Manipulator for medicine decocting pot cleaning system and cleaning system

Abstract

The invention discloses a mechanical arm for a medicine decocting pot cleaning system and the cleaning system. A medicine decocting pot comprises an outer pot and an inner supporting assembly and further comprises a support. The overturning arm is rotatably arranged on the bracket and is overturned at a first position of the production line and a second position of the cleaning conveying line; the anti-falling claw is arranged on one side of the overturning arm and extends to the opening of the supporting assembly in the medicine decocting pot. According to the medicine decocting pot overturning device, automatic overturning of the medicine decocting pot is achieved through the mechanical arm, the anti-falling claw extends to the opening of the inner supporting assembly of the medicine decocting pot, movement of the inner supporting assembly in the overturning process is limited, the medicine decocting pot is more stable in the overturning and transferring process, and the inner supporting assembly is prevented from falling off.

Description

Technical Field

[0001] The invention belongs to the field of Chinese medicine decoction, and in particular relates to a manipulator and a cleaning system for a decoction pot cleaning system. Background Art

[0002] With the development of the medical field and the advancement of medical methods, traditional Chinese medicine has also received widespread attention, and the demand for Chinese medicine has increased. However, during the decoction process of Chinese medicine, there are certain requirements for decoction utensils, heat, water, and cooking methods, and the decoction time is also relatively long. In order to adapt to modern life and social needs, automated production lines are usually used to improve production efficiency.

[0003] In the existing automated production line for decoction of traditional Chinese medicine, after the decoction of traditional Chinese medicine is completed, the decoction pot needs to be cleaned to avoid cross contamination when decocting the next prescription. Traditional Chinese medicine decoction usually has an inner pot and an outer pot 110, and the existing cleaning method is to clean the container of the decoction pot in a cleaning pool and then fish it out, and the waste water during cleaning is directly discharged. The fishing out and reassembly of the decoction container need to be done manually, or by separating the inner pot and the outer pot 110 and transporting them to different cleaning carriers for cleaning.

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

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a manipulator for a medicine decoction pot cleaning system to achieve automatic flipping of the medicine decoction pot and prevent the supporting components in the medicine decoction pot from falling off during the flipping process.

[0006] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: A manipulator for a medicine decoction pot cleaning system, the medicine decoction pot comprises an outer pot and an inner support assembly, and also comprises Bracket; The flipping arm is rotatably arranged on the bracket and flips at a first position of the production line and a second position of the cleaning conveyor line; The anti-drop claw is rotatably arranged on one side of the flip arm and extends to the opening of the supporting component in the medicine decocting pot.

[0007] Furthermore, the flip arm is rotatably connected to the bracket through a rotating shaft, driving the medicine decoction pot to flip and turn upside down from a first position of the production line to a second position of the cleaning conveyor line. The anti-slip claw is arranged on one side of the flip arm close to the opening of the medicine decoction pot and extends to the inner component.

[0008] Furthermore, the anti-dropping claw is also provided with an adjustment hole, and the anti-dropping claw is movably connected in the adjustment hole.

[0009] Furthermore, the flip arm comprises a connecting rod rotatably connected to the bracket and a claw at the end thereof, and the anti-drop claw is rotatably arranged on a side of the flip arm close to the connecting rod; Preferably, the anti-drop claw is arranged to extend on the connecting rod and is spaced apart from the clamping claw.

[0010] Furthermore, the flip arm is arranged in a U-shaped opening, and the anti-slip claw is a plate-like structure protruding and extending from the flip arm into the U-shaped opening. The anti-slip claw extends in the rotation direction of the flip arm and then protrudes toward the U-shaped opening to the opening of the component inside the decoction pot.

[0011] Furthermore, the anti-drop claw is a plate-like structure extending from the clamping claw of the flip arm to the opening of the component in the medicine decoction pot when in working state.

[0012] Furthermore, the anti-slip claw extends vertically from the bottom arm of the U-shaped opening of the flip arm in the direction of rotation, and extends horizontally toward the U-shaped opening after extending a certain distance, so that the horizontal section of the anti-slip claw is spaced apart from the flip arm, and the spacing distance is the distance between the ridge of the decoction pot and the opening.

[0013] Furthermore, the anti-drop claw extends obliquely upward away from the end of the flip arm.

[0014] Furthermore, a notch is provided in the middle of one end of the anti-slip claw away from the flip arm.

[0015] A medicine decoction pot cleaning system comprises the above-mentioned manipulator, which is used to turn the medicine decoction pot upside down onto a cleaning line.

