WO2005073123A1

WO2005073123A1 - Medicine storage and take-out apparatus

Info

Publication number: WO2005073123A1
Application number: PCT/JP2005/000574
Authority: WO
Inventors: Shoji Yuyama; Katsunori Yoshina; Takafumi Imai; Masahito Miyashita
Original assignee: Yuyama Mfg. Co., Ltd.
Priority date: 2004-01-30
Filing date: 2005-01-19
Publication date: 2005-08-11
Also published as: TW200528085A; JP2005211519A

Abstract

A medicine storage and take-out apparatus, comprising a cap holding part (604) holding a cap (2) with the inside recessed a part (2a) of the cap (2) facing downward, holding a member (601) having container holding a part (605) vertically movably holding, on the lower side of the cap holding part (604), a vial bottle (3) with the opening parts of the vial bottle (3) facing upward, a container raising member (602) pressing the vial bottle (3) held by the holding member (601) from the bottom faces thereof upward, a rotatingly driving means (604b) relatively rotating the holding member (601) or the container raising member (602), and a control means (801) for raising the vial bottle (3) by the container raising member (602) and driving the rotatingly driving means (604b) to relatively rotating the vial bottle (3) and the cap (2) with the cap (2) pressed against the upper opening part of the vial bottle (3) so as to fit the cap (2) to the vial bottle (3).

Description

Specification

Drug storage and removal device

Technical field

[0001] The present invention relates to a drug storage and retrieval device having a function of automatically attaching a cap to an upper opening of a vial.

Background art

[0002] Conventionally, a vial bottle has been closed with a cap after containing a drug (for example, see Patent Documents 1 and 2).

[0003] Patent Document 1: US Patent No. 5,502,944

Patent Document 2: US Pat. No. 5,208,762

Disclosure of the invention

Problems to be solved by the invention

However, Patent Document 1 does not disclose a configuration in which a cap can be automatically attached to a vial. Patent Document 2 does not disclose a specific configuration for automatically mounting a cap. The cap cannot be easily attached to the vial because it cannot be easily opened by children due to a special hooking mechanism!

[0005] Therefore, it is an object of the present invention to provide a medicine storage and removal device provided with a mechanism for automatically performing even when a cap is attached to a vial.

Means for solving the problem

[0006] The present invention provides, as a means for solving the above-mentioned problems, a medicine storage and removal device,

Equipped with cabbing,

The cabbing part,

A cap holding portion for holding the cap with the concave portion on the inner surface of the cap facing downward, and a vial bottle with the opening of the vial facing upward below the cap holding portion. Holding member having a container holding portion for holding the

Push the vial held by the container holding portion of the holding member upwardly from the bottom cover. At least one of a container lifting member to be pressed, or a pressing portion for pressing the cap held by the cap holding portion of the holding member downward from the upper surface, and the holding member or the container lifting member. Rotating drive means for relatively rotating members; and at least one of the container lifting member or the pressing portion, wherein the rotary drive means is pressed against the upper opening of the vial. By driving the vial and the cap to rotate relatively, the vial is provided with control means for attaching the cap to the vial.

[0007] With this configuration, the cap and the medicine container can be held in a desired positional relationship by the holding member. Then, the cap is pressed against the vial by at least one of the container lifting member and the pressing portion, and the rotation driving means is driven to rotate the cap and the vial relatively, Caps can be easily and automatically placed on vials.

[0008] If the cap holding portion of the holding member is provided with a pressing portion that presses the cap directionally with downward force, the holding state of the cap can be stabilized, and the upper opening of the medicine container It is preferable because it can be easily attached to a part.

[0009] It is preferable that the pressing portion has a high friction portion on a contact surface with the cap, since the mounting of the cap to the medicine container can be performed stably and reliably.

[0010] If the cap holding portion of the holding member is provided with a plurality of locking pieces that elastically press against the outer peripheral surface of the cap, the cap can be held smoothly and can be smoothly attached to the medicine container. It is preferable because it becomes.

[0011] It is preferable that the container lifting member has a high friction portion on a contact surface with the vial, since the cap can be stably and reliably mounted on the medicine container.

[0012] In a state where the vial is pressed against the cap with the first pressing force by the container lifting member, the control means rotates the vial and the cap relatively by the rotation driving means, When the vial is attached to the vial by pressing the vial against the cap with the second pressing force by the container lifting member, the cap is securely attached to the vial even if the vial is equipped with a lock mechanism. Preferable because it can be attached ヽ [0013] The medicine container includes a medicine container, such as a vial, capable of accommodating medicine and having an upper opening closed by a cap, and is formed of various materials such as glass and synthetic resin. What is done is applicable.

[0014] The cap includes all the caps that are attached to the upper opening of the medicine container by pressing and Z or rotation and can be closed.

[0015] The pressing and rotating of the cap against the medicine container include one that performs one or both of the cap holding portion and the container holding member.

