Drug dispenser

Abstract

To provide a drug dispenser capable of reliably reading identification information attached to an outer surface of a drug such as a resin bottle containing a medicine regardless of the orientation at the time when the drug is grasped.SOLUTION: A drug dispenser 10 includes a robot arm 20, barcode readers 31, 32, and a type determination unit 33. The robot arm 20 grasps and transports a drug D1. The barcode reader 31 is provided on the robot arm 20 and reads a barcode B1 attached to the outer surface of the drug D1 before the drug D1 is grasped. The barcode reader 32 is provided on the outside of the robot arm 20 and reads the barcode B1 attached to the outer surface of the drug D1 from the side opposite to the barcode reader 31 in a state of being grasped by the robot arm 20. The type determination unit 33 determines the type of the drug D1 on the basis of the barcode B1 read by the barcode reader 31 or the barcode reader 32.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a medicine dispensing device that is installed, for example, to improve the efficiency of hospital operations, and that reads information attached to the outer surface of medicines being transported and dispenses the desired medicine. [Background technology]

[0002] In recent years, hospitals and other facilities have been using drug dispensing devices that fill cassettes with drugs (ampoules, vials, plastic bottles, kits, bags, etc.) and dispense the drugs onto a single carrier (tray) according to each patient's prescription. This drug dispensing device loads the desired drugs into a carrier transported from the upstream side, and then transports them downstream, automatically stocking the carrier with the drugs needed for each patient per day.

[0003] For example, Patent Document 1 discloses an alignment and conveying device that removes upright vertically elongated objects from a storage section for the vertically elongated objects and aligns them in a predetermined orientation on a conveyor, the alignment and conveying device comprising a robot arm and a conveyor, the conveyor having a temporary storage area with which the vertically elongated objects come into contact, the temporary storage area being located above the conveying surface of the conveyor and spaced apart from the conveying surface, the robot arm having as an end effector a holder that detachably holds the vertically elongated objects, and when the vertically elongated object is taken out of the storage section while being held by the holder and in a state in which it is in contact with the temporary storage area or spaced apart from the temporary storage area above the temporary storage area, the alignment and conveying device releases the vertically elongated object from its holding state, causing the vertically elongated object to separate from the holder and fall onto the conveyor in a predetermined orientation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-149572 A (Patent No. 6701805 A) Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned conventional configuration has the following problems. In other words, the alignment and conveying device disclosed in Patent Document 1 uses an imaging device provided at the base of the robot arm and an imaging device provided at the position of the robot's face to read barcodes, lot numbers, etc. attached to the outer surfaces of elongated objects, and recognizes the orientation, color, shape, etc. of the elongated objects.

[0006] However, with this configuration, for example, when reading identification information such as a barcode attached to the outer surface of a plastic bottle, it may be difficult to reliably read the information depending on the direction in which the plastic bottle is held. An object of the present invention is to provide a drug dispensing device that can reliably read identification information attached to the outer surface of a drug, for example, a drug contained in a plastic bottle, regardless of the orientation in which the drug is held. [Means for solving the problem]

[0007] A medicine dispensing device according to a first aspect of the present invention is a medicine dispensing device that reads identification information attached to an outer surface of a medicine and dispenses a desired medicine, and includes a transport unit, a first reading unit, a second reading unit, and a type determination unit. The transport unit grips and transports the medicine. The first reading unit is provided in the transport unit and reads the identification information attached to the outer surface of the medicine before gripping the medicine. The second reading unit is provided outside the transport unit and reads the identification information attached to the outer surface of the medicine in a state gripped by the transport unit from the opposite side to the first reading unit. The type determination unit determines the type of the medicine based on the identification information read by the first reading unit or the second reading unit.

[0008] Here, in a drug dispensing device that reads various types of information attached to the outer surface of a drug and dispenses it to a desired location, for example when reading information attached to the outer surface of a drug in a plastic bottle, the device is provided with a first reading unit that is provided in the transport unit and reads the identification information attached to the outer surface of the drug when it is grasped by the transport unit, and a second reading unit that is provided outside the transport unit and reads it from the opposite side to the first reading unit.

[0009] Here, the first reading unit and the second reading unit are, for example, barcode readers capable of reading a barcode (identification information) attached to the outer surface of the medicine. The transport unit is, for example, a robot arm that grasps the outer surface of the medicine and transports it to a desired discharge position. Generally, in a medicine dispensing device, the medicines transported by the transport unit along a predetermined transport path have various cross-sectional shapes of the bottom surfaces of containers, such as oval, rectangle, square, etc., and the orientation when grasped by the transport unit is not constant.

