Movable medicine decocting machine and dynamic traditional Chinese medicine decocting system

Abstract

The invention discloses a movable medicine decocting machine and a dynamic traditional Chinese medicine decocting system.The movable medicine decocting machine comprises a supporting assembly and a medicine decocting assembly, the supporting assembly comprises a horizontal extending part and a vertical supporting part fixedly connected with the horizontal extending part, and the inner side wall of the vertical supporting part and the upper surface of the horizontal extending part define a mounting positioning area matched with a medicine decocting barrel; the heating assembly is fixedly arranged on the upper surface of the horizontal extension part, a heating area of the heating assembly is matched with the bottom of the medicine decocting barrel, and the heating assembly is used for directionally heating the medicine decocting barrel; and the driving assembly is arranged on the horizontal extension part and is configured to be capable of driving the movable medicine decocting machine to move along the limited track. The technical problem that in the prior art, due to the fact that medicine decocting equipment is fixed and needs to be transported in a reciprocating mode through carrying equipment, the automatic production efficiency is low is solved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and more specifically, to a mobile medicine decoction machine and a dynamic Chinese medicine decoction system. Background Art

[0002] With the rapid development of modern industrial automation technology, Chinese medicine decoction has gradually evolved from traditional manual operation to automation and intelligence. The emergence of automated decoction equipment aims to solve the problems of low efficiency, insufficient standardization, and difficulty in ensuring the stability of efficacy in traditional decoction methods. At present, most of the decoction machines on the market are single or group-used equipment, usually fixedly installed in a designated position, and the decoction pot is sent into the equipment for decoction by a robot or other handling equipment. This design improves the efficiency of decoction to a certain extent, reduces manual intervention, and makes the decoction process more standardized and controllable. However, in the prior art, because the decoction equipment is fixed and needs to be transported back and forth by means of handling equipment, the automated production efficiency is still not very high.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a mobile medicine decocting machine and a dynamic Chinese medicine decocting system to at least solve the technical problem in the prior art that the medicine decocting equipment is fixed and needs to be transported back and forth by means of handling equipment, resulting in low automated production efficiency.

[0005] According to one aspect of the embodiment of the present application, a mobile medicine decoction machine is provided, comprising: a support assembly, comprising a horizontal extension portion and a vertical support portion fixedly connected to the horizontal extension portion, wherein the inner side wall of the vertical support portion and the upper surface of the horizontal extension portion enclose a mounting and positioning area adapted to a medicine decoction barrel; a heating assembly, fixedly arranged on the upper surface of the horizontal extension portion, whose heating area matches the bottom of the medicine decoction barrel, and is used to directional heat the medicine decoction barrel; a driving assembly, arranged on the lower surface of the horizontal extension portion, and configured to drive the mobile medicine decoction machine to move along a defined trajectory. This embodiment ensures the stable placement of the medicine decoction barrel through the support assembly, thereby improving the safety of the equipment operation; in addition, the directional heating of the heating assembly can improve the utilization rate of thermal energy and ensure uniform heating during the medicine decoction process; finally, the addition of the driving assembly enables the medicine decoction machine to automatically move along the set trajectory, thereby improving the degree of automation of the medicine decoction process, reducing manual intervention, and improving production efficiency.

[0006] In some embodiments, the mobile medicine decoction machine further comprises a control component, which is configured to control the heating component to start heating when the medicine decoction barrel is detected to be placed on the heating component, and control the driving component to drive the mobile medicine decoction machine to move along a defined trajectory until the mobile medicine decoction machine completes decoction. This embodiment ensures that the heating is started only after the medicine decoction barrel is correctly placed through the automatic detection function of the control component, thereby avoiding safety hazards caused by misoperation; at the same time, it can automatically control the mobile medicine decoction machine to move along the set trajectory and perform the decoction task, thereby improving the intelligence and automation level of the decoction process, reducing manual intervention, and improving work efficiency and the stability of decoction quality.

[0007] In some embodiments, the control component is further configured to dynamically link and adjust the driving speed of the driving component and the heating power of the heating component according to the decoction stage. This embodiment uses the dynamic linkage adjustment function of the control component to adaptively adjust the driving speed and the heating power according to different decoction stages, ensuring that the medicinal liquid is fully decocted under different temperature conditions, improving the extraction rate of the medicinal ingredients, and optimizing energy utilization, reducing energy consumption, and improving the accuracy and stability of decoction.

