TWI660888B - Container for injecting liquid and container picking system for injecting liquid - Google Patents
Container for injecting liquid and container picking system for injecting liquid Download PDFInfo
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Abstract
本發明之課題，在於提供一種，無關於注射液用容器之底面的外徑，使被投入之注射液用容器在收納箱的載置部處，藉由更加確實地成為橫躺姿勢，而易於以攝像機取得注射液用容器之外觀上的特徵或是標籤資訊的注射液用容器收納箱及拾取系統。 本發明的解決手段在於作為注射液用容器收納箱(10)，係具備：上端呈開放的箱體(12)、以及設在箱體(12)的下端側用以載置注射液用容器(1)的載置部(14)；載置部(14)，是包含：由複數列沿著預定方向排列有向上的凸部(Q(P1))而成的凸部列(R)，且是相鄰之凸部列(R)彼此間，使凸部(Q(P1))的排列相位在上述預定方向上相互偏移的複數列凸部列(R)。An object of the present invention is to provide a container for an injectable solution, which is irrespective of the outer diameter of the bottom surface of the container for the injectable solution, so that the container for the injectable solution can be placed in the storage box in a more horizontally lying position, which is easier. An injection container storage box and a pick-up system that acquire the external features or label information of the container for injection with a camera. The solution of the present invention is a container storage box (10) for an injection solution, which comprises a box body (12) with an open upper end, and a container (12) for placing an injection solution provided on the lower end side of the box body (12). 1) the mounting portion (14); the mounting portion (14) includes a convex portion row (R) formed by a plurality of rows in which upward convex portions (Q (P1)) are arranged along a predetermined direction, and It is a plurality of convex part rows (R) in which adjacent convex part rows (R) shift the arrangement phase of convex parts (Q (P1)) from each other in the predetermined direction.
Description
本發明，是關於用以收納例如從醫院的藥劑部門等所支出至醫療現場的注射液用容器時所使用的收納箱，特別是適用於根據對所收納之此等注射液用容器進行攝像的影像資料一個個逐一拾取時的注射液用容器收納箱，以及具備該注射液用容器收納箱的注射液用容器拾取系統。The present invention relates to a storage box used for accommodating a container for injectable liquid, which is expended from, for example, a pharmaceutical department of a hospital to a medical site, and is particularly suitable for imaging a container for such an injectable liquid. The container for the injection solution is stored one by one for the image data, and the container for the injection solution is provided with the container for the injection solution.
以往，在醫院等之醫療現場，已使用完畢用空的注射器、安瓿(ampule)本體部、藥瓶(vial)等之注射液用空容器，是實施因應例如用以確保安全等之必要的措置後再廢棄。又，一時雖被支出之藥劑，但因患者的病情變化等而完全沒有被開封狀態下的注射液用容器(以下稱為「未使用注射液用容器」。)，被回收而回到例如藥劑部門。而且，不管是否使用完畢或是未使用，對於掌握此等之注射液用容器的藥價點數，從醫療機關的醫療成本管理、或是對患者之藥劑費請求的觀點等而言皆屬重要。In the past, empty medical containers such as syringes, ampules, and vials have been used at medical sites such as hospitals. They are used to ensure necessary safety measures. Discard later. In addition, although the medicine was temporarily dispensed, the container for injection solution (hereinafter referred to as "unused container for injection solution") was not opened at all due to changes in the patient's condition, etc., and it was recovered and returned to, for example, a drug. department. Moreover, whether used or not, it is important to grasp the price points of these injectable containers, from the point of view of medical cost management of medical institutions, and from the point of view of requesting medical expenses for patients. .
因此，於醫療現場中，需要集中合計此等注射液用容器的藥價點數的合計業務。在該合計業務中，是從收納有注射液用容器的收納箱等，將各式各樣形狀的注射液用容器一個一個取到手中再用眼讀取貼在其外周面的標籤等的資訊，以人手進行所謂集中合計之煩雜的困難作業。因此，會有由讀取差錯等所引起的合計錯誤。Therefore, at the medical site, it is necessary to concentrate the total business of totaling the price points of these injection containers. In this total business, information about containers of various shapes for injections is taken from storage boxes and the like containing the containers for injections, and information such as labels attached to the outer peripheral surface is read with the eyes. , Manually perform the complicated and difficult operations called so-called concentration. Therefore, there are total errors due to reading errors and the like.
為了解決如此的課題，正在發展從收納箱等取出注射液用容器，將讀取標示在該處資訊的一連串作業予以自動化的技術，作為其一例者可舉於專利文獻1所記載的注射液用容器收納箱及拾取系統。 [先前技術文獻] [專利文獻]In order to solve such a problem, a technology for taking out an injection solution container from a storage box or the like and automating a series of operations for reading information marked there is being developed. An example thereof is an injection solution described in Patent Document 1. Container storage box and picking system. [Prior Art Literature] [Patent Literature]
[專利文獻1]日本特開2014-8997號公報 [專利文獻2]日本特開2010-115339號公報[Patent Document 1] Japanese Patent Laid-Open No. 2014-8997 [Patent Document 2] Japanese Patent Laid-Open No. 2010-115339
[發明所欲解決的問題][Problems to be solved by the invention]
如專利文獻1亦顯示出於此種的拾取系統，其有利於在辨識注射液用容器的種類或同一容器的內容物時，利用在上方所設置的攝像機對被投入於注射液用容器收納箱的注射液用容器進行攝像、影像處理，藉此而取得注射液用容器的外觀或是貼在注射液用容器之外周面的標籤等之資訊。For example, Patent Document 1 shows that such a picking system is advantageous for identifying the type of the container for injection liquid or the contents of the same container, and using the camera provided above to pair the container for the container for injection liquid. The injectable liquid container is imaged and image processed to obtain information such as the appearance of the injectable liquid container or a label attached to the outer peripheral surface of the injectable liquid container.
而且，為了利用在上方所設置的攝像機有效率且正確地對注射液用容器之外觀上的特徵或是貼於外周面的標籤進行攝像，注射液用容器在注射液用容器收納箱內，也剛好並非站立姿勢而是在橫躺姿勢下處於靜止狀態。In addition, in order to efficiently and accurately image the external characteristics of the container for injection solution or the label attached to the outer surface using the camera provided above, the container for injection solution is also stored in the container for injection solution. It happens to be not in a standing position but in a resting position in a lying position.
在此，於專利文獻1所記載的注射液用容器收納箱，係被構成為具有：上端為開放的箱體、以及設置於同一箱體用於載置注射液用容器的載置部，且是具有複數個凸部與凹部交互成連續之波浪狀面的波浪狀載置部，該波浪狀載置部，可使以任意姿勢所投入的注射液用容器，藉由上述波浪狀面而成為橫躺姿勢。Here, the container for an injection solution described in Patent Document 1 is configured to include a box with an open upper end and a mounting portion provided in the same box for placing the container for injection solution, and It is a wave-shaped placing portion having a plurality of convex portions and concave portions interacting with each other to form a continuous wave-shaped surface. The wave-shaped placing portion can be used for an injection solution container that is put in an arbitrary posture through the wave-shaped surface. Lying sideways.
亦即，於專利文獻1的注射液用容器收納箱，可取得：以任意姿勢被投入於注射液用容器收納箱的注射液用容器，假使正要以底面受上述載置部所支撐的站立姿勢而靜止時，也會由於受到承接容器底面之上述載置部為波浪狀面，使得容器失去平衡，進而被矯正成橫躺姿勢之效果。That is, in the container container for injection solution of Patent Document 1, it is possible to obtain the container for injection solution which is put in the container container for injection solution in an arbitrary posture, and stands on the bottom surface supported by the mounting portion. When the posture is stationary, the receiving portion receiving the bottom surface of the container is a wavy surface, which causes the container to lose its balance and is corrected to the effect of lying in a horizontal position.
但是，若要良好地使上述效果發揮，注射液用容器得要比較細之情形，具體而言，是相當於容器底面的外徑要小於相鄰之2個凸部彼此間的間隔。然而，當容器底面的外徑超過相鄰之2個凸部彼此間的間隔時，就恐會產生容器底面被支撐在相鄰的2個凸部上而成為靜止在直立的站立姿勢下，而無法以攝像機取得所要之注射液用容器的資訊的問題。However, if the above-mentioned effect is to be exerted well, the container for injection solution needs to be relatively thin, specifically, the outer diameter of the bottom surface of the container is smaller than the interval between two adjacent convex portions. However, when the outer diameter of the bottom surface of the container exceeds the interval between the two adjacent convex portions, there is a fear that the bottom surface of the container will be supported on the adjacent two convex portions and become stationary in an upright standing position, and The problem that the information of the desired container for injection liquid cannot be obtained with a camera.
在此，本發明，是有鑑於上述以往的問題所研創的，其目的在於提供一種，無論注射液用容器之底面的外徑如何，在以任意姿勢被投入於注射液用容器收納箱的載置部處，皆可藉由更加確實地成為橫躺姿勢，而易於以攝像機取得注射液用容器之外觀上的特徵或是貼於外周面之標籤資訊的注射液用容器收納箱及拾取系統。 [用以解決問題的手段]Here, the present invention has been developed in view of the above-mentioned conventional problems, and an object thereof is to provide a carrier for an injection solution container storage box in an arbitrary posture regardless of the outer diameter of the bottom surface of the injection solution container. At the place of the injection container, the container for the injection solution storage box and the picking system can be easily obtained by the camera by acquiring the external appearance characteristics of the injection solution container or the label information affixed to the outer surface by the camera more reliably. [Means to solve the problem]
申請專利範圍第1項的發明，為一種注射液用容器收納箱，是收納筒狀注射液用容器的收納箱，其具備：上端呈開放的箱體、以及設在上述箱體的下端側用以載置上述注射液用容器的載置部；上述載置部，是包含：由複數列沿著預定方向排列有從上述載置部的上表面側向上突出或是膨出的凸部而成的凸部列，且是相鄰之上述凸部列彼此間，使上述凸部的排列相位在上述預定方向上相互偏移的凸部列，並使以任意姿勢被投入於上述箱體的上述注射液用容器成為橫躺姿勢(倒下姿勢)。The invention of claim 1 relates to a container for an injection solution, and is a container for storing a cylindrical container for injection. The invention includes a box with an open upper end and a lower end side provided for the container. The mounting portion on which the container for injecting liquid is placed; the mounting portion includes a plurality of rows in which a convex portion protruding upward or bulging from the upper surface side of the mounting portion is arranged along a predetermined direction. The convex part row is a convex part row between the adjacent convex part rows so that the arrangement phase of the convex parts is shifted from each other in the predetermined direction, and the part that is put into the box in an arbitrary posture is The container for an injection solution is in a lying position (a down position).
申請專利範圍第2項的發明，是如申請專利範圍第1項所述的注射液用容器收納箱，其中，上述載置部的上述上表面側，係具有沿著上述預定方向延伸之山部與谷部交互設置的波浪狀部，上述凸部列，是沿著上述山部的山脊而設置。The invention according to claim 2 is an injectable container storage box according to claim 1, wherein the upper surface side of the mounting portion has a mountain portion extending along the predetermined direction. The wave-shaped portion provided alternately with the valley portion, and the convex portion row is provided along the ridge of the mountain portion.
申請專利範圍第3項的發明，是如申請專利範圍第2項所述的注射液用容器收納箱，其中，上述凸部的形狀，從與上述預定方向正交的方向觀察下是形成波浪形狀或是山形狀。The invention according to claim 3 is a container storage box for an injection solution according to claim 2, wherein the shape of the convex portion is wavy when viewed from a direction orthogonal to the predetermined direction. Or a mountain shape.
