Medicine packaging apparatus and medicine packaging system

Abstract

Provided is a medicine packaging apparatus that achieves improvements in operability and cleanability.　A medicine packaging apparatus 1 comprises: an apparatus body 2; tablet cassettes 10; a tablet shelf 3 to which a plurality of tablet cassettes 10 are attached; an upper tablet collection mechanism 5 for dropping tablets discharged from the tablet cassette 10 downward; a lower tablet collection mechanism 6 for collecting the tablets dropped from the upper tablet collection mechanism 5 and dropping the tablets downward; and a packaging device 4 for packaging the tablets dropped from the lower tablet collection mechanism 6 into a packet of packaging paper 38. The tablet shelf 3 has a front shelf 8 located on the front side of the apparatus body 2 and a back shelf 9 located on the back side of the apparatus body 2. The tablet cassettes 10 can be attached to and detached from the front shelf 8 from the front side of the apparatus body 2, and attached to and detached from the back shelf 9 from the back side of the apparatus body 2.

Description

Medicine packaging machine and medicine packaging system

[0001] The present invention relates to a medicine packaging system that includes a medicine packaging machine equipped with a tablet cassette that can dispense tablets one by one, a medicine packaging machine and a cabinet that can store a large amount of a variety of medicines, and a robot that transfers medicines between the cabinet and the medicine packaging machine.

[0002] A known medicine packaging machine includes a cassette that stores tablets in a container, a rotor that rotates around an axis inside the container, and the rotor rotates in accordance with the rotation of the axis to discharge tablets one by one from the container, and a packaging device that packages the tablets dispensed from the cassette in accordance with prescription data (see, for example, Patent Document 1). Another known medicine packaging machine has a medicine shelf that stores medicines and is divided into two sections in the front-to-back direction of the device so that they can be opened and closed relative to each other, and a drop path for the medicines to fall can be opened, improving cleanability (see, for example, Patent Documents 2 and 3).

[0003] Another known pharmaceutical packaging machine includes multiple upper and lower tablet collection mechanisms that drop tablets discharged from multiple feeders downward, a packaging device, and a manual pharmaceutical dispensing device, with the lower tablet collection mechanism having an accumulation chute and a collection chute (see, for example, Patent Document 4). In this device, the accumulation chute is pulled forward from the housing when the manual pharmaceutical dispensing device is pulled out of the housing, improving cleanability. Another known pharmaceutical packaging machine includes a base that holds the manual pharmaceutical dispensing device and a lower pharmaceutical collection mechanism that guides tablets dropped from a medicine cabinet to the packaging device, a first drawer member that supports the base so that it can be moved forward and backward from the housing, and a second drawer member that supports the lower pharmaceutical collection mechanism so that it can be moved backward and forward from the base (see, for example, Patent Document 5). In this device, by retracting the lower pharmaceutical collection mechanism while the manual pharmaceutical dispensing device is pulled out of the housing, the gap between the operating part of the manual pharmaceutical dispensing device and the lower pharmaceutical collection mechanism can be easily widened, improving cleanability.

[0004] On the other hand, when cassettes used in such medicine packaging machines contain medicines that are dispensed in large quantities at dispensing locations such as hospitals and pharmacies, they need to be replaced frequently to replenish missing tablets, and medicine packaging machines equipped with cassettes that dispense large quantities of medicine require long downtimes for cassette replacement. Therefore, there is a trend toward medicine packaging machines equipped with larger-capacity cassettes in order to reduce the frequency of cassette replacement.

[0005] Japanese Patent Application Laid-Open No. 2023-022428 Japanese Patent No. 6466648 Utility Model No. 2020020026793 Japanese Patent Application Laid-Open No. 2023-068551 International Publication No. WO2019 / 244825A1

[0006] Conventional drug packaging machines have been installed in limited spaces such as pharmacies, with the front side of the device open and the back side shielded by a wall or other barrier, and in each of the above-mentioned technologies, tablet cassettes were only attached and detached from the front side of the device. Recently, drug packaging machines have also been installed in factories that produce supplements, etc., and in the case of drug packaging machines installed in large spaces such as these factories, the back side may not be covered by a wall and may be accessible. In such cases, with a configuration in which tablet cassettes can only be attached and detached from the front side of the device, as in each of the above-mentioned technologies, tablet cassettes must also be attached and detached from the front side of the device, even to shelves on the back side of the device, resulting in poor operability.

[0007] In addition, in a medicine packaging machine disclosed in Patent Document 2, the front and rear shelves are opened to open the medicine drop path to improve cleanability. The front and rear shelves are each opened toward the front of the machine (first stage), and then the front and rear shelves are further opened from this state (second stage). In this configuration, the shelves are opened about 90 degrees from the front of the machine in the first stage, and then the front and rear shelves are opened in the second stage. Because the opening angle between the front and rear shelves is less than 90 degrees, it is difficult to easily clean the medicine drop path, especially the medicine drop path where the shelves are connected.

[0008] In addition, in the drug packaging machine disclosed in Patent Document 3, in which the front shelf opens and closes in a double-door configuration relative to the rear shelf, and the front shelf further opens and closes back and forth, each front shelf only opens about 90 degrees relative to the rear shelf when in the double-door configuration. Therefore, when the front door is opened further back and forth, the opening angle of each shelf is less than 90 degrees, making it difficult to easily clean the drug drop path, as with the technology described in Patent Document 2. Furthermore, if the above-mentioned large-capacity cassette is used in the technology described in Patent Document 3, there is a problem in that the thickness of each shelf becomes large, making it difficult to open the double-door configuration.

[0009] Furthermore, while the technologies disclosed in Patent Documents 4 and 5 each include a manual drug dispensing device, recently, drug packaging machines that do not have a manual drug dispensing device have become known in order to accommodate the packaging of a small variety of drugs in large quantities. Some of these drug packaging machines do not have a manual drug dispensing device and instead use a large chute to receive falling drugs as a lower drug collection mechanism. However, these drug packaging machines using large chutes have the problem that the chute is large and difficult to remove, making them difficult to clean. The present invention aims to solve the above-mentioned problems and provide a drug packaging machine and a drug packaging system using the same that can improve operability and cleanability.

[0010] The invention described in claim 1 comprises a device main body, a tablet cassette that stores tablets and discharges them one by one, a tablet shelf on which a plurality of the tablet cassettes are mounted, an upper tablet collecting mechanism provided on the tablet shelf and causing tablets discharged from the tablet cassettes to fall downward, a lower tablet collecting mechanism that collects tablets that have fallen from the upper tablet collecting mechanism and causes them to fall downward, and a packaging device that packages the tablets that have fallen from the lower tablet collecting mechanism into packaging paper, wherein the tablet shelf has a front shelf located on the front side of the device main body and a rear shelf located on the rear side of the device main body, and the tablet cassettes can be attached and detached to the front shelf from the front side of the device main body and to the rear shelf from the rear side of the device main body.

[0011] According to the present invention, the tablet cassettes can be attached and detached to the front shelf from the front side of the device body, and to the rear shelf from the rear side of the device body, thereby greatly improving operability.

