Lifting and extruding system and method for traditional Chinese medicine decoction

Abstract

The invention discloses a lifting, supporting and extruding system and method for traditional Chinese medicine decoction. The lifting, supporting and extruding system comprises a frame, a lifting, supporting and extruding module, an inner supporting assembly grabbing module, a combination unit and a communicated control module. After receiving the grabbing signal, the inner supporting assembly grabbing module grabs an inner supporting assembly in the decocting pot assembly and moves the inner supporting assembly to a certain distance away from a decocting pot; after the combining unit grabs the outer barrels with liquid medicine poured out to the combining station according to the transferring unit, the inner supporting assembly grabbing module receives grabbing signals and grabs and puts the inner supporting assemblies into the outer barrels, the combining station is connected with a conveying unit, and the conveying unit is used for conveying the decocting pots. The outer barrel and the inner barrel with liquid medicine poured out are conveyed in a combined mode through the combination station, the labor time is shortened, and the efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of traditional Chinese medicine decocting, and specifically relates to a lifting, supporting and squeezing system and method for traditional Chinese medicine decocting. Background Art

[0002] With the development of the medical field and the progress of medical means, traditional Chinese medicine has also received wide attention, and the demand for traditional Chinese medicine is increasing. However, in the process of decocting traditional Chinese medicine, there are certain requirements for the decocting utensils, fire, water, and decocting methods, and the decocting time is relatively long. In order to meet the needs of modern life and society, an automated production line is usually adopted to improve production efficiency.

[0003] Chinese Patent with application number CN202110156008.7 discloses an automatic decocting system and method for traditional Chinese medicine decoction pieces, including a conveying system, a decocting system, an automatic medicine fetching and dispensing system, a packaging system, and a total control system. The prepared traditional Chinese medicine decoction pieces are loaded into a medicine-carrying net barrel, and the total control system associates the prescription information, decocting points, and bagging and packing points of the current traditional Chinese medicine decoction pieces with the chip in the medicine-carrying net barrel; the conveying system transfers the medicine-carrying net barrel to the corresponding branch port, and the feeding manipulator of the automatic feeding system sorts and grabs the inner wall of the matching medicine-carrying net barrel by an inner support method and puts it into the decocting equipment at the corresponding decocting point; the decocting equipment determines the decocting operation parameters to decoct the traditional Chinese medicine decoction pieces; the packaging system quantitatively packs the medicinal liquid into bags, puts the bagged medicine bags into the corresponding medicine-containing frames, and transports them to the corresponding packaging points by a packaging conveyor belt.

[0004] In view of this, the present invention is specifically 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 an automatic traditional Chinese medicine decocting system that combines the inner and outer pots of the decocting pot after pouring out the medicinal liquid.

[0006] To solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: A lifting, supporting and squeezing system for traditional Chinese medicine decocting, characterized in that it includes a frame, a lifting, supporting and squeezing module, an inner support component grasping module, a combination unit, and a connected control module; After receiving the grasping signal, the inner support component grasping module grasps the inner support component in the decocting pot assembly and moves it to a certain distance from the decocting pot; After the combination unit grabs the outer barrel with the poured-out medicinal liquid to the combination station according to the transfer unit, the inner support component grasping module receives the grasping signal and grabs and places the inner support component into the outer barrel. The combination station is connected with a conveying unit, and the conveying unit is used for the transmission of the decocting pot.

[0007] Further, a number of workstations for placing the inner support components are provided on the frame, and the combined workstation is located on one side of the inner support component workstation.

[0008] Further, the combined workstation moves with the conveying unit on the conveying unit, and a part of the conveying unit passes through the frame and is inside the frame.

[0009] Further, after the outer barrel is in the combined workstation, the inner support component grasping module lifts and translates the inner support component from the placement workstation and places it inside the outer barrel, and the baffle rotates towards the transportation direction of the conveying unit, and the combined decocting pot is conveyed through the conveying unit.

