Medication support device

Abstract

To provide a medication support device that can reduce labor in classification of packs into medicine arrangement trays during medication preparation for a person who takes the medicine or who assists in the medication by allowing continuous medication action by skipping a procedural step when there is an erroneous operation to eliminate the need for an operation by a user during medication operation so that the user can take on another work away from the medication device.SOLUTION: A medication support device includes: a cartridge 10; a removal part 50; a transfer part 90; a medicine placement tray 30; medication-related information reading means such as a medication-related information reading part 65 which reads medication-related information such as medication information 6c including at least a name of a person who takes the medicine and a medication timing; and control means such as a control part 150 for controlling a medicine placing operation for placing the pack 2 taken out from the cartridge 10 onto the medicine placement tray 30 based on the medication-related information read by the medication-related information reading means. After the start of a medicine placing operation, any procedure step in which an erroneous operation occurred is skipped and the medicine placing operation is continued.SELECTED DRAWING: Figure 20

Description

[Technical field]

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

[0002] Regarding medication support devices, in order to streamline the work of pharmacists and the like who set medicine packages on medication calendars to make them usable, a medicine setting system is known that includes a medicine dispensing device that prepares and dispenses medicine packages containing medicines, and a medicine setting device that sets the medicine packages in medicine setting tools, and the technology has a package transport means that transports the medicine packages from the medicine dispensing device to the medicine setting device (see, for example, Patent Document 1).The technology is configured to prepare medicine packages, transport and supply the prepared medicine packages to the medicine setting device, and set the medicine packages supplied to the medicine setting device in the medicine setting tool.

[0003] In addition, a technology is known that detects whether a single-drug package has been correctly dispensed on a dispensing means such as a dispensing tray that contains medications to be taken by multiple people in a nursing facility, etc., or, if an incorrect package has been dispensed, identifies which single-drug package is incorrect, thereby saving the user time to check and preventing incorrect medication intake (including taking the wrong medication or forgetting to take it) by reading the pack information with a camera that reads medication-related information and comparing it with the medication-related information to determine whether it matches before the single-drug package is transferred to a specific position on the dispensing tray (see, for example, Patent Document 2).

[0004] The invention described in Patent Document 1 is certainly similar to the present invention in that predetermined medications are set on a medication calendar or medication tray. However, there is no description of errors that may occur during the transportation of pharmaceutical packaging (such as not being able to grasp the medicine package, it dropping during transport, or not being able to set it in the setting tool), and the problem of not being able to know when all the necessary medicines are not present after setting is complete has not been resolved.

[0005] Furthermore, the invention described in Patent Document 2 is certainly similar to the present invention in that it sorts correct single-dose drug packs onto a medication tray. However, although it is described that if an error occurs during transport of drug packages (such as not being able to grasp the drug package, dropping it during transport, or being unable to set it in the setting tool), the user can remove the drug package or retry the dispensing process, it is assumed that the operation of the device will be stopped midway.For example, if a facility staff member (hereinafter referred to as "user", including nurses and caregivers) leaves the device to treat a resident without noticing this and returns, the device will not be complete and it will take a lot of time to retry the process, which is an issue that has not been resolved. Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a medication support device that, in a care facility or the like, can skip a step and continue the medication dispensing operation if an abnormal operation occurs, eliminating the need for a user to operate the device during medication dispensing, and allowing the user to leave the device while medication is being distributed and perform other tasks, thereby reducing the effort required for the person assisting the user in taking the medication to sort single-dose medication packs into medication dispensing trays when preparing to take the medication. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the present invention provides a medication support device that includes storage means for storing single-package medication packs in which medication is packaged, removal means for removing a specific single-package medication pack from the storage means, transport means for transporting the single-package medication pack removed from the storage means, medication dispensing means for placing the single-package medication pack transported by the transport means at a specific position, medication-related information reading means for reading medication-related information including the name of the recipient and the timing of taking the medication, and control means for controlling the operation of the removal means, the transport means and the medication-related information reading means so that the single-package medication pack removed from the storage means is placed in the medication dispensing means based on the medication-related information, and after medication dispensing operation has begun, the device continues the medication dispensing operation by skipping the step in which an abnormal operation occurred. Effect of the Invention

[0008] According to the present invention, if an abnormal operation occurs, the procedure is skipped and the medication dispensing operation continues, eliminating the need for operation by the user (including nurses, caregivers, etc.) during the medication dispensing operation, making it possible to leave the medication support device and perform other tasks while medication is being distributed. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1A is a front view of the entire medicine dispensing device according to a reference example to which the present invention is applied, and FIG. [Diagram 2] (a) is a plan view showing the general shape of a single unitary drug pack, (b) is a side view of the unitary drug pack of (a) as viewed from the direction of arrow A, (c) is a side view of a combined unitary drug pack 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 an example of a medication tray. [Figure 4] 1A is a vertical cross-sectional view of the cartridge, and FIG. [Diagram 5] 4 is a plan sectional view of a main part showing a cartridge mounting / dismounting mechanism. FIG. [Figure 6] FIG. 4 is a plan view illustrating an identification configuration of the cartridge. [Figure 7] FIG. 1A is a front view showing the configuration of the removal section, and FIG. [Figure 8] 13A to 13C are front views showing the operation transition of the removal unit. [Figure 9] 9 is a front view showing the operation transition of the removal unit continued from FIG. 8. [Figure 10] FIG. 1A is a front view showing the main configuration of the transfer section, and FIG. [Figure 11] FIG. 2 is a control block diagram showing the main control configuration of the medicine dispensing device of FIG. 1. [Figure 12] 4 is a flow chart showing a basic sequence of operations of the medication dispensing device. [Figure 13] 13 is a flowchart showing HP movement processing which is a subroutine program of FIG. 12. [Figure 14] 13 is a flowchart showing an operation flow of the take-out unit. [Figure 15] 8(a) is a front view showing a configuration of the take-out portion substantially the same as that in FIG. 7, and (b) is a plan view of (a). [Figure 16] 16 is an operational diagram of the removal unit in FIG. 15 reading medication-related information from a pack stored in a cartridge. [Figure 17] FIG. 1A is a diagram showing an example of attaching a label with a QR code (registered trademark) to be placed inside a portioning box used in a medication tray, and FIG. 1B is a diagram explaining an example of the display of a label with a QR code (registered trademark). [Figure 18] FIG. 13 is an operational diagram of reading a label with a QR code (registered trademark) placed in a subdivision box. [Figure 19] FIG. 2 is a control block diagram of the medication support device. [Figure 20] 4 is a flowchart showing an overall operation flow according to the present embodiment. [Figure 21] 11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Figure 22] 11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Diagram 23]11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Figure 24] 11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Diagram 25] 11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Figure 26] 11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Figure 27] 11A and 11B are diagrams displayed on a display screen in an embodiment relating to a method for notifying an error. [Figure 28] 10 is a flowchart of a QR code reading operation flow according to the embodiment. [Figure 29] 10 is a flowchart of a pick-and-place operation flow according to the present embodiment. [Diagram 30] FIG. 30(a) is a diagram illustrating an outline of air piping for detecting a dropped pack and the configuration and operation of a pack detection sensor. [Diagram 31] FIG. 1A is a front view illustrating a configuration and operation for forcibly peeling off a drug pack from an adsorption pad, and FIG. 1B is a side view of FIG. [Diagram 32] 13A and 13B are diagrams showing another example of a detection means for detecting a dropped state of the puck. [Diagram 33] 13(a) and 13(b) are front and side views of a medication dispensing device showing the provision of an LED (light emitting diode) to indicate where the pack has fallen. [Diagram 34] FIG. 13 is a plan view showing a display screen having two execution buttons for executing a medicine dispensing operation. [Diagram 35] FIG. 35 is a plan view showing a display screen that displays an error notification after the medication support device is temporarily stopped when an error occurs when the execute (pause) button in FIG. 34 is pressed. [Diagram 36] FIG. 13 is a plan view showing a display screen with a resume button for executing the next medication delivery after an error has been dealt with. [Figure 37]FIG. 13 is a front view showing an embodiment in which a first evacuation space is provided for use when a pack falls onto the transfer path of the transfer section. [Figure 38] 1A is a front view of a medication dispensing device showing an embodiment of a guide member that guides a pack to the second evacuation space, and FIG. 1B is a front view of a medication dispensing device showing another embodiment of a guide member that guides a pack to the second evacuation space. [Figure 39] 13 is a diagram showing an operation in which, when a dropped pack is present in the area of ​​the upper cartridge, the pack is taken to a second evacuation space by a removal section having a guide member for temporary storage. FIG. [Diagram 40] 13 is a diagram showing an example in which a guide member is provided at another location on the medication dispensing device. FIG. [Diagram 41] 13 is a flowchart showing an operation flow for dispensing medicine again. [Diagram 42] 13 is an example of a window screen display showing details of an error occurrence. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments of the present invention will be described in detail with reference to the drawings. In each embodiment, each example, etc., components (members and components) having the same function, shape, etc. will be denoted by the same reference numerals after being described once, unless there is a risk of confusion, and the description thereof will be omitted.

[0011] The main components of the entire medication support device according to a reference example to which the present invention is applied will be described with reference to Fig. 1. Fig. 1(a) is a front view showing a schematic diagram of the main components of the entire medication support device, and Fig. 1(b) is a side view showing a schematic diagram of the side configuration of Fig. 1(a). As shown in Figure 1, a medication support device 200 to which the present invention is applied includes a cartridge 10, also called a storage section, a medication distribution tray 30, an unloading section 50, a transporting section 90, and a first entrance / exit section 41 to a third entrance / exit section 43. The left-right or horizontal direction (also the width direction) of the medication support device 200 shown in Figure 1(a) is the X direction, the front-back or depth direction shown in Figure 1(b) is the Y direction, and the up-down or vertical direction (also the vertical direction) is the Z direction.

[0012] The cartridge 10 functions as a first storage means (hereinafter simply referred to as "storage means") for storing in layers single-package drug packs (hereinafter simply referred to as "packs") in which drugs are individually packaged, which are included as drug packs as described below. Here, "storing in layers" means storing the packs in a substantially horizontal position or in a flat-stacked state.

[0013] A plurality of cartridges 10 are arranged in drawer sections 21 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 cartridges 10 are placed and held in one drawer section 21 (see Fig. 5). The drawer section 21 functions as a second storage means for placing and holding at least one cartridge 10. Each of the multiple cartridges 10 is placed and stored within a lattice-like partitioned side wall and bottom wall of the drawer section 21. The bottom wall of the drawer section 21 corresponding to each cartridge 10 is formed with a rectangular through-opening 21a (see FIG. 5) for removing a pack from below the cartridge 10 by utilizing elastic deformation of the pack, as described in the operation below.

[0014] The medication distribution tray 30 functions as a medication distribution means or medication distribution table that arranges specific packs transferred by the transfer unit 90. In the example shown in Fig. 1, two medication distribution trays 30 each having 4 x 5 compartments are arranged. Hereinafter, the installation site of the medication distribution tray 30 (meaning the location where the packs are handed over to the medication distribution tray 30 to be automatically distributed) is referred to as the medication distribution unit 29.

[0015] The removal section 50 functions as a removal means for removing a specific pack from the cartridge 10 . The transport section 90 functions as a transport means for transporting the pack removed from the cartridge 10 by the removal section 50 .

[0016] The first entrance / exit section 41 and the second entrance / exit section 42 function as entrance / exit means for the storage means for passing the cartridge 10 into and out of the main body frame 199. The cartridge 10 is inserted and set into 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 21 in which the cartridge 10 is set is pulled out toward the front to attach or detach the cartridge 10.

[0017] The third entrance / exit section 43 functions as an entrance / exit means for the medicine distribution means that moves the medicine distribution tray 30 in and out of the main body frame 199. The second entrance / exit section 42 and the third entrance / exit section 43 are provided so that the pack can be removed immediately after being placed on the medicine distribution tray 30 (hereinafter also referred to as "setting" or "inserting").

[0018] In the medication support device 200, as shown in FIG. 1(a), two medication trays 30 are arranged, one for each medication timing, such as morning, midday, evening, and before bedtime. Since the third entrance / exit portion 43 for the medication distribution tray is also provided for each medication distribution tray, it is possible to remove another medication distribution tray even while a medication distribution operation is being performed on another medication distribution tray.

