A capsule conveying device based on visual detection technology

Abstract

The present invention relates to a capsule conveying device based on visual detection technology, characterized in that it includes a frame, a servo motor, an active roller, a deflection correction roller, a driven roller, a tension roller, a conveyor belt and a conveyor belt bottom plate. The present invention sets a central control processor and sets a plurality of preset matrices in the central control processor, so as to determine the tightness of the conveyor belt according to the relationship between the rotation speed of the active roller and the speed of the conveyor belt, thereby adjusting the positions of the first tension wheel and the second tension wheel, and adjusting the lateral position of the deflection correction roller according to the angle between the conveyor belt and the frame between the active roller and the deflection correction roller, thereby effectively avoiding the influence of the conveyor belt being too loose or the conveying direction deviation of the conveyor belt on the conveying device, and effectively improving the conveying efficiency of the conveying device.

Description

Technical Field

[0001] The present invention relates to the technical field of capsule transportation, and in particular to a capsule conveying device based on visual detection technology. Background Art

[0002] Capsules are one of the common forms of medicine in daily life. In the production process of capsules, it is necessary to do quality inspection on capsules. For capsule surface defect detection, such as surface scratches, dents, bulges and other defects, traditional manual inspection methods are inefficient and costly, and there are individual differences in the subjective judgment of inspectors, etc., which are not conducive to large-scale production in modern industry. With the increasing power of artificial intelligence, highly automated mechanical quality inspection is widely used in industrial production. For capsule production, it is meaningful to use automated capsule online defect detection technology. The function of the conveyor runs through the entire capsule defect detection system. Therefore, the research and design of the conveyor is one of the most important links in the automation of the capsule defect detection system.

[0003] However, the capsule conveying device in the prior art cannot transport capsules smoothly. During transportation, the capsules are easy to slip off the conveyor belt. At the same time, since each roller in the conveying device is fixed at a specified position, the tightness of the conveyor belt cannot be adjusted in real time, resulting in the conveyor belt becoming loose after the conveying device has been running for too long, and the capsules cannot be transported at a specified speed, resulting in poor transportation efficiency. Summary of the invention

[0004] To this end, the present invention provides a capsule conveying device based on visual detection technology to overcome the problem of low transportation efficiency caused by the inability to adjust the tightness of the conveyor belt in the prior art.

[0005] To achieve the above object, the present invention provides a capsule delivery device based on visual detection technology, comprising:

[0006] a rack for loading components in the device;

[0007] A servo motor is arranged in the frame and located at the lower half of one side of the frame, and the servo motor is connected to the active roller to drive the active roller to rotate;

[0008] A driving roller is arranged in the frame and located at the lower half of one side of the frame and located on the same side as the servo motor, and is used to drive the conveyor belt to move; a speed detector is provided on the bracket at the end of the driving roller, and is used to detect the speed of the driving roller;

[0009] A deflection correction roller is arranged in the frame and is located at the lower half of one side of the frame and is located on the opposite side to the active roller. Constraint plates with a diameter larger than that of the deflection correction roller are provided at both ends of the deflection correction roller to constrain the position of the conveyor belt. The deflection correction roller is connected to the frame through a transverse motor. The output shaft of the transverse motor passes through the deflection correction roller to rotate the deflection correction roller at a specified position. The transverse motor can adjust the distance between the deflection correction roller and the transverse motor by rotating the output shaft to adjust the horizontal position of the deflection correction roller. An angle detector is also provided on the transverse motor to detect the angle between the conveyor belt and the frame between the active roller and the deflection correction roller.

[0010] A driven roller is arranged in the frame and is respectively located at the top of both sides of the frame, including a first driven roller located above the driving roller and a second driven roller located above the deviation correcting roller, and the line connecting the centers of the two driven rollers is parallel to the ground, so as to rotate together with the driving roller and enable the conveyor belt to transport capsules at a specified height;

[0011] Tension rollers are respectively arranged at the middle of both sides of the frame, including a first tension roller located above the active roller and a second tension roller located above the deviation-correcting roller, the first tension roller is connected to the frame through a first telescopic unit, and the second tension roller is connected to the frame through a second telescopic unit, and each telescopic unit adjusts the tightness of the conveyor belt by horizontally moving the corresponding tension roller;

[0012] A conveyor belt, which is in contact with each of the rollers, for transporting capsules; a plurality of capsule slots are provided on the conveyor belt for positioning the capsules;

[0013] A conveyor bottom plate is arranged at the top of the frame and between the first driven roller and the second driven roller, and is used to cooperate with the conveyor belt to rotate the capsules in the capsule slot; when the conveyor belt moves, the capsules in the capsule slot contact with the upper surface of the conveyor bottom plate and move relative to the conveyor bottom plate, and at this time, the conveyor bottom plate generates friction force on the capsules to rotate the capsules in the capsule slot; a speed detector is provided on the conveyor bottom plate to detect the moving speed of the conveyor belt;

[0014] A central control processor is arranged at the bottom of one side of the frame and is respectively connected to the servo motor, the speed detector, the transverse movement motor, the angle detector, the first telescopic unit, the second telescopic unit and the speed detector. A preset capsule material matrix, a preset capsule size matrix, a preset conveyor belt matrix group, a preset deviation matrix group, a first telescopic unit preset position matrix group, a second telescopic unit preset position matrix group, a preset angle matrix and a transverse movement motor preset position matrix are provided in the central control processor. The central control processor selects a conveyor belt of corresponding material and a capsule slot of corresponding size according to the pre-input capsule size and capsule material, determines the tightness of the conveyor belt according to the relationship between the active roller speed and the conveyor belt speed, thereby adjusting the position of the first tension wheel and the second tension wheel, and adjusts the lateral position of the correcting roller according to the angle between the conveyor belt and the frame between the active roller and the correcting roller.

[0015] Furthermore, the device includes a plurality of conveyor belts made of different materials, and for conveyor belts made of the same material, the device includes a plurality of conveyor belts provided with capsule slots of different sizes.

