Automatic medicinal material supplementing device and automatic medicine decocting production system

Abstract

The invention provides an automatic medicinal material supplementing device and an automatic medicine decocting production system, and relates to the field of medicine production systems. The automatic medicinal material supplementing device comprises a medicinal material temporary storage location, an automatic regulating device and a material supplementing device, the medicinal material temporary storage location is provided with a plurality of medicinal material storage containers, and each medicinal material storage container is provided with first identification information used for identifying medicinal materials in the medicinal material storage container; the automatic dispensing device is provided with a dispensing control device and a plurality of dispensing device supplementing ports corresponding to different medicinal materials; the material supplementing device comprises a moving mechanism and an operating mechanism borne on the moving mechanism, a visual camera is arranged on the operating mechanism, and the visual camera, the moving mechanism and the operating mechanism are in signal connection with the adjusting control device. Dependence of the automatic dispensing device on manpower in the medicine supplementing process can be remarkably reduced, the medicine decocting automation level is improved, and the medicine decocting quality and efficiency are guaranteed.

Description

Technical Field

[0001] The invention relates to the field of medicine production systems, and in particular to an automatic medicine replenishing device and an automatic medicine decoction production system. Background Art

[0002] With the development of science and technology, the emergence of automatic Chinese medicine decoction production lines marks a great change in the traditional method of decoction. The automatic Chinese medicine decoction production line uses advanced intelligent decoction equipment, combined with big data information technology, which can not only effectively replace the traditional manual decoction method, but also solve the problem of medicinal material management that has long plagued the industry. At the same time, it promotes the development of Chinese medicine decoction production methods towards streamlining and automation, significantly improves the efficiency of decoction, ensures that the effective ingredients in Chinese medicine can be fully extracted and released while the production speed is accelerated, and guarantees the efficacy of Chinese medicine.

[0003] However, in the production process of automatic decoction, an automatic dispensing device is used to adjust the medicinal materials. When a certain medicinal material in the automatic dispensing device is in short supply, the current common practice is to rely on manual replenishment of the medicinal materials. Due to the wide variety of medicinal materials involved in the automatic dispensing device, the manual replenishment method is relatively dependent on personnel. Manual operation is not only inefficient, but also prone to errors. At the same time, the manual feeding process lacks an effective full-process monitoring mechanism. Once an error occurs, it is difficult to detect and correct it in time, which brings risks to the quality control of Chinese medicine decoction.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The present invention provides an automated medicinal material replenishment device and an automated decoction production system. The device uses a replenishment device and a dispensing control device to replace manual operations in the key replenishment link, thereby significantly improving the automation level of the entire decoction process and ensuring the quality and efficiency of the decoction process. This not only greatly improves the efficiency and accuracy of medicinal material replenishment, but also fundamentally avoids related problems caused by manual operation errors. Through the application of automation technology, the accuracy and traceability of the medicinal material replenishment process are ensured, providing a strong guarantee for the stable operation and product quality of the automated decoction production line of traditional Chinese medicine.

[0006] The present invention is achieved in two aspects:

[0007] In a first aspect, the present invention provides an automated medicinal material replenishment device, which includes a medicinal material temporary storage location, an automatic adjustment device, and a replenishment device;

[0008] The temporary storage location for medicinal materials is provided with a plurality of medicine storage containers and shelves for storing different medicinal materials, and each of the medicine storage containers is provided with first identification information for identifying the medicinal materials in the medicine storage container; the automatic dispensing device is provided with a dispensing control device and a plurality of dispensing device feeding ports corresponding to different medicinal materials, the dispensing control device is provided with a weighing module, a control module and a recording storage module, the weighing module and the recording storage module are respectively electrically connected to the control module, and the control module is signal-connected to the feeding device; the feeding device comprises a moving mechanism and an operating mechanism carried on the moving mechanism, the operating mechanism is provided with a visual camera for scanning and full-process video recording, the visual camera is signal-connected to the recording storage module, and the moving mechanism and the operating mechanism are signal-connected to the control module respectively;

[0009] The weighing module is used to weigh the medicine in the automatic dispensing device and feed back the weight information to the control module. When the weight of the medicine fed back by the weighing module is lower than the preset value, the control module issues a feeding instruction, and the feeding instruction contains the second identification information, the first position information and the second position information of the medicine to be replenished; after receiving the feeding instruction issued by the dispensing control device, the feeding device moves to the corresponding position in the temporary storage location of the medicinal materials according to the first position information, and the visual camera scans the first identification information on the medicine storage container and feeds it back to the recording and storage module; the recording and storage module compares the first identification information with the second identification information. When the comparison result of the recording and storage module is consistent, the control module controls the operating mechanism to grab the target container; after grabbing, the feeding device moves to the feeding port of the dispensing device of the automatic dispensing device corresponding to the second position information to refill.

[0010] In an optional embodiment, the automated medicinal material replenishment device further comprises replenishing medicinal materials in a medicine storage container at a temporary medicinal material storage location. After the replenishment is completed, the replenishment device moves to the secondary medicinal material replenishment area to manually replenish the corresponding medicinal materials in the medicine storage container. After the medicinal material replenishment is completed, the replenishment device moves to the temporary medicinal material storage location and places the medicine storage container to complete the secondary storage replenishment.

[0011] Preferably, the automated medicinal material replenishment device further includes a charging waiting area. After the replenishment device completes the replenishment, it automatically moves to the charging waiting area for charging and energy replenishment, waiting for the next replenishment instruction. In an optional embodiment, the mobile mechanism is provided with a weighing sensor for verifying the weight of the medicinal materials in the target container. The weighing sensor is connected to the control module signal. After the replenishment is completed, the control module compares the data of the weighing module in the automatic dispensing device with the data of the weighing sensor of the mobile mechanism to determine the material transfer status in the medicine storage container.

