Patent Publication Number: US-2022233406-A1

Title: Item storage apparatus and medicine-taking support apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This patent application is based on and claims priority pursuant to 35 U.S.C. § 119(a) to Japanese Patent Application No. 2021-012031, filed on Jan. 28, 2021, in the Japan Patent Office, the entire disclosure of which is hereby incorporated by reference herein. 
     BACKGROUND 
     Technical Field 
     The present disclosure relates to an item storage apparatus and a medicine-taking support apparatus. 
     Discussion of the Background Art 
     A technique (medicine-taking support apparatus) is known that uses a suction device to take a one-dose-package medicine pack (hereinafter also simply referred to as a “one-dose-package pack” or a “pack”) that includes one dose of medicine out of a storing device that accommodates one-dose-package medicine packs, and then transfers the one-dose-package medicine pack onto a receiving saucer, and feeds the receiving saucer to a main-body outlet to provide the medicine for a medicine-taking person or a medicine-taking helper. 
     SUMMARY 
     According to an embodiment of the present disclosure, an item storage apparatus includes a first storage, a carrier, a first support, a second support, a vertical moving mechanism, and a second storage. The first storage stores a pile of a plurality of items. The carrier takes an item out of the first storage and holds and conveys the item. The first support supports the carrier such that the carrier is movable back and forth in a first horizontal direction. The second support supports the first support such that the first support is movable back and forth in a second horizontal direction perpendicular to the first horizontal direction. The vertical moving mechanism supports the second support such that the second support is movable back and forth in a vertical direction perpendicular to the first horizontal direction and the second horizontal direction. The second storage stores the item conveyed by the carrier. At least one of the first storage or the second storage has a multi-tier structure in which a space for movement of the carrier is interposed between tiers. The first support has a cantilever structure in which one end of the first support is secured to the second support and another end of the first support is a free end. 
     According to another embodiment of the present disclosure, a medicine-taking support apparatus includes the item storage apparatus. The items are one-dose-package medicine packs. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A more complete appreciation of the disclosure and many of the attendant advantages and features thereof can be readily obtained and understood from the following detailed description with reference to the accompanying drawings, wherein: 
         FIG. 1  is a front view illustrating a general arrangement of an item storage apparatus according to a first embodiment of the present disclosure; 
         FIG. 2  is a right side view of  FIG. 1 ; 
         FIG. 3  is a right side view illustrating loading and unloading cartridges into and from a cartridge storing device of a medicine-taking support apparatus according to a second embodiment of the present disclosure, and illustrating taking a medicine distribution tray into and out of the medicine-taking support apparatus; 
         FIG. 4  is a perspective view illustrating drawers for the cartridge storing device, and entrances for the medicine distribution trays in  FIG. 3 ; 
         FIG. 5A  is a front view illustrating a movement path of a carriage of the medicine-taking support apparatus; 
         FIG. 5B  is a right side view of  FIG. 5A ; 
         FIG. 6A  is a bottom view of the cartridge; 
         FIG. 6B  is a perpendicular cross-sectional view of the cartridge in  FIG. 6A ; 
         FIG. 7A  is a front view illustrating a configuration of the carriage; 
         FIG. 7B  is an enlarged plan view of  FIG. 7A ; 
         FIGS. 8A, 8B, 8C, 8D, and 8E  are front views illustrating a transition of picking operation of the carriage; 
         FIGS. 9A, 9A ′,  9 B,  9 C,  9 D, and  9 E are front views illustrating a transition of medicine distribution operation of the carriage; 
         FIGS. 10A and 10B  are drawings illustrating a timing at which a holding tray of the carriage is rotated, and an effect of the timing; 
         FIG. 11A  is a front view illustrating an outline of a three-direction movement mechanism of the carriage; 
         FIG. 11B  is a right side view of  FIG. 11A ; 
         FIG. 12  is a drawing illustrating a thrust positioning configuration using a grooved rail and slot rollers; 
         FIG. 13  is a perspective view schematically illustrating a movement mechanism of a first arm; 
         FIG. 14A  is an illustration in which the vicinity of the cartridge storing device in a lower portion of the medicine-taking support apparatus, and the lower medicine distribution tray are extracted, and front-end guide rails are seen from the front; 
         FIG. 14B  is an illustration in which  FIG. 14A  is seen from the right side; 
         FIG. 15  is a perspective view schematically illustrating a variation example of the movement mechanism of the first arm; 
         FIG. 16  is a right side view in which a position relationship between a front-end guide roller in  FIG. 15  and the front-end guide rails is illustrated, and part of the medicine-taking support apparatus is extracted; 
         FIG. 17  is a drawing illustrating surroundings around a second arm to which an X-direction HP sensor is fitted; 
         FIGS. 18A and 18B  are drawings illustrating a case where the first arm leaves the front-end guide rail at a high speed; 
         FIGS. 19A and 19B  are drawings illustrating a case where the first arm leaves the front-end guide rail at a low speed; 
         FIGS. 20A, 20B, and 20C  are drawings illustrating disadvantages at a time when the first arm moves up onto and collides with the front-end guide rail at a high speed; 
         FIG. 21  is a control block diagram illustrating a main control configuration of the medicine-taking support apparatus illustrated in  FIGS. 3 to 5B , and other drawings; 
         FIG. 22  is a flowchart illustrating a series of operation flow in the medicine-taking support apparatus illustrated in  FIGS. 3 to 5B , and other drawings, and in the series of operation flow, one picking to medicine distribution are performed; 
         FIG. 23  is a flowchart illustrating a subroutine of HP movement processing in  FIG. 22 ; 
         FIG. 24  is a flowchart of operation from picking operation to medicine distribution operation according to an example different from  FIG. 22 ; 
         FIG. 25  is a flowchart illustrating an operation flow that illustrates contents of driving control operation of the first arm in more detail, and in the operation flow, one picking to medicine distribution are performed; 
         FIG. 26A  including  FIG. 26AA  and  FIG. 26AB  is a flowchart illustrating a subroutine of X movement processing at a time of picking processing in  FIG. 25 ; 
         FIG. 26B  including  FIG. 26BA  and  FIG. 26BB  is a flowchart illustrating a subroutine of HP movement processing (X) at a time of the picking processing; 
         FIG. 27  is a graph in which acceleration of the first arm is varied on the basis of whether or not the carriage holds a pack; 
         FIG. 28  is a perspective view of surroundings of a portion where a sensor in front of the front-end guide rail is disposed; 
         FIG. 29A  including  FIG. 29AA  and  FIG. 29AB  is a flowchart illustrating a subroutine of X-direction movement processing using the sensor in front of the front-end guide rail; 
         FIG. 29B  including  FIG. 29BA  and  FIG. 29BB  is a flowchart illustrating a subroutine of HP movement processing (X); 
         FIG. 30  is a front view illustrating a medicine-taking support apparatus according to an embodiment different from the second embodiment illustrated in  FIGS. 5A and 5B ; 
         FIG. 31  is a front view illustrating an item storage apparatus according to an embodiment different from the first embodiment illustrated in  FIG. 1 ; 
         FIG. 32A  is a front view illustrating an item storage apparatus according to another embodiment different from the first embodiment illustrated in  FIG. 1 ; and 
         FIG. 32B  is a right side view of  FIG. 32A . 
     
    
    
     The accompanying drawings are intended to depict embodiments of the present invention and should not be interpreted to limit the scope thereof. The accompanying drawings are not to be considered as drawn to scale unless explicitly noted. 
     DETAILED DESCRIPTION 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. 
     In describing embodiments illustrated in the drawings, specific terminology is employed for the sake of clarity. However, the disclosure of this specification is not intended to be limited to the specific terminology so selected and it is to be understood that each specific element includes all technical equivalents that have a similar function, operate in a similar manner, and achieve a similar result. 
     Hereinafter, embodiments of the present disclosure including examples will be described in detail with reference to the drawings. After a constituent (member or component) or the like is explained, constituents (members or components) or the like having the same function, shape, and the like as the explained constituent (member or component) or the like will not be explained in each of the examples by assigning the same reference numeral unless there is a possibility of confusion. 
     A general arrangement of an item storage apparatus  200  according to a first embodiment of the present disclosure will be described with reference to  FIGS. 1 and 2 .  FIG. 1  is a front view illustrating the general arrangement of the item storage apparatus  200  according to the first embodiment of the present disclosure.  FIG. 2  is a right side view of  FIG. 1 . In  FIGS. 1 and 2 , a left or right direction or a lateral direction (that is also a width direction) of the item storage apparatus  200  is an X direction, a forward or backward direction or a depth direction is a Y direction, and an upward or downward direction or a vertical direction is a Z direction. The X, Y, and Z directions are also applied to a medicine-taking support apparatus  300  described below and illustrated in  FIGS. 3 and 4  and other drawings. 
     As illustrated in  FIGS. 1 and 2 , the item storage apparatus  200  includes three tiers of a first storage  1  including one higher tier and two lower tiers, and two central tiers of a second storage  3  in a main-body frame  190  as a main body of the item storage apparatus  200 . 
     The first storage  1  functions as a first storage that stores a pile of a plurality of items. 
     The second storage  3  functions as a second storage that stores the items that have been conveyed out by a carriage  50  described below. 
     The first storage  1  and the second storage  3  can be taken out of the inside of the main-body frame  190  to the outside of the main-body frame  190  and taken into the main-body frame  190  from the outside of the main-body frame  190  through corresponding entrance ports  41  to  45  illustrated with thick broken lines in  FIG. 1 . 
     As illustrated in  FIG. 2 , the entrance ports  43  and  44  are each provided with an opening-and-closing door  31  that controls taking into and out the second storage  3 . 
     The carriage  50  transfers the item from under the first storage  1  to over the second storage  3 . The carriage  50  is guided and supported by an arm as a support described below such that the carriage  50  is movable back and forth between the first storage  1  side and the second storage  3  side in three directions of the forward or backward direction (Y direction), the left or right direction (X direction), and the vertical direction (Z direction). That is to say, the item storage apparatus  200  is a multi-tier structure. The multi-tier structure includes the plurality of tiers of the first storage  1 . Between the plurality of tiers of the first storage  1 , a space where the carriage  50  goes and comes is under each of the tiers of the first storage  1 . Further, the multi-tier structure includes a space over each of the tiers of the second storage  3 , and the carriage  50  goes and comes through the space. 
     As an internal mechanism, provided are a first arm  6  of a cantilever type that supports the carriage  50  such that the carriage  50  is movable back and forth in the forward or backward direction (Y direction), a second arm  7  of a simply supported beam type that supports the first arm  6  such that the first arm  6  is movable back and forth in the left or right direction (X direction), and a pair of left and right vertical-movement mechanisms  8  that supports both ends of the second arm  7  such that the second arm  7  is movable back and forth in the vertical direction (Z direction). Since the first arm  6  is a cantilever type, a space where the second arm  7  moves up and down, and the vertical-movement mechanisms  8  are collectively configured at the back side of the item storage apparatus  200  that is the right side in  FIG. 2 . 
     Consequently, the compact item storage apparatus  200  is implemented and provided in which the carriage  50  is movable in the three directions between the plurality of storing devices to move and place the items. 
     The carriage  50  functions as a carrier that takes the item out of the first storage  1  and holds and conveys out the item. 
     The first arm  6  functions as a first support that supports the carriage  50  such that the carriage  50  is movable back and forth in a first horizontal direction. 
     The second arm  7  functions as a second support that supports the first arm  6  such that the first arm  6  is movable back and forth in a second horizontal direction perpendicular to the first horizontal direction that is. 
     The vertical-movement mechanisms  8  function as an vertical mover that supports the second arm  7  such that the second arm  7  is movable back and forth in the vertical direction that perpendicular to both the first horizontal direction and the second horizontal direction. 
     The entrance ports  41  to  45  function as storage movement means that allows the first storage  1  or the second storage  3  to be taken in and out through the front side of the multi-tier structure. Since the entrance ports  41  to  45  are included, the items are more easily taken in and out than, for example, a scheme where an arm is withdrawn to store items through the ceiling. 
     In addition to one-dose-package medicine packs that include one dose of medicine, the items include packs whose form of packing things is three-side packing (more specifically, a soup of a cup noodle, a confection, or the like), or packs of four-side packing or pillow bag packing. That is to say, items as objects of the present disclosure also include articles, such as food and parts, moved and placed by air suction as a workpiece as an item, such as taking out an article from a pallet or a container, an intermediate step, and a step of packing into a box, in a food factory, and part machining. 
     A medicine-taking support apparatus  300  according to a second embodiment of the present disclosure is the item storage apparatus  200  according to the first embodiment of the present disclosure in which items are specified as one-dose-package medicine packs that include one dose of medicine. Therefore, if possible, the same reference numerals as the reference numerals used for the description of the item storage apparatus  200  are assigned to describe the medicine-taking support apparatus  300  unless there is a possibility of confusion. 
     The medicine-taking support apparatus  300  according to the second embodiment of the present disclosure is wanted to be as compact as possible, and the installation area is also wanted to be as small as possible, for installation instead of a medicine keeping shelf or a work space where medicine-taking preparation work is done, in a health care facility or an inpatients&#39; ward. For such a demand, the configuration of the item storage apparatus  200  described above is followed to implement and provide the medicine-taking support apparatus  300  that does not include a robot arm or a large moving and placing device and occupies a small space even if the medicine-taking support apparatus  300  is for a plurality of people and includes a plurality of the first storages  1 , a plurality of the second storages  3 , or both a plurality of the first storages  1  and a plurality of the second storages  3 . 
     A cartridge storing device  9  and medicine distribution trays  30  of the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure will be described with reference to  FIGS. 3 and 4 .  FIG. 3  is a right side view illustrating loading and unloading cartridges  10  into and from the cartridge storing device  9  of the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure, and illustrating taking the medicine distribution tray  30  into and out of the medicine-taking support apparatus  300 .  FIG. 4  is a perspective view illustrating drawers  20  for the cartridge storing device  9 , and entrances for the medicine distribution trays  30  of the medicine-taking support apparatus  300  in  FIG. 3 . 
       FIGS. 3 and 4  illustrate the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure. In the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure, a plurality of cartridges  10  that stores one-dose-package medicine packs can be loaded in a configuration corresponding to the first storage  1  of the item storage apparatus  200  according to the first embodiment of the present disclosure described with reference to  FIGS. 1 and 2 . In the configuration, the plurality of cartridges  10  can be arranged in a grid pattern, or in rows and columns Hereinafter, the first storage  1  of the item storage apparatus  200  according to the first embodiment of the present disclosure will be referred to as the “cartridge storing device  9 ” in the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure. Therefore, the cartridge storing device  9  of the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure functions as a first storage of the present disclosure. 