[0016] The cap holding portion includes a mechanism for holding the cap by various means such as suction and suction. For example, in addition to the locking piece, a suction cup, a suction pump, or a combination thereof can be used. In the case of a suction cup or the like, after the cap is attached to the medicine container, it may be configured so that air can be supplied to the adsorption part so that the cap force is easily released.

[0017] According to the cabling portion having the above-described configuration, a lock mechanism such that a child cannot be easily opened at a portion where the cap is attached to the medicine container is provided. is there.

The invention's effect

According to the present invention, the cap can be mounted while the cap and the drug container are held by the holding member, so that the cap and the drug container can be properly aligned, and the cap is automatically mounted. It is possible. In addition, the cap can be rotated while the cap is pressed against the upper opening of the medicine container by the container lifting member, so that the cap can be easily attached even with a lock mechanism. .

Brief Description of Drawings

FIG. 1 is a front view of a tablet storage and retrieval device according to the present invention.

FIG. 2 is an internal front view of the tablet storage / extraction device of FIG. 1.

FIG. 3 is a sectional view taken along the line ΠΙ-ΠΙ of FIG. 2.

FIG. 4 is a sectional view taken along the line IV-IV in FIG. 2.

FIG. 5 is a sectional view taken along line VV of FIG. 2.

FIG. 6 is a block diagram of control by a control unit. FIG. 7 is a front sectional view of a cap supply unit.

FIG. 8 is a side view of a cap supply unit.

FIG. 9 is a plan view of a cap supply unit.

FIG. 10 is a partially enlarged cross-sectional view showing a cap direction changing unit in FIG. 7.

FIG. 11 is a view showing a state in which the cap direction changing unit is also rotated counterclockwise in the standby position force of FIG. 10;

FIG. 12 is a view showing a state in which the cap direction changing unit is also rotated clockwise in the standby position force of FIG. 10;

[FIG. 13] (a) is a diagram showing a state in which the cap is supplied to the supply table, (b) is a diagram showing the state in which the supply table is advanced from the state shown in (a), and (c) is a diagram showing the state in which the cap is supplied to (b). FIG. 4 is a diagram showing a state where the supply table is retracted from the state shown.

FIG. 14 is a front view showing a cabling portion.

FIG. 15 is a side view showing a cabling portion.

[FIG. 16] (a) is a plan view and a front view of the cabling portion, (b) is a front view showing a state before the vial is lifted, (c) is a front view immediately after starting the lifting, and (d) is a front view of the cap. It is a front view at the time of completion of mounting.

FIG. 17 (a) is a plan view showing a state before holding a vial showing a container holding portion, and FIG. 17 (b) is a plan view showing a state holding the vial.

FIG. 18 is a flowchart showing cap supply control.

FIG. 19 is a flowchart showing the control of the supply of the vial.

FIG. 20 is a flowchart showing cap closing control.

FIG. 21 is a flowchart showing another cap closing control.

FIG. 22 is a flowchart showing another cap closing control.

FIG. 23 is a flowchart showing another cap closing control.

FIG. 24 is a flowchart showing the control of unloading the vial.

Explanation of symbols

1… tablet storage and removal device

2… cap · · · Inner surface recess

· · · · Vials

· "Body

· · · Operation display panel a- · · Exit

b-

c-

· Auxiliary tablet supply unit

··· Auxiliary cap storage sections a, 60b, 60c, 60d, 60e… Door 0 ··· Vial supply section

0 · "First transfer robot

0 Labeling section

0 · ”Second transfer robot

0 Tablet supply section

0 · "3rd transfer robot

0 Audit Department

0 · "4th transfer robot

0 Cap supply section

1 · "cap container

2a, 502b: Cap stirring member 3 ··· Cap passage

4 1st slope

5 2nd slope

6Vertical plane

7

8 "slit

9 "rotary axis 510

511a, 511b ... driven gear

512 motor

512a… Drive gear

513

514 ... 1st cap passage

515 ... Second cap passage

516… Slope

517… The third slope

518… Guide surface

519

520 ... Aligned passage

521 ... Cap stop

521a… Motor

522 Cap detector

523 ... Stop recess

524 ··· Shoot rail

525

526 ... Pusher

526a… link

527 1st cap sensor

528… Extrusion part

529 ... Rotating plate

530 ... Support

530a… Spindle

530b… Roller

531 ... Cylindrical body

531a: Support shaft 532 ... resection

532a ... recess

532b… Spring

532c: Shaft

533… Information board

534… Guideway

535 ... Cap standby unit

536 ... actuator

536a… Rod

537 ... supply stand

538 ... Laura

539… Placement table

539a: Inclined part

540 1st rod

541… Second rod

542 link

542a: Support shaft

542b… Spring

542c ... Protrusion

550 ... guide piece

550a… Slope

543 ... second cap sensor

600 cabling section

601… Holding member

602… Container lifting member

604 ··· Cap holder

604a… actuator

604b… Motor 605 ... 'Container holder

606 ... 'Sliding member

607

608

609

609a '… Spindle

610 ... 'Container holding roller

611 · 'Lifting motor

612 ...

