Transport device and medication support device

Abstract

This ensures the proper transport of drug packs along the transport unit's movement path. [Solution] A transport device comprising a holding unit 51 for taking out and holding the medicine pack 2 from a storage unit, and a transport unit 50 for transporting the medicine pack 2 while it is held in the holding unit, wherein the transport unit has a changing unit that changes the position or orientation of the medicine pack held in the holding unit along its movement path (horizontal passage, vertical passage).

Description

Technical Field

[0001] The present invention relates to a conveying device and a medication support device.

Background Art

[0002] Conventionally, a conveying device including a holding unit that takes out and holds a medicine pack from a storage unit that stores the medicine pack, and a conveying unit that conveys the medicine pack held by the holding unit is known. For example, Patent Document 1 discloses a device that sucks and holds a medicine sheet (medicine pack) in a medicine sheet storage unit (storage unit) with a suction unit (holding unit) and takes it out.

Summary of the Invention

Problems to be Solved by the Invention

[0003] However, in a conventional conveying device, it may be difficult to realize appropriate conveyance of a medicine pack in a part of the movement path of the conveying unit.

Means for Solving the Problems

[0004] In order to solve the above problems, the present invention is a conveying device including a holding unit that takes out and holds a medicine pack from a storage unit that stores the medicine pack, and a conveying unit that conveys the medicine pack held by the holding unit, characterized in that it has a changing unit that changes the position or posture of the medicine pack held by the holding unit in the middle of the movement path of the conveying unit.

Effects of the Invention

[0005] According to the present invention, appropriate conveyance of a medicine pack can be realized over the movement path of the conveying unit.

Brief Description of the Drawings

[0006] [Figure 1] (a) is a front view of the entire medication support device to which the present invention is applied, and (b) is a side view of (a). [Figure 2](a) is a plan view showing the general form of a single drug-packaged medicine, (b) is a side view of the drug-packaged medicine from (a) as seen from the direction of arrow A, (c) is a side view of the combined drug-packaged medicine from the direction of arrow B, and (d) is a diagram showing the general form of a continuous pack. [Figure 3] This is an external perspective view showing an example of a medication tray when using individual compartment boxes. [Figure 4] This is an external perspective view showing an example of a medication dispensing tray without the use of individual compartment boxes. [Figure 5] (a) is a longitudinal cross-sectional view of the cartridge, and (b) is a bottom view of the cartridge. [Figure 6] (a) is a front view showing the configuration of the carriage, and (b) is a top view of (a). [Figure 7] This is a magnified view of the guide groove of the guide member provided on the carriage. [Figure 8] (a) to (d) are diagrams showing the transition of the posture change operation of the suction part. [Figure 9] This is a front view showing the progression of the carriage's pick-out operation. [Figure 10] This is a front view of the pick-out operation sequence, following Figure 9. [Figure 11] This is a flowchart of the carriage pick-out operation flow. [Figure 12] This is a front view showing the carriage's positioning motion. [Figure 13] Figure 1 is a control block diagram showing the main control configuration of the medication support device. [Figure 14] This flowchart shows the basic operating sequence of the medication support device. [Figure 15] Figure 14 is a flowchart of the HP transfer process, which is a subroutine program. [Figure 16] (a) to (f) are explanatory diagrams illustrating the operation of the carriage that transports the medicine pack from the cartridge location to the medication tray location. [Figure 17] This is a control block diagram relating to the medication support system of the embodiment. [Figure 18] (a) and (b) are explanatory diagrams showing the transition of the posture change operation by the posture change means of the suction part in modified example 1. [Figure 19] (a) to (c) are explanatory diagrams showing an example of operation in Modification Example 1. [Figure 20] In modified example 2, the timing chart shows the carriage drive, the position and orientation change of the suction unit, and the suction operation of the suction unit. [Figure 21] In modified example 3, the timing chart shows the carriage drive, the position and orientation change of the suction unit, and the suction operation of the suction unit. [Figure 22] (a) and (b) are explanatory diagrams showing the transition of the posture change operation by the posture change means of the suction part in modified example 3. [Figure 23] (a) is an explanatory diagram showing how a large-sized medicine pack can be held by adsorption using a medicine pack retraction process (horizontal) that is suitable for a standard-sized medicine pack. (b) is an explanatory diagram showing how a large-sized medicine pack can be held by adsorption using a medicine pack retraction process (horizontal) that is suitable for a large-sized medicine pack. [Figure 24] (a) is an explanatory diagram showing how a medicine pack with a special shape can be held by adsorption using a medicine pack retraction process (horizontal) that is suitable for a medicine pack with a normal shape. (b) is an explanatory diagram showing how a medicine pack with a special shape can be held by adsorption using a medicine pack retraction process (horizontal) that is suitable for a medicine pack with a special shape. [Modes for carrying out the invention]

[0007] Embodiments of the present invention will be described below with reference to the figures. Figure 1(a) is a schematic front view showing the main configuration of the entire medication support device in this embodiment, and Figure 1(b) is a schematic side view showing the side configuration of Figure 1(a).

[0008] As shown in FIG. 1, the medication support device 200 of the present embodiment includes a cartridge 10 as a storage unit, a dispensing tray 30 as a medicine placement unit, a carriage 50 as a conveyance unit, a transfer unit 90, and first to fourth entrance / exit portions 41 to 44. In FIG. 1, the left-right direction or the lateral direction (also the width direction) of the medication support device 200 is defined as the X direction, the front-back direction or the depth direction is defined as the Y direction, and the up-down direction or the vertical direction (also the vertical direction) is defined as the Z direction.

[0009] The cartridge 10 has a function as a first storage means for storing medicine packs in which medicines are encapsulated in stacks (hereinafter, also simply referred to as "packs" or "medicine packs"). A plurality of cartridges 10 are respectively arranged in the upper and lower parts within the main body frame 199 as the main body of the medication support device 200. Here, "storing in stacks" means storing the packs in a substantially horizontal state or in a flat stacked state.

[0010] The cartridges 10 are arranged in plurality on the drawing-out portions 21 provided one by one at the lowermost part and the central part within the main body frame 199 as the main body of the medication support device 200. Explaining with the example of FIG. 1, 4×5 = 20 cartridges 10 are placed and held on one drawing-out portion 21 (see FIG. 7). The drawing-out portion 21 has a function as a second storage means for placing and holding at least one cartridge 10. Each of the plurality of cartridges 10 is placed and stored within the lattice-shaped side walls and bottom wall partitioned in the drawing-out portion 21. In the bottom wall of the drawing-out portion 21 corresponding to each cartridge 10, a rectangular through-opening 21a (see FIG. 7) for taking out the pack from below the cartridge 10 by utilizing the elastic deformation of the pack is formed as described in the operation to be described later.

[0011] The dispensing tray 30 functions as a medication placement unit or dispensing stand for placing specific packs that have been transported by the transport unit 90. In the example shown in Figure 1, two dispensing trays 30, each having a 4x5 grid, are arranged on top of the cartridges 10, which are located at the top of the main frame 199. Hereinafter, the location where the dispensing tray 30 is installed (meaning the location where packs are handed over to the dispensing tray 30 for automatic dispensing) will be referred to as the dispensing unit 29.

[0012] The carriage 50 has an extraction unit for removing a specific pack from the cartridge 10 and functions as a transport unit for transporting the medicine pack held in the extraction unit. The transfer unit 90 functions as a transport means for transporting the pack removed from the cartridge 10 by the carriage 50.

[0013] The first entrance / exit section 41 and the second entrance / exit section 42 function as entrance / exit means for storage, allowing the cartridge 10 to enter and exit the main frame 199. When inserting and setting the cartridge 10 into the main frame 199, this is done through the first entrance / exit section 41 and the second entrance / exit section 42, respectively. The opening and closing doors of the first entrance / exit section 41 and the second entrance / exit section 42 are opened, the drawer section 21 in which the cartridge 10 is set is pulled out towards the front, and the cartridge 10 is inserted and removed.

[0014] The third entrance / exit section 43 and the fourth entrance / exit section 44 function as entrance / exit means for dispensing means, allowing each of the two dispensing trays 30, which are arranged side by side on the uppermost level of the medication support device 200, to enter and exit the main frame 199. The third entrance / exit section 43 and the fourth entrance / exit section 44 are provided so that the packs can be removed immediately after they are placed (hereinafter also referred to as "set" or "inserted") in the dispensing trays 30.

[0015] As shown in Figure 1(a), the medication support device 200 has two medication trays 30, with separate trays for each medication timing, such as morning, noon, evening, and before bed. A third entrance / exit section 43 and a fourth entrance / exit section 44 for each medication tray are also provided, making it possible to retrieve another medication tray even when dispensing medication into one tray.

[0016] In Figure 1, the drawer section 21 of the cartridge 10 is located in two places, one above the other, below the top medication tray 30. However, it is not limited to this arrangement; it may be located either above or below. Furthermore, depending on the number of people in the care facility, the same effect may be achieved by arranging the cartridges 10 in a three-tier configuration.

[0017] Please refer to Figure 2 for an overview of the medicine pack. Figure 2(a) is a plan view showing the general form of a single drug-packaged medicine pack, Figure 2(b) is a side view of the drug-packaged medicine pack from Figure 2(a) as seen from the direction of arrow A, Figure 2(c) is a side view of a combined drug-packaged medicine pack as seen from the direction of arrow B, and Figure 2(d) shows the general form of a continuous pack. Note that in Figures 2(b) and 2(c), the actual drugs are omitted and the illustrations are somewhat schematic.