[0008] In some embodiments, the mobile medicine decoction machine is equipped with a dynamic power supply interface module, and the dynamic power supply interface module is electrically connected to the contact structure of the sliding contact power supply rail through a conductive sliding contact arm; wherein the contact structure can move on the sliding contact power supply rail as the mobile medicine decoction machine moves and maintain continuous contact with the sliding contact power supply rail to provide continuous power to the drive assembly; or the mobile medicine decoction machine is provided with a guide surface that cooperates with the tooth-shifting propulsion mechanism, wherein the guide surface can provide continuous kinetic energy to the drive assembly under the drive of the tooth-shifting propulsion mechanism, wherein the tooth-shifting propulsion mechanism is arranged on a chain drive mechanism, and the chain drive mechanism can move under the drive of a motor; or the mobile medicine decoction machine itself is equipped with a battery to provide continuous power to the drive assembly. Through the sliding contact continuous contact of the dynamic power supply interface module, the mechanical transmission of the tooth-shifting propulsion mechanism or the built-in battery power supply design, the problem of easy entanglement of the external cable and complex mechanical transmission of the mobile medicine decoction machine during movement is solved, and continuous and stable power supply during movement is achieved, avoiding process interruption caused by power failure, and significantly improving system operation reliability and automation efficiency.

[0009] In some embodiments, when the mobile medicine decoction machine is equipped with the dynamic power supply interface module or the mobile medicine decoction machine itself is equipped with a battery, the driving component includes a track guide mechanism and a power unit, the power unit is transmission-connected to the track guide mechanism, and the power unit outputs a driving force under the control of the control component, so that the mobile medicine decoction machine moves along the track defined by the track guide mechanism. When the mobile medicine decoction machine is equipped with the guide surface, the driving component includes a track guide mechanism but does not include a power unit. This embodiment achieves precise movement of the medicine decoction machine along a preset track through the cooperation of the track guide mechanism and the power unit, ensures the stability and controllability of the equipment operation, reduces deviations and errors, and improves the degree of automation. At the same time, it effectively reduces the risk of liquid overflow due to equipment vibration or deviation, and improves the safety and reliability of the medicine decoction process.

[0010] In some embodiments, the track guide mechanism includes a preset track groove and a roller group, and the roller group is meshed with the track groove to achieve directional movement; the power unit is a servo motor or a stepper motor, which drives the roller group to move through gear transmission. This embodiment realizes the precise directional movement of the medicine decoction machine through the meshing design of the track groove and the roller group, ensuring smooth operation without deviation from the track; the use of a servo motor or a stepper motor combined with a gear transmission improves the accuracy and response speed of the drive system, so that the medicine decoction machine can run efficiently according to the set path, reduce mechanical wear, and improve the service life and operational reliability of the equipment.

[0011] In some embodiments, the mobile medicine decoction machine further comprises an upper cover assembly, which is rotatably or flippably connected to the top of the vertical support portion away from the horizontal extension portion, and the upper cover assembly can cover the top of the medicine decoction barrel in a closed state. In this embodiment, by setting the upper cover assembly, the evaporation of the medicine liquid can be effectively reduced during the medicine decoction process, the concentration of the medicine liquid can be kept stable, and external impurities can be prevented from entering, thereby ensuring the hygiene and safety of the medicine decoction.

[0012] In some embodiments, the mobile medicine decoction machine further includes a temperature sensor, which is arranged on the upper cover assembly or the heating plate, and is used to monitor the temperature of the medicine decoction barrel in real time; wherein, the control component adjusts the heating temperature of the heating plate in real time based on the temperature monitored in real time by the temperature sensor. In this embodiment, the temperature of the medicine decoction barrel is monitored in real time by the temperature sensor, and the heating temperature is dynamically adjusted by the control component to ensure accurate temperature control during the decoction process. This can effectively avoid the destruction of the liquid medicine components due to excessively high temperature, or the insufficient extraction of the medicinal effect due to excessively low temperature, thereby improving the decoction quality and the stability of the liquid medicine.

[0013] In some embodiments, the upper cover assembly includes a heat-insulating cover body and a sealing edge. The heat-insulating cover body can cover the top of the medicine decoction barrel in a closed state to form a closed chamber, and the sealing edge is elastically crimped with the upper edge of the medicine decoction barrel to achieve pollution prevention; a power device is provided at the connection between the upper cover assembly and the vertical support portion, which is used to change the state of the upper cover assembly, wherein the states include open, closed, and cleaned. This embodiment can effectively prevent the contamination of the medicinal liquid and maintain the cleanliness and hygiene during the decoction process through the design of the heat-insulating cover body and the sealing edge; the sealing effect ensures the retention of heat and improves the efficiency of decoction. The setting of the power device enables the upper cover assembly to automatically adjust the state, simplifies the operation process, improves the automation level of the equipment and user experience, and is easy to clean and maintain, ensuring the long-term stable operation of the equipment.