[0010] Further, the frame is also provided with a placement workstation for placing the decocting pot with liquid medicine, and a number of inner support component workstations are located between the decocting pot placement workstation and the combined workstation and are arranged at intervals along the direction from the decocting pot placement workstation to the combined workstation; The decocting pot is placed at the placement workstation, and the inner support component grasping module grasps the inner support component and places it in sequence along the decocting pot placement workstation towards the combined workstation.

[0011] Further, after the outer barrel is placed in the combined workstation, the inner support component grasping module sequentially grasps and places it inside the outer barrel along the direction from the combined workstation to the decocting pot placement workstation.

[0012] Further, a moving mechanism is provided on the frame, and a position device for monitoring the position of the moving mechanism is provided on the moving mechanism and / or the frame.

[0013] Further, the position device includes a position device for position monitoring at the combined workstation. After it is monitored that the outer barrel is placed in the combined workstation, a position device for position monitoring at the inner support component workstation monitors whether there is an inner support component. The moving mechanism of the inner support component grasping module moves to the workstation with the inner support component and grasps the inner support component and places it in the outer barrel at the combined workstation.

[0014] Further, the inner support component grasping module sequentially grasps the inner support components along the direction from the combined workstation to the decocting pot placement workstation and places them on the combined workstation.

[0015] A method for controlling the lifting and squeezing of a decocting pot assembly, using the above-mentioned lifting and squeezing system for traditional Chinese medicine decocting, includes the following steps: The outer barrel of the decocting pot is placed on the combined workstation through the transfer unit; The inner support component grasping module grasps the inner support component and places it in the outer barrel at the combined workstation; The baffle rotates towards the conveying direction of the conveying unit, and the conveying unit conveys the combined decocting pot.

[0016] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, the decocting pot is moved between different units by a handling device, and the robot directly grabs the decocting pot and adjusts its action during the movement to place it on the next working unit. The outer barrel for pouring out the liquid medicine is combined with the inner support component, improving the working efficiency.

