Control method and equipment for dispensing device

Abstract

The invention discloses a control method and equipment for a dispensing device, and relates to the field of medicine dispensing, and the method comprises the steps that in response to a dispensing instruction, a bag conveying mechanism is controlled to convey medicine bags at a preset feeding speed; and when the bag conveying time exceeds a time threshold value and / or the conveying stroke of the bag conveying mechanism is larger than a stroke threshold value, if a medicine bag in-place signal fed back by the medicine bag position sensor is not received, the bag conveying mechanism is controlled to execute at least one reciprocating conveying action. Automatic error correction of the dispensing device is achieved, and the stability and efficiency of medicine dispensing are improved.

Description

Technical Field

[0001] This application relates to the technical field of drug dispensing, and particularly to a control method and device for a dispensing device. Background Art

[0002] Traditional Chinese medicine dispensing has drawbacks such as inaccurate weighing, uneven distribution, low efficiency, difficult rechecking, large waste, and poor hygiene. Packaged traditional Chinese medicine decoction pieces are packaged according to a set dose, which not only maintains the original properties of the traditional Chinese medicine decoction pieces, but also has accurate doses, and has advantages such as easy rechecking, small waste, and cleanliness.

[0003] Current dispensing devices usually use a bag feeding mechanism such as a roller group and a conveyor belt to provide friction for the medicine bags to transport the medicine bags to the output end of the dispensing device. However, due to factors such as the outer packaging material of the medicine bags or the operating speed of the bag feeding mechanism, it may cause the situation that the medicine bags cannot be transported normally, and the stability of drug dispensing is poor. Summary of the Invention

[0004] The main purpose of this application is to provide a control method and device for a dispensing device, aiming to solve the technical problem of poor stability of drug dispensing in current dispensing devices.

[0005] To achieve the above object, this application proposes a control method for a dispensing device. The dispensing device includes a bag feeding mechanism and a medicine bag position sensor. The bag feeding mechanism is used to transport the medicine bags, and the medicine bag position sensor is used to generate and feedback a medicine bag in place signal when the medicine bag reaches / passes through the detection area. The control method includes:

[0006] In response to a dispensing instruction, control the bag feeding mechanism to transport the medicine bags at a preset feeding speed;

[0007] When the bag feeding time exceeds a time threshold, and / or the transport stroke of the bag feeding mechanism is greater than a stroke threshold, if the medicine bag in place signal feedback by the medicine bag position sensor is not received, control the bag feeding mechanism to perform at least one reciprocating transport action, where the reciprocating transport action includes a reverse transport action and a forward transport action performed in sequence, and the execution speed of the reciprocating transport action is less than the preset feeding speed.

[0008] In an embodiment, the dispensing device further includes an upper bag position sensor located at the input end of the bag feeding mechanism. The upper bag position sensor is used to generate and feedback a medicine bag entry information when the medicine bag enters the input end of the bag feeding mechanism;

[0009] The control method further includes:

[0010] When the medicine bag entry signal feedback by the upper bag position sensor is received, control the bag feeding mechanism to transport the medicine bags at a preset loading speed until the medicine bag in place signal feedback by the medicine bag position sensor is received.

[0011] In one embodiment, the dispensing device further includes a bag cutting mechanism and a counting sensor;

[0012] The control method further includes:

[0013] Using the counting sensor to count the medicine bags passing through a specific position and feed back the count value;

[0014] When the count value reaches the dispensing quantity indicated in the dispensing instruction, or, after the counting sensor completes a single count, controlling the bag cutting mechanism to perform a cutting action to cut the medicine bag;

[0015] After the bag cutting mechanism performs the cutting action, controlling the bag feeding mechanism to perform a reverse feeding action.

[0016] In one embodiment, the counting sensor is a fiber optic opposed area sensor;

[0017] Using the counting sensor to count the medicine bags passing through a specific position includes:

[0018] When the output signal of the fiber optic opposed area sensor includes a first target signal and a second target signal, a single count is completed, wherein when the receiver of the fiber optic opposed area sensor does not receive the optical signal emitted by the transmitter, a first signal is output, and when the receiver receives the optical signal emitted by the transmitter, a second signal is output, the first target signal is a first signal with a pulse width greater than a first pulse width threshold, and the second target signal is a second signal with a pulse width greater than a second pulse width threshold.