[0016] Furthermore, the central control processor is provided with a preset capsule material matrix C0, a preset capsule size matrix D0 and a preset conveyor belt matrix group S0;

[0017] For the preset capsule material matrix C0, C0 (C1, C2, C3, C4), C1 is the first preset capsule material, C2 is the second preset capsule material, C3 is the third preset capsule material, and C4 is the fourth preset capsule material;

[0018] For the preset capsule size D0, D0 (D1, D2, D3, D4), D1 is the first preset capsule size, D2 is the second preset capsule size, D3 is the third preset capsule size, and D4 is the fourth preset capsule size;

[0019] For the preset conveyor belt matrix group S0, S0 (S1, S2, S3, S4), S1 is the first preset material conveyor belt matrix, S2 is the second preset material conveyor belt matrix, S3 is the third preset material conveyor belt matrix, and S4 is the fourth preset material conveyor belt matrix;

[0020] When the conveying device is used, the material C and size D of the capsule are input into the central control processor, and the central control processor compares the material C of the capsule with the parameters in the C0 matrix:

[0021] When the capsule material C is the first preset capsule material C1, the central control processor sends a replacement message, replaces the first material conveyor belt and selects the corresponding capsule slot size from the S1 matrix according to the comparison result of the capsule size D and the D0 matrix;

[0022] When the capsule material C is the second preset capsule material C2, the central control processor sends a replacement message, replaces the second material conveyor belt and selects the corresponding capsule slot size from the S2 matrix according to the comparison result of the capsule size D and the D0 matrix;

[0023] When the capsule material C is the third preset capsule material C3, the central control processor sends a replacement message, replaces the third material conveyor belt and selects the corresponding capsule slot size from the S3 matrix according to the comparison result of the capsule size D and the D0 matrix;

[0024] When the capsule material C is the fourth preset capsule material C4, the central control processor sends a replacement message, replaces the fourth material conveyor belt and selects the corresponding capsule slot size from the S4 matrix according to the comparison result between the capsule size D and the D0 matrix.

[0025] Further, for the i-th preset material conveyor belt matrix Si, i=1, 2, 3, 4, Si(Si1, Si2, Si3, Si4), wherein Si1 is the first preset capsule slot size of the i-th material conveyor belt, Si2 is the second preset capsule slot size of the i-th material conveyor belt, Si3 is the third preset capsule slot size of the i-th material conveyor belt, and Si4 is the fourth preset capsule slot size of the i-th material conveyor belt;

[0026] When the central control processor replaces the conveyor belt of the i-th material, the central control processor compares the input capsule size D with the parameters in the D0 matrix:

[0027] When D≤D1, the central control processor sends a replacement message to replace the conveyor belt with the i-th material that has the capsule slot of size Si1;

[0028] When D1<D≤D2, the central control processor sends a replacement message to replace the conveyor belt of the i-th material with the capsule slot of size Si2;

[0029] When D2<D≤D3, the central control processor sends a replacement message to replace the conveyor belt of the i-th material with the capsule slot of size Si3;

[0030] When D3<D≤D4, the central control processor sends a replacement message to replace the conveyor belt of the i-th material with the Si4 size capsule slot.

[0031] Furthermore, the central control processor is also provided with a preset deviation matrix group F0 (F1, F2, F3, F4), wherein F1 is a first preset deviation matrix, F2 is a second preset deviation matrix, F3 is a third preset deviation matrix, and F4 is a fourth preset deviation matrix;

[0032] When the central control processor selects the conveyor belt of the first material, the central control processor uses the F1 matrix as a criterion for determining the tightness of the conveyor belt;

[0033] When the central control processor selects the conveyor belt of the second material, the central control processor uses the F2 matrix as a criterion for determining the tightness of the conveyor belt;

[0034] When the central control processor selects a conveyor belt made of the third material, the central control processor uses the F3 matrix as a criterion for determining the tightness of the conveyor belt;

[0035] When the central control processor selects the conveyor belt made of the fourth material, the central control processor uses the F4 matrix as a criterion for determining the tightness of the conveyor belt.

[0036] Further, the central control processor is also provided with a first telescopic unit preset position matrix group Ya0 and a second telescopic unit preset position matrix Yb0; for the first telescopic unit preset position matrix group Ya0, Ya0 (Ya1, Ya2, Ya3, Ya4), wherein Ya1 is the first preset position matrix of the first telescopic unit, Ya2 is the second preset position matrix of the first telescopic unit, Ya3 is the third preset position matrix of the first telescopic unit, and Ya4 is the fourth preset position matrix of the first telescopic unit; for the second telescopic unit preset position matrix group Yb0, Yb0 (Yb1, Yb2, Yb3, Yb4), wherein Yb1 is the first preset position matrix of the second telescopic unit, Yb2 is the second preset position matrix of the second telescopic unit, Yb3 is the third preset position matrix of the second telescopic unit, and Yb4 is the fourth preset position matrix of the second telescopic unit;

[0037] When the central control processor selects a conveyor belt made of the first material and uses the F1 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya1 matrix and the Yb1 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit;

[0038] When the central control processor selects a conveyor belt made of the second material and uses the F2 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya2 matrix and the Yb2 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit;

[0039] When the central control processor selects a conveyor belt made of the third material and uses the F3 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya3 matrix and the Yb3 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit;

[0040] When the central control processor selects a conveyor belt made of the fourth material and uses the F4 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya4 matrix and the Yb4 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit.

