JP5000003B1 - Board-like object turning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a plate-shaped substance inverting device for inverting a plate-shaped substance such as a medical tablet, a mechanical component and a confection. <P>SOLUTION: The plate-shaped substance inverting device comprises: an upper-side placing plate which places the plate-shaped substance and can move in at least one direction; a lower-side placing plate which is arranged at the lower face side of the upper-side placing plate so as to oppose it, and formed so that at least a part of its upper face may have prescribed irregularities or may have a friction coefficient larger than a prescribed value; a push-out plate arranged in a position apart from a portion in which the plate-shaped substance is placed so as to oppose the upper face of the upper-side placing plate; and an inversion controller which controls the movement of the upper-side placing plate and the push-out plate. <P>COPYRIGHT: (C)2013,JPO&amp;INPIT

Description

  The present invention relates to a device for turning over a plate-like object for turning over various plate-like objects such as drugs, machine parts (washers, nuts, etc.), confectionery (biscuits, cookies, disc-like chocolate, etc.) and play utensils (hajiki, etc.). About.

  Conventionally, for each bag body in which a plurality of drugs (drugs in the form of tablets, capsules, etc.) for a single dose of a patient are respectively packaged, an image of each drug in each bag body is acquired by the imaging means. Based on the acquired image, it is determined whether or not the package for each bag is a correct package according to the prescription. The medicine in the bag is taken out without being delivered to the patient and separated into containers corresponding to each brand of the medicine (see, for example, Patent Document 1).

JP 2008-18230 A

However, in this conventional packaged medicine test, and the contents of the bag determined as “not packaged according to the prescription” in the inspection process, the medicine is taken out and dealt with for each brand of drug. There are various problems related to sorting into containers and the like as follows.
(1) For bags that have been determined that “packaging is not according to the prescription”, each drug is taken out from the bag and collected and stored, and then each drug is taken out one by one and the corresponding brand Although it is desirable to automatically store in a container, for this purpose, for example, it is necessary to identify each brand on the basis of the image of the marking of each drug and store each drug in a container corresponding to each brand. However, conventionally, when the surface on which the drug marking is not formed is opposed to the imaging means, it is difficult to obtain a stamped image without human intervention. There has been a problem that it is difficult to automatically separate and store a large number of the medicines one by one in containers corresponding to the brands. That is, when the surface on which the marking of the medicine is not formed is opposed to the imaging means, it is necessary to turn over the medicine so that the surface on which the marking is formed is opposed to the imaging means. There was a problem that it was difficult to automatically perform the flipping operation. In addition, conventionally, there is a problem that it is difficult to automatically perform the turning operation of a board-like object including not only the above-described drug but also machine parts and confectionery.

  (2) It is necessary to acquire an accurate image of each medicine in order to accurately determine whether or not the packaging for each bag is in accordance with a prescription, and in order to acquire an accurate image, before imaging It is necessary to keep the drugs in the bag from overlapping each other, not in contact with each other, or not to stand upright with respect to the plane of the sheet. There is a problem that it is difficult to reliably and easily cope with the problem. Furthermore, conventionally, with respect to the plate-like objects other than the plurality of medicines enclosed or accommodated in the bag body, the plurality of disk-like objects enclosed or contained in the bag body are reliably connected to each other so as not to overlap each other reliably. There has been a problem that it is difficult to automatically prevent contact with each other or ensure that the sheet plane does not stand upright.

  (3) For a bag body that is determined that “the packaging is not according to the prescription”, for example, in order to identify the brand by taking out each medicine in the bag and automatically imaging the inscription of the medicine, It is necessary to individually take out drugs one by one from a container in which a large number of drugs taken out from the bag are collected and move them to an imaging position by the imaging means. However, conventionally, there has been a problem that it is difficult to individually and accurately extract the drugs one by one from a container in which a large number of drugs extracted from the bag body are collected. Furthermore, conventionally, there has been a problem that it is difficult to individually and accurately take out the medicines individually and one by one from a container in which a large number of board-like objects are collected.

  (4) In the case of imaging each medicine in the bags constituting the connecting body while moving the connecting body in which the bags made of the transparent material are continuously connected to each other, the connecting body Must be moved while accurately controlling its position. However, conventionally, there is a problem that it is difficult to accurately recognize and position the tip of the connecting body in the first stage of the moving operation because the connecting body is transparent and soft. .

  (5) For a bag body that has been determined that “packaging is not according to the prescription”, for example, it is necessary to take out each drug in the bag and store it in a container corresponding to the brand identified from the stamp of each drug. is there. However, conventionally, there has been a problem that in such a case, it is difficult to automatically separate and store each medicine in a container corresponding to the brand. Further, conventionally, there is a problem that it is difficult to automatically separate and store the plate-like object into the container corresponding to the surface design (shape, engraving, printing content, etc.) of the plate-like object other than the medicine. .

(6) In the case of imaging each medicine in each bag constituting the connecting body by the imaging means while transporting the connecting body in which the packaged transparent bags are continuously connected to each other In this case, it is necessary to convey the articulated body while accurately controlling the position of the connecting body. However, conventionally, there has been a problem that conveyance misalignment occurs during conveyance of the connecting body, and accurate positioning to an imaging position or the like is difficult.
(7) In the case where it is determined whether each packaged body is packaged according to a prescription while moving the connected body in which each packaged body is continuously connected to each other, Among them, there is a problem that it is difficult for an operator or the like to distinguish between “a bag that is a sachet according to a prescription” and “a bag that is not a sachet according to a prescription”. Conventionally, there are similar problems with a board-like object other than a medicine.

  The present invention has been made by paying attention to the conventional problems as described above. (1) For example, when a surface on which a drug mark is not formed is opposed to an imaging means, To provide a device capable of automatically turning over a disk-like object, such as turning over the medicine so that the surface on which the inscription is formed can be opposed to the imaging means, (2) In each packaged bag Before imaging each drug, make sure that the drugs in the bag do not overlap each other, do not touch each other, or do not stand upright with respect to the sheet surface, etc. Providing a device that removes and eliminates the overlap, contact, and upright of board-like objects in the bag body. (3) Accommodates a large number of drugs taken out from the bag body that is determined to be “not in accordance with prescription” Surely remove each drug from the container However, the present invention provides a device that can take out a plate-like object one by one from a container containing a large number of plate-like objects. (4) A connecting body in which each bag made of a transparent and soft material is continuously connected. Providing a device capable of accurately recognizing the tip of the connecting body and accurately positioning the connecting body in the first stage of the movement, when (5) each medicine, etc. Provided is a device capable of automatically and accurately storing a disc-like object in a container corresponding to its brand or type, and (6) a connecting body in which each bag is continuously connected to each other. In the case of transporting in a predetermined direction, an apparatus is provided that can accurately transport without causing transport misalignment during the transport. (7) While moving the connecting body in which each bag is continuously connected to each other Inside each bag An apparatus that allows an operator or the like to easily recognize the distinction between a “bag in which the contents are correctly stored” and a bag in which the contents are not stored in the connecting body when determining whether or not an object is properly stored The object is to provide at least one of the following.

  In this specification, the “disk-shaped object” is an object having a predetermined thickness, for example, a substantially disk shape, a substantially flat plate shape, a substantially dish shape, or a substantially donut shape, such as a nut or a washer. Various objects such as machine parts, confectionery such as biscuits, cookies, and disc-shaped chocolate, and repellents for play are included. FIG. 13 (a) is a diagram (a perspective view, a central side sectional view, and a central flat sectional view in order from the left side of the drawing) showing an example of a substantially disk-shaped disk-like object. FIG. 13B is a central sectional view showing an example of a plate-like object other than the example shown in FIG. As shown in FIG. 13B, the disk-like object has various cross-sectional shapes such as a substantially elliptical shape, a substantially hexagonal shape, a substantially rectangular shape, and a substantially donut shape, for example (from the left side in the figure). be able to. Moreover, FIG.13 (c) is a center plane sectional view which shows the example of other board-like objects other than the example shown to Fig.13 (a). As shown in FIG. 13 (c), the disk-like object has a central plane sectional view of various shapes such as a substantially rectangular shape, a substantially hexagonal shape, a substantially elliptical shape, and a substantially donut shape (from the left side in the figure). can do.