[0019] In one embodiment, the method further includes:

[0020] When the pulse width of the first signal is less than or equal to the first pulse width threshold, and / or,

[0021] When the pulse width of the second signal is less than or equal to the second pulse width threshold, controlling the bag feeding mechanism to perform at least one reciprocating feeding action.

[0022] In one embodiment, the first pulse width threshold is the time value corresponding to the bag feeding mechanism completing the first stroke, and the first stroke is 60% of the length value of the non-transparent area of the medicine bag;

[0023] The second pulse width threshold is the time value corresponding to the bag feeding mechanism completing the second stroke, and the second stroke is 30% of the length value of the transparent area of the medicine bag.

[0024] In one embodiment, the dispensing device includes a cutting member position sensor for detecting the position of the cutting member of the bag cutting mechanism;

[0025] After the bag cutting mechanism performs the cutting action, controlling the bag feeding mechanism to perform a reverse feeding action includes:

[0026] After the bag cutting mechanism performs the cutting action, when it is detected that the cutting piece is reset to the preset bag removing position, the bag feeding mechanism is controlled to perform the reverse conveying action.

[0027] In one embodiment, the dispensing device further comprises a bag throwing assembly;

[0028] The control method also includes:

[0029] After the bag cutting mechanism performs the cutting action, the bag throwing component is controlled to perform the bag throwing action.

[0030] In one embodiment, the bag feeding mechanism and the bag throwing mechanism use the same power source, the power source is connected to the bag feeding mechanism via a reducer, and the power source is connected to the bag throwing mechanism via a transmission assembly and a one-way bearing.

[0031] In one embodiment, the dispensing device further includes a bag throwing position sensor, which is used to generate and feedback a bag throwing success signal when the medicine bag reaches the bag throwing area;

[0032] The control method also includes:

[0033] If the bag throwing success signal fed back by the bag throwing position sensor is not received within the bag throwing timeout threshold, a bag throwing timeout alarm message is generated.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a control device, including: a memory, a processor, and a computer program stored in the memory and running on the processor, and the computer program is configured to implement the steps of the control method of the adjustment device as described above.

[0035] One or more technical solutions proposed in this application have the following technical effects:

[0036] A control method for a dispensing device is proposed. By monitoring the medicine bag arrival signal and / or bag delivery time fed back by a medicine bag position sensor, it is determined whether slippage or bag jam occurs. When slippage and bag jam occur, the bag delivery mechanism is controlled to perform at least one reciprocating delivery action at a speed lower than a preset delivery speed to clear the medicine bag, thereby realizing automatic error correction of the dispensing device and improving the stability and efficiency of medicine dispensing. After the bag cutting mechanism performs the cutting action, the bag delivery mechanism is controlled to perform a reverse delivery action and the bag throwing mechanism is controlled to perform a bag throwing action, so that the cut end of the medicine bag can be disengaged from the knife groove, thereby preventing the front bag from falling off normally and the rear bag from being blocked. The output signal of the fiber optic opposite-radiation area sensor is filtered by using a fiber optic opposite-radiation area sensor and parameters set according to the structural characteristics of the medicine bag, and then the medicine bags are counted according to the filtered signal, thereby improving the accuracy of the medicine bag counting. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings here are incorporated into and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or in the related art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the related art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a schematic flowchart of the first embodiment of the control method for the dispensing device provided by this application.

[0040] The realization of the purpose of this application, its functional features and advantages will be further described in combination with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0041] It should be understood that the specific embodiments described here are only used to explain the technical solutions of this application and are not used to limit this application. To better understand the technical solutions of this application, the following will be described in detail in combination with the drawings of the specification and the specific implementation manners.

[0042] In this embodiment, for the convenience of description, the following will be elaborated in detail with the control device as the execution subject.

[0043] It should be noted that the control device is a computing service device with data processing, network communication, and program running functions, such as a server, a network terminal, an embedded computer, an industrial control computer, etc., or an electronic device capable of implementing the above functions, such as a mobile phone, a tablet computer, a notebook computer, a wearable device, etc.

