Abstract:
A tablet storing/retrieving device which stores a plurality of kinds of medicines, and delivers as many tablets of such descriptions as designated by prescription data into a vial ( 3 ) and retrieves it. An imaging device ( 400 ) is provided for photographing the interior of the vial before a cap is applied to the vial ( 3 ) after tablets are dispensed into the vial ( 3 ). Accordingly, a quick and easy auditing process is possible without removing the cap of a retrieved vial.

Description:
BACKGROUND OF THE INVENTION 
     1. Technical Field 
     The present invention relates to a tablet storage and take-out apparatus which stores various kinds of tablets and which fills a vial with tablets in accordance with prescription data so that the vial can be taken out. 
     2. Description of the Related Art 
     As a conventional apparatus for filling a vial with tablets, Japanese Patent Application Laid-open No. H10-33636 discloses a drug filler, which has double inner and outer drums whose outer surfaces are fitted with many tablet feeders, guides tablets discharged from these tablet feeders inside the inner and outer drums, introduces the tablets through a drop guide path to a hopper provided below the inner and outer drums, and then fills the tablets into vials supplied from a vial supply part. 
     In the apparatus of JP H10-33636, in order to conduct an auditing process to determine whether the vial has been filled as prescribed, it has been necessary to open the cap of the vial taken out to check inside, resulting in poor working efficiency of the auditing process. 
     SUMMARY OF THE INVENTION 
     In view of the problem described above, the present invention has been made, and it is an object of the invention to provide a tablet storage and take-out apparatus capable of quickly and easily performing the auditing work without opening the cap of the removed vial. 
     To solve the problem described above, the present invention adopts the following means. 
     In a tablet storage and take-out apparatus for storing plural kinds of tablets, and filling a vial with a particular type and number of tablets in accordance with prescription data and taking out the vial. The apparatus comprising photographing means for photographing the interior of the vial before attaching the cap on the vial after filling the vial with the tablets. 
     Here, the tablet storage and take-out apparatus include one in which the vial is filled with tablets and automatically capped and one in which the vial is manually capped. The photographing means includes a digital camera and another one with which it is possible to photograph a state after filling the vial with tablets irrespective of a still image or a moving image. 
     The apparatus may further comprise a focus control sensor for irradiating the surface of the filled tablets in the vial; and a focus control means for focus controlling the photographing means according to the detection value of the focus control sensor. The photographing data of the photographing means after focus controlling by the focus control means is transferred to a control section of the tablet storage and take-out apparatus. Here, the focus control sensor includes one which irradiates an object with a light to measure a distance to the object. 
     The apparatus may further comprise an initializing means for initializing the photographing means in accordance with a command from the control section. 
     The apparatus may further comprise a contrast control means for controlling the contrast of the photographing means in accordance with a command from the control section. 
     The focus control sensor may be one which irradiates multiple times the surface of the tablets in the vial, and wherein the focus control means adopts as the detection value the mean value of the multiple detection values of the focus control sensor. 
     The apparatus may further comprise a supporting member for supporting the photographing means on the body of the tablet storage and take-out apparatus. The supporting means is movable horizontally in front and rear and left and light directions and also movable vertically. 
     According to the present invention, as the photographing means for photographing the interior of the vial before attaching the cap on the vial after filling the vial with the tablets is provided, it is possible to quickly and easily conduct auditing work without opening the cap of the vial that has been taken out. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an elevation view of a tablet storage and take-out apparatus according to the present invention; 
         FIG. 2  is an elevation view of the interior of the tablet storage and take-out apparatus of  FIG. 1 ; 
         FIG. 3  is a cross section taken on line of  FIG. 2 ; 
         FIG. 4  is a cross section taken on line IV-IV of  FIG. 2 ; 
         FIG. 5  is a cross section taken on line V-V of  FIG. 2 ; 
         FIG. 6  is a block diagram of control performed by a control part; 
         FIG. 7  is a vertical cross section of a drum; 
         FIG. 8  is a plan view of the drum; 
         FIG. 9  is a plan view of the drum in an open state; 
         FIG. 10  is a transverse cross section of the bottom portion of the drum; 
         FIG. 11A  is a side view of a drum driving unit,  FIG. 11B  is a front view thereof, and  FIG. 11C  is a plan view thereof; 
         FIG. 12  is a perspective view of a tablet feeder; 
         FIG. 13  is a side view of a tablet storage case of the tablet feeder; 
         FIG. 14  is a plan view of the tablet case; 
         FIGS. 15A to 15C  are plan views showing an example of an overrun mechanism of the drum; 
         FIG. 16  is an enlarged elevation view of a slide member of  FIG. 15 ; 
         FIG. 17  is a plan view showing another example of the overrun mechanism of the drum; 
         FIG. 18  is an elevation view of a second transfer robot. 
         FIG. 19  is a right side view of  FIG. 18 ; 
         FIGS. 20A and 20B  are elevation views of a lifting block provided in the second transfer robot of  FIG. 18 ; 
         FIG. 21  is a plan view of  FIG. 20 ; 
         FIG. 22  is an enlarged right side view of  FIG. 20 ; 
         FIG. 23  is an enlarged plan view of an arm of  FIG. 20 ; 
         FIG. 24  is a flowchart diagram showing the operation of the second transfer robot  250 ; 
         FIG. 25  is a flowchart diagram of tablet filling position control achieved through mutual control; 
         FIG. 26  is a flowchart diagram of tablet filling position control achieved through drum control; 
         FIG. 27  is a flowchart diagram of tablet filling position control achieved through robot arm control; 
         FIG. 28  is a plan view showing a first modified embodiment of the drum (double drum); 
         FIG. 29  is a plan view showing a second modified embodiment of the drum (double drum); 
         FIG. 30  is a plan view showing a third modified embodiment of the drum (double drum); 
         FIGS. 31A to 31C  are plan views showing the operation performed by an auxiliary transfer robot of  FIG. 30 ; 
         FIG. 32  is a flowchart diagram of drug filling position control performed by the double drums; 
         FIG. 33  is a flowchart diagram of drug filling position control performed by the auxiliary transfer robot; 
         FIG. 34  is a flowchart diagram showing operation performed by a third transfer robot; 
         FIG. 35  is a flowchart diagram showing operation performed by a third transfer robot; 
         FIG. 36  is a flowchart diagram showing operation performed by a third transfer robot; 
         FIG. 37  is a flowchart diagram showing photographing initialization operation; 
         FIG. 38  is a flowchart diagram showing photographing control operation; 
         FIG. 39  shows a flow diagram of operation performed among a photographing part, PC, and a device controller; 
         FIG. 40  shows a flow diagram of operation performed among PC, the device controller, and an operator; 
         FIG. 41  A is a partially cutaway perspective view of an external tablet supply part; 
         FIG. 41B  is a plan view of a shutter; 
         FIG. 42  is a flowchart diagram showing tablet take-out control performed by an external tablet supply part; 
         FIG. 43  is a view showing Main menu screen  0 . 0 ; 
         FIG. 44  is a view showing Automatic dispensing screen  1 . 0 ; 
         FIG. 45  is a view showing In-process prescription list screen  1 . 1 ; 
         FIG. 46  is a view showing Vial take-out error confirmation screen  1 . 1 . 1 ; 
         FIG. 47  is a view showing Vial interior photo display screen  1 . 1 . 1 . 1 ; 
         FIG. 48  is a view showing Drug filling cassette specification screen  1 . 2 ; 
         FIG. 49  is a view showing New drug registration screen  1 . 2 . 1   a;    
         FIG. 50  is a view showing Drug list display screen  1 . 2 . 1   a . 1 ; 
         FIG. 51  is a view showing NDC master drug delete screen  1 . 2 . 1   a . 1 . 1 ; 
         FIG. 52  is a view showing NDC code check screen  1 . 2 . 1   b;    
         FIG. 53  is a view showing Tablet filling screen  1 . 2 . 1   b . 1 ; 
         FIG. 54  is a view showing Filling confirmation screen  1 . 2 . 1   b . 1 . 1 ; 
         FIG. 55  is a view showing Cassette list screen  1 . 2 . 2 ; 
         FIG. 56  is a view showing Cassette-by-cassette tablet inventory list screen  1 . 2 . 3 ; 
         FIG. 57  is a view showing Tablet inventory change screen  1 . 2 . 3 . 1 ; 
         FIG. 58  is a view showing Processed prescription list screen  1 . 3 ; 
         FIG. 59  is a view showing Filling history drug selection screen  1 . 4 ; 
         FIG. 60  is a view showing Filling history display screen  1 . 4 . 1 ; 
         FIG. 61  is a view showing Dispensing machine not-yet-transmitted prescription list screen  1 . 5 ; 
         FIG. 62  is a view showing Dispensed vial photo list screen  1 . 6 ; 
         FIG. 63  is a view showing Photo display screen  1 . 6 . 1 ; 
         FIG. 64  is a view showing Manual dispensing cassette designation screen  1 . 7 ; 
         FIG. 65  is a view showing Manual dispensed tablet quantity designation screen  1 . 7 . 1 ; 
         FIG. 66  is a view showing Cassette list screen  1 . 7 . 2 ; 
         FIG. 67  is a view showing Drug table list screen  2 . 0 ; 
         FIG. 68  is a view showing Deleted drug confirmation screen  2 . 1 ; 
         FIG. 69  is a view showing Tablet cassette control screen  3 . 0 ; 
         FIG. 70  is a view showing Host disconnection screen  4 . 0 ; 
         FIG. 71  is a view showing Program version information display screen  5 . 1 ; and 
         FIG. 72  is a view showing Date update time setting screen  5 . 0 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       FIG. 1  is an elevation view of a tablet storage and take-out apparatus  1  according to the invention.  FIG. 2  is an elevation view of the interior of the tablet storage and take-out apparatus  1 .  FIG. 3  is a cross section taken on line of  FIG. 2 .  FIG. 4  is a cross section taken on line IV-IV of  FIG. 2 .  FIG. 5  is a cross section taken on line V-V of  FIG. 2 . 
