.

Next, assuming that the dispensing device stops due to a power failure or the like during tablet cutting, the cutter 50 is used.
0 and dispensing the tablets inside the head 400. First, in step S308, it is determined whether the vertical blade 501 and the horizontal blade 503 are at the upper retreat position. This determination is made by the CPU 710 based on the detection signal of the actuator 537 attached to the moving base 507, which is detected by the sensor 538. If it is determined in step S308 that the vertical blade 501 and / or the horizontal blade 503 are not at the retracted position, the process proceeds to step S3.
At 09, the dispensing device is stopped, and the operator or serviceman checks the dispensing device.

In step S308, the vertical blade 501 and the horizontal blade 5
If both are in the evacuation position, the process proceeds to step S310, and it is determined whether or not the retainer 506 is in the upper evacuation position, that is, whether or not the tablet sheet is being pressed. This determination is based on the aforementioned sensor 5
CPU device 710 according to the detection signals of 64 and 565
It is performed by If the retainer is not at the retreat position in step S310, the rotary solenoid 552 is turned off in step S311, and the retainer 5 is turned off.
06 is retracted upward. If it is determined in step S310 that the retainer 506 is at the retracted position, the Z carriage 456 is returned to the Z-direction initialization position in step S312. Therefore, in this state, the upper and lower claws are retracted into the head 400, and when the sweeper carriage 550 is driven, or when the head 40
Even when 0 is driven to move in the X and Y directions,
It does not collide with other parts of the dispensing device and is not damaged. Further, for example, when the upper and lower claws grip the tablet sheet, the tablet sheet is drawn into the head 400.

Next, in step S314, the first right dropping lid 468 and the first left dropping lid 469 are opened. Then, in step S316, when the upper and lower claws are opened and closed, if the tablet sheet is sandwiched between the upper and lower claws, the tablet sheet is stored in the box 477. Then, in step S318, the first right dropping lid 468 and the first left dropping lid 4
69 is closed.

Next, in step S320, when the sweeper carriage 550 is driven, the cut tablets are
It is paid out to the shooter 535 and stored in the discharge box 601. Then, in step S322, the XY carriage 30
0, the head 400 is moved in the X direction and the discharge box 6
Stop at the payout position above 01. And step S
At 324, the second drop lid 470 provided at the lower part of the box 477 is opened, and the tablets stored in the box 477 fall into the discharge box 601. In step S326, the third drop lid is opened and closed, and in step S320 and step S324, the tablets dispensed into the discharge box 601 fall onto the belt 610 of the conveyor 600.
Then, in step S328, the head 400 is returned to the initialization position.

Next, at step S330, the conveyor 60
0 is driven, the belt 610 is moved in the opposite direction to that of step S304, that is, in the backward direction in FIG. Then, in step S332, to remove the dispensed tablets,
The second tablet take-out box 6, which is a take-out box for taking out defective products
An instruction is output to confirm the contents of 05. This instruction is transmitted to the operator by blinking a lamp, a buzzer, or the like, as in step S306. Then, this instruction is released by once pulling out the second tablet unloading box 605 and closing it again, and the operation is released in step S33.
At 4, it is determined whether or not the second tablet unloading box 605 has been opened and closed.

In step S334, the second tablet unloading box 60
5 is not opened or closed, the second tablet unloading box 605
Confirmation instruction is continuously performed. Then, step S302
If the set time of the payout timer started in elapses, the CPU device 710 outputs an error. If it is determined in step S334 that the second tablet unloading box 605 has been opened and closed, the process proceeds to step S336, and the first tablet unloading box 603 is processed as in the case of the second tablet unloading box 605.
A determination is made as to whether or not the opening and closing has been performed. Step S
If it is determined in 336 that the first tablet unloading box 603 has been opened and closed, the dispensing operation ends. If the first tablet unloading box 603 is not opened and closed in step S336, the confirmation instruction of the first tablet unloading box 603 is continuously performed, and when the set time of the dispensing timer elapses, the CPU device 710 Output an error.

