A closed-loop shunt reaction force compensation calibration device and method for a traditional Chinese medicine dispensing machine

Abstract

This application relates to the technical field of powder dispensing equipment, and provides a closed-loop diversion reaction force compensation calibration device and method for a traditional Chinese veterinary medicine dispensing machine. Applied to a traditional Chinese veterinary medicine dispensing machine, the machine includes an inlet channel connected to a hopper, a forked section forming along the material flow direction, and corresponding left and right branch channels. A rotatable diverting plate is provided at the forked section. The method includes: receiving a dispensing command, determining the target branch channel, and driving the diverting plate to rotate to the limit position of the corresponding target branch channel; collecting reaction force data during the rotation of the diverting plate and comparing it with preset standard reaction force data; adjusting the driving parameters of the diverting plate according to the comparison results to compensate for the reaction force deviation; stopping the drive and locking the diverting plate after detecting that the diverting plate has reached the target limit position; and guiding the material from the inlet channel to the target branch channel to complete the material diversion. This solves the problems of material leakage and mixing, and improves the accuracy and quality of traditional Chinese veterinary medicine dispensing.

Description

Technical Field

[0001] This application relates to the field of powder dispensing equipment technology, and in particular to a closed-loop diversion reaction force compensation calibration device and method for a traditional Chinese veterinary medicine dispensing machine. Background Technology

[0002] Traditional Chinese veterinary medicine filling machines are key pieces of equipment in the veterinary drug production process, used to quantitatively dispense powdered or granular raw materials of traditional Chinese veterinary medicine into packaging containers. In order to achieve the dispensing of raw materials with different dosages or different ingredients, existing traditional Chinese veterinary medicine filling machines usually adopt a Y-type three-way diversion device, which uses a cylinder to drive a dispensing plate to switch between two branch channels, guiding the material to the corresponding discharge device.

[0003] Existing Y-type three-way diverter devices generally employ open-loop control, meaning the diverter plate rotates according to preset fixed drive parameters. However, the physical properties of raw materials for traditional Chinese veterinary medicine vary considerably; different batches and different compositions of powders or granules exhibit significant differences in flowability, density, and viscosity. When the diverter plate rotates, it experiences a reaction force from the material, the magnitude of which fluctuates considerably depending on the material's properties.

[0004] Open-loop control with fixed drive parameters cannot adapt to changes in material reaction force: when the material reaction force is greater than the preset value, the distributor may not rotate to the correct position, resulting in gaps between the two branch channels, causing material leakage and mixing problems, which seriously affect the dispensing accuracy and drug quality; when the material reaction force is less than the preset value, the distributor may overshoot, impacting the inner wall and pivot of the diversion device, aggravating equipment wear, and shortening the equipment's service life. Summary of the Invention

[0005] This application provides a closed-loop diversion reaction force compensation calibration device and method for a Chinese veterinary medicine dispensing machine, which aims to solve the problem that existing diversion devices require operators to frequently manually adjust the drive parameters according to changes in materials. This not only increases the workload of operators but also reduces the continuity and automation of dispensing production, failing to meet the requirements of large-scale and standardized production of Chinese veterinary medicine.

[0006] In a first aspect, embodiments of this application provide a closed-loop diversion reaction force compensation calibration method for a traditional Chinese veterinary medicine dispensing machine, applied to the dispensing machine. The dispensing machine includes an inlet channel connected to a hopper, a bifurcation section formed along the material flow direction, and corresponding left and right branch channels. The inlet channel, left and right branch channels form a Y-shaped flow channel structure at the bifurcation section. A rotatable diverting plate is provided at the bifurcation section. The diverting plate is pivotally mounted on the inner wall of the device and can switch between two extreme positions. When the diverting plate is in the first extreme position, it blocks the left branch channel and guides the material to the right branch channel; when the diverting plate is in the second extreme position, it blocks the right branch channel and guides the material to the left branch channel. The method includes: Receive the dispensing instruction, determine the target branch channel, and drive the dispensing plate to rotate to the limit position of the corresponding target branch channel; Real-time acquisition of reaction force data during the rotation of the distributor plates, and comparison of the acquired reaction force data with preset standard reaction force data; Adjust the driving parameters of the separating plate according to the comparison results, compensate for the reaction force deviation, and stop driving and lock the separating plate after detecting that the separating plate has reached the target limit position; guide the material from the inlet channel to the target branch channel to complete the material diversion.

[0007] In some embodiments, receiving a dispensing instruction and determining a target branch channel includes: parsing the material type information and dispensing dosage information contained in the dispensing instruction; and matching the corresponding target branch channel based on the material type information and dispensing dosage information.

[0008] In some embodiments, the drive lever rotates to the extreme position of the corresponding target branch channel, including: calling the corresponding initial drive parameters according to the determined target branch channel; and driving the lever to rotate from the current position to the target extreme position according to the initial drive parameters.

[0009] In some embodiments, the real-time acquisition of reaction force data during the rotation of the shift paddle includes: acquiring reaction force data of the shift paddle during rotation at fixed time intervals using a force sensor installed on the shift paddle drive mechanism.

[0010] In some embodiments, comparing the collected reaction force data with preset standard reaction force data includes: dividing the collected reaction force data into multiple data segments according to the rotation angle of the deflector; comparing the reaction force data of each data segment with the preset standard reaction force data of the corresponding angle segment one by one; and calculating the reaction force deviation value of each data segment.

[0011] In some embodiments, adjusting the driving parameters of the shift lever according to the comparison results to compensate for the reaction force deviation includes: adjusting the driving current of the shift lever in the corresponding rotation angle segment according to the reaction force deviation value of each data segment; increasing the driving current when the reaction force data is greater than the preset standard reaction force data; and decreasing the driving current when the reaction force data is less than the preset standard reaction force data.

[0012] In some embodiments, the step of stopping the drive and locking the shifter after detecting that the shifter has reached the target limit position includes: detecting the position of the shifter by using position sensors installed at two limit positions; immediately stopping the drive of the shifter when the position sensors detect that the shifter has reached the target limit position; and simultaneously activating the locking mechanism to fix the shifter at the target limit position.

[0013] In some embodiments, guiding the material from the inlet channel to the target branch channel to complete the material diversion includes: opening the discharge valve of the hopper; controlling the material to flow into the inlet channel at a preset flow rate; the material flowing along the surface of the dividing plate to the target branch channel after contacting the dividing plate; and closing the discharge valve of the hopper after the material diversion is completed.

[0014] In some embodiments, the method further includes: after each material diversion is completed, recording the reaction force data, driving parameter adjustment data, and diversion completion time during the diversion process; storing the recorded data in a historical database; periodically performing cluster analysis on the data in the historical database; and updating the preset standard reaction force data and initial driving parameters based on the analysis results.

[0015] Secondly, this application provides a closed-loop diversion reaction force compensation calibration device for a traditional Chinese veterinary medicine dispensing machine, comprising: The instruction receiving unit is used to receive the dispensing instruction, determine the target branch channel, and drive the dispensing piece to rotate to the limit position of the corresponding target branch channel; The data comparison unit is used to collect the reaction force data during the rotation of the distributor in real time and compare the collected reaction force data with the preset standard reaction force data. The material diversion unit is used to adjust the driving parameters of the diverter according to the comparison results, compensate for the reaction force deviation, and stop driving and lock the diverter after detecting that the diverter has reached the target limit position; it guides the material from the inlet channel to the target branch channel to complete the material diversion.

[0016] This application collects the reaction force data during the rotation of the dispensing plate in real time and compares it with the preset standard reaction force data. It then dynamically adjusts the driving parameters of the dispensing plate, which can effectively compensate for the deviation caused by the change of material reaction force. This ensures that the dispensing plate accurately reaches the target limit position, fundamentally solves the problems of material leakage and mixing, and significantly improves the accuracy and quality of dispensing traditional Chinese veterinary medicine.

[0017] This invention can automatically adapt to different types and batches of traditional Chinese veterinary medicine raw materials without the need for frequent manual adjustment of drive parameters, thereby improving the adaptability and automation of the dispensing equipment, reducing the workload of operators, and increasing production efficiency.

[0018] This invention avoids overshoot of the diverter plates through closed-loop control, reduces impact and wear between equipment components, extends the service life of the diverter, and lowers equipment maintenance costs.

