CN117142048A - Medicine box transferring and conveying device and control method - Google Patents
Medicine box transferring and conveying device and control method Download PDFInfo
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- CN117142048A CN117142048A CN202311222624.3A CN202311222624A CN117142048A CN 117142048 A CN117142048 A CN 117142048A CN 202311222624 A CN202311222624 A CN 202311222624A CN 117142048 A CN117142048 A CN 117142048A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 229940079593 drug Drugs 0.000 title description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 228
- 230000004044 response Effects 0.000 claims description 24
- 230000000903 blocking effect Effects 0.000 claims description 20
- 238000012546 transfer Methods 0.000 claims description 9
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- 238000007906 compression Methods 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 7
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- 239000002994 raw material Substances 0.000 abstract description 5
- 230000001174 ascending effect Effects 0.000 abstract description 4
- 238000001125 extrusion Methods 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 description 12
- 238000004806 packaging method and process Methods 0.000 description 12
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
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- 238000006073 displacement reaction Methods 0.000 description 4
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- 239000006187 pill Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000274582 Pycnanthus angolensis Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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Abstract
The invention provides a medicine box transferring and conveying device and a control method. At this time, whether the lifting platform is at the lower station is judged. If the lifting platform is not at the lower station, the lifting platform may be at the ascending stage away from the lower station or at the descending stage away from the upper station. In the invention, no matter the lifting platform is in the lifting stage or the descending stage, when the lifting platform is not in the position of the lower station, the medicine box is only controlled not to exceed the output end of the conveying mechanism, so that the medicine box is prevented from being damaged due to falling, extrusion or abrasion, thereby reducing the loss of raw materials, lowering the production cost and achieving the purpose of lowering the medicine price of a finished product.
Description
Technical Field
The invention relates to the technical field of conveying mechanisms of packaging equipment, in particular to a medicine box transferring and conveying device and a control method.
Background
Along with the improvement of the automation degree of the traditional Chinese medicine pill production line, the application of an automatic packaging line in the medicine box packaging of traditional Chinese medicine pills is more and more common. In a medicine chest packaging plant, in order to meet the clean requirements of pill packaging, it is often necessary to distinguish the packaging line from the warehouse. The packing line and the storage area are generally arranged in two layers of spaces of the building in a separated mode, and logistics conveying of the packing line and the storage area is achieved through a lifting platform. In particular, a lower layer is often used for arranging a packaging line, and an upper layer is used for arranging a storage area, so that the packaging and storage of the finished medicine boxes are realized.
At the joint position of the packaging line and the lifting platform, the packaging line conveys the finished product medicine boxes to the lifting platform in a continuous conveying mode through a conveying mechanism; in the warehouse area, the finished medicine boxes piled on the lifting platform are carried to the appointed position in a manual mode. For this reason, the lifting platform is usually manually controlled to reciprocate between the upper and lower stations, so that the loading and unloading of the finished medicine boxes on the lifting platform are liable to cause misoperation. For example, when the lifting platform does not reach the lower station yet, and the conveying mechanism is about to convey the medicine box to the lower station, the medicine box is very easy to drop from the output end and cannot be normally conveyed to the lifting platform or is extruded by the lifting platform or is abutted on the lifting platform to cause abrasion, so that qualified products are lost in the transferring stage. On the one hand, raw materials are wasted, on the other hand, the batch number on the medicine chest is lost, the production cost is increased, and the price of medicines is increased, so that the medicine chest is unfavorable for the treatment of patients.
Disclosure of Invention
In view of the above problems, the present invention provides a medicine box transferring and conveying device and a control method thereof, which overcome the above problems or at least partially solve the above problems, and can solve the problem that when a lifting platform does not reach a lower station yet and a conveying mechanism is about to convey a medicine box to the lower station, the medicine box is very easy to drop from an output end and cannot be normally conveyed to the lifting platform or is extruded or abutted by the lifting platform to cause abrasion, thereby reducing the loss of raw materials, lowering the production cost and achieving the purpose of reducing the price of finished medicine.
The invention provides a control method of a medicine box transferring and conveying device, which comprises a conveying mechanism for conveying in the horizontal direction and a lifting platform for vertically and reciprocally lifting between an upper station and a lower station, wherein the output end of the conveying mechanism is matched with the lifting platform so as to enable a medicine box to be conveyed from the output end of the conveying mechanism to the lifting platform when the lower station is located; and
the control method comprises the following steps:
acquiring the running state of the conveying mechanism;
in response to the conveying mechanism being in a starting state, judging whether the lifting platform is positioned at the position of the lower station,
if not, the medicine box is controlled not to exceed the output end of the conveying mechanism.
Optionally, after determining whether the lifting platform is at the position of the lower station, the method further includes:
if so, controlling the conveying mechanism to run at a preset speed, and acquiring the output speed of each medicine chest passing through the output end of the conveying mechanism;
responsive to an nth of the output speeds of the medicine boxes being below a speed threshold, and the number of medicine boxes on the lifting platform being no greater than a number threshold; acquiring the time when the Nth medicine chest reaches the output end of the conveying mechanism, and recording the time as Tn; the medicine boxes are thrown out from the output end of the conveying mechanism to start counting when the lifting platform descends to the lower station every time, and timing is started when the lifting platform descends to the lower station every time when the Tn is th;
And reducing the set value of the preset speed after the Tn time and maintaining the set value of the preset speed before the Tn time to control the operation of the conveying mechanism next time.
Optionally, after controlling the conveying mechanism to operate at a preset speed and obtaining an output speed of each medicine box passing through an output end of the conveying mechanism, the method further comprises:
obtaining the time required for the number of the medicine boxes to reach the number threshold value from the lifting platform to reach the lower station, and recording the time as Tmax;
and in response to the output speed of each medicine chest being not lower than the speed threshold value within the Tmax time, increasing the set value of the preset speed to control the next operation of the conveying mechanism.
Optionally, the controlling the medicine box not to exceed the output end of the conveying mechanism includes:
acquiring the conveying speed of the conveying mechanism;
judging whether the conveying speed of the conveying mechanism is lower than a set speed,
if so, responding to the fact that the medicine box reaches the output end of the conveying mechanism, and controlling the conveying mechanism to stop; or alternatively
If not, controlling the conveying mechanism to stop.
Optionally, the conveying mechanism comprises an output section, a reversing section and an input section which are sequentially distributed in a direction far away from the lifting platform, wherein a temporary storage platform is arranged on one side of the reversing section so as to enable the reversing section to form a first conveying channel between the input section and the output section when in a conveying mode, and a second conveying channel is formed between the input section and the temporary storage platform when the reversing section is in the temporary storage mode; and
After controlling the medicine box not to exceed the output end of the conveying mechanism, the automatic medicine box further comprises:
and switching the reversing section to be in the temporary storage mode in response to the output section being in the starting state.
