Traditional Chinese medicine filling and labeling machine

Abstract

The invention relates to a traditional Chinese medicine filtering, packaging and labeling all-in-one machine which comprises a rack, and a filling machine and a labeling machine for labeling traditional Chinese medicine containers filled by the filling machine are arranged on the rack; the medicine decocting pot cover opening structure is used for taking down a pot cover of the medicine decocting pot; the traditional Chinese medicine filtering structure is used for separating the inner pot from the outer pot, so that medicine liquid in the inner pot completely flows into the outer pot, and medicine residues are retained in the inner pot; the liquid medicine conveying structure is used for conveying the liquid medicine in the outer pot into a liquid storage barrel of the filling machine; the medicine decocting pot comprises an outer pot, an inner pot arranged in the outer pot in a penetrating mode and a pot cover covering the inner pot, and filtering holes are formed in the bottom wall of the inner pot. The invention aims to provide the traditional Chinese medicine filling and labeling machine capable of uncovering, filtering and butting with the medicine decocting pot, and the problem that an existing traditional Chinese medicine filling and labeling machine can only fill and label filtered traditional Chinese medicine is solved.

Description

Technical Field

[0001] The invention relates to the technical field of traditional Chinese medicine production equipment, in particular to a traditional Chinese medicine filling and labeling machine. Background Art

[0002] In the production of traditional Chinese medicine, the herbs need to be boiled in a decoction pot. After boiling, the herbs are filtered to remove the residue. The liquid medicine is then filled into the corresponding packaging container and labeled. The decoction pot structure includes an outer pot, an inner pot inserted into the outer pot, and a lid covering the inner pot. The inner pot is provided with an outer flange that covers the upper end of the outer pot, and the lid is provided with a gripping protrusion. The decoction pot is recyclable and needs to be cleaned after each use before it can be used again. Existing Chinese medicine filling and labeling machines can only operate on filtered Chinese medicine liquid. Summary of the Invention

[0003] The present invention aims to provide a Chinese medicine filling and labeling machine capable of opening a cover for filtering and docking with a medicine decoction pot, thereby solving the problem that existing Chinese medicine filling and labeling machines can only fill and label filtered Chinese medicines.

[0004] The specific technical solution of the present invention is: a Chinese medicine filling and labeling machine, including a frame, on which a filling machine and a labeling machine are provided for labeling Chinese medicine containers filled by the filling machine. The machine is characterized in that it also includes a decoction pot lid opening structure for removing the lid of the decoction pot; a Chinese medicine filtering structure for separating the inner pot and the outer pot so that all the medicinal liquid in the inner pot flows into the outer pot and the medicinal residue remains in the inner pot; a medicinal liquid conveying structure for conveying the medicinal liquid in the outer pot to the liquid storage barrel of the filling machine; the decoction pot includes an outer pot, an inner pot inserted in the outer pot and a lid covering the inner pot, and a filtering hole is provided on the bottom wall of the inner pot. During use, the transfer robot moves the decoction pot to the decoction pot lid opening structure, removes the pot lid through the decoction pot lid opening structure, and transfers the inner and outer pots to the Chinese medicine filtering structure. The Chinese medicine filtering structure fixes the inner pot, and the transfer robot descends, causing the outer pot to descend together, thereby achieving the upper and lower separation of the inner and outer pots. After separation, the inner pot filters the Chinese medicine, and the medicinal liquid enters the outer pot, while the medicinal residue remains in the inner pot. The medicinal liquid conveying structure conveys the medicinal liquid in the outer pot to the liquid storage barrel of the filling machine. The filling machine divides the medicinal liquid into Chinese medicine containers (usually medicine bags) as required. The Chinese medicine containers are labeled with the required labels by the labeling machine. The upper and lower filtering and filling are integrated.

[0005] Preferably, a gripping protrusion is provided at the center of the pot lid, and the decoction pot lid opening mechanism includes a pot lid grasping manipulator that grasps the gripping protrusion and a pot lid grasping manipulator moving structure that drives the pot lid grasping manipulator to move so as to remove the pot lid from the inner pot. When opening the lid, the pot lid grasping manipulator grasps the gripping protrusion, and then the pot lid grasping manipulator moving structure drives the pot lid grasping manipulator to move so as to remove the pot lid from the inner pot, thereby achieving the lid opening.