[0010] Therefore, in this medicine dispensing device, a first reading unit provided in the transporting unit reads the identification information of the medicine when it is grasped, and if the identification information cannot be read by the first reading unit, a second reading unit provided in a position separate from the transporting unit reads the identification information of the medicine from the opposite side to the first reading unit. This makes it possible to obtain the identification information attached to the outer surface of the medicine even if the orientation of the medicine set at the identification information reading position varies. As a result, for example, the identification information attached to the outer surface of a medicine contained in a resin bottle or the like can be reliably read regardless of the orientation of the medicine when it is held.

[0011] The medicine dispensing device of the second invention is the medicine dispensing device of the first invention, wherein the type determination unit determines the type of medicine based on identification information read by the second reading unit when the identification information cannot be read by the first reading unit. With this, even if the first reading unit provided in the transport unit cannot read the identification information when gripping the medicine, the identification information can be read by the second reading unit provided in a location separate from the transport unit and on the opposite side to the first reading unit. Therefore, the identification information can be reliably read regardless of the orientation of the medicine set in the gripping position.

[0012] A medicine dispensing device according to a third invention is the medicine dispensing device according to the first or second invention, wherein the transporting unit transports the medicine to the front of the second reading unit when the medicine cannot be read by the first reading unit. As a result, when the transport unit is unable to read the identification information using the first reading unit, the transport unit transports the drug to the front of the second reading unit, allowing the second reading unit to read the identification information from the opposite side to the first reading unit.

[0013] A medicine dispensing device according to a fourth invention is the medicine dispensing device according to the third invention, wherein when the first reading unit is unable to read the medicine, the transport unit transports the medicine via the front of the second reading unit to a predetermined input position where the medicine is input. As a result, when the first reading unit is unable to read the identification information, the transport unit changes the transport path to transport the medicine to a specified input position via the front of the second reading unit, allowing the second reading unit to read the identification information from the opposite side to the first reading unit.

[0014] A medicine dispensing device according to a fifth aspect of the present invention is the medicine dispensing device according to the first or second aspect of the present invention, wherein the transporting unit transports the medicine to a predetermined input position where the medicine is input when the medicine can be read by the first reading unit. As a result, when the identification information is read by the first reading unit provided in the transport unit when the medicine is grasped, the medicine can be transported directly to the specified insertion position without passing through the position of the second reading unit, thereby improving the efficiency of dispensing the medicine.

[0015] A medicine dispensing device according to a sixth aspect of the present invention is a medicine dispensing device according to the fifth aspect of the present invention, wherein the second reading unit is provided outside the transport path that transports the medicine directly to a predetermined input position where the medicine is input when reading is possible at the first reading unit. As a result, by installing the second reading unit at a position off the transport path connecting the position where the medicine is grasped and the specified insertion position, it is possible to control the transport of the medicine via the second reading unit only when reading is not possible at the first reading unit.

[0016] A medicine dispensing device according to a seventh aspect of the present invention is the medicine dispensing device according to the first or second aspect of the present invention, wherein the transporting part has an adsorbing part which adsorbs an outer surface of the medicine when gripping the medicine. This allows the drug to be held and transported by adsorbing a portion of the outer surface of the drug.

[0017] The medicine dispensing device according to an eighth aspect of the present invention is the medicine dispensing device according to the seventh aspect of the present invention, wherein the central axis of the suction portion of the transporting unit is arranged to approximately coincide with the central axis of the first reading unit in a planar view. As a result, by arranging the central axis of the adsorption portion and the central axis of the light read by the first reading unit so as to approximately coincide in a planar view, the first reading unit can reliably read the identification information attached to the outer surface of the adsorbed drug when the drug is grasped by the transport unit.

[0018] In other words, even if the range in which the barcode can be read by the barcode reader (the allowable range in the left-right direction) is narrow, the barcode can be read reliably by roughly aligning the central axis of suction with the central axis of reading. Furthermore, by roughly aligning the central axis of suction with the central axis of reading, for example, the amount of movement of the transport section to the position where the medicine is grasped after the barcode is read can be minimized, thereby improving the efficiency of dispensing the medicine.

[0019] A medicine dispensing device according to a ninth aspect of the present invention is the medicine dispensing device according to the seventh aspect of the present invention, wherein the transporting part grasps the medicine so as to adsorb a side surface of the medicine in the adsorbing part. With this, by transporting the medicine with the side surface of the medicine being adsorbed by the adsorption portion, the medicine can be transported stably along the desired transport path.

