An automatic medicinal material supplementing device and an automatic decocting production system

Abstract

The application provides an automatic medicinal material supplementing device and an automatic decocting production system, and relates to the field of medicinal production systems. The automatic medicinal material supplementing device comprises a medicinal material temporary storage location, an automatic dispensing device and a 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 respectively provided with first identification information 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 supplementing device comprises a moving mechanism and an operating mechanism carried on the moving mechanism, and the operating mechanism is provided with a visual camera. The visual camera, the moving mechanism and the operating mechanism are respectively connected with the dispensing control device in signal connection. The automatic medicinal material supplementing device can significantly reduce the dependence on manual work during the medicinal material supplementing process, improve the automatic decocting level, and ensure the decocting quality and efficiency.

Description

Technical Field

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

[0002] With the advancement of science and technology, the emergence of automated Chinese medicine decoction production lines marks a significant transformation in traditional decoction methods. These automated Chinese medicine decoction production lines utilize advanced intelligent decoction equipment, combined with big data information technology. These production lines not only effectively replace traditional manual decoction methods but also address the long-standing challenges in herbal medicine management that have plagued the industry. Furthermore, they promote the streamlined and automated production of Chinese medicine decoctions, significantly improving decoction efficiency and ensuring that the active ingredients in the herbal medicines are fully extracted and released while accelerating production, thus safeguarding their efficacy.

[0003] However, in the automated decoction production process, automatic dispensing devices are used to adjust the medicinal materials. When a particular medicinal material is in short supply, the current common practice is to rely on manual replenishment. Due to the wide variety of medicinal materials involved in the automatic dispensing devices, manual replenishment is relatively reliant on personnel. Manual operation is not only inefficient but also prone to errors. Furthermore, the manual replenishment process lacks an effective, full-process monitoring mechanism. Mistakes are difficult to detect and correct in a timely manner, posing risks to the quality control of traditional Chinese medicine decoctions.

[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 medicinal decoction production system. By replacing manual labor with a feeding device and a dispensing control device in the critical feeding process, the system significantly improves the automation level of the entire medicinal decoction process while ensuring the quality and efficiency of the decoction process. This significantly improves the efficiency and accuracy of medicinal material replenishment and fundamentally avoids problems caused by manual operation errors. Through the application of automated technology, the accuracy and traceability of the medicinal material replenishment process are ensured, providing strong guarantees for the stable operation and product quality of the automated Chinese medicine decoction production line.

[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 dispensing device, and a feeding 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 respectively 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 includes 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;

[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, first position information and second position information of the medicine to be fed; 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 and 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 feed the medicine.

[0010] In an optional embodiment, the automated medicinal material replenishment device further 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 materials are replenished, the replenishment device moves to the medicinal material temporary storage location and places the medicine storage container to complete the secondary storage replenishment.

[0011] Preferably, the automated medicinal material replenishment device also includes a charging waiting area. After the replenishment device completes replenishment, it automatically moves to the charging waiting area to recharge and wait 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 by signal. After replenishment is completed, the control module compares the data from the weighing module in the automatic dispensing device with the data from the weighing sensor of the mobile mechanism to determine the material transfer status within 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 that drives 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, two ends of the second hinge block are respectively hinged to the first hinge block and the third hinge block, one end of the first hinge block away from the second hinge block is fixedly connected to the slider, and one 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, which 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 arm 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 includes 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 medicinal material primary 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 dispensing 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 dispensing area decreases in sequence; the automatic dispensing area is provided with the automated medicinal material replenishment device described in any one of the above-mentioned embodiments; the outflow end of the automatic dispensing 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 the 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 the 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 the operator.

[0019] Preferably, the automatic decoction production system is further 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 medicinal material 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 power 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 identification of the medicine storage container, but also monitor the replenishment process throughout, ensuring that the operator can grasp the on-site situation in real time.

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

[0027] The present invention also integrates this automated medicinal material replenishment device into the automated medicinal decoction production system, optimizing the system's spatial layout. The superior production area logistics path design improves the continuity and fluidity of the production line while also enhancing quality controllability. Furthermore, by dividing the production equipment layer and the medicinal material storage layer into a two-tiered structure, the shortest logistics path not only saves space but also improves land utilization.

