Medicine box transfer conveying device and control method

Abstract

The present invention provides a medicine box transfer and conveying device and a control method. By obtaining the operating status of the conveying mechanism, when the conveying mechanism is in the starting state, it means that there is a medicine box being conveyed on the conveying mechanism. At this time, it is then determined whether the lifting platform is in the lower work station. If the lifting platform is not in the lower work station, it means that the lifting platform may be in the rising stage from the lower work station or the descending stage from the upper work station. In the present invention, no matter whether the lifting platform is in the rising stage or the descending stage, when the lifting platform is not in the position of the lower work station, it is only necessary to control the medicine box not to exceed the output end of the conveying mechanism, so as to avoid damage to the medicine box due to falling, squeezing or wear, thereby reducing the loss of raw materials, reducing production costs, and achieving the purpose of reducing the price of finished medicines.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging equipment conveying mechanisms, and in particular to a medicine box transfer and conveying device and a control method. Background Art

[0002] With the increasing automation of traditional Chinese medicine pill production lines, the use of automated packaging lines, especially for packaging pills in medicine boxes, is becoming increasingly common. In medicine box packaging workshops, to meet the cleanliness requirements of pill packaging, it is often necessary to separate the packaging line and storage area. Typically, these areas are located on two floors of a building, with lifting platforms used to facilitate logistics between the packaging line and storage area. Specifically, the packaging line is often arranged on the lower floor, while the storage area is located on the upper floor, allowing for the packaging and storage of finished medicine boxes.

[0003] At the junction of the packaging line and the lifting platform, the packaging line continuously transports the finished medicine boxes to the lifting platform through a conveying mechanism; in the storage area, the finished medicine boxes piled on the lifting platform need to be moved to the designated location manually. For this reason, the lifting platform is usually manually controlled to move the lifting action back and forth between the upper and lower stations, which can easily lead to misoperation when loading and unloading the finished medicine boxes on the lifting platform. For example, when the lifting platform has not yet reached the lower station and the conveying mechanism is about to transport the medicine box to the lower station, it is very easy for the medicine box to fall from the output end and cannot be properly transported to the lifting platform, or it may be squeezed by the lifting platform or abut against the lifting platform, causing wear, resulting in the loss of qualified products during the transportation stage. On the one hand, this wastes raw materials, and on the other hand, it will lead to the loss of the batch number on the medicine box, resulting in increased production costs and drug prices, which is not conducive to patient treatment. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a medicine box transfer and conveying device and control method that overcomes the above problems or at least partially solves the above problems. It can solve the problem that when the lifting platform has not yet reached the lower work station and the conveying mechanism is about to convey the medicine box to the lower work station, it is very easy for the medicine box to fall from the output end and cannot be normally conveyed to the lifting platform or be squeezed by the lifting platform or abut against the lifting platform to cause wear, thereby reducing the loss of raw materials, reducing production costs, and achieving the purpose of reducing the price of finished medicines.

[0005] Specifically, the present invention provides a control method for a medicine box transfer and conveying device, wherein the medicine box transfer and conveying device includes a conveying mechanism for conveying in a horizontal direction and a lifting platform for vertically reciprocating and lifting between an upper and a lower work station, wherein the output end of the conveying mechanism cooperates with the lifting platform to transport the medicine box from the output end of the conveying mechanism to the lifting platform when the medicine box is at the lower work station; and

[0006] The control method includes:

[0007] Acquiring the operating status of the conveying mechanism;

[0008] In response to the conveying mechanism being in the activated state, determining whether the lifting platform is at the position of the lower work station,

[0009] If not, control the medicine box not to exceed the output end of the conveying mechanism.

[0010] Optionally, after determining whether the lifting platform is at the lower working position, the method further includes:

[0011] If so, controlling the conveying mechanism to run at a preset speed, and obtaining the output speed of each medicine box passing through the output end of the conveying mechanism;

[0012] In response to the output speed of the Nth medicine box being lower than a speed threshold and the number of the medicine boxes on the lifting platform being no greater than a number threshold; obtaining the time when the Nth medicine box arrives at the output end of the conveying mechanism, recorded as time Tn; wherein N is counted from the time when the medicine box is thrown out from the output end of the conveying mechanism each time the lifting platform descends to the lower work station, and time Tn is counted from the time when the lifting platform descends to the lower work station each time;

[0013] The set value of the preset speed after the time Tn is reduced, and the set value of the preset speed before the time Tn is maintained, so as to control the operation of the conveying mechanism next time.

[0014] Optionally, after controlling the conveying mechanism to run at a preset speed and obtaining the output speed of each medicine box passing through the output end of the conveying mechanism, the method further includes:

[0015] Obtain the time required from the lifting platform reaching the lower workstation to the time the number of medicine boxes thereon reaches the threshold, recorded as Tmax;

[0016] In response to the output speed of each medicine box being not lower than the speed threshold within the Tmax time, the set value of the preset speed is increased to control the operation of the conveying mechanism next time.

[0017] Optionally, the control medicine box does not extend beyond the output end of the conveying mechanism, comprising:

[0018] obtaining a conveying speed of the conveying mechanism;

[0019] Determine whether the conveying speed of the conveying mechanism is lower than the set speed,

[0020] If so, in response to the medicine box reaching the output end of the conveying mechanism, the conveying mechanism is controlled to stop; or

[0021] If not, the conveying mechanism is controlled to stop.

[0022] Optionally, the conveying mechanism includes an output section, a reversing section, and an input section sequentially distributed in a direction away from the lifting platform, and a temporary storage platform is provided on one side of the reversing section to form a first conveying channel between the input section and the output section when the reversing section is in a conveying mode, and to form a second conveying channel between the input section and the temporary storage platform when the reversing section is in a temporary storage mode; and

[0023] After controlling the medicine box not to exceed the output end of the conveying mechanism, the method further includes:

[0024] In response to the output section being in the enabled state, the reversing section is switched to be in the temporary mode.

[0025] Optionally, the medicine box transport conveying device further comprises a camera device for taking pictures of the output end of the conveying mechanism, and the camera device is located above the output end of the conveying mechanism; and

[0026] After obtaining the operating status of the conveying mechanism, the method further includes:

[0027] In response to the conveying mechanism being in the start-up state, acquiring a real-time image of an output end of the conveying mechanism;

[0028] Extracting the overhead view of the medicine box from the real-time image, and judging whether the overhead view of the medicine box is complete,

[0029] If not, then include:

[0030] In response to the lifting platform leaving the upper workstation and being in a descending stage, obtaining a remaining distance for the lifting platform to reach the lower workstation;

[0031] In response to the remaining distance being not less than a first set distance, controlling the conveying mechanism to reverse, wherein the first set distance is not less than the height of the medicine box;

[0032] In response to the remaining distance reaching the first set distance, the lifting platform is controlled to stop descending, and the conveying mechanism is controlled to reverse.