[0018] The forms of drug packaging include a single drug-packaged pack 2 and a drug-packaged pack assembly 2A (hereinafter also simply referred to as "pack assembly 2A") in which multiple drug-packaged packs 2 (two in Figure 2(c)) are stacked in a layered direction and joined together, for example, with staples 40. Except for Figure 2, the illustrations mainly represent pack 2, but of course, pack assembly 2A is also included. As shown in Figure 2(a), a single drug-packaged pack 2 is made of, for example, a resin film, and contains drugs 3 such as capsules or tablets divided into small bags. The drug-packaged pack 2 has a bag portion 2a that covers the drugs 3 and a crimped portion 4, which is crimped or welded on three sides, as indicated by hatching. The side on the bag portion 2a side is usually folded in half, with the drugs 3 sandwiched between them, and the crimped portion 4 forms a leak-proof portion that prevents the drugs 3 from leaking out of the bag portion 2a. Each medication pack 2 contains medication 3, which typically represents a single dose for the patient.

[0019] The drug-packaged individual dose pack 2 is created (packaged) by a drug packaging machine installed in a pharmacy or similar facility. The packaging paper (packaging sheet) used for packaging is a long, roll-shaped sheet that is folded and overlapped, with the medication 3 to be taken sandwiched between the sheets. The three sides of the medication 3, excluding the folds, are sequentially sealed and divided into multiple doses by a pressure-sealed section 4, creating a continuous sheet for the required number of doses. This continuous sheet-like drug-packaged individual dose pack is called a "pack continuum." The pack continuum 1 shown in Figure 2(d) is a state in which multiple drug-packaged individual dose packs 2 (three doses in the example shown in the figure) are connected in a strip. The pack continuum 1 is a common form that is usually provided and sold to users (including those who actually take the medication in the drug-packaged individual dose pack, as well as caregivers and supporters who assist and support them in taking the medication, and staff of various care facilities and medical facilities (a concept that includes pharmacists, nurses, caregivers, or medication supporters)) in pharmacies and similar facilities. For the sake of simplicity, the following explanation illustrates packs containing medications of the same form (capsules, tablets, etc.). However, it goes without saying that different medications may be used in a single pack depending on the user's intended use and purpose.

[0020] In the example shown in Figure 2, the drug unit-dose pack 2 has a rectangular shape in plan view. This packaging method, in which three sides are sealed by crimping, is generally called three-sided packaging, and most drug packaging machines on the market produce packs using this method.

[0021] The crimped portion 4 has a strip-like width of approximately 10 to 15 mm and is more rigid than the transparent or translucent film-like bag portion 2a, which allows the drug 3 to be seen. A boundary portion 2b with perforations 5 is formed in the center of the crimped portion 4 of the multiple drug packaging packs 2 that make up the continuous pack 1, which are adjacent to each other from upstream to downstream. Users with no impairment of their hands can obtain one drug packaging pack 2 by tearing it by hand along the perforations 5, or by cutting it near the perforations 5 with scissors or a special cutter.

[0022] As shown in Figure 2(c), a pack assembly 2A may also be used. A pack assembly 2A is formed by fastening the central part of the three crimped sections 4 of multiple (two shown in Figure 2(c)) drug-packaged packs 2 with staples 40 or the like.

[0023] The medication tray will be explained with reference to Figures 3 and 4. Figure 3 is an external perspective view showing an example of a medication tray using individual compartment boxes, and Figure 4 is an external perspective view showing an example of a medication tray in which specific packs are dispensed into compartments without using individual compartment boxes. As shown in Figures 3 and 4, the medication tray 30 has partition walls 31, which are partition members that serve as dividers for arranging specific packs, and each tray is divided by four upright partition walls 31. The 20 compartments 33 formed in the medication tray 30 can be represented as components of a matrix consisting of 5 columns in the X direction (row-feeding direction) and 4 rows in the Y direction (character-feeding direction). Thus, each of the 20 compartments 33 in the medication tray 30 can be uniquely positioned by the component / address of a 5-column, 4-row matrix. Furthermore, the medication tray 30 has a bottom wall 32 on which the placed packs 2 are placed. In this way, the medication tray 30 is configured, with multiple (4) partition walls 31 and a common bottom wall 32, to ensure that a specific pack placed in a specific compartment 33 is securely positioned in that compartment 33, so that it does not mix with packs in other compartments 33 or fall off the bottom wall 32.

[0024] Figure 3 shows a medication tray 30 in which removable small boxes 34 are used in each compartment 33. It illustrates an example of a state where medication distribution is completed by repeatedly removing packs from the cartridge and dispensing them into the small boxes 34. The small compartment box 34 holds packs 2 containing medication to be taken after lunch for a total of 20 residents, such as person A to person T, who are residents of a nursing home or similar facility. In other words, the medication tray 30 shown in the figure is used when specific packs are placed in predetermined (specific) compartments 33 separated by multiple dividers, via the small compartment box 34.

[0025] As shown in Figure 4, if the medication tray 30 is partitioned according to the timing of administration and the resident, the packs 2 can be directly dispensed into the compartments 33 of the medication tray 30. The process of placing the packs 2 into the medication tray 30 may be explained later using the case where small compartment boxes 34 are used.

[0026] Each compartment 33 of the medication tray 30 has a designated setting or insertion position for each patient, depending on the medication pack they are taking. In other words, multiple compartments 33 within the medication tray 30 may be assigned to multiple patients at the same medication timing. Furthermore, if a particular patient does not take their medication at a specific time, it is possible to prevent a medication pack from being placed for that patient at that time.

[0027] The medication tray 30 is not limited to the aforementioned example; it may also be an example in which multiple compartments 33 of the medication tray 30 are allocated according to each patient's medication timing. Specifically, multiple compartments 33 may be allocated according to the medication timing of pack 2 taken in the morning, at noon, in the evening, and before bed, and also according to each patient. In such an example of the medication tray 30, the medication trays 30 can be managed on a floor-by-floor basis or on a room-by-room basis where multiple patients reside, and pack 2 for that day (or several days) can be pre-distributed into the medication tray 30.

[0028] According to the above example, by assigning each compartment to a specific medication timing, such as morning, noon, evening, and before bed, it is possible to prevent mistakes in the timing of medication intake for each individual. While various combinations of medication users and medication timings are conceivable, not limited to the above-described configuration example of the medication tray 30, this description is limited to the above explanation as it goes beyond the scope of disclosure of the present invention.

[0029] The medication tray 30, like the cartridge 10 described later, is managed by identification. Methods of identification include barcodes, QR codes (registered trademarks), and character recognition.

[0030] An example of a cartridge will be explained with reference to Figure 5. Figure 5(a) is a longitudinal cross-sectional view of the cartridge, and Figure 5(b) is a bottom view of the cartridge shown in Figure 5(a). In the longitudinal cross-sectional view of Figure 5(a), the pack 2 housed inside the cartridge 10 is schematically shown to simplify the drawing. Similarly, for the same reason, the cross-sectional hatching of the support parts (support part right 12, support part left 13, etc.) is omitted.

[0031] The cartridge 10 mainly consists of a case section 11, a lid section 14, a pack removal opening 17, a movable plate 16, a pack posture holding section 15, and support sections, a right support section 12 and a left support section 13. The case section 11 has the function of storing multiple packs 2 or pack combinations 2A (hereinafter, referred to as pack 2). The case section 11 is formed integrally or separately using, for example, resin. The lid section 14 has the function of allowing packs 2 to be inserted and removed. The pack removal opening 17 is formed in the lower or bottom part of the case section 11 and is an opening for removing packs 2 from inside the cartridge 10, and has the function of allowing packs 2 to pass through when removed from the cartridge 10 by the carriage 50 (see Figure 1, etc.).

[0032] The movable plate 16 has the function of preventing the pack 2 from tipping over and moving the bottom pack 2 to the vicinity of 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 posture holding section 15 has the function of holding the posture of the pack 2. The right support section 12 and the left support section 13 also have the function of supporting or holding the pack 2 inside the case section 11.

[0033] In this example, the portion of the pack 2 that is removed from the cartridge 10 by the carriage 50 is located in the lower or bottom part of the cartridge 10. Specifically, the portion to be removed is configured to have a support portion or support member that supports the pack 2 being removed from the cartridge 10 at multiple points, such as a right support portion 12 and a left support portion 13, and a pack removal opening 17.

[0034] When removing pack 2 from cartridge 10 using carriage 50, the right support 12 and left support 13 are configured to allow pack 2 to pass through. On the other hand, when pack 2 is not to be removed from cartridge 10, the right support 12 and left support 13 are configured to restrict the passage of pack 2 so that multiple packs 2 are stored and held within case 11.

[0035] As described above, the right support 12 and the left support 13 are support parts that support or hold the pack 2 inside the cartridge 10, and are also provided in a fixed state to ensure that the carriage 50 can stably remove the pack 2 from the cartridge 10. The right support 12 and the left support 13 are fixing members that are fixed or attached to the inner surface 11e of the bottom wall at the right bottom wall end and the left bottom wall end, respectively, of the pack removal opening 17. The pack removal opening 17 has the function of allowing the air suction means or suction pad 52 of the carriage 50 shown in Figure 5(b) to pass through in order to remove the pack 2, and also has the function of allowing the removed pack 2 and the suction pad 52 to pass through.

[0036] In the cartridge 10 shown in Figure 5(b), the positions where the suction pads 52 adsorb the pack 2 stored in the cartridge 10 (hereinafter also referred to as "suction pad positions") are indicated by circular dashed lines, as shown in Figure 6, which will be described later. The right support part 12 and the left support part 13 support the pack 2 inside the cartridge 10 so that it does not fall out of the pack removal opening 17. Then, as will be explained in the operation of the carriage 50 described later, when the bottom pack 2 inside the cartridge 10 is removed by adsorption using the suction pads 52, the suction pads 52 are positioned to adsorb the pack 2 at two suction pad positions in the Y direction near both ends of the right support part 12. When the bottom pack 2 is removed from the cartridge 10 by the suction pads 52, the two suction pads 52 pass near both ends in the Y direction of the right support part 12, adsorbing and holding the pack 2.