[0041] Further, for the i-th preset deviation matrix Fi, Fi(Fi1, Fi2, Fi3, Fi4), Fi1 is the first deviation value of the i-th deviation matrix, Fi2 is the second deviation value of the i-th deviation matrix, Fi3 is the third deviation value of the i-th deviation matrix, Fi4 is the fourth deviation value of the i-th deviation matrix, and each preset deviation value gradually increases in order;

[0042] For the i-th preset position matrix of the first telescopic unit Yai, Yai (Yai1, Yai2, Yai3, Yai), Yai1 is the first distance of the i-th preset position of the first telescopic unit, Yai2 is the second distance of the i-th preset position of the first telescopic unit, Yai3 is the third distance of the i-th preset position of the first telescopic unit, and Yai4 is the fourth distance of the i-th preset position of the first telescopic unit, and each distance increases gradually in sequence;

[0043] For the matrix Ybi, Ybi (Ybi1, Ybi2, Ybi3, Ybi) of the second telescopic unit i-th preset position, Ybi1 is the first distance of the second telescopic unit i-th preset position, Ybi2 is the second distance of the second telescopic unit i-th preset position, Ybi3 is the third distance of the second telescopic unit i-th preset position, and Ybi4 is the fourth distance of the second telescopic unit i-th preset position, and each distance increases gradually in sequence;

[0044] When the conveyor device uses a conveyor belt of the i-th material, the first telescopic unit is attached to the outermost side of the frame, and the second telescopic unit is attached to the outermost side of the frame. When the conveyor device is running, the speed detector detects the speed W of the active roller, and the moving speed detector detects the moving speed V of the conveyor belt. The central control processor calculates the deviation value F between the speed of the active roller and the moving speed V of the conveyor belt, F=WV, and the central control processor compares F with the parameters in the Fi matrix:

[0045] When F<Fi1, the central control processor determines that the tightness of the conveyor belt meets the standard value, and does not adjust the first telescopic unit or the second telescopic unit;

[0046] When Fi1≤F<Fi2, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the rack to Yai1, and adjusts the distance between the first telescopic unit and the outermost side of the rack to Ybi1;

[0047] When Fi2≤F<Fi3, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the rack to Yai2, and adjusts the distance between the first telescopic unit and the outermost side of the rack to Ybi2;

[0048] When Fi3≤F<Fi4, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the rack to Yai3, and adjusts the distance between the first telescopic unit and the outermost side of the rack to Ybi3;

[0049] When F>Fi4, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the frame to Yai4, and adjusts the distance between the first telescopic unit and the outermost side of the frame to Ybi4.

[0050] Furthermore, the central control processor is also provided with a preset angle matrix θ0 and a preset position matrix X0 of the traverse motor; for the preset angle matrix θ0, θ0 (θ1, θ2, θ3, θ4), wherein θ1 is a first preset angle, θ2 is a second preset angle, θ3 is a third preset angle, and θ4 is a fourth preset angle, and each preset angle increases gradually in sequence; for the preset position matrix X0 of the traverse motor, X0 (X1, X2, X3, X4), wherein X1 is a first preset moving distance of the traverse motor, X2 is a second preset moving distance of the traverse motor, X3 is a third preset moving distance of the traverse motor, and X4 is a fourth preset moving distance of the traverse motor, and each preset distance increases gradually in sequence;

[0051] When the conveying device is running, the angle detector detects the angle θ between the conveyor belt and the frame between the active roller and the deviation correction roller in real time and transmits the detection value to the central control processor, which compares θ with the parameters in the θ0 matrix:

[0052] When θ≤θ1, the central control processor determines that the conveyor belt has not deviated, and does not adjust the position of the transverse motor;

[0053] When θ1<θ≤θ2, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X1 in the direction opposite to the offset direction;

[0054] When θ2<θ≤θ3, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X2 in the direction opposite to the offset direction;

[0055] When θ3<θ≤θ4, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X3 in the direction opposite to the offset direction;

[0056] When θ>θ4, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X4 in the direction opposite to the offset direction.

[0057] Compared with the prior art, the beneficial effect of the present invention lies in that, by setting a central control processor and setting a plurality of preset matrices in the central control processor, the present invention can determine the tightness of the conveyor belt according to the relationship between the rotation speed of the active roller and the speed of the conveyor belt, thereby adjusting the positions of the first tension wheel and the second tension wheel, and adjusting the lateral position of the deflection correction roller according to the angle between the conveyor belt and the frame between the active roller and the deflection correction roller, thereby effectively avoiding the influence of the conveyor belt being too loose or the conveying direction deviation of the conveyor belt on the conveying device, and effectively improving the conveying efficiency of the conveying device.

[0058] Furthermore, the central control processor can also select a conveyor belt of corresponding material and a capsule slot of corresponding size according to the pre-input capsule size and capsule material, thereby effectively avoiding the situation where the capsule cannot roll in the capsule slot, so that the subsequent detection unit can perform a comprehensive detection of the capsule, further improving the transmission efficiency of the conveying device.

[0059] Furthermore, the device includes multiple conveyor belts made of different materials, and for conveyor belts of the same material, multiple conveyor belts are provided with capsule slots of different sizes; by arranging conveyor belts of different materials and respectively arranging capsule slots of different sizes for conveyor belts of each material, the conveying device can be suitable for transporting capsules of various sizes and materials, thereby increasing the scope of application of the conveying device.

[0060] Furthermore, the central control processor is provided with a preset capsule material matrix C0 (C1, C2, C3, C4), a preset capsule size matrix D0 (D1, D2, D3, D4) and a preset conveyor belt matrix group S0 (S1, S2, S3, S4), for the i-th preset material conveyor belt matrix Si, i=1, 2, 3, 4, Si (Si1, Si2, Si3, Si4); when the conveying device is running, the central control processor can pre-select a conveyor belt of corresponding material and a capsule slot of corresponding size according to the material and size of the capsule to be transported which are pre-input, so as to ensure that the capsule can rotate in the capsule slot while effectively preventing the conveyor belt of a specific material from causing damage to the capsule due to excessive friction between the conveyor belt and the capsule, thereby further improving the transport efficiency of the conveying device.

[0061] Furthermore, the central control processor is also provided with a preset deviation matrix group F0 (F1, F2, F3, F4). When the central control processor selects a conveyor belt of specified material, the central control processor will select the corresponding preset deviation matrix as the criterion for judging the tightness of the conveyor belt; by selecting the corresponding preset deviation matrix, the influence of different materials on the deviation value can be effectively eliminated, thereby improving the detection accuracy of the tightness of the conveyor belt, and further improving the transmission efficiency of the conveying device.

