Medication support device

Abstract

To provide a constitution in which, with respect to a medicine pack which is already dispensed in a partition of a medicine dispensing container or in a subdivided box, the medicine pack can be dispensed without a medicine packaged pack to be dispensed next interfering or disturbing, and to reduce the work time for bundling by using a stapler and the like, which is also called Hotchkiss, in the case of dispensing a plurality of medicine packaged packs.SOLUTION: A medication support device 200 includes: storage means such as a storage part 10; take-out means such as a take-out part 50C; adsorption means such as an adsorption part 51; transfer means such as a transfer part 90; and jogger means such as a jogger mechanism 71 that includes a medicine dispensing container such as a medicine dispensing tray 30A, and a jogger base body 72 which moves a medicine packaged pack which has already been dispensed into the medicine dispensing container to the predetermined position in the medicine dispensing container, when dispensing the medicine packaged pack for a plurality of times with respect to the medicine dispensing container.SELECTED DRAWING: Figure 22

Description

[Technical field]

[0001] The present invention relates to a medication support device. [Background technology]

[0002] In a medication support device, a technique is known in which multiple actuators are used to remove, transport, and dispense medication packs from a storage section (also called a cartridge) that stores multiple medicine packages (also called drug packs) in order to reduce the hassle of taking medication for the person taking the medication or the person assisting the person taking the medication (see, for example, Patent Document 1).

[0003] The invention described in Patent Document 1 is certainly similar to the present invention in that its purpose is to reduce the effort required for the person taking medicine or the person assisting them in taking medicine, and drug packs are removed from multiple cartridges, transported, and distributed. However, when distributing medicine from multiple cartridges to the same location (for example, a section of a medicine distribution tray or a subdivision box that can be attached to and detached from a section of a medicine distribution tray), the medicine packs already distributed to the section of the medicine distribution tray or the subdivision box get in the way, so only one medicine can be distributed to one section of the medicine distribution tray or one subdivision box. Therefore, when distributing multiple medicine packs to one section of the medicine distribution tray or one subdivision box, it is necessary to bundle the multiple medicine packs with a stapler or the like, and the problem of the need for bundling work has not been solved. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a configuration that allows the next unit-dose drug pack to be distributed without interfering with or obstructing drug packs that have already been distributed in a compartment or subdivision box of a drug distribution container, and to reduce the work time required to bundle multiple unit-dose drug packs together with a stapler, also known as a stapler, when distributing multiple unit-dose drug packs. [Means for solving the problem]

[0005] In order to achieve the above-mentioned object, the present invention provides a medication support device comprising: storage means for storing a single-drug package; removal means for removing the single-drug package from inside the storage means; suction means provided in the removal means for air-suctioning the single-drug package from inside the storage means; transport means for transporting the single-drug package removed from the storage means via the suction means; a medication dispensing container for dispensing the single-drug package pack transported by the transport means to a specific position partitioned by a plurality of partitions; and jogger means for moving the single-drug package pack already dispensed in the medication dispensing container to a predetermined position within the same medication dispensing container when dispensing the single-drug package pack multiple times to a specific position in the medication dispensing container. Effect of the Invention

[0006] According to the present invention, even if the single-dose drug pack to be distributed has already been distributed in the same drug distribution container, the single-dose drug pack can be moved to a predetermined position in the same drug distribution container by the jogger means, thereby securing space for distribution and reducing the work time required to bundle multiple single-dose drug packs together using a stapler or the like. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1(a) is a front view showing a schematic diagram of the main configuration of the entire medication support device according to Reference Example 1 to which the present invention can be applied, and FIG. [Diagram 2] (a) is a plan view of a single unit-dose drug pack, (b) is a side view of the unit-dose drug pack of (a) as viewed from the direction of arrow A, (c) is a side view of the unit-dose drug pack of (a) as viewed from the direction of arrow B, and (d) is a diagram showing the general shape of a pack continuum. [Diagram 3] FIG. 2 is an external perspective view showing one configuration example of a medicine distribution tray. [Figure 4] FIG. 1A is a vertical cross-sectional view of an example of the configuration of a storage section, and FIG. [Diagram 5] 13 is a cross-sectional plan view of a main part showing an attachment / detachment mechanism of a storage section provided in a drawer section. FIG. [Figure 6] 13 is a schematic plan view illustrating an identification configuration of a storage section provided in a drawer section. FIG. [Figure 7] FIG. 1(a) is a front view showing the configuration of the take-out portion of Reference Example 1, and FIG. [Figure 8] 7(b) is an enlarged view for explaining a guide member and a guide groove of the removal portion of FIG. 7(a). FIG. [Figure 9] 11 is a front view showing the operation transition of the take-out part of Reference Example 1. FIG. [Figure 10] 10 is a front view showing the operation transition of the removal unit continued from FIG. 9. [Figure 11] 11 is a front view showing the operation transition of the removal unit continued from FIG. 10. [Figure 12] FIG. 11 is a diagram for supplementarily explaining the effects of Reference Example 1. [Figure 13] FIG. 1A is a front view showing the main configuration of the transfer section, and FIG. [Figure 14] 13 is a perspective view showing one example of a configuration for holding a tip end of a Y guide member in a transfer section. FIG. [Figure 15] FIG. 2 is a control block diagram of the medication support device of Reference Example 1. [Figure 16] 11 is a flowchart showing an operation flow of distributing unit dose drug packs to subdivision boxes of a medication tray, which is executed by the medication support device of Reference Example 1. [Figure 17] 4 is a diagram showing an operation performed by the medication support device according to Reference Example 1. FIG. [Figure 18] 13 is a flowchart showing the operation flow of the take-out unit of the first reference example. [Figure 19] FIG. 13(a) is a front view showing the configuration of the take-out portion of Reference Example 2, and (b) is a plan view of (a). [Figure 20] FIG. 11 is a control block diagram of the medication support device of Reference Example 2. [Figure 21] 13 is a flowchart showing the operation flow of the take-out unit of the second reference example. [Figure 22]1A is a side view showing the configuration and operation when a pack is aligned to a dispensing box by the jogger mechanism of embodiment 1, and FIG. 1B to FIG. 1D are front views showing the operation progression when a pack is aligned to a dispensing box by the jogger mechanism. [Diagram 23] 22(e) is a side view showing the operation performed following FIG. 22(d) when the pack is aligned to the subdivision box by the jogger mechanism, and (f) to (h) are front views showing the progression of operations when the pack is aligned to the subdivision box by the same jogger mechanism. [Figure 24] 22(a) to 22(d) are enlarged front views showing the operation transition of the suction part and the jogger mechanism of the take-out part corresponding to FIG. 22(b) to FIG. 22(d). [Diagram 25] 23(a) to 23(d) are enlarged front views showing the operation transition of the suction part and the jogger mechanism of the take-out part corresponding to FIG. 23(f) to FIG. 23(h). [Figure 26] 4A to 4C are front views showing the operation transition of the take-out section of the first embodiment. [Figure 27] 27 is a front view showing the progress of the operation of the removal unit following FIG. 26. [Figure 28] 28 is a front view showing the operation transition of the removal unit subsequent to FIG. 27. [Figure 29] 5 is a flowchart showing an operation flow of the take-out unit and the jogger mechanism of the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, the embodiments of the present invention will be described in detail with reference to the drawings. In each of the reference examples, embodiments, examples, etc., components (members and components) having the same function, shape, etc. will be denoted by the same reference numerals once they have been described, and the description thereof will be omitted unless there is a risk of confusion.

[0009] (Reference example 1) The main configuration of the entire medication support device according to Reference Example 1 to which the present invention can be applied will be described with reference to Fig. 1. Fig. 1(a) is a front view showing the main configuration of the entire medication support device according to Reference Example 1 to which the present invention can be applied, and Fig. 1(b) is a side view showing the side configuration of Fig. 1(a). As shown in Figure 1, a medication support device 200 to which the present invention can be applied includes a storage section 10, a storage section tray 20, a drawer section 80, a medication distribution tray 30, a removal section 50A, a transport section 90, and a first entrance / exit section 41 to a fourth entrance / exit section 44. In Figure 1, the left-right direction or horizontal direction (also the width direction) of the medication support device 200 is the X direction, the front-back direction or depth direction is the Y direction, and the up-down direction or vertical direction (also the vertical direction) is the Z direction (the same applies to the figures described below).

[0010] The storage section 10 functions as a first storage means of the present invention for storing in layers single-drug packaged packs (hereinafter simply referred to as "packs") in which drugs are packaged in a single package, combined single-drug packaged packs, and the like (described below) included as drug packs as described below. A plurality of storage sections 10 are arranged via storage section trays 20 in the middle and lower tiers within a main body frame 199 as the device main body of medication support device 200. The storage sections 10 are configured to be detachable from the storage section trays 20 as second storage means. Here, "storing in layers" means storing the packs in a substantially horizontal state or in a flat stacked state.

[0011] The storage section tray 20 is configured to be capable of positioning and storing a plurality of storage sections 10 as described below. The storage section tray 20 functions as a second storage means for placing and holding at least one storage section 10.

[0012] A plurality of storage units 10 are arranged in the drawer unit 80 via storage unit trays 20 provided at the bottom and center of a main body frame 199 as the device main body of the medication support device 200. In the example of Fig. 1, 4 x 5 = 20 storage units 10 are placed and held in one drawer unit 80 (storage unit tray 20) (see Fig. 5 described later). Hereinafter, for the sake of simplicity, the drawer unit 80 may be referred to as the storage unit tray 20. Each of the multiple storage sections 10 is placed and stored within a lattice-like side wall and bottom wall partitioned by a storage section tray 20. A rectangular through opening 21 (see FIG. 5 described later) is formed in the bottom wall of the storage section tray 20 corresponding to each storage section 10 for removing packs from below the storage section 10 by utilizing the elasticity or free deformation of the packs, as described in the operation described later.

[0013] The drawer section 80 is configured to be able to position and hold the storage section tray 20. A pair of slide rails 81 are attached to the outer wall of the drawer section 80, and a main body rail (not shown) is provided on the main body frame 199 so as to be able to fit with the slide rails 81 of the drawer section 80. This fitting configuration between the main body rail and the slide rail 81 allows the drawer section 80, in which the storage section tray 20 is stored and held, to be drawn out from the main body frame 199.

[0014] The medication tray 30 functions as a medication container or medication means, or medication table, of the present invention, on which a specific pack transferred by the transfer section 90 is placed. As shown in Fig. 1, two medication trays 30 are arranged in a state of being placed further above the storage section 10 attached to the storage section tray 20 in the uppermost drawer section 80. Hereinafter, the installation site of the medication tray 30 (meaning the location where the pack is handed over to the medication tray 30 to be automatically distributed) is referred to as the medication section 29.

[0015] The removal section 50A is a section for removing a specific pack from the storage section 10, and functions as the removal means of the present invention. The transfer section 90 functions as a transfer means of the present invention for transferring the packs taken out from the storage section 10 by the take-out section 50A.

[0016] The first entrance / exit section 41 and the second entrance / exit section 42 function as entrance / exit section for the storage means, which allows the storage section 10 and the storage section tray 20 to enter and exit the main body frame 199 via the drawer section 80. The storage section 10 is inserted and set in the main body frame 199 through the first entrance / exit section 41 and the second entrance / exit section 42, respectively. The doors of the first entrance / exit section 41 and the second entrance / exit section 42 are opened, and the drawer section 80 in which the storage section tray 20 is set is pulled out toward the front, and the storage section 10 and the storage section tray 20 are attached and detached.

[0017] The third entrance / exit section 43 and the fourth entrance / exit section 44 function as entrance / exit means for medication means that allows each of the two medication distribution trays 30 arranged side by side on the top level of the medication support device 200 to pass in and out of the main body frame 199. The third entrance / exit section 43 and the fourth entrance / exit section 44 are provided so that a pack can be removed immediately after being placed in the medication distribution tray 30 (hereinafter also referred to as "set" or "inserted"). In the medication support device 200, as described above, two medication trays 30 are arranged, and as described later, a medication tray is provided for each medication timing, for example, morning, afternoon, evening, before going to bed, etc. Since a third entrance / exit section 43 and a fourth entrance / exit section 44 for the medication tray are also provided for each medication tray, it is possible to take out a different medication tray even while a medication distribution operation is being performed on another medication tray.