[0028] In this invention, the provision of a primary medicinal material warehouse, temporary medicinal material storage locations, and an automatic dispensing area enables the tiered storage of medicinal materials from large to medium to small quantities, optimizing the storage and logistics processes of medicinal materials and improving the continuity and convenience of medicinal material access. The entire system operates fully automatically, requiring no human intervention. Through the meticulous division of the medicinal material warehouse layer and the production equipment layer, a rational layout and efficient management of functional areas are achieved, logistics routes are 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 traditional Chinese medicine decoctions, but also provides strong support for the modernization and intelligent development of the traditional 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 following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic structural diagram of an automated medicinal material replenishing device provided by a first embodiment of the present invention;

[0032] Figure 2 A schematic structural diagram of the coordination between the feeding device and the temporary medicinal material storage location in the automated medicinal material replenishment device provided by the first embodiment of the present invention, viewed from a first perspective;

[0033] Figure 3 A schematic diagram of the structure of the automated medicinal material replenishment device provided by the first embodiment of the present invention, when the replenishing device and the medicinal material temporary storage location cooperate with each other, viewed from a second perspective;

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

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

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

[0039] Figure 9 A schematic structural diagram of a production equipment layer in an automatic decoction production system provided in a second embodiment of the present invention;

[0040] Figure 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 and storage module; 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-Drive mechanism; 1371-Servo motor; 1372-Lead screw; 1373-Slider; 1374-Opening and closing assembly; 1375-First hinge block; 1376-Second hinge block; 1377-Third hinge block; 138-Clamp fixing block;

[0042] 210-Medicinal material warehouse floor; 211-Shipping area; 2111-First re-inspection area; 2112-Inter-floor elevator; 212-First-level medicinal material 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-Dregs processing area; 229-Packing and packaging area; 230-Decoction pot cleaning area. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only 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 herein 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 as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall 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, it does not need to be further defined or explained 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, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0047] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, 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 dispensing device 120 and a feeding 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. 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 corresponding to different medicinal materials. 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 electrically connected to the control module 1212 respectively, 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, and the operating mechanism 132 can be, for example, a manipulator, and a visual camera 133 is provided on the operating mechanism 132, which is signal-connected to the recording storage module 1213, and the moving mechanism 131 and the operating mechanism 132 are signal-connected to the control module 1212 of the dispensing control device 121 respectively.

[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, which contains the second identification information, first position information and 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. 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 of the dispensing device corresponding to the second position information to feed the medicine.

[0053] In this embodiment, the movement and clamping of the feeding device 130 are achieved 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. It can easily pick up the medicine storage container 111 on the temporary storage location 110 of the medicinal materials. 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 entire process of feeding, so that the operator can understand the situation in real time. The use of the feeding device 130 to replenish the medicinal materials required in the automatic dispensing device 120 can significantly reduce the automatic dispensing device 120's reliance on manual labor during the medicinal material 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, which 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 medicinal materials, and the first position information is the position information of the corresponding medicine in the temporary storage location 110 of the medicinal materials recorded in the replenishment instruction. This position information can be specific to a specific storage capacity. The device 111 can also be positioned only in a certain area. After the feeding device 130 moves to the area, it will then identify the first identification information of multiple drug storage containers 111. The second location information is the location of the drug dispensing device feeding port that needs to be replenished. According to the above-mentioned replenishment instruction, after receiving the replenishment instruction, the feeding device 130 will move to the temporary storage location 110 of the medicinal materials, and use the visual camera 133 to scan the first identification information of the drug storage container 111 on the temporary storage location 110 and compare it with the instruction second identification information. Based on the drug location information in the control module 1212, the feeding device 130 can quickly reach the designated area, 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 move to the dispensing device feeding port corresponding to the second location information for replenishment. If the design involves some precious or delicate drugs, the feeding device 130 can be moved to the manual feeding area to manually replenish the medicinal materials in the drug container. After the material replenishment is completed, the material replenishment device 130 needs to be moved 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 materials are replenished, 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 replenishing device 100 further includes a charging waiting area. After the replenishing device 130 completes replenishing and the medicinal material container is placed, it moves to the charging waiting area for charging and energy replenishment, waiting for the next replenishing instruction.