[0014] In some embodiments, the upper cover assembly further includes an overflow device, the overflow device including a guide groove and a drain port, the guide groove is circumferentially distributed along the inner wall of the upper cover assembly, and the drain port is connected to an external collection container. This embodiment effectively prevents the overflow of the medicinal liquid during the decoction process through the design of the overflow device, ensuring the cleanliness and safety of the decoction environment. The combination of the guide groove and the drain port can timely guide the overflowed medicinal liquid into the external collection container, avoid the medicinal liquid from contaminating the equipment or the working environment, and improve the reliability and hygiene of the equipment.

[0015] In the embodiment of the present application, the mobile medicine decoction machine includes: a support assembly, including a horizontal extension part and a vertical support part fixedly connected to the horizontal extension part, the inner side wall of the vertical support part and the upper surface of the horizontal extension part enclose a mounting and positioning area adapted to the medicine decoction barrel; a heating assembly, fixedly arranged on the upper surface of the horizontal extension part, whose heating area matches the bottom of the medicine decoction barrel, and is used to perform directional heating on the medicine decoction barrel; a driving assembly, arranged on the lower surface of the horizontal extension part, and configured to drive the mobile medicine decoction machine to move along a defined trajectory. Through the above structure, the technical problem of low automated production efficiency caused by the fixed medicine decoction equipment and the need for reciprocating transportation with the help of handling equipment in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural diagram of a mobile medicine decoction machine according to an embodiment of the present application;

[0017] Figure 2A is a structural diagram of an upper cover assembly of a mobile medicine decoction machine according to an embodiment of the present application;

[0018] Figure 2B is a structural diagram of a mobile medicine decoction machine support assembly according to an embodiment of the present application;

[0019] Figure 2Cis a structural diagram of a heating component of a mobile medicine decoction machine according to an embodiment of the present application;

[0020] Figure 2D is a structural diagram of a driving assembly of a mobile medicine decoction machine according to an embodiment of the present application;

[0021] Figure 3 is a structural diagram of another mobile medicine decoction machine according to an embodiment of the present application;

[0022] Figure 4 is a top view of another mobile medicine decoction machine according to an embodiment of the present application;

[0023] Figure 5 is a structural diagram of another upper cover assembly of a mobile medicine decoction machine according to an embodiment of the present application;

[0024] Figure 6 is a structural diagram of a dynamic medicine decoction system according to an embodiment of the present application;

[0025] Among them, the above-mentioned drawings include the following figure marks: 10, upper cover assembly; 11, support assembly; 12, heating assembly; 13, drive assembly; 14, control assembly; 291, decoction barrel; 101, upper cover body; 102, overflow device; 111, frame body; 112, power device; 121, heating plate; 122, temperature sensor; 131, track guide mechanism; 132, power unit; 104, horizontal pivot drive beam; 31, conveying unit; 32, composite handling robot; 33, decoction cache unit; 34, decoction unit; 35, slag-liquid separation cache station; 36, RGV transport vehicle; 37, slag-liquid separator; 38, concentrated packaging labeling integrated machine; 39, control system. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0029] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0030] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0031] Existing decoction machines are usually single or group-based devices. One or more decoction devices are installed at a designated location, and a robot or other handling equipment is used to place the decoction pot into the designated location of the decoction device for decoction. The decoction device does not move during the entire decoction process. Existing decoction devices basically all have functions such as decoction, water addition, and flushing, which leads to complex pipelines, difficult cleaning, residual drug residues, high installation costs, and inconvenient maintenance. In addition, since the decoction equipment does not move, it must be equipped with handling equipment to carry it back and forth during the automated production process, which reduces production efficiency.

[0032] In order to solve the above problems, the present application embodiment provides a mobile medicine decoction machine, such as Figures 1 to 2D As shown, the mobile medicine decoction machine mainly includes an upper cover assembly 10, a support assembly 11, a heating assembly 12, a drive assembly 13, and a control assembly 14. The upper cover assembly 10 is arranged above the mobile medicine decoction machine, mainly used for heat preservation and pollution prevention. The support assembly 11 is the skeleton of the mobile medicine decoction machine, which is used to support the mobile medicine decoction machine. The heating assembly 12 is used to heat the medicine decoction barrel 291, and the heating temperature can be divided into high heat and low heat and can be adjusted. The control assembly 14 includes a power interface and a control circuit, which is mainly used for the reception and transmission of signals and instructions, state detection, information transmission and control of the driving mechanism. The drive assembly 13 is a driving device of the mobile medicine decoction machine, so that the mobile medicine decoction machine can move on a limited track. When the medicine decoction barrel 291 is placed in the mobile medicine decoction machine, the heating assembly 12 starts to heat, and the drive assembly 13 drives the mobile medicine decoction machine to move as a whole, until the medicine decoction is completed and the automatic medicine decoction barrel 291 is moved away.