[0012] In an optional embodiment, the operating mechanism is provided with a manipulator, the manipulator includes a mounting plate, a first clamp, a second clamp and a driving mechanism for driving the first clamp and the second clamp to open and close, the driving mechanism is arranged on the mounting plate, the driving mechanism includes a servo motor, a lead screw, a slider and an opening and closing assembly, the servo motor is connected to the lead screw, the slider is slidably arranged on the lead screw, the opening and closing assembly includes a first hinge block, a second hinge block and a third hinge block, the two ends of the second hinge block are respectively hinged to the first hinge block and the third hinge block, the end of the first hinge block away from the second hinge block is fixedly connected to the slider, the end of the third hinge block away from the second hinge block is hinged to the mounting plate, the opening and closing assemblies are two and are symmetrically arranged relative to the lead screw, the first clamp and the second clamp are respectively connected to the third hinge blocks of the two opening and closing assemblies;

[0013] Preferably, the manipulator is further provided with a fixture fixing block, and the fixture fixing block is arranged between the first fixture and the second fixture and fixedly connected to the mounting plate.

[0014] In an optional embodiment, a groove for clamping by the robot is provided in the middle of the medicine storage container.

[0015] In a second aspect, the present invention provides an automatic decoction production system, which comprises a medicinal material warehouse layer and a production equipment layer, wherein the medicinal material warehouse layer is located above the production equipment layer;

[0016] The medicinal material warehouse layer includes a shipping area and a primary medicinal material warehouse; the shipping area is provided with an inter-layer elevator;

[0017] The production equipment layer includes a production workshop and a control equipment room. The production workshop includes a secondary medicinal material warehouse, an automatic adjustment area and an automatic decoction production area. The shipping area is connected to the secondary medicinal material warehouse through the inter-layer elevator. The storage capacity of medicinal materials in the primary medicinal material warehouse, the secondary medicinal material warehouse and the automatic adjustment area decreases in sequence; the automatic adjustment area is provided with an automated medicinal material replenishment device as described in any one of the above-mentioned implementation modes; the outflow end of the automatic adjustment area is connected to the inflow end of the automatic decoction production area, and the control equipment room is provided with a control system for controlling automated operations in the production workshop.

[0018] In an optional embodiment, the automatic decoction production system is further provided with a first re-inspection area, a second re-inspection area, and a third re-inspection area. The first re-inspection area is arranged in the shipping area for manual re-inspection before shipping; the second re-inspection area is arranged in the temporary storage location of medicinal materials, for manual re-inspection before placing the medicinal materials in the temporary storage location; the third re-inspection area is arranged before completing the automatic adjustment and water addition, and the third re-inspection area is successively provided with a visual inspection system for photographing and analyzing the medicinal materials and a manual re-inspection table for manual visual review by operators.

[0019] Preferably, the automatic decoction production system is also provided with a traceability system, which collects statistics on the traceability information of the medicinal materials, forms a traceability information sheet, and saves the information;

[0020] Preferably, the traceability information includes the variety, specification, weight and origin of the medicinal raw materials, as well as the manufacturer and production process information of the product.

[0021] In an optional embodiment, the automatic adjustment area and the automatic decoction and canning area adopt a negative pressure design to effectively avoid pollution caused by the overflow of dust and water vapor.

[0022] In an optional embodiment, both the automatic dispensing area and the automatic decoction and canning area are provided with an ozone system to effectively disinfect and sterilize the environment.

[0023] In an optional embodiment, the primary medicine warehouse is divided into a normal temperature warehouse, a cool warehouse and a low temperature warehouse according to the storage temperature of the medicine.

[0024] The beneficial effects of the embodiments of the present invention include, for example:

[0025] The automated medicinal material replenishment device provided by the present invention adopts an innovative combination of a moving mechanism and an operating mechanism, and uses a new energy supply method, which reduces the constraints of the equipment power cord and realizes the feasibility of the replenishment device to be flexibly moved and accurately clamped in a narrow medicinal material warehouse. The operating mechanism has the characteristics of multiple joints and multiple degrees of freedom, and can easily pick up and place various medicine storage containers from the temporary storage location of medicinal materials. In addition, the system is equipped with advanced visual detection and artificial intelligence technology. The visual camera can not only accurately scan and identify the logo of the medicine storage container, but also monitor the entire replenishment process to ensure that the operator can grasp the on-site situation in real time.

[0026] Through this automated feeding device, the reliance of the automatic dispensing device on manual labor in the process of replenishing medicinal materials is significantly reduced, the degree of automation of the decoction process is greatly improved, and the high quality and efficiency of the decoction process are ensured.

[0027] The present invention also integrates the automated medicinal material replenishment device into the automatic decoction production system, and optimizes the spatial layout of the production system. The excellent production area logistics path design improves the continuity and smoothness of the production line, and also enhances the controllability of quality. At the same time, the production equipment layer and the medicinal material warehouse layer are divided into an upper and lower two-layer structure, and the shortest logistics path not only saves space, but also improves land utilization.

[0028] In the present invention, the setting of the primary warehouse of medicinal materials, the temporary storage location of medicinal materials and the automatic adjustment area realizes the hierarchical storage of medicinal materials from large quantities, medium quantities to small quantities, optimizes the storage and logistics process of medicinal materials, and improves the continuity and convenience of medicinal materials. The operation of the entire system is fully automated without manual intervention. Through the fine division of the medicinal material warehouse layer and the production equipment layer, the reasonable layout and efficient management of the functional areas are realized, the logistics path is optimized, and the smoothness of the production line and the controllability of product quality are further improved.