Each invention proposed in this specification in order to solve the respective problems as described above is as follows.
1. A plate-like object turning device for turning a plate-like object upside, an upper placement plate on which the plate-like object is placed and movable in at least one direction, and the upper placement plate A lower mounting plate disposed on the lower surface side of the lower surface of the lower mounting plate so that at least a part of the upper surface has predetermined irregularities or has a friction coefficient greater than or equal to a predetermined level. A side plate, and a push plate disposed at a position away from a portion on which the plate-like object is placed so as to face the upper surface of the upper plate, and is placed on the upper plate. Pushing the placed plate-like object to drop the plate-like object from the upper placement plate onto the lower placement plate, and the plate- like object placed on the upper placement plate when it is location, moving at least the upper mounting plate in the direction of the extrusion plate, to The disk-shaped object on the upper mounting plate is so as to be pushed by said pushing plate Ri, to have a "predetermined unevenness of the lower mounting plate of said plate-like object from the end of the upper mounting plate And a turn-over control means for dropping onto a portion formed so as to have a friction coefficient greater than or equal to a predetermined coefficient.
When the disc-like object is placed on the upper surface of the upper placement plate, the turnover control means moves at least the upper placement plate in the direction of the push-out plate so that the disc-like object is The one end portion of the disk-like object is moved from the end portion of the upper mounting plate so as to have “predetermined unevenness or a predetermined amount of the lower mounting plate. Dropping onto the portion formed so as to have the above friction coefficient, and then moving the extrusion plate in the direction of the plate-like object so that the extrusion plate pushes the plate-like object. The disc-shaped object may be tilted in the direction opposite to the extruded plate with the dropped end as a fulcrum.

  2. An apparatus for removing overlap, etc., for preventing disc-like objects in a bag from overlapping each other, from contacting each other, or from standing upright with respect to a sheet plane of the bag. A holding means for supporting the bag body by holding an end portion of the body or the vicinity thereof, an upper suction means for sucking a substantially central portion of the upper sheet of the bag body, and an abbreviation of the lower sheet of the bag body A lower adsorbing means for adsorbing a central part; and a moving means for moving at least one of the upper adsorbing means and the lower adsorbing means so that the adsorbed parts are separated from each other by a predetermined distance in the vertical direction; In the state where the adsorbed portions are separated from each other by a predetermined distance in the vertical direction, the lower surface side adsorption is released while the upper surface side is adsorbed, and then the upper surface side adsorption is released. Wherein the suction control means for controlling the suction means, overlap removal device of the bag body panel shaped objects, characterized in that it comprises a.

  3. An individual take-out device for picking up a plate-like object one by one from a container containing a large number of plate-like objects, a container such as a hopper accommodating the large number of plate-like objects, and a plurality of plate-like objects in the container A take-out portion for taking out one plate-like object from the upper end portion of the vessel so that it can move up and down between the bottom portion of the container and the position above the vessel. A substantially dish-shaped supply head on which a shaped object can be placed, a take-out part in which a slit through which a rod-like member can be inserted from the outside is formed below the upper surface of the supply head, and in the slit A rod-like member configured to be movable so as to be inserted, and a board-like object that is disposed above the container and taken out by the take-out unit and dropped from the supply head toward a predetermined position, such as a shooter Board A receiving part, a board-like object detecting means for detecting that a board-like object is placed on the supply head when positioned above the board-like object receiving part, and a board-like object detecting means On the basis of the signal, the individual member control means for controlling the rod-shaped member and the extraction unit so that the rod-shaped member is inserted into the slit of the extraction unit and the extraction unit is lowered in the state. A board-like object individual take-out device characterized by comprising:

  4). A connecting body moving device for moving a connecting body in which each bag made of a transparent and soft material is continuously connected in a predetermined moving direction, and an initial stage in which the connecting body moving device moves the connecting body. A connecting body positioning device for positioning the connecting body, and the connecting body positioning device includes contact detecting means for detecting that the end of the connecting body on the moving direction side contacts. A contact plate, a contact plate moving means for moving the contact plate between a first position where movement of the connecting body is blocked and a second position where blocking is not performed; and the contact plate is in the first position. And a contact plate movement control means for moving the contact plate from the first position to the second position based on a signal from the contact detection means. A connecting body positioning device made of materials.

  5). For each disk-shaped object, identify or identify the brand or type of each disk-shaped object based on the image of the surface design (shape, engraving, print content, etc.) formed on one surface of each disk-shaped object, The discriminating and storing device is provided for separating and storing in a container corresponding to the brand or type of each disc-like object based on the identified or specified brand or type, A board-like object placement section on which the lower-surface member constituting the lower surface of the board-like object placement section is configured to be movable, and the board-like object placed on the board-like object placement section Imaging means for imaging the surface design, identification means for identifying or specifying the brand or type of the board-like object based on the captured design image, and a plurality of brands or types respectively corresponding to a plurality of brands or types Supports the container, said disc shape A container corresponding to the identified or specified brand or type based on a signal from the container support unit capable of moving any of the plurality of containers below the body placement unit and the brand or the like identifying means, When the container movement control means for moving below the plate-like object placement portion and the container corresponding to the identified or specified brand or type are arranged below the plate-like object placement portion, the lower surface member And an opening control means for opening the lower side of the plate-like object placement portion.

  6). A connecting body moving device for intermittently moving a connecting body in which each transparent bag is continuously connected in a predetermined moving direction, a gripping means for gripping an end of the connecting body, and Intermittent moving means for moving the gripping means in the moving direction intermittently at the same distance as the length in the moving direction between the bag bodies (or the length in the moving direction of the bag bodies); An articulated body moving device comprising:

  7). A signal from a determination device that acquires an image of each disk-shaped object in each bag body by an imaging unit and determines whether or not the storage state of the disk-shaped object for each bag is correct based on the acquired image And an attaching means such as a mark for attaching a predetermined mark, character, or image indicating the determination by a method such as printing on the surface of the bag body determined to be incorrect. Bag inspection device.

  In the present invention, the disk-like object is placed in a case where the surface design image (shape, engraving, printed content, etc.) is not opposed to the imaging means and the image of the surface design cannot be obtained. The board-like object can be reliably turned over only by a simple operation such as moving the upper mounting plate. Therefore, according to the present invention, for example, an image of the surface design of the board-like object can be reliably acquired, and the brand or type of the board-like object can be reliably identified or specified.

  In the present invention, the substantially central portions of the upper surface sheet and the lower surface sheet of each bag body are adsorbed to each other so that the center portions are separated from each other by a predetermined distance in the vertical direction (at this time, the lower surface sheet is deformed). Then, a plurality of disk-like objects are gathered at the substantially central portion), and then the lower surface sheet is lifted around the substantially central portion by releasing the suction of the lower surface sheet by its elastic force. Since the plurality of disk-like objects are dispersed from each other on the lower surface sheet due to force and vibration at the time of ascending, the disk-like objects in the bag body overlap each other or come into contact with each other. It is possible to reliably eliminate the upright state. Therefore, for example, an accurate image of each board-like object in the bag body can be acquired, and it can be accurately inspected whether or not the accommodation state of the board-like object in the bag body is correct.

  Further, in the present invention, the feeding head takes out one by one from a number of plate-like objects accommodated in a container such as the hopper and moves it above a plate-like object receiving portion such as a shooter while it is placed. Then, based on the detection of the presence of the plate-like object on the supply head, the rod-shaped member is inserted into the slit of the supply head and the supply head is lowered so that the rod-shaped member on the supply head is Since the balance is lost on the rod-shaped member and dropped onto the rod-shaped member receiving portion, the rod-shaped members in the container are moved one by one to the rod-shaped member receiving portion with a very simple configuration. It is possible to reliably send the marking of the rod-shaped member to the position where the marking is taken.