[0037] As shown in Figure 5(b), by positioning suction pads at two locations near both ends in the Y direction of the right support portion 12, the risk of malfunctions such as failure to adhere with the suction pads 52 can be avoided, and the packs can be removed. That is, since both sides of the pack 2 in the Y direction are adsorbed by the suction pads 52, the film bag portion 2a of the pack 2 is taut and can withstand deformation. This makes it possible to achieve both reliable support or retention of the pack 2 inside the cartridge 10 and easy removal of the pack 2.

[0038] As shown in Figure 5(a), the types of packs 2 in the cartridge 10 are divided according to the timing of administration, for example, 14 days' worth of medication for person A to take in the morning. Therefore, if person A takes medication in addition to the morning, such as at noon, in the evening, and before going to bed, a total of 4 cartridges 10 will be needed. The example is not limited to the above; for example, a single cartridge 10 set up for each patient (person) may be used, and the packs may be arranged in order from the pack removal opening 17 of the cartridge 10 upwards, such as morning of day 1 → noon → evening → before going to bed → morning of day 2 → noon → evening...

[0039] In this example, the right support 12 and left support 13 are fixed as fixing members to the inner surface 11e of the bottom wall of the pack removal opening 17 of the case 11 so that the removal operation of pack 2 from cartridge 10 by carriage 50 is always stable. In other words, the right support 12 and left support 13 are positioned in a fixed state at the pack removal opening 17 at the bottom of cartridge 10, to hold both ends of the medicine pack (pack 2 or pack assembly 2A).

[0040] The right support part 12 supports the end of pack 2 that is adsorbed, and the left support part 13 supports the opposite end, preventing pack 2, which is stored and set inside the cartridge 10, from falling out. The right support part 12 and the left support part 13 support pack 2 at different lengths, with the right support part 12 having a shorter support length. As will be described later with reference to Figure 6, when the bottommost pack 2 stored inside the cartridge 10 is adsorbed by the adsorption pad 52 and pulled out of the cartridge 10, the medicine pack is designed to be flexible and easy to pull out.

[0041] In this case, since 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, preventing it from flying out or falling along with the previous pack 2. Also, since the support parts (right support part 12 and left support part 13) do not swing or rotate, no deformation occurs due to pinching or pushing of the pack 2 during the return movement, and it is held in a stable state.

[0042] The carriage configuration will be explained with reference to Figures 6 and 7. Figure 6(a) is a front view showing the configuration of the carriage, and Figure 6(b) is a top view of Figure 6(a). As shown in Figure 6, the carriage 50 is equipped with an adsorption unit 51, which is an adsorption means that serves as a holding part for removing and holding the pack 2 from the cartridge 10. The adsorption unit 51 has the function of adsorbing and detaching the pack 2. When adsorbing the pack 2, it has the function of using negative pressure air converted by a negative pressure generator 45, which is a negative pressure switching means, to adsorb the pack 2. Furthermore, as will be described later, when performing normal detachment of the pack 2, it has the function of using pressurized air converted by a negative pressure generator 45 to detach the pack 2.

[0043] As shown in Figure 6(a), the aforementioned adsorption unit 51 adsorbs the pack 2 by converting the positive pressure from the air compressor 46, which is an air compression means, into negative pressure using a negative pressure generator 45, thereby creating a negative pressure state. The air compressor 46 is installed outside the transfer unit 90 and is connected to the adsorption unit 51 via an air tank 47 and a negative pressure generator 45, through a connecting member such as an air pipe 49.

[0044] The air piping 49 is provided via a cable carrier (registered trademark) along with a harness, etc., so that it does not become taut when the carriage 50 moves inside the medication support device 200. That is, as shown in Figures 1(a) and 1(b), the air piping 49 has a path that makes one turn in each of the X, Y, and Z axes. The air piping 49 first extends along the Z axis from the negative pressure generator 45 and makes one turn, then extends along the X direction and makes one turn, and finally extends along the Y axis and makes one turn before connecting to the suction unit 51.

[0045] The suction unit 51 also includes a suction pad 52 for adsorbing the pack 2 and a suction duct 53 connected to the suction pad 52. The negative pressure generator 45, also called a vacuum ejector valve, is connected to the suction duct 53 via an air pipe 49. The suction pad 52 functions as an air suction means or suction member for adsorbing and removing the pack 2 from the cartridge 10. One end of the suction pad 52, the upper end in Figure 6(a), is positioned to adsorb the pack 2 as described above. The other end of the suction pad 52, the lower end in Figure 6(a), is attached and fixed to one end of the suction duct 53, the upper end in Figure 6(a). The other end of the suction duct 53, the lower end in Figure 6(a), is attached and fixed to a suction pad support member 54. A pair of suction pads 52 and suction ducts 53 are provided in the Y direction.

[0046] The carriage 50 also has a posture changing mechanism for changing the orientation of the pack 2 removed from the cartridge 10 to a substantially vertical position. The posture changing mechanism in the carriage 50 includes, as its main components, a suction pad support member 54 connected to the suction base member 57 via a rotating shaft 55, a guide member 59 as a suction guide member having a guide groove 59b with a unique guide shape, a guide shaft 56 that is always fitted into the guide groove 59b of the guide member 59 to guide the suction pad support member 54, and a vertical movement part for the suction part.

[0047] The suction pad support member 54 is connected to the suction base member 57 via a rotating 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 a rotating shaft 55 fixed to the suction pad support member 54, or it may be provided so as to be swingable around a rotating shaft 55 fixed to the suction base member 57. In other words, in Figure 6, the distance connecting the center of the rotating shaft 55 and the center of the guide rod 58 (described later) in the X direction is set to always remain constant when the suction base member 57 moves vertically in the Z direction along the guide rod 58.

[0048] The vertical movement section of the suction part includes a pair of guide rods 58 provided in the Y direction that guide the suction part base member 57 in the Z direction, an endless belt 62 wrapped 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 belt. The drive motor 63 is the driving means or drive source of the vertical movement section of the suction part.

[0049] The suction base member 57 is connected and fixed to the belt 62 by a belt gripping portion 62a fixed to the right end of the suction base member 57. A pair of guide rods 58 are provided in the Y direction, extending in the Z direction, and their lower ends are fixed to the bottom frame 50b of the carriage frame 50a provided on the carriage 50. A guided hole 57a into which the guide rod 58 is inserted is formed on the right end side of the suction base member 57. The drive pulley 60 and the driven pulley 61 are each rotatably supported on a stationary member on the carriage frame 50a side. The drive motor 63 is fixed to the stationary member on the carriage frame 50a side of the carriage 50. The drive motor 63 is the controlled drive member of the vertical movement portion of the suction part.

[0050] When the suction base member 57 moves up and down due to the operation of the drive motor 63, the suction base member 57 moves in the Z direction along each guide rod 58, making it possible to keep the orientation of the suction base member 57 in the XY plane constant in a substantially horizontal state. Note that the vertical movement mechanism of the suction unit is not limited to the vertical reciprocating motion mechanism using a belt drive as described above, but may also be a reciprocating linear motion mechanism using a rack and pinion or the like.

[0051] A pair of guide members 59 are provided on both sides of the suction portion 51 in the Y direction, sandwiching the suction pad support member 54, with their lower ends fixed to the bottom frame 50b. The guide shaft 56 is provided protruding from both ends of the suction pad support member 54 in the Y direction, and is always fitted into the guide groove 59b of the guide member 59 to guide the suction pad support member 54. As shown in Figure 6(a), the guide shaft 56 is provided below the rotation axis 55 of the suction pad support member 54 in the Z direction, at a certain distance from the rotation axis 55.

[0052] When the suction base member 57 moves in the Z direction due to the operation of the drive motor 63, the orientation of the suction base member 57 in the XY plane is kept constant in a substantially 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 59b, making it possible to rotate the orientation of the suction pad 52 by approximately 90 degrees (Figure 6(a) shows the state when the suction part 51 has rotated by approximately 90 degrees with a thick dashed line). Here, a substantially horizontal state includes a horizontal state, as well as being within a predetermined angular tolerance range with respect to the horizontal.

[0053] Here, we will explain with reference to the enlarged view of the guide groove of the guide member shown in Figure 7. The uniquely shaped guide groove 59b formed in the guide member 59 is designed to hold the suction pad 52 in a predetermined orientation via the suction pad support member 54, as shown in Figure 6(a), by guiding the guide shaft 56 through the first guide groove 59a1, the second guide groove 59a2, and the third guide groove 59a3.

[0054] The guide groove 59b consists of a first guide groove 59a1 portion that allows the suction base member 57 to move in a substantially horizontal state when the suction pad 52 moves from the standby position to the pack suction position, and a second guide groove 59a2 portion that communicates with and connects to the first guide groove 59a1 and gradually moves to the right as it goes downwards, rotating the posture of the suction pad support member 54 and the suction pad 52 by approximately 90 degrees. In addition, it consists of a third guide groove 59a3 portion that communicates with and connects to the upper end of the first guide groove 59a1 and gradually moves to the right as it goes upwards, rotating the posture of the suction pad support member 54 and the suction pad 52 to the left.

[0055] The first guide groove 59a1 and the second guide groove 59a2 formed in the guide member 59 have the same configuration as the orientation changing means that changes the orientation of the pack 2 removed from the cartridge 10 from a substantially horizontal state (the thickness of the pack 2 is substantially vertical) to a substantially vertical state. The third guide groove 59a3 and the guide shaft 56 in the uniquely shaped guide groove 59b formed in the guide member 59 constitute an angle variable mechanism that changes the angle of the suction pad 52 relative to the pack 2 in a predetermined direction when the suction pad 52 is in contact with the pack 2 located at the bottom of the cartridge 10. The angle variable mechanism is configured such that when the suction pad 52 picks up the pack 2, it picks up the pack 2 in accordance with the inclination of the pack 2 located at the bottom of the cartridge 10.

