JP5725373B2 - Sheet-like article storage equipment - Google Patents

Description

  The present invention provides a storage shelf provided with a plurality of storage units for storing sheet-like articles, a storage part position corresponding to each of the plurality of storage parts, and a delivery position corresponding to a delivery location for delivering the sheet-like article. The present invention relates to a sheet-like article storage facility provided with a transfer base that is movable, and a transfer device that transfers the sheet-like article from the storage portion to the delivery location.

  Such a sheet-like article storage facility is configured to, for example, store a plurality of drug sheets as sheet-like articles in a storage unit. Examples of the drug sheet include a PTP (Press Through Pack) sheet encapsulated in a state where a plurality of tablets are divided, and a packaging sheet in which a plurality of sachets encapsulating granules or powder are connected. And in order to dispense a necessary number of drugs such as tablets and sachets (hereinafter referred to as tablets) in order to dispense based on the prescription, move the moving base to the position for the storage unit, The medicine sheet stored in the storage unit is transferred onto the moving base so that the number of medicines becomes the required number, and then the moving base is moved to the exit position, so that the medicine on the moving base is The sheet is delivered to the delivery location, and the necessary number of drugs are delivered to the delivery location.

A predetermined amount of tablets or the like are enclosed in the drug sheet, and the number of tablets or the like enclosed in one drug sheet manufactured by a pharmaceutical company or the like is determined by the drug sheet. On the other hand, since the number of medicines that need to be delivered is specified by, for example, a prescription, it is not always an integral multiple of the number of tablets or the like enclosed in the medicine sheet. That is, it may be necessary to deliver a quantity of tablets or the like that is less than one medicine sheet. For this reason, conventionally, a medicine sheet is cut into a delivery object part and a non-going object part in order to cut out the delivery object part, which is a part in which a quantity of tablets etc. to be delivered is enclosed from one medicine sheet. Thus, the cut out part to be delivered is made to be delivered to the delivery location.
As a conventional example of a configuration for that purpose, a sheet cutting device that cuts a medicine sheet transferred to a cutting location into a part to be delivered and a part to be delivered, and a sheet-like article to a sheet support on a moving base Some include a sheet transfer device for transferring (see, for example, Patent Document 1).

  In the sheet-like article storage facility of Patent Document 1, when there is no need to cut a drug sheet, the sheet support that supports the drug sheet to be delivered by adsorbing the drug sheet stored in the storage unit with an adsorption head However, when cutting the drug sheet to deliver a quantity of tablets, etc., that is less than one drug sheet, the drug sheet stored in the storage unit is once adsorbed by the suction head and taken out. Then, after placing and supporting the taken out medicine sheet at the temporary placement location, holding the end of the medicine sheet with a chuck and moving the moving base to a position corresponding to the location for cutting provided with the cutting device, The medicine sheet held by the chuck is transferred to a cutting portion and cut.

As described above, in Patent Document 1, when it is necessary to suck and take out the medicine sheet stored in the storage portion by the suction head and cut it, the medicine sheet is held by the chuck and corresponds to the cutting position. It is comprised so that a movement base may be moved to the position to perform.
Incidentally, the chuck of Patent Document 1 is configured to hold the end of the drug sheet, and the cutting device includes a sheet cutting blade that is movable in the vertical direction, and a sheet cutting blade that is in contact with the lower surface of the drug sheet. And a receiving part that supports the drug sheet against a pressing force caused by the movement from above to below.

JP 2006-158552 A

  However, in the conventional sheet-shaped article storage facility, since the end of the medicine sheet must be held by the chuck when the medicine sheet is transferred from the temporary placement location to the cutting location, the part to be delivered should already be cut out. When it is necessary to cut out the part to be shipped from the medicine sheet that has been cut down, the part that can be held is too small to support the location suitable for cutting the medicine sheet. There is a possibility that the sheet cannot be cut properly. In addition, when cutting is necessary, the transfer efficiency is poor because the moving base is moved when the drug sheet is transferred to the cutting position.

  The present invention has been made in view of the above-described actual situation, and the purpose of the present invention is to properly cut a sheet-like article, and even when the sheet-like article is cut, the sheet-like article is efficiently delivered to a delivery location. An object of the present invention is to provide a sheet-like article storage facility that can be used.

In order to solve the above problems, a sheet-like article storage facility according to the present invention includes a storage shelf including a plurality of storage parts for storing sheet-like articles, a position for a storage part corresponding to each of the plurality of storage parts, A transport base that is movable to a delivery position corresponding to a delivery location for delivering a sheet-like article, and that conveys the sheet-like article from the storage unit to the delivery location; There,
The 1st characteristic structure is that the said conveying apparatus supports the said sheet-like article conveyed to the said delivery location, The sheet-like article located in the location for cutting in the said movement base is a delivery object part. A moving base includes a sheet cutting device for cutting the sheet-like article to be separated into a non-shipping target portion, and a sheet transfer device capable of transferring the sheet-like article between the storage unit and the cutting portion. And
The suction transfer nozzle includes a suction nozzle that can be switched between a suction state and a suction release state in which the sheet transfer device performs a suction action on the upper surface of the sheet-like article, and holds the sheet-like article in the suction state. Is moved between the storage portion and the cutting location, so that the sheet-like article can be transferred between the storage portion and the cutting location.

  That is, since the suction nozzle is moved between the storage portion and the cutting portion in an adsorbing state in which the upper surface of the sheet-like article is adsorbed, even if the sheet-like article is small, the sheet-like article The part suitable for the cutting | disconnection in can be supported, and it can cut | disconnect appropriately into the leaving object part and the non- leaving object part.

In addition, after cutting the sheet-like article to be separated into the part to be delivered and the part to be left out, it is necessary to transfer the non-outgoing part returned to the storage unit to the cutting part to be further cut. In some cases, the sheet transfer device transfers a sheet-like article that is smaller than the original size of the sheet-like article between the storage unit and the cutting portion.
As a sheet-like article to be cut into a delivery target part and a non-going part as described above, for example, a PTP (Press Through Pack) sheet encapsulated in a state where a plurality of tablets are divided, a sachet encapsulating granules or powder, etc. In the case where a medicine sheet such as a wrapping sheet connected to a plurality of parts is transferred from the storage unit to the cutting site, if the sheet transfer device is configured by a holding means such as a chuck, the medicine sheet to be transferred is cut. In the case of a drug sheet that is smaller than the original drug sheet, there is a possibility that it cannot be supported stably because the marginal portion that can be held in the PTP sheet (the flat portion where the tablet is not enclosed) is small. is there. That is, for example, even if the holding means is configured to have a plurality of holding portions apart from each other, if the size of the margin portion of the PTP sheet is smaller than the separation distance of the plurality of holding portions, one holding portion It can only be held and cannot be supported stably. In addition, the gripped part is an end part of the sheet-like article, but the end part may be a position away from the planned cutting part of the sheet-like article. However, when the sheet-like article is cut at the sheet cutting unit to be separated into the leaving object place and the non- leaving object place, there is a possibility that an appropriate position cannot be cut.

On the other hand, according to the first characteristic configuration, the sheet transfer device is configured by a suction nozzle that can be switched between a suction state in which a suction action is performed on the upper surface of the sheet-like article and a suction release state. Thus, it is possible to adsorb and hold an appropriate location according to the cut location in the sheet-like article. Therefore, for example, even when the sheet-like article is small, the sheet-like article can be supported and transferred in a stable posture between the storage unit and the cutting portion.
Moreover, since the attitude | position of a sheet-like article is stabilized when cut | disconnecting a sheet-like article so that it may isolate | separate into a delivery object location and a non-delivery object location in a sheet cutting part, it can cut | disconnect appropriately.

  In addition, according to the first feature configuration, the cutting base is provided on the moving base, and therefore, for example, the cutting spot is located at a location away from the storage portion (for example, the end in the left-right direction of the storage shelf). In comparison with this, the conveyance distance between the storage unit and the cutting portion is shortened, and the time required to convey the sheet-like article can be shortened.

  In short, according to the first characteristic configuration, the sheet-like article can be appropriately cut, and the sheet-like article can be efficiently delivered to the exit location even when the sheet-like article is cut. Storage facilities can be provided.