[0019] This invention stops driving and locks the dispensing tablet immediately after it reaches the target limit position, ensuring the stability and reliability of the dispensing process and providing a strong guarantee for the continuous operation of traditional Chinese veterinary medicine packaging production.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic flowchart illustrating the steps of a closed-loop diversion reaction force compensation calibration method for a traditional Chinese veterinary medicine dispensing machine according to an embodiment of this application; Figure 2 This is a schematic diagram of the cylinder retracted state of a traditional Chinese veterinary medicine dispensing machine provided in an embodiment of this application; Figure 3 This is a schematic diagram of the cylinder extension state of a traditional Chinese veterinary medicine dispensing machine provided in an embodiment of this application; Figure 4 This is a schematic block diagram of the structure of a closed-loop diversion reaction force compensation calibration device for a traditional Chinese veterinary medicine dispensing machine provided in one embodiment of this application; Figure 5 This is a schematic block diagram of the structure of a traditional Chinese veterinary medicine dispensing machine provided in one embodiment of this application.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0026] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0027] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0029] Traditional Chinese veterinary medicine filling machines are key pieces of equipment in the veterinary drug production process, used to quantitatively dispense powdered or granular raw materials of traditional Chinese veterinary medicine into packaging containers. In order to achieve the dispensing of raw materials with different dosages or different ingredients, existing traditional Chinese veterinary medicine filling machines usually adopt a Y-type three-way diversion device, which uses a cylinder to drive a dispensing plate to switch between two branch channels, guiding the material to the corresponding discharge device.

[0030] Existing Y-type three-way diverter devices generally employ open-loop control, meaning the diverter plate rotates according to preset fixed drive parameters. However, the physical properties of raw materials for traditional Chinese veterinary medicine vary considerably; different batches and different compositions of powders or granules exhibit significant differences in flowability, density, and viscosity. When the diverter plate rotates, it experiences a reaction force from the material, the magnitude of which fluctuates considerably depending on the material's properties.

[0031] Open-loop control with fixed drive parameters cannot adapt to changes in material reaction force: when the material reaction force is greater than the preset value, the distributor may not rotate to the correct position, resulting in gaps between the two branch channels, causing material leakage and mixing problems, which seriously affect the dispensing accuracy and drug quality; when the material reaction force is less than the preset value, the distributor may overshoot, impacting the inner wall and pivot of the diversion device, aggravating equipment wear, and shortening the equipment's service life.

[0032] In addition, the existing diversion device requires operators to frequently adjust the drive parameters manually according to changes in materials, which not only increases the workload of operators, but also reduces the continuity and automation of the repackaging production, and cannot meet the requirements of large-scale and standardized production of traditional Chinese veterinary medicine.

[0033] To solve the above problem, please refer to Figure 1 This application provides a closed-loop diversion reaction force compensation calibration method for a traditional Chinese veterinary medicine dispensing machine, applicable to, for example... Figure 2 and 3 A traditional Chinese veterinary medicine dispensing machine. The machine includes an inlet channel 1 connected to a hopper, a forked section forming along the material flow direction, and corresponding left and right branch channels 2 and 3. The inlet channel, left and right branch channels form a Y-shaped flow channel structure at the forked section. A rotatable dispensing plate 4 is provided at the forked section. The dispensing plate is pivotally mounted on the inner wall of the device and can switch between two extreme positions. When the dispensing plate is in the first extreme position, it blocks the left branch channel and guides the material to the right branch channel; when the dispensing plate is in the second extreme position, it blocks the right branch channel and guides the material to the left branch channel.

[0034] Among them, such as Figure 2 As shown, when the cylinder piston rod is in the fully retracted state: the connecting rod mechanism retracts with the piston rod, driving the pivot to rotate, causing the dispensing plate 4 to swing to the right around the pivot; the right edge of the dispensing plate 4 is tightly attached to the inner wall of the right branch channel 3, completely blocking the right branch channel 3; after the material flows in from the inlet channel 1, it can only flow out through the left branch channel 2 and enter the large discharge device to complete the dispensing of large doses of main medicine; at this time, the proximity switch installed on the inner wall of the right branch channel 3 in the position detection unit is triggered by the dispensing plate 4, sending a position signal to the controller, and the electromagnetic brake locks the pivot to prevent the dispensing plate from being deflected by the impact of the material.

[0035] like Figure 3As shown, when the cylinder piston rod is fully extended: the connecting rod mechanism extends with the piston rod, driving the pivot to rotate in the opposite direction, causing the dispensing plate 4 to swing to the left around the pivot; the left edge of the dispensing plate 4 is tightly attached to the inner wall of the left branch channel 2, completely blocking the left branch channel 2; after the material flows in from the inlet channel 1, it can only flow out through the right branch channel 3 and enter the small discharge device to complete the dispensing of small doses of excipients; at this time, the proximity switch installed on the inner wall of the left branch channel 2 in the position detection unit is triggered by the dispensing plate 4, sending a position signal to the controller, and the electromagnetic brake locks the pivot to ensure the stability of the diversion path.

[0036] In both states, the coordinates of the pivot center and the cylinder tail hinge point are completely fixed, while the connecting rod length and cylinder stroke remain unchanged, ensuring a closed-loop motion logic. The rotation angle range (0°-90°) of the distributor plate corresponds one-to-one with the two extreme positions, matching the extension / retraction stroke of the cylinder respectively, without any structural interference risk. The reaction force detection unit can collect the impact reaction force of the material on the distributor plate in real time in both states, providing data support for the controller to dynamically adjust the cylinder thrust and realize closed-loop compensation calibration.

[0037] The closed-loop diversion reaction force compensation calibration device of the traditional Chinese veterinary medicine dispensing machine of the present invention adopts a Y-shaped three-way structure, mainly including an inlet channel 1, a left branch channel 2, a right branch channel 3, a diverter 4, a drive mechanism, a reaction force detection unit, a position detection unit, and a locking mechanism. The upper end of the inlet channel 1 is sealed to the hopper outlet of the traditional Chinese veterinary medicine dispensing machine, and the lower end of the inlet channel 1 branches along the material flow direction to form the left branch channel 2 and the right branch channel 3. The lower end of the left branch channel 2 is sealed to the large discharge device, and the lower end of the right branch channel 3 is sealed to the small discharge device. The inlet channel 1, the left branch channel 2, and the right branch channel 3 together form a Y-shaped flow channel structure at the bifurcation point. The diverter 4 is rotatably mounted on the inner wall of the bifurcation point of the Y-shaped flow channel structure via a pivot, and the drive mechanism is mounted on the outer wall of the Y-shaped flow channel structure. The output end of the drive mechanism is connected to the diverter 4 for transmission. The reaction force detection unit is installed at the connection between the drive mechanism and the splitter 4. The position detection units are installed at the corresponding limit positions on the inner walls of the left branch channel 2 and the right branch channel 3, respectively. The locking mechanism is installed at one end of the pivot.

[0038] The inlet channel 1 is made of cylindrical stainless steel pipe with a polished inner wall and a surface roughness of no more than 0.8 micrometers to reduce the adhesion of veterinary medicine powder or granules during flow. A flange is installed at the upper end of inlet channel 1, with multiple bolt holes evenly distributed on the flange. The flange is sealed to the hopper outlet flange via bolts, and a food-grade silicone sealing ring is installed at the connection point to prevent material leakage. The lower end of inlet channel 1 is integrally formed with the bifurcation section. The inner wall of the bifurcation section has a rounded transition to avoid right angles or sharp edges, preventing material accumulation.

[0039] Both left branch channel 2 and right branch channel 3 are made of variable diameter stainless steel pipes, with the upper end integrally formed with the bifurcation section, and the lower diameter designed according to the specifications of the corresponding discharge device. The lower diameter of left branch channel 2 is larger than that of right branch channel 3 to accommodate different dispensing flow requirements for large doses of active pharmaceutical ingredients and small doses of excipients. The inner walls of left branch channel 2 and right branch channel 3 are also polished, with a surface roughness of no more than 0.8 micrometers. Both left branch channel 2 and right branch channel 3 are equipped with quick-connect fittings at their lower ends for easy disassembly, assembly, and maintenance with the discharge device.