[0006] Preferably, the pot lid grasping manipulator comprises a gripping finger and a gripping finger opening and closing cylinder for driving the gripping finger to open and close. A specific technical solution for the pot lid grasping manipulator is provided.

[0007] Preferably, the pot lid grasping manipulator includes two clamping rods extending in the horizontal direction, the pinching protrusion is cylindrical, and a circular pressure relief hole penetrating the inner surface of the pot is provided on the upper end surface of the pinching protrusion, the middle parts of the two clamping rods are hinged together by a vertical hinge shaft, a clamping opening for clamping the pinching protrusion is formed between one end of the two clamping rods, and an avoidance opening is formed between the other ends, a sliding hole is provided on the upper end surface of the vertical hinge shaft, a sliding rod is passed through the sliding hole, the upper end of the sliding rod is connected to the middle part of the horizontal connecting rod, and one end of the horizontal connecting rod is provided with The vertical filling rod facing the clamping mouth has a driving block located in the avoidance mouth at the other end. The sliding rod is provided with a lifting spring for lifting the horizontal connecting rod. The size of the driving block along the distribution direction of the two clamping rods gradually increases from top to bottom. The pinching protrusion is located inside the clamping mouth. When the clamping mouth is in an open state, the vertical filling rod is aligned with the pressure relief through hole and is located outside the pressure relief through hole. When the clamping mouth clamps the pinching protrusion, the vertical filling rod is inserted into the pressure relief hole and the lower end of the vertical filling rod is located in the clamping mouth. The other ends of the two clamping rods are hinged together with the two clamping fingers one by one through a connecting shaft.

[0008] Preferably, the pot lid grasping robot further comprises a pot lid grasping robot connecting arm connecting the finger opening and closing cylinder to the pot lid grasping robot moving structure.

[0009] Preferably, the pot lid grabbing robot moving structure includes a horizontal rotating shaft rotatably connected to a frame and a rotating shaft driving structure for driving the horizontal rotating shaft to rotate, and the pot lid grabbing robot connecting arm is fixed to the horizontal rotating shaft. A specific technical solution for the pot lid grabbing robot moving structure is provided.

[0010] Preferably, the pot lid gripping robot arm includes a horizontal arm connected to the gripping cylinder body at one end and a vertical arm connected to the horizontal arm at its upper end. The lower end of the vertical arm is secured to the horizontal shaft. This allows the raised pot lid to be opened when the horizontal shaft is in a low position. A low horizontal shaft position improves stability.

[0011] Preferably, the shaft drive structure includes a shaft drive cylinder, one end of which is hinged to the frame via a first horizontal hinge axis, and the other end of which is hinged to the horizontal hinge axis via a second horizontal hinge axis. The first horizontal hinge axis, the horizontal shaft, and the second horizontal hinge axis are parallel to each other, thereby facilitating layout during driving.

[0012] Preferably, the shaft drive structure further includes a drive arm having one end fixed to the horizontal shaft, the other end of the shaft drive cylinder being hinged to the other end of the drive arm via a second horizontal hinge shaft and connected to the horizontal shaft, and the drive arm extending radially along the horizontal shaft, thereby saving effort when driving the horizontal shaft to rotate.

[0013] Preferably, the frame is further provided with a medicine decoction pot support bracket, which can temporarily store the medicine decoction pot.

[0014] Preferably, the pot cover grabbing manipulator is located above the medicine decoction pot support bracket, and the pot cover grabbing manipulator can grab the pot cover of the medicine decoction pot resting on the medicine decoction pot support bracket. When opening the lid, the manipulator of the medicine decoction pot can be transferred to perform other operations.

[0015] Preferably, the Chinese medicine filtering structure includes a support platform and a suspension fork located above the support platform, the suspension fork being used to hold the inner pot by its outer flange to suspend the inner pot; a scale is provided on the support platform for weighing the mass of an object placed on the support platform; the inner pot and outer pot are separated when the inner pot is suspended on the suspension fork and the outer pot is supported on the support platform. During use, a decoction pot transfer robot transfers the decoction pot, with the lid removed, so that the outer flange of the inner pot is hung on the suspension fork. The decoction pot transfer robot then moves downward, driving the outer pot to support itself on the support platform, thereby separating the inner and outer pots and filtering the Chinese medicine through the inner pot.