[0019] 1, the drawers 21 of the cartridge 10 are provided in two locations, one above the other, below the topmost medicine distribution tray 30, but this is not limiting and they may be provided together on the upper or lower side. Depending on the number of people in the care facility, the cartridges 10 may be arranged in three stages to obtain the same effect.

[0020] The outline of the drug pack will be explained with reference to Fig. 2. Fig. 2(a) is a plan view showing a general form of a single drug package pack, Fig. 2(b) is a side view of the drug package pack of Fig. 2(a) seen from the direction of arrow A, Fig. 2(c) is a side view of a drug package pack combination in which multiple drug package packs are combined seen from the direction of arrow B, and Fig. 2(d) is a diagram showing a general form of a pack continuum. Note that Fig. 2(b) and Fig. 2(c) are somewhat schematic diagrams, with the drugs omitted.

[0021] The form of the drug pack includes a single packaged drug pack 2 and a combined packaged drug pack 2A (hereinafter also simply referred to as "combined pack 2A") in which multiple packaged drug packs 2 (two in FIG. 2(c)) are stacked in the stacking direction and joined, for example, by stapling. In figures other than FIG. 2 etc., the pack 2 is mainly illustrated as a representative, but it goes without saying that the combined pack 2A is also included. 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.

[0022] 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.

[0023] In the example shown in Figure 2, the single-dose drug pack 2 has a rectangular shape when viewed from above. The packaging method in which three sides are crimped and sealed, as in this example, is generally called three-sided packaging, and most drug packaging machines on the market create packs using this method.

[0024] 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.

[0025] As shown in Fig. 2(c), a pack assembly 2A may also be used. The pack assembly 2A is formed by fastening the central portions of the compression sections 4 on three sides of a plurality of (two are shown in Fig. 2(c)) single-dose drug packs 2 together with a staple 40 or the like.

[0026] The medicine distribution tray will be described with reference to Fig. 3. Fig. 3 is an external perspective view showing an example of the medicine distribution tray. As shown in FIG. 3, the medicine distribution tray 30 has partition walls 31, which are partition members serving as a plurality of partitions for arranging specific packs, and is divided by four erected partition walls 31. The 20 compartments 33 formed in the medicine distribution tray 30 can be expressed as components of a matrix consisting of five columns in the X direction (row feed direction) and four rows in the Y direction (character feed direction). As a result, each of the 20 compartments 33 in the medicine distribution tray 30 can be uniquely positioned by the components and addresses of the matrix of five columns and four rows. Furthermore, the medicine distribution tray 30 has a bottom wall 32 on which the arranged packs 2 are placed. In this way, the medicine distribution tray 30 is configured such that a specific pack (not shown) arranged in a specific compartment 33 is reliably arranged in the specific compartment 33 by the multiple (four) partition walls 31 and the common bottom wall 32 so that the specific pack (not shown) arranged in the specific compartment 33 is not mixed with the packs (not shown) in the other compartments 33 or falls off the bottom wall 32.

[0027] The medication tray 30 shown in the figure shows a case where 20 compartments 33 are configured as a collective medication distribution means as a whole, and a subdivision box 34 is used as a standalone medication distribution means that can be attached to and detached from each compartment 33. The subdivision box 34 holds packs 2 containing medicines 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 medication tray 30 shown in the figure is used when specific packs are placed via the subdivision box 34 in predetermined (specific) compartments 33 separated by a plurality of partitions.

[0028] In each compartment 33 of the medication tray 30, the set or insertion position is determined for each recipient according to the pack to be taken. In other words, 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.

[0029] 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.

[0030] 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.

[0031] An example of a cartridge will be described with reference to Fig. 4. Fig. 4(a) is a vertical cross-sectional view of the cartridge, and Fig. 4(b) is a bottom view of the cartridge of Fig. 4(a). In the vertical cross-sectional view of Fig. 4(a), in order to simplify the drawing, the crimping portion 4 of the pack 2 stored in the cartridge 10 is intentionally omitted, and the pack 2 is shown in an exaggerated and enlarged manner. For the same purpose, cross-sectional hatching of the support portions (right support portion 12, left support portion 13, etc.) is also omitted.

[0032] The cartridge 10 is mainly composed of a case portion 11, a lid portion 14, a pack removal opening 17, a movable plate 16, a pack orientation maintaining portion 15, and a right support portion 12 and a left support portion 13 serving as supports. The case portion 11 has a function of storing a plurality of packs 2 and a pack combination 2A (hereinafter, the pack 2 will be described as a representative example). The case portion 11 is formed integrally or separately using, for example, resin. The lid portion 14 has a function of enabling the pack 2 to be inserted and removed. The pack removal opening 17 is formed in the lower or bottom part of the case portion 11 and is an opening for removing the pack 2 from the cartridge 10, and has the function of passing the pack 2 removed from the cartridge 10 by the removal portion 50 (see Figures 1, 7, etc.).

[0033] The movable plate 16 has the function of preventing the packs 2 from falling over and of moving the lowest pack 2 near the pack removal opening 17 after the first pack of the maximum number of packs 2 that can be stored in the case section 11 has been removed. The pack orientation maintaining section 15 has a function of maintaining the orientation of the pack 2 . The right support portion 12 and the left support portion 13 also have the function of supporting or holding the pack 2 inside the case portion 11.

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

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

[0036] As described above, the right support portion 12 and the left support portion 13 are support portions that support or hold the pack 2 in the cartridge 10, and are each provided in an immovable state so that the removal operation of the pack 2 from the cartridge 10 by the removal portion 50 is stable. The right support portion 12 and the left support portion 13 are fixed members respectively provided in a fixed or secured state to the bottom wall inner surface 11e of the right bottom wall end portion and the left bottom wall end portion of the pack removal opening 17. The pack removal opening 17 has the function of passing the suction pad 52, which is the air suction means or suction means of the removal section 50 shown in Figure 4(b), in order to remove the pack 2, and also has the function of passing the removed pack 2 and the suction pad 52.

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

[0038] As shown in Fig. 4(b), by locating suction pad positions at two locations near both ends of the right support portion 12 in the Y direction, it is possible to prevent the occurrence of a problem in which the suction pad 52 is 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 portion 2a of the pack 2 is stretched and can withstand deformation. This makes it possible to reliably support or hold the packs 2 in the cartridge 10 while also making it easy to smoothly remove the packs 2.

[0039] As shown in Fig. 4(a), the types of packs 2 in the cartridge 10 are classified according to the timing of taking the medicine, such as 14 days' worth of medicine for Mr. A to take in the morning. Therefore, if Mr. A takes medicine in the afternoon, evening, and before going to bed in addition to the morning, a total of four cartridges 10 are required. The example is not limited to the above, and may be a single cartridge 10 set for each medication recipient (person), and the order from pack removal opening 17, which is the pack removal direction of cartridge 10, upwards may be morning → noon → evening → before bedtime on the first day → morning → noon → evening, etc.

[0040] In this embodiment, the right support portion 12 and the left support portion 13 are fixed to the bottom wall inner surface 11e of the pack removal opening 17 of the case portion 11 as fixing members so that the removal operation of the removal portion 50 to remove the pack 2 from the cartridge 10 is always stable. In other words, the right support part 12 and the left support part 13 are arranged in a fixed state at the pack removal opening 11 at the bottom of the cartridge 10, for holding both ends of the drug pack (pack 2 or pack combination 2A).

[0041] The end support part of the pack 2 on the side to be sucked is supported by a right support part 12, and the opposite end support part is supported by a left support part 13, so that the pack 2 stored and set in the cartridge 10 does not fall in the set state. The right support section 12 and the left support section 13 have different support lengths for supporting the packs 2, with the right support section 12 having a shorter support length. As will be described later with reference to Fig. 8(c), when the bottommost pack 2 stored in the cartridge 10 is adsorbed by the suction pad 52 and pulled out of the cartridge 10, the drug pack is elastically bent and easily pulled out.

[0042] 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.

[0043] As shown in FIG. 4(b), medication-related information including at least information related to medication such as the name of the recipient and the timing of medication (taking the medicine) is added to the surface of the bag portion 2a of the pack 2 stored in the cartridge 10. Specifically, as shown in FIG. 4(b), medication-related information 6a, which represents the name of the recipient who takes the medicine 3 in the pack 2 as a character string, and medication-related information 6b, which represents the time (timing of taking the medicine) when the medicine 3 is to be taken as a character string, are added by printing or the like. Note that, when the medicines in the pack 2 stored in the cartridge 10 are taken by the same person, medication-related information 6c, which represents the name of the recipient and the timing of taking the medicine as a QR code (registered trademark), may be added to the bottom surface of the left support portion 13, for example, or to the bottom wall portion 11e of the opening 17, although not shown in the figure. 4(b), the medication-related information 6a and 6b in the form of character strings is added, but this is not limiting, and the medication-related information 6a and 6b in the form of character strings and medication-related information 6c in the form of a QR code (registered trademark) may be added. That is, the medication-related information includes at least one of the following information: the name of the person taking the medication, the time when the medication in the pack is to be taken (timing of taking the medication), and the type and number of tablets of the medication prescribed in the pack.

[0044] The mechanism for attaching and detaching the storage section provided in the drawer and its operation will be described with reference to Figures 5 and 6. Figure 5 is a cross-sectional plan view of the essential parts showing the mechanism for attaching and detaching the storage section provided in the drawer, and Figure 6 is a schematic plan view explaining the identification configuration of the storage section provided in the drawer. As shown in Fig. 5, the drawer section 21 is configured to allow a plurality of cartridges 10 to be attached and detached. The left and right outer wall surfaces of the case section 22 of the drawer section 21 are provided with slide rails 24, respectively, and each slide rail 24 is slidable on a main body rail 28 disposed on the main body frame 199 (see Fig. 1) side. This allows the drawer section 21 to be pulled out from within the main body frame 199 (see Fig. 1) via the engagement between the slide rails 24 and the main body rails 28, for attachment and detachment.

[0045] 5, the cartridge 10 is attached to and detached from the drawer portion 21 via engagement and disengagement between a pair of protrusions 23 formed on the inner wall surface of the case portion 22 of the drawer portion 21 and protruding inward, and a pair of recesses 11c formed on the outer wall surface of the case portion 11 of the cartridge 10, and between the inner wall surface of the case portion 22 and four hemispherical protrusions 11d formed on the outer wall surface of the case portion 11. The above-described attachment and detachment configuration of the drawer portion 21 allows the attachment and detachment of multiple cartridges 10 to be performed simply and with good operability. In the above example, the attachment and detachment are achieved through the fitting and engagement of the concave and convex parts, but the present invention is not limited to this. The same effect can be achieved by providing an elastic material in the gap between the inner wall surface of case part 22 and the outer wall surface of case part 11, by using a configuration that uses magnetic force, or by using a snap-fit ​​structure.

[0046] As shown in Fig. 6, the drawer section 21 has a storage section 211 for storing 20 cartridges 10, which are arranged in four horizontal columns from A to D and five vertical rows from 1 to 5. The drawer section 21 is provided with guide display sections such as LEDs (light-emitting diodes) 25a1 to 25d5 for indicating the locations of the cartridges 10 near the handle 26 that is gripped by hand during attachment and detachment operations. This allows the user to know at a glance where the target cartridge 10 is located in the drawer section 21. In the same figure, the LED 25a1 detects the presence or absence of a cartridge 10 to be attached or detached corresponding to the storage section A1 (representing a portion or section uniquely determined by vertical columns and horizontal rows) of the drawer section 21. Similarly, LED 25a2 corresponds to the portion of storage section A2 of drawer section 21, LED 25a3 corresponds to the portion of storage section A3 of drawer section 21, LED 25a4 corresponds to the portion of storage section A4 of drawer section 21, and LED 25a5 corresponds to the portion of storage section A5 of drawer section 21. 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 cartridge 10 to be attached to or detached from each storage section. In the case of guidance display parts such as LEDs 25a1-25d5, there is a possibility that a staff member who is an operator who mounts the cartridge 10 in the storage part 211 may misread the lit up parts of the LEDs 25a1-25d5 and mount (mismount) the cartridge 10 in a storage part other than the predetermined storage part 211. Therefore, instead of guidance display parts such as LEDs 25a1-25d5, for example, a detection means such as a sensor or a switch may be provided in each storage part 211 so that the presence or absence of the cartridge 10 can be electrically (automatically) identified.