[0018] 1 is provided in two locations, one above the other, below the topmost medication tray 30, but may be provided in the upper or lower locations. Depending on the number of people in the care facility, the storage trays 20 may be arranged in three levels to achieve the same effect.

[0019] An outline of the single packaged drug pack that is the subject of the present invention will be described with reference to Fig. 2. Fig. 2(a) is a plan view showing a general form of a single packaged drug pack, Fig. 2(b) is a side view of the single packaged drug pack of Fig. 2(a) seen from the direction of arrow A, Fig. 2(c) is a side view of the single packaged drug pack of Fig. 2(a) seen from the direction of arrow B, and Fig. 2(d) is a diagram showing a general form of a pack continuum.

[0020] As shown in FIG. 2(a), one single-dose drug pack 2 is formed, for example, from a resin film, and contains small portions of drug 3, such as capsules or tablets, packed in bags. The single-dose drug pack 2 has a bag portion 2a that covers the drug 3, and a crimped portion 4, which is indicated by hatching and has three sides crimped or welded. The side on the bag portion 2a side is usually folded in half, with the drug 3 sandwiched between them, and the crimped portion 4 forms a leak prevention portion that prevents the drug 3 from leaking from the bag portion 2a. The drug 3 in one single-dose drug pack 2 is usually a unit for one dose for a patient.

[0021] The single-dose drug packs 2 are made (packaged) by a drug packaging machine installed in a pharmacy or the like. The packaging paper (packaging sheet) used for packaging is a long rolled sheet that is rolled in a folded and overlapped state, and the drug 3 to be taken is sandwiched between the sheets. The three sides other than the folds around the drug 3 are sealed and divided into multiple doses by a crimping section 4, and are formed into a continuous sheet for the required number of doses. This continuous sheet-like single-dose drug pack is called a "continuous pack." The continuous pack 1 shown in Figure 2(d) is a state in which multiple single-dose drug packs 2 (three doses in the example shown in the figure) are connected in a strip shape. The pack series 1 is a general form that is usually provided and sold at pharmacies and the like to users (including those who actually take the medicine in the single-dose drug pack, and the caregivers and supporters who assist and support the user in taking the medicine, as well as staff of various nursing homes and medical facilities (a concept that includes pharmacists, nurses, caregivers, and medication supporters). For the sake of simplicity, the following explanation illustrates one pack containing medicine of the same form (capsules, tablets, etc.), but it goes without saying that one pack may contain different medicines depending on the user's use and purpose, etc.

[0022] In the example shown in Figure 2, the single-dose drug pack 2 has a rectangular shape in plan view, and a packaging method in which three sides are crimped and sealed as in this example is generally called three-sided packaging. Most of the drug packaging machines on the market create single-dose drug packs 2 using this three-sided packaging method.

[0023] The pressure-bonded portion 4 has a band-like width of approximately 10 to 15 mm, and is more rigid than the transparent or semi-transparent film-like bag portion 2a through which the drug 3 can be seen. A boundary portion 2b with a perforation 5 is formed in the center of the pressure-bonded portion 4 of the single-dose drug packs 2, where the multiple single-dose drug packs 2 constituting the pack continuum 1 are adjacent to each other in a continuous manner from the upstream side to the downstream side. A user who has good dexterity can tear the single-dose drug pack 2 by hand at the perforation 5, or cut it near the perforation 5 with scissors or a dedicated cutter, to obtain one single-dose drug pack 2.

[0024] As described above, in the case of three-sided packaging, the three crimped sides cannot ensure the internal thickness, so the medicine 3 tends to concentrate near the film-like bag portion 2a. Therefore, the thickness of the single-dose medicine pack 2 tends to be thicker from the folded-back part of the film in the bag portion 2a to the center. The part marked "2c" in Figures 2(a), 2(c), and 2(d) is added to explain the unique behavior of the single-dose medicine pack 2 stored near the bottom of the storage portion 10, as described later, and will be referred to as the bag portion-facing adsorption part 2c below.

[0025] The medicine distribution tray will be described with reference to FIG. 3. FIG. 3 is an external perspective view showing one configuration example of the medicine distribution tray when a subdivision box is used. As shown in FIG. 3, the medicine distribution tray 30 has partition walls 31, which are partition members as a plurality of partitions for arranging specific packs, and each is divided by four erected partition walls 31. The 20 sections 33 formed in the medicine distribution tray 30 can be expressed as elements of a matrix consisting of 5 columns in the X direction (row feed direction, e.g., A, B, C, D, E) and 4 rows in the Y direction (character feed direction, e.g., 1, 2, 3, 4). As a result, each of the 20 sections 33 of the medicine distribution tray 30 can be uniquely positioned by the elements of the matrix of 5 columns and 4 rows (hereinafter also referred to as addresses). Furthermore, the medicine distribution tray 30 has a bottom wall 32 on which the arranged packs 2 are placed. In this manner, the medication tray 30 is configured with multiple (four) partition walls 31 and a common bottom wall 32 to ensure that a particular pack (not shown) placed in a particular compartment 33 is securely positioned in a particular compartment 33 without becoming mixed up with packs (not shown) in other compartments 33 or falling out of the bottom wall 32.

[0026] The medication tray 30 has a total of 20 compartments 33 divided by multiple partition walls 31, and the set or insertion position is determined for each recipient depending on the pack to be taken. In other words, the multiple compartments 33 in the medication tray 30 may be assigned to multiple recipients at the same medication timing. In addition, if a specific recipient does not take medicine at a specific medication timing, it is also possible to prevent a pack from being placed for the specific recipient at the specific medication timing. In the medication tray 30 shown in Figure 3, the "Floor A After-Lunch Medication Tray" displayed on the front outer wall indicates that this is a medication tray on which packs to be taken after lunch by multiple medication users residing on the same floor A in a nursing home, for example, are placed.

[0027] 3, each section is determined by the recipient, so that staff at a care facility who assists with taking medicine on the medication tray 30 will pick up the same section (address) each time, which helps prevent medication errors. In other words, the medication will not be mixed up on each day, which reduces the workload of staff at care facilities and welfare facilities.

[0028] Not limited to the above-mentioned medicine distribution tray 30, the medicine distribution tray 30 may have a plurality of compartments 33 allocated for each timing of taking medicine by each recipient. Specifically, the plurality of compartments 33 may be allocated for each timing of taking the pack 2 in the morning, midday, evening, and before going to bed, and for each recipient. In the medicine distribution tray 30 of such an example, the medicine distribution tray 30 can be managed for each floor or room in which multiple recipients reside, and the packs 2 for that day (or several days) can be distributed in advance to the medicine distribution tray 30.

[0029] According to the above example, each section is assigned to a medication timing, such as morning, afternoon, evening, before bedtime, etc., so that the timing of taking the medicine for each patient can be prevented. There are various possible combinations of the patient and the timing of taking the medicine, not limited to the above-mentioned configuration example of the medication distribution tray 30, but since this goes beyond the scope of the present disclosure, the above description will be omitted.

[0030] The medicine distribution tray 30 shown in Fig. 3 shows a case where a subdivision box 34 is used as a detachable housing in each compartment 33. The subdivision box 34 holds packs 2 containing medicine to be taken after lunch for a total of 20 people, from Mr. A to Mr. T, who are residents of a care facility, for example. That is, the medicine distribution tray 30 shown in the figure is used when a specific pack is placed in a predetermined (specific) compartment 33 separated by a plurality of partitions via the subdivision box 34. Note that the operation of placing the packs 2 on the medicine distribution tray 30 may not use the subdivision box 34.

[0031] An example of the storage section will be described with reference to Fig. 4. Fig. 4(a) is a vertical cross-sectional view of the storage section, and Fig. 4(b) is a bottom view of the storage section of Fig. 4(a). In Fig. 4(a), in order to simplify the drawing, the pack 2 is shown diagrammatically with the crimping section 4 (see Fig. 2) of the pack 2 stored in the storage section 10 omitted. Also, the cross-sectional hatching of the support sections (right support section 12, left support section 13, etc.) is omitted and shown diagrammatically.

[0032] The storage section 10 is mainly composed of a case section 11, a lid section 14, a pack removal opening 17, a movable plate 16, a pack attitude maintaining section 15, and a right support section 12 and a left support section 13 serving as supports. The case portion 11 has a function of storing a plurality of packs 2. The case portion 11 is formed integrally or separately, for example, using resin. The lid portion 14 has a function of allowing the packs 2 to be inserted. The pack removal opening 17 is formed in the lower portion or bottom of the case portion 11, and is an opening for removing the packs 2 in the storage portion 10, and has a function of passing the packs 2 removed from the storage portion 10 by the removal portion 50A (see FIG. 1, etc.).

[0033] The movable plate 16 has a function of preventing the packs 2 from falling over, and after the first pack of the maximum number of packs 2 that can be stored in the case part 11 has been taken out, moves the lowest pack 2 to the vicinity of the pack removal opening 17. The pack posture maintaining part 15 has a function of maintaining the posture of the pack 2. The right support part 12 and the left support part 13 also have a function of supporting or holding the pack 2 in the case part 11.

[0034] In this reference example 1, the portion to be removed of the pack 2 removed from the storage section 10 by the removal section 50A is located at the lower part or bottom within the storage section 10. That is, the portion to be removed is configured to include a right support section 12 and a left support section 13 as support sections or support members that support the pack 2 removed from the storage section 10 at multiple points, and a pack removal opening 17.

[0035] When the pack 2 is removed from the storage section 10 by the removal section 50A, the right support section 12 and the left support section 13 are configured to allow the passage of the pack 2. On the other hand, when the pack 2 is not removed from the storage section 10, the right support section 12 and the left support section 13 are configured to restrict the passage of the pack 2 so that a plurality of packs 2 are stored and held within the case section 11.

[0036] As described above, the right support part 12 and the left support part 13 are support parts that support or hold the packs 2 in the storage part 10, and are provided in an immovable state so that the removal part 50A can stably remove the packs 2 from the storage part 10. The right support part 12 and the left support part 13 are fixed members that are provided in a fixed or secured state to the bottom wall inner surface 11e of the right bottom wall end part and the left bottom wall end part of the pack removal opening 17, respectively. The pack removal opening 17 has a function of passing the suction pad 52 of the removal section 50A shown in Fig. 7 etc. described later in order to remove the packs 2, and also has a function of passing the removed packs 2 and the suction pad 52. In other words, the pack removal opening 17 and the right bottom wall end and the left bottom wall end provided in a state surrounding the pack removal opening 17 function as pack removal passage sections.

[0037] In the storage section 10 in FIG. 4, a position 52' (hereinafter also referred to as "suction pad position") where the suction pad 52 (see FIG. 7 described later) suctions the pack 2 stored in the storage section 10 is indicated by a circular two-dot chain line in FIG. 4(b). The right support section 12 and the left support section 13 support the pack 2 in the storage section 10 so that the pack 2 in the storage section 10 does not fall from the pack removal opening 17. As will be described in the operation of the removal section 50A described later, when the pack 2 at the bottom of the storage section 10 is removed while being sucked by the suction pad 52, the suction pad 52 is positioned to suck the pack 2 at two suction pad positions in the Y direction near both ends of the right support section 12. When the pack 2 at the bottom of the storage section 10 is removed by the suction pad 52, the two suction pads 52 pass near both ends of the right support section 12 in the Y direction to suck and hold the pack 2.

[0038] As shown in Fig. 4, by locating suction pad positions at two locations near both ends of the right support section 12 in the Y direction, it is possible to avoid the risk of a malfunction in which the suction pads 52 are unable to suck the packs 2 and to remove the packs 2. That is, since the packs 2 on both sides in the Y direction are sucked by the suction pads 52, the film bag section 2a of the pack 2 is stretched by the suction of the two suction pads and can withstand deformation. This makes it possible to reliably support or hold the packs 2 in the storage section 10 while also making it easy to smoothly remove the packs 2.