     1. Overall Arrangement and Construction 
     First, a description will be given on the overall arrangement and construction of the tablet storage and take-out apparatus  1 . As shown in  FIG. 1 , at the upper center of a main body  10  as viewed from the front, an operation display panel  20  is provided which provides displays required for operating the tablet storage and take-out apparatus  1 . To the lower right of the operation display panel  20 , three vial take-out ports  30   a ,  30   b , and  30   c  are provided. To the lower left thereof are provided auxiliary tablet supply parts  40  ( 40   a ,  40   b ), under which an auxiliary cap storage part  50  is provided. The auxiliary tablet supply parts  40  store two different kinds of pyrazolone tablets respectively, and supply tablets in accordance with prescription data. The auxiliary cap storage part  50  randomly stores a large number of caps  2  and permits them to be manually taken out when necessary. At the upper right side of the tablet storage and take-out apparatus  1  as viewed from the front is provided a door  60   a  for replacing a vial  3 . At the left side thereof is provided a door  60   b  for replacing and refilling tablets. At the bottom thereof are also provided doors  60   c ,  60   d , and  60   e  for maintenance. 
     Inside the tablet storage and take-out apparatus  1 , as shown in  FIGS. 2 ,  3 ,  4 , and  5 , there are provided: a vial supply part  100 , a labeling part  200 , a tablet supply part  300 , a photographing part  400 , a cap supply part  500 , a capping part  600 , and a storage part  700 . The vial supply part  100  is provided on the right side of the main body  10  as viewed from the front, as shown in  FIG. 2 , and stores a large number of vials  3  by size and supplies, one-by-one, vials  3  of a size suitable for receiving a prescribed number of tablets in accordance with prescription data. The labeling part  200  is provided at the lower center of the main body  10  as viewed from the front, and puts a label with printed prescription information on a vial  3  supplied from the vial supply part  100 . The tablet supply part  300  is provided on the left side of the main body  10 , and stores a large number of tablets (non-pyrazolone) by type and supplies tablets in accordance with prescription data. The photographing part  400  is provided, as shown in  FIG. 4 , on the center back side of the main body  10 , and photographs a vial  3  from above for audit of tablets filled into the vial  3 . The cap supply part  500  is provided, as shown in  FIG. 3 , on the right side of the main body  10  and behind the vial supply part  100 , and stores caps  2  for plugging the vials  3 , and supplies the caps one-by-one. The capping part  600  is provided on the center back side of the main body  10 , and plugs a vial  3 , which is filled with tablets, with a cap  2  supplied from the cap supply part  500 . The storage part  700 , as shown in  FIG. 5 , stores vials  3  filled with tablets and plugged with a cap  2  so that they can be taken out by an operator through take-out ports  30   a ,  30   b , and  30   c.    
     The tablet storage and take-out apparatus  1  is further provided, as shown in  FIG. 2 , with a first transfer robot  150 , a second transfer robot  250 , a third transfer robot  350 , and a fourth transfer robot  450 . The first transfer robot  150  is provided below the vial supply part  100 , and can hold a vial  3  supplied from the vial supply part  100 , transfer it leftward from the vial supply part  100  to the labeling part  200  in the horizontal direction of the main body, and transfer it upward from the labeling part  200  to the second transfer robot  250  or the third transfer robot  350 . The second transfer robot  250  is provided inside the tablet supply part  300 , and can hold a vial  3  delivered from the first transfer robot  150 , transfer it to supply ports of the tablet supply part  300 , and transfer it from the supply ports to the third transfer robot  350 . The third transfer robot  350  is provided above the first transfer robot  150  in the main body  10 , and can deliver, between the capping part  600  and the fourth transfer robot  450 , a vial  3  delivered from the first transfer robot  150  or the second transfer robot  250 . The fourth transfer robot  450  is provided above the third transfer robot  350 , and can transfer a vial  3  delivered from the third transfer robot  350  upward to the storage part  700 . 
     In the tablet storage and take-out apparatus  1 , as shown in  FIG. 4 , a control part  800  is provided on the right side of the main body  10 . The control part  800  is, as shown in  FIG. 6 , composed of a personal computer (PC)  801  in which apparatus control applications are installed; and a device controller  802  composed of a micro computer and the like. The PC  801  is connected to a host computer  900  installed in a hospital or a drug store, and receives inputted data such as prescription data and the like. The PC  801  is also connected to the operation display panel  20 , and outputs display information required for the operation of the tablet storage and take-out apparatus  1  and also receives operation information inputted through the touch panel on the operation display panel  20 . Furthermore, the PC  801  is connected to a digital camera provided in the photographing part  400 . The device controller  802  is connected to sensors and driving devices of the vial supply part  100 , the labeling part  200 , the tablet supply part  300 , the cap supply part  500 , the capping part  600 , and the storage part  700  so as to drive and control these parts. Moreover, the device controller  802  is connected to sensors and driving devices of the first transfer robot  150 , the second transfer robot  250 , the third transfer robot  350 , and the fourth transfer robot  450  so as to drive and control these parts. 
     Hereinafter, a detailed description will be given on the tablet supply part  300 , the second transfer robot  250 , the third transfer robot  350 , and the photographing part  400  of the tablet storage and take-out apparatus  1  provided with the overall arrangement and construction as described above. The other parts are not related to the present invention, and thus are omitted from the description. 
     2. Tablet Supply Part  300   
     The tablet supply part  300  is composed of a drum  301  and tablet feeders  340 . 
     2.1 Drum 
       FIGS. 7 to 10  show the structure of the drum  301 . The drum  301  is composed of a fixed half drum  301   a  and a movable half drum  301   b . The fixed half drum  301   a  and the movable half drum  301   b  are each formed by bending a metal plate material, such as stainless steel, into a polyhedral half-cylinder (half-cylindrical polyhedron). The fixed half drum  301   a  and the movable half drum  301   b  are combined together into a cylinder which is then arranged with its axis oriented vertically. 
     To the upper end of the fixed half drum  301   a , a half top panel  302   a  is fixed which has a substantially fan-like shape as shown in  FIG. 9 . On the half top panel  302   a , an upper ring  304  is fitted with three spacers  303  in between as shown in  FIG. 8 . In a space facing the inner circumference of the upper ring  304  is integrally provided a stay  304   a  for fitting the second transfer robot  250 . To the outer circumference of the upper ring  304 , a plurality of support rollers  305  are fitted which are respectively placed in a rollable manner on the upper surface of an upper support member  306  provided in the main body  10 . The outer circumferential end surface of the upper ring  304  is guided by guide rollers  307  fitted to the upper support member  306 . As shown in  FIG. 7 , to the lower end of the fixed half drum  301   a  is fixed a half ring  308   a , below which a lower ring  309  is fitted. A gear  310  is formed on the outer circumferential end surface of the lower ring  309 . The bottom surface of the lower ring  309  is supported by a plurality of support rollers  312  that are fitted to a lower support member  311  provided in the main body  10 . The outer circumferential end surface of the lower ring  309  is guided by a plurality of guide rollers  313  fitted to the lower support member  311 . 