[0016] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention realizes automatic flipping of the medicine decocting pot by arranging a rotatable flipping arm, thus saving time and avoiding manual operation. Furthermore, the anti-dropping claws arranged on the flipping arm can prevent the inner supporting assembly from falling off during the flipping process, so that the medicine decocting pot and the inner supporting assembly can be automatically flipped upside down synchronously, and the whole body can be flipped upside down onto the cleaning line, so as to provide a buffer between the medicine decocting pot and the anti-dropping claws and avoid damage.

[0017] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the accompanying drawings: Figure 1It is a schematic diagram of the cleaning device and transportation of the medicine decoction pot of the automatic production line of the present invention; Figure 2 The present invention Figure 1 A perspective front view of the cleaning device; Figure 3 is a three-dimensional diagram of a manipulator of the present invention; Figure 4 The present invention Figure 3 Top view of the robot Figure 1 ; Figure 5 The present invention Figure 3 Top view of the robot Figure 2 ; Figure 6 The present invention Figure 3 Top view of the robot Figure 3 Figure 7 The present invention Figure 3 A three-dimensional schematic diagram of the robot's anti-drop claw; Figure 8 The present invention Figure 3 Schematic diagram of the robot's anti-drop claw; Fig. 9 The present invention Figure 1 Schematic diagram of the internal part of the cleaning device; Fig.10 is a schematic diagram of a cleaning device of the present invention; Fig.11 It is a schematic diagram of the assembly of the medicine decoction pot and the transport module of the present invention; Fig.12 Schematic diagram of the inner support assembly of the present invention.

[0019] In the figure: 100, decoction device; 110, outer pot; 120, inner support assembly; 121, support plate; 1211, medicine bag delivery port; 124, bottom plate; 124a, medicine liquid flow hole; 124f, first matching through hole; 124g, second matching through hole; 600, cleaning device; 601, first cleaning carrier; 6011, circulating water tank; 6012, first inner spray device; 6013, first support rod; 6014, first outer spray device; 602, second cleaning carrier; 6021, second inner spray device; 6022, second support Rod; 6023, cleaning water tank; 6024, second external spray device; 603, third cleaning carrier; 6031, internal air-drying device; 6032, external air-drying device; 6033, third support rod; 604, manipulator; 6041, flip motor; 60411, rotating shaft; 6042, flip arm; 60421, connecting rod; 6043, anti-drop claw; 60431, rotating device; 60432, adjusting hole; 6044, claw; 6045, bracket; 60451, mounting frame; 6046, support foot; 6047, claw cylinder.

[0020] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0022] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] like Figures 1 to 10As shown, a cleaning device 600 for an automated production line of traditional Chinese medicine according to the present invention comprises: a first cleaning carrier 601, a second cleaning carrier 602, and a third cleaning carrier 603 arranged in sequence along a cleaning conveyor line; and a manipulator 604 for grabbing and flipping the medicine decoction pot to be washed transmitted by the conveyor line to the cleaning conveyor line.

[0025] Specifically, the first cleaning carrier 601 is a washing carrier, the second cleaning carrier 602 is a rinsing carrier, and the third cleaning carrier 603 is an air-drying carrier. The medicine decoction pot is transferred from the medicine decoction pot conveyor line to the cleaning conveyor line, and then transported to the cleaning carrier through the cleaning conveyor line for cleaning. The medicine decoction pot is grabbed by the manipulator 604 and turned 180 degrees, so that the medicine decoction pot is in a state of opening downward during the cleaning process. In this way, during the cleaning process, the water flows directly out along the inner wall of the medicine decoction pot due to its own weight, and there is not much water in the medicine decoction pot. The cleaning conveyor line passes through the first cleaning carrier 601, the second cleaning carrier 602 and the third cleaning carrier 603 in sequence. In one embodiment, the cleaning conveyor line is close to A manipulator 604 is provided near one end of the first cleaning carrier 601, and the conveyor line transports the medicine decoction pot to be washed to the manipulator 604. The manipulator 604 grabs the medicine decoction pot and flips it onto the cleaning conveyor line. The cleaning conveyor line carries the medicine decoction pot and cleans it through the cleaning carrier in turn, and then transports the medicine decoction pot in reverse to the manipulator 604. The manipulator 604 grabs the medicine decoction pot, flips it, and places it on the conveyor line for circulation. In another implementation scheme, two manipulators 604 are respectively provided at both ends of the cleaning conveyor line along the conveying direction, which are the first manipulator and the second manipulator. The first manipulator flips the medicine decoction pot from the production line upside down to the cleaning conveyor line, and the second manipulator flips the medicine decoction pot from the cleaning conveyor line and resets it to the production line for circulation.