[0012] 1 is a schematic front view of a medicine packaging machine according to a first embodiment of the present invention. FIG. 2 is a schematic side view of a medicine packaging machine according to the first embodiment of the present invention. FIG. 3 is a partial cross-sectional front view illustrating a lower medicine collecting mechanism of the medicine packaging machine according to the first embodiment of the present invention. FIG. 4 is a cross-sectional side view illustrating a lower medicine collecting mechanism of the medicine packaging machine according to the first embodiment of the present invention. FIG. 5 is a schematic rear view of a medicine packaging machine according to the first embodiment of the present invention. FIG. 6 is a schematic view illustrating a tablet cassette and a cassette base used in the first embodiment of the present invention. FIG. 7 is a schematic plan view illustrating a door of a tablet shelf used in the first embodiment of the present invention. FIG. 8 is a schematic view illustrating a state in which an upper shutter section used in the first embodiment of the present invention is pulled out from the device main body. FIG. 9 is a schematic view illustrating a lower chute section pulled out from the device main body together with the upper shutter section used in the first embodiment of the present invention. FIG. 10 is a schematic view showing a state in which the front shelf and rear shelf of the medicine packaging machine according to the first embodiment of the present invention are opened 180 degrees relative to the device main body. FIG. 11 is a schematic view illustrating a support structure for the device main body and rear shelf used in the first embodiment of the present invention. FIG. 12 is a schematic view illustrating a support structure for the device main body and rear shelf used in the first embodiment of the present invention. FIG. 13 is a schematic view illustrating a fixing structure for the device main body and front shelf used in the first embodiment of the present invention. FIG. 1 is a schematic view showing a state in which a front shelf is opened 90 degrees relative to the device body of a medicine packaging machine according to a first embodiment of the present invention. FIG. 2 is a schematic front view showing a state in which a front shelf and a rear shelf of a medicine packaging machine according to a first embodiment of the present invention are opened 180 degrees relative to the device body. FIG. 3 is a schematic view showing a packaging device used in a first embodiment of the present invention. FIG. 4 is a schematic view showing a packaging device used in a first embodiment of the present invention. FIG. 5 is a schematic plan view showing a packaging device used in a first embodiment of the present invention. FIG. 6 is a schematic view illustrating an exit conveyor used in a first embodiment of the present invention. FIG. 7 is a schematic view illustrating an exit conveyor used in a first embodiment of the present invention. FIG. 8 is a schematic front perspective view of a medicine packaging system according to a second embodiment of the present invention. FIG. 9 is a schematic front perspective view showing a state in which a ceiling part of the medicine packaging system according to the second embodiment of the present invention has been removed. FIG. 10 is a schematic rear perspective view showing a state in which a ceiling part of the medicine packaging system according to the second embodiment of the present invention has been removed.29 is a schematic side view of a medicine packaging system according to a second embodiment of the present invention. FIG. 29 is a schematic side view of the medicine packaging system according to the second embodiment of the present invention, with the cabinet located on the front side removed. FIG. 30 is a schematic perspective view showing a state in which one of the cabinet doors of the medicine packaging system according to the second embodiment of the present invention is open. FIG. 31 is a schematic view of a cassette base used in the second embodiment of the present invention. FIG. 32 is a schematic view showing a state in which a tablet cassette used in the second embodiment of the present invention is manually attached to and detached from the cassette base. FIG. 33 is a schematic view showing a state in which the tablet cassette has been inverted 180 degrees by operating the inverting means from the state shown in FIG. 31. FIG. 32 is a schematic perspective view showing a state in which a cabinet arranged at a position facing the medicine packaging machine of the medicine packaging system according to the second embodiment of the present invention is open. FIG. 33 is a schematic perspective view of a robot used in the second embodiment of the present invention. FIG. 34 is a schematic view illustrating a gripping unit of the robot used in the second embodiment of the present invention. FIG. 35 is a schematic view illustrating a gripping operation of the tablet cassette by the gripping unit of the robot used in the second embodiment of the present invention. FIG. 36 is a schematic view illustrating a state in which the lid of the tablet cassette used in the second embodiment of the present invention is in a closed position. FIG. 10 is a schematic view illustrating a state in which the lid portion of the tablet cassette used in the second embodiment of the present invention has moved upward from the closed position.

[0013] Fig. 1 is a schematic front view of a medicine packaging machine according to a first embodiment of the present invention, Fig. 2 is a schematic side view of the same, Fig. 3 is a partial cross-sectional front view of the medicine packaging machine according to the first embodiment of the present invention, Fig. 4 is a cross-sectional side view of the same, and Fig. 5 is a schematic rear view of the same. The medicine packaging machine 1 mainly comprises a device main body 2, a tablet shelf 3, and a packaging device 4, and an upper medicine collection mechanism 5 and a lower medicine collection mechanism 6 are provided inside the device main body 2. The tablet shelf 3 is disposed at the top of the device main body 2, and the packaging device 4 is disposed at the bottom, and the upper medicine collection mechanism 5 is disposed at the top inside the device main body 2, and the lower medicine collection mechanism 6 is disposed at the bottom inside the device main body 2.

[0014] As shown in Figure 2, a flat stepped portion 2a is provided between the upper portion of the device body 2 where the tablet shelf 3 is provided and the lower portion where the packaging device 4 is provided, allowing an operator to perform dispensing work on the stepped portion 2a. A control means (not shown) that controls the operation of the medicine packaging machine 1 is provided inside the device body 2, and a touch panel 7 that is used to input information when operating the medicine packaging machine 1 is located at the upper front surface of the tablet shelf 3. The base end of the touch panel 7 is supported by an arm member 7a fixed to the device body 2 located above the tablet shelf 3, and the touch panel 7 can be positioned as desired by rotating and extending the arm member 7a.

[0015] As shown in FIG. 4, the tablet shelf 3 is composed of a front shelf 8 and a rear shelf 9. As shown in FIGS. 1 and 5, the front shelf 8 and the rear shelf 9 store a large number of tablet cassettes 10. In the example shown in this embodiment, each store 18 tablet cassettes 10 in three columns and six rows. The structure and operation of the tablet cassette 10 used in this embodiment will now be described. As shown in FIG. 6, the tablet cassette 10 includes two rotors 11 and 12, a container body 13 in which tablets are stored, a handle 14, a lid 15, and two tablet outlets 16 and 17. The tablet cassette 10 is larger than a typical tablet cassette and is configured to store a larger number of tablets than a typical tablet cassette. The tablet cassette 10 rotates and drives the rotors 11 and 12, discharging tablets stored in the container body 13 one tablet at a time from the tablet outlets 16 and 17 by engaging the base 19 with cassette bases 18, each of which is provided on the front shelf 8 and the rear shelf 9. An operator of medicine packaging machine 1 grasps handle 14 and transports tablet cassette 10 .

[0016] The cassette base 18 has a transmission drive unit 20 that engages with the rotation drive mechanisms of the rotors 11 and 12 provided in the tablet cassette 10 from below the base 19 to transmit rotational drive force to the rotors 11 and 12. When the transmission drive unit 20 is driven to rotate by the operation of the pulse motor, the rotors 11 and 12 are also driven to rotate synchronously. The outer periphery of each rotor 11 and 12 is provided with a plurality of irregularities formed at equal intervals, and as each rotor 11 and 12 rotates, tablets enter the recesses of each irregularity. Then, as the recesses holding the tablets overlap the tablet outlets 16 and 17, tablets are discharged one by one from each tablet outlet 16 and 17. When the recesses of the irregularity unit provided on the rotor 11 overlap the tablet outlet 16, the protruding portions of the irregularity unit provided on the rotor 12 overlap the tablet outlet 17. This allows tablets to be discharged from each tablet outlet 16 and 17 at different times.

[0017] An identification member 21 that records the type of tablets contained in the container body 13 is provided on the bottom surface of the base 19 of the tablet cassette 10. A commercially available, thin, flexible RFID tag is used as the identification member 21, and information about the tablets contained in each tablet cassette 10 is written in advance. The combination of the contained tablets and the identification member 21 is stored by control means (not shown), and this information can be confirmed, for example, via the touch panel 7. An identification member 59 having the same structure and function as the identification member 21 is also provided on the handle 14. An identification sensor 23 that recognizes the identification member 21 is provided on the upper surface 22 of the cassette base 18, and the identification sensor 23 is configured to identify the identification member 21 provided on any tablet cassette 10, thereby enabling the tablet cassette 10 placed and engaged on the cassette base 18 to be identified. In the above-described configuration, tablet cassette 10 is shown as a tablet cassette that is larger than a normal tablet cassette and can store a larger number of tablets, but the tablet cassettes that can be used with the drug packaging machine 1 of this embodiment are not limited to this, and any tablet cassette can be used as long as it is capable of storing a large number of tablets and is capable of discharging the stored tablets one by one in accordance with instructions from the control means.

[0018] The front shelf 8, to which each cassette base 18 is fixed, allows an operator to attach and detach tablet cassettes 10 to and from each cassette base 18 from the front side of the device, and tablets contained in tablet cassettes 10 attached to the front shelf 8 are packaged by the packaging device 4. The rear shelf 9, to which each cassette base 18 is fixed, also allows an operator to attach and detach tablet cassettes 10 to and from each cassette base 18 from the rear side of the device, and tablets contained in tablet cassettes 10 attached to the rear shelf 9 are also packaged by the packaging device 4. As shown in FIG. 7 , the surfaces of the front shelf 8 and the rear shelf 9 are each provided with openable and closable doors 24, 25 for protecting the stored tablet cassettes 10. In this way, the medicine packaging machine 1 of the present invention allows tablet cassettes 10 to be attached and detached to and from the tablet shelf 3 from either the front or rear side, significantly improving operability compared to conventional medicine packaging machines in which tablet cassettes can be attached and detached only from the front side. Furthermore, simultaneous operation by two or more operators is possible, improving work efficiency.