[0033] Optionally, after obtaining the remaining distance for the lifting platform to reach the lower workstation, the method further includes:

[0034] Determining the descent time of the lifting platform to the lower workstation based on the remaining distance;

[0035] In response to the descending time being not less than the set time, after controlling the lifting platform to rise a second set distance, the conveying mechanism is controlled to reverse to force the medicine box to retreat from the output end of the conveying mechanism.

[0036] The present invention also provides a medicine box transporting and conveying device, comprising:

[0037] a conveying mechanism for conveying in a horizontal direction, the conveying mechanism comprising an output section, a reversing section, and an input section sequentially distributed in a direction away from the lifting platform, a temporary storage platform being provided on one side of the reversing section so as to form a first conveying channel between the input section and the output section when the reversing section is in a conveying mode, and a second conveying channel between the input section and the temporary storage platform when the reversing section is in a temporary storage mode;

[0038] A lifting platform for vertical reciprocating lifting between upper and lower workstations, wherein the output end of the conveying mechanism is connected to the lower workstation of the lifting platform;

[0039] a camera device for taking a picture of the output end of the conveying mechanism, wherein the camera device is located above the output end of the conveying mechanism;

[0040] A control device for implementing any of the control methods described above.

[0041] Optionally, the medicine box transport and delivery device further includes:

[0042] a blocking mechanism for blocking the output end of the conveying mechanism, wherein the blocking mechanism is arranged between the output end of the conveying mechanism and the lower station of the lifting platform; and

[0043] The control device is further configured to:

[0044] In response to the lifting platform not being at the lower working position, the blocking mechanism is controlled to block downstream of the output end of the conveying mechanism.

[0045] Optionally, the blocking mechanism includes:

[0046] The actuator comprises a fixed bracket, a movable bracket, a tensioning mechanism and a spring assembly, the fixed bracket, the movable bracket and the tensioning mechanism are all arranged between the output end of the conveying mechanism and the lower workstation of the lifting platform, and are arranged in sequence along the direction close to the output end of the conveying mechanism, a first electromagnet and a second electromagnet are arranged on the fixed bracket from top to bottom at intervals, and after the first electromagnet and the second electromagnet are connected in series, the magnetism of the second electromagnet is stronger than that of the first electromagnet, a first permanent magnet is arranged between the first and second electromagnets, the movable bracket is guided up and down by the first permanent magnet and is sleeved on the fixed bracket, the tensioning mechanism comprises a first swing arm, a second swing arm and a sliding sleeve, one end of the first swing arm is hinged on the upper end of the movable bracket, the other end of the first swing arm is hinged to one end of the second swing arm, the other end of the second swing arm is hinged to the sliding sleeve, the sliding sleeve is slidably sleeved on the lower section of the movable bracket, and a second permanent magnet is also arranged on the sliding sleeve above the first electromagnet;

[0047] an electric control unit, the electric control unit comprising an electromagnetic unit formed by connecting the first and second electromagnets in series, one end of the electromagnetic unit being connected to the first upper switch and the first lower switch, and the other end being connected to the second upper switch and the second lower switch, so that the first upper switch, the electromagnetic unit, and the first lower switch are connected in series to form a first circuit, and the second upper switch, the electromagnetic unit, and the second lower switch are connected in series to form a second circuit;

[0048] The switch part includes an upper contact for forming the first upper switch and the first lower switch, a lower contact for forming the second upper switch and the second lower switch, and a contact rod for controlling the closure of the upper contacts or the lower contacts; the contact rod is connected to a compression spring for applying upward force, and the contact rod also forms an operating end for being pressed down by the lifting platform.

[0049] In a control method for a medicine box transport and conveying device according to the present invention, the operating status of the conveying mechanism is obtained. When the conveying mechanism is in the start-up state, it indicates that a medicine box is being conveyed on the conveying mechanism. At this time, regardless of whether the lifting platform is in the ascending or descending stage, as long as the lifting platform is not in the lower working position, the medicine box is controlled to not exceed the output end of the conveying mechanism, thereby preventing the medicine box from being damaged by falling, squeezing, or wear, thereby reducing the loss of raw materials, lowering production costs, and achieving the purpose of lowering the price of finished medicines.

[0050] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0052] Figure 1 is an overall schematic structural diagram of a medicine box transporting and conveying device according to one embodiment of the present invention;

[0053] Figure 2 is a schematic structural diagram of a blocking mechanism when the lifting platform is in the lower working position according to one embodiment of the present invention;

[0054] Figure 3 is a schematic structural diagram of a blocking mechanism when the lifting platform is not in the lower working position according to one embodiment of the present invention;

[0055] Figure 4 is a schematic structural diagram of a switch portion of a blocking mechanism according to an embodiment of the present invention;

[0056] Figure 5 is a schematic structural diagram of an electric control unit of a blocking mechanism according to an embodiment of the present invention;

[0057] Figure 6 is a flow chart of a control method according to one embodiment of the present invention;

[0058] Figure 7 is a flow chart of a control method according to another embodiment of the present invention;

[0059] Figure 8 is a flow chart of a control method according to another embodiment of the present invention;

[0060] Figure 9 is a flow chart of a control method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0061] Refer to the following Figures 1 to 9To describe a medicine box transfer and delivery device and control method according to an embodiment of the present invention. In the description of this embodiment, it should be understood that the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features, that is, include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. When a feature "includes or contains" one or some of the features it covers, unless otherwise specifically described, this indicates that other features are not excluded and may further include other features.

[0062] Unless otherwise expressly defined or limited, terms such as "disposed," "installed," "connected," "connected," "fixed," and "coupled" should be broadly interpreted. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two elements or interaction between two elements, unless otherwise expressly defined. A person of ordinary skill in the art should be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0063] In addition, in the description of this embodiment, the first feature being "above" or "below" the 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 via another feature between them. That is, in the description of this embodiment, the first feature being "above," "above," and "above" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below," "below," or "below" the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0064] In the description of the present embodiment, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples.