[0029] The present invention not only improves the degree of automation in the production of Chinese medicine decoctions, but also provides strong support for the modernization and intelligent development of the Chinese medicine industry through intelligent management and technological innovation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A schematic diagram of the structure of an automated medicinal material replenishment device provided in the first embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of the first embodiment of the present invention when the feeding device and the temporary storage location of medicinal materials in the automated medicinal materials replenishing device cooperate with each other from a first viewing angle;

[0033] Figure 3 A schematic diagram of the structure of the automatic medicinal material replenishment device provided in the first embodiment of the present invention when the replenishment device cooperates with the medicinal material temporary storage location at a second viewing angle;

[0034] Figure 4 A schematic diagram of the structure of a feeding device in an automated medicinal material replenishing device provided in the first embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the structure of a clamp mechanism of a feeding device in an automated medicinal material replenishing device provided in a first embodiment of the present invention;

[0036] Figure 6 A schematic diagram of a dispensing control device in an automated medicinal material replenishing device provided in a first embodiment of the present invention;

[0037] Figure 7 A flow chart of an automated medicinal material replenishment method provided by a first embodiment of the present invention;

[0038] Figure 8 A schematic diagram of the structure of the medicinal material warehouse layer in the automatic medicinal decoction production system provided in the second embodiment of the present invention;

[0039] Fig. 9 A schematic diagram of the structure of the production equipment layer in the automatic decoction production system provided in the second embodiment of the present invention;

[0040] Fig.10 This is a flow chart of the automatic medicine decoction production system provided by the second embodiment of the present invention.

[0041] Icons: 100-automatic medicinal material replenishment device; 110-temporary storage location for medicinal materials; 111-medicine storage container; 120-automatic dispensing device; 121-dispensing control device; 1211-weighing module; 1212-control module; 1213-recording storage module; 122-dispensing device feeding port; 130-feeding device; 131-moving mechanism; 132-operating mechanism; 133-visual camera; 134-weighing sensor; 135-clamp mechanism; 1351-first clamp; 1352-second clamp; 136-mounting plate; 137-driving mechanism; 1371-servo motor; 1372-screw; 1373-slider; 1374-opening and closing assembly; 1375-first hinge block; 1376-second hinge block; 1377-third hinge block; 138-clamp fixing block; 140-charging waiting area;

[0042] 210-Medicinal material warehouse floor; 211-Shipping area; 2111-First re-inspection area; 2112-Inter-floor elevator; 212-Medicinal material first-level warehouse; 2121-Normal temperature warehouse; 2122-Cool warehouse; 2123-Low temperature warehouse; 2124-Special medicinal pieces warehouse; 2125-Sample storage warehouse; 220-Production equipment floor; 222-Visiting corridor; 223-Control equipment room; 224-Second re-inspection area; 225-Automatic adjustment area; 2251-Third re-inspection area; 226-Automatic decoction and canning area; 227-Finished product sample room; 228-Drug residue processing area; 229-Packing and packaging area; 230-Decoction pot cleaning area. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0046] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0049] First embodiment

[0050] Please refer to Figure 1 , Figure 2 and Figure 3 This embodiment provides an automated medicinal material replenishment device 100 , which includes a medicinal material temporary storage location 110 , an automatic adjusting device 120 and a replenishment device 130 .

[0051] The temporary storage location 110 for medicinal materials is provided with a plurality of medicine storage containers 111 for storing different medicines, and each medicine storage container 111 is provided with first identification information for identifying the medicinal materials in the medicine storage container 111; the automatic dispensing device 120 is provided with a dispensing control device 121 and a plurality of dispensing device feeding ports 122 corresponding to different medicinal materials, please refer to Figure 6The dispensing control device 121 is provided with a weighing module 1211, a control module 1212 and a recording storage module 1213, the weighing module 1211 and the recording storage module 1213 are respectively electrically connected to the control module 1212, and the control module 1212 is signal-connected to the feeding device 130; the feeding device 130 includes a moving mechanism 131 and an operating mechanism 132 carried on the moving mechanism 131, wherein the moving mechanism 131 can be, for example, an automatic guided vehicle, the operating mechanism 132 can be, for example, a manipulator, a visual camera 133 is provided on the operating mechanism 132, the visual camera 133 is signal-connected to the recording storage module 1213, and the moving mechanism 131 and the operating mechanism 132 are respectively signal-connected to the control module 1212 of the dispensing control device 121.

[0052] The weighing module 1211 is used to weigh the medicine in the automatic dispensing device 120 and feed back the weight information to the control module 1212. When the weight of the medicine fed back by the weighing module 1211 is lower than the preset value, the control module 1212 issues a feeding instruction, and the feeding instruction contains the second identification information, the first position information and the second position information of the medicine to be fed. After receiving the feeding instruction issued by the dispensing control device 121, the feeding device 130 moves to the corresponding position in the temporary storage location of the medicinal materials according to the first position information, and the visual camera 133 scans the first identification information on the medicine storage container 111 and feeds it back to the recording and storage module 1213; the recording and storage module 1213 compares the first identification information and the second identification information. When the comparison result of the recording and storage module 1213 is consistent, the control module 1212 controls the operating mechanism to grab the target container; after grabbing, the feeding device 130 moves to the feeding port 122 of the dispensing device corresponding to the second position information for feeding.

[0053] In this embodiment, the movement and clamping of the feeding device 130 are realized by combining the moving mechanism 131 and the operating mechanism 132. The operating mechanism 132 can provide the feeding device 130 with higher production movement flexibility. It has multiple joints and multiple degrees of freedom, and is more flexible in change. The medicine storage container 111 on the temporary storage location 110 of the medicinal materials can be easily taken. At the same time, with the assistance of the visual detection system and the artificial intelligence system, the visual camera 133 can not only scan and identify the first identification information of the medicine storage container 111, but also monitor the whole process of feeding, so that the operator can understand the situation in real time. The feeding device 130 is used to supplement the medicinal materials required in the automatic dispensing device 120, which can significantly reduce the dependence of the automatic dispensing device 120 on manual labor during the medicinal materials replenishment process, improve the automation level of decoction, and ensure the quality and efficiency of decoction.