[0047] 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 identifies each storage unit. This allows the device to pick the correct pack.

[0048] The configuration and operation of the ejection unit will be described with reference to Fig. 7 and Fig. 8 to Fig. 9. Fig. 7(a) is a front view showing the configuration of the ejection unit, Fig. 7(b) is a plan view of Fig. 7(a), and Fig. 8 to Fig. 9 are front views showing the operational transition of the ejection unit. As shown in Fig. 7, the removal unit 50 includes an adsorption unit 51 as adsorption means for removing and holding the pack 2 from the cartridge 10. As shown in Fig. 7, the adsorption unit 51 adsorbs the pack 2 by creating a negative pressure state by converting the positive pressure from a compressor 121 into negative pressure using a vacuum ejector valve 123, also called a negative pressure generator. The compressor 121 is installed outside the transfer unit 90, and is connected to the adsorption unit 51 by a communicating member such as an air pipe 125 via a regulator 122 and the vacuum ejector valve 123. The air piping 125 is provided through a cable bear (registered trademark) together with a harness so that the removal unit 50 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 125 has a path of one turn each in the X-axis, Y-axis, and Z-axis. The air piping 125 is first extended from the vacuum ejector valve 123 along the Z-axis direction and makes one turn, then extended along the X-axis direction and makes one turn, and finally extended along the Y-axis direction and makes one turn to be connected to the suction unit 51.

[0049] The suction section 51 also has a suction pad 52 that suctions the pack 2, and a suction duct 53 connected to the suction pad 52. The vacuum ejector valve 123 is connected to the suction duct 53. The suction pad 52 functions as an air suction means or suction member that suctions and removes the pack 2 from the cartridge 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 as a pair in the Y direction.

[0050] The removal section 50 also has position changing means for changing the position of the pack 2 removed from the cartridge 10 to a substantially vertical position. The position changing means in the removal section 50 includes, as main components, a suction pad support member 54 connected to the suction section base member 57 via a rotating shaft 55, a guide member 59 in which a guide groove 59a having a unique guide shape is formed, a guide shaft 56 which is always fitted into the guide groove 59a of the guide member 59 to guide the suction pad support member 54, and a suction section up and down movement section. 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.

[0051] 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.

[0052] The suction portion base member 57 is connected and fixed to a belt 62 by a belt gripping portion 62 a fixed to the right end portion of the suction portion base member 57 . The guide rods 58 extend in the Z direction and are provided as a pair in the Y direction. The lower ends of the guide rods 58 are fixed to a bottom frame 50 b of a take-out frame 50 a provided in the take-out section 50 . A guided hole 57a into which a guide rod 58 is inserted is formed on the right end side of the suction portion base member 57. The drive pulley 60 and the driven pulley 61 have pulley shafts (not shown) rotatably supported by a stationary member on the take-out frame 50a side. The drive motor 63 is fixed to a stationary member on the take-out frame 50a side of the take-out unit 50. The drive motor 63 is a drive member to be controlled by the suction unit vertical movement unit (see FIG. 11 described later).

[0053] When the suction portion base member 57 moves up and down due to operation of the drive motor 63, the suction portion base member 57 moves in the Z direction along each guide rod 58, making it possible to maintain the posture of the suction portion base member 57 in the XY plane in a constant, approximately horizontal state. The suction unit vertical movement unit is not limited to the above-mentioned belt-driven vertical reciprocating mechanism, but may be a reciprocating linear motion mechanism using a rack and pinion or the like.

[0054] The guide members 59 are provided as a pair on either side of the suction portion 51 in the Y direction with the suction pad support member 54 interposed therebetween, and their lower ends are fixed to the bottom frame 50b. The guide shafts 56 are provided to protrude from both ends of the suction pad support member 54 in the Y direction, and are provided to always fit into guide grooves 59a of the guide member 59 to guide the suction pad support member 54. As shown in Fig. 7(a), the guide shafts 56 are provided below the rotation shaft 55 of the suction pad support member 54 in the Z direction, at a certain distance from the rotation shaft 55.

[0055] When the suction portion base member 57 moves in the Z direction by operating the drive motor 63, the posture of the suction portion base member 57 in the XY plane is kept constant in an approximately horizontal state, and the guide shaft 56 of the suction pad support member 54 moves in the Z direction along the uniquely shaped guide groove 59a, making it possible to rotate the posture of the suction pad 52 by approximately 90 degrees (in Figure 7(a) the state when the suction portion 51 is rotated approximately 90 degrees is shown by a thick dashed line).

[0056] Here, the term "approximately horizontal" includes the horizontal state, and also means being within a predetermined angle tolerance range with respect to the horizontal. The uniquely shaped guide groove 59a has a first guide groove portion formed to extend relatively long in the Z direction so as to hold the attitude of the suction pad 52 facing upward as shown by the solid line in Fig. 7(a) via the suction pad support member 54 in a substantially horizontal state by the guidance of the guide shaft 56. The guide groove 59a also comprises a second guide groove portion which communicates with and connects to the first guide groove portion, is formed to gradually draw a gentle arc to the right as it goes downward, and rotates the attitudes of the suction pad support member 54 and the suction pad 52 by approximately 90 degrees.

[0057] Due to the axial distance between the rotating shaft 55 and the guide shaft 56 formed as described above and the relationship with the guide groove 59a, the suction pad 52 can take various postures (including a posture in which the posture of the suction pad 52 is rotated approximately 90 degrees) with the rotating shaft 55 as a fulcrum.

[0058] As shown in FIG. 7, the take-out unit 50 is also equipped with an upper QR code reader 66 and a lower QR code reader 67 for reading the medication-related information 6c of the pack 2 stored in the cartridge 10 and the QR code (registered trademark) related to the medication-related information 6c on the label 7 attached to the subdivision box 34 described later in FIG. 12 and the like. The upper QR code reader 66 and the lower QR code reader 67 constitute a medication-related information reading unit 65 as a pack information reading means. The lower QR code reader 67 has a lower reading unit 67a at its lower part that also functions as the medication-related information reading unit 65, and is attached to the side of the take-out unit 50 below the upper QR code reader 66. The reading operation of the QR code (registered trademark) related to the medication-related information 6c of the subdivision box 34 by the lower reading unit 67a of the lower QR code reader 67 will be described in the case where it is performed immediately before the dispensing operation of the pack 2 taken out of the cartridge 10 to the subdivision box 34 of the medicine dispensing tray 30.

[0059] The operation of the removal unit 50 will be described with reference to Figs. 8 to 9. In order to simplify the explanation and make it easier to understand, it is assumed that the removal unit 50 is located below the cartridge 10 in the drawer unit 21 located in the center of the main body frame 199 in Fig. 1 by the operation of the transport unit 90 in Fig. 1. It is assumed that the cartridge 10 shown in Fig. 4 and the drawer unit 21 also called a cartridge tray shown in Figs. 1 and 6 are used. In order to simplify the illustrations and make it easier to understand, the QR code (registered trademark) and the QR code reader upper 66 and QR code reader lower 67 related to the medication-related information 6c are intentionally omitted in each of Figs. 8 to 9.

[0060] After the suction pad 52 of the removal unit 50 adsorbs and pulls out the bottommost pack in the cartridge 10, the transport unit 90 moves the removal unit 50 to above the medication distribution tray 30 located at the top of Figure 1, and the pack is dropped and inserted into a specified section of the medication distribution tray 30. As shown in FIG. 8(a), the removal section 50 is moved to the lower side of the cartridge 10 by the operation of the transfer section 90 in FIG. 1 and is in a stopped state. At this time, the drive motor 63 of the suction section vertical movement section is stopped, and the suction pad 52 is located below the upper surface position of the removal section (meaning the upper surface position of the removal frame 50a of the removal section 50 in the form of a housing). Thereafter, as shown in FIG. 8(b), the drive motor 63 is operated to couple the suction section base member 57, which moves linearly, with the suction pad support member 54, which moves linearly and rotationally, so that the suction section base member 57 and the suction pad 52 first move linearly upward. As a result, the suction pad 52 enters through the pack removal opening 17 between the right support section 12 and the left support section 13, contacts the pack 2 located at the bottom of the cartridge 10, and simultaneously suctions the pack 2. At this time, the vacuum ejector valve 123 (see FIG. 7, etc.) has been driven in advance, and the suction operation is possible.

[0061] 8(c), the drive motor 63 is rotated in the reverse direction, so that the suction pad 52 moves downward while suctioning the pack 2, and pulls out the tip side (meaning the side suctioned by the suction pad 52; the same applies below) of the pack 2 as one end side from inside the cartridge 10. In this case, the operation of pulling out the tip side of the pack 2 from the pack removal opening 17 of the cartridge 10 is carried out without any problem because the pack 2 deforms freely or elastically, so to speak.

[0062] Next, as shown in FIG. 8(d), the transport unit 90 (see FIG. 1) moves the removal unit 50 in the lateral X direction to pull out or remove the rear end of the pack 2 from the cartridge 10. Immediately after that, as shown in FIG. 8(e) to FIG. 8(f), the drive motor 63 rotates the pack 2, which is held by suction on the suction pad 52, from its substantially horizontal position by approximately 90 degrees to a substantially vertical position (hereinafter also referred to as a substantially vertical position) relative to the substantially horizontal position. The rotational motion at this time is achieved by the rotation shaft 55 provided on the suction pad support member 54 moving along the guide groove 59a of the guide member 59, so that the position of the pack 2 can be changed from the substantially horizontal position to the substantially vertical position. The drive source at this time can be a series of operations of the single drive motor 63.

[0063] Next, as shown in Fig. 9(g), when the removal unit 50 equipped with the suction pad 52 holding the pack 2 vertically is carried by the transport unit 90 to approximately directly above the installation location where the medication distribution tray 30 is installed, the operation of the vacuum ejector valve 123 (see Fig. 7) is stopped. This releases the suction holding of the pack 2 by the suction pad 52, and the pack 2 is inserted into a predetermined section 33, which is a predetermined position of the medication distribution tray 30, or into a subdivision box (not shown) that is detachable from the section 33 (see Fig. 9(h)).

[0064] As described above, when removing the pack 2 from the cartridge 10, the removal unit 50 is positioned or arranged below the cartridge 10, and the pack 2 is removed from below the cartridge 10. In this way, by removing the pack 2 from the bottom of the cartridge 10, the next pack 2 automatically moves downward (towards the pack removal opening 17) due to the weight of the pack 2 remaining in the cartridge 10 and the movable plate 16, so that the removal unit 50 can perform the same operation with a simple configuration regardless of the remaining amount of packs 2 in the cartridge 10.

[0065] The configuration and operation of the transfer section 90 will be described with reference to Fig. 10. Fig. 10(a) is a front view showing the main configuration of the transfer section, and Fig. 10(b) is a side view of Fig. 10(a). 1, the cartridges 10 are lined up on a plane below the medication tray 30 in the Z direction, and the medication tray 30 is located above the lowest cartridge 10, so the removal unit 50 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 removal unit 50 in the X direction, the Y direction, and the Z direction in order to transport the pack 2 removed from the cartridge 10 by the removal unit 50 to be handed over to the medication tray 30.

[0066] The configuration for moving the removal section 50 in the X direction is the X-direction transfer section 91, the configuration for moving the removal section 50 in the Y direction is the Y-direction transfer section 101, and the configuration for moving the removal section 50 in the Z direction is the Z-direction transfer section 111, and each has a similar configuration.

[0067] The X-direction transfer unit 91 has an X adapter 96 attached to the take-out unit 50, an X guide member 97 that guides the take-out unit 50 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 drive force transmission member such as a gear or a belt. Three rollers 98 (two of which are hidden by removal section 50 and cannot be seen) are attached to X adapter 96 so as to be able to roll while clamping X guide member 97. In addition, X adapter 96 is connected and fixed to endless belt 94 via a belt gripping section (not shown).

[0068] 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 runs, and the take-out unit 50 moves in the X direction along the X guide member 97 together with the X adapter 96.