[0033] The upper cover assembly 10 will be described in detail below.

[0034] The upper cover assembly 10 is arranged above the mobile medicine decoction machine, mainly for heat preservation and pollution prevention. An overflow device is arranged on the top of the upper cover assembly 10, which can drain water stains and foam when the medicine boils and overflows the pot. Figure 2A As shown, the upper cover assembly 10 includes an upper cover body 101 and an overflow device 102 .

[0035] The upper cover body 101 uses a nano-aerogel composite layer material as an insulation layer, the outer layer is wrapped with a 304 stainless steel shell, and the inner wall is circumferentially distributed with guide grooves. A silicone sealing strip is embedded in the edge of the cover body, forming an elastic crimping with the upper edge of the medicine decoction barrel 291. The upper cover body 101 is connected to the top of the vertical support part of the support assembly 11 through a hinge mechanism, and a power device 112 driven by a stepper motor is integrated at the hinge to support the automatic opening and closing of the upper cover and the switching of the cleaning state. When the upper cover body 101 is closed, a closed chamber is formed to reduce steam escape, maintain the temperature stability of the decoction, and prevent external contaminants from entering to ensure the hygiene of the medicine solution.

[0036] The overflow device 102 includes a bionic spiral guide groove and a drain port. The guide groove is continuously distributed along the circumference of the inner wall of the upper cover, and the drain port is connected to the external collection container through a polytetrafluoroethylene hose. The guide groove is integrally formed with the upper cover body 101, and the drain port is fixed to the side wall of the cover body through a flange connection. During the boiling stage of the decoction, the guide groove quickly guides the overflowed liquid medicine and foam into the drain port to prevent the liquid medicine from contaminating the equipment or the working environment. The hydrophobic treatment ensures the efficient discharge of the liquid medicine and reduces the frequency of cleaning and maintenance.

[0037] The support assembly 11 will be described in detail below.

[0038] like Figure 2BAs shown, the support assembly 11 includes a frame body 111 and a power device 112. The frame body 111 is made of stainless steel and is used to support and fix the entire device. At the same time, the frame body 111 is connected to the upper cover body 101 at a power device 112, which is used to change the state of the upper cover, such as opening and closing.

[0039] The frame body 111 is made of 304 stainless steel plate and processed into an L-shaped frame by laser welding, including a horizontal extension part and a vertical support part. The surface of the horizontal extension part is anti-slip treated, and the inner wall of the vertical support part and the upper surface of the horizontal extension part are enclosed to form an installation positioning area for the medicine barrel 291. The positioning area can be provided with a limit boss and a positioning pin for the precise clamping of the medicine barrel 291. The lower surface of the horizontal extension part is fixed with a track guide mechanism 131 of the driving component 13 by bolts, and the upper surface integrates the cast aluminum heating plate 121 of the heating component 12; the top of the vertical support part is connected to the upper cover component 10 through a hinge mechanism, and the circuit system of the control component 14 is embedded in the cavity.

[0040] The power device 112 is a stepping power drive mechanism, integrated with a position sensor and a limit switch, and is fixed to the connection between the support part and the upper cover assembly 10 through an aluminum alloy bracket. One end of the power device 112 is connected to the support part through a flange, and the other end is rigidly connected to the hinge of the upper cover assembly 10. The control signal cable is connected to the control assembly 14 through the vertical support part cavity.

[0041] The frame body 111 is rigidly connected to the vertical support part through the horizontal extension part to form a stable support. The track guide mechanism 131 of the drive component 13 is fixed to the lower surface of the frame body 111 to ensure the precise execution of the moving trajectory; the heating component 12 is integrated with the upper surface of the horizontal extension part, and the heat is evenly conducted to the decoction barrel 291 through the stainless steel substrate. Under the command of the control component 14, the power device 112 links the upper cover component 10 to realize automatic operation, and at the same time feedbacks the status information through the position sensor to form a closed-loop control.

[0042] The heating assembly 12 will now be described in detail.

[0043] The heating element 12 is as follows Figure 2C As shown, it includes a heating plate 121 and a temperature sensor 122. The heating plate 121 is mainly responsible for heating the medicine decoction barrel to provide a heat source for the decoction process.