[0039] The pack attitude maintaining portion 15 is made of sponge rubber having appropriate elasticity or resistance. The movable plate 16 is made of, for example, resin or metal. The pack attitude maintaining portion 15 and the movable plate 16 also properly maintain the attitude of the multiple packs 2 stored in the case portion 11 (as shown in FIG. 4(a) , they also maintain the attitude of the packs 2 in an orderly and substantially horizontal state along the Z direction). In order to fulfill the above function, the movable plate 16 is set to reliably move at least one pack 2 remaining in the case portion 11 to the vicinity of the pack removal opening 17 by descending downward in the Z direction within the case portion 11 by its own weight. As shown in Fig. 4(a), a long groove 11a is formed in the side wall of the case 11, extending in the Z direction with a predetermined width in the X direction. A flanged shaft 16a is provided at one end of the movable plate 16 so as to protrude from the long groove 11a. The movable plate 16 can maintain the position of the pack 2 along the Z direction by guiding the shaft 16a along the long groove 11a in the Z direction. In Fig. 4, the packs 2 in the storage section 10 are stacked in a substantially horizontal state, and are stored in a position in which the drug-encapsulated portion on the left side of the figure is inflated.

[0040] The packs 2 are set in the case 11 and stored in order from the pack removal openings 17 on the right support part 12 and the left support part 13 side toward the top. The timing for refilling the storage part 10 with packs 2 may be, for example, when a user (resident) in a nursing facility is examined (usually every two weeks) or when the packs 2 in the storage part 10 run out. If there are packs 2 remaining in the storage part 10 when refilling, refilling is performed starting from behind the remaining packs 2. The setting of packs 2 in the storage unit 10 and the refilling of packs 2 are typically performed by staff at a care facility or the like, but this is not necessarily the case if the storage unit is configured as a cartridge and the operation is automated.

[0041] The lid portion 14 is intended to enable staff at a care facility or the like to take in and out the packs 2 stored in the storage portion 10, and is formed long in the Z direction of the case portion 11 and with a predetermined opening width, as shown in Figure 4(a).

[0042] As shown in Fig. 4(a), the types of packs 2 in the storage section 10 are divided according to the timing of taking the medicine, for example, 14 days' worth of morning medicine for person A. Therefore, if person A takes medicine in the afternoon, evening, and before going to bed in addition to the morning, a total of four storage sections 10 are required. The above example is not limiting, and for example, a single storage section 10 set for each medicine taker (person) may be used, and the packs may be arranged in the order of morning → afternoon → evening → before going to bed → morning → afternoon → evening, etc. on the first day, moving upward from the pack removal opening 17, which is the pack removal direction of the storage section 10.

[0043] The end support part of the pack 2 on the side to be adsorbed is supported by the right support part 12, and the opposite end support part is supported by the left support part 13, so that the pack 2 stored and set in the storage part 10 does not fall in the set state. The right support part 12 and the left support part 13 have different support lengths for supporting the pack 2, with the right support part 12 having a shorter support length. When the bottommost pack 2 stored in the storage part 10 is adsorbed by the suction pad 52 and pulled out of the storage part 10, the drug packs such as the pack 2 are configured and operated to bend due to elasticity or free deformation and be easily pulled out (see Figures 9, 10, etc. described later).

[0044] At this time, because the support parts (right support part 12 and left support part 13) are fixed, they can securely hold the tip of the next pack 2 and it will not fly out or fall due to being pulled by the previous pack 2. In addition, because the support parts (right support part 12 and left support part 13) do not swing or rotate, the pack 2 will not get pinched during the return movement or deformed when pushed in, and it will be held in a stable state.

[0045] The mechanism for attaching and detaching the storage unit provided in the drawer and its operation will be described with reference to Figs. 5 and 6. Fig. 5 is a plan sectional view of the main part showing the mechanism for attaching and detaching the storage unit provided in the drawer, and Fig. 6 is a schematic plan view explaining the identification configuration of the storage unit provided in the drawer. As shown in Fig. 5, the drawer 80 is configured to make a plurality of storage units 10 detachable via the storage unit tray 20. The storage units 10 configured to be detachable in this manner are generally called "cartridges". The drawer 80 is configured integrally with the storage unit tray 20 to hold the storage unit tray 20. Slide rails 81 are provided on the left and right outer wall surfaces of the case 22 of the storage unit tray 20 in the drawer 80, respectively, and each slide rail 81 is slidable on a main body rail (not shown) arranged on the main body frame 199 (see Fig. 1). As a result, the drawer 80 (storage unit tray 20) can be attached and detached by being pulled out from within the main body frame 199 (see Fig. 1) via the engagement between the slide rails 81 and the main body rails (not shown).

[0046] 5, the storage sections 10 are attached to and detached from the storage section tray 20 of the drawer section 80 via engagement and disengagement between a pair of protrusions 23a formed on the inner wall surface of the case section 22 of the drawer section 80 and protruding inward, and a pair of recesses 11c formed on the outer wall surface of the case section 11 of the storage section 10, and between the inner wall surface of the case section 22 and four hemispherical protrusions 11d formed on the outer wall surface of the case section 11. The above-described attachment and detachment configuration of the drawer section 80 makes it possible to attach and detach the multiple storage sections 10 simply and with good operability. In the above example, attachment and detachment are achieved by fitting and engaging the concave and convex portions, but the present invention is not limited to this, and the same effect can be obtained by providing an elastic material in the gap between the inner wall surface of case portion 22 and the outer wall surface of case portion 11, by using a magnetic force, or by using a snap-fit ​​structure. Also, as shown in Figures 5 and 6, an opening 21 is formed through the bottom wall of storage portion tray 20 of drawer portion 80, which opens into pack removal opening 17 (see Figure 4) of storage portion 10 when each storage portion 10 is attached to each storage portion 23 of storage portion tray 20.

[0047] As shown in Fig. 6, the storage section tray 20 of the drawer section 80 has a storage section 23 that stores 20 storage sections 10 in four horizontal columns A to D and five vertical rows 1 to 5. The drawer section 80 is provided with guide display units such as LEDs (light-emitting diodes) 25a1 to 25d5 that indicate the locations of the multiple storage sections 10 near the handle 26 that is gripped by hand during attachment and detachment operations. This allows the user to see at a glance where the target storage section 10 is located in the drawer section 80 or storage section tray 20. In the same figure, the LED 25a1 detects the presence or absence of a storage section 10 to be attached or detached corresponding to the storage section A1 (representing a portion or section uniquely determined by a vertical column and a horizontal row) of the storage section tray 20. Similarly, LED 25a2 corresponds to the portion of storage section A2 of storage section tray 20, LED 25a3 corresponds to the portion of storage section A3 of storage section tray 20, LED 25a4 corresponds to the portion of storage section A4 of storage section tray 20, and LED 25a5 corresponds to the portion of storage section A5 of storage section tray 20. Similarly, for storage sections 1 to 5 in columns B to D, as shown in Fig. 6, LEDs are provided corresponding to each storage section to indicate the presence or absence of a storage section 10 to be attached to or detached from each storage section. In the case of guidance display units such as LEDs 25a1-25d5, there is a possibility that a staff member who is an operator attaching the storage unit 10 to the storage unit 23 may mistake the lit up positions of the LEDs 25a1-25d5 and attach (misattach) the storage unit 10 to a storage unit other than the specified storage unit 23. Therefore, instead of guidance display units such as LEDs 25a1-25d5, for example, a detection means such as a sensor or a switch may be provided in each storage unit 23 so that the presence or absence of the storage unit 10 can be electrically (automatically) identified.

[0048] In addition, to identify each storage unit, it is advisable to provide the storage unit with a number, barcode, QR code (registered trademark), or non-contact IC tag, and have the system memorize whose medicine is in which storage unit. Then, after the drawer unit with the storage unit attached is set in the device body, the device body will identify each storage unit. This allows the device to take out and pick the correct pack.

[0049] The configuration and operation of the take-out section will be described with reference to Figs. 7 to 12. Fig. 7(a) is a front view showing the configuration of the take-out section, Fig. 7(b) is a plan view of Fig. 7(a), and Fig. 8 is an enlarged view explaining the guide member and guide groove of the take-out section in Fig. 7(a). Figs. 9 to 11 are front views showing the operation transition of the take-out section. Fig. 12 is a diagram for supplementary explanation of the effects of this Reference Example 1. In order to simplify the drawings, the connection relationship diagram of the negative pressure generator 45 and the like in the configuration of the take-out section is shown only in Fig. 7(a) and is omitted in Figs. 9 to 11 and the like described below. As shown in Fig. 7(a), the removal unit 50A has an adsorption unit 51 that removes and holds the pack 2 from the storage unit 10. The adsorption unit 51 has a function of adsorbing and peeling off the pack 2. When adsorbing the pack 2, the adsorption unit 51 has a function of adsorbing the pack 2 using negative pressure air converted by a negative pressure generator 45 serving as negative pressure switching means. Also, when peeling off the pack 2, the adsorption unit 51 has a function of peeling off the pack 2 using pressurized air converted by the negative pressure generator 45.

[0050] As shown in Fig. 7(a), the suction unit 51 converts positive pressure from an air compressor 46, which is an air compression means, into negative pressure in a negative pressure generator 45 via an air tank 47, thereby creating a negative pressure state and suctioning the packs 2. The air compressor 46 is installed outside the transfer unit 90, and is connected to the suction unit 51 by communication members such as an air pipe 49 via the air tank 47 and the negative pressure generator 45. The air pipe 49 between the negative pressure generator 45 and the suction unit 51 has a pressure sensor 48 that measures negative pressure, and when the negative pressure measured by the pressure sensor 48 becomes equal to or lower than a predetermined value, it can be determined that the suction unit 51 has suctioned the packs 2.

[0051] The air piping 49 is provided through a cable bear (registered trademark) together with a harness so that the take-out part 50A is not stretched even when it moves inside the medication support device 200. That is, as shown in Fig. 1(a) and Fig. 1(b), the air piping 49 has a path of one turn each in the X-axis, Y-axis, and Z-axis. The air piping 49 is first extended from the negative pressure generator 45 along the Z-axis direction and makes one turn, then extended along the X-axis and makes one turn, and finally extended along the Y-axis and makes one turn to be connected to the suction part 51.

[0052] The suction unit 51 also has a suction pad 52 that suctions the pack 2, and a suction duct 53 connected to the suction pad 52. The negative pressure generator 45 is also called a vacuum ejector valve, and is connected to the suction duct 53 via an air pipe 49. The suction pad 52 functions as an air suction means or suction member that suctions and removes the pack 2 from the storage unit 10. One end of the suction pad 52, the upper end in FIG. 7(a), is disposed to suction the pack 2 as described above. The other end of the suction pad 52, the lower end in FIG. 7(a), is attached and fixed to one end of the suction duct 53, the upper end in FIG. 7(a). The other end of the suction duct 53, the lower end in FIG. 7(a), is attached and fixed to a suction pad support member 54. The suction pad 52 and the suction duct 53 are provided in pairs in the Y direction.

[0053] The removal unit 50A also has a position changing means for changing the position of the pack 2 removed from the storage unit 10 to a substantially vertical position. The position changing means in the removal unit 50A includes, as main components, a suction pad support member 54 connected to the suction unit base member 57 via a rotating shaft 55, a guide member 59A including a guide groove 59b in which guide grooves 59a1, 59a2, and 59a3 of specific shapes are formed, a guide shaft 56 that is always fitted into any one of the three guide grooves 59a1, 59a2, and 59a3 formed in the guide member 59A to guide the suction pad support member 54, and a suction unit vertical movement unit.

[0054] The suction pad support member 54 is connected to the suction unit base member 57 via a rotation shaft 55. The suction pad support member 54 may be provided so as to be rotatable (i.e. swingable) within a predetermined angle range around the rotation shaft 55 fixed to the suction pad support member 54, or may be provided so as to be swingable around the rotation shaft 55 fixed to the suction unit base member 57. In other words, in Fig. 7, the distance connecting the center of the rotation shaft 55 and the center of a guide rod 58 (described later) in the X direction is set so as to be always kept constant when the suction unit base member 57 moves in the vertical direction Z along the guide rod 58.

[0055] The suction unit vertical movement part has a pair of guide rods 58 provided in the Y direction to guide the suction unit base member 57 in the Z direction, an endless belt 62 wound around a drive pulley 60 and a driven pulley 61, and a drive motor 63 connected to the drive pulley 60 via a drive transmission member such as a gear or a belt. The drive motor 63 is a drive means or drive source of the suction unit vertical movement part.

[0056] The suction unit base member 57 is connected and fixed to the belt 62 by a belt gripping portion 62a fixed to the right end of the suction unit base member 57. The guide rods 58 extend in the Z direction and are provided in a pair in the Y direction, with their lower ends fixed to the bottom frame 50b of the removal unit frame 50a provided in the removal unit 50A. A guided hole 57a into which the guide rod 58 is inserted is formed on the right end side of the suction unit base member 57. The drive pulley 60 and the driven pulley 61 have pulley shafts, each of which is shown in a simplified manner, rotatably supported by a stationary member on the side of the take-out unit frame 50a. The drive motor 63 is fixed to a stationary member on the side of the take-out unit frame 50a of the take-out unit 50A.