[0062] Furthermore, the central control processor is also provided with a first telescopic unit preset position matrix group Ya0 (Ya1, Ya2, Ya3, Ya4) and a second telescopic unit preset position matrix Yb0 (Yb1, Yb2, Yb3, Yb4). When the central control processor selects a conveyor belt of specified material, the central control processor selects the corresponding first telescopic unit preset position matrix and second telescopic unit preset position matrix respectively. By selecting the corresponding preset position matrix, the influence of different materials on the deviation value can be further eliminated, thereby improving the detection accuracy of the tightness of the conveyor belt, and further improving the transmission efficiency of the conveying device.

[0063] Furthermore, the central control processor is also provided with a preset angle matrix θ0 (θ1, θ2, θ3, θ4) and a transverse motor preset position matrix X0 (X1, X2, X3, X4); when the conveying device is running, the angle detector will detect the angle θ between the conveyor belt and the frame between the active roller and the deviation correction roller in real time and transmit the detection value to the central control processor, and the central control processor compares θ with each parameter in the θ0 matrix and adjusts the position of the transverse motor according to the comparison result. By controlling the transverse motor to move a specified distance according to the offset angle, it can effectively prevent the capsule from slipping out of the conveyor belt due to the offset of the conveyor belt, thereby further improving the operation efficiency of the conveying device. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a schematic diagram of the structure of the capsule conveying device based on visual detection technology of the present invention. DETAILED DESCRIPTION

[0065] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0066] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0067] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0068] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] See also Figure 1 As shown, it is a schematic diagram of the structure of the capsule delivery device based on visual detection technology of the present invention. The capsule delivery device based on visual detection technology of the present invention includes:

[0070] A frame 1, used to load the components in the device;

[0071] A servo motor 2 is arranged in the frame 1 and is located at the lower half of one side of the frame 1. The servo motor 2 is connected to the active roller 3 to drive the active roller 3 to rotate;

[0072] The active roller 3 is arranged in the frame 1 and is located at the lower half of one side of the frame 1 and is located on the same side as the servo motor 2, and is used to drive the conveyor belt 7 to move; a speed detector (not shown in the figure) is provided on the bracket at the end of the active roller 3 to detect the speed of the active roller 3;

[0073] The deflection correction roller 4 is arranged in the frame 1 and is located in the lower half of one side of the frame 1 and is located on the opposite side to the active roller 3. Constraint plates with a diameter larger than that of the deflection correction roller 4 are provided at both ends of the deflection correction roller 4 to constrain the position of the conveyor belt 7. The deflection correction roller 4 is connected to the frame 1 through a transverse motor. The output shaft of the transverse motor passes through the deflection correction roller 4 to rotate the deflection correction roller 4 at a specified position. The transverse motor can adjust the distance between the deflection correction roller 4 and the transverse motor by rotating the output shaft to adjust the horizontal position of the deflection correction roller 4. The transverse motor is also provided with an angle detector (not shown in the figure) to detect the angle between the conveyor belt 7 and the frame 1 between the active roller 3 and the deflection correction roller 4.

[0074] The driven rollers are arranged in the frame 1 and are respectively located at the top of both sides of the frame 1, including a first driven roller 51 located above the driving roller 3 and a second driven roller 52 located above the deviation correcting roller 4, and the line connecting the centers of the two driven rollers is parallel to the ground, so as to rotate together with the driving roller 3 and enable the conveyor belt 7 to transport capsules at a specified height;

[0075] Tension rollers are respectively arranged at the middle of both sides of the frame 1, including a first tension roller 61 located above the active roller 3 and a second tension roller 62 located above the deviation-correcting roller 4. The first tension roller 61 is connected to the frame 1 through a first telescopic unit 63, and the second tension roller 62 is connected to the frame 1 through a second telescopic unit 64. Each telescopic unit adjusts the tightness of the conveyor belt 7 by horizontally moving the corresponding tension roller;

[0076] A conveyor belt 7, which is in contact with each of the rollers to transport the capsules; a plurality of capsule slots 71 are provided on the conveyor belt 7 to position the capsules;

[0077] The conveyor bottom plate 8 is arranged at the top of the frame 1 and between the first driven roller 51 and the second driven roller 52, and is used to cooperate with the conveyor belt 7 to rotate the capsules in the capsule slot 71; when the conveyor belt 7 moves, the capsules in the capsule slot 71 contact with the upper surface of the conveyor bottom plate 8 and move relative to the conveyor bottom plate 8, and at this time, the conveyor bottom plate 8 generates friction force on the capsules to rotate the capsules in the capsule slot 71; a speed detector (not shown in the figure) is provided on the conveyor bottom plate 8 to detect the moving speed of the conveyor belt 7;

[0078] A central control processor (not shown in the figure) is arranged at the bottom of one side of the frame 1 and is respectively connected to the servo motor 2, the speed detector, the transverse movement motor, the angle detector, the first telescopic unit 63, the second telescopic unit 64 and the speed detector. A preset capsule material matrix, a preset capsule size matrix, a preset conveyor belt matrix group, a preset deviation matrix group, a first telescopic unit 63 preset position matrix group, a second telescopic unit 64 preset position matrix group, a preset angle matrix and a transverse movement motor preset position matrix are provided in the central control processor. The central control processor selects a conveyor belt 7 of corresponding material and a capsule slot 71 of corresponding size according to the pre-input capsule size and capsule material, determines the tightness of the conveyor belt 7 according to the relationship between the active roller speed and the conveyor belt 7 speed, thereby adjusting the position of the first tension wheel and the second tension wheel, and adjusts the lateral position of the correcting roller 4 according to the angle between the conveyor belt 7 and the frame 1 between the active roller 3 and the correcting roller 4.

[0079] Specifically, the device includes a plurality of conveyor belts 7 made of different materials, and for the conveyor belts 7 made of the same material, the device includes a plurality of conveyor belts 7 provided with capsule slots 71 of different sizes.