申請專利範圍第4項的發明，是如申請專利範圍第2項所述的注射液用容器收納箱，其中，沿著上述山脊交互配置有相互高度不同之2種類的突起部，較高的上述突起部構成上述凸部。The invention according to claim 4 is an injection container storage box according to claim 2, wherein two types of protrusions having different heights are alternately arranged along the ridge. The protruding portion constitutes the above-mentioned convex portion.
申請專利範圍第5項的發明，是如申請專利範圍第2至4項中之任一項所述的注射液用容器收納箱，其中，上述箱體的下端是由開放端所構成，上述載置部是滑動自如地配置在上述預定方向上來開閉上述開放端。The invention of claim 5 is an injection container storage box according to any one of claims 2 to 4, wherein the lower end of the case is formed by an open end, and the load The placement portion is slidably arranged in the predetermined direction to open and close the open end.
申請專利範圍第6項的發明，是如申請專利範圍第5項所述的注射液用容器收納箱，其中，上述箱體，是包含能夠嵌合於上述谷部的突出下端部，上述谷部，可一邊大致嵌合於上述突出下端部地使上述載置部一邊滑動。The invention according to claim 6 is an injection container storage box according to claim 5, wherein the box includes a protruding lower end portion that can be fitted into the valley portion, and the valley portion , The mounting portion can be slid while being fitted to the protruding lower end portion.
申請專利範圍第7項的發明，是如申請專利範圍第6項所述的注射液用容器收納箱，其中，具有：沿著上述山脊的斜坡部，且是從較高的上述突起部朝向相鄰之較低的上述突起部而延伸向下坡度的斜坡部。The invention according to claim 7 is the container storage box for injection solution according to claim 6 and includes a slope portion along the ridge and a relatively high protrusion toward the phase. Adjacent to the lower protruding portion, the slope portion extends downward.
申請專利範圍第8項的發明，是如申請專利範圍第7項所述的注射液用容器收納箱，其中，在沿著上述山脊相互對向之上述突起部的側面，設有傾斜的倒角部。The invention according to claim 8 is an injectable container storage box according to claim 7 in which an inclined chamfer is provided on the side of the protruding portion facing each other along the ridge. unit.
申請專利範圍第9項的發明，是如申請專利範圍第2至8項中之任一項所述的注射液用容器收納箱，其中，於上述凸部的上端或是上述山脊的一部分，形成有向下凹窪的輔助溝槽部。The invention according to claim 9 is the container for an injection solution according to any one of claims 2 to 8 and is formed on the upper end of the convex portion or a part of the ridge. There is an auxiliary groove portion which is depressed downward.
申請專利範圍第10項的發明，是如申請專利範圍第3項所述的注射液用容器收納箱，其中，上述凸部列的形狀，從與上述預定方向正交的方向觀察下，複數個山狀部是形成沿著上述預定方向連接的山巒狀。The invention according to claim 10 is an injection container storage box according to claim 3, wherein the shape of the convex portion row is plural when viewed from a direction orthogonal to the predetermined direction. The mountain portion is formed in a mountain shape connected in the predetermined direction.
申請專利範圍第11項的發明，是一種注射液用容器拾取系統，其特徵為具備： 申請專利範圍第1至10項中之任一項所述的注射液用容器收納箱、及 從上述注射液用容器收納箱的上方對成為上述橫躺姿勢的上述注射液用容器進行攝像的攝像部、及 上述攝像部取得的影像資料處理的影像處理部，及 一個個拾取上述注射液用容器的機械人手臂、以及 控制上述機械人手臂之動作的控制部。The invention of claim 11 in the scope of patent application is a container picking system for injection solutions, which is characterized by having: 的 a container storage box for injection solutions according to any of claims 1 to 10 in the scope of patent applications, and the injection An imaging unit for imaging the injection liquid container in the lying position above the liquid container storage box, an image processing unit that processes image data acquired by the imaging unit, and a machine that picks up the injection liquid container one by one A human arm, and a control unit that controls the movement of the robot arm.
申請專利範圍第12項的發明，是如申請專利範圍第11項所述的注射液用容器拾取系統，其中，具備使上述注射液用容器收納箱或是上述載置部擺動的擺動手段。 [發明效果]The invention according to claim 12 is the injection container pick-up system according to claim 11 and includes a swinging means for swinging the container for injection solution or the mounting portion. [Inventive effect]
根據本發明，由於在構成上，對於收納筒狀注射液用容器的收納箱，係具備：上端呈開放的箱體、以及設在上述箱體的下端側用以載置上述注射液用容器的載置部；上述載置部，是包含：由複數列沿著預定方向排列有從上述載置部的上表面側向上突出或是膨出的凸部而成的凸部列，且是相鄰之上述凸部列彼此間，使上述凸部的排列相位在上述預定方向上相互偏移的凸部列，並使以任意姿勢被投入於上述箱體的上述注射液用容器成為橫躺姿勢； 例如容器底面的外徑超過相鄰之2個凸部列彼此間之間隔的較粗注射液用容器，即使在將要成為跨在相鄰的凸部列之上的姿勢時，藉由事先調整在相鄰之上述凸部列彼此間凸部的排列的相位，由於可設成比上述外徑更加增大一個凸部列的凸部與相鄰之凸部列的凸部之間隔，故容器跨在相鄰的2個凸部列之上時會無法靜止而成為傾斜姿勢，最終失去平衡而易成倒下。其結果，可以提供一種從上方取得注射液用容器被收納後之狀態的影像並依據該影像一個個地拾取注射液用容器時所適用的注射液用容器收納箱。According to the present invention, the storage box for storing the container for cylindrical injection liquid is structurally provided with a box having an open upper end and a container provided on the lower end side of the box for placing the container for injection liquid. The mounting portion; the mounting portion includes a plurality of rows of convex portions arranged along a predetermined direction, the convex portions protruding upward or bulging from the upper surface side of the placing portion, and being adjacent to each other; Between the convex part rows, the convex part row for which the arrangement phase of the convex parts is shifted from each other in the predetermined direction, and the container for injection solution which is put into the box in an arbitrary posture is placed in a lying position; For example, a relatively thick injection liquid container having an outer diameter on the bottom surface of the container exceeding an interval between two adjacent convex portion rows may be adjusted in advance by adjusting the position of Since the phase of the arrangement of the convex portions between the adjacent convex portion rows can be set to be larger than the outer diameter, the interval between the convex portion of one convex portion row and the convex portion of the adjacent convex portion row can be set. When on top of two adjacent convex columns Will not be able to stand still and become inclined, and eventually lose balance and easily fall. As a result, it is possible to provide an injection solution container storage box which is applicable when an image of the state in which the injection solution container is stored is obtained from above and the injection solution container is picked up one by one based on the image.
又，由於在構成上，上述載置部的上述上表面側，具有沿著上述預定方向延伸之山部與谷部交互設置的波浪狀部，上述凸部列，是沿著上述山部的山脊而設置，故底面的外徑小於相鄰之凸部彼此間之間隔的細瘦注射液用容器，即使以直立姿勢掉落在相鄰的凸部之間，藉由山部的山脊或是波浪狀部的傾斜面之形狀上的作用，可取得失去平衡而成為橫躺的傾向。再者，成為橫躺的注射液用容器，由於取得容器軸心在沿著波浪狀部的谷部之最為安定的朝向下於最終呈靜止的傾向，故亦易於拾取。In addition, since the upper surface side of the mounting portion has a wavy portion provided alternately with a mountain portion extending along the predetermined direction and a valley portion, the convex portion row is a ridge along the mountain portion. It is set so that the outer diameter of the bottom surface of the thin injection container is smaller than the interval between adjacent convex portions, even if it falls between adjacent convex portions in an upright posture, by the ridge or wave of the mountain portion The action of the shape of the inclined surface of the shape portion can cause a tendency to lose balance and lie horizontally. In addition, the container for an injection liquid which is lying horizontally is easy to pick up because the container axis tends to be stationary at the most stable direction along the valley portion of the wavy portion.
又，由於在構成上，上述凸部的形狀，從與上述預定方向正交的方向觀察下是形成波浪形狀或是山形狀，所以即使注射液用容器在俯視觀察下以與上述預定方向正交之朝向成為橫躺之情形時，由於亦可藉由該等形成為波浪形狀或是山形狀之凸部的斜面發揮作用，使注射液用容器在俯視觀察下產生順時鐘旋轉或是逆時鐘旋轉的轉矩，所以更加增強注射液用容器其容器軸心在沿著波浪狀部的谷部之最為安定的朝向下於最終呈靜止的傾向。In addition, since the shape of the convex portion is formed into a wave shape or a mountain shape when viewed from a direction orthogonal to the predetermined direction, even if the container for injection liquid is orthogonal to the predetermined direction when viewed from above, When the orientation is lying horizontally, the inclined surface of the convex portion formed into a wave shape or a mountain shape can also function, so that the container for injection liquid rotates clockwise or counterclockwise when viewed from above. Therefore, the container axis of the container for injectable liquid tends to stand still at the most stable direction along the valley portion of the wavy portion.
又，由於在構成上，沿著上述山脊交互配置有相互高度不同之2種類的突起部，較高的上述突起部構成上述凸部，故只要因應以上述2種類的突起部之各種高度為對象之注射液用容器的形狀進行適當選擇，由於就可以實現作為當初在形狀上之必要條件之「包含：由複數列沿著預定方向排列有向上突出或是膨出的凸部而成的凸部列，且是相鄰之上述凸部列彼此間，使上述凸部的排列相位在上述預定方向上相互偏移的複數凸部列」的特徵，因此載置部的設計變得容易。In addition, two types of protrusions having mutually different heights are alternately arranged along the ridge in structure, and the higher protrusions constitute the protrusions, so as long as the heights of the two kinds of protrusions are targeted, The shape of the container for injectable liquid is appropriately selected, because the "condition" including the convex portion formed by arranging upwardly protruding or bulging convex rows in a predetermined direction as a necessary condition in the original shape can be realized. It is a feature of a plurality of adjacent convex part rows that make the arrangement phase of the convex parts shift from each other in the predetermined direction. Therefore, the design of the placement part becomes easy.
又，由於在構成上，上述箱體的下端是由開放端所構成，上述載置部是滑動自如地配置在上述預定方向上來開閉上述開放端，故藉由使載置部在預定方向上滑動之簡單的操作，無須進行拾取就能夠使殘留在載置部的注射液用容器排出至收納箱外。In addition, since the lower end of the box is constituted by an open end, and the placement portion is slidably arranged in the predetermined direction to open and close the open end, the placement portion is slid in the predetermined direction With a simple operation, it is possible to discharge the container for an injection solution remaining in the placement section to the outside of the storage box without picking it up.
又，由於在構成上，上述箱體，是包含能夠嵌合於上述谷部的突出下端部，上述谷部，可一邊大致嵌合於上述突出下端部地使上述載置部一邊滑動，故在使載置部朝向預定方向滑動後時，殘留於載置部的谷部等之安瓿蓋等的垃圾屑，亦藉由與突出下端部的抵接而自動地經由開放端而落下的方式被排出至收納箱外。In addition, in the configuration, the box body includes a protruding lower end portion that can be fitted into the valley portion, and the valley portion can slide the placement portion while being fitted substantially into the protruding lower end portion. When the mounting portion is slid in a predetermined direction, debris such as ampoule caps remaining in the valley portion of the mounting portion and the like are automatically discharged through the open end by contact with the protruding lower end portion. Outside the storage box.