613 ...- Rack

614 ...

615 ... '1st sensor

616 ... 'Second sensor

617 ... '3rd sensor

700 ...

800--Control unit

900 ...

BEST MODE FOR CARRYING OUT THE INVENTION

FIG. 1 is a front view of a tablet storage and unloading device 1 according to the present invention, FIG. 2 is an internal front view, FIG. 3 is a cross-sectional view taken along the line ΠΙ-ΠΙ of FIG. 2, FIG. FIG. 5 is a sectional view taken along line VV.

[0022] 1. Overall configuration

First, the overall arrangement of the tablet storage / unloader 1 will be described. As shown in FIG. 1, an operation display panel 20 for performing a display necessary for operating the tablet storage and unloading device 1 is provided at the upper center of the front of the main body 10. Three vial outlets 30a, 30b, 30c are provided at the lower right of the operation display panel 20, and an auxiliary tablet supply unit 40 (40a, 40b) is provided at the lower left, and the auxiliary tablet supply unit 40 (40a) is provided. , 40b), an auxiliary cap storage section 50 is provided. The auxiliary tablet supply section 40 stores two types of pillin-based tablets, respectively, and supplies tablets according to the prescription data. The auxiliary cap storage section 50 runs a large number of caps 2. It is stored in a dam and can be taken out manually when needed. A door 60a for refilling the vial 3 is provided on the upper right side of the front of the tablet storage and unloader 1, a door 60b for replacing and refilling tablets is provided on the left side, and a maintenance door 60c is also provided on the lower side. , 6 Od, 60e power.

As shown in FIG. 2, FIG. 3, and FIG. 4, inside the tablet storage and unloading device 1, a vial supply unit 100, a labeling unit 200, a tablet supply unit 300, an imaging unit 400, a cap supply unit 500, A caving section 600 and a storage section 700 are provided. As shown in FIG. 2, the vial supply section 100 is provided on the front right side of the main body 10, stores a large number of vials 3 for each size, and has an appropriate size for filling tablets according to prescription data. Supply vial 3 one by one. The labeling unit 200 is provided at the center of the lower front of the main body 10 and affixes a label on which prescription information is printed to the vial 3 supplied from the vial supply unit 100. The tablet supply section 300 is provided on the left side of the main body 10, stores a large number of tablets (non-pyrine) for each type, and supplies tablets according to prescription data. As shown in FIG. 4, the imaging section 400 is provided on the rear side of the center of the main body 10, and also captures an upward force on the vial 3 for auditing the tablets filled in the vial 3. As shown in FIG. 3, the cap supply unit 500 is provided on the right side of the main body 10 and behind the vial supply unit 100, and stores the caps 2 for closing the vial 3 and supplies them one by one. The cabbing part 600 is provided on the back side of the center of the main body 10 and closes the cap 2 supplied from the cap supply part 500 into the vial 3 filled with tablets. As shown in FIG. 5, the storage section 700 stores the vial 3 filled with tablets and closed with the cap 2 so that the operator can take it out from the outlets 30a, 30b, 30c.

As shown in FIG. 2, the tablet storage / unloading apparatus 1 further includes a first transfer robot 150, a second transfer robot 250, a third transfer robot 350, and a fourth transfer robot 450. The first transfer robot 150 is provided below the vial supply unit 100, holds the vial 3 supplied from the vial supply unit 100, and moves the vial 3 from the vial supply unit 100 to the labeling unit 200 in the left direction of the main body. , And can be transported upward from the labeling section 200 to the second transport robot 250 or the third transport robot 350. The second transport robot 250 is provided inside the tablet supply unit 300, and is transferred from the first transport robot 150. The vial 3 is held and transported to each supply port of the tablet supply section 300, and can be transported from the supply port to the third transport robot 350. The third transfer robot 350 is provided above the first transfer robot 150 of the main body 10, and transfers the vial 3 to which the first transfer robot 150 or the second transfer robot 250 is also transferred, to the cabbing unit 600 and the fourth transfer robot 450. It can be passed between and. The fourth transfer robot 450 is provided above the third transfer robot 350, and can transfer the vial 3 delivered from the third transfer robot 350 to the storage unit 700.

Further, as shown in FIG. 4, the tablet storage / unloading apparatus 1 is provided with a control section 800 on the right side of the main body 10. As shown in the block diagram of FIG. 6, the control unit 800 includes a personal computer (PC) 801 in which a device control application is installed, and a device control device 802 including a microcomputer and the like. The PC 801 is connected to a host computer 900 installed in a hospital or pharmacy, and receives data such as prescription data. The PC 801 is connected to the operation display panel 20 to output display information necessary for operating the tablet storage / unloading device 1 and to input operation information from the touch panel of the operation display panel 20. Further, the PC 801 is connected to a digital camera of the imaging unit 400. The device control device 802 is connected to the sensors and drive devices of the vial supply unit 100, labeling unit 200, tablet supply unit 300, cap supply unit 500, caving unit 600, and storage unit 700 to drive these units. Control is performed, and further connected to the sensors and driving devices of the first transfer robot 150, the second transfer robot 250, the third transfer robot 350, and the fourth transfer robot 450 to control the drive of these units.