[0019] As shown in Figure 4, upper medicine collection mechanism 5 having individual guide paths 26 and collective guide path 27 is disposed between tablet cassettes 10 housed in front shelf 8 and tablet cassettes 10 housed in rear shelf 9. Individual guide paths 26 formed from sheet metal members are provided corresponding to each cassette base 18, and guide tablets discharged from each tablet discharge opening 16, 17 downward. Collective guide path 27, formed by opposing plate members 36 made of sheet metal members, is provided on the rear side of each of shelves 8, 9, and guides tablets discharged from each individual guide path 26 downward all at once.

[0020] As shown in Figures 3 and 4, the lower medicine collection mechanism 6 is located below the tablet shelf 3 and collects tablets that have fallen from multiple tablet cassettes 10 stored in the tablet shelf 3 via the upper medicine collection mechanism 5, and drops the collected tablets toward the packaging device 4 located further below. In the medicine packaging machine 1, the lower medicine collection mechanism 6 is mainly composed of an upper chute section 28, a lower chute section 29, and an upper shutter section 30. The upper chute section 28 is located at the top of the lower medicine collection mechanism 6 and is a large, rectangular tubular member that is inclined from the rear side to the front side and tapered downward so as to transport the medicines that fall from the upper medicine collection mechanism 5 from the rear side to the front side of the device. The lower chute section 29 is located below the upper chute section 28 and is a small, rectangular tubular member that is inclined from the rear side to the front side and tapered downward so as to transport the medicines that fall from the upper chute section 28 further from the rear side to the front side of the device. The openable upper shutter part 30 is located between the upper chute part 28 and the lower chute part 29, and temporarily stores the medicine that has fallen from the upper chute part 28 in a closed state, and after a predetermined time has passed, it shifts to an open state and drops the stored medicine into the lower chute part 29.

[0021] In the lower medicine collection mechanism 6, the lower chute section 29 and the upper shutter section 30 are configured to be retractable from the device main body 2. As shown in Fig. 1, a front cover 31 that can be opened and closed downward and forward using its lower end as an opening and closing pivot is provided on the front portion of the device main body 2 in which the packaging device 4 is housed, and a front panel 32 that can be pulled out toward the front of the device when the front cover 31 is opened is provided above the front cover 31. As shown in Fig. 8, a shelf section 33 that is supported by a rail member (not shown) so as to be retractable toward the front of the device is connected to the front panel 32, and the upper shutter section 30 is detachably attached to the shelf section 33 inside the shelf section 33.

[0022] 9 is a view from below of the shelf 33 pulled out from the device main body 2. The lower chute 29 is disposed below the bottom plate 33a of the shelf 33. The lower chute 29 is supported by rail members (not shown) and is configured to be detachable from the shelf 33, which is pulled out toward the front of the device and forms part of the device main body 2. A ball catch mechanism 34 that holds the lower chute 29 when it is attached to the shelf 33 and a chute detection sensor 35 that detects when the lower chute 34 is attached to a predetermined position on the shelf 33 are disposed at the rear end of the lower chute 29. In addition, the bottom plate 33a to which the lower chute 29 is attached has a hole (not shown) that connects the upper shutter 30 and the lower chute 29.

[0023] With the above-described configuration, the lower chute section 29 and the upper shutter section 30 can be pulled out as a unit from the device main body 2. Therefore, when pulled out from the device main body 2, the upper shutter section 30 is exposed, allowing for easy cleaning of the upper shutter section 30 and improving cleanability. Cleanability is further improved by removing the upper shutter section 30 from the shelf section 33. Furthermore, because the lower chute section 29 is detachable from the shelf section 33, the lower chute section 29 can be removed from the device main body 2 for cleaning, improving cleanability. Furthermore, the ball catch mechanism 34 that secures the lower chute section 29 to the shelf section 33 and the chute section detection sensor 35 that detects when the lower chute section 34 is attached to the shelf section 33 in a predetermined position are provided, allowing the lower chute section 34 to be reliably set in a predetermined position. Furthermore, even if the lower chute section 29 is forgotten to be set on the shelf section 33 and the shelf section 33 is stored in the device main body 2, the chute section detection sensor 35 detects that the lower chute section 29 is not attached to the shelf section 33, so it is possible to prevent the device from being soiled or broken down due to operation of the device without the lower chute section 29 attached.

[0024] As described above, the tablet shelf 3 is composed of a front shelf 8 and a rear shelf 9, which are each rotatably supported on the device main body 2 as shown in Figure 10. Specifically, one side of the front shelf 8 is rotatably supported on one side of the device main body 2 so as to be openable toward the front of the device, and one side of the rear shelf 9 is rotatably supported on one side of the device main body 2 so as to be openable toward the rear of the device. The support structure of the rear shelf 9 relative to the device main body 2 will be described below. Note that the front shelf 8 is configured in the same way, so only the rear shelf 9 will be described here.

[0025] The rear shelf 9 is rotatably supported at its upper part on one side of the device main body 2 by a hinge mechanism 50 shown in Fig. 11 and at its lower part on one side of the device main body 2 by a hinge mechanism 54 shown in Fig. 12. The device main body 2 and the rear shelf 9 are provided with an open state holding mechanism (not shown) that holds the rear shelf 9 in an open state when the rear shelf 9 is opened at a 90-degree angle relative to the device main body 2 as shown in Fig. 10. The device main body 2 and the rear shelf 9 are also provided with a detection mechanism that detects when the rear shelf 9 is positioned at a dispensing position, which is a predetermined position when the rear shelf 9 is closed relative to the device main body 2 and allows tablets to be dispensed. The detection mechanism is composed of a dog 55a provided on the rear shelf 9 and a sensor 55b provided on the device main body 2, and detects that the rear shelf 9 is positioned at the dispensing position when the dog 55a is detected by the sensor 55b. The front shelf 8 is also rotatably supported on one side of the device body 2 by a hinge mechanism similar to that of the rear shelf 9, and is held in an open state by a similar open state holding mechanism when opened at a 90-degree angle relative to the device body 2. With this configuration, the front shelf 8 and the rear shelf 9 can be held in an open state with the front shelf 8 at a 90-degree angle toward the front of the device body 2 and the rear shelf 9 at a 90-degree angle toward the rear of the device, as shown in Figure 10, i.e., the tablet shelf 3 can be held in an open state with the device body 2 at an angle of 180 degrees.

[0026] A fixing member 56 is provided on the other side, opposite the pivot point of the front shelf 8 and the device body 2, to fix the front shelf 8 to the device body 2 when the front shelf 8 is closed relative to the device body 2 and occupies the dispensing position. As shown in FIG. 13 , the fixing member 56 is composed of an engaging member 57 provided on the device body 2 side and an engaged member 58 provided on the front shelf 8 side, and the engaged member 58 engages with the engaging member 57 when the front shelf 8 occupies the dispensing position. The engaging member 57 has a ball catch mechanism, and the engaged member 58 has an engaging piece that engages with the engaging member 57. This allows the fixing member 56 to fix the front shelf 8 to the device body 2 when it occupies the dispensing position. The rear shelf 9 is also configured to be fixed to the device body 2 when it occupies the dispensing position by a similar fixing member.

[0027] As described above, the upper medicine collection mechanism 5 is provided between the front shelf 8 and the rear shelf 9, and tablets contained in each tablet cassette 10 pass through the individual guide paths 26 and the collective guide path 27 of the upper medicine collection mechanism 5 and fall into the lower medicine collection mechanism 6. Therefore, as medicines are supplied from the tablet shelf 3, the upper medicine collection mechanism 5 becomes soiled by the falling tablets, and therefore the upper medicine collection mechanism 5 needs to be cleaned. In the medicine packaging machine 1 of the present invention, the front shelf 8 and the rear shelf 9 can each be opened 90 degrees relative to the device body 2. Therefore, as shown in FIG. 14 , with the rear shelf 9 closed, the front shelf 8 is held in a 90-degree forward open position by an open state holding mechanism. In this position, the plate members 36 constituting the collective guide paths 27 of the upper medicine collection mechanism 5 provided on the surface side of each shelf 8, 9 are exposed, allowing the upper medicine collection mechanisms 5 provided on each shelf 8, 9 to be easily cleaned.