  Further, in the present invention, the contact detection means detects that the tip of the connecting body has come into contact with the contact plate in the first position that prevents the transport of the connecting body, and based on this detection Since the abutment plate is moved to the second position that does not prevent the conveyance, the tip of the connecting body made of a transparent and soft material is accurately recognized, and the initial positioning of the connecting body during the conveyance is accurately performed. And can be easily performed.

  Further, in the present invention, one bar-like member is taken out from a large number of bar-like members housed in a container such as a hopper, and the taken-out bar-like member is placed on the rod-like member placement portion, and the placement is performed. Recognizing or specifying the brand or type by recognizing the surface design of the bar-shaped member, and placing the container corresponding to the brand or type identified or specified below the bar-shaped member mounting unit by the container support unit, Thereafter, the bottom member of the rod-shaped member mounting portion is moved to form an opening, thereby dropping the rod-shaped member into the corresponding brand or type of container. Therefore, according to the present invention, a large number of rod-shaped members collected in the container can be automatically accommodated one by one in a container corresponding to the surface design for each rod-shaped member without manual operation. .

  In the present invention, the length of the connecting body in the moving direction between the bag bodies (or the moving direction of the bag bodies) by the intermittent moving means while gripping a part of the connecting body by the gripping means. In order to prevent the conveyance deviation as much as possible, it is moved intermittently by the same distance as the length of. Accordingly, it is possible to effectively prevent inconveniences such as a conventional case where a transfer deviation occurs in the process of transporting the connecting body and imaging of the rod-shaped member in the bag cannot be performed accurately.

  Furthermore, in the present invention, a predetermined mark or the like indicating that is attached (including imprinting or printing) to the surface of the bag body that is determined to be “incorrect accommodation state”. The operator can accurately and easily distinguish between the correct bag body in the connecting body and the bag body having a packaging error.

It is a top view which shows the whole packaging drug test | inspection system by Example 1 to which this invention is applied. It is the side view which looked at the whole Example 1 from the support plate side for conveyance of a connection object. It is the side view which looked at the whole Example 1 from the turning mechanism side of the camera. It is a figure for demonstrating the removal apparatus, such as a medicine overlap, for accurately imaging the medicine in the bag in Example 1. FIG. It is a figure for demonstrating operation | movement of the removal apparatus etc. of the said chemical | drug | medicine overlap in the present Example 1. FIG. It is a figure for demonstrating the medicine reversing apparatus for imaging correctly the marking of the medicine in Example 1. FIG. It is a figure for demonstrating operation | movement of the said medicine reversing apparatus in the present Example 1. FIG. It is a figure for demonstrating the chemical | medical agent taking-out apparatus for taking out one chemical | medical agent separately from many chemical | medical agents in the hopper in the present Example 1. FIG. It is a figure for demonstrating the said individual taking-out apparatus of the said medicine in the present Example 1. FIG. It is a figure for demonstrating operation | movement of the said separate taking-out apparatus of the chemical | medical agent in Example 1. FIG. It is a figure for demonstrating the apparatus for recognizing and positioning the front-end | tip part of the connection body which consists of a transparent raw material in the present Example 1. FIG. The figure for demonstrating the chemical | medical agent separate accommodation apparatus for taking out one chemical | medical agent separately from many chemical | medical agents in the hopper in this Example 1, and separating and accommodating it automatically in the container corresponding to the brand. It is. It is a figure which shows the example of the "board-shaped object" in this invention.

  The best mode for carrying out the present invention is a mode as described in Example 1 below.

  The first embodiment is configured so that each of the connecting bodies is transported while the connecting bodies are formed by continuously connecting the “bags each containing a plurality of medicines for a single dose of the patient”. A determination device for determining whether or not each medicine in the bag is in accordance with the prescription, and each medicine in the bag determined as “not in accordance with the prescription” by the determination device is taken out from the bag A packaged drug inspection system comprising two devices: a device for taking out drugs one by one from a container (such as a hopper) once collected, identifying the brand of each drug, and separately storing them in the corresponding brand containers It is. In the first embodiment, one camera can be rotated to different positions so that it can be used for the two devices. FIG. 1 is a plan view showing an entire packaged drug inspection system according to a first embodiment to which the present invention is applied, and FIG. 2 is a side view of the whole of the first embodiment as viewed from the transport support plate side of the connecting body. FIG. 3 is a side view of the entire first embodiment viewed from the turning mechanism side of the camera. In the following, these two devices will be schematically described with reference to FIGS. 1 to 3, and then the points that the inventor has devised in the first embodiment will be individually described.

  First, while transporting on the support plate 30 a connecting body formed by continuously connecting the “bags each containing a plurality of medicines for a single dose of a patient” in Example 1, An apparatus for determining whether or not each medicine in each bag constituting the connecting body is in accordance with a prescription will be described with reference to FIGS. 1 to 3, reference numeral 1 denotes each of the packaged bags, which is a connecting body formed by continuously connecting the bags formed of a transparent (including translucent) paper or resin sheet. It is. The connecting body 1 is, for example, a feed chuck 2 (see FIGS. 2 and 3) configured to reciprocate between two points separated by a predetermined distance by a cylinder, for example, on both sides thereof (longitudinal direction of the connecting body 1). 2 is fixed on the support plate 30 (see FIG. 2) intermittently every predetermined distance (for example, every 75 mm, which is the length of each bag in the transport direction). Conveyed in the direction. When the connecting body 1 is intermittently transported by the distance, for example, a boundary portion (connecting portion) between the bag bodies is a clamp unit for removing work such as overlapping of a plurality of medicines in the bag body to be described later. 3 (see FIGS. 2 and 3).

  Moreover, the bag body adsorption | suction unit 4 is arrange | positioned in the position in the middle of conveyance of the said connection body 1 (refer FIG. 2 etc.). This bag adsorbing unit 4 cannot acquire an accurate image of a medicine when a plurality of medicines in each bag of the connecting body 1 are in contact with each other or in an upright state. This is to eliminate the overlapping, contact, and upright states of the drugs in each bag. The bag body adsorption unit 4 has the upper surface sheet and the lower surface sheet of the bag body immediately before being conveyed to the imaging position imaged by the camera 5 (with a vacuum pump or the like), respectively, for each of the suction pads 4a, 4b. (See Fig. 3) Adsorbing and moving the adsorbed upper sheet and lower sheet upward and downward respectively, separating the upper sheet and lower sheet by a predetermined distance in the vertical direction, and then releasing the adsorption of the lower sheet Thereafter, the operation of releasing the suction of the top sheet is performed, details of which will be described later.

  Further, a camera 5 is disposed above the connecting body 1 in the middle of conveyance (see FIGS. 1 and 2). This camera 5 has a camera turning portion 6 to mark the position of imaging each “medicine in the bag” of the connecting body 1 and the “individual drug dispensed from the bag with missed packaging” described later. It is possible to make a pivot movement between the imaging position (see 5 ′ in FIG. 1). In the first embodiment, the image of the medicine in each bag acquired by the camera 5 is immediately transmitted to the control device, and the shape, color, size, etc. of each medicine obtained from the image on the control device side. And the reference data (feature points) of the pre-recorded pre-recorded medicines are compared and collated, and the result of judgment as to whether the contents of the pre-packaged medicines are in accordance with the pre-scription is immediately output. The Note that various methods have been conventionally proposed for the determination operation (see, for example, Japanese Patent No. 3779773), and a detailed description thereof will be omitted.