[0057] When the suction unit base member 57 moves up and down by the operation of the drive motor 63, the suction unit base member 57 moves in the Z direction along each guide rod 58, so that it is possible to keep the posture of the suction unit base member 57 in the XY plane constant in a substantially horizontal state. Note that the suction unit up and down movement unit is not limited to the above-mentioned belt-driven up and down reciprocating motion mechanism, and may be a reciprocating linear motion mechanism using a rack and pinion or the like.

[0058] The guide groove 59b having a unique shape formed in the guide member 59A is formed so that the guide shaft 56 is guided by the first guide groove 59a1, the second guide groove 59a2, and the third guide groove 59a3, thereby maintaining the posture of the suction pad 52 in a predetermined direction via the suction pad support member 54, as shown in Figure 7(a). The guide groove 59b is made up of a first guide groove 59a1 portion that allows the suction portion base member 57 to move while remaining substantially horizontal when the suction pad 52 moves from the standby position to the pack suction position, and a second guide groove 59a2 portion that communicates with and connects to the first guide groove 59a1, moves gradually to the right as it moves downward, and rotates the attitudes of the suction pad support member 54 and the suction pad 52 by approximately 90 degrees. In addition, the guide groove 59b is made up of a third guide groove 59a3 portion that communicates with and connects to the upper end of the first guide groove 59a1, moves gradually to the right as it moves upward, and rotates the attitudes of the suction pad support member 54 and the suction pad 52 to the left.

[0059] The first guide groove 59a1 and the second guide groove 59a2 formed in the guide member 59A are configured similarly to a posture changing means that changes the posture of the pack 2 removed from the storage section 10 from an approximately horizontal state (the thickness of the pack 2 is approximately vertical) to an approximately vertical state. The third guide groove 59a3 in the guide groove 59b of a specific shape formed in the guide member 59A and the guide shaft 56 constitute an angle variable mechanism that changes the angle of the suction pad 52 in a predetermined direction with respect to the pack 2 positioned at the bottom of the storage section 10 when the suction pad 52 is in contact with the pack 2 positioned at the bottom of the storage section 10. The angle variable mechanism is configured so that when the suction pad 52 adsorbs the pack 2, the suction pad 52 adsorbs the pack 2 in accordance with the inclination of the pack 2 positioned at the bottom of the storage section 10. Furthermore, as will be explained in detail in the operation described below, when the suction pad 52 rises toward the lower part of the storage section 10, the suction pad 52 (its suction holding surface 52a) enters the lower part of the storage section 10 at an approximately horizontal angle, and then the angle of the suction pad 52 relative to the lowermost pack 2 is changed in accordance with the amount of penetration of the suction pad 52.

[0060] The angle variable mechanism is composed of a link and a slide guide. That is, the angle variable mechanism is composed of a kind of link (the suction pad support member 54 (follower) connected to the suction unit base member 57 (driver) that moves up and down via the rotation shaft 55, and the link member portion of the suction pad support member 54 that connects the guide shaft 56 that is always fitted into the guide groove 59b to guide the suction pad support member 54 and the rotation shaft 55) and a slide guide (the guide groove 59b of the guide member 59A having the third guide groove 59a3).

[0061] The removal section 50A is also provided with an adsorption section 51 that uses air as the removal means, as shown in Figures 1 and 7(a), and is equipped with an air tank 47, an air compressor 46, and a negative pressure generator 45 for air adsorption, which are connected by air piping 49, piping joints, etc. Medication support device 200 can perform vacuum breaking. By switching to negative pressure in negative pressure generator 45 and generating negative pressure using air compressed by air compressor 46, the pack in close contact with suction pad 52 of suction section 51 can be sucked and adsorbed to hold the pack. Conversely, negative pressure generator 45 can generate pressure to send air to suction pad 52 of suction section 51, and the air can be sprayed onto suction holding surface 52a of suction pad 52 to release the held state of the pack.

[0062] Next, the operation of the take-out unit 50A will be described with reference to Figures 9 to 11. Figures 9 to 11 are operation transition diagrams of the take-out unit. Figures 9(a) to 10(d) explain the pick-out operation of taking out the pack 2 from the storage unit 10.

[0063] In the explanation of the operation of the removal unit 50A, it is assumed that the removal unit 50A is located below the storage unit 10 of the drawer unit 80 arranged in the center of the main body frame 199 in Fig. 1 by the operation of the transport unit 90 in Fig. 1. After the suction pad 52 of the removal unit 50A sucks and pulls out the lowest pack in the storage unit 10, the removal unit 50A moves above the medicine distribution tray 30 located at the top in Fig. 1 by the operation of the transport unit 90, and drops and inserts (distributes) the medicine into the subdivision box 34 arranged in a predetermined section of the medicine distribution tray 30.

[0064] As shown in FIG. 9(a), when the dispensing operation starts, first, the take-out unit 50A moves to the lower side of the storage unit 10 by the operation of the transport unit 90 in FIG. 1 to take out the target pad, stops moving, and is in a standby state. At this time, the drive motor 63 is stopped, and the suction holding surface 52a of the suction pad 52 is in a substantially vertical (substantially vertical) position. After that, the drive motor 63 starts to drive, and the suction unit base member 57 and the suction pad 52 move linearly upward as shown in FIG. 9(b). At this time, the suction holding surface 52a of the suction pad 52 changes its position from substantially vertical (substantially vertical) to substantially parallel (substantially horizontal), and then the suction pad 52 enters from the pack take-out opening 17 between the right support unit 12 and the left support unit 13.

[0065] Thereafter, when the suction pad 52 moves further upward, the guide shaft 56 moves to the third guide groove 59a3 of the guide member 59A. As a result, as the suction pad 52 rises, the suction pad support member 54 rotates to the left as indicated by the arrow in the figure, and at the same time, the suction pad 52 also rotates to the left and enters the lower part of the storage section 10. At this time, the negative pressure generator 45 (see FIG. 7(a)) has been driven in advance and is in a state where the suction operation is possible. When the pack 2 is stored in the storage section 10 in a substantially horizontal state, the pack 2 is at the bottom surface of the storage section 10, and therefore the suction pad 52 will suction the pack 2 immediately after entering in a substantially horizontal state.

[0066] As described above, the pack 2 has a thick film-like bag portion 2a (see FIG. 2). Even if the pack 2 is pressed down from above by the movable plate 16 in the storage section 10 shown in FIG. 4, the force is applied to the thick portion, so the film-like bag portion 2a goes down to the bottom surface of the storage section 10, but the bag portion facing suction portion 2c on the opposite side may get caught on the side wall in the case section 11 and not go down to the bottom surface. In such a state, the bag portion facing suction portion 2c of the pack 2 is located above the bottom surface of the storage section 10. Also, the pack 2 is held with the bag portion facing suction portion 2c tilted upward. In such a state, even if the suction pad 52 enters the storage section 10, the suction pad 52 may not reach it, or even if it reaches it, there may be a gap between the suction pad 52 and the pack 2, and the pack 2 may not be suctioned.

[0067] When pack 2 is stored in storage section 10 in a substantially horizontal state, pack 2 is at the bottom of storage section 10, and so suction pad 52 will adhere to pack 2 immediately after entering in a horizontal state. Even if pack 2 is stored in an inclined state, suction pad 52 will rise further and incline to the left, which is the inclination direction of pack 2, to adhere to pack 2. Even if the pack 2 is stored in a tilted downward left position (with the bag portion 2a on the left side of the pack 2 in contact with the left support portion 13) as shown in Figures 9(b) and 9(c), as the suction pad 52 further rises, the suction pad 52 tilts downward left in accordance with the tilt direction of the pack 2, thereby greatly reducing the gap between the bag portion-facing suction portion 2c of the bottommost pack 2 and the suction holding surface 52a of the suction pad 52, thereby adsorbing the pack 2.

[0068] Next, as shown in FIG. 10(d), the drive motor 63 rotates in the reverse direction, causing the suction pad 52 to move downward while suctioning the pack 2, thereby pulling out the tip side (the side that is suctioned by the suction pad 52) as one end of the pack 2 from within the storage section 10. Next, as shown in FIG. 10(e), the transport unit 90 (see FIG. 1) moves the take-out unit 50A horizontally in the lateral direction, that is, in the X direction, to pull out the rear end side of the pack 2 from the storage unit 10. Immediately after that, as shown in FIG. 11(f) to FIG. 11(g), the drive motor 63 rotates the substantially horizontal state of the pack 2 held by suction on the suction pad 52 by approximately 90 degrees to change the substantially horizontal state to a substantially vertical state. The rotational movement at this time is caused by the guide shaft 56 provided on the suction pad support member 54 moving along the guide groove 59b of the guide member 59A, so that the attitude of the pack 2 can be changed from the substantially horizontal state to a substantially vertical state. The drive source at this time can be a series of operations of the single drive motor 63. Here, a substantially vertical state or a perpendicular state includes a vertical state or a perpendicular state, and also means being within a predetermined angle tolerance range with respect to a vertical state or a perpendicular state that is acceptable for achieving the effects of the present invention.

[0069] As described above, in the process of removing the packs 2 from the storage section 10, the removal section 50A removes one end, or the leading end, of the packs 2 to the lower side of the storage section 10, and the transfer section 90 moves the removal section 50A so that, with the leading end of the packs 2 removed to the lower side of the storage section 10, the other end, or the rear end, of the packs 2 is removed from the storage section 10. The movement direction of the removal section 50A by the transfer section 90 is set to the X direction, which is the lateral direction in which the rear end of the packs 2 is released from the support state with the left support section 13 and pulled out from the pack removal opening 17.

[0070] With reference to Figure 12, the effect of the removal unit 50A according to Reference Example 1 shown in Figures 7 to 11 will be supplemented. Figures 12(a) to 12(c) are views supplementing the effect that the removal unit 50A according to Reference Example 1 can adsorb and hold the lowest pack 2 in the storage unit 10 without any problems. In the packs 2 used in the present invention, when the packs 2 are stacked in the storage section 10, the tip 4a of the pressure-bonding section 4 in the bag-part facing suction section 2c may get caught on the inner wall of the storage section 10 (the inner wall 11d of the case section 11). In such a case, the bag part 2a of the pack 2 comes into contact with the lowermost part of the storage section 10 (around the upper surface of the left support section 13), and the tip 4a of the pressure-bonding section 4 may become diagonally upward to the right with this part as a fulcrum, and may not be able to lower all the way to the bottom surface. In such a state, the bag-part facing suction section 2c of the pack 2 is located above the lowermost surface of the storage section 10, and the pack 2 is also held with the bag-part facing suction section 2c tilted upward (see Figs. 12(a) to 12(c)).

[0071] The state shown in FIG. 12(a) shows the time when the suction pad 52 enters the lower part of the storage section 10 to suck and hold the lowest pack 2 stored in the storage section 10. At this time, the suction holding surface 52a of the suction pad 52 is in a substantially horizontal state, and a gap is generated between the lowest pack 2 and the suction holding surface 52a of the suction pad 52. When the suction pad 52 further enters the storage section 10, the suction holding surface 52a of the suction pad 52 changes from the state shown in FIG. 12(a) to the state shown in FIG. 12(b), and as described above, the angle of the suction pad 52 is changed due to the specific shape of the guide groove 59b of the guide member 59A, and the angle is changed according to the amount of entry into the storage section 10. Specifically, the suction pad 52 rotates counterclockwise and changes to a posture tilted to the lower left, so that the gap generated between the lowest pack 2 and the suction holding surface 52a of the suction pad 52 is reduced to a substantially constant value. From this state, the suction holding surface 52a of the suction pad 52 rises slightly while further rotating counterclockwise to the state shown in Figure 12(b) to Figure 12(c), and the lowest pack 2 is sucked and held by air suction from the suction pad 52 in a state where the gap caused by the angle difference between the lowest pack 2 and the suction holding surface 52a of the suction pad 52 is almost eliminated.