2. Configuration of Cap Supply Unit 500

As shown in FIGS. 7 to 9, the cap supply unit 500 includes a cap container 501 containing a plurality of caps 2 and cap stirring members (cap stirring devices) 502a, 502b for stirring the caps 2 in the cap container 501. Further, a cap passage 503 in which the cap 2 in the cap container 501 moves is provided. The vial 3 and cap 2 used here are provided with a lock mechanism so that a child cannot easily remove it. That is, an engaging portion (not shown) projecting to the outer peripheral side is formed at the upper opening of the vial 3. The cap 2 is formed with an engagement receiving portion (not shown) to which the engaging portion is disengaged. An elastic protrusion (not shown) of another component is attached to the inner surface side concave portion 2a. As a result, when the cap 2 is attached to the vial 3, the cap 2 is rotated and engaged unless the cap 2 is pushed into the vial 3 against the elastic force of the elastic projection. The engaging portion was dropped from the receiving portion, and the cap 2 could not be removed from the vial 3.

[0027] The cap container 501 includes two inclined surfaces (a first inclined surface 504 and a second inclined surface 505) each having a substantially V-shaped cross section. The vertical surface 506 and the lower inclined surface 507 following the first inclined surface 504, and the second inclined surface 505 have slits 508 formed at predetermined intervals in the width direction.

[0028] The cap stirring member 502 is formed by projecting a plurality of stirring portions 510 radially from the rotation shaft 509. Each agitating section 510 also has a wire rod, is spirally disposed around the rotating shaft 509, and has its tip gradually bent toward the downstream side in the rotating direction. The cap stirring members 502 are provided at two positions so that the rotation shafts 509 are parallel. In one cap stirring member 502a, the stirring portion 510 projects into the cap container 501 from each slit 508 formed in the first inclined surface 504, and in the other cap stirring member 502b, the stirring portion 510 is connected to the second inclined surface. It protrudes from a slit 508 formed in 505. The stirring section 510 is disposed so as to be shifted in the axial direction between the cap stirring members 502a and 502b so as to overlap each other. At one end of the rotating shaft 509 of each of the cap stirring members 502a and 502b, there are provided driven gears 511a and 51 lb that engage with each other. The driven gears 511a and 51lb are combined with a driving gear 512a that rotates by driving the motor 512, so that the cap stirring members 502a and 502b rotate in synchronization.

[0029] The cap passage 503 includes a first cap passage 514 and a second cap passage 515, which are disposed so as to be orthogonal to each other via a cap direction changing unit (cap direction changing device) 513. .

[0030] The first cap passage 514 is constituted by a space between an inclined portion 516 that also extends the inner surface force of the cap container 501 and the second inclined surface 505. The inclined portion 516 includes a third inclined surface 517 and an inner surface force gradually approaching the second inclined surface 505 while maintaining a state parallel to the second inclined surface 505, and a second inclined surface 505. And a guide surface 518 parallel to Between the guide surface 518 and the second inclined surface 505, just one cap 2 can pass in the thickness direction. A gap (gap 519) is formed. Therefore, when the cap stirring member 502 is driven to stir the cap 2 in the cap container 501, the caps 2 sequentially enter the first cap passage 514 one by one via the gap 519. In addition, the caps 2 that have entered the first cap passage 514 are aligned in a row by a guide surface 518, a second inclined surface 505, and an alignment passage 520 defined by both inner surfaces.

In the middle of the first cap passage 514, a cap stop 521 and a cap detector 522 are provided.

As shown in FIGS. 8 and 9, the cap stop portion (cap stop device) 521 is formed by cutting out a part of the disk to form a recess 523 for stopping. The cap stopping portion 521 stops the cap 2 that moves the cap passage 503 by its own weight, and stops the cap 2 by driving the motor 521a to hold the cap 2 in the stopping concave portion 523. It is possible to move to.

The cap detecting section 522 removes a part of the chute rail 524 formed at a predetermined interval on the bottom surface of the cap passage 503, and the pusher 526 and the first cap sensor 527 are provided in the removing section 525. is there. The interval between the chute rails 524 is set to 2Z3 with respect to the maximum inner diameter of the concave portion 2a on the inner surface side of the cap 2. As a result, the cap 2 that slides on the chute rail 524 partially falls into the removal portion 525 due to the inner concave portion 2a being located below, and the upper notch end and the lower notch of the chute rail 524 are moved. Stop at the slope supported by the edges.