  Further, a positioning portion 7 is disposed at a position in the middle of conveyance of the connecting body 1 and immediately before proceeding to an imaging position by the camera 5 (see FIG. 2 and the like). The positioning unit 7 is configured to set the connecting body 1 to be inspected on the support plate 30 for transportation so that each bag body of the connecting body 1 can be accurately stopped at the imaging position. This is for recognizing and positioning the tip of the connecting body 1. The positioning portion 7 includes a contact plate (plate-like stopper) disposed in the transport direction of the distal end portion of the connecting body 1 so as to prevent the connecting body 1 from being transported. The contact plate is provided with a pressure sensor such as a piezoelectric element. When the distal end portion of the connecting body 1 comes into contact with the contact plate, the leading end portion of the connecting body 1 is thereby positioned. At this time, the pressure sensor outputs a signal indicating that the tip of the connecting body 1 has contacted the contact plate. Based on this signal, the contact plate is lowered or raised by a cylinder or the like, and the connecting body 1 can be conveyed. As described above, the positioning portion 7 enables accurate recognition and positioning of the distal end portion of the connecting body 1 and at the same time the conveyance of the connecting body 1 can be started. Details of the configuration and the like will be described later.

  Further, an NG printing unit 8 is disposed at a position in the middle of conveying the connecting body 1. The NG printing unit 8 is for imprinting a predetermined NG mark (may be a character or the like) on the surface of each bag. That is, the NG printing unit 8 is configured to be movable toward and away from the bags by a driving device (not shown). When a control device (not shown in FIGS. 1 to 3) determines that a certain bag is not packaged based on an image from the camera 5, the control device controls the drive device. Then, the NG printing part is brought close to the outer surface of the bag body to be stamped or printed. Thereby, a predetermined mark indicating NG is stamped or printed on the surface of the bag. As a result, it becomes possible to reliably remove the poorly packaged bag from the connecting body 1.

  Next, in the first embodiment, the medicines are taken out one by one from a container (such as a hopper) containing a large number of medicines taken out from the bag body determined as “not packaged as prescribed” by the determination device. A device for identifying a brand of each drug and storing it in a corresponding brand container will be described with reference to FIGS. 1 to 3, reference numeral 11 denotes a hopper containing a large number of medicines taken out from a bag whose packaging content is NG, and 12 is arranged to be movable up and down between the bottom of the hopper 11 and above it. 2 (refer to FIG. 2, in FIGS. 2 and 3, 12 ′ indicates a supply head when moved above the hopper 11), and 13 is a head lifting unit for moving the supply head 12 up and down. (Including the head elevating timing pulley & belt 13a shown in FIG. 3, the head elevating LM guide 13b, the head elevating control sensor 13c, and the tablet take-out drive reversible motor shown in FIG. 2).

  Reference numeral 14 denotes a shooter disposed on the hopper 11, which is a medicine placement portion 17 (refer to FIG. 2), which is an “imaging position by a camera for engraving imaging” obliquely below the medicine dropped from the supply head 12. ) A shooter to be moved upward, 15 is a drug sensor composed of a laser sensor for detecting whether or not a drug is placed on the supply head 12 positioned above the shooter 14, and 16 is the drug This is a medicine feeding solenoid for inserting the rod-shaped member 31 into a slit (described later) formed downward from the upper surface of the supply head 12 based on a signal from the sensor 15. In the first embodiment, the drug is dropped from the supply head 12 onto the shooter 14 by the rod-shaped member 31 being inserted into the slit and then the supply head 12 being lowered.

  In the first embodiment, each drug is taken out one by one from a container in which a large number of drugs taken out from the bag determined as “not packaged according to the prescription” is determined by the determination device. When the operation for specifying and identifying each of the containers in the corresponding brand containers is performed, the camera turning unit 6 uses the camera 5 to place the medicine from the shooter 14 on the medicine placement unit 17 ( 2) (see reference numeral 5 ′ in FIG. 1). Below the medicine placement section 17 is provided a rotary table 19 in which six containers 18 respectively corresponding to the brands of each medicine (here, for example, six kinds of brands) are arranged in a circle (see FIG. 1). The rotary table 19 is controlled by a control device (not shown in FIGS. 1 to 3) so that the container 18 corresponding to the brand of medicine on the medicine placement section 17 is positioned below the medicine placement section 17. To rotate.

  The camera 5 obtains an image of the marking on the surface of the medicine placed on the medicine placing portion 17 and transmits it to the control device. The control device compares and collates the feature points of the acquired stamped image with the feature points of a plurality of stamped images stored in the database in advance, and identifies the brand of the drug on the drug placement unit 17 (Methods for identifying drug brands based on such image recognition and reference data in a database are already known). The control device rotates the rotary table 19 based on the information of the specified brand, and arranges the container 18 corresponding to the brand under the medicine placement unit 17.

  On the other hand, when the stamp is not included in the acquired image, that is, when the surface of the medicine mounting portion 17 that faces the camera 5 is a surface on which no marking is formed, It is necessary to turn the medicine over so that the surface on which the medicine mark is formed faces the camera 5. In the first embodiment, for this purpose, a medicine reversing device (medicine reversing unit) is provided in the medicine placing section 17 (described later).

The above is description of the whole structure of the present Example 1 with reference to FIGS. 1-3, However, The point of the main device which this Example 1 contains below is demonstrated individually separately.
<Eliminating device for overlapping medicines in sachets>
In the first embodiment, it is determined whether or not each bag is packaged according to a prescription based on an image of each medicine in each bag. When the plurality of medicines overlap each other, contact each other, or stand upright with respect to the flat sheet of the bag, an accurate image of each of the medicines cannot be obtained. Therefore, in the first embodiment, before each medicine in the bag is imaged by the camera 5, each medicine in the bag overlaps or is in contact with each other or stands upright with respect to the plane sheet of the bag. An apparatus for removing overlaps, etc., is provided so as to prevent the situation from occurring.

  FIG. 4 is a diagram for explaining the configuration and operation of such an overlap removal device. In FIG. 4, 10 is each bag body which comprises the said connection body 1 (each several medicine for 1 time is enclosed), 10a is the boundary part (connection part) of each said bag body 10, 30 Is a support plate for supporting the connecting body 1 from below when the connecting body 1 is intermittently conveyed by a feed chuck 2 (see FIGS. 2 and 3). The bag adsorbing unit 4 (see FIGS. 2 and 3) is disposed in the middle of the support plate 30 on which the connecting body 1 is conveyed. At the position where the bag body adsorption unit 4 of the support plate 30 is disposed, a substantially rectangular hole having a size slightly smaller than the sheet constituting the plane (upper surface and lower surface) of the bag body 10 (reference numeral in FIG. 5). 30a) is formed. The bag body 10 conveyed to the position where the bag body adsorption unit 4 is disposed has its right and left boundary portions 10a fixed to the support plate 30 by the clamp unit 3 (see FIG. 2, not shown in FIG. 4). Is done. On the right side of the position where the bag body adsorbing unit 4 is arranged (on the downstream side in the conveying direction of the connecting body 1), there is a camera 5 (in FIG. 4) for imaging each medicine in the bag body 10 above it. (Not shown) is arranged.

  In FIG. 4, 4a and 4b are suction pads for sucking the upper sheet and the lower sheet of the bag body 10, and 4c and 4d are suction cylinders for raising and lowering the suction pads 4a and 4b, respectively. The suction pads 4a and 4b and the suction cylinders 4c and 4d constitute the bag body suction unit 4 (see FIG. 2).