The above is the operation of the payout operation subroutine. Next, the subroutine for automatic dispensing in step S119 in the automatic driving part of FIG. 18 will be described. FIG. 21 shows the entire subroutine of automatic dispensing. First, the prescription command read in step S116 in FIG. 18 is converted into dispensing data in step S402. Here, since the prescription command indicates only the type of the tablet and the number thereof, when the dispensing device is actually operated to perform dispensing, the shelf on which the tablet is placed, and the Tablet case 200 containing tablets
If there are a plurality of required tablets and dispensing data is required, dispensing data on a process of determining in which order the tablets are to be picked up and the like are required. In step S402, the CPU device 710 creates dispensing data from sheet data stored in advance in the storage unit of the control terminal device 800.

When the preparation of the dispensing data is completed, the operator issues a dispensing execution instruction from the control terminal device 800 in step S404. In step S408, dispensing is actually performed, but the details of this subroutine will be described later. Then, in step S410, step S40
It is determined whether there is no error in the dispensing operation of No. 8. If there is no error in the dispensing operation, step S4
Proceeding to 12, the end dispensing number indicating the number of dispensing of the prescription command that has ended is stored in the storage unit. Here, when it is necessary to take out a plurality of types of tablets for one prescription, the number of finished dispensing is updated each time one type of tablet is taken out, and the number of tablets used for error detection in step S410 is determined. Used as one. Then, in step S414, it is determined whether there is a next dispensing number. If there is a next dispensing number, step S404
Then, the operator instructs the control terminal device 800 to take out the next tablet. Until all tablets for one prescription have been taken out, from step S404,
The loop of step S414 is repeated.

When the removal of all the tablets for one prescription is completed, the process proceeds to step S416, where the operator issues an instruction for managing the delivery from the control terminal device 800. Then, the delivery management is performed in step S418.
Here, in this retrieval management step, the dispensed tablets are discharged to the first tablet removal box 603 from the youngest patient, that is, the youngest prescription command number, so that the C
The PU device 710 opens and closes the third drop lid 602, and
The operation of the conveyor 600 is controlled.

On the other hand, if an error is detected in step S410, the flow advances to step S430 to write an error number corresponding to the error into the storage unit.
At 432, the type of error is determined. If the error is minor, in step S440, the operator investigates the cause of the error and confirms the error. At this time, if there is no particular problem with the dispensing device, the operator operates the control terminal device 800 to
The payout operation is instructed, and the payout operation described above is executed in step S444. When the dispensing operation is completed, in step S446, the operator clears the error and terminates the dispensing operation.
It returns to writing of 16 prescription commands. Step S4
If it is determined in S32 that the error is severe, the process proceeds to step S434, and a service person or the like repairs the dispensing device.

The above is the overall operation of the automatic dispensing subroutine. Next, the subroutine in the routine of the entire operation of the automatic dispensing described above will be further described. Fig. 22-
FIGS. 1 to 22-3 are subroutines of the dispensing operation in step S408. First, in step S404 in FIG.
When the dispensing execution is instructed by the operator, step S
At 502, the storage unit reads out the sheet data of the target tablet to be taken out and information such as how many tablets are left in the remaining number storage unit 203 of the tablet case 200 in which the tablets are stored. . In step S504,
The operator, from the control terminal device 800, obtains the number of new tablet sheets to be taken out from the above data and the number of tablets required for the prescription command and a new tablet sheet, or is cut once and stored in the remaining number storage section 203. Command to execute a data set for creating data such as the number of tablets to be cut out from the remaining portion. Then, in step S506,
The dataset is executed. FIG. 26 shows details of data created by this data set and details of a storage area where each data is stored.

Next, in step S508, the position (X) of the tablet case (column) 200 containing the target tablet is stored.
It is determined whether or not sensing (coordinates from the initialization position in the Y direction) is necessary. Here, the approximate distance from the initialization position in the XY directions to each tablet case (column) 200 is
It is determined in advance (areas DM1011 and DM1
XY coordinate data is stored in the XY coordinate system 012), and the number of pulses of the X carriage motor 305 and the Y carriage motor 301, which are AC servo motors for driving the XY carriage 300, is counted.
In addition, it is possible to bring the upper and lower claws stored therein to the position of each tablet case (column) 200. However, for example, a tablet case (column) 20
When the position of the tablet case (column) 200 is slightly changed due to the deformation of the case shelves 105A and 105B or the frame 100 due to the deflection of the case shelves 105A and 105B due to the weight of 0 and the temperature change, The head 400 cannot be accurately brought to the position of the tablet case (column) 200. Therefore, for each tablet case (column) 200, when the tablet case (column) 200 is accessed for the first time after the dispensing device is started, the exact position is measured and stored as data of the column origin. I keep it in the department. Here, the column origin refers to a position where the marker origin of the marker 221 shown in FIG. 4 matches the sense point of the sensor 442 shown in FIG. The marker origin will be described later in the description of the column sense subroutine.