     Although hereinafter, the detailed description will be focused on the medicine-taking support apparatus  300  with reference to the drawings including and after  FIG. 3 , the detailed description naturally and indirectly describes the item storage apparatus  200  corresponding to a generic concept of the medicine-taking support apparatus  300 . In this case, the “cartridge storing device  9 ” of the medicine-taking support apparatus  300  is interpreted as the “first storage  1 ” in the item storage apparatus  200 , and the “medicine distribution trays  30 ” of the medicine-taking support apparatus  300  described below are interpreted as the “second storage  3 ” in the item storage apparatus  200 . 
     Each of the cartridges  10  included by the cartridge storing device  9  stores a pile of one-dose-package medicine packs (hereinafter also simply referred to as “packs”) of one type (see  FIGS. 6A and 6B  described below). Such a volume is secured that the number of the packs accommodated in each of the cartridges  10  is, for example, fourteen packs for two weeks. The maximum number of types of medicine accommodated in the medicine-taking support apparatus  300  is the number of the cartridges  10 . For example, if sixteen cartridges  10  in an array in four rows and four columns are loaded in one tier, total forty-eight cartridges  10  can be stored in a configuration of three tiers. That is to say, forty-eight types of medicine can be accommodated. In this case, if one tenant takes medicine four times, or before breakfast, lunch, supper, and going to bed, in a health care facility or the like, medicine to be taken by twelve people for two weeks can be provided. 
     As illustrated in  FIGS. 3 and 4 , each of the cartridges  10  can be loaded into and unloaded from the cartridge storing device  9 . More specifically, in the cartridge storing device  9 , a structure of the drawers  20  of the medicine-taking support apparatus  300  allows the plurality of cartridges  10  to be taken out and into from the outside at one time. 
     As illustrated in  FIG. 4 , the drawers  20  in which the cartridge storing device  9  is disposed are taken in and out through entrance ports  41 ,  42 , and  45  by means of slide rails  22  attached on the left and the right. A user holds a handle  21  in the front of the drawer  20  to take in or out the drawer  20 . 
     Here, the “user” means a person who actually takes medicine in a one-dose-package medicine pack, a helper or a supporter who helps or supports the medicine taking, and staff and the like in various health care facilities, medical facilities, and the like (conceptionally including a pharmacist, a nurse, a caregiver, or a medicine-taking supporter, the same applies hereinafter). 
     To take a pack out of each of the cartridges  10  of the cartridge storing device  9 , picking operation of a carriage  50  described below pulls out the packs one by one from a lower portion of the cartridge  10 . Picking from the lower portion of the cartridge  10  lowers a pile of remaining packs in the cartridge  10 , and a pack to be picked is always at the same position. Therefore, the picking is performed by the same picking operation irrespective of the amount of remaining packs. Since the bottom of the cartridge storing device  9  has holes corresponding to each of the disposed cartridges  10  (corresponding to openings  17  of the cartridges  10  described below for taking out a pack), a picked pack is conveyed out through the hole from a downward direction of the cartridge storing device  9 . 
     The second storage  3  disposed in the center of the medicine-taking support apparatus  300  can be loaded and unloaded. Therefore, the second storage  3  can be taken out of the medicine-taking support apparatus  300 , and can provide a plurality of tenants with medicine taking for one opportunity. Hereinafter, the second storage  3  of the item storage apparatus  200  will be referred to as the “medicine distribution trays  30 ” as medicine distribution stands in the medicine-taking support apparatus  300 . Therefore, the medicine distribution trays  30  of the medicine-taking support apparatus  300  function as a second storage of the present disclosure. 
     The medicine distribution trays  30  are loaded in two positions in the medicine-taking support apparatus  300  illustrated in  FIG. 3 . Therefore, medicine taking for two opportunities can be prepared in advance. The medicine-taking support apparatus  300  also has entrance ports  43  and  44  in a side of the medicine-taking support apparatus  300  in  FIG. 3  (the front side in a front view). The entrance ports  43  and  44  are for taking in and out the medicine distribution trays  30 . 
     As illustrated in  FIGS. 3 and 4 , the entrance ports  43  and  44  for the medicine distribution trays  30  include opening-and-closing doors  31  that are openable and closable. The opening-and-closing doors  31  each also include a handle  32  at the front of the opening-and-closing door  31 .  FIG. 3  illustrates a state where the opening-and-closing door  31  of the entrance port  44  is opened to take in or out the medicine distribution tray  30 . Taking in and out the medicine distribution trays  30  may be performed with a drawing configuration. 
     As illustrated in  FIG. 4 , the medicine distribution tray  30  includes sections  33  for a number of people for whom packs are provided. The carriage  50  that has moved to over the sections  33  moves forward, backward, left, and right, and drops a pack into each of the sections  33  to distribute the pack to each of the sections  33 . For example, partitions in three rows and four columns are provided to classify twelve packs necessary at breakfast for twelve people, and a specific pack to be taken is provided for the section  33  corresponding to each medicine-taking person, on the basis of medicine-taking information and addresses that have been stored in advance. To increase convenience, separate boxes for a number of people for whom medicine is separately distributed may be removably loaded in the medicine distribution trays  30 . 
     A movement path  26  of the carriage  50  of the medicine-taking support apparatus  300  will be described with reference to  FIGS. 5A and 5B .  FIG. 5A  is a front view illustrating the movement path  26  of the carriage  50  of the medicine-taking support apparatus  300 .  FIG. 5B  is a right side view of  FIG. 5A . 
     In  FIGS. 5A and 5B , the movement path  26  of the carriage  50  is illustrated with thick solid lines. In  FIG. 5A  seen from the front of the medicine-taking support apparatus  300 , the carriage  50  and the first arm  6  are illustrated at the same position. However, the carriage  50  moves in a shape like U to move up and down and go to and come from each of the tiers, and the whole movement path  26  is like comb teeth. When the carriage  50  and the first arm  6  transfer a pack taken out of a specified cartridge  10  in the cartridge storing device  9 , to the medicine distribution tray  30 , the carriage  50  and the first arm  6  are withdrawn to an upward-or-downward-movement range  25  (in a broken-line square frame in  FIG. 5A ) to move up or down. 
     Due to the movement path  26  of the carriage  50  described above, a drawer structure is compatible, as illustrated in  FIG. 3 , in the medicine-taking support apparatus  300  in which the carriage  50  that is movable in the three directions goes and comes in the multi-tier structure. Since the cartridges  10  are taken into and out of the cartridge storing device  9  through the front side of the medicine-taking support apparatus  300 , and the medicine distribution trays  30  are taken in and out through the front side of the medicine-taking support apparatus  300 , a user can easily perform the work. 
     Although in  FIG. 5A , the cartridge storing device  9  and the medicine distribution trays  30  include total five tiers, the movement path  26  has four branches that are smaller by one. The reason is that at the highest branch of the movement path  26 , the cartridge storing device  9  at the highest tier, a movement space under the cartridge storing device  9  at the highest tier, a movement space over the medicine distribution tray  30  at the next tier, and the medicine distribution tray  30  at the next tier sequentially and continuously align. That is to say, a path through which the carriage  50  takes a pack out of a cartridge  10  of the cartridge storing device  9 , and holds and conveys out the pack, and a path through which the pack conveyed out by the carriage  50  is stored in the medicine distribution tray  30  are a common path. 
     The configuration decreases one branch from the movement path  26 , and the configuration occupies a smaller space. Further, since vertical movement of the carriage  50  is omitted at the portion, improvement in productivity is expected. In other words, one of spaces where the carriage  50  horizontally moves is decreased, and the height of the medicine-taking support apparatus  300  is decreased. 
     When seen in the right side view of the medicine-taking support apparatus  300  illustrated in  FIG. 5B , the movement path  26  of the carriage  50  at each of the tiers is illustrated with thick solid lines under the cartridge storing device  9  or over the medicine distribution trays  30 . The thick solid lines are ranges where the carriage  50  horizontally moves forward or backward in the medicine-taking support apparatus  300 . Further, three thick dotted lines and one thick broken line illustrated in the vertical direction Z indicate main movement paths of the carriage  50  corresponding vertical movement of the carriage  50  in the upward-or-downward-movement range  25  illustrated with the broken-line square frame in  FIG. 5A . Among the lines, the broken line on the right is a movement path of the carriage  50  that is closest to the base end (root) side of the first arm  6 . Further, the broken line on the right is a position where an effect of a load acting on the first arm  6  is relatively small since the first arm  6  has a support structure of a cantilever type. The effect will be described in detail with reference to  FIG. 13  described below. 
     The cartridge  10  will be described with reference to  FIGS. 6A and 6B .  FIG. 6A  is a bottom view of the cartridge  10 .  FIG. 6B  is a perpendicular cross-sectional view of the cartridge  10  in  FIG. 6A . To simplify and clarify the perpendicular cross-sectional view of  FIG. 6B , pressure-fixed portions  2   b  of packs  2  stored in the cartridge  10  are intentionally not illustrated, and the packs  2  are schematically and exaggeratedly illustrated in  FIG. 6B . Further, cross-sectional hatching of supports (a left support  12 , a right support  13 , and the like) is not illustrated for the same purpose. 
     As contents of packs  2  in one cartridge  10 , medicine to be taken at one opportunity for a plurality of days, for example, medicine that a medicine-taking person A takes in the morning for fourteen days, is stored. Therefore, if the person A takes medicine in the noon, evening, and before going to bed, in addition to the morning, the cartridges  10  total four. The example is not limiting but each medicine-taking person can be dealt with, for example. A first day&#39;s morning→noon→evening→before going to bed→a second day&#39;s morning→noon→evening . . . in the order from the direction in which packs  2  are taken out of the cartridge  10  may be possible. 
     The cartridge  10  mainly includes a case  11 , a lid  14 , an opening  17  for taking out a pack  2 , a movable sheet  16 , a device  15  for holding postures of packs  2 , and a left support  12  and a right support  13  as supports. 
     The case  11  has a function of storing a plurality of packs  2 . The case  11  is integrally made of resin, or includes separate components made of resin, for example. The lid  14  has a function of allowing packs  2  to be taken in and out. 
     The opening  17  for taking out a pack  2  is formed through a lower portion or the bottom of the case  11 , and is an opening for taking a pack  2  out of the inside of the cartridge  10 . The opening  17  for taking out a pack  2  has a function of allowing a pack  2  that the carriage  50  (see  FIG. 3  and other drawings, and the detailed configuration and operation will be described below) takes out of the cartridge  10  to be passed through. 
     The movable sheet  16  has a function of preventing packs  2  from falling down, and a function of moving, after a first pack  2  of a maximum number of packs  2  that can be stored in the case  11  is taken out, a pack  2  at the bottom, to the vicinity of the opening  17  for taking out a pack  2 . 
     The device  15  for holding postures of packs  2  has a function of holding postures of packs  2 . 
     The left support  12  and the right support  13  have a function of supporting or holding packs  2  in the case  11 . 
     In the present example, the left support  12  has a movable flap mechanism. Therefore, the carriage  50  can smoothly take out a pack  2 . The left support  12  is openably and closably provided at an end of a left bottom wall of the opening  17  for taking out a pack  2  formed through a bottom wall of the case  11 . The left support  12  can swing on a rotation shaft  12   a  to open and close. The rotation shaft  12   a  is at the end of the left bottom wall of the opening  17  for taking out a pack  2 . 
     That is to say, when the carriage  50  takes a pack  2  out of the cartridge  10 , the left support  12  allows the passage of the pack  2 . On the other hand, when a pack  2  is not taken out of the cartridge  10 , the left support  12  restricts passage of a plurality of packs  2  in the case  11  to store and hold the packs  2 . 
     More specifically, a twisted coil spring is fitted between the rotation shaft  12   a  of the left support  12  and the end of the left bottom wall, and the twisted coil spring has an energizing force within a predetermined range. The energizing force is set in such a manner that when the carriage  50  takes a pack  2  out of the cartridge  10 , the left support  12  allows passage of the pack  2 , and when the carriage  50  does not take a pack  2  out of the cartridge  10 , a maximum number of packs  2  that can be stored in the case  11  and the movable sheet  16  are stored and held. 
     The right support  13  is provided at an end of a right bottom wall of the opening  17  for taking out a pack  2 . The right support  13  includes an elastic member that can elastically deform. The right support  13  and the left support  12  operate together to allow the carriage  50  to smoothly take out a pack  2 . 
     As described above, provided at a lower portion of the cartridge  10  are the opening  17  for taking out a pack  2 , and the left support  12  and the right support  13 . The left support  12  and the right support  13  support packs  2  in the cartridge  10 , and can be opened and closed by taking-out operation of the carriage  50  that takes a pack  2  out of the cartridge  10 , as described in detail in the configuration and operation of the carriage  50  described below. 
     The device  15  for holding postures of packs  2  includes sponge rubber having an appropriate elasticity. The movable sheet  16  includes, for example, resin or metal. The device  15  for holding postures of packs  2 , and the movable sheet  16  are for holding normal postures of a plurality of packs  2  stored in the case  11  (as clearly illustrated in  FIG. 6B , holding postures of packs  2  neatly in substantially horizontal states along the vertical direction Z). 
     To demonstrate the functions described above, the movable sheet  16  is set in such a manner that the movable sheet  16  is lowered downward in the Z direction in the case  11  by the weight of the movable sheet  16  to surely move at least one pack  2  remaining in the case  11  to the vicinity of the opening  17  for taking out a pack  2 . 
     As illustrated in  FIG. 6B , a side wall of the case  11  has a long groove  11   a . The long groove  11   a  has a predetermined width in the left or right direction (X direction) and extends in the Z direction. An end of the movable sheet  16  on one side includes a shaft  16   a . The shaft  16   a  is flanged and protrudes from the long groove  11   a . Since the shaft  16   a  is guided along the long groove  11   a  in the Z direction, the movable sheet  16  can hold postures of packs  2  neatly in substantially horizontal states along the Z direction. Packs  2  in the cartridge  10  are piled and stored in postures in substantially horizontal states. 
     The lid  14  allows staff or the like in a health care facility or the like to take in or out packs  2  stored in the cartridge  10 . The lid  14  is long in the Z direction of the case  11 , and has a predetermined opening width, as illustrated in  FIG. 6B . 