[0017] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, as a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In the drawings: Figure 1 is a schematic structural diagram of the automatic traditional Chinese medicine decocting system of the present invention; Figure 2 is a schematic structural diagram of the handling device of the present invention; Figure 3 is a schematic connection structure diagram between the handling robot and the track group of the handling device of the present invention; Figure 4 is a schematic diagram of the assembled decocting pot of the present invention; Figure 5 is a schematic diagram of the inner support component of the decocting pot of the present invention; Figure 6 is a schematic diagram of the outer pot of the decocting pot of the present invention; Figure 7 is the present invention Figure 7 a schematic diagram of the bottom support plate of the outer pot in the present invention; Figure 8 is a schematic overall structure diagram of the decocting device of the present invention; Figure 9 is a schematic overall structure diagram of the capping mechanism of the present invention; Figure 10 is a cross-sectional view of the capping mechanism of the present invention; Figure 11 is a schematic diagram of the lifting and squeezing module of the present invention; Figure 12 is a front view of the lifting and squeezing module of the present invention; Figure 13 is a schematic structural diagram of the inner support grabbing module of the present invention; Figure 14 is a schematic structural diagram of the lifting and squeezing part of the present invention; In the figure: 100, decocting pot; 110, outer pot; 111, protrusion; 112, rib; 113, reinforcing rib; 120, inner support assembly; 121, support plate; 122, connecting rod; 123, clamping member; 124, bottom plate; 130, carrier; 131, support plate; 1311, fixing portion; 132, conveying module; 1321, straight rod; 200, decocting unit; 201, frame; 202, upper truss; 203, lower truss; 204, heating mechanism; 2041, housing; 2042, induction cooker; 2043, positioning block; 205, capping mechanism; 2051, fixing plate; 20511, guide sleeve; 2052, pot lid; 2053, first lifting assembly; 20531, cylinder; 20532, fixing block; 20533, pipe through-hole; 2054, pressing plate; 20541, through-hole; 2055, second lifting assembly; 20551, electric cylinder; 20552, mounting sleeve; 20553, connecting rod; 2056, guide rod; 20561, limiting ring; 206, water supply mechanism; 2057, nozzle; 2058, tee; 2061, water outlet section; 2062, water inlet section; 2063, water pump; 2064, flowmeter; 207, temperature sensor; 300, lifting and squeezing unit; 400, transplanting and packaging unit; 500, pot scrubbing unit; 600, cleaning unit; 701, first conveyor line; 7011, first barcode scanner; 702, second conveyor line; 703, third conveyor line; 704, fourth conveyor line; 800, handling device; 801, track group; 8011, ground track; 802, handling robot; 8021, clamping mechanism; 803, traction mechanism; 8031, linear rack; 8032, driving gear; 8033, driving motor; 8034, planetary reducer; 804, second barcode scanner; 900, dispensing and verification unit; 1000, hot water supply unit; 1001, circulation pipeline; 1002, hot water supply device; 1100, water adding unit; 1200, second decocting unit; 301, inner support grasping module; 3011, truss; 30111, vertical beam; 30112, cross beam; 30113, cross bar; 3012, moving seat; 30121, mounting platform; 30122, first driving mechanism; 30123, second driving mechanism; 3013, grasping mechanism; 30131, loading platform; 30132, clamping arm; 301321, telescopic driving member; 301322, claw; 301323, clamping portion; 3014, guide rail; 3015, guide seat; 3016, cable trough; 3017, cable conduit; 3018, storage cavity; 3019, cover plate; 302, lifting and squeezing module; 3021, moving mechanism; 30211, first driving member; 30212, moving platform; 3022, squeezing mechanism; 30221, second driving member; 30222, squeezing plate; 3023, slide rail; 30231, fixing rod; 30232, guide rod;3024. Slide; 3025. Clamping mechanism; 30251. Third driving member; 30252. Clamping plate; 303. Extrusion disc cleaning module; 3031. Cleaning pipe; 400. Decoction pot fixing rack; 401. Decoction pot bearing platform; 402. Positioning portion; 403. Fixing rack vertical rod; 404. Fixing rack cross rod; 405. Fixing rack longitudinal rod; 406. Fixed longitudinal rod; 407. Fixed cross rod; 408. Mounting plate; 409. Rotary cylinder; 410. Pressing cylinder; 411. First connecting rod; 412. Second connecting rod; 413. Connecting rod; 414. Fixed rod; 415. Rotary rod; 416. Connecting member; 430. Pressing device; 431. Hook head; 440. Rotary device; 450. Rotary bracket..;

[0019] It should be noted that these drawings and textual descriptions are not intended to limit the scope of the concept of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by reference to specific embodiments. Detailed implementation manners

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments 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.

[0021] In the description of the present invention, it should be noted that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the orientation or positional relationships shown in the 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 orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0022] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" 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 directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] Such as Figures 1 to 10As shown in the figure, the present invention discloses an automatic traditional Chinese medicine decocting system, which includes a decocting pot, a dispensing and verification unit, a transfer unit, a decocting unit, a lifting and squeezing unit, a packaging and pouring unit, a cleaning unit and a conveying unit. The dispensing and verification unit is located upstream of the decocting unit, and the lifting and squeezing unit, the packaging and pouring unit and the cleaning unit are located downstream of the decocting unit. The conveying unit is used to drive the decocting pot to flow between the dispensing and verification unit, the decocting unit and the cleaning unit, and the transfer unit is used to drive the decocting pot to flow between the decocting unit, the lifting and squeezing unit and the packaging and pouring unit.

[0024] In this embodiment, the dispensing and verification unit includes an automatic dispensing device that can intelligently dispense traditional Chinese medicine materials according to a prescription and an artificial verification device that checks whether the dispensed traditional Chinese medicine materials are incorrect and makes corrections. The automatic dispensing device is located upstream of the artificial verification device. The dispensing and verification unit is also equipped with a prescription binding and herbal medicine dispensing system, which is signal-connected to the automatic dispensing device. By inputting prescription information into the prescription binding and herbal medicine dispensing system, the prescription binding and herbal medicine dispensing system sends the prescription information to the automatic dispensing device, and the automatic dispensing device can dispense traditional Chinese medicine materials according to the prescription information.