Step S508 is a step for determining whether or not to perform this measurement. This judgment is made in area D
This is performed depending on whether the data stored in M1101 is “1” or “0”. If this data is “0”, it means that column sensing has not been performed, and “1” If so, it means that column sensing has already been performed. When the dispensing device is activated, this area DM11
The data of 01 is cleared to “0” for all tablet cases (columns) 200.

The tablet case (column) 20
If the XY position of 0 is measured and column sensing is unnecessary, the head 400 is moved to the column origin in step S510, and the process proceeds to step S512. If column sensing is required, the operator inputs a command to execute column sensing from the control terminal device 800 in step S514. Then, column sensing is performed in step S516. Details of this column sense will be described later. Then, step S5
In step 18, the area DM 1101 is set to "1". In step S520, the column sense data is set at the column origin, and the flow advances to step S512.

In step S512, the first right drop cover 468 and the first left drop cover 469 of the head 400 are opened. In step S522, a new tablet sheet is drawn first from the data stored in the area DM1105 in the data set in step S506, or
It is determined whether to draw out the remaining number of tablet sheets stored in 03 first.

If the user wants to pull out a new tablet sheet, the process proceeds to step S524, and the head 400 is moved to a position where the remaining tablet sheets can be taken out from the remaining storage section 203 of the tablet case (column) 200. In step S526, the remaining tablet sheets are taken out of the remaining storage section by the upper and lower claws. At this time, the marker 2 provided on the tablet case (column) 200 shown in FIG.
The distance between head 400 and tablet case 200 is measured by sensing 22 with sensor 444 shown in FIG. Then, based on the measurement data, the amount of protrusion of the upper and lower claws from the head 400 is controlled, so that the upper and lower claws can accurately grip the tablet sheet. Also, whether or not the upper and lower claws could accurately grasp the tablet sheet,
The light is detected by a light receiving / emitting sensor 407 provided on the lower nail 401. Then, the remaining tablet sheets that have been taken out are drawn into the head 400 and stored in the box 477. Then, in step S528, the head 400 is moved to the column origin. Thereafter, the process proceeds to step S530.

On the other hand, if it is determined in step S522 that a new tablet sheet is to be drawn first, the process proceeds to step S530. In step S530, the tablet case (column) 200 is moved by the upper and lower claws as described with reference to FIG.
1 new tablet sheet is pulled out from the head 400
Is stored in a box 477 inside. At this time, the amount of protrusion of the upper and lower claws from the head 400 is controlled in the same manner as when the remaining number of tablet sheets are taken out in step S526. Then, in step S532, it is determined whether or not the number of withdrawal of the tablet sheet has been completed. If the number of withdrawal has not been completed yet, the process returns to step S530, and step S530 and step S532 are repeated. In step S532, the number of times of withdrawal has been completed, that is, the required number of new tablet sheets is all the tablet cases (columns).
If it is determined that it has been taken out of step 200, the process proceeds to step S534.

Next, in step S534, step S534
In the data set 506, it is determined from the data stored in the area DM1106 whether it is necessary to cut the tablet sheet. If cut is not required, the process proceeds to step S535. Step S535
Then, the head 400 is driven in the X direction and the discharge box 6
Moved just above 01. Then, step S536
Then, the second drop lid 470 is opened and closed, and the box 477 is opened.
The tablet sheet stored therein falls into the discharge box 601. Thereafter, the head 400 returns to the initialization position and ends. If it is determined in step S534 that cutting is necessary, the process proceeds to step S538, where the first right dropping lid 468 and the first left dropping lid 469 are closed. In step S539, in the data set in step S506,
From the data stored in the area DM1108, it is determined whether to cut out a fractional number of tablets from the remaining number of tablet sheets or a fractional number of tablets from a new tablet sheet.