[0056] Furthermore, as will be explained in detail in the operation described later, when the suction pad 52 rises toward the bottom of the cartridge 10, the suction pad 52 (its suction holding surface 52a) enters the bottom of the cartridge 10 at a nearly horizontal angle, and then the angle of the suction pad 52 relative to the bottom pack 2 is changed in accordance with the amount of entry of the suction pad 52.

[0057] The angle-adjustable mechanism is composed of a link and a slide guide. Specifically, the angle-adjustable mechanism is composed of a type of link (a suction pad support member 54 (driven part) connected to a vertically moving suction base member 57 (driving part) via a rotating shaft 55, and a link member portion of the suction pad support member 54 that connects the rotating shaft 55 to a guide shaft 56 that is always fitted into the guide groove 59b to guide the suction pad support member 54) and a slide guide (a guide groove 59b of a guide member 59 equipped with a third guide groove 59a3).

[0058] The carriage 50 is also equipped with an adsorption unit 51 that uses air as a holding unit, as shown in Figures 1 and 6(a). An air tank 47, an air compressor 46, and a negative pressure generator 45 are provided for air adsorption, and these are connected by air piping 49 and pipe fittings. The medication support device 200 can perform vacuum breaking. By using air compressed by the air compressor 46 and switching to negative pressure in the negative pressure generator 45 to generate negative pressure, the device can suck and adsorb the pack that is in close contact with the adsorption pad 52 of the adsorption unit 51 and hold the pack. Conversely, by generating pressurization in the negative pressure generator 45 and sending air to the adsorption pad 52 of the adsorption unit 51, the holding state of the pack can be released by spraying it onto the adsorption holding surface 52a of the adsorption pad 52.

[0059] As described above, the relationship between the distance between the rotating shaft 55 and the guide shaft 56 and the guide groove 59b allows the suction pad 52 to assume various positions (including a position in which the suction pad 52 is rotated by approximately 90 degrees) with the rotating shaft 55 as the pivot point.

[0060] Referring to Figure 8, the transition of the posture change operation by the posture changing means of the suction unit will be explained. As shown in Figure 8(a), when the pack 2 is removed from the bottom of the cartridge 10 shown in Figure 5(a), the suction duct 53 of the suction part 51 enters the cartridge 10 in a direction approximately vertically upward so that the suction holding surface 52a of the suction pad 52 is in a substantially horizontal position. At this time, the guide shaft 56 is in the first guide groove 59a1.

[0061] Furthermore, as shown in Figure 8(b), the rotation of the drive motor causes the belt 62 to rise, which in turn lifts the suction base member 57 and raises the suction pad support member 54. As the posture of the suction unit 51 changes further, the guide shaft 56 moves upward along the third guide groove 59a3, causing the suction pad 52 of the suction unit 51 to tilt slightly to the left. In this posture, the pack can be sucked up and removed from below the cartridge.

[0062] Next, as shown in Figure 8(c), once the pack has been removed from the bottom of the cartridge, the belt 62 descends due to the reverse rotation of the drive motor, causing the suction base member 57 to descend, and the suction pad support member 54 to rotate counterclockwise around the rotation axis 55 in the figure.

[0063] Next, as shown in Figure 8(d), the suction base member 57 descends further, and the suction pad support member 54 rotates counterclockwise around the rotation axis 55 of the suction base member 57. The guide shaft 56 is guided vertically downward along the second guide groove 59a2 along with the suction base member 57, and rotates counterclockwise around the rotation axis 55. The rotation axis 55 and the guide shaft 56 remain aligned in a horizontal straight line, and the suction holding surface 52a of the suction pad 52 occupies a position rotated approximately 90 degrees counterclockwise from the state shown in Figure 8(a). At this time, the suction part 51 is rotated approximately 90 degrees as the guide shaft 56 moves vertically downward along the second guide groove 59a2, and the medicine can be dispensed into the small box 34 (see Figure 3) by releasing the suction holding of the pack in this position.

[0064] Referring to Figures 9 to 11, the flow of the operation to remove pack 2 from cartridge 10 (hereinafter also referred to as the pick-out operation) will be explained. Figures 9 and 10 are front views showing the sequence of carriage movements. Figure 11 is a flowchart showing the sequence of carriage movements. For the sake of simplicity, it is assumed that the carriage 50 is positioned below the cartridge 10 in the drawer section 21 located in the center of the main frame 199 in Figure 1, due to the operation of the transport unit 90 in Figure 1. After the suction pad 52 of the carriage 50 picks up and pulls out the bottom pack inside the cartridge 10, the carriage 50 moves above the medication tray 30 located at the top of Figure 1 due to the operation of the transport unit 90, and falls into and inserts (dispenses) the small boxes 34 located in a predetermined section of the medication tray 30.

[0065] Furthermore, for the cartridge 10 described in Figure 6, in order to simplify the diagram, the right support part 12 and the left support part 13 formed at the bottom of the cartridge 10, including the case part 11, are integrally formed with appropriate resin so as to show a black pattern in the cross section. In addition, in order to make the diagram easier to see, in Figures 9 and 10, the rotating shaft 55 is shown as a solid gray line and the guide shaft 56 is shown as a dashed line. The storage tray (cartridge tray) of the drawer part 21 is omitted from the diagram as described above.

[0066] When the medication dispensing operation begins, under the control commands of the CPU constituting the control unit 150 shown in Figure 13 (described later), the carriage 50 moves to the underside of the cartridge 10 by the transfer unit 90 shown in Figure 1 to retrieve the target pack 2, based on the identification management information applied to the cartridge 10, and stops moving, entering a standby state. At this time, the drive motor 63 is stopped, and the suction holding surface 52a of the suction pad 52 is in a nearly vertical position.

[0067] Subsequently, when the drive motor 63 is started, the suction base member 57, which moves linearly, and the suction pad support member 54, which moves linearly and rotationally, are connected, causing the suction base member 57 and the suction pad 52 to first move linearly upward (step S1, Figure 9(a)). At this time, the suction pad 52 changes its orientation so that the suction holding surface 52a changes from approximately vertical to approximately parallel, and then the suction pad 52 enters through the pack removal opening 17 between the right support 12 and the left support 13.

[0068] Then, as shown in Figure 8(b), the drive motor 63 is controlled to temporarily stop the suction unit 51 and suction pad 52 in a position tilted to the left (see the first removal position in step S2). While the suction unit 51 is temporarily stopped, the negative pressure generator 45 (see Figure 6) is driven and the suction operation is possible. As soon as the suction pad 52 comes into contact with the pack 2, the negative pressure generated by the negative pressure generator 45 shown in Figure 6 starts to suck the pack 2 (step S3, Figure 9(b)).

[0069] Next, the process proceeds to step S4, where the success or failure of the suction is determined. Specifically, it is checked whether the negative pressure generated by the negative pressure generator 45 is an appropriate value for extraction from the cartridge 10 by maintaining the negative pressure of the pack 2 with the suction pad 52. As shown in Figure 6, this check is performed by determining the success or failure of the detection value of a pressure sensor 71 located in the air piping 49 between the suction pad 52 and the negative pressure generator 45, or a pressure sensor 70 located inside the negative pressure generator 45, based on the detection value by the CPU of the control unit 150.

[0070] In this way, the success or failure of the suction of pack 2 by the suction pad 52 is determined, and if the suction is successful, the suction unit 51 descends by the reverse operation of the drive motor 63 while maintaining the negative pressure on pack 2 by the suction pad 52 (see Figure 9(c), step S5). The leading end of pack 2 (meaning the side that is being held by the suction pad 52, the same applies hereafter) is pulled out from inside the cartridge 10. This operation of pulling out the leading end of pack 2 from the pack removal opening 17 of the cartridge 10 is performed without causing any problems because pack 2 can be freely deformed.

[0071] Next, as shown in Figure 10(d), the carriage 50 is moved horizontally in the X direction by the operation of the transport unit 90 (see Figure 1) to pull the rear end of the pack 2 out of the cartridge 10 and remove it (see step S6). Subsequently, in this embodiment, the carriage 50 is moved by the transport unit 90 to above the small box 34 located in a predetermined section of the medication tray 30, while the suction pad 52 holds the pack 2 in place by the operation of the drive motor 63, and the posture of the pack 2 held by the suction pad 52 is appropriately changed to the posture shown in Figures 10(e) and 10(f), as will be described later.

[0072] Specifically, when the suction base member 57 moves linearly downward along the guide rod 58 by the drive motor 63 (see step S7), the guide shaft 56 moves along the shape of the guide groove 59b of the guide member 59, and the relative positional relationship between the rotation axis 55 and the guide shaft 56 changes. As a result, the orientation of the pack 2 can be changed from a nearly horizontal state to, for example, an oblique state as shown in Figure 10(e), or to a nearly vertical or nearly perpendicular state (where the pack 2 is vertical and the thickness direction of the pack 2 is nearly horizontal) as shown in Figure 10(f). In other words, by moving the guide shaft 56 along the shape of the guide groove 59b of the guide member 59 away from the trajectory through which the rotation axis 55 passes by the distance between the rotation axis 55 and the guide shaft 56, the suction pad 52 can be rotated by approximately 45 degrees or approximately 90 degrees. The drive source in this case is a series of operations of a single drive motor 63.

[0073] On the other hand, if the suction of pack 2 by the suction pad 52 fails in step S4, the negative pressure and suction by the negative pressure generator 45 are stopped, and the user (including nurses and caregivers) performs predetermined error handling (such as handling pack 2 that could not be removed from cartridge 10 and investigating the cause) (see steps S8 to S9), after which the process ends.