又，由於在構成上，具有：沿著上述山脊的斜坡部，且是從較高的上述突起部朝向相鄰之較低的上述突起部而延伸向下坡度的斜坡部，故即使注射液用容器在俯視觀察下以與上述預定方向正交之朝向成為橫躺之情形時，容易使容器的胴部產生在上述向下坡度的斜坡部滑降的動作，由於藉此使注射液用容器產生在俯視觀察下旋轉的轉矩，故更加增強注射液用容器其容器軸心在以沿著波浪狀部的谷部之安定的朝向下於最終呈靜止的傾向。再者，於注射液用容器的一端具有凸緣部時，在使載置部滑動時，該凸緣部恐有被夾在較高的突起部與突出下端部之間而使滑動變得困難之虞，不過在滑動時，該凸緣部是藉由從較低的突起部朝向較高的突起部延伸之向上坡度的斜坡部而成為可滑順地被往上方導引，由於可容易地越過較高的突起部，故可易於防止滑動變得困難等之事態。In addition, since the structure includes a slope portion along the ridge and a downward slope extending from the higher protrusion portion toward the adjacent lower protrusion portion, even for injection liquid When the container is lying horizontally in a direction orthogonal to the predetermined direction in a plan view, it is easy to cause the crotch portion of the container to slide down on the slope portion of the downward slope. The torque of rotation in a plan view further strengthens the container axis of the container for injection liquid in a stable direction along the valley portion of the wavy portion, and eventually tends to stand still. In addition, when a flange portion is provided at one end of the container for an injectable solution, when the mounting portion is slid, the flange portion may be sandwiched between a high protruding portion and a protruding lower end portion, thereby making sliding difficult. There is a possibility that the flange portion is slidably guided upward by a slope portion having an upward slope extending from a lower protrusion portion toward a higher protrusion portion during sliding, since it can be easily guided upward. It can easily prevent a situation in which sliding becomes difficult, since it passes over a high protrusion.
又，由於在構成上，在沿著上述山脊相互對向之上述突起部的側面，設有傾斜的倒角部，故在滑動時，即使注射液用容器的凸緣部進入到突起部與突出下端部之間，由於該凸緣部藉由倒角部而圓滑地被往上方導引而變得可容易地越過突起部，故可抑止凸緣部被夾在突起部的側面與突出下端部之間而使滑動變得困難等之事態。In addition, since the inclined chamfered portions are provided on the side surfaces of the protruding portions facing each other along the ridge in structure, even when the flange portion of the container for injection liquid enters the protruding portions and protrudes during sliding, Between the lower end portions, since the flange portion is smoothly guided upward by the chamfered portion, the protrusion portion can be easily passed over, so that the flange portion can be prevented from being sandwiched between the side surface of the protrusion portion and the protruding lower end portion. Things that make sliding difficult.
又，由於在構成上，於上述凸部的上端或是上述山脊的一部分，形成有向下凹窪的輔助溝槽部，因此即使在拾取用的機械人手臂的前端使用以負壓吸附並保持對象物的吸附墊之情形下，由於藉由輔助溝槽部使抽吸空氣的一部分逃逸，故可使造成吸附墊吸附在凸部的上端或是吸附在山脊的一部分而致使機械人手臂變得無法操作之難以預料的事態受到抑制，因此拾取作業如當初預定的方式被圓滑地實施。In addition, since the auxiliary groove portion having a downward depression is formed on the upper end of the convex portion or a part of the ridge in structure, even if it is used at the front end of the picking robot arm, it is sucked and held by negative pressure. In the case of an adsorption pad of an object, a part of the suction air is escaped by the auxiliary groove portion, so that the adsorption pad can be adsorbed on the upper end of the convex portion or a part of the ridge, causing the robot arm to become Unpredictable and unpredictable situations are suppressed, so the picking operation is carried out smoothly as originally planned.
又，由於在構成上，上述凸部列的形狀，從與上述預定方向正交的方向觀察下，複數個山狀部是形成沿著上述預定方向連接的山巒狀，故假使注射液用容器在俯視觀察下以與上述預定方向正交的朝向成為橫躺之情形時，也易於使容器的胴部產生沿著上述山狀部的山腳滑降的動作，藉此由於使注射液用容器產生在俯視觀察下旋轉的轉矩，因此注射液用容器更加增強使其容器軸心在沿著波浪狀部的谷部之安定的朝向下於最終呈靜止的傾向。又，從載置部的上表面側所具有之形狀的單純性而言，可以容易地以合成樹脂之射出成形等方式來製作載置部。In addition, since the shape of the convex portion row is viewed from a direction orthogonal to the predetermined direction, the plurality of mountain portions are formed in the shape of mountains connected along the predetermined direction. When lying in a horizontal orientation in a direction orthogonal to the predetermined direction in plan view, it is also easy to cause the crotch portion of the container to slide down along the foot of the mountain-like portion. Observing the rotating torque, the container for injection solution is further strengthened so that its container axis tends to stand still in a stable direction along the valley portion of the wavy portion. Moreover, from the simplicity of the shape which the upper surface side of a mounting part has, a mounting part can be easily manufactured by methods, such as injection molding of a synthetic resin.
又，由於注射液用容器拾取系統，是具備：申請專利範圍第1至10項中之任一項所述的注射液用容器收納箱、及從上述注射液用容器收納箱的上方對成為上述橫躺姿勢的上述注射液用容器進行攝像的攝像部、及上述攝像部取得的影像資料處理的影像處理部，及一個個拾取上述注射液用容器的機械人手臂、以及控制上述機械人手臂之動作的控制部；因此攝像部，能夠對以橫躺姿勢被收納在注射液用容器收納箱的注射液用容器進行攝像，故藉由影像處理部所執行之注射液用容器的特徵或者經歷解析及辨認變得容易且確實，其結果，可提供拾取精度高的注射液用容器拾取系統。The container picking system for an injection solution includes the container for an injection solution according to any one of claims 1 to 10, and the container container for the injection solution is positioned above from above. An imaging unit for imaging the container for injection liquid in a lying position, an image processing unit for processing image data obtained by the imaging unit, a robot arm picking up the container for injection liquid, and a robot arm for controlling the robot arm The operation control unit; therefore, the imaging unit can image the injection solution container stored in the lying position in the injection solution container storage box in a horizontal position, so the characteristics or history of the injection solution container executed by the image processing unit can be analyzed. The identification and identification becomes easy and reliable. As a result, a container picking system for injection liquid with high picking accuracy can be provided.
又，由於在構成上，具備使上述注射液用容器收納箱或是上述載置部擺動的擺動手段，故即使由於某些的因素，一部分的注射液用容器在只靠被投入至注射液用容器收納箱是難以成為橫躺姿勢之情形時，可藉由擺動手段執行注射液用容器收納箱或是上述載置部的擺動操作，藉此由於使大多的注射液用容器更加確實地成為橫躺姿勢，故更加提升由注射液用容器拾取系統所執行的拾取精度。In addition, since the structure includes a swinging means for swinging the container for injecting solution or the mounting portion, even for some reasons, a part of the container for injecting solution is only injected into the container for injecting solution. When the container storage box is difficult to lie horizontally, the container storage box for injection liquid or the above-mentioned mounting portion can be swung by swinging means, so that most injection liquid containers can be made more horizontal. Lying position, so the picking accuracy performed by the container picking system for injection liquid is further improved.
以下，使用圖面對本發明的實施形態進行說明。 本發明，是例如在手術室等之醫療現場，可供複數個使用完畢之安瓿本體部等筒狀的注射液用空容器等，以任意方式投入之收納箱的發明。尚且，本實施形態的注射液用容器收納箱，是後述之注射液用容器拾取系統所具備，在一個個逐一地拾取注射液用容器的情形下極為適用，並且容易進行安瓿蓋等之垃圾屑的排出。Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is an invention of a storage box that can be used to put in an arbitrary manner a plurality of empty container for injection liquid such as a used ampoule body at a medical site such as an operating room. In addition, the container for injectable solution storage boxes according to this embodiment is provided in an injectable container picking system described later, and is extremely suitable for picking up injectable containers one by one, and it is easy to perform waste such as ampoules 'S discharge.
在對本實施形態之注射液用容器收納箱進行說明之前，使用第1圖及第2圖對被該注射液用容器收納箱10所收納的收納物進行說明。 於上述的收納物中，如第1圖及第2圖所示，包含有：筒狀的注射液用容器1、切取下的安瓿頭2a、或是從藥瓶的頭部拆下的藥瓶蓋2b、以及玻璃片2c等之垃圾屑。Before describing an injection solution container storage box according to this embodiment, the storage items stored in the injection solution container storage box 10 will be described using FIGS. 1 and 2. As shown in FIGS. 1 and 2, the above-mentioned storage container includes a cylindrical injection solution container 1, a cut-out ampoule head 2a, or a medicine bottle removed from the head of the medicine bottle. Cover 2b, glass chips 2c, and other debris.
更詳細而言，筒狀的注射液用容器1，意思是指於第1圖(a)及第1圖(b)所示之藥瓶1a、1b、第1圖(c)所示之安瓿本體部1c、第1圖(d)所示之注射器的注射筒1d等之注射液用容器。在此，藥瓶1a的外徑，是比藥瓶1b的外徑更小者。 此等之注射液用空容器的形狀，並不侷限於圓筒形，可由例如具有大致六角形之斷面形狀的六角筒形、具有接近大致橢圓形之長方形斷面形狀的筒狀等之各式各樣的筒狀體所形成。又，對於注射液用容器1，亦包含容器中的注射液已用空之狀態者、或注射液殘留有某種程度者、或上述之未使用注射液用容器般之未開封狀態者。More specifically, the cylindrical container 1 for injection solution means the vials 1a, 1b and 1 (c) shown in FIG. 1 (a) and FIG. 1 (b). Containers for injection liquids, such as the body portion 1c and the syringe barrel 1d of the syringe shown in Fig. 1 (d). Here, the outer diameter of the vial 1a is smaller than the outer diameter of the vial 1b. The shape of these empty containers for injectable solutions is not limited to a cylindrical shape, and may be, for example, a hexagonal cylindrical shape having a substantially hexagonal cross-sectional shape, a cylindrical shape having a rectangular cross-sectional shape close to a substantially oval shape, and the like. Formed in a variety of cylindrical bodies. In addition, the container 1 for injection solution also includes a state where the injection solution in the container has been used up, or a certain amount of injection solution remains, or an unopened state like the aforementioned unused injection container.
尚且，於此等之注射液用容器1的側面，如第1圖(a)～第1圖(d)所示，標示著表示與注射液的名稱、原價等之該注射液用容器對應之識別資訊的條碼5。 此等之注射液用容器1，在被收納於第3圖所例示之注射液用容器收納箱10後，藉由於第10圖所例示的注射液用容器拾取系統40一個個逐一地取出，並裝設有具備條碼讀取功能的資訊讀取裝置(例如請參照專利文獻2)，來讀取條碼資訊等，此等資訊，可被充分利用於藥價請求、成本管理、或藥劑管理。In addition, as shown in Figs. 1 (a) to 1 (d), the side surfaces of the containers 1 for injection liquids are marked corresponding to the containers for injection liquids such as the name and original price of the injection liquid. Barcode for identification information 5. These injection liquid containers 1 are stored in the injection liquid container storage box 10 illustrated in FIG. 3, and are taken out one by one by the injection liquid container pickup system 40 illustrated in FIG. 10, and An information reading device having a barcode reading function (for example, refer to Patent Document 2) is installed to read barcode information, etc., and such information can be fully utilized for medicine price request, cost management, or medicine management.