  A second characteristic configuration of the sheet-like article storage facility according to the present invention includes, in addition to the first characteristic configuration described above, the sheet transfer device, the plurality of the suction nozzles, and each of the plurality of the suction nozzles, The suction state and the suction release state are configured to be switchable separately, control means for controlling the operation of the sheet transfer device and the sheet cutting device is provided, and the sheet support is attached to the sheet cutting device. When the control means transfers the sheet-shaped article between the storage portion and the cutting portion, the container is disposed so as to receive and support the unloading target portion separated from the sheet-shaped article. And when the sheet-shaped article is cut by the sheet cutting device, the suction nozzle is set to the suction state, and after the separation target portion is separated from the sheet-shaped article by the sheet cutting device, In order to receive and support the storage target portion by the sheet support, the sheet transfer device is configured so that the suction nozzle that sucks and holds the storage target portion among the plurality of suction nozzles is in the suction release state. The sheet cutting process for controlling the operation is configured to be executed.

That is, a plurality of suction nozzles are brought into a suction state, and a sheet-like article is transferred between the storage portion and the cutting portion, and in that state, the sheet-like article is cut by the sheet cutting device, and the sheet-like article is cut by the sheet cutting device. After separating the delivery target part from the article, the suction nozzle that suctions and holds the delivery target part among the plurality of suction nozzles is set to the suction release state, so that the sheet-like article is taken out from the storage unit by the plurality of suction nozzles. The sheet-like article can be cut in the state, and only the suction nozzle that sucks and holds the part to be shipped is put into the suction release state, thereby maintaining the suction of the non-participating part while maintaining the suction target part. It can be dropped and received and supported by the sheet support.
In addition, since the suction state is maintained for the non-shipping target part, it can be transferred to be stored in the storage unit.
As described above, it is possible to maintain the suction state of the suction nozzle from when the sheet-shaped article is taken out from the storage unit to when the non-going-out target portion is stored, that is, without changing the sheet-like article. Since it can do, when cutting out the delivery object part from a sheet-like article, the fall of efficiency can be controlled.

  According to a third characteristic configuration of the sheet-shaped article storage facility according to the present invention, in addition to the second characteristic configuration, the sheet cutting device includes a sheet mounting table on which the sheet-shaped article can be freely supported and the sheet mounting table. A sheet cutting blade that can move and cut the sheet-shaped article freely, and the sheet transfer device has a mounting posture of the sheet-shaped article mounted on the sheet mounting table. It is in the point comprised with the attitude | position holding | maintenance part to hold | maintain.

  That is, when a sheet-like article is placed on a sheet placing table and the sheet cutting blade is moved in an approaching direction with respect to the sheet placing table to cut the sheet-like article, the sheet-like article is moved along with the movement of the sheet cutting blade. There is a possibility that the position of the article is shifted. According to the third characteristic configuration, since the posture holding unit that holds the placement posture of the sheet-like article placed on the sheet placement table is provided, the sheet shape placed on the sheet placement table. The placement posture of the article can be held by the posture holding unit. Therefore, when the sheet-like article is cut by the sheet cutting device, the sheet-like article can be cut in a state in which the placement posture of the sheet-like article on the sheet placing table is appropriately maintained. Thereby, when cutting a sheet-like article with a sheet cutting device, the sheet-like article can be cut at an appropriate position.

  According to a fourth characteristic configuration of the sheet-shaped article storage facility according to the present invention, in addition to the third characteristic configuration, the sheet-shaped article is configured by partitioning a portion to be cut vertically and horizontally in a plan view. A plan view shape L having a long side portion whose blade is longer than the lateral width of the sheet-like article and a short side portion longer than a longitudinal section of the cutting target portion in a direction orthogonal to the lateral width direction of the sheet-like article The sheet mounting table is configured to include a notch portion that follows the shape of the sheet cutting blade in plan view, and the control means includes the unloading target portion and the notch portion in the sheet-like article. Are cut in a state in which the cutting process is performed in a state where they are overlapped in a plan view and the mounting posture of the sheet-like article is held by the posture holding unit.

That is, the sheet cutting blade includes a long side portion longer than the lateral width of the sheet-like article and a short side portion longer than the longitudinal section of the portion to be cut in the direction orthogonal to the lateral width direction of the sheet-like article. Since it is configured in an L shape, the sheet cutting blade can be cut not only in a straight line but also in a notched state by a single cutting operation of the sheet cutting blade. it can.
That is, for example, when the sheet-like article is a PTP sheet in which a plurality of tablets are arranged in rows and columns, only a quantity of tablets corresponding to a part in the width direction of the PTP sheet can be cut out as a delivery target portion.

At this time, since the sheet mounting table is provided with a notch portion that follows the shape of the sheet cutting blade in a plan view, the cut out delivery target portion passes through the notch portion and falls downward to support the sheet. It can be received by the body.
Thus, since the section of the cutting target part of the sheet-like article can be cut out as the delivery target part by one cutting operation of the sheet cutting blade, the work efficiency can be improved.

  A fifth characteristic configuration of the sheet-like article storage facility according to the present invention is that, in addition to the third or fourth characteristic configuration, the posture holding unit is also used as the suction nozzle.

  That is, since the placement posture of the sheet-like article placed on the sheet placement table can be held by the suction nozzle, a separate configuration is required to hold the placement posture of the sheet-like article on the sheet placement table. The configuration can be simplified.

  The sixth feature of the sheet-like article storage facility according to the present invention includes, in addition to the fifth feature, a pressing support at the lower end of the suction nozzle, and the suction nozzle can be moved up and down in the vertical direction. When the control means cuts the sheet-like article, the suction nozzle that sucks and holds the sheet-like article in the suction state is moved between the storage portion and the cutting portion. The suction nozzle is moved downward to control the operation of the sheet transfer device so as to press the sheet-like article against the sheet mounting table by the pressing support.

  That is, at the time of cutting the sheet-like article, the suction nozzle is placed in the suction state, the sheet-like article is transferred from the storage portion to the cutting location, and the suction nozzle having a pressing support at the lower end is moved downward to press the sheet-like article. The sheet-like article can be pressed and held by the sheet mounting table and the pressing support body by being pressed against the sheet mounting table. Therefore, the mounting posture of the sheet-like article on the sheet mounting table can be further stabilized as compared with the case where the posture is held only by suction holding by the suction nozzle.

Plan view of sheet-like article storage facility The perspective view showing one of the some conveying apparatuses of sheet-like article storage equipment The perspective view which shows the cassette and the chemical | medical agent sheet accommodated Perspective view of lifting platform when transferring tray Perspective view of lifting platform when cassette is transferred Action diagram when transferring medicine sheet from cassette to tray Action diagram when transferring drug sheet from cassette to cutting site Action diagram when cutting the drug sheet Action diagram when cutting the drug sheet Perspective view showing sheet cutting device The figure which shows the adsorption | suction support location and cutting | disconnection pattern in a chemical | medical agent sheet The figure which shows the adsorption | suction support location and cutting | disconnection pattern in a chemical | medical agent sheet The figure which shows the adsorption | suction support location and cutting | disconnection pattern in a chemical | medical agent sheet Control block diagram

Hereinafter, an embodiment of a sheet-like article storage facility according to the present invention will be described with reference to the drawings.
[Overall configuration of sheet-like article storage facility]
As shown in FIGS. 1 to 3, in the sheet-shaped article storage facility according to the present embodiment, a plurality of medicine sheets S as sheet-shaped articles are stored in the cassette 5 in the storage space 2 of the storage shelf 1. It is stored. The stacker crane 3 receives the tray 4 stored in the tray loading / unloading location E1 while being supported by a lifting platform 12 as a moving base, and is stored in the storage space 2 so as to be freely removable. The medicine sheet S is taken out from the cassette 5 on the tray 4 supported by the lifting platform 12 as the moving base, and the tray 4 is transported to the tray loading / unloading location E1 (corresponding to the delivery location). It is comprised so that it may convey from the storage space 2 to the tray loading / unloading location E1.
When the medicine sheet S in the cassette 5 stored in the storage space 2 is exhausted or remaining, the cassette 5 is discharged to the cassette loading / unloading position E2 by the stacker crane 3, and the drug sheet at the cassette loading / unloading position E2 is discharged. The cassette 5 filled with S is stored in the storage space 2.