[0074] Referring to Figure 12, the operation of dispensing pack 2 into the small compartment box 34 of the medication tray 30 (hereinafter also referred to as the placing operation) will be explained. Figure 12 shows a case where the medication dispensing process is completed by a placing operation in which pack 2 is placed into a specific compartment 34 of the medication tray 30, as shown in Figure 3. However, the process is not limited to this; for example, as shown in Figure 4, the medication dispensing process may also be completed by a placing operation in which specific pack 2 is placed into a specific compartment 33 of the medication tray 30 without using a compartment box.

[0075] Once the pick-out operation is complete and the suction pad 52 is holding the pack 2 by suction, the carriage 50 moves by the transfer unit 90 to above the dispensing box 34 located in a predetermined section of the medication tray 30 (see Figure 12(a)). During this movement, the position of the carriage 50 in the Z direction (height direction) is set so that the lower end of the pack 2 held by the suction pad 52 does not come into contact with the dispensing box 34.

[0076] Subsequently, as shown in Figure 12(b), the entire suction base member 57, suction pad support member 54, and suction pad 52 are lowered in conjunction with the above operation so that the lower end of pack 2 is inserted into the dispensing box 34. This prevents pack 2 from being dispensed into a dispensing box other than the designated one when it is dropped, rotated, or knocked away, by releasing the holding state with the lower end of pack 2 inserted into the dispensing box 34 during the placing operation. If the amount inserted into the dispensing box 34 is small, the lower end of pack 2 may get caught on the upper end of the dispensing box 34 when the pack 2 is dropped, and the medication may not be dispensed into the dispensing box 34. Therefore, it is desirable to hold and remove pack 2 near the upper end during pick-out.

[0077] As shown in Figures 12(b) to 12(c), when the negative pressure generator 45 (see Figure 6) is driven to send pressurized air to the suction pad 52 for a predetermined time, releasing the hold on pack 2, pack 2 falls due to its own weight. Incidentally, the operation of releasing the suction hold on pack 2 by sending pressurized air (positive pressure) to the suction pad 52 is called vacuum breaking. Once pack 2 is placed in the small box 34, the dispensing operation (placement operation) is completed, and the next operation begins.

[0078] Referring to Figure 13, an example of the control configuration of the medication support device 200 will be described. Figure 13 is a control block diagram showing the main control configuration of one embodiment of a medication support device to which the present invention is applied. As shown in Figure 13, the medication support device 200 is equipped with a CPU (Central Processing Unit) that functions as a control unit 150, which is a control means for controlling the operation of various parts of the medication support device 200. The CPU has a built-in memory unit 152 and a timer unit 153, etc. Based on various inputs, including sensors which will be described later, the CPU issues notifications to users, including staff, and instructions for the operation of the device at timings according to the program. Prescription information and drug information are input to the memory unit 152 as external drug information from an external source.

[0079] The CPU may have calculation and control functions, as well as a timer function. The storage unit 152 includes ROM (read-only memory), RAM (read / write memory), and external memory. The ROM pre-stores programs that the CPU can read (for example, programs such as control flowcharts described later) and various data. Examples of such data include relationship data between the compartments 33 and compartment boxes 34 of the medication tray 30 and pack 2 assigned to each patient, relationship data between the compartments 33 and compartment boxes 34 of the medication tray 30 and pack 2 assigned to each medication timing, and relationship data between the compartments 33 and compartment boxes 34 of the medication tray 30 (see Figures 3 and 4) and pack 2 assigned to each medication order.

[0080] A touch panel 151 is electrically connected to the input / output ports of the CPU, as an example of an operation unit equipped with an input unit and a display unit as a user interface. The user can input various settings on the touch panel 151, and the current time, the progress of pack storage, or the completion time are displayed. The input method and the form of the display unit are not limited to these, and for example, the input unit and display unit may be separate, such as a keyboard and an LED display unit.

[0081] 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 dispensing operation to the medication tray 30 begins sequentially. The medication dispensing operation to the medication tray 30 can also be started at a predetermined time by the timer unit 153.

[0082] The CPU's input port is also electrically connected to various sensors, including a medication tray detection sensor 156 that detects the type of medication tray 30 stored in the device and the presence or absence of the medication tray 30, and a storage compartment detection sensor 157 that detects the presence or absence of a cartridge 10. The CPU's input port is also electrically connected to various sensors, including storage compartment entrance / exit opening / closing sensors 159a and 159b that detect the opening and closing of the first entrance / exit 41 and the second entrance / exit 42, and medication tray entrance / exit opening / closing sensors 160a and 160b that detect the opening and closing of the third entrance / exit 43 and the fourth entrance / exit 44. The medication tray detection sensor 156, storage compartment detection sensor 157, storage compartment entrance / exit opening / closing sensors 159a and 159b, and medication tray entrance / exit opening / closing sensors 160a and 160b are shown only in Figure 13.

[0083] The CPU's input port 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 unit 91 in the carriage 50; an HP sensor 109 for HP sensor Y, which detects the HP of the Y-direction transfer unit 101 in the carriage 50; and an HP sensor 119 for HP sensor Z, which detects the HP of the Z-direction transfer unit 111 in the carriage 50. The CPU's input port is also electrically connected to an HP sensor 158 for HP sensor P, which detects the HP of the suction unit 51 (particularly the suction pad 52) in the carriage 50. The CPU's input port is also electrically connected to pressure sensors 70 and 71, which detect the pressure inside the negative pressure generator 45 or inside the carriage 50.

[0084] The output port of the CPU is electrically connected to the drive motor 95 for the X-direction transfer unit 91, the drive motor 105 for the Y-direction transfer unit 101, the drive motor 115 for the Z-direction transfer unit 111, and the drive motor 63 for changing the attitude movement of the suction pad 52, respectively, via various motor drivers X to Z and P. The output port of the CPU is also electrically connected to the negative pressure generator (ejector valve) 45, which is an actuator for the negative pressure generator, via a negative pressure generator driver. An notification unit may be electrically connected to the output port of the CPU. This notification unit notifies the status of the device and its various parts through light such as LEDs, sound including voice, and vibration. It is equipped with a speaker or light to notify staff, etc., of medication timing even when they are away from the device.

[0085] The aforementioned external drug information is also input to the CPU via I / O and stored in the memory unit 152, where it is used for assigning medications to patients, etc. The LEDs 25a1 to 25d5 of the drawer unit 21 may also be electrically connected.

[0086] When input information from the touch panel 151, various HP sensors 99, 109, 119, 158, and various signals from various sensors are input to the CPU, the CPU outputs the following command signals. Specifically, the CPU outputs instructions to the drivers corresponding to the audio device and optical device of the display device (including the notification unit) of the touch panel 151, LEDs 25a1 to 25d5, drive motor 63, drive motor 95, drive motor 105 and drive motor 115, or LEDs.

[0087] The HP sensor 158 for the HP sensor P and the drive motor 63, which is output via the motor driver P, are used to drive and control the vertical movement mechanism of the suction part. The CPU has the function of executing various control operations as shown in the description and control flowchart described later.

[0088] (P12124) Referring to Figures 14 and 15, the basic operation of the medication support device will be described. Figure 14 is a flowchart showing the basic operation sequence of the medication support device, and Figure 15 is a flowchart of the HP transfer process, which is a subroutine program in Figure 14. The operations shown in Figures 14 and 15 are executed under the control commands of the CPU in the control unit 150. When the start switch 155 shown in Figure 13 is turned on (hereinafter also referred to as "ON"), processing begins, and in Figure 14, initialization is performed first (see the initialization portion shown by the dashed frame in Figure 14, see steps S11 to S12).

[0089] Initialization involves controlling the HP sensor and its corresponding drive motor using a subroutine as shown in Figure 15, positioning the controlled object to a predetermined home position where the HP sensor is turned ON (see steps S10-1 to S10-2 in Figure 15). The following process is performed automatically by the timer unit 153 shown in Figure 13, and based on external drug information obtained in advance from an external source or input from the touch panel 151 shown in Figure 13, the following series of operations are performed at specific timings to support medication administration in the morning, at noon, at night, and before bedtime.

[0090] At the specified time, the CPU drives the drive motors in the order Z→X→Y (drive motor 115→drive motor 95→drive motor 105) to move the carriage 50 to the designated cartridge 10 (carriage movement (1) portion enclosed by the dashed frame in Figure 14, steps S13 to S15). Next, as a pick-out operation, the drive motor 63 for drive motor P is driven to bring the suction pad 52 close to the medicine pack 2 (see Figure 9(b)), and the medicine pack 2 is picked up by suction using the suction pad 52. Subsequently, the drive motor 63 and the drive motor 95 for drive motor X are operated in coordination to remove the medicine pack 2 from the bottom of the cartridge 10 (step S16, see Figures 9(c) and 10(d)). After that, the medicine pack 2, which has been removed from the cartridge 10, is carried by the carriage 50 to the location of the medication tray 30 while still held in place by the suction pad 52.

[0091] Figures 16(a) to (f) are explanatory diagrams illustrating the operation of the carriage 50 that transports the medicine pack 2 from the location of the cartridge 10 to the location of the dispensing tray 30. As shown in Figure 16(a), after removing the medicine pack 2 from the cartridge 10, the CPU of the control unit 150 drives the drive motor 63 to lower the suction base member 57 along the guide rod 58. As a result, the guide shaft 56 moves along the shape of the guide groove 59b of the guide member 59, changing the posture of the suction pad 52 and changing the posture of the pack 2, which is held by the suction pad 52, from a nearly horizontal state to the oblique state shown in Figure 16(b) (S17, Figure 10(e)).