[0025] After the automatic dispensing device finishes dispensing traditional Chinese medicine materials, the traditional Chinese medicine materials dispensed by the automatic dispensing device are sent to the artificial verification device for manual verification. After passing through the manual verification by the artificial verification device, if the dispensed traditional Chinese medicine materials are correct, the dispensed traditional Chinese medicine materials are packed into a medicine bag and put into the interior of the decocting pot. If the dispensed traditional Chinese medicine materials are incorrect, re-dispensing is required. The prescription binding and herbal medicine dispensing system automatically cancels the prescription corresponding to the traditional Chinese medicine and prompts the personnel to input the prescription again.

[0026] In the present invention, the decocting pot includes an inner pot and an outer pot, and the inner pot can be sleeved inside the outer pot. A water leakage hole is provided on the bottom side wall of the inner pot for discharging the medicinal liquid from the inner pot. When decocting traditional Chinese medicine materials, the traditional Chinese medicine materials are put into the inner pot of the decocting pot.

[0027] In this automatic traditional Chinese medicine decocting system, the decocting process of traditional Chinese medicine materials is realized by multiple individual decocting pots continuously flowing in the conveying unit. Each step of the traditional Chinese medicine decocting process is completed by a specific device processing the traditional Chinese medicine in the decocting pot at a specific device.

[0028] In the prescription of traditional Chinese medicine, different requirements for each step of the decocting process can also be recorded when decocting the Chinese herbal pieces of the prescription. For example, the decocting duration of Chinese herbal medicines, the decocting fire method, and the decocting temperature, etc. The control circuit module correspondingly regulates the processing technology of the Chinese medicine in the decocting pot by each device according to each input prescription information. For example, the residence time of the decocting pot at each device and the transfer sequence between each device, etc. In this way, it is possible to decoct Chinese medicine decoctions of multiple prescriptions simultaneously, and it is also possible to correspondingly allocate the correct decocting process according to different prescriptions, and to control the opening load of each device performing the decocting process to ensure a relatively high efficiency of the entire production line when decocting a large number of Chinese herbal pieces.

[0029] The decocting unit is used to heat the decocting pot filled with medicinal materials and water to complete the decocting process of the medicinal materials. After the decocting is completed, the decocting pot is placed on the lifting and squeezing unit through the transplanting unit. The lifting and squeezing unit lifts the inner support assembly of the decocting pot to a certain distance from the medicinal liquid in the outer pot, squeezes the medicine bag in the inner support assembly, separates the water in the medicine bag, separates the inner support assembly from the outer pot after the squeezing is completed, transfers the outer barrel to the packaging and pouring medicine unit through the transplanting unit, pours out the medicinal liquid in the outer barrel through the pouring medicine device for packaging, then transfers the outer barrel to the lifting and squeezing unit through the transplanting unit, combines the inner support assembly and the outer barrel through the lifting and squeezing unit, and then transfers the decocting pot to the cleaning unit through the conveying unit. The cleaning unit includes pre-cleaning and cleaning. The pre-cleaning includes removing the medicine bag. While removing the medicine bag, the inner support assembly is brushed and the outer barrel is cleaned. After the pre-cleaning is completed, the decocting pot is conveyed to the cleaning device through the conveying unit, the decocting pot is flipped to the cleaning conveyor line through the flipping device, and is sequentially cleaned in the cleaning cavity. After the cleaning is completed, it is then transferred to the dispensing and compounding unit through the conveying unit.

[0030] In this embodiment, the transplanting unit is a handling device 800. The handling device 800 is used to move the decocting pot 100 located on the first conveyor line 701 down and send it into the interior of the decocting unit 200.

[0031] Specifically, the handling device 800 includes a track group 801 extending in a straight line. The track group 801 includes two parallel ground tracks 8011. Above the two ground tracks 8011, there is a handling robot 802. The handling robot 802 has a clamping mechanism 8021. The clamping mechanism 8021 can grab the decocting pot 100. The handling robot 802 adopts an existing multi-axis robot, and the clamping mechanism 8021 adopts a grabbing mechanical claw.