[0026] In this embodiment, the robot 604 includes Bracket 6045; The flip arm 6042 is rotatably mounted on the bracket 6045. The anti-drop claw 6043 is arranged on one side of the flip arm 6042 and extends to the opening of the supporting assembly 120 in the medicine decoction pot.

[0027] Specifically, the bracket 6045 is composed of a longitudinal rod, a transverse rod and a vertical rod connected in pairs to form a hollow rectangular frame, the flip arm 6042 is located on the upper side of the bracket 6045, and the flip motor 6041 controls the flip arm 6042 to grab the outer periphery of the medicine decocting pot for flipping, and an anti-drop claw 6043 is provided on one side of the flip arm 6042, and extends toward the opening of the inner support assembly 120 of the medicine decocting pot, so that the anti-drop claw 6043 is partially located at the opening of the inner support assembly 120, and the anti-drop claw 6043 located at the opening of the inner support assembly 120 There is a certain gap or abutment between the 3 parts and the inner support component 120. The size of the gap prevents the inner support component 120 from falling out of the medicine decoction pot during the flipping process, and the medicine decoction pot will not collide with the inner support component 120 when it is transferred to the flipping station on the production line. The abutment does not generate any interaction force, and no collision will occur during the movement. The anti-slip claw 6043 and the flipping arm 6042 can realize automatic flipping of the medicine decoction pot, prevent the inner support component 120 from falling out of the medicine decoction pot during the flipping process, eliminate manual processing, and improve operating efficiency.

[0028] In a further embodiment, the anti-drop claw 6043 is a plate-like structure, which is rotatably disposed on one side above the flip arm 6042 and extends to above the inner support assembly 120 .

[0029] Specifically, the flip arm 6042 is U-shaped, the anti-drop claw 6043 is rotatably arranged on the upper side of the bottom wall of the U-shaped opening, the flip motor 6041 is connected to the rotating shaft 60411, the rotating shaft 60411 is connected to the flip arm 6042 through a connecting rod 60421, and the extending length of the connecting rod 60421 depends on the distance between the manipulator 604 and the conveying line and the cleaning conveying line. The anti-drop claw 6043 is a plate-shaped structure and is rotatably arranged on the flip arm 6042 in a direction close to the opening along the axis of the decoction pot. On the side, taking the state of the anti-slip claw 6043 supporting the inner supporting assembly as an example, a rotating device is provided on the fixed top above the flip arm 6042, and the anti-slip claw 6043 is connected to the rotating shaft of the rotating device, and extends a certain distance from the rotation axis in the direction of the U-shaped opening, and then extends vertically upward. The extension distance depends on the height of the inner supporting assembly during the holding process. After extending vertically for a certain distance, it extends horizontally for a certain distance, so that when the medicine decoction pot is in the position of the manipulator 604, the anti-slip claw 6043 is above the medicine decoction pot, and the extended end extends obliquely upward.

[0030] In a further embodiment, the anti-slip claw 6043 is a plate-like structure protruding from the U-shaped opening. The anti-slip claw 6043 extends in the rotation direction of the flip arm 6042 and then protrudes toward the U-shaped opening.

[0031] Specifically, the flip arm 6042 includes a connecting rod 60421 rotatably connected to the bracket 6045 and a claw 6044 at its end, the anti-detachment claw 6043 is arranged on the claw 6044, the connecting rod 60421 is U-shaped, and the anti-detachment claw 6043 extends a certain distance from the connecting rod 60421 along the rotation direction, and the extended distance is the distance between the position of the connecting rod 60421 corresponding to the medicine pot and the opening of the medicine pot, and then extends horizontally to the U-shaped opening for a certain distance, and extends to the opening of the inner support assembly 120. The extension method can be an arc extension or a straight extension.

[0032] In a further embodiment, the anti-drop claw 6043 is a plate-like structure protruding and extending from the bottom arm-shaped opening of the U-shaped opening of the flip arm 6042.

[0033] Specifically, the anti-slip claw 6043 is connected by two side arms and a bottom arm of the connecting rod 60421 to form a U-shape. The bottom arm of the anti-slip claw 6043 extends vertically for a certain distance along the rotation direction, and then extends horizontally for a certain distance toward the U-shaped opening end.

[0034] In another embodiment, the anti-drop claws 6043 are respectively disposed on two side arms forming the U-shaped opening, and protrude and extend from the side arms into the U-shaped opening.

[0035] Specifically, two anti-slip claws 6043 are provided, which are symmetrically arranged on the ends of the two side arms near the U-shaped opening. The anti-slip claws 6043 extend vertically along the rotation direction from one side of the U-shaped side arm near the opening of the medicine decoction pot, and extend horizontally to the U-shaped opening after a certain distance, that is, the opening of the inner support assembly 120 of the medicine decoction pot, so that the horizontally extended end of the anti-slip claw 6043 is in a gap or abutment with the inner support assembly 120, and the anti-slip claw 6043 at the extension of the side arm can prevent the inner support assembly 120 of the medicine decoction pot from falling off during the flipping process.