In the present embodiment, the stacker crane 3 corresponds to a transfer device, and the lifting platform 12 corresponds to a moving base. In addition, the tray 4 corresponds to a sheet support that supports the sheet-like article to be transported to the exit location.
That is, the storage shelf 1 provided with a plurality of cassettes 5 for storing the medicine sheets S, the storage portion positions corresponding to each of the plurality of cassettes 5 and the delivery positions corresponding to the tray loading / unloading locations E1 for delivering the medicine sheets S. And a stacker crane 3 that is provided with a movable lifting platform 12 that conveys the drug sheet S from the cassette 5 to the tray loading / unloading location E1.

  As shown in FIGS. 1 to 5, the sheet-like article storage facility of this embodiment is a stacker that transports a storage shelf 1 in which a plurality of storage spaces 2 are arranged vertically and horizontally, a medicine sheet S, a tray 4, and a cassette 5. The crane 3 and the tray 4 delivered to the tray loading / unloading location E1 are conveyed to the outside, and the empty tray 4 is conveyed to the tray loading / unloading location E1 and the cassette loading / unloading location E2 is unloaded. And a cassette carrying device 7 for carrying the cassette 5 toward the outside and carrying the filled cassette 5 to the cassette loading / unloading location E2. One cassette 5 is configured to store one type of medicine sheet S.

[Form of drug sheet]
As shown in FIG. 3, as a form of the medicine sheet S, a sheet-like tablet sheet A encapsulated in a state where a plurality of tablets are divided, a wrapping sheet B in which a plurality of sachets enclosing powder or granules are connected, There is a compress sheet C enclosing the compress.
The tablet sheet A and the wrapping sheet B correspond to a plurality of medicine sheets S enclosed in a state where the medicines are separated, and the tablet sheets A and the wrapping sheets B are enclosed in a set number of the same kind of medicines. There is a fraction medicine sheet piece S2 from which a part of medicine is cut out from the complete medicine sheet S1 and the complete medicine sheet S1. Further, the tablet sheet A and the packaging sheet B include a plurality of types of drug sheets S having different types of encapsulated drugs, and a plurality of drug sheets S having different sheet sizes in plan view. In addition, about the packaging sheet B, the small bag is handled as one chemical | medical agent.

[Configuration of cassette for storing drug sheets]
As shown in FIG. 3, the cassette 5 that stores the drug sheet S is formed in a container shape that includes a bottom wall portion and a peripheral wall portion and opens upward, and a storage space that stores the drug sheet S therein. Is formed. The cassette 5 is provided with a partition wall 8 that divides the storage space into a plurality of storage sections in the horizontal direction, and a plurality of drug sheets S are placed in each of the storage sections partitioned by the partition wall 8. It is comprised so that it may accommodate in a laminated state. Although the detailed description is omitted, the cassette 5 is provided with a partition wall 8 in a detachable manner, and the size of the accommodation section in plan view is changed by changing the position where the partition wall 8 is mounted. It is configured freely.

  As the partition wall 8, a plate-shaped partition wall 8a formed of a plate-like body mounted on the cassette 5 in a vertical posture, and a table formed by fixing a table portion 8c in a horizontal posture to the plate-like body. A partition wall 8b, and the internal space of the cassette 5 is divided into two in the loading / unloading direction by the partition wall 8b with a table, and one internal space in which the table portion 8c does not exist is horizontally formed by the plate-shaped partition wall 8a. Divided into multiple internal spaces.

  When the tablet sheet A or the wrapping sheet B is accommodated in the cassette 5, the space on the table portion 8c in one internal space where the table portion 8c exists is for the fraction drug sheet piece that accommodates the fraction drug sheet piece S2. A storage space for the fraction drug sheet piece S2 is formed on the table portion 8c. Each of the internal spaces divided by the plate-like partition wall 8a in the other storage space where the table portion 8c does not exist is a storage space for a complete drug sheet that stores the complete drug sheet S1, and this complete drug sheet A plurality of storage spaces for S1 are formed in a form partitioned by the plate-like partition wall 8b. Thus, the cassette 5 is configured so that the complete medicine sheet S1 and the fraction medicine sheet piece S2 can be accommodated in different accommodation spaces. Note that the same type of medicine sheet S is stored in one cassette 5.

  The plate-like partition wall 8a has a notch formed downward from its upper end, and the side surface of the complete medicine sheet S1 accommodated in the accommodation space in a stacked state can be seen from this notch. Yes.

  When the partition wall 8b with the table is mounted on the cassette 5, the height of the bottom surface on which the fraction drug sheet piece S2 is placed and supported on the table portion 8c is lower than the height of the partition wall 8 and the height of the peripheral wall of the cassette 5. Further, the fraction medicine sheet piece S2 which is formed so as to be higher than the bottom face of the cassette 5 and accommodated in the fraction medicine sheet piece accommodation space is the lowermost layer collected in the complete medicine sheet accommodation space. The cassette 5 is accommodated at a height higher than the complete medicine sheet S1.

[Configuration of the tray that supports the medicine sheet to be delivered]
As shown in FIG. 2, the tray 4 that supports the medicine sheet S to be delivered is formed in a container shape having a bottom wall portion and a peripheral wall portion and opening upward, like the cassette 5. An accommodation space for accommodating the sheet S is formed. The tray 4 is provided with a partition 9 that divides the storage space into a plurality of storage sections in the horizontal direction, and the medicine sheet S is placed horizontally in each of the storage sections partitioned by the partition 9. It is configured to be housed freely. Incidentally, the tray 4 is divided into four accommodation sections by the partition body 9.

  The partition body of the tray 4 is formed at a lower height than the peripheral wall portion of the tray 4, and places and supports a large medicine sheet S such as a compress sheet C that cannot be stored in the storage section across the plurality of partition bodies. Thus, the tray 4 can be accommodated. In addition, the partition is integrally formed with the tray 4 main body and cannot be attached or detached.

[Configuration of storage shelf for storing cassettes]
As shown in FIG. 1, a pair of storage shelves 1 are provided in a posture that faces each other in a form that forms a movement path of the stacker crane 3. Each storage shelf 1 is provided with a plurality of storage spaces 2 arranged vertically and horizontally, and one cassette 5 is stored in the storage space 2 so that it can be pulled out toward the moving path.
For a plurality of medicine sheets S encapsulated in a state where the medicines of the tablet sheet A and the packaging sheet B are separated, a plurality of complete medicine sheets S1 and one fraction medicine sheet piece S2 are accommodated in the cassette 5 as medicine sheets S. The cassette 5 is stored in a plurality of storage spaces 2. That is, in the storage space 2, a plurality of medicine sheets S are stored in a state where they are stored in the cassette 5, and the storage shelf 1 is provided with a plurality of storage units for storing the plurality of medicine sheets S. Yes.

[Configuration of stacker crane]
The stacker crane 3 is guided by a track 14 on one side of a pair of tracks 14 arranged side by side in the horizontal direction of the moving path (hereinafter referred to as the path width direction), and the moving path is moved in the longitudinal direction (hereinafter referred to as the path). One side stacker crane 3a that is movable along the longitudinal direction) and the other side stacker crane 3b that is guided by the other side of the pair of tracks 14 and is movable along the longitudinal direction of the path. Two stacker cranes 3 are provided, and these two stacker cranes 3 are provided in a movement path so as to be able to pass each other.

  When the two stacker cranes 3 are described, the traveling carriage 11 of the one side stacker crane 3a is configured to travel along the track 14 on the one side while being located on one side in the path width direction. The elevating mast 13 of the one side stacker crane 3a is erected on the traveling carriage 11 so as to be located in the vicinity of the storage shelf 1 located on one side in the lateral direction of the path. Further, the traveling cart 11 of the other side stacker crane 3b is configured to travel along the other side track 14 in a state of being located on the other side in the path width direction, and the lifting mast of the other side stacker crane 3b. 13 is erected on the traveling carriage 11 so as to be located in the vicinity of the storage shelf 1 located on the other side in the path width direction. By configuring the two stacker cranes 3 in this way, the traveling carriages 11 and the lifting masts 13 do not interfere with each other when passing each other.