[第1實施形態] 以下，使用第3圖～第10圖對本發明之第1實施形態的注射液用容器收納箱進行說明。 本實施形態的注射液用容器收納箱10，如第3圖所示，具備：上端及下端開放之筒狀的箱體12、及用於載置注射液用容器1的載置部14。又，第3圖(a)，是顯示收納有載置部14，並閉闔箱體12之下端側的開口13b的狀態；第3圖(b)，是顯示從箱體12拉出一半以上之載置部14的狀態。又，第4圖(a)是顯示與第3圖(a)相對應的平面圖；第4圖(b)是顯示與第3圖(b)大致對應的平面圖。[First Embodiment] Hereinafter, a container storage box for an injection solution according to a first embodiment of the present invention will be described with reference to Figs. 3 to 10.容器 The injectable container storage box 10 according to the present embodiment includes, as shown in FIG. 3, a cylindrical box 12 having upper and lower ends open, and a mounting portion 14 for placing the injectable container 1. Fig. 3 (a) shows a state in which the mounting portion 14 is accommodated and the opening 13b on the lower end side of the box 12 is closed. Fig. 3 (b) shows a state where it is pulled out more than half from the box 12 The state of the mounting portion 14. Fig. 4 (a) is a plan view corresponding to Fig. 3 (a), and Fig. 4 (b) is a plan view substantially corresponding to Fig. 3 (b).
首先，箱體12，如第3圖及第4圖所示，是由具有上端側之開口13a及下端側之開口13b的長方體形狀的中空箱體所形成。更詳細而言，箱體12，如第3圖及第5圖所示，係具備：前側垂直板構件20a、後側垂直板構件20b、左側垂直板構件20c、以及右側垂直板構件20d。再者，箱體12，如第5圖及第6圖所示，於左側垂直板構件20c及右側垂直板構件20d之各個的下端部29c、29d，具備有：朝向箱體12內側並沿大致水平方向短短地突出的突出板22c、22d。對於該突出板22c、22d於後述之。First, as shown in FIGS. 3 and 4, the case 12 is formed of a rectangular parallelepiped hollow case having an opening 13 a on the upper end side and an opening 13 b on the lower end side. More specifically, as shown in FIGS. 3 and 5, the cabinet 12 includes a front vertical plate member 20 a, a rear vertical plate member 20 b, a left vertical plate member 20 c, and a right vertical plate member 20 d. In addition, as shown in FIG. 5 and FIG. 6, the box 12 includes, at the lower end portions 29 c and 29 d of each of the left vertical plate member 20 c and the right vertical plate member 20 d, the box body 12 includes: The protruding plates 22 c and 22 d that protrude in the horizontal direction are short. The protruding plates 22c and 22d will be described later.
又，箱體12，如第3圖、第4圖、及第5圖所示，具備：從左側垂直板構件20c以及從右側垂直板構件20d的各個的上端，朝向箱體12的左右外側並沿大致水平方向較短地突出的卡止板24c、24d。藉由使該卡止板24c、24d卡止於後述的框體43，而可以以框體43支撐箱體12。Moreover, as shown in FIG. 3, FIG. 4, and FIG. 5, the case 12 is provided with the upper end of each of the vertical plate member 20c from the left and the vertical plate member 20d from the right toward the left and right outer sides of the box 12, and The locking plates 24 c and 24 d that protrude relatively short in the substantially horizontal direction. By locking the locking plates 24 c and 24 d to a frame 43 described later, the case 12 can be supported by the frame 43.
又，箱體12，如第3圖及第5圖所示，其前側垂直板構件20a之下端部21的一部分包含朝下方突出的突出下端部21b，此點於後再述之。As shown in FIGS. 3 and 5, the case 12 includes a part of the lower end portion 21 of the front vertical plate member 20 a including a protruding lower end portion 21 b protruding downward, which will be described later.
尚且，注射液用容器1a、1b、1c隨意地以任意姿勢從如此所形成之箱體12的上端側的開口13a被投入於箱體12中。此時，亦會混入安瓿頭2a、藥瓶蓋2b、以及玻璃片2c等之垃圾屑。 又，箱體12的形狀，並非侷限於本實施形態的長方體狀，亦可形成為例如上端為開放的圓筒狀或橢圓筒狀等。In addition, the containers 1a, 1b, and 1c for injection solutions are put into the case 12 from the opening 13a on the upper end side of the case 12 thus formed, in an arbitrary posture. At this time, debris such as the ampoule head 2a, the medicine bottle cap 2b, and the glass sheet 2c are also mixed in. In addition, the shape of the box body 12 is not limited to the rectangular parallelepiped shape of the present embodiment, and may be formed into, for example, a cylindrical shape or an oval tube shape with an open upper end.
其次，作為本實施形態之主要部分的載置部14，如第4圖及第7圖所示，係具備：與箱體12的底部大致同一尺寸之由俯視觀察為長方形狀的板構件所形成的載置部本體18、以及配置在載置部本體18之正面的把手26。 載置部本體18的上表面側，如第7圖所示，山部A與谷部B是由沿著波形進行方向F以交互重覆的波浪狀部17所形成。又，如第3圖及第7圖所示，山部A與谷部B之任一者皆是直線狀地延伸於與波形進行方向F正交的預定方向上，又，如第5圖、第6圖及第8圖所示，複數個山部A之山脊(上端)彼此間的高度是以成為相互相等的方式所形成。Next, as shown in FIGS. 4 and 7, the mounting portion 14 as a main part of the present embodiment is formed by a rectangular plate member that is approximately the same size as the bottom of the box 12 when viewed in plan. The mounting portion main body 18 and a handle 26 disposed on the front surface of the mounting portion main body 18. As shown in FIG. 7, on the upper surface side of the mounting portion body 18, the mountain portion A and the valley portion B are formed by the wave-like portions 17 which are alternately overlapped along the direction F of the waveform. As shown in FIG. 3 and FIG. 7, each of the mountain portion A and the valley portion B extends linearly in a predetermined direction orthogonal to the waveform progress direction F, and as shown in FIG. 5, As shown in FIGS. 6 and 8, the heights of the ridges (upper ends) of the plurality of mountain portions A are formed so as to be equal to each other.
尚且，如第3圖及第7圖所示，於各個的山部A，複數個突起部P是沿著該山脊(上端)以等間隔所配置，山部A與突起部P為一體地形成。複數個突起部P，任一個皆呈朝上方延伸的圓柱狀，不過是由高度相互不同之2種類的突起部P所構成，也就是由較高的突起部P1與較低的突起部P2所構成。於任一山部A中，此等2種類的突起部P1、P2是沿著山部A的山脊交互地配置，而且，當比較相互相鄰的山部A彼此時，可以理解到2種類的突起部P1、P2的配置是成相反。具體而言，由第7圖的例子來說，從載置部14的左端觀察，在第1列與第3列的山部A中，突起部P1、P2從前方側依(P2、P1、P2、P1、…)的順序排列，在第2列及第4列的山部A中，突起部P1、P2從前方側依(P1、P2、P1、P2、…)的順序排列。Moreover, as shown in FIGS. 3 and 7, in each mountain portion A, a plurality of protrusions P are arranged at equal intervals along the ridge (upper end), and the mountain portions A and the protrusions P are integrally formed. . Each of the plurality of protrusions P has a cylindrical shape extending upward, but is composed of two types of protrusions P having different heights, that is, a higher protrusion P1 and a lower protrusion P2. Make up. In any mountain portion A, these two types of protrusions P1 and P2 are alternately arranged along the ridge of mountain portion A. When comparing adjacent mountain portions A with each other, it can be understood that the two types The arrangement of the protrusions P1 and P2 is reversed. Specifically, as shown in the example of FIG. 7, when viewed from the left end of the mounting portion 14, in the mountain portions A of the first and third rows, the protrusions P1 and P2 depend on the front side (P2, P1, and P1). P2, P1, ...) are arranged in order, and in the mountain portion A of the second and fourth columns, the protrusions P1, P2 are arranged in the order of (P1, P2, P1, P2, ...) from the front side.
在此，若僅將較高的突起部P1，命名為從載置部14的上表面側向上突出或是膨出的「凸部Q」，載置部14係具有：由凸部Q沿著上述預定方向排列複數個而成的凸部列R。而且，以相鄰的凸部列R彼此進行比較時，可以理解到凸部Q之排列的相位是在預定方向上相互偏移，也就是，在相鄰的凸部列R彼此間，凸部Q(突起部P1)之排列的相位是相反的。Here, if only the high protruding portion P1 is named as a “convex portion Q” protruding upward or bulging from the upper surface side of the placing portion 14, the placing portion 14 has: A plurality of convex portion rows R are arranged in the predetermined direction. Moreover, when the adjacent convex portion rows R are compared with each other, it can be understood that the phases of the arrangement of the convex portions Q are shifted from each other in a predetermined direction, that is, between the adjacent convex portion rows R, the convex portions The phase of the arrangement of Q (protrusions P1) is opposite.
再者，如第7圖所示，大致形成為圓柱狀之突起部P1、P2的上端，整體上大致由水平平面狀的端面30所構成，不過於該端面30，形成有向下凹窪的輔助溝槽部30a。輔助溝槽部30a在俯視觀察下呈十字型。對於該輔助溝槽部30a的作用於後述之。In addition, as shown in FIG. 7, the upper ends of the protrusions P1 and P2 that are formed substantially in a columnar shape are generally composed of a horizontal planar end surface 30, but the end surface 30 is formed with a downward depression. Auxiliary groove portion 30a. The auxiliary groove portion 30a has a cross shape in a plan view. The function of the auxiliary groove portion 30a will be described later.
又，本實施形態之山部A的上端部及谷部B的下端部的斷面形狀，在第5圖、第6圖、第7圖、及第8圖中，雖是以大致圓弧狀形成的方式表示，不過山部與谷部凹部的斷面形狀，並不侷限於大致圓弧狀者，例如亦可以是三角形狀。不過，形成為三角形狀之情形時，由於三角形的頂點與三角形的斜面在光的反射形態上不同，在後述之拾取系統的攝像部取得的影像中，恐有沿著頂點之直線狀的影像出現在上述影像中之虞。由於如此之直線狀的影像，會成為與注射液用容器1的影像無關的雜訊影像，因此在影像處理上，只要因應必要來執行雜訊去除處理即可。In addition, the cross-sectional shapes of the upper end portion of the mountain portion A and the lower end portion of the valley portion B in this embodiment are approximately arc-shaped in FIGS. 5, 6, 7, and 8. The method of formation is shown, but the cross-sectional shapes of the concave portions of the mountain portion and the valley portion are not limited to those having a substantially circular arc shape, and may be, for example, a triangular shape. However, in the case of a triangular shape, since the vertices of the triangle and the inclined surface of the triangle are different in the light reflection form, there may be a linear image along the apex in the image obtained by the imaging unit of the pickup system described later. Now in the above image. Since such a linear image becomes a noise image irrelevant to the image of the container 1 for injection solution, in the image processing, it is only necessary to perform a noise removal process as necessary.
另一方面，山部及谷部的斷面形狀形成為大致圓弧狀之情形，相較於形成為三角形狀之情形，由於山部的頂點附近或谷部的最下點附近變得圓滑，所以山部(或谷部)的頂點與山部(或谷部)的斜面之光的反射形態的差異較小，因此在上述的影像中，可以防止沿著頂點(或最下點)之直線狀的影像出現。On the other hand, in the case where the cross-sectional shapes of the mountain and valley portions are formed into a substantially circular arc shape, the vicinity of the apex of the mountain portion or the vicinity of the lowest point of the valley portion becomes smoother than that in the case of the triangular shape. Therefore, the difference between the reflection form of the apex of the mountain (or valley) and the slope of the mountain (or valley) is small. Therefore, in the above image, a straight line along the vertex (or the lowest point) can be prevented. The image appears.
