Powder feeding device and powder packing device

Abstract

To provide a powder feeding device and a powder packing device that are highly convenient for a user.SOLUTION: A powder feeding device includes: a device body; a distribution disc 420 that rotates for evenly distributing powder supplied onto the disc; an accommodation container buffer 200 that is provided in an upper part of the distribution disc, transfers a plurality of accommodation containers storing powder so as to circulate in an annular track, and discharges the powder from the accommodation container to the distribution disc; an accommodation container storage 100 that is rotatably provided at a position adjacent to the accommodation container buffer and can store a plurality of accommodation containers; a transfer robot 300 that can hold and transfer the accommodation container between the accommodation container storage and the accommodation container buffer; and a vibration feeder provided so as to slide between a position of being drawn from the device body and a position of being stored with respect to the device body. The vibration feeder is formed in a drawer structure including an input hopper and a trough.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a powder medicine supplying device that supplies powder medicine in small amounts and a powder medicine packaging device that releases powder medicine from the powder medicine supplying device one packet at a time and packages the powder medicine. [Background technology]

[0002] Conventionally, as this type of device, a drug dispensing device described in Patent Document 1 is known. In this device, a drug container 46 is taken out of a container storage device 57 by a container moving means, placed on a container holding table 69 having a vibration table, powdered medicine is discharged from the drug container by vibration and put into a distribution unit 68, and then the powdered medicine is scraped out to a drug packaging device by a scraping device and packaged. However, for drugs not stored in the container storage device, a user manually weighs the drugs in advance and fills the manual drug container 47 with the drugs. Then, by performing a predetermined operation on the operation display unit of the fully automatic powdered medicine packaging device 5, the front door 65 slides and rises, and the operator places the manual drug container filled with the drugs on the container holding table. After that, the container holding table vibrates to put the drugs into the distribution unit, and when the input is completed, the front door opens again, and the user takes out the manual drug container and closes the front door.

[0003] For this reason, for drugs not stored in the container storage device, in order for an operator to fill a drug container with a drug and place the drug container inside the powder medicine packaging device, it is necessary to open a front door provided in the middle section of the powder medicine packaging device and place the drug container on the drug container holding table inside the device through the opening. Since the drug container holding table is formed at approximately the same height as the dispensing unit, its installation position is in the middle section of the powder medicine packaging device, and if the operator who places the drug container on the container holding table inside the device is large, he or she must bend over to work, and conversely, if the operator is small, it is difficult for the operator to reach inside the device, which is inconvenient.

[0004] Also, the technology described in Patent Document 2 is known as a powder medicine dispensing machine that does not use a medicine container. This powder medicine dispensing machine has a powder medicine feeder inside the device, and the powder medicine is discharged from the powder medicine feeder onto a circular table and packaged. The powder medicine is fed into the powder medicine container of the powder medicine feeder by opening an opening / closing cover provided on the top of the powder medicine container. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6566234 [Patent Document 2] JP 2008-149036 A Summary of the Invention [Problem to be solved by the invention]

[0006] The medicine dispensing device described in Patent Document 1 has a problem in that the task of packaging medicines that are not stored inside the device is inconvenient for the operator.

[0007] Furthermore, in the powder medicine dispensing machine described in Patent Document 2, it is necessary to provide a space above the powder medicine container in order to pour the powder medicine into the powder medicine container, and there are restrictions on the location where the powder medicine container can be provided.

[0008] The present invention has been made to solve the above-mentioned problems, and aims to provide a powdered medicine supplying device and a powdered medicine packaging device that can perform operations without compromising the convenience of the operator, even when packaging medicine that is not stored inside the device. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, the powdered medicine supplying device of the embodiment includes a device main body, a rotating distribution disk provided inside the device main body for evenly distributing the powdered medicine supplied onto the disk, a storage container buffer provided on the upper part of the distribution disk, which transports multiple storage containers containing powdered medicine so that they rotate around a circular orbit and releases the powdered medicine from the storage containers to the distribution disk, a storage container storage unit rotatably provided at a position adjacent to the storage container buffer and capable of storing multiple storage containers, a transfer robot capable of holding and transferring the storage containers between the storage container storage unit and the storage container buffer, and a vibrating feeder that is slidably provided between a position pulled out relative to the device main body and a position stored in the device main body, and the vibrating feeder is formed into a drawer structure having an input hopper into which powdered medicine can be input from outside the device when the vibrating feeder is in a position pulled out from the device main body, and a trough that transports the powdered medicine input into the input hopper by vibration and releases it little by little onto the distribution disk when the vibrating feeder is stored in the device main body.

[0010] In addition, the powder medicine packaging device of the embodiment includes the powder medicine supplying device, and a packaging device that releases powder medicine one packet at a time from a distribution disk of the powder medicine supplying device and packages the powder medicine. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a powder medicine packaging device according to an embodiment; [Diagram 2] 1A and 1B are a left side view, a front view, and a right side view showing a powdered medicine packaging device according to an embodiment. [Diagram 3] 2 is a perspective view showing the configuration of a storage container storage, a storage container buffer, and a transfer robot inside the powder medicine packaging device according to the embodiment. FIG. [Figure 4] 1A to 1C are a left side view, a front view, and a right side view showing the configuration of a storage container storage, a storage container buffer, and a transfer robot inside a powder medicine packaging device according to an embodiment of the present invention. [Diagram 5] 1 is a plan view showing the configuration of a storage container storage, a storage container buffer, a transfer robot, and a distribution disk inside a powder medicine packaging device according to an embodiment of the present invention. FIG. [Figure 6] FIG. 2 is a perspective view showing a configuration of a transfer robot according to the embodiment. [Figure 7] 1A and 1B are perspective and plan views showing the configuration of a storage container storage, a storage container buffer, a distribution disk, and a transfer robot inside a powder medicine packaging device according to an embodiment of the present invention. [Figure 8] 1 is a perspective view showing a configuration of a storage container holding section of a storage container storage facility according to an embodiment; [Figure 9] 1A is a perspective view showing the configuration of a storage container buffer according to an embodiment, and FIG. 1B is a perspective view for explaining a mechanism for releasing powdered medicine from a storage container. [Figure 10] 10 is an explanatory diagram for explaining a relationship between a storage container and a holder of a transfer robot according to the embodiment. FIG. [Figure 11] 13A and 13B are diagrams for explaining a release mechanism for releasing powdered medicine from a storage container according to an embodiment. [Figure 12] 1 is a diagram for explaining the relationship between a storage container storage, a storage container buffer, a distribution disk, and internal partitions inside a powder medicine packaging device according to an embodiment. FIG. [Figure 13] 4 is a diagram for explaining the arrangement of a dehumidifier inside the powder medicine packaging device according to the embodiment. FIG. [Figure 14] This figure explains the arrangement of cameras for imaging a weighing device provided on the top of a storage container buffer inside a powder medicine packaging device according to an embodiment, and the arrangement of cameras for imaging the state in which a storage container is removed from a storage container storage facility by a transfer robot. [Figure 15] 10A and 10B are diagrams for explaining the relationship between the storage container storage facility and the storage containers according to the embodiment. [Figure 16] FIG. 2 is a diagram for explaining the arrangement of ionizers according to the embodiment. [Figure 17] FIG. 2 is a diagram for explaining an arrangement of a vibrating feeder according to the embodiment. [Figure 18] FIG. 2 is a right side view of the vibrating feeder according to the embodiment when it is pulled out from the device body. [Figure 19] 6A to 6C are diagrams for explaining the operation of a feeding hopper constituting the vibrating feeder according to the embodiment. [Figure 20] 1A to 1C are diagrams for explaining the structure of a storage container according to an embodiment and the principle of releasing powdered medicine from inside the container. [Figure 21] FIG. 2 is a diagram for explaining a packaging device according to an embodiment. [Figure 22] 1A to 1C are diagrams for explaining the arrangement of storage containers in a storage container buffer and the configuration in the vicinity of a vibrating feeder according to an embodiment, and diagrams for explaining an outline of a cleaning device for a distribution disk. [Diagram 23] 13 is a diagram for explaining the arrangement of storage containers in the storage container buffer when one type of powdered medicine is packed in one packet paper according to the embodiment. FIG. [Figure 24] 13 is a diagram for explaining the arrangement of storage containers in the storage container buffer when two types of powdered medicine are packed in one packet paper according to an embodiment. FIG. [Diagram 25] 13 is a diagram for explaining the arrangement of storage containers in the storage container buffer when five types of powdered medicine are packed in one packet paper according to an embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the powder medicine packaging device according to this embodiment will be described with reference to the drawings.