[0044] The embodiments of this application provide a control method for a dispensing device.

[0045] In the first embodiment of the control method for the dispensing device of this application, the dispensing device may include a bag feeding mechanism and a medicine bag position sensor. Among them, the bag feeding mechanism is used to convey the medicine bags. The bag feeding mechanism can be a roller-type conveying mechanism or a belt-type conveying mechanism, which is not specifically limited in this embodiment; the medicine bag position sensor is used to generate and feedback a medicine bag in-place signal when the medicine bag reaches / passes through the detection area. The medicine bag position sensor can be a photoelectric sensor, a proximity sensor, a limit sensor, an ultrasonic sensor, or a laser sensor. The medicine bag position sensor can be set at the output end of the dispensing device or a position close to the output end. The medicine bags are connected in sequence in a strip shape. The dispensing device conveys the continuous medicine bags to the output port of the dispensing device through the bag feeding mechanism, and divides the medicine bags in the quantity to be dispensed by manual or configured bag cutting devices to complete the dispensing of the medicine.

[0046] Reference Figure 1 , Figure 1 is a schematic flowchart of the first embodiment of the control method of the dispensing device of the present application. The control method of the dispensing device may include steps S10 to S40:

[0047] Step S10, in response to a dispensing instruction, control the bag feeding mechanism to convey medicine bags at a preset feeding speed.

[0048] Step S20, when the bag feeding time exceeds the time threshold and / or the conveying stroke of the bag feeding mechanism is greater than the stroke threshold, if the medicine bag in-place signal feedback by the medicine bag position sensor is not received, control the bag feeding mechanism to perform at least one reciprocating conveying action, where the reciprocating conveying action includes a reverse conveying action and a forward conveying action performed in sequence, and the execution speed of the reciprocating conveying action is less than the preset feeding speed.

[0049] It should be noted that the bag feeding time can be the running time calculated starting from the time when the bag feeding mechanism starts to convey the medicine bag. The time threshold is set based on the running time for the bag feeding mechanism to convey the medicine bag from a specific position to the detection area. For example, if the theoretical running time for the bag feeding mechanism to convey the medicine bag from a specific position to the detection area is 3 seconds, the time threshold can be configured as 3 seconds or 4 seconds.

[0050] In a feasible implementation manner, when the bag feeding time exceeds the time threshold and the medicine bag in-place signal feedback by the medicine bag position sensor is not received, it indicates that a slipping or bag jamming phenomenon has occurred, and control the bag feeding mechanism to perform at least one reciprocating conveying action.

[0051] The stroke threshold is set based on the conveying stroke of the bag feeding mechanism to convey the medicine bag from the original position to the detection area. Exemplarily, if the theoretical conveying stroke amount for the bag feeding mechanism to convey the medicine bag from the original position to the detection area is 20 cm, the stroke threshold can be configured as 20 cm or 24 cm.

[0052] In a feasible implementation manner, when the conveying stroke of the bag feeding mechanism is greater than the stroke threshold and the medicine bag in-place signal feedback by the medicine bag position sensor is not received, it indicates that a slipping or bag jamming phenomenon has occurred, and control the bag feeding mechanism to perform at least one reciprocating conveying action.

[0053] In a feasible implementation manner, when the bag feeding time exceeds the time threshold and the conveying stroke of the bag feeding mechanism is greater than the stroke threshold, it indicates that a slipping or bag jamming phenomenon has occurred, and control the bag feeding mechanism to perform at least one reciprocating conveying action.

[0054] In this embodiment, when the execution times of the reciprocating conveying action are greater than the action times threshold and the bag feeding time exceeds the time threshold, generate an overtime warning message to prompt the staff that the bag feeding is overtime.

[0055] In a feasible implementation manner, "controlling the bag feeding mechanism to perform at least one reciprocating conveying action" in step S20 includes steps A11 to A13:

[0056] Step A11, controlling the bag feeding mechanism to perform a reverse conveying action at a preset execution speed, wherein the stroke amount of the reverse conveying action is a stroke threshold.