[0057] See also Figure 4 and Figure 5Furthermore, the mobile mechanism 131 is provided with a weighing sensor 134 for verifying the weight of the medicinal materials in the target container. The weighing sensor 134 is connected to the control module 1212 for signal communication. After the material filling is completed, the control module 1212 compares the data from the weighing module 1211 in the automatic dispensing device 120 with the data from 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 provided 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 provided 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, and 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, and 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 will drive the first hinge block 1375 to move together, and the first hinge block 1375 and the second hinge block 1376 are hinged. At the same time, the second hinge block 1376 and the third hinge block 1377 are also hinged. The other hinge block 1377 is hinged. The ends are hinged on the mounting plate 136. Therefore, when the first hinge block 1375 moves along the axial direction of the 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 equipped with a clamping device that can lock the servo motor 1371 after grasping the medicinal material container, thereby preventing the position of the first clamp 1351 and the second clamp 1352 from changing. The provision of the clamp fixing block 138 prevents the position of the medicinal material container from shifting in the axial direction. The cooperation between 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) is provided in the middle of the medicine storage container 111 for clamping by the operating mechanism 132. The provision of the groove facilitates 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 fixed, and the clamping stability is improved due to the restriction of the groove.

[0063] Also, see Figure 7 The operation process of the automatic medicinal material replenishing 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 refill instruction from the dispensing control device 121, the refill 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 with 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 of the adjustment 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 feeding device 130 moves to the medicinal materials temporary storage location 110 and places the medicine storage container 111 there, completing the replenishment of the medicine storage container 111.

[0072] S9. After the feeding device 130 has finished feeding and the medicine storage container 111 has been placed, it moves to the charging waiting area for charging and energy replenishment, waiting for the next feeding instruction.

[0073] Second embodiment

[0074] Please refer to Figure 8 and Figure 9 This embodiment provides an automatic decoction production system, which includes a medicinal material warehouse layer 210 and a production equipment layer 220. The medicinal material warehouse layer 210 is located above the production equipment layer 220. In this embodiment, by dividing the production equipment layer 220 and the medicinal material warehouse layer 210 into an upper and lower 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 floor 210 includes a shipping area 211 and a primary medicinal material warehouse 212. The shipping area 211 is equipped with an inter-floor elevator for transporting verified medicinal materials. The inter-floor 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 based on the storage temperature of the medicines.

[0076] The medicinal material warehouse layer 210 is used to store a large number of medicinal materials. Therefore, different storage conditions need to be set according to the characteristics of the medicinal materials. For example, the temperature and humidity in the primary medicinal material warehouse 212 can be controlled by an 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 demand for medicinal materials, a special decoction piece warehouse 2124 and a sample storage warehouse 2125 can also be set up. Among them, the toxic medicinal material warehouse is used to store 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, and manufacturer of each medicinal material into the system, and at the same time, encode each medicinal material for subsequent identification to realize the automation of medicine retrieval. In order to avoid errors in automated medicine retrieval, in this embodiment, a first re-inspection area 2111 is also provided. The first re-inspection area 2111 is provided in the shipping area 211 for manual re-inspection before shipment. 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 via an inter-layer elevator.

[0078] It should be understood that in this 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 fine and precious medicinal material warehouse, a traditional Chinese medicine warehouse that is easily made into poisons, a traditional Chinese medicine warehouse that is easily made into poisons, a toxic traditional Chinese medicine warehouse, and a toxic traditional Chinese medicine warehouse. In addition, the medicinal material warehouse layer 210 can also include a logistics elevator, etc.

[0079] See also Figure 9 The production equipment floor 220 includes a production workshop (not shown), a viewing corridor 222, and a control equipment room 223. The production equipment floor 220 primarily houses the equipment required for the production line and also provides a viewing corridor 222 for visitors to explore. It should be understood that the production equipment floor 220 may also include a viewing hall with display screens introducing the production equipment or process flow. Visitors can access the various functional areas of the production workshop through the viewing corridor 222. The production workshop and viewing corridor 222 are separated by glass, ensuring cleanliness within 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 end of the medicine residue processing area 228 and the boxing and packaging area 229. 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 is used to temporarily store medicinal materials that need to be replenished so that the automatic dispensing area 225 can be replenished with medicines later. A plurality of medicine storage intervals need to be set up in the temporary storage location 110 for medicinal materials, each interval temporarily storing different medicines. The temporary storage location 110 for medicinal materials can be in the form of a shelf, for example, and is provided with a plurality of medicine storage containers 111. Each medicine storage container 111 is also provided with a corresponding first bar-shaped identification information. In order to ensure the accuracy of the medicines entering the temporary storage location 110 for medicinal materials, a second re-inspection area 224 is also provided in this embodiment. The second re-inspection area 224 is set in the temporary storage location 110 for manual re-inspection before the medicines are placed in the temporary storage location 110.

