JP6881446B2 - Transport system and drug dispensing system - Google Patents

Description

The present invention relates to a transport system and a drug dispensing system using the same.

Conventionally, a packaged drug as disclosed in Patent Document 1 below, for example, a drug box dispensing device such as a drug packaged in a box constitutes a drug dispensing system for dispensing to a patient or the like. It has been introduced in outpatient pharmacies and the like. The drug box dispensing device disclosed in Patent Document 1 is a device that dispenses drugs in units of boxes (medicine boxes) containing a plurality of drugs, instead of dispensing the drugs one by one. The medicine box payout device is capable of paying out the medicine box according to the prescription based on a prescription instructed by a higher-level control device such as HIS (Hospital Information System).

Japanese Unexamined Patent Publication No. 2012-085892

When a packaged drug dispensing device such as the drug box dispensing device described above is adopted, how accurately a container such as a tray for accommodating the drug to be transported can be transported is a series of operations. It has a great effect on efficiency. Therefore, an object of the present invention is to provide a transport system capable of minimizing transport defects of containers and a drug dispensing system using the transport system.

The present invention provided to solve the above-mentioned problems is a transport system in which an object to be transported is stored in a container and transported along a predetermined transport path, and the transport direction of the container changes in the middle of the transport path. It has a first transport direction conversion unit, a detection unit that detects the arrival of the container at the first transport direction conversion unit, and a control unit that controls the transport of the container. A first detection device capable of detecting the presence or absence of an article on the downstream side of the transport direction in the first transport direction conversion unit, and a second detection device capable of detecting the presence or absence of an article on the upstream side of the transport direction from the first detection device. When the container is normally arranged in the first transport direction changing unit, the container is detected by the first detection device, and the container is not detected by the second detection device. On the condition that the article is detected by both the first detection device and the second detection device, it is determined that the container is misaligned in the first transport direction changing unit. It is characterized in that it is performed by the control unit.

The transport system of the present invention is configured to change the transport direction of the container at the first transport direction changing unit provided in the middle of the transport path. Therefore, if the transport direction changes without the container reaching the first transport direction changing unit normally, the container transport failure occurs, which causes not only the stagnation of the container transport but also the failure of the transport system and the damage of the container. It could be.

Therefore, in the transport system of the present invention, it is determined based on the detection information by the first detection device and the second detection device whether or not the container is normally arranged in the first transport direction changing unit. It is said. Specifically, in the transport system of the present invention, the second detection device is provided at a position where it is assumed that the container will not be detected when the container reaches the position detected by the first detection device. Therefore, in the transport system of the present invention, when an article is detected not only by the first detection device but also by the second detection device, a misplacement of the container occurs in the first transport direction changing unit. It is decided that the control unit determines that the condition is correct. Therefore, in the transport system of the present invention, it is possible to accurately grasp whether or not the container is normally arranged in the first transport direction changing unit, and the container is poorly transported, the transport system is broken, or the container is damaged. Can be suppressed.

Here, the first detection device and the second detection device described above may be those that detect an article by irradiating light, such as a so-called photoelectric sensor. When such sensors are used as the first detection device or the second detection device, it is good if the container has an opening or a transparent part through which light can pass through (light-transmitting part). There is a concern that the container cannot be detected. Therefore, even when a container having a translucent portion is used, it is preferable that the container can be detected with high accuracy by the first detection device or the second detection device.

In the transport system of the present invention provided based on such knowledge, the container has a light transmitting portion through which light can pass on two opposing side surfaces, and is either the first detection device or the second detection device. One or both of them irradiate the container with light from the side to detect the article, and can project light toward the bottom of the container through the light transmitting portion.

According to such a configuration, even if a container provided with a light transmitting portion on the side surface is used, a first detection device or a second detection device capable of projecting light toward the bottom of the container through the light transmitting portion is used. The container can be detected accurately.

In the above-described transport system of the present invention, the first transport direction changing unit changes the transport direction of the container from the horizontal direction to the vertical direction and from the vertical direction to the horizontal direction, or both. Is desirable.

In the transfer system of the present invention, the container moves three-dimensionally in the first transfer direction changing unit. When moving the container three-dimensionally in this way, it is desirable to give maximum consideration so that the container does not fall. Therefore, in the present invention, the portion accompanied by such vertical movement is used as the first transport direction changing unit, and it is accurately determined whether or not the container is misaligned in the first transport direction changing unit. It is possible to control the operation with. Therefore, in the transport system of the present invention, even when the container is transported by a transport route that involves vertical movement of the container, the container can be stably transported while taking care not to cause the container to fall or the like. it can.

Here, when the container is transported by using a transport device such as a conveyor, the container may not move straight and may be in an inclined posture due to the light weight of the container. In such a case, when the traveling direction of the container changes in the middle of the transport path, the container may not move well toward the downstream side, which may cause a transport failure.

The transport system of the present invention provided based on such knowledge is a transport system in which an object to be transported is stored in a container and transported along a predetermined transport route, and the transport directions of the containers intersect in the middle of the transport path. A container having a second transport direction changing unit that changes in the direction in which the container is used, and in the second transport direction changing unit, it is possible to detect that the container exists in a region exceeding the width of the transport path on the downstream side. A detection sensor is provided, and on the condition that the presence of the container is detected by the container detection sensor, it is determined that the container is misaligned in the second transport direction changing unit. It is characterized in that it is performed by the control unit.

The transport system of the present invention is provided with a second transport direction changing unit that changes in the direction in which the transport directions of the containers intersect in the middle of the transport path. Here, when the container reaches the second transport direction changing unit and the container exists in a region exceeding the width of the transport path on the downstream side, the container is transported to the downstream side in this posture. Even if you try, there is a concern that the container will not move properly. Therefore, in the transport system of the present invention, a container detection sensor is provided in the second transport direction conversion unit, and the container that reaches the second transport direction conversion unit exists in a region exceeding the width of the transport path on the downstream side. It is possible to detect whether or not it is present. As a result, in the transfer system of the present invention, it is accurately determined whether or not the container that has reached the second transfer direction changing unit can move toward the downstream side without any problem, and the transfer failure of the container is detected. Can be suppressed.

Here, when the width of the transport path is smaller on the downstream side than on the upstream side, it is considered that the posture of the container that has reached the second transport direction conversion unit has a large effect on the occurrence of transport defects of the container. Be done.

In the above-described transport system of the present invention provided based on such knowledge, the width of the transport path on the downstream side in the transport direction with respect to the second transport direction conversion unit is wider than that on the upstream side. It is characterized by being small.

According to such a configuration, even if the width of the transport path on the downstream side in the transport direction is smaller than that on the upstream side with respect to the second transport direction conversion unit, the second transport path is set. It is possible to accurately determine whether or not the posture of the container that has reached the transport direction changing unit of the container is appropriate, and to suppress the transport failure of the container.

Here, as the container to be transported, it is conceivable to use a container whose width direction is shorter than the length direction, such as a container having a rectangular planar shape. Further, when such a container is used, the transport mode changes so that the container is transported in the length direction of the container on the upstream side in the transport direction and the container is transported in the width direction of the container in the middle (first). (Transport mode) and a transport mode (second transport mode) in which the container is transported in the width direction of the container on the upstream side in the transport direction and the transport direction is changed so as to transport the container in the length direction of the container on the way. It is assumed that the transport direction is changed in two forms. Here, even if the inclination of the container at the time of reaching the second transport direction changing unit is the same, the case where the container is transported in the former form (first transport form) of these two transport modes. It is considered that the inclination of the container has a greater influence on the occurrence of poor transport than in the latter mode (second transport mode). Therefore, when the container that has been transported in the length direction of the container is transported so as to be transported in the width direction of the container in the middle of the transport path as in the first transport mode, the transport system of the present invention described above can be used. As described above, it is desirable to provide a container detection sensor in the second transport direction changing unit so that it is possible to determine the occurrence of improper placement of the container.

In the transport system of the present invention provided based on such knowledge, the container is shorter in the width direction with respect to the length direction, and the transport path is relative to the second transport direction changing unit. The container is transported in the length direction on the upstream side in the transport direction, and the container is transported in the width direction on the downstream side in the transport direction with respect to the second transport direction conversion unit.

According to such a configuration, even when the container transported in the length direction of the container is transported so as to be transported in the width direction of the container in the middle of the transport path, the container is provided in the second transport direction changing unit. Based on the detection result of the container detection sensor, it is possible to accurately determine the occurrence of defective container placement and suppress defective container transportation.

Here, in order to ensure that the container reaches a predetermined transport position, it is possible to provide a push-in mechanism that pushes the container from the rear to reach the predetermined position. On the other hand, when the container is formed of a lightweight and elastic material such as resin, when the container is pushed and moved by the pushing mechanism, the container is moved to the upstream side due to the repulsive force generated by the force applied to the container. May bounce off. Therefore, in the case of providing the pushing mechanism as described above, if there is a concern that the container may bounce upstream due to the influence of the repulsive force, it is desirable to take measures to suppress such a phenomenon.

The transport system of the present invention provided based on such knowledge is a transport system in which an object to be transported is stored in a container and transported along a predetermined transport path, and the transport direction of the container changes in the middle of the transport path. A third transport direction conversion unit, a pushing mechanism that pushes the container from the upstream side of the transport direction toward the third transport direction conversion unit, and a transport direction of the container that has reached the third transport direction conversion unit. It is provided with a bounce suppressing unit that suppresses rebounding to the upstream side, and a step is provided so that the transport path is lower than the upstream side of the transport path in the third transport direction conversion unit. A state in which the container has a collar portion protruding outward, the container is pushed from the upstream side in the transport direction toward the third transport direction conversion portion by the push-in mechanism, and the container is lowered by the step. The bounce suppressing portion is provided at a position adjacent to the flange portion on the upstream side in the transport direction.

In the transport system of the present invention, in addition to the pushing mechanism for pushing the container toward the third transport direction changing unit, in order to suppress the bounce of the container reaching the third transport direction changing unit to the upstream side in the transport direction. It is equipped with a rebound suppression part. Therefore, in the transport system of the present invention, it is possible to prevent the container from bouncing back to the upstream side while reliably pushing the container toward the third transport direction changing unit by the pushing mechanism. As a result, the transport direction of the container can be changed without delay in the third transport direction changing unit, and the probability of occurrence of a transport defect in the third transport direction changing unit can be significantly reduced.

Further, in the transport system of the present invention, a step is provided in the third transport direction changing unit so as to be lower than the upstream side of the transport path. As a result, the container that has reached the third transport direction conversion unit is in a state of being lowered from the position on the upstream side, and the container is less likely to bounce back to the upstream side. Further, when the container is lowered due to the step in the third transport direction changing portion, the bounce suppressing portion is adjacent to the flange portion of the container on the upstream side, and the bounce suppressing portion suppresses the bounce of the container. Become an obstacle. Therefore, according to the above-described configuration, the bounce of the container in the third transport direction changing unit can be suppressed to the maximum.

The transport system of the present invention is a transport system in which an object to be transported is housed in a container and transported by a predetermined transport path, and the container has a flange portion protruding outward and is formed in the vertical direction. A state in which a lowering unit capable of moving from above to downward while supporting the container is provided in the container moving space, and the lowering unit projects from the side toward the container moving space. And an operating claw that can be switched to a state of being retracted from the container moving space, and a moving claw that can move in the vertical direction while protruding from the side toward the container moving space, and the plurality of the operating claws , Each of which is provided at a predetermined position in the vertical direction, and a plurality of the moving claws are provided in an arrangement corresponding to each of the operating claws, while keeping the operating claws retracted from the container moving space. , The container can be lowered by moving the moving claw downward, and in a state where the moving claw has reached a position corresponding to the operating claw, either one of the operating claw and the moving claw or It is characterized in that the container can be supported by both of them at the flange portion.