[0092] As a result, the medication pack 2, which was positioned to protrude above the carriage 50 as shown in Figure 16(a), changes its orientation to a position where it no longer protrudes above the carriage 50. Consequently, when the carriage 50 subsequently moves horizontally (in the X and Y directions) along the horizontal passage (movement path) within the medication support device 200, it is possible to avoid the medication pack 2 getting caught on various components located above the horizontal passage.

[0093] On the other hand, if the orientation of the pack 2, which is held by the suction pad 52, is changed from a nearly horizontal state to a nearly vertical state as shown in Figure 10(f), the medicine pack 2 may protrude below the carriage 50. In this case, when the carriage 50 moves horizontally (in the X and Y directions) along the horizontal passage (movement path) within the medication support device 200, the medicine pack 2 may get caught on various components located at the bottom of the horizontal passage. Furthermore, if a wider passage is required to avoid this snagging, the medication support device 200 will need to be made larger.

[0094] Therefore, in this embodiment, when the carriage 50 moves horizontally (X and Y directions) along the horizontal passage (movement path) within the medication support device 200, the CPU of the control unit 150 performs a medication pack retraction process (horizontal) to change the orientation of the pack 2 to the diagonal state shown in Figure 10(e) (S17, Figure 16(b)). This medication pack retraction process (horizontal) reduces the amount of the medication pack 2 that protrudes from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50 (horizontal direction) compared to when the orientation of the pack 2 is changed to the approximately vertical state shown in Figure 10(f).

[0095] Preferably, as in this embodiment, the posture and position of the suction pad 52 are set within a movable range in which the posture and position of the suction pad 52 can be changed, so as to minimize the amount of overhang of the medicine pack (the amount that overhangs from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50). That is, in this embodiment, when the carriage 50 transports the medicine pack 2 along the horizontal passage in the medication support device 200, the posture of the pack 2 is changed to the diagonal state shown in Figure 16(b) to minimize the overall height (length in the Z direction) including the carriage 50 and the medicine pack 2.

[0096] By performing this drug pack retraction process (horizontal) (S17), when the carriage 50 moves horizontally (X and Y directions) along the horizontal passage (movement path) within the medication support device 200, it is possible to prevent the drug pack 2 from getting caught on various components located above or below the horizontal passage, thereby ensuring proper transport of the drug pack 2.

[0097] Furthermore, in the medication support device 200 of this embodiment, the medicine pack 2 removed from the cartridge 10 is transported along the horizontal passage by the carriage 50, and then moves towards the location of the medication tray 30 through the vertical passage (a passage extending in the Z direction) within the medication support device 200 (S20). Here, when the orientation of the medicine pack 2 is at an angle, as shown in Figure 16(c), when viewed from the vertical direction (Z direction), the medicine pack 2 protrudes to the side (lateral direction) of the carriage 50. Therefore, if the carriage 50 moves vertically (Z direction) along the vertical passage (movement path) within the medication support device 200 while the orientation of the medicine pack 2 remains at an angle, there is a risk that the medicine pack 2 may get caught on various members, etc., located on the side of the vertical passage. Moreover, if a wider passage is required to avoid this catching, it will lead to an increase in the size of the medication support device 200.

[0098] Therefore, in this embodiment, when the carriage 50 moves vertically (Z direction) along the vertical passage (movement path) within the medication support device 200 (S21), the CPU of the control unit 150 performs a drug pack retraction process (vertical) in advance to change the orientation of the pack 2 to the approximately vertical state shown in Figure 10(f) (S20, Figure 16(d)). This drug pack retraction process (vertical) reduces the amount of the drug pack 2 that protrudes from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50 (vertical direction) compared to when the orientation of the pack 2 remains in the slanted state shown in Figure 10(e).

[0099] Preferably, as in this embodiment, the posture and position of the suction pad 52 are set within a movable range in which the posture and position of the suction pad 52 can be changed, so as to minimize the amount of overhang of the medicine pack (the amount that overhangs from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50). That is, in this embodiment, when the carriage 50 transports the medicine pack 2 along the vertical passage in the medication support device 200, the posture of the pack 2 is changed to the approximately vertical state shown in Figure 16(c) to minimize the overall width (length in the X direction) including the carriage 50 and the medicine pack 2.

[0100] By performing this drug pack retraction process (vertical) (S20), when the carriage 50 moves vertically (Z direction) along the vertical passage (movement path) within the medication support device 200, it is possible to prevent the drug pack 2 from getting caught on various components located on the side of the vertical passage, thereby ensuring proper transport of the drug pack 2.

[0101] Furthermore, in the medication support device 200 of this embodiment, after the carriage 50 is transported along the vertical passage, it moves through the horizontal passage within the medication support device 200 towards the location of the medication tray 30 (S23, S24). Here, when the orientation of the medicine pack 2 is approximately vertical, as described above, when viewed from the horizontal direction (X direction, Y direction), the medicine pack 2 protrudes below the carriage 50, and there is a risk that the medicine pack 2 will get caught on various members, etc., located at the bottom of the horizontal passage. Also, if a wider passage is to be secured to avoid this snagging, it will lead to an increase in the size of the medication support device 200.

[0102] Therefore, in this embodiment, when moving from a vertical passage to a horizontal passage within the medication support device 200, the CPU of the control unit 150 performs a medication pack retraction process (horizontal) that changes the orientation of the pack 2 from the approximately vertical state shown in Figure 10(f) to the diagonal state shown in Figure 10(e) (S22, Figure 16(f)). This medication pack retraction process (horizontal) reduces the amount of the medication pack 2 that protrudes from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50 (horizontal direction) compared to when the orientation of the pack 2 remains in the approximately vertical state shown in Figure 10(f).

[0103] Preferably, as in this embodiment, the posture and position of the suction pad 52 are set within a movable range in which the posture and position of the suction pad 52 can be changed, so as to minimize the amount of overhang of the medicine pack (the amount that overhangs from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50). That is, in this embodiment, when the carriage 50 transports the medicine pack 2 along the horizontal passage in the medication support device 200, the posture of the pack 2 is changed to the diagonal state shown in Figure 16(b) to minimize the overall height (length in the Z direction) including the carriage 50 and the medicine pack 2.

[0104] By performing this drug pack retraction process (horizontal) (S20), when the carriage 50 moves from the vertical passage to the horizontal passage within the medication support device 200, it is possible to prevent the drug pack 2 from getting caught on various components located above or below the horizontal passage, thereby ensuring proper transport of the drug pack 2.

[0105] After moving the carriage 50 as described above and transferring the drug pack 2 to the upper part of the designated drug tray 30 compartment 33, the drug dispensing process is performed (S25). In the drug dispensing process, after stopping the carriage 50, the vacuum is broken to release the adsorption state and release the drug pack 2, and the drug is dispensed into the drug tray 30 (see Figures 12(a) to 12(c)). This operation is repeated several times, and once the drug packs for the predetermined number of people have been dispensed, the carriage 50 is returned to HP (see steps S26 to S29).

[0106] Figure 17 shows a control block diagram relating to the medication support system of this embodiment. As shown in Figure 17, the medication support system 300 of this embodiment is configured to include the medication support device 200 described above and a personal computer (hereinafter abbreviated as "PC") 210 that is connected to the medication support device 200 in a manner that enables communication (transmission and reception).

[0107] The PC210 consists of five well-known components. Specifically, the PC210 comprises a control unit, an arithmetic unit, an input device, and an output device. The control unit includes a CPU and executes programs and issues instructions to other devices. The arithmetic unit executes programs and performs calculations. The storage device includes main memory and auxiliary memory and stores data such as programs and text. The input device includes a mouse, keyboard, microphone, etc., and transmits data and instructions to the computer. The output device includes a display, printer, speaker, etc., and outputs data from the computer.

[0108] PC210 enhances the functionality of the medication support device 200, essentially acting as a host computer that manages and supports the medication support device 200. PC210 is connected to pharmacies and other facilities that supply medications via a network line (not shown in the diagram).

[0109] The pack information management system 212 configured in the management application 211 manages medication-related information for medication packs. Additionally, the dispensing information management system 213 configured in the management application 211 reads and manages dispensing information, including at least the patient's name and the timing of medication administration.

[0110] The pack information management system 212 and the medication dispensing information management system 213 may be implemented, for example, as a management application 211 within the PC 210, or they may be a system consisting of a medication support device 200 and a PC 210 that communicates with the medication support device 200 for management, as shown in Figure 17. The management application 211 reads a medication dispensing information file 219 that is generated externally (for example, a pharmacy that supplies medications based on prescriptions issued by doctors) and contains medication information and dispensing timing for each patient. The management application 211 also reads data input from a configuration file 217 that records configuration information set once within the PC 210.

[0111] Data output from the management application 211 as needed includes files such as log files 216, which are output depending on the changes, and a medication history file 215, which summarizes the medication dispensing history. Furthermore, various reports 218 are output from the PC 210 via the management application 211 as needed. Note that the functions of the management application 211 and other functions on the PC 210 may also be provided within the medication support device 200.

[0112] The medication dispensing information management system 213 saves records of the results of medication dispensing and the history of any changes, thereby saving the actual results of medication dispensing as traceability information, which allows for review in the event of a problem.

[0113] The pack information management system 212 manages medication-related information of the medication pack, including at least the patient and the timing of administration. A supplementary explanation of the operation of the medication support device 200 mentioned above is as follows:

[0114] The medication support device 200 has an upper QR code reader 66 and a lower QR code reader 67 mounted on a dispensing unit (carriage) 50. The carriage 50 moves to the vicinity of the cartridge 10 which stores the medication pack (a single-dose medication pack or a combined pack), and the upper reading section of the upper QR code reader 66 can read the QR code (registered trademark) related to medication information.