[0082] To ensure the accuracy of the drug ingredients, this embodiment also provides a third re-inspection area 2251, which is located before the automatic decoction and canning area 226. The third re-inspection area 2251 is sequentially equipped with a visual inspection system for photographing and analyzing medicinal materials and a manual re-inspection area for manual visual verification by operators. By combining the visual inspection system with the manual visual inspection function, the visual inspection system can automatically complete the photographing and variety analysis of the medicinal materials, thereby obtaining relevant information about the medicinal materials. The manual visual inspection function can further verify the two-pronged approach. The combination of these two methods can effectively avoid the occurrence of incorrect medicinal material varieties.

[0083] After the ingredients are prepared, the medicine is transported to the automatic decoction and canning area 226 for water addition, soaking, decoction, and filling. The automatic dispensing area 225 and the automatic decoction and canning area 226 are separated by a brick wall, with automatic doors separating the passageways. The prepared medicine is transported to the automatic decoction and canning area 226 by robots. The automatic decoction and canning area 226 is equipped 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 mounted on the automatic cleaning machine for testing the cleaning effect of the decoction pot. The decoction pot is transported to the decoction pot cleaning area via a conveyor belt, which houses the automatic cleaning machine. The automatic decoction and canning area is equipped with an online refractometer mounted on the automatic filling mechanism to test the decoction liquid after decoction. The specific structures of the automatic decoction mechanism, automatic filling mechanism, and automatic cleaning machine are not limited. Any commercially available structure that can achieve automatic decoction, automatic filling, and automatic cleaning functions can be used as the automatic decoction mechanism, automatic filling mechanism, and automatic cleaning mechanism of this application. The conductivity meter and online refractometer are both commercially available conventional equipment and their specific structures are not limited in this embodiment. The medicinal residues produced during the preparation process in the automatic decoction and canning area 226 can be transported to the medicinal residue processing area 228 for processing, and the prepared medicine can be transported to the boxing and packaging area 229 for packaging.

[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 dispensing area 225 adopts a negative pressure design, which effectively prevents pollution caused by the overflow of dust and water vapor in the automatic dispensing area 225. At the same time, each dispensing device medicinal material bin is equipped with an independent exhaust duct, which can effectively prevent the medicinal material dust from affecting each other.

[0086] The automatic decoction and canning area 226 also utilizes a negative pressure design, which helps reduce the spread of water vapor and odors in the decoction area. Both the automatic dispensing area 225 and the automatic decoction and canning area 226 are equipped with ozone systems. Regular ozone sterilization effectively prevents bacterial growth. The automatic dispensing area 225, the automatic decoction and canning area 226, the residue processing area 228, and the boxing and packaging area 229 in the production workshop are all equipped with independent air conditioning systems to maintain the temperature and humidity in each area and prevent condensation and contamination.

[0087] The equipment and instruments involved in the automatic dispensing area 225, the automatic decoction and canning area 226, the medicinal 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 of 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. The traceability system can use a computer vision system to collect statistics on the traceability information of medicinal materials. For example, the data such as the visual inspection system, the manual re-inspection table, and the medicinal material identification information in the production process are traced and counted, and key information is filtered, 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 source of 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 and production process of the product.