[0034] As shown in FIG. 10, the pusher 526 includes a pushing portion 528 to which one end of a link 526a is rotatably connected, and a rotating plate 529 to which the other end of the link 526a is rotatably connected. Has been established. When the rotating plate 529 is rotated by driving a motor (not shown), the pushing portion 528 reciprocates via the link 526a. Further, when the pushing portion 528 moves to the projecting position, a part of the cap 2 held in an inclined state by the upper cutout end and the lower cutout end of the chute rail 524 is pushed out, and the first cap It is transported to the cap direction changing unit 513 in parallel with the passage 514.

Further, the first cap sensor 527 detects an inclined state of the cap 2 supported by the removing portion 525 of the chute rail 524, and this detection signal is transmitted to the pusher 526 or a cap described later. Used for drive control of the direction conversion unit 513.

As shown in FIG. 10, the cap direction changing portion 513 includes a cutout portion 532 having a semicircular cross section on an outer peripheral portion of a cylindrical body 531 rotatably provided around a support shaft 530a provided on the support base 530. A guide plate 533 is provided in the cutout 532. A guide passage 534 is formed in the cylindrical body 531 so that the cap 2 that has passed through the cap detection section 522 with the outer peripheral surface force directed toward the cutting section 532 (through the first opening 534a) can enter. In addition, a relief recess 532a is formed in the cutout 532, and a spring 532b is provided therein. The spring 532b serves as a panel panel, and is attached to a shaft 532c provided in the relief recess 532a. I have. As a result, the guide plate 533 is elastically supported by the spring 532b, and the bent portion closes one end side (the second opening 534b) of the guide passage 534 to prevent the cap 2 from dropping out of the guide passage 534. It is positioned as follows. Further, the support base 530 is provided with a contact portion 530c provided with a rotatable roller 530b at a front end thereof, abuts one end of the guide plate 533, elastically deforms a spring 532b, and connects with the guide passage 534. The guide plate 533 is positioned so as to communicate with the second cap passage 515.

Further, in the initial state, the cap direction changing unit 513 is located at the standby position shown in FIG. 10, and the guide passage 534 communicates with the first cap passage 514. Then, when the motor 512 is driven to rotate forward and the cylindrical body 531 is rotated counterclockwise (indicated by an arrow in FIG. 12) about the support shaft 531a, as shown in FIG. It is possible to switch the communication place from the first cap passage 514 to the second cap passage 515. This switching is used when the cap 2 is moved from the first cap passage 514 to the second cap passage 515 while maintaining the state when the inner recess 2a of the cap 2 is located below. . When the motor 512 is driven in the reverse direction to rotate the cylindrical body 531 in a clockwise direction (indicated by an arrow in FIG. 11) about the support shaft 531a, the inclination of the guide passage 534 is increased as shown in FIG. Correspond to the second cap passage 515. In addition, the contact portion 530b contacts one end of the guide plate 533, so that the other end of the guide plate 533 connects the guide passage 534 and the second cap passage 515. This allows the cap 2 in the guide passage 534 to move to the second cap passage 515. This switching is performed by the inner surface side concave portion 2a of the cap 2 moving in the first cap passage 514. Is located above, it is used to change the direction so that the inner surface side recessed portion 2a is located below and move it to the second cap passage 515.

As shown in FIG. 13, the second cap passage 515 has a cap standby section 535 at the lower end. The cap standby unit 535 includes an actuator 536 for stopping and stopping the cap 2 and a supply table 537 that can reciprocate in the horizontal direction. Actuator 536 excites and demagnetizes the solenoid, causes rod 536a to protrude and retract from second cap passage 515, and rejects supply of cap 2 to supply table 537.

In order to avoid interference with the locking piece 608 when the cap 2 is held by the cap holder 604 to be described later, the outer periphery is cut into four equal parts. It has been. The supply table 537 is mounted on the roller 538 and the mounting table 539, and reciprocates in the horizontal direction by rotating the roller 538. The distal end of the mounting table 539 gradually has an upwardly inclined portion 539a. The supply stand 537 includes a first rod 540 and a second rod 541 that protrude from the upper surface. The first rod 540 is provided at the other end of a link 542 that rotates about a support shaft 542a at one end. The link 542 is biased by a spring 542b to be horizontal. In this state, the first rod 540 projects above the supply table 537. On the other hand, the second rod 541 is protruded above the supply table 537 by being pressed by the mounting table 539, and is immersed in the supply table 537 by moving away from the mounting table 539.