     Here, a summary of a single one-dose-package medicine pack used in the medicine-taking support apparatus  300  will be described. As illustrated in  FIG. 6A , one pack  2  includes, for example, resin film. Medicines (not illustrated), such as capsules or tablets, are separated and put in a pack  2 . A pack  2  has a bag portion  2   a  that covers the medicine, and a pressure-fixed portion  2   b  at which three sides are fixed by pressure or welded. A side on the bag portion  2   a  side is usually folded in two. The medicine is sandwiched between the folded side. The pressure-fixed portion  2   b  forms a leakage prevention portion that prevents the medicine from leaking from the bag portion  2   a . One one-dose-package medicine pack  2  is usually a unit of medicine to be taken by a medicine-taking person at each time. 
     In an example illustrated in  FIG. 6A , a pack  2  has a rectangular shape in a plan view. Such a packing method for sealing three sides by pressure fixing as in the example is generally referred to as three-side packing. Most sold medicine-dividing-and-packing machines use the method for packing. 
     A pressure-fixed portion  2   b  has a belt-like width of approximately 10 to 15 mm, and has a higher rigidity than the rigidity of a bag portion  2   a  that is like a film and transparent or translucent to allow the medicine to be seen. 
     Packs  2  are stored upward in order in the case  11  through the opening  17  for taking out a pack  2  on the left support  12  and right support  13  side. 
     A timing at which the inside of the cartridge  10  is replenished with packs  2  may be, for example, a timing of medical examination of a medicine-taking person (tenant) in a health care facility or the like (normally, two weeks), or a timing at which packs  2  in the cartridge  10  run out. If packs  2  remain in the cartridge  10  at a time of replenishment, the cartridge  10  is replenished with packs  2 , after the remaining last pack  2  in the first-in-first-out method. 
     A configuration and operation of the carriage  50  will be described with reference to  FIGS. 7A to 9E .  FIG. 7A  is a front view illustrating a configuration of the carriage  50 .  FIG. 7B  is an enlarged plan view of  FIG. 7A .  FIGS. 8A, 8B, 8C, 8D, and 8E  are front views illustrating a transition of picking operation of the carriage  50 .  FIGS. 9A, 9A ′,  9 B,  9 C,  9 D, and  9 E are front views illustrating a transition of medicine distribution operation of the carriage  50 . 
     As illustrated in  FIGS. 7A and 7B , the carriage  50  includes a suction device  51  that takes a pack  2  out of a cartridge  10  fitted to the cartridge storing device  9 , and a holding device  61  that includes a holding tray  62  that holds the taken-out pack  2 . 
     The suction device  51  includes a suction pump  48  that is an air type (illustrated only in  FIG. 21  described below). The suction device  51  is made to be in a negative-pressure state by the suction pump  48  to suck a pack  2 . The suction pump  48  may be disposed in the carriage  50 , or may be disposed in another portion in the medicine-taking support apparatus  300 . When the suction pump  48  is disposed in the medicine-taking support apparatus  300 , the suction device  51  is coupled to the suction pump  48  via a communication member such as an air tube. 
     The suction device  51  includes a pair of suction pads  52  provided in the Y direction and communicating with the suction pump  48  to suck a pack  2 , suction ducts  53  coupled to the suction pads  52 , a duct-coupling member  54  coupled to the suction ducts  53 , and a mechanism  55  for moving up or down the suction device  51  that moves a combination of the suction pads  52 , the suction ducts  53 , and the duct-coupling member  54  in the Z direction. 
     The mechanism  55  for moving up or down the suction device  51  includes a pair of guide rods  56  provided in the Y direction and guiding the duct-coupling member  54  in the Z direction, a belt  59  that is endless and is wound around a driving pulley  57  and a driven pulley  58 , and a movement motor  60  for moving up or down the suction device  51 . The movement motor  60  for moving up or down the suction device  51  is coupled to the driving pulley  57  through driving-transmitting members, such as a gear and a belt. 
     The duct-coupling member  54  is coupled and secured to the belt  59  with a belt-gripping device  59   a . The guide rods  56  include linear-movement guides, and are securely disposed on a guide-rod-holding member  50   a  adhered to the carriage main-body frame side of the carriage  50 . The movement motor  60  for moving up or down the suction device  51  is securely disposed on the carriage main-body frame side of the carriage  50 . 
     The movement motor  60  for moving up or down the suction device  51  is a control-object-driving member of the mechanism  55  for moving up or down the suction device  51  (see  FIG. 21  described below). The mechanism  55  for moving up or down the suction device  51  also includes a suction device home position (hereinafter simply referred to as “HP”) sensor  70  (illustrated only in  FIG. 21  described below) that detects a HP of the suction pads  52  in the Z direction. The suction device HP sensor  70  is a thru-beam photosensor provided on the carriage main-body frame side near a vertical movement path of the duct-coupling member  54 . The duct-coupling member  54  includes a light-blocking member or a light-blocking piece (filler). The light-blocking member or the light-blocking piece (filler) engages with the suction device HP sensor  70  at a selected position, and protrudes from the duct-coupling member  54 . 
     The holding device  61  includes the holding tray  62  as a receiving stand for temporarily holding a taken-out pack  2 . The holding device  61  also includes a mechanism  63  for rotating or moving up or down the holding device  61 . The mechanism  63  for rotating or moving up or down the holding device  61  moves the holding tray  62  in the Z direction and rotates the holding tray  62  by 90 degrees to change a posture of a held pack  2 . 
     The holding tray  62  has a substantially housing (box) shape to temporarily hold a taken-out pack  2 . The holding tray  62  has a depression shape  62   a  for avoiding interference with the above-described combination (the suction pads  52 , the suction ducts  53 , and the duct-coupling member  54 ) of the suction device  51 . 
     A holding member (receiving stand) that holds a pack  2  taken out by the suction device  51  may have a simple box shape, such as the holding tray  62 , or may include a clip that moves together with movement of the holding member, and may grip a taken-out pack  2 . 
     The mechanism  63  for rotating or moving up or down the holding device  61  includes a pair of guide rods  64  provided in the Y direction and guiding the holding tray  62  in the Z direction, a pair of posture-change-assisting members  47  provided in the Y direction to change a posture of the holding tray  62 , and guide-rod-holding members  65  coupled to both sides, in the Y direction, of the holding tray  62  in such a manner that a posture of the holding tray  62  can be changed. The mechanism  63  for rotating or moving up or down the holding device  61  also includes a belt  68  that is endless and is wound around a driving pulley  66  and a driven pulley  67 , and a movement motor  69  for rotating or moving up or down the holding device  61 . The movement motor  69  for rotating or moving up or down the holding device  61  is coupled to the driving pulley  66  through driving-transmitting members, such as a gear and a belt. 
     In  FIG. 10A , the posture-change-assisting members  47  have inclined portions  47   a  in upper left portions of the posture-change-assisting members  47 . The guide rods  64  include linear-movement guides, and are adhered to the carriage main-body frame side of the carriage  50 . One of the guide-rod-holding members  65  is coupled and secured to the belt  68  with a belt-gripping device  68   a . The movement motor  69  for rotating or moving up or down the holding device  61  is securely disposed on the carriage main-body frame side of the carriage  50 . 
     The movement motor  69  for rotating or moving up or down the holding device  61  is a control-object-driving member of the mechanism  63  for rotating or moving up or down the holding device  61  (see  FIG. 21  described below). The mechanism  63  for rotating or moving up or down the holding device  61  includes a holding-device HP sensor  72  (illustrated only in  FIG. 21  described below) that detects a home position (HP) of the holding tray  62  in the Z direction. The holding-device HP sensor  72  is a thru-beam photosensor provided on the carriage main-body frame side near a vertical movement path of one of the guide-rod-holding members  65 . The guide-rod-holding member  65  includes a light-blocking member or a light-blocking piece (filler). The light-blocking member or the light-blocking piece (filler) engages with the holding-device HP sensor  72  at a selected position, and protrudes from the guide-rod-holding member  65 . 
     Note that the mechanism  55  for moving up or down the suction device  51 , and the mechanism  63  for rotating or moving up or down the holding device  61  that have been described above may include a linear reciprocation mechanism including a rack and pinion, instead of the vertical reciprocation mechanism using belt driving. 
     A transition of picking operation of the carriage  50  will be described with reference to  FIGS. 8A to 8E . To simplify and clarify the description, it is supposed that operation of a three-direction movement mechanism  90  illustrated in  FIGS. 11A and 11B  described below has positioned the carriage  50  between the cartridge storing device  9  disposed at the highest portion in  FIGS. 5A and 5B  and the medicine distribution tray  30  disposed directly under the cartridge storing device  9 . 
     As illustrated in  FIG. 8A , operation of the three-direction movement mechanism  90  described below has moved the carriage  50  to under a cartridge  10  fitted to the cartridge storing device  9  not illustrated, and the carriage  50  has been stopped. At this time, the movement motor  60  for moving up or down the suction device  51  of the mechanism  55  for moving up or down the suction device  51  has been stopped, and the suction pads  52  are closely under the holding tray  62  in a horizontal state. 
     Then as illustrated in  FIG. 8B , operation of the movement motor  60  for moving up or down the suction device  51  moves the suction pads  52  in the upward direction, and the suction pads  52  enter the opening  17  for taking out a pack  2 , between the left support  12  and the right support  13 , to come in contact with a pack  2  at a lowest portion of the cartridge  10  and simultaneously suck the pack  2 . At this time, the suction pump  48  has been driven in advance so that the suction operation can be performed. 
     Next, as illustrated in  FIG. 8C , reverse operation of the movement motor  60  for moving up or down the suction device  51  moves the suction pads  52  in the downward direction while the suction pads  52  are sucking the pack  2 . Consequently, the pack  2  is pulled out of the inside of the cartridge  10 . Since the opening  17  of the cartridge  10  for taking out a pack  2  is like a flap due to the above-described energizing force of the twisted coil spring (not illustrated) within a predetermined range, the opening  17  of the cartridge  10  for taking out a pack  2  is opened or closed by the pulling-out operation of the suction pads  52 . 
     Further, next picking operation that picks a pack  2  and picking operation that picks a pack  2  after the next picking operation can perform the next picking since packs  2  in the whole cartridge  10  lower by one pack  2 , and the next pack  2  is caught by the left support  12  and the right support  13 . 
     Next, as illustrated in  FIGS. 8D and 8E , the pulled-out pack  2  is placed on and held by the holding tray  62 . Then the suction pump  48  is stopped, and the suction pads  52  lower to a position where the suction pads  52  are not in contact with the pulled-out pack  2 , that is to say a position closely under the holding tray  62  that is in a lateral horizontal state, similarly as illustrated in  FIG. 8A  (that is also a HP of the suction pads  52 ). At this time, an outside bottom wall surface of the holding tray  62  is in contact with outside upper wall surfaces of the posture-change-assisting members  47 . 
     A transition of medicine distribution operation of the carriage  50  will be described with reference to  FIGS. 9A, 9A ′,  9 B,  9 C,  9 D, and  9 E. Here, medicine distribution operation will be described in which a posture of the holding tray  62  changes to move a pack  2  in the holding tray  62  to a separate box  34  that can be loaded into and unloaded from the medicine distribution tray  30 . The medicine distribution operation is performed in the following order. Note that the medicine distribution operation may be medicine distribution operation that moves a pack  2  to a specific section  33  of the medicine distribution tray  30 . 
     First, as illustrated in  FIG. 9A , the carriage  50  moves to over the medicine distribution tray  30 . After the operation illustrated in  FIG. 9A , operation of the suction device  51  is stopped (the suction pads  52  occupy the HP), and only the holding device  61  performs operation. Therefore, the suction device  51  side is illustrated with broken lines, and the holding device  61  side is illustrated with solid lines. 
     Next, operation that changes a posture of the holding tray  62  that is holding a pack  2  is performed, as illustrated in  FIGS. 9A ′ and  9 B. Here, the description will be supplemented by a description of a mechanism that changes a posture of the holding tray  62  that is holding a pack  2 . The holding tray  62  rotates 90 degrees to change a posture of a pack  2  in the holding tray  62  from a lateral posture in a horizontal state to a perpendicular posture in a vertical state. Couplers between the holding tray  62  and the guide-rod-holding members  65  are rotatable coupling. Then when rotation of the belt  68  is accompanied by downward movement, in the Z direction, of the guide-rod-holding members  65  along the guide rods  64 , an outside bottom wall surface of the holding tray  62  coupled to the guide-rod-holding members  65  comes in contact with the inclined portions  47   a  of the posture-change-assisting members  47 , and then the outside bottom wall surface of the holding tray  62  comes in contact with vertical portions  47   b  of the posture-change-assisting members  47 . Consequently, postures of the holding tray  62  and a pack  2  held by the holding tray  62  are changed from lateral postures in horizontal states to perpendicular postures. At this time, an energizing force of a spring (not illustrated) in a clockwise direction in  FIG. 9A  acts on the holding tray  62  to make postures of the holding tray  62  and the pack  2  held by the holding tray  62  lateral always. 
     Next, as illustrated in  FIGS. 9C and 9D , further rotation of the belt  68  is accompanied by downward movement, in the Z direction, of the holding tray  62  that is holding the pack  2  and being in a perpendicular state, toward a separate box  34 , along the guide rods  64 , with the guide-rod-holding members  65  between the holding tray  62  and the guide rods  64 . Then when the holding tray  62  in a perpendicular state contacts an upper end of the separate box  34 , a bottom  62   b  of the holding tray  62  is simultaneously opened, and the pack  2  in the holding tray  62  is transferred into the separate box  34 . In this way, when the holding tray  62  moves down in the Z direction, the bottom  62   b  of the holding tray  62  in a perpendicular state is simultaneously opened or closed. The operation is performed by, for example, a mechanism including a protrusion (not illustrated) on the carriage  50  side. The protrusion contacts and opens the bottom  62   b  when the holding tray  62  in a perpendicular state comes to a certain position. 
     Note that the protrusion of the carriage  50  is not only in the carriage  50  but part of the protrusion may be on a separate box  34  or the medicine distribution trays  30 . Alternatively, an intermediate member (not illustrated) between the drawer  20  (see  FIGS. 3 and 4 , and other drawings) and the medicine distribution tray  30  may have the function of the protrusion. 
     Next, as illustrated in  FIG. 9E , after the pack  2  in the holding tray  62  is transferred to the medicine distribution tray  30 , reverse rotation of the belt  68  is accompanied by upward movement, in the Z direction, of the empty holding tray  62 , along the guide rods  64 , with the guide-rod-holding members  65  between the holding tray  62  and the guide rods  64 . 