[0040] The separating blade 4 is made of rectangular stainless steel plate with a thickness of 3 mm to 5 mm and rounded edges to prevent scratching the inner wall of the flow channel. The upper end of the separating blade 4 is rotatably mounted on the inner wall of the bifurcation section via a pivot. The two ends of the pivot are fixed to the outer wall of the Y-shaped flow channel structure via bearing seats. A seal is provided between the pivot and the bearing seats to prevent material leakage from the gap between the pivot and the flow channel wall. The rotation angle range of the separating blade 4 is 0 degrees to 90 degrees, corresponding to two extreme positions: when the separating blade 4 rotates to the 0-degree position, its left edge is tightly fitted with the inner wall of the left branch channel 2, completely blocking the left branch channel 2 and guiding the material to the right branch channel 3; when the separating blade 4 rotates to the 90-degree position, its right edge is tightly fitted with the inner wall of the right branch channel 3, completely blocking the right branch channel 3 and guiding the material to the left branch channel 2.

[0041] The drive mechanism uses a pneumatic cylinder. The cylinder body is fixed to the outer wall of the right branch channel 3 by a bracket. The piston rod end of the cylinder is connected to the upper end of the dispensing plate 4 via a linkage mechanism. The linkage mechanism includes a first linkage and a second linkage. One end of the first linkage is fixedly connected to the extended end of the pivot, and the other end of the first linkage is hinged to one end of the second linkage. The other end of the second linkage is hinged to the piston rod end of the cylinder. When the piston rod of the cylinder extends, it drives the dispensing plate 4 to rotate to the 0-degree position via the linkage mechanism; when the piston rod of the cylinder retracts, it drives the dispensing plate 4 to rotate to the 90-degree position via the linkage mechanism. The air inlet and outlet of the cylinder are connected to a compressed air source via solenoid valves, and the control end of the solenoid valves is electrically connected to the controller of the dispensing machine.

[0042] The reaction force detection unit uses a tension / compression sensor, which is connected in series at the connection between the second connecting rod and the cylinder piston rod. One end of the tension / compression sensor is fixedly connected to the end of the second connecting rod, and the other end is fixedly connected to the end of the cylinder piston rod. When the dispensing plate 4 rotates and is subjected to a material reaction force, this reaction force is transmitted to the tension / compression sensor through the connecting rod mechanism. The tension / compression sensor converts the force signal into an electrical signal and transmits it to the controller of the dispensing machine in real time. The sampling frequency of the tension / compression sensor is set to 100 times per second to ensure accurate capture of the dynamic changes in the reaction force during the rotation of the dispensing plate 4.

[0043] The position detection unit includes two proximity switches, installed on the inner walls of the left branch channel 2 and the right branch channel 3 at their respective limit positions. The first proximity switch is installed on the inner wall of the left branch channel 2; when the dispensing plate 4 rotates to the 0-degree position, the left edge of the dispensing plate 4 triggers the first proximity switch. The second proximity switch is installed on the inner wall of the right branch channel 3; when the dispensing plate 4 rotates to the 90-degree position, the right edge of the dispensing plate 4 triggers the second proximity switch. The output terminals of the proximity switches are electrically connected to the controller of the dispensing machine, used to send a signal to the controller that the dispensing plate 4 has reached its limit position.

[0044] The locking mechanism employs an electromagnetic brake, which is mounted on the extended end of the pivot and fixedly connected coaxially to it. The control terminal of the electromagnetic brake is electrically connected to the controller of the dispensing machine. When the controller receives a signal that the dispensing piece 4 has reached the target limit position, it immediately sends a control signal to the electromagnetic brake. The electromagnetic brake is energized to generate braking force, locking the pivot and thus fixing the dispensing piece 4 at the target limit position, preventing it from shifting under the impact of materials.

[0045] The closed-loop diversion reaction force compensation calibration method of the traditional Chinese veterinary medicine dispensing machine described in this invention dynamically adjusts the driving parameters by collecting the reaction force data during the rotation of the dispensing plate 4 in real time, compensating for the deviation caused by changes in the material reaction force, and ensuring that the dispensing plate 4 accurately reaches the target limit position. The overall process of the method includes three core steps: receiving the dispensing command and driving the dispensing plate 4 to rotate, collecting and comparing the reaction force data in real time, and adjusting the driving parameters to complete the material diversion.

[0046] The provided closed-loop shunt reaction force compensation calibration method for the traditional Chinese veterinary medicine dispensing machine includes steps S101 to S103. Details are as follows: Step S101. Receive the dispensing instruction, determine the target branch channel, and drive the dispensing plate to rotate to the limit position of the corresponding target branch channel.

[0047] Specifically, step S101 involves receiving a dispensing instruction, determining the target branch channel, and driving the dispensing plate to rotate to the extreme position of the corresponding target branch channel. The specific implementation method is as follows: The filling machine's controller receives filling instructions from a host computer or touchscreen. These instructions include material type information and filling dosage information. The material type information is used to distinguish between the active pharmaceutical ingredient (API) and excipients, while the filling dosage information is used to determine the required dispensing device specifications.

[0048] The controller matches the corresponding target branch channel based on the material type and dosage information in the dispensing instruction. When the dispensing instruction corresponds to a large dose of the active pharmaceutical ingredient, left branch channel 2 is determined as the target branch channel; when the dispensing instruction corresponds to a small dose of the excipient, right branch channel 3 is determined as the target branch channel.

[0049] The controller retrieves the initial drive parameters corresponding to the target branch channel from the memory. These initial drive parameters include the initial intake pressure of the cylinder and the initial opening time of the solenoid valve. These initial drive parameters are standard parameters obtained through no-load calibration before the equipment leaves the factory.

[0050] The controller sends a control signal to the solenoid valve, which controls the compressed air to enter the corresponding chamber of the cylinder according to the initial drive parameters. This drives the piston rod of the cylinder to extend or retract, and through the linkage mechanism, it drives the dispensing plate 4 to rotate from the current position to the target limit position.

[0051] Step S102. Collect the reaction force data during the rotation of the distributor in real time, and compare the collected reaction force data with the preset standard reaction force data.

[0052] Specifically, step S102 involves real-time acquisition of reaction force data during the rotation of the distributor plates, and comparison of the acquired reaction force data with preset standard reaction force data. The specific implementation method is as follows: As the gear shifter 4 begins to rotate, the controller activates the reaction force detection unit. The tension and compression sensors collect the reaction force data of the gear shifter 4 during its rotation at a sampling frequency of 100 times per second, and transmit the collected reaction force data to the controller in real time.

[0053] The controller divides the collected reaction force data into multiple data segments according to the rotation angle of the distributor 4, with each data segment corresponding to a 1-degree rotation angle. The controller also retrieves preset standard reaction force data from the memory. The preset standard reaction force data was obtained by calibration using standard veterinary drug raw materials before the equipment leaves the factory, and includes the standard reaction force value corresponding to the distributor 4 at each rotation angle.

[0054] The controller compares the actual reaction force data for each data segment with the preset standard reaction force data at the corresponding rotation angle, and calculates the reaction force deviation value for each data segment. The reaction force deviation value is equal to the actual reaction force data minus the preset standard reaction force data.

[0055] Step S103. Adjust the driving parameters of the separating plate according to the comparison results, compensate for the reaction force deviation, and after the separating plate reaches the target limit position, stop driving and lock the separating plate; guide the material from the inlet channel to the target branch channel to complete the material diversion.

[0056] Specifically, step S103 involves adjusting the driving parameters of the separating plate based on the comparison results, compensating for the reaction force deviation, stopping the driving and locking the separating plate after detecting that it has reached the target limit position, and guiding the material from the inlet channel to the target branch channel to complete the material diversion. The specific implementation method is as follows: The controller adjusts the driving parameters of the dispensing plate 4 in real time according to the reaction force deviation value of each data segment in the corresponding rotation angle segment. When the reaction force deviation value is positive, that is, when the actual reaction force data is greater than the preset standard reaction force data, the controller increases the intake pressure of the cylinder and increases the output force of the drive mechanism; when the reaction force deviation value is negative, that is, when the actual reaction force data is less than the preset standard reaction force data, the controller decreases the intake pressure of the cylinder and decreases the output force of the drive mechanism.