Optionally, the medicine box transferring and conveying device further comprises an image pickup device for photographing the output end of the conveying mechanism, and the image pickup device is located above the output end of the conveying mechanism; and
after acquiring the operation state of the conveying mechanism, the method further comprises:
responding to the starting state of the conveying mechanism, and acquiring a real-time picture of the output end of the conveying mechanism;
extracting the overlooking picture of the medicine chest from the real-time picture, judging whether the overlooking picture of the medicine chest is complete,
if not, then the method comprises the following steps:
responding to the situation that the lifting platform leaves the upper station and is in a descending stage, and acquiring the residual distance from the lifting platform to the lower station;
controlling the conveying mechanism to reversely rotate in response to the remaining distance not being lower than a first set distance, wherein the first set distance is not lower than the height of the medicine chest;
and controlling the lifting platform to stop descending and controlling the conveying mechanism to reversely rotate in response to the residual distance reaching the first set distance.
Optionally, after obtaining the remaining distance from the lifting platform to the lower station, the method further comprises:
judging the descending time of the lifting platform reaching the lower station according to the residual distance;
and controlling the lifting platform to ascend for a second set distance in response to the descending time not less than the set time, and controlling the conveying mechanism to reversely rotate so as to enable the medicine box to retract from the output end of the conveying mechanism.
The invention also provides a medicine box transferring and conveying device, which comprises:
the conveying mechanism is used for conveying in the horizontal direction and comprises an output section, a reversing section and an input section which are sequentially distributed in the direction away from the lifting platform, wherein a temporary storage platform is arranged on one side of the reversing section so as to enable a first conveying channel to be formed between the input section and the output section when the reversing section is in a conveying mode, and a second conveying channel to be formed between the input section and the temporary storage platform when the reversing section is in the temporary storage mode;
the lifting platform is used for vertically and reciprocally lifting between the upper station and the lower station, and the output end of the conveying mechanism is connected with the lower station of the lifting platform;
the image pickup device is used for photographing the output end of the conveying mechanism and is positioned above the output end of the conveying mechanism;
A control device for implementing the control method according to any one of the above.
Optionally, the medicine chest transferring and conveying device further comprises:
the blocking mechanism is used for blocking the output end of the conveying mechanism and is arranged between the output end of the conveying mechanism and the lower station of the lifting platform; and
the control device is further configured to:
and controlling the blocking mechanism to block the position downstream of the output end of the conveying mechanism in response to the lifting platform not being at the lower station.
Optionally, the blocking mechanism includes:
the device comprises an execution part, a first permanent magnet, a second permanent magnet, a first lifting platform, a second lifting platform, a first permanent magnet, a second permanent magnet, a first moving support, a second lifting platform, a first moving support, a second moving support and a sliding sleeve, wherein the execution part comprises a fixed support, a movable support, an opening and closing mechanism and a spring assembly, the fixed support and the movable support are all arranged between the output end of the conveying mechanism and the lower station of the lifting platform, the fixed support is sequentially arranged along the direction close to the output end of the conveying mechanism, the first electromagnet and the second electromagnet are arranged on the fixed support at intervals from top to bottom, the magnetism of the second electromagnet is stronger than that of the first electromagnet after the first electromagnet and the second electromagnet are connected in series, the first permanent magnet is arranged between the first electromagnet and the second electromagnet, the movable support is sleeved on the fixed support through the first permanent magnet in a vertical guiding manner, one end of the first swing arm is hinged to the upper end of the movable support, the other end of the first swing arm is hinged to the second swing arm, the other end of the second swing arm is hinged to the other end of the second swing arm, and the sliding sleeve is hinged to the lower section of the second permanent magnet above the first permanent magnet.
The electric control part comprises an electromagnetic unit formed by connecting the first electromagnet and the second electromagnet in series, one end of the electromagnetic unit is connected with a first upper switch and a first lower switch, the other end of the electromagnetic unit is connected with a second upper switch and a second lower switch, so that the first upper switch, the electromagnetic unit and the first lower switch are caused to be connected in series to form a first loop, and the second upper switch, the electromagnetic unit and the second lower switch are connected in series to form a second loop;
a switch section including upper contacts to form the first upper switch and the first lower switch, lower contacts to form the second upper switch and the second lower switch, and a feeler lever to control the upper contacts or the lower contacts to be closed; the feeler lever is in abutting connection with a compression spring for applying upward force, and the feeler lever also forms an operation end for being pressed down by the lifting platform.
In the control method of the medicine box transferring and conveying device, the operation state of the conveying mechanism is acquired, and when the conveying mechanism is in the starting state, the fact that the medicine box is conveyed on the conveying mechanism is indicated. At this time, no matter the lifting platform is in the ascending stage or the descending stage, as long as the lifting platform is not in the position of the lower station, the medicine box is controlled not to exceed the output end of the conveying mechanism, and the medicine box can be prevented from being damaged due to falling or extrusion or abrasion, so that the loss of raw materials is reduced, the production cost is reduced, and the purpose of reducing the medicine price of a finished product is achieved.
The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 is an overall schematic block diagram of a medication box transfer conveyor in accordance with one embodiment of the present invention;
FIG. 2 is a schematic block diagram of a blocking mechanism with a lift platform in a lower station in accordance with one embodiment of the present invention;
FIG. 3 is a schematic block diagram of a blocking mechanism when the lift platform is not in a lower station in accordance with one embodiment of the present invention;
FIG. 4 is a schematic block diagram of a switching section of a blocking mechanism in accordance with one embodiment of the present invention;
FIG. 5 is a schematic block diagram of an electronic control portion of a blocking mechanism in accordance with one embodiment of the invention;
FIG. 6 is a flow diagram of a control method according to one embodiment of the invention;
FIG. 7 is a flow chart diagram of a control method according to another embodiment of the invention;
FIG. 8 is a flow chart diagram of a control method according to another embodiment of the invention;
fig. 9 is a flow chart of a control method according to another embodiment of the present invention.
Detailed Description
A medicine box transferring and conveying device and a control method according to an embodiment of the present invention are described below with reference to fig. 1 to 9. In the description of the present embodiment, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature, i.e. one or more such features. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. When a feature "comprises or includes" a feature or some of its coverage, this indicates that other features are not excluded and may further include other features, unless expressly stated otherwise.
Unless specifically stated or limited otherwise, the terms "disposed," "mounted," "connected," "secured," "coupled," and the like should be construed broadly, as they may be connected, either permanently or removably, or integrally; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. Those of ordinary skill in the art will understand the specific meaning of the terms described above in the present invention as the case may be.
Furthermore, in the description of the present embodiments, a first feature "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature therebetween. That is, in the description of the present embodiment, the first feature being "above", "over" and "upper" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature "under", "beneath", or "under" a second feature may be a first feature directly under or diagonally under the second feature, or simply indicate that the first feature is less level than the second feature.