The transport system of the present invention includes a lowering unit that can move from above to below while supporting the container. In the transport system of the present invention, actuating claws are provided so that the lowering unit can move forward and backward with respect to the container moving space, and the container can be moved downward by the moving claws while the actuating claws are retracted.

In the transport system of the present invention, the lowering range of the container is the actuating claw that cannot be retracted and the side above the actuating claw, provided that the actuating claw cannot be retracted from the container moving space. It is desirable that it is limited to the range of the operating claw.

The transport system of the present invention includes a lowering unit that can move from above to below while supporting the container. In the transport system of the present invention, actuating claws are provided so that the lowering unit can move forward and backward with respect to the container moving space, and the container can be moved downward by the moving claws while the actuating claws are retracted. Therefore, when the operating claw cannot be retracted, the container cannot be moved below the operating claw that cannot be retracted. On the other hand, in the lowering unit used in the transport system of the present invention, even if a part of the actuating claws cannot be retracted, the range of the actuating claws that cannot be retracted and the actuating claws above this. If it is inside, it can be moved downward while supporting the container. Therefore, as in the present invention, when some of the actuating claws cannot be retracted from the container moving space, the lowering range of the container cannot be retracted, and the range of the actuating claws above this. By limiting to the inside, the descending unit can be used as effectively as possible within the available range.

The transport system of the present invention is a transport system in which an object to be transported is housed in a container and transported by a predetermined transport path, and the container is supported and lowered from above in a container moving space formed in the vertical direction. It has a lowering unit that can be moved toward the container, and a plurality of container stopping positions that enable the container to be stopped are provided in the vertical direction in the container moving space, and a reference position among the plurality of container stopping positions. The container is movable so that the containers are arranged in order based on the position defined as.

According to the transfer system of the present invention, the containers can be centrally arranged in the container moving space with reference to a position desired by a worker such as a pharmacist.

In the transport system of the present invention, a plurality of container stop positions that enable the container to be stopped are provided in the container moving space in the vertical direction, and a part of the plurality of container stop positions stops the container. Continue to stop the container at least a part of the stopped positions of the container, provided that the container is stopped and the other container stop positions are in the non-stop state in which the container is not stopped. By moving at least one of the containers in the container moving space while allowing the container to move, the non-stationary state of the container may be changed to the state of the container.

According to such a configuration, the container can be packed and arranged at the container stop position in the non-stop state (so-called empty state). As a result, the transport system of the present invention can efficiently arrange the container with respect to the empty container stop position in the non-stop state.

In the transport system of the present invention, a plurality of container stopping positions that enable the container to be stopped are provided in the container moving space in the vertical direction, and the position defined as the reference position among the plurality of container holding positions is used as a reference. , The container may be movable so that the containers are arranged in order at each container holding position provided in the upward or downward direction.

According to such a configuration, the container can be arranged at a position where it can be easily taken out according to the desire of a worker such as a pharmacist. For example, when the containers are packed and arranged upward with reference to the container stop position below the container moving space, a worker such as a pharmacist can take out the container while sitting on a chair or the like. Further, for example, when the containers are arranged so as to be arranged in order at each container stopping position in the downward direction with reference to the container stopping position above the container moving space, a work of taking out the container while a worker such as a pharmacist is standing. Will be easier to do.

In the transport system of the present invention, a plurality of container stopping positions that enable the container to be stopped are provided in the container moving space in the vertical direction, and the container stopping position is a stopped state in which the container is stopped, or The container is in a non-stationary state in which the container is not stopped, and the condition is that the container stop position in the non-stop state exists between two or more container stop positions in the stop state. As a result, the containers may be arranged in order in the vertical direction by moving the container to the container retention position which is the non-stationary state.

According to such a configuration, the container can be packed and arranged at the container stop position in the non-stop state (so-called empty state). As a result, the transport system of the present invention can efficiently arrange the container with respect to the container stop position.

In the above-described transport system of the present invention, the lowering unit views the container in the container moving space from the first side surface and the second side surface facing in a direction intersecting the projecting directions of the operating claw and the moving claw. It is possible to take out the first side sensor that detects the container that has come out from the container moving space to the first side surface side, and detects the container that has come out from the container moving space to the second side surface side. It has a second side sensor, and the vertical movement of the container is prohibited on condition that the container is detected by only one of the first side sensor and the second side sensor. It is desirable that it is a thing.

According to such a configuration, it is possible to prevent the lowering unit from moving the container up and down while the container is supported in an unstable state biased toward the first side surface side or the second side surface side.

The drug dispensing system of the present invention is a drug dispensing device capable of preparing a plurality of types of packaged drugs for dispensing and dispensing the selected drug based on the prescription data output from the upper control device side. The above-mentioned transport system of the present invention is provided, and drugs to be prescribed to a patient are prepared by collecting the drugs dispensed from the drug dispenser in the container and can be transported by the transport system. It is characterized by.

The drug dispensing system of the present invention includes the above-mentioned transport system of the present invention. Therefore, the drug discharged from the drug dispensing device to the container can be accurately transported to a predetermined position. As a result, troubles such as suspension of the drug dispensing system due to poor transportation of the container can be minimized, which can contribute to the efficiency of the dispensing work.

The drug dispensing system of the present invention described above has an elevating device for moving the container between a lower transport region and an upper transport region in the transport path, and the container in the upper transport region. The upper moving device to be moved, the lower moving device to move the container in the lower transport area, and the preparation of the medicine to be prepared in the container are assigned to the formulation completed by the dispensing by the medicine dispensing device. A complete container storage unit that stores the container as a complete container, and an unfinished container that stores the container assigned to a prescription that the preparation of drugs to be stored in the container is insufficient for dispensing by the drug dispenser. The elevating device and the upper moving device are provided on the condition that the storage unit is provided and all of the elevating device, the upper moving device, and the completed container storage unit can be used. The completed container is stored on the condition that the elevating device, the upper moving device, and a part or all of the completed container storage unit become unusable after passing through the container to reach the completed container storage unit and storing the container. The container may be stored by reaching the unfinished container storage unit via the lower moving device.

In the drug dispensing system of the present invention, the completed container can be reached and stored in the completed container storage unit via the elevating device and the upward moving device. Therefore, the route for transporting the completed container can be arranged on the ceiling side of the dispensing room or the like, and the space can be effectively used. Further, in the drug dispensing system of the present invention, the completed container is moved via the downward moving device on condition that the elevating device, the upper moving device, and the completed container storage unit used for transporting the completed container become unusable. It can be reached and stored in the unfinished container storage section. As described above, in the drug dispensing system of the present invention, the unfinished container storage unit can be used as a backup when the elevating device, the upward moving device, and the completed container storage unit become unusable. Therefore, according to the present invention, even if the elevating device or the upward moving device becomes unusable, it is possible to minimize the deterioration of the efficiency of the dispensing work due to the suspension of the entire drug dispensing system.

According to the present invention, it is possible to provide a transport system capable of minimizing transport defects of containers and a drug dispensing system using the same.

It is a perspective view which showed the outline of the drug dispensing system and the transport system which concerns on one Embodiment of this invention. It is a perspective view which shows the tray. It is explanatory drawing which shows the internal structure of the drug dispensing apparatus. (A) is a perspective view showing an upward moving device, and (b) is a perspective view showing a main part of (a). It is an enlarged view of the main part of FIG. It is a perspective view which shows the elevating device. It is a perspective view which shows the elevating mechanism built in the elevating device of FIG. It is a perspective view which shows the structure in the vicinity of the mounting part in the elevating mechanism of FIG. It is a side view which shows the structure in the vicinity of the mounting part in the elevating mechanism of FIG. It is a perspective view which shows the 3rd transport direction change part and the complete container storage part. It is an enlarged view of the main part of the transport direction changing part shown in FIG. (A) is a perspective view showing the internal structure of the third transport direction changing unit shown in FIG. 10, and (b) is an enlarged view of part A in (a). It is a perspective view which showed the outline of the unfinished container storage part. It is a flowchart which shows the transport control method of the tray in the 1st transport direction conversion part. It is a flowchart which shows the transport control method of the tray in the 2nd transport direction conversion part. It is a flowchart which shows the transport control method of the tray in the 3rd transport direction change part and the complete container storage part. It is a flowchart which shows the backup operation by the unfinished container storage part. It is a front view which shows the container stop position formed in the container movement space. The arrangement of the operating claw and the moving claw is shown. (A) is a plan view and (b) is a side view. It is a conceptual diagram which shows the movable range of the actuating claw. (A) shows a state in which the operating claw protrudes from the side toward the container moving space, and (b) shows a state in which the operating claw is retracted from the container moving space. It is a conceptual diagram which shows the movable range of a moving claw. (A) shows a state in which the moving claw protrudes from the side toward the container moving space, and (b) shows a state in which the moving claw swings so as to retract from the container moving space. In (a) and (b), the movement of the moving claw 58 in the state where the tray is arranged at the container stop position A2 is shown step by step. An example of the arrangement of trays for each container stop position when the above standard is loaded is shown. (A-1) and (a-2) are the states in which the progressively fed trays are arranged, and (b-1) and (b-2) are the states in which the trays of 4 are arranged in the container stop positions A1 to A4, respectively. The trays arranged at the container stop positions A2 and A3 were pulled out from the container, and in (c-1) and (c-2), new trays were transported by filling the empty container stop positions. Indicates the state. An example of the arrangement of trays for each container stop position when the lower standard is loaded is shown. (A-1) and (a-2) are the states in which the progressively fed trays are arranged, (b-1) to (b-3) are the states in which the automatic loading is performed, and (c-1) and (c-1). c-2) shows a state in which a new tray is transported by filling the empty container stop positions. It is a flowchart which shows the subroutine of the loading process. It is a flowchart which shows the subroutine of the above-referenced loading process. It is a flowchart which shows the subroutine of the lower standard loading process. It is a flowchart which shows the automatic loading process.

Hereinafter, the drug dispensing system 10 and the transport system 30 according to the embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the drug dispensing system 10 includes a drug dispensing device 20, a transport system 30, and a control unit 100. The drug dispensing system 10 can dispense a drug stored in a package such as a box in the drug dispensing device 20 based on prescription information. Further, the drug dispensing system 10 collects the drugs dispensed from the drug dispensing device 20 in a tray T (container) to prepare the drugs to be prescribed to the patient, and the transport system 30 enables the drug to be transported to a predetermined position. There is.

Any container may be used for storing the medicines, but in the present embodiment, the tray T as shown in FIG. 2 is used. The tray T may be made of any material such as resin, metal, wood, paper such as cardboard, etc., but in the present embodiment, it is assumed that the tray T is made of an elastic material such as resin. There is. Further, the tray T may be formed in any shape such as a rectangular parallelepiped, a cube, a polygon, or a columnar shape, but in the present embodiment, the tray T has a rectangular parallelepiped appearance shape.

The tray T has a substantially rectangular shape whose length direction is longer than the width direction in a plan view, has four side surfaces, the bottom surface T1 is closed, and the top surface side is open. A large number of lit-shaped openings S are formed on the side surfaces of the four surfaces. Therefore, the tray T allows light to pass between the facing side surfaces.

The tray T has a region surrounded by five surfaces including the side surface (peripheral surface) and the bottom surface T1 as a storage space for storing the drug. Further, a collar portion T2 is provided on the upper end side (open end side) of the tray T. The collar portion T2 is formed so as to project toward the outside of the accommodation space. The collar portion T2 is a portion that exerts a function as a handle when the tray T is carried or moved.

A storage medium T3 for recording (storing) identification information for associating with prescription information is attached to the tray T. The storage medium T3 may be attached to any place, but in the present embodiment, it is provided on the bottom surface T1 of the tray T. The storage medium T3 may be any medium such as a barcode as long as it can record identification information, but RF-ID is used in the present embodiment. By arranging a reading device capable of reading the identification information in the middle of the transport path, it is possible to confirm the passage of the tray T and grasp the location of the tray T.