[0080] Specifically, the central control processor is provided with a preset capsule material matrix C0, a preset capsule size matrix D0 and a preset conveyor belt matrix group S0;

[0081] For the preset capsule material matrix C0, C0 (C1, C2, C3, C4), C1 is the first preset capsule material, C2 is the second preset capsule material, C3 is the third preset capsule material, and C4 is the fourth preset capsule material;

[0082] For the preset capsule size D0, D0 (D1, D2, D3, D4), D1 is the first preset capsule size, D2 is the second preset capsule size, D3 is the third preset capsule size, and D4 is the fourth preset capsule size;

[0083] For the preset conveyor belt matrix group S0, S0 (S1, S2, S3, S4), S1 is the first preset material conveyor belt matrix, S2 is the second preset material conveyor belt matrix, S3 is the third preset material conveyor belt matrix, and S4 is the fourth preset material conveyor belt matrix;

[0084] When the conveying device is used, the material C and size D of the capsule are input into the central control processor, and the central control processor compares the material C of the capsule with the parameters in the C0 matrix:

[0085] When the capsule material C is the first preset capsule material C1, the central control processor sends a replacement message, replaces the first material conveyor belt 7 and selects the corresponding capsule slot 71 size from the S1 matrix according to the comparison result of the capsule size D and the D0 matrix;

[0086] When the capsule material C is the second preset capsule material C2, the central control processor sends a replacement message, replaces the second material conveyor belt 7 and selects the corresponding capsule slot 71 size from the S2 matrix according to the comparison result of the capsule size D and the D0 matrix;

[0087] When the capsule material C is the third preset capsule material C3, the central control processor sends a replacement message, replaces the third material conveyor belt 7 and selects the corresponding capsule slot 71 size from the S3 matrix according to the comparison result of the capsule size D and the D0 matrix;

[0088] When the capsule material C is the fourth preset capsule material C4, the central control processor sends a replacement message, replaces the fourth material conveyor belt 7 and selects the corresponding capsule slot 71 size from the S4 matrix according to the comparison result between the capsule size D and the D0 matrix.

[0089] Specifically, for the i-th preset material conveyor belt matrix Si, i=1, 2, 3, 4, Si(Si1, Si2, Si3, Si4), Si1 is the first preset capsule slot size of the i-th material conveyor belt, Si2 is the second preset capsule slot size of the i-th material conveyor belt, Si3 is the third preset capsule slot size of the i-th material conveyor belt, and Si4 is the fourth preset capsule slot size of the i-th material conveyor belt;

[0090] When the central control processor replaces the i-th material conveyor belt 7, the central control processor compares the input capsule size D with the parameters in the D0 matrix:

[0091] When D≤D1, the central control processor sends a replacement message to replace the conveyor belt 7 of the i-th material with the capsule slot of size Si1;

[0092] When D1<D≤D2, the central control processor sends a replacement message to replace the conveyor belt 7 of the i-th material with the capsule slot of size Si2;

[0093] When D2<D≤D3, the central control processor sends a replacement message to replace the conveyor belt 7 of the i-th material with the capsule slot of size Si3;

[0094] When D3<D≤D4, the central control processor sends a replacement message to replace the conveyor belt 7 of the i-th material with the capsule slot of size Si4.

[0095] Specifically, the central control processor is also provided with a preset deviation matrix group F0 (F1, F2, F3, F4), wherein F1 is a first preset deviation matrix, F2 is a second preset deviation matrix, F3 is a third preset deviation matrix, and F4 is a fourth preset deviation matrix;

[0096] When the central control processor selects the conveyor belt 7 of the first material, the central control processor uses the F1 matrix as a criterion for determining the tightness of the conveyor belt 7;

[0097] When the central control processor selects the conveyor belt 7 of the second material, the central control processor uses the F2 matrix as a criterion for determining the tightness of the conveyor belt 7;

[0098] When the central control processor selects the conveyor belt 7 made of the third material, the central control processor uses the F3 matrix as a criterion for determining the tightness of the conveyor belt 7;

[0099] When the central control processor selects the conveyor belt 7 made of the fourth material, the central control processor uses the F4 matrix as a criterion for determining the tightness of the conveyor belt 7 .

[0100] Specifically, the central control processor is also provided with a preset position matrix group Ya0 of the first telescopic unit 63 and a preset position matrix Yb0 of the second telescopic unit 64; for the preset position matrix group Ya0 of the first telescopic unit 63, Ya0 (Ya1, Ya2, Ya3, Ya4), wherein Ya1 is the first preset position matrix of the first telescopic unit 63, Ya2 is the second preset position matrix of the first telescopic unit 63, Ya3 is the third preset position matrix of the first telescopic unit 63, and Ya4 is the fourth preset position matrix of the first telescopic unit 63; for the preset position matrix group Yb0 of the second telescopic unit 64, Yb0 (Yb1, Yb2, Yb3, Yb4), wherein Yb1 is the first preset position matrix of the second telescopic unit 64, Yb2 is the second preset position matrix of the second telescopic unit 64, Yb3 is the third preset position matrix of the second telescopic unit 64, and Yb4 is the fourth preset position matrix of the second telescopic unit 64;

[0101] When the central control processor selects the conveyor belt 7 of the first material and uses the F1 matrix as the tightness determination standard of the conveyor belt 7, the central control processor uses the parameters in the Ya1 matrix and the Yb1 matrix as the adjustment references for the positions of the first telescopic unit 63 and the second telescopic unit 64 respectively;

[0102] When the central control processor selects the conveyor belt 7 of the second material and uses the F2 matrix as the tightness determination standard of the conveyor belt 7, the central control processor uses the parameters in the Ya2 matrix and the Yb2 matrix as the adjustment references for the positions of the first telescopic unit 63 and the second telescopic unit 64 respectively;

[0103] When the central control processor selects the conveyor belt 7 of the third material and uses the F3 matrix as the tightness determination standard of the conveyor belt 7, the central control processor uses the parameters in the Ya3 matrix and the Yb3 matrix as the adjustment references for the positions of the first telescopic unit 63 and the second telescopic unit 64 respectively;

[0104] When the central control processor selects the conveyor belt 7 of the fourth material and uses the F4 matrix as the criterion for judging the tightness of the conveyor belt 7, the central control processor uses the parameters in the Ya4 matrix and the Yb4 matrix as the adjustment references for the positions of the first telescopic unit 63 and the second telescopic unit 64 respectively.