     To the upper end of the movable half drum  301   b , a half top panel  302   b  is provided which has a substantially fan-like shape as shown in  FIG. 9 , and to the lower end thereof, a half ring  308   b  is fixed as shown in  FIG. 10 . Spindles  314  provided at the top and bottom ends of one circumferential end portion of the movable half drum  301   b  are, as shown in  FIGS. 8 and 9 , rotatably fitted to ends of links  316  whose other ends are rotatably fitted with spindles  315  in between to the upper ring  304  and the lower ring  309 , respectively. This permits the movable half drum  301   b  to be rotatable between a working position, where the movable half drum  301   b  faces the fixed half drum  301   a  so as to be formed together into a cylinder, and an open position as shown in  FIG. 9 , where the movable half drum  301   b  separates from the fixed half drum  301   a  thereby opening the inside of the drum  301 . The other circumferential end of the movable half drum  301   b  is disengageably coupled to a circumferential end portion of the fixed half drum  301   a . The link  316  moves when the fixed half drum  301   a  is opened from the working position to the open position, thus permitting this opening operation at a wide angle while preventing the tablet feeders  340  of the movable half drum  301   b  from interfering with the tablet feeders  340  of the fixed half drum  301   a.    
     2.2 Drum Driving Part 
       FIGS. 11A to 11C  show a driving unit  317  for driving the drum  301  into rotation and a manual operation unit  318 . These units  317  and  318  are provided on the bottom surface of a base  10   a  in the main body  10 . The driving unit  317  is formed by fitting a drum rotation driving motor  320  to the bottom surface of a slide plate  319  and fitting a driving gear  321  to a driving shaft projecting therefrom. A slide plate  319  is so fitted as to be slidable by a pair of guides  322  so that the driving gear  321  is disengaged from the gear  310  of the drum  301 . A driving pin  323  projects from the bottom surface of the slide plate  319 . To the top surface of the slide plate  319 , a detected piece  325  is fitted. The detected piece is to be detected by a sensor  324  provided on the base  10   a . The manual operation unit  318  is built by fitting a control lever  327 , a link  328 , and a slide shaft  329  to a support plate  326  fitted to the lower support member  311  of the main body  10 . The control lever  327  is so fitted as to be rotatable about a spindle  327   a . The link  328  is fitted near the spindle  327   a  of the control lever  327  so as to be rotatable by a pin  328   a . The slide shaft  328  is inserted in a guide member  330  so as to be slidable in the same direction as the slide plate  319 . The slide shaft  329  has one end thereof rotatably fitted to the link  328  with a pin  328   b  in between and has the other end thereof fitted to the driving pin  323  of the slide plate  319 . 
     In the drum driving part described above, pressing the control lever  327  toward the drum  301  as shown in  FIG. 11  causes the slide shaft  329  to move through the link  328 , whereby the driving pin  323  is pressed. This causes the slide plate  319  to slide to engage with the gear  310  of the drum  301  as shown in  FIG. 10 , thereby permitting rotation of the drum  301  by the drum rotation driving motor  320 . On the other hand, pulling back the control lever  327  away from the drum  301  causes the driving gear  321  to separate from the gear  310  of the drum  301 , thereby permitting manual rotation of the drum  301 . At this point, the detected piece  325  of the slide plate  319  is detected by the sensor  324 , whereby the rotation of the drum  301  is prohibited. 
     2.3 Origin Detection Mechanism 
     As shown in  FIG. 10 , the lower ring  309  of the drum  301  is provided with a contact piece  332  which is brought into contact with an origin detection sensor (limit switch)  331   a  fitted on the base  10   a  of the main body  10 . The contact piece  332  is fitted with a detected piece  333 , which is detected by a first and a second rotation limit detection sensors (optical sensors)  331   b  and  331   c  fitted to both sides of the origin detection sensor (limit switch)  331   a . When the first rotation limit detection sensor  331   b  first detects an origin, the position thereof is defined as a left rotation limit. When the second rotation limit detection sensor  331   c  first detects the origin, the position thereof is defined as a right rotation limit. The drum  301  stops when the origin detection sensor  331   a  detects the origin after these rotation limits have been detected, the drum  301  stops. The rotation position of the drum  301  from the origin is configured to be detected by a rotary encoder  335 , which rotates through a gear  334  engaging with the gear  310  of the lower ring  309  of the drum  301 . Upon detection of an origin of the drum  301  by the origin detection sensor  331   a , the rotation position detected by the rotary encoder  335  is reset. Note that, as shown in  FIG. 8 , the upper ring  304  of the drum  301  is fitted with a projecting piece  337 , which comes into contact with a stopper  336  provided on the upper support member  306 . This can prevent the drum  301  from rotating through 360 degrees or more when the drum  301  is rotated manually. 
     2.4 Tablet Feeder 
       FIG. 12  shows the tablet feeder  340 . The tablet feeder  340  is composed of a motor base  341  and a tablet cassette  342 . The motor bases  341  are circumferentially arranged along the outer surface of the drum  301  and vertically provided in multi-stages. Each motor base  341  has a built-in motor  341   b  fitted with a driving gear  341   a , as shown in  FIG. 13 . In the motor base  341 , a guide passage  341   c  is formed. The guide passage guides tablets discharged from the tablet cassette  342  into the drum  301 . The tablet cassette  342  is a box with a cover  342   a  which stores multiple tablets and which is attachable to and detachable from the motor base  341 . The tablet cassette  342  has therein a rotor  342   c  provided with a driving gear  342   b  that engages with the driving gear  341   a  of the motor base  341 . When the driving motor  341   b  of the motor base  341  is driven, the rotor  342   c  of the tablet cassette  342  rotates through the driving gear  341   a  and the driving gear  342   b , and thereby tablets inside the cassette are discharged one-by-one and then led through the guide passage  341   c  to the inside of the drum  301 . 
     2.5 Tablet Storage Case and Shutter 
     The tablet storage case  343  is fitted inside the drum  301 , as shown in  FIG. 13 . The tablet storage case  343  has an upper end opening  343   a  facing the guide passage  341   c  of the motor base  341  and a lower end opening  343   b . Below the lower end outlet  343   b  of the tablet storage case  343 , a shutter  344  is provided as shown in  FIG. 14 . The shutter  344  is slidably fitted to a pair of guide bars  345  projecting from the inner surface of the drum  301  so that the shutter  344  is movable between a closed position where the lower end opening  343   b  of the tablet storage case  343  is closed and an open position where the lower end opening  343   b  is open. On the bottom surface of the shutter  344 , a projecting part  344   a  is formed, and the projecting part is pressed by a guide member  292  of the second transfer robot  250 . Below the shutter  344 , a return lever  346  is provided, which is fitted to a projecting piece  347  fitted to the inner surface of the drum  301  so as to be rotatable through a pin  348 , with one end in contact with the projecting part  344   a  of the shutter  344  and with the other end connected through a spring  349  to the projecting piece  347 . This permits the shutter  344  to be opened with its projecting piece  347  being pressed by the guide member  292  of the second transfer robot  250  and to be closed by the return lever  346 . The return lever  346  is fitted with: a detected piece  346   a  to be detected by a sensor  293   a  that detects the start position of shutter opening operation performed by the second transfer robot  250 ; and a detected piece  346   b  to be detected by a sensor  293   b  that detects the end position of shutter opening operation performed by the second transfer robot  250 . 
     2.6 Modified Embodiment of the Tablet Supply Part (Overrun Mechanism) 
     In the embodiment described above, the drum  301  does not rotate through 360 degrees. However, providing the overrun mechanism, to be described below, permits the drum  301  and the second transfer robot  250  to rotate through 360 degrees or more (a range of approximately 400 degrees). Thus, even when, for example, the rotation range of the drum  301  is limited during a replenishment operation performed with the tablet cassette  342 , due to the ability to rotate through 360 degrees or more with reference to the origin, the second transfer robot  250  can fill a target tablet case  343  from any direction, thus achieving efficient tablet supply operation. 