[0065] like Figure 6 As shown, reference Figure 1An embodiment of the present invention provides a control method for a medicine box transfer and conveying device. The medicine box transfer and conveying device includes a conveying mechanism 1 for horizontal conveying and a lifting platform 2 for vertical reciprocating lifting between upper and lower workstations. The output end of the conveying mechanism 1 cooperates with the lifting platform 2 to transport the medicine box 6 from the output end of the conveying mechanism 1 to the lifting platform 2 when it is at the lower workstation. The control method includes:

[0066] Obtaining the operating status of the conveying mechanism 1;

[0067] In response to the conveying mechanism 1 being in the starting state, it is determined whether the lifting platform 2 is in the lower working position,

[0068] If not, control the medicine box 6 not to exceed the output end of the conveying mechanism 1.

[0069] In this embodiment of the present invention, the medicine boxes 6 are horizontally transported from the output end to the lifting platform 2 at the lower workstation via the conveying mechanism 1. When the medicine boxes 6 on the lifting platform 2 are full, the lifting platform 2 is controlled to rise and transport the medicine boxes 6 to the storage area. 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 the lower workstation. This cycle is repeated to transport the medicine boxes 6 from the packaging line to the storage area.

[0070] By obtaining the operating status of the conveying mechanism 1, when the conveying mechanism 1 is in the starting state, it indicates that the medicine box 6 is being transported by the conveying mechanism 1. At this time, it is then determined whether the lifting platform 2 is in the lower working position. If the lifting platform 2 is not in the lower working position, it means that the lifting platform 2 may be in the ascending phase from the lower working position or the descending phase from the upper working position.

[0071] When the lifting platform 2 is in the rising stage from the lower work station to the upper work station, and the rising height is lower than the height of the medicine box 6, controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1 can prevent part of the medicine box 6 from exceeding the output end, and the exceeding part abuts against the lifting platform 2, and causes wear during the upward movement of the lifting platform 2, so that the medicine box 6 cannot meet the finished product standard.

[0072] When the lifting platform 2 is in the rising stage from the lower work station to the upper work station, and the rising 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. This can prevent the medicine box 6 from exceeding the output end of the conveying mechanism 1 under the conveying action of the conveying mechanism 1 and falling from the output end of the conveying mechanism 1.

[0073] When the lifting platform 2 is in the descending stage from the upper workstation to the lower workstation, and the height of the lifting platform 2 from the lower workstation is lower than the height of the medicine box 6, controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1 can prevent part of the medicine box 6 from exceeding the output end, and the exceeding part abuts against the lifting platform 2, and causes wear during the descent of the lifting platform 2.

[0074] When the lifting platform 2 is in the descending stage 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. This can prevent part of the medicine box 6 from exceeding the output end and the part exceeding the output end from moving to the lower station and being squeezed by the descending lifting platform 2. At the same time, it can also prevent the medicine box 6 from completely exceeding the output end and falling from the output end of the conveying mechanism 1.

[0075] To sum up, no matter whether the lifting platform 2 is in the ascending stage or the descending stage, when the lifting platform 2 is not in the lower work position, it is only necessary to control the medicine box 6 not to exceed the output end of the conveying mechanism 1 to avoid damage to the medicine box 6 due to falling, squeezing or wear, thereby reducing the loss of raw materials, reducing production costs, and achieving the purpose of reducing the price of finished medicines.

[0076] In some embodiments of the present invention, the conveyor mechanism 1 includes a frame, a conveyor belt mounted on the frame, and a first drive motor driving the conveyor belt. In this embodiment of the present invention, the operating status of the conveyor mechanism 1 can be determined by monitoring the operating status of the drive motor. Specifically, when the first drive motor is operating, the conveyor mechanism 1 is activated; otherwise, the conveyor mechanism 1 is deactivated. Preferably, the first drive motor is a servo motor, and the first drive motor can be controlled to rotate forward and reverse to achieve forward and reverse conveying of the conveyor belt.

[0077] In some embodiments of the present invention, a first infrared sensor is installed at the lower working position of the lifting platform 2, with the signal output end of the first infrared sensor facing horizontally toward the lower working position. In this embodiment of the present invention, by installing the first infrared sensor at the lower working position of the lifting platform 2, when the lifting platform 2 descends to the lower working position, the first infrared sensor receives a reflected signal, thereby determining that the lifting platform 2 has descended to the lower working position. Conversely, if the lifting platform 2 has not descended to the lower working position, the first infrared sensor will not receive a reflected signal.

[0078] In some embodiments of the present invention, the medicine box transport and conveying device further includes a drive assembly, and the lifting platform 2 is driven by the drive assembly. The drive assembly includes a sprocket, a chain, and a second drive motor. There are at least two sprockets, which are spaced apart from each other. The chain is engaged with the sprocket, and the lifting platform 2 is mounted on the chain, and the lifting platform 2 can be driven up and down by the chain. The second drive motor is disposed on one of the sprockets, and the sprocket is driven to rotate by the second drive motor, thereby driving the chain transmission.

[0079] In some embodiments of the present invention, the output end of the conveying mechanism 1 is connected to the lower working position of the lifting platform 2. In other words, when the lifting platform 2 descends to the lower working position, there is no gap between the output end of the conveying mechanism 1 and the lifting platform 2, thereby ensuring that the medicine box 6 can be transported from the output end of the conveying mechanism 1 to the lifting platform 2 in the lower working position.

[0080] In some embodiments of the present invention, Figure 1 As shown, the output end of the conveying mechanism 1 and the lower position of the lifting platform 2 are spaced apart along the conveying direction. That is, when the lifting platform 2 descends to the lower position, a gap exists between the output end of the conveying mechanism 1 and the lifting platform 2. Furthermore, the length of the medicine box 6 along the conveying direction is greater than the gap between the output end of the conveying mechanism 1 and the lifting platform 2, thereby ensuring that the medicine box 6 can be transported from the output end of the conveying mechanism 1 to the lifting platform 2 in the lower position.

[0081] In some embodiments of the present invention, Figure 6 As shown, after determining whether the lifting platform 2 is at the lower working position, the following steps are further included:

[0082] In this case, 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.

[0083] In response to the output speed of the Nth medicine box 6 being lower than the speed threshold and the number of medicine boxes 6 on the lifting platform 2 being no greater than the number threshold, the time at which the Nth medicine box 6 arrives at the output end of the conveying mechanism 1 is obtained and recorded as time Tn. Wherein, N is the time counted from the moment the medicine box 6 is ejected from the output end of the conveying mechanism 1 each time the lifting platform 2 is lowered to the lower station, and time Tn is the time counted from the moment the lifting platform 2 is lowered to the lower station.