[0115] [Variation 1] Next, a modified example of the carriage 50 in the above-described embodiment (hereinafter referred to as "Modified Example 1") will be explained. The carriage 50 according to this modified example 1 is an example in which the position or orientation of the medicine pack 2, which is held by adsorption on the adsorption part 51 (adsorption pad 52), is changed solely by changing the orientation of the adsorption part 51, or more specifically, solely by rotational movement. Descriptions that overlap with the embodiments described above will be omitted as appropriate.

[0116] Figures 18(a) and (b) are explanatory diagrams showing the transition of the posture change operation of the suction unit 51 by the posture changing means. In this modified example 1, instead of having a guide groove 59b and a guide shaft 56, a drive unit 68 is provided that rotates the suction pad support member 54 around the rotation shaft 55. The drive unit 68 is composed of a solenoid, a motor, or the like.

[0117] In this modified example 1, the vertical movement (Z-direction) of the suction part 51 by the drive motor 63 and the change in the posture of the suction part 51 (rotation around the rotation axis 55) by the drive unit 68 can be performed independently. Therefore, the position and posture of the medicine pack 2 can be changed by changing the posture of the suction part 51 (rotation around the rotation axis 55) without involving vertical movement (Z-direction) of the suction part 51.

[0118] Figures 19(a) to 19(c) are explanatory diagrams showing an example of operation in this modified example 1. As shown in Figure 19(a), after removing the medicine pack 2 from the cartridge 10, the CPU of the control unit 150 drives the drive unit 68 to rotate the suction unit 51 around the rotation axis 55. This changes the orientation of the suction unit 51, and the orientation of the medicine pack 2, which is held by the suction pad 52 of the suction unit 51, changes from the approximately horizontal state shown in Figure 19(a) to the approximately vertical state shown in Figure 19(b).

[0119] However, in the nearly vertical state shown in Figure 19(b), the medicine pack 2 protrudes below the carriage 50. Therefore, in this modified example 1, the drive motor 63 is driven to raise the suction base member 57. As a result, the suction part 51 supported by the suction base member 57 rises, and as shown in Figure 19(c), the medicine pack 2 does not protrude below the carriage 50.

[0120] In particular, as shown in the example in Figure 19, if the drug pack 2 can be retracted to a position where it fits completely within the height and width of the outer edge of the carriage 50, then only one drug pack retraction process is required. In other words, there is no need to repeatedly perform the drug pack retraction process (vertical) and drug pack retraction process (horizontal) described in the above-described embodiment, which change the position or orientation of the drug pack 2.

[0121] [Variation 2] Next, a modified example of the operation of the suction unit 51 in the above-described embodiment (hereinafter referred to as "Modified Example 2") will be explained. The suction part 51 in this modified example 2 is an example in which the suction force (attraction force) of the medicine pack 2 by the suction part 51 is increased when the position or orientation of the medicine pack 2 is changed by changing the position or orientation of the suction part 51. Note that explanations that overlap with the above-described embodiment will be omitted as appropriate.

[0122] Figure 20 is a timing chart showing the driving of the carriage 50, the changing of the position and orientation of the suction unit 51, and the suction operation of the suction unit 51 in this modified example 2. Figure 20 shows, from top to bottom, the operation of the drive motor 95 for the X-direction transfer unit 91, the drive motor 105 for the Y-direction transfer unit 101, the drive motor 115 for the Z-direction transfer unit 111, the drive motor 63 for changing the attitude of the suction unit 51, and the negative pressure generator 45 for generating negative pressure for the suction unit 51.

[0123] As shown in Figure 20, in this modified example 2, the negative pressure of the negative pressure generator 45 is increased during the first drug pack retraction process (horizontal) (step S17 in Figure 14), the drug pack retraction process (vertical) (step S20 in Figure 14), and the final drug pack retraction process (horizontal) (step S22 in Figure 14), thereby increasing the suction force of the drug pack 2 by the suction pad 52.

[0124] When the position or orientation of the medicine pack 2 is changed, such as during the medicine pack retraction process, the medicine pack 2 may detach from the suction pad 52 due to its inertia. As shown in this modified example 2, by increasing the suction force of the medicine pack 2 even during the medicine pack retraction process, it is possible to suppress the detachment of the medicine pack when the position or orientation of the medicine pack 2 is changed.

[0125] Furthermore, if the suction power is always set to a high level, the amount of compressed air consumed will increase, requiring a larger air tank. By configuring the system to temporarily increase the suction power during the drug pack removal process, as shown in this modified example 2, it is possible to prevent the drug pack 2 from falling without increasing the size of the air tank.

[0126] [Example 3] Next, a modified example of the operation to change the position or orientation of the medicine pack 2 in the embodiment described above (hereinafter referred to as "Modified Example 3") will be explained. In this modified example 3, the position or orientation of the medicine pack 2 is changed while the carriage 50 is moving. Descriptions that overlap with the embodiments described above will be omitted as appropriate.

[0127] In the embodiment described above, similar to the timing chart shown in Figure 20, when the carriage 50 reaches the starting position of the vertical path from the horizontal path, the drive motors 95 and 105 of the X-direction transfer unit 91 and the Y-direction transfer unit 101 are stopped. Then, before starting the drive motor 115 of the Z-direction transfer unit 111 (before moving the carriage 50 along the vertical path), a drug pack retraction process (vertical) is performed, driving the drive motor 63 to change the position or orientation of the suction unit 51 and retract the drug pack 2. Therefore, in the embodiment described above, it is necessary to keep the carriage 50 stopped for the amount of time required for the drug pack retraction process (vertical).

[0128] Figure 21 is a timing chart showing the driving of the carriage 50, the changing of the position and orientation of the suction unit 51, and the suction operation of the suction unit 51 in this modified example 3. Figures 22(a) and (b) are explanatory diagrams showing the transition of the posture change operation of the suction unit 51 by the posture changing means. In this modified example 3, as shown in Figure 22(a), the drug pack retraction process (vertical) is started just before the carriage 50 reaches the starting position of the vertical path from the horizontal path, and the drive motor 63 is driven to change the position or orientation of the suction unit 51. That is, as shown in the timing chart in Figure 21, the drug pack retraction process (vertical) is started while the drive motor 95 of the X-direction transfer unit 91 is being driven. Therefore, the time during which the carriage 50 is stopped for the drug pack retraction process (vertical) can be reduced.

[0129] In particular, in this modified example 3, as shown in Figure 22(b), the carriage 50 is set to reach the starting position of the vertical passage from the horizontal passage (the drive motor 95 of the X-direction transfer unit 91 stops driving) at almost the same time that the drug pack retraction process (vertical) is completed (the drive motor 63 is driven to complete the change in the position or orientation of the suction unit 51). Therefore, as soon as the carriage reaches the starting position of the vertical passage (with virtually no stopping time for the carriage 50), the drive motor 115 of the Z-direction transfer unit 111 is driven to move the carriage 50 along the vertical passage. Consequently, the time required to move the carriage 50 from the location of the cartridge 10 to the location of the medication tray 30 can be shortened, and the productivity of the medication support device 200 can be improved.

[0130] Furthermore, in this modified example 3, as shown in Figure 22(c), the final drug pack retraction process (horizontal) is started just before the carriage 50 reaches the start position of the horizontal path from the vertical path, and the drive motor 63 is driven to change the position or orientation of the suction unit 51. That is, as shown in the timing chart in Figure 21, the drug pack retraction process (horizontal) is started while the drive motor 115 of the Z-direction transfer unit 111 is being driven. Therefore, the time during which the carriage 50 is stopped for the drug pack retraction process (horizontal) can be reduced.

[0131] In particular, in this modified example 3, as shown in Figure 22(d), the carriage 50 is set to reach the starting position of the horizontal passage from the vertical passage (the drive of the drive motor 115 of the Z-direction transfer unit 111 stops) at almost the same time that the drug pack retraction process (horizontal) is completed (the drive motor 63 is driven to complete the change in the position or orientation of the suction unit 51). Therefore, as soon as the carriage reaches the starting position of the horizontal passage (with virtually no stopping time for the carriage 50), the drive motor 95 of the X-direction transfer unit 91 is driven to move the carriage 50 along the horizontal passage. Consequently, the time required to move the carriage 50 from the location of the cartridge 10 to the location of the medication tray 30 can be shortened, and the productivity of the medication support device 200 can be improved.

[0132] Next, we will explain how the appropriate position or orientation of the medicine pack may differ depending on the size and shape of medicine pack 2. Figure 23(a) is an explanatory diagram showing the case where a large-sized medicine pack 2 is adsorbed and held when the adsorption unit 51 is in the position of the medicine pack 2 during the medicine pack retraction process (horizontal) described above (the position of the medicine pack 2 is at an angle). With a standard-sized medicine pack 2, as shown in Figures 16(b) and 16(f), the medicine pack 2 can be kept from protruding from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50 (horizontal direction). However, when a large-sized medicine pack 2 is adsorbed and held with the same position of the adsorption unit 51, a part of the medicine pack 2 protrudes from the bottom of the carriage 50, as shown in Figure 23(a).

[0133] Even when adsorbing and holding such a large-sized medicine pack 2, by changing the orientation of the adsorption unit 51 compared to when adsorbing and holding a normal-sized medicine pack 2, it is possible to further reduce the amount of overhang of the medicine pack 2, as shown in Figure 23(b). Therefore, by changing the setting of the position or orientation of the medicine pack during the medicine pack retraction process according to the difference in size of the medicine pack 2 being transported, it is possible to minimize the amount of overhang of the medicine pack 2 for each medicine pack 2 of different sizes, enabling appropriate transport of any size medicine pack 2.