[0032] In this embodiment, a traction mechanism 803 is provided between the ground track group 801 and the handling robot 802. The traction mechanism 803 is used to drive the handling robot 802 to move along the extending direction of the ground track 8011.

[0033] Specifically, the traction mechanism 803 includes a linear rack 8031 fixed to one of the ground rails 8011. The extending direction of the linear rack 8031 is parallel to the extending direction of the ground rail 8011. The traction mechanism 803 further includes a driving gear 8032 rotatably connected to the bottom of the handling robot 802. The driving gear 8032 meshes with the linear rack 8031. A driving motor 8033 is provided on the handling robot 802. A second planetary reducer 8034 is provided between the motor shaft of the driving motor 8033 and the driving gear 8032. The input shaft of the second planetary reducer 8034 is connected to the motor shaft of the driving motor 8033, and the output shaft of the second planetary reducer 8034 is connected to the driving gear 8032.

[0034] When the driving motor 8033 is driven, the second planetary reducer 8034 transmits the force applied by the motor shaft of the driving motor 8033 to the driving gear 8032, causing the driving gear 8032 to rotate. As the driving gear 8032 rotates, the driving gear drives the handling robot 802 to move along the extending direction of the linear rack 8031. By using the cooperation of the driving gear 8032 and the linear rack 8031 to drive the handling robot 802 to move, the moving position of the handling robot 802 can be controlled more precisely, and the error of the moving position of the handling robot 802 can be reduced.

[0035] Preferably, the linear rack 8031 is a helical linear rack, and the driving gear 8032 is a helical gear. By setting the driving gear 8032 as a helical gear and the linear rack 8031 as a helical linear rack, the impact between the teeth of the gear and the rack can be reduced through the oblique tooth design. Therefore, the transmission is more stable and the noise is smaller. At the same time, each pair of teeth of the helical gear enters and disengages from the meshing gradually, which reduces the load on each pair of teeth, improves the load-bearing capacity of the gear, and extends the service life.

[0036] A second barcode scanner 804 is installed on the clamping mechanism 8021 of the handling robot 802. The second barcode scanner 804 is used to scan the identification code on the decocting pot 100. The second barcode scanner 804 is signal-connected to the central control module. When the clamping mechanism 8021 grabs the decocting pot 100, the second barcode scanner 804 can scan the identification code on the decocting pot 100 to obtain the prescription information of the medicine bag in the decocting pot 100.

[0037] When the handling device 800 grabs the decocting pot 100, the second barcode scanner 804 scans the identification code on the decocting pot 100 to obtain the prescription information of the medicine bags in the decocting pot 100. The second barcode scanner 804 sends the obtained prescription information to the central control module. The central control module checks the prescription information obtained by the second barcode scanner with the recorded prescription information of the decocting pot. If the two prescription information is the same, it indicates that the decocting pot 100 grabbed by the handling device 800 is correct, and then the handling device 800 puts the grabbed decocting pot 100 into the decocting unit 200. If the two prescription information is different, it indicates that the decocting pot 100 grabbed by the handling device 800 is incorrect. The central control module sends a control instruction to the handling device 800 to stop it and sends an alarm message to the staff.

[0038] In some other embodiments, the handling device 800 can also adopt an AGV handling robot.

[0039] In this embodiment, the number of the decocting units 200 is multiple and they are distributed on both sides of the track group 801. The decocting units 200 located on both sides of the track group 801 are arranged along the extending direction of the track group 801.

[0040] In this embodiment, the automatic traditional Chinese medicine decocting system further includes a lifting and squeezing unit 300, a transplanting and packaging unit 400, and a second decocting unit 1200. The lifting and squeezing unit 300 is used to separate the medicine bags in the decocting pot 100 from the liquid medicine and leave the liquid medicine in the outer pot 110 of the decocting pot 100.