The drug dispensing device 20 can prepare a plurality of types of packaged drugs for dispensing and dispense the selected drug based on the prescription data output from the upper control device side. The drug dispensing device 20 may be any device as long as it can exhibit such a function, and can be, for example, the one shown in FIG.

The drug dispensing device 20 is a device for preparing a large number of drugs in a state of being packaged in a package such as a box in advance, and appropriately selecting and dispensing the prepared drugs according to a prescription. The drug dispensing device 20 has a plurality of drug passages 22 in the vertical direction and the horizontal direction when viewed from the front. The drug passage 22 is formed of a member having a gutter shape like a so-called channel material and having both ends open in the longitudinal direction.

As shown in FIG. 3, the drug passage 22 is arranged so that the longitudinal direction extends in the depth direction of the drug dispensing device 20, that is, from the front side to the back side. In the drug passage 22, the open portion located on the back side functions as an inlet for loading the drug, and the open portion located on the front side functions as an outlet for discharging the drug. The drug passage 22 is installed diagonally so that a downward slope is formed from the entrance side to the exit side. Further, the passage width of the drug passage 22 is equal to or slightly larger than the thickness of the drug to be prepared. Therefore, the drug passage 22 can smoothly move the drug from the inlet side to the outlet side by free fall.

As shown in FIG. 3, an emission control member 26 is attached to the outlet side of the drug passage 22. The discharge control member 26 always dams the drug prepared in the drug passage 22 on the outlet side, and when the drug is ready to be discharged, the drug is flipped upward from the bottom side of the drug passage 22. , It is possible to discharge.

As shown in FIG. 3, the drug dispensing device 20 has a drug collecting unit 28 on the front side with respect to the drug passage 22 described above. The drug collecting unit 28 collects the drugs discharged from the drug passage 22 and discharges them to the outside of the drug dispensing device 20. The drug collecting unit 28 is composed of a belt conveyor, and can collect the drugs discharged from the drug passage 22 and discharge them from the discharge port provided on the side surface of the drug dispensing device 20.

The transport system 30 accommodates the drug to be transported in the tray T and transports it by a predetermined transport route. As shown in FIG. 1, in the present embodiment, in addition to the lower side moving device 32 installed on the floor surface in a room such as a dispensing room, the lower side moving device 32 is installed above the head (ceiling side) of a person in the room and moves upward. A transport path is formed by a moving device such as the device 34 and the elevating device 36, a completed container storage unit 38, an unfinished container storage unit 40, and the like.

The lower moving device 32 is for transporting the tray T containing the drug or the like dispensed by the drug dispensing device 20 described above. The lower moving device 32 can be formed by an appropriate conveying device such as a conventionally known roller conveyor or belt conveyor. The lower moving device 32 is capable of transporting the tray T on the floor side of the room by a transport route leading to various places such as the lifting device 36 and the unfinished container storage unit 40.

Like the lower moving device 32, the upper moving device 34 can be formed by an appropriate conveying device such as a conventionally known roller conveyor or belt conveyor. The upper side moving device 34 can convey the tray T raised to the ceiling side in the room by the elevating device 36 on the ceiling side by a predetermined conveying path. The upper moving device 34 can bring the tray T to the complete container storage unit 38.

The upper moving device 34 and the lower moving device 32 are provided with a transport direction changing unit 33 (second transport direction changing unit) in which the transport direction of the tray T changes in the direction of intersecting on the same plane in the middle of the transport path. Can be provided. In the present embodiment, as shown in FIGS. 1, 4 and 5, the upper moving device 34 is provided with the transport direction changing unit 33. In the transport direction changing unit 33, the tray T, which has been transported with the first side surface at the head toward the first direction on the upstream side of the tray T, faces the second direction intersecting the first direction. Then, the second side surface intersecting with the first side surface is first transported. In the present embodiment, the tray T, which has been transported with the side surface in the width direction at the head, faces the second direction which intersects the first direction on the downstream side of the transport direction changing unit 33 as a boundary. It is transported with the side surface in the length direction at the top. Here, the width of the transport path may be the same on the upstream side and the downstream side with respect to the transport direction changing unit 33, but in the present embodiment, considering that the transport direction of the tray T changes as described above. The width of the transport path on the upstream side in the transport direction is larger than that on the downstream side with respect to the transport direction changing unit 33.

The transport direction changing unit 33 is provided with a container detection sensor 35. The container detection sensor 35 can detect that the tray T exists in a region beyond the width direction of the transport path on the downstream side in the transport direction changing unit 33. The container detection sensor 35 may be composed of any kind of sensors, but in the present embodiment, a photoelectric sensor is used.

Here, as shown in FIG. 4, the transport direction of the tray T is set in the transport direction conversion unit 33, such as the transport direction conversion unit 33 and the transport direction conversion unit 31 provided on the upstream side of the transport direction. When the roller conveyor is placed at a position where the rollers are switched at substantially right angles, the tray T is fitted between the rollers forming the roller conveyor and one end side of the tray T is lifted depending on the bias of the load of the articles stored in the tray T. There is also the possibility of falling into a state of being sick. Therefore, when a transport device having a gap such as a roller conveyor is used at a place where the transport direction of the tray T is switched to a substantially right angle, such as the transport direction changing units 31 and 33, the tray T is prevented from being lifted as described above. It is desirable to do.

Based on this knowledge, in the present embodiment, when a transport device having a gap in the transport direction on the downstream side or the upstream side of the transport direction changing units 31 and 33 is used, FIG. 4A is shown. , (B), it is desirable to provide the fall suppressing portion 29 at an adjacent position. The fall suppressing unit 29 is provided with a guide plate 29a that rises along the frame of the conveyor forming the transport direction changing units 31 and 33, and the guide piece 29b is provided on the guide plate 29a. The guide piece 29b is a piece-shaped member provided so as to extend in the lateral direction at a position on the upper side of the transport surfaces of the transport direction changing units 31 and 33 by an amount corresponding to the height of the tray T. By providing the guide piece 29b, the lifting and falling of the tray T that has reached the transport direction changing units 31 and 33 can be regulated by the transport surface and the guide piece 29b. As a result, it is possible to prevent the tray T from being poorly conveyed due to the uneven load of the articles stored in the tray T.

Further, the upper moving device 34 is connected to the lowering unit 50 of the completed container storage unit 38, which will be described in detail later. As a result, the tray T conveyed by the upward moving device 34 can be delivered to the complete container storage unit 38. Here, the complete container storage unit 38 moves the tray T from above to below by the lowering unit 50. Therefore, the upper portion of the complete container storage unit 38 connected to the upper moving device 34 is a transport direction conversion unit 37 (third transport direction conversion unit) in which the transport direction of the tray T changes from the horizontal direction to the vertical direction. It becomes.

The upper side moving device 34 is provided with a pushing mechanism 39 for pushing (pushing and moving) the tray T from the upstream side in the transport direction toward the transport direction changing unit 37. The pushing mechanism 39 may be any as long as it can push the tray T, but in the present embodiment, it is as shown in FIG. Specifically, the pushing mechanism 39 includes a pushing piece 39a and a slide mechanism 39b that slides the pushing piece 39a in the direction of approaching and separating from the conveying direction changing unit 37. The push piece 39a is arranged at a substantially central portion in the width direction of the upper moving device 34, and is urged so as to project upward from the transport surface. The push-in piece 39a is in a pushed-down state when the tray T conveyed from the upstream side of the push-in piece 39a passes through the push-in piece 39a, but returns to a state of protruding upward when the tray T passes through. Therefore, after the tray T has passed over the push-in piece 39a, the push-in piece 39a can be pushed and moved by the push-in piece 39a by sliding the push-in piece 39a toward the transport direction changing unit 37 side by the slide mechanism 39b.

The elevating device 36 moves the tray T in the vertical direction between the lower moving device 32 forming the lower carrying area and the upper moving device 34 forming the upper carrying area. The elevating device 36 may be any type, but in the present embodiment, as shown in FIG. 6, the elevating device 36 has an introduction portion 42 on the lower end side and a discharge portion 44 on the upper end side. Further, the elevating device 36 includes an elevating mechanism 46 (see FIG. 7) that moves up and down between the introduction unit 42 and the discharge unit 44. The introduction portion 42 is a portion into which the tray T conveyed by the lower moving device 32 is introduced. Further, the discharge unit 44 is a portion that discharges the tray T from the elevating device 36 toward the upward moving device 34. The elevating mechanism 46 is a mechanism for moving the tray T introduced in the introduction unit 42 toward the discharge unit 44. The elevating device 36 can change the transport direction of the tray T from the horizontal direction to the vertical direction at the introduction unit 42, and change the transport direction of the tray T from the vertical direction to the horizontal direction at the discharge unit 44. In this way, the elevating device 36 functions as a transport direction changing unit 45 (first transport direction changing unit) capable of three-dimensionally changing the transport direction of the tray T.

More specifically, as shown in FIG. 6, the elevating device 36 has an introduction port 42a in a portion forming the introduction portion 42, and the tray T conveyed from the lower moving device 32 via the introduction port 42a. Can be accepted. Further, the elevating device 36 has a discharge port 44a at a portion forming the discharge portion 44, and can discharge the tray T toward the upward moving device 34 via the discharge port 44a.

As shown in FIGS. 7 to 9, the elevating mechanism 46 includes a mounting unit 46a, a horizontal operation unit 46b, a vertical operation unit 46c, and a detection unit 46d. A horizontal operation unit 46b and a detection unit 46d are mounted on the mounting unit 46a. Further, the mounting portion 46a can be moved up and down by operating the up and down movement portion 46c. The elevating mechanism 46 can move up and down with the tray T mounted on the horizontal operating portion 46b mounted on the mounting portion 46a.

The horizontal operation unit 46b performs an operation of pulling the tray T introduced from the introduction port 42a into the mounting unit 46a and an operation of discharging the tray T from the mounting unit 46a. The horizontal operation unit 46b may be any one that can pull in and out the tray T, such as a roller conveyor and a belt conveyor, but in the present embodiment, the belt conveyor is adopted. The horizontal operation unit 46b can be operated while changing the feed direction in the forward direction and the reverse direction by controlling the operation of the motor 46m. The horizontal operation portion 46b is provided on the mounting portion 46a. Therefore, by operating the horizontal operation portion 46b in the forward direction, the tray T can be pulled into the mounting portion 46a and mounted. Further, by operating the horizontal operation unit 46b in the opposite direction, the tray T on the horizontal operation unit 46b can be discharged.

The vertical movement unit 46c is for operating the mounting unit 46a in the vertical direction. The vertical movement unit 46c may be any as long as the mounting unit 46a can be moved up and down. As shown in FIG. 7, in the present embodiment, as the vertical movement portion 46c, the mounting portion 46a is provided with respect to the belt 46v hung between the pulleys 46e and 46f provided on the upper end side and the lower end side of the elevating device 36. Is connected, and the motor 46n is connected to one of the pulleys 46e and 46f (pulley 4f in this embodiment). The vertical movement unit 46c can move the lifting device 36 in the vertical direction by operating the motor 46n and rotating the belt 46v between the pulleys 46e and 46f. The elevating device 36 can bring the tray T into an acceptable state by operating the vertical operation unit 46c to bring the mounting unit 46a to the introduction unit 42. Further, the elevating device 36 moves the tray T on the horizontal operating unit 46b upward by operating the vertical operating unit 46c to bring the mounting unit 46a to the discharging unit 44, and directs the tray T toward the upward moving device 34. It can be made ready for discharge.

The detection unit 46d is for detecting the arrival of the tray T on the elevating device 36 forming the transport direction changing unit 45. In the present embodiment, the detection unit 46d is used in the introduction unit 42 to detect (determine) whether or not the tray T is normally arranged on the horizontal operation unit 46b. Here, the state in which the tray T is normally arranged on the horizontal operation unit 46b means that the tray T on the horizontal operation unit 46b moves smoothly without interfering with various parts even if the vertical operation unit 46c is operated. Refers to the state where it is placed in a possible position.