[0084] The set value of the preset speed after the time Tn is reduced, and the set value of the preset speed before the time Tn is maintained, so as to control the operation of the conveying mechanism 1 next time.

[0085] In this embodiment of the present invention, after determining that the lifting platform 2 is already in the position of the lower work station, the speed of the first drive motor can be controlled to control the conveying mechanism 1 to run at a preset speed. And determine whether the number of medicine boxes 6 on the lifting platform 2 has reached the quantity threshold. If the number of medicine boxes 6 on the lifting platform 2 is not greater than the quantity threshold, that is, the medicine boxes 6 can still be conveyed to the lifting platform 2. At the same time, the output speed of each medicine box 6 passing through the output end of the conveying mechanism 1 is obtained. In the case where the medicine box 6 can still be conveyed to the lifting platform 2, if the output speed of the Nth medicine box 6 is lower than the speed threshold, it means that the medicine box 6 arriving at the lifting platform 2 is not placed in time and cannot keep up with the conveying speed of the conveying mechanism 1, resulting in the Nth medicine box 6 being blocked from reaching the lifting platform 2.

[0086] In order to prevent the medicine boxes 6 after the Nth from being blocked as well, causing the medicine boxes 6 to be blocked on the conveying mechanism 1. Get the time when the Nth medicine box 6 arrives at the output end of the conveying mechanism 1, recorded as time Tn. Reduce the preset speed of the conveying mechanism 1 after time Tn to slow down the conveying speed of the medicine boxes 6 and leave time for placing the medicine boxes 6. The preset speed before time Tn remains unchanged. Among them, N is the count starting from each time the self-lifting platform 2 is lowered to the lower work station, and the medicine box 6 is thrown out from the output end of the conveying mechanism 1. Time Tn is the count starting from each time the self-lifting platform 2 is lowered to the lower work station, that is, the count starts when the first infrared sensor senses that the lifting platform 2 has dropped to the lower work station.

[0087] In some embodiments of the present invention, an infrared counter is provided at the output end of the conveying mechanism 1. Each time a medicine box 6 is ejected through the output end, the infrared counter counts once. By providing an infrared counter, the number of medicine boxes 6 delivered to the lifting platform 2 can be determined, thereby determining whether a threshold number has been reached. Furthermore, the infrared counter can be used to determine whether the medicine box 6 is the Nth medicine box 6.

[0088] In some embodiments of the present invention, a laser speed meter is provided at the output end of the conveying mechanism 1 to obtain the output speed of each medicine box 6 passing through the output end of the conveying mechanism 1 .

[0089] In some embodiments of the present invention, Figure 6 As shown, after controlling the conveying mechanism 1 to run at a preset speed and obtaining the output speed of each medicine box 6 passing through the output end of the conveying mechanism 1, the following steps are further included:

[0090] Obtain the time required from the lifting platform 2 reaching the lower workstation to the time the number of medicine boxes 6 on the lifting platform 2 reaches the quantity threshold, recorded as Tmax;

[0091] In response to the output speed of each medicine box 6 not being lower than the speed threshold within the Tmax time, the set value of the preset speed is increased to control the operation of the conveying mechanism 1 next time.

[0092] In this embodiment of the present invention, timing starts from the time when the first infrared sensor detects that the lifting platform 2 has descended to the lower work station, and ends when the infrared counter detects that the number of medicine boxes 6 arriving on the lifting platform 2 has reached the quantity threshold. If, during this time period, the output speed of each medicine box 6 measured by the laser speed meter is not lower than the speed threshold, the conveying rate of the medicine box 6 can be accelerated by increasing the preset speed of the next conveying mechanism 1, thereby improving the efficiency of conveying the medicine box 6 to the lifting platform 2.

[0093] In some embodiments of the present invention, Figure 6 As shown, controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1 includes:

[0094] Obtaining the conveying speed of the conveying mechanism 1;

[0095] Determine whether the conveying speed of conveying mechanism 1 is lower than the set speed,

[0096] If so, in response to the medicine box 6 reaching the output end of the conveying mechanism 1, the conveying mechanism 1 is controlled to stop.

[0097] In this embodiment of the present invention, the conveying speed of the conveying mechanism 1 can be obtained by obtaining the rotational speed of the first drive motor. If the conveying speed of the conveying mechanism 1 is lower than the set speed, the conveying mechanism 1 is controlled to stop when the medicine box 6 reaches the output end of the conveying mechanism 1, thereby preventing the medicine box 6 from exceeding the output end of the conveying mechanism 1.

[0098] In other embodiments of the present invention, controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1 includes:

[0099] Obtaining the conveying speed of the conveying mechanism 1;

[0100] Determine whether the conveying speed of conveying mechanism 1 is lower than the set speed,

[0101] If not, the conveying mechanism 1 is controlled to stop.

[0102] In this embodiment of the present invention, the conveying speed of the conveying mechanism 1 can be obtained by obtaining the rotational 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 to prevent the medicine box 6 from exceeding the output end of the conveying mechanism 1 due to inertia after the conveying mechanism 1 stops.

[0103] In some embodiments of the present invention, Figure 6 and Figure 7 As shown, and reference Figure 1The conveying mechanism 1 includes an output section 13, a reversing section 12, and an input section 11, which are sequentially distributed in the direction away from the lifting platform 2. A temporary storage platform is provided on one side of the reversing section 12, so that when the reversing section 12 is in the conveying mode, a first conveying channel is formed between the input section 11 and the output section 13, and when the reversing section 12 is in the temporary storage mode, a second conveying channel is formed between the input section 11 and the temporary storage platform.

[0104] After controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1, the method further includes:

[0105] In response to the output section 13 being in the enabled state, the switching reversing section 12 is in the temporary mode.

[0106] In this embodiment of the present invention, the conveying mechanism 1 includes an output section 13, a reversing section 12, and an input section 11, each of which is controlled by a first drive motor. A temporary storage platform is provided on one side of the reversing section 12. This ensures that when the reversing section 12 is in the conveying mode, the medicine box 6 passes through the input section 11, the reversing section 12, and the output section 13, and is discharged from the output section 13. 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, and is discharged from the output section 13.