[0057] Step A12, controlling the bag feeding mechanism to perform a forward conveying action at a preset execution speed and a first stroke amount, wherein the first stroke amount is the conveying stroke for conveying the medicine bag from the original position to or through the detection area.

[0058] Step A13, if a medicine bag in-place signal fed back by the medicine bag position sensor is received, controlling the bag feeding mechanism to convey the medicine bag at a preset feeding speed; if the medicine bag in-place signal fed back by the medicine bag position sensor is not received, after controlling the bag feeding mechanism to perform a reverse conveying action at a preset execution speed and a first stroke amount, execute step A12.

[0059] Exemplarily, one end of a continuous medicine bag is located at the edge of the detection area of the medicine bag position sensor. When the bag feeding mechanism conveys the medicine bag forward by one medicine bag length, the medicine bag position sensor generates a medicine bag in-place signal, and the stroke threshold is configured to be 1.2 times the medicine bag length. When a dispensing instruction is received, control the bag feeding mechanism to perform a forward conveying action at a preset feeding speed and a stroke amount of 1.2 times the medicine bag length; after completing the stroke amount of 1.2 times the medicine bag length, if the medicine bag in-place signal fed back by the medicine bag position sensor is not received, control the bag feeding mechanism to perform a reverse conveying action at a preset execution speed (0.5 times the feeding speed) and a stroke amount of 1.2 times the medicine bag length; control the bag feeding mechanism to perform a forward conveying action at 0.5 times the feeding speed and a stroke amount corresponding to a single medicine bag length; if the medicine bag in-place signal fed back by the medicine bag position sensor is still not received, perform a reverse conveying action and a forward conveying action at 0.5 times the feeding speed and a stroke amount corresponding to a single medicine bag length until the medicine bag in-place signal is received, or the number of executions of the reciprocating conveying action is greater than the action number threshold; when the number of executions of the reciprocating conveying action is greater than the action number threshold, generate an alarm message.

[0060] The control method of the dispensing device in this embodiment judges whether a slipping or bag jamming phenomenon occurs by monitoring the medicine bag in-place signal and / or the bag feeding time fed back by the medicine bag position sensor. When a slipping and bag jamming phenomenon occurs, control the bag feeding mechanism to perform at least one reciprocating conveying action at an execution speed less than the preset feeding speed to dredge the medicine bag, realizing automatic error correction of the dispensing device and improving the stability and efficiency of drug dispensing.

[0061] Based on the first embodiment of the control method of the dispensing device in the present application, in the second embodiment of the control method of the dispensing device in the present application, for the same or similar content as the above embodiment, reference can be made to the above introduction and will not be repeated hereinafter. On this basis, the dispensing device further includes a bag loading position sensor at the input end of the bag feeding mechanism, and the bag loading position sensor is used to generate and feedback the information that the medicine bag enters when the medicine bag enters the input end of the bag feeding mechanism. Before step S10, the control method of the dispensing device may further include step S01:

[0062] When receiving the medicine bag entry signal fed back by the bag loading position sensor, control the bag feeding mechanism to convey the medicine bag at a preset feeding speed until receiving the medicine bag in-place signal fed back by the medicine bag position sensor.

[0063] It should be noted that the bag loading position sensor can adopt the same or different position sensors as the medicine bag position sensor, which will not be elaborated here.

[0064] In a feasible implementation manner, step S01 may include:

[0065] When receiving the medicine bag entry signal fed back by the bag loading position sensor, control the bag feeding mechanism to convey the medicine bag at a preset feeding speed;

[0066] When receiving the medicine bag in-place signal fed back by the medicine bag position sensor, control the bag feeding mechanism to perform a reverse conveying action to make the medicine bag retreat to a preset position.

[0067] The control method in this implementation manner determines whether the medicine bag enters the dispensing device through the bag loading position sensor, and when the medicine bag enters the dispensing device, automatic bag loading is completed, reducing manual participation.