In the description of the present embodiment, a description referring to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, as shown in fig. 6, an embodiment of the present invention provides a method for controlling a medicine box transferring and conveying device. The medicine box transferring and conveying device comprises a conveying mechanism 1 for conveying in the horizontal direction and a lifting platform 2 for vertically and reciprocally lifting between an upper station and a lower station. The output end of the conveying mechanism 1 is matched with the lifting platform 2, so that the medicine boxes 6 are conveyed from the output end of the conveying mechanism 1 to the lifting platform 2 in the lower station. The control method comprises the following steps:
acquiring the running state of the conveying mechanism 1;
in response to the conveyor 1 being in the activated state, it is determined whether the lift platform 2 is in the position of the lower station,
if not, the medicine box 6 is controlled not to exceed the output end of the conveying mechanism 1.
In this embodiment of the invention, the medicine boxes 6 are horizontally transported from the output end to the lifting platform 2 in the lower station by the transport mechanism 1. When the medicine boxes 6 on the lifting platform 2 are full, the lifting platform 2 is controlled to ascend, the medicine boxes 6 are conveyed to a storage area, and after the medicine boxes 6 on the lifting platform 2 are unloaded in the storage area, the lifting platform 2 is controlled to descend to a lower station. The circulation is thus effected, whereby the medicine boxes 6 are transported from the packaging line to the warehouse.
By acquiring the operating state of the conveyor 1, it is explained that the medicine boxes 6 are being conveyed on the conveyor 1 when the conveyor 1 is in the activated state. At this time, it is then determined whether the lifting platform 2 is at the lower station. If the lifting platform 2 is not at the lower station, it is indicated that the lifting platform 2 may be at the ascending stage away from the lower station or at the descending stage away from the upper station.
When the lifting platform 2 is in the lifting stage of lifting from the lower station to the upper station, and the lifting height is lower than the height of the medicine box 6, the medicine box 6 is controlled not to exceed the output end of the conveying mechanism 1, the medicine box 6 can be prevented from exceeding the output end, the exceeding part is abutted with the lifting platform 2, and abrasion is generated in the lifting platform 2 lifting process, so that the medicine box 6 cannot reach the finished product standard.
When the lifting platform 2 is in the lifting stage of lifting from the lower station to the upper station, and the lifting height is not lower than the height of the medicine box 6, the medicine box 6 is controlled not to exceed the output end of the conveying mechanism 1, so that the medicine box 6 can be prevented from falling off from the output end of the conveying mechanism 1 under the conveying action of the conveying mechanism 1 when the medicine box 6 completely exceeds the output end of the conveying mechanism 1.
When the lifting platform 2 is in a descending stage from the upper station to the lower station, and the height of the lifting platform 2 from the lower station is lower than the height of the medicine box 6, the medicine box 6 is controlled not to exceed the output end of the conveying mechanism 1, so that the medicine box 6 can be prevented from exceeding the output end, the exceeding part is abutted with the lifting platform 2, and abrasion is generated in the descending process of the lifting platform 2.
When the lifting platform 2 is in a descending stage of descending from the upper station to the lower station, and the height of the lifting platform 2 from the lower station is not lower than the height of the medicine box 6, the medicine box 6 is controlled not to exceed the output end of the conveying mechanism 1, so that the part of the medicine box 6 can be prevented from exceeding the output end, and the part exceeding the output end moves to the lower station and is extruded by the descending lifting platform 2. At the same time, the medicine boxes 6 can be prevented from falling off the output end of the conveying mechanism 1 by all exceeding the output end.
In summary, no matter the lifting platform 2 is in the lifting stage or the descending stage, when the lifting platform 2 is not in the position of the lower station, only the medicine box 6 is controlled not to exceed the output end of the conveying mechanism 1, and the medicine box 6 can be prevented from being damaged due to falling, extrusion or abrasion, so that the loss of raw materials is reduced, the production cost is reduced, and the purpose of reducing the medicine price of the finished product is achieved.
In some embodiments of the invention, the conveyor 1 comprises a frame, a conveyor belt arranged in the frame in a transmission manner, and a first drive motor for driving the conveyor belt transmission. In this embodiment of the present invention, the operation state of the conveying mechanism 1 can be acquired by collecting the operation state of the drive motor. That is, the first driving motor is operated, the conveying mechanism 1 is in the activated state, whereas the conveying mechanism 1 is in the closed state. Preferably, the first driving motor is a servo motor, and the first driving motor can be controlled to rotate positively and negatively to realize forward conveying and reverse conveying of the conveying belt.
In some embodiments of the present invention, a first infrared sensor is installed at the lower station of the elevating platform 2, and the signal output end of the first infrared sensor is horizontally oriented to the lower station. In this embodiment of the present invention, by installing the first infrared sensor at the lower position of the elevating platform 2, when the elevating platform 2 descends to the lower position, the first infrared sensor receives the reflected signal, so that it can be judged that the elevating platform 2 descends to the lower position. Conversely, the lifting platform 2 does not descend to the lower station, and the first infrared sensor does not receive the reflected signal.
In some embodiments of the invention, the drug cassette transfer conveyor further comprises a drive assembly by which the lifting platform 2 is driven. The drive assembly includes a sprocket, a chain, and a second drive motor. At least two chain wheels are arranged at intervals up and down. The chain is meshed with the chain wheel, the lifting platform 2 is arranged on the chain, and the lifting platform 2 can be driven to move up and down under the transmission of the chain. The second driving motor is arranged on one of the chain wheels, and drives the chain wheel to rotate through the second driving motor, so that chain transmission is driven.
In some embodiments of the invention, the output end of the conveyor 1 is connected to the lower station of the lifting platform 2. That is, when the elevating platform 2 is lowered to the lower station, there is no gap between the output end of the conveying mechanism 1 and the elevating platform 2, so that it is possible to ensure that the medicine boxes 6 are conveyed from the output end of the conveying mechanism 1 to the elevating platform 2 at the lower station.
In some embodiments of the invention, as shown in fig. 1, the output end of the conveyor 1 and the lower station of the lifting platform 2 are spaced apart in the conveying direction. That is, when the elevating platform 2 is lowered to the lower station, a gap exists between the output end of the conveying mechanism 1 and the elevating platform 2. And the length of the medicine box 6 along the conveying direction is larger than the clearance between the output end of the conveying mechanism 1 and the lifting platform 2, so that the medicine box 6 can be ensured to be conveyed from the output end of the conveying mechanism 1 to the lifting platform 2 in the process of the lower station.
In some embodiments of the present invention, as shown in fig. 6, after determining whether the lifting platform 2 is at the position of the lower station, the method further includes:
if so, the conveying mechanism 1 is controlled to run at a preset speed, and the output speed of each medicine box 6 passing through the output end of the conveying mechanism 1 is obtained.