[0057] During the rotation of the dispensing plate 4, the controller continuously receives signals from the position detection unit. When the proximity switch corresponding to the target limit position is triggered, the controller immediately sends a control signal to the solenoid valve to shut off the compressed air supply and stop driving the dispensing plate 4 to rotate.

[0058] Simultaneously, the controller sends a control signal to the electromagnetic brake, which is energized to generate braking force, locking the pivot and thus fixing the dispensing plate 4 at the target limit position. The controller also sends a control signal to the discharge valve of the hopper, opening the valve and controlling the veterinary drug raw materials to flow from the hopper into the inlet channel 1 at a preset flow rate. After the material contacts the dispensing plate 4, it flows along the surface of the dispensing plate 4 towards the target branch channel 2 or 3, and finally enters the corresponding discharge device for quantitative dispensing.

[0059] Once the current packaging task is completed, the controller sends a control signal to the discharge valve of the hopper to close the discharge valve, stop the material supply, and complete the material diversion process.

[0060] In some embodiments, receiving a dispensing instruction and determining a target branch channel includes: parsing the material type information and dispensing dosage information contained in the dispensing instruction; and matching the corresponding target branch channel based on the material type information and dispensing dosage information.

[0061] This embodiment specifically illustrates the implementation method of "receiving the packaging instruction and determining the target branch channel" in step S101.

[0062] The packaging machine's controller communicates with the host computer production management system via an industrial Ethernet bus, and also connects to the local touchscreen via an RS485 bus. The controller can simultaneously receive automatic packaging commands from the host computer production management system and manual packaging commands from the local touchscreen.

[0063] The dispensing instructions are transmitted using the standard Modbus protocol format. The instruction frame contains two bytes of material type information and two bytes of dispensing dosage information. The material type information ranges from 00H to FFH, where 01H represents a large dose of the active pharmaceutical ingredient, 02H represents a small dose of the excipient, and 03H to FFH are reserved for future expansion to other material types. The dispensing dosage information ranges from 0000H to FFFFH, in grams, representing the target dosage for a single dispensing.

[0064] Upon receiving a dispensing instruction, the controller first verifies the instruction frame to confirm its completeness and validity. If the verification passes, the controller parses the material type and dispensing dosage information from the instruction frame. The controller internally stores a material type-branch channel mapping table and a dispensing dosage-branch channel mapping table.

[0065] When the parsed material type information is 01H (high-dose active pharmaceutical ingredient), the controller directly matches the left branch channel as the target branch channel; when the parsed material type information is 02H (low-dose excipient), the controller directly matches the right branch channel as the target branch channel. When the material type information is a reserved value, the controller matches according to the dispensing dosage information: if the dispensing dosage is greater than or equal to 500 grams, the left branch channel is matched as the target branch channel; if the dispensing dosage is less than 500 grams, the right branch channel is matched as the target branch channel.

[0066] This embodiment ensures the accuracy of target branch channel determination through a dual matching mechanism, avoids diversion errors caused by a single information error, and improves the reliability of repackaging production.

[0067] In some embodiments, the drive lever rotates to the extreme position of the corresponding target branch channel, including: calling the corresponding initial drive parameters according to the determined target branch channel; and driving the lever to rotate from the current position to the target extreme position according to the initial drive parameters.

[0068] This embodiment specifically illustrates the implementation method of "driving the distributor to rotate to the extreme position of the corresponding target branch channel" in step S101.

[0069] The controller's internal non-volatile memory pre-stores the initial drive parameter tables for the left branch channel and the right branch channel. Each parameter table contains five parameters: drive mechanism type, initial drive current, initial rotational speed, acceleration time, and deceleration time. For the pavers driven by electric actuators, the initial drive current ranges from 1 ampere to 5 amperes, the initial rotational speed ranges from 10 degrees / second to 60 degrees / second, and the acceleration and deceleration times both range from 0.1 seconds to 1 second.

[0070] When the controller determines that the target branch channel is the left branch channel, it reads the corresponding initial drive parameters from the initial drive parameter table of the left branch channel; when the controller determines that the target branch channel is the right branch channel, it reads the corresponding initial drive parameters from the initial drive parameter table of the right branch channel.

[0071] The controller generates a PWM drive signal based on the read initial drive parameters and sends it to the electric actuator through the motor drive module. The electric actuator first accelerates from a standstill to the initial rotational speed according to the acceleration time, and then rotates at a constant speed at the initial rotational speed. When it approaches the target limit position, it decelerates according to the deceleration time until it reaches the target limit position.

[0072] This embodiment ensures that the selector plate obtains the best initial motion state when rotating in different directions by pre-storing optimized initial drive parameters for different branch channels, reducing the amount of subsequent reaction force compensation adjustment and improving control efficiency.

[0073] In some embodiments, the real-time acquisition of reaction force data during the rotation of the shift paddle includes: acquiring reaction force data of the shift paddle during rotation at fixed time intervals using a force sensor installed on the shift paddle drive mechanism.

[0074] This embodiment specifically illustrates the implementation method of "real-time acquisition of reaction force data during the rotation of the distributor plates" in step S102.

[0075] The force sensor is a high-precision S-type tension / compression sensor with a rated range of 0 to 500 Newtons and an overall accuracy of 0.1%FS. The force sensor is installed in series between the output shaft of the electric actuator and the coupling of the shifter pivot, and can directly measure the axial reaction force experienced by the shifter during rotation.

[0076] The output of the force sensor is connected to the signal conditioning module, which amplifies, filters, and performs A / D conversion on the millivolt-level analog signal output by the force sensor, converting it into a 16-bit digital signal. The signal conditioning module is connected to the controller via an SPI bus with a data transmission rate of 1 Mbps.

[0077] While sending a drive signal to the electric actuator, the controller also sends a data acquisition start command to the signal conditioning module. Upon receiving the start command, the signal conditioning module acquires the reaction force data experienced by the rotating disc at a fixed sampling frequency of 100 Hz and transmits the acquired digital signal to the controller in real time. The controller stores the received reaction force data along with the corresponding timestamp in an internal circular buffer with a size of 1024 data points, capable of storing at least 10 seconds of continuous reaction force data.

[0078] This embodiment uses a high-precision force sensor and a high sampling frequency, which can accurately capture the minute changes in the reaction force during the rotation of the splitter, providing a reliable data foundation for subsequent reaction force compensation.

[0079] In some embodiments, comparing the collected reaction force data with preset standard reaction force data includes: dividing the collected reaction force data into multiple data segments according to the rotation angle of the deflector; comparing the reaction force data of each data segment with the preset standard reaction force data of the corresponding angle segment one by one; and calculating the reaction force deviation value of each data segment.

[0080] This embodiment specifically illustrates the implementation method of "comparing the collected reaction force data with the preset standard reaction force data" in step S102.

[0081] The controller has a pre-stored standard reaction force data table, which was obtained by calibration using standard veterinary drug raw materials before the equipment leaves the factory. The data table is indexed by the rotation angle of the dispensing plate, with each index corresponding to a standard reaction force value. The rotation angle ranges from 0 degrees to 90 degrees, with a step size of 1 degree, so the data table contains a total of 91 standard reaction force values.

[0082] The real-time rotation angle of the shift plates is measured by an absolute photoelectric encoder mounted on the pivot. The encoder has a resolution of 12 bits and can provide an angle measurement accuracy of 0.088 degrees. The encoder output is connected to the high-speed counter port of the controller, and the controller reads the encoder angle value every 10 milliseconds.

[0083] The controller divides the collected reaction force data into 91 data segments according to the corresponding rotation angle, with each data segment corresponding to a 1-degree rotation angle range. For each data segment, the controller calculates the average value of all reaction force data within that segment, which is taken as the actual reaction force value for that angle segment.

[0084] The controller compares the actual reaction force value for each angle segment with the standard reaction force value for the corresponding angle in the preset standard reaction force data table, calculating the reaction force deviation value for each angle segment. The formula for calculating the reaction force deviation value is: Reaction force deviation value = Actual reaction force value - Standard reaction force value. The controller stores the calculated 91 reaction force deviation values ​​in an internal deviation array for subsequent adjustment of drive parameters.

[0085] This embodiment can accurately identify the difference in reaction force experienced by the shift plate at different rotation positions by comparing segments according to angle, thus achieving refined reaction force compensation control.