[0068] In a feasible implementation manner, the dispensing device further includes a bag cutting mechanism and a counting sensor;

[0069] After step S20, the control method further includes step S30:

[0070] Step S30, use the counting sensor to count the medicine bags passing through a specific position and feedback the count value; when the count value reaches the dispensing quantity indicated in the dispensing instruction, or, after the counting sensor completes a single count, control the bag cutting mechanism to perform a cutting action to cut the medicine bag; after the bag cutting mechanism performs the cutting action, control the bag feeding mechanism to perform a reverse conveying action.

[0071] It should be noted that the counting sensor can be an optoelectronic counter or a mechanical counter. The control method of this embodiment receives the count value of the counting sensor. Through the control of the bag cutting mechanism, after the medicine bags are counted once, the medicine bags can be cut so that the medicine bags in the dispensing quantity can be taken away manually or by a storage mechanism. Or the medicine bags can be cut when the count value reaches the dispensing quantity indicated in the dispensing instruction, reducing the frequency of cutting actions and thus improving the dispensing efficiency. It can be understood that when the bag cutting mechanism performs the cutting action, the cut of the medicine bag may be embedded inside the card slot of the cutting knife, resulting in the medicine bag getting stuck here during the next bag feeding, causing accumulation and misdetection by the counting sensor, or bursting the medicine bag. Therefore, after the bag cutting mechanism performs the cutting action, the bag feeding mechanism is controlled to perform a reverse conveying action, which can make the cut end of the medicine bag on the bag feeding mechanism disengage from the knife slot, solving the above problems.

[0072] In a feasible embodiment, the counting sensor is a fiber optic through-beam area sensor;

[0073] Counting the medicine bags passing through a specific position by using the counting sensor includes:

[0074] When the output signal of the fiber optic through-beam area sensor includes a first target signal and a second target signal, a single count is completed. Among them, when the receiver of the fiber optic through-beam area sensor does not receive the optical signal emitted by the transmitter, a first signal is output. When the receiver receives the optical signal emitted by the transmitter, a second signal is output. The first target signal is a first signal with a pulse width greater than a first pulse width threshold, and the second target signal is a second signal with a pulse width greater than a second pulse width threshold.

[0075] It should be noted that the medicine bag includes a transparent area and a non-transparent area. The non-transparent area of the medicine bag may be mixed with medicine residues, resulting in incorrect counting by the counter. When the non-transparent area of the medicine bag or the transparent area with medicine residues is located in the detection area, the receiver cannot receive the optical signal emitted by the transmitter and outputs a first signal. When the transparent area of the medicine bag is located in the detection area, the receiver can receive the optical signal passing through the transparent area of the medicine bag, causing the fiber optic through-beam area sensor to output a first signal. According to the pulse width of the first signal and the first pulse width threshold, it is determined whether the first signal is a first target signal. Similarly, it is determined whether the second signal is a second target signal. When the output signal of the fiber optic through-beam area sensor includes a first target signal and a second target signal, a single count is completed.

[0076] Specifically, when the output signal of the fiber-optic opposed-beam area sensor is the first signal, if the pulse width of the first signal is greater than the first pulse-width threshold, then the first signal is the first target signal; when the output signal of the fiber-optic opposed-beam area sensor is the second signal, if the pulse width of the second signal is greater than the second pulse-width threshold, then the second signal is the second target signal; when the output signal of the fiber-optic opposed-beam area sensor includes the first target signal and the second target signal, a single count is completed.

[0077] In a feasible implementation, the method further includes:

[0078] When the pulse width of the first signal is less than or equal to the first pulse-width threshold, and / or when the pulse width of the second signal is less than or equal to the second pulse-width threshold, control the bag-feeding mechanism to perform at least one reciprocating conveying action.

[0079] It should be noted that the output signal of the fiber-optic opposed-beam area sensor is subjected to impurity removal or filtering to reduce the noise signal in the output signal; then, when the first signal is greater than the first pulse-width threshold and the second signal is greater than the second pulse-width threshold, a single count is completed. When the first signal is less than the first pulse-width threshold and / or the second signal is less than the second pulse-width threshold, it indicates that a bag jamming or slipping phenomenon has occurred, and control the bag-feeding mechanism to perform at least one reciprocating conveying action at a running speed less than the preset feeding speed to unclog the medicine bags.