其次，把手26，如第4圖及第7圖所示，係包含具有貫通孔27的板材26a，並在將該板材26a的板面設成大致水平的狀態下，朝向與載置部本體18之波形行進方向F平行之2個側面的一方突出設置。 又，載置部本體18，如第3圖、第5圖、第6圖、及第7圖所示，係於俯視觀察下沿著波形行進方向F的兩側端，分別具備：沿著與波形行進方向F正交之預定方向行走的溝槽部28、28。溝槽部28、28，是由比上述的突出板22c、22d的厚度僅稍寬的溝槽所形成。Next, as shown in FIGS. 4 and 7, the handle 26 includes a plate member 26 a having a through hole 27, and faces the mounting portion body 18 with the plate surface of the plate member 26 a being substantially horizontal. The waveform traveling direction F is parallel to one of the two side surfaces. Moreover, as shown in FIG. 3, FIG. 5, FIG. 6, and FIG. 7, the mounting portion body 18 is provided at both sides of the waveform traveling direction F in plan view, and includes: The groove portions 28 and 28 traveling in a predetermined direction orthogonal to the waveform traveling direction F. The groove portions 28 and 28 are formed by grooves which are slightly wider than the thickness of the above-mentioned protruding plates 22c and 22d.
如此所形成的載置部14，如第3圖、第4圖、第5圖、及第6圖所示，是在將波浪狀部17朝向上側的狀態下，使突出板22c、22d各別一邊***於溝槽部28、28來安裝在箱體12的下端部29c、29d。 在此，對於上述之箱體12的突出下端部21b進行說明。本實施形態的突出下端部21b，如第5圖所示般，於正面觀察中，是由被包含在前側垂直板構件20a之向下突出的5個前端部分所構成，且位在比波浪狀部17的各谷部B僅稍上方位置，並且是與谷部B大致嵌合的形態所設置。 另一方面，下端部21之中，在與載置部14的山部A以相對應之方式向上凹入的4個處所，形成有用以使配置在山部A之頂點的突起部P1、P2通過之大致為矩形的切缺部21a。As shown in FIG. 3, FIG. 4, FIG. 5, and FIG. 6, the mounting portion 14 formed in this manner has the protruding plates 22c and 22d in a state in which the wave-shaped portion 17 faces upward. One side is inserted into the groove portions 28 and 28 and is attached to the lower end portions 29 c and 29 d of the case 12. Here, the protruding lower end portion 21 b of the above-mentioned case 12 will be described. As shown in FIG. 5, the protruding lower end portion 21 b of this embodiment is composed of five front end portions protruding downward and included in the front vertical plate member 20 a in a front view, and is located in a wave-like shape. Each of the valley portions B of the portion 17 is located only slightly above, and is provided in a form that fits substantially into the valley portion B. On the other hand, in the lower end portion 21, protrusions P1 and P2 are formed in four places that are recessed upwardly in correspondence with the mountain portion A of the mounting portion 14 so as to be arranged at the apex of the mountain portion A. The substantially rectangular cutout portion 21a is passed therethrough.
因此，本實施形態的載置部14，如第3圖及第4圖所示，是可在與波形行進方向F正交的預定方向上滑動自如地安裝在箱體12的下端部，藉由該滑動操作而成為可開閉箱體12在下端側的開口13b(開放端)之構成。又，此情形時，如第3圖所示，谷部B，是成為與箱體12的突出下端部21b一邊大致嵌合一邊進行滑動的構成。因此，當將載置部14從箱體12朝向拉出方向進行滑動操作時，殘留在載置部14的谷部B之安瓿頭2a等之垃圾屑，係藉由突出下端部21b而使其移動受到限制，而從箱體12之下端側的開口13b確實地朝下方排出(請參照第10圖)。Therefore, as shown in FIGS. 3 and 4, the mounting portion 14 of this embodiment can be slidably mounted on the lower end portion of the casing 12 in a predetermined direction orthogonal to the waveform traveling direction F. This sliding operation has a configuration in which the opening 13b (open end) of the lower end side of the box 12 can be opened and closed. In this case, as shown in FIG. 3, the valley portion B is configured to slide while being substantially fitted to the protruding lower end portion 21 b of the case 12. Therefore, when the mounting portion 14 is slid from the box 12 in the pulling direction, debris such as the ampoule head 2a remaining in the valley portion B of the mounting portion 14 is caused to protrude by lowering the lower end portion 21b. Movement is restricted, and it is surely discharged downward from the opening 13b on the lower end side of the cabinet 12 (see FIG. 10).
以下，使用第8圖及第9圖對於本實施形態之波浪狀部17的作用進行說明。 首先，第8圖(a)～第8圖(d)，是顯示投入於本實施形態之注射液用容器收納箱10所具備的載置部14之底面外徑較小的藥瓶1a的舉動。亦即，根據本實施形態的注射液用容器收納箱10，如第8圖(a)所示，即使藥瓶1a是使其下端部以朝向下方的狀態被投入於注射液用容器收納箱10，如第8圖(b)所示，當藥瓶1a的下端部由波浪狀部17的傾斜面所承接擋止時，該姿勢由於不安定故易於倒下，如第8圖(c)所示，而易於成為橫躺姿勢(倒下姿勢)。又，藥瓶1a的下端部在以撞擊到突起部P1(Q)或突起部P2之方式落下之情形時，其姿勢容易成為不安定而容易成為橫躺姿勢。因此，在以後述之注射液用容器拾取系統的攝像部對注射液用容器1進行攝像之情形時，便能夠取得在進行影像處理上有利的影像，對於此點之詳細將於後述之。Hereinafter, the operation of the wavy portion 17 of this embodiment will be described with reference to FIGS. 8 and 9. First, FIGS. 8 (a) to 8 (d) show the behavior of the medicine bottle 1 a having a small outer diameter on the bottom surface of the mounting portion 14 provided in the injection container storage box 10 of the present embodiment. . That is, as shown in FIG. 8 (a), the injection container storage box 10 according to the present embodiment is inserted into the injection solution container storage box 10 with the lower end portion thereof facing downward. As shown in FIG. 8 (b), when the lower end portion of the medicine bottle 1a is stopped by the inclined surface of the wavy portion 17, the posture is easy to fall due to instability, as shown in FIG. 8 (c) Display, and it is easy to be in a lying position (downward posture). Moreover, when the lower end part of the vial 1a falls so that it may hit the protrusion part P1 (Q) or the protrusion part P2, the posture will become unstable, and it will become a lying position easily. Therefore, in the case where the imaging unit of the injectable liquid container pick-up system described later images the injectable liquid container 1, it is possible to obtain an image that is advantageous in image processing, and the details of this point will be described later.
其次，第9圖(a)～第9圖(d)，是顯示投入於本實施形態之注射液用容器收納箱10所具備的載置部14之底面外徑較大的藥瓶1b的舉動。亦即，根據本實施形態的注射液用容器收納箱10，如第9圖(a)所示般地，底面外徑較大的藥瓶1b被以底部朝下的姿勢投入，即使是以跨於相鄰突起部P1(Q)、P2雙方之方式被支撐的姿勢下要靜止下來時，因為突起部P1(Q)、P2彼此間的高度不同，如第9圖(b)所示般地，由於藥瓶1b無法直立而傾斜，因此在下一階段便如第9圖(c)所示般地，成為橫躺姿勢。特別是在使注射液用容器收納箱10擺動下，就更容易成為橫躺姿勢。Next, Figs. 9 (a) to 9 (d) show the behavior of the medicine bottle 1b having a large outer diameter on the bottom surface of the mounting portion 14 provided in the injection container storage box 10 of this embodiment. . That is, according to the container storage box 10 for an injection solution according to the present embodiment, as shown in FIG. 9 (a), the medicine bottle 1b having a large outer diameter on the bottom surface is put in a bottom-down posture, even if the When standing still in a posture where both adjacent protrusions P1 (Q) and P2 are supported, the heights of the protrusions P1 (Q) and P2 are different from each other, as shown in FIG. 9 (b). Since the vial 1b cannot be tilted upright, in the next stage, as shown in FIG. 9 (c), it is in a lying position. In particular, when the container for injection solution container 10 is swung, the lying position is more easily achieved.
如此地，本實施形態的注射液用容器收納箱10，係成為可使其載置部14在承接從箱體12的開放上端所投入的注射液用容器1時，利用凸部Q(突起部P1)及/或波浪狀部17使注射液用容器1成為橫躺姿勢之構成者。 順便一提，於專利文獻1等所記載之注射液用容器收納箱，底面外徑較大的藥瓶1b被以底部朝下的姿勢投入，以同時跨於相鄰山部A的2個頂點之方式被支撐之情形時，由於2個頂點的高度相等，故恐有造成藥瓶1b直立，而無法達到橫躺姿勢之虞。As described above, the injection container storage box 10 according to the present embodiment is configured such that the placement portion 14 can receive the injection liquid container 1 inserted from the open upper end of the case 12 by using the convex portion Q (protruding portion). P1) and / or the wavy portion 17 constitutes the container 1 for injection solution in a lying posture. By the way, in the container for an injection solution described in Patent Document 1 and the like, the medicine bottle 1b having a large outer diameter on the bottom surface is put in a posture of bottom down so as to straddle two apexes of the adjacent mountain portion A at the same time. When the method is supported, since the heights of the two vertexes are equal, the medicine bottle 1b may be caused to stand upright, and it may not be possible to achieve a lying posture.
又，如第8圖(c)及第9圖(c)所示般地，成為沿著波形行進方向F之橫躺姿勢的藥瓶1a、1b，由於藉由具有波浪狀部17之山部A與谷部B的高低差、或者2個突起部P1(Q)、P2彼此間之高度不同所致的作用而成為傾斜姿勢，而產生使藥瓶1a、1b在俯視觀察下旋轉的轉矩，並於最後，如第8圖(d)及第9圖(d)所示般地，藥瓶1a、1b取得在俯視觀察下其容器軸心沿著波浪狀部的谷部B之最為安定的朝向與位置呈靜止的傾向。此等作用對於形狀不同之其他的注射液用容器1亦適用之。In addition, as shown in FIGS. 8 (c) and 9 (c), the medicine bottles 1a and 1b in the reclining posture along the wave-shaped traveling direction F are formed by the mountain portion having the wavy portion 17 The height difference between A and trough B, or the difference in height between the two protrusions P1 (Q) and P2 becomes an inclined posture, and a torque is generated to rotate the vials 1a and 1b in a plan view. And finally, as shown in FIG. 8 (d) and FIG. 9 (d), the medicine bottles 1a, 1b obtain the most stable portion of the container axis along the wavy portion B in plan view. Orientation and position tend to be stationary. These effects are also applicable to other injection liquid containers 1 having different shapes.
其次，使用第10圖對於本實施形態的注射液用容器拾取系統40進行說明。 注射液用容器拾取系統40，係具備：上述之注射液用容器收納箱10、及支撐注射液用容器收納箱10的框體43、及攝像部42、及機械人手臂44、及影像處理部46、及滑動操作部56、以及控制機械人手臂44及滑動操作部56等之動作的控制部48。Next, the container pick-up system 40 for an injection liquid according to this embodiment will be described with reference to FIG. 10. The injection container picking system 40 includes the above-mentioned injection container storage box 10 and a housing 43 supporting the injection solution container storage box 10, an imaging unit 42, a robot arm 44, and an image processing unit. 46, a slide operation section 56, and a control section 48 that controls the operations of the robot arm 44 and the slide operation section 56 and the like.