[0072] When the pack 2 to be removed from the storage section 10 is at the bottom surface or lowest part of the storage section 10, it is in an approximately horizontal state, so it is desirable that the suction holding surface 52a of the suction pad 52 be horizontal. On the other hand, when the tip 4a of the crimping portion 4 at the bag-facing suction portion 2c of the pack 2 located at the bottom within the storage section 10 gets caught on the inner wall of the storage section 10 (the inner wall 11d of the case section 11), the higher the stopping position, the greater the height required for suction and the greater the inclination, so it can be said that it is desirable to increase the angle in proportion to the amount of penetration of the suction pad 52.

[0073] The configuration and operation of the transport unit 90 will be described with reference to Fig. 13. Fig. 13(a) is a front view showing the main configuration of the transport unit, and Fig. 13(b) is a side view of Fig. 13(a). As in the configuration of the medication support device 200 in Fig. 1, the storage units 10 are arranged on a plane below the Z direction of the medication tray 30 arranged at the top of the main frame 199, and the medication tray 30 is located above the upper storage unit 10, so that the take-out unit 50A moves in three directions, the X direction, the Y direction, and the Z direction. In this way, the transport unit 90 has a configuration that moves the take-out unit 50A in the X direction, the Y direction, and the Z direction in order to transport the pack 2 taken out of the storage unit 10 by the take-out unit 50A to be handed over to the medication tray 30.

[0074] The configuration for moving the removal section 50A in the X direction is the X-direction transfer section 91, the configuration for moving the removal section 50A in the Y direction is the Y-direction transfer section 101, and the configuration for moving the removal section 50A in the Z direction is the Z-direction transfer section 111, and each has a similar configuration.

[0075] The X-direction transfer section 91 has an X adapter 96 attached to the take-out section 50A, an X guide member 97 that guides the take-out section 50A in the X direction via the X adapter 96, an endless belt 94 wound around a drive pulley 92 and a driven pulley 93, and a drive motor 95 for X-direction transfer that is connected to the drive pulley 92 via a driving force transmission member such as a gear or a belt. Three rollers 98 (two of the three are hidden by the take-out section 50A and cannot be seen) are attached to the X adapter 96 so as to be able to roll while pinching the X guide member 97. The X adapter 96 is also connected and fixed to the endless belt 94 via a belt gripping section (not shown).

[0076] With the above-described configuration of the X-direction transport unit 91, when the drive motor 95 is driven, the drive force is transmitted to the endless belt 94 via the drive force transmission member and the drive pulley 92, so that the endless belt 94 rotates and moves, and the take-out unit 50A moves in the X direction along the X guide member 97 together with the X adapter 96.

[0077] Y-direction transfer unit 101 has a Y adapter 106 attached to take-out unit 50A, a Y guide member 107 that guides take-out unit 50A in the Y direction via Y adapter 106, an endless belt 104 wound around drive pulley 102 and driven pulley 103, and a drive motor 105 for Y-direction transfer connected to drive pulley 102 via a driving force transmission member such as a gear or a belt. Three rollers 108 are attached to Y adapter 106 so as to be able to roll while clamping Y guide member 107. In addition, Y adapter 106 is connected and fixed to endless belt 104 via belt gripping portion 104a.

[0078] With the above-described configuration of the Y-direction transport section 101, when the drive motor 105 is driven, the drive force is transmitted to the endless belt 104 via the drive force transmission member and drive pulley 102, causing the endless belt 104 to rotate and run, and the removal section 50A moves in the Y direction along the Y guide member 107 together with the Y adapter 106.

[0079] The Z-direction transfer section 111 includes a pair of Z adapters 116 attached to both ends of the X-direction of the X-guide member 97, a pair of Z guide members 117 that guide the take-out section 50A in the Z direction via the X-guide member 97 and the pair of Z adapters 116, an endless belt 114 wound around a driving pulley 112 and a driven pulley 113, and a drive motor 115 for Z-direction transfer connected to the driving pulley 112 via a driving force transmission member such as a gear or a belt. In the Z-direction transfer section 111, the driving pulley 112, the driven pulley 113, and the endless belt 114 are provided on both sides in the X direction, but the drive motor 115 is provided only on one of the driving pulleys 112. Three rollers 118 are attached to each of the Z adapters 116 so as to be rotatable while clamping the Z guide member 117. Also, each of the Z adapters 116 is connected and fixed to each of the endless belts 114 via each of the belt gripping parts 114a.

[0080] With the above-described configuration of the Z-direction transport section 111, when the drive motor 115 is driven, the drive force is transmitted to the endless belt 114 via the drive force transmission member and the drive pulley 112, so that the endless belt 114 rotates and runs, and the removal section 50A moves in the Z direction along the Z guide member 117 together with the X guide member 97 and the Z adapter 116.

[0081] In FIG. 13, the removal unit 50A is configured to move in three axial directions, the X-axis, the Y-axis, and the Z-axis. However, in a configuration in which the storage unit 10 is arranged above the removal unit 50A and the medication tray 30 is arranged below the removal unit 50A, the removal unit 50A only needs to move in the X-axis and the Y-axis, thereby reducing the number of moving axes by one.

[0082] In the configuration of transfer section 90 shown in Fig. 13, the tip of Y guide member 107 in the Y direction is not held. Therefore, as shown in Fig. 14, in order to hold tip portion 107a of Y guide member 107, roller 126 may be provided at the tip of bracket member 125 that mounts and supports tip portion 107a of Y guide member 107, and roller 126 may be disposed rotatably on receiving portion 122 provided on the main body frame 199 side.

[0083] The above configuration can prevent the tip 107a side of the Y guide member 107 from bending due to its own weight. This reduces the variation in the arrangement distance between the removal unit 50 and the storage unit 10, or between the removal unit 50 and the medication tray 30, making it possible to stably remove the pack 2 and insert or plug the pack 2 into the medication tray 30.

[0084] The control configuration of the medication support device 200 according to the first reference example will be described with reference to Fig. 15. Fig. 15 is a control block diagram showing the main control configuration of the medication support device according to the first reference example. As shown in Fig. 15, medication support device 200 is equipped with a CPU (Central Processing Unit) having a function as control unit 150 as a control means for controlling the operation of each part of medication support device 200. The CPU has built-in memory unit 152, timer unit 153, etc. The CPU issues notifications to users including staff and instructions for device operation at a timing according to a program based on various inputs including those from sensors described below. Prescription information and drug information are input to memory unit 152 from the outside as external drug information.

[0085] The CPU may have a timer (timekeeping) function in addition to the calculation and control functions. The storage unit 152 includes a ROM (read only memory), a RAM (a memory that can be read and written at any time), an external memory, and the like. The ROM stores in advance programs that the CPU can read (for example, programs such as control flowcharts described later) and various data. Examples of the data include data on the relationship between the pack 2 and the partition 33 or subdivision box 34 of the medicine distribution tray 30 assigned to each medicine recipient, data on the relationship between the pack 2 and the partition 33 or subdivision box 34 of the medicine distribution tray 30 assigned to each medicine-taking timing, data on the relationship between the pack 2 and the partition 33 or subdivision box 34 of the medicine distribution tray 30 assigned to each medicine-taking order (see FIG. 3), and the like.

[0086] A touch panel 151 is electrically connected to the input / output port of the CPU as an example of an operation unit having an input unit and a display unit as a user interface. The touch panel 151 allows the user to input various settings, and displays the current time, the progress of pack storage, the completion time, etc. The input method and the form of the display unit are not limited to these, and may be a combination of, for example, a keyboard and an LED display unit in which the input unit and the display unit are separate.

[0087] A start switch 155 for operating the medication support device 200 is electrically connected to the input port of the CPU. When the start switch 155 is pressed, the medication distribution operation to the medication distribution tray 30 starts sequentially. The medication distribution operation to the medication distribution tray 30 can also be started at a time preset by the timer unit 153. The input port of the CPU is also electrically connected to various sensors, including a medication tray detection sensor 156 that detects the type of medication tray 30 stored in the device and the presence or absence of a medication tray 30, and a storage section detection sensor 157 that detects the presence or absence of a storage section 10. The input port of the CPU is also electrically connected to various sensors, including storage section entrance / exit opening / closing sensors 159a, 159b that detect the opening and closing of the first entrance / exit section 41 and the second entrance / exit section 42, and medication tray entrance / exit opening / closing sensors 160a, 160b that detect the opening and closing of the third entrance / exit section 43 and the fourth entrance / exit section 44. The medication tray detection sensor 156, the storage section detection sensor 157, the storage section entrance / exit section open / close sensors 159a and 159b, and the medication tray entrance / exit section open / close sensors 160a and 160b are shown only in FIG.

[0088] The input port of the CPU is also electrically connected to an HP sensor 99 for HP sensor X which detects the home position (hereinafter abbreviated as "HP") of the X-direction transfer section 91 in the removal section 50, an HP sensor 109 for HP sensor Y which detects the HP of the Y-direction transfer section 101 in the removal section 50, and an HP sensor 119 for HP sensor Z which detects the HP of the Z-direction transfer section 111 in the removal section 50. An HP sensor 158 for the HP sensor P that detects the HP of the suction portion 51 (particularly the suction pad 52) in the take-out portion 50 is also electrically connected to the input port of the CPU. The input port of the CPU is also electrically connected to a pressure sensor 48 that is provided in an air pipe 49 between the negative pressure generator 45 and the suction unit 51 and that measures the negative pressure.

[0089] The output port of the CPU is electrically connected to a drive motor 95 of the X-direction transfer section 91, a drive motor 105 of the Y-direction transfer section 101, a drive motor 115 of the Z-direction transfer section 111, and a drive motor 63 for changing the posture of the suction pad 52 via various motor drivers X to Z and P, respectively. A negative pressure generator (ejector valve) 45, which is an actuator for a negative pressure generator, is also electrically connected to the output port of the CPU via a driver for the negative pressure generator. An alarm unit may be electrically connected to the output port of the CPU. This alarm unit notifies the state of each of the above devices and components by light such as LEDs, sounds including voice, and vibrations. It is equipped with speakers and lights to notify staff of the timing of taking medicine even when they are away from the device.

[0090] The external medicine information is also input to the CPU through the I / O, stored in the memory unit 152, and used for allocating medicines to recipients, etc. The LEDs 25a1 to 25d5 of the drawer unit 80 may be electrically connected.

[0091] When input information from the touch panel 151, various signals from the various HP sensors 99, 109, 119, 158, and various sensors (not shown) are input to the CPU, the CPU outputs the following command signals: That is, the CPU outputs instructions to the sound device and light device of the display device (including the above-mentioned notification section) of the touch panel 151, the LEDs 25a1 to 25d5, the drive motor 63, the drive motor 95, the drive motor 105, the drive motor 115, or drivers corresponding to the LEDs.

[0092] An HP sensor 158 for the HP sensor P and a drive motor 63 outputted via a motor driver P are used to drive and control the suction part vertical movement mechanism. The CPU has a function of executing various control operations described below and shown in control flowcharts.

[0093] Next, the main overall operation flow of the medication support device 200 according to Reference Example 1 will be described with reference to Figs. 9 to 11, 16, and 17. Fig. 16 is a flowchart showing the operation flow of distributing unit dose packs to subdivision boxes of a medication distribution tray, which is executed by the medication support device according to Reference Example 1. Fig. 17 is a flowchart showing the overall operation flow executed by the medication support device according to Reference Example 1. 9 to 11, 16, and 17 are executed under control commands from the CPU of control unit 150 described in FIG. 15. As described with reference to FIGS. 9 to 10(d), a pick-out operation is executed to remove pack 2 from storage unit 10. At this time, as shown in FIG. 10(d), the reverse rotation of drive motor 63 causes suction pad 52 to move downward while suction pad 52 suctions pack 2 at the bottom of storage unit 10, and the tip side of pack 2 (the side suctioned by suction pad 52) is pulled out from within storage unit 10.

[0094] Next, as shown in FIG. 10(e), the transport unit 90 moves the take-out unit 50A in the lateral X direction to pull out the rear end side of the pack 2 from the storage unit 10. Immediately after that, as shown in FIG. 11(f) to FIG. 11(g), the drive motor 63 rotates the substantially horizontal state of the pack 2 held by suction on the suction pad 52 by approximately 90 degrees to change the substantially horizontal state to a substantially vertical state. The rotational motion at this time is performed by the guide shaft 56 provided on the suction pad support member 54 moving along the guide groove 59b of the guide member 59A, so that the attitude of the pack 2 can be changed from the substantially horizontal state to a substantially vertical state. The drive source at this time can be a series of operations of the single drive motor 63.