Responsive to the output speed of the nth medicine tank 6 being below the speed threshold, and the number of medicine tanks 6 on the lift platform 2 being not greater than the number threshold. The time when the nth medicine box 6 reaches the output end of the conveying mechanism 1 is acquired and is denoted as the Tn-th time. Wherein, N is the count that the medical kit 6 is thrown out from the output of conveying mechanism 1 when self-elevating platform 2 descends to the station at every turn, and is the timing that begins when self-elevating platform 2 descends to the station at every turn at Tn.
The preset speed set value after the Tn is reduced, and the preset speed set value before the Tn is maintained for controlling the operation of the next conveying mechanism 1.
In this embodiment of the invention, after judging that the elevating platform 2 is already at the position of the lower station, the conveying mechanism 1 can be controlled to operate at the preset speed by controlling the rotation speed of the first driving motor. And judges whether the number of medicine boxes 6 on the lifting platform 2 reaches a number threshold. If the number of medicine boxes 6 on the lifting platform 2 is not greater than the number threshold, that is, the medicine boxes 6 can also be fed to the lifting platform 2. At the same time, the output speed of each medicine box 6 through the output end of the conveying mechanism 1 is obtained. Under the condition that the medicine boxes 6 can be conveyed to the lifting platform 2, if the output speed of the Nth medicine box 6 is lower than the speed threshold value, the medicine boxes 6 reaching the lifting platform 2 are not placed timely, the conveying speed of the conveying mechanism 1 is not kept up, and the Nth medicine box 6 reaches the lifting platform 2 to be blocked.
In order to prevent the medicine boxes 6 after the nth from being blocked as well, the medicine boxes 6 are blocked on the conveying mechanism 1. The time when the nth medicine box 6 reaches the output end of the conveying mechanism 1 is acquired and is denoted as the Tn-th time. The preset speed of the conveying mechanism 1 is reduced after Tn so as to slow down the conveying speed of the medicine boxes 6 and leave the time for placing the medicine boxes 6. The preset speed before Tn remains unchanged. Wherein, N is that the medicine box 6 is thrown out from the output end of the conveying mechanism 1 to start counting when the self-elevating platform 2 descends to the lower station each time, and the time counting is started when the self-elevating platform 2 descends to the lower station each time when Tn is the time counting when the self-elevating platform 2 descends to the lower station, namely, the time counting is started when the self-elevating platform 2 descends to the lower station through the first infrared sensor.
In some embodiments of the invention, an infrared counter is provided at the output of the conveyor 1, through which each of the medicine boxes 6 is thrown, the infrared counter counting once. By setting an infrared counter, the number of medicine boxes 6 to be transferred to the elevating platform 2 can be determined, thereby judging whether the number threshold is reached. And can be used to determine if it is the nth medicine chest 6.
In some embodiments of the invention, a laser velocimeter is provided at the output of the conveyor 1 to obtain the output speed of each medicine tank 6 through the output of the conveyor 1.
In some embodiments of the present invention, as shown in fig. 6, after controlling the conveying mechanism 1 to operate at a preset speed and obtaining the output speed of each medicine box 6 through the output end of the conveying mechanism 1, the method further includes:
the time required from the arrival of the lifting platform 2 at the lower station to the arrival of the number of medicine boxes 6 on the lifting platform 2 at the number threshold is obtained and is noted as Tmax;
in response to the output speed of each medicine-box 6 being not lower than the speed threshold value within the Tmax time, the set value of the preset speed is increased for controlling the operation of the next conveying mechanism 1.
In this embodiment of the present invention, from the time when the first infrared sensor detects that the lifting platform 2 is lowered to the lower station, until the infrared counter detects that the number of medicine boxes 6 reaching the lifting platform 2 reaches the number threshold, if the output speed of each medicine box 6 measured by the laser velocimeter is not lower than the speed threshold in this period, the conveying speed of the medicine box 6 can be increased by increasing the preset speed of the following conveying mechanism 1, so that the efficiency of conveying the medicine boxes 6 to the lifting platform 2 can be improved.
In some embodiments of the invention, as shown in fig. 6, controlling the medicine-box 6 not to exceed the output end of the conveying mechanism 1 includes:
Acquiring the conveying speed of the conveying mechanism 1;
judging whether the conveying speed of the conveying mechanism 1 is lower than the set speed,
if so, the delivery mechanism 1 is controlled to stop in response to the medicine-box 6 reaching the output end of the delivery mechanism 1.
In this embodiment of the present invention, the conveying speed of the conveying mechanism 1 can be obtained by acquiring the rotation speed of the first drive motor. If the conveying speed of the conveying mechanism 1 is lower than the set speed, when the medicine box 6 reaches the output end of the conveying mechanism 1, the conveying mechanism 1 is controlled to stop, so that the medicine box 6 can be prevented from exceeding the output end of the conveying mechanism 1.
In other embodiments of the invention, controlling the medicine-chest 6 not to go beyond the output end of the delivery mechanism 1 comprises:
acquiring the conveying speed of the conveying mechanism 1;
judging whether the conveying speed of the conveying mechanism 1 is lower than the set speed,
if not, controlling the conveying mechanism 1 to stop.
In this embodiment of the present invention, the conveying speed of the conveying mechanism 1 can be obtained by acquiring the rotation speed of the first drive motor. If the conveying speed of the conveying mechanism 1 is not lower than the set speed, the conveying mechanism 1 is immediately controlled to stop so as to prevent the medicine box 6 from exceeding the output end of the conveying mechanism 1 by inertia after the conveying mechanism 1 stops.
In some embodiments of the invention, as shown in fig. 6 and 7, and referring to fig. 1, the conveyor 1 comprises an output section 13, a reversing section 12 and an input section 11, which are distributed in sequence in a direction away from the lifting platform 2. A temporary storage platform is provided on one side of the reversing section 12 to facilitate a first conveying path between the input section 11 and the output section 13 when the reversing section 12 is in the conveying mode, and a second conveying path between the input section 11 and the temporary storage platform when the reversing section 12 is in the temporary storage mode. And
after controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1, the device further comprises:
in response to the output section 13 being in the on state, the switching segment 12 is in the temporary storage mode.
In this embodiment of the invention, the conveyor 1 comprises an output section 13, a reversing section 12 and an input section 11, and the output section 13, the reversing section 12 and the input section 11 are each controlled by one first drive motor. A temporary storage platform is arranged on one side of the reversing section 12 so as to enable the medicine box 6 to pass through the input section 11, the reversing section 12 and the output section 13 in sequence and output from the output section 13 when the reversing section 12 is in a conveying mode; when the reversing section 12 is in the temporary storage mode, the medicine box 6 passes through the input section 11, the temporary storage platform and the output section 13 in sequence, and is output from the output section 13.