When the supply table 537 is at a standby position that is continuous with the second cap passage 515, the projection 542c formed at the intermediate portion of the link 542 comes into contact with the inclined portion 550a of the guide piece 550, so that the link 542 becomes a spring. The second rod 541 retreats from the upper surface of the supply table 537 by rotating against the urging force of the 542b. Therefore, if the actuator 536 is driven to retract the rod 536a, the cap 2 can be supplied from the second cap passage 515 to the supply table 537. When the supply table 537 is moved forward with the cap 2 supplied to the supply table 537, the protrusion 542c of the link 542 moves along the inclined portion 539a of the mounting table 539, whereby the first rod 540 gradually moves. Project above the supply table 537. As a result, the cap 2 is pressed by the first rod 540 and advances with the supply table 537. The cap 2 placed on the advancing supply table 537 is transported by the cap holding unit 604 described below, and is opened above the vial 3. The mouth is closed.

Whether or not the cap 2 is supplied on the supply table 537 is determined by the second cap sensor 54.

Detected by three.

3. Operation of Cap Supply Unit 500

Next, the operation of the cap supply unit 500 will be described.

(Cap supply control)

As shown in FIG. 18, based on the input prescription data (step S501), when the type and amount of the drug to be contained in the vial 3 are determined, a vial of an appropriate size is determined based on the type and amount. Bottle 3 is selected. Therefore, the driving of the cap supply unit 500 is started.

Here, first, the cap stirring member 502 is driven to stir the cap 2 in the cap container 501 (step S502). The cap stirring member 502 is provided at two places, and the stirring portion 510 made of a wire is respectively connected to the first inclined surface 504 and the second inclined surface 505 constituting the bottom surface of the cap container 501. Move toward Further, the stirring section 510 is arranged in a spiral shape, and stirs so as to move the cap 2 to the inclined section 516. As a result, the cap 2 is once stirred by the stirring unit 510 so that the force near the gap 519 is also moved, and then the cap 2 is directed toward the gap 519. For this reason, the cap 2 smoothly enters the first cap passage 514 despite the fact that only one gap can pass through the gap 519.

The cap 2 that has entered the first cap passage 514 is aligned in a line by passing through the alignment passage 520, and stops at the cap stop 521. Therefore, it is determined whether or not the cap 2 is detected by a sensor (not shown) provided in the cap stop 521 (step S503). When the cap 2 is detected, the cap stopper 521 is rotated (step S504), and only one cap 2 is held in the stopper recess 523, and the cap 2 is further moved to the downstream side.

Incidentally, in each of the caps 2 aligned in the first cap passage 514, one in which the inner surface side concave portion 2a is located on the lower side and one in which the inner surface side concave portion 2a is located on the upper side are mixed. In the case where the inner recess 2a is located at the lower side, the upper cutout end of the chute rail 524 is the inner surface. By locking to the side recess 2a, it is inclined and stopped. Therefore, the detection signal from the first cap sensor 527 switches to the ON state. On the other hand, the one whose inner surface side concave portion 2a is located above slides on the chute rail 524 of the first cap passage 514 and enters the guide passage 534 of the cap direction changing portion 513 without stopping at the removing portion 525. You. Therefore, the detection signal from the first cap sensor 527 remains off.

Therefore, it is determined whether the first cap sensor 527 outputs the ON signal or not (step S505). When the ON signal is output, the pusher 526 is driven based on the ON signal (step S506). As a result, the cap 2 is released from the stop state in the removing section 525, resumes the movement in the first cap passage 514, and enters the guide passage 534 of the cap direction changing section 513 as shown in FIG. In the cap direction conversion unit 513, the motor 512 is driven to rotate forward based on the ON signal from the first cap sensor 527 (step S507), and rotates counterclockwise around the support shaft 531a, as shown in FIG. As such, the guide passage 534 is located on the same straight line as the second cap passage 515. As a result, the cap 2 in the guide passage 534 moves to the second cap passage 515 while maintaining the state in which the inner recess 2a is positioned below.

On the other hand, as shown in FIG. 10, the cap 2 in which the inner surface side concave portion 2a is located above directly enters the guide passage 534 of the cap direction changing unit 513. Then, the motor 512 is driven in reverse rotation based on the OFF signal from the first cap sensor 527 (step S508), whereby the cylindrical body 531 is rotated clockwise around the support shaft 531a (indicated by an arrow in FIG. 11). ). By this rotation, the guide passage 534 is located on the same straight line as the second cap passage 515 via the guide plate 533, the direction of the cap 2 is changed, and the inner recess 2a is located below. Further, in the guide plate 533, the bending portion 534b closes the guide passage 534 by the urging force of the spring 532b during the rotation of the cap direction conversion portion 513. When one end of the guide plate 533 is pressed by the contact portion 530c, the spring 532b is elastically deformed, and the other end is located on the same straight line connecting the guide passage 534 and the second cap passage 515. Therefore, the cap 2 in the guide passage 534 moves to the second cap passage 515 for the first time when the cap direction changing unit 513 rotates to the dispensing position shown in FIG.