       FIG. 15  shows an example of this mechanism, in which a deceleration point detection sensor  1001  is arranged on the upper support member  306 , and, on both sides of the deceleration point detection sensor  1001 , rotation limit detection sensors  1002   a ,  1002   b , and overrun detection sensors  1003   a ,  1003   b  are arranged in such a manner that they are separated from one another by predetermined angles. On the upper support member  306 , a guide plate  1005  is also fitted in which two guide grooves  1004  are formed in the shape of a circular arc having the same center as that of the drum  301 . To this guide plate  1005 , as shown in  FIG. 16 , a slide member  1008  composed of two slide plates  1006  sandwiching the guide plate  1005  and four guide pins  1007  placed between the slide plates  1006  and inserted in the guide groove  1004  is slidably fitted along the guide groove  1004 . The slide member  1008  is provided with: a projecting piece  1010  with which a projection  1009  fitted to the upper ring  304  of the drum  301  makes contact; and a detected piece  1011  to be detected by the five sensors  1001 ,  1002   a ,  1002   b ,  1003   a , and  1003   b  described above. In this embodiment, when the drum  301  rotates counterclockwise and thereby the projection  1009  thereof presses the slide member  1008  located at the position defined by a chain double-dashed line of  FIG. 15A , it is assumed that the drum  301  has rotated through 360 degrees. When the drum  301  rotates further counterclockwise to thereby slide the slide member  1008  and then the deceleration point detection sensor  1001  detects the detected piece  1011  of the slide member  1008 , the drum  301  starts to decelerate. Then, when the rotation limit detection sensor  1002   a  detects the detected piece  1011  of the slide member  1008 , this position is defined as the rotation limit in the counterclockwise direction. The drum  301  stops when the overrun detection sensor  1003   a  detects the detected piece  1011 . The same applies to clockwise rotation of the drum  301  from the state as shown  FIG. 15B  to the state as shown in  FIG. 15C . As a result, the drum  301  can rotate through 360 degrees or more. 
       FIG. 17  shows still another embodiment, in which a deceleration point detection sensor  1001  is arranged on the upper support member  306 , and on both sides of the deceleration point detection sensor  1001 , rotation limit detection sensors  1002   a ,  1002   b  and overrun detection sensors  1003   a ,  1003   b  are arranged in the same manner as in the embodiment of  FIG. 16 . To the main body  10 , a guide arm  1012  is provided in such a manner as to be rotatable, between two stoppers  1013 , about an axis  1012   a  located on the axis of the drum  301 . The tip of the guide arm  1012  is configured to be detected by the sensors  1001 ,  1002   a ,  1002   b ,  1003   a , and  1003   b . The guide arm  1012  is configured to be contacted by the projection  1009  fitted to the upper ring  304  of the drum  301 . In this embodiment, when the drum  301  rotates counterclockwise and thereby the projection  1009  thereof presses the guide arm  1012  located at the position defined by a chain double-dashed line of  FIG. 17 , it is assumed that the drum  301  has rotated through 360 degrees. When the drum  301  rotates further counterclockwise to thereby turn the slide member  1008  and then the deceleration point detection sensor  1001  detects the guide arm  1012 , the drum  301  starts to decelerate. Then, when the rotation limit detection sensor  1002   a  detects the guide arm  1012 , this position is defined as the rotation limit in the counterclockwise direction. The drum  301  stops when the overrun detection sensor  1003   a  detects the detected piece  1011 . The same applies to clockwise rotation, i.e., in the direction opposite to the direction in  FIG. 17 . As a result, the drum  301  can rotate through 360 degrees or more 
     In order to prevent the drum  301  from stopping at the overrun detection sensors  1003   a  and  1003   b  when the drum  301  is rotated manually, if a spring which presses back the projection  1009 , the detected piece  1011 , or the guide arm  1012  at least toward the rotation limit detection sensors  1002   a  and  1002   b  is provided, no error occurs at the time of origin acquisition. 
     3. Second Transfer Robot 
     The second transfer robot  250  is composed of a rotary block  251  and a lifting block  252 , as shown in  FIGS. 18 and 19 . 
     The rotary block  251  is composed of a frame  253  extending along the axis of the drum  301 . An upper end shaft  254  of the frame  253  is rotatably supported through a bearing  255  by the upper ring  304  of the drum  301 , and a lower end shaft  256  thereof is supported through  258  by a support base  257  provided in the main body  10 . The lower end shaft  256  of the frame  253  is coupled through a gear  260  to a rotation driving motor  259  fitted to the main body  10 . This permits the frame  253  to rotate around the axis of the drum  301 . The frame  253  has two guide rods  261  arranged in parallel to the line connecting the upper and lower end shafts  254  and  256  with a gear belt  262  arranged between the guide rods  261 . The gear belt  262  is stretched over an upper gear  263  provided at the upper end portion of the frame  253  and a lower gear  264  provided at the lower end portion thereof. The upper gear  263  is coupled to a lifting driving motor  265  fitted to the frame  253 . This permits the gear belt  262  to run vertically. To the upper and lower ends of the frame  253 , an origin position detection sensor  266   a  and an end point position detection sensor  266   b  are fitted, respectively. To the lower end of the frame  253 , a detected piece  268  is fitted which is detected by a delivery position sensor  267   a  for detecting delivery from the first transfer robot  150  and a delivery position detection sensor  267   b  for detecting delivery from the third transfer robot  350 , both provided in the main body  10 . 
     The lifting block  252  is, as shown in  FIGS. 20A to 20B  through  23 , composed of a lifting base  269 , a lifting table  270 , a boom  271 , an arm base  271 , and two pairs of arms  273   a  and  273   b . The lifting base  269  is slidably fitted to the guide rod  261  of the rotary block  251  and firmly fixed to part of the gear belt  262  described above so that the lifting base  269  can be lifted by running of the gear belt  262 . The gear belt  262  is fitted with a balance weight  274  so as to be balanced with the lifting block  252 . The lifting table  270  is fitted to the side surface of the lifting base  269 . The boom  271  is fitted below the lifting table  270  with guides  275   a  and  275   b  in between so as to be slidable horizontally. To the top surface of the boom  271 , a rack  276  is fitted which engages with a pinion  278  of an extension-contraction driving motor  277  fitted to the lifting table  270 . This permits the boom  271  to extend and contract horizontally. From the boom  271 , a detected piece  280  is projected which is detected by three position detection sensors  279   a ,  279   b , and  279   c  provided on the lifting table  270 . 
     The arm base  271  is, as shown in  FIG. 22 , an inverted-V shape as viewed horizontally and is swingably fitted to the lower ends of the boom  271  with a swing shaft  281  in between. To the middle of the swing shaft  281 , a bevel gear  282  is fitted which engages with a gear  284  of an oscillation driving motor  283  fitted to the boom  271 . This permits the arm base  272  to swing between a horizontal position and a tilt position. The arm base  272  is fitted with a detected piece  286  which is detected by two position detection sensors  285   a  and  285   b  provided on the boom  271 . To the ends of the arm base  272 , guide bars  287  are fitted in pairs at the upper and the lower positions, respectively, with a ball screw  288  stretched in between. 
     The base ends of the two pairs of arms  273   a  to  273   d  are slidably joined to the guide bars  287  and are also screwed with the ball screw  288 . One end of the ball screw  288  is coupled with a gear  289  in between to an arm driving motor  289  fitted to the arm base  272  with a gear  290  in between. This permits the distance between the arms  273   a  and  273   b  to become wider or narrower when the arm driving motor  289  is driven, thereby permitting holding and releasing a vial  3 . Support rollers  291  are fitted to the end and middle of each of the arms  273   a  to  273   d . This permits, as shown in  FIG. 23 , the two pairs of arms  273   a  to  273   d  to support a vial  3  at the eight points with the eight support rollers  291 . 
     The arm base  272  is fitted with a funnel-shaped guide member  292  above the two pairs of the arms  273   a  to  273   b . The guide member  292  has an outlet thereof facing the opening of a vial  3  held by one pair of the arm members  273   a - 273   d  and has an inlet thereof so shaped as to be tilted through substantially 45 degrees when the arm base  272  is at the horizontal position and to be oriented horizontally when the arm base  272  is at a tilt position. To both sides of the guide member  292 , sensors  293   a  and  293   b  are fitted which detect the detected pieces  343   a  and  346   b , respectively, of the return lever  346  of the shutter  344  provided in the tablet supply part  300 . 