[0054] In this embodiment, the weighing module 1211 can be used to monitor the replenishment demand of the medicine in the automatic dispensing device 120 in real time. When the weight of the medicine fed back by the weighing module 1211 is lower than the preset value, the control module 1212 controls the replenishment device 130 to replenish the medicine. The control module 1212 issues a replenishment instruction, and the replenishment instruction contains the second identification information, the first position information, and the second position information of the medicine to be replenished; wherein the second identification information is the information of the medicine to be replenished, which is used to compare with the medicine information in the temporary storage location 110 of the medicine, and the first position information is the position information of the corresponding medicine in the temporary storage location 110 of the medicine recorded in the replenishment instruction, and this position information can be specific to a specific medicine storage container 1 11, or it can only be positioned to a certain area, and the feeding device 130 moves to the area and then identifies the first identification information of multiple drug storage containers 111, and the second position information is the position limit of the feeding port 122 of the drug dispensing device that needs to be replenished. Through the above-mentioned feeding instruction, the feeding device 130 moves to the temporary storage location 110 of the medicinal materials after receiving the feeding instruction, and uses the visual camera 133 to scan the first identification information of the drug storage container 111 on the temporary storage location 110 of the medicinal materials and compare it with the second identification information of the instruction. The feeding device 130 can quickly reach the designated area according to the drug position information in the control module 1212, reducing the scanning operation of the unmatched drug first identification information. When the comparison results are consistent, the control module 1212 controls the operating mechanism 132 to grab the target container, and then moves to the feeding port 122 of the dispensing device corresponding to the second position information for feeding. If some expensive or delicate drugs are designed, the feeding device 130 can be moved to the manual feeding area to manually replenish the medicinal materials in the medicinal material container. After the material replenishment is completed, the material replenishment device 130 also needs to move to the medicinal material temporary storage location 110 to put the medicinal material container back to its original position.

[0055] Specifically, the automated medicinal material replenishment device also includes a secondary medicinal material replenishment area. After the replenishment is completed, the replenishment device 130 moves to the secondary medicinal material replenishment area to manually replenish the corresponding medicinal materials in the medicine storage container 111. After the medicinal material replenishment is completed, the replenishment device 130 moves to the medicinal material temporary storage location and places the medicine storage container 111 to complete the replenishment of the medicine storage container 111.

[0056] The automated medicinal material replenishment device 100 further includes a charging waiting area 140 . After the replenishment device 130 completes replenishment and the medicinal material container is placed, it moves to the charging waiting area 140 for charging and energy replenishment, and waits for the next replenishment instruction.

[0057] See also Figure 4 and Figure 5Furthermore, a weighing sensor 134 is provided on the mobile mechanism 131 for checking the weight of the medicinal material in the target container. The weighing sensor 134 is connected to the control module 1212 by signal. After the feeding is completed, the control module 1212 compares the data of the weighing module 1211 in the automatic dispensing device 120 with the data of the weighing sensor 134 of the mobile mechanism to determine the material transfer status in the medicine storage container 111.

[0058] In addition, due to the differences in medicinal materials, the sizes of the medicinal material containers for containing the medicinal materials also vary. In this embodiment, the operating mechanism 132 provided can adjust the clamping angle to adapt to medicinal material containers of different sizes.

[0059] Specifically, the operating mechanism 132 is provided with a manipulator, and a clamp mechanism 135 is provided at the end of the manipulator. The clamp mechanism 135 includes a mounting plate 136, a first clamp 1351, a second clamp 1352, and a driving mechanism 137 for driving the first clamp 1351 and the second clamp 1352 to open and close. The driving mechanism 137 is arranged on the mounting plate 136. The driving mechanism 137 includes a servo motor 1371, a lead screw 1372, a slider 1373, and an opening and closing assembly 1374. The servo motor 1371 is connected to the lead screw 1372, and the slider 1373 is slidably arranged on the lead screw 1372. The opening and closing assembly 1374 includes a first hinge block 1375, a second hinge block 1376, and a third hinge block 1377. The two ends of the second hinge block 1376 are hinged to the first hinge block 1375 and the third hinge block 1377 respectively, the end of the first hinge block 1375 away from the second hinge block 1376 is fixedly connected to the slider 1373, the end of the third hinge block 1377 away from the second hinge block 1376 is hinged to the mounting plate 136, there are two opening and closing components 1374 and they are symmetrically arranged relative to the lead screw 1372, the first clamp 1351 and the second clamp 1352 are respectively connected to the third hinge blocks 1377 of the two opening and closing components 1374; a clamp fixing block 138 is also provided on the manipulator, the clamp fixing block 138 is arranged between the first clamp 1351 and the second clamp 1352 and is fixedly connected to the mounting plate 136.

[0060] In this embodiment, the servo motor 1371 rotates to drive the lead screw 1372 to rotate, thereby driving the slider 1373 to slide on the lead screw 1372, and the first hinge block 1375 is fixedly connected to the slider 1373. Therefore, the slider 1373 drives the first hinge block 1375 to move together, and the first hinge block 1375 is hinged to the second hinge block 1376. At the same time, the second hinge block 1376 is also hinged to the third hinge block 1377. The other end of the third hinge block 1377 is hinged to the third hinge block 1377. The first end is hinged on the mounting plate 136, so when the first hinge block 1375 moves along the axial direction of the lead screw 1372, it can drive the second hinge block 1376 and the third hinge block 1377 to move, thereby driving the first clamp 1351 and the second clamp 1352 to open and close. The servo motor 1371 is used to control the opening and closing angles of the first clamp 1351 and the second clamp 1352, so that the first clamp 1351 and the second clamp 1352 can clamp drug containers of different sizes.