[0044] The heating plate 121 is made of 304 stainless steel, and the top surface is a flat high-temperature resistant heating glass, which matches the shape of the bottom of the decoction barrel 291 to maximize the contact area. A nickel-chromium alloy heating wire is embedded in the heating plate 121, and electrical thermal isolation is achieved through a mica sheet insulation layer. The top is covered with a high thermal conductivity ceramic plate to ensure uniform heat conduction. The heating plate 121 is fixed to the upper surface of the horizontal extension of the support component 11 by four sets of stainless steel bolts. The power interface is connected to the power module of the control component 14 through a high-temperature resistant silicone cable, receives heating instructions and dynamically adjusts the power output (such as high heat and low heat mode).

[0045] The temperature sensor 122 is a thin-film platinum resistor, which is disposed on the heating plate and connected to the temperature feedback module of the control component 14 to monitor the temperature data in the medicine decoction barrel in real time and form a closed-loop control circuit.

[0046] After the medicine decoction barrel 291 is placed on the heating plate 121, the control component 14 detects a load signal and starts the heating process. The heating plate 121 outputs corresponding power according to a preset stage (such as a high heat stage and a low heat stage), and the temperature sensor 122 collects temperature data in real time and feeds it back to the control component 14.

[0047] The control component 14 dynamically calibrates the heating power through the PID algorithm. If the temperature exceeds the threshold, the power supply is immediately cut off and the alarm module is triggered to prevent the liquid medicine from being destroyed or the equipment from being damaged by overheating.

[0048] The drive assembly 13 is described in detail below.

[0049] like Figure 2D As shown, the driving assembly 13 is composed of a track guide mechanism 131 and a power unit 132. The track guide mechanism 131 is used to make the mobile medicine decoction machine move along a set track, and the power unit 132 is used to provide driving force for it.

[0050] The track guide mechanism 131 uses a metal track, including a preset track groove and a roller group. The track groove section is a T-shaped structure, with anti-derailment flanges symmetrically distributed on both sides; the roller group consists of four groups of high-precision bearing rollers, the surface is hard chrome plated to enhance wear resistance, and the roller is embedded with a rubber shock-absorbing layer to reduce operating noise. The track guide mechanism 131 is fixed to the lower surface of the horizontal extension of the support assembly 11 by high-strength bolts, and forms a rigid connection with the frame body 111 to ensure that the moving track is not offset. Make the mobile decoction machine run more smoothly.

[0051] The power unit 132 is used to drive the mobile medicine decoction machine. For example, the mobile medicine decoction machine is equipped with a dynamic power supply interface module, which is electrically connected to the contact structure of the sliding contact power supply rail through a conductive sliding contact arm; wherein the contact structure can move on the sliding contact power supply rail as the mobile medicine decoction machine moves and maintain continuous contact with the sliding contact power supply rail to provide continuous power to the power unit 132 of the drive assembly 13. The power unit 132 is a servo motor or a stepper motor, which drives the roller group of the track guide mechanism 131 to roll along the guide rail to drive the mobile medicine decoction machine to move. In some other embodiments, the power unit 132 can also drive the roller group through the power provided by the battery provided by the mobile medicine decoction machine itself. In other embodiments, the driving component 13 may not be provided with the power unit 132, but a guide surface cooperating with the gear-shifting propulsion mechanism may be provided on the mobile medicine decoction machine. Driven by the gear-shifting propulsion mechanism, the guide surface can provide continuous kinetic energy to the driving component, wherein the gear-shifting propulsion mechanism is arranged on a chain driving mechanism, and the chain driving mechanism can move along a specified path when driven by a motor based on a fixed power supply.

[0052] The control component 14 generates a speed command according to the decoction stage (e.g., fast movement in the high-fire stage and slow movement in the low-fire stage) and sends it to the power unit 132. The servo motor of the power unit 132 drives the roller to move along the track groove through the gear set. The T-shaped structure of the track groove and the anti-derailment flange ensure that the equipment has no lateral deviation.

[0053] The mobile medicine decoction machine provided by the present application can decoct while walking during the decoction process, and the production speed is fast. The modular design of the decoction system unit is convenient for on-site construction and saves labor costs. The medicine decoction machine has no pipeline connection, which is clean and simple and easy to repair and maintain.