The lifting platform 12 of the one-side stacker crane 3a is supported in a cantilevered manner from the lifting mast 13 toward the other side in the path width direction, and the storage shelf 1 and the other side located on one side in the path width direction It is located between the lifting mast 13 of the stacker crane 3b. Further, the lifting platform 12 of the other stacker crane 3b is supported in a cantilevered manner from the lifting mast 13 toward one side in the path width direction, and the storage shelf 1 and one side positioned on the other side in the path width direction. It is located between the lifting mast 13 of the stacker crane 3a.
By configuring the stacker crane 3 in this way, when the two stacker cranes 3 pass each other, the lifting platform 12 does not interfere with the lifting mast 13 and when the two stacker cranes 3 pass each other. By making the height of the lifting platform 12 different, the lifting platforms 12 do not interfere with each other.

  Each of the stacker cranes 3 has a tray loading / unloading position corresponding to the tray loading / unloading position E1 and a cassette loading / unloading position corresponding to the cassette loading / unloading position E2 by the traveling movement of the traveling carriage 11 and the vertical movement of the lifting platform 12. And the raising / lowering base 12 is comprised so that it may move to the position for storage parts corresponding to each of the some space 2 for storage.

  As shown in FIG. 2, each of the stacker cranes 3 has a lifting platform 12 in which the cassette 5 is placed in the storage space 2 on the lifting platform 12 in a state where the lifting platform 12 is positioned at the storage position. A cassette transfer device 16 that can be transferred to and from the take-out position, a sheet cutting device 17 that cuts the drug sheet S located at the cutting point E3 on the lifting platform 12, the tray 4 described above, and the take-out position In the state where the sheet transfer device 18 capable of transferring the medicine sheet S between the cassette 5, the cutting point E3, and the tray 4 and the lifting platform 12 are positioned at the tray loading / unloading position, the tray 4 is removed from the tray 4. The tray transfer device 19 as a transfer device for unloading to be transferred to the storage location E1, the sheet reversing device 20 for reversing the medicine sheet S up and down, and the medicine sheet S to be cut by the sheet cutting device 17 are taken from above. An imaging camera 39 is provided.

  That is, the stacker crane 3 separates the tray 4 supporting the medicine sheet S conveyed to the tray loading / unloading location E1 and the medicine sheet S located at the cutting location on the lifting platform 12 into a delivery target portion and a non-shipping target portion. The lifting / lowering table 12 includes a sheet cutting device 17 that cuts as much as possible, and a sheet transfer device 18 that can transfer the drug sheet S between the cassette 5 and the cutting portion.

  Each of the stacker cranes 3 moves the cassette 5 stored in the storage position of the storage space 2 by the cassette transfer device 16 on the lift base 12 while the lift base 12 is in the storage position. The medicine sheet S is taken out from the cassette 5 on the lifting platform 12 by the sheet transfer device 18 and transferred to the tray 4, and the cassette 5 from which the medicine sheet S has been taken out is transferred to the cassette transfer device 16. And is configured to be stored in the storage position of the storage space 2. Further, the medicine sheet S taken out from the cassette 5 is cut by the sheet cutting device 17 as necessary in a state where the lifting platform 12 is located at the storage portion position.

  Each of the stacker cranes 3 receives the tray 4 containing the medicine sheet S from the lifting platform 12 on the tray loading / unloading tray 19 with the lifting platform 12 positioned at the tray loading / unloading position. While being transferred to the location E1, an empty tray 4 that does not contain the drug sheet S is transferred by the tray transfer device 19 from the tray loading / unloading location E1 onto the lifting platform 12. Further, in the state where the lifting platform 12 is located at the cassette loading / unloading location E2, the cassette 5 in which the medicine sheet S is not accommodated or the medicine sheet S is small is removed from the lifting platform 12 by the cassette transfer device 16. The cassette 5 filled with the medicine sheet S is transferred from the cassette loading / unloading location E2 onto the lifting platform 12 by the cassette transfer device 16 while being transferred to the loading location E2.

[Each device provided in the lifting platform of the stacker crane]
Next, each device provided in the lifting platform 12 will be described.
As shown in FIG. 4, the cassette transfer device 16 includes a transfer moving body 22 that is movable along the path width direction (cassette transfer direction), and both ends of the transfer moving body 22 in the path width direction. Each part is provided with a rotation hook 23 that is rotatable around a horizontal axis along the horizontal direction of the path. By rotating the rotary hook 23 around the horizontal axis, as shown in FIG. 5, the rotary hook 23 has an engagement posture in which the tip of the rotary hook 23 is positioned above the height at which the cassette 5 is placed and supported on the lifting platform 12. The hook 23 is configured such that its posture can be changed to a retracted posture positioned below the height at which the cassette 5 is placed and supported on the elevator 12.

  When the cassette transfer device 16 transfers the cassette 5 from the storage space 2 located on one side in the horizontal direction of the path onto the lifting platform 12, the cassette 5 to be transferred is first stored. The lifting platform 12 is positioned at the storage portion position corresponding to the storage space 2. Thereafter, the transfer moving body 22 is moved to one side in the path width direction so that the transfer moving body 22 protrudes from the lifting platform 12 to one side in the path width direction, and the retraction is located on one side in the path width direction. The rotary hook 23 in the posture is positioned directly below the engaged portion 5a of the cassette 5 positioned at the storage position of the storage space 2. And after changing the attitude | position of the rotation hook 23 located in the one side of a path | route width direction to an engagement attitude | position and engaging with the to-be-engaged part 5a of the cassette 5, the moving body 22 for transfer is made into the other of a path | route width direction. The cassette 5 is moved from the storage position of the storage space 2 to the take-out position on the lifting platform 12. The cassette 5 located at the take-out position on the lifting platform 12 is taken out of the storage space 2 and the entire load of the cassette 5 is supported by the lifting platform 12.

In addition, by operating the transfer moving body 22 and the rotary hook 23 in the reverse procedure when transferring the cassette 5 from the storage space 2 located on one side in the horizontal direction of the path onto the lifting platform 12. The cassette 5 is transferred from the take-out position on the lifting platform 12 to the storage position of the storage space 2 located on one side in the lateral direction of the path. As described above, the cassette transfer device 16 transfers the cassette 5 between the storage position in the storage space 2 and the take-out position on the lift base in a state where the lift base 12 is located at the storage portion position. It is configured freely.
Then, the moving direction of the transfer moving body 22 is reversed, and the posture of the rotary hook 23 positioned on the other side in the path width direction is changed to change the position of the storage space 2 positioned on the other side in the path width direction. The cassette 5 is transferred between the storage position and the take-out position on the lifting platform 12, and the cassette transfer device 16 transfers the cassette 5 between the storage spaces 2 of both of the pair of storage shelves 1. It is comprised so that it can transfer.
When the cassette 5 is transferred between the storage position of the storage space 2 located on the other side in the path width direction and the take-out position on the lifting platform 12, the cassette 5 is in the depth direction (path width direction). Is pulled into the lifting platform 12 from the storage space 2 located on the other side. Therefore, when the cassette 5 is transferred onto the lifting platform 12, the two stacker cranes 3 cannot pass each other, but after the cassette 5 has been transferred onto the lifting platform 12, the other side in the path width direction. The two stacker cranes 3 can pass each other because they do not interfere with the stacker crane 3 traveling on the track 14.

  As shown in FIGS. 4 and 5, the tray transfer device 19 includes a pair of tray supports 25 that place and support the tray 4 in a state of being engaged with a recessed portion 4 a formed in the tray 4 from below. It is configured. The tray support 25 is configured to be movable along the longitudinal direction of the path. From the tray transfer position as shown in FIG. 4 and the tray transfer position as shown in FIG. It is freely movable to the moved sheet receiving position.