     As described above, the carriage  50  includes the holding device  61  including the holding tray  62 , and the holding tray  62  is rotatable to change orientation of a pack  2  (item) after the carriage  50  conveys the pack  2  (item) out of the cartridge storing device  9  (first storage  1 ). 
     A timing at which the holding tray  62  of the carriage  50  is rotated will be described with reference to  FIGS. 10A and 10B .  FIG. 10A  illustrates a width L of the carriage  50  at a time of  FIG. 9A .  FIG. 10B  illustrates a width L′ of the carriage  50  at a time of and after  FIG. 9B . When the holding tray  62  of the holding device  61  is in a horizontal state, part of the holding tray  62  protrudes to the left side of the carriage  50  and occupies the width. However, when the holding tray  62  is rotated to be oriented to make postures of the holding tray  62  and a pack  2  vertical, the width occupied by the protrusion of the part of the holding tray  62  is decreased. Therefore, L′&lt;L. 
     Therefore, if the operation in  FIG. 9B  is performed immediately after completion of picking operation in  FIG. 8E , the width of the upward-or-downward-movement range  25  illustrated in  FIG. 5A  can be decreased. The upward-or-downward-movement range  25  is necessary when the carriage  50  and the first arm  6  are moved up or down. In other words, the holding tray  62  is rotated before the carriage  50  that is holding a taken-out pack  2  moves back and forth in the vertical direction. 
     The configuration makes the width of the whole medicine-taking support apparatus  300  more compact. 
     The three-direction movement mechanism  90  that moves the carriage  50  in three directions will be described with reference to  FIGS. 11A and 11B .  FIG. 11A  is a front view illustrating an outline of the three-direction movement mechanism  90  that moves the carriage  50  in three directions.  FIG. 11B  is a right side view of  FIG. 11A . 
     As in the configuration of the medicine-taking support apparatus  300  in  FIGS. 5A and 5B , cartridges  10  fitted to the cartridge storing device  9  are arranged in planes of upper and lower portions in the Z direction, with the medicine distribution trays  30  between the planes. The medicine distribution trays  30  are over the cartridges  10  in the lowest portion of the cartridge storing device  9 . Therefore, the carriage  50  is movable in three directions, that is to say the left or right direction (X direction), the forward or backward direction (Y direction), and the vertical direction (Z direction). In this way, the three-direction movement mechanism  90  as a transfer means or a transfer device that transfers the carriage  50  in the X direction, the Y direction, and the Z direction is provided to transfer a pack  2  taken out of a cartridge  10  by the carriage  50  to the medicine distribution tray  30 . 
     A configuration that moves the carriage  50  in the X direction is an X-direction movement mechanism  91 . A configuration that moves the carriage  50  in the Y direction is a Y-direction movement mechanism  101 . A configuration that moves the carriage  50  in the Z direction is a Z-direction movement mechanism  111 . The X-direction movement mechanism  91 , the Y-direction movement mechanism  101 , and the Z-direction movement mechanism  111  have similar configurations. 
     The X-direction movement mechanism  91  includes an X adaptor  96  to which a base end  6   a  of the first arm  6  is secured, the second arm  7  that supports and guides the carriage  50  in the X direction, with the X adaptor  96  between the second arm  7  and the carriage  50 , an endless belt  94  wound around a driving pulley  92  and a driven pulley  93 , and an X-direction driving motor  95  coupled to the driving pulley  92  through a driving-force transmission member, such as gears or a belt. That is to say, the base end  6   a  of the first arm  6  is secured to the X adaptor  96 , and is provided on the second arm  7  side, with the X adaptor  96  between the base end  6   a  and the second arm  7  side. The description “one end of the first support is secured to a second support side” in a first aspect described below and claim  1  strictly means that the one end is attached to the second support side in the relationship described above. 
     The X adaptor  96  includes three rollers  98  (two of which are hidden by the carriage  50  and are not seen). The three rollers  98  are rotatable and hold the second arm  7  between the three rollers  98 . The X adaptor  96  is coupled and secured to the endless belt  94  through a belt-gripping device (not illustrated). 
     Due to the above-described configuration of the X-direction movement mechanism  91 , when the X-direction driving motor  95  is driven, the driving force is transmitted to the endless belt  94  through the above-described driving-force transmission member and the driving pulley  92 , the endless belt  94  rotates, and the carriage  50  with the X adaptor  96  moves in the X direction along the second arm  7 . 
     The Y-direction movement mechanism  101  includes a Y adaptor  106  secured to the carriage  50 , the first arm  6  that supports and guides the carriage  50  in the Y direction, with the Y adaptor  106  between the first arm  6  and the carriage  50 , an endless belt  104  wound around a driving pulley  102  and a driven pulley  103 , and a Y-direction driving motor  105  coupled to the driving pulley  102  through a driving-force transmission member, such as gears or a belt. 
     The Y adaptor  106  includes three rollers  108 . The three rollers  108  are rotatable and hold the first arm  6  between the three rollers  108 . The Y adaptor  106  is coupled and secured to the endless belt  104  through a belt-gripping device  104   a.    
     Due to the above-described configuration of the Y-direction movement mechanism  101 , when the Y-direction driving motor  105  is driven, the driving force is transmitted to the endless belt  104  through the above-described driving-force transmission member and the driving pulley  102 , the endless belt  104  rotates, and the carriage  50  with the Y adaptor  106  moves in the Y direction along the first arm  6 . 
     The Z-direction movement mechanism  111  includes a pair of Z adaptors  116  secured to both ends, in the X direction, of the second arm  7 , the pair of vertical-movement mechanisms  8  that supports and guides the carriage  50  in the Z direction, with the second arm  7  and the pair of Z adaptors  116  between the pair of vertical-movement mechanisms  8  and the carriage  50 , endless belts  114  each wound around a driving pulley  112  and a driven pulley  113 , and a Z-direction driving motor  115  coupled to one of the driving pulleys  112  through a driving-force transmission member, such as gears or a belt. 
     The driving pulley  112 , the driven pulley  113 , and the endless belt  114  are provided for each of both sides, in the left or right direction X, of the Z-direction movement mechanism  111 . The Z-direction driving motor  115  is provided for only one of the driving pulleys  112 . 
     Each of the Z adaptors  116  includes three rollers  118 . The three rollers  118  are rotatable and hold the vertical-movement mechanism  8  between the three rollers  118 . The Z adaptors  116  are coupled and secured to the respective endless belts  114  through respective belt-gripping devices  114   a.    
     Due to the above-described configuration of the Z-direction movement mechanism  111 , when the Z-direction driving motor  115  is driven, the driving force is transmitted to the endless belt  114  through the above-described driving-force transmission member and the driving pulley  112 , the endless belt  114  rotates, and the carriage  50  with the second arm  7  and the Z adaptors  116  moves in the Z direction along the vertical-movement mechanisms  8 . 
     To control movement of the carriage  50  in the three directions, HP sensors corresponding to the first arm  6 , the second arm  7 , and the vertical-movement mechanisms  8  are provided to detect whether or not the first arm  6 , the second arm  7 , and the vertical-movement mechanisms  8  are at predetermined HPs (an example is illustrated in  FIG. 17  described below). For the vertical-movement mechanisms  8 , for example, a method is possible in which a shutter as a light-blocking member attached to left or right one of the Z adaptors  116  passes across a photointerrupter (a thru-beam photosensor) secured to a main-body frame of the medicine-taking support apparatus  300 . The HP may be set at one end of a movement range for convenience of control and a space where the HP sensor is disposed. 
     The three rollers that support each of the adapters rotatably, with the first arm  6 , the second arm  7 , or the vertical-movement mechanism  8  between the three rollers, are disposed in a shape like an isosceles triangle. The position of a shaft of the central roller is adjusted in a direction in which the first arm  6 , the second arm  7 , or the vertical-movement mechanism  8  is pressed to allow smooth back and forth movement of the adaptor. 
     Conceivable thrust positioning, in a roller shaft direction, of the first arm  6 , the second arm  7 , or the vertical-movement mechanism  8  is usage of a common flanged roller, or control of movement in a thrust direction with a guide shoe. 
     An example of a thrust positioning configuration using a grooved rail and slot rollers will be described with reference to  FIG. 12 . As illustrated in  FIG. 12 , two slot rollers  122  as members corresponding to the above-described three rollers are in contact with two planes of a grooved rail  120  as a member corresponding to the first arm  6 , the second arm  7 , or the vertical-movement mechanism  8 . A width  120   b  of a slot  120   a  on a central rail plane of the grooved rail  120  is substantially equal to a width  122   b  of a protrusion at the center of the slot roller  122 . The grooved rail  120  and the slot roller  122  have fitting shapes. Consequently, a thrust direction of the slot roller  122  relative to the grooved rail  120  is restricted to perform thrust positioning. 
     A disadvantage of a movement mechanism of the first arm  6  will be described with reference to  FIG. 13 .  FIG. 13  is a perspective view simply and schematically illustrating the movement mechanism of the first arm  6 . 
     As illustrated in  FIG. 13 , the base end  6   a  of the first arm  6  is secured to the X adaptor  96 , like a cantilever, and the X adaptor  96  is moved back and forth in the X direction by a movement mechanism including the three rollers  98  and the second arm  7 . Here, the base end  6   a  of the first arm  6  corresponds to one end of a first support, and a front end  6   b  of the first arm  6  corresponds to another end of the first support. The base end  6   a  of the first arm  6  is secured to the second arm  7  side through the X adaptor  96 . 
     The first arm  6  needs to be accurately held horizontally not to change the height of the carriage  50  (not illustrated in  FIG. 13 ) even if the carriage  50  moves to a plurality of cartridges  10  and any portion of the medicine distribution trays  30 . 
     However, when the carriage  50  moves to the front end  6   b  (that is also a free end) side of the first arm  6 , a load of the carriage  50  applies a bending moment in a direction that bends down the front end  6   b  side of the first arm  6 , as illustrated with broken lines in  FIG. 13 . The carriage  50  lowers from an original position. Consequently, accurate picking operation and medicine distribution operation may be prevented. Further, when wear or deformation of each of the rollers  98  causes unsmoothness between the X adaptor  96  and the second arm  7 , the front end  6   b  of the first arm  6  unnecessarily swings in the vertical direction (Z direction) or the left or right direction (X direction). Further, an inertia that accompanies operation of the first arm  6  may make noise, and may increase unsmoothness with increasing speed. An increase in unsmoothness increases a movement load, and adversely affects consumed electrical energy and durability. 
     Therefore, front-end guide rails  131  that contact and support the front end  6   b  of the first arm  6  are added to the medicine-taking support apparatus  300  to solve the disadvantage, as described below. 
     The front-end guide rails  131  that contact and support the front end  6   b  of the first arm  6  will be described with reference to  FIGS. 14A and 14B .  FIG. 14A  is an illustration in which the vicinity of the cartridge storing device  9  in a lower portion of the medicine-taking support apparatus  300  and the lower medicine distribution tray  30  are extracted, and the front-end guide rails  131  are seen from the front.  FIG. 14B  is an illustration in which  FIG. 14A  is seen from the right side. 
     In an example illustrated in  FIGS. 14A and 14B , the front-end guide rails  131  illustrated with thick solid lines are provided for the respective tiers to allow the first arm  6  to be horizontal and to keep a uniform height of the front end when the first arm  6  moves back and forth in the left or right direction (X direction) of the medicine-taking support apparatus  300 . That is to say, the front-end guide rails  131  are guide support members disposed in such a manner that when the first arm  6  moves in the left or right direction (X direction) on the second arm  7  that has been stopped, with the X adaptor  96  between the first arm  6  and the second arm  7 , one of the front-end guide rails  131  contacts the front end  6   b  of the first arm  6  to keep the height of the first arm  6  in the vertical direction (Z direction) and guide the first arm  6  horizontally. 
     Consequently, since variation in the distance between the carriage  50  and the cartridge storing device  9  or the distance between the carriage  50  and the medicine distribution tray  30  does not occur, a pack  2  is stably taken out, and a pack  2  is stably inserted into the medicine distribution trays  30  or a separate box  34 . The front-end guide rails  131  are attached to a front frame  130  on the front side of the medicine-taking support apparatus  300 , at appropriate heights. The front-end guide rails  131  are disposed at positions corresponding to respective tiers. The front frame  130  is an immovable member of the main-body frame  190 . 
     The front frame  130  also has a function as a support of the drawer structure of the cartridge storing device  9 , and a function as portions where the entrances of the medicine distribution trays  30  are disposed. 
     The lengths of the front-end guide rails  131  in the left or right direction (X direction) correspond to a movement range where the carriage  50  moves left or right, and are effective lengths in a range where picking operation from the cartridge storing device  9 , and operation that drops a pack  2  onto the medicine distribution tray  30  are performed. A front-end shoe  35  is added to a portion of the first arm  6  that contacts the front-end guide rail  131 . The front-end shoe  35  includes polyacetal resin to decrease friction resistance. As illustrated in  FIG. 14A , the front-end guide rail  131  has a tapered portion  131   a  at the right end of the front-end guide rail  131 . The tapered portion  131   a  allows the front-end shoe  35  to move up onto and move down off the front-end guide rail  131  from the right smoothly and stably. Although out of the illustrated extent, the front-end guide rail  131  corresponding to the cartridge storing device  9  at the highest tier has a similar position relationship and a shape as the other front-end guide rails  131 . 
     As illustrated in  FIG. 14A , however, the lowest front-end guide rail  131  does not have the tapered portion  131   a , and an extended portion  132  of the front-end guide rail  131  is added to an end, on the right side of the medicine-taking support apparatus  300  relative to the other front-end guide rails  131 , of the lowest front-end guide rail  131 . The right ends of the other front-end guide rails  131  are limited to a range where the first arm  6  that is moving up or down (Z direction) is not interfered. At the lowest portion, however, a movement range of the first arm  6  is the lower end of the movement path like comb teeth illustrated in  FIGS. 5A and 5B . Therefore, interference that accompanies the vertical movement does not occur. Therefore, an effective range of the front-end guide rail  131  to the extended portion  132  is set. Therefore, the front end  6   b  of the first arm  6  is always supported at the lowest portion. Therefore, the disadvantage caused by a load acting on the first arm  6  described in the description of  FIG. 13  is more decreased in the lowest portion than the other tiers. 
