KR20210148612A - Automatic medicines carrying in/out management apparatus - Google Patents

Abstract

The present invention relates to an automatic medicine carrying-in/off management apparatus, which can effectively prevent, manage and supervise carrying-in/out, robbery cases, unauthorized use, etc. of psychotropic or narcotic medicines in particular. An automatic medicine carrying-in/out management apparatus according to the present invention comprises: a main body; a tray jig installed inside the main body; a plurality of trays in which medicines are stored and which are mounted on the tray jig in a multi-layered structure; a carrying-in/out port formed in one region of the main body to carry out the medicines stored in the tray to the outside or to carry the medicines in the tray; a tray gripper withdrawing the tray mounted on the tray jig to locate the tray to the carrying-in/out port or returning the tray, withdrawn to the carrying-in/out port, to the tray jig; and a robot arm moving the tray gripper in an X-axis and a Z-axis direction. In addition, the tray gripper includes: a support; an actuator installed so as to move forward/backward and upward/downward on the support; a driving module controlling the forward/backward and the upward/downward operation of the actuator; and a holder formed to protrude on the front side of the actuator to be able to be engaged in a vertical upper region of a grip groove.

Description

Automatic drug delivery management device {AUTOMATIC MEDICINES CARRYING IN/OUT MANAGEMENT APPARATUS}

The present invention relates to a device for carrying in and out of medicines, and more particularly, to a device for automatically managing and supervising the loading and unloading of psychotropic or narcotic drugs, which can effectively prevent, manage, and supervise transport, theft, and unauthorized use.

Conventionally, it was difficult to secure transparency and security of the dispensing process and drug management because even unauthorized users could access the medicine box. In particular, since psychotropic drugs or narcotics cause great damage due to misuse or abuse, the production process, distribution process, and prescription process must be clearly identified and managed.

For example, narcotic drugs such as morphine used as painkillers in hospitals are managed to prevent theft by using locks, etc. In the case of false information on the amount of medicines shipped out or more medicines than necessary, there was a problem in that it was difficult to accurately identify the illegal shipment and the quantity.

In order to solve this problem, there are cases where a separate manager is placed to monitor the import and export of medicines. There was a risk of medical accidents due to the misuse of the exported medicines because it was difficult for the exporter to recognize it immediately, even if other medicines were taken out other than the prescribed medicines or more than the amount used was taken out.

Therefore, the management of the handling process, including the distribution process, of drugs is automatically performed, and at the same time, the handling process can be checked and managed at any time or in real time, and in particular, theft and unauthorized use of psychotropic or narcotic drugs can be prevented. There is a need for a device for managing the import and export of pharmaceuticals that can be completely prevented.

To this end, a method in which a separate opening/closing device (eg, a hinge-rotating opening/closing member) is installed for each tray in which the medicine is accommodated has been proposed, but this method is for repeated rotation of the opening/closing members 113 when the drug packaging machine is used for a long period of time. As a result, there is a disadvantage that leads to an increase in manufacturing cost and maintenance/maintenance cost of the pharmaceutical packaging machine. In addition, since the tray is operated in a closed-curve circulation method, there is a disadvantage in that it takes a relatively long time to take out many kinds of medicines.

On the other hand, the conventional conventional preparation method was made by the hand of the preparer. In other words, dispensing was carried out by repeating the process of taking out the drug from each drug box, visually identifying it, and weighing it in order to check the paper prescription and collect the drugs needed for dispensing.

Accordingly, it was difficult to confirm whether the prescription was accurately dispensed, and there was a possibility that the drug was incorrectly dispensed.

Also, in conducting inventory inspection of medicines in the dispensing room, it was necessary for the manager to visually check the medicines stored in the medicine cabinet and manually measure the weight. Therefore, the conventional pharmaceutical preparation and management method has a limitation in that it is difficult to secure reliability and accuracy in the handling and management of pharmaceuticals.

Korean Patent Publication No. 10-2012-0047716 (published on May 14, 2012) Korean Patent Registration No. 10-1513691 (Registered on April 14, 2015) Korean Patent Registration No. 10-0744427 (Registered on July 25, 2007)

The present invention is to solve the above problems, and an object of the present invention is to close all the medicine trays from the outside at once without a separate opening/closing member for each medicine tray, and to provide a desired tray when necessary. It is to provide an automatic drug import/export management device that can take out only the medicines.