[0016] Preferably, it also includes a pressing structure for the Chinese medicine filtering structure, the hanging fork includes a fork body for hanging the inner pot and a fork body reset structure, the fork body includes two fork rods distributed in the left and right directions and a connecting rod connecting the two fork rods together, the two fork rods can swing back and forth and are each supported on a swing seat, the pressing structure for the Chinese medicine filtering structure is used to press the fork body to tilt the fork body in the front and back directions and drive the inner pot to tilt together, and the fork body reset structure is used to drive the fork body to reset after the pressing structure for the Chinese medicine filtering structure loses the pressing operation on the rear fork rod. When filtering the decoction pot, the hanging fork is pressed by the pressing structure for the Chinese medicine filtering structure to tilt the hanging fork and thus tilt the inner pot. After tilting, the coverage area of ​​the Chinese medicine flowing out of the inner pot is small, which can reliably prevent the medicinal liquid from dripping onto the outside of the outer pot.

[0017] Preferably, the pressing structure of the traditional Chinese medicine filtering structure includes a pressing block and a pressing cylinder for driving the pressing block to move upward and downward.

[0018] Preferably, when the inner pot is suspended on the fork, the pressing block is located directly above the inner pot, so that the edge of the inner pot is pressed when pressed, thereby improving the reliability when tilting the inner pot and reducing damage to the suspension fork during cleaning.

[0019] Preferably, the connecting rod and the two fork rods are each provided with a hanging block for supporting the outer flange of the inner pot. When the inner pot is hung on the three hanging blocks, the center of gravity of the inner pot is located within the area enclosed by the three hanging blocks, thereby better suspending the inner pot.

[0020] Preferably, the end surface of the hanging block facing one end of the area surrounded by the three hanging blocks is a curved surface, which can increase the contact area of ​​the hanging block with the outer flange of the inner pot.

[0021] Preferably, the suspension fork is equipped with two opposing, telescopic clamping cylinders. The piston rods of these clamping cylinders are equipped with clamping blocks for gripping the outer flange of the inner pot. When the outer pot is re-sleeved onto the inner pot, the two clamping cylinders drive the clamping blocks to close, clamping the inner pot and preventing it from being lifted by the outer pot. This improves the reliability of the outer pot when it is placed on the inner pot.

[0022] Preferably, the swing seat includes a connecting seat connected to the frame, a panel connected above the connecting seat, and a supporting protrusion provided on the panel, one end of the fork rod is supported on the supporting protrusion, and the fork body reset structure includes a pull rod connected to the other end of the fork rod after the upper end passes through the panel, and a reset spring sleeved on the pull rod, the upper end of the reset spring is connected to the panel, and the lower end is connected to the lower end of the pull rod. When the suspension fork is tilted by the pressing structure of the Chinese medicine filtering structure, the reset spring deforms and stores energy, so that when the pressing structure of the Chinese medicine filtering structure loses its pressing effect, the reset spring releases energy and resets the suspension fork through the pull rod.

[0023] Preferably, one end of the panel connected to the pull rod is provided with a swing limit rod, the upper end of the swing limit rod is connected to the fork rod, and the lower end is provided with a lower limit block. The swing limit rod is also connected to an upper limit block located above the panel. When the upper limit block abuts against the panel during the process of the fork body reset structure driving the fork body to reset, the fork body stops swinging. When the lower limit block abuts against the panel during the process of the traditional Chinese medicine filtering structure pressing structure driving the fork body to swing, the fork body stops swinging. This can prevent the suspension fork from tilting excessively.

[0024] Preferably, the liquid medicine delivery structure includes a water pump, an inlet pipe connected to the water pump inlet, and an outlet pipe connected to the water pump outlet. The outlet end of the outlet pipe is connected to the liquid storage barrel. The inlet pipe includes a rigid pipe section with a downward opening and a flexible pipe section connecting the rigid pipe section to the water pump inlet. The rigid pipe section is connected to an inlet pipe lifting structure, which is connected to the frame via an inlet pipe translation structure. During use, the rigid pipe section is inserted into the liquid medicine in the outer pot under the action of the inlet pipe lifting and translation structures, and the liquid medicine is then pumped into the liquid medicine storage barrel by the water pump. This achieves docking of the filling structure with the outer pot.