[0020] A medicine dispensing device according to a tenth aspect of the present invention is the medicine dispensing device according to the first or second aspect of the present invention, wherein the transport part has a rotation mechanism which rotates the gripped medicine by 360 degrees. This allows the conveying unit to hold the drug in a state where it can rotate 360 ​​degrees while holding the drug, so that the identification information can be reliably read by the first reading unit or the second reading unit even if, for example, the shape, orientation, etc. of the drug set in a specified holding position is not constant.

[0021] A medicine dispensing device according to an eleventh aspect of the present invention is the medicine dispensing device according to the tenth aspect of the present invention, wherein the transport part further has a tilt mechanism which rotates the gripped medicine in a tilt direction. This allows the medicine held by the transporting unit to be tilted forward when viewed from the transporting unit to change the orientation of the medicine.

[0022] A medicine dispensing device according to a twelfth aspect of the present invention is the medicine dispensing device according to the first or second aspect of the present invention, wherein the medicine has a container having a cross section of a substantially elliptical or rectangular shape in plan view. As a result, when a medicine has a container with a cross section of a substantially oval or rectangular shape in a plan view, the orientation of the medicine when set in a predetermined gripping position is limited to front and rear. Therefore, by providing the first reading unit and the second reading unit provided at a position opposite to the first reading unit, the identification information can be reliably read regardless of the orientation of the medicine.

[0023] A medicine dispensing device according to a thirteenth aspect of the present invention is the medicine dispensing device according to the first or second aspect of the present invention, wherein the medicine has a hexahedral container. As a result, even if the container of a medicine is six-sided, the identification information attached to the outer surface can be read by the first reading unit and the second reading unit described above, and even if the identification information cannot be read by the first reading unit and the second reading unit, the identification information can be reliably read by changing the orientation of the medicine by combining the rotation mechanism and tilt mechanism described above.

[0024] A medicine dispensing device according to a fourteenth aspect of the present invention is the medicine dispensing device according to the first or second aspect of the present invention, wherein the medicine is contained in a resin container. This makes it possible to reliably read the identification information attached to the outer surface of the medicine placed in a resin container using the first reading unit and the second reading unit. Effect of the Invention

[0025] According to the medicine dispensing device of the present invention, identification information attached to the outer surface of a medicine contained in a plastic bottle, etc., can be reliably read regardless of the orientation of the medicine when it is held. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a side view showing an overall configuration of a medicine dispensing device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front view showing a medicine transport path in the medicine dispensing device of FIG. [Diagram 3] FIG. 2 is a plan view of the medicine dispensing device of FIG. 1. [Figure 4] 2(a) is a front view showing the configuration of the medicine transported and dispensed by the medicine dispensing device of FIG 1, and (b) is a cross-sectional view taken along line AA of (a). [Diagram 5] FIG. 2 is a front view showing a configuration of a transport mechanism that transports medicines in the medicine dispensing device of FIG. [Figure 6] FIG. 6 is a side view of the medicine dispensing device of FIG. 5 . [Figure 7] FIG. 2 is a control block diagram of the medicine dispensing device of FIG. 1. [Figure 8] FIG. 2 is an enlarged perspective view showing a configuration around a robot arm included in the medicine dispensing apparatus of FIG. 1. [Figure 9] FIG. 2 is an enlarged perspective view showing a configuration around a robot arm included in the medicine dispensing apparatus of FIG. 1. [Figure 10] FIG. 9 is a front view of the robot arm shown in FIG. 8 etc. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] A medicine dispensing device according to one embodiment of the present invention will be described below with reference to Figs. 1 to 10. In the present embodiment, more detailed explanations than necessary may be omitted. For example, detailed explanations of already well-known matters or duplicate explanations of substantially the same configurations may be omitted. This is to avoid the following explanation from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Furthermore, the applicant provides the accompanying drawings and the following description so that those skilled in the art can fully understand the present invention, and they are not intended to limit the subject matter described in the claims.

[0028] (1) Medicine dispensing device 10 As shown in Fig. 1, the medicine dispensing apparatus 10 according to this embodiment reads a barcode (identification information) B1 attached to an outer surface of a medicine D1 set in a medicine shelf 12 arranged in a plurality of stages in a vertical direction in a main body frame 11, and grasps and transports the medicine D1 to a desired insertion position (tray T1). As shown in Figs. 1 and 2, the medicine dispensing apparatus 10 includes the main body frame 11, the medicine shelf 12, a tray transport unit 13, servo motors 14, 15 (see Figs. 5 and 6), a control unit 30 (see Fig. 7), a barcode reader (first reading unit) 31, a barcode reader (second reading unit) 32, a type determination unit 33 (see Fig. 7), and a storage unit 34 (see Fig. 7).