框體43，例如，如第10圖所示，是可以由：用以支撐箱體12之卡止板24c、24d的左右支撐臂43a、以及從各支撐臂43a的前後端朝向下方延伸的腳部43b所構成的框狀體來構成。而且，注射液用容器收納箱10，如第10圖所示，是被嵌合在框體43的框內，並使卡止板24c、24d以被載置在左右支撐臂43a之上表面的狀態下被支撐。以如此方式實施，注射液用容器收納箱10，是被配置在預定位置。For example, as shown in FIG. 10, the frame 43 may include left and right support arms 43 a for supporting the locking plates 24 c and 24 d of the case 12, and feet extending downward from the front and rear ends of the support arms 43 a. The frame-shaped body constituted by the portion 43b. Further, as shown in FIG. 10, the injection container storage box 10 is fitted in the frame of the frame 43 and the locking plates 24c and 24d are placed on the upper surfaces of the left and right support arms 43a. Supported in the state. In this manner, the container storage box 10 for injection solution is arranged at a predetermined position.
攝像部42，例如是由習知的數位攝像機所構成。而且，攝像部42，如第10圖所示，是配置在注射液用容器收納箱10的上方，並從注射液用容器收納箱10的上方對注射液用容器收納箱10內的注射液用容器1進行攝像，再將注射液用容器1的影像資料傳送至影像處理部46。又，攝像部，亦可以例如具備有複數台數位攝像機，成為取得注射液用容器1的3次元影像資料之構成。The imaging unit 42 is configured by a known digital camera, for example. Further, as shown in FIG. 10, the imaging unit 42 is disposed above the injection solution container storage box 10, and faces the injection solution container storage box 10 from above the injection solution container storage box 10. The container 1 is imaged, and the image data of the container 1 for injection solution is transmitted to the image processing unit 46. In addition, the imaging unit may be provided with a plurality of digital cameras, for example, to obtain a three-dimensional image data of the container 1 for injection solution.
影像處理部46，例如具備周知的影像處理CPU等而構成，藉由處理從攝像部42所傳送來的影像資料，而辨認攝像部42所攝像的注射液用容器1。The image processing unit 46 includes, for example, a well-known image processing CPU and the like, and processes the image data transmitted from the imaging unit 42 to identify the container 1 for injection liquid imaged by the imaging unit 42.
其次，機械人手臂44，如第10圖所示，係具備：例如周知之間接性結合的手臂部50、以及用以保持注射液用容器1而配置在手臂部50之前端的保持部52。 於本實施形態的保持部52，如第10圖所示，採用吸附式的保持手段。例如，保持部52，係具備由柔軟的蛇腹狀構件所構成的吸附墊54，並可以藉由真空泵浦等在吸附墊54的前端產生負壓，藉此來吸附、保持注射液用容器1。又，保持部，並不侷限於如本實施形態般之吸附式者，例如亦可以是利用2根爪構件等來夾持注射液用容器1的側部之構成者。Next, as shown in FIG. 10, the robot arm 44 includes, for example, an arm portion 50 which is known to be indirectly connected, and a holding portion 52 which is arranged at the front end of the arm portion 50 to hold the container 1 for injection solution. As shown in FIG. 10, the holding portion 52 held in this embodiment adopts an adsorption-type holding means. For example, the holding portion 52 is provided with an adsorption pad 54 composed of a flexible bellows-shaped member, and can generate a negative pressure at the tip of the adsorption pad 54 by a vacuum pump or the like, thereby adsorbing and holding the container 1 for injection liquid. In addition, the holding portion is not limited to a suction type as in this embodiment, and may be, for example, a structure that holds the side portion of the container 1 for injection liquid by two claw members or the like.
此外，假若突起部P1、P2之向上的端面30其整體為平坦的話，在利用機械人手臂44進行注射液用容器1的拾取作業中，會有造成吸附墊54吸附在端面30，而發生致使機械人手臂44不能操作之無法預測的事態的可能性。不過，在本實施形態的載置部14中，如第7圖所示，由於在突起部P1、P2的端面30形成有向下凹窪的十字型輔助溝槽部30a，所以即使在吸附墊54接觸到端面30之情形時，藉由抽吸空氣的一部分從輔助溝槽部30a逃逸，因而在吸附墊54的前端不會產生強的負壓，所以可以防止吸附墊54吸附在端面30，而如當初預定的方式圓滑地實施拾取作業。In addition, if the entire upward end surface 30 of the protrusions P1 and P2 is flat, the pick-up operation of the container 1 for injection liquid by the robot arm 44 may cause the adsorption pad 54 to be adsorbed on the end surface 30, resulting in Possibility of unpredictable events that the robot arm 44 cannot operate. However, in the mounting portion 14 of this embodiment, as shown in FIG. 7, since the cross-shaped auxiliary groove portion 30 a having a downward depression is formed on the end surface 30 of the protruding portions P1 and P2, even on the suction pad When 54 comes into contact with the end surface 30, part of the suction air escapes from the auxiliary groove portion 30a, so no strong negative pressure is generated at the front end of the adsorption pad 54. Therefore, the adsorption pad 54 can be prevented from being adsorbed on the end surface 30. And the picking operation was carried out smoothly as originally planned.
其次，滑動操作部56，如第10圖所示，係具備：拉引手臂部41、以及使拉引手臂部41滑動的滑動機構47。 拉引手臂部41，如第10圖所示，例如具備：與前側垂直板構件20a以正交之方式大致朝水平延伸之圓棒狀等的棒構件41a、以及從棒構件41a的一端附近以與棒構件41a正交之方式所延伸的銷構件41b。Next, as shown in FIG. 10, the slide operation portion 56 includes a pull arm portion 41 and a slide mechanism 47 that slides the pull arm portion 41. As shown in FIG. 10, the arm 41 is, for example, provided with a rod member 41a, such as a round rod, extending substantially horizontally orthogonal to the front vertical plate member 20a, and from a portion near one end of the rod member 41a. The pin member 41b extended so as to be orthogonal to the rod member 41a.
其次，作為滑動機構47者，如第10圖所示，例如可以使用周知的線性馬達機構。具體而言，例如是由：具有固定件並朝向與前側垂直板構件20a正交之方向延伸的導軌47a、以及具有可動件而可在導軌47a上將滑動機構47滑動地移動自如的載架(carriage)47b，來構成即可。Next, as the slide mechanism 47, as shown in FIG. 10, for example, a well-known linear motor mechanism can be used. Specifically, for example, a guide 47a having a fixing member and extending in a direction orthogonal to the front-side vertical plate member 20a, and a carrier having a movable member capable of slidingly sliding the sliding mechanism 47 on the guide rail 47a ( carriage) 47b.
又，滑動機構，並不侷限於線性馬達機構，也可以設置：配置在導軌兩端附近的定時齒輪、及與此等2個定時齒輪囓合的確動皮帶、以及旋動操作一方之定時齒輪的伺服馬達，並採用使在導軌上滑動地移動自如之載架的一部分固定於上述確動皮帶之構成等。或者，亦可以採用例如使用齒條與小齒輪機構使其滑動的構成。The sliding mechanism is not limited to a linear motor mechanism, and may include a timing gear disposed near both ends of the guide rail, a timing belt that meshes with the two timing gears, and a timing gear that rotates. The motor has a structure in which a part of the carriage which can be slidably moved on the guide rail is fixed to the above-mentioned moving belt. Alternatively, for example, a configuration in which a rack and a pinion mechanism are used for sliding can be adopted.
在此，首先，藉由旋轉驅動部45旋動操作棒構件41a以使拉引手臂部41的銷構件41b成為向下，其次，藉由滑動機構47移動載架47b以使銷構件41b位在把手26之貫通孔27的下方位置。其次，藉由旋轉驅動部45使棒構件41a旋轉，當使銷構件41b朝向上方時，則銷構件41b被***於把手26的貫通孔27，使把手26與拉引手臂部41卡合。在此狀態下，當藉由滑動機構47使載架47b朝向第10圖的右方向滑動時，則如第10圖所示，載置部14從箱體12被拉引出，使殘留在注射液用容器收納箱10內的安瓿頭2a等之垃圾屑，由於受到前側垂直板構件20a的突出下端部21b(的阻擋)，而在載置部14上移動，然後可以從注射液用容器收納箱10的開口13b排出。Here, first, the operating rod member 41a is rotated by the rotation driving portion 45 so that the pin member 41b that pulls the arm portion 41 is downward, and secondly, the carriage 47b is moved by the slide mechanism 47 so that the pin member 41b is positioned at Position below the through hole 27 of the handle 26. Next, when the rod member 41a is rotated by the rotation driving portion 45, and when the pin member 41b is directed upward, the pin member 41b is inserted into the through hole 27 of the handle 26, and the handle 26 is engaged with the pull arm portion 41. In this state, when the carrier 47b is slid in the right direction in FIG. 10 by the slide mechanism 47, as shown in FIG. 10, the mounting portion 14 is pulled out from the case 12 so that the remaining portion remains in the injection solution. The debris such as the ampoule head 2a in the container storage box 10 is moved on the mounting portion 14 by the protruding lower end portion 21b of the front side vertical plate member 20a (movement), and can be removed from the container for injection solution The opening 13b of 10 is discharged.
其次，控制部48，例如是由周知的電腦所構成。而且，控制部48，係具備：依據影像處理部46處理從攝像部42傳送的影像資料而取得之資料來將機械人手臂44導引至作為對象之注射液用容器1的導引手段48a、或是修正機械人手臂44的姿勢並且使保持部52可動地進行拾取的拾取手段48b等，來控制機械人手臂44的動作。又，控制部48，亦可以連接於滑動操作部56，進而控制滑動操作部56的滑動機構47及拉引手臂部41的動作。The control unit 48 is, for example, a well-known computer. The control unit 48 includes guidance means 48 a for guiding the robot arm 44 to the target injection container 1 based on data obtained by the image processing unit 46 processing the image data transmitted from the imaging unit 42. Alternatively, the robot arm 44 may be controlled by correcting the posture of the robot arm 44 and moving the holding unit 52 to perform a pickup means 48 b or the like. In addition, the control unit 48 may be connected to the slide operation unit 56 to further control the operations of the slide mechanism 47 and the arm 41 of the slide operation unit 56.
此外，在本實施形態中，可以設置使注射液用容器收納箱10擺動的擺動手段。也就是說，即使由於某些的因素，一部分的注射液用容器1在只有靠被投入至注射液用容器收納箱10是難以成為橫躺姿勢之情形下，可藉由該擺動手段來擺動操作注射液用容器收納箱10或是載置部14，而確實地成為橫躺姿勢。Further, in this embodiment, a swinging means for swinging the container container 10 for injection liquid may be provided. That is, even if a part of the injection solution container 1 is difficult to be placed in a lying position only by being put into the injection solution container storage box 10 due to some factors, the swinging operation can be performed by the swinging means. The injection container storage box 10 or the mounting portion 14 is surely in a lying position.
作為擺動手段之具體性構成者，例如如第10圖所示，是可以以安裝在載置部14的下表面處等之小型的振動器60來作為擺動手段。或者是，亦可以藉由以小的振幅量來驅動：作為載置部14的拉引手段所設置的滑動機構47，而經由拉引手臂部41來使載置部14擺動。又，注射液用容器拾取系統40在動作時，雖可以設成使擺動手段被常時驅動之構成，但也可以設成因應依據控制部48從攝像部42所傳送的影像資料來判定注射液用容器1之姿勢的結果，亦即只有在由控制部48特定出並非橫躺姿勢下的注射液用容器1之情形時、或者是只有在因為條碼5位於正下方位置而無法讀取資訊之情形時，控制部48才驅動擺動手段之構成。As a concrete constituent of the swinging means, for example, as shown in FIG. 10, a small vibrator 60 mounted on the lower surface of the mounting portion 14 or the like can be used as the swinging means. Alternatively, it is also possible to drive the placement portion 14 by pulling the arm portion 41 with a slide mechanism 47 provided as a pulling means of the placement portion 14 by driving with a small amount of amplitude. In addition, the injection container picking system 40 may be configured to constantly drive the swinging means during operation, but it may also be configured to determine the injection solution based on the image data transmitted from the imaging unit 42 by the control unit 48. The result of the posture of the container 1 is only when the control unit 48 specifies the container 1 for injection liquids in a position other than the lying position, or only when the information cannot be read because the barcode 5 is located directly below. At this time, the control unit 48 is configured to drive the swing means.