[0025] Preferably, the liquid inlet pipe lifting structure includes a lower connecting block, an upper connecting block, a vertical guide rod, a vertical lead screw, and a lifting seat. The ends of the vertical guide rod are connected to the upper and lower connecting blocks. The vertical guide rod is passed through the lifting seat. The lower end of the vertical lead screw is rotatably connected to the lower connecting block, and the upper end is connected to the lifting motor. The lifting motor is connected to the upper connecting block. The vertical lead screw is threadedly connected to the lifting seat. The rigid pipe section is fixed together through the lifting seat. When in use, the lifting motor drives the lifting seat to move, thereby achieving the lifting of the rigid pipe section.

[0026] Preferably, the liquid inlet pipe translation structure includes a translation cylinder that can be telescoped forward and backward, one end of which is connected to the frame and the other end to the lower connecting block. This provides a specific technical solution for the liquid inlet pipe translation structure. The structure is simple.

[0027] Preferably, the liquid inlet pipe translation structure further includes a front-to-back support slide bar connected to the frame, and the lower connecting block rests on the front-to-back support slide bar, so as to reduce the stress on the connection between the translation cylinder and the frame.

[0028] Preferably, the lifting base is provided with two connecting ears distributed in the vertical direction, each of which is provided with a vertical insertion hole. The hole wall of the vertical insertion hole is provided with a slit that passes through the outer side of the connecting ear. The slit is used to allow the vertical insertion hole to elastically expand. The rigid pipe section is inserted into the vertical insertion hole. When the vertical insertion hole is expanded, the elastic force generated by the vertical insertion hole causes the vertical insertion hole to hold the rigid pipe section, so that the rigid pipe section can be easily connected to and removed from the lifting base.

[0029] As an advantage, the device further comprises a cleaning barrel for cleaning the rigid pipe section. After use, the rigid pipe section is inserted into the cleaning barrel for cleaning.

[0030] Preferably, the liquid medicine delivery structure further comprises a shampoo water input tap, and the washing water input tap is connected to a water source of the washing tub. During washing, the washing water is input into the washing tub through the washing water input tap.

[0031] Preferably, it further includes a horizontal telescopic cylinder, the cylinder body of which is fixed to the frame, the washing water input faucet is connected to the piston rod of the horizontal telescopic cylinder, and the horizontal cylinder is used to extend the faucet above the washing tub.

[0032] Compared with the prior art, the present invention has the beneficial effects of being able to open the cover of the decoction pot of freshly decocted traditional Chinese medicine, filter and weigh it, and then fill and label the traditional Chinese medicine solution at the filtration point. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional structural diagram of the present invention from one viewing angle; Figure 2 for Figure 1 A local enlarged schematic diagram of point B; Figure 3 for Figure 1 A partial enlarged schematic diagram of point C Figure 4 for Figure 1 A partial enlarged schematic diagram of point D Figure 5 A schematic diagram of the three-dimensional structure of the present invention from a second viewing angle; Figure 6 for Figure 5 A local enlarged schematic diagram of point A; Figure 7 A schematic diagram of the three-dimensional structure of the present invention from a third viewing angle; Figure 8 A schematic top view of another embodiment of a pot lid grabbing robot; Figure 9 for Figure 8 D-D cross-sectional view of FIG. Figure 10 for Figure 8 E-E cross-sectional view of .