  Next, the operation of the apparatus for removing overlap etc. in the first embodiment will be described with reference to FIGS. First, in the process in which the connecting body 1 is sequentially and intermittently conveyed while being supported by the support plate 30, a certain bag body 10 is positioned at the position where the bag body adsorption unit 4 of the support plate 30 is disposed (the support body). A portion of the plate 30 corresponding to the position where the bag body adsorption unit 4 is disposed is formed with a rectangular hole 30a that is slightly smaller than the plane of the bag body 10). Description will be made assuming that the boundary portions 10a on both the left and right sides of the body 10 are fixed by the clamp unit 3 (in the case shown in FIGS. 4A and 5A) (FIG. 5A). The reference numeral 20 ′ indicates a medicine in an upright state with respect to the lower surface sheet 10c in the bag body 10). In this case, first, the suction pads 4a and 4b are lowered and raised by the suction cylinders 4c and 4d, respectively, and are brought into contact with the substantially central portions of the upper surface sheet 10b and the lower surface sheet 10c of the bag body 10, respectively. (See FIG. 4B. In this case, the lower suction pad 4b is in contact with the lower surface sheet 10c through the rectangular hole 30a). Thereafter, while maintaining the suction of the top sheet 10b and the bottom sheet 10c, the suction cylinders 4c and 4d raise the suction pad 4a that sucks the top sheet 10b and suck the bottom sheet 10c. By lowering the suction pad 4b, the substantially central portions of the top sheet 10b and the bottom sheet 10c are separated from each other by a predetermined distance in the illustrated vertical direction (see FIGS. 4 (c) and 5 (b)). . At this time, since the lower surface sheet 10c of the bag body 10 is deformed into a substantially bowl-like shape having the lowest substantially central portion by the adsorption, the plurality of medicines 20 in the bag body 10 have the substantially bowl-like bottom surface. It will be in the state gathered in the approximate center part of the sheet | seat 10c (refer FIG.5 (b)).

  Thereafter, the suction by the suction pad 4b on the lower surface sheet 10c side of the bag body 10 is released (see FIG. 4D). Then, the lower surface sheet 10c rises around its substantially central portion in an attempt to return to the original flat state due to its elastic force (see arrow α in FIGS. 5C and 5D). As a result, a plurality of medicines 20 (FIG. 5B) gathered at a substantially central portion of the “bottom surface sheet 10c having a substantially bowl shape at the stage of FIG. 4C and FIG. 5B”. )) Is a process in which the substantially central portion of the lower surface sheet 10c (substantially bowl-shaped) rises and returns to a planar state (in this process, the lower surface sheet 10c vibrates in small increments). Above, they are pushed from the substantially central part to the periphery and dispersed (discrete) from each other. As a result, the state in which the medicines 20 overlap or contact each other in the bag 10 is eliminated. Refer to FIG. Further, the state in which the medicine stands upright with respect to the lower surface sheet 10c in the bag 10 (see reference numeral 20 'in FIG. 5A) is also eliminated by the vibration of the lower surface sheet in the process.

  Thereafter, the suction pad 4a on the top sheet 10b side of the bag body 10 is lowered by the suction cylinder 4c to release the suction of the suction pad 4a (see FIG. 4 (e)). Thereafter, the suction pad 4a on the top sheet 10b side of the bag body 10 is raised by the suction cylinder 4c (see FIGS. 4 (f) and 5 (e)). Thus, the operation for removing the overlapping of the medicines in the packaged bag 10 is completed.

  As described above, in the first embodiment, before each medicine 20 in each bag 10 is imaged by the camera 5, each substantially central portion of the top sheet 10 b and the bottom sheet 10 c of each bag 10. And each of the substantially central portions is moved so as to be separated by a predetermined distance in the vertical direction, the lower surface sheet 10c is deformed into a substantially bowl shape, and a plurality of medicines 20 are collected at the lowest substantially central portion. Thereafter, the lower surface sheet 10c is released from being attracted, and the lower surface sheet 10c is lifted about its substantially central portion by its elastic force. The medicines 20 are dispersed and dispersed from each other on the lower surface sheet 10c, or the upright state is eliminated. Therefore, in the first embodiment, by providing the bag body adsorption unit 4, the medicines 20 in the bag body 10 overlap each other or come into contact with each other, or stand upright with respect to the sheets 10b and 10c. As a result, the camera 5 can acquire an accurate image of each medicine 20 in the bag body 10 to check whether each medicine 20 in the bag body 10 is in accordance with a prescription. It became possible to accurately check whether or not.

<Drug reversing device for reversing each drug out of a bag with a wrong packaging>
In Example 1, after collecting a large number of drugs taken out from the bag determined to be “not in accordance with prescription” into a container, one by one is taken out from the container and the brand of each drug is assigned. The identification is performed based on the image of the marking formed on the surface of each medicine. For this purpose, it is necessary to effectively obtain the image of the marking on the surface for each medicine. However, when a surface on which a marking is not formed is facing the camera 5 with respect to a certain medicine, an image of the marking of the medicine cannot be acquired. Therefore, in this embodiment, in such a case, the medicine is turned over to ensure that the face on which the inscription is formed faces the camera 5. .

  By the way, in the present Example 1, the said medicine inversion apparatus is taken out from the said hopper 11 one by one, and the chemical | medical agent mounting part 17 (refer FIG. 2 below the camera 5) which mounts the chemical | medical agent which slipped down the shooter 14 one by one. To be provided as part of. Therefore, first, as a premise, the overall configuration and operation of the medicine placement unit 17 in the first embodiment will be described with reference to FIG. In FIG. 6 (a), 20 is a medicine taken out from the hopper 11 one by one and slides down the shooter 14, 21 is an upper placement plate on which the medicine 20 from the shooter 14 is placed, and 22 is the upper placement board. A lower mounting plate disposed below the mounting plate 21 so as to face the lower mounting plate, and an extrusion plate 23 disposed above the upper mounting plate 21 so as to face the lower mounting plate. In the first embodiment, the upper placement plate 21, the lower placement plate 22, and the extrusion plate 23 constitute the medicine placement portion 17 (see FIG. 2). In addition, the said extrusion board 23 is formed in the slope shape so that the illustration right end part contact | abutted with the chemical | medical agent 20 may contact | abut with the chemical | medical agent 20 easily.

  Further, as shown in FIG. 6 (a), the upper mounting plate 21, the lower mounting plate 22, and the pushing plate 23 are provided with driving devices 21a, 22a, and 23a each composed of a solenoid or the like. It has been. Each of the driving devices 21a, 22a, and 23a moves the upper mounting plate 21, the lower mounting plate 22, and the extrusion plate 23 in a substantially horizontal direction independently of each other based on a signal from the control device 24. Let Further, the control device 24 obtains the stamp information of the medicine 20 by recognizing an image from the camera 5 that images the medicine 20 placed on the upper placement plate 21, and this earned stamp information. Based on the above, the brand of the medicine 20 is specified with reference to the stamped brand database 25 in which the relationship between many stamps and brands is recorded. Thereafter, the control device 24 controls the drive device 26 of the rotary table 19 (see FIG. 1) to place the container 18 corresponding to the specified brand of the medicine 20 below the medicine placement portion 17. To place.

  In the first embodiment, the region of the upper surface of the lower mounting plate 22 facing the drug 20 (more precisely, the moving direction of the upper mounting plate 21 a little than the portion facing the drug 20) (Region shifted in the left direction in the figure) is formed with a concavo-convex forming portion 22b having a concavo-convex cross section (the region has a friction coefficient instead of the concavo-convex forming portion 22b). You may make it give the process larger than predetermined). When the medicine 20 falls from the upper placement plate 21 onto the lower placement plate 22, the unevenness forming portion 22b prevents the tip portion of the medicine 20 in the dropping direction from slipping (the fall) This is for ensuring that the medicine 20 has been turned over), which will be described in detail later. In FIG. 6A, reference numeral 27 denotes an enclosure for preventing the medicine 20 placed on the medicine placement section 17 from dropping off from the medicine placement section 17 to the periphery.