[0029] The main body frame 11 is a member that constitutes the framework of the medicine dispensing device 10, and has therein medicine shelves 12, tray transport unit 13, servo motors (transport units) 14 and 15, a robot arm 20, etc. The main body frame 11 has transport frames (transport units) 11a and 11b that move the robot arm 20 up, down, left and right. 1, the transport frame (transport unit) 11a is disposed along the up-down direction (approximately vertical direction) and guides the up-down movement of the robot arm 20. In addition, the transport frame 11a moves in the left-right direction by a servo motor 14 (see FIGS. 5 and 6) described later.

[0030] As shown in FIG. 3, the transport frame (transport section) 11b is disposed along the left-right direction (substantially horizontal direction) and guides the movement of the robot arm 20 in the left-right direction. The robot arm 20 is moved up and down by a servo motor 15 (see FIGS. 5 and 6) which will be described later. 1 and other figures, the medicine shelf 12 is provided with six levels in the vertical direction, and 8 rows x 10 medicines D1 are set on each shelf. The medicines D1 set on the medicine shelf 12 are then picked up one by one from the side facing the robot arm 20, taken out of the medicine shelf 12, and transported along a predetermined transport path to a tray T1, which is an input position.

[0031] The medicine D1 to be set on the medicine shelf 12 is a resin bottle containing the medicine, and has a generally elliptical shape in cross section as shown in Figures 4(a) and 4(b), and has a barcode (identification information) B1, including identification information such as the type of medicine and expiration date, attached to its side. Therefore, when the medicine D1 is set on the medicine shelf 12, the side with the barcode B1 attached is either in front or behind the robot arm 20 as shown in Figure 3.

[0032] As shown in Figures 1 and 2, the tray transport unit 13 is installed at the lowest level of the main body frame 11 of the drug dispensing apparatus 10, and transports trays T1 one by one from an adjacent tray supply unit (not shown) to a predetermined input position P2 in the drug dispensing apparatus 10. The tray (insertion position) T1, which is transported to the insertion position P2 by the tray transport section 13, has a generally box-like shape with an open top, and is divided into three insertion positions by, for example, partitions.

[0033] As shown in Figures 5 and 6, the servo motor (conveying unit) 14 is attached to the conveying frame 11b arranged in a substantially horizontal direction, and moves the conveying frame 11a left and right (substantially horizontal direction) by rotating and driving a belt (not shown) provided inside the conveying frame 11b. As shown in Figures 5 and 6, the servo motor (conveying unit) 15 is attached to a conveying frame 11a arranged along a substantially vertical direction, and moves the robot arm 20 up and down (substantially vertically) by rotating a belt (not shown) provided inside the conveying frame 11a.

[0034] That is, the robot arm 20 is attached to transport frames 11a and 11b, and moves up and down and left and right by the transport frame 11a, a belt (not shown) and a servo motor 15, the transport frame 11b, a belt (not shown) and a servo motor 14, etc., as shown in Figures 5 and 6, to enable the transport of the drug D1 in the up and down and left and right directions.

[0035] For example, the robot arm 20 rotates a belt provided along the transport frame 11a arranged along the up-down direction (approximately vertical direction) by the servo motor 15. This enables the robot arm 20 to move in the approximately vertical direction, and can perform, for example, an operation of absorbing the drug D1 and an operation of placing the drug D1 on each tray T1. In addition, the robot arm 20 rotates a belt provided along the transport frame 11b arranged in the left-right direction (substantially horizontal direction) by the servo motor 14. This enables the robot arm 20 to move in the substantially horizontal direction, and can perform an operation such as transporting the drug D1 in the width direction of the main body frame 11.

[0036] The control unit 30 controls the operation of each component of the medicine dispensing apparatus 10. Specifically, as shown in Fig. 7, the control unit 30 is connected to the tray transport unit 13, the servo motors 14 and 15, the robot arm 20, the barcode readers 31 and 32, the type determination unit 33 and the memory unit 34, and controls each unit. 1 and 2, in order to read the barcode B1 attached to the outer surface of the drug D1, the barcode reader (first reading unit) 31 is attached to the robot arm 20 at a position facing the drug D1. The barcode reader 31 transmits the read identification information to the control unit 30, and also transmits a signal indicating that the barcode B1 cannot be read even if the barcode cannot be read.