[0013] Fig. 1 is a perspective view showing the powder medicine packing device according to the present embodiment, (a) is a perspective view seen from the upper left, (b) is a perspective view seen from the upper right, and Fig. 2 (a), (b), and (c) are a left side view, a front view, and a right side view, respectively, of the powder medicine packing device.

[0014] In Fig. 1 and Fig. 2, inside the main body 10 of the powder medicine packaging device, a powder medicine supplying device 12 is provided at the top, and a packaging device 14 is provided at the bottom for packaging the powder medicine discharged from the powder medicine supplying device 12 one by one. Also, 13 is an operating section for operating the powder medicine packaging device, 15 is a vacuum cleaner for cleaning the inside of the powder medicine packaging device, 16 is a multiple container replacement door for replacing multiple storage containers in the storage container storage provided inside at once, and 17 is a single container replacement door for replacing the storage containers in the storage container storage one by one. Furthermore, 18 is an internal cleaning door for cleaning the inside of the powder medicine packaging device including the distribution disk. Also, 484 is a medicine discharge port from which the packaged medicine packaged inside the device is discharged. Furthermore, 500 is a drawer section of the vibration feeder.

[0015] 3 to 7, a storage container storage 100, a storage container buffer 200, a transfer robot 300, and a packaging device 400 are provided inside the main body 10 of the powder medicine dispensing and packaging device. Hereinafter, the storage container will be simply called a cassette.

[0016] As shown in Figures 10 and 20, the cassette (container) 20 is a cylindrical container that can store powdered medicine inside, and the powdered medicine stored inside can be released little by little from the bottom by rotating a shaft 22 provided at the top as described below. Such a cassette 20 has a configuration as described in JP 2022-109165 A, as an example.

[0017] The cassettes 20 include a powdered medicine storage cassette that stores powdered medicine, and a cleaning agent cassette (cleaning agent container) that stores a cleaning agent, which will be described later in detail. They have the same structure, and the only difference is whether what is stored is a powdered medicine or a cleaning agent. In addition, these cassettes are equipped with an RFID, which will be described later, and by reading the RFID, it is possible to determine the type of powdered medicine stored and whether a cleaning agent is stored. When it is not necessary to distinguish whether what is stored is a powdered medicine or a cleaning agent, it will be simply described as a cassette (storage container), and when it is necessary to distinguish between powdered medicine and cleaning agent, it will be described as a powdered medicine storage container or a cleaning agent container.

[0018] The cassette storage 100 is provided so as to be rotatable about a rotating shaft 102 by a timing belt stretched between a driving motor 110 and a driving pulley 112 provided at the bottom of the cassette storage 100. Ten cassette holding sections 104 are formed around the rotating shaft 102. Each of the cassette holding sections 104 can detachably hold a cassette 20 in an upright position in which the powdered medicine can be released from the bottom. The cassette holding sections 104 are formed in three stages in the axial direction of the rotating shaft 102. Therefore, a total of 30 cassette holding sections 104 are formed in the cassette storage 100, and a maximum of 30 cassettes 20 can be stored.

[0019] Incidentally, one cassette holding section at the bottom of the cassette storage cabinet 100 does not normally hold a cassette 20, since it is reserved as a cassette removal position for removing or loading a cassette 20 from outside the device. For this reason, a maximum of 29 cassettes 20 can be stored in the cassette storage cabinet 100.

[0020] Each cassette holder 104 is provided with a tray 106 for catching the powdered medicine even if the powdered medicine spills from the cassette 20 installed therein. By providing this tray 106, even if the cassette 20 is subjected to vibration when the cassette 20 is attached or detached from the cassette holder 104, causing the powdered medicine to spill from the cassette 20 or the powdered medicine attached to the cassette 20 to fall, the powdered medicine is caught by the tray 106 and does not fall to the bottom of the cassette storage 100. As a result, even if the powdered medicine spills, it will not fall on the distribution disk 420 described later, so that mixing of medicines different from the medicines to be packaged can be prevented. The three-stage cassette holder 104 provided in the cassette storage 100 can rotate together around the rotation shaft 102.

[0021] Further, an RFID reader 120 is provided near the cassette holding portion 104, and is capable of reading information on an RFID (not shown) attached to the cassette 20. The RFID readers 120 are provided in five consecutive cassette holding portions 104 along the circumferential direction of the cassette storage cabinet 100, and no RFID readers are provided in the other five cassette holding portions 104. Moreover, the RFID readers 120 are provided in the same position in all three stages of the cassette holding portions 104.

[0022] This RFID reader 120 is provided to identify the powdered medicine contained in the cassette 20 held in the cassette holding section 104 when the powdered medicine packaging device is powered on and started up. At the time of startup, the RFID reader 120 reads the RFID information of the cassettes 20 held in the five cassette holding sections 104 arranged in the circumferential direction, and then the cassette storage cabinet 100 is rotated 180 degrees to read the powdered medicine information of the remaining five cassettes 20 (15 in three stages). The RFIDs of the cassettes 20 are read not only when the powdered medicine packaging device is started up (when the power is turned on), but also when the multiple cassette exchange door 16 of the device main body 10 is opened, a large number of cassettes 20 are exchanged, and the door is closed.

[0023] A cassette buffer 200 is provided at a position adjacent to the cassette storage 100. This cassette buffer 200 is provided rotatably about its rotation axis (202 shown in FIG. 7), and six cassette holding sections 204 are formed at equal intervals around the rotation axis 202. Therefore, each cassette holding section 204 is provided at 60 degree intervals in the circumferential direction, and each cassette holding section 204 holds the cassette 20 in a position that allows the powdered medicine to be released from the bottom thereof and transports the cassette 20 so as to move around a circular orbit.

[0024] These cassette holding parts 204 are provided with an RFID reader 222 for reading the RFID of the held cassette 20. Also, under the cassette holding parts 204, similar to the cassette storage 100, a tray 206 for catching the spilled (dropped) powdered medicine in case the powdered medicine should spill from the cassette 20 is provided. This tray 206 is provided at a position among the six cassette holding parts 204 of the cassette buffer 200, excluding the position where the powdered medicine is discharged from the cassette 20 (position 210 shown in FIG. 7(b)).

[0025] The configuration for holding the cassettes 20 in the cassette holding unit 104 of the cassette storage 100 and the cassette holding unit 204 of the cassette buffer 200 will be described in detail later. A distribution disk 420 is provided below the cassette buffer 200, overlapping the cassette buffer 200 in the vertical direction, for evenly distributing the powdered medicine discharged from the lower part of the cassette 20 provided in the cassette buffer 200. A continuous groove is formed near the outer periphery of the distribution disk 420 (421 in FIG. 22), and a ring-shaped pile of powdered medicine is formed on the distribution disk 420 by discharging the powdered medicine into the groove while rotating the distribution disk 420.

[0026] The cassette buffer 200 is formed with a cassette loading / unloading position 208 where a cassette 20 transferred by a transfer robot 300 (described later) is loaded into a cassette holding section 204 and where the transfer robot 300 detaches the cassette 20 from the cassette buffer 200 .

[0027] Meanwhile, the cassette storage cabinet 100 is also formed with a cassette mounting / removal position 108 where the transfer robot 300 mounts the cassette 20 to the cassette holding part 104 and removes the cassette 20 from the cassette holding part 104. This cassette mounting / removal position 108 is the same for all three tiers of the cassette storage cabinet 100, and the cassette 20 held by the holding part 320 of the transfer robot 300 (described later) can be mounted in the cassette holding part 104 of any tier by moving the holding part 320 of the transfer robot 300 in the vertical direction.

[0028] Also, on the opposite side of the cassette mounting / removal position 108 at the bottom of the cassette storage cabinet 100, a cassette removal position 118 for replacing cassette 20 from outside the device is positioned. This cassette removal position 118 is on the front side of the powdered medicine packaging device and is a position corresponding to the individual container replacement door 17. In order to use this individual container replacement door 17 to remove cassette 20 from cassette storage cabinet 100 or to mount cassette 20 in cassette storage cabinet 100, one of cassette holding sections 104 at the bottom of cassette storage cabinet 100 is always in a state where it is not holding a cassette 20.

[0029] To remove a cassette 20 from the cassette storage 100, the transfer robot 300 holds the cassette 20 to be removed in one of the cassette holders 104 on the lowest level, and rotates the cassette storage 100 to a cassette removal position 118 inside the single container replacement door 17. Thereafter, an electromagnetic lock (not shown) of the single container replacement door 17 is released, allowing an operator to open the single container replacement door 17 and remove the cassette 20 from outside.

[0030] Furthermore, when packaging powdered medicine that is not contained inside the device, etc., cassette 20 is loaded into the device by an operator operating operation unit 13 to instruct loading of a cassette, and inside the device, cassette storage 100 is rotated and cassette holding unit 104 at the lowest level, in which a cassette is not held, is positioned at cassette removal position 118 inside single container replacement door 17. Thereafter, the electromagnetic lock is released, and the operator opens single container replacement door 17 and loads cassette 20 containing the powdered medicine to be packaged into cassette holding unit 104.