[0069] The Y-direction transport section 101 includes a Y adapter 106 attached to the removal section 50, a Y guide member 107 that guides the removal section 50 in the Y direction via the Y adapter 106, an endless belt 104 wound between a drive pulley 102 and a driven pulley 103, and a drive motor 105 for transport in the Y direction that is connected to the drive pulley 102 via a driving force transmission member such as a gear or a belt. Three rollers 108 are rotatably attached to Y adapter 106 in a state where they sandwich Y guide member 107. Y adapter 106 is also connected and fixed to endless belt 104 via belt gripping portion 104a.

[0070] 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 the drive pulley 102, causing the endless belt 104 to rotate and run, and the removal section 50 moves in the Y direction along the Y guide member 107 together with the Y adapter 106.

[0071] The Z direction transfer section 111 includes a pair of Z adapters 116 attached to both ends of the X guide member 97 in the X direction, a pair of Z guide members 117 that guide the removal section 50 in the Z direction via the X guide member 97 and the pair of Z adapters 116, an endless belt 114 wound between a drive pulley 112 and a driven pulley 113, and a drive motor 115 for Z direction transfer that is connected to the drive pulley 112 via a drive force transmission member such as a gear or a belt. In the Z direction transport section 111, a drive pulley 112, a driven pulley 113, and an endless belt 114 are provided on both sides in the X direction, but a drive motor 115 is provided only on one side, the drive pulley 112. Three rollers 118 are attached to each Z adapter 116 so as to be capable of rolling while clamping the Z guide member 117. In addition, each Z adapter 116 is fixedly coupled to each endless belt 114 via each belt gripping portion 114a.

[0072] 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 50 moves in the Z direction along the Z guide member 117 together with the X guide member 97 and the Z adapter 116.

[0073] In FIG. 10, the removal unit 50 is configured to move in three axial directions, the X-axis, the Y-axis, and the Z-axis. However, in a configuration in which, for example, the cartridge 10 is arranged above the removal unit 50 and the medication tray 30 is arranged below the removal unit 50, the removal unit 50 only needs to move in the X-axis and the Y-axis, thereby reducing the number of moving axes by one.

[0074] A main control configuration of the medicine dispensing device 200 will be described with reference to Fig. 11. Fig. 11 is a control block diagram showing a main control configuration of the medicine dispensing device according to the embodiment of the present invention. As shown in FIG. 11, the drug dispensing device 200 is equipped with a CPU (Central Processing Unit) having a function as a control unit 150 as a control means for controlling the operation of each part of the drug dispensing device 200. The CPU has a built-in memory unit 152 and a timer unit 153. 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, which will be described later. In other words, the CPU has a function of executing the control operations shown in the explanation and control flow charts, which will be described later. Prescription information and drug information are input from the outside as external drug information to the memory unit 152.

[0075] 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 relationship data between the sections 33 of the medicine distribution tray 30 assigned to each recipient and the packs 2, relationship data between the sections 33 of the medicine distribution tray 30 assigned to each medication timing and the packs 2, and relationship data between the sections 33 of the medicine distribution tray 30 (see FIG. 4) assigned to each medication order and the packs 2.

[0076] A touch panel 151 having an input section and a display section as a user interface is electrically connected to the input / output port of the CPU. The user can input various settings on the touch panel 151, and the current time, the progress of pack storage, the completion time, etc. are displayed. The input method and the form of the display section are not limited to the above, and for example, the input section and the display section may be separate entities, such as a keyboard and an LED display section.

[0077] 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 medicine distribution tray detection sensor 156 that detects the type of medicine distribution tray 30 stored in the device and the presence or absence of the medicine distribution tray 30, and a storage section detection sensor 157 that detects the presence or absence of the cartridge 10. The medicine distribution tray detection sensor 156 and the storage section detection sensor 157 are shown only in FIG.

[0078] 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.

[0079] 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. An alarm unit 154 may be electrically connected to the output port of the CPU. This alarm unit 154 notifies the state of each of the above devices and components by light such as an LED, sound including voice, and vibration. It is equipped with a speaker, light, etc. to notify the staff of the timing of taking medicine even if they are away from the device.

[0080] 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 21 may be electrically connected.

[0081] 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.

[0082] The input port of the CPU is also electrically connected to various sensors, including drawer entrance opening / closing sensors 159a, 159b that detect the opening / closing of the first entrance / exit section 41 and the second entrance / exit section 42, and medication tray entrance / exit section opening / closing sensors 160a, 160b that detect the opening / 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 drawer entrance / exit section opening / closing sensors 159a, 159b, and the medication tray entrance / exit section opening / closing sensors 160a, 160b are shown only in FIG.

[0083] The input port of the CPU is also electrically connected to an upper QR code reader 66 (upper reading section 66a) as a medication-related information reading section 65, and a lower QR code reader 67 (lower reading section 67a) as a medication-related information reading section 65, which are also arranged in the removal section 50 shown in Figure 15 described later.

[0084] The CPU has a function of executing the control operations shown in the description and each flowchart described later. The CPU has a function as a control means for controlling the drug dispensing operation by the take-out unit 50 and the transport unit 90 so that the pack 2 taken out from the cartridge 10 is placed in a specific position (compartment 33 or subdivision box 34) of the drug dispensing tray 30 based on the drug-taking related information 6c displayed on the cartridge 10 (including the pack 2 inside) read by the upper QR code reader 66 and the drug-taking related information 6c displayed on the drug dispensing tray 30 (compartment 33 or subdivision box 34) read by the lower QR code reader 65. As will be described in the embodiment described later, the greatest feature of the present invention is that, after starting the medicine dispensing operation, the CPU skips the step in which the abnormal operation occurred and continues the medicine dispensing operation. In FIG. 11, a peeling operation control unit 130 enclosed by a dashed line indicates a characteristic control configuration of the medication support device to which the present invention is applied, as will be described later.

[0085] The basic operation of the medication support device will be described with reference to Fig. 12 to Fig. 14. Fig. 12 is a flowchart showing the basic operation sequence of the medication support device, and Fig. 13 is a flowchart showing the HP movement process which is a subroutine program of Fig. 12. Fig. 14 is a flowchart showing the operation flow of the take-out unit. The operations shown in Fig. 12 to Fig. 14 are executed under the control command of the CPU of control unit 150. When start switch 155 shown in FIG. 11 is turned on (hereinafter also referred to as "ON"), processing starts, and in FIG. 12, initialization is first performed (see the initialization portion indicated by the dashed line frame in FIG. 12, see steps S1 to S2). In the initialization, the HP sensor and the corresponding drive motor are controlled by a subroutine as shown in Fig. 13, and the controlled object is positioned at a predetermined home position where the HP sensor is turned ON (see steps S16 to S17 in Fig. 13). The following process is automatically performed by the timer unit 153 shown in Fig. 11, and the following continuous operations are performed at specific timings corresponding to the medication support work in the morning, afternoon, evening, and before going to bed, based on the drug information obtained in advance from the outside or the input from the touch panel 151 shown in Fig. 11.

[0086] When the designated time arrives, the CPU drives the drive motors in the order Z→X→Y (drive motor 115→drive motor 95→drive motor 105) to move the removal unit 50 to the specified cartridge 10 (removal unit movement (1) portion surrounded by a dashed line frame in FIG. 12, steps S3 to S5). Next, as a series of operations for the removal process, the drive motor 63 for drive motor P is driven to bring the suction pad 52 close to the medicine pack 2 (see FIG. 8(b)), the vacuum ejector valve 123 (see FIG. 7 and FIG. 11) is controlled to perform suction by the suction pad 52 to adsorb the medicine pack 2, and then the drive motor 63 and the drive motor 95 for drive motor X are operated in conjunction with each other to remove the medicine pack 2 from below the cartridge 10 (see FIG. 8(c) to FIG. 8(d)). Then, the attitude of the suction pad 52 is rotated to hold the medicine pack 2 in a vertical state (see FIG. 8(e) to FIG. 8(f), steps S6 to S8).

[0087] Next, the CPU drives the drive motor in the order of Z→X→Y (drive motor 115→drive motor 95→drive motor 105) to move the take-out unit 50 and transfer the medicine pack 2 above the section 33 of the prescribed medicine distribution tray 30 (see the part of the take-out unit movement (2) framed by the broken line in FIG. 12, steps S9 to S11), and performs the medicine distribution process. In the medicine distribution process, after the take-out unit 50 stops, the vacuum ejector valve 123 is controlled to break the vacuum, the suction state is released, the medicine pack 2 is peeled off, and the medicine is distributed to the medicine distribution tray 30 (see FIG. 9(g) to FIG. 9(h)). This operation is repeated multiple times, and when the medicine packs for the prescribed number of people have been distributed, the notification unit 154, such as a speaker or light, is operated to notify the medicine-taking assistant that preparations are complete (see steps S12 to S15).

[0088] Next, the operation flow of the take-out unit shown in FIG. 8 and FIG. 9 will be supplementarily explained with reference to FIG. 14. FIG. 14 is a flow chart showing the operation flow of the take-out unit. In step S20 of FIG. 14, the No. of the cartridge 10 storing the pack 2 to be delivered is confirmed, and the position of the target drug delivery tray 30 to which the pack 2 is to be delivered is confirmed. Next, the take-out unit 50 is moved to the target cartridge 10 by the transport operation of the transport unit 90 (step S21). At this time, the suction unit 51 is moved upward to the position of the target cartridge 10 by driving the drive motor 63 while negatively driving the vacuum ejector valve 123 at a predetermined timing (steps S22 to S23, see FIG. 8(a) to FIG. 8(b)). Then, when the pack 2 at the bottom of the cartridge 10 is sucked and held by the suction pad 52, the drive motor 63 is driven in the reverse direction after a certain time to move the suction unit 51 downward (step S24, see FIG. 8(c)). Thereafter, the removal section 50 is moved to the right in the X direction in Figure 8 to completely remove the pack 2 from the cartridge 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 an approximately horizontal state to an approximately vertical state (steps S25 to S26, see Figures 8(d) to 8(f)).

[0089] Next, the take-out unit 50 is moved to a section 33 or a division box (not shown) which is a predetermined position directly above the target medicine distribution tray 30 by the transport operation of the transport unit 90. When the take-out unit 50 moves to the position of the target medicine distribution tray 30, the vacuum ejector valve 123 is switched from negative pressure drive to pressure drive, so that the pack 2 is separated from the suction pad 52 and inserted into the predetermined section 33 or subdivision box (not shown). Then, the drive of the vacuum ejector valve 123 is stopped (steps S27 to S28, Fig. 9(g) to Fig. 9(h)). Then, in step S29, it is checked whether there are any other packs 2 to be distributed. If there are no other packs 2 to be distributed, the series of operations is terminated. If there are other packs 2 to be distributed, the process returns to step S20, and the same operations as above are repeated.

[0090] In the above example, when removing the pack 2 from the cartridge 10, the removal unit 50 is positioned below the cartridge 10, and the pack 2 is removed from below the cartridge 10. In this way, by removing the pack 2 from the bottom of the cartridge 10, the next pack 2 automatically moves downward (towards the pack removal opening 17) due to the weight of the packs 2 remaining in the cartridge 10 and the movable plate 16, so that the removal unit 50 can perform the same operation with a simple configuration regardless of the remaining amount of packs 2 in the cartridge 10.

[0091] With reference to Fig. 15, a description will be given of a take-out unit that is substantially the same as that shown in Fig. 7 in terms of explaining a reading operation using a QR code (registered trademark). Fig. 15(a) is a front view of a take-out unit that is substantially the same in configuration as that shown in Fig. 7, and Fig. 15(b) is a plan view of Fig. 15(a). The take-out unit 50 shown in Fig. 15 has no substantial difference in configuration compared to the take-out unit 50 shown in Fig. 7, and its basic configuration can be considered to be substantially the same, although there are some differences in shape. The take-out unit 50 in Fig. 7 differs from the take-out unit 50 in Fig. 15 only in that the take-out unit 50 in Fig. 7 has a guide member 59 in which two bent guide grooves 59a are formed, whereas the take-out unit 50 in Fig. 15 has a guide member 59A in which a guide groove 59a in a J-shape is formed by inverting the left and right. Therefore, if the medication-related information reading unit 65 shown in Fig. 15 is added to the take-out unit 50 in Fig. 7, the take-out unit 50 in Fig. 7 and the take-out unit 50 in Fig. 15 will have substantially the same configuration.