[0054] The present application also provides another mobile medicine decoction machine, such as Figure 3 and Figure 4 As shown. Compared with the aforementioned embodiment, the structural improvement of this embodiment is mainly reflected in two key aspects: the movement mode of the upper cover assembly and the arrangement scheme of the temperature sensor. Specifically, this embodiment adopts a horizontally rotating upper cover assembly structure, whose rotation axis is arranged perpendicular to the horizontal plane, and the temperature sensor is integrated and installed on the inner wall surface of the upper cover assembly. In contrast, the upper cover assembly in the above embodiment adopts an up-and-down flip structure, whose pivot axis is arranged parallel to the horizontal plane, and the corresponding temperature sensor is fixedly arranged at the detection position at the bottom of the heating plate.

[0055] Specifically, the upper cover assembly is as follows Figure 5As shown, it includes an upper cover body 101, an overflow device 102 and a horizontal pivot driving beam 104. One end of the horizontal pivot driving beam 104 is rigidly connected to the center of the upper cover body 101, and the other end is connected to the vertical support part of the support assembly. The power device arranged inside the vertical support part can drive the state switching (e.g., opening, closing) of the upper cover assembly. When opening or closing, it first rises to a preset height and then rotates horizontally by 90°. When closing, it first rotates and then descends.

[0056] The temperature sensor adopts a thin film platinum resistor, which is installed on the upper cover body 101. The temperature sensor probe is fixed by a thread to the center of the surface of the upper cover body 101. The signal transmission cable adopts a double-layer shielding design, which is connected to the temperature feedback module of the control component 14 to monitor the temperature data in the medicine decoction barrel in real time and form a closed-loop control circuit.

[0057] The other components of the mobile medicine decocting machine provided in this embodiment are similar to those of the mobile medicine decocting machine in the aforementioned embodiments, and will not be described in detail here.

[0058] The operation process of the mobile medicine decocting machine will be described in detail below.

[0059] 1) Equipment startup and path planning.

[0060] After the power is turned on, the control component starts the self-test program to confirm that the heating component, drive component and sensor are in normal condition. Then, the running track and the end position of the mobile decoction machine are determined. For example, a circular track with a length of 10 meters is preset in the production line, and the end position is marked as the decoction completion area.

[0061] 2) The decoction barrel loading and parameter synchronization.

[0062] The robot places the medicine barrel filled with medicinal materials and water in the installation and positioning area of ​​the support component, and the bottom of the barrel fits perfectly with the heating plate. After the pressure sensor detects that the medicine barrel is in place, it triggers the upper cover assembly to close automatically, and the sealing edge presses the barrel mouth to form a closed environment. The control component determines the decoction parameters based on the number and type of medicinal materials in the prescription, including the target temperature (high heat, low heat), total decoction time (such as 40 minutes) and preset movement speed (such as high heat stage, low heat stage), and automatically calculates the movement time according to the path length and speed to ensure that the decoction is completed synchronously when the decoction machine reaches the end position.

[0063] 3) Perform the boiling operation while exercising.

[0064] The control component sends a command, the drive component starts the servo motor, and the decoction machine starts to move along the track. At the same time, the heating plate outputs full power to heat the liquid medicine to boiling. The temperature sensor feeds back temperature data in real time, and the PID algorithm dynamically adjusts the heating power to avoid temperature fluctuations.

[0065] The decoction machine moves at a set speed, the encoder of the drive component monitors the displacement in real time, and the control component matches the position information with the remaining decoction time. For example, if the total path is 10 meters and it takes 40 minutes to complete, the system automatically adjusts the speed to 0.00417m / s (10m / 2400s) to ensure that the movement and decoction time are strictly synchronized.

[0066] When the liquid medicine boils, the control unit switches to slow fire mode, reduces the heating power, and reduces the driving speed synchronously, thereby extending the extraction time of the active ingredients of the medicinal materials. The diversion trough handles the possible overflow of the liquid medicine in real time to avoid contaminating the equipment or the track.

[0067] 4) End point detection and decoction are completed.

[0068] When the medicine decoction machine moves to the preset end position, the Hall sensor or photoelectric switch at the end of the track triggers a signal, and the control component immediately stops heating and cuts off the drive power. The upper cover component automatically opens, and the robot can take away the medicine decoction barrel. At the same time, the drive component executes the reverse motion program to reset the medicine decoction machine to the starting point and prepare for the next round of operation.

[0069] The present application also provides a dynamic Chinese medicine decoction system, such as Figure 6 As shown, the dynamic Chinese medicine decoction system includes a decoction barrel 291, a conveying unit 31, a composite handling robot 32, a decoction buffer unit 33, a decoction unit 34, a residue-liquid separation buffer station 35, an RGV transport vehicle 36, a residue-liquid separator 37, a concentrated packaging labeling integrated machine 38 and a control system 39.