If fractional tablets are to be cut out from the remaining tablet sheets, the flow advances to step S562. In step S562, the upper and lower claws are in the tablet case (column) 20.
The head 400 is moved so that the remaining number of tablet sheets can be taken out of the remaining number storage unit 203 of zero. Next, step S
At 564, it is determined whether or not there is a vertical cut. This determination is made based on the data stored in the area DM1109 in the data set in step S506. If it is determined in step S564 that a vertical cut is necessary, the process proceeds to step S566, and it is determined whether the vertical cut is the lowest row, that is, the row closest to the upper and lower claws.

If it is determined in step S566 that the vertical cut is the lowermost row, the flow advances to step S567 to determine whether it is necessary to re-grip the upper and lower claws. Here, when the tablet sheet is normally grasped by the upper and lower claws, the center of the left and right widths of the tablet sheet is grasped. Therefore, the positional relationship between the tablet sheet, the upper right nail body 410 and the upper left nail body 412 is as shown in FIG. 2, and when performing vertical cutting in the lowermost row, for the tablet sheets A and B, the vertical cutting vertical The perforation 4 is located at the center between the upper right nail 410 and the upper left nail 412, but for the tablet sheet C, the vertical perforation 4 is not located at the center between the upper right nail 410 and the left upper nail 412. In the example shown in FIG. 2, the tablet sheet C does not come to a position where the upper right nail body completely overlaps with the vertical perforation 4, but among the tablets of 600 types, the upper and lower nail bodies are included. so,
If the center of the left and right widths is simply grasped, the vertical perforation 4 may overlap either the upper right nail 410 or the upper left nail 412. In addition, it is conceivable that either the upper right nail 410 or the upper left nail 412 interferes with the vertical blade 501 when performing vertical cutting even if they do not completely overlap. Therefore, the gripping of the tablet sheet is performed again only when the vertical cutting of the lowermost row is performed according to the type of the tablet sheet, so that the vertical cut perforation 4 comes to the center of the upper right nail body 410 and the left upper nail body 412. I have to.
In step S567, it is determined from the data stored in the area 1111 in the data set in step S506 whether or not this re-gripping is necessary.

If it is determined in step S557 that re-gripping is necessary, the positions of the upper and lower claws are moved in the X direction according to the size of the tablet sheet in step S568. Then, in step S569, the data of the moving distance by which the upper and lower claws are moved in the X direction is stored in the storage unit, and step S5 is performed.
Go to 70. On the other hand, if it is determined in step S566 that the vertical cut is not at the bottom row, the process proceeds to step S5.
Go to 70. If it is determined in step S564 that there is no vertical cut, the process proceeds to step S570.

In step S570, the remaining number of tablet sheets is actually gripped (gripped) by the upper and lower claws, and is taken out of the remaining number storage section 203 of the tablet case (column) 200. Then, the process proceeds to step S572. On the other hand, if it is determined in step S539 that cutting is to be performed from a new tablet sheet, a new tablet sheet is taken out in step S540 and the head 400 is removed in step S542.
Is moved, and the tablet sheet taken out is moved to the cutter 500.
And is positioned at the cutter origin. Here, to be positioned at the cutter origin means that the center line of the left and right width of the tablet sheet is positioned directly below the vertical blade 501, and the edge of the tablet sheet in the Z direction is positioned directly below the horizontal blade 503. Means

Next, in step S544, it is determined whether or not tablet sense is required. Here, in FIG. 2, there is no problem with a tablet without ears like the tablet sheet B,
In a tablet sheet having an ear like the tablet sheet A or the tablet sheet C, a case where the tablet case (column) 200 is inserted in the front-rear direction or the left-right direction may be considered. Therefore, for a tablet sheet having an ear, the distance from the end of the tablet sheet to the tablet section 5 is measured in order to determine which side the ear faces. In step S544, it is determined from the sheet data already stored in the storage unit whether or not the tablet sheet needs to be measured.