[0061] Furthermore, the servo motor 1371 is also provided with a clamping device, which can lock the servo motor 1371 after grabbing the medicinal material container, thereby preventing the position between the first clamp 1351 and the second clamp 1352 from changing. The setting of the clamp fixing block 138 can prevent the position of the medicinal material container from moving in the axial direction. The cooperation of the first clamp 1351, the second clamp 1352 and the clamp fixing block 138 can achieve a better clamping effect and prevent the medicinal material container from falling off.

[0062] In addition, a groove (not shown) for clamping by the operating mechanism 132 is provided in the middle of the medicine storage container 111. The provision of the groove is more conducive to the cooperation with the first clamp 1351 and the second clamp 1352, so that the positions of the first clamp 1351 and the second clamp 1352 are relatively determined, and the clamping stability is better due to the restriction of the groove.

[0063] Also, see Figure 7 The operation process of the automatic medicinal material replenishment device provided by the present invention is as follows:

[0064] S1, the weighing module 1211 weighs the medicine in the automatic dispensing device 120 and feeds back the weight information to the control module 1212;

[0065] S2. When the weight of the medicine fed back by the weighing module 1211 is lower than the preset value, the control module 1212 issues a feeding instruction, which contains the second identification information, the first position information and the second position information of the medicine to be fed;

[0066] S3, after receiving the replenishment instruction issued by the dispensing control device 121, the replenishment device 130 moves to the corresponding position in the medicinal material temporary storage location 110 according to the first position information;

[0067] S4, the visual camera 133 scans the first identification information on the medicine storage container 111 and feeds it back to the recording storage module 1213;

[0068] S5, the recording and storage module 1213 compares the first identification information and the second identification information. When the comparison result of the recording and storage module 1213 is consistent, the control module 1212 controls the operating mechanism 132 to grab the target container;

[0069] S6, after grabbing, the feeding device 130 moves to the feeding port 122 of the adjusting device corresponding to the second position information to feed;

[0070] S7, after the feeding is completed, the feeding device 130 moves to the secondary feeding area for medicinal materials, and manually replenishes the corresponding medicinal materials in the medicine storage container 111;

[0071] S8, after the medicinal materials are replenished, the replenishing device 130 moves to the medicinal materials temporary storage location 110 and places the medicine storage container 111, completing the replenishment of the medicine storage container 111;

[0072] S9, after the refilling device 130 has finished refilling and the medicine storage container 111 has been placed, it moves to the charging waiting area 140 to charge and replenish energy, waiting for the next refilling instruction.

[0073] Second embodiment

[0074] Please refer to Figure 8 and Fig. 9 The present embodiment provides an automatic decoction production system, which includes a medicinal material warehouse layer 210 and a production equipment layer 220, wherein the medicinal material warehouse layer 210 is located above the production equipment layer 220. In the present embodiment, by dividing the production equipment layer 220 and the medicinal material warehouse layer 210 into an upper and lower two-layer structure, the floor space is small, which is conducive to the storage of medicinal materials and the flow of medicinal material logistics.

[0075] See also Figure 8 The medicinal material warehouse layer 210 includes a delivery area 211 and a primary medicinal material warehouse 212; the delivery area 211 is provided with an inter-layer elevator for transporting the verified medicinal materials. The inter-layer elevator is a conventional mechanism, and its specific structure is not limited in this embodiment. The primary medicinal material warehouse 212 is divided into a normal temperature warehouse 2121, a cool warehouse 2122 and a low temperature warehouse 2123 according to the storage temperature of the medicine.

[0076] Among them, the medicinal material warehouse layer 210 is used to store a large number of medicinal materials, so different storage conditions need to be set according to the characteristics of the medicinal materials, such as adjusting the temperature and humidity in the medicinal material primary warehouse 212 through the air conditioning system, thereby forming a normal temperature warehouse 2121, a cool warehouse 2122 and a low temperature warehouse 2123. In addition, according to the needs of medicinal materials, a special decoction piece warehouse 2124 and a sample storage warehouse 2125 can also be set up, among which the poisonous medicinal material warehouse is used to place special medicinal materials with certain toxicity, and the sample storage warehouse can realize the retention of samples of each batch of medicinal materials.

[0077] In this embodiment, when each medicinal material enters the medicinal material primary warehouse 212, it is necessary to enter the variety, specification, weight, origin, manufacturer and other information of each medicinal material into the system, and encode each medicinal material for subsequent identification to realize the automation of drug retrieval. In order to avoid errors in automated drug retrieval, in this embodiment, a first re-inspection area 2111 is also provided, and the first re-inspection area 2111 is provided in the delivery area 211 for manual re-inspection before delivery. Medicinal materials that are correct in manual re-inspection can be transported from the second floor to the production equipment layer 220 on the first floor through the inter-layer elevator.

[0078] It should be understood that in the present embodiment, only part of the distribution of the medicinal material warehouse layer 210 is limited and labeled. As can be seen from the figure, the medicinal material warehouse layer 210 can also include a special medicinal piece warehouse 2124. The special medicinal piece warehouse 2124 includes but is not limited to a warehouse for fine and precious medicinal materials, a warehouse for easily made poisonous Chinese medicines, a warehouse for easily made poisonous Chinese medicine pieces, a warehouse for toxic Chinese medicines, and a warehouse for toxic Chinese medicine pieces. In addition, the medicinal material warehouse layer 210 can also include a logistics elevator, etc.