[0095] 16 and 17, a place operation is performed to distribute the pack 2 to a predetermined section 33 or a predetermined subdivision box 34 of the medication tray 30. After the above pick-out operation is completed and the suction pad 52 suctions and holds the pack 2 vertically, the removal unit 50A is moved by the transport unit 90 to above the predetermined section 33 or the predetermined subdivision box 34 of the medication tray 30 (see FIG. 16(h)).

[0096] As shown in FIG. 17(a), the removed pack 2 is held by the suction pad 52 of the removal unit 50A in the same posture as in FIG. 11(g). Then, the removal unit 50A equipped with the suction pad 52 holding the pack 2 is transported by the transport unit 90 along the route indicated by the thick dashed line to the drug distribution unit 29 in which the drug distribution tray 30 is installed. When the removal unit 50A is transported to approximately directly above the drug distribution tray 30 of the drug distribution unit 29, as shown in FIG. 16(i) to FIG. 16(j) and FIG. 17(a), the negative pressure generator 45 is switched from suction (negative pressure) to a state in which air is sent out (pressurized), and the state in which the pad 2 is held by the suction pad 52 is released. As a result, the suction and holding of the pack 2 by the suction pad 52 is released, and the pack 2 is inserted into a predetermined section 33 or a predetermined subdivision box 34, which is a predetermined position of the drug distribution tray 30. After performing the above operation multiple times and inserting the required packs 2 into the designated compartments 33 or subdivision boxes 34 of the medication distribution tray 30, the medication distribution tray 30 is ejected from the device, for example from the second entrance / exit section 42, as shown in Figure 17(b), and is received by staff at a care facility or a medication support person.

[0097] With reference to Fig. 18, the operational flow of the take-out unit in the overall operational flow of Fig. 17 will be supplemented. Fig. 18 is a flow chart showing the operational flow of the take-out unit. In step S10 of FIG. 18, the number of the storage unit 10 storing the pack 2 to be distributed is confirmed, and the position of the distribution tray 30 to which the pack 2 is to be delivered is confirmed. Next, the take-out unit 50A is moved to the storage unit 10 by the transport operation of the transport unit 90 (step S11). Next, the suction unit 51 is moved upward by driving the drive motor 63 while driving the negative pressure generator 45 to generate negative pressure, so that the detailed operations shown in FIG. 17(b) to FIG. 17(c) are executed (steps S12 to S13). The pressure sensor 48 detects whether the suction pad 52 has sucked the pack 2 at the bottom of the storage unit 10. If the suction of the pack 2 is not detected, the suction unit 51 is further raised (steps 14 to 13). If the suction of the pack 2 is detected by the negative pressure detection of the pressure sensor 48, the drive motor 63 is driven in the reverse direction to move the suction unit 51 downward (steps S14 to 15). Thereafter, the removal section 50A is moved in the X direction to completely remove the pack 2 from the storage section 10, and the drive motor 63 is further driven in the reverse direction to move the suction section 51 downward, thereby rotating the suction section 51 by approximately 90 degrees and changing the attitude of the pack 2 from the approximately parallel state to the approximately vertical state (steps S16 to S17).

[0098] Next, the take-out section 50A is moved to the position of the target medicine distribution tray 30 by the transport operation of the transport section 90. When the take-out section 50A has moved to the position of the target medicine distribution tray 30, the negative pressure drive of the negative pressure generator 45 is switched to the pressurized drive to separate the pack 2 from the suction pad 52, and then the drive of the negative pressure generator 45 is stopped (steps S18 to S19). Then, it is checked whether there are any other packs 2 to be distributed, and if there are no other packs 2 to be distributed, the series of operation flows is terminated (step S20). On the other hand, if there are other packs 2 to be distributed in step S20, the process returns to step S10, and the same operations as above are repeated.

[0099] In Reference Example 1, the rotation of the suction pad support member 54 of the suction section 51 is rotated by the guide member 59A and the guide shaft 56 to change the angle of the suction pad 52. With this configuration and operation, it is possible to provide a medication support device that can suction the pack 2 with an inexpensive configuration even if the pack 2 is stored in the storage section 10 in an inclined state. Furthermore, in Reference Example 1, when removing the packs 2 from the storage section 10, the removal section 50A is positioned below the storage section 10, and the packs 2 are removed from below the storage section 10. In this way, by removing the packs 2 from below the storage section 10, the next pack 2 automatically moves downward (towards the pack removal opening 17) by the weight of the packs 2 remaining in the storage section 10 and the movable plate 16, so that the removal section 50A can perform the same operation with a simple configuration regardless of the remaining amount of packs 2 in the storage section 10. As described above, according to Reference Example 1, even if the suction pad 52, which is the suction means, is tilted at the bottom within the storage section 10, the angle of the suction holding surface 52a of the suction pad 52 is changed to match the tilt, so that suction can be reliably achieved without any gaps occurring between the bottommost packaged drug pack and the suction means. Furthermore, according to reference example 1, when removing pack 2 from storage section 10, removal section 50A can be positioned below storage section 10 and pack 2 can be removed from below storage section 10. It goes without saying that removal section 50A can perform the same operation with a simple configuration regardless of the remaining amount of packs 2 in storage section 10.

[0100] (Reference example 2) Another reference example 2 will be described with reference to Fig. 19. Fig. 19(a) is a front view showing the configuration of the removal section of a medication support device according to reference example 2 (hereinafter, also referred to as the "removal section of reference example 2"), and Fig. 19(b) is a plan view of Fig. 19(a). The medication support device 200 according to Reference Example 2 differs from Reference Example 1 mainly in that it includes a removal unit 50B shown in Figures 19(a) and 19(b) instead of the removal unit 50A shown in Figures 7(a) and 7(b) according to Reference Example 1. The removal unit 50B of Reference Example 2 has the same configuration as the removal unit 50A of Reference Example 1 described above, except for the above differences.

[0101] The take-out unit 50B of Reference Example 2 differs from the take-out unit 50A of Reference Example 1 in that, although the take-out unit 50B is realized by a guide member 59A having a guide groove 59b formed therein and a link mechanism, the guide member 59A, the guide shaft 56, etc. are removed, and instead, the angle variable mechanism of the suction means is realized by an suction unit angle changing motor 70, which is an actuator means. Other than the above differences, the take-out unit 50B of the embodiment 2 has the same configuration as the take-out unit 50A of Reference Example 1.

[0102] In the take-out unit 50B, the postures of the suction unit 51 and the suction pad support member 54 are changed by an suction unit angle change motor 70 via a rotation shaft 55. The suction unit angle change motor 70 is fixed to the suction unit base member 57 via a motor mounting member 81 fixed to the suction unit base member 57. An output shaft 70a of the suction unit angle change motor 70 is fixed directly to the suction pad support member 54, instead of the rotation shaft 55 provided on the suction pad support member 54. The suction unit angle change motor 70 is, for example, a stepping motor driven by a pulse input.

[0103] 19(a) indicates that the posture of the suction unit 51 (suction pad 52, suction duct 53, and suction pad support member 54) is the same as that of FIG. 17(c) of Reference Example 1 (a state in which the suction holding surface 52a of the suction pad 52 is tilted to the lower left and suction-holds the pack 2 at the bottom of the storage section 10) by inputting a predetermined number of pulse steps to the suction unit angle change motor 70. Also, in FIG. 19(a) indicates that the posture of the suction unit 51 is the same as that of FIG. 9(a) or FIG. 11(g) of Reference Example 1 (a state in which the suction holding surface 52a of the suction pad 52 is tilted substantially vertically and pack posture change is completed) by inputting a predetermined number of pulse steps to the suction unit angle change motor 70.

[0104] By inputting a predetermined number of pulse steps to the suction part angle changing motor 70 in the above configuration of Reference Example 2, it is possible to adopt the same posture as the suction part 51 shown in Fig. 9(a) to Fig. 16(i) of Reference Example 1. The detailed operation progress of Reference Example 2 can be fully understood from the above configuration and explanation, so further explanation will be omitted. When a normal stepping motor is used as the suction part angle changing motor 70, it is desirable to provide an HP sensor or the like as a countermeasure against loss of synchronism.

[0105] The control configuration of the medication support device 200 according to the second reference example will be described with reference to Fig. 20. Fig. 20 is a control block diagram showing the main control configuration of the medication support device according to the second reference example. The control configuration of the medication support device of reference example 2 differs from the control configuration of reference example 1 shown in Figure 15 mainly in that the suction part angle changing motor 70 is electrically connected to the output port of the CPU via a motor driver.

[0106] The operational flow of the take-out unit in the overall operational flow of the second embodiment will be described with reference to Fig. 21. Fig. 21 is a flowchart showing the operational flow of the take-out unit of the second embodiment. In step S20 of Fig. 21, the number of the target storage unit 10 storing the pack 2 to be distributed is confirmed, and the position of the target distribution tray 30 to which the pack 2 is to be delivered is confirmed. Next, the take-out unit 50B is moved to the target storage unit 10 by the transfer operation of the transfer unit 90 (step S21). Next, while negative pressure is being driven by the negative pressure generator 45, the suction unit 51 is moved upward by driving the drive motor 63 (steps S22 to S23).

[0107] Next, the pressure sensor 48 detects the negative pressure to detect whether the lowest pack 2 in the storage section 10 has been adsorbed by the suction pad 52 (step 24). If the result is YES, that is, the lowest pack 2 in the storage section 10 has been adsorbed by the suction pad 52, the suction section 51 is moved downward (step 25). On the other hand, in the case where the suction of the pack 2 is not detected in step S24, the suction part angle change motor 70 is driven to rotate the angle of the suction part to the left (counterclockwise) (step S31). Then, when the suction of the pack 2 is detected by the pressure sensor 48, the suction part angle change motor 70 is reversed, and the drive motor 63 is further reversed to move the suction part 51 downward (steps S33 to S25). After this, the removal part 50B is moved in the X direction to completely remove the pack 2 from the storage part 10, and the drive motor 63 is further reversed to move the suction part 51 downward, thereby rotating the suction part 51 by approximately 90 degrees, and changing the attitude of the pack 2 from the approximately parallel state to the approximately vertical state (steps S26 to S27). Next, the take-out section 50B is moved to the position of the target medicine distribution tray 30 by the transport operation of the transport section 90. When the take-out section 50B has moved to the position of the target medicine distribution tray 30, the pack 2 is separated from the suction pad 52 while being pressurized by the negative pressure generator 45, and then the drive of the negative pressure generator 45 is stopped (steps S28 to S29). Then, it is checked whether there are any other packs 2 to be distributed, and if there are no other packs 2 to be distributed, the series of operation flows is terminated (step S30). On the other hand, if there are other packs 2 to be distributed in step S30, the process returns to step S20, and the same operations as above are repeated.

[0108] As described above, according to reference example 2, the driving source for changing the angle of the suction means is an actuator including an suction part angle change motor, so that the angle of the suction means can be changed at any timing and angle, making it possible to more reliably accommodate a wide range of angles.

[0109] (Reference example 3) Reference Example 3 will be described. In Reference Example 3, in the configuration of Reference Example 1 or 2, an adsorption detection means is provided for detecting the adsorption state of the one-package drug pack by the adsorption means (suction pad 52). For example, a vacuum pressure sensor or the like is used as the adsorption detection means so that the adsorption state of the one-package drug pack can be detected. In this case, the CPU has a control function for controlling the drive motor 63 or the adsorption part angle change motor 70, which is a drive means for changing the amount of entry into the storage means, so as to change at least one of the amount of entry and the amount of angle change of the adsorption means into the storage means, based on a signal from the adsorption detection means. In reference examples 1 and 2, when an adsorption operation is performed, the status of the adsorption detection means is constantly monitored, and if adsorption is detected, the operation immediately proceeds to the pulling out of the adsorption portion 51 (moving the adsorption portion 51 downward).

[0110] According to reference example 3, by operating in the above-mentioned configuration, it is possible to detect the adsorption state of the single-package drug pack by the adsorption detection means, and complete the adsorption operation in the shortest time possible in accordance with the detected state of the single-package drug pack.

[0111] As described above, according to reference example 3, once the adsorption means has adsorbed the single-drug package pack, it can immediately proceed to the operation of pulling out the adsorption portion 51 (moving the adsorption portion 51 downward), so that the single-drug package pack can be removed from the storage portion in the shortest possible operating time.