[0092] As shown in Figs. 7 and 15, the take-out unit 50 is equipped with a QR code reader 66 as a medication-related information reading unit or medication-related information reading means that reads the medication-related information 6c (see Fig. 4) in the form of a QR code (registered trademark) displayed on the pack 2 or the like stored in the cartridge 10. The QR code reader 66 has an upper reading unit 66a at its upper portion that reads the medication-related information 6c, and functions as a medication-related information reading unit 65. The QR code reader 66 is attached to the side of the take-out unit 50. The QR code reader 66 is used when reading the QR code (registered trademark) related to the medication-related information 6c displayed on the label affixed to the left support unit 13 of the pack removal opening 17 in the cartridge 10, as shown in Fig. 4. The operation of reading the QR code (registered trademark) related to the medication-related information 6c by the upper reading section 66a of the QR code reader 66 will be described as being performed immediately before the removal section 50 removes the pack 2 from the cartridge 10.

[0093] As shown in Figs. 7 and 15, the take-out unit 50 is also equipped with a medication-related information reading unit 65 or a lower QR code reader 67 as a medication-related information reading means, which reads the QR code (registered trademark) related to the medication-related information 6c on the label 7 attached to the subdivision box 34 described in Fig. 4. The lower QR code reader 67 has a lower reading unit 67a at its lower part, which also functions as the medication-related information reading unit 65, and is attached to the side of the take-out unit 50 below the upper QR code reader 66. The reading operation of the QR code (registered trademark) related to the medication-related information 6c on the subdivision box 34 (or the compartment 33) by the lower reading unit 67a of the lower QR code reader 67 will be described as being performed immediately before the dispensing operation of the pack 2 taken out of the cartridge 10 to the subdivision box 34 (or the compartment 33) of the medicine dispensing tray 30.

[0094] The operation of reading the medication-related information of the pack stored in the cartridge 10 will be described with reference to Fig. 16. As shown in Fig. 16 (position state of the removal unit 50 substantially similar to that shown in Fig. 8(a)), the removal unit 50 moves below the drawer unit 21 holding the cartridge 10 storing the pack 2 to be removed, and occupies a position as described below. That is, the upper reading section 66a of the QR code reader upper section 66 of the removal unit 50 occupies a position substantially directly below the drawer unit 21 and the cartridge 10 (reading range 9 from the opening 21 of the drawer unit 21 to the QR code (registered trademark) related to the medication-related information 6c of the pack 2 stored at the bottom of the cartridge 10 can be read). With the removal unit 50 in the above position, the upper reading section 66a of the QR code reader upper section 66 can read the QR code (registered trademark) related to the medication-related information 6c displayed on the lower part of the left support section 13 of the cartridge 10 or on the pack 2.

[0095] An example of a label with a QR code placed in a subdivision box used in a medicine distribution tray will be described with reference to Fig. 17. Fig. 17(a) is a diagram showing an example of attaching a label with a QR code placed in a subdivision box used in a medicine distribution tray, and Fig. 17(b) is a diagram explaining an example of display of a label with a QR code. In order to specify the distribution location of the pack 2 taken out of the cartridge 10, a label with a QR code 7 on which medication-related information 6a indicating the name of the person taking the medicine, medication-related information 6b indicating the timing of taking the medicine, and medication-related information 6c expressing the medication-related information 6a and 6b as a QR code (registered trademark) are printed is attached by adhering it to the bottom surface inside the subdivision box 34 of the medicine distribution tray 30.

[0096] The operation of reading a label with a QR code (registered trademark) placed in a subdivision box will be described with reference to Fig. 18. When the removal unit 50 equipped with the suction pad 52 holding the pack 2 in a substantially vertical position is carried to a predetermined position by the transport unit 90 and the removal unit 50 is positioned substantially as shown in Fig. 9(g), for example, the lower reading unit 67a of the QR code reader 67 occupies the above-mentioned predetermined position where the QR code (registered trademark) related to the medication-related information 6c displayed at the bottom of a predetermined subdivision box 34 (or a predetermined section 33) of the medication tray 30 becomes the reading range 9. At this time, the lower reading unit 67a can read the QR code (registered trademark) related to the medication-related information 6c.

[0097] The control configuration of the medication support device will be described with reference to FIG. 19. FIG. 19 shows a control block diagram of the medication support device. As shown in FIG. 19, the medication support device 300 is configured with the above-mentioned medication distribution device 200 and a personal computer (hereinafter abbreviated as "PC") 210 connected to the medication distribution device 200 so as to be able to communicate (transmit and receive). The PC 210 is composed of five well-known device configurations. That is, the PC 210 is configured with a control device, a calculation device, a storage device, an input device, and an output device. The control device has a CPU, and executes programs and issues instructions to other devices. The calculation device executes programs and performs calculations. The storage device has a main storage device and an auxiliary storage device, and stores data such as programs and text. The input device has a mouse, a keyboard, a microphone, etc., and transmits data and instructions to the computer. The output device has a display, a printer, a speaker, etc., and outputs data from the computer.

[0098] The PC 210 is set to enhance the functions of the drug dispensing device 200 and solve the above-mentioned problems that the present invention is intended to solve, including various problems that may arise, and serves as a host computer that manages and supports the drug dispensing device 200. The PC 210 is connected to a pharmacy or the like that supplies drugs via a network line (not shown).

[0099] A pack information management system 212 set in the management application 211 reads and manages medication-related information on the medicine pack. A medicine distribution information management system 213 set in the management application 211 reads and manages medication distribution information including at least the name of the recipient and the timing of medication.

[0100] The pack information management system 212 and the drug distribution information management system 213 may be realized as a management application 211 in the PC 210, for example, or may be a system consisting of the drug distribution device 200 and the PC 210, which manages the drug distribution device 200 by communicating with the drug distribution device 200 as shown in the figure. The management application 211 reads a drug distribution information file 219 that includes drug information for each drug recipient and drug distribution timing, etc., generated externally (for example, a pharmacy that supplies drugs based on a prescription issued by a doctor, etc.). The management application 211 also reads data input from a setting file 217 that records setting information, etc., that was set once in the PC 210.

[0101] Data output from the management application 211 as needed includes a file output as a log file 216 according to the change contents, a medication distribution history file 215 that summarizes the medication distribution history, etc. Furthermore, as needed, each form 218 is output from the PC 210 via the management application 211. Note that the functions of the management application 211 of the PC 210, etc. may be provided in the medication distribution device 200.

[0102] In other words, the medication distribution information management system 213 has the advantage of storing the results of medication distribution and change history as records, thereby storing the actual results of medication distribution as traceability information, which can be reviewed in the event of a problem.

[0103] The pack information management system 212 manages medication-related information on a medicine pack, including at least the name of the recipient and the timing of medication, and the operation of the above-mentioned medication dispensing device 200 is described below in more detail. As shown in Fig. 15, the medication dispensing device 200 has an upper QR code reader 66 and a lower QR code reader 67 mounted on the take-out unit 50. The take-out unit 50 moves to the vicinity of the cartridge 10 that stores the medicine pack (the unit-drug package 2 or the combined pack 2A), and the upper reading unit 66a of the upper QR code reader 66 can read the QR code (registered trademark) related to the medication-related information 6c.

[0104] Although not shown, when the medication-related information 6c is displayed on the surface of the medicine pack, the QR code (registered trademark) is visible from the pack removal opening 17 as shown in Fig. 16 and can be read by the upper reading unit 66a of the QR code reader 66. Even when the medication-related information 6c is displayed on the left support portion 13 of the bottom wall surface of the cartridge 10 as shown in Fig. 16, the medication-related information 6c is displayed at the pack removal opening 17, so the QR code (registered trademark) relating to the medication-related information 6c can be similarly read by the upper reading unit 66a of the QR code reader 66.

[0105] 18 (see FIG. 9(h)), when the take-out unit 50 moves to above the subdivision box 34 of the medication tray 30 while holding the pack 2 taken out from the cartridge 10, the QR code (registered trademark) relating to the medication-related information 6c can be similarly read by the lower reading unit 67a of the lower QR code reader 67. The information thus read by the upper QR code reader 66 or the lower QR code reader 67 is transmitted to the pack information management system 212 in the PC 210 via the communication module 214.

[0106] Since the upper QR code reader 66 and the lower QR code reader 67 are mounted on the removal unit 50 shown in Fig. 15, it is possible to detect the name of the recipient and the location of the cartridge 10 in which the drug pack to be taken by the recipient is stored by moving the removal unit 50 in the medication dispensing device 200 (see Fig. 1, etc.). In other words, when the QR code (registered trademark) of the cartridge 10 is read by the upper QR code reader 66 for the position coordinates (e.g., X: row, Y: column, Z: row) of the cartridge 10 corresponding to the location of the cartridge 10 in the medication dispensing device 200, it is possible to link the position coordinates of the removal unit 50 corresponding to the location of the cartridge 10 with the QR code (registered trademark) related to the medication-related information 6c.

[0107] An embodiment relating to an overall operation flow in which a procedure in which an abnormal operation has occurred in the medication support device is skipped and a medication dispensing operation is continued will be described with reference to Fig. 20. Fig. 20 is a flowchart showing an overall operation flow in which a procedure in which an abnormal operation has occurred in the medication support device of the above embodiment is skipped and a medication dispensing operation is continued. As shown in Fig. 20, a user including, for example, a nurse or a caregiver who is a staff member of a nursing facility sets the medication tray 30 shown in Fig. 3 at a predetermined position in the medication distribution section 29 of the medication distribution device 200 shown in Fig. 1. After that, the user presses the start switch 155 in Fig. 11 or a start switch (not shown) arranged on the PC 210 side of the medication support device 300 shown in Fig. 19 to start the operation of the medication support device 300 shown in Fig. 19 (or automatically starts at a predetermined time by a timer function), and then various settings are made by operating the touch panel 151 in Fig. 11 (steps S31 to S32).

[0108] Next, when the removal unit 50 is moved below the target cartridge 10 by the transport operation of the transport unit 90, a QR code (registered trademark) reading operation is performed by the upper reading unit 66a of the QR code reader 66 shown in Fig. 16 (step S33). The QR code reading operation by the upper reading unit 66a of the QR code reader 66 at this time is not limited to the QR code reading operation shown in Fig. 16, and may be, for example, a QR code reading operation in a case where the medication-related information 6c is printed on the pack 2 itself stored in the cartridge 10, or of the medication-related information 6c on a label affixed to the case of the drawer 21.

[0109] Next, the removal unit 50 performs a pick operation (FIGS. 8(a) to 8(f)) to remove the pack 2 from the lower part of the cartridge 10, and then the transport unit 90 transports the pack 2 removed by the removal unit 50 to the subdivision box 34 (or section 33) of the medicine distribution tray 30 of the medicine distribution unit 29 in FIG. 1 by a transport operation. At this time, before the pack 2 is put into the subdivision box 34 (or section 33) of the medicine distribution tray 30, a QR code reading operation is first performed by the lower reading unit 67a of the QR code reader 67, and a QR code reading operation is performed for the medication-related information 6c of the QR code-attached label 7 affixed to the subdivision box 34 (or section 33) of the medicine distribution tray 30 as shown in FIG. Next, a placing operation (FIG. 9(h)) is performed to place the pack 2 into the subdivision box 34 (or the compartment 33) of the medication tray 30 (step S34).

[0110] If an abnormal operation occurs during the operations of steps S31 to S34, the error content is notified or reported, for example, by the speaker and / or light of the notification unit 154 shown in Fig. 11 (step S35). After the error content is notified, the operation of the medication support device 300 ends (step S36). After the operation of the medication support device 300 ends, the pack 2 distributed in the subdivision box 34 (or the section 33) of the medication distribution tray 30 is removed by the user (step S37).

[0111] If an abnormal operation occurs during any of steps S31 to S34, a notification of the error content is stored in the memory unit 152 of Figure 11 from time to time, and after the operation of the medication support device 300 is completed, the user is notified of the error content via the display unit or notification unit 154 of the touch panel 151 of Figure 11. In determining the result of reading the QR code, if the QR code itself cannot be read due to dirt or the like and a timeout occurs, the CPU shown in FIG. 11 determines this to be an error (abnormal operation).