[0036] In a further embodiment, the anti-drop claw 6043 is located at a section of the opening of the inner support assembly 120 extending to the opening of the medicine pot on the side away from the flip arm 6042.

[0037] Specifically, the anti-drop claw 6043 extends to the opening of the inner support assembly 120 away from one end of the U-shaped inner arm of the flip arm 6042, so that the anti-drop claw 6043 covers the opening of the inner support assembly 120, more firmly preventing the inner support assembly 120 from falling during the flipping process.

[0038] In a further embodiment, a gasket is provided on the side of the anti-detachment claw 6043 facing the opening of the medicine decoction pot. In a preferred embodiment, the gasket is made of elastic material, and there is a certain gap between the inner support component 120 and the anti-detachment claw 6043. During the flipping process of the medicine decoction pot, the inner support component 120 will move toward the anti-detachment claw 6043 due to its own weight, and a certain collision will occur in this process. The gasket can buffer the sliding of the inner support component 120 to avoid damage to the medicine decoction pot and / or the anti-detachment claw 6043 caused by the collision, thereby affecting normal use.

[0039] In a further embodiment, a flip motor 6041 is arranged on a bracket 6045, and the flip motor 6041 is connected to a flip arm 6042 via a rotating shaft. One side of the flip arm 6042 is provided with an anti-drop claw 6043 for preventing the inner support assembly 120 of the decoction pot from falling off during the flipping process, and the end of the flip arm 6042 is provided with a claw 6044 for grabbing the outer pot 110 for flipping.

[0040] Specifically, two mounting brackets 60451 are symmetrically provided on the bracket 6045, and the rotating shaft 60411 can be rotatably connected between the two mounting brackets 60451. One side of the mounting bracket 60451 away from the rotating shaft is driven by a driving device for driving the rotating shaft 60411. The driving device can be a flip motor 6041 or other existing achievable driving methods. The flip motor 6041 is taken as an example below. The rotating shaft of the flip motor 6041 is fixedly connected to the rotating shaft that rotates synchronously. The middle part of the rotating shaft is fixed. A connecting rod 60421 is fixedly connected and drives the connecting rod 60421 to rotate synchronously. The connecting rod 60421 is connected to the flip arm 6042 and drives the flip arm 6042 to rotate along the rotating shaft of the flip motor 6041. During the flipping process, it is clamped at the outer periphery of the decoction pot. The flip arm 6042 is provided with an anti-detachment claw 6043 on one side along the axial opening direction of the decoction pot. During the flipping process, the anti-detachment claw 6043 is located on the opening side of the inner support assembly 120 to prevent the inner support assembly 120 from falling from the outer pot 110.

[0041] In a further implementation scheme, the anti-slip claw 6043 is connected to a rotating device 60431, and the anti-slip claw 6043 is driven to rotate by the rotating device 60431. The anti-slip claw 6043 is also provided with an adjustment hole 60432 for adjusting the height of the anti-slip claw 6043.

[0042] Specifically, the rotating device 60431 is fixedly mounted on the bottom wall of the U-shaped opening of the flip arm 6042, and the rotating shaft of the rotating device 60431 is connected to a fixed plate, and the anti-slip claw 6043 is detachably connected to the fixed plate. The anti-slip claw 6043 includes a flat plate and a bent extended hook head, and a plurality of adjustment holes 60432 extending straight along the direction of the hook head are provided on the flat plate. The anti-slip claw 6043 is fixedly connected to the fixed plate through the adjustment hole 60432 via a detachable connecting component, and the height of the hook head is adjusted according to the height of the decoction pot 100.

[0043] In this embodiment, the medicine decoction pot is moved to the first cleaning carrier 601 along the direction of the cleaning conveying line. The bottom of the first cleaning carrier 601 is connected to a circulating water tank 6011 for cleaning the medicine decoction pot. The water after cleaning flows back to the circulating water tank 6011 through the water pipe, so that the water in the circulating water tank 6011 is circulated. The first cleaning carrier 601 is provided with a first internal spray device 6012 and a first support rod 6013 that can be moved longitudinally. The first support rod 6013 passes through the internal support group The bottom plate 124 of the component 120 is through-hole, which lifts up the outer pot 110 so that there is a certain distance between the outer pot 110 and the bottom plate 124 of the inner support component 120; the first inner spray device 6012 passes through the washing hole in the middle of the inner support component 120, close to the inner wall of the bottom of the outer pot 110, and sprays and rinses the outer pot 110 and the inner support component 120; the end of the first support rod 6013 that penetrates into the decoction pot is also provided with a water outlet, and the decoction pot can be better cleaned through the water outlet of the first support rod 6013.