[0049] The cap 2 that has moved to the second cap passage 515 slides and moves as shown in FIG. 13 (a). Then, it is stopped at the standby position by the rod 536a. When the turn comes, the second cap passage 515 also retreats the rod 536a and moves the cap 2 to the supply table 537. At this time, the supply table 537 is located on the mounting table 539, and the second rod 541 protrudes on the distal end side. Therefore, the cap 2 keeps moving until it comes into contact with the second rod 541. When the cap 2 comes into contact with the second rod 541 and is positioned (when the retracting force of the rod 536a also passes for a predetermined time), the supply table 537 is advanced. As the supply table 537 advances, the projection 542c moves along the inclined portion 550a according to the biasing force of the spring 542b, and the link 542 rotates counterclockwise about the support shaft 542a. As a result, the first rod 540 also protrudes the upper surface force of the supply table 537, and the cap 2 advances with the supply table 537.

4. Configuration of Cabling Section 600

The cabling section 600 includes a holding member 601 and a container lifting member (container lifting device) 602.

As shown in FIGS. 14 and 15, the holding member 601 includes a cap holding portion (cap holding device) 604 and a container holding portion (container holding device) 605, and moves in the horizontal direction (two orthogonal directions). A possible slide member (slide device) 606 is provided.

As shown in FIG. 14, the cap holding portion 604 moves up and down by driving the actuator 604a and rotates by driving the motor 604b, and four locking pieces 608 for holding the outer peripheral surface of the cap 2. And As shown in FIG. 16 (a), the pressing portion 607 is provided with an anti-slip portion 607a having a large friction coefficient and a material force to prevent slippage when pressing and rotating the cap 2. The pressing portion 607 is provided with a spring 607b so that the cap 2 can be pressed naturally. The locking pieces 608 also have a force such as a panel panel, and are arranged at four locations around the pressing portion 607. The locking piece 608 is gradually inclined inward toward the tip. In addition, the distal end of the locking piece 608 is bent so as to expand toward the outer diameter side, and the bent portion 608a can naturally hold the outer peripheral surface of the cap 2.

As shown in FIG. 17, the container holding section 605 has a pair of container holding rollers 610 provided on a container holding arm 609 arranged at a predetermined interval. 3 is supported. The container holding arm 609 has a support shaft 6 The container holding roller 610 is rotatably mounted on one end of the housing 910, and a spring 609b is locked on the other end. The pair of container holding rollers 610 are urged to approach each other by the urging force of the spring 609b.

The container lifting member 602 raises and lowers the lifting table 614 via the pin 612 and the rack 613 by driving the lifting motor 611. On the upper surface of the lifting table 614, similarly to the pressing section 607, an anti-slip section 614a having a material force having a large friction coefficient is provided. Further, the elevation position of the lifting table 614 is detected by a first sensor 615, a second sensor 616, and a third sensor 617, respectively.

The vial 3 to which the medicine has been supplied at the transfer position is conveyed to the cabin 600 by the third conveyance robot 350. The third transfer robot 350 is capable of opening and closing a pair of holding pieces, and is slidable in the horizontal direction.

5. Operation of Cabling Unit 600

Next, the operation of the cabling section 600 will be described.

(Vial supply control)

As shown in FIG. 19, when the vial 3 to which the medicine has been supplied is detected at the transfer position (step S601), the third transfer robot 350 is driven and held (step S602). Then, the medicine in the vial 3 is moved to a photographing position for photographing the medicine in the vial 3 by a medicine imaging member (not shown) (step S603), and a photographing permission signal is transmitted (step S604). At this time, by moving the cabbing part 600 above the cap standby part 535 and lowering the pressing part 607 and the locking piece 608, the cap 2 on the supply table 537 is held by the locking piece 608. However, before the cap 2 is supplied to the supply table 537, the locking piece 608 may be lowered to the supply table 537 in advance so that the cap 2 can be held by the locking piece 608 with a lateral force.

When the photographing is completed and the output photographing completion signal is received (step S605), the vial 3 is now transferred to the vial 3 by the cap holding portion 604 and the container lifting member 602. The cap is moved to a position where the cap can be attached (step S606). Then, the vial 3 is held in the container holding section 605 at the cap closing position (step S60). 7), the vial 3 held by the third transfer robot 350 is opened (step S608). The third transfer robot 350 waits at the place (step S609).

[0059] Cap 2 is attached to vial 3 by cap closing control described later, and if a cap attachment completion signal is received (step S610), vial 3 is held again by third transfer robot 350 (step S610). (Step S611), it is moved to the delivery position described later (step S612). Then, the operation (vial bottle supply control) of the third transfer robot 350 is completed by transferring the vial 3 to the fourth robot arm at the transfer position (step S613).

) o

[0060] (Cap closing control)

As shown in FIG. 20, when the photographing completion signal is received (step S621), the holding member 601 is driven, and the cap supply control (see FIG. 18) controls the cap provided on the supply base 537 of the cap supply section 500. 2 is held by the cap holding section 604 (step S622). That is, the cap holder 604 is moved above the supply table 537, and the actuator 536 is driven to lower the locking piece 608. Since the locking piece 608 has elasticity, the bent portion comes into contact with the upper surface edge of the cap 2 and is spread, and is pressed against and held on the outer peripheral surface. In this case, since the supply table 537 is formed in a substantially cross shape, it does not interfere with the locking piece 608.