     A variation example of the movement mechanism of the first arm  6  will be described with reference to  FIGS. 15 and 16 .  FIG. 15  is a perspective view schematically illustrating the variation example of the movement mechanism of the first arm  6 .  FIG. 16  is a right side view in which a position relationship between a front-end guide roller  36  in  FIG. 15  and the front-end guide rails  131  is illustrated, and part of the medicine-taking support apparatus  300  is extracted. 
     In the variation example illustrated in  FIGS. 15 and 16 , instead of the front-end shoe  35  illustrated in  FIGS. 14A and 14B , the front-end guide roller  36  that is rotatable while contacting the front-end guide rail  131  is provided. The front-end guide roller  36  is rotatable on a roller shaft  36   a  adhered to the front end  6   b  of the first arm  6 . The front-end guide roller  36  has a remarkably lower dragging resistance than the dragging resistance of the front-end shoe  35 . Therefore, the first arm  6  more smoothly moves left and right, and disadvantages, such as load increase and variations in the height position of the carriage  50 , due to wear of the front-end shoe  35  do not occur. The front-end guide roller  36  including a ball bearing is more effective for the decrease in movement load, the decrease in noise, higher durability, and the like. 
     An X-direction HP sensor  99  that detects a HP, in the left or right direction (X direction), of the first arm  6  will described with reference to  FIG. 17 .  FIG. 17  is a drawing illustrating surroundings around the second arm  7  to which the X-direction HP sensor  99  is fitted. 
     Although the X-direction movement mechanism  91  that is a configuration that moves the carriage  50  in the X direction has been described with reference to  FIGS. 11A and 11B , the detailed configuration in  FIG. 17  will be described below. 
     In  FIG. 17 , the configuration of a main portion that moves the first arm  6  in the left or right direction (X direction) includes the pair of Z adaptors  116  provided in the X direction, the second arm  7  supported by each of the Z adaptors  116 , and the X-direction movement mechanism  91 . In  FIG. 17 , a motor bracket  80  is attached to the left Z adaptor  116 , and a driven-pulley bracket  83  is attached to the right Z adaptor  116 . The X-direction driving motor  95  is securely disposed in the motor bracket  80 . The motor bracket  80  supports the driving pulley  92  rotatably. The X-direction HP sensor  99  is also securely disposed in the driven-pulley bracket  83 . The X-direction HP sensor  99  includes a thru-beam photosensor that includes a photointerrupter. The X-direction HP sensor  99  functions as a first detector that detects a fact that the front-end shoe  35  or the front-end guide roller  36  that is the front end  6   b  of the first arm  6  is at a predetermined position. Here, the predetermined position includes a HP position of the front end  6   b  of the first arm  6 , the front-end shoe  35 , or the front-end guide roller  36 . 
     The X-direction movement mechanism  91  includes the X adaptor  96  to which the base end  6   a  of the first arm  6 , and a filler  100  as a light-blocking member are secured, the second arm  7  that supports and guides the first arm  6  illustrated with a broken line in the X direction, with the X adaptor  96  between the second arm  7  and the first arm  6 , the endless belt  94  wound around the driving pulley  92  and the driven pulley  93 , and the X-direction driving motor  95  coupled to the driving pulley  92  through a driving-force transmission member, such as gears. The driving-force transmission member or a driving-force transmission device includes a pinion gear  81  secured to an output shaft of the X-direction driving motor  95 , and a pulley speed reduction gear  82  coaxially attached to a shaft of the driving pulley  92  and always meshes with the pinion gear  81 . 
     The X adaptor  96  includes the three rollers  98 . The three rollers  98  are rotatable and hold the second arm  7  between the three rollers  98 . The X adaptor  96  is coupled and secured to the endless belt  94  through a belt-gripping device  94   a.    
     Due to the configuration of the X-direction movement mechanism  91  illustrated in  FIG. 17 , when the X-direction driving motor  95  is driven, the driving force is transmitted to the endless belt  94  through the above-described driving-force transmission device and the driving pulley  92 , the endless belt  94  rotates, and the first arm  6  attached and secured to the X adaptor  96  moves in the X direction that is a horizontal direction, along the second arm  7 . Then the first arm  6  with the X adaptor  96  further moves right in the X direction along the second arm  7 , and reaches a HP that is the closest to the right in  FIG. 17 . At this time, the filler  100  engages with the X-direction HP sensor  99 . Consequently, the X-direction HP sensor  99  becomes on, and can detect the HP of the X adaptor  96  and the first arm  6 . 
     Although not illustrated to avoid redundant description, the Y-direction movement mechanism  101  and the Z-direction movement mechanism  111  illustrated in  FIGS. 11A and 11B  include a Y-direction HP sensor  109  corresponding to the second arm  7 , and a Z-direction HP sensor  119  corresponding to the vertical-movement mechanisms  8 , respectively (see  FIG. 21  described below), as a configuration similar to the combination of the X-direction HP sensor  99  and the filler  100  in the X-direction movement mechanism  91 . 
     With reference to  FIGS. 18A to 20C , described are movement speeds of the first arm  6  in a case where the first arm  6  moves in the X direction to leave (separate from) the front-end guide rail  131 , and in a case where the first arm  6  moves in the X direction to move up onto and collide with the front-end guide rail  131 , and disadvantages caused by the movement speeds.  FIGS. 18A and 18B  are drawings illustrating a falling speed of the first arm  6  at a time when the first arm  6  leaves the front-end guide rail  131  at a high speed.  FIGS. 19A and 19B  are drawings illustrating a falling speed of the first arm  6  at a time when the first arm  6  leaves the front-end guide rail  131  at a low speed.  FIGS. 20A to 20C  are drawings illustrating disadvantages at a time when the first arm  6  moves up onto and collides with the front-end guide rail  131  at a high speed. 
     In  FIGS. 18B and 19B , black thick arrows indicate directions and magnitudes of falling speeds of the first arm  6  with the front-end guide roller  36 . 
       FIGS. 18A and 18B  illustrate a transition at a time when the first arm  6  leaves (separates from) the tapered portion  131   a  of the front-end guide rail  131  at a high speed, with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a . In  FIGS. 18A and 18B , the first arm  6  moves in the X direction from the drawing depth side to the drawing front side at a high speed. A falling speed of the first arm  6  is relatively high immediately after the first arm  6  leaves the tapered portion  131   a  at a high speed, with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a , as illustrated in  FIG. 18B , compared with a state illustrated in  FIG. 18A  immediately before the first arm  6  leaving the tapered portion  131   a  at a high speed, with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a . Consequently, the first arm  6  and the carriage  50  attached to the Y adaptor  106  tilt. 
     Since in  FIG. 18B , the front-end guide rail  131  and the tapered portion  131   a  are all hidden by the front-end guide roller  36  and are not seen, the front-end guide rail  131  and the tapered portion  131   a  are intentionally not illustrated. 
     On the other hand,  FIGS. 19A and 19B  illustrate a transition at a time when the first arm  6  leaves (separates from) the tapered portion  131   a  of the front-end guide rail  131  at a relatively low speed, with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a , in contrast to the illustrations of  FIGS. 18A and 18B . Compared with a state illustrated in  FIG. 19A  immediately before the first arm  6  leaving the tapered portion  131   a  at a low speed, a falling speed of the first arm  6  is not very high immediately after the first arm  6  leaves the tapered portion  131   a  at a low speed, with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a , as illustrated in  FIG. 19B . 
     That is to say, a movement speed or a driving speed of the first arm  6  that moves the first arm  6  in the X direction is reduced to reduce a falling speed of the front-end guide roller  36  when the front-end guide roller  36  moves down off the front-end guide rail  131 . A falling speed of the first arm  6  and the front-end guide roller  36  is reduced. Consequently, the disadvantages illustrated with reference to  FIG. 13  and caused by the first arm  6  of a cantilever type are eased to increase durability of the X adaptor  96  and the rollers  98  that are supports of the first arm  6 . 
       FIGS. 20A to 20C  illustrate a state transition at a time when the first arm  6  collides with the tapered portion  131   a  of the front-end guide rail  131  at a relatively high speed, with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a . First, as illustrated in  FIG. 20A , the front-end guide roller  36  moves toward the tapered portion  131   a  in the X direction at a high speed. Next, as illustrated in  FIG. 20B , the front-end guide roller  36  collides with the tapered portion  131   a . At this time, as illustrated in  FIG. 20C , the front-end guide roller  36  jumps up from the tapered portion  131   a , and a driving amount by which the X-direction driving motor  95  drives the first arm  6  in the X direction does not harmonize with the position of the first arm  6  illustrated in  FIGS. 11A, 11B, and 17 . 
     Although the above-described disadvantages are described for a case where the front end  6   b  of the first arm  6  is provided with the front-end guide roller  36 , as illustrated in  FIG. 16 , similar disadvantages naturally occur in a case where the front end  6   b  of the first arm  6  is provided with the front-end shoe  35 , as illustrated in  FIGS. 14A and 14B . 
     Therefore, when the first arm  6  moves up onto, that is to say contacts, the front-end guide rail  131  or the tapered portion  131   a , or when the first arm  6  moves down off, that is to say separates from, the front-end guide rail  131  or the tapered portion  131   a , with the front-end guide roller  36  between the first arm  6  and the front-end guide rail  131  or the tapered portion  131   a , it is sufficient to control the X-direction driving motor  95  to reduce a movement speed of the first arm  6 . Specific values for allowing a movement speed or a driving speed of the front-end guide roller  36  of the first arm  6  to be an appropriate low speed are experimentally set considering, for example, the weights of the carriage  50 , an item (pack  2 ), and the like that are held, and the weight, rigidity, and the like of the first arm  6 . 
     A timing at which a movement speed of the first arm  6  is reduced when the first arm  6  moves up onto (or moves down off) the front-end guide rail  131  or the tapered portion  131   a , with the front-end guide roller  36  between the first arm  6  and the front-end guide rail  131  or the tapered portion  131   a , is a timing at which the first arm  6  is conveyed by a specified driving amount of the X-direction driving motor  95  after the X-direction HP sensor  99  illustrated in  FIG. 17  detects the first arm  6  having separated from a HP that is also an initial position of the first arm  6 . 
     The configuration solves the disadvantages illustrated in  FIGS. 18A to 19B . 
     Therefore, the first arm  6  having a supporting cantilever structure smoothly and stably moves up onto and moves down off the tapered portion  131   a , with the front-end guide roller  36  between the first arm  6  and the tapered portion  131   a . Further, the configuration also solves the disadvantage illustrated in  FIGS. 20B and 20C . Therefore, an impact load acting on the first arm  6  is decreased, and durability and stop position accuracy of the first arm  6  is increased. 
     A control configuration of the medicine-taking support apparatus  300  will be described with reference to  FIG. 21 .  FIG. 21  is a control block diagram illustrating a main control configuration of the medicine-taking support apparatus  300 . 
     As illustrated in  FIG. 21 , the medicine-taking support apparatus  300  includes a central processing unit (CPU) functioning as a controller  150  as a controller that controls operation of each device, each mechanism, and the like of the medicine-taking support apparatus  300 . The CPU contains a storage unit  152 , a timer  153 , and the like. The CPU issues an instruction to issue information to a user or the like, or an instruction for operation of the medicine-taking support apparatus  300  at a timing that follows programs, on the basis of various input including sensors described below. Prescription information and medicine information, as external medicine information, are input into the storage unit  152  from the outside. 
     The CPU includes not only arithmetic and control functions but also may include a timer (time measurement) function. The storage unit  152  includes a read-only memory (ROM), a random access memory (RAM), an external memory, and the like. The ROM preliminarily stores programs that can be read out by the CPU (programs, such as a control flowchart described below), calculation formulae used for calculations at a time when the CPU performs various controls, various data, or the like. The data includes, for example, data on relationships between packs  2  and sections  33  of the medicine distribution trays  30  (see  FIG. 4 ) assigned to each medicine-taking person, each medicine-taking timing, or each order of medicine taking. 
     A touch screen  151  including an input device and a display as a user interface is electrically coupled to an input/output port of the CPU. A user inputs various settings with the touch screen  151 . A current time, a progress state of storage of packs  2 , an end time, or the like is displayed on the touch screen  151 . Forms of input method and display are not limited to the example, but may be, for example, a combination of a keyboard and a light-emitting diode (LED) display, as an input device and a display that are separate. 
     A start switch  155  for operating the medicine-taking support apparatus  300  is electrically coupled to an input port of the CPU. Pushing the start switch  155  sequentially starts medicine distribution operation that distributes medicine to the medicine distribution trays  30 . Medicine distribution operation that distributes medicine to the medicine distribution trays  30  may be started at a predetermined time by the timer  153 . 
     A cartridge existence and non-existence detection sensor  19  that detects existence and non-existence of a cartridge  10 , a drawer opening and closing detection sensor  23 , and a medicine distribution tray detection sensor  37  that detects the type of the medicine distribution tray  30  accommodated in the medicine-taking support apparatus  300 , and existence and non-existence of the medicine distribution tray  30  are electrically coupled to input ports of the CPU. 
     Further, the suction device HP sensor  70  that detects a HP of the suction device  51  (the suction pads  52  in particular) in the carriage  50 , and the holding-device HP sensor  72  that detects a HP of the holding device  61  (the holding tray  62  in particular) in the carriage  50  are also electrically coupled to input ports of the CPU. 
     In  FIG. 21 , the cartridge existence and non-existence detection sensor  19 , the drawer opening and closing detection sensor  23 , and the medicine distribution tray detection sensor  37  are simplified to be described as only SENSOR  19 , SENSOR  23 , and SENSOR  37 , and the suction device HP sensor  70  and the holding-device HP sensor  72  are simplified to be described as only HP SENSOR  70  and HP SENSOR  72 . The sensor  19 , the sensor  23 , the sensor  37 , the HP sensor  70 , and the HP sensor  72  simply illustrated are illustrated only in  FIG. 21 . 
     Further, the X-direction HP sensor  99  that detects a HP of the first arm  6  of the X-direction movement mechanism  91 , the Y-direction HP sensor  109  that detects a HP of the second arm  7  of the Y-direction movement mechanism  101 , and the Z-direction HP sensor  119  that detects a HP of the vertical-movement mechanism  8  of the Z-direction movement mechanism  111  are also electrically coupled to input ports of the CPU. 
     In  FIG. 21 , the X-direction HP sensor  99 , the Y-direction HP sensor  109 , and the Z-direction HP sensor  119  are simplified to be described as only HP SENSOR  99 , HP SENSOR  109 , and HP SENSOR  119 . A sensor  134  surrounded by a broken line in  FIG. 21  is used in a variation example of driving control of the first arm  6  illustrated in  FIG. 28  described below. 