Another object of the present invention is to break away from the conventional method in which the automatic drug delivery and unloading function was implemented in a drug tray circulation method, and to provide an automatic drug delivery management device capable of transferring a desired drug tray at high speed and positioning it at the loading/unloading entrance. .

According to the present invention for achieving the above object, there is provided an apparatus for automatic drug delivery and management, comprising: a main body; a tray jig installed inside the body; a plurality of trays in which medicines are stored and mounted on the tray jig in a multi-layered structure; a loading/unloading port formed in one region of the main body to take out the medicines stored in the tray to the outside or to bring the medicines into the tray; a tray gripper for withdrawing a tray mounted on the tray jig and locating it on the side of the loading/unloading port or returning the tray drawn out toward the loading/exporting entrance to the tray jig; and a robot arm that moves the tray gripper in the X-axis and Z-axis directions.

And, the tray gripper includes a support; an actuator installed so as to be capable of moving forward and backward and ascending and descending on the support; a driving module for controlling the forward/backward and elevating operations of the actuator; and a holder formed to protrude from the front side of the actuator and configured to engage in a vertical upper region of the grip groove.

In addition, the tray includes a grip groove formed through one surface to a size that the holder can pass through.

When a signal for drawing out a specific tray from among the trays mounted on the tray jig and locating it on the side of the loading/unloading port is input, the tray gripper is a tray corresponding to the input signal among the plurality of trays (hereinafter referred to as a 'target tray') a first operation of moving by the robot arm to the front of the ; a second operation of advancing the actuator to insert the holder into the grip groove; a third operation in which the actuator rises to raise the upper end of the holder to the vertically upper position of the grip groove; a fourth operation of withdrawing the target tray from the tray jig while the upper end of the holder is caught in the vertical upper region of the grip groove as the actuator moves backward; and a fifth operation of moving the target tray drawn out by the fourth operation to the position of the inlet/outlet through the robot arm.

According to the automatic drug delivery management device according to the present invention, only an authenticated user can bring in and take out drugs, trace the drug transport history, and real-time monitoring of all handling processes, including information on transported and imported drugs and their usage It became possible.

Accordingly, the efficiency and security of drug management can be greatly improved, and the accuracy and reliability of the dispensing process and drug warehousing process, which depended entirely on the skill of the existing dispenser, can be improved, and drugs can be diverted or misused for non-prescription purposes. Problems can be prevented, and the process including distribution, storage, and prescription of pharmaceuticals can be automatically integrated and supervised.

According to the automatic drug delivery management device according to the present invention, all the drug trays can be collectively closed from the outside without a separate opening and closing member for each drug tray, and only the desired tray can be taken out when necessary. , it has the effect of efficiently implementing the function of preventing unauthorized export or theft of medicines.

According to the automatic drug delivery management apparatus according to the present invention, there is an advantage in that the tray can be moved stably while preventing the tray from being separated from the holder during high-speed transfer of the tray.

1 is a front view of an automatic drug delivery management device according to the present invention.
Figure 2 is a rear view of the automatic drug delivery management device according to the present invention.
Figure 3 is a side view of the automatic drug delivery management device according to the present invention.
4 is a perspective view of a tray according to the present invention;
5 is a perspective view of a tray and a tray gripper according to the present invention;
6 is a view showing a forward motion for the tray grip of the actuator according to the present invention.
7 is a view showing a lifting operation for the tray grip of the actuator according to the present invention.
8 is a view showing a reverse operation for the tray grip of the actuator according to the present invention.
9 is a perspective view showing a tray mounted on the weight sensor of the present invention.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

In addition, in this specification, "on or on top of" means to be located above or below the target part, which does not necessarily mean to be located above with respect to the direction of gravity. That is, the term "on or on top of" referred to in the present specification includes not only a case located above or below the target part, but also a case located in front or behind the target part.

Also, when a part of a region, plate, etc. is said to be “on or on” another part, it is not only when another part is in contact with or spaced “on or on” another part, but also when another part is in between. Including cases where there is

In addition, in this specification, when a component is referred to as “connected” or “connected” with another component, the component may be directly connected or directly connected to the other component, but in particular It should be understood that, unless there is a description to the contrary, it may be connected or connected through another element in the middle.

Also, in this specification, terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

Hereinafter, preferred embodiments, advantages and features of the present invention will be described in detail with reference to the accompanying drawings.