[0034] In the figure: frame 1, filling machine 2, labeling machine 3, pot cover grabbing robot 4, pot cover grabbing robot moving structure 5, clamping finger 6, clamping finger opening and closing cylinder 7, pot cover grabbing robot connecting arm 8, horizontal shaft 9, shaft driving structure 10, horizontal arm 11, vertical arm 12, shaft driving cylinder 13, driving arm 14, first horizontal hinge shaft 15, second horizontal hinge shaft 16, decoction pot support bracket 17, outer pot 57, inner pot 58, pot cover 59, liquid storage barrel 60, support platform 18, Chinese medicine filtering structure pressing structure 19, fork body 20, fork body reset structure 21, fork rod 22, connecting rod 23, swing seat 24, pressing block 25, pressing cylinder 26, hanging block 27, end face of hanging block facing one end of the area surrounded by three hanging blocks 28, clamping cylinder 29, clamping block 30, connecting Seat 31, panel 32, supporting protrusion 33, pull rod 34, return spring 35, swing limit rod 36, lower limit block 37, upper limit block 38, water pump 39, liquid outlet pipe 40, rigid pipe section 41, flexible pipe section 42, liquid inlet pipe lifting structure 43, liquid inlet pipe translation structure 44, lower connecting block 45, vertical guide rod 46, vertical lead screw 47, lifting seat 48, translation cylinder 49, forward and backward supporting slide rod 50, connecting ear 51, gap 52, cleaning barrel 53, shampoo input faucet 54, horizontal telescopic cylinder 55, liquid inlet pipe 56, pinching protrusion 77, pressure relief through hole 78, clamping rod 79, vertical hinge shaft 81, clamping port 82, avoidance port 83, connecting shaft 84, sliding hole 86, sliding rod 87, horizontal connecting rod 88, vertical filling rod 89, driving block 90, and lifting spring 91. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See also Figures 1 to 7A Chinese medicine filling and labeling machine includes a frame 1. The frame is equipped with a filling machine 2, a labeling machine 3 for labeling Chinese medicine containers filled by the filling machine, a decoction pot lid opening structure, a Chinese medicine filtering structure, and a liquid medicine conveying structure. The decoction pot includes an outer pot 57, an inner pot 58 inserted into the outer pot, and a pot lid 59 covering the inner pot. The bottom wall of the inner pot is provided with filtering holes. During use, a transfer robot moves the decoction pot to the decoction pot lid opening structure, removes the pot lid through the decoction pot lid opening structure, and transfers the inner and outer pots to the Chinese medicine filtering structure. The Chinese medicine filtering structure secures the inner pot. The transfer robot descends, causing the outer pot to descend together, thereby separating the inner and outer pots. After separation, the inner pot filters the Chinese medicine, and the medicinal liquid enters the outer pot, while the medicinal residue remains in the inner pot. The liquid medicine conveying structure conveys the medicinal liquid in the outer pot to the liquid storage barrel 60 of the filling machine. The filling machine dispenses the medicinal liquid into Chinese medicine containers as required, and the Chinese medicine containers are labeled with the required labels by the labeling machine.

[0037] The pot lid is provided with a gripping protrusion at the center. The decoction pot lid opening mechanism includes a lid gripping manipulator 4 that grasps the gripping protrusion and a lid gripping manipulator moving mechanism 5 that drives the lid gripping manipulator to move and remove the pot lid from the inner pot. When opening the pot lid, the lid gripping manipulator grasps the gripping protrusion, and then the lid gripping manipulator moving mechanism drives the lid gripping manipulator to move and remove the pot lid from the inner pot. The lid gripping manipulator includes gripping fingers 6, a gripping finger opening and closing cylinder 7 that drives the gripping fingers to open and close, and a lid gripping manipulator connecting arm 8 that connects the gripping finger opening and closing cylinder to the lid gripping manipulator moving mechanism. The lid gripping manipulator moving mechanism includes a horizontal shaft 9 rotatably connected to the frame and a shaft drive mechanism 10 that drives the horizontal shaft. The lid gripping manipulator connecting arm is fixed to the horizontal shaft. The pot lid gripping manipulator's connecting arm comprises a horizontal arm 11, one end of which is connected to the gripper cylinder body, and a vertical arm 12, the upper end of which is connected to the horizontal arm. The lower end of the vertical arm is fixed to the horizontal rotating shaft. The rotating shaft drive structure comprises a rotating shaft drive cylinder 13 and a driving arm 14, one end of which is fixed to the horizontal rotating shaft. One end of the rotating shaft drive cylinder is hinged to the frame via a first horizontal hinge 15, and the other end is hinged to the other end of the driving arm via a second horizontal hinge 16. The first horizontal hinge, the horizontal rotating shaft, and the second horizontal hinge are parallel. The driving arm extends radially along the horizontal rotating shaft. A decoction pot support bracket 17 is also provided on the frame. The pot lid gripping manipulator is located above the decoction pot support bracket and can grasp the decoction pot lid when it is resting on the decoction pot support bracket.