[0028] In the lower medicine collection mechanism 6, the upper chute section 28 is located at the top position above the lower chute section 29. As described above, this upper chute section 28 is a large, rectangular tubular member that is inclined and tapered downward so as to transport medicines dropping from the upper medicine collection mechanism 5 from the rear side of the device to the front side of the device. When the medicine packaging machine 1 is in operation, the tablet shelf 3 equipped with the upper medicine collection mechanism 5 is located above the upper chute section 28. Therefore, as medicines are supplied from the tablet shelf 3, the upper chute section 28, like the upper medicine collection mechanism 5, also needs to be cleaned. However, conventional tablet packaging machines, such as those with openable front and rear shelves to allow the medicine drop path to be opened, or those in which the front shelf opens and closes like a double door relative to the rear shelf, and the front shelf further opens and closes back and forth, have the following problem: When the shelf is open, a portion of the shelf is located above the large upper chute section 28, preventing the upper chute section 28 from being completely exposed, making cleaning difficult. Furthermore, when the upper chute section 28 is removed upward from the device body, the upper chute section 28 may come into contact with a part of the shelf, which may prevent the upper chute section 28 from being removed upward.

[0029] In the medicine packaging machine 1 of the present invention, the front shelf 8 and the rear shelf 9 are each configured to be openable at a 90-degree angle relative to the device body 2. With this configuration, when the shelves 8 and 9 are open at a 90-degree angle relative to the device body, as shown in FIGS. 10 and 12 , the open shelves 8 and 9 are not positioned above the upper chute section 28, completely exposing the upper chute section 28 and allowing for easy cleaning. Furthermore, as shown in FIG. 15 , the upper chute section 28 can be easily removed upward, allowing for easy cleaning of the upper chute section 28 and significantly improving the cleanability of the lower medicine collection mechanism 6. The open-state retention mechanism maintains the shelves 8 and 9 in an open state during cleaning and removal of the upper chute section 28, improving work efficiency and safety.

[0030] The packaging device 4, which is disposed at the bottom of the apparatus main body 2, can be seen from the front when the front cover 31 is open as shown in Fig. 16, and is configured to be able to be pulled out toward the front of the apparatus from this state as shown in Fig. 17. The packaging device 4 is placed as a unit on the top surface of a plate-shaped base member 37 that is supported so as to be freely pulled out by a rail member (not shown), and is pulled out toward the front of the apparatus when the base member 37 is pulled out from the apparatus main body 2. When the packaging device 4 is pulled out from the apparatus main body 2 as shown in Fig. 17, it can be cleaned with an air flow from an air compressor or the like.

[0031] As shown in Figure 18, packaging device 4 includes a packaging paper feed unit 39 that holds a roll of packaging paper 38 and applies appropriate tension to the packaging paper 38, feeding the packaging paper 38 from the leading edge, in that order along the packaging paper 38 conveyance path, and a printer 40 that prints on the packaging paper 38. Packaging device 4 also includes a vertical seal unit 41 that has a heating element extending widthwise of packaging paper 38, i.e., in the direction of the paper surface in Figure 18, and heats and fuses the packaging paper 38, and a hopper 42 that moves up and down inside the folded packaging paper 38 to insert and remove the leading edge. Packaging device 4 also includes a horizontal seal unit 43 that has a heating element extending left and right in Figure 18 and heats and fuses the packaging paper 38, a roller unit 44 that applies tension to the packaging paper 38, and a cutter 45 that perforates and cuts the packaging paper 38.

[0032] With the above-described configuration, packaging paper 38 is divided into individual packages of a predetermined length, tablets are sealed inside these individual packages, and the top of each package is heat-sealed and conveyed downstream. Packaging paper 38 is drawn out from packaging paper feeder 39, which is wound into a roll in a valley-folded state so that the top is open. Packaging paper 38 drawn out from packaging paper feeder 39 is printed by printer 40, moves below hopper 42, and is sealed at the front and rear in the conveying direction by vertical sealer 41 to form individual packages. Tablets are then inserted into the individual packages from hopper 42, and the top of the individual package is sealed by horizontal sealer 43. After that, the individual package is processed by cutter 45 and conveyed downstream.

[0033] A packet of tablets falls into hopper 42 from lower medicine collection mechanism 6, and one packet of tablets is sealed in each individual packet formed in packaging paper 38. When hopper 42 detects that tablets have been sealed in packaging paper 38, horizontal seal unit 43 fuses the top of packaging paper 38, and roller unit 44 pulls packaging paper 38 a predetermined distance, thereby transporting packaging paper 38 the length of one packet. By repeating this operation, a series of medicine bags, each containing a packet of tablets in the individual packets provided in packaging paper 38, are transported downstream.

[0034] An exit conveyor 46 is disposed downstream of the cutter 45 in the packaging paper conveyance direction, serving as a conveying member for conveying the packaging paper 38 further downstream. As shown in FIG. 19 , the exit conveyor 46 includes a conveyor unit 47, which is a pair of belt conveyors equipped with multiple rollers and an endless belt that clamps and conveys the packaging paper 38, a drive motor 48 that rotates the conveyor unit 47, and a torque limiter 49. Operation of the drive motor 48 rotates the conveyor unit 47 via the torque limiter 49, thereby conveying the packaging paper 38 downstream. If the packaging paper 38 becomes caught in any part of the device, for example, and a load greater than a predetermined value is applied to the conveyor unit 47, the torque limiter 49 cuts off the driving force of the motor 48, causing the conveyor unit 47 to stop. This configuration cuts off the driving force of the drive motor 48 without requiring detailed drive control of the drive motor 48, thereby preventing breakdowns of the exit conveyor 46.

[0035] A gripping portion (not shown) is provided on the front side of the device of the exit conveyor 46. By gripping this gripping portion and lifting the exit conveyor 46 upward toward the rear of the device, the exit conveyor 46 can be displaced from a conveying position where it conveys the packaging paper 38 to a retracted position where it is retracted upward, as shown in Figures 20 and 21 . When the exit conveyor 46 is in the retracted position, the state can be maintained by a holding member (not shown). Also, a holding mechanism 51 that holds the exit conveyor 46 in the conveying position and a position detection sensor 52 that detects that the exit conveyor 46 is in the conveying position are provided below the front side of the device. The packaging paper 38 transported by the exit conveyor 46 is transported toward a packaging paper discharge port 53, which is provided on the side of the device main body 2, as shown in Figures 2 and 21 , and is discharged from the front side of the side of the medicine packaging machine 1 toward the side.

[0036] With this configuration, the packaging paper 38 packaged by the packaging device 4 is discharged to the side of the device main body 2, eliminating the need for a container for collecting packaging paper at the front of the device, as in conventional packaging machines where packaging paper is discharged at the front. This allows packaging operations to be performed without the need for equipment at the front of the device, ensuring a clear line of movement for workers and improving work efficiency and safety. Furthermore, since the exit conveyor 46 selectively occupies a transport position and a retracted position, if the packaging paper 38 jams, the exit conveyor 46 can be retracted to the retracted position, allowing for easy and reliable removal of the jammed packaging paper 38. Furthermore, since the exit conveyor 46 includes a drive motor 48 and a torque limiter 49, breakdowns of the exit conveyor 46 can be prevented without the need for detailed drive control of the drive motor 48.

[0037] According to the above-described configuration, a large chute can be used as upper chute section 28, allowing upper chute section 28 to have a relatively large height in the up-down direction of the device. This allows upper chute section 28 to have a large inclination angle in the front-to-rear direction of the device, allowing tablets that have fallen from tablet shelves 3 on the rear side of the device to be transported to the front side of the device. Therefore, hopper 42 to which tablets are ultimately supplied can be located on the front side of the device, and discharge outlet 53 for packaging paper 38 in packaging device 4 can be located on the front side of the device on the side of device main body 2, making it easy to collect packaging paper 38.