     Information issuing devices  154  are electrically coupled to output ports of the CPU. The movement motor  60  for moving up or down the suction device  51 , the movement motor  69  for rotating or moving up or down the holding device  61 , the X-direction driving motor  95  of the X-direction movement mechanism  91 , the Y-direction driving motor  105  of the Y-direction movement mechanism  101 , and the Z-direction driving motor  115  of the Z-direction movement mechanism  111  are electrically coupled to output ports of the CPU through corresponding various motor drivers d 1  to d 5 . The suction pump  48  is also electrically coupled to an output port of the CPU through a suction pump driver. 
     In  FIG. 21 , the movement motor  60  for moving up or down the suction device  51 , and the movement motor  69  for rotating or moving up or down the holding device  61  are simplified to be described as only MOVEMENT MOTOR  60  and MOVEMENT MOTOR  69 , and the X-direction driving motor  95 , the Y-direction driving motor  105 , and the Z-direction driving motor  115  are simplified to be described as only DRIVING MOTOR  95 , DRIVING MOTOR  105 , and DRIVING MOTOR  115 . 
     The information issuing devices  154  issue information about states of the above-described devices and mechanisms by light, such as an LED, sounds including voices, and vibration. The information issuing devices  154  include a loudspeaker that is a sound device, a light that is a light device, and the like for informing a user or the like apart from the medicine-taking support apparatus  300  of a timing of medicine taking, and the like. 
     The above-described external medicine information is input into the CPU through an input/output (I/O) device, is stored in the storage unit  152 , and is used for allocation of medicine distribution to medicine-taking people. 
     Note that an LED or the like for identification of cartridges  10  disposed in the drawers  20  may be electrically coupled to the CPU. 
     When input information from the touch screen  151 , or a signal or information from the various sensor  19 ,  23 , or  37 , or the various HP sensor  70 ,  72 ,  99 ,  109 , or  119  is input into the CPU, the CPU outputs an instruction to a loudspeaker or a light of a display of the touch screen  151  (including the information issuing devices  154 ), or the driver corresponding to the various movement motor  60  or  69 , the driving motor  95 ,  105 , or  115 , the suction pump  48 , or the LED. 
     The HP sensor  70 , the motor driver d 1 , and the movement motor  60  are used to drive and control the mechanism  55  for moving up or down the suction device  51 . The HP sensor  72 , the motor driver d 2 , and the movement motor  69  are used to drive and control the mechanism  63  for rotating or moving up or down the holding device  61 . 
     The HP sensor  99 , the motor driver d 3 , and the driving motor  95  are used to drive and control the X-direction movement mechanism  91 . Similarly, the HP sensor  109 , the motor driver d 4 , and the driving motor  105  are used to drive and control the Y-direction movement mechanism  101 . Similarly, the HP sensor  119 , the motor driver d 5 , and the driving motor  115  are used to drive and control the Z-direction movement mechanism  111 . 
     Further, the CPU has functions of performing control operation illustrated in the description above or below, a control flowchart, a timing chart, and the like. 
     For example, stepping motors that perform driving by pulse input may be used as the movement motors  60  and  69 , and the driving motors  95 ,  105 , and  115  because of the accuracy of a driving amount, and easiness of accurate control. 
     A series of operation flow in the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure will be described with reference to  FIG. 22 . In the series of operation flow, one picking to medicine distribution are performed.  FIG. 22  is a flowchart illustrating a series of operation flow in the medicine-taking support apparatus  300  according to the second embodiment of the present disclosure. In the series of operation flow, one picking to medicine distribution are performed. Operation illustrated in flowcharts described below and including  FIG. 22  is performed under control commands from the CPU of the controller  150 . 
     In  FIG. 22 , when the processing starts, first, HP movement processing of the X-direction movement mechanism  91 , the Y-direction movement mechanism  101 , and the Z-direction movement mechanism  111  (step S 1 ), and HP movement processing driven by the mechanism  55  for moving up or down the suction device  51 , and the mechanism  63  for rotating or moving up or down the holding device  61  (step S 2 ) are performed as operation of initialization surrounded by a broken-line square. 
     Note that in the drawings described below and including  FIG. 22 , the HP movement processing of the X-direction movement mechanism  91  is described as HP MOVEMENT PROCESSING (X), the HP movement processing of the Y-direction movement mechanism  101  is described as HP MOVEMENT PROCESSING (Y), and the HP movement processing of the Z-direction movement mechanism  111  is described as HP MOVEMENT PROCESSING (Z). In  FIG. 22 , the HP MOVEMENT PROCESSING (X), the HP MOVEMENT PROCESSING (Y), and the HP MOVEMENT PROCESSING (Z) are collectively described as HP MOVEMENT PROCESSING (X-Y-Z). 
     Further, HP movement processing of the mechanism  55  for moving up or down the suction device  51  is described as HP MOVEMENT PROCESSING (P), and HP movement processing of the mechanism  63  for rotating or moving up or down the holding device  61  is described as HP MOVEMENT PROCESSING (K). In  FIG. 22 , the HP MOVEMENT PROCESSING (P) and the HP MOVEMENT PROCESSING (K) are collectively described as HP MOVEMENT PROCESSING (P-K). 
     The HP movement processing in  FIG. 22  will be described with reference to  FIG. 23  although the description is mixed up.  FIG. 23  is a flowchart illustrating a subroutine of the HP movement processing in  FIG. 22 . 
     In  FIG. 23 , when the processing starts, whether movement devices (to which the carriage  50 , the first arm  6 , the second arm  7 , the vertical-movement mechanisms  8 , the suction pads  52 , and the holding tray  62  are collectively referred) are at respective HPs is detected by the corresponding HP sensors (the X-direction HP sensor  99 , the Y-direction HP sensor  109 , the Z-direction HP sensor  119 , the suction device HP sensor  70 , and the holding-device HP sensor  72 ) (step S 16 ). 
     If in step S 16 , the movement device is not at the HP (if the HP sensor corresponding to the movement device is off (hereinafter referred to as OFF)), corresponding motor-driving processing is performed to rotate the corresponding motor (the X-direction driving motor  95 , the Y-direction driving motor  105 , the Z-direction driving motor  115 , the movement motor  60  for moving up or down the suction device  51 , or the movement motor  69  for rotating or moving up or down the holding device  61 ) in a direction that allows the movement device to move to the HP. If the corresponding HP sensor becomes on (hereinafter referred to as ON), the processing is ended. 
     Initialization in  FIG. 22  allows a setting of the three-direction movement mechanism  90  to be at a corner closest to the back of the medicine-taking support apparatus  300 , in a right lowest portion of the movement path  26  like comb teeth illustrated in  FIGS. 5A and 5B . In operation from this position, if the X-direction movement mechanism  91  is at a HP, the setting allows movement of the first arm  6  and the carriage  50  in the vertical direction (Z direction) without interference in the upward-or-downward-movement range  25  illustrated with the broken-line square frame in  FIG. 5A . As part of the initialization, the HP movement processing (P-K) driven by the mechanism  55  for moving up or down the suction device  51 , and the mechanism  63  for rotating or moving up or down the holding device  61 , in the carriage  50  is performed to prepare picking operation that picks a pack  2 , and medicine distribution operation. 
     Next, the carriage  50  moves to under a predetermined cartridge  10  in the cartridge storing device  9 . At this time, the order of movement of the three-direction movement mechanism  90  is the Z-direction movement mechanism  111 →the X-direction movement mechanism  91 →the Y-direction movement mechanism  101  (hereinafter referred to as Z→X→Y) (steps S 3  to S 5 ). Then driving of the mechanism  55  for moving up or down the suction device  51  and driving of the suction pump  48  are combined to perform picking processing in order of  FIGS. 8A to 8E . 
     Next, HP movement processing is performed in order of Y→X to return the carriage  50  into the upward-or-downward-movement range  25  in  FIG. 5A . Since the movement in the Y direction is performed immediately before and after the picking processing, a time in which the carriage  50  is at the front end  6   b  side of the first arm  6  and receives a bending moment is made the shortest, and the disadvantage described in the description of  FIG. 13  and caused by the first arm  6  of a cantilever type is minimized. The series of operation in this order is surrounded by a broken-line square as Y MOVEMENT PART ( 1 ) in  FIG. 22  (steps S 5  to S 7 ). 
     Next, movement processing in order of Z→X→Y is performed to move the carriage  50  to a position of a predetermined section  33  in the medicine distribution tray  30  (steps S 9  to S 11 ). Then the mechanism  63  for rotating or moving up or down the holding device  61  is operated to perform medicine distribution processing in order of  FIGS. 9A to 9E . Then HP movement processing is performed in order of Y→X→Z to return the carriage  50  to the same position as the position at a time of the initialization, and the series of operation from picking operation to medicine distribution operation is ended (steps S 11  to S 15 ). Y movement performed immediately before and after medicine distribution processing is surrounded by a broken-line square as Y MOVEMENT PART ( 2 ), similarly as Y MOVEMENT PART ( 1 ) at a time of picking (steps S 11  to S 13 ). Medicine distribution operation is performed in order of the Y movement to obtain a similar effect as the effect of Y MOVEMENT PART ( 1 ). 
     As a flowchart ( 2 ) of operation from picking operation to medicine distribution operation,  FIG. 24  illustrates a flowchart in a case where the carriage  50  moves in a place where the cartridge storing device  9 , the movement path  26  that is a movement space under the cartridge storing device  9 , the movement path  26  that is a movement space over the medicine distribution tray  30  that is the next tier, and the medicine distribution tray  30  that is the next tier sequentially and continuously align, as in a highest portion in  FIG. 5A . The flowchart illustrated in  FIG. 24  starts from step S 21 , and ends at step S 32 . Hereinafter, the difference between the flowchart illustrated in  FIG. 24  and the flowchart illustrated in  FIG. 22  will be mainly described. 
     Compared with the flowchart illustrated in  FIG. 22 , the flowchart illustrated in  FIG. 24  does not include the HP movement processing (Y) in step S 7 , the HP movement processing (X) in step S 8 , and the Z movement processing in step S 9  between the picking processing (step S 6 ) and the medicine distribution processing (step S 12 ) in  FIG. 22 . Therefore, in the flowchart illustrated in  FIG. 24 , only two pieces of processing, that is to say Y movement processing (step S 27 ) and X movement processing (step S 28 ) are needed between picking processing (step S 26 ) and medicine distribution processing (step S 29 ) in a picking and medicine distribution part surrounded by a broken line. It can be understood that the carriage  50  is efficiently moved in a highest tier in  FIG. 5A , and the productivity is improved. 
     Contents of driving control operation of the first arm  6  described in  FIG. 22  will be described in more detail with reference to  FIG. 25 .  FIG. 25  is a flowchart illustrating a series of operation flow that illustrates contents of driving control operation of the first arm  6  in  FIG. 22  in more detail. In the series of operation flow, one picking to medicine distribution are performed. 
     The first difference between the flowchart illustrated in  FIG. 25  and the flowchart of the medicine-taking support apparatus  300  illustrated in  FIG. 22  is that the X movement processing in  FIG. 22  is divided into subroutines to replenish more detailed contents of driving control operation of the first arm  6 . The second difference is that the HP movement processing (X) in  FIG. 22  is divided into subroutines to replenish more detailed contents of driving control operation of the first arm  6 . The third difference is that whether the carriage  50  has a pack  2  or not (does not have) is clarified. 
     Hereinafter, the flowchart illustrated in  FIG. 25  will be described. 
     In  FIG. 25 , when the processing starts, first, HP movement processing of the X-direction movement mechanism  91 , the Y-direction movement mechanism  101 , and the Z-direction movement mechanism  111  (step S 41 ), and HP movement processing driven by the mechanism  55  for moving up or down the suction device  51 , and the mechanism  63  for rotating or moving up or down the holding device  61  (step S 42 ) that are similar as the processing described in  FIG. 22  are performed as operation of initialization surrounded by a broken-line square. 
     Since the contents of the HP movement processing are substantially the same as the subroutine of the HP movement processing illustrated in  FIG. 23 , the description is omitted (see  FIG. 23  in brackets in steps S 41  and S 42 ). 
     The initialization in  FIG. 25  performs a setting of the three-direction movement mechanism  90  similarly as the initialization described in  FIG. 22 . That is to say, the three-direction movement mechanism  90  is allowed to be at a corner closest to the back of the medicine-taking support apparatus  300 , in a right lowest portion of the movement path  26  like comb teeth illustrated in  FIGS. 5A and 5B . In operation from this position, if the X-direction movement mechanism  91  is at a HP, the setting allows movement of the first arm  6  and the carriage  50  in the vertical direction (Z direction) without interference in the upward-or-downward-movement range  25  illustrated with the broken-line square frame in  FIG. 5A . As part of the initialization, the HP movement processing (P-K) driven by the mechanism  55  for moving up or down the suction device  51 , and the mechanism  63  for rotating or moving up or down the holding device  61 , in the carriage  50  is performed to prepare picking operation that picks a pack  2 , and medicine distribution operation. 
     Next, the carriage  50  moves to under a predetermined cartridge  10  in the cartridge storing device  9 . At this time, the order of movement of the three-direction movement mechanism  90  is Z→X→Y (steps S 43  to S 45 ). Then driving of the mechanism  55  for moving up or down the suction device  51  and driving of the suction pump  48  are combined to perform picking processing in order of  FIGS. 8A to 8E . Since the picking processing at this time includes operation that takes a pack  2  into the carriage  50  and holds the pack  2  in the carriage  50 , NOT HAVING PACK  2  surrounded with a broken-line square is a premise (step S 44 ). 
     Next, HP movement processing is performed in order of Y→X to return the carriage  50  into the upward-or-downward-movement range  25  in  FIG. 5A . Since the movement in the Y direction is performed immediately before and after the picking processing, a time in which the carriage  50  is at the front end  6   b  side of the first arm  6  and receives a bending moment is made the shortest, and the disadvantage described in the description of  FIG. 13  and caused by the first arm  6  of a cantilever type is minimized (steps S 45  to S 47 ). 