[0107] After controlling the medicine box 6 not to exceed the output end of the conveying mechanism 1, if the first drive motor of the output section 13 is in working condition, it means that the output section 13 is in the starting state. At this time, the reversing section 12 is switched to the temporary storage mode, so that the subsequent medicine boxes 6 are first transported to the temporary storage platform for buffering, to prevent the subsequent medicine boxes 6 from being continuously transported to the output section 13 and clogging the conveying mechanism 1. When it is no longer necessary to control the medicine box 6 not to exceed the output end of the conveying mechanism 1, the reversing section 12 is switched to the 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 output normally from the output section 13.

[0108] In some embodiments of the present invention, Figure 1 As shown, the temporary storage platform includes a serpentine conveyor belt 14. The serpentine conveyor belt 14 is arranged as a whole on one side of the reversing section 12, and an inlet 141 and an outlet 142 connected to the reversing section 12 are formed at both ends of the reversing section 12. The inlet 141 of the serpentine conveyor belt 14 is close to the input end of the reversing section 12, and the outlet 142 of the serpentine conveyor belt 14 is close to the output end of the reversing section 12. A box pushing mechanism 1411 is provided at the inlet 141, and the box pushing mechanism 1411 is used to push the medicine box 6 moved to the inlet 141 on the reversing section 12 into the serpentine conveyor belt 14. A box taking mechanism 1421 is provided at the outlet 142, and the box taking mechanism 1421 is used to return the medicine box 6 transported to the outlet 142 by the serpentine conveyor belt 14 to the reversing section 12.

[0109] In this embodiment of the present invention, when the reversing section 12 is in the temporary storage mode, the subsequent medicine boxes 6 can be first transported to the serpentine conveyor belt 14 for buffering via the box pushing mechanism 1411. The length of the serpentine conveyor belt 14 can meet the buffering requirements. After the reversing section 12 switches to the delivery mode, the medicine boxes 6 are transported to the outlet 142 by the serpentine conveyor belt 14 and returned to the reversing section 12 via the box retrieval mechanism 1421, eliminating the need for manual operation and facilitating control.

[0110] In some embodiments of the present invention, the box pushing mechanism 1411 includes a first electric push rod and a box pushing plate. The first electric push rod is fixed to the mounting frame of the reversing section 12 through a mounting plate. The box pushing plate is arranged at the output end of the first electric push rod, and the output end of the first electric push rod is horizontally facing the introduction port 141. When the medicine box 6 arrives at the introduction port 141, the first electric push rod is controlled to move horizontally toward the introduction port 141 to drive the box pushing plate. The medicine box 6 will enter the serpentine conveyor belt 14 under the action of the box pushing plate. The box taking mechanism 1421 is a suction cup type manipulator structure, and the box taking mechanism 1421 is also arranged on the mounting frame of the reversing section 12. With the suction cup type manipulator structure, the medicine box 6 can be sent back from the serpentine conveyor belt 14 to the reversing section 12 through the coordinated action of the manipulator and the suction cup. The structures of the box pushing mechanism 1411 and the box taking mechanism 1421 are relatively simple.

[0111] In some embodiments of the present invention, Figure 8 As shown, the medicine box 6 transport conveying device also includes a camera device for taking pictures of the output end of the conveying mechanism 1, and the camera device is located above the output end of the conveying mechanism 1.

[0112] After obtaining the operating status of the conveying mechanism 1, the following steps are also included:

[0113] In response to the conveying mechanism 1 being in the start-up state, acquiring a real-time image of the output end of the conveying mechanism 1;

[0114] Extract the overhead view of the medicine box 6 from the real-time picture, and determine whether the overhead view of the medicine box 6 is complete.

[0115] If not, then include:

[0116] In response to the lifting platform 2 leaving the upper workstation and being in a descending stage, obtaining the remaining distance for the lifting platform 2 to reach the lower workstation;

[0117] In response to the remaining distance being not less than a first set distance, controlling the conveying mechanism 1 to reverse, wherein the first set distance is not less than the height of the medicine box 6;

[0118] 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.

[0119] In this embodiment of the present invention, the medicine box transport conveyor further comprises a camera device, which is located above the output end of the conveyor mechanism 1 and can be used to capture images from the output end of the conveyor mechanism 1 to the side of the conveyor mechanism 1 away from the lifting platform 2.

[0120] After obtaining the operating status of the conveying mechanism 1, if the conveying mechanism 1 is in the starting state, a real-time image of the output end of the conveying mechanism 1 captured by the camera device is obtained, and a top view of the medicine box 6 is extracted from the real-time image. If the top view of the medicine box 6 is incomplete, it means that the medicine box 6 is beyond the output end of the conveying mechanism 1.

[0121] At this time, if the lifting platform 2 leaves the upper workstation and is in the descending stage. Then obtain the remaining distance of the lifting platform 2 to the lower workstation. If the remaining distance is not lower than the second set distance, it is only necessary to control the conveying mechanism 1 to reverse so that the medicine box 6 is completely retracted to the output end of the conveying mechanism 1, so as to avoid the medicine box 6 being squeezed due to the descent of the lifting platform 2. If the remaining distance reaches the second set distance, if only the conveying mechanism 1 is controlled to reverse, the lifting platform 2 will still squeeze the medicine box 6 before the medicine box 6 is completely retracted to the output end of the conveying mechanism 1. Therefore, while controlling the conveying mechanism 1 to reverse, it is also necessary to control the lifting platform 2 to stop descending. Among them, the second set distance is not lower than the height of the medicine box 6.

[0122] In some embodiments of the present invention, when the lifting platform 2 is in the upper working position, a second infrared sensor is disposed toward the upper surface of the lifting platform 2, with the signal output terminal of the second infrared sensor disposed horizontally. When the second infrared sensor fails to detect the lifting platform 2, it indicates that the lifting platform 2 has left the upper working position.

[0123] If the second infrared sensor can detect lift platform 2 at one moment but cannot detect it at the next moment, it indicates that lift platform 2 is in the descending phase, having just left the upper workstation. Furthermore, lift platform 2 is in the descending phase until the first infrared sensor detects it. Therefore, through the coordination of the first and second infrared sensors, from the triggering point when the second infrared sensor can detect lift platform 2 at one moment but cannot detect it at the next moment, to the time when the first infrared sensor detects lift platform 2, lift platform 2 is in the descending phase.