After the control of the medicine box 6 not to exceed the output end of the conveying mechanism 1, if the first driving motor of the output section 13 is in an operating state, the output section 13 is indicated to be in a starting state. At this time, the reversing section 12 is switched to the temporary storage mode, so that the subsequent medicine boxes 6 are firstly conveyed to the temporary storage platform for buffering, and the subsequent medicine boxes 6 are prevented from being continuously conveyed to the output section 13, so that the conveying mechanism 1 is blocked. When the medicine box 6 does not exceed the output end of the conveying mechanism 1, the reversing section 12 is switched to a conveying mode, so that the medicine box 6 passes through the input section 11, the reversing section 12 and the output section 13 in sequence and is normally output from the output section 13.
In some embodiments of the present invention, as shown in FIG. 1, the staging platform includes a serpentine conveyor belt 14. The serpentine conveyor 14 is integrally disposed at one side of the reversing segment 12, and an inlet 141 and an outlet 142 connected to the reversing segment 12 are formed at both ends of the reversing segment 12, respectively. The inlet 141 of the serpentine conveyor 14 is adjacent the inlet end of the reversing segment 12 and the outlet 142 of the serpentine conveyor 14 is adjacent the outlet end of the reversing segment 12. A pushing mechanism 1411 is provided at the inlet 141, and the pushing mechanism 1411 is used to push the medicine boxes 6 moving to the inlet 141 on the reversing segment 12 into the serpentine conveyor 14. A cassette take-out mechanism 1421 is provided at the exit port 142, the cassette take-out mechanism 1421 being for returning the medicine boxes 6 conveyed to the exit port 142 by the serpentine conveyor 14 to the changeover portion 12.
In this embodiment of the present invention, when the reversing segment 12 is in the temporary storage mode, the subsequent medicine boxes 6 can be first conveyed to the serpentine conveyor 14 for buffering by the box pushing mechanism 1411, and the serpentine conveyor 14 can have a length that meets the buffering requirement. After the reversing segment 12 is switched to the conveying mode, the medicine boxes 6 are conveyed to the outlet 142 through the serpentine conveying belt 14 and are returned to the reversing segment 12 through the box taking mechanism 1421, so that manual operation is not needed, and control is convenient.
In some embodiments of the invention, the push mechanism 1411 includes a first power push rod and a push plate. The first electric putter passes through the mounting panel to be fixed on the mounting bracket of switching-over section 12, pushes away the box board setting at first electric putter's output, and first electric putter's output level towards guide inlet 141. When the medicine box 6 reaches the inlet 141, the first electric push rod is controlled to act, so that the first electric push rod drives the box pushing plate to horizontally move towards the inlet 141, and the medicine box 6 enters the serpentine conveying belt 14 under the action of the box pushing plate. The box taking mechanism 1421 is a sucker type manipulator structure, and the box taking mechanism 1421 is also arranged on the mounting frame of the reversing section 12. By adopting a sucker type manipulator structure, the medicine boxes 6 can be sent back to the reversing section 12 from the serpentine conveyor 14 through the coordination effect of the manipulator and the sucker. The structure of the pushing mechanism 1411 and the extracting mechanism 1421 is relatively simple.
In some embodiments of the invention, as shown in fig. 8, the transfer conveyor of the medicine boxes 6 further comprises a camera device for taking a picture of the output end of the conveyor 1, the camera device being located above the output end of the conveyor 1. And
after the operational state of the conveying mechanism 1 is acquired, further comprising:
acquiring a real-time picture of the output end of the conveying mechanism 1 in response to the conveying mechanism 1 being in a starting state;
extracting the overlooking picture of the medicine chest 6 from the real-time picture, judging whether the overlooking picture of the medicine chest 6 is complete,
if not, then the method comprises the following steps:
in response to the lifting platform 2 leaving the upper station and being in a descending stage, acquiring the remaining distance from the lifting platform 2 to the lower station;
controlling the conveying mechanism 1 to reverse in response to the remaining distance not being lower than a first set distance, wherein the first set distance is not lower than the height of the medicine box 6;
in response to the remaining distance reaching the first set distance, the lifting platform 2 is controlled to stop descending, and the conveying mechanism 1 is controlled to reverse.
In this embodiment of the invention, the kit transfer conveyor further comprises a camera device. The image pickup device is located above the output end of the conveying mechanism 1 and can be used for picking up images from the output end of the conveying mechanism 1 to the side, away from the lifting platform 2, of the conveying mechanism 1.
After the operation state of the conveying mechanism 1 is acquired, if the conveying mechanism 1 is in the start state, a real-time image of the output end of the conveying mechanism 1, which is shot by the imaging device, is acquired, and a top view image of the medicine box 6 is extracted from the real-time image. If the top view of the medicine box 6 is incomplete, it is indicated that the medicine box 6 exceeds the output end of the conveying mechanism 1.
At this time, if the elevating platform 2 leaves the upper working position, it is in the descending stage. The remaining distance of the lifting platform 2 to the lower station is obtained. If the remaining distance is not lower than the second set distance, only the conveying mechanism 1 needs to be controlled to rotate reversely, so that the medicine box 6 completely retreats to the output end of the conveying mechanism 1, and the medicine box 6 can be prevented from being extruded due to the descending of the lifting platform 2. If the remaining distance reaches the second set distance, if the conveying mechanism 1 is only controlled to rotate reversely, the lifting platform 2 still presses the medicine box 6 between the output ends of the medicine box 6 completely retreating the conveying mechanism 1. Therefore, the lifting platform 2 needs to be controlled to stop descending while the conveying mechanism 1 is controlled to reverse. Wherein the second set distance is not lower than the height of the medicine box 6.
In some embodiments of the present invention, when the lifting platform 2 is at the upper station, a second infrared sensor is disposed towards the upper surface of the lifting platform 2, and a signal output end of the second infrared sensor is horizontally disposed. When the second infrared sensor cannot detect the lifting platform 2, the lifting platform 2 leaves the upper station.
When the second infrared sensor detects the lifting platform 2 at the previous moment, the lifting platform 2 cannot be detected at the next moment, which means that the lifting platform 2 is in the descending stage just leaving the upper station. And the lifting platform 2 is in a lowering stage before the first infrared sensor detects the lifting platform 2. Therefore, by matching the first infrared sensor and the second infrared sensor, the lifting platform 2 can be detected from the last moment of the second infrared sensor, and the lifting platform 2 cannot be detected at the next moment as a trigger time point until the first infrared sensor detects the lifting platform 2, and the lifting platform 2 is in a descending stage in the time period.
In some embodiments of the invention, a displacement sensor is provided directly above the lifting platform 2, and the output end of the displacement sensor is directed vertically towards the upper surface of the lifting platform 2. When the lifting platform 2 is at the upper station, the position of the upper surface of the lifting platform 2 is taken as an initial position. After the lifting platform 2 leaves the upper station, the distance from the upper surface of the lifting platform 2 to the initial position can be measured through a displacement sensor. And then according to the distance between the upper surfaces of the lifting platforms 2 at the two positions when the lifting platforms 2 descend from the upper station to the lower station, the remaining distance from the lifting platform 2 to the lower station can be obtained.