[0037] Moreover, the barcode reader 31 is provided on the robot arm 20 and moves vertically and horizontally together with the robot arm 20 . The barcode reader (second reading unit) 32 is attached at a position separate from the robot arm 20 and on the opposite side of the barcode reader 31 with respect to the drug D1, as shown in Figures 1 and 2, in order to read the barcode B1 attached to the outer surface of the drug D1 that could not be read by the barcode reader 31.

[0038] More specifically, when the barcode reader 31 is unable to read the barcode B1 of the drug D1, the control unit 30 controls the barcode reader 32 and the robot arm 20 (servomotors 14, 15) so that the barcode reader 32 reads the barcode B1 of the drug D1 from the opposite side to the barcode reader 31. 2, the barcode reader 32 is disposed at a second reading position P3 provided outside the transport path connecting a position (first reading position P1) where the drug D1 set on the drug shelf 12 by the robot arm 20 is grasped and the barcode B1 is read by the barcode reader 31, and an input position P2 where the drug D1 is input from the robot arm 20 to the tray T1. The barcode reader 32 is provided at the second reading position P3 so as to read the barcode B1 from the opposite side of the drug D1 to the barcode reader 31.

[0039] In FIG. 2, the transport path when gripping and transporting the medicines D1 at both ends set on the medicine shelf 12 is shown by a straight line or a two-dot dashed line, but the same applies when gripping and transporting the medicines D1 placed inside the both ends. As a result, when the barcode B1 can be read by the barcode reader 31 at the first reading position P1, the control unit 30 controls the robot arm 20 (servo motors 14, 15) to transport the drug D1 directly from the holding position where the drug D1 is held to the input position P2.

[0040] On the other hand, if the barcode B1 cannot be read by the barcode reader 31 at the first reading position P1, the control unit 30 controls the robot arm 20 (servo motors 14, 15) to transport the drug D1 from the holding position where the drug D1 is held to the input position P2 via the second reading position P3 where the barcode reader 32 is located. In this way, the control unit 30 controls the movement of the robot arm 20 (servo motors 14, 15) so that the transport path from the gripping position near the medicine shelf 12 to the input position P2 differs depending on whether the barcode reader 31 is able to read the barcode or not.

[0041] At this time, the robot arm 20 transports the drug D1 that it is holding to the front of the barcode reader 32, thereby enabling the barcode reader 32 to read the barcode B1. The type determination unit 33 determines the type of the drug D1 based on the barcode B1 read by the barcode reader 31 or the barcode reader 32, and transmits the determination result to the control unit 30.

[0042] The control unit 30 receives a signal from a management device (not shown) at a higher level in the system that determines to which position on the tray T1 the drug D1 being held should be placed, based on the determination result by the type determination unit 33, and controls the robot arm 20 (servomotors 14, 15) so that the drug D1 is placed at that position. The placement for placing the drug D1 is assigned in advance to the management device.

[0043] Furthermore, if the barcode reader 31 is unable to read the barcode, the type determination unit 33 determines the type of the drug D1 based on the barcode B1 read by the barcode reader 32. The storage unit 34 stores identification information of the drug D1 contained in the barcode B1 read by the barcode readers 31 and 32, various settings, control programs for the tray transport unit 13, the servo motors 14 and 15, the robot arm 20, and the like.

[0044] 2, the gripping position is set as a position where the robot arm 20 moves from a position (first reading position P1) where the barcode B1 of the drug D1 is read, and grips the drug D1 set on the drug shelf 12. Then, at the first reading position P1, just before the gripping position where the drug D1 is gripped by the robot arm 20, the barcode B1 attached to the outer surface of the drug D1 is read by a barcode reader 31 provided on the robot arm 20.

[0045] 2, the input position P2 is set as a position where the drug D1 conveyed by the robot arm 20 is input into the tray T1. At the input position P2, the above-mentioned management device (not shown) controls whether to input the drug D1 into a predetermined position on the tray T1 based on a match of the identification information of the barcode B1 read by the barcode reader 31 or the barcode reader 32. The position where the drug D1 is input is assigned to the management device in advance.

[0046] As shown in FIG. 2, the second reading position P3 is set outside the transport path (straight line) of the drug D1 transported by the robot arm 20 from the gripping position to the input position P2, and a barcode reader 32 is installed at the second reading position P3. If the barcode reader 31 is unable to read the barcode B1 at the first reading position P1, the control unit 30 controls the servo motors 14, 15 so that the robot arm 20, while holding the drug D1, passes through the second reading position P3 and then transports it to the input position P2.