[0070] The decoction unit 34 includes a plurality of mobile decoction machines, which are powered by dynamic power supply, and can use busbars, batteries, etc. The mobile decoction machine is configured to carry the decoction barrel 291 to be decocted and can heat and decoct the decoction barrel 291 to be decocted; the control system 39 is configured to control the mobile decoction machine to move along a preset path, i.e., a defined path, and control the mobile decoction machine to heat and decoct the decoction barrel 291 to be decocted while dynamically moving, so that the mobile decoction machine reaches the target position when decoction is completed. Through the above scheme, the technical problems of low production efficiency and complex and difficult to maintain pipelines caused by the existing Chinese medicine decoction system due to the fixed equipment and reliance on the handling device are solved.

[0071] The decoction buffer unit 33 is arranged on the upper side of the decoction unit 34, and is configured to store the decoction barrel 291 to be decocted; the residue-liquid separation unit is configured to separate the residue from the liquid in the decoction barrel 291 that has been decocted to obtain liquid medicine; the conveying unit 31 is configured to transport the decoction barrel 291 to be decocted to the decoction buffer unit 33 according to a preset process, and to transport the decoction barrel 291 that has been decocted to the residue-liquid separation unit.

[0072] In some embodiments, the decoction unit 34 is an annular structure, and a guide rail is disposed on the main body of the annular structure. The guide rail is configured to carry and guide the mobile medicine decoction machine.

[0073] In some embodiments, the decoction unit 34 further includes a mobile power supply station, which includes: a sliding contact power supply rail adapted to the annular structure, wherein a movable contact structure is provided on the sliding contact power supply rail, and the contact structure is used to connect with the mobile decoction machine through a conductive sliding contact arm; wherein the contact structure can move on the sliding contact power supply rail as the mobile decoction machine moves and maintain continuous contact with the sliding contact power supply rail to provide continuous power to the mobile decoction machine; or, the mobile power supply station includes a chain drive mechanism adapted to the annular structure and a tooth-shifting propulsion mechanism provided on the chain drive mechanism, wherein the tooth-shifting propulsion mechanism pushes the mobile decoction machine as the chain drive mechanism moves to provide kinetic energy to the mobile decoction machine. In this way, the mobile decoction machine can dynamically obtain power or kinetic energy during movement.

[0074] In some embodiments, the decoction unit 34 also includes: a stirring station, configured to stir the medicine in the decoction barrel 291 on the mobile decoction machine running near the stirring station under the control of the control system; and / or a cleaning station, configured to clean the upper cover assembly of the mobile decoction machine.

[0075] In some embodiments, the composite handling robot 32 is disposed between the conveying unit 31 and the decoction unit 34, and is configured to, in accordance with the preset process, transport the decoction barrel to be decocted conveyed by the conveying unit to the decoction cache unit for caching, transport the decoction barrel to be decocted from the decoction cache unit to the mobile decoction machine of the decoction unit, and transport the decoction barrel that has been decocted to the conveying unit.

[0076] In some embodiments, the slag-liquid separation unit includes: a plurality of slag-liquid separators 37, arranged in a direction perpendicular to the extension direction of the conveying unit; a slag-liquid separation cache station 35, disposed between the conveying unit and the plurality of slag-liquid separators, configured to temporarily cache the decoction barrels that have been boiled; an RGV transport vehicle 36, whose track is parallel to the arrangement direction of the plurality of slag-liquid separators, configured to transfer the decoction barrels on the slag-liquid separation cache station to a designated slag-liquid separator for slag-liquid separation, and to transfer the decoction barrels after separation back to the conveying unit.

[0077] The operation flow of the dynamic Chinese medicine decoction system will be described below.

[0078] After the medicine barrel 291 is transported to the designated position by the conveying unit 31, it is transported to the decoction buffer unit 33 by the composite transport robot 32 for buffering. After the decoction barrel 291 is buffered, the control system controls the composite transport robot 32 to transport it to the decoction unit 34 for decoction. After the decoction in the decoction unit 34 is decocted, the medicine barrel 291 is transported to another layer of the conveying unit 31 by the composite transport robot 32 for transportation. When it reaches the slag-liquid separation buffer station 35, it is transported to the slag-liquid separator 37 by the RGV transport vehicle 36 for slag-liquid separation. The medicine barrel 291 after the slag-liquid separation is transported to the conveying unit 31 by the RGV transport vehicle 36. At the same time, the medicine liquid separated from the slag-liquid is transported to the concentrated packaging labeling integrated machine 38 through a pipeline for concentrated packaging into bags and labeled. In the embodiment of the present invention, the decoction system is automatically controlled, and the entire decoction process adopts dynamic decoction, which has a fast production speed; the decoction system unit is modularly designed, which is convenient for on-site construction and saves labor costs; the mobile decoction machine has no pipeline connections because it can be moved, which is clean and simple and easy to repair and maintain; the decoction unit is in the form of motion decoction, that is, decocting while moving, which improves work efficiency.