[0112] Next, an error notification method will be described with reference to Fig. 21 to Fig. 27. Fig. 21 to Fig. 27 are diagrams showing an embodiment of an error notification method displayed on a display screen of a management application. FIG. 19 shows the configuration of the management app 211. An example will be described below in which an abnormality including an error that occurred during a medication distribution operation is displayed on the management app after the medication distribution operation is completed. FIG. 21 is an example of a display screen of the management app showing an initial screen before a medication distribution operation. FIG. 22 is an example of a display screen 220 of the management app when moving to a medication distribution operation. As shown in FIG. 22, a medication date and a medication timing (afternoon, evening, before bed, morning) can be selected for each recipient (resident), and a medication distribution operation can be started by pressing an execute button 221 at the bottom right of the screen. A print button 222 at the bottom right of the screen can be pressed to display the operation being performed and print it.

[0113] Figure 23 shows the screen during medication distribution. For example, if medication is to be distributed starting from the afternoon on the target date, 7 / 23 (Mon), medication is distributed starting with Ebina Midori and following the order of the list. Next, it moves on to the evening, but if Tokeidaisuke is unable to remove the pack from the cartridge, an error is displayed in the "Status" column on the screen. 24, an error occurred for Minato Mirai because the puck fell during the process, and an error occurred for Yokohama Marin because the QR code could not be read. Note that since the QR code was read before the pick-and-place operation and it is already known whether or not there is an error, an error may be displayed on the display screen 220 of the management application from the beginning.

[0114] After all medication distribution operations are completed, the management application can inform the user that an error has occurred by displaying a window screen 220A on the display screen 220 as shown in Fig. 25. By further displaying the display screen 220, the user can check the details of the error as shown in Fig. 26. Items displayed include the time when the error occurred, the resident's name, the location of each resident's cartridge and dispensing box, and the details of the error.

[0115] If the pack containing the medication cannot be removed or the QR code cannot be read, the cartridge storage location within the medication dispensing device can be determined based on the position of the cartridge that contains the pack, and the pack containing the medication can then be removed from there and sorted by hand into the portioning boxes. Also, if a pack has fallen inside the drug dispensing device, it is possible to find the dropped pack by displaying a message on the display screen 220 to confirm and display the pack being transported. By displaying and notifying the user on the display screen 220 all at once in this way, the user can process the errors collectively and can perform other tasks while the drug dispensing device is operating. FIG. 27 shows an example of the display on the display screen 220 when there are no errors and the process is completed normally.

[0116] The QR code reading operation flow according to this embodiment will be described with reference to Fig. 28. Fig. 28 is a flowchart of the QR code reading operation flow. The medication-related information reading unit 65 of the removal unit 50 reads the medication-related information 6c on the cartridge 10 or the medication tray 24 (the QR code label 7 affixed to the subdivision box 34 will be used as a representative example). The medication-related information 6c in the QR code (registered trademark) of the cartridge 10 and the medication-related information 6c on the QR code label 7 of the subdivision box 34 are represented by alphanumeric codes linked to the recipient of the medication (therefore, the medication-related information 6c may include text information on the resident's name and the timing of taking the medication).

[0117] By the operation of the transport unit 90, the medication-related information reading unit 65 of the removal unit 50 moves to each cartridge 10 (for example, from the first cartridge to the nth cartridge) and reads the QR code (steps S41 to S42). At this QR code label reading position, the QR code related to the medication-related information 6c is read by the QR code reader of the medication-related information reading unit 65. If the reading result is OK without any problems, the read QR code (registered trademark) is compared with the position information of the cartridge for the recipient of medication stored in the medication distribution list, and the position information of the cartridge is stored (steps S43 to S44). Next, after checking whether there are any remaining cartridges 10, if there are no remaining cartridges 10, the transport section 90 is operated to move the cartridges 10 to a position substantially directly above the first subdivision box 34 on the medication tray 30 (steps S45 to S46).

[0118] Next, the medication-related information reading unit 65 of the take-out unit 50 moves to the subdivision box 34 of the medication tray 30 corresponding to the first cartridge 10, and the QR code related to the medication-related information 6c is read by the QR code reader 67 of the medication-related information reading unit 65 (steps S47 to S48). If the reading result is OK, the read QR code (registered trademark) and the position information of the subdivision box 34 of the medication recipient included in the medication distribution list are stored (steps S49 to S50). Next, after checking whether there are any remaining subdivision boxes 34, if there are none, they are compared with the medication recipients included in the medication distribution list, and those without position information are stored (steps S50 to S51).

[0119] On the other hand, if the reading result for the cartridge 10 is NG in step S43, a reading error is stored in step S52 and the process proceeds to step S45. In step S52, specifically, a recipient of medicine who does not have the position information of the cartridge 10 is not considered to be a recipient of medicine, and a QR code reading error is notified in the error notification after the medicine distribution operation (specifically, this includes forgetting to attach the cartridge 10 to the drawer section 21 and / or dirt or misalignment of the QR code (registered trademark)). Furthermore, in step S45, if there are any remaining cartridges 10, the transfer section 90 operates to move to the next cartridge 10 (step S53), and the operations from step S42 onwards are repeated.

[0120] On the other hand, in step S48, if the reading result for the subdivision box 34 is NG due to a problem, a reading error is stored in step S54 and the process proceeds to step S50. In step S54, specifically, a recipient of medication who does not have position information of the subdivision box 34 is not considered a recipient of medication, and an error notification after the medication distribution operation is notified of a QR code reading error (specifically, this includes forgetting to attach the subdivision box 34 to the section 33 of the medication distribution tray 30 corresponding to the subdivision box 34 and / or dirt or misalignment of the QR code (registered trademark)). Furthermore, in step S50, if there are any remaining subdivision boxes 34, the transfer section 90 moves to the next subdivision box 34 (step S55), and the operations from step S47 onwards are repeated.

[0121] The pick-and-place operation according to this embodiment will be described with reference to Fig. 29. Fig. 29 is a flowchart showing the pick-and-place operation flow according to this embodiment. As shown in Fig. 29, based on the position information of the cartridge 10 and the subdivision box 34 obtained by the QR code reading operation shown in Fig. 28, the pack 2 containing the medicine for the recipient is taken out from the cartridge 10 and distributed to the subdivision box 34. If an error occurs during the medicine distribution, the medicine distribution operation is temporarily stopped, the error is recorded, and then the medicine is distributed to the next recipient. The system proceeds to the last recipient and then notifies the user of the error.

[0122] When air suction is used, a pick-out error during the pick operation shown in FIG. 29 is determined to be an error by providing a pressure sensor 126 shown in FIG. 32 (to be described later) in the air path, and determining that an error has occurred if a certain level of negative pressure cannot be detected by the pressure sensor 126. Also, an error during transport is determined as an error when the pressure sensor 126 detects a certain negative pressure or more, which means that the pack has been dropped. Regarding placement, a filler-type pack detection sensor 127 shown in FIG. 30 which will be described later is provided near the suction pad 52, and if the pack detection sensor 127 remains ON after a vacuum break command is issued, it is determined that a pack 2 remains on the suction pad 52 and an error has occurred.

[0123] As shown in the figure, the pick and place operation shown in Fig. 29 is an operation in which the pack 2 containing the medicine for the recipient is removed from the cartridge 10 (pick operation) based on the position information of the cartridge 10 and the subdivision box 34 of the medicine distribution tray 30 obtained by the QR code reading operation shown in Fig. 28, and then the removal unit 50 is moved by the transport unit 90 to a position approximately directly above the subdivision box 34 of the recipient, and the pack 2 is placed in the subdivision box 34 to distribute the medicine (place operation). If an error occurs during medicine distribution, the medicine distribution operation is temporarily terminated, the error is recorded, and then medicine is distributed to the next recipient. The operation proceeds to the last recipient, and then an error notification is issued.

[0124] The details of the flow during the pick operation shown in Fig. 29 start from step S61, and after confirming the recipients of medication listed on the medication distribution list, the removal unit 50 moves to the bottom of the cartridge 10 storing the pack 2 of the first recipient of medication by the transport operation of the transport unit 90 (steps S61 to S62). Then, a pick operation is performed to remove the pack 2 from the cartridge 10, and it is checked whether the pick-out result is OK or not (steps S63 to S64). In step S64, if the pick-out result is OK, the removal unit 50 moves together with the suction unit 51 suction-holding the pack 2 of the first recipient to a position substantially directly above the repartition box 34 of the recipient by the transport operation of the transport unit 90 (step S65). At this time, whether the transport result of the pack 2 transported to a position substantially directly above the repartition box 34 of the recipient is OK or NG is detected at any time (step S66).

[0125] In step S66, if the transport result of the pack 2 is OK, the vacuum is broken on the suction pad 52 of the suction unit 51 that suction-holds the pack 2, and a placing operation is performed to put the pack 2 into the subdivision box 34 (step S67). If the placing operation is performed normally and the placing result is OK, a check is made to see if there are any picking and placing operations for the remaining recipients of medication, and if there are no picking and placing operations for the remaining recipients of medication (N0), the process proceeds to step S70, and a notification of the error content is executed all at once.

[0126] In step S64, if the pick-out result is NG, the contents of the pick error are stored, for example, in the memory unit 152 of the control unit 150 in Figure 11, and the cartridge 10 of the next person to be dispensed is moved by the transport operation of the transport unit 90, and the process returns to step S63 and the operations following the pick operation from the cartridge are repeated. Furthermore, in step S66, if the transport result of the pack 2 transported to the repartition box 34 of the recipient of medication is NG, the contents of the transport error are stored, for example, in the memory unit 152 of the control unit 150 in Figure 11, and the transport operation of the transport unit 90 moves the pack 2 to the cartridge 10 of the next recipient of medication, and the process returns to step S63 to repeat the operations following the pick operation from the cartridge.

[0127] In step S68, if the placement operation is not performed normally and the placement result is NG, the contents of the placement error are stored, for example, in the memory unit 152 of the control unit 150 in Figure 11, and the cartridge 10 of the next person to be dispensed is moved by the transport operation of the transport unit 90, and the process returns to step S63 and the operations following the pick operation from the cartridge are repeated. Also, in step S69, if there are pick and place operations for the remaining recipients of medication (YES), the process proceeds to step S75, and the transport section 90 moves to the cartridge 10 of the next recipient of medication by its transport operation, and then the process returns to step S63 to repeat the operations following the pick operation from the cartridge.

[0128] The detection unit that detects a dropped pack and the notification unit that notifies the location of the dropped pack will be described with reference to Fig. 30. Fig. 30(a) and Fig. 30(b) are diagrams that explain the outline of the air piping for detecting a dropped pack and the configuration and operation of the pack detection sensor. In the figure, compressed air stored in a compressor 121 is maintained at a certain pressure or higher by intermittent power supplied from a compressor control unit 120, and air at a desired pressure and flow rate is supplied via a regulator 122. A vacuum ejector valve 123 is controlled by power and signals from a peeling operation control unit 130, and causes suction and vacuum breaking using compressed air from the compressor 121. The flow of air that causes suction and vacuum breaking is shown diagrammatically by arrows in the figure.

[0129] The air pipe 125 branches into two at the right end in the drawing of the vacuum ejector valve 123, and is connected to two suction pads 52 fixed to a suction pad support member 54. The two suction pads 52 are arranged so as to be positioned line-symmetrically with respect to the pack 2 when the pack 2 is removed. The suction pads 52 are arranged side by side at a predetermined interval along the Y direction in Figures 30(a) and 30(b), as shown in Figure 7(b). Between these suction pads 52, a pack detection sensor 127, which is also fixed to the suction pad support member 54, is disposed. The pack detection sensor 127 is an example of a detection means for detecting the dropped state of a pack according to the present invention, and in this example, is a push rod type. As shown in FIG. 30(b), the pack detection sensor 127 turns ON when a rod 128 pressed against the pack 2 held by suction on each suction pad 52 is pushed in a predetermined amount, and the peeling operation control unit 130, which receives the signal, determines that the pack 2 is being held. In FIG. 30(a), the pack 2 is not held by the suction pad 52, and the height dimension of the suction pad 52 at this time is L1, and the tip of the rod 128 and the end face of the suction pad 52 are set to be aligned at approximately the same position.