Then, as the tray loading / unloading position where the lifting platform 12 stops when the tray 4 is transferred to / from the tray loading / unloading location E1, a high position as shown in FIG. 4 and a low position lower than the high position are shown. When the tray 4 is transferred from the lifting platform 12 to the tray loading / unloading location E1, as shown in FIG. 4, the tray support 25 supporting the tray 4 is positioned at the tray transfer position. In this state, the elevator 4 is moved downward from the high position to the low position, so that the tray 4 is transferred to the tray loading / unloading location E1. As described above, the tray transfer device 19 transfers the medicine sheet S supported by the tray 4 to the tray loading / unloading location E1 together with the tray 4 in a state where the lifting platform 12 is located at the tray loading / unloading position. It is configured freely.
Further, when the tray 4 is transferred from the tray loading / unloading location E1 to the lifting platform 12, the tray 4 is positioned at the tray loading / unloading location E1 and the tray support 25 is positioned at the tray transfer position. By moving the table 12 from the low position to the high position, the tray 4 is picked up by the tray support 25 and transferred onto the lifting table 12.

[Sheet transfer device]
Next, the sheet transfer device 18 will be described.
The sheet transfer device 18 sucks and holds the surface of the medicine sheet S facing upward from above, moves the suction nozzle 35 horizontally and vertically, and moves the suction nozzle 35 around the vertical axis. And a holding body moving operation body 36 that is rotationally operated. And the sheet transfer apparatus 18 is comprised so that the surface which faces the upper side of the flat back surface or uneven | corrugated surface in the tablet sheet A may be adsorbed and hold | maintained, when adsorbing and holding the tablet sheet A. FIG.
The sheet transfer device 18 removes the medicine sheet S from the cassette 5 on the lifting platform 12 in a state where the posture of the medicine sheet S is maintained in a horizontal posture by the suction action of the suction nozzle 35 and the movement and rotation of the suction nozzle 35. The cutting part E3, the tray 4, and the sheet reversing device 20 are configured to be freely transferred.

As shown in FIG. 4, the sheet transfer device 18 has three suction nozzles 35 (the suction nozzles 35a in FIGS. 7 to 9) each having a cylindrical pressing support 35t formed of an elastic body such as rubber at the lower end. , 35b, and 35c). Each suction nozzle 35 is connected with an air tube 34 (air tubes 34a, 34b, 34c shown in FIGS. 7 to 9) connected to a vacuum pump (not shown). Further, between the vacuum pump and each of the air tubes 34a, 34b, 34c, there is provided an adsorption state switching valve (not shown) that can switch between the adsorption state and the adsorption release state of the adsorption nozzle. .
And the flat part (part without the projection part in which the tablet was enclosed) in the upper surface side of the medicine sheet S is configured to be sucked and held by all or any of the plurality of suction nozzles 35.

The suction nozzle 35 holds the placement posture of the medicine sheet S placed on the sheet placement table 28 by suction, and moves the suction nozzle 35 downward while the medicine sheet S is placed on the sheet placement table 28. By doing so, the medicine sheet S is configured to be pressed against the sheet placing table 28 by the pressing support 35t provided at the lower end of each of the suction nozzles 35.
In other words, a posture holding unit that holds the loading posture of the medicine sheet S placed on the sheet placing table 28 is provided in the sheet transfer device 18 in a state that also serves as the suction nozzle 35.

  As described above, the sheet transfer device 18 includes the suction nozzle 35 that can be switched between the suction state and the suction release state in which the top surface of the medicine sheet S is sucked and sucks and holds the medicine sheet S in the suction state. By moving the nozzle 35, the medicine sheet S is configured to be freely transferred between the storage space 2 and the cutting point E3. Further, the sheet transfer device 18 includes a plurality of suction nozzles 35, and each of the plurality of suction nozzles 35 is configured to be able to switch between a suction state and a suction release state.

[Sheet cutting device]
As shown in FIG. 2, the sheet cutting device 17 includes a sheet placing table 28 that places and supports the flat back surface of the medicine sheet S, and a sheet cutting blade 29 that cuts the medicine sheet S. . The sheet mounting table 28 is fixed to the lifting table 12, and the sheet mounting table 28 is positioned along the lateral side of the cassette 5 in a state where the cassette 5 is transferred onto the lifting table 12. A cutting device moving operation body 27 for moving the sheet cutting blade 29 in the approaching direction and the separating direction with respect to the sheet placing table 28 is provided at an end portion facing the side where the lifting mast 13 is present in the path width direction of 28. Is provided.
That is, the sheet cutting device 17 includes a sheet placing table 28 that can place and support the medicine sheet S, and a sheet cutting blade 29 that can move the medicine sheet S relative to the sheet placing table 28 to cut the medicine sheet S. ing.

As shown in FIG. 10, the sheet cutting blade 29 includes a long side portion 29 a along the path width direction and a short side portion 29 b orthogonal to the path width direction, and is formed in an L shape in plan view. .
Further, the sheet placing table 28 is provided with a notch 28k along the L-shape of the sheet cutting blade 29 in plan view.
The long side portion 29a is formed to be longer than the width of the plurality of types of tablet sheets A and the wrapping sheet B. The long side portion 29a allows the tablet sheet A and the wrapping sheet B to extend along the path width direction. It is comprised so that it can cut | disconnect linearly. Further, the short side portion 29b is formed longer than the length of one section of the tablets arranged in the sheet longitudinal direction in the tablet sheet A, and the long side portion 29a and the short side portion 29b end the end of the tablet sheet A in the sheet longitudinal direction. It is comprised so that a part of several tablet located in a part and arranged in a width direction can be cut | disconnected.

[Sheet reversing device]
The tablet sheet A has a flat back surface, but has irregularities on the surface. When the tablet sheet A is cut by the sheet cutting device 17, the flat back surface needs to be in contact with the top surface of the sheet mounting table 28, so that the tablet sheet A is temporarily placed in the cassette 5 with the back surface on the top surface side. If it is stored, it must be reversed. For this reason, as shown in FIG. 2, the lift table 12 is provided with a sheet reversing device 20.

  The sheet reversing device 20 is dropped while rotating the tablet sheet A, which is swung and supported by the electric motor 31 around the horizontal axis along the horizontal direction of the path from the support posture for mounting and supporting the tablet sheet A. The oscillating base 32 is configured to include a tablet base A falling from the oscillating base 32 and a receiving body 33 provided below the oscillating base 32 so as to receive the tablet sheet A in an inverted state.

The oscillating base 32 is driven and oscillated by the electric motor 31 to thereby support the posture in which the placement surface for placing and supporting the tablet sheet A is horizontal, and oscillate 90 ° around the horizontal axis from this support posture. Thus, the posture can be freely changed to a swinging posture in which the placement surface is vertical. In addition, although not shown in the drawing, a projecting portion that protrudes upward from the mounting surface in a horizontal posture is provided at one end located at the lower end in a swinging posture on the mounting surface.
In addition, the receiving body 33 is positioned below the protruding portion of the swinging table 32 in the swinging posture and the mounting surface of the swinging table 32 in the swinging posture is directed to the horizontal axis around which the swinging table 32 swings. It is provided so that it may be located in the side.

  Then, after the tablet sheet A is placed on the placement surface of the oscillating table 32 in a reverse orientation with the back surface facing upward, the sheet inverting device 32 moves the oscillating table 32 from the support posture to the oscillating posture. By swinging the tablet sheet A, the tablet sheet A slides down to the one end side on the mounting surface, the tablet sheet A is caught by the protruding portion, and the swing base 32 is further swung, so that the tablet sheet A stands upright. After becoming the posture, it falls to the back side and falls while rotating from the rocking table 32. The tablet sheet A falling while rotating is received by the receiving body 33 in a face-up posture.

〔shoot〕
7-9, the chute | shoot 37 is provided so that it may be located under the notch part 28k in the sheet | seat mounting base 28. As shown in FIG. The chute 37 is formed such that the upper end opens larger than the size of the cutout portion 28k in plan view, and the lower end has a size corresponding to one section of the tray 4. And the inclined surface which guides in order to drop the delivery object part Sb of the medicine sheet S which passes through the notch part 28k and falls to the predetermined division of the tray 4 is provided.
That is, the tray 4 is disposed so as to receive and support the delivery target portion Sb separated from the drug sheet S by the sheet cutting device 17.