[0086] In some embodiments, adjusting the driving parameters of the shift lever according to the comparison results to compensate for the reaction force deviation includes: adjusting the driving current of the shift lever in the corresponding rotation angle segment according to the reaction force deviation value of each data segment; increasing the driving current when the reaction force data is greater than the preset standard reaction force data; and decreasing the driving current when the reaction force data is less than the preset standard reaction force data.

[0087] This embodiment specifically illustrates the implementation method of "adjusting the driving parameters of the paddle according to the comparison results to compensate for the reaction force deviation" in step S103.

[0088] The controller employs a segmented PID control algorithm to adjust the drive current of the dispensing plates in real time. The controller has a pre-stored PID parameter table containing three parameters: proportional coefficient, integral coefficient, and derivative coefficient, with values ​​of 2.0, 0.5, and 0.1, respectively.

[0089] For each angle segment, the controller calculates the corresponding drive current adjustment based on the reaction force deviation value for that angle segment. The formula for calculating the drive current adjustment is: Drive current adjustment = proportional coefficient × reaction force deviation value + integral coefficient × integral of reaction force deviation value + derivative coefficient × derivative of reaction force deviation value When the reaction force deviation is positive, meaning the actual reaction force is greater than the standard reaction force, the calculated drive current adjustment is positive, and the controller increases the drive current of the electric actuator; when the reaction force deviation is negative, meaning the actual reaction force is less than the standard reaction force, the calculated drive current adjustment is negative, and the controller decreases the drive current of the electric actuator.

[0090] The controller sends the adjusted drive current to the motor drive module in real time. The motor drive module adjusts the duty cycle of the PWM signal according to the new drive current, thereby changing the output torque of the electric actuator and compensating for the deviation caused by changes in the material reaction force. The adjustment frequency of the drive current is the same as the sampling frequency of the reaction force data, which is 100 Hz, to ensure the real-time nature of the compensation.

[0091] This embodiment employs a segmented PID control algorithm, which can dynamically adjust the drive current according to the reaction force deviation of the dispensing plate at different rotation positions, achieving high-precision reaction force compensation and ensuring the stability of the dispensing plate rotation speed.

[0092] In some embodiments, the step of stopping the drive and locking the shifter after detecting that the shifter has reached the target limit position includes: detecting the position of the shifter by using position sensors installed at two limit positions; immediately stopping the drive of the shifter when the position sensors detect that the shifter has reached the target limit position; and simultaneously activating the locking mechanism to fix the shifter at the target limit position.

[0093] This embodiment specifically illustrates the implementation method of "stopping the drive and locking the gear shifter after detecting that the shifter has reached the target limit position" in step S103.

[0094] The position sensor employs two inductive proximity switches, installed at corresponding extreme positions on the inner walls of the left and right branch channels, respectively. The proximity switches have a detection distance of 5 mm, a response time of 1 ms, and output an NPN normally open signal. The outputs of the two proximity switches are connected to two external interrupt ports of the controller.

[0095] When the shift lever rotates to its left limit position, the left edge of the shift lever enters the detection range of the left proximity switch, which outputs a low-level signal, triggering an external interrupt of the controller. When the shift lever rotates to its right limit position, the right edge of the shift lever enters the detection range of the right proximity switch, which outputs a low-level signal, triggering an external interrupt of the controller.

[0096] Upon receiving an external interrupt triggered by the proximity switch at the target limit position, the controller immediately enters the interrupt service routine. In the interrupt service routine, the controller first sends a stop signal to the motor drive module, cutting off the drive power to the electric actuator and stopping the rotation of the paddle shifter. Then, the controller sends an energizing signal to the electromagnetic brake. The energized coil of the electromagnetic brake generates electromagnetic attraction, engaging the brake disc and firmly locking the pivot, thereby fixing the paddle shifter at the target limit position.

[0097] This embodiment uses an external interrupt method to detect the limit position of the shift lever. It has a fast response speed and can ensure that the shift lever stops and locks immediately when it reaches the limit position, thus preventing overshoot.

[0098] In some embodiments, guiding the material from the inlet channel to the target branch channel to complete the material diversion includes: opening the discharge valve of the hopper; controlling the material to flow into the inlet channel at a preset flow rate; the material flowing along the surface of the dividing plate to the target branch channel after contacting the dividing plate; and closing the discharge valve of the hopper after the material diversion is completed.

[0099] This embodiment specifically illustrates the implementation method of "guiding materials from the inlet channel to the target branch channel to complete material diversion" in step S103.

[0100] The discharge valve of the hopper is an electric butterfly valve with an opening range of 0 to 90 degrees, corresponding to a flow rate range of 0 kg / h to 1000 kg / h. The drive motor of the electric butterfly valve is connected to the analog output module of the controller, and the controller controls the valve opening by outputting a standard current signal of 4 mA to 20 mA.

[0101] After confirming that the dispensing plate is locked at the target limit position, the controller sends an opening control signal to the electric butterfly valve. The controller determines the corresponding valve opening based on the dispensing dosage information in the dispensing instruction: when the dispensing dosage is greater than or equal to 500 grams, the valve opening is set to 70 degrees, corresponding to a flow rate of approximately 700 kg / hour; when the dispensing dosage is less than 500 grams, the valve opening is set to 30 degrees, corresponding to a flow rate of approximately 300 kg / hour.

[0102] The electric butterfly valve opens according to the opening signal sent by the controller, allowing the raw materials for traditional Chinese veterinary medicine to flow from the hopper into the inlet channel. After contacting the separating plate, the material flows along the surface of the separating plate towards the target branch channel, and finally enters the corresponding discharge device for quantitative dispensing.

[0103] After the discharge device completes a single dispensing operation, it sends a dispensing completion signal to the controller. Upon receiving the dispensing completion signal, the controller sends a closing signal to the electric butterfly valve, adjusting the valve opening to 0 degrees, stopping the material supply, and completing this material diversion process.

[0104] This embodiment automatically adjusts the material flow rate according to the dispensing dosage to ensure that the appropriate material supply speed can be obtained for different dosages, thereby improving dispensing accuracy and production efficiency.

[0105] In some embodiments, the method further includes: after each material diversion is completed, recording the reaction force data, driving parameter adjustment data, and diversion completion time during the diversion process; storing the recorded data in a historical database; periodically performing cluster analysis on the data in the historical database; and updating the preset standard reaction force data and initial driving parameters based on the analysis results.

[0106] This embodiment specifically illustrates the self-learning optimization implementation method of the present invention.

[0107] The controller has an internal historical database, which uses an embedded SQLite database for data storage. The historical database contains three tables: a flow diversion record table, a standard reaction force data table, and an initial drive parameter table.

[0108] After each material diversion is completed, the controller automatically generates a diversion record, storing the following data from the diversion process into the diversion record table: diversion number, diversion time, material type, dispensing dosage, target branch channel, actual reaction force value of each angle segment, adjusted drive current of each angle segment, time for the diverter to reach its limit position, and diversion completion time.

[0109] The controller is configured with a self-learning cycle, with a default self-learning cycle of 24 hours. When the self-learning cycle is reached, the controller automatically starts the self-learning program. The self-learning program first reads all distribution records from the distribution record table for the past 24 hours, and then uses the K-means clustering algorithm to cluster the distribution records according to material type and dispensing dosage.

[0110] For each cluster, the self-learning program calculates the average of the actual reaction force values ​​of all shunt records within the cluster at each angle segment, which is used as the new standard reaction force value for that cluster. Simultaneously, the self-learning program calculates the average of the adjusted drive current of all shunt records within the cluster at each angle segment, which is used as the new initial drive parameters for that cluster.

[0111] The self-learning program updates the calculated new standard reaction force value and initial drive parameters to the standard reaction force data table and the initial drive parameter table, respectively. After the update is complete, the controller uses the updated standard reaction force data and initial drive parameters for control during subsequent flow splitting processes.

[0112] This embodiment uses a self-learning mechanism to enable the system to continuously adapt to changes in material properties and equipment wear, continuously optimize control parameters, and improve the long-term stability and adaptability of the system.