  Next, the image of the marking of the medicine 20 placed on the medicine placement section 17 shown in FIG. 6A is acquired effectively, and the brand of the medicine placement section 17 in the case where the brand of the medicine 20 is specified. The operation will be described based on FIGS. 6B and 6C. 6B and 6C, illustration of the camera 5, the shooter 14, the control device 24, the drive devices 21a, 22a, 23a, and 26 in FIG. 6A is omitted. When the image of the inscription of the medicine 20 placed on the medicine placement unit 17 shown in FIG. 6A is effectively acquired and the brand of the medicine 20 is specified, first, as shown in FIG. As described above, the drive device 26 rotates the rotary table 19 in accordance with a control signal from the control device 24, and the container 18 corresponding to the specified brand is placed in the medicine placement portion 17 (the medicine 20). Place below the place where is placed. Next, as shown in FIG. 6B, the drive devices 21a and 22a set the upper mounting plate 21 and the lower mounting plate 22 in the left direction in the drawing in accordance with a control signal from the control device 24. Move by distance (see arrows A and B). Next, as shown in FIG. 6C, the drive device 23a moves the pusher plate 23 in the right direction in the drawing by a predetermined distance in accordance with a control signal from the control device 24 (see arrow C). Thereby, the medicine 20 falls into the container 18 corresponding to its own brand while being pushed by the extrusion plate 23 (see FIG. 6C). In the above description, as shown in FIG. 6B, the upper mounting plate 21 and the lower mounting plate 22 are moved to the left in the figure, and then the extrusion is performed as shown in FIG. 6C. Although the plate 23 is moved rightward in the drawing, the present embodiment is not limited to this. For example, the push plate 23 is arranged in advance in the position shown in FIG. The mounting plate 21 and the lower mounting plate 22 may be moved in the left direction in the figure (when doing so, the right side of the push-out plate 23 as indicated by the arrow C in FIG. 6C). No movement in the direction is required).

  Next, when the control device 24 recognizes that the image from the camera 5 that images the medicine 20 placed on the medicine placement unit 17 shown in FIG. Will be described with reference to FIG. Also in FIG. 7, the camera 5, the shooter 14, the control device 24, the drive devices 21a, 22a, 23a, 26, and the like illustrated in FIG. FIG. 7A shows a state when the medicine 20 on the medicine placement unit 17 is imaged by the camera 5 (corresponding to FIG. 6A). In the state of FIG. 7A, when the inscription is not formed on the surface of the medicine 20, the medicine 20 is turned over so that the camera 5 can image the inscription of the medicine 20. It is necessary to set the surface on which the mark is formed on the upper side (side facing the camera 5).

  Therefore, in the first embodiment, the medicine 20 is turned over by performing the following operation. That is, as shown in FIG. 7B, first, the drive device 21a (FIG. 6A) is determined by a control signal from the control device 24 that has determined that the medicine image from the camera 5 does not contain a mark. )) (While the lower mounting plate 22 is stationary), only the upper mounting plate 21 is moved in the left direction in the drawing by a predetermined distance (see arrow A in FIG. 7B). Thereafter, as shown in FIGS. 7C and 7D, the drive device 23a gradually moves the pusher plate 23 in the right direction in the drawing by a predetermined distance in accordance with a control signal from the control device 24 (FIG. 7). 7 (see arrow B in (c) and (d)). In this process, the lower end portion of the medicine 20 shown in FIG. 7 falls from the upper placement plate 21 onto the unevenness formation portion 22b of the lower placement plate 22, and the state as shown in FIG. Become.

In the case shown in FIG. 7 (d), the illustrated lower end portion (falling tip portion) of the medicine 20 falls on the concave / convex forming portion 22 b of the lower mounting plate 22. It is possible to prevent the lower end portion from sliding on the lower mounting plate 22 in the right direction in the figure (described later). Thereafter, the medicine 20 in the state shown in FIG. 7 (d) is further pushed by the extrusion plate 23 that gradually moves in the direction of arrow B by a predetermined distance, as shown in FIG. 7 (e). It is brought down on the lower mounting plate 22 (see the arrow in FIG. 7 (e)) and mounted on the lower mounting plate 22 in an inverted state with respect to the state of FIG. 7 (f)).
In addition, for the above operation, if the concave and convex portion 22b is not formed on the lower mounting plate 22, the case shown in FIG. When falling from the upper mounting plate 21 onto the lower mounting plate 22, the illustrated lower end portion of the medicine 20 slides on the lower mounting plate 22 in the illustrated right direction, and FIG. There is a case where it is placed on the lower mounting plate 22 in a state that does not turn inside out.
Further, in the above, in the stage of FIG. 7D, the lower end portion of the medicine 20 shown in the figure falls on the concave-convex forming portion 22b of the lower mounting plate 22 and the left side face of the medicine 20 shown in the drawing. Is brought into contact with the end of the upper mounting plate 21 or the extrusion plate 23 (then, the medicine 20 is pushed by the extrusion plate 23 as shown in FIG. However, depending on the dropping state of the medicine 20, the lower end portion of the medicine 20 shown in FIG. The medicine 20 is dropped onto the lower mounting plate 22 automatically (without being pushed by the pusher plate 23 as shown in FIG. 7 (e)). It may fall and be placed in an inverted state with respect to FIG.

  The operation after the medicine 20 is turned over in this way is basically the same as the operation described with reference to FIG. That is, when the image of the medicine 20 turned upside down on the lower mounting plate 22 is transmitted from the camera 5 to the control device 24, the control device 24 identifies the brand from the stamped image of the medicine 20. The rotary table 19 is rotated by controlling the driving device 26 so that the container 18 corresponding to the brand comes below the medicine placement portion 17. Thereafter, according to a control signal from the control device 24, the driving device 22a moves the lower mounting plate 22 leftward by a predetermined distance (see arrow C in FIG. 7G). Thereby, the medicine 20 falls into the container 18 while being pushed by the end of the upper placement plate 21 (see FIG. 7G). In the above description, first, the upper mounting plate 21 is moved in the left direction as shown in FIG. 7B, and then the extruded plate 23 is moved as shown in FIGS. 7C and 7D. However, in the first embodiment, the present invention is not limited to this. For example, the pusher plate 23 is disposed in advance in the position shown in FIG. The plate 21 may be moved gradually in the left direction in the figure (in such a case, the extrusion plate 23 is illustrated as indicated by an arrow B in FIGS. 7C, 7D, and 7E). No need to move right).

  As described above, in the first embodiment, the medicine placed on the medicine placement unit 17 in order to take an image of the marking of each medicine taken out from the bag body, which is “packaging not according to the prescription”. When the surface on which the inscription is formed is not the upper surface (the surface imaged by the camera), the medicine is surely turned over only by the simple operation. I was able to reliably identify the brand by taking an image.

<Individual hopper device for taking out medicines from a bag with incorrect packaging>
In the first embodiment, for each medicine taken out from the bag determined as “not packaged according to the prescription”, the inscription is imaged and separated into containers corresponding to the brand of the inscription. However, in order to do so, first, the individual drugs are taken out one by one from a container (such as a hopper) that collects a large number of drugs taken out from the bag determined to be “not packaged as prescribed”, It is necessary to move the stamp to the position of the camera that images it. Therefore, in the first embodiment, an individual take-out device is provided for individually taking out one medicine from a container in which each medicine taken out from the bag body determined to be “not in accordance with prescription” is stored. I did it. Hereinafter, the configuration of such an individual medicine take-out device will be described with reference to FIGS.

  In FIG. 8, 11 is a hopper (see FIGS. 1 to 3) that once collects and stores a large number of medicines taken out from the bag determined as “not packaged according to prescription”, and 12 is the hopper. 11 is a supply head in which the upper end portion for placing each medicine in 11 is formed in a substantially dish shape, 12a is a slit (groove) formed from the upper end surface of the supply head 12 downward in the figure, 12b Is a substantially rod-shaped head support portion for supporting the supply head 12, and 12c is a drive device including a motor for moving the head support portion 12b up and down.

  In FIG. 9, reference numeral 14 denotes a shooter (see FIGS. 1 to 3) for moving the medicine dropped from the supply head 12 to the imaging position (the medicine placement portion 17; see FIG. 2) of the camera that images the marking. ), 14a is formed in the vicinity of the upper end of the shooter 14 so that the supply head 12 and the head support portion 12b can be inserted from below, and 31 is a rod-like member that is inserted into the slit 12a of the supply head 12 from the left in the figure, for example. (Reference numeral 31 'indicates a state in which the rod-shaped member 31 is inserted into the slit 12a), and 31a includes a cylinder for moving the rod-shaped member 31 in the slit 12a direction (see arrow B) or the opposite direction. The driving device 32 is, for example, a fiber sensor or a laser sensor for detecting whether or not a medicine is present on the feeding head 12. Drug sensor configured like, 33 is a control device that controls the said drive device 12c, 31a on the basis of a signal from the agent sensor 32. In FIG. 9, reference numeral 20 a is an inscription indicating the brand of the drug formed on at least one surface of the drug 20.