[0080] In a specific implementation, the first pulse-width threshold is the time value corresponding to the bag-feeding mechanism completing the first stroke, and the first stroke is 60% of the length value of the non-transparent area of the medicine bag; the second pulse-width threshold is the time value corresponding to the bag-feeding mechanism completing the second stroke, and the second stroke is 30% of the length value of the transparent area of the medicine bag.

[0081] The control method in this implementation filters the output signal of the fiber-optic opposed-beam area sensor according to the parameters set based on the structural characteristics of the medicine bag, and then counts the medicine bags according to the filtered signal, improving the accuracy of medicine bag counting.

[0082] In a feasible implementation, the medicine bag position sensor and the counting sensor are the same sensor, that is, when the medicine bag reaches / passes through the detection area, the counting sensor completes a single count, and then the counting sensor generates and feeds back a medicine bag in-place signal.

[0083] In a feasible implementation, the dispensing device includes a cutting-piece position sensor for detecting the position of the cutting piece of the bag-cutting mechanism;

[0084] After the bag-cutting mechanism performs the cutting action, controlling the bag-feeding mechanism to perform a reverse conveying action includes:

[0085] After the bag-cutting mechanism performs the cutting action, when it is detected that the cutting piece returns to the preset bag-removing position, control the bag-feeding mechanism to perform a reverse conveying action.

[0086] It should be noted that the bag - removing position is between the initial position and the cutting position of the cutting member, that is, the reset path of the cutting member is: cutting position - bag - removing position - initial position; when it is detected that the cutting member is reset to the preset bag - removing position, the bag - feeding mechanism is controlled to perform a reverse feeding action, which can make the reverse feeding action of the bag - feeding mechanism and the reset action of the cutting member of the bag - cutting assembly proceed simultaneously, improving the overall adjustment efficiency.

[0087] In a feasible implementation manner, the adjustment device further includes a bag - throwing assembly;

[0088] The control method further includes:

[0089] After the bag - cutting mechanism performs the cutting action, the bag - throwing assembly is controlled to perform a bag - throwing action.

[0090] It should be noted that the bag - throwing assembly is used to provide an outward acting force to the medicine bag, and this acting force can be friction or thrust. For example, the bag - throwing assembly is composed of two roller shafts arranged at an interval up and down, and the medicine bag passes through the middle of the two roller shafts. After the bag - cutting mechanism completes the cutting action, the bag - throwing assembly acts to convey the medicine bag along the bag - feeding direction, completing the bag - throwing action and removing the medicine bag from the knife groove. In addition, the bag - throwing mechanism composed of double roller shafts realizes bag - throwing based on friction. In more feasible implementation manners, the bag - throwing mechanism can also be an actuator such as a cylinder that directly provides thrust, and in this implementation manner, no more details will be described.

[0091] In a feasible implementation manner, the bag - feeding mechanism and the bag - throwing mechanism adopt the same power source. The power source is connected to the bag - feeding mechanism through a speed reducer, and the power source is connected to the bag - throwing mechanism through a transmission component and a one - way bearing.

[0092] In a feasible implementation manner, the adjustment device further includes a bag - throwing position sensor, which is used to generate and feedback a bag - throwing success signal when the medicine bag reaches the bag - throwing area;

[0093] The control method further includes:

[0094] If the bag - throwing success signal feedback by the bag - throwing position sensor is not received within the bag - throwing timeout threshold, a bag - throwing timeout warning message is generated.

[0095] The present application also provides a control device, which may include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the adjustment device in the above - mentioned embodiments.

[0096] The above are only some embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A control method for a dispensing device, characterized in that, The dispensing device includes a bag feeding mechanism and a medicine bag position sensor. The bag feeding mechanism is used to convey the medicine bag, and the medicine bag position sensor is used to generate and feedback a medicine bag in-place signal when the medicine bag reaches / passes through the detection area; The control method includes: In response to a dispensing instruction, controlling the bag feeding mechanism to convey the medicine bag at a preset feeding speed; When the bag feeding time exceeds a time threshold, and / or the conveying stroke of the bag feeding mechanism is greater than a stroke threshold, if the medicine bag in-place signal feedback by the medicine bag position sensor is not received, controlling the bag feeding mechanism to perform at least one reciprocating conveying action, where the reciprocating conveying action includes a reverse conveying action and a forward conveying action performed in sequence, and the execution speed of the reciprocating conveying action is less than the preset feeding speed.