[0047] In other words, if the barcode reader 31 on the upstream side of the transport path is unable to read the barcode B1, the control unit 30 controls the barcode reader 32, which can read the barcode B1 of the drug D1, to read the barcode B1 from the opposite side of the barcode reader 31. This makes it possible to obtain the barcode B1 attached to the outer surface of the drug D1 even if the orientation of the drug D1 set on the drug shelf 12 varies. As a result, for example, a barcode B1 attached to the outer surface of a medicine D1 in a resin bottle or the like can be reliably read regardless of the orientation of the medicine D1 when it is held.

[0048] (2) Robot Arm 20 As described above, the robot arm (transport unit) 20 is a transport mechanism that grasps the drug D1 set on the drug shelf 12 at a gripping position and transports it to a predetermined input position P2, and has an adsorption unit 21, a rotation mechanism 22, and a tilt mechanism 23, as shown in Figures 8 and 9.

[0049] The suction portion 21 is a portion that sucks and grips the side surface of the medicine D1 set on the medicine shelf 12, and has a suction pad 21a as shown in FIG. As shown in FIG. 8, the suction pad 21a is an elastic body having a bowl shape, and adheres to the side surface of the drug D1 to hold the drug D1. The rotation mechanism 22 is a mechanism for rotating the drug D1 gripped by the adsorption part 21 by 360 degrees, and as shown in FIGS. 8 and 9, has a rotation shaft 22a and a motor 22b.

[0050] The rotating shaft 22a is a central shaft for rotating the suction part 21, and is connected to the rear side of the suction part 21. The motor 22b rotates the rotating shaft 22a, which rotates the suction pad 21a fixed to the tip of the rotating shaft 22a, thereby rotating the drug D1 held by the suction pad 21a 360 degrees (see the arrow in the dashed-dotted circle in the figure).

[0051] This allows the posture of the drug D1 adsorbed by the suction pad 21a to be changed, so that, for example, the posture of the drug D1 when it is put into the tray T1 can be controlled. The tilt mechanism 23 is a mechanism that tilts the drug D1 held by the suction portion 21 back and forth together with the block supporting the rotating shaft 22a (see the arrow of the two-dot dashed circular arc in the figure), and has an orthogonal gear 23a, a coupling 23b, and a motor 23c, as shown in Figures 8 and 9.

[0052] The orthogonal gear 23a is connected to a block that supports the rotating shaft 22a, converts the driving direction transmitted from the coupling 23b into an orthogonal direction, and transmits it to the block that supports the rotating shaft 22a. The coupling 23b is provided between the motor 23c and the orthogonal gear 23a, and transmits the rotational driving force of the motor 23c to the orthogonal gear 23a.

[0053] The motor 23c is a drive source that drives the drug D1 gripped by the adsorption portion 21 in the tilt direction. As a result, similarly to the rotating mechanism 22, the attitude of the drug D1 adsorbed by the suction pad 21a can be changed, so that, for example, the attitude of the drug D1 when it is put into the tray T1 can be controlled.

[0054] Furthermore, since the drug dispensing device 10 is equipped with the rotation mechanism 22 and the tilt mechanism 23, even if, for example, the drug D1 is a hexahedron and it is unknown which side of the drug D1 set on the drug shelf 12 the barcode B1 is attached to, the barcode B1 can be read by either of the barcode readers 31, 32 by changing the posture and direction of the drug D1 grasped by the robot arm 20.

[0055] Here, in the configuration of this embodiment, as shown in FIG. 10, the central axis O1 of the reading of the barcode reader 31 and the central axis O2 of the suction pad 21a of the suction portion 21 are arranged along a substantially vertical direction, i.e., the central axis O1 and the central axis O2 are arranged so as to substantially coincide in a planar view. This allows the reading center of the barcode reader 31 to be aligned with the center position of the side surface of the drug D1 adsorbed by the suction pad 21a, so that the barcode B1 attached to the side surface of the drug D1 can be read reliably.

[0056] In other words, even if the range in which the barcode B1 can be read by the barcode reader 31 (the allowable range in the left-right direction) is narrow, the barcode can be read reliably by roughly aligning the central axis of the suction portion 21 with the central axis of reading. Furthermore, by roughly aligning the central axis of the suction portion 21 with the central axis of reading by the barcode reader 31, for example, the amount of movement of the robot arm 20 to the position where the drug D1 is grasped after reading the barcode B1 can be minimized, thereby improving the efficiency of dispensing the drug D1.