[0044] Specifically, the water outlet of the first cleaning carrier 601 is connected to the upper end of the circulating water tank 6011 through a water pipe, and the water inlet is connected to the lower end of the circulating water tank 6011 through a water pipe. The first support rod 6013 is lifted and lowered inside or at the bottom of the first cleaning carrier 601 through a lifting motor or other existing lifting devices. The first support rod 6013 is lifted and lowered through the bottom plate 124 of the inner support assembly 120 to abut against the inner bottom wall of the outer pot 110, and supports the outer pot 110 to move upward, so that there is a certain distance between the outer pot 110 and the inner support assembly 120. The first inner spray device 6012 is located between the outer pot 110 and the inner support assembly 120 to rinse the medicine decoction pot. In a preferred embodiment, a spray port is also provided near the end of the first support rod 6013, which cooperates with the first inner spray device 6012 to clean the inside of the medicine decoction pot, and cleans the areas that are not easy to clean or have poor cleaning effect by the first inner spray device 6012, so that the inside of the medicine decoction pot can be washed more cleanly.

[0045] In a further embodiment, a first external spray device 6014 is rotatably provided in the first cleaning carrier 601 for cleaning the outer wall of the outer pot 110 .

[0046] Specifically, a first external spray device 6014 is rotatably provided on the upper inner side of the first cleaning carrier 601, and its rotating axis is coaxially arranged with the decoction pot in the first cleaning carrier 601. The first external spray device 6014 extends toward the decoction pot for a certain distance and then extends horizontally, the extension distance is greater than the radius of the outer pot 110 of the decoction pot, and then extends vertically downward for a certain distance, the extension length is based on the height of the decoction pot, and a plurality of spray holes are spaced apart in the vertical extension section to flush the outer wall of the decoction pot.

[0047] In this embodiment, a second cleaning carrier 602 is arranged on one side of the first cleaning carrier 601 along the direction of the cleaning conveying line, the water outlet of the second cleaning carrier 602 is connected to the circulating water tank 6011, and the water inlet is connected to the cleaning water tank 6023, the water in the cleaning water tank 6023 is clean water, the washed water flows into the circulating water tank 6011 through the water outlet, the water in the circulating water tank 6011 overflows after being full, and the washed water in the second cleaning carrier 602 dilutes the sewage in the circulating water tank 6011 to keep it clean within a certain limit, and the second cleaning carrier 602 is also provided with a second inner spray device 6021 and a second support rod 6022 which can move longitudinally, the second support rod 6022 passes through the inner support assembly 120 to lift the outer pot 110, so that the second inner spray device 6021 passes through the inner support assembly 120 and is located between the outer pot 110 and the inner support assembly 120 bracket to rinse the outer pot 110 and the inner support assembly 120.

[0048] Specifically, the second cleaning carrier 602 is provided with a second inner spray device 6021 and a second support rod 6022 which can be moved longitudinally, the water inlet of the second inner spray device 6021 is connected with the cleaning water tank 6023 to provide clean washing water, the second support rod 6022 passes through the bottom plate 124 of the inner support assembly 120 to lift the outer pot 110 for a certain distance, the second inner spray device 6021 passes through the through hole in the middle of the inner support assembly 120 and is located between the outer pot 110 and the inner support assembly 120, and rinses the inner bottom of the outer pot 110 and the bottom plate 124 of the inner support assembly 120. In a preferred embodiment, the second support rod 6022 is provided with a spray port at one end close to the inner bottom of the outer pot 110, and the spray port is provided for the inner wall of the outer pot 110 close to the outer pot 110. The outer pot 110 and the inner support assembly 120 are fully rinsed by the cooperation of the second inner spray device 6021 and the second support rod 6022. The waste water after rinsing flows into the water tank 6011. The water tank 6011 is provided with an overflow port. When the water in the water tank 6011 reaches the overflow port, it continues to flow in, so that the water in the water tank 6011 is connected to the sewer through the overflow port and discharged. The water after washing by the second cleaning carrier 602 is cleaner than the water in the water tank 6011. The water in the water tank 6011 is neutralized by the washing water of the second cleaning carrier 602 to ensure a certain cleanliness of the water in the water tank 6011. The washing water is reused to save water while ensuring that the frying pot is clean.

[0049] In a further embodiment, a second external spray device 6024 is rotatably provided in the second cleaning carrier 602 for washing the outer peripheral wall of the outer pot 110 .