[0031] Thereafter, by operating the operation unit 13, the cassette storage 100 is rotated until the cassette 20 loaded in the powder medicine packaging device reaches the cassette loading / unloading position 108. The cassette 20 is then removed by the transfer robot 300, its weight is measured by a cassette weighing unit 260 (described later), and it is then transferred to the cassette buffer 200. When loading the cassette 20 into the cassette storage 100 through the individual container exchange door 17, the cassette 20 is also removed from the cassette storage 100, its weight is measured by the cassette weighing unit 260, and then it is loaded into the cassette storage 100, thereby enabling accurate inventory management of the cassettes 20.

[0032] Here, the lateral (horizontal) positional relationship between the cassette storage 100, the cassette buffer 200, and the distribution disk 420 will be described in detail. Since the cassette buffer 200 needs to release and distribute powdered medicine from the cassette 20 inside the cassette buffer 200 to the distribution disk 420, the cassette buffer 200 and the distribution disk 420 are provided with a partial overlap in the vertical direction as described above. Specifically, as shown in Figures 5(b), 7(b), and 22(a), the release position 210 from the cassette 20 of the cassette buffer 200 is positioned at the top of a concave groove 421 provided on the outer periphery of the distribution disk 420. Preferably, the position 210 where the straight line C connecting the rotation center 422 of the distribution disk 420 and the rotation center (rotation axis) 202 of the cassette buffer 200 intersects with the rotation trajectory of the cassette 20 of the rotating cassette buffer 200 is set as the position where the powdered medicine is released from the cassette 20.

[0033] The cassette mounting / detaching position 208 of the cassette buffer 200 and the powdered medicine discharge position 210 are positions rotated by 120 degrees. Therefore, the cassette 20 at the cassette mounting / detaching position 208 can be replaced while the powdered medicine is being discharged from the cassette 20 at the powdered medicine discharge position 210, so that no extra time is spent on replacing the cassette 20. In other words, when the cassette 20 that has finished discharging the powdered medicine at the discharge position 210 is moved to the position (cassette mounting / detaching position) 208 where it is detached by the transfer robot 300, another cassette 20 is located at the discharge position 210.

[0034] Therefore, when the transfer robot 300 is mounting or dismounting the cassette 20, it is possible to discharge powdered medicine from another cassette 20 or a cleaning agent as described later, and the cassette 20 replacement work and the discharge work of powdered medicine (or cleaning agent) from the cassette 20 can be performed in parallel, which can be performed efficiently. This is particularly convenient when multiple powdered medicines are stored in one packaging paper, because while one powdered medicine is being discharged to the distribution disk 420, the cassette 20 containing the next powdered medicine to be discharged can be controlled to be stored in the cassette buffer 200.

[0035] In addition, the cassette 20 is attached to and detached from the cassette storage 100 by a transfer robot 300, which will be described later, and therefore the cassette 20 is frequently vibrated. Even if the powdered medicine attached to the cassette 20 in the cassette storage 100 falls due to this vibration, the cassette storage 100 is provided at a position that does not overlap with the distribution disk 420 in the vertical direction so that the fallen powdered medicine does not fall directly onto the distribution disk 420.

[0036] As will be described later in detail, a partition (wall surface) 150 is provided between the cassette storage 100 and the distribution disk 420 to separate them so that the powdered medicine that falls from the cassette storage 100 does not fall directly, but does not float and reach the distribution disk 420. In addition, this partition 150 also has the effect of preventing the powdered medicine discharged from the cassette 20 in the cassette buffer 200 onto the distribution disk 420 from scattering and passing through to the cassette storage 100 side.

[0037] In this way, by arranging the distribution disk 420 and the cassette storage 100 at positions where they do not overlap vertically, powdered medicine that falls from the cassette 20 in the cassette storage 100 does not fall onto the distribution disk 420, and mixing of medicines different from the medicines to be packaged can be prevented as much as possible. In addition, a partition (wall surface) 150 is provided between the cassette storage 100 and the storage compartment of the distribution disk 420 to separate them, so mixing of medicines can be further prevented.

[0038] In addition, the distribution disk 420 and the cassette buffer 200 overlap in the vertical direction, so that the overlapping portion allows the powdered medicine to be discharged from the cassette 20 in the cassette buffer 200 to the distribution disk 420. In addition, the cassette attachment / detachment position 208 of the cassette buffer 200 is provided at a position that does not overlap with the distribution disk 420, so that even if the powdered medicine should spill at this position, it will not fall directly onto the distribution disk 420, and it is possible to prevent different medicines from being mixed into the medicines to be packaged.

[0039] 7 is provided near the cassette storage vault 100 and the cassette buffer 200. This transfer robot 300 mainly holds and transfers the cassette 20 between the cassette storage vault 100 and the cassette buffer 200. More specifically, it holds and transfers the cassette 20 between a cassette loading / unloading position 108 of the cassette storage vault 100 and a cassette loading / unloading position 208 of the cassette buffer 200. The cassette loading / unloading position 108 of the cassette storage vault 100 refers to the position in the rotational direction of the cassette storage vault 100, and the vertical position is the same for all three levels.

[0040] This transfer robot 300 has a vertical arm 302 fixed to a housing (not shown). This vertical arm 302 is provided with a Z-axis actuator 306 that moves a movable unit 304 in the up and down direction (Z direction) along the vertical arm 302. Note that Fig. 6(a) illustrates both a state in which the movable unit 304 is located at the upper position and a state in which it is located at the lower position.

[0041] 6, the movable unit 304 is provided with an X-axis actuator 308 capable of moving the slider 307 in the X direction relative to the movable unit 304. The movable unit 304 is further provided with a θ-axis actuator 310 that rotates the slider 307 in the θ direction around a rotation axis (rotation center) 312 (see FIG. 7(b)). A holder 320 that holds and moves the cassette 20 is provided at the tip of the slider 307.

[0042] With this configuration, the holder 320 is moved up and down by the Z-axis actuator 306, rotated by the θ-axis actuator 310, and linearly driven in the X-axis direction by the X-axis actuator 308. As a result, the holder 320 of the transfer robot 300 moves up and down by the Z-axis actuator 306, rotates around the θ-axis as the rotation center, and moves linearly along the X-axis. The linear movement along the X-axis can be stated as the holder 320 moving in a direction toward or away from the θ-axis which is the rotation axis 312 of the transfer robot 300.

[0043] Next, the operation of the transfer robot 300 to receive (hold) the cassette 20 from the cassette storage 100 and transfer it to the cassette buffer 200 will be described with reference to FIGS.

[0044] First, the movable unit 304 of the transfer robot 300 is moved up and down (in the Z-axis direction) to the height where the cassettes 20 containing the powdered medicine to be packaged are stored in the three-stage cassette holding parts 104 of the cassette storage 100. At this time, the cassette storage 100 is rotated to move the cassette holding parts 104 holding the cassettes 20 containing the powdered medicine to be packaged to the cassette attachment / detachment position 108.

[0045] 7(b), a cassette loading / unloading position 108 in the circumferential direction of the cassette storage 100 is formed on a straight line A connecting the rotation center 102 of the cassette storage 100 and the rotation center 312 of the transfer robot 300. In addition, a cassette loading / unloading position 208 of the cassette buffer 200 is formed on a straight line B connecting the rotation center 202 of the cassette buffer 200 and the rotation center 312 of the transfer robot 300.

[0046] In addition, the horizontal distance between the rotation center 312 of the transfer robot 300 and the cassette loading / unloading position 108 of the cassette storage cabinet 100 is configured to be equal to the horizontal distance between the rotation center 312 of the transfer robot 300 and the cassette loading / unloading position 208 of the cassette buffer 200.

[0047] Therefore, the θ-axis actuator 310 of the transfer robot 300 is rotated to rotate the slider 307 of the transfer robot 300 to a position where it overlaps with the line A. When the slider 307 is moved in the X-axis direction in this state, the holder 320 is moved to the cassette attachment / detachment position 108 of the cassette storage cabinet 100. Of course, these movements can be made simultaneously within a range where the holder 320 is not interfered with by other members. The holder 320 receives the cassette 20 from the cassette storage cabinet 100.

[0048] Thereafter, the slider 307 is moved in the X-axis direction in the reverse direction while the cassette 20 is being held by the transfer robot 300. This allows the cassette 20 to be removed from the cassette storage 100.