[0038] According to the present invention, tablet cassettes 10 can be attached and detached from the front shelf 8 and the rear shelf 9 from the front side of the device body 2, respectively. This significantly improves operability compared to conventional medicine packaging machines in which tablet cassettes can only be attached and detached from the front side. Simultaneous operation by two or more operators is also possible, improving work efficiency. Furthermore, according to the present invention, the front shelf 8 can be opened at a 90-degree angle toward the front of the device, and the rear shelf 9 can be opened at a 90-degree angle toward the rear of the device, relative to the device body 2. As a result, when the shelves 8, 9 are opened at a 90-degree angle, the shelves 8, 9 are not positioned above the upper chute section 28, exposing the upper chute section 28 and allowing for easy cleaning. Furthermore, according to the present invention, the open state retention mechanism can maintain the open state when the shelves 8, 9 are opened at a 90-degree angle relative to the device body 2, improving work efficiency and safety when cleaning and attaching and detaching the upper chute section 28.

[0039] According to the present invention, the upper chute section 28 can be removed from the device body 2 when the front shelf 8 and the rear shelf 9 are each opened at a 90-degree angle relative to the device body 2, which makes it possible to easily clean the upper chute section 28 and significantly improve the cleanability of the lower medicine collection mechanism 6. Furthermore, according to the present invention, the upper shutter section 30 and the lower chute section 29 can be pulled out integrally from the device body 2, which allows the upper shutter section 30 and the lower chute section 29 to be cleaned while pulled out from the device body 2, thereby improving the cleanability.

[0040] According to the present invention, lower chute section 29 is detachable from shelf section 33, which constitutes the device main body, and therefore lower chute section 29 can be cleaned while removed from shelf section 33, improving cleanability. Furthermore, according to the present invention, discharge outlet 53, which serves as a packaging paper discharge outlet through which packaging paper 38 is discharged, is located on the side of device main body 2, and therefore there is no need to place a container for collecting packaging paper at the front of the device, as in conventional packaging machines in which packaging paper is discharged at the front of the device. This ensures a clear line of movement for workers, improving operability and safety for the workers.

[0041] According to the present invention, the exit conveyor 46, which serves as a transport member that transports the packaging paper 38 to the discharge opening 53, is displaceable between a transport position and a retracted position, so that if the packaging paper 38 jams during transport, the exit conveyor 46 can be retracted to the retracted position, allowing for easy and reliable removal of the jammed packaging paper 38. Furthermore, according to the present invention, the packaging device 4 has a drive motor 48 and a torque limiter 49 as drive means for driving the exit conveyor 46, so that if a load greater than a predetermined value is applied to the packaging paper 38, the drive force of the drive motor 48 is cut off, thereby preventing breakdown of the exit conveyor 46, without the need for detailed drive control of the drive motor 48.

[0042] Fig. 22 is a schematic front perspective view of a medicine packaging system according to a second embodiment of the present invention, Fig. 23 is a schematic front perspective view of the medicine packaging system according to the second embodiment of the present invention with the ceiling removed, and Fig. 24 is a schematic rear perspective view of the medicine packaging system according to the second embodiment of the present invention with the ceiling removed. As shown in each figure, the medicine packaging system 60 includes a medicine packaging machine 1, multiple cabinets 61, 62, 63, a ceiling 64, a robot 65, etc.

[0043] FIG. 25 is a schematic side view of a medicine packaging system 60 according to a second embodiment of the present invention, and FIG. 26 is a schematic side view of the medicine packaging system 60 according to the second embodiment of the present invention, excluding the cabinet 61 located at the front. In the following description, the cabinets 61 and 62 will be described as appropriate. The cabinets 61 and 62 are identical except that they are bilaterally symmetrical. Therefore, the same reference numerals are used to refer to similar components in the description of each cabinet 61 and 62. The cabinet 61, located at the rear left of the medicine packaging machine 1 in FIG. 22, mainly includes a cabinet body 69, a cassette shelf 70, and a storage section 71, as shown in FIG. 25. The cassette shelf 70 is located above the cabinet body 69, and the storage section 71 is located below it. The cabinet 61 is located such that one side of the cabinet 61 is connected to one side of the medicine packaging machine 1, and the cabinet 62 is located such that one side of the cabinet 61 is connected to the other side of the medicine packaging machine 1.

[0044] A large number of tablet cassettes 10 are stored on the cassette shelf 70, and in the example shown in this embodiment, a total of 22 tablet cassettes 10 are stored on four shelves. A pair of doors 72 that can be opened and closed like a double door are provided on the surface of the cassette shelf 70 to protect the stored tablet cassettes 10. The doors 72 are provided only on the surface side of the cassette shelf 70, and as shown in FIG. 26, there are no doors 72 on the back side. FIG. 27 shows the state in which the doors 72 provided on the cabinet 62 are open. The storage section 71 has a cover member 73 on the front side that can be opened downward, and is configured so that by opening the cover member 73, fixtures such as empty tablet cassettes 10 can be stored in the internal space.

[0045] The cassette shelf 50 is provided with a cassette base 74 as a cassette attachment / detachment section shown in Fig. 28. Fig. 28 shows the cassette base 74 provided on the top shelf of the cassette shelf 70, with six cassette bases 74 arranged on the top shelf of each cabinet 61, 62, six on the second shelf from the top, six on the third shelf from the top, and four on the bottom shelf. The cassette base 74 has a placement portion 74a on which the base 19 of the tablet cassette 10 is placed, and a holding portion 74b that holds the placement portion 74a. The placement portion 74a is provided with two engaging protrusions 74c that fit into recesses provided in the base 19 of the tablet cassette 10 to position the tablet cassette 10 in a predetermined position. When the cassette base 74 is in the state shown in Fig. 28, the tablet cassette 10 is positioned relative to the cassette base 74 so that the handle 14 is located on the front side of the device, which is located on the left side of the figure, as shown in Fig. 29. An operator can easily attach and detach the tablet cassette 10 to and from the cassette base 74 by gripping the handle 14 .

[0046] The holder 74b has the mounting portion 74a mounted on its upper surface and has an operating portion 74d on its front side. The operating portion 74d is supported by the holder 74b so as to be freely displaceable, and is configured to be manually movable by the operator from the position shown in Figures 28 and 29 to the left to the position shown in Figure 30. A rotation drive mechanism for rotating the mounting portion 74a is provided inside the holder 74b, and this rotation drive mechanism is driven in accordance with the displacement of the operating portion 74d. When the operating portion 74d is moved from the first position, which is the initial position shown in Figure 29, to the second position shown in Figure 30, the mounting portion 74a is rotated 180 degrees from the position shown in Figure 28. As a result, the tablet cassette 10 is rotated 180 degrees from the state in which the handle 14 is located on the front side of the device as shown in Figure 29, and is inverted so that the handle 14 is located on the rear side of the device as shown in Figure 30. With this configuration, the operating portion 74d functions as an inverting means.

[0047] As shown in Figure 24, cabinet 63 is disposed in medicine packaging system 60 at a position facing medicine packaging machine 1. Cabinet 63 is similar to cabinets 61 and 62 described above, except that cabinet 63 is composed of two cabinets 63A and 63B formed by dividing the central portion in the width direction vertically. Cabinet 63A is disposed in such a manner that one side thereof is connected to one side of cabinet 62, and cabinet 63B is disposed in such a manner that one side thereof is connected to one side of cabinet 61. In this manner, cabinets 61, 62, and 63 are disposed so as to surround the rear side of medicine packaging machine 1.

[0048] One end of each of cabinets 63A, 63B is rotatably supported by cabinet main body 69, and each is configured to be able to open and close in a double door state as shown in Fig. 31. Each of cabinets 63A, 63B is fixed by a fixing means (not shown) in the closed state shown in Fig. 24 and the open state shown in Fig. 31. When each of cabinets 63A, 63B is in the open state, the work space formed inside medicine packaging system 60 by connecting medicine packaging machine 1 and each of cabinets 61, 62, 63 is connected to the outside, allowing an operator to enter the work space.

[0049] Above the medicine packaging machine 1 and each of the cabinets 61, 62, and 63, there is provided a ceiling 64 that is connected to the medicine packaging machine 1 and each of the cabinets 61, 62, and 63 to form a closed space. The ceiling 64, made of sheet metal, is provided to prevent any access from above into the sealed working space of the medicine packaging system 60, and in particular to prevent unexpected external forces from affecting the robot 65 provided inside. Depending on the environment in which the medicine packaging system 60 is installed, the ceiling 64 may be configured to include an air purifier, dehumidifier, air conditioner, or the like.