[0124] In some embodiments of the present invention, a displacement sensor is provided directly above the lifting platform 2, and the output end of the displacement sensor is vertically oriented toward the upper surface of the lifting platform 2. When the lifting platform 2 is in the upper station, the position of the upper surface of the lifting platform 2 is used as the initial position. After the lifting platform 2 leaves the upper station, the distance between the upper surface of the lifting platform 2 and the initial position can be measured by the displacement sensor. Then, based on the distance between the upper surfaces of the lifting platform 2 at the two positions when the lifting platform 2 descends from the upper station to the lower station, the remaining distance for the lifting platform 2 to reach the lower station can be obtained.

[0125] In some embodiments of the present invention, Figure 8 As shown, after obtaining the remaining distance of the lifting platform 2 to the lower workstation, the following steps are also included:

[0126] According to the remaining distance, the descent time of the lifting platform 2 to the lower work station is determined;

[0127] In response to the descending time being not less than the set time, the lifting platform 2 is controlled to rise a second set distance, and the conveying mechanism 1 is controlled to reverse to force the medicine box 6 to retreat from the output end of the conveying mechanism 1 .

[0128] In this embodiment of the present invention, the lifting platform 2 is usually set to move at a uniform speed. After obtaining the remaining distance for the lifting platform 2 to reach the lower workstation, the descent time of the lifting platform 2 to reach the lower workstation can be obtained based on the relationship between displacement, speed and time.

[0129] If the descent time is not less than the set time, it indicates that there is a medicine box 6 below the lifting platform 2, causing the lifting platform 2 to squeeze and damage the medicine box 6, preventing it from descending to the lower work station. At this time, after the lifting platform 2 is controlled to rise a second set distance, the conveying mechanism 1 is controlled to reverse, that is, the first drive motor is controlled to reverse, so that the squeezed medicine box 6 is automatically withdrawn 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 can no longer descend to the point where it has completely cleared the damaged medicine box 6.

[0130] refer to Figure 1-Figure 5, an embodiment of the present invention also provides a medicine box transfer conveying device, comprising a conveying mechanism 1 for conveying in the horizontal direction, a lifting platform 2 for vertically reciprocating lifting between the upper and lower workstations, a camera device for taking pictures of the output end of the conveying mechanism 1, and a control device for implementing the control method as in any of the above embodiments. The conveying mechanism 1 includes an output section 13, a reversing section 12, and an input section 11 distributed in sequence in the direction away from the lifting platform 2. A temporary storage platform is provided on one side of the reversing section 12 to form a first conveying channel between the input section 11 and the output section 13 when the reversing section 12 is in the conveying mode. When the reversing section 12 is in the temporary storage mode, a second conveying channel is formed between the input section 11 and the temporary storage platform. The output end of the conveying mechanism 1 cooperates with the lifting platform 2. The camera device is located above the output end of the conveying mechanism 1.

[0131] In this embodiment of the present invention, the medicine boxes 6 are horizontally transported from the output end to the lifting platform 2 at the lower workstation via the conveying mechanism 1. When the medicine boxes 6 on the lifting platform 2 are full, the lifting platform 2 is controlled to rise and transport the medicine boxes 6 to the storage area. 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 the lower workstation. This cycle is repeated to transport the medicine boxes 6 from the packaging line to the storage area.

[0132] The conveying mechanism 1 includes an output section 13, a reversing section 12, and an input section 11. The output section 13, the reversing section 12, and the input section 11 are independently controlled. A temporary storage platform is provided on one side of the reversing section 12. This ensures that when the reversing section 12 is in conveying mode, the medicine box 6 passes through the input section 11, the reversing section 12, and the output section 13, and is discharged from the output section 13. When the reversing section 12 is in temporary storage mode, the medicine box 6 passes through the input section 11, the temporary storage platform, and the output section 13, and is discharged from the output section 13.

[0133] The camera device is located above the output end of the conveying mechanism 1 and can be used to capture images from the output end of the conveying mechanism 1 to the side of the conveying mechanism 1 away from the lifting platform 2 .

[0134] In some embodiments of the present invention, the medicine box transport conveying device further includes a blocking mechanism for blocking the output end of the conveying mechanism 1. There is a gap 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

[0135] The control device is further configured to:

[0136] In response to the lifting platform 2 not being in the lower working position, the blocking mechanism is controlled to block downstream of the output end of the conveying mechanism 1 .

[0137] In this embodiment of the present invention, by setting a blocking mechanism, when the lifting platform 2 is not in the lower working position, the blocking mechanism will be downstream of the output end of the conveying mechanism 1 to prevent the medicine box 6 from exceeding the output end of the conveying mechanism 1.

[0138] In some embodiments of the present invention, Figure 2-Figure 5 As shown, the blocking mechanism includes an actuator 3, an electrical control unit, and a switch unit. The actuator 3 includes a fixed bracket 31, a movable bracket 32, and an opening and closing mechanism 33. The fixed bracket 31, movable bracket 32, and opening and closing mechanism 33 are all located between the output end of the conveyor mechanism 1 and the lower station of the lifting platform 2, and are arranged sequentially toward the output end of the conveyor mechanism 1. A first and second electromagnet are spaced apart from each other on the fixed bracket 31. When the first electromagnet 311 and the second electromagnet 312 are connected in series, the magnetic properties of the second electromagnet 312 are stronger than those of the first electromagnet 311. A first permanent magnet 321 is located between the first and second electromagnets. The movable bracket 32 ​​is sleeved on the fixed bracket 31 for vertical movement guided by the first permanent magnet 321. The opening and closing mechanism 33 includes a first swing arm 331, a second swing arm 332, and a sliding sleeve 333. One end of the first swing arm 331 is hinged to the upper end of the movable bracket 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 to the sliding sleeve 333, and the sliding sleeve 333 is slidably sleeved on the lower section of the movable bracket 32. A second permanent magnet 334 located above the first electromagnet 311 is also provided on the sliding sleeve 333.

[0139] The electronic control unit includes an electromagnetic unit consisting of first and second electromagnets connected 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. This allows the first upper switch 41, the electromagnetic unit, and the first lower switch 42 to be connected in series to form a first circuit, while the second upper switch 43, the electromagnetic unit, and the second lower switch 44 to form a second circuit.

[0140] The switch unit includes an upper contact 51 for forming the first upper switch 41 and the first lower switch 42, a lower contact 52 for forming the second upper switch 43 and the second lower switch 44, and a contact rod 53 for controlling the closing of the upper contact 51 or the lower contact 52. The contact rod 53 abuts against a compression spring 54 for applying an upward force. The contact rod 53 also forms an operating end 55 for being pressed downward by the lifting platform 2.