If it is determined in step S544 that the tablet sense is unnecessary, the process proceeds to step S57.
Proceed to 2. If it is determined in step S544 that tablet sensing is necessary, then in step S546, it is determined whether the sensing direction is the X direction or the Z direction. As is apparent from FIG. 2, when the ear is present in the Z direction as in the case of the tablet sheet A, the sensing in the Z direction is necessary. , X-direction sensing is required. In step S546, the CPU
The device 710 determines the sense direction based on the sheet data of the tablet sheet.

In step S546, the sensing direction is Z
If the direction is determined, the process proceeds to step S548,
As shown in FIG. 14, the sensor 561 measures the distance from the edge of the tablet sheet to the tablet portion 5 in the Z direction. In step S550, the dimension data of the tablet sheet in the front-rear direction is exchanged, and the process proceeds to step S554. If it is determined in step S546 that the sensing direction is the X direction, the process proceeds to step S551 and the sensor 5
According to 60, the distance from the edge of the tablet sheet to the tablet portion 5 is measured in the X direction. If the ears of the tablet sheet face in the opposite direction, step S
In 552, the left and right dimension data of the tablet sheet are exchanged, and the flow advances to step S554.

At step S554, step S564
As described above, it is determined from the data in the area DM1109 whether or not vertical cutting is necessary. If vertical cutting is not necessary, the flow advances to step S572. Step S554
If it is determined in step S5 that vertical cutting is necessary, step S5
At 56, it is determined whether the vertical cut is the bottom row. If it is determined in step S556 that the vertical cut is not at the bottom row, the process proceeds to step S572.

If it is determined in step S556 that the vertical cut is at the bottom row, the process proceeds to step S558,
As described in step S567, the area DM1111
It is determined whether or not it is necessary to re-grip the tablet sheet based on the above data. If it is determined that regripping is unnecessary, the process proceeds directly to step S572. If it is determined that re-gripping is necessary, the tablet sheet is re-gripped in step S559, and in step S560, the distance data moved in the X direction for re-gripping is stored in the storage unit, and the process proceeds to step S572.

In step S572, the tablet sheet is positioned at the cutting origin described above. Next, step S
In step 574, it is determined whether vertical cutting is necessary as in steps S554 and S564. If it is determined that vertical cutting is not necessary, step S57
The process proceeds to step S6, and the side portion 8 is punched out by the horizontal blade 503 as in the case of the tablet sheet B in FIG. 2, and the process proceeds to step S584.

If it is determined in step S574 that vertical cutting is necessary, the flow advances to step S577 to execute upper vertical cutting first, and then execute step S578 to execute lower vertical cutting. In S579, a left horizontal cut is performed. Next, in step S580,
As in step S566, it is determined whether the vertical cut is at the bottom row. If the vertical cut is not at the bottom row,
Proceeding to step S581, a right side cut is performed,
Proceed to step S584. If it is determined in step S582 that the vertical cut is the bottom row, the process proceeds to step S582.
Proceeding to 2, the gripping of the upper right nail 412 is released, and the flow proceeds to step S584.

Here, the cutting process from step S577 to step S582 will be specifically described with reference to the tablet sheet C in FIG. When cutting is performed as shown by the solid line on the tablet sheet C in FIG. 2, in step S577, the area DM11 shown in FIG.
13, based on the coordinates stored in DM 1114, X
The upper and lower claws, ie, the tablet sheet, are moved in the Z direction, and the vertical cutting portion 7A is punched out by the vertical blade 501 (upper vertical cutting). Next, in step S578, the area DM1115
The tablet sheet is moved in the Z direction on the basis of the above data, and the vertical cut portion 7B is punched out by the vertical blade 501 (lower vertical cut). Further, in step S579, the area DM111
6. The tablet sheet is XZ based on the data of DM1117.
In the direction shown in FIG. 2, the left transverse section 8 in FIG. 2 is punched by the horizontal blade 503 (left lateral cut).