[0038] The Chinese medicine filtration structure includes a support platform 18 and a suspension fork located above the support platform. The suspension fork is used to support the inner pot by its outer flange to suspend the inner pot. A scale is mounted on the support platform to measure the mass of objects placed on the support platform. When the inner pot is suspended on the suspension fork and the outer pot is supported on the support platform, the inner and outer pots are separated. During use, a decoction pot transfer robot transfers the decoction pot, with the lid removed, to the inner pot's outer flange, where it hangs on the suspension fork. The decoction pot transfer robot then moves downward, driving the outer pot to rest on the support platform, thereby separating the inner and outer pots and filtering the Chinese medicine through the inner pot. The Chinese medicine filtration structure also includes a pressing structure 19 for the Chinese medicine filtration structure. The suspension fork includes a fork body 20 that suspends the inner pot and a fork body reset structure 21. The fork body includes two fork rods 22 arranged in a left-right direction and a connecting rod 23 connecting the two fork rods. The two fork rods are each supported on a swinging seat 24 so that they can swing back and forth. A fork body reset structure is located between each swinging seat and the fork body. The pressing structure of the Chinese medicine filtration structure is used to press the fork body, causing it to tilt in the front-to-back direction, thereby causing the inner pot to tilt. The fork body reset structure is used to reset the fork body after the pressing structure of the Chinese medicine filtration structure loses its pressing operation on the rear fork rod. During filtration in the decoction pot, the pressing structure of the Chinese medicine filtration structure presses the suspension fork, causing it to tilt, thereby tilting the inner pot. After tilting, the coverage area of ​​the Chinese medicine flowing out of the inner pot is reduced, which can reliably prevent the medicinal liquid from dripping onto the outside of the outer pot. The pressing structure of the Chinese medicine filtration structure includes a pressing block and a pressing cylinder 26 that drives the pressing block downward. When the inner pot is suspended on the fork body, the pressing block is located directly above the inner pot. A hanging block 27 is each provided on the connecting rod and the two fork rods to support the outer edge of the inner pot. When the inner pot is suspended on the three hanging blocks, the center of gravity of the inner pot is located within the area enclosed by the three hanging blocks. The end face 28 of the hanging block facing one end of the area enclosed by the three hanging blocks is a curved surface. The suspension fork is equipped with two opposing, telescopic clamping cylinders 29. The piston rods of these clamping cylinders are equipped with clamping blocks 30 for clamping the outer flange of the inner pot. When the outer pot is reattached to the inner pot, the two clamping cylinders drive the clamping blocks to close, clamping the inner pot and preventing it from being lifted by the outer pot. The swinging seat comprises a connecting seat 31 connected to the frame, a panel 32 connected above the connecting seat, and a support protrusion 33 provided on the panel. One end of the fork rod is supported on the support protrusion. The fork body reset structure comprises a pull rod 34, the upper end of which passes through the panel and connects to the other end of the fork rod. A reset spring 35 is mounted on the pull rod. The upper end of the reset spring is connected to the panel, and the lower end is connected to the lower end of the pull rod. When the suspension fork is tilted by the pressure of the Chinese medicine filtration structure, the reset spring deforms and stores energy. When the pressure of the Chinese medicine filtration structure is released, the reset spring releases energy and resets the suspension fork through the pull rod.A swing limit rod 36 is passed through one end of the panel where the pull rod is connected. The upper end of the swing limit rod is connected to the fork rod, and the lower end is provided with a lower limit block 37. The swing limit rod is also connected to an upper limit block 38 located above the panel. When the fork body reset structure drives the fork body to reset, the fork body stops swinging when the upper limit block abuts against the panel. When the pressing structure of the traditional Chinese medicine filtering structure drives the fork body to swing, the fork body stops swinging when the lower limit block abuts against the panel.