[Imaging camera]
As shown in FIG. 2, the imaging camera 39 is provided in the lifting platform 12 so as to capture from above the medicine sheet S accommodated in the cassette 5 on the lifting platform 12 and the medicine sheet S on the receiving body 33. It has been. The imaging camera 39 is provided so as to image the entire medicine sheet S located in the lowermost layer with respect to the medicine sheet S accommodated in at least one accommodation location located in the center in the cassette longitudinal direction, The other storage locations are provided so that at least a part of each of the four sides of the rectangular drug sheet S in a plan view can be imaged by imaging the side surface of the drug sheet S from the cutout of the plate-like partition wall 8a. Yes.

[Control configuration]
As shown in FIG. 14, the stacker crane 3 controls a traveling control unit 41 a that controls the operation of the traveling electric motor 11 a that travels and moves the traveling carriage 11, and a lifting electric motor 12 a that moves the lifting platform 12 up and down. There is provided an operation control device 41 provided with a lifting control unit 41b and a transfer control unit 41c as a transfer control means for controlling the operation of various devices on the lifting platform. The transfer control unit 41c corresponds to a control unit that controls operations of the sheet transfer device 18 and the sheet cutting device 17 to transfer the medicine sheet S to be taken out.
Then, the operation control device 41 has the medicine sheet S accommodated in the cassette 5 on the lifting platform 12 based on the imaging information captured by the imaging camera 39, particularly the upper side of the tablet sheet A to be taken out. Discriminating whether the surface facing the front is the front or back (whether it is a front-facing posture or a back-facing posture), and discriminating whether the surface facing the upper side of the tablet sheet A on the receiving body 33 is the front or back Means 45 is provided in the form of a program. Note that the imaging camera 39 and the discrimination means 45 constitute front / back detection means 46 for detecting whether the surface of the tablet sheet A facing upward is the front surface or the back surface. Yes.

By reading the prescription information indicated by a barcode or the like on the prescription by a reading means (not shown), the prescription information is input to the output command device 43, and the output command from the output command device 43 to the controller 40 based on this prescription information Is commanded. The delivery instruction includes delivery type information indicating the type of prescription drug indicated in the prescription information and delivery number information indicating the number of prescription drugs to be delivered in each type.
The controller 40 stores the storage state of the medicine sheet S stored in the storage space 2 as management information, and functions as a management unit 42 that manages the storage state. The controller 40 selects a storage space 2 to be taken out from which the medicine sheet S is taken out based on the management information and the number-of-delivery information indicated by the delivery instruction, and takes out from the storage space 2 to be taken out. Selection means 44 for selecting the medicine sheet S to be cut and selecting the medicine sheet S to be cut from the medicine sheet S to be taken out is provided in a program format.
Then, the controller 40 commands the operation controller 41 to convey the storage space 2 to be taken out, the medicine sheet S to be taken out, and the medicine sheet S to be cut.

  The description of the selection operation of the selection means 44 will be given by taking the tablet sheet A as an example. The storage space 2 in which the tablet sheet A enclosing the type of tablet to be delivered based on the delivery type information indicated by the delivery command is stored. It is selected as the storage space 2 to be taken out. And the form which preferentially selects the fraction medicine sheet piece S2 from the plurality of tablet sheets A stored in the storage space 2 to be taken out based on the number of discharged tablets indicated by the output number information indicated by the output instruction. The tablet sheet A to be taken out is selected from the tablet sheets A stored in the cassette 5 so that the number of delivered tablets to be delivered at the delivery location or the number of delivered tablets is greater than the total number of tablets to be taken out. When the number is larger than the number of delivered tablets, one of the tablet sheets A to be taken out is selected as the tablet sheet A to be cut.

  The selection of the tablet sheet A to be taken out and the selection of the tablet sheet A to be cut will be described with specific examples. When the number of delivered tablets is 20, 10 tablets are enclosed in the storage space 2 to be taken out. When a plurality of complete medicine sheets S1 and one fraction drug sheet piece S2 enclosed in three tablets are stored in the storage space 2 to be taken out, first one fraction drug sheet piece S2 is stored. Two sheets of the complete drug sheet S1 are selected so as to be preferentially selected and to be equal to or greater than the number of delivered tablets or the number of delivered tablets. And since the total number of tablets of the tablet sheet A to be taken out is 23, which is larger than the number of delivered tablets 20, one complete drug sheet S1 is selected as the tablet sheet A to be cut.

Further, when the number of delivered tablets is 23, a plurality of complete drug sheets S1 in which 10 tablets are enclosed and one fraction drug sheet piece S2 in which 3 tablets are enclosed in the storage space 2 to be taken out. Are stored, one of the fraction drug sheet pieces S2 and two of the complete drug sheets S1 are selected as in the case described above. And since the total number of tablets of the tablet sheet A to be taken out is 23, which is the same as the number 23 of the delivered tablets, the tablet sheet A to be cut is not selected.
Further, when the number of delivered tablets is 2, a plurality of complete drug sheets S1 in which 10 tablets are encapsulated and one fraction drug sheet piece S2 in which 3 tablets are encapsulated in the storage space 2 to be taken out Are stored, only one fraction drug sheet piece S2 is selected, and this fraction drug sheet piece S2 is selected as the tablet sheet A to be cut.

Next, the operation control device 41 will be described.
The operation control device 41 moves to the stop position corresponding to the tray loading / unloading location E1 based on the shipping command information from the controller 40, and transfers the tray 4 from the tray loading / unloading location E1 onto the lifting platform 12 to the tray. 4 in the tray receiving process for receiving 4, the storage unit moving process for moving the lifting platform 12 to the storage unit position corresponding to the storage space 2 to be taken out, and the lifting platform 12 in the storage unit position. A sheet take-out process for taking out the medicine sheet S from the cassette 5, and the elevator 12 is moved to a stop position corresponding to the tray loading / unloading location E1, and the tray 4 is transferred from the lifting platform 12 to the tray loading / unloading location E1. 4 is configured to execute a tray delivery process.

  Then, the operation control device 41 executes the tray receiving process, the storage unit moving process, the sheet take-out process, and the tray delivery process in this order, so that the tray 4 on which the medicine sheet S is placed and supported is delivered to the tray delivery location. The operation of the stacker crane 3 is controlled. When a plurality of types of medicine sheets S to be taken out are indicated in the unloading command information, the storage unit moving process and the sheet taking-out process are repeatedly executed a plurality of times, and a plurality of kinds of medicine sheets S are placed on the tray. The plurality of types of medicine sheets S are collected and delivered together with the tray 4 to the tray entry / exit location E1.

  The operation control device 41 is provided with a discriminating means 45 in a program format for discriminating whether the surface of the medicine sheet S facing the upper side is the front surface or the back surface based on the imaging information captured by the imaging camera 39. Incidentally, the imaging camera 39 and the discriminating means 45 constitute front / back detecting means 46 for detecting whether the surface of the medicine sheet S facing upward is the front surface or the back surface.

Next, the sheet extraction process of the transfer control unit 41c will be described.
The transfer control unit 41 c controls the operation of each device provided in the lifting platform 12 such as the sheet transfer device 18 based on the delivery command information from the controller 40 and the imaging information captured by the imaging camera 39. The extraction process is configured to be executed.
First, the cassette transfer device 16 is operated to transfer the cassette 5 stored in the storage space 2 to be taken out onto the lifting platform 12.
Then, the imaging camera 39 is operated to take an image of the medicine sheet S accommodated in the cassette 5 on the lifting platform 12, and based on the imaging information captured by the imaging camera 39, the extraction target accommodated in the cassette 5 The position of the medicine sheet S and the posture of the medicine sheet S are discriminated, the sheet transfer device 18 is operated, and the medicine sheet S to be taken out is sucked and held by the sheet transfer device 18.