[0105] Specifically, for the i-th preset deviation matrix Fi, Fi(Fi1, Fi2, Fi3, Fi4), Fi1 is the first deviation value of the i-th deviation matrix, Fi2 is the second deviation value of the i-th deviation matrix, Fi3 is the third deviation value of the i-th deviation matrix, Fi4 is the fourth deviation value of the i-th deviation matrix, and each preset deviation value gradually increases in order;

[0106] For the i-th preset position matrix of the first telescopic unit 63, Yai, Yai (Yai1, Yai2, Yai3, Yai), Yai1 is the first distance of the i-th preset position of the first telescopic unit 63, Yai2 is the second distance of the i-th preset position of the first telescopic unit 63, Yai3 is the third distance of the i-th preset position of the first telescopic unit 63, and Yai4 is the fourth distance of the i-th preset position of the first telescopic unit 63, and each distance increases gradually in sequence;

[0107] For the matrix Ybi, Ybi (Ybi1, Ybi2, Ybi3, Ybi) of the i-th preset position of the second telescopic unit 64, Ybi1 is the first distance of the i-th preset position of the second telescopic unit 64, Ybi2 is the second distance of the i-th preset position of the second telescopic unit 64, Ybi3 is the third distance of the i-th preset position of the second telescopic unit 64, and Ybi4 is the fourth distance of the i-th preset position of the second telescopic unit 64, and each distance increases gradually in sequence;

[0108] When the conveyor device uses a conveyor belt 7 of the i-th material, the first telescopic unit 63 is attached to the outermost side of the frame 1, and the second telescopic unit 64 is attached to the outermost side of the frame 1. When the conveyor device is running, the speed detector detects the speed W of the active roller 3, and the moving speed detector detects the moving speed V of the conveyor belt 7. The central control processor calculates the deviation value F between the speed of the active roller 3 and the moving speed V of the conveyor belt 7, F=WV, and the central control processor compares F with each parameter in the Fi matrix:

[0109] When F<Fi1, the central control processor determines that the tightness of the conveyor belt 7 meets the standard value, and does not adjust the first telescopic unit 63 or the second telescopic unit 64;

[0110] When Fi1≤F<Fi2, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Yai1, and adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Ybi1;

[0111] When Fi2≤F<Fi3, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Yai2, and adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Ybi2;

[0112] When Fi3≤F<Fi4, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Yai3, and adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Ybi3;

[0113] When F>Fi4, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Yai4, and adjusts the distance between the first telescopic unit 63 and the outermost side of the rack 1 to Ybi4.

[0114] Specifically, the central control processor is also provided with a preset angle matrix θ0 and a preset position matrix X0 of the traverse motor; for the preset angle matrix θ0, θ0 (θ1, θ2, θ3, θ4), wherein θ1 is the first preset angle, θ2 is the second preset angle, θ3 is the third preset angle, and θ4 is the fourth preset angle, and each preset angle increases gradually in sequence; for the preset position matrix X0 of the traverse motor, X0 (X1, X2, X3, X4), wherein X1 is the first preset moving distance of the traverse motor, X2 is the second preset moving distance of the traverse motor, X3 is the third preset moving distance of the traverse motor, and X4 is the fourth preset moving distance of the traverse motor, and each preset distance increases gradually in sequence;

[0115] When the conveying device is running, the angle detector detects the angle θ between the conveyor belt 7 and the frame 1 between the active roller 3 and the deviation correction roller 4 in real time and transmits the detection value to the central control processor, which compares θ with the parameters in the θ0 matrix:

[0116] When θ≤θ1, the central control processor determines that the conveyor belt 7 has not deviated, and does not adjust the position of the transverse motor;

[0117] When θ1<θ≤θ2, the central control processor determines that the conveyor belt 7 is offset and controls the transverse motor to move a distance X1 in the direction opposite to the offset direction;

[0118] When θ2<θ≤θ3, the central control processor determines that the conveyor belt 7 is offset and controls the transverse motor to move a distance X2 in the direction opposite to the offset direction;

[0119] When θ3<θ≤θ4, the central control processor determines that the conveyor belt 7 is offset and controls the transverse motor to move a distance X3 in the direction opposite to the offset direction;

[0120] When θ>θ4, the central control processor determines that the conveyor belt 7 is offset and controls the transverse motor to move a distance X4 in the direction opposite to the offset direction.