     The operation of the second transfer robot  250  constructed as described above will be described with reference to the flowchart diagram of  FIG. 24 . First, the second transfer robot  250  moves to the delivery position of the first transfer robot  150  in step S 251 . If the second transfer robot  250  detects a vial  3  in step S 252 , it extends the boom  271  in step S 253 . If the second transfer robot  250  is located at the holding position in step S 254 , it stops the extension of the boom  271  in step S 255  and then holds the vial  3  in step S 256 . The second transfer robot  250  contracts the boom  271  and returns to the origin position in step S 257 . If the second transfer robot  250  receives take-out coordinates from the PC 801  in step S 258 , the second transfer robot  250  rotates the rotary block  251  and lifts the lifting block  252  in step S 259  and tilts the arm base  272  to the tilt position in step S 260 . If the second transfer robot  250  reaches take-out coordinates in step S 261 , the second transfer robot  250  extends the boom  271  in step S 262 . If the boom  271  reaches the take-out coordinates in step S 263 , it stands by for a predetermined filling period in step S 264 , whereby tablets are dispensed into the vial  3 . Subsequently, the second transfer robot  250  detects in step S 265  whether or not the tablets are of a type that tends to remain. Here, tablets of a type that tends to remain refer to those which tend to adhere to the guide passage due to the viscosity of its surface that is variable depending on ambient temperature and humidity. If the tablets are of a type that tends to remain, the second transfer robot  250  performs an operation of dropping off the remaining tablets by extending and contracting the boom  271  two or three times in step S 266 . If the tablets are not of a type that tends to remain, the second transfer robot  250  judges in step S 267  whether or not the filled amount of tablets is 65% or more. Here, the filled amount of tablets of 65% or more refers to the filled amount of tablets accounts for 65% or more of the capacity of a vial  3 . If the filled amount is 65% or more, since the tablets are filled beyond the opening edge of the tilted vial  3  and thus are spilled over the guide member  292 , there is a possibility that the tablets will spill out when the vial  3  is delivered to the third transfer robot  350 . Thus, the second transfer robot  250  performs an oscillating operation by tilting the arm base  272  through minus 5 degrees in step S 268 . This oscillating operation permits the tablets that have spilled over the guide member  292  to be filled back into the vial  3 . If the filled amount is less than 65%, the second transfer robot  250  locates the arm base  272  at the horizontal position in step S 269 , moves to the delivery position of the third transfer robot  350  in step S 270 , and, upon confirmation of the delivery in step S 271 , ends its operation. 
     If the filled amount is 65% or more, instead of the oscillating operation performed in step S 268 , the vial  3  may be returned to the horizontal position so that a member with a flat tip is pressed against the opening of the vial  3  to provide an even surface for tablet filling. 
     4. Tablet Filling Position Control 
     The tablet filling position control, performed when a vial  3  grasped by the arms  273   a  to  273   d  of the second transfer robot  250  is to be filled with tablets supplied from the tablet feeder  340  of the drum  301 , includes mutual control, drum control, and robot arm control. These controls will be described below with reference to the flowchart diagrams of  FIGS. 25 to 27 . 
     &lt;Mutual Control&gt; 
     In  FIG. 25 , when take-out coordinates are received in step S 300 , the current coordinates of the tablet supply part  300  are detected in step S 302 , the current arm rotational coordinates of the second transfer robot  250  are detected in step S 303 , and, based on these coordinates, the rotation directions of both the drum  301  and the second transfer robot  250  within the rotation limits are determined in step S 304 . Then, the coordinates of the intersection of the drum coordinates and the arm coordinates are estimated in step S 305 , the drum  301  is rotated in step S 306 , and the second transfer robot  250  is rotated in step S 307 . If both reach the intersection coordinates in step S 308 , both rotations are stopped in step S 309 . 
     &lt;Drum Control&gt; 
     In  FIG. 26 , when take-out coordinates are received in step S 311 , the current drum coordinates are detected in step S 312 , and, based on the coordinates, the rotation direction of the drum  301  within the rotation limit is determined in step S 313 . Then, the drum  301  is rotated in step S 314 , and, if it is detected that the drum  301  has reached the take-out coordinates in step S 315 , the rotation of the drum  301  is stopped in step S 316 . 
     &lt;Robot Arm Control&gt; 
     In  FIG. 27 , when take-out coordinates are received in step S 321 , the current arm rotation coordinates of the second transfer robot are detected in step S 322 , and, based on the coordinates, the rotation direction of the second transfer robot  250  within the rotation limit is determined in step S 323 . Then, the second transfer robot  250  is rotated in step S 324 , and, if it is detected that the second transfer robot  250  has reached the take-out coordinates in step S 325 , the rotation of the second transfer robot  250  is stopped in step S 326 . 
     5. Modified Embodiment of the Tablet Supply Part (Double Drum Mechanism) 
     In the embodiment described above, one drum  301  is provided. Doubling this drum  301  increases the number of cassettes  340  to be fitted, thereby permitting a large number of tablets to be stored and taken out. 
       FIG. 28  shows a first modified embodiment of the tablet supply part  300  in which the drums  301  are doubled. This drum  301  is composed of an inner drum  1021  and an outer drum  1022  arranged on the outer side of the inner drum  1021  coaxially therewith. The inner drum  1021  and the outer drum  1022  are rotatably supported as in the embodiment described above. In the inner drum  1021 , an opening  1023  is formed which permits the arm  272  of the second transfer robot  250  to pass therethorugh. The opening  1023  of the inner drum  1021  is formed across the upper end and the lower end of the inner drum  1021 , and may also be formed over the range where the tablet storage case  343  of the outer drum  1022  is provided. In the outer drum  1022 , an opening  1024  is formed which permits access to the tablet feeders  340  of the inner drum  1021  from outside. The opening  1024  of the outer drum  1022  is also formed across the upper end and the lower end of the outer drum  1022 , and may also be formed over the range where the tablet feeders  340  of the inner drum  1021  are provided. In this modified embodiment, operation for receiving the supply of tablets from the tablet feeder  340  of the inner drum  1021  is performed in the same manner as in the embodiment described above. To receive the supply of tablets from the tablet feeder  340  of the outer drum  1022 , the arm base  272  of the second transfer robot  250  is brought into agreement with the opening  1023  of the inner drum  1021 . 
       FIG. 29  shows a second modified embodiment in which the inner drum  1021  of the first modified embodiment includes openings  1023   a ,  1023   b , and  1023   c  that are formed circumferentially at regular intervals. In this modified embodiment, to receive the supply of tablets from the tablet feeder  340  of the outer drum  1022 , the arm base  272  of the second transfer robot  250  may be brought into agreement with the closest openings  1023   a ,  1023   b , and  1023   c , thus permitting a reduction in the rotation amount of the second transfer robot  250  or the inner drum  1021 . 
       FIG. 30  shows a third modified embodiment in which an auxiliary transfer robot  1025  is provided in the opening  1023  of the inner drum  1021  of the first modified embodiment. The auxiliary transfer robot  1025  is composed of, as shown in  FIGS. 31A to 31C , a lifting table  1026 , a boom  1027 , a swivel table  1028 , and an arm head  1029 . The lifting table  1026  is guided by a pair of guide bars  1030  arranged in parallel with the axis of the inner drum  1021 , screwed with a ball screw  1031  provided between the guide bars  1030 , and is capable of lifting by driving the ball screw  1031  by a motor (not shown). The boom  1027  is provided on the lifting table  1026  so as to be slidable along the radial direction of the inner drum  1021  through a rack-pinion mechanism by being driven by a motor  1032 . The swivel table  1028  is provided on the boom  1027  so as to be capable of swiveling about a swivel shaft  1033  by a motor (not shown). The arm base  1029  is provided on the swivel table  1028  with the same construction as is employed for the arm base  272  of the second transfer robot  250  so that the arm base  1029  is capable of holding a vial  3 . This auxiliary transfer robot  1025  receives a vial  3  from the second transfer robot  250  when in the state shown in FIG.  31 A, and then swivels the swivel table  1028  through 180 degrees so as to orient the arm base  1029  to face outward as shown in  FIG. 31B . Subsequently, the auxiliary transfer robot  1025  rotates the inner drum  1021  or the outer drum  1022  and lifts the lifting table  1026 , thereby orienting the arm base  1029  to face the position of a target tablet feeder  340 . Then, as shown in  FIG. 31C , the auxiliary transfer robot  1025  carries the boom  1027  forward to the outer drum  1022  to receive the supply of tablets. Subsequently, the auxiliary transfer robot  1025  swivels the swivel table  1028  to orient the arm base  1029  to face inward and delivers the vial  2  to the second transfer robot  250 . 
     &lt;Drug Filling Position Control of the Double Drum in Modified Embodiments 1 and 2&gt; 
     The drug filling position control performed in the double drum in the modified embodiments of  FIGS. 28 and 29  will be described below with reference to the flowchart diagram of  FIG. 32 . When take-out coordinates are received in step S 1001 , it is judged whether or not the take-out coordinates apply to the outer drum  1022  in step S 1002 . If the take-out coordinates apply not to the outer drum  1022  but to the inner drum  1021 , the flow of any one of the mutual control, the drum control, and the robot arm control according to the aforementioned embodiment shown in  FIGS. 25 to 27  is performed. If the take-out coordinates apply to the outer drum  1022 , the current coordinates of the outer drum  1027  are detected in step S 1003 , the current coordinates of the inner drum  1021  are detected in step S 1004 , the rotation directions of the inner drum  1021  and the outer drum  1022  within their rotation limits are determined based on these coordinates in step S 1005 , and the intersection coordinates of the outer drum  1022  and the inner drum  1021  are estimated in step S 1006 . The inner drum  1021  and the outer drum  1022  rotate in step S 1007 , and if the intersection coordinates are reached in step S 1008 , the inner and outer drums  1021  and  1022  stop in step S 1009 . 