1 is a front view of the automatic drug delivery management device according to the present invention, Figure 2 is a rear view of the automatic drug delivery management device according to the present invention, Figure 3 is a side view of the automatic drug delivery management device according to the present invention, Fig. 4 is a perspective view of a tray according to the present invention.

1 to 4, the automatic drug delivery management apparatus according to the present invention includes a main body 10, a tray jig 20, a tray 30, a carry-in/out port 15, a tray gripper 50, and a robot arm ( 40) is included.

The main body 10 forms the exterior of the automatic drug delivery management device, and there is provided a space in which the tray jig 20, the tray 30, the tray gripper 50, the robot arm 40, etc. can be accommodated. , In particular, at least the inner space in which the tray 30 is accommodated is configured to be closed from the outside.

In one area of the main body 10, a port 15 for taking out and bringing in medicines is formed, and in another area, a touch screen, a computer device, an information reader, etc. may be installed.

The tray jig 20 is installed inside the main body 10 as a configuration for storing the tray 30 , and a plurality of trays 30 can be sequentially stacked in a plurality of rows along the height direction of the tray jig 20 . can be configured.

The tray 30 mounted on the tray jig 20 is drawn out from the tray jig 20 by the tray gripper 50 or configured to return to the original position of the tray jig 20 .

The tray 30 is a medicine storage box in which medicines are stored and mounted on the tray jig 20 in a multi-layered structure. Accordingly, the tray 30 may be formed in a housing structure in which a space in which medicines can be accommodated is provided. The tray 30 is formed with a grip groove 35 for its withdrawal and return to its original position.

According to an embodiment, the tray 30 may be formed in a polyhedral box-shaped structure as shown in FIG. 4 . In addition, the grip groove 35 may be formed through one surface of the tray 30 to a size that the holder 55 can pass through. Here, the 'one side' of the tray 30 on which the grip groove 35 is formed is the side opposite to the gripper 50 in the tree to be described later based on the state in which the tray 30 is roughed on the tray jig 20. refers to For reference, the grip groove 35 of the embodiment of FIG. 4 was formed in the form of a through hole punched in a rectangular shape.

The carry-in/out port 15 is configured to be opened so as to take out the medicines stored in the tray 30 of the main body 10 to the outside or to bring the medicines into the tray 30, and the tray 30 for carrying in and out of the medicines. It is also an area where the tray 30 drawn out from the jig 20 by the transfer operation arrives. Specific details of the 'tray 30 transfer operation' will be described later.

According to an embodiment, the carry-in inlet 15 may be configured in the form of an opening communicating with the outside in the upper region of the main body 10 as shown in FIGS. 1 and 2 . Here, the 'upper region' of the main body 10 in which the carry-in inlet 15 is formed may be a region located higher than the uppermost end of the tray jig 20 .

Accordingly, when the tray 30 is positioned in the discharge port area after being drawn out from the jig 20 , the user can take out or bring in the medicines stored in the tray 30 through the discharge port.

On the other hand, it goes without saying that the carry-in entrance 15 may be configured to be opened and closed by an opening and closing operation of a separate opening/closing door. Such an opening/closing door may be configured in a known form such as a sliding door equipped with a locking device, a hinged rotating door, and the like.

In this case, in addition to the self-locking security function of the automatic drug delivery management device, the double locking device effect can be realized by further providing an auxiliary locking security function by the opening/closing door.

The robot arm 40 is a mechanism module having two degrees of freedom, a first robot arm 41 having a degree of freedom in the X-axis direction (X1), and a second robot arm having a degree of freedom in the Z-axis direction (Z1). and a robot arm 42 .

The robot arm 40 is connected to the tray gripper 50 and is configured to move the tray gripper 50 in the X-axis direction (X1) and the Z-axis direction (Z1) according to an input signal. Here, the 'X-axis direction (X1)' refers to the horizontal direction (horizontal direction) of the main body 10 or the tray jig 20 with reference to FIG. 1, and the 'Z-axis direction (Z1)' is the body ( 10) or refers to the height direction (vertical direction) of the tray jig 20 .

The tray gripper 50 is a mechanism for gripping the tray 30 when taking medicines in and out, withdrawing the tray 30 mounted on the tray jig 20 and placing the tray 30 on the carry-in/out entrance 15 side, It serves to return the tray 30 drawn out toward the carry-in/out port 15 to the tray jig 20 when carrying in.