[0121] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A capsule conveying device based on visual detection technology, characterized in that: include: a rack for loading components in the device; A servo motor is arranged in the frame and located at the lower half of one side of the frame, and the servo motor is connected to the active roller to drive the active roller to rotate; A driving roller is arranged in the frame and located at the lower half of one side of the frame and located on the same side as the servo motor, and is used to drive the conveyor belt to move; a speed detector is provided on the bracket at the end of the driving roller, and is used to detect the speed of the driving roller; A deflection correction roller is arranged in the frame and is located at the lower half of one side of the frame and is located on the opposite side to the active roller. Constraint plates with a diameter larger than that of the deflection correction roller are provided at both ends of the deflection correction roller to constrain the position of the conveyor belt. The deflection correction roller is connected to the frame through a transverse motor. The output shaft of the transverse motor passes through the deflection correction roller to rotate the deflection correction roller at a specified position. The transverse motor can adjust the distance between the deflection correction roller and the transverse motor by rotating the output shaft to adjust the horizontal position of the deflection correction roller. An angle detector is also provided on the transverse motor to detect the angle between the conveyor belt and the frame between the active roller and the deflection correction roller. A driven roller is arranged in the frame and is respectively located at the top of both sides of the frame, including a first driven roller located above the driving roller and a second driven roller located above the deviation correcting roller, and the line connecting the centers of the two driven rollers is parallel to the ground, so as to rotate together with the driving roller and enable the conveyor belt to transport capsules at a specified height; Tension rollers are respectively arranged at the middle of both sides of the frame, including a first tension roller located above the active roller and a second tension roller located above the deviation-correcting roller, the first tension roller is connected to the frame through a first telescopic unit, and the second tension roller is connected to the frame through a second telescopic unit, and each telescopic unit adjusts the tightness of the conveyor belt by horizontally moving the corresponding tension roller; A conveyor belt, which is in contact with each of the rollers, for transporting capsules; a plurality of capsule slots are provided on the conveyor belt for positioning the capsules; A conveyor bottom plate is arranged at the top of the frame and between the first driven roller and the second driven roller, and is used to cooperate with the conveyor belt to rotate the capsules in the capsule slot; when the conveyor belt moves, the capsules in the capsule slot contact with the upper surface of the conveyor bottom plate and move relative to the conveyor bottom plate, and at this time, the conveyor bottom plate generates friction force on the capsules to rotate the capsules in the capsule slot; a speed detector is provided on the conveyor bottom plate to detect the moving speed of the conveyor belt; A central control processor is arranged at the bottom of one side of the frame and is respectively connected to the servo motor, the speed detector, the transverse movement motor, the angle detector, the first telescopic unit, the second telescopic unit and the speed detector. A preset capsule material matrix, a preset capsule size matrix, a preset conveyor belt matrix group, a preset deviation matrix group, a first telescopic unit preset position matrix group, a second telescopic unit preset position matrix group, a preset angle matrix and a transverse movement motor preset position matrix are provided in the central control processor. The central control processor selects a conveyor belt of corresponding material and a capsule slot of corresponding size according to the pre-input capsule size and capsule material, determines the tightness of the conveyor belt according to the relationship between the active roller speed and the conveyor belt speed, thereby adjusting the position of the first tension wheel and the second tension wheel, and adjusts the lateral position of the correcting roller according to the angle between the conveyor belt and the frame between the active roller and the correcting roller.

2. The capsule delivery device based on visual detection technology according to claim 1, characterized in that: The device comprises a plurality of conveyor belts made of different materials, and for conveyor belts of the same material, the device comprises a plurality of conveyor belts provided with capsule slots of different sizes.

3. The capsule delivery device based on visual detection technology according to claim 2, characterized in that: The central control processor is provided with a preset capsule material matrix C0, a preset capsule size matrix D0 and a preset conveyor belt matrix group S0; For the preset capsule material matrix C0, C0 (C1, C2, C3, C4), C1 is the first preset capsule material, C2 is the second preset capsule material, C3 is the third preset capsule material, and C4 is the fourth preset capsule material; For the preset capsule size D0, D0 (D1, D2, D3, D4), D1 is the first preset capsule size, D2 is the second preset capsule size, D3 is the third preset capsule size, and D4 is the fourth preset capsule size; For the preset conveyor belt matrix group S0, S0 (S1, S2, S3, S4), S1 is the first preset material conveyor belt matrix, S2 is the second preset material conveyor belt matrix, S3 is the third preset material conveyor belt matrix, and S4 is the fourth preset material conveyor belt matrix; When the conveying device is used, the material C and size D of the capsule are input into the central control processor, and the central control processor compares the material C of the capsule with the parameters in the matrix C0: When the capsule material C is the first preset capsule material C1, the central control processor sends a replacement message, replaces the first material conveyor belt and selects the corresponding capsule slot size from the S1 matrix according to the comparison result of the capsule size D and the D0 matrix; When the capsule material C is the second preset capsule material C2, the central control processor sends a replacement message, replaces the second material conveyor belt and selects the corresponding capsule slot size from the S2 matrix according to the comparison result of the capsule size D and the D0 matrix; When the capsule material C is the third preset capsule material C3, the central control processor sends a replacement message, replaces the third material conveyor belt and selects the corresponding capsule slot size from the S3 matrix according to the comparison result of the capsule size D and the D0 matrix; When the capsule material C is the fourth preset capsule material C4, the central control processor sends a replacement message, replaces the fourth material conveyor belt and selects the corresponding capsule slot size from the S4 matrix according to the comparison result between the capsule size D and the D0 matrix.

4. The capsule delivery device based on visual detection technology according to claim 3, characterized in that: For the i-th preset material conveyor belt matrix Si, i=1, 2, 3, 4, Si(Si1, Si2, Si3, Si4), Si1 is the first preset capsule slot size of the i-th material conveyor belt, Si2 is the second preset capsule slot size of the i-th material conveyor belt, Si3 is the third preset capsule slot size of the i-th material conveyor belt, and Si4 is the fourth preset capsule slot size of the i-th material conveyor belt; When the central control processor replaces the conveyor belt of the i-th material, the central control processor compares the input capsule size D with the parameters in the D0 matrix: When D≤D1, the central control processor sends a replacement message to replace the conveyor belt with the i-th material that has the capsule slot of size Si1; When D1<D≤D2, the central control processor sends a replacement message to replace the conveyor belt of the i-th material with the capsule slot of size Si2; When D2<D≤D3, the central control processor sends a replacement message to replace the conveyor belt of the i-th material with the capsule slot of size Si3; When D3<D≤D4, the central control processor sends a replacement message to replace the conveyor belt of the i-th material with the Si4 size capsule slot.

5. The capsule delivery device based on visual detection technology according to claim 4, characterized in that: The central control processor is also provided with a preset deviation matrix group F0 (F1, F2, F3, F4), wherein F1 is a first preset deviation matrix, F2 is a second preset deviation matrix, F3 is a third preset deviation matrix, and F4 is a fourth preset deviation matrix; When the central control processor selects the conveyor belt of the first material, the central control processor uses the F1 matrix as a criterion for determining the tightness of the conveyor belt; When the central control processor selects the conveyor belt of the second material, the central control processor uses the F2 matrix as a criterion for determining the tightness of the conveyor belt; When the central control processor selects a conveyor belt made of the third material, the central control processor uses the F3 matrix as a criterion for determining the tightness of the conveyor belt; When the central control processor selects the conveyor belt made of the fourth material, the central control processor uses the F4 matrix as a criterion for determining the tightness of the conveyor belt.