如上所述，依據本實施形態的注射液用容器拾取系統40，被投入於注射液用容器收納箱10的注射液用容器1，無關於被投入當初的姿勢，而主要是藉由載置部14所具有之形狀上的特徵來設定橫躺姿勢。在此，一般以位於上方的攝像部42來對位在注射液用容器收納箱10內之注射液用容器1進行攝像的情形下，拍攝處於橫躺姿勢下之注射液用容器1的影像，相較於拍攝處於直立姿勢下之注射液用容器1的影像，不僅影像尺寸較大，確實地表示注射液用容器1之形狀上的特徵等之資訊量也較多。亦即，藉由使注射液用容器1成為橫躺姿勢，然後依據所拍攝之影像的影像處理取得的資料來辨認注射液用容器1等之方式，由於由控制部48所執行之一連串的程序得以迅速且正確地進行，故較為有利。又，根據本實施形態的注射液用容器拾取系統40，例如藉由使載置部14滑動而不用從裝置取出注射液用容器收納箱10，就可以容易地將注射液用容器收納箱10內的安瓿頭等之垃圾屑排出。As described above, according to the injectable container picking system 40 of the present embodiment, the injectable container 1 put into the injectable container storage box 10 does not matter the original posture of the injectable container, but mainly through the placement section. 14 has the shape characteristics to set the lying position. Here, when the injecting liquid container 1 located in the injecting liquid container storage box 10 is imaged by the imaging unit 42 located above, an image of the injecting liquid container 1 in a lying position is taken. Compared to taking an image of the container 1 for an injection solution in an upright position, not only the image size is large, but also the amount of information that reliably indicates the shape characteristics and the like of the container 1 for an injection solution. That is, by making the injectable container 1 in a horizontal position, and then identifying the injectable container 1 based on data obtained by image processing of the captured image, a series of procedures executed by the control unit 48 This is advantageous because it can be performed quickly and correctly. In addition, according to the injection container picking system 40 of the present embodiment, for example, by sliding the mounting portion 14 without taking out the injection container storage box 10 from the device, the injection solution container storage box 10 can be easily contained. First-rate waste from ampoules.
如以上所說明，依據本實施形態的注射液用容器收納箱10，可以提供：由上方取得注射液用容器在任意地回收之狀態下的影像資料並依據該影像資料將注射液用容器一個個逐一地拾取時所適合的注射液用容器收納箱，以及，具備該注射液用容器收納箱的注射液用容器拾取系統40。又，依據本實施形態的注射液用容器拾取系統40，可以從注射液用容器箱容易地進行安瓿頭等之垃圾屑的排出。As described above, according to the container storage box 10 for injection solution according to the present embodiment, it is possible to obtain image data of the container for injection solution from above in an arbitrarily recovered state, and to arrange the containers for injection solution based on the image data An injectable container storage box suitable for picking one by one, and an injectable container pickup system 40 provided with the injectable container storage box. Moreover, according to the container pick-up system 40 for an injection solution according to the present embodiment, it is possible to easily discharge debris such as ampoules from the container for an injection solution.
[第2實施形態] 使用第11圖～第13圖對於本發明的第2實施形態進行說明。又，第11圖，是包含以二點鏈線所圈圍部分的放大圖。 本實施形態與第1實施形態不同的點，是限定在安裝於注射液用容器收納箱10之載置部的上表面側的形狀。更具體而言，本實施形態的特徵，是對於第1實施形態中之設置在載置部14之山部A的突起部及山脊，追加新的形狀上的特徵。[Second Embodiment] A second embodiment of the present invention will be described with reference to Figs. 11 to 13. FIG. 11 is an enlarged view including a portion surrounded by a two-dot chain line.不同 This embodiment is different from the first embodiment in that it is limited in shape to the upper surface side of the mounting portion mounted on the container 10 for injecting solution. More specifically, the present embodiment is characterized by adding a new shape to the protrusions and ridges provided in the mountain portion A of the mounting portion 14 in the first embodiment.
本實施形態之載置部64的第1特徵，如第11圖所示，是於山部A所設置之較高的突起部P1(凸部Q)與較低的突起部P2之間具有斜坡部S此點。 亦即，第1實施形態之載置部14的情形時，於山部A所設置之較高的突起部P1(凸部Q)與較低的突起部P2之間的區域中，山部A的頂點是大致水平地延伸。相對於此，如第11圖所示，於第2實施形態之載置部64的情形時，於同一區域，設有：從較高的突起部P1(凸部Q)朝向較低的突起部P2沿著山脊而延伸向下坡度的斜坡部S。藉由該斜坡部S的存在，突起部P1(凸部Q)的形狀，從與預定方向正交的方向觀察下成為山形狀。As shown in FIG. 11, the first feature of the mounting portion 64 in this embodiment is a slope between the higher projection P1 (convex portion Q) and the lower projection P2 provided in the mountain portion A. This point. That is, in the case of the mounting portion 14 of the first embodiment, in the region between the higher projection P1 (convex portion Q) and the lower projection P2 provided in the mountain portion A, the mountain portion A The vertices extend approximately horizontally. On the other hand, as shown in FIG. 11, in the case of the mounting portion 64 of the second embodiment, in the same area, a projection portion from a higher projection portion P1 (projection portion Q) is provided toward a lower projection portion. P2 extends along the ridge to a slope portion S having a downward slope. With the existence of the slope portion S, the shape of the protruding portion P1 (convex portion Q) becomes a mountain shape when viewed from a direction orthogonal to the predetermined direction.
因為設有如此的斜坡部S，故如第12圖(a)所示，即使注射液用容器1在以與上述預定方向正交的姿勢下成為橫躺之情形時，藉由該斜坡部S發揮作用，如第12圖(b)所示，產生在俯視觀察下使注射液用容器1旋轉的轉矩，如第12圖(c)所示，注射液用容器1其容器軸心會增強以沿著波浪狀部之谷部B的朝向為最終成靜止之傾向。該傾向，如前所述，可藉由使載置部64擺動而進一步增強。因此，可以持續列齊隨意被投入之注射液用容器1的容器軸心，然後以機械人手臂44取出。Since such a slope portion S is provided, as shown in FIG. 12 (a), even when the container 1 for injection liquid is lying horizontally in a posture orthogonal to the predetermined direction, the slope portion S is used. Functioning, as shown in FIG. 12 (b), a torque is generated to rotate the container 1 for injection solution in a plan view, and as shown in FIG. 12 (c), the container axis of the container 1 for injection solution is strengthened The orientation along the valley portion B of the wavy portion tends to eventually stop. This tendency can be further enhanced by swinging the mounting portion 64 as described above. Therefore, the container axis of the injectable container 1 can be continuously aligned and then taken out by the robot arm 44.
又，如第1圖(d)所示之注射器的注射筒1d般之大徑的凸緣部G位在注射液用容器1之一端的情形下，在使載置部64滑動時，凸緣部G恐被夾在較高的突起部P1與突出下端部21b之間而有滑動困難之虞，不過如第13圖所示，滑動時，該凸緣部是藉由從較低的突起部P2朝向較高的突起部P1延伸之具有向上坡度的斜坡部S而成為可滑順地被往上方導引的形態，由於可容易地越過較高的突起部P1，故可防止凸緣部G被夾在較高的突起部P1與前側垂直板構件20a之間而造成滑動困難等之事態。In addition, when the flange portion G having a large diameter, such as the syringe 1d of the syringe shown in FIG. 1 (d), is located at one end of the container 1 for injection liquid, the flange 64 is slid when the mounting portion 64 is slid. The part G may be sandwiched between the higher protruding part P1 and the protruding lower end part 21b, and there is a possibility that it may be difficult to slide. However, as shown in FIG. 13, when sliding, the flange part is driven by the lower protruding part. The slope portion S having an upward slope, which P2 extends toward the higher protrusion portion P1, can be smoothly guided upward. Since the higher protrusion portion P1 can be easily passed, the flange portion G can be prevented. It is sandwiched between the high protrusion P1 and the front-side vertical plate member 20a, which makes it difficult to slide.
本實施形態之載置部64的第2特徵，是在沿著山脊相互對向之突起部P1、P2的側面，設有呈傾斜的倒角部T此點。 由於設有如此的倒角部T，所以即使滑動時注射液用容器的凸緣部G像是會被夾在突起部P1、P2的側面與突出下端部21b之間時，該凸緣部G藉由倒角部T而被往上方導引，由於可容易地越過突起部P1、P2，故可易於抑止滑動造成困難等之事態。A second feature of the mounting portion 64 of this embodiment is that a sloped chamfered portion T is provided on the side surfaces of the protruding portions P1 and P2 facing each other along the ridge. Since such a chamfered portion T is provided, even if the flange portion G of the container for injection liquid is sandwiched between the side surfaces of the protruding portions P1 and P2 and the protruding lower end portion 21b even when sliding, the flange portion G Since the chamfered portion T is guided upward, since the protrusions P1 and P2 can be easily passed, it is possible to easily suppress a situation such as slippage and the like.
又，在第11圖及第13圖中，雖顯示出從較高的突起部P1(凸部Q)沿著山脊所延伸的斜坡部S到達較低的突起部P2的基部之形態，不過該斜坡部S即使以終止在較高的突起部P1與較低的突起部P2的中間地點附近之形態來實施亦無妨。In FIGS. 11 and 13, although the form in which the slope portion S extending from the higher protrusion portion P1 (convex portion Q) along the ridge reaches the base portion of the lower protrusion portion P2 is shown, The slope portion S may be implemented in a form where the slope portion S terminates near the middle of the higher protrusion portion P1 and the lower protrusion portion P2.
又，對於本實施形態中之載置部64的情形，由於是在突起部P1、P2的側面設有倒角部T，所以突起部P1、P2的上端雖沒有構成平坦的端面，但在防止吸附墊54造成不經意吸附之目的下，仍還是在突起部P1、P2的上端形成有向下凹窪的輔助溝槽部30a。In addition, in the case of the mounting portion 64 in this embodiment, the chamfered portion T is provided on the side surfaces of the protruding portions P1 and P2. Therefore, although the upper ends of the protruding portions P1 and P2 do not constitute flat end faces, they prevent For the purpose of the suction pad 54 causing inadvertent suction, the auxiliary groove portion 30a having a downward depression is still formed on the upper ends of the protruding portions P1 and P2.
[第3實施形態] 使用第14圖～第16圖對於本發明的第3實施形態進行說明。 本實施形態與第2實施形態不同的點，是山部A之上頭的形狀。[Third Embodiment] A third embodiment of the present invention will be described with reference to Figs. 14 to 16. The difference between this embodiment and the second embodiment is the shape of the head above the mountain portion A.