2. The control method of the dispensing device according to claim 1, wherein The dispensing device further includes a bag loading position sensor located at the input end of the bag feeding mechanism. The bag loading position sensor is used to generate and feedback a medicine bag entry information when the medicine bag enters the input end of the bag feeding mechanism; The control method further includes: When receiving the medicine bag entry signal feedback by the bag loading position sensor, controlling the bag feeding mechanism to convey the medicine bag at a preset loading speed until the medicine bag in-place signal feedback by the medicine bag position sensor is received.

3. The control method of the dispensing device according to claim 1, characterized in that, The dispensing device further includes a bag cutting mechanism and a counting sensor; The control method further includes: Using the counting sensor to count the medicine bags passing through a specific position and feedback a count value; When the count value reaches the dispensing quantity indicated in the dispensing instruction, or, after the counting sensor completes a single count, controlling the bag cutting mechanism to perform a cutting action to cut the medicine bag; After the bag cutting mechanism performs the cutting action, controlling the bag feeding mechanism to perform a reverse conveying action.

4. The control method of the dispensing device according to claim 3, characterized in that The counting sensor is a fiber optic opposed area sensor; The using the counting sensor to count the medicine bags passing through a specific position includes: When the output signal of the fiber optic opposed area sensor includes a first target signal and a second target signal, a single count is completed, where when the receiver of the fiber optic opposed area sensor does not receive the optical signal emitted by the transmitter, a first signal is output, when the receiver receives the optical signal emitted by the transmitter, a second signal is output, the first target signal is a first signal with a pulse width greater than a first pulse width threshold, and the second target signal is a second signal with a pulse width greater than a second pulse width threshold.

5. The control method of the dispensing device according to claim 4, characterized in that The method further includes: When the pulse width of the first signal is less than or equal to the first pulse width threshold, and / or, When the pulse width of the second signal is less than or equal to the second pulse width threshold, controlling the bag feeding mechanism to perform at least one reciprocating conveying action.

6. The control method of the dispensing device according to claim 4, characterized in that, The first pulse width threshold is the time value corresponding to the first stroke completed by the bag feeding mechanism, and the first stroke is 60% of the length value of the non-transparent area of the medicine bag; The second pulse width threshold is the time value corresponding to the second stroke completed by the bag feeding mechanism, and the second stroke is 30% of the length value of the transparent area of the medicine bag.

7. The control method of the dispensing device according to claim 1, characterized in that, The dispensing device includes a cutting part position sensor for detecting the position of the cutting part of the bag cutting mechanism; The after the bag cutting mechanism performs the cutting action, controlling the bag feeding mechanism to perform a reverse conveying action includes: After the bag cutting mechanism performs the cutting action, when it is detected that the cutting member resets to a preset bag discharging position, control the bag feeding mechanism to perform a reverse feeding action.

8. The control method of the dispensing device according to claim 1, characterized in that, The dispensing device further includes a bag throwing assembly; The control method further includes: After the bag cutting mechanism performs the cutting action, control the bag throwing assembly to perform a bag throwing action.

9. The control method of the dispensing device according to claim 8, characterized in that, The bag feeding mechanism and the bag throwing mechanism adopt the same power source. The power source is connected to the bag feeding mechanism through a speed reducer, and the power source is connected to the bag throwing mechanism through a transmission component and a one-way bearing.

10. The control method of the dispensing device according to claim 7, characterized in that The dispensing device further includes a bag throwing position sensor, which is used to generate and feedback a bag throwing success signal when the medicine bag reaches the bag throwing area; The control method further includes: If the bag throwing success signal feedback by the bag throwing position sensor is not received within the bag throwing timeout threshold, generate a bag throwing timeout warning message.

11. A control device, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and running on the processor. The computer program is configured to implement the steps of the control method of the dispensing device according to any one of claims 1 to 9.

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