     Next, the carriage  50  holding or having the pack  2  obtained by the above-described picking processing performs medicine distribution processing surrounded by a broken-line square. Movement processing in order of Z→X→Y is performed to move the carriage  50  to a position of a predetermined section  33  in the medicine distribution tray  30  (steps S 49  to S 53 ). Then the mechanism  63  for rotating or moving up or down the holding device  61  is operated to perform medicine distribution processing in order of  FIGS. 9A to 9E . Then HP movement processing is performed in order of Y→X→Z. At this time, after the end of the medicine distribution processing that distributes medicine to the medicine distribution tray  30 , the carriage  50  that does not hold or have the pack  2  performs HP movement processing (X) (step S 54 ). Then the carriage  50  is returned to the same position as the position at a time of the initialization, and the series of operation from picking operation to medicine distribution operation is ended (steps S 41  to S 55 ). 
     Next, subroutines of the X movement processing and the HP movement processing (X) at a time of the picking processing described with reference to  FIG. 25  will be described with reference to  FIGS. 26A, 26B, and 27 .  FIG. 26A  including  FIG. 26AA  and  FIG. 26AB  is a flowchart illustrating a subroutine of the X movement processing at a time of the picking processing in  FIG. 25 .  FIG. 26B  including  FIG. 26BA  and  FIG. 26BB  is a flowchart illustrating a subroutine of the HP movement processing (X) at a time of the picking processing.  FIG. 27  is a graph illustrating an example in which movement acceleration of the first arm  6  is changed on the basis of whether or not the carriage  50  holds a pack  2  at at least one of a time when the front-end guide roller  36  of the first arm  6  moves up onto the front-end guide rail  131  and a time when the front-end guide roller  36  of the first arm  6  moves down off the front-end guide rail  131 . 
     When the X movement processing in  FIG. 26A  starts, operation of the X-direction driving motor  95  that is for moving the first arm  6  and has been described with reference to  FIG. 17  starts movement of the first arm  6  in the X direction (step S 61 ). Next, the X-direction HP sensor  99  detects whether or not the first arm  6  is at a HP, a speed reduction is started after the first arm  6  is conveyed a specified distance after the first arm  6  separates from the HP (the X-direction HP sensor  99  becomes OFF). 
     Here, a movement distance of the front-end guide roller  36  from a position where the X-direction HP sensor  99  is disposed, to a “speed reduction start position in front of the front-end guide rail  131 ” before the front-end guide roller  36  moving up onto the tapered portion  131   a  of the front-end guide rail  131  is constant. On the other hand, a driving amount for the constant distance by which the X-direction driving motor  95  moves and conveys the first arm  6  is already known. Data on the distance and the driving amount of the X-direction driving motor  95  is preliminarily stored, for example, as a data table in the ROM of the controller  150  illustrated in  FIG. 21 . In this way, an OFF signal from the X-direction HP sensor  99  and a driving amount of the X-direction driving motor  95  trigger a speed reduction start in such a manner that the speed reduction will be completed when the front-end guide roller  36  of the first arm  6  starts to move up onto the tapered portion  131   a  of the front-end guide rail  131 . Further, a driving amount of the X-direction driving motor  95  at a moment when the X-direction HP sensor  99  becomes OFF is obtained to detect the speed reduction start position (steps S 62  and S 63 ). 
     In step S 64 , the acceleration of the first arm  6  is changed according to whether or not the carriage  50  has a pack  2 . The reason is that a speed increase or reduction at a time when the carriage  50  has a pack  2  is eased, as illustrated in  FIG. 27 , to prevent the pack  2  from leaving and falling from the suction pads  52  that are sucking and holding the pack  2  due to an inertia that accompanies the speed increase or reduction of the first arm  6 . In case of a sudden speed reduction, a large inertia acts on a pack  2 , the pack  2  may leave and fall from the suction pads  52 . 
     On the other hand, in a case of a gentle speed reduction, a decreased inertia acts on a pack  2 , and the pack  2  is less likely to fall. Further, when no pack  2  is sucked and held, an inertia that acts on a pack  2  does not need to be considered. Therefore, a time needed for a speed reduction is decreased, and the productivity is increased. That is to say, a speed increase or reduction is eased in part of movement of the first arm  6  in the X direction to solve the above-described problem without decreasing the productivity very much. 
     Although when the carriage  50  has a pack  2 , and when the carriage  50  does not have a pack  2 , the speed is similarly changed to a low-speed state where the speed is reduced, a magnitude relationship between the acceleration at that time is set considering the above description (steps S 65  and S 71 ). 
     Next, after it is checked whether or not the first arm  6  has been driven to a speed increase start (completion of moving up onto the front-end guide rail  131 , after the X-direction HP sensor  99  becoming OFF) position, the acceleration of the first arm  6  is changed according to whether or not the carriage  50  has a pack  2  (steps S 68  and S 72 ). Since at this time, the first arm  6  has been driven to the speed increase start position, the speed of the first arm  6  is changed to a high-speed state irrespective of whether or not the carriage  50  has a pack  2 . However, a magnitude relationship between the acceleration at that time is set considering the above description (steps S 68  and S 72 ). 
     Next, it is checked whether or not the first arm  6  has been conveyed to an X-direction stop position, and in a case of YES, the driving of the first arm  6  in the X direction is stopped and ended (steps S 69  and S 70 ). 
     When HP movement processing (X) in  FIG. 26B  is started, operation of the X-direction driving motor  95  starts driving of the first arm  6  toward the X-direction HP sensor  99  (step S 75 ). Next, after it is checked whether or not the first arm  6  has been driven to a speed reduction start (before moving down off the front-end guide rail  131 , after the X-direction HP sensor  99  becoming OFF) position, the acceleration of the first arm  6  is changed according to whether or not the carriage  50  has a pack  2 . At this time, a driving amount of the X-direction driving motor  95  at a moment when the X-direction HP sensor  99  becomes OFF is obtained to detect the speed reduction start position of the first arm  6 . 
     Since in step S 77 , the first arm  6  has been driven to the speed reduction start position, the speed of the first arm  6  is changed to a low-speed state irrespective of whether or not the carriage  50  has a pack  2 . However, a magnitude relationship between the acceleration at that time is set considering the above description (steps S 78  and S 84 ). 
     Next, it is checked whether or not the first arm  6  has been driven to a speed increase start (completion of moving down off the front-end guide rail  131 , after the X-direction HP sensor  99  becoming OFF) position. At this time, a driving amount of the X-direction driving motor  95  at a moment when the X-direction HP sensor  99  becomes OFF is obtained to detect the speed increase start position of the first arm  6 . Then the acceleration of the first arm  6  is changed according to whether or not the carriage  50  has a pack  2 . Since at this time, the first arm  6  has been driven to the speed increase start position, the speed of the first arm  6  is changed to a high-speed state irrespective of whether or not the carriage  50  has a pack  2 . However, a magnitude relationship between the acceleration at that time is set considering the above description (steps S 81  and S 85 ). 
     Next, the X-direction HP sensor  99  detects whether or not the first arm  6  is at a HP, and in a case of YES, the driving of the first arm  6  in an X-direction HP sensor  99  direction is stopped and ended (steps S 82  and S 83 ). 
     A variation example of driving control of the first arm  6  will be described with reference to  FIGS. 28, 29A, and 29B .  FIG. 28  is a perspective view of surroundings of a portion where a sensor  134  in front of the front-end guide rail  131  is disposed. The sensor  134  in front of the front-end guide rail  131  detects a movement position of the front-end guide roller  36  of the first arm  6 .  FIG. 29A  including  FIG. 29AA  and  FIG. 29AB  is a flowchart illustrating a subroutine of X movement processing using the sensor  134  in front of the front-end guide rail  131 .  FIG. 29B  including  FIG. 29BA  and  FIG. 29BB  is a flowchart illustrating a subroutine of HP movement processing (X). 
     As illustrated in  FIG. 28 , the sensor  134  in front of the front-end guide rail  131  is disposed at an immovable member on the main-body frame  190  side. The sensor  134  in front of the front-end guide rail  131  detects passage of the first arm  6  before the front end  6   b  (in  FIG. 28 , the front-end guide roller  36  is indicated) of the first arm  6  moves up onto the front-end guide rail  131 . The sensor  134  in front of the front-end guide rail  131  functions as a second detector that detects the front end  6   b  of the first arm  6  at a specific position where the front end  6   b  of the first arm  6  does not contact the front-end guide rail  131 , that is to say at a position immediately before the front end  6   b  starting to contact the front-end guide rail  131 . 
     The sensor  134  in front of the front-end guide rail  131  is a thru-beam photosensor that includes a light emitter and a light receiver. 
     Here, a movement distance of the front-end guide roller  36  from a position where the sensor  134  in front of the front-end guide rail  131  is disposed, to a “speed reduction start position in front of the front-end guide rail  131 ” before the front-end guide roller  36  moving up onto the tapered portion  131   a  of the front-end guide rail  131  is constant. On the other hand, a driving amount for the constant distance by which the X-direction driving motor  95  moves and conveys the first arm  6  is already known. Data on the distance and the driving amount of the X-direction driving motor  95  is preliminarily stored, for example, as a data table in the ROM of the controller  150  illustrated in  FIG. 21 . 
     If passage of the front-end guide roller  36  of the first arm  6  through the sensor  134  in front of the front-end guide rail  131  is detected, the CPU of the controller  150  illustrated in  FIG. 21  performs control in such a manner that an ON signal from the sensor  134  in front of the front-end guide rail  131  triggers a start of a speed reduction of the X-direction driving motor  95 . However, the speed reduction is started in such a manner that the speed reduction will be completed when the front-end guide roller  36  starts to move up onto the front-end guide rail  131 . 
     When the front-end guide roller  36  of the first arm  6  leaves the front-end guide rail  131 , the CPU of the controller  150  illustrated in  FIG. 21  performs control in such a manner that an ON signal from the sensor  134  in front of the front-end guide rail  131  and an X-direction driving amount trigger a start of a speed reduction of the X-direction driving motor  95 . However, the speed reduction is started in such a manner that the speed reduction will be completed when the front-end guide roller  36  starts to move down off the front-end guide rail  131 . 
     When X movement processing in  FIG. 29A  starts, operation of the X-direction driving motor  95  starts movement of the first arm  6  in the X direction (step S 91 ). The sensor  134  in front of the front-end guide rail  131  detects passage of the first arm  6  before the front-end guide roller  36  of the first arm  6  moves up onto the front-end guide rail  131 . If the sensor  134  in front of the front-end guide rail  131  becomes ON, an ON signal from the sensor  134  in front of the front-end guide rail  131  triggers a speed reduction of the first arm  6 . Consequently, the speed of the first arm  6  is changed to a low-speed state. At this time, it is checked whether or not the carriage  50  has a pack  2 . If the carriage  50  has a pack  2 , the acceleration of the first arm  6  is eased to prevent the pack  2  from falling from the suction pads  52  due to an inertia of the pack  2 . If the carriage  50  does not have a pack  2 , the acceleration is made relatively large. However, the speed reduction is started in such a manner that the speed reduction will be completed when the front-end guide roller  36  starts to move up onto the front-end guide rail  131  (steps S 92  to S 94 , and S 100 ). 
     Next, it is checked whether or not the first arm  6  has reached a speed increase start position. If the first arm  6  has reached a speed increase start position, it is checked whether or not the carriage  50  has a pack  2 , as described above, and the speed of the first arm  6  is increased to be changed to a high-speed state. At this time, if the carriage  50  has a pack  2 , the acceleration of the first arm  6  is eased to prevent the pack  2  from falling from the suction pads  52  due to an inertia of the pack  2 . If the carriage  50  does not have a pack  2 , the acceleration is made relatively large (steps S 95  to S 97 , and S 101 ). 
     Next, it is checked whether or not the first arm  6  has been conveyed to an X-direction stop position, and in a case of YES, the driving of the first arm  6  in the X direction is stopped and ended (steps S 98  and S 99 ). 
     Next, when HP movement processing (X) in  FIG. 29B  starts, operation of the X-direction driving motor  95  starts driving of the first arm  6  in a HP direction (step S 111 ). When the front-end guide roller  36  of the first arm  6  leaves the front-end guide rail  131 , it is checked whether or not the first arm  6  has reached a speed reduction start position. If the first arm  6  has reached the speed reduction start position, the speed of the first arm  6  is reduced to be changed to a low-speed state. However, the speed reduction is started in such a manner that the speed reduction will be completed when the front-end guide roller  36  starts to move down off the front-end guide rail  131 . Then, if the carriage  50  has a pack  2 , the acceleration of the first arm  6  is eased to prevent the pack  2  from falling from the suction pads  52  due to an inertia of the pack  2 . If the carriage  50  does not have a pack  2 , the acceleration is made relatively large (steps S 112  to S 114 , and S 120 ). 
     Next, it is checked whether or not the sensor  134  in front of the front-end guide rail  131  has become ON. If the sensor  134  in front of the front-end guide rail  131  has become ON, it is checked whether or not the carriage  50  has a pack  2 , as described above, and the speed of the first arm  6  is increased to be changed to a high-speed state. At this time, if the carriage  50  has a pack  2 , the acceleration of the first arm  6  is eased to prevent the pack  2  from falling from the suction pads  52  due to an inertia of the pack  2 . If the carriage  50  does not have a pack  2 , the acceleration is made relatively large (steps S 115  to S 117 , and S 121 ). 
     Next, on the basis of a motor driving amount, it is determined whether or not the first arm  6  is at a HP, and in a case of YES, the driving of the first arm  6  in the HP direction is stopped and ended (steps S 118  and S 119 ). 
     According to the variation example, the X-direction HP sensor  99  illustrated in  FIG. 17  is not necessary, and a wiring (wire harness) configuration around the first arm  6  is simplified and made compact. 
     A medicine-taking support apparatus  300  according to an embodiment different from the second embodiment illustrated in  FIGS. 5A and 5B  will be described with reference to  FIG. 30  although the description is mixed up.  FIG. 30  is a front view illustrating the medicine-taking support apparatus  300  according to an embodiment different from the second embodiment illustrated in  FIGS. 5A and 5B . A difference between the medicine-taking support apparatus  300  illustrated in  FIG. 30  and the medicine-taking support apparatus  300  illustrated in  FIGS. 5A and 5B  is that the order of total five tiers including three tiers of a cartridge storing device  9  and two tiers of medicine distribution trays  30  is changed to alternate the three tiers of the cartridge storing device  9  and the two tiers of the medicine distribution trays  30 . Therefore, in two places, the cartridge storing device  9  at a higher tier, a movement space including a movement path  26  under the cartridge storing device  9  at a higher tier, a movement space including the movement path  26  over the medicine distribution tray  30  at the next tier, and the medicine distribution tray  30  at the next tier sequentially and continuously align. Consequently, the movement path  26  of a carriage  50  has only three branches. 