[0039] The liquid medicine delivery structure includes a water pump 39, a liquid inlet pipe 56 connected to the pump's inlet, and a liquid outlet pipe 40 connected to the pump's outlet. The outlet of the liquid outlet pipe communicates with the liquid storage tank. The liquid inlet pipe includes a downwardly facing rigid pipe section 41 and a flexible pipe section 42 connecting the rigid pipe section to the pump's inlet. The rigid pipe section is connected to a liquid inlet pipe lifting structure 43, which is connected to the frame via a liquid inlet pipe translation structure 44. During use, the rigid pipe section is inserted into the liquid medicine in the outer pot under the action of the liquid inlet pipe lifting and translation structures, and the liquid medicine is then pumped into the liquid medicine storage tank by the water pump. The lower connection of the liquid inlet pipe lifting structure includes a lower connecting block 45, an upper connecting block, a vertical guide rod 46, a vertical lead screw 47, and a lifting seat 48. The two ends of the vertical guide rod are connected to the upper and lower connecting blocks. The vertical guide rod is installed on the lifting seat. The lower end of the vertical lead screw is rotatably connected to the lower connecting block, and the upper end is connected to the lifting motor. The lifting motor is connected to the upper connecting block. The vertical lead screw is threadedly connected to the lifting seat. The rigid pipe section is fixed together through the lifting seat. During use, the lifting motor drives the lifting seat to move, thereby achieving the lifting of the rigid pipe section. The liquid inlet pipe translation structure includes a forward and backward telescopic translation cylinder 49 and a forward and backward support slide 50 connected to the frame. One end of the translation cylinder is connected to the frame and the other end is connected to the lower connecting block. The lower connecting block rests on the forward and backward support slide. The lifting seat is provided with two connecting ears 51 distributed in the vertical direction. The connecting ears are provided with vertical plug holes. The hole wall of the vertical plug hole is provided with a slit 52 that passes through the outer side of the connecting ear. The slit is used to allow the vertical plug hole to be elastically opened. The rigid pipe section is inserted into the vertical plug hole. The elastic force generated when the vertical plug hole is opened causes the vertical plug hole to hold the rigid pipe section. It also includes a cleaning cylinder 53 for cleaning the rigid pipe section. The liquid medicine delivery structure also includes a shampoo water input faucet 54, and the washing water input faucet is connected to the water source of the cylinder. It also includes a horizontal telescopic cylinder 55. The cylinder body of the horizontal telescopic cylinder is fixed to the frame. The washing water input faucet is connected to the piston rod of the horizontal telescopic cylinder. The horizontal cylinder is used to extend the faucet to the top of the washing cylinder.

[0040] The second embodiment is different from the first embodiment in that: See also Figures 8 to 10A cylindrical gripping protrusion 77 is provided at the center of the pot lid, and a circular pressure relief hole 78 is provided on the upper end surface of the gripping protrusion, which penetrates the inner surface of the pot. The pot lid grasping robot also includes two clamping rods 79 extending horizontally. The middle parts of the two clamping rods are hinged together by a vertical hinge shaft 81. A clamping opening 82 for clamping the gripping protrusion is formed between one end of the two clamping rods, and an escape opening 83 is formed between the other ends. The two clamping rods are hinged together with the two clamping fingers 6 in a one-to-one correspondence via a connecting shaft 84. A sliding hole 86 is provided on the upper end surface of the vertical hinge shaft, through which a sliding rod 87 is passed. The upper end of the sliding rod is connected to the middle of a horizontal connecting rod 88. One end of the horizontal connecting rod is provided with a vertical filling rod 89 aligned with the clamping opening, and the other end is provided with a driving block 90 located in the avoidance opening. The sliding rod is sleeved with a lifting spring 91 for lifting the horizontal connecting rod. The size of the driving block gradually increases from top to bottom along the distribution direction of the two clamping rods. The pinching protrusion is located within the clamping opening. When the clamping opening is in the open state, the vertical filling rod is aligned with the pressure relief through hole and located outside the pressure relief through hole. When the clamping opening clamps the pinching protrusion, the vertical filling rod is inserted into the pressure relief hole, and the lower end of the vertical filling rod is located in the clamping opening. This can prevent the pinching protrusion from being pinched flat.

[0041] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0042] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A Chinese medicine filling and labeling machine, comprising a frame, a filling machine and a labeling machine for labeling Chinese medicine containers filled by the filling machine, characterized in that: It also includes a decoction pot lid opening structure for removing the decoction pot lid; a Chinese medicine filtering structure for separating the inner pot and the outer pot so that all the medicinal liquid in the inner pot flows into the outer pot while the medicinal residue remains in the inner pot; The medicine liquid conveying structure is used to convey the medicine liquid in the outer pot to the liquid storage barrel of the filling machine; the decoction pot includes an outer pot, an inner pot inserted in the outer pot and a pot cover covering the inner pot, and a filtering hole is provided on the bottom wall of the inner pot.

2. A Chinese medicine filling and labeling machine according to claim 1, characterized in that, A pinching protrusion is provided at the center of the pot cover, and the decoction pot lid opening structure includes a pot cover grabbing manipulator for grabbing the pinching protrusion and a pot cover grabbing manipulator moving structure for driving the pot cover grabbing manipulator to move so that the pot cover is removed from the inner pot.

3. A Chinese medicine filling and labeling machine according to claim 2, characterized in that: The pot lid grasping robot comprises two clamping fingers and a clamping finger opening and closing cylinder for driving the clamping fingers to open and close.