[0050] Specifically, a second external spray device 6024 is rotatably provided on the upper inner side of the second cleaning carrier 602, and its rotating axis is coaxially arranged with the decoction pot in the second cleaning carrier 602. The second external spray device 6024 extends toward the decoction pot for a certain distance and then extends horizontally, and the extension distance is greater than the radius of the outer pot 110 of the decoction pot. Then, it extends vertically downward for a certain distance, and the extension length is based on the height of the decoction pot. A plurality of spray holes are spaced apart at the vertical extension end to rinse the outer wall of the decoction pot.

[0051] In this embodiment, a third cleaning carrier 603 is arranged on one side of the second cleaning carrier 602 along the direction of the cleaning conveyor line. The third cleaning carrier 603 is provided with an air-drying device to air-dry the medicine decoction pot. After the medicine decoction pot has been washed twice, water droplets will hang on the inner wall of the medicine decoction pot. The water droplets remaining in the medicine decoction pot will be dried by the air-drying device to avoid bacteria generated by water in the medicine decoction pot, which will contaminate the medicine liquid when it is decocted again.

[0052] Specifically, the third cleaning carrier 603 is provided with a longitudinally movable internal air-drying device 6031 and a third support rod 6033, and the third support rod 6033 passes through the bottom plate 124 of the inner support assembly 120 to lift the outer pot 110 for a certain distance, so that there is a certain interval between the outer pot 110 and the inner support assembly 120, and the internal air-drying device 6031 is in the interval to air-dry the inside of the medicine decoction pot, and the third cleaning carrier 603 is rotatably provided with an external air-drying device 6032, and the rotating shaft is coaxially arranged with the medicine decoction pot in the third cleaning carrier 603, and the external air-drying device 6032 extends a certain distance toward the medicine decoction pot, and the extension length is based on the height of the medicine decoction pot, and then extends horizontally for a certain distance, the extension distance is greater than the radius of the outer pot 110 of the medicine decoction pot, and then extends vertically downward for a certain distance, and the extension length is based on the height of the medicine decoction pot, and a plurality of air-drying holes are spaced apart in the vertical extension section to air-dry the outer wall of the medicine decoction pot.

[0053] In this embodiment, a second manipulator 604 is arranged along the direction of the cleaning conveyor line, which is used to flip the medicine pot to a state with the opening facing upward. There is a medicine pot conveyor line on the other side of the manipulator 604, which is convenient for placing the medicine bag again and adding water for the second round of automated medicine decoction, eliminating the need for manual flipping. The anti-slip claw 6043 of the manipulator 604 is arranged on one side of the flip arm 6042 along the opposite direction of rotation.

[0054] Specifically, after the medicine decoction pot is washed and dried, it is moved on the cleaning conveyor line with its opening facing downward. The upper end surface of the inner support assembly 120 is at the same height as the surface of the anti-slip claw 6043 facing the flip arm 6042, so that the medicine decoction pot can be directly moved on the cleaning conveyor line to the anti-slip claw 6043 of the manipulator 604. The anti-slip claw 6043 and the clamping claw 6044 cooperate with the flip motor 6041 to flip the medicine decoction pot onto the medicine decoction pot conveyor line for another round of Chinese medicine decoction.

[0055] In this embodiment, the height of the anti-slip claw 6043 of the first manipulator 604 corresponds to the top wall on the opening side of the inner support assembly 120 of the decoction pot, and the ridge of the outer pot 110 corresponds to the position of the claw 6044, so that when the decoction pot is transmitted to the manipulator 604 on the decoction pot conveyor line, there is a certain gap between the top wall of the inner support assembly 120 and the side of the anti-slip claw 6043 facing the claw 6044, and the ridge of the outer pot 110 is on the claw 6044.

[0056] Specifically, the claws 6044 are arranged on the flip arm 6042, and the distance between the U-shaped openings of the flip arm 6042 is the same as or slightly larger than the radius of the outer pot 110. The three inner walls of the U-shaped opening are respectively provided with claws 6044, and the claws 6044 are in an arc shape, and a corresponding groove is provided in the middle. When the medicine decocting pot moves to the position of the manipulator 604, the ridge of the outer pot 110 is just in the groove, and the top wall of the inner support assembly 120 is at the bottom of the anti-detachment claw 6043 with a certain gap. The manipulator 604 is flipped, and the claws 6044 prevent the outer pot 110 from falling off during the rotation process, and the anti-detachment claws 6043 prevent the inner support assembly 120 from falling off during the rotation process. In another implementation scheme, when the medicine decocting pot moves to the position of the manipulator 604, the ridge of the outer pot 110 is just above the claws 6044, and the anti-detachment claws 6043 cooperate with the claws 6044 The outer side of the flip arm 6042 is provided with a claw cylinder 6047 to control the movement of the two claws 6044 at the U-shaped opening end. When the medicine decoction pot moves to the position of the manipulator 604, the claw cylinder 6047 pushes the claw 6044 to move toward the medicine decoction pot and clamp it at the ridge of the outer pot 110. The ridge is in the slot or on the upper side of the claw 6044. The claw 6044 and the anti-detachment claw 6043 cooperate to make the medicine decoction pot flip onto the cleaning conveyor line, and control the claw 6044 to detach from the outer pot 110 to prevent the outer pot 110 and the inner support assembly 120 from falling off during rotation. In the above embodiment, the claw 6044 is made of elastic material to avoid damage to the outer pot 110 during the clamping process.