本實施形態的凸部，如第14圖～第16圖所示，是由山形狀的山狀部34所形成。具體而言，如第14圖～第16圖所示，在本實施形態中之載置部74的上表面側，立設有沿著山部A的山脊而寬幅狹窄的板狀體32。該板狀體32的上端面，特別是如第16圖所示，沿著預定方向延伸成正弦曲線狀，其向上突出的板狀體32的部分形成山狀部34。而且，相鄰之山狀部34的山腳為連續接連著，因此凸部列的形狀，如第16圖所示，從與預定方向正交的方向觀察下，複數個山狀部34成為沿著預定方向交互連接的山巒狀。As shown in FIGS. 14 to 16, the convex portion of this embodiment is formed by a mountain-shaped mountain portion 34. Specifically, as shown in FIG. 14 to FIG. 16, on the upper surface side of the mounting portion 74 in this embodiment, a plate-shaped body 32 narrowly widened along the ridge of the mountain portion A is erected. The upper end surface of the plate-shaped body 32 extends in a sinusoidal shape along a predetermined direction, as shown in FIG. 16 in particular, and a portion of the plate-shaped body 32 protruding upward forms a mountain-like portion 34. In addition, since the bases of the adjacent mountain-like portions 34 are continuous one after another, the shape of the convex portion row is, as shown in FIG. 16, viewed from a direction orthogonal to the predetermined direction, the plurality of mountain-like portions 34 follow Mountain-like shapes connected in a predetermined direction.
此時，相鄰的凸部列彼此間，山狀部34之排列的相位是形成為在預定方向上以相互偏位的方式所形成。因此，假使注射液用容器在俯視觀察下以與上述預定方向垂直相交的朝向成為橫躺之情形時，也易於使容器的胴部產生沿著山狀部34的山腳滑降的動作，藉此由於使注射液用容器產生在俯視觀察下旋轉的轉矩，因此注射液用容器更加增強使其容器軸心在沿著波浪狀部17的谷部之安定的朝向下於最終呈靜止的傾向。該傾向，如前所述，可藉由擺動載置部64，進一步增強。 於第14圖及第16圖中，符號36，是表示相鄰之山狀部34之間的谷狀部。At this time, the phases of the alignment of the mountain-like portions 34 between the adjacent convex portion rows are formed so as to be offset from each other in a predetermined direction. Therefore, if the container for injection solution is lying horizontally in a direction perpendicular to the predetermined direction in a plan view, it is easy to cause the crotch portion of the container to slide down along the foot of the mountain portion 34. Since the container for injection solution generates a torque that rotates in a plan view, the container for injection solution is further strengthened so that its container axis tends to stand still in a stable direction along the valley portion of the wavy portion 17. As described above, this tendency can be further enhanced by swinging the mounting portion 64. In FIGS. 14 and 16, reference numeral 36 denotes a valley-shaped portion between adjacent mountain-shaped portions 34.
又，依本實施形態的載置部74，由於其上表面側所具有的形狀相較於第2實施形態較為單純，故以合成樹脂的射出成形等進行製造時，模具的製作較為容易，再者在將成形品從模具脫模的操作也較為容易。 又，於板狀體32的上端面，具備向下凹窪的輔助溝槽部37。本實施形態的輔助溝槽部37，如第15圖所示，是由：貫穿設置在板狀體32的上端面之朝預定方向形成的長溝37a、及與長溝37a正交之複數條橫溝37b所構成。此等之輔助溝槽部37的用途，是在防止由吸附墊54造成不經意的吸附。Moreover, according to the mounting portion 74 of this embodiment, the shape of the upper surface side is simpler than that of the second embodiment. Therefore, when manufacturing is performed by injection molding of synthetic resin, etc., it is easier to manufacture a mold. It is also easy for the user to release the molded article from the mold. In addition, the upper end surface of the plate-shaped body 32 is provided with an auxiliary groove portion 37 which is recessed downward. As shown in FIG. 15, the auxiliary groove portion 37 of this embodiment includes a long groove 37 a formed in a predetermined direction penetrating the upper end surface of the plate-shaped body 32, and a plurality of horizontal grooves orthogonal to the long groove 37 a. 37b. The purpose of these auxiliary groove portions 37 is to prevent inadvertent adsorption by the adsorption pad 54.
以上，雖依據圖面詳細地說明了本發明之實施形態當中的幾個，但此等形態不過是例示而已，可以依據本業業者的知識以各種的變形、施以改良後之其他的形態來實施本發明。 [產業上的可利用性]Although some of the embodiments of the present invention have been described in detail above with reference to the drawings, these forms are merely examples, and can be implemented in various forms and modified forms based on the knowledge of the industry. this invention. [Industrial availability]
本發明，是能夠利用作為用以解決以往在收納注射液用容器的注射液用容器收納箱、以及對被收納在注射液用容器收納箱的注射液用容器進行拾取的注射液用容器拾取系統中所見的問題。The present invention is an injection liquid container pickup system that can be used as an injection liquid container storage box for solving conventional injection liquid containers, and can pick up an injection liquid container stored in the injection liquid container storage box. Seen in the question.
1、1a、1b、1c、1d‧‧‧注射液用容器1, 1a, 1b, 1c, 1d‧‧‧ Containers for injection
10‧‧‧注射液用容器收納箱 10‧‧‧ Container for injection solution
12‧‧‧箱體 12‧‧‧Box
13a‧‧‧上端側開口 13a‧‧‧ Upper side opening
13b‧‧‧下端側開口(開放端) 13b‧‧‧Lower side opening (open end)
14、64、74‧‧‧載置部 14, 64, 74‧‧‧‧ placement section
17‧‧‧波浪狀部 17‧‧‧ wavy section
20a‧‧‧前側垂直板構件 20a‧‧‧Front vertical plate member
20b‧‧‧後側垂直板構件 20b‧‧‧ Rear side vertical plate member
20c‧‧‧左側垂直板構件 20c‧‧‧left vertical plate member
20d‧‧‧右側垂直板構件 20d‧‧‧right vertical plate member
21‧‧‧前側垂直板構件20a的下端部 21‧‧‧ the lower end of the front vertical plate member 20a
21a‧‧‧切缺部 21a‧‧‧cut
21b‧‧‧突出下端部 21b‧‧‧ protruding lower end
24c、24d‧‧‧卡止板 24c, 24d
26‧‧‧把手 26‧‧‧handle
28‧‧‧溝槽部 28‧‧‧Groove section
30a、34a‧‧‧輔助溝槽部 30a, 34a‧‧‧Auxiliary groove section
34‧‧‧山狀部(突起部P1、凸部Q) 34‧‧‧ Mountain-like section (protrusion P1, convex Q)
40‧‧‧注射液用容器拾取系統 40‧‧‧ Container picking system for injection solution
42‧‧‧攝像部 42‧‧‧ Camera Department
44‧‧‧機械人手臂 44‧‧‧ Robot Arm
46‧‧‧影像處理部 46‧‧‧Image Processing Department
47‧‧‧滑動機構(擺動手段) 47‧‧‧ sliding mechanism (swing means)
48‧‧‧控制部 48‧‧‧Control Department
56‧‧‧滑動部 56‧‧‧ sliding section
60‧‧‧振動器(擺動手段) 60‧‧‧Vibrator (swing means)
A‧‧‧山部 A‧‧‧Mountain
B‧‧‧谷部 B‧‧‧ Tanibe
P1‧‧‧較高的突起部(凸部Q) P1‧‧‧Higher protrusion (protrusion Q)
P2‧‧‧較低的突起部 P2‧‧‧Lower protrusion
Q‧‧‧凸部 Q‧‧‧ convex
R‧‧‧凸部列 R‧‧‧ convex column
S‧‧‧斜坡部 S‧‧‧Slope Department
T‧‧‧倒角部 T‧‧‧Chamfer
第1圖是說明在本發明之實施形態中之注射液用容器的例子的圖面。 第2圖是說明在本發明之實施形態中之垃圾屑的例子的圖面。 第3圖是本發明之第1實施形態中之注射液用容器收納箱的立體圖。 第4圖是本發明之第1實施形態中之注射液用容器收納箱的平面圖。 第5圖是本發明之第1實施形態中之注射液用容器收納箱的正面圖。 第6圖是第4圖的K-K線斷面圖。 第7圖是說明在本發明之第1實施形態中之注射液用容器收納箱之載置部的立體圖。 第8圖是說明在本發明之第1實施形態中之注射液用容器收納箱之作用的圖面。 第9圖是說明在本發明之第1實施形態中之注射液用容器收納箱之另一作用的圖面。 第10圖是說明在本發明之第1實施形態中之注射液用容器拾取系統的圖面。 第11圖是說明在本發明之第2實施形態中之注射液用容器收納箱之載置部的立體圖。 第12圖是說明在本發明之第2實施形態中之注射液用容器收納箱之作用的圖面。 第13圖是說明在本發明之第2實施形態中之注射液用容器收納箱之另一作用的圖面。 第14圖是說明在本發明之第3實施形態中之注射液用容器收納箱之載置部的立體圖。 第15圖是說明在本發明之第3實施形態中之注射液用容器收納箱之載置部的部分放大立體圖。 第16圖是第14圖的M-M線斷面圖。FIG. 1 is a diagram illustrating an example of a container for injection liquid in an embodiment of the present invention. (2) FIG. 2 is a diagram illustrating an example of the debris in the embodiment of the present invention. (3) FIG. 3 is a perspective view of a container for a container for injection liquid in the first embodiment of the present invention. FIG. 4 is a plan view of a container for an injection solution according to the first embodiment of the present invention. Fig. 5 is a front view of a container for a container for injection solution in the first embodiment of the present invention. Figure 6 is a sectional view taken along the line K-K in Figure 4. FIG. 7 is a perspective view illustrating a mounting portion of a container for a container for injection liquid according to the first embodiment of the present invention. (8) FIG. 8 is a diagram for explaining the operation of the container for a container for injection liquid in the first embodiment of the present invention. (9) FIG. 9 is a diagram for explaining another action of the container for an injection solution in the first embodiment of the present invention. Fig. 10 is a diagram illustrating a container pick-up system for an injection liquid according to the first embodiment of the present invention. FIG. 11 is a perspective view illustrating a mounting portion of a container for an injection solution in a second embodiment of the present invention. (12) FIG. 12 is a diagram for explaining the operation of the container for an injection solution in the second embodiment of the present invention. (13) FIG. 13 is a diagram for explaining another action of the container for an injection solution in the second embodiment of the present invention. (14) FIG. 14 is a perspective view illustrating a mounting portion of a container for an injection solution in a third embodiment of the present invention. Fig. 15 is a partially enlarged perspective view illustrating a mounting portion of a container for a container for injection solutions in a third embodiment of the present invention. Figure 16 is a sectional view taken along the line M-M in Figure 14.
Claims (11)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107116728A TWI660888B (en) | 2018-05-17 | 2018-05-17 | Container for injecting liquid and container picking system for injecting liquid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107116728A TWI660888B (en) | 2018-05-17 | 2018-05-17 | Container for injecting liquid and container picking system for injecting liquid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI660888B true TWI660888B (en) | 2019-06-01 |
| TW201946848A TW201946848A (en) | 2019-12-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW107116728A TWI660888B (en) | 2018-05-17 | 2018-05-17 | Container for injecting liquid and container picking system for injecting liquid |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI660888B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04156847A (en) * | 1990-10-22 | 1992-05-29 | Fuji Medical Syst Kk | Medical waste dissolving vessel |
| JP2014008997A (en) * | 2012-06-29 | 2014-01-20 | Ookuma Electronic Co Ltd | Injection solution container storage box and injection solution container picking system |
-
2018
- 2018-05-17 TW TW107116728A patent/TWI660888B/en active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04156847A (en) * | 1990-10-22 | 1992-05-29 | Fuji Medical Syst Kk | Medical waste dissolving vessel |
| JP2014008997A (en) * | 2012-06-29 | 2014-01-20 | Ookuma Electronic Co Ltd | Injection solution container storage box and injection solution container picking system |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201946848A (en) | 2019-12-16 |
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