[0049] Furthermore, after the transfer robot 300 removes the cassette 20 from the cassette storage 100, the θ-axis actuator 310 is rotated to rotate the cassette 20 toward the cassette buffer 200, whereby the cassette 20 is moved to the position of the cassette loading / unloading section 208 of the cassette buffer 200. At this time, the holder 320 of the transfer robot 300 is simultaneously moved in the Z-axis direction in accordance with the removal position of the cassette 20 from the cassette storage 100. Here, the horizontal distance between the rotation center 312 of the transfer robot 300 and the cassette loading / unloading position 108 of the cassette storage 100 and the horizontal distance between the rotation center 312 of the transfer robot 300 and the cassette loading / unloading position 208 of the cassette buffer 200 are configured to be equal, so that the movement of the slider 307 in the X-axis direction is always the same distance.

[0050] In this way, the movement of the cassettes 20 in the cassette storage 100 and the cassette buffer 200 by the transfer robot 300 always rotates at the same angle in the θ-axis direction, and also moves the same distance in the X-axis direction. Furthermore, the movement by the transfer robot 300 only requires linear movement of a fixed distance in the X-axis direction and rotation of a fixed angle in the θ-axis direction in addition to movement in the Z-axis direction, so that the movement control by the transfer robot is simple and the movement distance is short, so that the movement time is short. As a result, the time required for completing preparation for the packaging operation can also be shortened.

[0051] Here, the cassette holding section 104 of the cassette storage 100 and the structure for holding the cassette 20 in the cassette holding section 104 will be described with reference to Fig. 15. The cassette holding section 104 is provided with a cassette holder 116 formed in a semicircular shape and having approximately the same diameter as the cylindrical section of the cassette 20. The upper part of the cassette holding section 104 is provided with a pair of recesses 108 into which a pair of protrusions 24 formed on the lid section 23 of the cassette 20 protruding downward are fitted. Furthermore, a permanent magnet 114 is embedded between the pair of recesses 108 of the cassette holding section 104 for magnetically attracting the magnetic body 26 provided between the protrusions 24 of the cassette 20.

[0052] When the cassette 20 is to be held by the cassette holding part 104, the transfer robot 300 moves the cassette 20 so that the cylindrical part of the cassette 20 enters between the cassette holders 116. When the holding part 320 of the transfer robot 300 moves slightly downward after the cylindrical part of the cassette 20 moves between the cassette holders 116, the cassette 20 moves downward due to its own weight, and the protruding part 24 of the cassette 20 fits into the recessed part 108 of the cassette holding part 104. Then, the magnetic body 26 of the cassette 20 is attracted by the permanent magnet 114 of the cassette holding part 104, and the cassette 20 is fixed to the cassette holding part 104. Thereafter, the transfer robot 300 retreats from the cassette holding part 104, and the cassette 20 is held by the cassette holding part 104.

[0053] As shown in FIG. 7(a) and FIG. 9(a), the configuration of the cassette holding section 204 of the cassette buffer 200 is similar to that of the cassette holding section 104 of the cassette storage cabinet 100, and therefore a description thereof will be omitted.

[0054] On the other hand, the transfer mechanism of the cassette 20 by the transfer robot 300 is configured as shown in Fig. 10. That is, a held member 28 is provided on the cylindrical portion of the cassette 20. A pair of square holes 29 are formed in this held member 28. The square holes 29 are formed so that the lower hole is wider and the upper hole is narrower. In contrast, a pair of hooks 322 are formed to protrude from the tip of the holding portion 320 of the transfer robot 300. The tips of the pair of hooks 322 protrude upward and the bases are recessed.

[0055] The transfer robot 300 holds the cassette 20 in the process shown in FIG. 10. First, as shown in FIG. 10(a), the slider 307 of the transfer robot 300 is moved in the X-axis direction to insert a pair of hooks 322 provided at the tip of the holding part 320 into the square hole 29 of the held member 28 of the cassette 20 (FIG. 10(b)). Then, when the movable unit 304 of the transfer robot 300 is raised in the Z-axis direction, the holding part 320 also rises, and the recesses at the bases of the hooks 322 are inserted into the narrow portion at the top of the square hole 29 (FIG. 10(c)). As a result, the held member 28 of the cassette 20, i.e., the cassette 20, is securely held by the holding part 320 of the transfer robot 300 (FIG. 10(d)).

[0056] 7, the holding and transfer of the cassette 20 by the transfer robot 300 will be described. The cassette mounting / removal position 108 is formed on a straight line A connecting the rotation center 102 of the cassette storage 100 and the rotation center 312 of the transfer robot 300. Therefore, when the transfer robot 300 mounts or removes the cassette 20, the holding part 320 of the transfer robot 300 is moved in the X-axis direction toward the position of the rotation center 102 of the cassette storage 100 while being positioned on the straight line A, so that the hook 322 of the holding part 320 is inserted into the square hole 29 formed in the held member 28 of the cassette 20 (FIG. 10(b)). In this state, when the holding part 320 of the transfer robot 300 is raised in the Z-axis direction, the cassette 20 is reliably held by the transfer robot 300 from the state held by the cassette holding part 104 (state of FIG. 10(c)), and transfer is possible.

[0057] Although the holding and transfer of the cassette 20 in the cassette storage 100 by the transfer robot 300 has been described above, the same applies to the transfer of the cassette 20 in the cassette buffer 200 by the transfer robot 300. In FIG. 7(b), a cassette loading / unloading position 208 for the cassette buffer 200 is formed on a straight line B that connects the rotation center 202 of the cassette buffer 200 and the rotation center 312 of the transfer robot 300.

[0058] Then, the transfer robot 300 rotates the θ-axis actuator 310 of the transfer robot 300 to rotate the holder 320 to the position of line B for the cassette 20 removed (removed) from the cassette loading / unloading position 108 of the cassette storage 100. In parallel with this rotation, the holder 320 is moved in the Z-axis direction and lowered to the cassette loading / unloading position 208 of the cassette buffer 200. Thereafter, the slider 307 is moved in the X-axis direction, so that the cassette 20 held by the holder 320 is moved to the cassette loading / unloading position 208 of the cassette buffer 200. Thereafter, the holder 320 of the transfer robot 300 is lowered, so that the cassette 20 is held by the cassette holder 204 of the cassette buffer 200.

[0059] In this way, the transfer robot 300 transfers the cassette 20 from the cassette loading / unloading position 108 provided at a predetermined position in the circumferential direction of the cassette storage 100 to the cassette loading / unloading position 208 of the cassette buffer 200 provided adjacent to the cassette storage 100. The cassette storage 100 and the cassette buffer 200 are provided adjacent to each other, and the distance from the rotation center of the transfer robot 300 to the cassette holding part 104 of the cassette storage 100 is equal to the distance from the rotation center of the transfer robot 300 to the cassette holding part 204 of the cassette buffer 200. Therefore, the rotation angle of the θ-axis actuator 310 of the transfer robot 300 required to transfer the cassette 20 is always constant. In addition, the moving distance of the holding part 320 in the X-axis direction is also constant. Therefore, the control for transferring the cassette 20 is simple and the moving time is short.

[0060] With the held member 28 of the cassette 20, i.e., the cassette 20, held by the holding portion 320 of the transfer robot 300, the θ-axis actuator 310 of the transfer robot 300 is rotated. By holding and transferring in this manner, the cassette 20 can be transferred from the cassette storage 100 to the cassette buffer 200 while being held in a position that allows the powdered medicine to be released from the bottom. In addition, since the transfer robot 300 can transfer the cassette 20 without changing the holding position of the cassette 20, the drive control of the transfer robot 300 can be simplified.

[0061] Then, by rotating the cassette buffer 200 that received the cassette 20 clockwise by 120 degrees, the cassette 20 transferred from the cassette storage 100 is moved to the discharge position 210 shown in Fig. 7(b) within the cassette buffer 200. By discharging the powdered medicine from the cassette 20 in this state, the powdered medicine is discharged into the groove (421 in Fig. 22) provided on the outer periphery of the distribution disk 420.

[0062] Next, a mechanism for discharging powdered medicine from the cassette 20 in the cassette buffer 200 will be described. As shown in Fig. 7(a), the cassette buffer 200 is provided with six cassette holding units 204, and the cassette holding units 204 are rotated by a rotation drive mechanism 220 provided at the top of the cassette buffer 200. Also, a discharge mechanism 240 for discharging powdered medicine from the cassette 20 is provided at the top of the cassette buffer 200. Then, the powdered medicine in the cassette 20 is discharged by driving the discharge mechanism 240.

[0063] The powdered medicine discharge mechanism 240 is shown in detail in Figures 9 and 11. In Figure 11, 242 is a motor for rotating the shaft 22 of the cassette 20. The rotational driving force of this motor 242 is transmitted to a shaft 248 of a coupling 246 that fits onto the shaft 22 of the cassette 20 via a timing belt 244. Meanwhile, a bracket 250 on which the motor 242, the coupling 246, the shaft 248, etc. are mounted is moved up and down as a whole by a motor 252, a timing belt 254, etc.