The detection unit 46d is mounted on the mounting unit 46a together with the horizontal operation unit 46b. The detection unit 46d may be any device such as a photoelectric sensor that can detect the arrival of the tray T on the elevating device 36. In the present embodiment, the detection unit 46d includes a first detection device 46g and a second detection device 46h so that it is possible to determine whether or not the tray T is normally arranged as described above. It is supposed to be. The first detection device 46g and the second detection device 46h are sensors that emit an on-state signal when they detect an article.

The first detection device 46g is a sensor that detects the presence or absence of an article on the downstream side in the transport direction of the tray T that has arrived at the introduction unit 42. In the present embodiment, the first detection device 46g is provided at a position on the downstream side in the transport direction by the transport device forming the horizontal operation unit 46b. Specifically, the first detection device 46g is provided at a position opposite to the introduction port 42a. Further, the second detection device 46h is a sensor that detects the presence or absence of an article on the upstream side in the transport direction with respect to the first detection device 46g. In the present embodiment, the second detection device 46h is provided at a position on the upstream side in the transport direction by the transport device forming the horizontal operation unit 46b. Specifically, the second detection device 46h is provided at a position on the introduction port 42a side with respect to the first detection device 46g. More specifically, the second detection device 46h is provided at a position separated from the first detection device 46g by the size of the tray T or more on the upstream side. In the present embodiment, since the tray T is transported to the horizontal operating portion 46b in a posture in which the length direction (longitudinal direction) of the tray T faces the transport direction, the distance between the first detection device 46g and the second detection device 46h is set. It is said to be longer than the length of the tray T. When the tray T is transported to the horizontal operating portion 46b in a posture in which the width direction (short direction) of the tray T faces the transport direction, the distance between the first detection device 46g and the second detection device 46h is set to the tray. It is preferably at least the width of T.

The first detection device 46g and the second detection device 46h each irradiate the tray T with light from the side to detect an article. Here, as described above, the tray T is provided with translucent openings S (light-transmitting portions) on the four side surfaces of the tray T, which allows light to pass through and accurately detects the presence of the tray T. It may not be possible. Therefore, in the present embodiment, as shown by the arrows in FIG. 9, the first detection device 46g and the second detection device 46h are arranged so that the optical axis faces diagonally downward. As a result, the optical axis so that the light (detection light) emitted from the first detection device 46g and the second detection device 46h can be projected through the opening S toward the bottom surface of the tray T having no or few light-transmitting portions. It is installed with the orientation of the light adjusted.

When the tray T is normally arranged on the horizontal operation unit 46b, the article (tray T) is detected by the first detection device 46g, and the article (tray T) is not detected by the second detection device 46h. On the other hand, the tray T is not normally arranged on the horizontal operating portion 46b due to a drug falling to a position adjacent to the tray T on the downstream side in the transport direction with respect to the tray T reaching the horizontal operating portion 46b. Then, not only the article is detected by the first detection device 46g, but also the article is detected by the second detection device 46h. That is, when both the first detection device 46g and the second detection device 46h are in the state of detecting the article, the tray T protrudes from the normal position to the upstream side in the transport direction (second detection device 46h side). It is assumed that it is.

The complete container storage unit 38 stores the container assigned to the prescription in which the preparation of the drug to be collected in the tray T is completed by the discharge by the drug dispensing device 20 as the complete container. The complete container storage unit 38 can be installed, for example, near the window of the dispensing room. Here, as described above, the complete container storage unit 38 is connected to the upper moving device 34 in the upper portion. Therefore, as shown in FIGS. 1 and 10, a portion serving as a transport direction changing section 37 in which the transport direction of the tray T changes from the horizontal direction to the vertical direction is formed on the upper end side of the complete container storage section 38. There is.

As shown in FIG. 11, the transport direction changing unit 37 is provided with a step 37b so that the transport path is lower than the upstream side (the transport surface of the upper moving device 34). Therefore, when the tray T reaches the transport direction changing unit 37, the tray T is lowered by the amount of the step 37b. Further, the transport direction changing unit 37 is provided with a bounce suppressing unit 37a. The bounce suppressing unit 37a is for suppressing the tray T pushed into the transport direction changing unit 37 by the above-mentioned pushing mechanism 39 from bouncing back to the upstream side in the transport direction. The bounce suppressing portion 37a may be any one as long as it can exert its function, but in the present embodiment, it is composed of a flake-shaped member. The bounce suppressing portion 37a is provided so as to reach a position adjacent to the flange portion T2 on the upstream side in the transport direction when the tray T is lowered by the step 37b of the transport direction changing unit 37. Therefore, when the tray T is pushed into the transport direction changing unit 37 by the pushing mechanism 39 and reaches the tray T, even if the tray T tries to bounce upstream, the collar portion T2 interferes with the bounce suppressing portion 37a and cannot bounce. As a result, the tray T can be fastened at a predetermined transport position.

The complete container storage unit 38 has a lowering unit 50 below the transport direction changing unit 37 described above. As shown in FIG. 10, the lowering unit 50 has a container moving space 54 formed so as to communicate upward in the housing 52 of the completed container storage unit 38. The lowering unit 50 can be moved from above to below while supporting the tray T in the container moving space 54. The lowering unit 50 is connected to the above-mentioned upper moving device 34 on the upper end side. Therefore, the lowering unit 50 can receive the tray T conveyed by the upward moving device 34, and can store the tray T while lowering it to a position where a pharmacist or the like can easily take it in the dispensing room. Further, the lowering unit 50 can take out the tray T from the openings provided in the pair of the first side surface 52a and the second side surface 52b forming the housing 52. Therefore, by arranging workers such as pharmacists on the first side surface 52a side and the second side surface 52b side, the complete container storage unit 38 can be used in a usage method shared by both workers.

As shown in FIG. 12 and the like, the lowering unit 50 has two types of claws, an operating claw 56 and a moving claw 58, and an operating claw operating mechanism 60 and a moving claw operating mechanism 62 for operating these claws. The actuating claw 56 is a claw that can switch between a state of projecting from the side toward the container moving space 54 and a state of retracting from the container moving space 54. A plurality of actuating claws 56 are provided at predetermined positions in the vertical direction. The actuating claw actuating mechanism 60 may be any as long as it can actuate the actuating claw 56, but in the present embodiment, an actuator such as a motor is provided, and the actuating claw 56 is interlocked with the actuation of the actuator. Is supposed to be able to operate.

The moving claw 58 is a claw that can move in the vertical direction while protruding from the side toward the container moving space 54. A plurality of moving claws 58 are provided so as to be arranged so as to correspond to each of the operating claws 56. The moving claws 58 are arranged at positions adjacent to each other on the left and right sides with respect to one operating claw 56. The moving claw operating mechanism 62 may be any as long as it can move the moving claw 58 in the vertical direction. In the present embodiment, as the moving claw operating mechanism 62, the moving claws 58 are spaced apart from the belts 62c and 62d hung between the pulleys 62a and 62b provided on the upper end side and the lower end side of the lowering unit 50. It is configured so that the power output from the motor 62e can be transmitted to one of the pulleys 62a and 62b (the pulley 62a in the present embodiment) while being attached to each.

The lowering unit 50 can lower the tray T by moving the moving claw 58 downward while keeping the operating claw 56 retracted from the container moving space 54. Further, the tray T can be supported from below by the operating claw 56 and the moving claw 58 in the state where the moving claw 58 has reached the position corresponding to the operating claw 56. Specifically, the lowering unit 50 is in a state where the moving claw 58 has arrived at a position corresponding to the operating claw 56 which is in a state of protruding from the side (supportable state) toward the container moving space 54. The tray T can be supported from below at the flange portion T2 by the 56 and the moving claw 58.

The lowering unit 50 includes a first side sensor 64 and a second side sensor 66 in addition to the above-mentioned operating claw 56, moving claw 58, and the like. The first side sensor 64 and the second side sensor 66 are sensors that detect the tray T protruding from the container moving space 54 to the first side surface 52a side or the second side surface 52b side, respectively.

The unfinished container storage unit 40 is for storing the tray T assigned to the prescription that the preparation of the medicines to be collected in the tray T is insufficient for the dispensing by the medicine dispensing device 20 as an unfinished container. The unfinished container storage unit 40 may be any as long as it can store the unfinished container, and can be, for example, as shown in FIG.

The unfinished container storage unit 40 of the present embodiment includes a lifter 70 capable of lifting the tray T. The unfinished container storage unit 40 can lift and store a plurality of trays T related to the unfinished prescription by the lifter 70 so as to be arranged vertically. The lifter 70 has a pair of claw members 72, 72 provided along the left and right side surfaces of the unfinished container storage unit 40. The lifter 70 can support the tray T substantially horizontally by supporting the flange portion T2 of the tray T from below by the claw members 72 and 72. Further, a moving mechanism (not shown) for moving the claw members 72 and 72 upward is provided. Therefore, by moving the pair of claw members 72, 72 that support the tray T from both sides upward, the tray T can be moved upward while being kept substantially horizontal.

The control unit 100 controls the operation of the drug dispensing device 20 and the transport system 30 that constitute the drug dispensing system 10. The control unit 100 includes a transport direction conversion unit 45 (first transport direction conversion unit), a transport direction conversion unit 33 (second transport direction conversion unit), and a transport direction conversion unit 37 (third transport direction conversion unit). It is characterized in the transport control of the tray T in the above and the operation control of the completed container storage unit 38 and the unfinished container storage unit 40. Hereinafter, the operation control for each unit performed by the control unit 100 will be described in detail with reference to the drawings.

<< Conveyance control of tray T in transport direction changing unit 45 >>
When there is a tray T to be moved from the lower moving device 32 toward the upper moving device 34, the control unit 100 transports the tray T in the transport direction changing unit 45 according to the control flow shown in FIG. Take control.

(Step 1-1)
In step 1-1, the control unit 100 determines whether or not there is a tray T to be moved toward the upper moving device 34. As a result, when it is determined that there is a tray T to be moved toward the upper moving device 34, the control flow proceeds to step 1-2.

(Step 1-2)
In step 1-2, the control unit 100 moves the mounting unit 46a to the introduction unit 42 side in the elevating device 36. As a result, the horizontal operation unit 46b is made to stand by by the introduction unit 42. After that, the control flow proceeds to steps 1-3.

(Step 1-3)
In step 1-3, the control unit 100 operates the downward moving device 32. As a result, the tray T to be moved toward the upper moving device 34
(Complete tray) is moved to the elevating device 36 side.

(Step 1-4)
In step 1-4, the control unit 100 determines whether or not the tray T (complete tray) has reached the introduction port 42a of the elevating device 36. Whether or not the tray T has reached the introduction port 42a can be determined based on detection information of, for example, the second detection device 46h or a sensor provided separately from the second detection device 46h. Here, when it is determined that the tray T has reached the introduction port 42a, the control flow is advanced to step 1-5.

(Step 1-5)
In step 1-5, the control unit 100 operates the horizontal operation unit 46b which is made to stand by by the introduction unit 42 of the elevating device 36. As a result, the tray T is pulled over the horizontal moving portion 46b. After that, the control flow proceeds to step 1-6.

(Step 1-6)
In step 1-6, the control unit 100 confirms whether or not the detection signal of the first detection device 46g is turned on. Here, when it is confirmed that the detection signal of the first detection device 46g is turned on, it is considered that the tray T or some article is present. Therefore, when it is confirmed that the detection signal output by the first detection device 46g is in the ON state, the control flow proceeds to step 1-7.

(Step 1-7)
In step 1-7, the control unit 100 stops the operation of the horizontal operation unit 46b. This completes the operation of pulling in the tray T. After that, the control flow proceeds to step 1-8.