[0130] Fig. 30(b) shows the operation of the pack detection sensor 127 when the pack 2 is present, in which the pack 2 is sucked and held by the suction pad 52, and the rod 128 is pushed in. At this time, the suction pad 52 is compressed by negative pressure to a height dimension of L2, and the pack 2 is held at a position retreated by (L1-L2) from the end of the suction pad 52 in Fig. 30(a). The rod 128 that abuts against the pack 2 is also pushed in by (L1-L2) and turned on, making it possible to detect that the air in the air piping 125 is maintaining a vacuum while the pack 2 is being held. That is, the CPU in Fig. 11 judges, based on the on signal from the pack detection sensor 127, that the pack 2 is sucked and held by the suction pad 52 and is not falling.

[0131] As long as it is possible to detect that a pack 2 is being held, the detection means may be any location on the pack 2, and it is not limited to a contact type such as the pack detection sensor 127, but may be a non-contact type such as an optical sensor 129 shown in Fig. 31 which will be described later. When the optical sensor 129 is used, it does not have to be disposed on the suction pad support member 54.

[0132] With reference to Figure 31, a detection means for detecting the falling state of the pack will be described using an optical sensor 129. However, since the detailed configuration and operation of the removal unit 50 shown in Figure 31 are beyond the scope of the present invention, the following description will focus on the details of detecting the falling state of the pack 2 using the optical sensor 129. In the take-out section 50 equipped with the suction pad 52, when the suction and holding of the pack 2 is released, a small amount of air is ejected from the suction pad 52 by the vacuum ejector valve 123, thereby performing what is called vacuum breaking (switching from negative pressure to atmospheric pressure) (FIG. 9(h)). If the vacuum breaking pressure at this time is strong, the pack 2 is blown away and does not fit into the designated section 33, and conversely, if it is weak, the lightweight pack 2 sticks to the suction pad 52 due to static electricity. In either case, a problem occurs in which the pack 2 does not fall neatly and reliably into the designated section 33 (or subdivision box 34) of the medicine distribution tray 30.

[0133] Fig. 31(a) is a front view explaining the configuration and operation of forcibly peeling off the medicine pack from the suction pad, and Fig. 31(b) is a side view of Fig. 31(a). The take-out unit 50 shown in Fig. 31 is different from the take-out unit 50 of the medicine dispensing device 200 shown in Fig. 7 etc. mainly in that a peeling operation control unit 130 shown in a dashed line in Fig. 11 is used, and other configurations and operations are the same as those shown in Fig. 7 above. The peeling operation control unit 130 of the medication dispensing device 200 equipped with the removal unit 50 is configured such that, based on a signal from an optical sensor 129 replacing the pack detection sensor 127, the CPU controls the operation of the vacuum ejector valve 123 via the vacuum ejector driver 124, and controls the operation of the drive motor 78 that drives the peeling member 76, which is an actuator for the peeling means, via a motor driver serving as a driver for the peeling means. That is, the CPU determines whether or not the peeling of the pack 2 has been performed at the specified timing based on a signal from the optical sensor 129, and controls the vacuum ejector valve 123 and the drive motor 78 according to the result, making it possible to operate them in sequential coordination.

[0134] 31(a), a peeling section 74 equipped with a lever-type peeling member 76 serving as a pressing means for forcibly peeling the pack 2 off the suction pad 52 is disposed near and slightly above the suction pad 52. The feature of the removal section 50 is that the forcible peeling action for peeling the pack 2 off the suction pad 52 is executed by the peeling member 76 which also functions as a pressing means for pressing the pack 2, based on a signal from the optical sensor 129.

[0135] A reflective optical sensor 129, which is a non-contact sensor such as a light detection type, is used as a detection means for detecting the dropped state of the pack 2 from the suction pad 52. The optical sensor 129 is installed so that emitted light is directed toward a slightly lower part of the pack 2 suction-held on the suction pad 52 and can detect whether the pack 2 is suction-held on the suction pad 52 or not. The optical sensor 129, which is a non-contact sensor, has an advantage in that it has a high degree of freedom in the installation location. In other words, if a laser sensor or the like with a long detection distance that can detect various parts of the pack from multiple directions is used, it can be installed in various installation locations other than the take-out part, such as the medicine distribution tray side or the main body frame side. In this way, the optical sensor 129 has an advantage in that it is a detection method that does not apply unnecessary force to the pack that would interfere with suction or peeling.

[0136] In the operation of the take-out unit 50, the operation shown in FIG. 31(b) is performed from the state shown in FIG. 31(a) in which the pack 2 is sucked and held vertically by the suction pad 52. In detail, after the vacuum ejector valve 123 (see FIG. 30) is stopped, that is, after the suction and holding of the pack 2 by the suction pad 52 is released by breaking the vacuum, the driving of the peeling unit 74 is started. By the rotational driving of the drive motor 78, the peeling member 76 is rotated in the thick arrow direction (counterclockwise in the figure) as shown in FIG. 31(b) and knocks down the pack 2 from above. As a result, the pack 2 sucked and held vertically by the suction pad 52 is forcibly peeled off and is stored in an orderly manner in a predetermined section 33 of the medicine distribution tray 30 as shown by the dotted line. Thereafter, the drive motor 78 is driven in the reverse direction to stop the driving of the peeling unit 74. The problem of pack 2 falling off occurs when the end of pack 2 curls excessively and gets caught on suction pad 52, which serves as the adsorption means, or when static electricity is generated between the adsorption means and pack 2, causing them to stick together. In the example of removal section 50 shown in Figure 31, the peeling effect can be improved by using peeling member 76 near the area causing the problem.

[0137] Next, another example of the detection means for detecting the dropping state of the pack (a method for detecting the suction pressure) will be described with reference to Fig. 32. Fig. 32 is a diagram showing another example of the detection means for detecting the dropping state of the pack. In the figure, compressed air stored in a compressor 121 is kept at a certain pressure or higher by intermittent power supplied from a compressor control unit 120, and air at a desired pressure and flow rate is supplied via a regulator 122. A vacuum ejector valve 123 is controlled by power and signals from a peeling operation control unit 130, and causes suction or vacuum breaking using compressed air from the compressor 121. The flow of air that causes suction or vacuum breaking is shown diagrammatically by arrows in the figure.

[0138] The air pipe 125 is bifurcated at the right end in the drawing of the vacuum ejector valve 123, and is connected to two suction pads 52 fixed to the suction pad support member 54. A pressure sensor 126 is provided between the vacuum ejector valve 123 and the suction pad 52 as a pack detection sensor. When the suction pad 52 suctions the pack 2, negative pressure is generated. When the pack 2 falls from the pack 2 to a predetermined position on the medicine distribution tray 30, the negative pressure weakens (the pack 2 is released to the atmosphere), so that it is possible to detect the drop of the pack 2. The pressure sensor 126 may be installed anywhere as long as it is a part that is negative pressure, so it may be located at the bifurcated part on the right side in the drawing of the vacuum ejector valve 123. Note that the pressure sensor 126 is omitted from FIG. 11.

[0139] A method of notifying the location where the pack has fallen will be described with reference to FIG. 33. FIG. 33(a) and FIG. 33(b) show a state where an LED (light-emitting diode) consisting of a light-emitting unit is provided as a notification means in the medicine dispensing device 200 to notify the location where the pack has fallen. The location where the pack 2 has fallen can be identified in the medicine dispensing device 200 by the position of the removal unit 50 that removes the pack and the timing of detection by the pack detection sensor 127 shown in FIG. 30. For example, as shown in FIG. 33(a), when the pack 2 that has fallen to the second position from the right in the figure of the cartridge 10 at the bottom of the medicine dispensing device 200 is removed and the removal unit 50 moves, if the pack detection sensor 127 in FIG. 30 detects the pack 2 having fallen, there is a possibility that the pack 2 has fallen near the bottom of the cartridge 10. At that time, the LED 133a arranged at the lower left in the figure of the cartridge 10 at the bottom is illuminated. This allows the user to know the location where the pack has fallen.

[0140] The LEDs 133 may be arranged in the areas of each stage, that is, LED 133a arranged in the arrangement portion of the cartridge 10 in the lowest stage, LED 133b arranged in the arrangement portion of the cartridge 10 in the upper stage, and LED 133c arranged in the arrangement portion of the medicine distribution tray 30 in the upper stage, as shown in Fig. 33(a). This is not limited to this, and the LEDs may be arranged in more detailed divisions as shown in Fig. 33(b). For example, LEDs 133a1 to LED 133a4 arranged at the bottom of each cartridge 10 in the lowest stage, LEDs 133b1 to LED 133b4 arranged at the bottom of each cartridge 10 in the upper stage, and LEDs 133c1 to LED 133c2 arranged at the top of each medicine distribution tray 30 in the upper stage may be provided.

[0141] A method of switching the control mode will be described with reference to Figures 34 to 36. Figure 34 is a plan view showing a display screen provided with two execute buttons for executing a medication dispensing operation, Figure 35 is a plan view showing a display screen that displays an error notification after the medication support device is temporarily stopped in the event of an error when the execute (pause) button in Figure 34 is pressed, and Figure 36 is a plan view showing a display screen provided with a resume button for executing the next medication distribution after dealing with the error. At the bottom of the display screen in Figure 34, there are provided two execution buttons: an execute (continue) button 224 for executing a medication dispensing operation, and an execute (stop midway) button 225 for executing a medication dispensing operation, which the user can select and press. If the user presses the execute (pause) button 225, the medication support device will temporarily halt when an error occurs, and then an error notification window screen 220A such as that shown in FIG. 26 will be displayed in detail in FIG. 35, enabling, for example, a user working near the medication support device to immediately deal with the error and to take out the medication tray immediately after medication is completed (for example, the medication tray can be handed over to a caregiver to assist the resident in taking their medication).

[0142] After the user has dealt with the error, the next medication can be dispensed by pressing the resume button 226 shown in FIG. The execute (pause) button 225 can be displayed on the window screen 220A as shown in FIG. 35, and made selectable on the confirmation screen of the window screen 220A, thereby achieving the same effect.

[0143] As described above, the CPU in FIG. 11 is capable of executing a pause control mode (a control mode that is turned on when execute (stop) button 225 is pressed) that pauses the medication support device when medication support device 300 is operating abnormally, and an operation continuation control mode (a control mode that is turned on when execute (continue) button 224 is pressed) that continues the medication dispensing operation after it has started until all medication for the recipients has been distributed, and the CPU is configured to be able to switch between the pause control mode and the operation continuation control mode when medication support device 300 is operating abnormally. With this configuration, when a user is working near the medication support device, it is possible to immediately deal with any abnormal operation, thereby shortening the overall work time.

[0144] An embodiment in which a first evacuation space is provided to be used when a pack falls onto the transfer path of the transfer section will be described with reference to Fig. 37. Fig. 37 is a front view showing an embodiment in which a first evacuation space is provided to be used when a pack falls onto the transfer path of the transfer section. When the pack 2 is taken out from the cartridge 10 by the suction part 51 of the take-out part 50, the pack 2 may fall due to insufficient suction (see the dropped pack 2 shown at the bottom of the main body frame 199 of the drug dispensing device 200 in FIG. 37). In this state, when going to take out a pack 2 from the cartridge 10 of the next drug recipient (for example, a different row on the same level), the take-out part 50 may come into contact with the dropped pack 2 and damage the pack 2.

[0145] 37, by providing first evacuation spaces 134, 135 having a height in the vertical direction Z equal to or greater than the thickness of the pack 2 in the transport path of the transport section 90, it becomes possible to prevent the pack 2 from coming into contact with the pack 2 during movement of the removal section 50 and to prevent damage to the pack 2. The first evacuation spaces are provided in the lower stages of each cartridge 10. Also, since there are cases where the packs do not fall normally into the compartments 33 on the medication tray 30 (when not inserted into the subdivision box 34), a first evacuation space 136 may be provided.

[0146] The guide member for guiding the pack to the second evacuation space will be described with reference to Fig. 38. Fig. 38(a) is a front view of a medicine dispensing device showing an embodiment of the guide member for guiding the pack to the second evacuation space, and Fig. 38(b) is a front view of a medicine dispensing device showing another embodiment of the guide member for guiding the pack to the second evacuation space. As shown in Fig. 38(a), a guide member 82 for guiding the dropped pack 2 is provided at the bottom of the take-out section 50. The take-out section 50 with this guide member 82 is moved leftward in the drawing in the X direction by the transport operation of the transport section 90, whereby the dropped pack 2 can be taken to the second evacuation space 137 for temporary storage. This allows the user to process the dropped pack 2 simply by looking at a specific location in the medication dispensing device 200.