When the adsorbed and held drug sheet S is not the drug sheet S to be cut, the sheet transfer device 18 and the tray transfer device 19 are arranged so as to store the adsorbed and held drug sheet S in any of the plurality of receiving sections in the tray 4. It is comprised so that the action | operation of may be controlled.
Further, when the adsorbed and held medicine sheet S is the medicine sheet S to be cut and the posture is the face-up posture, the medicine sheet S is cut by the sheet cutting device 17, and the fraction medicine sheet piece S2 to be delivered is trayed. 4, the sheet transfer device 18, the tray transfer device 19, and the sheet cutting so as to store the fraction drug sheet piece S <b> 2 to be stored in the storage compartment for storing fractions in the cassette 5. It is configured to control the operation of the device 17.
Further, when the adsorbed and held medicine sheet S is the medicine sheet S to be cut and the posture is the face-down posture, the sheet reversing device 20 reverses the medicine sheet S from the face-down posture to the face-up posture, The medicine sheet S is cut by the sheet cutting device 17, the fraction drug sheet piece S 2 to be delivered is accommodated in one of a plurality of accommodation sections in the tray 4, and the fraction drug sheet piece S 2 to be accommodated is accommodated in the cassette 5. The sheet transfer device 18, the tray transfer device 19, the sheet cutting device 17, and the sheet reversing device 20 are configured to be controlled so as to be stored in the storage compartment.
By the way, when the medicine sheet S to be extracted includes the medicine sheet S to be cut and the medicine sheet S that is not to be cut, first, the medicine sheet S that is not to be cut is transferred from the cassette 5 to the tray 4, and The drug sheet S is taken out from the cassette 5 and cut by the sheet cutting device 17, the fractional drug sheet piece S 2 to be delivered is transferred to the tray 4, and the fractional drug sheet piece S 2 to be stored is transferred to the cassette 5.

  Prescription drugs shown on the same prescription should be stored in the same storage compartment of the tray 4 even if they are of different types, and prescription drugs shown on different prescriptions should be stored in different storage compartments of the tray 4 even if they are of the same type Thus, the tray 4 accommodated in a state of being divided by the prescription unit is delivered to the tray entry / exit location E1.

Next, a sheet transfer process for transferring the medicine sheet S to be supported on the tray 4 and a cutting process for cutting the medicine sheet S to be cut into the non-going-out target part Sa and the outgoing target part Sb will be described. .
When the medicine sheet S is transferred between the cassette 5 and the cutting point E3 and when the medicine sheet S is cut by the sheet cutting device 17, all of the plurality of suction nozzles 35 (that is, the operation control device 41). In order to place the suction nozzles 35a, 35b, and 35c) in the suction state, the suction state switching valve provided between the vacuum pump and the air tube 34 is switched to the open state. Thereby, the upper surface side of the medicine sheet S is sucked and held by the suction nozzle 35. If there is no suction target in any of the plurality of suction nozzles 35, the suction state switching valve corresponding to the suction nozzle 35 is switched to the closed state. That is, when the suction state switching valve corresponding to the suction nozzle that is not subject to suction is opened, the suction nozzle 35 is in a state of sucking air, and there is a risk that the vacuum pressure generated by the vacuum pump will increase. That is, there is a possibility that the attractive force may be reduced. For this reason, when there is no suction target, the vacuum suction of the suction nozzle 35 is controlled to be stopped.

  Then, after separating the delivery target portion Sb from the drug sheet S by the sheet cutting device 17, the delivery of the delivery nozzles 35 a, 35 b, 35 c among the plurality of suction nozzles 35 a, 35 b, 35 c is performed in order to receive and support the delivery target portion Sb on the tray 4 The operation of the suction state switching valve is controlled to switch the suction nozzle 35 holding the target portion Sb from the suction state to the suction release state.

This operation will be described with reference to FIGS.
The operation control device 41 sucks and holds the medicine sheet S on the cassette 5 or the receiving body 33 with the suction nozzle 35 in the suction state, and moves the holding body moving operation body 36 in the horizontal direction and the up-and-down direction. By rotating the nozzle 35 around the longitudinal axis, the long side portion 29a of the sheet cutting blade 29 is positioned between the plurality of suction nozzles 35 or does not overlap with the existence range of the suction nozzles 35. Meanwhile, the suction nozzle 35 is moved and operated along the arrows in FIGS. 7 to 9 so that the sheet cutting blade 29 becomes the cutting target position in the medicine sheet S.

At this time, an example of the adsorption position in the medicine sheet S adsorbed by the plurality of adsorption nozzles 35 is shown in FIGS.
FIG. 11 shows a case where the delivery target part Sb cuts the medicine sheet S linearly over the entire width direction of the medicine sheet S in a state where the delivery target part Sb has not yet been cut out. ing. In the case of FIG. 11, the non-going-out object part Sa in the medicine sheet S is sucked and held by the suction nozzles 35b and 35c, and the leaving object part Sb is sucked by the suction nozzle 35a. Further, the operation control device 41 moves (lowers) the suction nozzle 35 in a direction approaching the sheet placement table 28, thereby causing the sheet placement table 28 to move the medicine sheet S at the pressing support 35 t at the lower end of the suction nozzle 35. And the placement posture of the medicine sheet S is held so that the lower part of the delivery target portion Sb in the medicine sheet S becomes the notch 28k.

Then, the sheet cutting blade 29 is moved in the direction approaching the sheet placing table 28 by the cutting device moving operation body 27, so that the long side portion 29a of the sheet cutting blade 29 causes the drug sheet S in the lateral width direction. The whole is cut in a straight line, and the non-exit target portion Sa and the exit target portion Sb are separated. Thereafter, only the suction nozzle 35a that sucks the delivery target portion Sb is brought into a non-adsorption state, so that the delivery target portion Sb falls through the cutout portion 28k of the sheet placing table 28 and is guided by the chute 37 to the tray. It is accommodated in four predetermined sections.
Since the non-shipping target portion Sa remains sucked and held by the suction nozzles 35b and 35c, it is transferred to be stored in the cassette 5 while maintaining the suction state.

In FIG. 12, after the non-going object part Sa and the outgoing object part Sb are once separated and the non-going object part Sa is stored in the cassette 5, the non-going object part Sa is further non-deleted as a medicine sheet S to be cut. The case where it cuts out so that it may isolate | separate into the delivery object part Sa and the delivery object part Sb, Comprising: Only the part of the horizontal width direction of the chemical | medical agent sheet S shows the time of becoming the delivery object part Sb.
In this case, out of the plurality of suction nozzles 35, the delivery target portion Sb is selected by the suction nozzle 35 a in order to maintain the postures of both the portion of the medicine sheet S located on the sheet placement table 28 and the delivery target portion Sb. By suction, the suction nozzle 35b sucks and holds the non-shipping target portion Sa. In addition, since there is no portion corresponding to the suction nozzle 35c in the medicine sheet S, the operation control device 41 closes the suction state switching valve corresponding to the suction nozzle 35c. Further, the operation control device 41 moves (lowers) the suction nozzle 35 in a direction approaching the sheet placement table 28, thereby causing the sheet placement table 28 to move the medicine sheet S at the pressing support 35 t at the lower end of the suction nozzle 35. And the placement posture of the medicine sheet S is held so that the lower part of the delivery target portion Sb in the medicine sheet S becomes the notch 28k.

Then, the sheet cutting blade 29 is moved in the direction approaching the sheet placing table 28 by the cutting device moving operation body 27, whereby the drug sheet S is moved in the lateral width direction at the long side portion 29a of the sheet cutting blade 29. The medicine sheet S is cut at a short side portion 29b of the sheet cutting blade 29 in a state orthogonal to the lateral width direction. As a result, the non-going object part Sa and the outgoing object part Sb are separated. Thereafter, only the suction nozzle 35a that sucks the delivery target portion Sb is brought into a non-adsorption state, so that the delivery target portion Sb falls through the cutout portion 28k of the sheet placing table 28 and is guided by the chute 37 to the tray. It is accommodated in four predetermined sections.
Since the non-shipping target portion Sa remains sucked and held by the suction nozzle 35b, it is transferred to be stored in the cassette 5 while maintaining the suction state.