     In other words, there are two upper and lower places where a path through which the carriage  50  takes a pack out of a cartridge  10  of the cartridge storing device  9 , and holds and conveys out the pack, and a path through which the carriage  50  stores the conveyed-out pack in the medicine distribution tray  30  are a common path. From a different point of view, an expression is also possible that when the carriage  50  moves between the cartridge storing device  9  and the medicine distribution tray  30  that are at a higher tier and a lower tier between which there is a movement space of the carriage  50 , the carriage  50  does not move in the vertical direction (Z direction). 
     The configuration decreases one of spaces where the carriage  50  horizontally moves, and provides the medicine-taking support apparatus  300  that is more compact in the vertical direction, or a height direction of the medicine-taking support apparatus  300 . 
     Although the item storage apparatus  200  and the medicine-taking support apparatuses  300  occupying a small space that are characteristic of the present disclosure have been described so far, an item storage apparatus  200  according to an embodiment different from the first embodiment illustrated in  FIG. 1  will be described with reference to  FIG. 31 .  FIG. 31  is a front view illustrating the item storage apparatus  200  according to an embodiment different from the first embodiment illustrated in  FIG. 1 . 
     In contrast to the description with reference to  FIGS. 8A to 8E, and 9A to 9E , in the item storage apparatus  200  illustrated in  FIG. 31 , items are picked from an upper portion of a first storage  1 , and items are stored in a second storage  3  through a lower portion of the second storage  3 . Even in this case, it is obvious that the item storage apparatus  200  has a similar effect as the effect of the medicine-taking support apparatus  300  illustrated in  FIG. 30 . 
     In contrast to an example illustrated in  FIG. 30 , in the item storage apparatus  200  illustrated in  FIG. 31 , the arrangement of the first storage  1  corresponding to the cartridge storing device  9 , and the second storage  3  corresponding to the medicine distribution tray  30  is reversed. Further, the items are moved up and placed, as indicated by small arrows depicted near the first storage  1  and the second storage  3 . Therefore, in two places, the second storage  3  at a higher tier, a movement space including a movement path  26  under the second storage  3  at a higher tier, a movement space including the movement path  26  over the first storage  1  at the next tier, and the first storage  1  at the next tier sequentially and continuously align. Consequently, the movement path  26  of a carriage  50  has only three branches. 
     In other words, there are two upper and lower places where a path through which the carriage  50  takes an item out of the first storage  1 , and holds and conveys out the item, and a path through which the carriage  50  stores the conveyed-out item in the second storage  3  are a common path. From a different point of view, an expression is also possible that when the carriage  50  moves between the first storage  1  and the second storage  3  that are at a higher tier and a lower tier between which there is a movement space of the carriage  50 , the carriage  50  does not move in the vertical direction (Z direction). 
     The configuration decreases one of spaces where the carriage  50  horizontally moves, and provides the item storage apparatus  200  that is more compact in the vertical direction, or a height direction of the item storage apparatus  200 . 
     An item storage apparatus  200  according to another embodiment will be described with reference to  FIGS. 32A and 32B .  FIG. 32A  is a front view illustrating the item storage apparatus  200  according to another embodiment different from the first embodiment illustrated in  FIG. 1 .  FIG. 32B  is a right side view of  FIG. 32A . 
     In the example, a space where vertical-movement mechanisms  8  occupy is under the height of a second highest tier. Consequently, the item storage apparatus  200  illustrated in  FIGS. 32A and 32B  increases a volume of the first storage  1  at a highest tier for items. In  FIGS. 32A and 32B , in contrast to a volume that accommodates total sixteen cartridges included by the first storage  1  at a lower tier in four rows and four columns per tier, total twenty-five cartridges included by the first storage  1  at a highest tier in five rows and five columns per tier are accommodated. 
     In other words, in the item storage apparatus  200  illustrated in  FIGS. 32A and 32B , the vertical-movement mechanisms  8  are disposed below the first storage  1  at a highest tier, and a storage volume of the first storage  1  at a highest tier for items is larger than a storage volume of the first storage  1  at another tier for items. 
     The configuration increases items in the first storage  1  at a highest tier, and provides the item storage apparatus  200  that accommodates more cartridges. 
     Note that the case is not limiting, and items may be taken out of and into the first storage  1  at a highest tier through an upper portion of the item storage apparatus  200 , or the item storage apparatus  200  may include a lid structure that opens and closes at a ceiling portion of the item storage apparatus  200 . 
     As described above, the above-described embodiments including the examples and the like of the item storage apparatus and the medicine-taking support apparatus have a basic effect of providing an item storage apparatus and a medicine-taking support apparatus that occupy a small space, and allow work dealing with items and one-dose-package medicine packs to be automatic, simple, and reliable. Consequently, the item storage apparatus and the medicine-taking support apparatus according to the first embodiment, the second embodiment, and the like of the present disclosure are disposed instead of a conventional medicine preparation shelf, and solve disadvantages due to dependence on human hands. 
     It can be said that the following aspects and effects have been substantially described in the above-described embodiments and the like including the examples and the like of the item storage apparatus and the medicine-taking support apparatus described above. Constituents in brackets indicate that the constituents are constituents of a medicine-taking support apparatus corresponding to constituents of an item storage apparatus. 
     That is to say, according to a first aspect, an item storage apparatus, such as the item storage apparatus  200  (medicine-taking support apparatus  300 ), includes: a first storage, such as the first storage  1  (cartridge storing device  9 ), to store a pile of a plurality of items (a plurality of items, such as one-dose-package medicine packs  2 ); a carrier, such as the carriage  50 , to take one of the items out of the first storage and hold and convey out the item; a first support, such as the first arm  6 , supporting the carrier such that the carrier is movable back and forth in a first horizontal direction (the forward or backward direction (Y direction); a second support, such as the second arm  7 , supporting the first support such that the first support is movable back and forth in a second horizontal direction, such as the left or right direction (X direction), perpendicular to the first horizontal direction; an vertical mover, such as the vertical-movement mechanisms  8 , supporting the second support such that the second support is movable back and forth in a vertical direction, such as the vertical direction (Z direction), that perpendicular to the first horizontal direction and the second horizontal direction; and a second storage, such as the second storage  3  (medicine distribution trays  30 ), to store the item conveyed out by the carrier, in which the item storage apparatus has a multi-tier structure in which at least one of the first storage and the second storage includes a plurality of tiers, and a space where the carrier moves is disposed between the tiers, and the first support has a cantilever structure in which one end of the first support is secured to a second support side, and another end of the first support is not supported, in other words, is a free end. 
     The configuration according to the first aspect provides an item storage apparatus and a medicine-taking support apparatus that occupy a small space, and allow work dealing with items and one-dose-package medicine packs to be automatic, simple, and reliable. Consequently, an item storage apparatus and a medicine-taking support apparatus according to the present disclosure have a basic effect of being installed instead of a conventional medicine preparation shelf, and solving disadvantages due to dependence on human hands. 
     According to a second aspect, the item storage apparatus of the first aspect includes a path, such as the movement path  26 , through which the carrier takes one of the items out of the first storage, and holds and conveys out the item, and a path through which the carrier stores the conveyed-out item in the second storage are a common path. 
     The configuration according to the second aspect decreases one of spaces where the carrier horizontally moves, and decreases the height of the item storage apparatus. 
     According to a third aspect, in the item storage apparatus of the second aspect, when the carrier moves between the first storage and the second storage, the carrier does not move in the vertical direction. 
     The configuration according to the third aspect simplifies the path and thus improves the productivity. 
     According to a fourth aspect, in the item storage apparatus of the first aspect, the vertical moving mechanism is disposed below a highest tier of the first storage, and a storage volume of the highest tier of the first storage for the items is larger than a storage volume of another tier of the first storage for the items. 
     The configuration according to the fourth aspect increases the items in the highest tier of the first storage. 
     According to a fifth aspect, the item storage apparatus of any one of the first to fourth aspects further includes storage movement means, such as the entrance ports  41  to  45 , to allow the first storage or the second storage to be taken out and in through a front side of the multi-tier structure. 
     The configuration according to the fifth aspect allows the items to be easily taken in and out (compared with, for example, a scheme where an arm is withdrawn to store the items through the ceiling). 
     According to a sixth aspect, the item storage apparatus of any one of the first to fifth aspects further includes a holding device, such as the holding device  61 , rotatable to change orientation of one of the items after the carrier conveys the item out of the first storage. The holding device is to be rotated before the carrier moves back and forth in the vertical direction while holding the taken-out item. 
     The configuration according to the sixth aspect allows the holding device of the carrier that is horizontal to be vertical, and thus decreases a space for vertical movement. Therefore, the configuration according to the sixth aspect contributes to downsizing of the item storage apparatus. 
     According to a seventh aspect, the item storage apparatus of any one of the first to sixth aspects further includes guide rails, such as the front-end guide rails  131 , disposed such that when the first support moves on the second support stopped, one of the guide rails contacts the other end of the first support to guide the first support horizontally while keeping a height position of the first support in the vertical direction. 
     The configuration according to the seventh aspect keeps the first support of a cantilever structure horizontal. Therefore, a distance between the first support and the first storage or the second storage is constant even if the carrier moves, and the items are stably takes in and out. Further, a bending load acting on the first support is eliminated to obtain smooth operation, maintenance of accuracy, and high durability of the carrier. 
     According to an eighth aspect, in the item storage apparatus of the seventh aspect, a movement speed of the first support is decreased at at least one of a time when the other end, such as the base end  6   a  of the first arm  6 , contacts one of the guide rails or a time when the other end separates from one of the guide rails. 
     The configuration according to the eighth aspect decreases a load on the first support of a cantilever structure to increase durability of the first support, and prevent the other end from jumping up. Consequently, accuracy of a stop position of the first support is increased. 
     According to a ninth aspect, in the item storage apparatus of the eighth aspect, the movement acceleration of the first support at at least one of the time when the other end contacts one of the guide rails or the time when the other end separates from one of the guide rails is changed, based on whether or not the carrier holds the item. 
     The configuration according to the ninth aspect eases a speed increase and a speed reduction when the item (including, for example, a one-dose-package medicine pack) is held to decrease an inertia acting on the item. Consequently, the item is less likely to fall down, and the carrier stably transfers the item. 
     According to a tenth aspect, the item storage apparatus of the eighth or ninth aspect further includes: a first detector, such as the X-direction HP sensor  99 , to detect a fact that the other end is at a predetermined position; a driving device, such as the X-direction driving motor  95 , to move the first support; and a controller, such as the controller  150  including the CPU, to calculate a driving amount of the driving device necessary to move the first support at a distance corresponding to a movement distance of the other end at which the other end moves from a position where the first detector is disposed to a position where the other end contacts one of the guide rails and a movement distance of the other end moves from the position where the first detector is disposed to a position where the other end separates from the guide rail. The controller is to determine a timing of start of increasing or decreasing a movement speed of the first support, based on a detection signal of the other end detected by the first detector, and the driving amount determined by the controller. 
     The configuration according to the tenth aspect uses the first detector and the driving amounts of the driving device to determine a timing at which a speed reduction is started before the other end contacts the guide rail, and before the other end separates from the guide rail. Further, a second detector does not need to be disposed at each of the tiers, like an eleventh aspect described below. Therefore, the number of installed detectors is decreased to decrease the cost. 
     According to an eleventh aspect, the item storage apparatus of the eighth or ninth aspect further includes: a second detector, such as the sensor  134  in front of the front-end guide rail  131 , to detect the other end at a specific position where the other end does not contact the guide rails; a driving device, such as the X-direction driving motor  95 , to move the first support; and a controller, such as the controller  150  including the CPU, to control driving of the driving device. The controller is to determine a timing of increasing or decreasing a movement speed of the first support at the specific position, using a detection signal, as a trigger, of the other end detected by the second detector. 
     The configuration according to the eleventh aspect uses the second detector to determine a timing at which a speed reduction is started before the other end of the first support contacts the guide rail. Further, the first detector, such as the X-direction HP sensor  99 , does not need to be disposed at each of the tiers, like the tenth aspect described above. Therefore, a wiring (wire harness) configuration around the first support is simplified to decrease the cost. 
     According to a twelfth aspect, the item storage apparatus of any one of the seventh to eleventh aspects further includes a guide roller disposed at the other end of the first support. 
     The guide roller is to contact the guide rails. 
     The configuration according to the twelfth aspect provides smooth horizontal movement, noise reduction, and high durability of the first support of a cantilever structure. 
     According to a thirteenth aspect, in the item storage apparatus of any one of the seventh to twelfth aspects, one of the guide rails corresponding to a lowest-limit position of vertical movement of the first support and the second support has such an extended length that the first support constantly contacts the guide rail. 
     The configuration according to the thirteenth aspect does not cause bending of the first support of a cantilever structure at the lowest-limit position, irrespective of the position of the carrier. 
     According to a fourteenth aspect, in the item storage apparatus of any one of the seventh to thirteenth aspects, the first support is moved in the horizontal direction or the vertical direction after the carrier is moved to a base end of the first support. 
     The configuration according to the fourteenth aspect minimizes a bending load and the moment of inertia of the carrier on the first support at a time of movement. Therefore, smooth operation and maintenance of accuracy are expected. 
     According to a fifteenth aspect, a medicine-taking support apparatus includes the item storage apparatus according to any one of the first to fourteenth aspects. One-dose-package medicine packs are used as the items. 
     The configuration according to the fifteenth aspect allows the medicine-taking support apparatus to have the same effect as the effect of any one of the first to fourteenth aspects. 
     The above-described embodiments are illustrative and do not limit the present disclosure. Thus, numerous additional variations are possible in light of the above teachings. For example, elements and/or features of different illustrative embodiments may be combined with each other and/or substituted for each other within the scope of the present disclosure. For example, technical matters described in the embodiments, the examples, the variation examples or the like described above may be appropriately combined. 
     The effects described in the embodiments of this disclosure are listed as most preferable effects derived from this disclosure, and therefore are not intended to limit to the embodiments of the present disclosure. 
     Any one of the above-described operations may be performed in various other ways, for example, in an order different from the one described above. 
     Each of the functions of the described embodiments may be implemented by one or more processing circuits or circuitry. Processing circuitry includes a programmed processor, as a processor includes circuitry. A processing circuit also includes devices such as an application specific integrated circuit (ASIC), digital signal processor (DSP), field programmable gate array (FPGA), and conventional circuit components arranged to perform the recited functions.