The tray gripper 50 is mounted on the side of the robot arm 40 and is configured to move freely in the X-axis (X1) direction and the Z-axis (Z1) direction in the main body 10 .

5 is a perspective view of a tray and a tray gripper according to the present invention, FIG. 6 is a view showing a forward operation for the tray grip of the actuator according to the present invention, and FIG. 7 is a tray grip of the actuator according to the present invention. It is a view showing a lifting operation, and FIG. 8 is a view showing a reverse operation for the tray grip of the actuator according to the present invention.

5 to 8 , the tray gripper 50 according to the present invention includes a support 51 , an actuator 53 , a driving module 60 , and a holder 55 .

One side of the support 51 is connected to the robot arm 40 , and the actuator 53 is movably installed in the vertical upper or lower vertical region thereof.

According to an embodiment, the support body 51 is formed of a plate-shaped member, and a guide rail 52 extending in the longitudinal direction of the support body 51 may be formed on the upper surface of the support body 51 . In this case, the actuator 53 is guided by the guide rail 52 and is configured to move forward and backward.

The actuator 53 is a configuration that is installed so as to be capable of a forward and backward operation and a lifting and lowering operation on the support 51, and may withdraw the tray 30 from the jig 20 or the jig 20 through the forward and backward and ascending and descending operations. It is configured to be able to perform a grip operation to return it to the

The driving module 60 is configured to generate and control the forward/backward and elevating operations of the actuator 53 . The driving module 60 may be configured as a driving device capable of changing a rotational motion such as an electric motor into a linear motion.

According to an embodiment, the driving module 60 may be configured as a driving device capable of changing a rotational motion of an electric motor or the like into a linear motion. For example, the driving module 60 may be configured as a driving device capable of generating a driving force in a linear direction, such as a linear motor, an actuator, or a ball screw motor. Alternatively, the driving force generated by the electric motor may be transmitted to the conveying belt through the sprocket to enable linear reciprocating motion of the actuator 53 via this.

For reference, in the case of the embodiments of FIGS. 5 and 6 , the driving module 60 includes the first driving module 61 for generating the forward and backward motions of the actuator 53 and for raising and lowering the actuator 53 . The second driving module 62 was separately installed. And, the first driving module 61 is installed on the support body 51 to generate the forward and backward motion of the actuator 53, and the second driving module 62 is installed on the support body (53) together with the actuator (53). 51) was configured to operate forward and backward.

The holder 55 is formed on the actuator 53 so as to be able to engage in a vertical upper region of the grip groove 35 when the actuator 53 moves upward and backward.

According to an embodiment, as shown in FIGS. 5 and 6 , the holder 55 may include a pedestal 56 and a stopper 57 . The pedestal 56 may include a plate-shaped member formed to protrude in the horizontal direction from the front side of the actuator 53 . And, the stopper 57 may include a plate-shaped member erected perpendicular to the front end of the pedestal (56). Therefore, according to the embodiment of Figures 5 and 6, the holder 55 is configured to have a 'L'-shaped cross-sectional structure as a whole.

According to the above configuration, the pedestal 56 serves to support and support the portion of the tray in the vertical upper portion of the grip groove 35 by the lifting operation of the actuator 53 . And the stopper 57 is caught on the inner surface of the tray portion in the vertical upper portion of the grip groove 35 by the backward operation of the actuator 53 to press the tray 30 in the reverse direction to draw it out from the jig 20 . will perform

According to a preferred embodiment, the actuator 53 comprises a tray contact portion 54 . The tray adhesion part 54 is provided in the vertical lower region of the position where the holder (ie, the pedestal 56) is formed and serves to suppress the flow of the tray 30 when it is transported.

Referring to FIG. 7 , in the tray gripper 50 of the present invention, when the actuator 53 moves forward and the holder 55 is inserted into the grip groove 35 and the actuator 53 moves upward, the holder ( 55) is configured to form a structure in which the locking area of the tray 30 is interposed between the stopper 57 of the actuator 53 and the upper portion of the actuator 53. Here, the 'locking area' of the tray 30 refers to a tray area located vertically above the grip groove 35 .

According to the structure of the actuator 53 as described above, when the tray 30 drawn out to the outside is returned to the tray jig 20, when the actuator 53 moves forward, the upper portion of the actuator 53 is moved to the tray ( 30) is pushed in the direction of the jig 20 to return to the jig 20 .