[0064] With this configuration, when the cassette 20 containing the powdered medicine to be discharged is moved to the powdered medicine discharge position 210 of the cassette buffer 200, the motor 252 rotates to lower the coupling 246, and the coupling 246 engages with the shaft 22 of the cassette 20. The motor 242 then rotates to rotate the shaft 22 of the cassette 20, and the powdered medicine contained in the cassette 20 is discharged little by little from the bottom of the cassette 20 to the distribution disk 420.

[0065] Next, the principle of the powdered medicine discharge mechanism of the cassette 20 will be explained with reference to FIG. 20. In FIG. 20, (a) is a cross-sectional view of the cassette 20 showing a state in which the shutter 62 at the bottom of the cassette 20 is closed, and (b) is a cross-sectional view of the cassette 20 showing a state in which the shutter 62 is open. The cassette 20 has a cylindrical main body 60, an inverted cone section 64 provided at the bottom of the main body 60, and a shutter 62 that prevents the powdered medicine from falling from the opening below the inverted cone section 64. A rotary drive shaft 65 is provided from the main body 60 to the inverted cone section 64. A screw 68 is formed on the outer diameter of the part of the rotary drive shaft 65 that corresponds to the inverted cone section 64, and the powdered medicine stored inside the main body 60 is discharged little by little from the opening below by rotating the rotary drive shaft 65. The upper part 22 of the rotary drive shaft 65 protrudes upward from the main body 60 and is driven to rotate by a coupling 246 shown in FIG. 9.

[0066] Next, cleaning of the distribution disk 420 etc. will be described. After the powdered medicine is discharged from the cassette 20 onto the distribution disk 420 and scraped off from the distribution disk 420 by the scraping device 424 and packaged, there is a possibility that a small amount of powdered medicine may remain on the distribution disk 420. In this type of powdered medicine packaging device, it is necessary to prevent different types of medicine from being mixed together.

[0067] Normally, after the powdered medicine is released onto the distribution disk 420 and the powdered medicine is scraped off from the distribution disk 420 and packaged, the distribution disk 420, the scraping device 424, and the drop hopper 426 to which the medicine is attached are cleaned by blowing air or suction as follows. 435 shown in FIG. 22(a) is a dust collector for cleaning the distribution disk 420. The dust collector 435 has a configuration as shown in FIG. 22(b). This dust collector 435 is, for example, that described in JP 2017-190180 A, and during cleaning, the dust collection head 30 rotates and lightly contacts the outer circumferential groove of the distribution disk 420. Then, the distribution disk 420 is rotated while sucking air from a suction port (not shown), thereby sucking and cleaning the powdered medicine remaining on the distribution disk 420.

[0068] The scraping device 424 is cleaned by blowing air and suctioning air with a cleaning device such as that described in JP 2022-132785 A. Furthermore, the drop hopper 426 is cleaned by blowing air and suctioning air with a method such as that described in JP 2019-202801 A.

[0069] Furthermore, depending on the type of medicine distributed, in addition to the above-mentioned air blowing and suction, after the powdered medicine is scraped off the distribution disc 420, a cleaning agent is sprayed onto the distribution disc 420 from a cleaning agent cassette 20 containing a cleaning agent such as baking soda, which functions as a cleaning agent, to clean the distribution disc 420, the scraping device 424, and the drop hopper 426.

[0070] In this embodiment, the cleaning agent cassettes 20 containing the cleaning agent are always held in cassette holding parts 204 at specific positions in the cassette buffer 200. As an example, the cleaning agent cassettes 20 are held in two of the six cassette holding parts 204 in the cassette buffer 200. A specific example will be described with reference to Figs. 22(a) and 23.

[0071] In FIG. 22(a), the cassette exchange position 208 and the powdered medicine discharge position 210 are set at positions with an angle of 120 degrees. For example, the positions of the cassette holding section 204 are tentatively named a to f. In this case, for example, the cleaning agent cassette 20 is held in the cassette holding sections c and d. By arranging in this manner, the cassette 20 containing the powdered medicine to be distributed is held in the holding section a at the cassette exchange position 208 as shown in FIG. 23(a). Thereafter, in order to discharge the powdered medicine, the cassette buffer 200 is rotated 120 degrees clockwise until the cassette a is at the position of the powdered medicine discharge position 210 (see FIG. 23(b)).

[0072] Then, the powdered medicine is discharged from the cassette 20 at a. When only one powdered medicine is stored in one wrapping paper, after the powdered medicine is discharged from the cassette 20 at a onto the distribution disk 420, the powdered medicine is scraped off from the distribution disk 420 by the scraping device 422, and is stored in the wrapping paper 440 via the drop hopper 426, and the wrapping paper 440 is heat-sealed to create one package. During this scraping and packaging operation, the cassette buffer 200 is rotated 120 degrees counterclockwise to move the powdered medicine cassette 20 held at the position a to the cassette attachment / detachment position 208 (see FIG. 23(c)). Then, the powdered medicine cassette 20 at the position a is removed from the cassette buffer 200 by the transfer robot 300 and stored in the cassette storage 100.

[0073] The powdered medicine cassette 20 to be used for the next prescription is removed from the cassette storage 100, transferred to the cassette buffer 200, and held at the holding position a. The powdered medicine on the distribution disk 420 is scraped and packaged in parallel with the exchange of these cassettes, and when the scraping and packaging of the powdered medicine is completed, cleaning agent is scattered on the distribution disk 420 from the cleaning agent cassette 20 held at the holding position c of the cassette buffer 200 (see FIG. 23(c)). The cleaning agent scattered on the distribution disk 420 is scraped off by a scraping device 422, and packaged in a packaging device 400 using packaging paper 440 into one or more packages, and then collected.

[0074] Once the cleaning agent has been sprayed from the cleaning agent cassette 20 onto the distribution disc 420, the cassette buffer 200 is rotated a further 120 degrees clockwise in preparation for distributing the next powdered medicine from the powdered medicine cassette 20 held in holding position a to the distribution disc 420 (see Figure 23 (b)).

[0075] The above operation is for the case where one powdered medicine is stored in one packaging paper, but when two powdered medicines are stored in one packaging paper, the following operation is performed as shown in Figure 24. For example, while the powdered medicine held at the holding position a is being discharged to the distribution disk 420 (see Figure 24(b)), the powdered medicine cassette 20 containing the next powdered medicine is taken out from the cassette storage 100 by the transfer robot 300 and held at the holding position e of the cassette buffer 200. Then, when the discharge of the powdered medicine from the powdered medicine cassette 20 at the holding position a to the distribution disk 420 is completed, the cassette buffer 420 is rotated another 120 degrees clockwise, and the powdered medicine cassette 20 held at the holding position e of the cassette buffer 200 is rotated to the discharge position 210 (see Figure 24(c)).

[0076] Then, the powdered medicine is discharged from the powdered medicine cassette 20 held at the holding position e of the cassette buffer 200 to the distribution disk 420. The weight of the discharged powdered medicine from the powdered medicine cassette 20 held at the holding position a and the weight of the discharged powdered medicine from the powdered medicine cassette 20 held at the holding position c are weighed by the weighing device 430, and when the weights match the prescribed weights, the discharge of the powdered medicine from the powdered medicine cassette 20 is stopped. Then, when the discharge of these two powdered medicines is completed, the powdered medicine is scraped off from the distribution disk 420 and stored in the wrapping paper 440 and packaged.

[0077] On the other hand, the powdered medicine cassette 20 at the holding position a from which the powdered medicine has been discharged is moved to the cassette mounting / removal position 208 by rotating the cassette buffer 200 120 degrees clockwise (see FIG. 24(d)), and the powdered medicine cassette 20 at the holding position a is removed by the transfer robot 300 and stored in the cassette storage 100. The cassette buffer 200 is further rotated 120 degrees clockwise (see FIG. 24(e)), and the powdered medicine cassette 20 at the holding position e is also removed by the transfer robot 300 and stored in the cassette storage 100.

[0078] In addition, if the powdered medicine cassette 20 at the storage position a has been removed and the powdered medicine has been scraped off and packaged from the distribution disk 420 before the powdered medicine cassette 20 at the storage position e is removed, the cleaning agent cassette 20 at the holding position c is at the release position 210 (see FIG. 24(d)), so the cleaning agent may be sprayed from the cleaning agent cassette 20 onto the distribution disk 420. Then, the cassette buffer 200 may be rotated 120 degrees clockwise to rotate the powdered medicine cassette 20 at the holding position e to the cassette attachment / detachment position 208, and the powdered medicine cassette 20 may be removed by the transfer robot 300 and stored in the cassette storage 100.