In some embodiments of the present invention, as shown in fig. 8, after the remaining distance of the lifting platform 2 to the lower station is obtained, the method further includes:
judging the descending time of the lifting platform 2 reaching the lower station according to the remaining distance;
in response to the descent time not being lower than the set time, the lifting platform 2 is controlled to ascend a second set distance, and then the conveying mechanism 1 is controlled to reverse, so that the medicine boxes 6 are caused to retract from the output end of the conveying mechanism 1.
In this embodiment of the present invention, the lifting platform 2 is generally set to move at a constant speed, and after the remaining distance from the lifting platform 2 to the lower station is obtained, the descent time of the lifting platform 2 to the lower station can be obtained according to the relationship of displacement, speed and time.
If the descending time is not lower than the set time, it is indicated that the medicine box 6 exists below the lifting platform 2, so that the lifting platform 2 extrudes and damages the medicine box 6 and cannot descend to the lower station. At this time, after the lifting platform 2 is controlled to rise by the second set distance, the conveying mechanism 1 is controlled to rotate reversely, that is, the first driving motor is controlled to rotate reversely, so that the medicine boxes 6 which are extruded and damaged are caused to automatically retract from the output end of the conveying mechanism 1. The second set distance is the height at which the lifting platform 2 rises from the point where it cannot continue to descend to the point where it leaves the collapsed medical kit 6 completely.
Referring to fig. 1 to 5, the embodiment of the present invention further provides a medicine box transferring and conveying device, which includes a conveying mechanism 1 for conveying in a horizontal direction, a lifting platform 2 for vertically lifting and lowering between an upper station and a lower station, an image pickup device for photographing an output end of the conveying mechanism 1, and a control device for implementing the control method according to any one of the above embodiments. The conveyor 1 comprises an output section 13, a reversing section 12 and an input section 11, which are distributed in succession in a direction away from the lifting platform 2. A temporary storage platform is provided on one side of the reversing segment 12 to facilitate a first conveyance path between the input segment 11 and the output segment 13 when the reversing segment 12 is in the conveyance mode. When the reversing section 12 is in the temporary storage mode, a second conveying path is formed between the input section 11 and the temporary storage stage. The output end of the conveying mechanism 1 is matched with the lifting platform 2. The camera is located above the output end of the conveyor 1.
In this embodiment of the invention, the medicine boxes 6 are horizontally transported from the output end to the lifting platform 2 in the lower station by the transport mechanism 1. When the medicine boxes 6 on the lifting platform 2 are full, the lifting platform 2 is controlled to ascend, the medicine boxes 6 are conveyed to a storage area, and after the medicine boxes 6 on the lifting platform 2 are unloaded in the storage area, the lifting platform 2 is controlled to descend to a lower station. The circulation is thus effected, whereby the medicine boxes 6 are transported from the packaging line to the warehouse.
The conveyor 1 comprises an output section 13, a reversing section 12 and an input section 11. The output section 13, the commutation section 12 and the input section 11 are controlled individually. A temporary storage platform is arranged on one side of the reversing section 12 so as to enable the medicine box 6 to pass through the input section 11, the reversing section 12 and the output section 13 in sequence and output from the output section 13 when the reversing section 12 is in a conveying mode; when the reversing section 12 is in the temporary storage mode, the medicine box 6 passes through the input section 11, the temporary storage platform and the output section 13 in sequence, and is output from the output section 13.
The image pickup device is located above the output end of the conveying mechanism 1 and can be used for picking up images from the output end of the conveying mechanism 1 to the side, away from the lifting platform 2, of the conveying mechanism 1.
In some embodiments of the invention, the drug cassette transfer delivery device further comprises a blocking mechanism to block at the output end of the delivery mechanism 1. A gap exists between the output end of the conveying mechanism 1 and the lower station of the lifting platform 2, and the blocking mechanism is arranged between the output end of the conveying mechanism 1 and the lower station of the lifting platform 2. And
the control device is further configured to:
in response to the lifting platform 2 not being in the lower station, the blocking mechanism is controlled to block downstream of the output end of the conveyor mechanism 1.
In this embodiment of the invention, by providing a blocking mechanism, the blocking mechanism will be downstream of the output end of the conveyor 1 when the lifting platform 2 is not in the lower position, blocking the pharmaceutical pig 6 from exceeding the output end of the conveyor 1.
In some embodiments of the present invention, as shown in fig. 2 to 5, the blocking mechanism includes an actuator 3, an electric control section, and a switching section. The actuator 3 includes a fixed bracket 31, a movable bracket 32, and an opening and closing mechanism 33. The fixed bracket 31, the movable bracket 32 and the opening and closing mechanism 33 are all arranged between the output end of the conveying mechanism 1 and the lower station of the lifting platform 2, and are sequentially arranged along the direction close to the output end of the conveying mechanism 1. The first electromagnet and the second electromagnet are arranged on the fixed bracket 31 from top to bottom at intervals, and after the first electromagnet 311 and the second electromagnet 312 are connected in series, the magnetism of the second electromagnet 312 is stronger than that of the first electromagnet 311. A first permanent magnet 321 is disposed between the first and second electromagnets. The movable bracket 32 is sleeved on the fixed bracket 31 in an up-and-down guiding and moving way through the first permanent magnet 321. The opening and closing mechanism 33 includes a first swing arm 331, a second swing arm 332, and a slide sleeve 333. One end of the first swing arm 331 is hinged to the upper end of the movable support 32, and the other end of the first swing arm 331 is hinged to one end of the second swing arm 332. The other end of the second swing arm 332 is hinged with a sliding sleeve 333, and the sliding sleeve 333 is in sliding sleeve connection with the lower section of the movable bracket 32. A second permanent magnet 334 is also provided on the sliding sleeve 333 above the first electromagnet 311.
The electric control part comprises an electromagnetic unit formed by connecting a first electromagnet and a second electromagnet in series. One end of the electromagnetic unit is connected to the first upper switch 41 and the second upper switch 43, and the other end is connected to the first lower switch 42 and the second lower switch 44. To cause the first upper switch 41, the electromagnetic unit and the first lower switch 42 to be connected in series to form a first loop, and the second upper switch 43, the electromagnetic unit and the second lower switch 44 to be connected in series to form a second loop.
The switch section includes an upper contact 51 to form the first upper switch 41 and the first lower switch 42, a lower contact 52 to form the second upper switch 43 and the second lower switch 44, and a feeler lever 53 to control the closing of the upper contact 51 or the lower contact 52. The feeler lever 53 abuts against a compression spring 54 connected to apply upward force. The feeler lever 53 also forms an operating end 55 to be depressed by the lifting platform 2.