[0141] In this embodiment of the present invention, when the lifting platform 2 is not in the lower position, the upper contact 51, which forms the first upper switch 41 and the first lower switch 42, is connected to the circuit by the action of the contact rod 53, thereby causing the first upper switch 41, the electromagnetic unit, and the first lower switch 42 to be connected in series to form a first circuit. Because the first electromagnet 311 and the second electromagnet 312 are connected in series to form the electromagnetic unit, the electrodes of the adjacent ends of the first electromagnet 311 and the second electromagnet 312 are opposite.

[0142] At this point, the electrodes of the first permanent magnet 321 and the first electromagnet 311, as well as the electrodes of the first permanent magnet 321 and the second electromagnet 312, are identical. The first permanent magnet 321 is subjected to a bidirectional repulsive force from the first electromagnet 311 and the second electromagnet 312. Because the magnetism of the second electromagnet 312 is stronger than that of the first electromagnet 311, the first permanent magnet 321 moves upward along the direction of the fixed bracket 31, along with the movable bracket 32, until the first permanent magnet 321 can no longer move upward. The upward movement of the movable bracket 32 ​​also drives the opening and closing mechanism 33 upward.

[0143] The second permanent magnet 334 is located above the first electromagnet 311. The end of the second permanent magnet 334 closest to the first electromagnet 311 shares the same pole as the first electromagnet 311. Under the action of the first electromagnet 311, the second permanent magnet 334 drives the sliding sleeve 333 upward along the movable bracket 32. The upward movement of the sliding sleeve 333 in turn drives the hinged end of the second swing arm 332 and the sliding sleeve 333 upward.

[0144] Because the first permanent magnet 321 is located between the first electromagnet 311 and the second electromagnet 312, the height to which the first permanent magnet 321 can rise is limited. After the first permanent magnet 321 stops rising, if the second permanent magnet 334 continues to rise, the hinge between the first swing arm 331 and the second swing arm 332 will extend toward the output end of the conveyor mechanism 1 until it is flush with the output end of the conveyor mechanism 1.

[0145] In the initial state, the actuator 3 is entirely located below the conveying mechanism 1. At this time, as the first permanent magnet 321 and the second permanent magnet 334 move upward, the first swing arm 331 and the second swing arm 332 both rise above the conveying mechanism 1, thereby pushing the portion of the medicine box 6 that extends beyond the output end of the conveying mechanism 1 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.

[0146] Furthermore, when the lifting platform 2 is in the lower position, the lifting platform 2 depresses the operating end 55 on the contact rod 53, causing the contact rod 53 to lower the lower contact 52 that forms the second upper switch 43 and the second lower switch 44. This causes the second upper switch 43, the electromagnetic unit, and the second lower switch 44 to be connected in series to form a second circuit. Because the first electromagnet 311 and the second electromagnet 312 are connected in series to form the electromagnetic unit, the electrodes of the adjacent ends of the first electromagnet 311 and the second electromagnet 312 are opposite.

[0147] At this point, the electrodes of the first permanent magnet 321 and the first electromagnet 311, as well as the electrodes of the first permanent magnet 321 and the second electromagnet 312, are opposite. Because the current in the second circuit is in the opposite direction to that in the first circuit, the direction of the magnetic field generated at both ends of the first electromagnet 311 and the second electromagnet 312 is exactly opposite to that in the first circuit. Therefore, the first permanent magnet 321 is subject to a bidirectional attraction force between the first electromagnet 311 and the second electromagnet 312. Because the magnetism of the second electromagnet 312 is stronger than that of the first electromagnet 311, the first permanent magnet 321 moves downward along the direction of the fixed bracket 31 together with the movable bracket 32 ​​until the first permanent magnet 321 stops moving downward. The downward movement of the movable bracket 32 ​​drives the opening and closing mechanism 33 downward as well.

[0148] The second permanent magnet 334 is located above the first electromagnet 311. The end of the second permanent magnet 334 closest to the first electromagnet 311 is oriented oppositely to the first electromagnet 311. Because the current in the second circuit and the first circuit flow in opposite directions, the first electromagnet 311 causes the second permanent magnet 334 to move the sleeve 333 downward along the movable bracket 32. The downward movement of the sleeve 333 in turn causes the hinged end of the second swing arm 332 and the sleeve 333 to move downward.

[0149] When the executing part 3 is located above the conveying mechanism 1 as a whole, as the first permanent magnet 321 and the second permanent magnet 334 move downward, the movable bracket 32 ​​and the opening and closing mechanism 33 will both move downward, thereby moving the executing part 3 as a whole to the bottom of the conveying mechanism 1 to prevent the executing part 3 from blocking the transportation of the medicine box 6 to the lifting platform 2.

[0150] In some embodiments of the present invention, a limit block 34 is provided on the movable bracket 32 ​​above the second permanent magnet 334. The limit block 34 is provided at the position of the second permanent magnet 334 on the movable bracket 32 ​​when the second swing arm 332 is in a horizontal state.

[0151] In this embodiment of the present invention, during the upward movement of the second permanent magnet 334 along the movable bracket 32, the angle between the first swing arm 331 and the second swing arm 332 is constantly changing, and when the second swing arm 332 is in a horizontal state, the first swing arm 331 and the second swing arm 332 extend the longest toward the output end. In order to prevent the second permanent magnet 334 from continuously rising and causing the second swing arm 332 to move in a direction away from the output end of the conveying mechanism 1 and unable to block the medicine box 6, a limit block 34 is provided so that as the second permanent magnet 334 rises, the second permanent magnet 334 stops when it rises to the limit block 34. 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.