When the cap 2 is held, the holding member 601 is driven again, and as shown in FIG. 16 (b), the vial 3 conveyed into the cabling section 600 is held by the container holding section 605. (Step S623). Then, the lifting table 614 is raised by driving the motor 512, and the vial 3 held in the container holding section 605 is lifted (step S624). Based on the detection signal from the sensor (step S625), the lifting table 614 is stopped at a position where the cap 2 contacts the upper opening of the vial 3 as shown in FIG. 16 (c) (step S625). S626). Then, the cap 512 is rotated by driving the motor 512 (step S627), and the lifting table 614 is raised again as shown in FIG. 16D (step S628). Thereafter, based on the detection signal from the sensor (step S629), the lifting platform 614 is stopped (step S630). Thereby, the engaging portion of the vial 3 is engaged with the engaging receiving portion of the cap 2 while the cap 2 is pressed against the upper opening of the vial 3 against the biasing force of the elastic protrusion. It is possible to smoothly attach the cap 3.

[0062] (Second cap closing control)

However, the mounting procedure of the cap 2 may be as follows. That is, as shown in FIG. 21, by receiving the photographing completion signal (step S641), the vial 3 is held (step S642), and then the cap 2 is first rotated (step S643). Then, the vial 3 is lifted (step S644). When the vial 3 is raised to a predetermined position (step S645), the lifting operation is terminated (step S646). According to this, when the preparation for lifting the vial 3 is completed, the cap 3 can be simply rotated to perform control, so that the control can be simplified.

(Third cap closing control)

Further, as shown in FIG. 22, by receiving the photographing completion signal (step S651), the cap 2 is rotated (step S652). Then, after holding the vial 3 (step S653), the vial 3 is lifted (step S654). When the vial 3 is raised to a predetermined position (step S655), the lifting operation ends (step S656). According to this, the cap 3 only needs to be rotated at the beginning of the mounting operation, and the control content can be further simplified.

(Fourth cap closing control)

Further, as shown in FIG. 23, by receiving the photographing completion signal (step S661), after holding the vial 3 (step S662), the vial 3 is rotated (step S663). 3 is lifted (step S664), and when it is raised to a predetermined position (step S665), the lifting operation is completed (step S666). However, in the case of this control, a mechanism for rotating the vial 3 is required instead of the mechanism for rotating the cap 2.

(Vial bottle unloading control)

As described above, the vial 3 fitted with the cap 2 is transported to a predetermined position by the fourth transport robot 450. The fourth transfer robot 450 is rotatably provided, and has an openable and closable holding plate (not shown) at the end.

In the vial unloading control, as shown in FIG. 24, vial 3 is detected at the transfer position. In step S671, the third transfer robot 350 holds the vial 3 (step S672), and receives the stock position data of the vial 3 (step S673). Then, the third transfer robot 350 is driven to move the vial 3 (step S674), and the third transfer robot 350 is moved up and down based on the stock position data. When the vial 3 reaches the target stock height (step S675), extend the arm (step S676) .When the vial 3 moves to the stock position (step S677), open the arm and remove the vial 3. Transfer to the fourth transfer robot 450 (Step S678). Thereafter, the third transfer robot 350 is moved (returned) to the origin, that is, the transfer position (step S679).

Claims

The scope of the claims

[1] Equipped with a cabin

The cabbing part,

A container holding member that presses the vial held by the container holding portion of the holding member upwardly from the bottom cover and presses, or a cap held by the cap holding portion of the holding member from above. At least one of the pressing portions that press downward, a rotation driving unit that relatively rotates the holding member or the container lifting member, and at least one of the container lifting member and the pressing portion. With the cap pressed against the upper opening of the vial by either one, the rotary drive means is driven to relatively rotate the vial and the cap, thereby mounting the cap on the vial. A medicine storage / extraction device comprising a control unit.

2. The medicine storage and take-out device according to claim 1, wherein the cap holding portion of the holding member includes a pressing portion that directionally presses the cap downwardly.

3. The medicine storage and removal device according to claim 2, wherein the pressing portion has a high friction portion on a contact surface with the cap.

4. The medicine container according to claim 1, wherein the cap holding portion of the holding member includes a plurality of locking pieces elastically pressed against an outer peripheral surface of the cap. Take-out device.

5. The medicine storage and take-out device according to claim 1, wherein the container lifting member has a high friction portion on a contact surface with the vial.

[6] The control means, while the vial is pressed against the cap with the first pressing force by the container lifting member, while rotating the vial and the cap relatively by the rotation driving means, The medicine container according to any one of claims 1 to 5, wherein the vial is attached to the vial by pressing the vial against the cap with a second pressing force by the container lifting member. Take-out device.