  Next, the operation of such an individual drug takeout device will be described with reference to FIGS. In the first embodiment, a large number of medicines taken out of the bag body determined as “not packaged according to the prescription” are once collected and stored in the hopper 11. Therefore, the control device 33 controls the driving device 12c so that the head support portion 12b is in the state shown in FIG. 8A, that is, the supply head 12 is positioned below the bottom in the hopper 11. Then slowly ascend. Then, in the course of this ascent, one medicine is scooped up into the supply head 12 (the upper surface is substantially dish-shaped) and placed thereon. Then, even after one medicine is placed on the supply head 12, the head support portion 12b is further lifted (see arrow A in FIG. 9), and the supply head 12 is inserted into the hole of the shooter 14. Ascending is continued until the state moves to above the shooter 14 via 14a (see FIGS. 8B and 9).

  (A1) and (a2) of FIG. 10 show the supply head 12, the slit 12a, the rod-like member 31, and the supply head 12 when the supply head 12 moves to above the shooter 14 through the hole 14a of the shooter 14. FIG. 4 is a diagram showing each state of the medicine 20 and the relationship between the medicines 20 (a central sectional view of the supply head 12 and the head support portion 12b). 10A1 is a view of the supply head 12 as viewed from the side surface where the slit 12a is exposed. FIG. 10A2 is a view of the supply head 12 as viewed from the side surface parallel to the slit 12a. FIG. 10 is a view (the same applies to other drawings in FIG. 10).

  10 (a1) and 10 (a2), the medicine sensor 32 (see FIG. 9) detects the presence of medicine on the supply head 12, and the detection signal is sent to the control device. To 33. Then, the control device 33 controls the drive device 31a to move the rod-shaped member 31 in the slit 12a direction (see arrow B in FIGS. 9 and 10 (a1)). FIGS. 10B1 and 10B2 show the state when the rod-shaped member 31 is inserted into the slit 12a in this way. Next, the control device 33 controls the drive device 12c (see FIG. 9) to slowly lower the head support portion 12b until the state shown in FIG. In the first stage of the lowering, the medicine 20 placed on the supply head 12 in the stage of FIGS. 10 (b1) and (b2), as shown in FIGS. 10 (c1) and (c2), The rod-shaped member 31 moves relatively above the supply head 12, and as a result, as shown in FIGS. 10 (d1) and (d2), the medicine 20 is balanced on the rod-shaped member 31. It falls into the shape of rolling and loses on the shooter 14 (see FIG. 9). The medicine 20 that has fallen on the shooter 14 slides down on the shooter 14 and moves onto the medicine placement section 17 (see FIG. 2, the position where the marking of the medicine is imaged by the camera 5).

  As described above, according to the first embodiment, the medicines are picked up one by one from the many medicines collected and accommodated in the hopper 11 by the supply head 12 and placed on the upper side of the shooter 14 while being placed. Then, the rod-shaped member 31 is inserted into the slit 12a of the supply head 12, and then the supply head 12 is lowered so that the medicine on the supply head 12 is balanced on the rod-shaped member 31. The medicine 5 is dropped onto the shooter 14 so that the medicine in the hopper 11 is picked up by the camera 5 through the shooter 14 one by one with a very simple configuration and operation. It is now possible to reliably send to the position where it is.

<Positioning device for connecting body tip>
In Example 1, when inspecting the medicine (packaging content) in each bag body 10, first, the tip of the connecting body 1 to which each bag body 10 is connected is recognized and positioned, Then, the medicine in each bag 10 is imaged while intermittently transporting the connecting body 1. However, since the connecting body 1, that is, each of the bags 10 constituting the connecting body 1, is formed of a transparent material so that the medicine inside the connecting body 1 can be seen, depending on the surrounding lighting conditions, etc. In some cases, the tip cannot be accurately detected, that is, the system cannot accurately recognize (cannot accurately position) the position of the tip of the connecting body 1. Therefore, in the first embodiment, by adopting the following positioning device, the position of the distal end portion of the connecting body 1 can be accurately recognized and positioned without being influenced by the surrounding lighting conditions or the like. did. That is, FIG. 11 is a view for explaining the positioning device for the tip of the connecting body 1 in the first embodiment, and the connecting body 1 is conveyed on the support plate 30 in the direction of arrow A. The prepared state is shown. The purpose of conveyance in this case is, for example, to intermittently move the medicine in the individual bags 10 constituting the connecting body 1 to the imaging position 5 a of the camera 5.

  In FIG. 11, reference numeral 1 a denotes a front end portion of the connecting body 1 on the conveyance direction side, and 35 denotes a contact plate (stopper) with which the front end section 1 a of the connecting body 1 is contacted. An abutting plate 35a disposed at a blocking position for blocking conveyance is a blocking release position (Fig. 11 (Fig. 11 (a)) that allows the connecting plate 1 to be conveyed from the blocking position (see Fig. 11 (a)). b) a driving device constituted by a cylinder or the like moved in the opposite direction), or a pressure 36 constituted by a piezoelectric element or the like provided on the distal end portion 1a side of the connecting body 1 of the contact plate 35. A sensor 37 is a control device that controls the driving device 32 a and the like based on a signal from the pressure sensor 33.

  Next, the operation of the positioning device for the tip 1a of the connecting body 1 will be described. Before the connecting body 1 is set on the support plate 30, first, the abutting plate 35 is arranged in advance at a predetermined position (a blocking position for preventing the conveying of the connecting body 1). Thereafter, the connecting body 1 is set on the support plate 30, and the tip end portion 1a is brought into contact with the contact plate 35 (see FIG. 11A). Then, a signal from the pressure sensor 36 that detects the contact is output to the control device 37. Based on this signal, the control device 37 controls the drive device 35a to move the contact plate 35 from the blocking position to a position that allows the transport of the connecting body 1 (FIG. 11B). reference). As a result, the connecting body 1 can be transported, and thereafter, the connecting body 1 is intermittently transported every predetermined distance by the feed chuck 2 (see FIGS. 2 and 3). Thus, each of the bags 10 is sequentially arranged at an imaging position by the camera 5, for example.

  As described above, in the first embodiment, the pressure sensor 36 detects that the distal end portion 1a of the connecting body 1 is in contact with the contact plate 35 located at a position where the transport of the connecting body 1 is prevented. Based on this detection, the contact plate 35 is moved to a position that does not prevent the conveyance, so that the tip 1a of the transparent and soft connecting body 1 is accurately recognized as described above, and the connecting body 1 It is now possible to accurately and easily perform the initial positioning of the conveyance of the above.

  In FIG. 11, by raising the contact plate 35, the contact plate 35 is moved from a blocking position for preventing the transport of the connecting body 1 to a position allowing the transport of the connecting body 1. However, in the first embodiment, the contact plate 35 may be moved from the blocking position by lowering (or moving in the horizontal direction). FIG. 11 illustrates an example in which the bag 10 at the tip of the connecting body 1 is moved to the imaging position by the camera 5 after the contact plate 35 is moved to transport the connecting body 1. However, in the first embodiment, after the contact plate 32 is moved to transport the connecting body 1, the bag body 10 at the tip of the connecting body 1 is used as the in-bag medicine described with reference to FIGS. 4 and 5. You may make it send to the reversing apparatus of.