[0079] See also Fig. 9 The production equipment layer 220 includes a production workshop (not shown), a visiting corridor 222 and a control equipment room 223. Among them, the production equipment layer 220 is mainly used to accommodate the equipment required for the production line, and also provides a visiting corridor 222 for visitors to visit. It should be understood that the production equipment layer 220 can also be provided with a visiting hall, which is equipped with a display screen for introducing production equipment or process flow. Visitors can see the various functional areas in the production workshop in turn through the visiting corridor 222. The production workshop and the visiting corridor 222 are separated by glass to ensure the cleanliness of the production workshop.

[0080] The production workshop includes an automatic dispensing area 225 and an automatic decoction production area. The automatic decoction production area includes an automatic decoction and canning area 226, a medicine residue processing area 228 and a boxing and packaging area 229. The automatic dispensing area 225 is provided with the automatic medicine replenishment device 100 of the first embodiment mentioned above; the shipping area 211 is connected to the medicine temporary storage location 110 in the automatic medicine replenishment device 100 through an inter-layer elevator, the outflow end of the automatic dispensing area 225 is connected to the inflow end of the automatic decoction and canning area 226, and the outflow end of the automatic decoction and canning area 226 is respectively connected to the inflow ends of the medicine residue processing area 228 and the boxing and packaging area 229, and the control equipment room 223 is provided with a control system for controlling the automated operations in the production workshop.

[0081] In this embodiment, the temporary storage location 110 for medicinal materials realizes the temporary storage of medicinal materials that need to be replenished, so as to replenish the medicines for the automatic adjustment area 225 later. It is also necessary to set up a plurality of medicine storage intervals in the temporary storage location 110 for medicinal materials, and each interval temporarily stores different medicines. The temporary storage location 110 for medicinal materials can be in the form of a shelf, which is provided with a plurality of medicine storage containers 111, and each medicine storage container 111 is also provided with a corresponding first bar identification information. In order to ensure the accuracy of the medicines entering the temporary storage location 110 for medicinal materials, in this embodiment, a second re-inspection area 224 is also provided. The second re-inspection area 224 is provided in the temporary storage location 110 for medicinal materials, and is used for manual re-inspection before being placed in the temporary storage location 110 for medicinal materials.

[0082] In order to ensure the accuracy of drug ingredients, a third re-inspection area 2251 is also provided in this embodiment, and the third re-inspection area 2251 is arranged before the automatic decoction canning area 226. The third re-inspection area 2251 is sequentially provided with a visual inspection system for photographing and analyzing medicinal materials and a manual re-inspection area for manual visual review by operators. By adopting a method combining a visual inspection system with a manual visual inspection function, the visual inspection system can automatically complete the photographing and variety analysis of medicinal materials, and can grasp the relevant information of medicinal materials. The manual visual inspection function can further review the two-pronged approach, and the combination of the two methods can effectively avoid the variety errors of medicinal materials.

[0083] The medicine after the ingredients are prepared is transported to the automatic decoction canning area 226 for operations such as adding water, soaking, decoction and filling. The automatic adjustment area 225 and the automatic decoction canning area 226 are separated by a brick wall, and the passages are separated by automatic doors. The medicine after the ingredients are prepared is transported to the automatic decoction canning area 226 by a robot. Among them, the automatic decoction canning area 226 is provided with an automatic decoction mechanism, an automatic filling mechanism, an automatic cleaning machine for cleaning the decoction pot in the automatic decoction mechanism, and a conductivity meter installed on the automatic cleaning machine and used to detect the cleaning effect of the decoction pot, wherein the decoction pot is transported to the decoction pot cleaning area by a conveyor belt, and there is an automatic cleaning machine in the cleaning area. The automatic decoction canning area is provided with an online refractometer installed on the automatic filling mechanism, and the decoction liquid can be detected after the decoction is completed. The specific structures of the above-mentioned automatic decoction mechanism, automatic filling mechanism and automatic cleaning machine are not limited. Any structure on the market that can realize the functions of automatic decoction, automatic filling and automatic cleaning can be used as the automatic decoction mechanism, automatic filling mechanism and automatic cleaning mechanism of this application. The conductivity meter and the online refractometer are both commercially available conventional equipment, and their specific structures are not limited in this embodiment. The drug residues produced in the automatic decoction canning area 226 during the preparation process can be transported to the drug residue processing area 228 for processing, and the prepared medicine can be transported to the box packaging area 229 for packaging processing.

[0084] In this embodiment, the above-mentioned production workshop can be automated, wherein the automated operating parameters and the like can be uniformly controlled by the control system of the control equipment room 223 to facilitate operation.

[0085] In addition, in this embodiment, the automatic adjustment area 225 adopts a negative pressure design to effectively avoid the pollution caused by the dust and water vapor overflowing from the automatic adjustment area 225. At the same time, each adjustment device medicinal material bin is provided with an independent exhaust duct, which can effectively avoid the mutual influence of medicinal material dust.

[0086] The automatic decoction and canning area 226 also adopts a negative pressure design, which is conducive to reducing the water vapor in the decoction area and the disorderly diffusion of odor. The automatic adjustment area 225 and the automatic decoction and canning area 226 are both equipped with an ozone system. Regular ozone sterilization of the environment effectively prevents the growth of bacteria. The automatic adjustment area 225, the automatic decoction and canning area 226, the drug residue processing area 228 and the boxing and packaging area 229 in the production workshop are all equipped with independent air-conditioning systems to ensure the temperature and humidity of each area and avoid condensation in the room, which may cause pollution.

[0087] The equipment and instruments involved in the automatic dispensing area 225, the automatic decoction and canning area 226, the residue processing area 228 and the boxing and packaging area 229 are all conventional instruments available on the market. This embodiment makes a reasonable layout for these instruments to make the flow of medicinal materials in the entire production workshop smoother and the logistics path better.