[0057] <Main features> The medicine dispensing device 10 of this embodiment is a device that reads identification information attached to the outer surface of a medicine and dispenses a desired medicine, and includes a transport unit, a first reading unit, a second reading unit, and a type determination unit. The transport unit grips and transports the medicine. The first reading unit is provided in the transport unit and reads the identification information attached to the outer surface of the medicine before gripping the medicine. The second reading unit is provided outside the transport unit and reads the identification information attached to the outer surface of the medicine while it is gripped by the transport unit from the opposite side to the first reading unit. The type determination unit determines the type of the medicine based on the identification information read by the first reading unit or the second reading unit.

[0058] As a result, even if the orientation of the medicine D1 set at the reading position of the barcode B1 on the medicine shelf 12 varies, the barcode B1 attached to the outer surface of the medicine D1 can be obtained. As a result, for example, a barcode B1 attached to the outer surface of a medicine D1 in a resin bottle or the like can be reliably read regardless of the orientation of the medicine D1 when it is held.

[0059] More specifically, in the medicine dispensing apparatus 10 of the present embodiment, the operation of gripping the medicine D1 is always constant (same) regardless of the orientation of the medicine D1. When the barcode reader 31 provided on the robot arm 20 reads the barcode, the control unit 30 transports the medicine D1 from the gripping position of the medicine D1 on the medicine shelf 12 to a feed position P2 of the medicine D1 into the tray T1. On the other hand, when the barcode reader 31 provided on the robot arm 20 cannot read the barcode but the barcode reader 32 reads the barcode, the control unit 30 repeats the operation of transporting the medicine D1 from the gripping position of the medicine D1 on the medicine shelf 12 to a second barcode reading position P3 by the barcode reader 32 provided at a position different from the robot arm 20 and on the opposite side to the barcode reader 31, and to a feed position P2 of the medicine D1 into the tray T1.

[0060] As a result, even if the barcode B1 is on the back side of the drug D1 when viewed from the robot arm 20 (barcode reader 31) side and the barcode B1 cannot be read by the robot arm 20, the barcode B1 can be read by facing the surface of the barcode B1 of the drug D1 held by the robot arm 20 toward a barcode reader 32 that is separately provided outside the robot arm 20.

[0061] [Other embodiments] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention. (A) In the above embodiment, an example has been described in which the robot arm 20 is used as a transport unit that transports the drug D1. However, the present invention is not limited to this. For example, the transport unit for transporting the medicine may be configured to use transport means other than a robot arm.

[0062] (B) In the above embodiment, an example has been described in which the barcode reader 32 as the second reading unit is provided outside the transport path connecting the position where the drug D1 is gripped and the position P2 where the drug D1 is put into the tray T1. However, the present invention is not limited to this. For example, the second reading unit may be configured to be received on a transport path connecting a gripping position for gripping the drug D1 and an input position P2 for inputting the drug D1 into the tray T1.

[0063] (C) In the above embodiment, an example has been described in which the barcode reader 32 as the second reading unit is provided below the gripping position of the drug in the transport path of the drug D1 transported by the robot arm 20. However, the present invention is not limited to this. For example, the second reading unit may be provided at a height substantially equal to or above the position where the medicine is gripped by the transport unit.

[0064] (D) In the above embodiment, an example has been described in which the barcode readers 31 and 32 that read the barcode attached to the outer surface of the drug D1 are used as the first reading unit and the second reading unit. However, the present invention is not limited to this. For example, other reading means such as an imaging device capable of reading letters, numbers, and the like marked on the outer surface of a medicine may be used as the first reading section and the second reading section.

[0065] (E) In the above embodiment, an example has been described in which the robot arm 20 as the transport unit transports the drug D1 by suctioning the side surface of the drug D1, but the present invention is not limited to this. For example, the medicine may be transported by other transport means such as a robot arm that grasps and holds the medicine.

[0066] (F) In the above embodiment, an example has been described in which the drug D1, whose barcode has been read by the barcode reader 31 or the barcode reader 32, is discharged onto the tray T1 set at a predetermined input position. However, the present invention is not limited to this. For example, the medicine whose identification information has been read and which is to be discharged is not limited to being discharged onto a tray, but may be discharged from a predetermined input position.

[0067] (G) In the above embodiment, an example was described in which a barcode was used as the identification information attached to the outer surface of the drug D1, but the present invention is not limited to this. For example, other identification information such as a QR code (registered trademark), character information, or numeric information may be used.

[0068] (H) In the above embodiment, an example has been described in which the same kind of medicine D1 is set in the medicine rack 12 on six levels, with 8 rows x 10 medicines set on each level. However, the present invention is not limited to this.