[0113] In some embodiments, by providing a feedforward-feedback composite reaction force compensation implementation that adapts the mixing ratio of mixed materials, the technical problem of sudden change in reaction force and lag in feedback compensation caused by changes in the mixing ratio of mixed traditional Chinese veterinary medicine raw materials is solved.

[0114] The filling machine's controller communicates in real time with the host computer's formula management system via industrial Ethernet to obtain the material formula information for the current production batch. The material formula information includes the name, proportion, density, viscosity coefficient, and flowability index of each component; all parameters are pre-stored in the formula management system's material database.

[0115] After receiving the dispensing instruction, the controller first retrieves the material formula information for the current batch from the formula management system. The controller has a pre-stored material composition-reaction coefficient mapping table, which was obtained through extensive experimental calibration and includes the unit reaction coefficient of each individual component at different rotation angles.

[0116] The controller calculates the predicted reaction force value of the current mixture at each rotation angle based on the proportion of each component in the material formula. The predicted reaction force value is calculated as follows: the predicted reaction force value at a certain angle is equal to the sum of the unit reaction force coefficient of each component at that angle multiplied by the proportion of the corresponding component.

[0117] Before the distributor plate begins to rotate, the controller adjusts the initial drive parameters of the drive mechanism in advance based on the calculated predicted reaction force value to achieve feedforward compensation. During the rotation of the distributor plate, the controller simultaneously performs real-time reaction force acquisition and feedback compensation in accordance with the methods described in Examples 3-5.

[0118] The controller superimposes the feedforward compensation and the feedback compensation to obtain the final adjustment of the drive parameters. The feedforward compensation accounts for 70% of the total compensation and is used to offset the main reaction force changes caused by changes in material ratio; the feedback compensation accounts for 30% of the total compensation and is used to correct the errors in feedforward prediction and the influence of other random factors.

[0119] This embodiment uses a feedforward-feedback composite control method to shorten the response time of reaction force compensation from 10 milliseconds to less than 1 millisecond, effectively solving the problem of sudden reaction force caused by changes in the mixture ratio, and significantly improving the smoothness and positioning accuracy of the distributor blade rotation.

[0120] In some embodiments, by providing online detection of distributor wear and adaptive position compensation, the technical problems of poor sealing, material leakage and mixing caused by edge wear of distributors after long-term use are solved.

[0121] The controller has an internal wear detection cycle, with the default cycle being once every 1000 production batches. When the wear detection cycle is reached, the controller automatically starts the no-load wear detection program.

[0122] During the no-load detection process, the controller closes the discharge valve of the hopper to ensure that there is no material in the flow channel. The controller drives the distributing plate to rotate from the left limit position to the right limit position, and then from the right limit position to the left limit position, completing a full reciprocating motion. During the motion, the controller collects no-load reaction force data in real time as described in Example 3.

[0123] The controller compares the collected no-load reaction force data with the initial no-load reaction force data stored at the factory. Wear on the edge of the distributor plate will increase the gap between the distributor plate and the inner wall of the flow channel, thereby reducing the no-load reaction force data. The controller calculates the wear amount of the distributor plate based on the reduction in the no-load reaction force data. The formula for calculating the wear amount is: Wear amount = (Initial average no-load reaction force - Current average no-load reaction force) / Initial average no-load reaction force × Initial thickness of distributor plate.

[0124] When the calculated wear amount is less than 0.5 mm, the controller automatically adjusts the target limit position of the distributor. For the left limit position, the controller shifts the target position to the left by the wear amount; for the right limit position, the controller shifts the target position to the right by the wear amount. Through position offset compensation, it is ensured that the distributor can still fit tightly against the inner wall of the flow channel after wear.

[0125] When the wear is greater than or equal to 0.5 mm, the controller sends a replacement warning signal to the host computer and the local touch screen to remind the operator to replace the replacement piece in time.

[0126] This embodiment realizes online automatic detection and compensation for the wear of the sorting blades, eliminating the need for regular manual disassembly and inspection, extending the service life of the sorting blades, and fundamentally solving the problems of material leakage and mixing caused by wear.

[0127] In some embodiments, by providing a blockage warning and emergency diversion control based on reaction force feature recognition, the technical problem of material blockage in the flow channel causing overload of the drive mechanism and equipment damage is solved.

[0128] The controller has a pre-stored database of blockage reaction force characteristics, which was obtained by simulating different types and degrees of blockage. The blockage reaction force characteristics include four dimensions: reaction force mutation rate, reaction force fluctuation amplitude, reaction force duration, and reaction force spectrum characteristics.

[0129] During the rotation of the distributor plates, the controller extracts the four characteristic parameters mentioned above from the collected reaction force data in real time. The controller uses a support vector machine algorithm to match and identify the extracted characteristic parameters with features in the blockage reaction force feature library.

[0130] When the matching degree reaches 80% or more, the controller determines that it is a sign of material blockage and immediately sends a material blockage warning signal to the host computer and the local touch screen, while reducing the rotation speed of the separator to 50% of the normal speed.

[0131] When the matching degree reaches 95% or higher, the controller determines that a material blockage has occurred and immediately executes the following emergency operations: Immediately stop the rotation of the drive pavers to prevent overload damage to the drive mechanism; Send a power-off signal to the electromagnetic brake to release the locking state of the paddle shifters; Drive the distributing blade to rotate 10 degrees in the opposite direction, and then rotate it 10 degrees in the forward direction. Repeat this 3 times to use the reciprocating motion of the distributing blade to clear the blockage. If the blockage is not resolved after three reciprocating cycles, the controller will immediately stop all operations and send an emergency stop signal to notify the operator to handle the situation manually.

[0132] This embodiment can provide early warning before material blockage occurs and automatically perform emergency unblocking operations after material blockage occurs, effectively avoiding equipment damage and production interruption caused by material blockage, and improving the safety and continuity of production.

[0133] In some embodiments, by providing a smooth transition control of parameters for continuous production across multiple batches, the technical problem of unstable movement of the dispensing plates caused by sudden changes in drive parameters during material switching between different batches is solved.

[0134] When the host computer sends a batch switching command to the controller, the controller first obtains the material type information, formula information, corresponding standard reaction force data, and initial drive parameters of the new batch of materials.

[0135] Instead of immediately switching to the parameters for the new batch, the controller sets a parameter transition period. The length of the parameter transition period is automatically determined based on the degree of difference in the properties of the two batches of materials: when the difference in the properties of the two batches of materials is small, the transition period is set to 5 dispensing cycles; when the difference in the properties of the two batches of materials is large, the transition period is set to 10 dispensing cycles.

[0136] During the parameter transition period, the controller uses linear interpolation to gradually transition the parameters of the old batch to the parameters of the new batch. For each packaging cycle, the controller calculates the transition coefficient for the current cycle. The transition coefficient increases linearly from 0 to 1, where 0 represents using the old batch parameters completely, and 1 represents using the new batch parameters completely.

[0137] The parameter calculation formula used in the current cycle is: Current parameter = Old batch parameter × (1 - Transition coefficient) + New batch parameter × Transition coefficient. The controller performs reaction force compensation and drive control according to the calculated current parameters.

[0138] Once the parameter transition period is complete, the controller fully switches to the parameters of the new batch for control. Simultaneously, the controller stores all data from the transition process into a historical database for subsequent self-learning optimization.

[0139] This embodiment achieves a smooth transition of parameters when switching between different batches of materials, avoiding the impact and instability of the splitter movement caused by sudden parameter changes, and ensuring the consistency of the splitting accuracy during continuous production.

[0140] In some embodiments, by providing a dual-drive mechanism to coordinate high-flow-rate material reaction force compensation, the technical problems of insufficient output force of a single-drive mechanism and incomplete rotation of the dispensing tablets for high-flow-rate or high-viscosity veterinary drug raw materials are solved.

[0141] This embodiment uses two identical electric actuators as the drive mechanism, which are symmetrically installed on the left and right sides of the Y-shaped flow channel structure. The output shafts of the two electric actuators are respectively connected to the two ends of the pivot of the dispensing plate through independent linkage mechanisms.

[0142] The controller employs a master-slave control method to coordinate the control of the two drive mechanisms. The left drive mechanism is the master drive mechanism, and the right drive mechanism is the slave drive mechanism. The master drive mechanism is responsible for executing the total drive command calculated by the reaction force compensation algorithm, while the slave drive mechanism is responsible for following the movement of the master drive mechanism.