(Step 1-8)
In step 1-8, the control unit 100 confirms whether or not the detection signal of the second detection device 46h is in the ON state. Here, as described above, when the tray T is normally arranged in the transport direction changing unit 45, the tray T is detected by the first detection device 46g, but the tray T is not detected by the second detection device 46h. become. However, when the detection signal of the first detection device 46g is turned on because the contained object (object to be transported) of the tray T has fallen to the tip of the tray T or another obstacle is present. It is assumed that the tray T is displaced toward the introduction port 42a by the amount of a fallen object or the like. Therefore, when the detection signal of the second detection device 46h is in the ON state in step 1-8, it is considered that the tray T is not pulled into the normal position due to a falling object or the like at the tip of the tray T. Be done.

Based on the above findings, when the detection signal of the second detection device 46h is in the ON state in step 1-8, the control unit 100 determines that the tray T has not reached the normal position. , The control flow proceeds to steps 1-11. On the other hand, when the detection signal of the second detection device 46h is in the off state in step 1-8, the control unit 100 determines that the tray T has been pulled to the normal position, and the control flow is in step 1-8. Proceed to 9.

(Step 1-9)
In step 1-9, the control unit 100 operates the vertical operation unit 46c to bring the mounting unit 46a to the discharge unit 44. As a result, the horizontal operation unit 46b and the tray T on the horizontal operation unit 46b reach the discharge unit 44 together with the mounting unit 46a. After that, the control flow proceeds to step 1-10.

(Step 1-10)
In step 1-10, the control unit 100 operates the horizontal operation unit 46b in the direction opposite to that during the pull-in operation. As a result, the tray T is discharged from the discharge port 44a toward the upward moving device 34, and a series of control flows is completed.

(Steps 1-11)
In steps 1-11, the control unit 100 performs a process of notifying that the tray T cannot reach a normal position due to the influence of a falling object or the like. Specifically, the control unit 100 operates so as to notify by voice or display by a notification device such as a buzzer, a speaker, or a display provided separately, or to notify by an operation panel provided attached to the control unit 100. Control is done. This completes a series of control flows.

<< Conveying control of tray T in the transport direction changing unit 33 >>
Subsequently, the operation control performed by the control unit 100 when changing the transport direction of the tray T in the transport direction changing unit 33 will be described in detail with reference to FIG. In the present embodiment, the configuration in which the transport direction changing unit 33 is provided on the upper moving device 34 is illustrated, but the control method described below is a transport direction to another place such as the lower moving device 32. Even if a conversion unit 33 is provided, it can be controlled in the same manner.

(Step 2-1)
In step 2-1 the control unit 100 confirms whether or not the tray T has reached the transport direction changing unit 33. The arrival of the tray T can be confirmed by a sensor or the like provided in the transport direction changing unit 33. If the arrival of the tray T is confirmed in step 2-1 the control flow is advanced to step 2-2.

(Step 2-2)
In step 2-2, the control unit 100 confirms whether or not the presence of the tray T is detected by the container detection sensor 35. Here, as described above, there is a case where the tray T is in an inclined posture in the transport direction changing unit 33 and the tray T protrudes to a region exceeding the width direction of the transport path on the downstream side. is there. In such a case, even if the tray T is attempted to be transported downstream of the transport direction changing unit 33, the tray T may be caught in various places and may not be smoothly transported. The container detection sensor 35 is a sensor capable of detecting whether or not the tray T exists in a state in which the tray T protrudes to a region beyond the width direction of the transport path on the downstream side in the transport direction changing unit 33. Therefore, it is confirmed in step 2-2 whether or not the presence of the tray T is detected by the container detection sensor 35, and if it is detected, the control flow is advanced to step 2-3, and if it is not detected, the control flow is advanced to step 2-3. Is processed to advance the control flow to step 2-4.

(Step 2-3)
As described above, when the presence of the tray T is detected by the container detection sensor 35 in step 2-2, the posture of the tray T is not suitable for transporting to the downstream side of the transport direction changing unit 33. It is in a state. Therefore, in step 2-3, the control unit 100 performs a process of notifying that the tray T cannot be smoothly conveyed toward the downstream side. Specifically, the control unit 100 operates so as to notify by voice or display by a notification device such as a buzzer, a speaker, or a display provided separately, or to notify by an operation panel provided attached to the control unit 100. Control is done. This completes a series of control flows.

(Step 2-4)
As described above, when the presence of the tray T is not detected by the container detection sensor 35 in step 2-2, there is no problem even if the posture of the tray T is transported to the downstream side of the transport direction changing unit 33. It is assumed to be in a state. Therefore, in step 2-4, the operation is controlled so that the tray T is sent out from the transport direction changing unit 33 toward the transport path on the downstream side. As a result, a series of operation control is completed.

<< Conveyance control of tray T in transport direction changing unit 37 and complete container storage unit 38 >>
Subsequently, the transport control of the tray T in the transport direction changing unit 37 will be described in detail with reference to FIG.

(Step 3-1)
In step 3-1 the control unit 100 determines whether or not the tray T can be moved to the transport direction changing unit 37 in a good state. Whether or not the tray T may be moved is determined by a sensor or the like provided in the transport direction conversion unit 37 on the condition that no other tray T exists in the transport direction conversion unit 37. If it is determined in step 3-1 that the tray T may be conveyed, the control flow proceeds to step 3-2.

(Step 3-2)
In step 3-2, control is performed to move the tray T with respect to the transport direction changing unit 37. Specifically, the operation is controlled by the control unit 100 so that the conveyor on the upstream side operates. As a result, the tray T is conveyed toward the transfer direction changing unit 37. Further, when the tray T reaches the position where the pushing mechanism 39 is provided, the pushing mechanism 39 is operated. As a result, the tray T is pushed toward the transport direction changing unit 37. After that, the control flow proceeds to step 3-3.

(Step 3-3)
In step 3-3, the control unit 100 determines whether or not the tray T has reached the transport direction changing unit 37. The arrival of the tray T can be confirmed by a sensor or the like provided in the transport direction changing unit 37. If the arrival of the tray T is confirmed in step 3-3, the control flow proceeds to step 3-4.

(Step 3-4)
In step 3-4, it is determined whether or not the tray T reaching the transport direction changing unit 37 can be moved to the completed container storage unit 38 connected to the transport direction changing unit 37. This is done by the control unit 100. Specifically, it is confirmed whether or not there is an empty space in the complete container storage unit 38 for storing the tray T. Here, if it is determined that the tray T cannot be moved to the complete container storage unit 38 side, the control flow is put into a standby state in step 3-4 until the tray T can be moved. On the other hand, if it is determined that the container can be moved to the complete container storage unit 38 side, the control flow proceeds to step 3-5.

(Step 3-5)
In step 3-5, the control unit confirms whether or not the tray T protrudes from the container moving space 54 on either the first side surface 52a side or the second side surface 52b side (tray protrusion state). It is done by 100. Whether or not the tray is in the protruding state can be determined by an appropriate method, but in the present embodiment, it is determined based on the detection signals output from the first side sensor 64 and the second side sensor 66. Will be done. Specifically, the tray is in a protruding state on condition that a detection signal that the tray T is detected is output from only one of the first side sensor 64 and the second side sensor 66. Is determined by the control unit 100. If the lowering unit 50 is operated in a state where the tray is protruding, there is a concern that an unexpected problem such as the tray T falling may occur. Therefore, when it is determined that the tray is in the protruding state, the control flow is advanced to step 3-6 in order to warn to that effect and prohibit the operation of the lowering unit 50. On the other hand, when it is determined that the tray is not in the protruding state, there is no problem even if the lowering unit 50 is operated, so that the control flow proceeds to step 3-7.

(Step 3-6)
In step 3-6, the control unit 100 performs a process of warning that the tray is in a protruding state and prohibiting the operation of the lowering unit 50. After that, the control flow is returned to step 3-5.

(Step 3-7)
In step 3-7, the control unit 100 determines whether or not there are a plurality of operating claws 56 arranged at predetermined intervals in the vertical direction that cannot be evacuated from the container moving space 54. To confirm. Whether or not each operating claw 56 can be retracted can be determined by an appropriate method such as a method of determining based on an output signal of a separately provided sensor or the like, or a method of determining based on information input by the user. Can be. In the present embodiment, it is confirmed whether or not the retracting operation is possible by actually operating each operating claw 56. When it is determined in step 3-7 that there is an actuating claw 56 that cannot be evacuated, the control flow is advanced to step 3-8, and it is determined that there is no actuating claw 56 that cannot be evacuated. The control flow proceeds to step 3-9.

(Step 3-8)
In step 3-8, the control unit 100 performs a process (movable range limiting process) for limiting the range in which the tray T can be lowered (lowerable range) in the completed container storage unit 38. In the present embodiment, the descendable range is limited to the position where the actuating claw 56 determined to be unable to evacuate in step 3-5 is provided, and the range above the operating claw 56. After that, the control flow proceeds to step 3-9.

(Step 3-9)
In step 3-9, the control unit 100 operates the lowering unit 50 and sequentially feeds the tray T to the position of the operating claw 56 confirmed to be empty in step 3-8, so that the tray T is 1 or 2 or more. The tray T of the above is sequentially lowered downward (loading process). Specifically, the control unit 100 performs the loading process as described in detail later with reference to FIG. 26, for example. This completes a series of control flows.

≪About backup operation by unfinished container storage unit 40≫
In the drug dispensing system 10, the tray T (completed tray) is moved to the elevating device 36 and the upper moving device 34 on the condition that the elevating device 36, the upper moving device 34, and the completed container storage unit 38 can all be used. It can be transferred via a route and stored in the complete container storage unit 38. However, if any one of the elevating device 36, the upward moving device 34, and the completed container storage unit 38 becomes unusable, the tray T is transferred to the completed container storage unit 38 to supplement the tray T. You will not be able to. In preparation for such a situation, in the drug dispensing system 10 of the present embodiment, the elevating device 36, the upward moving device 34, and a part or all of the complete container storage unit 38 cannot be used, provided that they cannot be used. It is possible to perform a backup operation in which the complete container storage unit 40 is used for storing the tray T. Hereinafter, the backup operation by the unfinished container storage unit 40 will be described in detail with reference to FIG.

(Step 4-1)
In step 4-1 whether or not the control unit 100 is in a state capable of performing a series of processes (complete container transfer storage process) until the tray T (complete container) is transported to the complete container storage unit 38 and stored. Confirm. As a specific example, in the present embodiment, it is confirmed whether or not all of the elevating device 36, the upward moving device 34, and the completed container storage unit 38 are in a usable state. As a result, it was confirmed that when the complete container transport storage process is impossible (in this embodiment, the elevating device 36, the upward moving device 34, and a part or all of the complete container storage unit 38 cannot be used. If), the control flow proceeds to step 4-2.

(Step 4-2)
In step 4-2, the control unit 100 controls the tray T (completed container) to be moved to the unfinished container storage unit 40 by the downward moving device 32. After that, the control flow proceeds to step 4-3.

(Step 4-3)
In step 4-3, the control unit 100 operates the unfinished container storage unit 40 to store the tray T (completed container), which should normally be stored in the completed container storage unit 38, in the unfinished container storage unit. Perform the process of storing in 40. This completes a series of control flows.

As described above, in the transport system 30 of the present embodiment, the detection information by the first detection device 46g and the second detection device 46h indicates whether or not the tray T is normally arranged in the transport direction conversion unit 45. It is decided to judge based on. Therefore, in the transport system 30, it is accurately grasped whether or not the tray T is normally arranged in the transport direction changing unit 45, and the tray T is poorly transported, the transport system 30 is broken, or the tray T is damaged. Can be suppressed.