<Equipment that separates each medicine from a bag with a wrong packaging into the corresponding container>
Each medicine 20 taken out from the bag 10 determined as “not packaged according to the prescription” needs to be finally sorted into a container corresponding to each brand of the medicine 20. Therefore, in Example 1, a medicine sorting apparatus as described below was adopted. That is, in FIG. 12, 11 is a hopper that accommodates a large number of drugs taken out from the bag determined to be “not packaged as prescribed”, and 12 is one of the many drugs in the hopper 11. A supply head for scooping out the medicine and placing it on the upper surface and moving it above the shooter 14, 12c is a drive device for raising and lowering the supply head, and 17 is a medicine placement section for placing the medicine that has slid down from the shooter 14. , 17a is a lower surface member (corresponding to the upper mounting plate 21 and the lower mounting plate 22 in FIG. 6) constituting the lower surface of the medicine mounting portion 17, and 17b moves the lower surface member 17a in a substantially horizontal direction. A drive device 27 for enclosing the medicine mounting portion 17 so as to prevent the medicine 20 from dropping off from the medicine placement portion 17; 18 is a brand of the medicine 20 (here, A total of six containers arranged so as to correspond to each of the six), 19 is a rotary table in which the containers 18 are arranged circumferentially and rotated by a driving device 26, 5 is a camera, 24 is a control device, Reference numeral 25 denotes a stamped brand database in which correspondences between stamps and brands of a large number of drugs are recorded.

  Next, the operation of this medicine sorting apparatus will be described. When the control signal is transmitted from the control device 24 to the driving device 12c, the supply head 12 is lifted from the bottom of the hopper 11, and in this process, one of many medicines in the hopper 11 is selected. The medicine is scooped out and placed on the supply head 12. The medicine 20 placed on the supply head 12 is dropped onto the shooter 14 by a predetermined operation (see arrow A in FIG. 12A). The above operation is described above with reference to FIGS. Therefore, details are omitted). The medicine dropped from the supply head 12 onto the shooter 14 slides down on the shooter 14 and is then placed on the medicine placement portion 17 (see arrow B in FIG. 12A). Thereafter, the camera 5 images the medicine 20 on the medicine placement unit 17 and transmits the image information to the control device 24. The controller 24 recognizes the marking of the medicine 20 from the image information from the camera 5 and specifies the brand of the medicine 20 based on the recognized marking and the reference data from the marking brand database. Based on the specified brand, the control device 24 controls the driving device 26 to rotate the rotary table 19 so that the container 18 corresponding to the brand of the medicine 20 is placed on the medicine placement unit 17. Move down. Thereafter, as shown in FIG. 12 (b), the control device 24 controls the driving device 17b so that the lower surface member 17a of the medicine placement portion 17 is moved, for example, in the right direction in the figure (arrow in FIG. 12 (b)). (See C). As a result, the medicine 20 on the medicine placement unit 17 falls into the container 18 corresponding to its own brand (see arrow D in FIG. 12B). In addition, even if the lower surface member 17a is moved rightward in the figure in FIG. 12 (b), the medicine 20 can be moved together with the lower surface member 17a of the medicine placement portion 17 by the enclosure 27. Since it is blocked, the medicine 20 surely falls into the container 18.

  Thereafter, the control device 24 again controls the driving device 12c to slowly raise the supply head 12 from the bottom of the hopper 11, and to place a large number of medicines in the hopper 11 on the supply head 12. One of them is placed and the medicine is dropped onto the shooter 14. Thereafter, the control device 24 repeats the same operation as above until the medicine in the hopper 11 runs out.

  As described above, in the first embodiment, the supply head 12 is lifted from a large number of medicines accommodated in the hopper 11 to take out one medicine, and the taken medicine is passed through the shooter 14 as described above. The medicine 18 is placed on the medicine placing portion 17, the brand of the medicine 20 placed on the medicine is recognized by image recognition, and the container 18 corresponding to the identified brand is rotated to rotate the rotary table 19. The medicine 20 is dropped and accommodated in the corresponding container 18 by being moved below the medicine placement section 17 and then moving the lower surface member 17a of the medicine placement section 17. And the said control apparatus 24 is made to repeat the above operation | movement until the chemical | medical agent in the said hopper 11 runs out. Therefore, according to the first embodiment, a large number of medicines collected from the bag 10 in which a packaging error is found are automatically separated without manual operation, and all of them are separated into containers corresponding to the respective brands. become able to.

  In the above-described first embodiment, the case where the present invention is applied to the packaged medicine inspection system for inspecting whether the state of encapsulation or accommodation of the medicine enclosed or contained in the bag is correct has been described. The invention of the present application is not only applied to such a drug inspection system. For example, machine parts (washers, nuts, etc.), confectionery (biscuits, cookies, disc-shaped chocolate, etc.), play equipment (ohajiki, etc.), etc. Of course, it can be used to turn over various board-like objects (not limited to the use for the inspection system as in the first embodiment).

DESCRIPTION OF SYMBOLS 1 Connection body 2 Feed chuck 3 Clamp unit 4 Bag body adsorption | suction unit 4a, 4b Suction pad 4c, 4d Suction cylinder 5 Camera 6 Camera turning part 8 NG printing part 10 Bag body 10b Upper surface sheet 10c Lower surface sheet 11 Hopper 12 Supply head 12a Slit 12b Head support portion 12c, 17b, 21a, 22a, 23a, 26, 31a, 35a Drive device 14 Shooter 14a, 30a Hole 15 Drug sensor 17 Drug placement portion 17a Lower surface member 18 Container 19 Rotary table 20 Drug 21 Upper placement plate 22 Lower mounting plate 22b Concavity and convexity forming part 23 Extrusion plates 24, 33, 37 Control device 25 Stamped brand database 30 Support plate 31 Bar-shaped member 32 Drug sensor 35 Contact plate 36 Pressure sensor

Claims (2)

A board-like object turning device for turning a board-like object upside down,
An upper mounting plate on which the plate-like object is mounted, the upper mounting plate being movable in at least one direction;
A lower mounting plate disposed on the lower surface side of the upper mounting plate so as to face the lower mounting plate, so that at least a part of the upper surface has a predetermined unevenness or has a friction coefficient greater than a predetermined level. A lower mounting plate formed on
An extrusion plate disposed so as to face the upper surface of the upper mounting plate at a position away from a portion on which the disk-shaped object is mounted, and the disk shape mounted on the upper mounting plate An extrusion plate for dropping the disk-shaped object from the upper placement plate onto the lower placement plate by pushing an object ;
When the plate-like object is placed on the upper placement plate, at least the upper placement plate is moved in the direction of the extrusion plate, whereby the plate-like object on the upper placement plate is moved to the extrusion plate. The plate- like object is formed so as to have a predetermined unevenness or a friction coefficient greater than or equal to a predetermined value of the lower mounting plate from the end of the upper mounting plate so as to be pushed by a plate. An inside-out control means for dropping on the "part",
A board-like object turning device characterized by comprising: A board-like object turning device for turning a board-like object upside down,
An upper mounting plate on which the plate-like object is mounted, the upper mounting plate being movable in at least one direction;
A lower mounting plate disposed on the lower surface side of the upper mounting plate so as to face the lower mounting plate, so that at least a part of the upper surface has a predetermined unevenness or has a friction coefficient greater than a predetermined level. A lower mounting plate formed on
An extrusion plate disposed so as to face the upper surface of the upper mounting plate at a position away from the portion on which the plate-like object is mounted;
When the plate-like object is placed on the upper surface of the upper placement plate, at least the upper placement plate is moved in the direction of the push plate so that the plate-like object is pushed relatively to the push plate. Thus, the disc-like object is pushed from the end of the upper mounting plate so as to be pushed relatively to the extrusion plate, so as to have “predetermined unevenness or more than a predetermined amount of the lower mounting plate. An inside-out control means for dropping on a `` part formed to have a coefficient of friction '',
When the disc-like object is placed on the upper surface of the upper placement plate, the reverse control means moves at least the upper placement plate in the direction of the push plate so that the plate-like object moves to the push plate. So that one end of the plate-like object is moved from the end of the upper mounting plate so as to have “predetermined unevenness or higher than a predetermined level”. Dropping onto the portion formed to have a friction coefficient, and then moving the extruded plate in the direction of the plate-like object so that the extruded plate pushes the plate-like object. A board-like object turning device, wherein the object falls down in the direction opposite to the extruded plate, with the dropped end as a fulcrum.

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