Next, in step S580, since the vertical cut is not at the bottom row, the flow advances to step S581, and the tablet sheet is moved in the XZ direction based on the data in the areas DM1118 and DM1119, and the right side cross section 8 Is punched by the horizontal blade 503 (right side horizontal cut). Here, when performing the cutting from step S577 to step S581, the vertical cutting portion 7A,
As shown in FIG. 2, the transverse perforations 7B and the transverse section 8
The position of the tablet sheet is moved in the XZ direction so as to be slightly longer than the intersection of the vertical perforation 4 and. In this way, the vertical cuts 7A, 7B and the horizontal cut 8 are slightly overlapped in a cross shape, so that there is no uncut portion at the intersection of the vertical cuts 7A, 7B and the horizontal cut 8, and the cutting is reliably performed. Done. Also,
The reason why the cutting is performed in the order from step S577 to step S581 is that the vertical cut portion 7 having a short distance is cut first, and the transverse cut portion 8 having a long distance is cut later, so that the fraction part to be separated and the upper and lower claws are cut. This is for the purpose of leaving as much as possible of the connection portion with the remaining part gripped by the body until immediately before the fraction part is completely cut off. By leaving a large number of connection portions between the fractional part and the remaining part, when the tablet sheet moves in the XZ direction during cutting,
The fractional part to be separated can be stably held without fluctuation.

On the other hand, when the tablet sheet A shown in FIG. 2 is cut as indicated by the solid line, the cut is performed in exactly the same manner as when the solid sheet portion of the tablet sheet C is cut. Next, a case in which the tablet sheet C shown in FIG. 2 is cut as shown by a dashed line will be described. Steps S577 to S579 are exactly the same as the cutting of the solid line described above. And step S
In step 580, since the vertical cut is the bottom row, step S582
Proceed to. Here, at the stage where the cutting up to step S579 is completed, the positional relationship between the tablet sheet and the claw body is as illustrated, and the left and right claw bodies are dispensed by the sweeper 510 on the side of the tablet sheet and the head 400. It is in a state of straddling both of the tablet sheets on the side returned to the tablet case (column) 200 by being drawn inside. Therefore, in this state, the upper and lower claws cannot be pulled into the head 400. Therefore, in step S582, by releasing the grip of the upper right nail body 410, only the tablet sheet on the side returned to the tablet case 200 becomes the lower nail body 401.
Is held by the upper left claw body 412. When the vertical cut is in the lowermost row, the right side horizontal cut cannot be performed because the vertical blade 501 and the upper right nail body 412 interfere with each other, and it is not necessary to perform the right side horizontal cut. Therefore, the right side horizontal cut is omitted. Is done. Then, the process proceeds to step S584.

In step S584, the upper and lower claws are retracted into the head 400, and the retainer 506 is released.
In step S585, the sweeper 510 is driven,
The cut tablets are dispensed to the shooter 535. Then, in step S586, the head 400 is
1 and the second drop lid 47 in step S588.
0 is opened and closed, and the tablets in the box 477
Fall into one. Thereafter, in step S590, the remaining tablets held by the upper and lower claws are removed from the tablet case (column) 20.
The head 400 is located at a position where the head 400
Is moved.

Next, in step S591, it is determined whether or not the tablet currently held is cut again when the tablet is cut. If re-grabbing is performed, when the upper and lower claws are in the center in the width direction of the tablet case (column) 200 and the remaining tablets are returned to the remaining number storage section 203, the positions of the tablets are changed. It will be shifted in the X direction with respect to the tablet case 200. Therefore, step S59
In 2, the head 400 is moved in the direction opposite to the X-axis by a distance corresponding to the amount of shift when regripping is performed, and returned to the original position. Then, the process proceeds to step S594.
If it is determined in step S591 that the user has not grasped again, the process proceeds to step S594.

Then, in step S594, the remaining tablets are returned to the remaining number storage section 203, and in step S596, the head 400 is moved to the initialization position, and the dispensing operation ends. The above is the operation of the dispensing subroutine. next,
The column sense subroutine of step S531 in FIG. 22 will be described. FIG. 23 is a flowchart showing a subroutine of this column sensing. FIG.
4-1 is the marker 22 printed on the tablet case 200
1 shows a detailed shape of FIG.