Further, in the transport system 30, the installation condition is that the first detection device 46g and the second detection device 46h are oriented with their optical axes so that they can project light toward the bottom surface T1 of the tray T through the opening S provided in the tray T. It is installed in. Therefore, even if the tray T provided with the opening S is used, the tray T can be detected accurately by the first detection device 46g and the second detection device 46h. In the present embodiment, the configuration in which the optical axis is directed in the above-mentioned direction is illustrated as the first detection device 46g and the second detection device 46h, but the present invention is not limited thereto. Specifically, either one or both of the first detection device 46g and the second detection device 46h may be installed under different installation conditions from those described above. Further, the opening S is formed by forming the first detection device 46g and the second detection device 46h with a device other than the photoelectric sensor, or by using a tray T having no light transmitting portion such as the opening S. The concern about detection failure due to the passage of light may be eliminated.

In the transport system 30 of the present embodiment, the transport direction changing unit 45 in the portion where the transport direction of the tray T changes three-dimensionally (three-dimensionally) determines whether or not the tray T exists in the normal position. It is determined whether or not the tray T can be moved up and down after that. Therefore, in the transport system 30, even when the tray T is transported by a transport path that involves vertical movement of the tray T, the tray T is stably transported while taking care not to cause the tray T to fall or the like. be able to.

In the present embodiment, the tray T is in the normal position by using the first detection device 46g and the second detection device 46h in the transport direction changing unit 45 in the portion where the transport direction of the tray T changes three-dimensionally (three-dimensionally). However, the present invention is not limited to this. Specifically, it is determined whether or not the tray T has reached the normal position by the same configuration and control even in the portion where the transport direction of the tray T does not change in the height direction and changes two-dimensionally. It may be judged.

In the transport system 30 of the present embodiment, a transport direction changing unit 33 that changes in the direction in which the transport directions of the trays T intersect in the middle of the transport path is provided. Further, a container detection sensor 35 is provided in the transport direction conversion unit 33 to detect whether or not the tray T that has reached the transport direction conversion unit 33 is tilted and extends beyond the width of the transport path on the downstream side. As a result, it is determined whether or not the tray T can be moved from the transport direction changing unit 33 toward the downstream side without any problem. Therefore, in the transport system 30, it is possible to prevent the tray T from having a transport defect when the transport direction is changed in the transport direction changing unit 33.

In the present embodiment, as a typical example of a place where there is a concern that a problem may occur when changing the transport direction due to the tilted posture of the tray T, as in the transport direction changing unit 33, the tray T is located on the upstream side. Although the portion where the width of the transport path is smaller on the downstream side is illustrated, the present invention is not limited to this. Specifically, when the width of the transport path is substantially the same on the upstream side and the downstream side with respect to the position where the transport direction changes, or when the width of the transport path is closer to the downstream side than the upstream side with respect to the position where the transport direction changes. However, even when the width of the transport path becomes large, a container detection sensor 35 may be provided as in the transport direction changing unit 33 to perform the same control.

Further, in the present embodiment, as a typical example of a place where a problem may occur when changing the transport direction due to the tilted state of the tray T, the upstream side in the transport direction such as the transport direction changing unit 33. In the above, a portion in which the tray T is conveyed in the length direction and the tray T is conveyed in the width direction on the downstream side in the conveying direction with respect to the conveying direction changing unit 33 is illustrated, but the present invention is not limited thereto. Specifically, contrary to the above, that is, a portion that changes the transport direction of the tray T transported in the width direction from the upstream side in the length direction may be configured in the same manner as the transport direction conversion unit 33 described above. ..

In the transport system 30 of the present embodiment, in addition to the pushing mechanism 39 for pushing the tray T toward the transport direction changing unit 37, the tray T that has reached the transport direction changing unit 37 is suppressed from bouncing back to the upstream side in the transport direction. A bounce suppressing portion 37a for this purpose is provided. Therefore, it is possible to prevent the tray T from bouncing upstream while reliably pushing the tray T toward the transport direction changing unit 37 by the pushing mechanism 39. Further, in the transport system 30, the tray T is further suppressed from bouncing back to the upstream side by providing the step 37b in the transport direction changing unit 37 so as to be lower than the upstream side of the transport path. Therefore, according to the above-described configuration, the bounce of the tray T in the transport direction changing unit 37 can be suppressed to the maximum. In the present embodiment, the transport direction changing unit 37 is provided with a step 37b and a rebound suppressing unit 37a in consideration of the fact that the tray T bounces upstream due to the influence of an external force acting on the tray T by the pushing mechanism 39. Although an example is shown, the present invention is not limited thereto. Specifically, instead of providing the bounce suppressing portion 37a, the bounce of the tray T may be suppressed by another measure. Further, the tray T is conveyed to the conveying direction changing unit 37 by a conveyor and fed by various methods such as accelerating to the conveying direction changing unit 37 in front of the conveyor, and a step 37b or the like is used to prevent the tray T from bouncing due to this. May be provided.

In the transport system 30 of the present embodiment, when the actuating claw 56 becomes unretractable in the lowering unit 50, the actuating claw 56 that cannot be retracted and the actuating claw 56 that cannot be retracted instead of disabling the entire lowering unit 50. The tray T is supported and moved downward only within the range of the operating claw 56 on the upper side of the tray T. Therefore, in the transport system 30, even if a part of the actuating claw 56 cannot be retracted, the lowering unit 50 can be used as effectively as possible within the usable range.

In the transport system 30 of the present embodiment, the vertical movement of the tray T is performed on the condition that the tray T is detected by only one of the first side sensor 64 and the second side sensor 66 in the lowering unit 50. It is forbidden. By performing such control, it is possible to prevent the tray T from being moved up and down in an unstable state in which the lowering unit 50 is biased toward the first side surface 52a side or the second side surface 52b side.

As described above, in the transport system 30, the tray T transported via the upward moving device 34 arranged on the ceiling side is moved to the completed container storage unit 38 via the transport direction changing unit 37 to complete the process. It can be lowered toward the floor in the container storage unit 38. Further, by providing a reading device capable of reading the storage medium T3 of the tray T in each part of the transport path constituting the transport system 30, the transport state of the tray T can be managed based on the reading information. Here, in such a configuration, when a reading error occurs in the storage medium T3 for the tray T passing through the upper moving device 34, the transport of the tray T is stopped on the upper moving device 34. There is a concern that time-consuming work such as collecting the tray T that caused the error, such as preparing a stepladder, must be performed. Therefore, when a reading error occurs in the storage medium T3 for the tray T passing through the upper moving device 34, the tray T is not stopped at the upper moving device 34, but the tray T in which an error occurs. It is desirable that the container is lowered toward the floor via the complete container storage unit 38 in a state in which it can be recognized. With such a configuration, the burden on the user can be minimized.

The drug dispensing system 10 of the present embodiment includes the transport system 30 as described above. Therefore, the drug discharged from the drug dispensing device 20 to the tray T can be accurately transported to a predetermined position. As a result, troubles such as suspension of the drug dispensing system 10 due to poor transportation of the tray T can be minimized, and the efficiency of the dispensing work can be improved.

In the drug dispensing system 10 of the present embodiment, the complete tray can be reached and stored in the complete container storage unit 38 via the elevating device 36 and the upward moving device 34. Therefore, the route for transporting the completed tray can be arranged on the ceiling side of the dispensing room or the like, and the space can be effectively used. In the present embodiment, an example is shown in which the space on the ceiling side such as the dispensing room is effectively used for moving the completed tray and the unfinished tray is moved in the space on the floor side, but the present invention is limited to this. It's not something. Specifically, the space on the ceiling side such as the dispensing room is effectively used not only for moving the completed tray but also for moving the unfinished tray, and the space on the ceiling side is used for moving the unfinished tray. It may be used and the complete tray may be moved in the space on the floor side. From the viewpoint of effective use of indoor space, it is desirable to move one or both of the completed tray and the unfinished tray to the space on the ceiling side, but both the completed tray and the unfinished tray are on the floor side. It may be configured to be moved.

Further, in the drug dispensing system 10 of the present embodiment, the complete tray is moved downward on the condition that the elevating device 36, the upward moving device 34, and the complete container storage unit 38 used for transporting the completed tray become unusable. The unfinished container storage unit 40 can be reached and stored via the device 32. As described above, in the drug dispensing system 10 of the present embodiment, the unfinished container storage unit 40 can be used as a backup when the elevating device 36, the upward moving device 34, and the completed container storage unit 38 become unusable. .. Therefore, according to the present embodiment, even if the elevating device 36 and the upward moving device 34 become unusable, it is possible to minimize the fact that the entire drug dispensing system 10 is suspended and the efficiency of the dispensing work is reduced. Can be suppressed.

In this embodiment, an example is shown in which the unfinished container storage unit 40 is used as a backup when the elevating device 36, the upward moving device 34, and the completed container storage unit 38 become unusable. The invention is not limited to this. Specifically, even if the elevating device 36, the upward moving device 34, and the completed container storage unit 38 become unusable, the unfinished container storage unit 40 can be configured not to be used for backup, or the completed tray can be stored. A separate storage for backup may be provided.

≪Tray lowering operation≫
The lowering operation of the tray T in the complete container storage unit 38 will be described in more detail with reference to the drawings.

In the container moving space 54 of the completed container storage unit 38, a plurality of container stopping positions A for stopping the tray T are provided in the vertical direction. For example, in the container moving space 54 of the present embodiment, seven container stopping positions A1 to A7 are provided in the vertical direction. Further, each container stop position A is provided with an operating claw 56 and a moving claw 58. In the complete container storage unit 38, the tray T can be stopped at each container stop position A by supporting the collar portion T2 of the tray T by the actuating claws 56. Further, in the complete container storage unit 38, the tray T can be moved in the vertical direction while the flange portion T2 of the tray T is supported from below by the moving claws 58.

More specifically, as shown in FIGS. 19A and 19B, the lowering unit 50 has a pair of actuating claws 56 for each container stop position A. Further, the lowering unit 50 has a plurality of moving claws 58 provided so that the side of the operating claw 56 can be moved in the vertical direction. The pair of actuating claws 56 are arranged so as to face each other via the container moving space 54. Further, the moving claws 58 are also provided so as to face each other through the container moving space 54 and form a pair like the operating claws 56.

The operation claw 56 is operated and controlled by the control unit 100, and can be switched between a state in which it protrudes from the side toward the container moving space 54 (supportable state) and a state in which it is retracted from the container moving space 54 (evacuated state). ing. More specifically, as shown in FIG. 20, the actuating claw 56 is swingable with one end as a swing fulcrum. The actuating claw 56 has a posture in which the other end, which is a free end, protrudes from the side toward the container moving space 54 (see FIG. 20A), and the other end is located upward and retracts from the container moving space 54. It is possible to switch to the posture (see FIG. 20B). By such an operation, the actuating claw 56 can be switched between a supportable state and a retracted state.

As shown in FIG. 19B, in the complete container storage unit 38, the tray T can be stopped at the container stop position A by making the actuating claw 56 supportable (stop state). In the present embodiment, the collar portion T2 of the tray T is supported not only by the operating claw 56 but also by the moving claw 58 in the stationary state. The moving claw 58 is pressed from above by the flange portion T2 in the stationary state, and supports the tray T while maintaining a substantially horizontal posture.

As shown in FIG. 19A and the like, the moving claws 58 are provided on both sides of one operating claw 56. The moving claw 58 is attached so as to be freely swingable to a predetermined angle with respect to the belts 62c and 62d. More specifically, as shown in FIG. 21A, when a load is applied from above, the moving claw 58 protrudes from the side toward the container moving space 54 and maintains a substantially horizontal posture. Therefore, the tray T can be moved in the container moving space 54 by moving the moving claw 58 in the vertical direction with the flange portion T2 of the tray T mounted on the moving claw 58.