[0112] (Embodiment 1) The first embodiment of the present invention will be described with reference to Figs. 22 to 27. Fig. 22(a) is a side view showing the configuration and operation when the pack is aligned to the subdivision box by the jogger mechanism of the take-out unit of the first embodiment, and Figs. 22(b) to 22(d) are front views showing the operation sequence when the pack is aligned to the subdivision box by the jogger mechanism. Fig. 23(e) is a side view showing the operation of the take-out unit performed following Fig. 22(d), and Figs. 23(f) to 23(h) are front views showing the operation sequence when the pack is aligned to the subdivision box by the jogger mechanism. In Figs. 22(a) to 22(d) and Figs. 23(e) to 23(h), the suction pad support member 54 is illustrated only in Figs. 22(a) and 23(e), and is omitted in other figures for the sake of simplicity. In addition, the symbol 79 denotes a guide fixing member that fixes a pair of guide members 73 on the outside of the removal unit frame 50a, and even though there are portions where it intersects with other members, in order to simplify the illustration, some portions are intentionally drawn as intersecting with solid lines. Figures 24(a) to (d) are front views corresponding to Figures 22(b) to 22(d) and are enlarged front views showing the operation transition of the suction part and the jogger mechanism of the take-out part. Figures 25(a) to (d) are front views corresponding to Figures 23(f) to 22(h) and are enlarged front views showing the operation transition of the suction part and the jogger mechanism of the take-out part. Fig. 26 is a front view showing the operation transition of the take-out part of embodiment 1. Fig. 27 is a front view showing the operation transition of the take-out part following Fig. 26. Fig. 28 is a front view showing the operation transition of the take-out part following Fig. 27.

[0113] The configuration and operation of the removal unit 50C of the medication support device according to embodiment 1 (hereinafter also referred to as "removal unit 50C of embodiment 1" or simply "removal unit 50C") will be described with reference to Figs. 22 to 25. The removal unit 50C of embodiment 1 has a configuration that is partially different from that of reference example 1 shown in Fig. 7 and is designed to perform a unique operation.

[0114] The take-out unit 50C of the first embodiment differs mainly in that it includes the take-out unit 50C shown in Figures 22 and 23 instead of the take-out unit 50A shown in Figures 7(a) and 7(b) according to the first reference example, and that the take-out unit 50C shown in Figures 24 and 25 has a jogger mechanism 71. The take-out unit 50C of the first embodiment has a configuration similar to that of the take-out unit 50A of the first reference example described above except for the above differences, and is configured to perform a unique operation with a similar control configuration (see the same control block diagram as shown in Figure 15) although not shown in the figure.

[0115] The take-out unit 50C of the first embodiment is characterized in that it has a unique jogger mechanism 71 as shown in Figs. 22 to 25 and is configured to perform a unique operation, as compared with the take-out unit 50A of the first reference example. Below, the main members constituting the jogger mechanism 71 will be representatively described with reference to the enlarged views of Figs. 22(a), 22(b) and 24(a). In Figs. 22(b) and 24(a), the area surrounded by the dashed line indicates the initial position of the suction unit 51. As shown in Figures 22(a), 22(b), and 24(a), the jogger mechanism 71 is mainly composed of a jogger base body 72, a jogger guide member 75, a pair of upper and lower guide members 73, a connecting member 76, a pair of tension springs 78, and a connecting rotation part 77. The jogger base 72, the jogger guide member 75, the pair of upper and lower guide members 73, the connecting member 76 and the connecting rotation portion 77 are formed of a resin, a metal or the like having an appropriate rigidity.

[0116] The jogger guide member 75 is provided in a state where it is fixed to a joint portion in the center of the two suction ducts 53 so as to connect the two suction ducts 53 fixed to the suction pad support member 54 in the Y direction. The jogger base 72 is provided to slide and extend upward inside the jogger guide member 75. The jogger base 72 essentially has a function as a jogger means, that is, a function of moving a pack 2 that has already been distributed to a medicine distribution tray or a dispensing box to a predetermined position within the same medicine distribution tray or the same dispensing box when dispensing the packs 2 multiple times to the same medicine distribution tray or the same dispensing box. The jogger base 72 is formed from a resin or light metal (such as lightweight aluminum or aluminum alloy) that has a suitable rigidity so that it does not easily deform even when it comes into contact with the pack 2, as will be explained in the operation described below.

[0117] The pair of upper and lower guide members 73 are fixed to the lower part of the Y-direction side wall of the removal unit frame 50a shown in FIG. 22(a), and form a guide groove 73a. The connecting member 76 has at its lower end a guide pin 74 which is movable by being fitted into the guide groove 73a of the guide member 73, and is formed to extend upward. A pair of tension springs 78 are provided in the Y direction over a predetermined range between the upper portion 72a of the jogger base 72 and the jogger guide member 75. The pair of tension springs 78 apply a tensile force between the upper portion 72a of the jogger base 72 and the jogger guide member 75.

[0118] The connecting rotation part 77 functions as a joint that is rotatable (counterclockwise CCW and clockwise CW) within a predetermined angular range between the upper end of the jogger base body 72 and the upper end of the connecting member 76. As shown in Fig. 22(a), the connecting member 76 is composed of a vertical connecting connecting member 76a having a guide pin 74 at its lower end that is movable within a guide groove 73a formed in each guide member 73, and a horizontal connecting connecting member 76b that is connected through the connecting rotation part 77 at the center of the jogger base body 72. In the following description, the connecting member 76 may be briefly described in consideration of the above detailed configuration of the connecting member 76.

[0119] 22(a), the upper end of one tension spring 78 on the left side in the figure is hooked and locked to the left side of the lateral connection connecting member 76b, and the lower end of one tension spring 78 is hooked and locked to the left side in the figure of the jogger guide member 75. Similarly, the upper end of the other tension spring 78 on the right side in the figure is hooked and locked to the right side of the lateral connection connecting member 76b, and the lower end of the other tension spring 78 is hooked and locked to the right side in the figure of the jogger guide member 75. With the above configuration, the jogger base 72 is smoothly moved up and down by the tension spring 78 that expands and contracts in accordance with the movement of the jogger base 72.

[0120] In the first embodiment, as shown by virtual lines (two-dot chain lines) only in Fig. 22(a) and Fig. 23(e), a medicine distribution tray 30A is provided in place of the medicine distribution tray 30 of Reference Examples 1 to 3. In the medicine distribution tray 30A of the first embodiment, a notch 33a is formed as a space in the side wall facing the front in the figure in the multiple compartments 33 of the medicine distribution tray 30A shown by two-dot chain lines in Fig. 22(a) so that the lower end 72b or lower part of the jogger base 72 can pass by the jogger mechanism 71. On the other hand, as shown by solid lines only in Fig. 22(a) and Fig. 23(e), in consideration of the high frequency of use of the subdivision box 34A as shown in Fig. 3, a detachable subdivision box 34A is disposed in a specific section of the medicine distribution tray 30A. In the following, in consideration of the high frequency of use of the subdivision box 34A, the operation of the pack 2 distributed to the subdivision box 34A will be representatively described. The operation of the pack 2 distributed to a specific section of the medicine distribution tray 30A is performed in substantially the same manner as the dispensing operation of the pack 2 distributed to the subdivision box 34A, and therefore will be omitted since it can be easily understood and performed by those skilled in the art. In the dividing box 34A, a notch 34a is formed as a space in the side wall facing the front in the figure to allow the lower end 72b or lower portion of the jogger base 72 to pass by the jogger mechanism 71. The positions and sizes of the cutouts 33a of the multiple compartments 33 of the medication tray 30A and the cutouts 34a of the subdivision box 34A are substantially the same.

[0121] 22(a) to 22(d) and 24(a) to 24(d), the operation transition when the take-out part 50C, which has adsorbed and held the second pack 2-2 on the suction pad 52, is transferred to a subdivision box 34A, which is formed with a notch 34a and is detachably arranged on a medicine distribution tray 30A, which is formed with a notch 33a, and the second pack 2-2 is inserted into the subdivision box 34A will be described. Note that, in Fig. 22(b) to Fig. 22(d), the illustration of the medicine distribution tray 30A, which is formed with the notch 33a, is omitted for the sake of simplicity. As in the first embodiment shown in Fig. 13, when the take-out unit 50C having the suction pad 52 suction-holding the second pack 2-2 is transferred to the subdivision box 34A attached to the target medicine distribution tray (not shown) by the transfer operation of the transfer unit 90, the suction unit 51 and the jogger base 72 occupy the initial position as shown in Fig. 22(a), Fig. 22(b), and Fig. 24(a). At this time, the first pad 2-1 has already been put into the subdivision box 34A, and the pressure-bonding part 4 of the bag-facing suction part 2c of the first pack 2-1 is in contact with the left inner wall of Fig. 22(b) and is in a collapsed state, which is an impeding state in which the second pack 2-2 cannot be put into the subdivision box 34A in an orderly and orderly manner.

[0122] As shown in Figures 22(c) and 24(b), by driving the drive motor 63 similar to that in Reference Example 1, the suction duct 53 moves from the initial position in the downward direction D together with the suction pad support member 54, and in conjunction with the movement of the jogger mechanism 71, the lower end portion 72b of the jogger base 72 enters through the cutout 34 and contacts the crimped portion 4 of the bag-facing suction portion 2c of the first pack 2-1, which has fallen against the left inner wall of the repartition box 34A as shown in Figure 22(b), from the left side of the figure. As shown in Figure 22(d), the transfer section 90 transfers the removal section 50C in the right direction R in the figure, correcting the fallen state of the first pack 2-1 and correcting its posture so that it comes into contact with the right inner wall of the repartition box 34A. In other words, by preventing the first pack 2-1 from blocking the cutout 34a, the second pack 2-2 can be guided in an orderly manner when inserted into the subdivision box 34A by the lower end 72b of the jogger base body 72. The movement of the jogger mechanism 71 shown in Figures 22(c) and 24(b) is such that when the suction portion 51 moves in the downward direction D through the counterclockwise rotation CCW of the connecting rotation portion 77 of the connecting member 76, the tension spring 78 contracts, and the lower end of the jogger base 72 moves along the jogger guide member 75 through the downward movement of the guide pin 74 guided by the guide groove 73a of the guide member 73.

[0123] 22(d) and 24(c) to 24(d), in conjunction with the operation of transferring the take-out section 50C to the right R in the X direction by the transfer section 90 similar to that of Reference Example 1, the lower end of the jogger base body 72 contacts the pressure-bonding section 4 of the bag-facing suction section 2c of the first pack 2-1 from the left side of the figure in accordance with the movement of the jogger mechanism 71, causing the first pack 2-1 to contact the right inner wall of the subdivision box 34A. This releases the suction hold of the second pack 2-2 by the pressure applied from the suction pad 52, and prevents the second pack 2-2 from being impeded when it is inserted into the subdivision box 34A. As the tension spring 78 contracts, the linking member 76 is further lowered, and the guide pin 74 guided by the guide groove 73a of the guide member 73 is further lowered. By moving the jogger base 72 in conjunction with the movement of the suction portion 51 using the guide member 73 and the jogger guide member 75 of the jogger mechanism 71, the jogger base 72 can be moved without requiring a special drive for moving the jogger base 72.

[0124] With reference to Figures 23(e) to 23(h) and Figures 25(a) to 25(d) as appropriate, we will explain the operational progression when the jogger base 72 rises after the first pack 2-1 in the subdivision box 34A has been corrected in its posture as shown in Figure 22(d) and after the second pack 2-2 is placed into the subdivision box 34A. As shown in Figures 23(e) to 23(h) and Figures 25(a) to 25(d), after the second pack 2-2 is put into the subdivision box 34A, the suction part 51 is moved in the upward direction U without passing through the notch 34a of the subdivision box 34A relative to the jogger base 72, so that the lower end 72b of the jogger base 72 is released above the subdivision box 34A and the lower end 72b of the jogger base 72 is retreated to a position where it does not interfere with the first pack 2-1 and the second pack 2-2. In this way, by retreating the lower end 72b of the jogger base 72 in the upward direction U from the upper end of the subdivision box 34A, when the removal part 50C moves, the lower end 72b of the jogger base 72 is retreated in the upward direction U, so that it can be retreated to a position where it does not interfere with the subdivision box 34A, and therefore the removal part 50C does not become an obstacle to the movement.