On the other hand, when the actuator 53 moves backward in a state in which the tray engaging area is supported by the holder 55 and is engaged, the center of gravity of the tray 30 is shifted to one side so that the tray 30 holds the holder 55. Rotating in one direction about the axis and twisting may occur.

However, during the backward operation of the actuator 53 , at least a partial region of the tray portion (hereinafter, referred to as a 'tray adhesion region') located in the vertical lower portion of the grip groove 35 comes into contact with the tray adhesion part 54 and is in close contact. When configured to be so, the rotation of the tray 30 is prevented by the tray adhesion part 54 to prevent the distortion problem of the tray 30, and accordingly, when the tray 30 is transported at high speed, the tray 30 is prevented from escaping from the holder 55 and can be moved stably.

Hereinafter, the carrying out and returning operations of the tray 30 by the tray gripper 50 will be described.

(1) Tray unloading operation

When a specific tray 30 among the trays mounted on the tray jig 20 is to be taken out to the outside (ie, the location of the loading/unloading port 15), the tray gripper 50 performs first to sixth operations. is configured to

The first operation is an operation of moving the tray gripper 50 to the front of a tray (hereinafter, referred to as a 'target tray') corresponding to an input signal among the plurality of trays 30 . This first operation is performed by driving the robot arm 40 in the X-axis and Z-axis directions.

The second operation is an operation in which the actuator 53 advances and inserts the holder 55 into the grip groove 35 of the tray 30 . This second operation is performed by the driving module 60 of the tray gripper 50 .

The third operation is an operation in which the actuator 53 rises in the vertical direction to raise the upper end of the holder (ie, the stopper 57 ) to the vertically upper position of the grip groove 35 . When the third operation is completed, the target tray 30 is supported by the pedestal 56 of the holder 55 by its own weight and is in a suspended state. This third operation is performed by the driving module 60 of the tray gripper 50 .

The fourth operation is a target in a state in which the upper end of the holder 55 (ie, the stopper 57) is hooked on the tray portion in the vertical upper region of the grip groove 35 by moving the actuator 53 backward in the straight direction. It is an operation to withdraw the tray 30 from the tray jig 20 . This fourth operation is performed by the driving module 60 of the tray gripper 50 .

The fifth operation is an operation of moving the target tray 30 drawn out from the tray jig 20 by the fourth operation to the position of the loading/unloading port 15 . This fifth operation is performed by the X-axis and Z-axis driving of the robot arm 40 .

The sixth operation is an operation of moving the target tray 30 transferred to the carry-in inlet 15 side by the fifth operation forward so that the target tray 30 can be accurately positioned within the carrying-out inlet 15 space. Moving the transferred target tray 30 forward is performed by moving the actuator 53 forward.

When the sixth operation is completed, the target tray 30 is placed in the loading/unloading port 15 and exposed to the outside, so that the user can take out the medicine contained in the target tray 30 to the outside.

(2) Tray return operation

When a specific medicine is unloaded from the tray (ie, target tray) transferred to the loading/unloading port 15 through the above-described tray 30 unloading operation, or the operation of filling the target tray with stock medicines is completed, the tray is returned to the original A return operation to return to the position is performed.

As such, when returning the tray 30 to its original position, the tray gripper 50 is configured to perform an operation in the reverse order of the above-described tray unloading operation, and each operation is as follows.

First, the actuator 53 advances and inserts the holder 55 into the grip groove 35 of the tray 30 at the carry-in/out port 15, and then the actuator 53 rises in the vertical direction to raise the holder ( That is, the upper end of the hook (57)) is raised to the vertical upper position of the grip groove (35).

Thereafter, as the actuator 53 moves backward in the straight direction, the upper end of the holder 55 (ie, the stopper 57) is hooked to the tray portion in the vertical upper region of the grip groove 35, and the tray 30 ) is separated from the position of the carry-in inlet (15).

Thereafter, the tray 30 separated from the carrying inlet 15 is transferred to the front position of the desired tray jig 20 through the control of the robot arm 40 .

Thereafter, by moving the tray 30 forward and mounting the tray 30 on the tray jig 20 , the return and return operations of the tray 30 are completed.

The automatic drug delivery management apparatus of the present invention may further include a control unit, a weight sensor 70 , an information input unit 90 , and an information reading unit 80 .

The weight sensor 70 is configured to detect weight information of medicines carried out from the tray 30 and medicines carried into the tray 30 .