[0143] During the rotation of the distributor, the controller collects the output force and position information of the two drive mechanisms in real time. The controller calculates the difference in output force and position between the two drive mechanisms. When the output force difference exceeds a preset threshold, the controller adjusts the output force of the driven mechanism to keep the output forces of the two drive mechanisms balanced. When the position difference exceeds a preset threshold, the controller adjusts the rotation speed of the driven mechanism to keep the positions of the two drive mechanisms synchronized.

[0144] For high-flow-rate or high-viscosity materials, the controller distributes the total drive demand evenly between the two drive mechanisms, with each mechanism handling 50% of the load. Through the coordinated operation of the dual drive mechanisms, the system's maximum output torque is doubled, easily driving the distributor plate to rotate in high-flow-rate or high-viscosity materials.

[0145] This embodiment significantly improves the system's driving capability and load adaptability through the coordinated control of dual drive mechanisms, expanding the application scope of the method of this invention in the dispensing of large-dose, high-viscosity veterinary drugs.

[0146] In some embodiments, by providing a dynamic correction of the reaction force standard value that is adaptive to ambient temperature and humidity, the technical problem of changes in the physical properties of Chinese veterinary medicine raw materials caused by changes in ambient temperature and humidity, and the inapplicability of fixed standard reaction force values, is solved.

[0147] Temperature and humidity sensors are installed on the outer wall of the inlet channel of the Y-shaped flow channel structure. The temperature sensor has a measurement range of -10℃ to 60℃ and an accuracy of ±0.1℃; the humidity sensor has a measurement range of 0%RH to 100%RH and an accuracy of ±2%RH. The outputs of both sensors are connected to the analog input module of the controller, which collects ambient temperature and humidity data every minute.

[0148] The controller has a pre-stored temperature and humidity-reaction force correction model, which was obtained through experimental calibration of various typical Chinese veterinary medicine raw materials under different temperature and humidity conditions. The model adopts a bivariate quadratic polynomial form, which can accurately describe the combined influence of temperature and humidity on the reaction force of materials.

[0149] Before each material diversion begins, the controller reads the current ambient temperature and humidity data. The controller then substitutes the current temperature and humidity data into the temperature and humidity-reaction force correction model to calculate the reaction force correction coefficient. The reaction force correction coefficient ranges from 0.8 to 1.2.

[0150] The controller multiplies the preset standard reaction force data by a reaction force correction coefficient to obtain dynamic standard reaction force data applicable to the current environmental conditions. During the rotation of the distributor plates, the controller uses the dynamic standard reaction force data for reaction force comparison and compensation control.

[0151] This embodiment can automatically adapt to changes in ambient temperature and humidity, dynamically correct the standard reaction force value, and ensure stable diversion control accuracy under different seasons and climate conditions, thereby improving the system's environmental adaptability.

[0152] Please see Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of the closed-loop shunt reaction force compensation calibration device 200 for a traditional Chinese veterinary medicine dispensing machine provided in this application embodiment. The closed-loop shunt reaction force compensation calibration device 200 is used to perform the steps of the closed-loop shunt reaction force compensation calibration method for the traditional Chinese veterinary medicine dispensing machine shown in the above embodiments. The closed-loop shunt reaction force compensation calibration device 200 can be a single server or a server cluster, or it can be a terminal, such as a handheld terminal, a laptop computer, a wearable device, or a robot.

[0153] like Figure 4 As shown, the closed-loop diversion reaction force compensation calibration device 200 of the traditional Chinese veterinary medicine dispensing machine includes: The instruction receiving unit 201 is used to receive the dispensing instruction, determine the target branch channel, and drive the dispensing piece to rotate to the limit position of the corresponding target branch channel; The data comparison unit 202 is used to collect the reaction force data during the rotation of the dispensing plate in real time and compare the collected reaction force data with the preset standard reaction force data. The material diversion unit 203 is used to adjust the driving parameters of the diversion plate according to the comparison results, compensate for the reaction force deviation, and stop driving and lock the diversion plate after detecting that the diversion plate has reached the target limit position; guide the material from the inlet channel to the target branch channel to complete the material diversion.

[0154] In some embodiments, receiving a dispensing instruction and determining a target branch channel includes: parsing the material type information and dispensing dosage information contained in the dispensing instruction; and matching the corresponding target branch channel based on the material type information and dispensing dosage information.

[0155] In some embodiments, the drive lever rotates to the extreme position of the corresponding target branch channel, including: calling the corresponding initial drive parameters according to the determined target branch channel; and driving the lever to rotate from the current position to the target extreme position according to the initial drive parameters.

[0156] In some embodiments, the real-time acquisition of reaction force data during the rotation of the shift paddle includes: acquiring reaction force data of the shift paddle during rotation at fixed time intervals using a force sensor installed on the shift paddle drive mechanism.

[0157] In some embodiments, comparing the collected reaction force data with preset standard reaction force data includes: dividing the collected reaction force data into multiple data segments according to the rotation angle of the deflector; comparing the reaction force data of each data segment with the preset standard reaction force data of the corresponding angle segment one by one; and calculating the reaction force deviation value of each data segment.

[0158] In some embodiments, adjusting the driving parameters of the shift lever according to the comparison results to compensate for the reaction force deviation includes: adjusting the driving current of the shift lever in the corresponding rotation angle segment according to the reaction force deviation value of each data segment; increasing the driving current when the reaction force data is greater than the preset standard reaction force data; and decreasing the driving current when the reaction force data is less than the preset standard reaction force data.

[0159] In some embodiments, the step of stopping the drive and locking the shifter after detecting that the shifter has reached the target limit position includes: detecting the position of the shifter by using position sensors installed at two limit positions; immediately stopping the drive of the shifter when the position sensors detect that the shifter has reached the target limit position; and simultaneously activating the locking mechanism to fix the shifter at the target limit position.

[0160] In some embodiments, guiding the material from the inlet channel to the target branch channel to complete the material diversion includes: opening the discharge valve of the hopper; controlling the material to flow into the inlet channel at a preset flow rate; the material flowing along the surface of the dividing plate to the target branch channel after contacting the dividing plate; and closing the discharge valve of the hopper after the material diversion is completed.

[0161] In some embodiments, the method further includes: after each material diversion is completed, recording the reaction force data, driving parameter adjustment data, and diversion completion time during the diversion process; storing the recorded data in a historical database; periodically performing cluster analysis on the data in the historical database; and updating the preset standard reaction force data and initial driving parameters based on the analysis results.

[0162] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the closed-loop diversion reaction force compensation calibration device and each module of the above-described Chinese veterinary medicine dispensing machine can be referred to the corresponding content in the various embodiments of the above-described closed-loop diversion reaction force compensation calibration method for Chinese veterinary medicine dispensing machine, and will not be repeated here.

[0163] The closed-loop diversion reaction force compensation calibration method for the aforementioned traditional Chinese veterinary medicine dispensing machine can be implemented as a computer program, which can be used in various applications such as... Figure 4 It runs on the device shown.

[0164] Please see Figure 5 , Figure 5 This is a schematic block diagram of the structure of a traditional Chinese veterinary medicine dispensing machine provided in an embodiment of this application. The dispensing machine includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and internal memory.

[0165] The storage medium can store operating devices and computer programs. The computer program includes program instructions that, when executed, cause the processor to perform any closed-loop shunt reaction force compensation calibration method for a traditional Chinese veterinary medicine dispensing machine.

[0166] The processor provides computing and control capabilities to support the operation of the entire traditional Chinese veterinary medicine dispensing machine.

[0167] The internal memory provides an environment for the execution of computer programs in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to perform any closed-loop shunt reaction force compensation calibration method for a traditional Chinese veterinary drug dispensing machine.

[0168] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the terminal to which the present application is applied. A specific Chinese veterinary medicine dispensing machine may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0169] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0170] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps: Receive the dispensing instruction, determine the target branch channel, and drive the dispensing plate to rotate to the limit position of the corresponding target branch channel; Real-time acquisition of reaction force data during the rotation of the distributor plates, and comparison of the acquired reaction force data with preset standard reaction force data; Adjust the driving parameters of the separating plate according to the comparison results, compensate for the reaction force deviation, and stop driving and lock the separating plate after detecting that the separating plate has reached the target limit position; guide the material from the inlet channel to the target branch channel to complete the material diversion.