In FIG. 13, as in the case of FIG. 12, the non-going object part Sa and the outgoing object part Sb are once separated, and after the non-going object part Sa is stored in the cassette 5, the non-going object part Sa is further cut. In the case where the target medicine sheet S is cut to be separated into a non-going-out target part Sa and a outgoing target part Sb, the convex part enclosing the upper material in the medicine sheet S is only one row. Yes.
The drug sheet S thus reduced can be adsorbed by only one adsorption nozzle 35 because the adsorbable portion thereof is smaller than the separation distance between the plurality of adsorption nozzles 35. In the figure, the case where it adsorb | sucks only with the adsorption nozzle 35a is shown. Since there is no portion corresponding to the suction nozzles 35b and 35c in the medicine sheet S, the operation control device 41 closes the suction state switching valves corresponding to the suction nozzles 35b and 35c.
Further, the operation control device 41 moves (lowers) the suction nozzle 35 in a direction approaching the sheet placement table 28, thereby causing the sheet placement table 28 to move the medicine sheet S at the pressing support 35 t at the lower end of the suction nozzle 35. And the placement posture of the medicine sheet S is held so that the lower part of the delivery target portion Sb in the medicine sheet S becomes the notch 28k.

Then, the sheet cutting blade 29 is moved in the direction approaching the sheet placing table 28 by the cutting device moving operation body 27, so that the drug sheet S is not left at the long side portion 29 a of the sheet cutting blade 29. The part Sa and the delivery target part Sb are separated. At this time, since the unloading target portion Sb is not sucked and held, the unloading target portion Sb passes through the cutout portion 28k of the sheet placing table 28 and falls, guided by the chute 37, and accommodated in a predetermined section of the tray 4. Is done.
Since the non-shipping target portion Sa remains sucked and held by the suction nozzle 35a, it is transferred to be stored in the cassette 5 while maintaining the suction state.

[Another embodiment]
(1) In the above embodiment, when the medicine sheet S is transferred between the cassette 5 and the cutting point E3 and when the medicine sheet S is cut by the sheet cutting device 17, the suction nozzle 35 is set to the suction state. After separating the delivery target portion from the drug sheet S by the sheet cutting device 17, the delivery target portion Sb among the plurality of suction nozzles 35 is sucked and supported so that the delivery target portion Sb is received and supported by the tray 4. Although the sheet cutting process for controlling the operation of the sheet transfer device 18 is performed so that the suction nozzle 35 is in the suction release state, the present invention is not limited to such a configuration, and the unloading target portion Sb. May be in a non-adsorbed state from the beginning.

(2) In the above embodiment, the three suction nozzles 35 are provided. However, the number of the suction nozzles 35 may be one, two, or any number of four or more.

(3) In the above embodiment, the chute 37 is provided below the cutout portion 28k of the sheet placing table 28. However, the chute 37 is not provided and the tray 4 is positioned below the cutout portion 28k. Also good.

(4) In the above embodiment, the sheet cutting blade 29 is configured in an L shape in plan view, and the sheet mounting table 28 is provided with a notch portion 28k along the planar view shape of the sheet cutting blade 29. However, instead of such a configuration, the sheet cutting blade 29 may include a long side portion 29a and a short side portion 29b as separate bodies.

(5) In the above-described embodiment, the pressing support 35t is provided at the tip of the suction nozzle 35 as the posture holding unit. However, the configuration is not limited to such a configuration and is separate from the suction nozzle 35. For example, a rod-shaped pressing body may be provided, and the posture may be maintained by pressing the drug sheet with the pressing rod. At this time, the pressing rod may be configured to be attached to a support that supports the suction nozzle 35 and operate integrally with the suction nozzle, or may be configured to be provided in a drive unit different from the suction nozzle. Good.

(6) In the above embodiment, when the drug sheet S is the tablet sheet A enclosing a plurality of tablets, the flat portion where the tablets are not encapsulated is adsorbed and held by the adsorption nozzle 35. Instead of such a configuration, the convex portion of the tablet sheet A enclosing the tablets may be configured to be sucked and held by the suction nozzle 35. At this time, the convex portions may be sucked and held by all of the plurality of suction nozzles 35, or the convex portions may be sucked and held by a part of the plurality of suction nozzles 35.

(7) In the above embodiment, the cassette 5 is used as the storage unit, and the sheet transfer device 18 is configured to transfer the drug sheet S between the cassette 5 and the cutting portion. For example, using the storage space 2 as a storage unit, the sheet transfer device 18 sucks and holds the drug sheet S in a state where the suction nozzle 35 enters the storage space 2. It is good also as composition to do.

(8) In the above embodiment, the drug sheet S which is a PTP sheet is illustrated as the sheet-like article. However, as the sheet-like article, other shapes such as a sheet of paper or a member having a certain thickness are used. It may be a sheet-like article. Further, the planar view shape of the sheet-like article is not limited to a rectangular shape, and may be various shapes such as a circular shape.

DESCRIPTION OF SYMBOLS 1 Storage shelf 5 Storage part 3 Conveying device 4 Sheet support body 12 Moving base 17 Sheet cutting device 18 Sheet transfer device 28 Sheet mounting table 29 Sheet cutting blade 29a Long side portion 29b Short side portion 35 Adsorption nozzle 35t Press support body 41 control means E1 delivery location E3 cutting location S drug sheet Sa non-delivery target portion Sb delivery target portion

Claims (6)

A storage shelf having a plurality of storage units for storing sheet-like articles;
A movable base that is movable to a position for storage corresponding to each of the plurality of storage units and a position for unloading corresponding to an unloading position for unloading the sheet-shaped article; It is a sheet-like article storage facility provided with a transport device for transporting to the exit location,
The transport device separates the sheet support that supports the sheet-shaped article to be transported to the unloading location, and the sheet-shaped article that is located at the cutting location on the moving base into a unloading target portion and a non-shipping target portion. A sheet cutting device that cuts as much as possible, and a sheet transfer device that can freely transfer the sheet-like article between the storage portion and the location for cutting are provided on a moving base,
The suction transfer nozzle includes a suction nozzle that can be switched between a suction state and a suction release state in which the sheet transfer device performs a suction action on the upper surface of the sheet-like article, and holds the sheet-like article in the suction state. A sheet-shaped article storage facility configured to move the sheet-shaped article between the storage section and the cutting location by moving the storage portion between the storage portion and the cutting location. The sheet transfer device includes a plurality of the suction nozzles, and each of the plurality of suction nozzles is configured to be able to switch between the suction state and the suction release state separately.
Control means for controlling the operation of the sheet transfer device and the sheet cutting device is provided,
The sheet support is disposed so as to receive and support the exit target portion separated from the sheet-like article by the sheet cutting device;
The control means is
When the sheet-like article is transferred between the storage portion and the cutting portion and when the sheet-like article is cut by the sheet cutting device, the suction nozzle is set to the suction state,
After separating the delivery target portion from the sheet-like article by the sheet cutting device, the delivery target portion of the plurality of suction nozzles is sucked to be received and supported by the sheet support. The sheet-like article storage facility according to claim 1, configured to execute a sheet cutting process for controlling an operation of the sheet transfer device so that the suction nozzle to be held is in the suction release state. The sheet cutting device is configured to include a sheet placing table that can freely place and support the sheet-like article, and a sheet cutting blade that can move the sheet-like article and cut the sheet-like article.
The sheet-like article storage facility according to claim 2, wherein the sheet transfer device includes a posture holding unit that holds a placement posture of the sheet-like article placed on the sheet placement table. The sheet-like article is configured by dividing a portion to be cut vertically and horizontally in a plan view,
The blade for sheet cutting includes a long side portion longer than the width of the sheet-like article, and a short side portion longer than a vertical section of the portion to be cut in a direction orthogonal to the width direction of the sheet-like article. It is configured in an L shape in plan view.
The sheet mounting table is configured to include a cutout portion that follows the planar view shape of the sheet cutting blade, and the control means overlaps the unloading target portion and the cutout portion of the sheet-like article in a plan view. The sheet-shaped article storage equipment according to claim 3, wherein the cutting process is performed in a state where the sheet-shaped article is placed in a posture held by the posture holding unit.   The sheet-like article storage facility according to claim 3, wherein the posture holding unit is also used as the suction nozzle. A lower end of the suction nozzle is provided with a pressing support, and the suction nozzle is configured to be movable up and down in the vertical direction,
When the control means cuts the sheet-like article, the suction nozzle that sucks and holds the sheet-like article in the suction state is moved between the storage portion and the cutting portion, and the suction nozzle The sheet-like article storage facility according to claim 5, wherein the operation of the sheet transfer device is controlled so that the sheet-like article is pressed against the sheet placing table by the pressing support.

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