[0088] In addition, the automatic decoction production system is also provided with a traceability system, which can count the traceability information of medicinal materials through a computer vision system, for example, the data of the visual inspection system, the manual re-inspection table, the medicinal material identification information, etc. in the production process are traced and counted, and key information is screened, and a traceability information sheet is formed and saved. When the product is packaged in the packing and packaging area 229, the integrity of the traceability information sheet of the manual re-inspection system is conducive to tracing the entire production process and ensuring the quality of the final product. Preferably, the traceability information includes but is not limited to the variety, specification, weight and origin of the medicinal material raw materials, as well as the manufacturer of the product, the production process and other information.

[0089] It should be understood that in this embodiment, only part of the distribution of the production equipment layer 220 is defined and labeled. Fig. 9 It can be seen that the production equipment layer 220 can also include an inter-layer elevator 2112, a frying pot cleaning area 230, a finished product sample room 227, etc.

[0090] See also Fig.10The working principle of the automatic decoction production system is: the qualified Chinese medicinal materials are put into the primary medicinal material warehouse 212, and the medicinal material information including variety, specification, weight, origin and manufacturer of the product needs to be marked when entering the warehouse. When the medicinal materials in the temporary storage location 110 are out of stock, the mobile mechanism on the second floor can be instructed to move to the primary medicinal material warehouse 212 to take the corresponding medicinal materials to the delivery area 211. After the operator reviews, it is transported to the second re-inspection area 224 via the inter-floor elevator. The operator will conduct manual re-inspection again to ensure the accuracy of the medicinal materials, and then put the medicines in the corresponding positions. When a prescription is received, it is reviewed and the production task begins after the review is correct. When the dispensing control device 121 in the automatic dispensing area 225 receives the required drug dispensing list, it will detect whether the drugs in the automatic dispensing device 120 need to be replenished. If replenishment is required, the dispensing control device 121 sends a replenishment instruction to the replenishing device 130. The replenishing device 130 can move to the temporary storage location 110 for taking medicine and replenishing the medicine to the automatic dispensing device 120. The automatic dispensing device 120 automatically dispenses the required medicine and transports it to the dispensing container. The dispensing container is transported to the third re-inspection area 2251 via a conveyor belt, and the operator manually reviews it again and the machine takes pictures to review the medicine. If there is an abnormality in the medicine formula, it returns to the manual review stage. After the medicinal materials are verified to be correct, they are transported to the automatic decoction canning area 226 for water addition and soaking, and then automatically decocted. After the automatic decoction is completed, a refractometer is used to detect the decoction liquid after the decoction is completed in the automatic decoction production area. If there is an abnormality in the detection, a manual review is performed. If there is no abnormality, the automatic filling operation is performed. The medicinal residues produced in the automatic decoction canning area 226 during the preparation process can be transported to the medicinal residue processing area 228 for processing, and the prepared medicinal liquid can be transported to the box packaging area 229 for automatic packaging and labeling of the outer packaging after the inner packaging, and then the finished product is reviewed. If there is an abnormality in the review, a manual review is performed again. If there is no abnormality, it is finally packed and shipped.

[0091] In summary, the automated medicinal material replenishment device provided by the present invention adopts an innovative combination of a mobile mechanism and an operating mechanism, and uses a new energy supply method, which reduces the constraints of the equipment power cord and realizes the feasibility of the feeding device 130 to be flexibly moved and accurately clamped in a narrow medicinal material warehouse. The operating mechanism has the characteristics of multiple joints and multiple degrees of freedom, and can easily pick up and put various medicine storage containers 111 from the temporary storage location of medicinal materials. In addition, the system is equipped with advanced visual detection and artificial intelligence technology. The visual camera 133 can not only accurately scan and identify the logo of the medicine storage container 111, but also monitor the feeding process throughout the whole process to ensure that the operator can grasp the on-site situation in real time. Through this automated feeding device 130, the dependence of the automatic dispensing device 120 on manual labor in the medicinal material replenishment link is significantly reduced, the degree of automation of the decoction process is greatly improved, and the high quality and efficiency of the decoction process are ensured.

[0092] The present invention also incorporates this automated medicinal material supplement device into the automatic decoction production system, and optimizes the spatial layout of the production system. The excellent production area logistics path design improves the continuity and fluency of the production line, and also enhances the controllability of quality. At the same time, the production equipment layer 220 and the medicinal material warehouse layer 210 are divided into an upper and lower two-layer structure, and the shortest logistics path not only saves space, but also improves land utilization. In the present invention, the setting of the medicinal material primary warehouse 212, the medicinal material temporary storage location and the automatic adjustment area 225 realizes the hierarchical storage of medicinal materials from a large amount to a small amount, optimizes the storage and logistics process of medicinal materials, and improves the continuity and convenience of medicinal materials. The whole system operation is fully automated without manual intervention. Through the fine division of the medicinal material warehouse layer 210 and the production equipment layer 220, the reasonable layout and efficient management of the functional area are realized, the logistics path is optimized, and the fluency of the production line and the controllability of product quality are further improved. The present invention not only improves the automation level of Chinese medicine decoction production, but also provides strong support for the modernization and intelligent development of the Chinese medicine industry through intelligent management and technological innovation.