     &lt;Drug Filling Position Control of the Double Drum in Modified Embodiment 3&gt; 
     The drug filling position control performed in the double drum by the auxiliary transfer robot  1025  in the modified embodiment 3 of  FIG. 30  will be described below with reference to the flowchart diagram of  FIG. 33 . Upon receiving take-out coordinates of the outer drum  1022  in step S 1011 , the auxiliary transfer robot  1025  stands by at the delivery position of the second transfer robot  250  in step S 1012 . If the auxiliary transfer robot  1025  detects in step S 1013  that a vial  3  held by the second transfer robot  250  has arrived, it extends the boom  1027  in step S 1014 , and holds the vial  3  in step S 1015 . The auxiliary transfer robot  1025  contracts the boom  1027  and swivels the swivel table  1028  toward the drum  1022  in step S 1016 . The auxiliary transfer robot  1025  lifts the lifting table  1026  in step S 1017 , and tilts the arm base  1029  at the tilt position in step S 1018 . If the auxiliary transfer robot  1025  reaches the take-out coordinates in step S 1019 , it extends the boom  1027  in step S 1020 . If the boom  1027  reaches the take-out position in step S 1021 , it stands by for a predetermined filling time in step S 1022 . This permits tablets to be dispensed into the vial. Subsequently, the auxiliary transfer robot  1025  detects in step S 1023  whether or not the tablets are of a type that tends to remain. If the tablets are of a type that tends to remain, the auxiliary transfer robot  1025  performs an operation of dropping off the remaining tablets by extending and contracting the boom  1027  two or three times in step S 1024 . If the tablets are not of a type that tends to remain, the auxiliary transfer robot  1025  judges in step S 1025  whether or not the filled amount of tablets is 65% or more. If the filled amount is 65% or more, the auxiliary transfer robot  1025  performs an oscillating operation by tilting the arm base  1029  through minus 5 degrees in step S 1026 . If the filled amount is less than 65%, the auxiliary transfer robot  1025  locates the arm base  1029  at the horizontal position in step S 1027 , moves to the delivery position of the second transfer robot  250  in step S 1028 , and, upon confirmation of the delivery in step S 1029 , ends it operation. 
     6. Third Transfer Robot  350   
     The third transfer robot  350  has, as shown in  FIGS. 34 and 35 , a rotation shaft  353  that is rotatably and vertically supported by a base  352  of a fitting base  351  fitted to the main body  10 . To the ends of the arm base  354 , guide bars  355  are fitted in pairs at the upper and the lower positions, respectively, with a ball screw  356  stretched in between. One pair of arms  357  have base ends thereof slidably joined to the guide bars  355  and also screwed with the ball screw  356 . One end of the ball screw  356  is coupled with a gear  359  in between to an arm driving motor  358  fitted to the arm base  354 . This permits the distance between the arms  357  to become wider or narrower when the arm driving motor  358  is driven, thereby permitting holding and releasing of the vial  3 . To the ends of the arms  357 , pads  360  are fitted which press against the vial  3 . The lower end of the rotation shaft  353  is coupled with a gear  362  in between to a rotation driving motor  361  fitted to the fitting base  351 . This permits the arm base  354  to be rotatable about the rotation shaft  353 . 
     The base  352  is fitted with three position detection sensor  363   a ,  363   b , and  363   c  which are located around the rotation shaft  353  for detecting the rotation position of the arm base  354 . This permits the arm  357  to be rotatably moved between a first delivery position for receiving the vial  3  transferred by the first transfer robot  150  or the second transfer robot  250 , a second delivery position for passing over the vial  3  to the photographing part  400 , a third delivery position for passing over the vial  3  to the capping part  600  (the same as the second deliver position in this embodiment), and a fourth delivery position for passing over the vial  3  to the fourth transfer robot  450 . Moreover, the rotation shaft  353  is fitted with a vial detection sensor  364  for detecting that the vial  3  is at a position that permits the arms  357  to hold the vial  3 . Furthermore, the arm base  354  is fitted with a position detection sensor  365  for detecting an open-close position of the arms  357 . 
     The operation performed by the third transfer robot  350  with the construction described above will be described with reference to the flowchart diagram  FIG. 36 . The third transfer robot  350  moves to an origin, i.e., the first delivery position, in step S 351 , and judges whether or not the vial is empty in step S 352 . If the vial is not empty, processing proceeds to step S 353 . If the third transfer robot  350  detects the vial at the first delivery position in this step, it holds the vial in step S 354 , moves to the second delivery position in step S 355 , and transmits a photographing permission signal to the PC 801  in step S 356 . If the third transfer robot  350  receives a photographing end signal from the PC 801  in step S 357 , it moves to the third delivery position in step S 358 , delivers it to the capping part  600  in step S 359 , releases the arms  357  in step S 360 , and stands by at the current position in step S 361 . If the third transfer robot  350  receives a cap-fitting signal from the device controller  802  in step S 362 , it holds the vial in step S 363 , moves to the fourth delivery position in step S 364 , and, upon confirmation of the delivery in step S 365 , ends its operation. If the vial  3  is empty in step S 352 , the processing proceeds to step S 366 . If the third transfer robot  350  detects the vial  3  at the first delivery position in this step, it holds the vial  3  in step S 367 , moves to the fourth delivery position in step S 364 , and, upon confirmation of the delivery in step S 365 , ends its operation. 
     7. Photographing Part  400   
     The photographing part  400  is, as shown in  FIG. 5 , built by fitting a digital camera  402  to the end of a support member  401  fitted to the main body  10  such that the lens of the digital camera  402  faces downward. The digital camera  402  is so configured as to be capable of photographing the interior of the vial  3  already filled with tablets and delivered by the third transfer robot  350  from above the vial  3 . The support member  401  is movable horizontally in the anteroposterior direction and the left-right direction and also is liftable vertically with respect to the main body  10 , by a driving motor (not shown), which is driven and controlled by the device controller  802 . 
     Photographing initialization operation performed by the device controller  802  on the photographing part  400  will be described referring to the flowchart diagram shown in  FIG. 37 . If the main body  10  is turned ON in step S 401 , the PC 801  is turned ON in step S 402 , whereby the device control application is activated in step S 403 . The device controller  802  transmits an initialization signal to each device in step S 404 , and obtains the initial origin of each device in step S 405 . Subsequently, the device controller  802  turns ON the digital camera  402  in response to directions from the software in step S 406 , and makes setting in steps S 407  to  411 , i.e., initial zoom setting, image size selection, image quality setting, flash setting, and color balance, respectively. The device controller  802  ends its operation upon receiving an initialization end signal in step S 412 . 
     Next, photographing control operation will be described with reference to the flowchart diagram of  FIG. 38 . First, when a photographing permission signal is received in step S 421 , and auto-focus detection is performed to thereby obtain an average over a plurality of times in step S 422 . Based on this detected value, focus control is performed in step S 423 , and a photographing signal is transmitted in step S 424 . An image file is accessed in step S 425 , data of the image file is transferred and temporarily saved in step S 426 , and a monitor is displayed on the operation display panel  20  in step S 427 . If manual-check is turned ON in step S 428  and image saving permission is operated in step S 429 , a photographing end signal is transmitted in step S 430 , thereby ending the operation. If the image saving permission is not operated in step S 429 , the temporarily saved data is cleared in step S 431 , and the processing returns to step S 422  to repeat the steps described above. 
     As described above, in the photographing part  400 , the interior of a vial  3  filled with tablets can be photographed by the digital camera  402  before the vial  3  is plugged with the cap  2 , and the resulting image can be confirmed on the operation display panel  20 , thus permitting a quick and simple audit operation without opening the cap  2  of the vial  3  which has been taken out. Moreover, if the image confirmed on the operation display panel  20  during photographing is not clear, photographing can be performed once again, thus permitting a clear image to be obtained at any time. 