Further, as shown in FIG. 21B, when an external force acts in the direction of pushing up from below, the moving claw 58 swings upward with the portions attached to the belts 62c and 62d as swing fulcrums. Therefore, even if there is a tray T that is still in the stopped state at the container stop position A (exemplified as the container stop position A2 in FIG. 22) as shown in FIG. 22, the tray T is kept in the stopped state. The moving claw 58 can be moved from the upper side to the lower side of the tray T. More specifically, for example, as shown in FIG. 22A, when the tray is stopped at the container stopping position A2, the operating claw 56 at the container stopping position A2 is projected toward the container moving space 54 ( When the belt 60c is moved downward while being in the supportable state), the moving claw 58 moves from above the container stop position A2 toward the flange portion T2 of the tray T.

As described above, the moving claw 58 can be retracted by swinging the free end side upward by applying a pushing force from below. Further, as shown in FIG. 22B, when the moving claw 58 that has moved downward with the movement of the belt 62c comes into contact with the collar portion T2 of the tray T that is stopped at the container stopping position A2 from above, the moving claw A pushing force acts on the 58 from below. As a result, the moving claw 58 is pushed upward by the collar portion T2, and the moving claw 58 is retracted from the container moving space 54. Therefore, even if the tray T in the stopped state exists at the container stop position A, the presence of the tray T in the stopped state does not hinder the movement of the moving claw 58. .. When the moving claw 58 passes through the position of the tray T in the stationary state and moves further downward, the moving claw 58 is restored to a state of protruding from the side toward the container moving space 54, and returns to a state in which the tray T can be supported. ..

≪About loading operation≫
The transport system 30 can operate the lowering unit 50 by the control unit 100 to sequentially lower (load) one or more trays T. Further, in the loading operation, the transport system 30 is set to a state in which the container stop position A in the stop state and the operating claw 56 do not support the tray T (empty state) among the container stop positions A1 to A7. When there is a container stop position A, at least one tray T can be lowered and placed at another container stop position A while maintaining the arrangement of one or more trays T with respect to the container stop position A. Has been done. Further, in the loading operation, the transport system 30 is used when there is an empty container stop position A between two or more container stop positions A in the container stop positions A1 to A7. , The tray T can be lowered and arranged (stitched) with respect to one or more container stop positions A that are vacant.

Further, in the loading operation, the lowering unit 50 is moved up with reference to an arbitrary position among the container stopping positions A (container stopping positions A1 to A7 in the present embodiment) provided in the vertical direction of the container moving space 54. The tray T can be moved so that the tray T is packed and arranged in the direction or the downward direction. That is, the lowering unit 50 can move the tray T so that the tray T is arranged at each container stop position A provided in the upward or downward direction from the reference container stop position A. ..

Specifically, for example, as shown in FIG. 23, the lowering unit 50 is based on the container stop position A (for example, the container stop position A1) on the upper side of the container movement space 54 among the container stop positions A1 to A7. It is possible to perform an operation of lowering the tray T so that the tray T is packed and arranged downward in order from the container stop position A1 (hereinafter, also referred to as “upper standard loading operation”). Further, for example, as shown in FIG. 24, the lowering unit 50 trays in order from the container stop position A7 upward with reference to the container stop position A (for example, the container stop position A7) on the lower side of the container movement space 54. It is possible to perform an operation of lowering the tray T so that the T's are packed and arranged (hereinafter, also referred to as a “loading operation of the upper reference”).

≪Stacking operation of the above standard≫
FIG. 23 is a conceptual diagram showing an example of the arrangement of the trays T when the trays T are stacked based on the above reference. When the trays T are stacked based on the above reference, the control unit 100 controls the operation of lowering the trays T so that the trays T are arranged in order from the container stop position A1.

For example, as shown in FIG. 23 (a-1), when the tray T reaches the transport direction changing unit 37 in a state where the tray T does not exist at any of the container stopping positions A1 to A7, the control unit 100 receives the tray T. Control is performed so that the tray T (hereinafter, also referred to as “new tray T”) that has reached the transport direction changing unit 37 is arranged at the container stop position A1 located at the uppermost stage. Further, as shown in FIG. 23 (a-2), when a new tray T arrives at the transport direction changing unit 37 in a state where the tray T is arranged at the container stop position A1, the control unit 100 controls the container. The tray T arranged at the stop position A1 is sequentially fed to the container stop position A2, and the operation control of transporting the new tray T to the container stop position A1 is performed.

Further, as shown in FIGS. 23 (b-1) and 23 (b-2), one or two or more trays T are removed from the complete container storage unit 38 in a state where a plurality of trays T are arranged with the above reference. If so, the padding operation is not performed. More specifically, as shown in FIG. 23 (b-1), from the state where the trays T are arranged in each of the container stop positions A1 to A4, the container stop position is shown in FIG. 23 (b-2). When the trays T arranged at A2 and A3 are pulled out, the trays T arranged at the container stop positions A1 and A4 are maintained without being lowered.

On the other hand, as shown in FIGS. 23 (c-1) and 23 (c-2), there is one or more container stop positions A that are vacant between the two or more container stop positions A that are in the stopped state. In this case, when a new tray T reaches the transport direction changing unit 37, the packing operation is performed. More specifically, when there are empty container stop positions A2 and A3 between the container stop position A1 and the container stop position A4 (see FIG. 23 (c-1)). When a new tray T arrives at the transport direction changing unit 37, the tray T arranged at the container stop position A1 is moved to the container stop position A2 while maintaining the arrangement of the tray T arranged at the container stop position A4. It is lowered and the new tray T is conveyed to the container stop position A1 (see FIG. 23 (c-2)). As a result, the lowering unit 50 can lower the tray T so that the tray T is packed and arranged upward as an upper reference.

≪Loading operation of the lower standard≫
FIG. 24 is a conceptual diagram showing an example of the arrangement of the trays T when the trays T are stacked based on the lower reference. When the trays T are stacked based on the lower reference, the control unit 100 controls the operation of lowering the trays T so that the trays T are arranged in order from the container stop position A7.

For example, as shown in FIG. 24 (a-1), when a new tray T arrives at the transport direction changing unit 37 in a state where the tray T does not exist at any of the container stopping positions A1 to A7, the control unit 100 Controls the placement of the new tray T at the container stop position A7 located at the bottom. Further, as shown in FIG. 24 (a-2), when a new tray T arrives at the transport direction changing unit 37 in a state where the tray T is arranged at the container stop position A7, the control unit 100 newly performs. Operation control for transporting a new tray T to the container stop position A6 while maintaining the position of the tray T arranged at the container stop position A7 so that the tray T is packed and arranged below the container movement space 54. Do.

≪Automatic loading operation in loading of the lower standard≫
When the lower standard is loaded, the control unit 100 is loaded (automatically loaded) regardless of whether or not a new tray T has arrived at the transport direction changing unit 37 by satisfying a predetermined condition. )I do. Specifically, when the lower standard is loaded, the control unit 100 is vacant below the container stop position A in which the tray T arranged at the container stop position A is pulled out and is in the stopped state. When the container stop position A in the state exists, automatic loading is performed.

For example, as shown in FIG. 24 (b-1), the trays T are arranged at the container stop positions A4 to A7, respectively, to the container stop positions A5 and A6 as shown in FIG. 24 (b-2). When the arranged tray T is pulled out, an automatic filling operation is performed. The control unit 100 maintains the arrangement of the trays T arranged at the container stop position A7 and at the container stop position A4 so that the trays T are arranged at the empty container stop positions A5 and A6. Operation control is performed to lower the arranged tray T to the empty container stop position A6 (see FIG. 24 (b-3)).

Further, when the lower standard is loaded and a new tray T arrives at the transport direction changing unit 37, the packing operation is performed by satisfying a predetermined condition. Specifically, the control unit 100 is required to have one or more container stop positions vacant between the two or more container stop positions A in the container stop positions A1 to A7. As a result, the padding operation is performed.

For example, as shown in FIG. 24 (c-1), when there are two empty container stop positions A5 and A6 between the two container stop positions A4 and A7 in the stopped state, the transport direction. When a new tray T arrives at the conversion unit 37, the padding operation is performed. In the packing operation, the control unit 100 controls the operation of lowering the tray T stopped at the container stop position A4 while maintaining the arrangement of the tray T with respect to the container stop position A7. Further, after the operation of lowering the tray T arranged at the container stop position A4 to the container stop position A6 is performed, the operation control of transporting the new tray T that has reached the transport direction changing unit 37 to the container stop position A5 is performed. This is done (see FIG. 24 (c-3)).

≪About control of loading operation≫
Subsequently, the control of the stacking operation of the tray T in the complete container storage unit 38 will be described in detail with reference to FIG. 25. Note that FIG. 25 shows a subroutine of loading processing in the transport control of the tray T in the transport direction changing unit 37 and the completed container storage unit 38 of FIG.

(Step 4-1)
In step 4-1 the control unit 100 performs a process of determining whether or not the above-referenced loading is set. Specifically, the control unit 100 performs a process of determining whether or not it is set to perform loading (loading of the upper reference) with the upper part of the container moving space 54 as a reference (upper reference). It should be noted that whether the upper standard is loaded or the lower standard is loaded can be set by the user's choice. Then, when it is determined in step 4-1 that the loading of the upper standard is set, the process of advancing the control flow to step 4-2 is performed, and it is determined that the loading of the upper standard is not set. If so, the process of advancing the control flow to step 4-3 is performed.

(Step 4-2)
In step 4-2, the control unit 100 performs the upper reference loading process, which will be described in detail later with reference to FIG. 26. In the upper reference loading process, the control unit 100 performs operation control such as the upper reference progressive process. Then, when the process of step 4-2 is completed, a series of control flows is completed.

(Step 4-3)
In step 4-3, the control unit 100 performs the lower standard loading process, which will be described in detail later with reference to FIG. 27. In the lower reference loading process, the control unit 100 performs operation control such as the lower reference progressive process. Then, when the process of step 4-3 is completed, a series of control flows is completed.

≪About the upper standard loading process≫
Subsequently, the upper standard loading process will be described with reference to FIG. FIG. 26 is a diagram showing a subroutine of the upper reference loading process.

(Step 5-1)
In step 5-1 the control unit 100 determines which container stop position A is vacant within the range of the container stop position A which is the descendable range of the container stop positions A1 to A7. I do. Specifically, the control unit 100 is in a state in which the operating claw 56 does not support the tray T (empty state) within the range of the container stop position A which is the descendable range of the container stop positions A1 to A7. A process of identifying and determining the container stop position A is performed. The vacant container stop position A is determined by determining the container stop position A in which the tray T is not detected by a sensor or the like provided at a position corresponding to the container stop positions A1 to A7 of the lowering unit 50. Can be done. For example, it is possible to determine that the container stop position A is empty, provided that the tray T is not detected by both the first side sensor 64 and the second side sensor 66. Further, it may be determined that the container stop position A is in an empty state on condition that the sensor provided on the actuating claw 56 does not detect the presence of the tray T. Then, after the process of determining the empty container stop position A is performed, the control flow proceeds to step 5-2.

(Step 5-2)
In step 5-2, the control unit 100 performs a process of determining whether or not the container stop position A1 is in an empty state. If it is determined in step 5-2 that the container stop position A1 is in an empty state, the control flow proceeds to step 5-3, and if it is determined that the container stop position A1 is not in an empty state, the control flow proceeds to step 5-3. , The control flow proceeds to step 5-4.

(Step 5-3)
In step 5-3, the control unit 100 performs the uppermost transfer process. In the uppermost stage transfer process, operation control is performed to transfer the new tray T that has reached the transfer direction changing unit 37 to the container stop position A1 which is the uppermost stage of the container stop position A. This completes a series of control flows.