First, in step S702, the head 40
0 is moved to the temporary column origin. At the time of moving to the temporary column origin, the sensor 442 mounted on the head 400 senses a point near the marker origin 221a. Column sensing is performed so that the sense point of the sensor 442 exactly matches the marker origin 221a.
The purpose is to position the head 400. Here, the reflectance of the surface of the marker 221 is determined by the tablet case (column) 2 on which the marker 221 is printed.
00 is different from the reflectance of the back of the sensor 442.
Determines whether the sense point of the sensor 442 is inside the marker 221 based on changes in the amount of light reflected on the back surface of the tablet case 200 and the amount of light reflected on the surface of the marker 221.

Next, in step S704, in FIG. 24, the sense point of the sensor 442 near the column origin is moved to the lower left point C1 in FIG. Then, from that position, the head 400 moves to Y
The jog operation is performed in the upward direction of the axis, and the sense point of the sensor 442 moves in the direction indicated by the broken arrow in the drawing. The sense point of the sensor 442 is C
At the moment of passing through two points, the output of the sensor 442 changes from “high” to “low”. And furthermore, the sensor 4
The sense point 42 moves, and changes from “low” to “high” again at the moment when passing the point C3. At the moment when the output signal of the sensor 442 changes from "low" to "high", a stop signal is sent to the Y carriage motor 301, and the Y carriage motor 301 stops. However, at this time, the sense point of the sensor 442 overruns by y2 from the point C3 due to the inertial force of the head 400 before the stop signal is sent to the Y carriage motor and before the stop.

Next, in step S706, the output signal of the above-described sensor 442 changes from "low" to "high".
It is determined whether the Y carriage motor 301 has stopped. If not stopped, step S70
Proceeding to 8, the timer is started. Then, in step S710, it is determined whether or not the timer started in step S708 has timed out, and if not, the process returns to step S706. if,
If the time is up in step S710, it is determined that the normal operation of the column sense is not performed, and in step S712, a stop instruction of the Y carriage motor 301 is issued. Then, in step S714, a column sense error is output to the control terminal device 800.

On the other hand, if the Y carriage motor 301 has stopped in step S706, the flow advances to step S716 to determine the number of drive pulses of the Y carriage motor 301 until the sense point of the sensor 442 moves from the point C2 to the point C3. , The value of y1 is calculated and stored in the storage unit. Next, in step S718, the values of x and y are calculated from the value of y1 by using a mathematical expression as shown in the figure, and step S720
Based on the calculated values of x and y, the head 400
Moved in the direction. When the head 400 is moved, the sense point of the sensor 442 moves in the direction of the solid arrow in the drawing, and when the movement is completed, the sense point of the sensor 442 exactly matches the marker origin 221a. Should be. If they do not match, the sense point of the sensor 442 deviates from the marker origin 221a, and the shift of the sense point can be confirmed by the output of the sensor 442 becoming "high". Then, the coordinate information of the column origin 221a is stored in the storage unit.

Thus, the column sensing operation is completed. According to the flowchart described above, the dispensing device of the embodiment operates, and the automatic dispensing of the PTP tablet is performed. In addition,
The present invention can be applied to a modification or a modification of the above embodiment without departing from the gist of the invention.

For example, in the embodiment, the marker 22
24-1 has been described as a shape as shown in FIG. 24-1, but as in the modification shown in FIG. 24-2, a marker 221 is formed by a substantially right triangle body 221b and a marker origin 221a.
Is preferably completely separated from each other, even if the sense point of the sensor 442 is displaced in any direction of the XY directions, the displacement between the sense point and the marker origin 221a can be detected.

[0134]

As described above, according to the present invention,
Since the head device can be accurately positioned with respect to the tablet case, there is an effect that the grip of the tablet sheet is not lost.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of an embodiment.

FIG. 2 is a plan view of each type of tablet.

FIG. 3 is an external perspective view of upper and lower claws and a tablet.

FIG. 4 is an external perspective view showing a relationship between a tablet case and upper and lower claws.

FIG. 5 is a side view of the XY carriage.

FIG. 6 is a front view of the XY carriage.

FIG. 7 is an external perspective view of a head.

FIG. 8 is an external perspective view of a head.

FIG. 9 is an external perspective view of a head, and is a sensor mounting diagram.

FIG. 10 is an external perspective view of a head, and is a sensor mounting diagram.

FIG. 11 is an external perspective view of the cutter.

FIG. 12 is a cutaway perspective view of an essential part of the cutter.