[0050] In the medicine packaging system 60, as shown in Figures 23, 24, 26, etc., a robot 65 is disposed in a space located behind the medicine packaging machine 1 and surrounded by the cabinets 61, 62, and 63, i.e., in a work space surrounded by the rear shelf 9 and three cassette shelves 70. As shown in Figure 32, the robot 65 is mounted on bases 75 and 76 provided on the bottom plate of the medicine packaging system 60, and a pedestal 65a is fixed to the base 76. A first arm 65b is rotatably attached to the pedestal 65a in a horizontal plane, and one end of a second arm 65c is rotatably attached to the first arm 65b. One end of a third arm 65d is rotatably attached to the other end of the second arm 65c, and a gripper 65e (described later) is attached to the tip of the other end of the third arm 65d. With this configuration, the robot 65 is configured so that the gripping part 65e attached to the tip of the third arm 65d can access any position within the work space surrounded by the drug packaging machine 1 and each cabinet 61, 62, 63 in the drug packaging system 60, i.e., any tablet cassette 10 stored on the rear shelf 9 and the three cassette shelves 70.

[0051] As shown in Fig. 33, gripping portion 65e has a pair of left and right claws 65e1, 65e1, and each claw 65e1 is supported on main body 65e3 so as to be rotatable around connecting portion 65e2. Gripper 65e, the base end of main body 65e3 of which is attached to third arm 65d, has claws 65e1 that are displaced in accordance with the operation of robot 65, and when gripper 65e is positioned as shown in Fig. 34 where it can grip handle 14 of tablet cassette 10, each claw 65e1 rotates around connecting portion 65e2, thereby operating to retract handle 14 toward main body 65e3 as shown in Fig. 35.

[0052] A pressing member 65e4 made of a plate-like member is provided integrally with the main body 65e3 on the front side of the main body 65e3. With this configuration, when the claws 65e1 act to surround and retract the handle 14 as shown in Fig. 35, the container body 13 of the tablet cassette 10 abuts against the pressing member 65e4, fixing the position of the tablet cassette 10, and the tablet cassette 10 is gripped by the gripping portion 65e. In this gripping state, as shown in Fig. 35, a pulling force is applied to the container body 13 by the claws 65e1 via the handle 14, and a pushing force is applied from the pressing member 65e4, so the posture of the tablet cassette 10 gripped by the gripping portion 65e is stabilized. The gripping portion 65e is also provided with an identification sensor 65e5 that recognizes the identification member 59 provided on the tablet cassette 10, and the identification sensor 65e5 is configured to identify the identification member 59 provided on any tablet cassette 10, thereby making it possible to identify each tablet cassette 10 that is placed and engaged on each cassette base 74.

[0053] Here, the structure and operation of tablet cassette 10 will be further described. As shown in Figure 36, lid 15 has its base end rotatably supported on a support shaft 66 provided at the end of container body 13, and is configured so that the top opening of container body 13 can be opened by rotating free end 15a upward from the closed position shown in Figure 36, which closes the top opening of container body 13. Free end 15a is provided with a downwardly extending claw portion 15b, and claw portion 15b has a hole 15c formed in it. Container body 13 located below free end 15a is provided with an opening member 67 rotatably supported by support shaft 67a. Opening member 67 has an engaging portion 67b at one end that can engage with hole 15c, and a spring member 68 is provided at the other end that applies a biasing force to opening member 67 in the clockwise direction in Figure 36 around support shaft 67a. The container body 13, located between the support shaft 67a and the engaging portion 67b, is provided with a stopper 13a that restricts the opening member 67 from rotating in the clockwise direction.

[0054] With the above-described configuration, the opening member 67 normally receives a biasing force from the spring member 68 and its rotation is restricted by the stopper 13a, occupying the engaged position shown in FIG. 36 . When the opening member 67 is in the engaged position, when the lid 15 closes the top opening of the container body 13, the engaging portion 67b engages with the hole 15c, and the lid 15 holds the top opening of the container body 13 closed. When the other end of the opening member 67 is pressed from this position, the opening member 67 rotates counterclockwise about the support shaft 67a against the biasing force of the spring member 68, and the engagement between the hole 15c and the engaging portion 67b is released. As a result, the free end 15a is lifted upward, allowing the lid 15 to rotate upward and open the top opening of the container body 13, as shown in FIG. 37 . When the opening member 67 is in the engagement position, the opening of the lid body 15 is reliably restricted, so that the tablet cassette 10 in this state is reliably prevented from leaking out of the container body 13 even if it is vibrated or turned upside down.

[0055] Based on the above-described configuration, the operation of the medicine packaging system 60 of the present invention will be described below. Prior to the packaging operation, prescription information for the medicines to be packaged is sent to the medicine packaging system 60 from a host device connected to the medicine packaging system 60, and the sent prescription information is displayed on the touch panel 7. The operator of the medicine packaging system 60 performs the packaging operation based on the sent prescription information. If all of the medicines listed in the sent prescription information are contained in any of the tablet cassettes 10 stored in the tablet shelf 3 of the medicine packaging machine 1, the packaging operation is performed by pressing the packaging start key displayed on the touch panel 7, and the packaged packaging paper is discharged from the packaging device 4. The tablets are identified based on information from the identification sensor 23 that reads the identification member 21.

[0056] As a prerequisite for normal packaging operations, tablet cassettes 10 must be stored in a specified manner on the front shelf 8 and rear shelf 9 of the medicine packaging machine 1 and on each cassette shelf 70 of each cabinet 61, 62, 63. The specified manner refers to a manner in which each tablet cassette 10 is placed on each cassette base 18, 74 so that the handle 14 faces the front side on the front shelf 8, the handle 14 faces the rear side on the rear shelf 9, and the handle 14 faces the rear side on each cassette shelf 70. Here, the front side refers to the outer side of the system, and the rear side refers to the inner side of the system.

[0057] When storing tablet cassettes 10 on front shelf 8, the operator opens door 24 and then grips handle 14, placing tablet cassette 10 on cassette base 18 from the front side of medicine packaging machine 1 so that handle 14 is positioned on the front side. When storing tablet cassettes 10 on each cassette shelf 70, the operator opens each door 72 as shown in Fig. 27 and then grips handle 14, placing tablet cassette 10 on cassette base 74 from the front side of each cabinet 61, 62, 63 so that handle 14 is positioned on the front side. The operator then displaces operating unit 74d from the first position shown in Fig. 29 to the second position shown in Fig. 30. This flips tablet cassette 10 from the position shown in Fig. 29, in which handle 14 faces the front side, to the position shown in Fig. 30, in which handle 14 faces the rear side.

[0058] When storing tablet cassettes 10 on rear shelf 9, the operator stores tablet cassettes 10 on cassette shelf 70 of any of cabinets 61, 62, and 63 in the same manner as described above, and then operates robot 65 as described below to transfer tablet cassettes 10 stored on cassette shelf 70 to rear shelf 9. After confirming safety, the operator may open each of cabinets 63A and 63B as shown in Figure 31, enter the work space inside medicine packaging system 60, and grasp handle 14 to place tablet cassette 10 on cassette base 18 from the rear side of medicine packaging machine 1 so that handle 14 is positioned on the rear side. In this way, tablet cassettes 10 can be attached and detached to and from the front side of each shelf of medicine packaging machine 1 and cabinets 61, 62, and 63, providing good operability and improved workability.

[0059] During the packaging operation, if the drug described in the prescription information is not contained in any of the tablet cassettes 10 stored on the tablet shelf 3, the robot 65 is operated to obtain the required tablet cassette 10 from each cassette shelf 70 of the cabinets 61, 62, 63, and the tablet cassette 10 is placed on the rear shelf 9 of the drug packaging machine 1 before the packaging operation is performed. When obtaining a tablet cassette 10 containing desired tablets from each cassette shelf 70, the robot 65 collates the identification sensor 65e5 provided on the gripper 65e with the identification member 59 provided on the tablet cassette 10 stored on each cassette shelf 70 to search for the desired tablet cassette 10. This search is performed sequentially for each tablet cassette 10 stored on each cassette shelf 70, and when the desired tablet cassette 10 is found, the gripper 65e grasps the handle 14 of that tablet cassette 10.