[0089] It should be understood that in this embodiment, only part of the distribution of the production equipment layer 220 is defined and numbered. Figure 9 As can be seen in the figure, 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 Figure 10The working principle of the automatic decoction production system is as follows: qualified Chinese medicinal materials are stored in the primary medicinal material warehouse 212. When entering the warehouse, the medicinal material information including variety, specification, weight, origin, and manufacturer of the product needs to be marked. When the medicinal materials in the temporary storage area 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 shipping area 211. After the operator reviews them, they are transported to the second re-inspection area 224 via the inter-floor elevator. The operator will conduct another manual re-inspection to ensure the accuracy of the medicinal materials and then place the medicines in the corresponding locations. When a prescription is received, the prescription is reviewed and the production task is started 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 will issue a replenishment instruction to the replenishing device 130. The replenishing device 130 can move to the temporary storage location 110 for medicinal materials to take medicine and replenish the medicinal materials to the automatic dispensing device 120. The automatic dispensing device 120 automatically dispenses the required medicines and transports them to the dispensing container. The dispensing container is transported to the third re-inspection area 2251 via a conveyor belt. The operator will manually review the medicine again and the machine will take pictures to review the medicine. If there is any abnormality in the medicinal material formula, it will return to the manual review stage. After the medicinal materials have been verified to be correct, they are transported to the automatic decoction and canning area 226 for water addition and soaking. After automatic decoction, the decoction liquid in the automatic decoction production area is tested using a refractometer. If any abnormalities are found during the test, a manual review is performed. If no abnormalities are found, the automatic filling operation is carried out. The medicinal residues produced during the preparation process in the automatic decoction and canning area 226 can be transported to the medicinal residue processing area 228 for processing, and the prepared medicinal liquid can be transported to the boxing and packaging area 229 for automatic packaging and labeling after internal packaging. The finished product is then reviewed. If any abnormalities are found during the review, a manual review is performed again. If no abnormalities are found, the product is finally boxed and shipped.

[0091] In summary, the automated medicinal material replenishing device provided by the present invention adopts an innovative combination of a moving mechanism and an operating mechanism, and uses a new energy 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 place 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 identification 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 replenishment device into the automatic decoction production system, optimizing the spatial layout of the production system. The excellent production area logistics path design improves the continuity and smoothness of the production line while also enhancing the controllability of quality. At the same time, the production equipment layer 220 and the medicinal material warehouse layer 210 are divided into a two-layer structure, and the shortest logistics path not only saves space but also improves land utilization. In the present invention, the provision 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 large to small quantities, optimizes the storage and logistics process of medicinal materials, and improves the continuity and convenience of medicinal material access. The entire system operation is fully automated, without the need for manual intervention. Through the detailed division of the medicinal material warehouse layer 210 and the production equipment layer 220, a reasonable layout and efficient management of functional areas are achieved, the logistics path is optimized, and the smoothness of the production line and the controllability of product quality are further improved. The present invention not only improves the degree of automation in the production of Chinese medicinal decoction, 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 merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An automatic medicinal material replenishing 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 respectively 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 includes 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; 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, first position information and second position information of the medicine to be fed; 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 and 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 feed the medicine; 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, 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, and the 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.

2. The automatic medicinal material replenishing 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 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 materials are replenished, the replenishment device moves to the temporary medicinal material storage location and places the medicine storage container to complete the secondary warehouse replenishment.

3. The automatic medicinal material replenishing device according to claim 1, characterized in that: The automatic medicinal material replenishing device also includes a charging waiting area. After the replenishing device completes the replenishing, it automatically moves to the charging waiting area to charge and replenish energy, waiting for the next replenishing instruction.

4. The automatic medicinal material replenishing 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.

5. The automatic medicinal material replenishing device according to claim 1, characterized in that: 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.

6. The automatic medicinal material replenishing device according to claim 1, characterized in that: A groove for clamping by the robot is provided in the middle of the medicine storage container.

7. 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 medicinal material primary 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 dispensing 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 dispensing area decreases in sequence; the automatic dispensing area is provided with an automated medicinal material replenishment device as described in any one of claims 1 to 6; the outflow end of the automatic dispensing 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 the automated operations in the production workshop.

8. The automatic decoction production system according to claim 7, 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 the 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. 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 the operator.

9. The automatic decoction production system according to claim 8, characterized in that: 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.

10. The automatic decoction production system according to claim 9, characterized in that: 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 products.

11. The automatic decoction production system according to claim 8, 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. The automatic adjustment area and the automatic decoction and canning area adopt a negative pressure design.

12. The automatic decoction production system according to claim 11, characterized in that: The automatic adjusting area and the automatic boiling and filling area are both provided with an ozone system.

13. The automatic decoction production system according to claim 8, characterized in that: The primary medicinal material warehouse is divided into a normal temperature warehouse, a cool warehouse and a low temperature warehouse according to the storage temperature of the medicine.

Images