[0134] Figure 24(a) is an explanatory diagram showing the case where a specially shaped medicine pack 2 (for example, connected medicine packs) is held by suction when the suction unit 51 is in the position described above during the medicine pack retraction process (horizontal) (the position of the medicine pack 2 is at an angle). With a medicine pack 2 of normal shape, as shown in Figures 16(b) and 16(f), the medicine pack 2 can be kept from protruding from the outer edge of the carriage 50 when viewed from the direction of movement of the carriage 50 (horizontal direction). However, when a specially shaped medicine pack 2 is held by suction in the same position of the suction unit 51, a part of the medicine pack 2 may protrude above the carriage 50, as shown in Figure 24(a).

[0135] Even when adsorbing and holding a medicine pack 2 with such a special shape, by changing the orientation of the adsorption unit 51 compared to when adsorbing and holding a medicine pack 2 with a normal shape, it is possible to further reduce the amount of overhang of the medicine pack 2, as shown in Figure 24(b). Therefore, by changing the setting of the position or orientation of the medicine pack during the medicine pack retraction process according to the difference in the shape of the medicine pack 2 being transported, it is possible to minimize the amount of overhang of the medicine pack 2 for each medicine pack 2 with a different shape, and appropriate transport of any shape of medicine pack 2 becomes possible.

[0136] The above is merely an example, and the present invention provides specific effects in each of the following embodiments. [First aspect] The first embodiment is a transport device (e.g., a transfer unit 90) comprising a holding unit (e.g., a suction unit 51) for taking out and holding the medicine pack 2 from a storage unit (e.g., a cartridge 10) for storing the medicine pack 2, and a transport unit (e.g., a carriage 50) for transporting the medicine pack while it is held in the holding unit, characterized in that the transport device has a changing unit (e.g., a suction unit vertical movement unit) for changing the position or orientation of the medicine pack held in the holding unit along the transport path (e.g., a horizontal passage, a vertical passage). In a transport device in which a transport unit transports a medicine pack held in a holding unit, the position and orientation of the medicine pack are important for proper transport. Depending on the movement path of the transport unit, the position and orientation of the medicine pack may be inappropriate in part of that movement path, in which case proper transport of the medicine pack may become difficult. For example, the medicine pack may not protrude from the outer edge of the transport unit when viewed from a certain direction, but may protrude from the outer edge of the transport unit when viewed from a different direction. In this case, proper transport is possible in the section of the movement path where the transport unit moves along that specific direction, but in the section of the movement path where the transport unit moves along that other direction, the protruding medicine pack may get caught on surrounding components, fall or be damaged, making proper transport difficult. In this embodiment, the modification unit allows the position or orientation of the medicine pack held by the holding unit to be changed during the movement path of the transport unit. This makes it possible to position and orient the medicine pack appropriately at each part of the transport unit's movement path. Therefore, appropriate transport of the medicine pack can be achieved along the entire movement path of the transport unit.

[0137] [Second aspect] The second embodiment is characterized in that, in the first embodiment, the modification unit performs the modification when the direction of movement of the transport unit is changed in the middle of the movement path. When the direction of movement of the transport unit is changed, factors that hinder the proper transport of the medicine pack often change, such as how easily the medicine pack 2 detaches from the holding unit and the amount the medicine pack protrudes when viewed from the direction of movement of the transport unit. According to this embodiment, even if such a change in the direction of movement of the transport unit occurs, it is possible to position and orient the medicine pack in a way that allows for proper transport, thereby enabling proper transport of the medicine pack along the transport unit's movement path.

[0138] [Third aspect] The third embodiment is characterized in that, in the first or second embodiment, the modification is made such that the amount of the medicine pack protruding from the outer edge of the transport unit when viewed from the direction of movement of the transport unit is reduced. According to this embodiment, it is possible to prevent the protruding medicine pack from getting caught on surrounding components, causing it to fall or be damaged, thereby ensuring proper transport.

[0139] [Fourth aspect] The fourth aspect is characterized in that, in the third aspect, the modification is made such that the amount of overflow of the medicine pack is minimized. According to this embodiment, the risk of the protruding medicine pack getting caught on surrounding components and falling or being damaged is minimized, enabling more appropriate transport.

[0140] [Fifth aspect] The fifth embodiment is characterized in that, in any of the first to fourth embodiments, it has a setting change unit for changing the setting of the position or orientation of the medicine pack which is changed by the modification unit. According to this, even if the appropriate position or orientation for each medicine pack differs due to differences in size, shape, etc., it is possible to transport each medicine pack in a position or orientation suitable for it.

[0141] [Sixth aspect] The sixth embodiment is characterized in that, in any of the first to fifth embodiments, the modification is performed by changing the orientation of the holding part relative to the transport part. According to this, it is easier to achieve a simpler configuration than when the aforementioned change is made by changing the position of the holding part.

[0142] [Seventh aspect] The seventh embodiment is characterized in that, in any of the first to sixth embodiments, the modification unit performs the modification by changing the position of the holding unit relative to the conveying unit while maintaining the orientation of the holding unit relative to the conveying unit. According to this, the posture of the holding part is maintained, making it easier to maintain the holding state of the medicine pack by the holding part, so the medicine pack is less likely to fall out of the holding part during transport by the transport part.

[0143] [8th aspect] The eighth aspect is characterized in that, in any of the first to seventh aspects, the holding part includes an air adsorption part (for example, an adsorption part 51) that adsorbs and holds the medicine pack, and when the modification part performs the modification, it increases the adsorption force of the air adsorption part. When the position or orientation of the medicine pack is changed, there is a risk that the medicine pack may fall out of the holding part due to the inertia of the medicine pack. According to this embodiment, when the changing part makes the change, the suction force of the air suction part increases, so that the medicine pack can be prevented from falling out when the position or orientation of the medicine pack is changed.

[0144] [Ninth aspect] The ninth aspect is characterized in that, in any of the first to eighth aspects, the modification unit performs the modification while the transport unit is moving. According to this, the position or orientation of the medicine pack can be changed without stopping the movement of the transport unit, thus reducing the time required for the transport unit to move compared to changing the position or orientation of the medicine pack while the transport unit is temporarily stopped.

[0145] [Tenth aspect] The tenth embodiment is a medication support device 200 that places a medicine pack stored in a storage unit to a corresponding position in a medicine placement unit using a transport device, characterized in that the transport device is one of the transport devices of the first to ninth embodiments. In this embodiment, a medication support device is provided that can ensure the proper transport of medicine packs along the transport unit's movement path. [Explanation of Symbols]

[0146] 2. Individually packaged medication (an example of a medication package) 3. Medications 10. Cartridge, storage unit (an example of a storage mechanism) 21 Drawer section 29 Drug distribution department 30. Medication tray (an example of a medication dispensing device or dispensing stand) 45. Negative pressure generator (an example of a negative pressure switching mechanism) 50 Carriage (an example of a means of removal) 51 Adsorption part (an example of an adsorption means) 52. Suction pad (an example of a component constituting the suction means) 55 Rotating shaft (an example of a component that makes up the suction part movement guide) 56 Guide axis (an example of a component that makes up the suction part movement guide) 57. Suction base member (an example of a component that constitutes the suction movement guide) 58 Guide rod (an example of a component that makes up the suction part movement guide) 59 Guide member (an example of a guide member for the suction part) 59b Guide groove (an example of a component that makes up the suction part movement guide) 63. Drive motor (an example of a means for driving the suction part) 66 Posture Correction Department 67 Posture Correction Member (An Example of Posture Correction Means) 68 Solenoid (driving means for posture correction member) 70 Pressure Sensor 71 Pressure sensor (air detection means) 72 Air delivery unit (posture correction means) 73 Pressure Sensor 90 Transfer section (an example of a transfer means) 150 Control Unit 151 Touch panel (an example of an operating panel) 200 Medication support devices X Left / right / horizontal direction Y (front / back, depth direction) Z (up / down / vertical direction) [Prior art documents] [Patent Documents]

[0147] [Patent Document 1] Japanese Patent Publication No. 2002-200141

Claims

1. A holding unit that takes out and holds the medicine pack from the storage unit where the medicine pack is stored, A conveying device comprising: a conveying unit for conveying a medicine pack held in the holding unit; A conveying device characterized by having a changing unit that changes the position or orientation of a medicine pack held by the holding unit along the movement path of the conveying unit.

2. In the conveying device according to claim 1, The conveying device is characterized in that the modification unit performs the modification when the direction of movement of the conveying unit is changed in the middle of the movement path.

3. In the conveying device according to claim 1 or 2, The conveying device is characterized in that the modification is made such that the amount of the medicine pack protruding from the outer edge of the conveying unit when viewed from the direction of movement of the conveying unit is reduced.

4. In the conveying device according to claim 3, The conveying device is characterized in that the modification is made so as to minimize the amount of overflow of the medicine pack.

5. In the conveying device according to claim 1 or 2, A conveying device characterized by having a setting change unit for changing the setting of the position or orientation of the medicine pack, which is changed by the aforementioned modification unit.

6. In the conveying device according to claim 1 or 2, The conveying device is characterized in that the modification is performed by changing the orientation of the holding part relative to the conveying part.

7. In the conveying device according to claim 1 or 2, The conveying device is characterized in that the modification is performed by changing the position of the holding part relative to the conveying part while maintaining the orientation of the holding part relative to the conveying part.

8. In the conveying device according to claim 1 or 2, The holding part includes an air adsorption part that adsorbs and holds the medicine pack, A conveying device characterized in that when the modification unit performs the modification, it increases the suction force of the air suction unit.

9. In the conveying device according to claim 1 or 2, The conveying device is characterized in that the modification unit performs the modification while the conveying unit is moving.

10. A medication support device that uses a transport device to place medication packs stored in a storage unit into corresponding positions in a medication placement unit, A medication support device characterized by using the transport device described in claim 1 or 2 as the transport device.

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