4. A Chinese medicine filling and labeling machine according to claim 3, characterized in that: The pot lid grasping manipulator includes two clamping rods extending in the horizontal direction, the pinching protrusion is cylindrical, and the upper end surface of the pinching protrusion is provided with a circular pressure relief hole that passes through the inner surface of the pot, the middle parts of the two clamping rods are hinged together by a vertical hinge shaft, a clamping opening for clamping the pinching protrusion is formed between one end of the two clamping rods, and an avoidance opening is formed between the other ends, a sliding hole is provided on the upper end surface of the vertical hinge shaft, a sliding rod is passed through the sliding hole, the upper end of the sliding rod is connected to the middle part of the horizontal connecting rod, and one end of the horizontal connecting rod is provided with a clamping hole for clamping the pinching protrusion The vertical filling rod facing the mouth is provided with a driving block located in the avoidance mouth at the other end. The sliding rod is provided with a lifting spring for lifting the horizontal connecting rod. The size of the driving block along the distribution direction of the two clamping rods gradually increases from top to bottom. The pinching protrusion is located in the clamping mouth. When the clamping mouth is in an open state, the vertical filling rod is aligned with the pressure relief through hole and is located outside the pressure relief through hole. When the clamping mouth clamps the pinching protrusion, the vertical filling rod is inserted into the pressure relief hole and the lower end of the vertical filling rod is located in the clamping mouth. The other ends of the two clamping rods are hinged together with the two clamping fingers one by one through a connecting shaft.

5. A Chinese medicine filling and labeling machine according to claim 1, 2, 3 or 4, characterized in that: The frame is also provided with a medicine decoction pot support bracket, and the pot cover grabbing manipulator is located above the medicine decoction pot support bracket. The pot cover grabbing manipulator can grab the pot cover of the medicine decoction pot resting on the medicine decoction pot support bracket.

6. A Chinese medicine filling and labeling machine according to claim 1, characterized in that: The traditional Chinese medicine filtering structure includes a support platform and a hanging fork located above the support platform, the hanging fork is used to hold the outer flange of the inner pot to suspend the inner pot; a scale is provided on the support platform, the scale is used to weigh the mass of the object placed on the support platform; when the inner pot is suspended on the hanging fork and the outer pot is supported on the support platform, the inner pot and the outer pot are in a separated state.

7. A Chinese medicine filling and labeling machine according to claim 6, characterized in that: It also includes a pressing structure for the traditional Chinese medicine filtering structure. The hanging fork includes a fork body for hanging the inner pot and a fork body reset structure. The fork body includes two fork rods distributed in the left and right directions and a connecting rod connecting the two fork rods together. The two fork rods can swing back and forth and are each supported on a swing seat. The pressing structure for the traditional Chinese medicine filtering structure is used to press the fork body to cause the fork body to tilt in the front and back directions and drive the inner pot to tilt together. The fork body reset structure is used to drive the fork body to reset after the pressing structure for the traditional Chinese medicine filtering structure loses the pressing operation on the rear fork rod.

8. A Chinese medicine filling and labeling machine according to claim 7, characterized in that: The swing seat includes a connecting seat connected to the frame, a panel connected above the connecting seat and a supporting protrusion arranged on the panel, one end of the fork rod is supported on the supporting protrusion, and the fork body reset structure includes a pull rod connected to the other end of the fork rod after the upper end passes through the panel and a reset spring sleeved on the pull rod, the upper end of the reset spring is connected to the panel, and the lower end is connected to the lower end of the pull rod.

9. A Chinese medicine filling and labeling machine according to claim 6, 7 or 8, characterized in that: The suspension fork is provided with two clamping cylinders which are telescopic in opposite directions, and the piston rods of the clamping cylinders are provided with clamping blocks for clamping the outer flange of the inner pot.

10. A Chinese medicine filling and labeling machine according to claim 1, characterized in that: The liquid medicine conveying structure includes a water pump, a liquid inlet pipe connected to the inlet end of the water pump, and a liquid outlet pipe connected to the outlet end of the water pump. The outlet end of the liquid outlet pipe is connected to the liquid storage barrel. The liquid inlet pipe is provided with a rigid pipe section with an opening facing downward and a flexible pipe section connecting the rigid pipe section with the inlet end of the water pump. The rigid pipe section is connected to the liquid inlet pipe lifting structure, and the liquid inlet pipe lifting structure is connected to the frame through the liquid inlet pipe translation structure.

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