[0079] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile medicine decoction machine, characterized in that: include: The support assembly includes a horizontal extension portion and a vertical support portion fixedly connected to the horizontal extension portion, wherein the inner side wall of the vertical support portion and the upper surface of the horizontal extension portion enclose a mounting and positioning area adapted to the medicine decoction barrel; A heating component is fixedly arranged on the upper surface of the horizontal extension portion, and its heating area matches the bottom of the medicine decoction barrel, and is used for directional heating of the medicine decoction barrel; The driving assembly is arranged on the horizontal extension part and is configured to drive the mobile medicine decoction machine to move along a defined trajectory.

2. The mobile medicine decoction machine according to claim 1, characterized in that: It also includes a control component, which is configured to control the heating component to start heating when it is detected that the decoction barrel is placed on the heating component, and control the driving component to drive the mobile decoction machine to move along a defined trajectory until the mobile decoction machine completes decoction.

3. The mobile medicine decoction machine according to claim 2, characterized in that: The control component is also configured to dynamically and linkage-adjust the driving speed of the driving component and the heating power of the heating component according to the decoction stage.

4. The mobile medicine decoction machine according to claim 1, characterized in that: The mobile medicine decoction machine is equipped with a dynamic power supply interface module, and the dynamic power supply interface module is electrically connected to the contact structure of the sliding contact power supply rail through a conductive sliding contact arm; wherein the contact structure can move on the sliding contact power supply rail as the mobile medicine decoction machine moves and maintain continuous contact with the sliding contact power supply rail to provide continuous power to the drive component; or The mobile medicine decoction machine is provided with a guide surface matched with the tooth-shifting propulsion mechanism, wherein the guide surface can provide continuous kinetic energy to the driving assembly under the drive of the tooth-shifting propulsion mechanism, wherein the tooth-shifting propulsion mechanism is arranged on a chain driving mechanism, and the chain driving mechanism can move under the drive of a motor based on a fixed power supply; or The mobile medicine decoction machine itself is equipped with a battery to provide continuous power to the driving component.

5. The mobile medicine decoction machine according to claim 4, characterized in that: In the case where the mobile medicine decoction machine is equipped with the dynamic power supply interface module or the mobile medicine decoction machine itself is equipped with a battery, the driving assembly includes a track guide mechanism and a power unit, the power unit is transmission-connected to the track guide mechanism, the power unit outputs a driving force based on the electric energy, so that the mobile medicine decoction machine moves along the track defined by the track guide mechanism, wherein the power unit is a servo motor or a stepping motor; When the mobile medicine decoction machine is provided with the guide surface, the driving assembly comprises a track guide mechanism.

6. The mobile medicine decoction machine according to claim 2, characterized in that: Also includes: The upper cover assembly is rotatably or flippably connected to the top end of the vertical support portion away from the horizontal extension portion, and the upper cover assembly can cover the top of the medicine decoction barrel in a closed state.

7. The mobile medicine decoction machine according to claim 6, characterized in that: Also includes: A temperature sensor is arranged on the upper cover assembly or on the heating plate of the heating assembly, and is used to monitor the temperature of the medicine decoction barrel in real time; Wherein, the control component adjusts the heating temperature of the heating plate in real time based on the temperature monitored in real time by the temperature sensor.

8. The mobile medicine decoction machine according to claim 6, characterized in that: The upper cover assembly includes a heat-insulating cover body and a sealing edge. The heat-insulating cover body can cover the top of the medicine-decocting barrel in a closed state to form a closed chamber. The sealing edge is elastically pressed against the upper edge of the medicine-decocting barrel to achieve pollution prevention. A power device is provided at the connection between the upper cover assembly and the vertical support portion, for changing the state of the upper cover assembly, wherein the state includes opening and closing.

9. The mobile medicine decoction machine according to claim 8, characterized in that: The upper cover assembly also includes an overflow device, which includes a guide groove and a liquid discharge port. The guide groove is distributed circumferentially along the inner wall of the upper cover assembly, and the liquid discharge port is connected to an external collection container.

10. A dynamic Chinese medicine decoction system, characterized in that: include: The mobile medicine decoction machine according to any one of claims 1 to 9.

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