[0041] The lifting and squeezing unit 300, the transplanting and packaging unit 400, and the second decocting unit 1200 are all signal-connected to the central control module. The central control module can send control instructions to the lifting and squeezing unit 300, the transplanting and packaging unit 400, and the second decocting unit 1200 to control them. The lifting and squeezing unit 300, the transplanting and packaging unit 400, and the second decocting unit 1200 can perform corresponding actions according to the control instructions issued by the central control module.

[0042] The transplanting and packaging unit 400 is used to pour out the liquid medicine remaining in the outer pot 110 and package the poured liquid medicine.

[0043] The lifting and squeezing unit 300, the transplanting and packaging unit 400, and the second decocting unit 1200 are located on the side of the track group 801 and are arranged along the extending direction of the track group 801. The handling robot 802 of the handling device 800 can handle the decocting pot 100 to transfer among the decocting unit 200, the lifting and squeezing unit 300, the transplanting and packaging unit 400, and the second decocting unit 1200.

[0044] In this embodiment, the decocting pot 100 includes an outer pot 110 and an inner support assembly 120 to achieve the automation and convenience of traditional Chinese medicine decoction. The outer pot 110 serves as the main body of the entire decocting pot 100. The main function of the outer pot 110 is to hold the medicinal liquid required during the decocting process and needs to be made of materials with high temperature resistance and corrosion resistance, such as stainless steel or ceramics, to ensure that it can stably withstand high temperatures and maintain the purity of the medicinal liquid during the decocting process. In addition, the heat preservation performance of the outer pot 110 should also be considered to reduce heat loss during the decocting process and improve the decocting efficiency.

[0045] The inner support assembly 120 is placed inside the outer pot 110 and is used to support the traditional Chinese medicine medicine bag. The design of the inner support assembly 120 should facilitate disassembly and cleaning to ensure the hygiene and safety of each decocting process; the inner support assembly 120 can adopt a mesh or porous structure so that the medicinal liquid can fully penetrate into the medicine bag, while maintaining the shape of the medicine bag and preventing the medicinal materials from scattering. In addition, the material of the inner support assembly 120 should also have characteristics such as high temperature resistance and corrosion resistance to cope with the high temperature environment during the decocting process.

[0046] A support plate 121 is provided at the top of the inner support assembly 120 and is erected on the circumference of the feeding port of the outer pot 110 to achieve the stable placement of the inner support assembly 120 inside the outer pot 110, which is convenient for the feeding and removal of the medicine bag and avoids possible wear or contamination caused by the direct contact between the inner support assembly 120 and the bottom of the outer pot 110. The support plate 121 also needs to be made of a material with high temperature resistance and corrosion resistance to ensure its stability and durability during use.

[0047] Specifically, an inner support assembly 120 feeding port is formed on the inner circumference of the support plate 121. When decocting traditional Chinese medicine, the traditional Chinese medicine materials are fed into the interior of the decocting pot 100 through the inner support assembly 120 feeding port for decoction.

[0048] Furthermore, a reinforcing rib 113 is provided at the feeding port of the outer pot 110, and the reinforcing rib 113 is arranged in a ring around the feeding port of the outer pot 110; the support plate 121 is erected on the reinforcing rib 113; Preferably, the outer edge of the support plate 121 protrudes from the reinforcing rib 113.

[0049] In this embodiment, a reinforcing rib 113 is provided at the feeding port of the outer pot 110. The reinforcing rib 113 is arranged around the feeding port in a circular manner. Its main purpose is to enhance the structural strength of this area of the outer pot 110. Since the feeding port is an area that is often subjected to internal and external forces, such as the placement and removal of the inner support assembly 120, and the feeding of medicine bags, etc., the addition of the reinforcing rib 113 can effectively prevent the feeding port from deforming or being damaged due to long-term use or improper operation, thereby extending the service life of the outer pot 110. As a preferred solution, the reinforcing rib 113 is a circular reinforcing rib 113 arranged in a circle around the feeding port of the outer pot 110.

[0050] Specifically, the tray 121 is placed on the reinforcing rib 113, which can provide stable support for the tray 121 and ensure the accurate position of the inner support assembly 120 in the outer pot 110. The circular structure of the reinforcing rib 113 provides a flat and firm placement platform for the tray 121, enabling the tray 121 to firmly support the inner support assembly 120 and the traditional Chinese medicine bag thereon, preventing shaking or tilting during the decocting process.