       FIG. 39  shows an operation flow among the photographing part  400 , the PC 801 , and the device controller  802 . At initial processing, when the main body is turned ON, the PC 801  is turned ON to activate the device control application. When the device controller  802  provides an initialization designation to the PC 801 , the PC 801  initializes the digital camera  402  of the photographing part  400  and transmits the initialization data to the device controller  802 . Subsequently, the device controller  802  initializes the devices installed in the main body  10  and waits for packing data. 
     At packing processing, when the PC 801  transmits a packing designation signal to the device controller  802 , the device controller  802  controls the devices to perform packing. When the vial  3  filled with tablets reaches the photographing position, the device controller  802  transmits a camera-photographing signal to the PC 801 . The PC 801  causes the digital camera  402  of the image-taking part  400  to perform camera-photographing. When the digital camera  402  transmits a camera image to the PC 801 , the PC 801  saves the image and transmits a photographing completion signal to the device controller  802 . The device controller  802  causes the devices to perform the next packing operation. 
     At ending processing, the PC 801  causes the digital camera  402  of the photographing part  400  to perform camera-closing processing. When the main body is turned OFF, the device controller  802  causes the digital camera  402  of the photographing part  400  to perform camera-closing processing. 
       FIG. 40  shows a flow of operation performed among the PC 801 , the device controller  802 , and the operator. Upon completion of individual packaging, the device controller  802  transfers the vial  3  to the take-out ports  30   a - c  for storage, and notifies the PC 801  of packing completion, whereby the PC 801  displays already packed prescriptions on in-process prescription list screen  1 . 1  of the operation display panel  20  prescription as shown in  FIG. 45 . When the operator is prompted to read the bar code of the prescription, the device controller  802  blinks the 7SEG display of the take-out port  30   a - 30   c  that stores the vial  3  concerned. When the operator takes out the vial  3  through this take-out port  30   a - c , the device controller  802  notifies the PC 801  that the vial  3  has been taken out. The PC 801  opens on the operation display panel  20  the vial take-out error confirmation screen  1 . 1  shown in  FIG. 46 . Then the operator confirms the details of the prescription, and when he or she touches the photographed image shown on the screen, the PC 801  displays a vial interior photograph display screen  1 . 1 . 1 . 1  shown in  FIG. 47 . 
     After confirmation of packing, the operator specifies the prescription while viewing a dispensed vial photo list screen  1 . 5  shown in  FIG. 61 , or when the bar code of the vial  3  is read, the PC 801  opens on the operation display panel  20  a photo display screen  1 . 6 . 1  shown in  FIG. 63  displaying the interior photo of the vial  3 . 
     8. Tablet Take-out Control Performed by an External Tablet Supply Part 
       FIG. 41A  shows the external tablet supply part  40 . When tablets corresponding to prescription data are of a special type, such as pyrazolone, the external tablet supply part  40  instead of the tablet supply part  300  is used. The external tablet supply part  40  is composed of a tablet feeder  43  that is composed of a motor base  41  and a tablet cassette  42 ; and a tablet storage case  44 . The motor base  41  is identical to the motor base  341  of the tablet supply part  300 , except in that the outlet of the guide passage  341   c  of the motor base  341  included in the tablet supply part  300  is formed in the back surface of the motor base  341  while the outlet of a guide passage  45  is formed in the bottom surface of the motor base  41 . The tablet cassette  42  is identical to the tablet cassette  342  of the tablet supply part  300 . The tablet storage case  44  is different from that of the tablet supply part  300  in that it is provided below the motor base  41 . The tablet storage case  44  has, at its upper end, an inlet  44   a , connecting to the guide passage  45  and, at its lower end, an outlet  44   b . The outlet  44   b  is provided with a shutter  46  which is so arranged as to be rotatable about a pin  47 . The shutter  46  is, as shown in  FIG. 41B , provided with a projected piece  46   a  which is detected by sensors  48   a  and  48   b  at the closing position and the open position. The shutter  46  is forced by a spring  49  in the closing direction. When tablets are discharged from the tablet cassette  42  to the tablet storage case  44  through the guide passage  45  of the motor base  41 , the operator can manually fill the vial  3  with tablets by holding the vial  3  and pressing it against the shutter  46 . 
     The tablet take-out control performed by this external tablet supply part  40  will be described below with reference to the flowchart diagram of  FIG. 42 . If prescription data is received in step S 41 , it is judged in step S 42  whether or not the data is designated for the external tablet supply part  40 . If the data is not designated for the external tablet supply part  40 , normal tablet take-out control is performed. If the data is designated for the external tablet supply part, the external tablet supply part  40  detects the tablet cassette  42  corresponding to the prescription data in step S 43 , and discharges tablets in step S 44 . Subsequently, the vial size is selected in step S 45 , print data is created in step S 46 , and the print data is transmitted to the labeling part  200  in step S 47 . The vial  3  is delivered to the labeling part  200  by the first transfer robot  150  in step S 48 , printing and labeling are performed by the labeling part  200  in step S 49 , and the vial  3  is delivered by the first transfer robot  150  to the third transfer robot  350  in step S 50 . The vial  3  is transferred and delivered to the fourth transfer robot  450  by the third transfer robot  350  in step S 51 , and the vial  3  is transferred by the fourth transfer robot  450  to the storage part  700  in step S 52 . Then, if the operator takes out the vial  3  through the take-out ports  30   a - c  in step S 53 , the operator is asked in step S 54  whether or not the vial has been filled with tablets. If the vial has been filled, the operator is asked in step S 55  whether or not to omit photographing. If photographing is to be omitted, the data stored in the storage part  700  is cleared in step S 56 . The operator confirms the interior of the vial  3  with his or her naked eyes in step S 57 , and the cap  2  is taken out from the external cap supply part  50  for plugging the vial  3  in step S 58 . 
     If photographing is to be performed in step S 55 , a photographing button is pressed in step S 59 , and the vial  3  is returned in step S 60 . If the third transfer robot  350  or the fourth transfer robot  450  is occupied in step S 61 , interrupt processing is performed in step S 62 . If they are unoccupied, the vial  3  is delivered by the fourth transfer robot  450  to the third transfer robot  350 , and the vial  3  is transferred by the third transfer robot  350  to the photographing part  400  in step S 63 . If it is detected that the vial  3  is located at the photographing position in step S 64  and photographing is completed in step S 65 , the vial  3  is delivered by the third transfer robot  66  to the fourth transfer robot  450  in step S 66 , and the vial  3  is transferred by the fourth transfer robot  450  to the storage part  700  in step S 67 . If the vial  3  is taken out in step S 68 , processing returns to step S 56 , the operator confirms the vial with his or her naked eyes, and the cap  2  is taken out from an outer cap storage part  50  for plugging the vial  3  in step S 58 . 
     9. Operation Display Panel 
     Next, a description will be given on the embodiment of display and operation performed on the operation display panel  20 . When the power button of the main body  10  is turned ON, the PC 801  and the device controller  802  are turned ON, and the device controller  802  makes initial setting on each device and then transmits the position information of each device to the PC 801 , whereby initialization is completed and the PC 801  turns into a standby state. 
     &lt;Main Menu Screen&gt; 
     In the standby state, the operation display panel  20  opens the Main Menu screen  0 . 0  shown in  FIG. 43 . If the “AUTOMATIC” button, the “CURRENT DRUG TABLET” button, the “CASSETTE CONTROL” button, the “DISCONNECT COMMUNICATION” button, and the “TIMER SETTING/PROGRAM VERSION” button are respectively pressed and OK is pressed, the Automatic Dispensing screen  1 . 0  of  FIG. 44 , the Drug Table List screen  2 . 0  of  FIG. 67 , the Tablet Cassette Control screen  3 . 0  of  FIG. 69 , the Host Disconnection screen  4 . 0  of  FIG. 70 , and the Update Time Setting screen  5 . 0  of  FIG. 71  open, respectively. 
     &lt;Automatic Dispensing Screen&gt; 
     On the Automatic dispensing screen shown  1 . 0  of  FIG. 44 , clicking the “COMPLETED” tab, the “FILL CASSETTE” tab, the “TRANSACTION” tab, the “HISTORY” tab, the “TO BE FILLED” tab, the “PHOTO” tab, and the “MANUAL” tab open the In-process prescription list screen  1 . 1  of  FIG. 45 , the Drug filling cassette designation screen  1 . 2  of  FIG. 48 , the Processed prescription list screen  1 . 3  of  FIG. 58 , the Filling history drug selection screen  1 . 4  of  FIG. 59 , the Dispensing machine not-yet transmitted prescription list screen  1 . 5  of  FIG. 61 , the Dispensed vial photo list screen  1 . 6  of  FIG. 62 , and the Manual dispensing cassette designation screen  1 . 7  of  FIG. 64 , respectively. 