6. The capsule conveying device based on visual detection technology according to claim 5, characterized in that: The central control processor is also provided with a first telescopic unit preset position matrix group Ya0 and a second telescopic unit preset position matrix Yb0; for the first telescopic unit preset position matrix group Ya0, Ya0 (Ya1, Ya2, Ya3, Ya4), wherein Ya1 is the first preset position matrix of the first telescopic unit, Ya2 is the second preset position matrix of the first telescopic unit, Ya3 is the third preset position matrix of the first telescopic unit, and Ya4 is the fourth preset position matrix of the first telescopic unit; for the second telescopic unit preset position matrix group Yb0, Yb0 (Yb1, Yb2, Yb3, Yb4), wherein Yb1 is the first preset position matrix of the second telescopic unit, Yb2 is the second preset position matrix of the second telescopic unit, Yb3 is the third preset position matrix of the second telescopic unit, and Yb4 is the fourth preset position matrix of the second telescopic unit; When the central control processor selects a conveyor belt made of the first material and uses the F1 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya1 matrix and the Yb1 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit; When the central control processor selects a conveyor belt made of the second material and uses the F2 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya2 matrix and the Yb2 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit; When the central control processor selects a conveyor belt made of the third material and uses the F3 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya3 matrix and the Yb3 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit; When the central control processor selects a conveyor belt made of the fourth material and uses the F4 matrix as a criterion for determining the tightness of the conveyor belt, the central control processor uses the parameters in the Ya4 matrix and the Yb4 matrix as adjustment references for the positions of the first telescopic unit and the second telescopic unit.

7. The capsule delivery device based on visual detection technology according to claim 6, characterized in that: For the i-th preset deviation matrix Fi, Fi (Fi1, Fi2, Fi3, Fi4), Fi1 is the first deviation value of the i-th deviation matrix, Fi2 is the second deviation value of the i-th deviation matrix, Fi3 is the third deviation value of the i-th deviation matrix, Fi4 is the fourth deviation value of the i-th deviation matrix, and each preset deviation value gradually increases in order; For the i-th preset position matrix of the first telescopic unit Yai, Yai (Yai1, Yai2, Yai3, Yai), Yai1 is the first distance of the i-th preset position of the first telescopic unit, Yai2 is the second distance of the i-th preset position of the first telescopic unit, Yai3 is the third distance of the i-th preset position of the first telescopic unit, and Yai4 is the fourth distance of the i-th preset position of the first telescopic unit, and each distance increases gradually in sequence; For the matrix Ybi of the i-th preset position of the second telescopic unit, Ybi (Ybi1, Ybi2, Ybi3, Ybi), Ybi1 is the first distance of the i-th preset position of the second telescopic unit, Ybi2 is the second distance of the i-th preset position of the second telescopic unit, Ybi3 is the third distance of the i-th preset position of the second telescopic unit, and Ybi4 is the fourth distance of the i-th preset position of the second telescopic unit, and each distance increases gradually in sequence; When the conveyor device uses a conveyor belt of the i-th material, the first telescopic unit is attached to the outermost side of the frame, and the second telescopic unit is attached to the outermost side of the frame. When the conveyor device is running, the speed detector detects the speed W of the active roller, and the moving speed detector detects the moving speed V of the conveyor belt. The central control processor calculates the deviation value F between the speed of the active roller and the moving speed V of the conveyor belt, F=WV, and the central control processor compares F with each parameter in the Fi matrix: When F<Fi1, the central control processor determines that the tightness of the conveyor belt meets the standard value, and does not adjust the first telescopic unit or the second telescopic unit; When Fi1≤F<Fi2, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the rack to Yai1, and adjusts the distance between the first telescopic unit and the outermost side of the rack to Ybi1; When Fi2≤F<Fi3, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the rack to Yai2, and adjusts the distance between the first telescopic unit and the outermost side of the rack to Ybi2; When Fi3≤F<Fi4, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the rack to Yai3, and adjusts the distance between the first telescopic unit and the outermost side of the rack to Ybi3; When F>Fi4, the central control processor adjusts each of the telescopic units, adjusts the distance between the first telescopic unit and the outermost side of the frame to Yai4, and adjusts the distance between the first telescopic unit and the outermost side of the frame to Ybi4.

8. The capsule delivery device based on visual detection technology according to claim 7, characterized in that: The central control processor is also provided with a preset angle matrix θ0 and a preset position matrix X0 of the traverse motor; for the preset angle matrix θ0, θ0 (θ1, θ2, θ3, θ4), wherein θ1 is the first preset angle, θ2 is the second preset angle, θ3 is the third preset angle, and θ4 is the fourth preset angle, and each preset angle increases gradually in sequence; for the preset position matrix X0 of the traverse motor, X0 (X1, X2, X3, X4), wherein X1 is the first preset moving distance of the traverse motor, X2 is the second preset moving distance of the traverse motor, X3 is the third preset moving distance of the traverse motor, and X4 is the fourth preset moving distance of the traverse motor, and each preset distance increases gradually in sequence; When the conveying device is running, the angle detector detects the angle θ between the conveyor belt and the frame between the active roller and the deviation correction roller in real time and transmits the detection value to the central control processor, which compares θ with the parameters in the θ0 matrix: When θ≤θ1, the central control processor determines that the conveyor belt has not deviated, and does not adjust the position of the transverse motor; When θ1<θ≤θ2, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X1 in the direction opposite to the offset direction; When θ2<θ≤θ3, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X2 in the direction opposite to the offset direction; When θ3<θ≤θ4, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X3 in the direction opposite to the offset direction; When θ>θ4, the central control processor determines that the conveyor belt is offset and controls the transverse motor to move a distance X4 in the direction opposite to the offset direction.

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