In this embodiment of the present invention, when the lifting platform 2 is not in the lower station, the upper contacts 51 for forming the first upper switch 41 and the first lower switch 42 are connected to the circuit by the trolley 53, so as to cause the first upper switch 41, the electromagnetic unit and the first lower switch 42 to be connected in series to form a first circuit. Since the first electromagnet 311 and the second electromagnet 312 are connected in series to form an electromagnetic unit, one end electrode of the first electromagnet 311 and one end electrode of the second electromagnet 312, which are close to each other, are opposite.
At this time, the electrodes at the end where the first permanent magnet 321 and the first electromagnet 311 are close to each other and the end where the first permanent magnet 321 and the second electromagnet 312 are close to each other are opposite to each other. The first permanent magnet 321 receives a bi-directional repulsive force of the first electromagnet 311 and the second electromagnet 312. Since the second electromagnet 312 has a magnetic property stronger than that of the first electromagnet 311, the first permanent magnet 321 moves upward along the direction of the fixed bracket 31 and the movable bracket 32 until the first permanent magnet 321 cannot continue to move upward. The movable bracket 32 moves upwards and drives the opening and closing mechanism 33 to move upwards together.
The second permanent magnet 334 is located above the first electromagnet 311, and one end of the second permanent magnet 334 close to the first electromagnet 311 is opposite to the electrode of the first electromagnet 311. Under the action of the first electromagnet 311, the second permanent magnet 334 drives the sliding sleeve 333 to move upwards along the movable bracket 32. The sliding sleeve 333 moves upward to drive the second swing arm 332 to move upward with the hinged end of the sliding sleeve 333.
Since the first permanent magnet 321 is located between the first electromagnet 311 and the second electromagnet 312, the height at which the first permanent magnet 321 rises is limited. After the first permanent magnet 321 stops ascending, if the second permanent magnet 334 continues to ascend, the hinge of the first swing arm 331 and the second swing arm 332 extends in a direction close to the output end of the conveying mechanism 1 until the hinge is flush with the output end of the conveying mechanism 1.
In the initial state, the whole of the actuator 3 is located below the conveying mechanism 1. At this time, as the first permanent magnet 321 and the second permanent magnet 334 move up, the first swing arm 331 and the second swing arm 332 are both lifted above the conveying mechanism 1, so that the portion of the medicine box 6 beyond the output end of the conveying mechanism 1 is pushed back to the output end of the conveying mechanism 1 through the opening and closing of the first swing arm 331 and the second swing arm 332.
Further, when the lifting platform 2 is at the lower station, the lifting platform 2 presses the operation end 55 on the feeler lever 53, so that the feeler lever 53 drives the lower contact 52 for forming the second upper switch 43 and the second lower switch 44 to descend together, so as to promote the second upper switch 43, the electromagnetic unit and the second lower switch 44 to be connected in series to form a second loop. Since the first electromagnet 311 and the second electromagnet 312 are connected in series to form an electromagnetic unit, one end electrode of the first electromagnet 311 and one end electrode of the second electromagnet 312, which are close to each other, are opposite.
At this time, the electrodes at the end where the first permanent magnet 321 and the first electromagnet 311 are close to each other and the end where the first permanent magnet 321 and the second electromagnet 312 are close to each other are opposite to each other. Since the second loop is opposite to the first loop in the direction of the current, the magnetic fields generated at the two ends of the first electromagnet 311 and the two ends of the second electromagnet 312 are just opposite to those generated in the first loop. The first permanent magnet 321 receives the bi-directional attractive force of the first electromagnet 311 and the second electromagnet 312. Since the second electromagnet 312 has a magnetic property stronger than that of the first electromagnet 311, the first permanent magnet 321 moves downward along with the movable bracket 32 in the direction of the fixed bracket 31 until the first permanent magnet 321 stops moving downward. The movable bracket 32 moves downwards and drives the opening and closing mechanism 33 to move downwards together.
The second permanent magnet 334 is located above the first electromagnet 311, and one end of the second permanent magnet 334 close to the first electromagnet 311 is opposite to the electrode of the first electromagnet 311. Since the current direction of the second circuit is opposite to that of the first circuit, the second permanent magnet 334 drives the sliding sleeve 333 to move downward along the movable bracket 32 under the action of the first electromagnet 311. The sliding sleeve 333 moves downward to drive the second swing arm 332 to move downward with the hinged end of the sliding sleeve 333.
When the whole of the executing part 3 is located above the conveying mechanism 1, the movable support 32 and the opening and closing mechanism 33 move downwards along with the downward movement of the first permanent magnet 321 and the second permanent magnet 334, so that the whole of the executing part 3 is moved below the conveying mechanism 1, and the executing part 3 is prevented from blocking the medicine box 6 to be conveyed to the lifting platform 2.
In some embodiments of the present invention, a stopper 34 is disposed on the movable bracket 32 above the second permanent magnet 334, and the stopper 34 is disposed at a position on the movable bracket 32 of the second permanent magnet 334 when the second swing arm 332 is in the horizontal state.
In this embodiment of the present invention, during the process of moving the second permanent magnet 334 up along the movable support 32, the included angle between the first swing arm 331 and the second swing arm 332 is continuously changed, and when the second swing arm 332 is in a horizontal state, the first swing arm 331 and the second swing arm 332 extend to the longest direction of the output end. In order to prevent the second permanent magnet 334 from rising continuously, the second swing arm 332 is moved away from the output end of the conveying mechanism 1 and cannot block the medicine box 6. By providing the stopper 34, the second permanent magnet 334 is stopped when it rises to the stopper 34 as the second permanent magnet 334 rises. At this time, the hinge of the first swing arm 331 and the second swing arm 332 is flush with the output end of the conveying mechanism 1.
By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications of the invention consistent with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.
Claims (10)
1. A control method of a medicine box transferring and conveying device is characterized in that,
the medicine box transferring and conveying device comprises a conveying mechanism for conveying in the horizontal direction and a lifting platform for vertically and reciprocally lifting between an upper station and a lower station, wherein the output end of the conveying mechanism is matched with the lifting platform so that the medicine box is conveyed from the output end of the conveying mechanism to the lifting platform when the lower station is located; and
the control method comprises the following steps:
acquiring the running state of the conveying mechanism;
in response to the conveying mechanism being in a starting state, judging whether the lifting platform is positioned at the position of the lower station,
if not, the medicine box is controlled not to exceed the output end of the conveying mechanism.
2. The control method according to claim 1, further comprising, after determining whether the lifting platform is at the position of the lower station:
If so, controlling the conveying mechanism to run at a preset speed, and acquiring the output speed of each medicine chest passing through the output end of the conveying mechanism;
responsive to an nth of the output speeds of the medicine boxes being below a speed threshold, and the number of medicine boxes on the lifting platform being no greater than a number threshold; acquiring the time when the Nth medicine chest reaches the output end of the conveying mechanism, and recording the time as Tn; the medicine boxes are thrown out from the output end of the conveying mechanism to start counting when the lifting platform descends to the lower station every time, and timing is started when the lifting platform descends to the lower station every time when the Tn is th;
and reducing the set value of the preset speed after the Tn time and maintaining the set value of the preset speed before the Tn time to control the operation of the conveying mechanism next time.