9 is a perspective view showing a tray mounted on the weight sensor of the present invention. The weight sensor 70 is installed at the position of the carry-in inlet 15, and when the tray is positioned in the carry-out inlet 15 by the sixth operation described above, it may be configured to be placed on the weight sensor 70 as shown in FIG. 9 .

In this case, the control unit is configured to store the drug transport details including weight information of the transported drugs, and transmit the drug transport details to the first terminal or the management server.

The information reading unit 80 may include a reader that reads the identification tag attached to the medicine to be brought into the tray 30 . Here, the identification tag may be a barcode or an RFID tag, and the reader may be a barcode reader or an RFID reader.

In this case, when the identification tag reader of the information reading unit 80 reads the identification tag attached to the medicine, the identification tag reading information is transmitted to the control unit. Then, the control unit receiving this determines a target tray among a plurality of trays 30 mounted on the tray jig 20 based on the read information, and performs an operation for withdrawing the target tray toward the loading/unloading port 15. configured to control.

That is, assuming that the read information is medicine A, the controller recognizes the coordinates on which the tray 30 in which the medicine A is accommodated, and then outputs a control signal based on the coordinates. Here, the 'control signal' means a signal for controlling the X and Z axis motions of the robot arm 40 and the forward/backward and elevating motions of the tray gripper 50 .

Meanwhile, the information reading unit 80 may further include authentication means for recognizing information of a person who intends to take out the tray 30 mounted on the tray jig 20 .

In this case, the control unit determines whether the information recognized through the authentication means corresponds to the registration authorized person, and only when the determination result corresponds to the registration authorized person, the above-described tray unloading operation (that is, the first to sixth operations) ) and a tray return operation.

On the other hand, if it is an unauthorized person who is not registered as a result of the determination, a warning sound or voice guide to notify the outside of an unauthorized export attempt is output, and a message or voice information including the fact is generated and transmitted to a remote terminal or management server. can

For example, the authentication means includes a fingerprint reader that recognizes the fingerprint of the person trying to take out the drug, a reader that reads an identification tag (eg, RFID tag) attached to a card (employee ID) or wristband worn by the person trying to take out, and the iris of the person trying to take out It may be composed of a well-known authentication security means such as an iris recognizer that recognizes the iris, a password input device, and the like.

In addition, when the authentication means is further included, the export details provided by the control unit to the remote terminal or the management server may further include information recognized through the authentication means. Here, the 'information recognized through the authentication means' may include personal information of the person taking out the drug, the time taken out, and the like.

According to the configuration as described above, there is an advantage that the manager or operator can monitor and manage the user history related to bringing in/out of medicines in real time even remotely through a terminal owned by the manager or operator.

The information input means 90 is a device capable of inputting characters, symbols, numbers, and the like, and may be composed of, for example, a touch screen or a keyboard type input device.

The information input through the information input means 90 may be, for example, a call to the target tray 30 for carrying in/out of medicines, a command to check the remaining amount of medicines, and input of prescription-related information.

When the information input means 90 is further included, it is configured to transmit information input through the information input means 90 to the control unit. Then, the control unit receiving this determines a target tray among a plurality of trays 30 mounted on the tray jig 20 based on the input information, and performs an operation for withdrawing the target tray toward the loading/unloading port 15. configured to control.

The display unit is an image display device (eg, LCD, OLED, etc.) capable of expressing letters, numbers, symbols, etc., and is configured to visually display information related to drug delivery, dispensing, and inventory to the outside.

As such, when the information input means 90 is further included, the control unit reflects the weight information of the medicines that have been taken out from the tray 30 to update and store the remaining amount information of the corresponding medicines.

And, upon request to take out a specific medicine through the information input means 90 or upon completion of updating the remaining quantity information, the control unit controls the display unit to display the remaining quantity information on the display unit, or to the remote terminal or the management server for remaining quantity information, that is, the inventory quantity of the corresponding medicine. may be configured to provide

In addition, the control unit may be configured to receive the prescription information. In this case, it is configured to control the robot arm 40 and the tray gripper 50 to generate a tray unloading operation based on the prescription information.

According to one embodiment, the control unit is configured to receive prescription information by receiving the prescription information through the information input means 90, or to receive the prescription information by receiving the prescription information from the remote terminal or the management server through the communication module. can be configured.

In this case, the tray unloading operation may be an operation of sequentially withdrawing the trays 30 in which the medicines recorded in the prescription information are stored from the jig 20 and positioning the trays 30 on the loading/unloading port 15 side.