[0152] At this point, those skilled in the art will recognize that, although a number of exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications consistent with the principles of the present invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims

1. A control method for a medicine box transporting and conveying device, characterized in that: The medicine box transfer and conveying device includes a conveying mechanism for conveying in the horizontal direction and a lifting platform for vertically reciprocating and lifting between the upper and lower workstations. The output end of the conveying mechanism cooperates with the lifting platform to transport the medicine box from the output end of the conveying mechanism to the lifting platform when it is at the lower workstation. as well as The control method includes: Acquiring the operating status of the conveying mechanism; In response to the conveying mechanism being in the activated state, determining whether the lifting platform is at the position of the lower work station, If not, controlling the medicine box not to exceed the output end of the conveying mechanism; The medicine box transport and delivery device comprises: a blocking mechanism for blocking the output end of the conveying mechanism; The blocking mechanism comprises: The actuator comprises a fixed bracket, a movable bracket, a tensioning mechanism and a spring assembly, the fixed bracket, the movable bracket and the tensioning mechanism are all arranged between the output end of the conveying mechanism and the lower workstation of the lifting platform, and are arranged in sequence along the direction close to the output end of the conveying mechanism, a first electromagnet and a second electromagnet are arranged on the fixed bracket from top to bottom at intervals, and after the first electromagnet and the second electromagnet are connected in series, the magnetism of the second electromagnet is stronger than that of the first electromagnet, a first permanent magnet is arranged between the first and second electromagnets, the movable bracket is guided up and down by the first permanent magnet and is sleeved on the fixed bracket, the tensioning mechanism comprises a first swing arm, a second swing arm and a sliding sleeve, one end of the first swing arm is hinged on the upper end of the movable bracket, the other end of the first swing arm is hinged to one end of the second swing arm, the other end of the second swing arm is hinged to the sliding sleeve, the sliding sleeve is slidably sleeved on the lower section of the movable bracket, and a second permanent magnet is also arranged on the sliding sleeve above the first electromagnet; The electronic control part includes an electromagnetic unit formed by connecting the first and second electromagnets in series, one end of the electromagnetic unit is connected to the first upper switch and the first lower switch, and the other end is connected to the second upper switch and the second lower switch, so that the first upper switch, the electromagnetic unit and the first lower switch are connected in series to form a first circuit, and the second upper switch, the electromagnetic unit and the second lower switch are connected in series to form a second circuit.

2. The control method according to claim 1, characterized in that: After determining whether the lifting platform is at the lower working position, the method further includes: If so, controlling the conveying mechanism to run at a preset speed, and obtaining the output speed of each medicine box passing through the output end of the conveying mechanism; In response to the output speed of the Nth medicine box being lower than a speed threshold and the number of the medicine boxes on the lifting platform being no greater than a number threshold; obtaining the time when the Nth medicine box arrives at the output end of the conveying mechanism, recorded as time Tn; wherein N is counted from the time when the medicine box is thrown out from the output end of the conveying mechanism each time the lifting platform descends to the lower work station, and time Tn is counted from the time when the lifting platform descends to the lower work station each time; The set value of the preset speed after the time Tn is reduced, and the set value of the preset speed before the time Tn is maintained, so as to control the operation of the conveying mechanism next time.

3. The control method according to claim 2, characterized in that: After controlling the conveying mechanism to run at a preset speed and obtaining the output speed of each medicine box passing through the output end of the conveying mechanism, the method further includes: Obtain the time required from the lifting platform reaching the lower workstation to the time the number of medicine boxes thereon reaches the threshold, recorded as Tmax; In response to the output speed of each medicine box being not lower than the speed threshold within the Tmax time, the set value of the preset speed is increased to control the operation of the conveying mechanism next time.

4. The control method according to claim 1, wherein: The control medicine box does not extend beyond the output end of the conveying mechanism, including: obtaining a conveying speed of the conveying mechanism; Determine whether the conveying speed of the conveying mechanism is lower than the set speed, If so, in response to the medicine box reaching the output end of the conveying mechanism, the conveying mechanism is controlled to stop; or If not, the conveying mechanism is controlled to stop.

5. The control method according to claim 1, wherein: The conveying mechanism includes an output section, a reversing section, and an input section sequentially distributed in a direction away from the lifting platform. A temporary storage platform is provided on one side of the reversing section to form a first conveying channel between the input section and the output section when the reversing section is in a conveying mode, and to form a second conveying channel between the input section and the temporary storage platform when the reversing section is in a temporary storage mode. as well as After controlling the medicine box not to exceed the output end of the conveying mechanism, the method further includes: In response to the output section being in the enabled state, the reversing section is switched to be in the temporary mode.

6. The control method according to claim 1, wherein: The medicine box transport conveying device further includes a camera device for taking pictures of the output end of the conveying mechanism, and the camera device is located above the output end of the conveying mechanism; as well as After obtaining the operating status of the conveying mechanism, the method further includes: In response to the conveying mechanism being in the start-up state, acquiring a real-time image of an output end of the conveying mechanism; Extracting the overhead view of the medicine box from the real-time image, and judging whether the overhead view of the medicine box is complete, If not, then include: In response to the lifting platform leaving the upper workstation and being in a descending stage, obtaining a remaining distance for the lifting platform to reach the lower workstation; In response to the remaining distance being not less than a first set distance, controlling the conveying mechanism to reverse, wherein the first set distance is not less than the height of the medicine box; In response to the remaining distance reaching the first set distance, the lifting platform is controlled to stop descending, and the conveying mechanism is controlled to reverse.

7. The control method according to claim 6, characterized in that: After obtaining the remaining distance of the lifting platform to the lower workstation, the method further includes: Determining the descent time of the lifting platform to the lower workstation based on the remaining distance; In response to the descending time being not less than the set time, after controlling the lifting platform to rise a second set distance, the conveying mechanism is controlled to reverse to force the medicine box to retreat from the output end of the conveying mechanism.

8. A medicine box transporting and conveying device, characterized in that: include: a conveying mechanism for conveying in a horizontal direction, the conveying mechanism comprising an output section, a reversing section, and an input section sequentially distributed in a direction away from the lifting platform, a temporary storage platform being provided on one side of the reversing section so as to form a first conveying channel between the input section and the output section when the reversing section is in a conveying mode, and a second conveying channel between the input section and the temporary storage platform when the reversing section is in a temporary storage mode; A lifting platform for vertical reciprocating lifting between upper and lower workstations, wherein the output end of the conveying mechanism cooperates with the lower workstation of the lifting platform; a camera device for taking a picture of the output end of the conveying mechanism, wherein the camera device is located above the output end of the conveying mechanism; A control device for implementing the control method according to any one of claims 1 to 7.

9. The medicine box transporting and conveying device according to claim 8, characterized in that: The blocking mechanism 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: In response to the lifting platform not being at the lower working position, the blocking mechanism is controlled to block downstream of the output end of the conveying mechanism.

10. The medicine box transporting and conveying device according to claim 9, characterized in that: The blocking mechanism further comprises: The switch part includes an upper contact for forming the first upper switch and the first lower switch, a lower contact for forming the second upper switch and the second lower switch, and a contact rod for controlling the closure of the upper contacts or the lower contacts; the contact rod is connected to a compression spring for applying upward force, and the contact rod also forms an operating end for being pressed down by the lifting platform.

Images