     &lt;In-Process Prescription List Screen&gt; 
     On the In-process prescription list screen  1 . 1  of  FIG. 45 , a list of prescriptions under dispensing is displayed. When a vial with which filling has been completed is taken out through the take-out port, the Vial take-out error confirmation screen  1 . 1 . 1  of  FIG. 46  opens, prompting confirmation of the prescription and contents of the vial taken out. Touching the photo area on this Vial take-out error confirmation screen  1 . 1 . 1  opens the Vial interior photo display screen  1 . 11 . 1  of  FIG. 47 , displaying the photo of the interior of the vial on an enlarged scale. 
     &lt;Drug Filling Cassette Specification Screen&gt; 
     On the Drug filling cassette specification screen  1 . 2  of  FIG. 48 , the tablet cassette for filling drug is specified. When the tablet cassette number is inputted and OK is pressed, the New drug registration screen  1 . 2 . 1   a  of  FIG. 49  opens if the tablet has not yet been registered for the tablet cassette concerned, or the NDC code check screen  1 . 2 . 1   b  of  FIG. 52  opens if the tablets have been already registered. Pressing the “LIST” opens the Cassette list screen  1 . 2 . 2  of  FIG. 55 . Pressing the “STOCKS” button opens the Cassette-by-cassette tablet inventory list screen  1 . 2 . 3  of  FIG. 56 . 
     On the New drug registration screen  1 . 2 . 1   a  of  FIG. 49 , the tablets to be registered for the specified tablet cassette and master-slave cassette information are set. Tablets that are frequently dispensed in a large amount are filled using not one tablet cassette but a plurality of tablet cassettes. Here, it is defined that a tablet cassette serving as a main cassette is a master cassette while a tablet cassette serving as a subordinate cassette is a slave cassette. Pressing the “ENTER” button registers the tablets for the specified tablet cassette and opens the NDC code check screen  1 . 2 . 1   b  of  FIG. 52 . Pressing the “DATA BASE” button opens the Drug list display screen  1 . 2 . 1   a . 1  of  FIG. 50  whereby a list of the contents of NDC masters is displayed. Selecting the drug to be deleted and pressing the “DELETE” button on this Drug list display screen  1 . 2 . 1   a . 1  opens the NDC master drug delete screen  1 . 2 . 1   a . 1 . 1  of  FIG. 51 , confirming if the drug selected on the list may be deleted from the NDC masters. Thus, the selected drug is deleted if it is accepted. 
     On the NDC code check screen  1 . 2 . 1   b  of  FIG. 52 , it can be checked, by reading the inputted tablet cassettes information and the bar code information printed on the drug to be filled, if the drug to be filled is appropriate. Manually inputting the NDC code and pressing the “ENTER” button can achieve the same operation as is achieved when the bar code is used. If the check result is OK, pressing OK opens the Tablet filling screen  1 . 2 . 1   b . 1  of  FIG. 53 . On this screen, inputting the tablet filling information and then pressing OK opens the Filling confirmation screen  1 . 2 . 1   b . 1 . 1  of  FIG. 54 , where it is checked if the inputted filling information is correct. If the check result is OK, the “RESTART” button is to be pressed. 
     On the Cassette list screen  1 . 2 . 2  of  FIG. 55 , a list is displayed indicating tablet cassettes and corresponding drugs registered for these tablet cassettes. Selecting the tablet cassette and then pressing OK permits transfer of this information to the new Drug registration screen  1 . 2 . 1   a.    
     On the Cassette-by-cassette tablet inventory list screen  1 . 2 . 3  of  FIG. 56 , a list is displayed indicating inventories of tablets registered for their corresponding tablet cassettes. To change the inventory, selecting the corresponding tablet cassette and pressing the “UPDATE” button opens the Tablet inventory change screen  1 . 2 . 3 . 1  of  FIG. 57 , permitting the new number of tablets to be set. 
     &lt;Processed Prescription List Screen&gt; 
     On the processed prescription list screen  1 . 3  of  FIG. 58 , a list of processed prescriptions is displayed. Selecting a prescription suffering from a filling failure or contamination and pressing “REFILL VIAL” permits providing a designation for dispensing the selected prescription again. 
     &lt;Filling History Drug Selection Screen&gt; 
     On the Filling history drug selection screen  1 . 4  of  FIG. 59 , a list of tablets filled into the tablet cassettes is displayed. Selecting the tablets and pressing the “SELECT” button opens the Filling history display screen  1 . 4 . 1  of  FIG. 60 , displaying a list of filling history of the selected tablets. Pressing the “SAVE” button causes the filling history data to be written into the floppy disk, and pressing the “PRINT” button causes the filling history to be printed out. 
     &lt;Dispensing Machine Not-Yet-Transmitted Prescription List Screen&gt; 
     On the Dispensing machine not-yet-transmitted prescription list screen  1 . 5  of  FIG. 61 , a list is displayed indicating data of prescriptions which were received from the host computer or manually inputted but have not yet been transmitted to the device controller. On this screen, selecting the prescription and then pressing the “DELETE” button permits deletion of this prescription. 
     &lt;Dispensed Vial Photo List Screen&gt; 
     On the Dispensed vial photo list screen  1 . 6  of  FIG. 62 , a list is displayed indicating prescriptions whose tablets in the vial have been photographed by the photographing part  400 . Selecting the prescription and pressing the “SHOW” button opens the Photo display screen  1 . 6 . 1  of  FIG. 63 , displaying the photo of the interior of the vial corresponding to the selected prescription. By reading the bar code on the label of a vial taken out through the take-out port, the photo of the interior of this vial can be displayed on the Photo display screen  1 . 6 . 1  of  FIG. 63 . Viewing these photos permits auditing of whether the tablets have been filled in accordance with the prescription and also whether any contamination is present therein. 
     &lt;Manual Dispensing Cassette Designation Screen&gt; 
     On the Manually dispensing cassette designation screen  1 . 7  of  FIG. 64 , if no prescription data is received from the host computer, prescription data can be manually inputted to dispense tablets. Inputting the cassette number and pressing OK on this Manual dispensing cassette designation screen  1 . 7  opens the Manual dispensed tablet quantity specification screen  1 . 7 . 1  of  FIG. 65 , permitting specification of the quantity of tablets to be dispensed, the type of vial, and the presence or absence of a cap and then permitting transmission of this data. If the cassette number is unknown, pressing the “LIST” button on the Manual dispensing cassette designation screen  1 . 7  of  FIG. 64  opens the cassette list screen  1 . 7 . 2  of  FIG. 66 , displaying a list of tablet cassettes and their corresponding registered drugs. Selecting the tablet cassette and pressing OK on this screen causes delivery of this information to the Manual dispensing cassette designation screen  1 . 7 . 
     &lt;Drug Table List Screen&gt; 
     On the Drug table list screen  2 . 0  of  FIG. 67 , a list of drug masters currently registered can be displayed. Selecting the drug and pressing the “DELETE” button opens the Delete drug confirmation screen  2 . 1  of  FIG. 68 , where it is confirmed if the selected tablets may be deleted from the drug masters, and the selected tablets are deleted if it is accepted. 
     &lt;Tablet Cassette Control Screen&gt; 
     On the Tablet cassette control screen  3 . 0  of  FIG. 69 , a tablet cassette can be moved to the regular position for tablet filling or for maintenance of the motor base. Inputting the cassette number and pressing the “CENTER” button and then the “SEARCH” button permits rotation of the drum to thereby automatically move the specified tablet cassette from the current position to the regular position located on the front of the main body. Pressing the button “&lt;&lt;” or “&gt;&gt;” permits the drum to be moved to the left or to the right by one pitch. 
     &lt;Host Disconnection Screen&gt; 
     On the Host disconnection screen  4 . 0  of  FIG. 70 , it is specified what action is to be taken with the remaining processing on data in process when the application end processing is performed due to mechanical problems or the like occurring during the operation of this apparatus. To block the communication, delete unprocessed Rx data, and close the vial filling application, the check item indicated above is to be selected and then OK is to be pressed. To block the communication, return to the automatic dispensing screen  1 . 0 , and complete all the un-dispensed Rx data remaining in the queue, the check item indicated below is to be selected and OK is to be pressed. 
     &lt;Date Update Time Setting Screen&gt; 
     On the Date update time setting screen  5 . 0  of  FIG. 71 , the time for executing date updating on backup data can be inputted and OK can be pressed to make this setting. Pressing the “PROGRAM VESION” button opens the Program version information display screen  5 . 1  of  FIG. 72 , permitting display of the program version.