In the above, preferred embodiments of the present invention have been described and illustrated using specific terms, but such terms are only for clearly describing the present invention, and the embodiments and described terms of the present invention are the spirit and scope of the following claims. It is obvious that various changes and changes can be made without departing from it. Such modified embodiments should not be individually understood from the spirit and scope of the present invention, but should be considered to fall within the scope of the claims of the present invention.

10: main body 15: carry-out entrance
20: tray jig 30: tray
35: grip groove 40: robot arm
50: tray gripper 51: support
53: actuator 54: tray contact portion
55: holder 56: pedestal
57: stopper 60: drive module
70: weight sensor 80: information reading unit
90: information input means

Claims (7)

main body; a tray jig installed inside the body; a plurality of trays in which medicines are accommodated and mounted on the tray jig in a multi-layered structure; a carry-out port formed in one area of the main body to take out the medicines stored in the tray to the outside or to bring the medicines into the tray; a tray gripper for withdrawing a tray mounted on the tray jig and locating it on the side of the loading/unloading port or returning the tray drawn out toward the loading/exporting entrance to the tray jig; and a robot arm that moves the tray gripper in the X-axis and Z-axis directions.
The tray gripper,
support; an actuator installed so as to be capable of moving forward and backward and ascending and descending on the support; a driving module for controlling the forward/backward and elevating operations of the actuator; and a holder formed to protrude from the front side of the actuator and configured to engage in a vertical upper region of the grip groove.
The tray is
and a grip groove penetratingly formed on one surface to a size that the holder can pass through;
The tray gripper,
a first operation of moving by the robot arm to the front of a tray corresponding to an input signal among the plurality of trays (hereinafter, referred to as a 'target tray');
a second operation in which the actuator moves forward and inserts the holder into the grip groove;
a third operation of raising the upper end of the holder to a vertically upper position of the grip groove by raising the actuator;
a fourth operation of withdrawing the target tray from the tray jig while the upper end of the holder is caught in the vertical upper region of the grip groove as the actuator moves backward; and
A fifth operation of moving the target tray drawn out by the fourth operation toward the entrance and exit through the robot arm;
According to claim 1,
The holder includes a pedestal and a stopper,
The pedestal is
It includes a plate-shaped member formed to protrude from the front side of the actuator,
In the third operation, the plate-shaped member of the pedestal is configured to support and support the tray portion in the vertical upper portion of the grip groove,
The hanger is
Including a plate-shaped member erected vertically at the front end of the bed,
In the fourth operation, the plate-shaped member of the clasp is configured to engage the inner surface of the tray portion located vertically above the grip groove,
The tray gripper,
In the third operation, a tray portion in the vertical upper portion of the grip groove is interposed between the stopper and the upper portion of the actuator,
The actuator is
Includes a tray contact portion provided in the vertical lower region of the position where the pedestal is formed,
The tray adhesion part,
In the fourth operation, at least a partial region of the tray portion located vertically below the grip groove is in contact with the automatic drug delivery management device.
According to claim 1,
Further comprising a weight sensor disposed on the side of the carry-out entrance to detect weight information of the medicine carried out from the target tray or carried into the target tray,
The tray gripper,
Upon completion of the fifth operation, the actuator moves forward and moves the target tray forward to further perform a sixth operation of placing the target tray on the weight sensor.
4. The method of claim 3,
The device for automatically transporting medicines, characterized in that it further comprises a control unit for storing medicines carrying in and out details including weight information of the carried out or carried in medicines.
According to claim 1,
a reader for reading the identification tag attached to the medicine to be carried into the tray; and
Based on the identification tag information read by the reader, a control unit for determining a target tray among a plurality of trays mounted on the tray jig and controlling the withdrawal of the target tray; Device.
According to claim 1,
information input means capable of inputting characters, symbols, numbers, etc.; and
Based on the information inputted through the information input means, a control unit for determining a target tray among a plurality of trays mounted on the tray jig and controlling the withdrawal of the target tray; management device.
According to claim 1,
authentication means for recognizing information of a person who intends to take out the tray mounted on the tray jig; and
Further comprising a control unit that determines whether the information recognized through the authentication means corresponds to the registration authorized person, and generates the first to fifth operations only when the determination result corresponds to the registration authorization person A device that automatically manages the import and export of medicines.

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