[0057] In this embodiment, a support foot 6046 is installed at the bottom end of the bracket 6045. The support foot 6046 can prevent the bottom of the bracket 6045 from being damaged and rubbed during long-term use, which may cause the conveyor line to be unable to remain horizontal. At the same time, during the maintenance of the conveyor line, the support foot 6046 can be adjusted to ensure the level of the conveyor line.

[0058] like Fig.11 and Fig.12 As shown, the present invention provides a decoction device 100, comprising: an outer pot 110 and an inner support assembly 120, wherein the inner support assembly 120 comprises A support plate 121, on which a medicine package delivery port 1211 is provided; A bottom plate 124, used for supporting the medicine package; At least two connecting portions 122 - 1 are arranged at intervals along the circumferential direction to connect the support plate 121 and the bottom plate 124 .

[0059] In an embodiment of the present invention, the support plate 121 and the bottom plate 124 are connected by at least two connecting parts 122-1 arranged at intervals along the circumferential direction, so that the medicinal liquid can not only penetrate into the medicine bag through the medicinal liquid circulation hole 124a, but also penetrate into the medicine bag through the gap formed by the two connecting parts 122-1, so that the medicinal liquid can fully penetrate into the medicine bag, thereby improving the effect of decocting medicine, and the interval setting between the two connecting parts 122-1 can reduce the use of raw materials for manufacturing the inner support component 120, and reduce the cost and difficulty of manufacturing the inner support component 120.

[0060] The material of the inner support component 120 should have properties such as high temperature resistance and corrosion resistance to cope with the high temperature environment during the decoction process.

[0061] Furthermore, the bottom plate 124 is provided with drug liquid circulation holes 124a, so that the drug liquid can not only penetrate into the drug package through the drug liquid circulation holes 124a, but also penetrate into the drug package through the gap formed by the two connecting parts; in addition to being provided with a plurality of drug liquid circulation holes 124a, the bottom plate 124 is also provided with a plurality of matching through holes for matching cleaning; A plurality of matching through holes are arranged between a plurality of liquid medicine circulation holes 124a; specifically, a plurality of matching through holes and liquid medicine circulation holes 124a cover the entire bottom plate 124, and more specifically, the number of liquid medicine circulation holes 124a is greater than the number of matching through holes, and there are five matching through holes, and the five matching through holes are four first matching through holes 124f and one second matching through hole 124g, and the second matching through hole 124g is arranged at the center of the bottom plate 124, and the four first matching through holes 124f surround the second matching through hole 124g, and the plurality of liquid medicine circulation holes 124a basically cover the entire bottom plate 124, so that the liquid medicine can be more fully infiltrated into the medicine bag. The matching through holes allow the cleaning device 600 to pass through the cleaning and decoction device 100 and abut against the bottom wall of the outer pot 110.

[0062] In this embodiment, a second cleaning carrier 602 is arranged on one side of the first cleaning carrier 601 along the direction of the cleaning conveying line. The water outlet of the second cleaning carrier 602 is connected to the circulating water tank 6011, and the water inlet is connected to the cleaning water tank 6023. The clean water is used for flushing. The washed water flows into the circulating water tank 6011 through the water outlet. When the water in the circulating water tank 6011 is full, it overflows. The washed water in the second cleaning carrier 602 dilutes the sewage in the circulating water tank 6011, so that it remains clean within a certain limit. The second cleaning carrier 60 2 is also provided with a second inner spraying device 6021 and a second support rod 6022 which can move longitudinally. The second support rod 6022 enters the inner support assembly 120 and passes through the first matching through hole 124f on the bottom plate 124 to lift the outer pot 110 so that there is a certain distance between the outer pot 110 and the bottom plate 124 of the inner support assembly 120. The second inner spraying device 6021 enters the inner support assembly 120 and passes through the second matching through hole 124g on the bottom plate 124 to spray and rinse the outer pot 110 and the inner support assembly 120 close to the inner wall of the bottom of the outer pot 110.