[0147] The guide member 82 is attached at an incline to the lower part of the removal unit 50, and can move the pack 2 by contacting it. The angle at which the guide member 82 is attached to the lower part of the removal unit 50 is inclined at an obtuse angle so that the guide member 82 can move the pack 2 while scooping it up, as shown in the figure, so that the guide member 82 can contact the pack 2 over a wide range and reliably move the pack 2. The material of the guide member 82 may be an elastically deformable material such as rubber that does not damage the pack 2 even when it comes into contact with it, or it may be formed of a fibrous aggregate such as a broom. The second evacuation space 137 may be provided in each of the bottom and middle cartridges 10 and on the left side of the medication tray 30 as shown in Figure 38(a), or may be provided only at the bottom within the main body frame 199 as shown in Figure 38(b).

[0148] As shown in Figure 38(b), for example, if there are dropped packs 2 in the area of ​​the upper cartridge 10, the dropped packs 2 are moved by the guide member 82, and the dropped packs 2 are dropped and accumulated in the second evacuation space 137 at the bottom within the main body frame 199. As shown in Figure 38(a), if the second evacuation space 137 is provided across multiple tiers, it was necessary to check whether the dropped packs 2 had fallen and accumulated in the second evacuation spaces 137 of the multiple tiers.

[0149] However, as shown in FIG. 38(b), for example, if there is a dropped pack 2 in the area of ​​the upper cartridge 10, as shown in FIG. 39(a) and FIG. 39(b), the dropped pack 2 can be moved to the bottom second evacuation space 137 in the main body frame 199 for temporary storage by moving the removal unit 50 with the guide member 82 to the left in the X direction by the transport operation of the transport unit 90. This allows the user to process the dropped pack 2 simply by looking at a specific location in the drug dispensing device 200. With this configuration, the user only needs to check one location, improving the user's work efficiency.

[0150] 40, a guide member 82 may be provided on Y guide member 107 that supports removal unit 50 movably in the Y direction. In this case, a dropped puck (not shown) can be moved to a retreat space (not shown) by movement in the X direction only.

[0151] The operation of redoing a medicine that was not dispensed due to an error will be described with reference to Figures 41 and 42. Figure 41 is a flow chart showing the operation flow of redoing a medicine that was not dispensed due to an error. Figure 42 is a diagram showing a window screen display showing the details of the error occurrence. The operation flow in Fig. 41 starts from step S81. This is carried out for those who could not read the QR code during the first medicine dispensing operation, and therefore could not determine the cartridge position or the dispensing box position, or could not remove the pack from the cartridge. After the pick-and-place operation (step S84), which is a series of operations, is performed through the same operation flow as in Fig. 20, and after the error content is notified (step S84), it is possible to execute the medication distribution operation again for the error by pressing the "Retry button for person with error" 227 displayed on the window screen 220A in Fig. 42. If there are only a few errors in the error content and manual processing is faster, the "Close button" 228 can be pressed to end the operation, but if there are many errors, this is effective.

[0152] As explained in Figures 41 and 42, after the medication dispensing operation is completed, the medication support device can re-dispense any medication that was not dispensed due to an error, thereby achieving the effect of reducing human error due to manual work.

[0153] 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 such as medication support device 300 that includes a storage means such as cartridge 10 for storing a single packaged medication pack such as pack 2, an extraction means such as extraction unit 50 for extracting a specific single packaged medication pack from the storage means, a transport means such as transport unit 90 for transporting the single packaged medication pack extracted by the extraction means, a medication distribution means such as medication distribution tray 30 for disposing the single packaged medication pack transported by the transport means at a specific position, a medication-related information reading means such as medication-related information reading unit 65 for reading medication-related information such as medication-related information 6c including at least the name of the recipient and the timing of taking the medication, and a control means such as control unit 150 for controlling a medication distribution operation to place the single packaged medication pack extracted from the storage means in the medication distribution means based on the medication-related information read by the medication-related information reading means, and after the medication distribution operation has started, the medication distribution operation is continued by skipping a step in which an abnormal operation occurred.

[0154] With this configuration, according to the first aspect, if an abnormal operation occurs, the procedure is skipped and the medication dispensing operation is continued, eliminating the need for operation by the user (including nurses, caregivers, etc.) during the medication dispensing operation, making it possible to leave the medication support device and perform other tasks while medication is being distributed.

[0155] The second aspect is characterized in that, in the first aspect, after all of the medication dispensing operations are completed, the contents of the abnormal operation of the medication support device that occurred during the medication dispensing operations are notified. With this configuration, according to the second aspect, it becomes possible to check all the undelivered drug package packs due to abnormal operation after the drug dispensing operation is completed. (To express it more simply, the user does not need to operate during the process, and the user can leave the medication support device.)

[0156] The third aspect is characterized in that in the first or second aspect, if the single-dose drug pack cannot be removed from the storage means, the medication distribution operation is carried out for the next medication recipient. With this configuration, according to the third aspect, the medication support device does not stop midway, making it possible to shorten the overall medication dispensing operation time.

[0157] The fourth aspect is characterized in that, in the first or second aspect, if the single-drug package cannot be placed at the specific position of the medication dispensing means, the medication dispensing operation is carried out for the next medication recipient. With this configuration, according to the fourth aspect, devices related to the medication support device do not stop midway, making it possible to shorten the overall medication dispensing operation time.

[0158] A fifth aspect is any one of the first to fourth aspects, characterized in that, when the medication-related information cannot be read by the medication-related information reading means, the medication is excluded from distribution targets. With this configuration, according to the fifth aspect, devices related to the medication support device do not stop midway, making it possible to shorten the overall medication dispensing operation time.

[0159] The sixth aspect is characterized in that, in any one of the first to fifth aspects, it is provided with detection means such as a pack detection sensor 127 and an optical sensor 129 for detecting the fallen state of the single-package drug pack, and notification means such as LEDs 133a to 133c for indicating the location where the single-package drug pack has fallen. With this configuration, according to the sixth aspect, when a single-dose medicine pack falls as a result of abnormal operation, it becomes possible to easily find the single-dose medicine pack that has fallen into the medication support device.

[0160] The seventh aspect is characterized in that in any one of the first to sixth aspects, the control means is capable of executing a pause control mode that is activated by pressing an execute (stop midway) button 225 for pausing the medication support device when the medication support device is operating abnormally, and a continuation operation control mode that is activated by pressing an execute (continue) button 224 for continuing the medication dispensing operation after the medication dispensing operation has started until all medication for the recipients has been distributed, and the control means is capable of switching between the pause control mode and the continuation operation control mode when the medication support device is operating abnormally. With this configuration, according to the seventh aspect, when a user works near the medication support device, it becomes possible to immediately deal with abnormal operations and shorten the overall work time.

[0161] The eighth aspect is characterized in that in any one of the first to seventh aspects, the transport path of the transport means has a first evacuation space, such as first evacuation spaces 134 to 136, which is used when the single-package drug pack falls. With this configuration, according to the eighth aspect, when the single-dose drug pack falls and the next drug dispensing operation is performed, it is possible to complete the entire drug dispensing operation without damaging the single-dose drug pack.

[0162] The ninth aspect is characterized in that, in any one of the first to eighth aspects, either the removal means or the transport means has a guide member such as guide member 82 that guides the packaged drug pack that has fallen into the medication support device to a second evacuation space such as second evacuation space 137. With this configuration, according to the ninth aspect, it is possible to evacuate the dropped drug package pack to a safe location without damaging it. Also, it is possible to make it easier to find the drug package pack that has fallen into the medication support device.

[0163] The tenth aspect is characterized in that in any one of the first to ninth aspects, when the medication dispensing operation is executed again after completion of the medication dispensing operation, the medication dispensing operation is performed again to a location where medication was not dispensed due to an abnormality in the medication support device. With this configuration, according to the tenth aspect, the medication support device can suppress human error due to manual work.

[0164] 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 alterations 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, or modified examples may be appropriately combined.

[0165] 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]

[0166] 2. Single-dose drug pack (example of drug pack) 2A Drug package combination (an example of a drug package) 3. Drugs 10 Storage section, cartridge (an example of a storage means) 21 Drawer section 29 Drug distribution department 30 Medication tray (an example of a medication means or medication table) Section 33 (Example of a designated location) 34 Small Box 50 Removal section (an example of removal means) 51 Adsorption part 52 Suction pad (an example of suction means) 55 Rotation axis 56 Guide shaft 57 Adsorption part base member (an example of a component constituting the adsorption part movement guide) 58 Guide rod (an example of a component constituting the suction part movement guide) 59 Guide member (an example of a component constituting the suction part movement guide) 59a Guide groove (an example of a component constituting the suction part movement guide) 63 Drive motor (an example of a suction part drive means) 65 Medication-related information reading unit (an example of a medication-related information reading means) 65c Medication-related information (example of medication-related information) 66 QR Code Reader 66a Upper reading section 67 QR Code Reader 67a Lower reading section 76 Peeling member (an example of a pressing means or peeling means) 78 Drive motor 82 Guiding member 90 Transfer section (an example of a transfer means) 123 Vacuum ejector valve 126 Pressure Sensor 127 Pack detection sensor (an example of a detection means) 129 Optical sensor (an example of a detection means) 130 Peeling operation control section 133a-133c LED (an example of a notification means) 134~136 First Evacuation Space 137 Second Evacuation Space 150 Control unit (an example of a control means) 200 Medication distribution device (an example of a medication distribution device constituting a medication support device) 220 Display Screen 220A Window Screen 221 Run button 222 Print button 223 Close button 224 Execute (Continue) button 225 Run (pause) button 226 Resume button 227 Retry button for people with errors 228 Close button 300 Medication support device (an example of a medication support device) X Left / right / horizontal direction Y Front / rear / depth direction Z Up / Down / Vertical [Prior art documents] [Patent documents]

[0167] [Patent Document 1] JP 2021-168792 A [Patent Document 2] JP 2023-051361 A

Claims

1. A storage means for storing a single-dose drug pack in which a drug is packaged in a single package; A removal means for removing the specific drug package from the storage means; a transfer means for transferring the drug package taken out by the take-out means; a drug dispensing means for disposing the drug packaged pack transferred by the transfer means at a specific position; A medication-related information reading means for reading medication-related information including at least the name of the recipient and the timing of medication; a control means for controlling a dispensing operation of disposing the one-drug package taken out from the storage means in the dispensing means based on the medication-related information read by the medication-related information reading means; Equipped with After starting the medication dispensing operation, the medication support device skips the step in which the abnormal operation occurred and continues the medication dispensing operation.

2. 2. The medication support device according to claim 1, further comprising: a notification of an abnormal operation of the medication support device that has occurred during the medication distribution operation after all of the medication distribution operations have been completed.

3. 3. The medication support device according to claim 1, wherein if the one-drug package cannot be removed from the storage means, the medication distribution operation for the next medication recipient is carried out.

4. The medication support device described in claim 1 or 2, characterized in that if the single-dose medication pack cannot be placed at the specific position of the medication distribution means, the medication distribution operation is performed for the next medication recipient.

5. 3. The medication support device according to claim 1, wherein when the medication-related information cannot be read by the medication-related information reading means, the medication-related information is excluded from medication distribution targets.

6. A detection means for detecting a dropped state of the medicine package; a notification means for notifying a location where the medicine package has fallen; 3. The medication support device according to claim 1, further comprising:

7. The control means is capable of executing a pause control mode in which the medication support device is temporarily stopped when an abnormal operation of the medication support device occurs, and an operation continuation control mode in which the medication distribution operation is continued until all medication distribution to the medication distribution target is completed after the medication distribution operation is started, 3. The medication support device according to claim 1, wherein the control means is capable of switching between the temporary stop control mode and the continuous operation control mode when an abnormal operation of the medication support device occurs.

8. 3. The medication support device according to claim 1, further comprising a first evacuation space in a transport path of the transport means for use when the drug package falls.

9. The medication support device as described in claim 1 or 2, characterized in that either the removal means or the transporting means has a guide member for guiding the single-dose medication pack that has fallen into the medication support device to a second evacuation space.

10. The medication support device according to claim 1 or 2, characterized in that when the medication distribution operation is executed again after completion of the medication distribution operation, the medication distribution operation is performed again to an area where medication was not distributed due to an abnormality in the medication support device.

Images