[0079] In addition, the position in the cassette buffer 200 where the powdered medicine cassette 20 is held and the position where the cleaning agent cassette 20 is held can be changed depending on the operation of the powdered medicine packaging device.

[0080] In the above description, an example in which one or two powdered medicines are stored in one packaging paper has been described, but in this embodiment, six cassettes 20 can be held in the cassette buffer 200. Therefore, when the cassette buffer 200 is used to store only one cleaning agent cassette 20 as shown in FIG. 25, a maximum of five powdered medicine cassettes 20 can be stored in the cassette buffer 200. Therefore, instead of moving the powdered medicine cassette 20 from the cassette storage 100 each time a powdered medicine is discharged from the powdered medicine cassette 20 as described above, a maximum of five types of powdered medicine cassettes 20 can be set in the cassette buffer 200 in advance, and the cassette buffer 200 can be rotated 60 degrees each time a powdered medicine is discharged.

[0081] With this arrangement, each time the discharge of powder medicine from one powder medicine cassette 20 is completed, the cassette buffer 200 is rotated 60 degrees clockwise to move the next powder medicine cassette 20 to the discharge position 210. By making such a modification, continuous discharge is possible, and according to this modification, up to five types of powder medicine can be packaged in one packaging paper.

[0082] However, if only one cleaning agent cassette 20 is held in the cassette buffer 200, when the amount of cleaning agent remaining in the cleaning agent cassette 20 is insufficient, the powder medicine packaging device must be stopped in order to replace the cleaning agent cassette 20. To eliminate this problem, it is possible to change the operation so that the cassette buffer 200 holds two cleaning agent cassettes 20.

[0083] In this way, when two cleaning agent cassettes 20 are held in the cassette buffer 200, when the amount of cleaning agent in one cleaning agent cassette 20 is insufficient, cleaning agent can be released from the other (second) cleaning agent cassette 20 onto the distribution disk 420. Then, while the other cleaning agent cassette 20 is dispersing cleaning agent and performing packaging work, the cleaning agent cassette 20 that is running low on cleaning agent can be removed to the outside of the device, and an operator can replenish the cleaning agent cassette 20 with cleaning agent and load it back into the device, allowing packaging work to be performed without interrupting the packaging work.

[0084] The embodiment will be described in detail below. As described above, the cleaning agent cassette 20 held in the cassette buffer 200 can be removed by the transfer robot 300. The cleaning agent cassette 20 removed by the transfer robot 300 is held in the cassette holder 104 at the bottom of the cassette storage 100. The cassette storage 100 is then rotated until the cassette holder 104 holding the cleaning agent cassette 20 faces the individual container replacement door 17. The operating unit 13 is then operated (e.g., the cassette replacement button) to release the electromagnetic lock on the individual container replacement door 17.

[0085] An operator opens the single container replacement door 17, removes the cleaning agent cassette 20 from inside the door, refills the cassette with cleaning agent, and loads it into the cassette holding section 104. When the device detects that the single container replacement door 17 is closed, it rotates the cassette storage 100 until the loaded cleaning agent cassette 20 is at the cassette mounting / removal position 108. Then, the transfer robot 300 removes the cleaning agent cassette 20 from the cassette mounting / removal position 108 and transports it to a cassette weighing section (first weighing means) 260 provided at the top of the cassette buffer 200. The cassette weighing section 260 measures the weight of the cleaning agent contained in the cleaning agent cassette 20 and stores it in the device. The cassette weighing section 260 will be described in detail later.

[0086] After the weight measurement, the cleaning agent cassette 20 is held in a predetermined cassette holding portion 204 of the cassette buffer 200 by the transfer robot 300. As a result, the cleaning agent cassette 20 becomes two cassettes, and normal operation becomes possible. Note that the weight of the cleaning agent contained in the loaded cleaning agent cassette 20 is measured before it is loaded into the cassette buffer 200, and every time the cleaning agent is discharged onto the distribution disk, the weight of the discharged cleaning agent is measured by the weighing device 430, and it is possible to determine whether or not there is a shortage of cleaning agent by calculating whether the total weight of the discharged cleaning agent approaches the weight measured before loading into the cassette buffer 200.

[0087] Also, in the process of discharging cleaning agent from the cleaning agent cassette 20 to the distribution disk 420, it may be possible to detect that the weighing value measured by the weighing device 430 provided below the distribution disk does not increase, thereby judging that the cleaning agent is insufficient. This is effective when the amount of cleaning agent contained in the cleaning agent cassette 20 in the cassette buffer 200 is unknown, such as when starting up the powder medicine packaging device. The weighing device 430 will be described in detail later.

[0088] In this way, by constantly keeping the cleaning agent cassette 20 for cleaning the distribution disk 420 in a specific position within the cassette buffer 200, it is not necessary to transport the cleaning agent cassette 20 by the transport robot 300 each time for cleaning the distribution disk 420, which saves time and is efficient.

[0089] After cleaning with the cleaning agent described above, the distribution disk 420, the scraping device 424, and the drop hopper 426 may still have cleaning agent adhering to them, so it is desirable to remove the cleaning agent by blowing air and suction in the same manner as with normal powdered medicine.

[0090] In particular, after packaging of special medicines such as powerful drugs, it is necessary to ensure that no residue of the powerful drug remains, so cleaning with a cleaning agent is performed after packaging of the powerful drug, and the cleaning agent is contained in the packaging paper 440 of the packaging device 400 and disposed of. This is because, although most of the cleaning agent is cleaning agent, trace amounts of powerful drugs are mixed in, and it is necessary to ensure that they are collected. In addition to cleaning with a cleaning agent, it is also preferable to ensure that the cleaning agent is removed by washing the drop hopper 426 with air and cleaning the distribution disk 420 with the dust collector 435 after packaging of the powerful drug.

[0091] Next, the partition (wall) 150 formed between the storage space of the distribution disk 420 and the cassette storage 100 will be described with reference to FIG. 12. In this type of medicine packaging device, it is important that medicines other than the prescribed (packaged) medicines are not mixed in. In order to prevent this mixing of medicines, the cassette storage 100 and the distribution disk 420 are arranged in positions that do not overlap in the vertical direction, so that even if powdered medicine spills (drops) from the cassette storage 100, it is configured not to mix in the distribution disk 420, as described above. Furthermore, it is possible that the powdered medicine discharged to the distribution disk 420 will fly up, pass through the cassette storage 100 side, and adhere to the cassette 20 in the cassette storage 100. In this way, in order to prevent the powdered medicine once released onto the distribution disc 420 from adhering to the cassette 20 in the cassette storage 100 and becoming mixed into the distribution disc 420 when other powdered medicines are distributed, a partition (wall) 150 is formed between the distribution disc 420 and the cassette storage 100 in the powdered medicine packaging device of this embodiment.

[0092] In Fig. 12, (a) shows the state in which the internal cleaning door 18 of the main body 10 is opened to expose the internal mechanism. The internal cleaning door 18 allows the distribution disk 420 to be cleaned from the outside using a vacuum cleaner 15 by opening the door, and a cleaning hose can be inserted into the area of ​​the distribution disk 420. In Fig. 12(a), the light black hatched portion is a partition (wall surface) 150 for blocking the space between the distribution disk 420 and the cassette storage 100. Fig. 12(b) is a cross-sectional view of the powdered medicine packaging device main body 10 cut at the position indicated by the arrow cc in Fig. 12(c), and the thick line portion 150 is the partition (wall surface).

[0093] 12(b), a partition 150 is provided between the distribution disk 420 and the cassette storage 100, and between the distribution disk 420 and the cassette buffer 200, except for the powdered medicine discharge position 210 of the cassette buffer 200. By providing partitions (walls) between the distribution disk 420 and the cassette storage 100, and between the storage compartment of the distribution disk 420 and the cassette buffer 200 in this manner, it is possible to further prevent the mixing of medicines.

[0094] 12(a) and (b) show a static eliminator (ionizer) 170, which discharges ions generated by the static eliminator in the area of ​​the distribution disk 420 to eliminate the charge on the powdered medicine scattered near the distribution disk 420 and prevent the scattered powdered medicine from adhering to the inside of the device due to static electricity. As shown in FIG. 16, the ionizer 170 can rotate around a rotating shaft 171 provided on the partition wall 150, and the direction of the emission surface can be changed. FIG. 16(a) shows a state in which the ion emission surface is rotated to face the inside of the device and the static elimination area 172 is discharged. FIG. 16(b) shows the ionizer 170 rotated so that the ion emission surface faces the front side.