[0125] When the suction unit 51 is moved in the upward direction U, the tension spring 78 is pulled and stretched as the suction unit 51 moves in the upward direction U from the position where the jogger base body 72 is lowered as shown in Fig. 25(a) to Fig. 25(b) to Fig. 25(d), and the jogger base body 72 moves in the upward direction U along the jogger guide member 75 via the rotation of the connecting rotation part 77 in the clockwise direction CW, and returns to the initial position shown in Fig. 24(a). By moving in this way, the jogger base body 72 can be retreated to a position where it does not interfere with the movement of the take-out unit 50C when the take-out unit 50C moves. When dispensing the first pack 2-1 and the second pack 2-2 into the subdivision box 34A, an action occurs to move the suction portion 51 in the downward direction D. At that time, the jogger base 72 moves along the connecting member 76 and the jogger guide member 75 via the guide pin 74 guided within the guide groove 73a of the guide member 73 in conjunction with the movement of the suction portion 51, so that the jogger base 72 can be moved without providing an actuator for moving the jogger base 72.

[0126] 26 to 28, the operation transition from removal of the pack from the storage section to the completion of pack attitude change in embodiment 1 will be described, focusing mainly on the operation transition of jogger mechanism 71. The operations other than those of jogger mechanism 71 will be described briefly below, as they are performed in the same manner as in reference example 1. From the standby state of the suction pad 52 shown in Fig. 26(a), to the entry of the suction pad 52 into the storage section 10 shown in Fig. 26(b), to the holding of the pack 2 at the lower part of the storage section 10 shown in Fig. 26(c), to the withdrawal of the pack 2 from the storage section 10 shown in Fig. 27(d), to the separation of the pack 2 from the storage section 10 shown in Fig. 27(e), the tension spring 78 of the jogger mechanism 71 is in a contracted state. Therefore, the jogger base body 72 is in a moving state from the completion of the pack attitude change (representing the initial position) shown in Fig. 28(g).

[0127] Thereafter, as shown in Fig. 28(f), the tension spring 78 is pulled when the posture of the removal part 50C changes when changing the posture of the pack 2. The suction part 51 of the removal part 50C changes its posture while pulling the tension spring 78, and moves to the state shown in Fig. 28(g).

[0128] The operation flow of the take-out unit and the jogger mechanism of the first embodiment shown in Fig. 22 to Fig. 28 will be supplemented with reference to Fig. 29. Fig. 29 is a flowchart showing the operation flow of the take-out unit and the jogger mechanism of the first embodiment. The operational flow of steps S40 to S45 showing the operational flow of the removal section and jogger mechanism of embodiment 1 is omitted since it is the same as the operational flow of steps S10 to S15 of reference example 1 shown in Figure 18, although it differs in configuration in that the removal section 50C has a jogger mechanism 71. In step S45, after moving the suction portion 51 downward, the removal portion 50C is moved in the X direction to completely remove the pack 2 from the storage portion 10, and the drive motor 63 is further driven in the reverse direction to move the suction portion 51 downward, thereby rotating the suction portion 51 by approximately 90 degrees and changing the posture of the pack from the approximately parallel state to the approximately vertical state (steps S46 to S47). Next, the take-out section 50C is moved to the position of the target medicine distribution tray 30 by the transporting operation of the transport section 90 (step S48).

[0129] After the take-out part 50C moves to the position of the target medicine distribution tray 30, the suction part 51 is moved slightly downward. At that time, as shown in FIG. 22(c), the guide pin 74 moves along the guide groove 73a of the pair of guide members 73, and the lower end part 72b of the jogger base body 72 moves downward in conjunction with this (step S49). As a result, the lower end part 72b of the jogger base body 72 moves downward and comes into contact with the crimping part 4 of the bag-facing suction part 2c of the first pack 2-1, and the first pack 2-1 comes into contact with the right inner wall of the subdivision box 34A.

[0130] 22(d), the negative pressure generator 45 is switched from negative pressure driving to pressure driving to separate the second pack 2-2 from the suction pad 52 and place it in the subdivision box 34A (step S50). At this time, because the pressure-bonding portion 4 of the bag-facing suction portion 2c of the first pack 2-1 is in contact with the right-side inner wall of the subdivision box 34A, even if the suction-holding of the second pack 2-2 is released by the pressure from the suction pad 52, this does not interfere with the separation of the pack from the suction pad 52 and the placement of the second pack 2-2 in the subdivision box 34A.

[0131] Then, the suction portion 51 moves upward, and in conjunction with this movement, as shown in Figures 23(g) to 23(h), the lower end of the jogger base body 72 moves upward and the suction portion 51 returns to its initial position (step S51). Then, it is checked whether there are any other packs 2 to be distributed, and if there are no other packs 2 to be distributed, the series of operation flows is terminated (step S52). On the other hand, if there are other packs 2 to be distributed in step S52, the process returns to step S40, and the same operations as above are repeated.

[0132] As described above, according to the first embodiment, even if the single-dose drug pack to be dispensed has already been dispensed in the same section of the dispensing tray or in the corresponding subdivision box, the jogger base 72 of the jogger mechanism 71 moves the single-dose drug pack to a predetermined position in the same section of the dispensing tray or in the corresponding subdivision box, thereby securing space for dispensing the drug. In other words, it is possible to avoid interference with packs that have already been dispensed in the same section of the dispensing tray or in the corresponding subdivision box at the time of dispensing the drug. In addition, the device is configured so that the next pack to be dispensed can be dispensed without interfering with packs already dispensed in a compartment of a medication container or a subdivision box, and when distributing multiple packs, it has the basic effect of reducing the work time required to bundle the packs together with a stapler, also known as a stapler.

[0133] In the first embodiment, the jogger base 72 of the jogger mechanism 71 is disposed in the suction part 51 of the take-out part 50C, but the present invention is not limited thereto, and may be disposed in the suction part 51 of the take-out part 50B of the reference example 2 shown in Fig. 19. That is, the jogger base 72 may be operated in the same manner as in the first embodiment in conjunction with the operation of moving the suction part 51 up and down by driving the drive motor 63 and the operation of changing the angle of the suction part 51 by driving the suction part angle changing motor 70.

[0134] It can be said that the above embodiments essentially describe the following aspects and effects. That is, the first aspect is a medication support device 200 including a storage means such as a storage section 10 for storing a single-drug package pack such as pack 2, a removal means such as a removal section 50C for removing the single-drug package pack from inside the storage means, an adsorption means such as an adsorption section 51 provided in the removal means for adsorbing the single-drug package pack in the inside of the storage means by air, a transfer means such as a transfer section 90 for transferring the single-drug package pack removed from the storage means via the adsorption means, a medication dispensing container such as a medication dispensing tray 30A for dispensing the single-drug package pack transferred by the transfer means to a specific position partitioned by a plurality of partitions, and a jogger means such as a jogger mechanism 71 having a jogger base 72 or the like for moving the single-drug package pack already dispensed in the medication dispensing container to a predetermined position within the same medication dispensing container when dispensing the single-drug package pack multiple times to the medication dispensing container.

[0135] With this configuration, according to the first aspect, even if the drug package pack to be dispensed is already dispensed in the same drug dispensing container, the jogger means can move the drug package pack to a predetermined position in the same drug dispensing container to ensure space for dispensing the drug. In addition, when dispensing multiple drug package packs, the work time required to bundle them with a stapler, also known as a stapler, can be reduced.

[0136] The second aspect is characterized in that in the first aspect, the medication dispensing container is configured to have a plurality of compartments such as compartment 33 separated by a plurality of dividers, and has a housing such as a removable subdivision box 34A for each of the plurality of compartments, and before the single-drug package pack to be dispensed is placed into one of the plurality of compartments or into the housing corresponding to that one compartment, the single-drug package pack already in the compartment or in the housing is moved by the jogger means to the predetermined position within the same compartment or in the same housing. With this configuration, according to the second aspect, it is possible to avoid interference with a single-dose drug pack that has already been dispensed in the compartment or the housing at the time of dispensing.

[0137] A third aspect is the first or second aspect, characterized in that the jogger means is retracted when not in use. With this configuration, according to the third aspect, it is possible to avoid interference with the frame and the like during movement, and to prevent impediment to transportation or conveyance.

[0138] A fourth aspect is any one of the first to third aspects, characterized in that the jogger means is provided on the suction means side. With this configuration, according to the fourth aspect, even if there are a plurality of medication containers, there is no need to increase the number of jogger means.

[0139] A fifth aspect is the aspect described in any one of the first to fourth aspects, characterized in that the jogger means operates in conjunction with the movement of the suction means. With this configuration, according to the fifth aspect, there is no need to provide an actuator for operating the jogger means.

[0140] A sixth aspect is any one of the first to fifth aspects, characterized in that the medicine distribution container is provided with a space for the jogger means to move. With this configuration, according to the sixth aspect, even when the medication container is thin or the medication package is low in height, the medication container does not obstruct the movement of the jogger means, so that the first medication package can be reliably moved to the specified position (target position).

[0141] Although the preferred embodiment of the present invention has been described above, the present invention is not limited to such a specific embodiment, and various modifications and changes are possible within the scope of the spirit of the present invention described in the claims unless otherwise specifically limited in the above description. For example, the technical matters described in the above embodiment, examples, reference examples, etc. may be appropriately combined.

[0142] The effects appropriately described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. [Explanation of symbols]

[0143] 2. Single-dose drug pack 2a Bag part 2c Bag facing suction part 3. Drugs 4 Crimping section 10 Storage section (an example of a storage means) 12 Support part right 13 Support part left 20 Storage Tray 21 Opening 30A Medication Tray (Example of Medication Container) 33 Plots 33a Cutout (example of space) 34A Subdivision box (example of housing) 34a Cutout (Example of space) 45 Negative pressure generator (an example of negative pressure switching means) 50C Removal section (an example of removal means) 51 Adsorption unit (an example of adsorption means) 52 Suction pad (constituting the suction means) 54 Suction pad support member 55 Rotation axis 56 Guide shaft 57 Adsorption part base member 58 Guide rod 59A Guide member (an example of an angle-changing mechanism) 59a3 Third guide groove 59b Guide groove (an example of an angle-changing mechanism) 63 Drive motor (an example of a suction part drive means) 71 Jogger mechanism (an example of a jogger means) 72 Jogger base (component of jogger means) 73 Guide member (component of jogger means) 73a Guide groove (component of jogger means) 74 Guide pin (component of jogger means) 75 Jogger guide member (component of jogger means) 76 Connecting member (component of jogger means) 77 Connecting rotating part (component of jogger means) 78 Tension spring (component of jogger means) 79 Guide fixing member (component of jogger means) 80 Drawer section 90 Transfer section (an example of a transfer means) 150 Control section 151 Touch panel (an example of an operation unit) 200 Medication Support Device X Left / right / horizontal direction Y Front / rear / depth direction Z Up / Down / Vertical [Prior art documents] [Patent documents]

[0144] [Patent Document 1] Patent Publication No. 2022-86529

Claims

1. A storage means for storing a single-dose drug pack; a removal means for removing the drug package from inside the storage means; an adsorption means provided in the removal means for adsorbing the drug package pack in the storage means by air; a transport means for transporting the drug package taken out from the storage means via the adsorption means; A medicine dispensing container that distributes the medicine packaged pack transferred by the transfer means to a specific position partitioned by a plurality of partitions; a jogger means for moving the drug package already dispensed in the drug dispensing container to a predetermined position in the same drug dispensing container when dispensing the drug package pack multiple times to the drug dispensing container; A medication support device equipped with the above.

2. The medication container is configured to have a plurality of compartments separated by a plurality of partitions, a housing that is detachable for each of the plurality of compartments; The medication support device described in claim 1, characterized in that before the single-dose medication pack to be dispensed is placed into one of the multiple compartments or into the housing corresponding to that one compartment, the single-dose medication pack already in the compartment or in the housing is moved by the jogger means to the predetermined position within the same compartment or in the same housing.

3. 2. The medication support device according to claim 1, wherein the jogger means is retracted when the jogger means is not in use.

4. 2. The medication support device according to claim 1, wherein the jogger means is provided on the side of the suction means.

5. 2. The medication support device according to claim 1, wherein the jogger means operates in conjunction with the movement of the suction means.

6. 2. The medication support device according to claim 1, wherein the medication container is provided with a space for the jogger means to move.

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