[0060] In this configuration, no identification sensor for identifying the identification member 59 is provided on the cassette base 74, thereby reducing costs. When storing tablet cassettes 10 on each cassette shelf 70 of each cabinet 61, 62, 63, it is possible to determine in advance which cabinet and which shelf each drug will be stored on, thereby reducing the time it takes for the robot 65 to search for the desired tablet cassette 10. Alternatively, an identification sensor 23 similar to that on the cassette base 18 may be provided on the cassette base 74, and the identification member 21 may be read by the identification sensor 23. This makes it possible to confirm which cassette base 74 contains which tablet cassette 10, improving operability.

[0061] The robot 65, having grasped the handle 14 of the desired tablet cassette 10 with the gripper 65e, places the tablet cassette 10 on an empty cassette base 18 on the rear shelf 9, releases the claws 65e1 of the gripper 65e to release the grip on the handle 14, and then returns to the initial position shown in Fig. 23 . If the prescription information includes drugs that are not contained in the tablet cassettes 10 stored on the tablet shelf 3, the robot 65 supplies the desired tablet cassette 10 from each cabinet 61, 62, 63 to the rear shelf 9 in the same manner as described above. Then, when all tablet cassettes 10 containing drugs listed in the prescription information have been stored on the tablet shelf 3, a packaging start key is displayed on the touch panel 7, and when the operator presses the packaging start key, the packaging operation is performed in the same manner as described above. Note that the packaging start key may not be displayed, and the packaging operation may be automatically started when all tablet cassettes 10 containing drugs listed in the prescription information have been stored on the tablet shelf 3.

[0062] During the above-described operation, if there is no empty space on the rear shelf 9 when storing the tablet cassettes 10 obtained from each cassette shelf 70 on the rear shelf 9, the robot 65 removes from the rear shelf 9 tablet cassettes 10 not required for packaging and stores them in an empty space on each cassette shelf 70 before obtaining the target tablet cassette 10 from each cassette shelf 70. This provides a space on the rear shelf 9 for storing the required tablet cassettes 10, allowing the robot 65 to transfer the target tablet cassette 10 from each cassette shelf 70. Note that the rear shelf 9 may be configured to have at least one empty space at all times, and may be configured to have a separate space for temporarily storing tablet cassettes 10 removed from the rear shelf 9. With this configuration, each cassette shelf 70 can be fully loaded with tablet cassettes 10.

[0063] In the above-described configuration, robot 65 is placed in a work space surrounded by medicine packaging machine 1 and cabinets 61, 62, and 63, and robot 65 delivers and receives tablet cassettes 10 to and from medicine packaging machine 1 from the rear side of tablet shelf 3, i.e., rear shelf 9. This allows robot 65 to easily and continuously attach and detach tablet cassettes 10 to and from medicine packaging machine 1, and provides medicine packaging system 60 that can store a wide variety of medicines in large quantities on tablet shelf 3 and each cassette shelf 70, and that can select any medicine from the stored medicines and automatically package it.

[0064] If a tablet cassette 10 containing the drug listed in the prescription information is not stored in either the drug packaging machine 1 or any of the cabinets 61, 62, and 63, a message to that effect is displayed on the touch panel 7. The operator, upon receiving this message, either brings in a tablet cassette 10 containing the desired drug from outside and stores it on the front shelf 8, or fills an empty tablet cassette 10 with the desired drug and stores it on the front shelf 8. A packaging start key is then displayed on the touch panel 7, enabling the packaging operation. If there is no space to store the tablet cassette 10 brought in on the front shelf 8, the tablet cassette 10 brought in is stored in an empty location on one of the cassette shelves 70 in each of the cabinets 61, 62, and 63. Since three cabinets are provided in this configuration, multiple operators can simultaneously load and unload tablet cassettes 10 into and from each of the cabinets 61, 62, and 63. This significantly improves work efficiency.

[0065] In the above-described configuration, prescription information for the next packaging is displayed on touch panel 7 during the packaging operation. If the displayed prescription information for the next packaging indicates that there is a drug that is not stored in a tablet cassette 10 stored in tablet shelf 3 or each cassette shelf 70, the operator stores tablet cassette 10 containing the drug to be packaged next in front shelf 8 or each cassette shelf 70 during the current packaging operation. At this time, if there is an empty space on front shelf 8, storage on front shelf 8 is given priority. With this configuration, tablet cassette 10 containing the drug to be packaged next can be stored in drug packaging system 60 without stopping the packaging operation, allowing the packaging operation to be performed smoothly and improving work efficiency.

[0066] In this embodiment, as described above, the gripping portion 65e of the robot 65 can reliably hold the tablet cassette 10 in a stable position, and the tablet cassette 10 has a lid 15 that does not open unless the opening member 67 is pressed. Therefore, even if the tablet cassette 10 gripped by the gripping portion 65e is tilted or turned upside down, the tablets contained therein will not fall out. With this configuration, at a predetermined time, the robot 65 can remove the tablet cassette 10 from the tablet shelf 3 or each cassette shelf 70, and while it is gripped by the gripping portion 65e, the third arm 65d can be swung relative to the second arm 65c at a predetermined period to perform a vibration imparting operation that imparts vibration to the tablet cassette 10 for a desired period of time. Examples of predetermined times include when the tablet cassette 10 has been installed for a long period of time, when tablets become jammed in the cassette base 18, or at the start of work each day. This configuration improves tablet discharge from the tablet cassette 10 and prevents various problems caused by tablets jamming in the tablet cassette 10.

[0067] In this embodiment, the drug packaging system 60 includes the drug packaging machine 1, cabinets 61, 62, and 63, and robot 65. However, multiple drug packaging systems 60 may be installed side by side. In this case, the increased number of cabinets dramatically increases the number of tablet cassettes 10 that can be stored. Operators can switch between the tablet cassettes 10 and use them in each cabinet, enabling packaging operations for a greater variety and quantity of drugs. While the drug packaging system 60 of this embodiment combines one drug packaging machine 1 and three cabinets 61, 62, and 63, the number of cabinets is not limited to three and can be any number greater than two. Increasing the number of cabinets increases installation space, but further expands the types and quantities of drugs that can be stored, improving work efficiency. Furthermore, the drug packaging system may be configured with multiple drug packaging machines 1. This allows packaging operations to be performed in parallel, significantly reducing work time.

[0068] According to this embodiment, robot 65 is disposed in a work space surrounded by medicine packaging machine 1 and cabinets 61, 62, and 63, and robot 65 delivers and receives tablet cassettes 10 to and from medicine packaging machine 1 from the rear side, thereby providing medicine packaging system 60 that can store a wide variety of medicines in large quantities and automatically select and package any medicine from the stored medicines. Furthermore, according to this embodiment, tablet cassettes 10 can be attached and detached to medicine packaging machine 1 from the front side of tablet shelf 3, improving operability and workability. Furthermore, according to this embodiment, ceiling 64 covering the work space prevents any access from above into the sealed space of medicine packaging system 60, and in particular prevents the robot 65 installed inside from being affected by unexpected external forces.

[0069] According to this embodiment, at least one of cabinets 61, 62, and 63, cabinet 63, is openable and closable. When cabinet 63 is open, the work space is connected to the outside, allowing access to the work space of medicine packaging system 60 by opening cabinet 63, improving workability. According to this embodiment, cassette base 74 has operation unit 74d that rotates the orientation of mounted tablet cassette 10 by 180 degrees, so that tablet cassette 10 mounted on cassette shelf 70 can be easily rotated manually with handle 14 facing the front. This allows tablet cassette 10 to be grasped by robot 65 by rotating handle 14 facing the rear, enabling operation in medicine packaging system 60. According to this embodiment, robot 65 can perform vibration application operation at predetermined times, improving tablet discharge from tablet cassette 10 and preventing various problems caused by tablets clogging tablet cassette 10.

[0070] The aspects of the present invention are as follows, for example: [1] A medicine packaging machine comprising: a device main body, tablet cassettes that store tablets and discharge them one by one, a tablet shelf to which a plurality of the tablet cassettes are attached, an upper tablet collecting mechanism that is provided on the tablet shelf and causes tablets discharged from the tablet cassettes to fall downward, a lower tablet collecting mechanism that collects tablets that have fallen from the upper tablet collecting mechanism and causes them to fall downward, and a packaging device that packages the tablets that have fallen from the lower tablet collecting mechanism into packaging paper, wherein the tablet shelf has a front shelf located on the front side of the device main body and a rear shelf located on the rear side of the device main body, and the tablet cassettes can be attached and detached to the front shelf from the front side of the device main body and to the rear shelf from the rear side of the device main body.