3. The control method according to claim 2, further comprising, after controlling the conveying mechanism to operate at a preset speed and obtaining an output speed of each of the medicine boxes through an output end of the conveying mechanism:
obtaining the time required for the number of the medicine boxes to reach the number threshold value from the lifting platform to reach the lower station, and recording the time as Tmax;
And in response to the output speed of each medicine chest being not lower than the speed threshold value within the Tmax time, increasing the set value of the preset speed to control the next operation of the conveying mechanism.
4. The control method of claim 1, wherein said controlling the medicine box not to exceed the output end of the conveying mechanism comprises:
acquiring the conveying speed of the conveying mechanism;
judging whether the conveying speed of the conveying mechanism is lower than a set speed,
if so, responding to the fact that the medicine box reaches the output end of the conveying mechanism, and controlling the conveying mechanism to stop; or alternatively
If not, controlling the conveying mechanism to stop.
5. The control method according to claim 1, wherein,
the conveying mechanism comprises an output section, a reversing section and an input section which are sequentially distributed in a direction away from the lifting platform, wherein a temporary storage platform is arranged on one side of the reversing section so as to enable the reversing section to form a first conveying channel between the input section and the output section when in a conveying mode, and a second conveying channel is formed between the input section and the temporary storage platform when the reversing section is in the temporary storage mode; and
After controlling the medicine box not to exceed the output end of the conveying mechanism, the automatic medicine box further comprises:
and switching the reversing section to be in the temporary storage mode in response to the output section being in the starting state.
6. The control method according to claim 1, wherein,
the medicine box transferring and conveying device further comprises a camera device for photographing the output end of the conveying mechanism, and the camera device is positioned above the output end of the conveying mechanism; and
after acquiring the operation state of the conveying mechanism, the method further comprises:
responding to the starting state of the conveying mechanism, and acquiring a real-time picture of the output end of the conveying mechanism;
extracting the overlooking picture of the medicine chest from the real-time picture, judging whether the overlooking picture of the medicine chest is complete,
if not, then the method comprises the following steps:
responding to the situation that the lifting platform leaves the upper station and is in a descending stage, and acquiring the residual distance from the lifting platform to the lower station;
controlling the conveying mechanism to reversely rotate in response to the remaining distance not being lower than a first set distance, wherein the first set distance is not lower than the height of the medicine chest;
and controlling the lifting platform to stop descending and controlling the conveying mechanism to reversely rotate in response to the residual distance reaching the first set distance.
7. The control method according to claim 6, wherein,
after obtaining the remaining distance from the lifting platform to the lower station, the method further comprises the following steps:
judging the descending time of the lifting platform reaching the lower station according to the residual distance;
and controlling the lifting platform to ascend for a second set distance in response to the descending time not less than the set time, and controlling the conveying mechanism to reversely rotate so as to enable the medicine box to retract from the output end of the conveying mechanism.
8. A kit transfer delivery device, comprising:
the conveying mechanism is used for conveying in the horizontal direction and comprises an output section, a reversing section and an input section which are sequentially distributed in the direction away from the lifting platform, wherein a temporary storage platform is arranged on one side of the reversing section so as to enable a first conveying channel to be formed between the input section and the output section when the reversing section is in a conveying mode, and a second conveying channel to be formed between the input section and the temporary storage platform when the reversing section is in the temporary storage mode;
the lifting platform is used for vertically and reciprocally lifting between the upper station and the lower station, and the output end of the conveying mechanism is matched with the lower station of the lifting platform;
The image pickup device is used for photographing the output end of the conveying mechanism and is positioned above the output end of the conveying mechanism;
control device for implementing the control method according to any one of the preceding claims 1 to 7.
9. The kit transfer conveyor of claim 8, further comprising:
the blocking mechanism is used for blocking the output end of the conveying mechanism and is arranged between the output end of the conveying mechanism and the lower station of the lifting platform; and
the control device is further configured to:
and controlling the blocking mechanism to block the position downstream of the output end of the conveying mechanism in response to the lifting platform not being at the lower station.
10. The kit transfer conveyor of claim 9, wherein the kit transfer conveyor comprises a plurality of containers,
the blocking mechanism includes:
the device comprises an execution part, a first permanent magnet, a second permanent magnet, a first lifting platform, a second lifting platform, a first permanent magnet, a second permanent magnet, a first moving support, a second lifting platform, a first moving support, a second moving support and a sliding sleeve, wherein the execution part comprises a fixed support, a movable support, an opening and closing mechanism and a spring assembly, the fixed support and the movable support are all arranged between the output end of the conveying mechanism and the lower station of the lifting platform, the fixed support is sequentially arranged along the direction close to the output end of the conveying mechanism, the first electromagnet and the second electromagnet are arranged on the fixed support at intervals from top to bottom, the magnetism of the second electromagnet is stronger than that of the first electromagnet after the first electromagnet and the second electromagnet are connected in series, the first permanent magnet is arranged between the first electromagnet and the second electromagnet, the movable support is sleeved on the fixed support through the first permanent magnet in a vertical guiding manner, one end of the first swing arm is hinged to the upper end of the movable support, the other end of the first swing arm is hinged to the second swing arm, the other end of the second swing arm is hinged to the other end of the second swing arm, and the sliding sleeve is hinged to the lower section of the second permanent magnet above the first permanent magnet.
The electric control part comprises an electromagnetic unit formed by connecting the first electromagnet and the second electromagnet in series, one end of the electromagnetic unit is connected with a first upper switch and a first lower switch, the other end of the electromagnetic unit is connected with a second upper switch and a second lower switch, so that the first upper switch, the electromagnetic unit and the first lower switch are caused to be connected in series to form a first loop, and the second upper switch, the electromagnetic unit and the second lower switch are connected in series to form a second loop;
a switch section including upper contacts to form the first upper switch and the first lower switch, lower contacts to form the second upper switch and the second lower switch, and a feeler lever to control the upper contacts or the lower contacts to be closed; the feeler lever is in abutting connection with a compression spring for applying upward force, and the feeler lever also forms an operation end for being pressed down by the lifting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311222624.3A CN117142048A (en) | 2023-09-19 | 2023-09-19 | Medicine box transferring and conveying device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311222624.3A CN117142048A (en) | 2023-09-19 | 2023-09-19 | Medicine box transferring and conveying device and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117142048A true CN117142048A (en) | 2023-12-01 |
Family
ID=88886795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311222624.3A Pending CN117142048A (en) | 2023-09-19 | 2023-09-19 | Medicine box transferring and conveying device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117142048A (en) |
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2023
- 2023-09-19 CN CN202311222624.3A patent/CN117142048A/en active Pending
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