[0069] For example, the medicine shelf may have one shelf, five shelves or less, or seven shelves or more. Furthermore, the number of medicines set on each medicine shelf is not limited to 60, and may be a smaller number or a larger number. Furthermore, the medicines set in the medicine shelf are not limited to the same type of medicines, and may be different types of medicines. In this case, the barcode attached to the outer surface of the medicine is read by a barcode reader to determine the type of medicine, and the medicine can be transported to the desired insertion position.

[0070] (I) In the above embodiment, an example has been described in which the first reading position P1 at which the barcode reader 31 provided on the robot arm 20 reads the barcode B1 attached to the outer surface of the drug D1 is different from the gripping position at which the robot arm 20 grips the drug D1 set on the drug shelf 12. However, the present invention is not limited to this.

[0071] For example, the configuration may be such that a first reading position where a barcode reader provided on a transport unit such as a robot arm reads a barcode attached to the outer surface of a medicine, and a gripping position where the transport unit such as a robot arm grips a medicine set on a medicine shelf are set at approximately the same position. [Industrial Applicability]

[0072] The drug dispensing device of the present invention has the effect of being able to reliably read identification information affixed to the outer surface of a drug, for example, a drug contained in a plastic bottle, regardless of the orientation in which the drug is held, and therefore can be widely applied to devices that handle various types of drug. [Explanation of symbols]

[0073] 10. Medicine dispensing device 11 Main frame 11a Transport frame (transport section) 11b Transport frame (transport section) 12 Medicine cupboard 13 Tray transport section 14 Servo motor (transport section) 15 Servo motor (transport section) 20 Robot arm (transport unit) 21 Adsorption part 21a Suction pad 22 Rotation mechanism 22a Rotation axis 22b Motor 23 Tilt mechanism 23a Orthogonal gear 23b Coupling 23c motor 30 Control section 31 Barcode reader (first reading unit) 32 Barcode reader (second reading unit) 33 Type determination section 34 Storage section B1 Barcode (Identification information) D1 Drugs O1 center axis O2 center axis P1 First reading position P2 input position P3 Second reading position T1 Tray (Input position)

Claims

1. A medicine dispensing device that reads identification information attached to an outer surface of a medicine and dispenses a desired medicine, A conveying unit that grasps and conveys the medicine; a first reading unit provided in the transport unit and configured to read identification information attached to an outer surface of the medicine before gripping the medicine; a second reading unit provided outside the transport unit and configured to read identification information attached to an outer surface of the medicine held by the transport unit from a side opposite to the first reading unit; a type determination unit that determines a type of the medicine based on the identification information read by the first reading unit or the second reading unit; A medicine dispensing device comprising:

2. the type determination unit determines the type of the medicine based on the identification information read by the second reading unit when the identification information cannot be read by the first reading unit. The medicine dispensing device according to claim 1.

3. the transport unit transports the medicine to a front of the second reading unit when the medicine cannot be read by the first reading unit. The medicine dispensing device according to claim 1 or 2.

4. the transport unit transports the medicine to a predetermined input position where the medicine is input, via a front side of the second reading unit, when the medicine cannot be read by the first reading unit. The medicine dispensing device according to claim 3.

5. When the first reading unit is able to read the medicine, the transport unit transports the medicine directly to a predetermined input position where the medicine is input. The medicine dispensing device according to claim 1 or 2.

6. The second reading unit is provided outside a transport path of the medicine, which is directly transported from a position where the transport unit grasps the medicine to the input position. The medicine dispensing device according to claim 5.

7. The transport unit has an adsorption unit that adsorbs an outer surface of the drug when gripping the drug. The medicine dispensing device according to claim 1 or 2.

8. a central axis of the suction portion of the transport unit is disposed so as to substantially coincide with a central axis of the first reading unit in a plan view; The medicine dispensing device according to claim 7.

9. The transport unit grasps the medicine so as to adsorb a side surface of the medicine in the adsorption unit. The medicine dispensing device according to claim 7.

10. The transport unit has a rotation mechanism that rotates the gripped drug 360 degrees. The medicine dispensing device according to claim 1 or 2.

11. The transport unit further has a tilt mechanism that rotates the gripped drug in a tilt direction. The medicine dispensing device according to claim 10.

12. The medicine has a container having a cross section of a substantially elliptical or rectangular shape in a plan view. The medicine dispensing device according to claim 1 or 2.

13. The drug has a hexahedral container. The medicine dispensing device according to claim 1 or 2.

14. The drug is contained in a resin container. The medicine dispensing device according to claim 1 or 2.

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