[0063] Specifically, the second inner spray device 6021 and the second support rod 6022 are longitudinally movable, and the water inlet of the second inner spray device 6021 is connected to the cleaning water tank 6023 to provide clean washing water. In the washing state, the end of the second support rod 6022 that contacts the bottom of the outer pot is provided with a spray port, and the inner wall of the outer pot 110 near the corner is washed, and the outer periphery of the bottom plate 124 of the inner support assembly 120 is washed. The outer pot 110 is washed by the cooperation of the second inner spray device 6021 and the second support rod 6022. The inner support assembly 120 is fully rinsed, and the waste water after rinsing flows into the water tank 6011. The water tank 6011 is provided with an overflow port. When the water in the water tank 6011 reaches the overflow port, it continues to flow in, so that the water in the water tank 6011 is connected to the sewer through the overflow port and discharged. The washing water after washing by the second cleaning carrier 602 is cleaner than the water in the water tank 6011. The water in the water tank 6011 is neutralized by the washing water of the second cleaning carrier 602 to ensure a certain degree of cleanliness of the water in the water tank 6011. The washing water is reused, which saves water and ensures that the frying pot is clean.

[0064] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the present invention can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents suggested above without departing from the scope of the technical solution of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. A robot for a medicine decoction pot cleaning system, the medicine decoction pot (100) comprising an outer pot (110) and an inner support assembly (120), characterized in that: Also includes Bracket (6045); The flip arm (6042) is rotatably arranged on the bracket (6045) and flips at a first position of the production line and a second position of the cleaning conveyor line; The anti-drop claw (6043) is rotatably arranged on one side of the flip arm (6042) and extends to the opening of the support assembly (120) in the medicine decoction pot.

2. The manipulator for a medicine decoction pot cleaning system according to claim 1 is characterized in that: The flip arm (6042) is rotatably connected to the bracket (6045) via a rotating shaft (60411), driving the medicine decoction pot (100) to flip and turn upside down from a first position of the production line to a second position of the cleaning conveyor line, and the anti-slip claw (6043) is arranged on one side of the flip arm (6042) close to the opening of the medicine decoction pot and extends to the inner component.

3. The manipulator for a medicine decoction pot cleaning system according to claim 2 is characterized in that: The anti-dropout claw (6043) is also provided with an adjustment hole (60432), and the anti-dropout claw (6043) is movably connected in the adjustment hole (60432).

4. A manipulator for a medicine decoction pot cleaning system according to any one of claims 1 to 3, characterized in that: The flip arm (6042) comprises a connecting rod (60421) rotatably connected to the bracket (6045) and a claw (6044) at the end thereof, and the anti-drop claw (6043) is rotatably arranged on a side of the flip arm (6042) close to the connecting rod (60421); Preferably, the anti-drop claw (6043) is arranged to extend on the connecting rod (60421) and is spaced apart from the clamping claw (6044).

5. The manipulator for a medicine decoction pot cleaning system according to claim 4 is characterized in that: The flip arm (6042) is arranged in a U-shaped opening, and the anti-slip claw (6043) is a plate-like structure protruding from the flip arm (6042) into the U-shaped opening. The anti-slip claw (6043) extends in the rotation direction of the flip arm (6042) and then protrudes toward the U-shaped opening to the opening of the component in the decoction pot.

6. The manipulator for a medicine decoction pot cleaning system according to claim 5 is characterized in that: The anti-drop claw (6043) is a plate-shaped structure extending from the flip arm (6042) toward the opening of the component in the medicine decoction pot when in the working state.

7. The manipulator for a medicine decoction pot cleaning system according to claim 5, characterized in that: The anti-drop claw (6043) extends vertically from the bottom arm of the U-shaped opening of the flip arm (6042) in the rotation direction, and then extends horizontally toward the U-shaped opening after a certain distance, so that the horizontal section of the anti-drop claw (6043) is spaced apart from the flip arm (6042).

8. A manipulator for a medicine decoction pot cleaning system according to claim 6 or 7, characterized in that: The anti-drop claw (6043) extends upwardly and obliquely away from the end of the flip arm (6042).

9. The manipulator for a medicine decoction pot cleaning system according to claim 8, characterized in that: A notch is provided in the middle of one end of the anti-slip claw (6043) away from the flip arm (6042).

10. A medicine decoction pot cleaning system, characterized in that: The invention comprises the robot arm as described in any one of claims 1 to 9, and the medicine decoction pot is turned upside down onto the cleaning line by the robot arm.

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