[0071] [2] The medicine packaging machine according to [1], characterized in that one side of the front shelf is rotatably supported on one side of the device body so as to be openable toward the front side of the device, one side of the rear shelf is rotatably supported on one side of the device body so as to be openable toward the rear side of the device, the front shelf being openable at a 90-degree angle toward the front side of the device and the rear shelf being openable at a 90-degree angle toward the rear side of the device, relative to the device body. [3] The medicine packaging machine according to [2], characterized in that the front shelf and the rear shelf can be maintained in an open state when opened at a 90-degree angle relative to the device body.

[0072] [4] The medicine packaging machine according to [2] or [3], characterized in that the lower tablet collecting mechanism has an upper chute section that receives tablets dropped from the upper tablet collecting mechanism, a lower chute section that drops the tablets into the packaging device, and an upper shutter section that connects the upper chute section and the lower chute section, and the upper chute section is detachable from the device body when the front shelf and the rear shelf are each opened at an angle of 90 degrees relative to the device body. [5] The medicine packaging machine according to [4], characterized in that the upper shutter section and the lower chute section can be pulled out integrally from the device body.

[0073] [6] The medicine packaging machine according to [5], characterized in that the lower chute section is detachable from the device main body. [7] The medicine packaging machine according to any one of [1] to [6], characterized in that a packaging paper outlet through which packaging paper containing tablets is discharged is provided on a side of the device main body. [8] The medicine packaging machine according to any one of [1] to [7], characterized in that the packaging device has a conveying member that conveys the packaging paper toward the packaging paper outlet, and the conveying member is displaceable between a conveying position where the packaging paper is conveyed and a retracted position where the conveying member is retracted from the conveying position. [9] The medicine packaging machine according to [8], characterized in that the packaging device has a driving means for driving the conveying member, and the driving means has a driving motor and a torque limiter.

[0074]

[10] A pharmaceutical packaging system comprising: a pharmaceutical packaging machine including a tablet cassette that stores tablets and discharges them one by one; a shelf unit that can accommodate multiple tablet cassettes; and a packaging device that packages the tablets discharged from the tablet cassette into packaging paper; multiple cabinets that can accommodate multiple tablet cassettes and are arranged to surround the back side of the pharmaceutical packaging machine; and a robot that can store and remove the tablet cassettes from the shelf unit and from each cabinet and transfers the tablet cassettes between the pharmaceutical packaging machine and each cabinet, wherein the robot is arranged in a workspace surrounded by the pharmaceutical packaging machine and the multiple cabinets, and transfers the tablet cassettes to and from the pharmaceutical packaging machine from the back side of the shelf unit.

[11] The pharmaceutical packaging system described in

[10] , characterized in that the pharmaceutical packaging machine can attach and detach the tablet cassettes from the front side of the shelf unit.

[12] The pharmaceutical packaging system described in

[10] or

[11] , characterized in that the pharmaceutical packaging machine has a ceiling unit that covers the workspace.

[0075]

[13] The medicine packaging system according to any one of

[10] to

[12] , wherein at least one of the cabinets is openable and closable, and when open, the workspace is connected to the outside.

[14] The medicine packaging system according to any one of

[10] to

[13] , wherein each cabinet has a cassette attachment / detachment section that allows the tablet cassette to be attached and detached from the front side, and the cassette attachment / detachment section has a reversing means that reverses the orientation of the attached tablet cassette by 180 degrees.

[15] The medicine packaging system according to any one of

[10] to

[14] , wherein the robot performs a vibration imparting operation of removing the tablet cassette from the shelf section or each cabinet at a predetermined time and imparting vibration for a desired period of time.

[0076] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to such specific embodiments, and unless otherwise specifically limited in the above description, various modifications and changes are possible within the scope of the spirit of the present invention as set forth in the claims. The effects described in the embodiments of the present invention are merely examples of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0077] REFERENCE SIGNS LIST 1 Medicine packaging machine 2 Device main body 3 Tablet shelf 4 Packaging device 5 Upper medicine collection mechanism 6 Lower medicine collection mechanism 8 Front shelf 9 Rear shelf 10 Tablet cassette 28 Upper chute section 29 Lower chute section 30 Upper shutter section 38 Packaging paper 46 Transport member (exit conveyor) 48 Drive motor 49 Torque limiter 53 Packaging paper discharge outlet (discharge outlet) 60 Medicine packaging system 61 Cabinet 62 Cabinet 63 Cabinet 64 Ceiling section 65 Robot 74 Cassette attachment / detachment section (cassette base) 74d Reversal means (operation section)

Claims

1. A pharmaceutical packaging machine comprising: a device main body; a tablet cassette which stores tablets and discharges them one by one; a tablet shelf on which a plurality of the tablet cassettes are attached; an upper tablet collecting mechanism provided on the tablet shelf and which drops downward the tablets discharged from the tablet cassettes; a lower tablet collecting mechanism which collects the tablets that have fallen from the upper tablet collecting mechanism and drops them downward; and a packaging device which packages the tablets that have fallen from the lower tablet collecting mechanism into packaging paper, wherein the tablet shelf has a front shelf located on the front side of the device main body and a rear shelf located on the rear side of the device main body, and the tablet cassettes can be attached and detached to the front shelf from the front side of the device main body and to the rear shelf from the rear side of the device main body.

2. A drug packaging machine as described in claim 1, wherein one side of the front shelf is rotatably supported on one side of the device body so as to be openable toward the front side of the device, and one side of the rear shelf is rotatably supported on one side of the device body so as to be openable toward the rear side of the device, and the front shelf can be opened at an angle of 90 degrees toward the front side of the device, and the rear shelf can be opened at an angle of 90 degrees toward the rear side of the device, relative to the device body.

3. A drug packaging machine as described in claim 2, wherein the front shelf and the rear shelf can be maintained in an open state when opened at an angle of 90 degrees relative to the device body.

4. A pharmaceutical packaging machine as described in claim 2, wherein the lower tablet collecting mechanism has an upper chute section which receives tablets dropped from the upper tablet collecting mechanism, a lower chute section which drops the tablets into the packaging device, and an upper shutter section which connects the upper chute section and the lower chute section, and the upper chute section is removable from the device body when the front shelf and the rear shelf are each opened at an angle of 90 degrees to the device body.

5. A drug packaging machine according to claim 4, wherein the upper shutter section and the lower chute section can be pulled out integrally from the device body.

6. A drug packaging machine according to claim 5, wherein the lower chute section is detachable from the device body.

7. A medicine packaging machine according to claim 1, characterized in that a packaging paper outlet for discharging packaging paper containing tablets is provided on a side surface of the device body.

8. A pharmaceutical packaging machine as described in claim 7, characterized in that the packaging device has a transport member that transports the packaging paper toward the packaging paper outlet, and the transport member is displaceable between a transport position where the packaging paper is transported and a retracted position where the transport member retracts from the transport position.

9. A drug packaging machine according to claim 8, wherein the packaging device has a drive means for driving the conveying member, the drive means having a drive motor and a torque limiter.

10. A drug packaging system equipped with the drug packaging machine of claim 1, comprising: a plurality of cabinets capable of mounting a plurality of the tablet cassettes and arranged to surround the rear side of the drug packaging machine; and a robot capable of storing and removing the tablet cassettes from the tablet shelf and storing and removing the tablet cassettes from each of the cabinets, and transferring the tablet cassettes between the drug packaging machine and each of the cabinets, wherein the robot is positioned within a working space surrounded by the drug packaging machine and the plurality of cabinets, and the robot transfers the tablet cassettes to and from the drug packaging machine from the rear side of the shelf.

11. A drug packaging system according to claim 10, further comprising a ceiling portion covering said working space.

12. A drug packaging system according to claim 10, wherein at least one of said cabinets is openable and closable, and when open, said working space communicates with the outside.

13. A pharmaceutical packaging system as described in claim 10, wherein each of the cabinets has a cassette attachment / detachment section to which the tablet cassette can be attached and detached from the front side, and the cassette attachment / detachment section has an inversion means for inverting the orientation of the attached tablet cassette by 180 degrees.

14. A pharmaceutical packaging system as described in claim 10, characterized in that the robot performs a vibration imparting operation of removing the tablet cassette from the shelf or each of the cabinets at a predetermined time and imparting vibration to the tablet cassette for a desired period of time.

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