[0095] Furthermore, FIG. 13 shows the arrangement of the dehumidifier 176, which is provided on the cassette storage 100 side of the partition (wall) 150 shown in FIG. 12. This is to prevent the powdered medicine in the cassette 20 from being altered by humidity or from adhering to each other and becoming a lump (a clump) by dehumidifying the cassette storage 100 and the cassette buffer 200 area. If the powdered medicine becomes a clump (a clump), it will not be possible to release it little by little when it is released from the cassette 20, and there is a concern that it will be released in a lump. In order to prevent this and to keep the powdered medicine in the cassette dry, the dehumidifier 176 is provided. The air dried by the dehumidifier 176 is blown in the direction of the cassette storage 100 along the flow of the dry air described by the arrow 177, so as to keep the cassette storage 100 particularly dry. The water generated by the dehumidifier 176 is discharged through a drain tube 178 to a drain bottle (not shown) as shown in FIG.

[0096] Next, the cassette weighing section 260 provided at the top of the cassette buffer 200 will be described with reference to Figures 3 and 5. In Figures 3(a) and 5(a), 260 is a cassette weighing section, which is formed at the top of the cassette buffer 200. A cassette holding section 262, which is the position where the cassette 20 to be weighed is placed in the cassette weighing section 260, is formed immediately above (directly above) the cassette attachment / detachment position 208 of the cassette buffer 200.

[0097] Therefore, the cassette 20 that has finished discharging the powdered medicine in the cassette buffer 200 is taken out (detached) from the cassette buffer 200 by the holding section 320 of the transfer robot 300, and the cassette 20 is raised by the Z-axis actuator 306 of the transfer robot 300 and transferred by the X-axis actuator 308, so that it can be moved to the cassette holding section 262 of the cassette weighing section 260. Then, the cassette 20 that has finished discharging the powdered medicine in the cassette buffer 200 is weighed by the cassette weighing section 260. Since the cassette holding section 262 of the cassette weighing section 260 is directly above the cassette attachment / detachment position 208 of the cassette buffer 200, the time for transfer by the transfer robot 300 is always constant and takes only a short time.

[0098] 14(a), a camera 266 is provided near the cassette weighing unit 260, and the weighed value of the cassette 20 weighed by the cassette weighing unit 260 is captured by the camera 266. The weight weighed by the cassette weighing unit 260 is subtracted from the pre-stored weight before the powdered medicine is released (the measured value when the cassette 20 is attached to the powdered medicine packaging device, or the measured value after the cassette 20 is released, etc., are stored in association with the RFID identification number of the cassette) to obtain the weight of the released powdered medicine.

[0099] 4, the powdered medicine discharged from the cassette 20 in the cassette buffer 200 to the distribution disk 420 is weighed by a weighing device 430 provided under the distribution disk 420, and the discharge of the powdered medicine from the cassette 20 is stopped when the weight of the powdered medicine prescribed in the prescription is reached. The weight measurement by the weighing device 430 measures the weight including the distribution disk 420 and the drive motor 110 of the distribution disk 420, and the weight of the discharged powdered medicine is obtained by subtracting the weight before the powdered medicine is discharged (weight as a tare).

[0100] Immediately after the powdered medicines are discharged from the cassette 20 to the distribution disk 420, the powdered medicines distributed to the distribution disk 420 are collected and packaged in the packaging paper 440 of the packaging device 400 by the scraping device 424 shown in Fig. 3 via the drop hopper 426 shown in Fig. 3. The configuration for storing the powdered medicines in the packaging paper via the scraping device 424 and the drop hopper 426 and packaging them will be described later.

[0101] Meanwhile, in parallel with the operation of scraping the powdered medicine from the distribution disk 420 by the scraping device 424, the transfer robot 300 takes out the cassette 20 from the cassette mounting / removal position 208 of the cassette buffer 200 and moves the cassette 20 to the cassette holding section 262 of the cassette weighing section 260. Then, the weight of the powdered medicine discharged to the distribution disk 420 and measured by the weighing device 430 is compared with the weight of the powdered medicine measured by the cassette weighing section 260 and removed from the cassette 20. As a result of this comparison, if the difference between the weight of the powdered medicine weighed by the weighing device 430 and the weight of the powdered medicine measured by the cassette weighing section 260 and removed from the cassette 20 is within a predetermined value, the packaged powdered medicine is discharged outside the machine as being correct. The weight of cassette 20 before the powdered medicine is released from cassette 20 is the measured value when cassette 20 is attached to the powdered medicine packaging device, or the weight after the previous release is measured and stored in correspondence with the RFID identification number.

[0102] If the weight measurement value does not fall within a predetermined range, a warning is issued to the operator and the powdered medicine packaged is collected. The weight of the powdered medicine remaining in the cassette 20 is measured by the cassette weighing unit 260 in this manner, and the measurement value of the cassette weighing unit 260 is photographed by the camera 266 and stored in order to confirm the measurement value later. It is preferable that an image of the powdered medicine weighed by the weighing device 430 is also photographed by the camera and stored.

[0103] The order of scraping the powdered medicine from the distribution disk 420 after the distribution to the distribution disk 420 and measuring the weight of the powdered medicine remaining in the cassette by the cassette weighing unit 260 can be changed by the application program of the powdered medicine packaging device. For example, when it is desired to shorten the packaging time of the powdered medicine, the powdered medicine scraping operation may be performed immediately after the powdered medicine is discharged to the distribution disk 420. In addition, in order to avoid the occurrence of incompletely packaged medicine without prioritizing the packaging time, the weight of the powdered medicine remaining in the cassette 20 may be measured after the powdered medicine is discharged to the distribution disk 420 and before scraping.

[0104] The cassette weighing unit 260 may measure the weight of the cassette 20 not only after the powdered medicine is discharged from the cassette buffer 200, but also before the powdered medicine is discharged in order to measure the initial weight in the cassette buffer 200 for inventory management purposes. For example, the weight may be measured when the power supply of the powdered medicine packaging device is turned on when the powdered medicine packaging device starts operating for the day. This is to enable inventory management even when the powdered medicine is taken out of the cassette 20 or supplied while the power supply of the powdered medicine packaging device is turned off. Furthermore, the weight of the cassette 20 in the cassette storage 100 may be measured, not limited to the cassette 20 in the cassette buffer 200.

[0105] 17 is a diagram for explaining an outline of a mechanism for discharging powdered medicine from the vibrating feeder 500 having a drawer structure. When it becomes necessary to package powdered medicine that is not stored in the device main body 10, i.e., the cassette storage 100, it is possible to fill the powdered medicine into a separately provided cassette 20 and load the cassette 20 into the cassette storage 100 for packaging. However, the cassette 20 must be cleaned after use. To clean the cassette 20, it is necessary to disassemble the cassette 20 and then clean it, which is a laborious task for the operator.

[0106] For this reason, the vibrating feeder 500 with a drawer structure is used when it becomes necessary to package powdered medicine that is not stored in the cassette storage 100. This vibrating feeder 500 is provided so as to be slidable between a position where it is drawn out by a slide rail 501 relative to the device body 10 as shown in Fig. 17 and Fig. 18, and a position where it is stored relative to the device body 10 as shown in Fig. 22(a).

[0107] The vibrating feeder 500 is normally locked by an electromagnetic lock (not shown), and the vibrating feeder 500 itself is locked so that it cannot be pulled out from the outside. The electromagnetic lock is unlocked only when it becomes necessary to pull out the vibrating feeder 500, such as when a prescription requires the packaging of powdered medicine that is not stored inside the device, or when an instruction to pack using the vibrating feeder 500 is given by the operation unit 13, or when cleaning the input hopper of the vibrating feeder 500 or the trough 508 described later.

[0108] The vibrating feeder 500 has an input hopper 502 into which powdered medicine is input, and a hopper holding frame 504 on which the input hopper 502 is placed and supported. In addition, a trough 508 is provided at the bottom of the input hopper 502 to convey the powdered medicine input into the input hopper 502 by vibration. The input hopper 502 has a pyramidal funnel shape with a bottom cut out, and when the holding frame drive unit 510 is not driven, the hopper holding frame 504 rotates clockwise due to the weight of the input hopper 502, as shown in FIG. 19(a), so that the lower end of the input hopper 502 is in contact with the upper surface of the trough 508. The input hopper 502 itself is not new, and may be made compatible with a powdered medicine container used in a powdered medicine dispensing machine described in Patent Document 2, for example.

[0109] That is, the input hopper 502 is simply placed on the hopper holding frame 504, and an operator can lift the input hopper 502 and remove it from the hopper holding frame 504. Therefore, after the powdered medicine is packaged using the vibrating feeder 500, the operator can remove the input hopper 502 from the vibrating feeder 500 and clean it easily.