[0093] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic medicinal material replenishment device, characterized in that: It includes a temporary storage location for medicinal materials, an automatic dispensing device and a feeding device; The temporary storage location for medicinal materials is provided with a plurality of medicine storage containers and shelves for storing different medicinal materials, and each of the medicine storage containers is provided with first identification information for identifying the medicinal materials in the medicine storage container; the automatic dispensing device is provided with a dispensing control device and a plurality of dispensing device feeding ports corresponding to different medicinal materials, the dispensing control device is provided with a weighing module, a control module and a recording storage module, the weighing module and the recording storage module are respectively electrically connected to the control module, and the control module is signal-connected to the feeding device; the feeding device comprises a moving mechanism and an operating mechanism carried on the moving mechanism, the operating mechanism is provided with a visual camera for scanning and full-process video recording, the visual camera is signal-connected to the recording storage module, and the moving mechanism and the operating mechanism are signal-connected to the control module respectively; The weighing module is used to weigh the medicine in the automatic dispensing device and feed back the weight information to the control module. When the weight of the medicine fed back by the weighing module is lower than the preset value, the control module issues a feeding instruction, and the feeding instruction contains the second identification information, the first position information and the second position information of the medicine to be replenished; after receiving the feeding instruction issued by the dispensing control device, the feeding device moves to the corresponding position in the temporary storage location of the medicinal materials according to the first position information, and the visual camera scans the first identification information on the medicine storage container and feeds it back to the recording and storage module; the recording and storage module compares the first identification information with the second identification information. When the comparison result of the recording and storage module is consistent, the control module controls the operating mechanism to grab the target container; after grabbing, the feeding device moves to the feeding port of the dispensing device of the automatic dispensing device corresponding to the second position information to refill.

2. The automatic medicinal material replenishment device according to claim 1, characterized in that: The automated medicinal material replenishment device also includes replenishing medicinal materials in the medicine storage container at the medicinal material temporary storage location. After the replenishment is completed, the replenishment device moves to the medicinal material secondary replenishment area to manually replenish the corresponding medicinal materials in the medicine storage container. After the medicinal material replenishment is completed, the replenishment device moves to the medicinal material temporary storage location and places the medicine storage container to complete the secondary storage replenishment; Preferably, the automated medicinal material replenishment device further comprises a charging waiting area. After the replenishment device completes the replenishment, it automatically moves to the charging waiting area for charging and energy replenishment, and waits for the next replenishment instruction.

3. The automatic medicinal material replenishment device according to claim 1, characterized in that: The mobile mechanism is provided with a weighing sensor for verifying the weight of the medicinal materials in the target container. The weighing sensor is connected to the control module signal. After the feeding is completed, the control module compares the data of the weighing module in the automatic dispensing device with the data of the weighing sensor of the mobile mechanism to determine the material transfer status in the medicine storage container.

4. The automatic medicinal material replenishment device according to claim 1, characterized in that: The operating mechanism is provided with a manipulator, and the manipulator includes a mounting plate, a first clamp, a second clamp and a driving mechanism for driving the first clamp and the second clamp to open and close, and the driving mechanism is arranged on the mounting plate, and the driving mechanism includes a servo motor, a lead screw, a slider and an opening and closing assembly, the servo motor is connected to the lead screw, and the slider is slidably arranged on the lead screw, and the opening and closing assembly includes a first hinge block, a second hinge block and a third hinge block, two ends of the second hinge block are respectively hinged to the first hinge block and the third hinge block, an end of the first hinge block away from the second hinge block is fixedly connected to the slider, and an end of the third hinge block away from the second hinge block is hinged to the mounting plate, and the opening and closing assemblies are two and symmetrically arranged relative to the lead screw, and the first clamp and the second clamp are respectively connected to the third hinge blocks of the two opening and closing assemblies; Preferably, the manipulator is further provided with a fixture fixing block, which is arranged between the first fixture and the second fixture and fixedly connected to the mounting plate; Preferably, a groove for clamping by the robot is provided in the middle of the medicine storage container.

5. An automatic decoction production system, characterized in that: It includes a medicinal material warehouse layer and a production equipment layer, wherein the medicinal material warehouse layer is located above the production equipment layer; The medicinal material warehouse layer includes a shipping area and a primary medicinal material warehouse; the shipping area is provided with an inter-layer elevator; The production equipment layer includes a production workshop and a control equipment room. The production workshop includes a secondary medicinal material warehouse, an automatic adjustment area and an automatic decoction production area. The shipping area is connected to the secondary medicinal material warehouse through the inter-layer elevator. The storage capacity of medicinal materials in the primary medicinal material warehouse, the secondary medicinal material warehouse and the automatic adjustment area decreases in sequence; the automatic adjustment area is provided with an automated medicinal material replenishment device as described in any one of claims 1 to 4; the outflow end of the automatic adjustment area is connected to the inflow end of the automatic decoction production area, and the control equipment room is provided with a control system for controlling automated operations in the production workshop.

6. The automatic decoction production system according to claim 5, characterized in that: The automatic decoction production system is also provided with a first re-inspection area, a second re-inspection area and a third re-inspection area. The first re-inspection area is arranged in the shipping area for manual re-inspection before shipping; the second re-inspection area is arranged in the temporary storage location of medicinal materials, for manual re-inspection before placing the medicinal materials in the temporary storage location; the third re-inspection area is arranged before completing the automatic adjustment and water addition, and the third re-inspection area is sequentially provided with a visual inspection system for photographing and analyzing the medicinal materials and a manual re-inspection table for manual visual review by operators.

7. The automatic decoction production system according to claim 6, characterized in that: The automatic decoction production system is also provided with a traceability system, which collects the traceability information of the medicinal materials, forms a traceability information sheet, and saves the information; Preferably, the traceability information includes the variety, specification, weight and origin of the medicinal raw materials, as well as the manufacturer and production process information of the product.

8. The automatic decoction production system according to claim 6 is characterized in that: The automatic decoction production area includes an automatic decoction and canning area, a medicine residue processing area and a boxing and packaging area, and the automatic adjustment area and the automatic decoction and canning area adopt a negative pressure design.

9. The automatic decoction production system according to claim 8, characterized in that: The automatic dispensing area and the automatic decoction and canning area are both provided with an ozone system.

10. The automatic decoction production system according to claim 6, characterized in that: The primary medicine warehouse is divided into a normal temperature warehouse, a cool warehouse and a low temperature warehouse according to the storage temperature of the medicine.

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