(Step 5-4)
In step 5-4, the control unit 100 performs a process of determining whether or not the container stop position A to be packed is present among the container stop positions A within the descendable range. Specifically, the control unit 100 has a container stop position A (to be packed) that is vacant between the two container stop positions A that are in the stop state in the container stop position A that is in the descendable range. A process of determining whether or not the container stop position A) exists is performed. Then, when it is determined that the container stop position A to be packed is present among the container stop positions A that are within the descendable range, the control flow is advanced to step 5-6, and the container that is within the descendable range is set. If it is determined that the container stop position A to be packed does not exist among the stop positions A, the control flow proceeds to step 5-5.

(Step 5-5)
In step 5-5, the control unit 100 performs the progressive processing. In this process, the control unit 100 controls the operation of the actuating claw 56 and the moving claw 58 to move the tray T that has been stopped at the container stop position A and the new tray T that has reached the transport direction changing unit 37. , The operation control of sequentially lowering is performed. This completes a series of control flows.

(Step 5-6)
In step 5-6, the control unit 100 performs the padding process. In this process, the control unit 100 controls the movements of the actuating claws 56 and the moving claws 58 to maintain the arrangement of at least one of the plurality of trays T with respect to the container stop position A, while maintaining the arrangement of the other trays T with respect to the container stop position A. Operation control is performed to lower the new tray T that has reached the tray and the transport direction changing unit 37. This completes a series of control flows.

≪About lower standard loading process≫
Subsequently, the lower standard loading process will be described with reference to FIG. 27. FIG. 27 is a diagram showing a subroutine of the lower reference loading process.

(Step 6-1)
In step 6-1, the control unit 100 determines which container stop position A is vacant within the range of the container stop position A which is the descendable range among the container stop positions A1 to A7. Perform processing. Specifically, the control unit 100 is in a state in which the operating claw 56 does not support the tray T within the range of the container stop position A which is the descendable range of the container stop positions A1 to A7 (empty state). The process of determining the container stop position A is performed. Then, after the process of determining the empty container stop position A is performed, the control flow proceeds to step 6-2.

(Step 6-2)
In step 6-2, the control unit 100 performs a process of determining whether or not all of the container stop positions A1 to A7 are in an empty state. If it is determined in step 6-2 that all the container stop positions A1 to A7 are empty, the control flow proceeds to step 6-4, and if any of the container stop positions A1 to A7 is empty, the control flow proceeds to step 6-4. If it is determined that there is no control flow, the control flow proceeds to step 6-3.

(Step 6-3)
In step 6-3, the control unit 100 performs a process of determining whether or not the container stop position A to be packed is present among the container stop positions A within the descendable range. Specifically, the control unit 100 is placed in the empty container stop position A (filling) arranged between the two container stop positions A in the stop state at the container stop position A in the descendable range. A process of determining whether or not the target container stop position A) exists is performed. Then, when it is determined that the container retention position A to be packed is present among the container retention positions A that are within the descendable range, the control flow is advanced to step 6-5, and the container that is within the descendable range. If it is determined that the container stop position A to be packed does not exist among the stop positions A, the control flow proceeds to step 6-4.

(Step 6-4)
In step 6-4, the control unit 100 performs the lower reference progressive feed process. In this process, the control unit 100 controls the operation of the actuating claw 56 and the moving claw 58 to move the tray T that has been stopped at the container stop position A and the new tray T that has reached the transport direction changing unit 37. , The operation control of sequentially lowering is performed. This completes a series of control flows.

(Step 6-5)
In step 6-5, the control unit 100 performs the padding process. In this process, the control unit 100 controls the movements of the actuating claws 56 and the moving claws 58 to maintain the arrangement of at least one of the plurality of trays T with respect to the container stop position A, while maintaining the arrangement of the other trays T with respect to the container stop position A. Operation control is performed to lower the new tray T that has reached the tray and the transport direction changing unit 37. This completes a series of control flows.

≪Automatic loading process≫
Subsequently, the automatic loading process will be described with reference to FIG. 28. By satisfying a predetermined condition, the control unit 100 controls the operation of stacking the tray T downward (automatic loading) regardless of whether or not a new tray T has arrived at the transport direction changing unit 37. .. Specifically, the control unit 100 automatically stacks the tray T maintained at the container stop position A on the condition that the tray T is pulled out and there is a container stop position A capable of loading with the tray T as a lower reference. Lower it.

(Step 7-1)
In step 7-1, the control unit 100 performs a process of determining whether or not the lower standard loading is set. When it is determined in step 7-1 that the lower standard loading is set, the control flow proceeds to step 7-2, and it is determined that the lower standard loading is not set. Completes a series of control flows.

(Step 7-2)
In step 7-2, the control unit 100 performs a process of determining whether or not the tray T has been removed. Whether or not the tray T has been removed is determined from the state in which the tray T is detected (ON state) to the state in which the tray T is not detected by a sensor or the like provided at a position corresponding to the container stop positions A1 to A7 of the lowering unit 50. It can be performed by detecting the switching to the (OFF state). In step 7-2, if it is determined that the tray T has been removed, the control flow proceeds to step 7-3, and if it is determined that the tray T has not been removed, a series of control flows. Is completed.

(Step 7-3)
In step 5-3, the control unit 100 performs a process of determining whether or not the container stop position A to be packed is present among the container stop positions A within the descendable range. Specifically, the control unit 100 is placed in the empty container stop position A (filling) arranged between the two container stop positions A in the stop state at the container stop position A in the descendable range. A process of determining whether or not the target container stop position A) exists is performed. Then, when it is determined that the container stop position A to be packed is present among the container stop positions A that are within the descendable range, the control flow is advanced to step 7-4, and the container that is within the descendable range is set. If it is determined that the container stop position A to be packed does not exist among the stop positions A, the control flow proceeds to step 7-5.

(Step 7-4)
In step 7-4, the control unit 100 performs the padding process. In this process, the control unit 100 controls the movements of the actuating claws 56 and the moving claws 58 to maintain the arrangement of at least one of the plurality of trays T with respect to the container stop position A, while maintaining the arrangement of the other trays T with respect to the container stop position A. Operation control is performed to lower the new tray T that has reached the tray and the transport direction changing unit 37. This completes a series of control flows.

(Step 7-5)
In step 7-5, the control unit 100 performs the lower reference progressive feed process. In this process, the control unit 100 controls the operation of sequentially lowering the tray T downward. This completes a series of control flows.

As described above, the transport system 30 of the present embodiment is capable of carrying out both loading and unloading of the upper standard and loading and unloading of the lower standard. Therefore, in the transport system 30, one of the upper standard loading and the lower standard loading can be selected by the selection of a worker such as a pharmacist. As a result, the transport system 30 can transport the tray T to be transported to the complete container storage unit 38 to a position where the tray T can be easily taken out according to the operator's request.

Further, the transport system 30 of the present embodiment can efficiently arrange the tray T with respect to the empty container stop position A by executing the packing operation.

The transport system 30 of the present embodiment has shown an example in which both loading and unloading of the upper standard and loading of the lower standard can be performed, but the transport system of the present invention is not limited to this. That is, the transport system of the present invention may be capable of carrying out either the loading of the upper standard or the loading of the lower standard. Further, the transport system of the present invention performs the loading process with reference to an intermediate position in the vertical direction, for example, a container stop position A located in the middle of the container stop position A in the vertical direction set by the operator's request. It may be what you do.

Further, in the transport system of the present invention, the timing for transporting the tray T to the reference position may be set at the request of the operator. Specifically, the transport system of the present invention transports the tray T to the set reference position at the timing when a predetermined number or more of the container stop positions A in the predetermined range of the container stop positions A are in the stop state. It may be what is done. For example, in the transport system of the present invention, the tray T may be lowered to the container stop position A located in the downward direction at the timing when the container stop position A located in the upward direction becomes two or more stopped states.

Further, in the transport system 30 of the present embodiment, by attaching the moving claws 58 to the belts 60c and 60d so as to be swingable, the moving claws 58 are maintained at the container stop position A when the moving claws 58 are lowered in the packing operation or the like. Although it is possible to avoid the tray T from being hindered by the collar portion T2 of the tray T, the transport system 30 of the present invention is not limited to this. For example, the moving claw 58 may be operated and controlled by the control unit 100 from a state of protruding into the container moving space 54 to a state of being retracted.

INDUSTRIAL APPLICABILITY The present invention can be suitably used in a general transportation system in which an object to be conveyed is conveyed in a container such as a tray. Further, the present invention is provided with a drug dispensing device capable of dispensing a drug in a package such as a box, and a drug to be prescribed to a patient by collecting the drug dispensed from the drug dispensing device in a container. It can be suitably used in all drug dispensing systems that can be prepared.

10 Drug dispensing system 20 Drug dispensing device 30 Transport system 32 Downward moving device 33 Transport direction conversion unit (second transport direction conversion unit)
34 Upward moving device 35 Container detection sensor 36 Lifting device 37 Transport direction conversion unit (third transport direction conversion unit)
37a Bounce suppression unit 38 Completed container storage unit 39 Pushing mechanism 40 Unfinished container storage unit 45 Transport direction conversion unit (first transport direction conversion unit)
46 Detection unit 46g First detection device 46h Second detection device 50 Lowering unit 52a First side surface 52b Second side surface 54 Container moving space 56 Operating claw 58 Moving claw 64 First side sensor 66 Second side sensor 100 Control unit S Aperture (light-transmitting part)
T tray T1 bottom surface T2 collar A stop position

Claims (5)

A transport system that accommodates the object to be transported in a container and transports it along a predetermined transport route.
A first transport direction changing unit in which the transport direction of the container changes in the middle of the transport path,
A detection unit that detects the arrival of the container at the first transport direction conversion unit, and
It has a control unit that controls the transfer of the container.
The detector
The first detection device capable of detecting the presence or absence of an article on the downstream side of the transport direction in the first transport direction changing unit,
It has a second detection device capable of detecting the presence or absence of an article on the upstream side in the transport direction from the first detection device.
When the container is normally arranged in the first transport direction changing unit, the container is detected by the first detection device, and the container is not detected by the second detection device.
On the condition that the article is detected by both the first detection device and the second detection device, it is determined that the container is misaligned in the first transport direction changing unit. A transport system characterized by being performed by a control unit. The container has two facing side surfaces that allow light to pass through.
Either or both of the first detection device and the second detection device irradiate the container with light from the side to detect the article, and pass through the light-transmitting portion to the bottom of the container. The transport system according to claim 1, wherein the transport system is capable of projecting light toward the surface. Claim 1 or 2 characterized in that the first transport direction changing unit changes the transport direction of the container from the horizontal direction to the vertical direction and / or from the vertical direction to the horizontal direction. The transport system described in. A drug dispensing device that can prepare multiple types of packaged drugs for dispensing and dispense the drug selected based on the prescription data output from the host control device side.
The transport system according to any one of claims 1 to 3 is provided.
A drug dispensing system characterized in that a part or all of a drug to be prescribed to a patient is prepared by collecting the drug discharged from the drug dispensing device in the container and can be transported by the transport system. In the transport path
An elevating device that moves the container between the lower transport area and the upper transport area.
An upper moving device for moving the container in the transport area on the upper side, and an upper moving device.
A lower moving device for moving the container in the lower transport area, and a lower moving device.
A complete container storage unit that stores the container assigned to the prescription for which the preparation of the drug to be collected in the container has been completed by the discharge by the drug dispensing device as a complete container, and the complete container storage unit.
An unfinished container storage unit is provided for storing the container assigned to a prescription for which the preparation of the drug to be stored in the container is insufficient for the dispensing by the drug dispensing device as an unfinished container.
On condition that all of the elevating device, the upper moving device, and the completed container storage unit can be used, the completed container is passed through the elevating device and the upper moving device, and the completed container storage unit is used. Reach and store,
On condition that the elevating device, the upper moving device, and a part or all of the completed container storage unit become unusable, the completed container is passed through the lower moving device to the unfinished container storage unit. The drug dispensing system according to claim 4 , wherein the drug is delivered and stored.

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