[0110] Furthermore, when the holding frame drive unit 510 is driven with the input hopper 502 placed on the hopper holding frame 504, the hopper holding frame 504 rotates counterclockwise as shown in Fig. 19(b) to lift the input hopper 502. This forms a gap G between the lower end of the input hopper 502 and the upper surface of the trough 508. In Fig. 19(b), the gap G is shown enlarged for ease of understanding, but in reality it is a gap large enough to allow the powdered medicine to pass through little by little.

[0111] When the vibrating feeder 500 is pulled out from the device body 10, there is nothing above the input hopper 502 of the vibrating feeder 500 that would hinder the operator from inputting the powdered medicine, making it easy for the operator to input the powdered medicine. When the holding frame drive unit 510 is not driven, that is, when the lower end of the input hopper 502 is in contact with the upper surface of the trough 508, the operator inputs the powdered medicine weighed by an external weighing device into the input hopper 502, thereby holding the powdered medicine between the input hopper 502 and the trough 508. After inputting the powdered medicine into the input hopper 502 in this way, the operator pushes the vibrating feeder 500 into the device body 10, whereby the vibrating feeder 500 slides along the slide rail 501 and is stored inside the device body 10. When the vibrating feeder 500 is stored inside the apparatus body 10 , the tip of the trough 508 is located above a ring-shaped recessed groove 421 formed in the vicinity of the outer periphery of the distribution disk 420 .

[0112] In this state, by operating the operation unit 13 to release powdered medicine from the vibration feeder 500, the holding frame drive unit 510 is driven, and the hopper holding frame 504 is rotated counterclockwise, thereby lifting the input hopper 502 and forming a gap between the lower end of the input hopper 502 and the upper surface of the trough 508. Thereafter, the trough drive unit (electromagnetic feeder) 512 is driven to apply a micro vibration to the trough 508. Due to this micro vibration of the trough 508, the powdered medicine on the trough 508 is transported to the tip of the trough 508 and released into the ring-shaped recessed groove 421 of the distribution disk 420.

[0113] After the powdered medicine discharged onto the distribution disk 420 is scraped off by the scraping device 424 and wrapped in the wrapping paper 440, when an instruction to clean the vibrating feeder 500 is given from the operation unit 13, the operator can pull out the vibrating feeder 500 from the device main body 10. Then, the operator can remove the input hopper 502 from the hopper holding frame 504 and clean the input hopper 502. Furthermore, when the input hopper 502 is removed, the top surface of the trough 508 is also opened, so that the trough 508 can also be easily cleaned.

[0114] Furthermore, by combining the release of powdered medicine from the vibrating feeder 500 with the release of five types of powdered medicine from the five cassettes 20 in the cassette buffer 200, it becomes possible to package six types of powdered medicine in one packaging paper.

[0115] In addition, the input hopper 502 of the vibrating feeder 500 can be used to increase the number of types of powdered medicines packaged in one packaging paper by having an operator measure the weights of not only one type of powdered medicine but also multiple types of powdered medicines in advance, mix them in a mortar (not shown), and then feed them into the input hopper 502. This has the effect that, when packaging multiple types of powdered medicines stored in the cassette storage 100, the powdered medicines must be sequentially released from the cassette 20 and packaged, which takes time, but by feeding multiple types of powdered medicines into the input hopper 502 in a mixed state, multiple types of powdered medicines can be packaged with one release of the powdered medicine, and packaging can be completed in a short time.

[0116] Furthermore, even if another type of powdered medicine packaging device breaks down and cannot be used, the powdered medicine to be packaged by that powdered medicine packaging device can be packaged by feeding it into the feeding hopper 500 of the vibrating feeder 500. Furthermore, if the structure of the cassettes 20 of a plurality of types of powdered medicine packaging devices is standardized to be compatible, cassettes of other types of packaging devices can be stored in the cassette storage 100, which has the secondary effect of enabling the pharmacy to respond to emergency situations.

[0117] Thus, according to this embodiment, even when powdered medicine not contained in the cassette buffer 200 of the device main body 10 is packaged, the vibrating feeder 500 is pulled out only when the powdered medicine is input, so there is no risk of foreign matter being mixed in, and the powdered medicine can be packaged without imposing a psychological burden on the worker. Also, since the vibrating feeder 500 is configured as a pull-out structure, the input hopper 502 and the trough 508 can be cleaned while pulled out to the outside of the device main body 10, making cleaning easy.

[0118] Next, the packaging device 400 that packages the powdered medicine allocated to the distribution disk 420 will be described with reference to FIG. 21. In FIG. 21, 420 is a distribution disk that distributes the powdered medicine evenly on the outer circumference from the cassette 20 in the cassette buffer 200. The weight of the powdered medicine allocated to this distribution disk 420 is measured by a weighing device (second weighing means) 430 shown in FIG. 4. Specifically, the weight when no powdered medicine is discharged to the distribution disk 420 is set as the weight of the container, and reset to zero, and the weight of the powdered medicine supplied to the distribution disk 420 thereafter is measured. When the weight of the powdered medicine specified in the prescription is discharged to the distribution disk 420, the discharge of the powdered medicine from the cassette 20 is stopped.

[0119] Thereafter, the powdered medicine distributed to the distribution disk 420 is scraped out one packet at a time by a scraping device 424 and inserted between continuous wrapping paper 440 folded in two via a hopper 426. The powdered medicine placed between wrapping paper 440 is packaged one packet at a time by a packaging unit 480 consisting of a heat sealing device, a perforation creating device, etc. Then, it is cut along the perforations or discharged from the drug discharge port 484 to the outside of the machine as a continuous packet.

[0120] As described above, according to the embodiment of the present invention, it is possible to provide a powdered medicine supplying device and a powdered medicine packaging device that can perform the work safely without impairing the convenience of the operator, even when packaging medicine that is not stored inside the device. In addition, since the vibrating feeder is configured as a drawer structure, the input hopper and the trough can be cleaned in a state where they are drawn out to the outside of the device body, and cleaning work is also easy.

[0121] Although the embodiments and modifications of the present invention have been described, these embodiments and modifications are presented as examples and are not intended to limit the scope of the invention. These new embodiments and modifications can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0122] 10: Device body 20: Cassette (container) 100···Cassette (container) storage facility 108, 208: Cassette (container) attachment / detachment position 200: Cassette (container) buffer 210: Powdered medicine discharge position 300: Transfer robot 312: Rotation center of transfer robot 400....Packaging device 420....Distribution disk 421...Groove 500: Vibration feeder 502: Feeding hopper 504 Hopper holding frame 508 Trough

Claims

1. A device body, A rotating distribution disk provided inside the device body for evenly distributing the powdered medicine supplied onto the disk; A container buffer is provided on the upper part of the distribution disk, and transports a plurality of containers containing powdered medicine so as to rotate around a circular orbit, and releases the powdered medicine from the containers to the distribution disk; a container storage unit rotatably provided adjacent to the container buffer and capable of storing a plurality of the containers; a transfer robot capable of holding and transferring the container between the container storage and the container buffer; A vibrating feeder that is slidably provided between a position pulled out from the device body and a position stored in the device body, the vibrating feeder being formed in a drawer structure having an input hopper into which powdered medicine can be input from outside the device at the position pulled out from the device body, and a trough that conveys the powdered medicine input into the input hopper by vibration and releases it little by little onto the distribution disk at the position stored in the device body. A powdered medicine supplying device characterized by:

2. The position where the vibrating feeder is housed in the device body is such that the tip of the trough is located at the top of a ring-shaped groove formed in the vicinity of the outer periphery of the distribution disk.

2. The powdered medicine delivery device of claim 1.

3. The lower end of the input hopper of the vibrating feeder is in contact with the upper surface of the trough when the vibrating feeder is pulled out from the device body, and when the vibrating feeder is stored in the device body, the input hopper is raised to form a gap between the lower end of the input hopper and the trough to form a passage for the powdered medicine.

2. The powdered medicine delivery device of claim 1.

4. The vibrating feeder further includes a hopper holding frame for placing the input hopper thereon and moving the input hopper between a position where a lower end of the input hopper contacts an upper surface of the trough and a position where a gap is formed between the lower end of the input hopper and the trough.

4. The powdered medicine delivery device of claim 3.

5. The vibrating feeder is locked to the device body by an electromagnetic lock, and the electromagnetic lock is unlocked and the feeder can be pulled out only when necessary, such as when supplying powdered medicine to the vibrating feeder or when cleaning the feeding hopper.

2. The powdered medicine delivery device of claim 1.

6. A powder medicine supplying device according to any one of claims 1 to 5, A packaging device that releases powdered medicine one packet at a time from the distribution disk of the powdered medicine supply device and packages the powdered medicine; A powder medicine packaging device having the same.

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