[0171] In some embodiments, receiving a dispensing instruction and determining a target branch channel includes: parsing the material type information and dispensing dosage information contained in the dispensing instruction; and matching the corresponding target branch channel based on the material type information and dispensing dosage information.

[0172] In some embodiments, the drive lever rotates to the extreme position of the corresponding target branch channel, including: calling the corresponding initial drive parameters according to the determined target branch channel; and driving the lever to rotate from the current position to the target extreme position according to the initial drive parameters.

[0173] In some embodiments, the real-time acquisition of reaction force data during the rotation of the shift paddle includes: acquiring reaction force data of the shift paddle during rotation at fixed time intervals using a force sensor installed on the shift paddle drive mechanism.

[0174] In some embodiments, comparing the collected reaction force data with preset standard reaction force data includes: dividing the collected reaction force data into multiple data segments according to the rotation angle of the deflector; comparing the reaction force data of each data segment with the preset standard reaction force data of the corresponding angle segment one by one; and calculating the reaction force deviation value of each data segment.

[0175] In some embodiments, adjusting the driving parameters of the shift lever according to the comparison results to compensate for the reaction force deviation includes: adjusting the driving current of the shift lever in the corresponding rotation angle segment according to the reaction force deviation value of each data segment; increasing the driving current when the reaction force data is greater than the preset standard reaction force data; and decreasing the driving current when the reaction force data is less than the preset standard reaction force data.

[0176] In some embodiments, the step of stopping the drive and locking the shifter after detecting that the shifter has reached the target limit position includes: detecting the position of the shifter by using position sensors installed at two limit positions; immediately stopping the drive of the shifter when the position sensors detect that the shifter has reached the target limit position; and simultaneously activating the locking mechanism to fix the shifter at the target limit position.

[0177] In some embodiments, guiding the material from the inlet channel to the target branch channel to complete the material diversion includes: opening the discharge valve of the hopper; controlling the material to flow into the inlet channel at a preset flow rate; the material flowing along the surface of the dividing plate to the target branch channel after contacting the dividing plate; and closing the discharge valve of the hopper after the material diversion is completed.

[0178] In some embodiments, the method further includes: after each material diversion is completed, recording the reaction force data, driving parameter adjustment data, and diversion completion time during the diversion process; storing the recorded data in a historical database; periodically performing cluster analysis on the data in the historical database; and updating the preset standard reaction force data and initial driving parameters based on the analysis results.

[0179] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the closed-loop diversion reaction force compensation calibration method for a traditional Chinese veterinary medicine dispensing machine as provided in any embodiment of this application.

[0180] The computer-readable storage medium can be an internal storage unit of the traditional Chinese veterinary medicine dispensing machine described in the foregoing embodiments, such as the hard disk or memory of the traditional Chinese veterinary medicine dispensing machine. The computer-readable storage medium can also be an external storage device of the traditional Chinese veterinary medicine dispensing machine, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the traditional Chinese veterinary medicine dispensing machine.

[0181] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A closed-loop diversion reaction force compensation calibration method for a traditional Chinese veterinary medicine dispensing machine, applied to the dispensing machine, wherein the dispensing machine includes an inlet channel connected to a hopper, a bifurcation section formed by branching along the material flow direction, and corresponding left and right branch channels. The inlet channel, left and right branch channels form a Y-shaped flow channel structure at the bifurcation section. A rotatable diverting plate is provided at the bifurcation section. The diverting plate is pivotally mounted on the inner wall of the device and can switch between two extreme positions. When the diverting plate is in the first extreme position, it blocks the left branch channel and guides the material to the right branch channel; when the diverting plate is in the second extreme position, it blocks the right branch channel and guides the material to the left branch channel. The method is characterized in that... include: Receive the dispensing instruction, determine the target branch channel, and drive the dispensing plate to rotate to the limit position of the corresponding target branch channel; Real-time acquisition of reaction force data during the rotation of the distributor plates, and comparison of the acquired reaction force data with preset standard reaction force data; Adjust the driving parameters of the separating plate according to the comparison results, compensate for the reaction force deviation, and stop driving and lock the separating plate after detecting that the separating plate has reached the target limit position; guide the material from the inlet channel to the target branch channel to complete the material diversion.

2. The method according to claim 1, characterized in that, The process of receiving the repackaging instruction and determining the target branch channel includes: Parse the material type information and dispensing dosage information contained in the dispensing instruction; Match the corresponding target branch channel based on material type information and dispensing dosage information.

3. The method according to claim 1, characterized in that, The drive lever rotates to the extreme position of the corresponding target branch channel, including: The corresponding initial driver parameters are invoked based on the determined target branch channel; Drive the paddles to rotate from their current position to the target extreme position according to the initial drive parameters.

4. The method according to claim 1, characterized in that, The real-time acquisition of reaction force data during the rotation of the shift lever includes: Through a force sensor installed on the paddle drive mechanism; Data on the reaction force experienced by the dispensing disc during rotation are collected at fixed time intervals.

5. The method according to claim 4, characterized in that, The step of comparing the collected reaction force data with preset standard reaction force data includes: The collected reaction force data is divided into multiple data segments according to the rotation angle of the distributor; The reaction force data of each data segment is compared one by one with the preset standard reaction force data of the corresponding angle segment; Calculate the reaction force deviation value for each data segment.

6. The method according to claim 1, characterized in that, The step of adjusting the driving parameters of the shift levers based on the comparison results to compensate for the reaction force deviation includes: Adjust the driving current of the dispensing plate in the corresponding rotation angle segment based on the reaction force deviation value of each data segment; Increase the driving current when the reaction force data is greater than the preset standard reaction force data; Reduce the drive current when the reaction force data is less than the preset standard reaction force data.

7. The method according to claim 1, characterized in that, After the detection switch reaches the target limit position, the drive is stopped and the switch is locked, including: The position of the dispensing piece is detected by position sensors installed at two extreme positions; When the position sensor detects that the shifter has reached the target limit position, it immediately stops driving the shifter; at the same time, the locking mechanism is activated to fix the shifter in the target limit position.

8. The method according to claim 1, characterized in that, The process of guiding the material from the inlet channel to the target branch channel to complete the material diversion includes: Open the discharge valve of the hopper; The material is controlled to flow into the inlet channel at a preset flow rate; after contacting the distributor plate, the material flows along the surface of the distributor plate towards the target branch channel. After the material diversion is completed, close the discharge valve of the hopper.

9. The method according to claim 1, characterized in that, The method further includes: After each material diversion is completed, record the reaction force data, drive parameter adjustment data, and diversion completion time during this diversion process; Recorded data is stored in a historical database; cluster analysis is performed on the data in the historical database periodically; and the preset standard reaction force data and initial driving parameters are updated based on the analysis results.

10. A closed-loop diversion reaction force compensation calibration device for a traditional Chinese veterinary medicine dispensing machine, used to implement the method as described in any one of claims 1-9, applied to a traditional Chinese veterinary medicine dispensing machine, the traditional Chinese veterinary medicine dispensing machine including an inlet channel communicating with a hopper, a bifurcation section formed by branching along the material flow direction and corresponding left branch channel and right branch channel, the inlet channel, the left branch channel, and the right branch channel forming a Y-shaped flow channel structure at the bifurcation section, a rotatable diverting plate provided at the bifurcation section, the diverting plate being pivotally mounted on the inner wall of the device, and switchable between two extreme positions, the diverting plate blocking the left branch channel and guiding the material to the right branch channel when in the first extreme position, and blocking the right branch channel and guiding the material to the left branch channel when in the second extreme position, characterized in that... include: The instruction receiving unit is used to receive the dispensing instruction, determine the target branch channel, and drive the dispensing piece to rotate to the limit position of the corresponding target branch channel; The data comparison unit is used to collect the reaction force data during the rotation of the distributor in real time and compare the collected reaction force data with the preset standard reaction force data. The material diversion unit is used to adjust the driving parameters of the diverter according to the comparison results, compensate for the reaction force deviation, and stop driving and lock the diverter after detecting that the diverter has reached the target limit position; it guides the material from the inlet channel to the target branch channel to complete the material diversion.

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