FIG. 13 is an external perspective view of the cutter, and is a diagram of a sensor mounting.

FIG. 14 is a cutaway perspective view of a main part of the cutter, and a sensor mounting diagram.

FIG. 15 is an external perspective view of a conveyor.

FIG. 16 is an external perspective view of the conveyor, and is a sensor mounting diagram.

FIG. 17 is a block diagram.

FIG. 18 is a flowchart showing an overall operation of the dispensing device according to the embodiment.

FIG. 19 is a flowchart of a subroutine for initialization.

FIG. 20-1 is a flowchart of a payout operation subroutine.

FIG. 20-2 is a flowchart of a subroutine of a payout operation.

FIG. 21 is a flowchart of a subroutine for automatic dispensing.

FIG. 22-1 is a flowchart of a dispensing subroutine.

FIG. 22-2 is a flowchart of a dispensing subroutine.

FIG. 22-3 is a flowchart of a dispensing subroutine.

FIG. 23 is a flowchart of a column sense subroutine.

FIG. 24A is a diagram illustrating a detailed shape of a marker.

FIG. 24-2 is a view showing a modified example of a marker.

FIG. 25 is a diagram showing the correspondence between sheet data contents and areas.

FIG. 26 is a diagram showing the correspondence between data set contents and areas.

[Explanation of symbols]

 100 Frame 200 Tablet Case 300 XY Carrier 400 Head

Continuation of the front page (72) Inventor Kazuhiro Sato 3-48, Daimon Rokubancho, Shiojiri-shi, Nagano Copal Shiojiri Office (56) References JP-A-2-309967 (JP, A) JP-A-2-2- 255149 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61J 3/00 310 B65B 35/00 B65G 1/04

Claims (1)

(57) [Claims] 1. A case shelf provided in a frame main body and divided into vertical and horizontal stages, a tablet case base attached to a predetermined position of the case shelf, and a housing detachably attached to the tablet case base. A case portion provided in the storage portion and adjustable according to the size of the tablet sheet, a remaining storage portion for storing a fraction of the tablet sheet, and a takeout mechanism for taking out the tablet sheet to the outside. An X-carriage device provided in the frame housing; a Y-carriage device provided in the X-carriage device; and a case provided so as to be driven in the up-down longitudinal direction of the Y-carriage device. A head device moved along the front side surface of the shelf; a pressing mechanism mounted on the head device to press the take-out mechanism; A gripping device for gripping an end portion of the tablet sheet; a Z carriage device mounted with the gripping device for gripping by the gripping device, moving in the Z direction and taking out the tablet sheet from the tablet case to the outside; A first drop lid having an opening and closing mechanism for dropping or holding the tablet sheet moved in the direction; the first drop lid is opened;
And a box for temporarily storing a tablet sheet dropped by releasing the gripping device; a second dropping lid having an opening / closing mechanism provided at the bottom of the box; and a tablet sheet provided on the frame housing body. A cutter mechanism comprising a punching mechanism for cutting a fraction of the above, a holding mechanism for holding the tablet sheet so as not to move at the time of the punching, and a sweeper mechanism for removing the fraction after the fraction cutting and dropping it to the lower part. A discharge box located below the cutter device and below the second drop cover after the head device is moved; a third drop cover that can be opened and closed at the bottom of the discharge box; A conveyor device provided below and provided with a tablet take-out box on both sides and having a transport mechanism, and a drive control device connected to the devices and mechanisms. A tablet device, wherein the tablet case has a substantially right-angled triangular marker whose base is orthogonal to the Y-axis on a plane facing the head of the tablet case and orthogonal to the Z-axis, and The head device has detection means for detecting that one projected point on the head device on the marker has crossed the outline of the marker, and the drive control device has a configuration in which the projected point is the marker. The head is moved so as to move on the Y-axis from the outside of the marker to the oblique side across the base of the marker, and the projection point cut by the base and the oblique side of the marker from the detection signal of the detection means. The length of the moving line is detected, and the relative position of the projection point with respect to the marker is detected from the length and the shape information of the marker, so that the projection point comes to the position of the vertex of the marker. Dispensing apparatus characterized by positioning the head device.