[0051] As a preferred solution, the outer edge of the tray 121 is designed to protrude from the reinforcing rib 113, which not only increases the contact area between the tray 121 and the reinforcing rib 113, thereby improving the placement stability of the tray 121, but also provides a certain guiding effect for the placement and removal of the inner support assembly 120, enabling users to complete these operations more easily.

[0052] Furthermore, a clamping member 123 is provided on one side of the tray 121 facing the inside of the inner support assembly 120, and the clamping member 123 is used to clamp and fix the seal of the traditional Chinese medicine bag; Preferably, the clamping member 123 clamps and fixes the end of the seal.

[0053] In this embodiment, a clamping member 123 is provided on one side of the tray 121 facing the inside of the inner support assembly 120. The main function of the clamping member 123 is to clamp and fix the seal of the traditional Chinese medicine bag. During the decocting process, the traditional Chinese medicine bag is usually sealed to prevent the medicinal materials from scattering or being contaminated. When the medicine bag is located in the inner support assembly 120, the clamping member 123 clamps the seal of the medicine bag, which can further ensure the stable placement of the medicine bag and prevent it from moving or tilting due to the boiling of the liquid medicine or stirring during the decocting process.

[0054] Specifically, the inner circumference of the tray 121 forms a feeding port of the inner support assembly 120. The edge of the feeding port is arranged in an alternating manner of straight lines and arc lines. The two arc lines are arranged opposite to each other, and the two straight lines are arranged opposite to each other. The clamping member 123 is arranged at one of the straight lines and is arranged towards the inside of the inner support assembly 120. The clamping member 123 includes: a housing, a core that telescopically moves inside the housing, and a spring that provides thrust for the core.

[0055] More specifically, when decocting traditional Chinese medicine, first put the traditional Chinese medicine materials into the medicine bag, then tie up the medicine bag through the seal, push the inner core of the clamping member 123 to make the opening of the inner core coincide with the opening of the housing, place the seal at the opening, and after placement, release the force pushing the inner core. The inner core is pushed by the restoring force of the spring in the housing and returns to the initial state. At this time, the seal is clamped and fixed in the clamping member 123.

[0056] As a preferred solution, the clamping member 123 clamps the end of the seal, which can ensure that the clamping force is more concentrated and effective, and avoid excessive extrusion or damage to other parts of the medicine bag.

[0057] It should be noted that the seal used to seal the medicine bag can be a separately provided rope member. Tie up the medicine bag with the rope member, and then clamp the remaining end after tying up on the clamping member 123 to fix the seal. Another option is that the seal used to seal the medicine bag can be a part of the medicine bag. Tie up the medicine bag with this part, and then clamp the remaining end after tying up on the clamping member 123 to fix the seal.

[0058] Furthermore, the inner support assembly 120 is further provided with: a bottom plate 124, near the bottom of the outer pot 110, for supporting the traditional Chinese medicine medicine bag; a connecting rod 122, one end of the connecting rod 122 is connected to the tray 121, and the other end is connected to the bottom plate 124.

[0059] In this embodiment, in addition to the provided tray 121, the inner support assembly 120 is further provided with a bottom plate 124 and a connecting rod 122. One end of the connecting rod 122 is connected to the tray 121, and the other end is connected to the bottom plate 124 to form a stable support structure. The number and distribution mode of the connecting rods 122 should be reasonably designed according to the size and shape of the inner support assembly 120 to ensure the stability and balance of the entire structure. Similarly, the connecting rods 122 and the bottom plate 124 also need to be made of materials with high temperature resistance and corrosion resistance to cope with the high temperature and humid environment during the decocting process.

[0060] Specifically, one end of the connecting rod 122 is set in a straight-line area at the inner peripheral edge of the tray 121; a groove is provided at the connection between the bottom plate 124 and the connecting rod 122, and the connecting rod 122 is connected in the groove. The bottom plate 124 is provided with through holes with different apertures for the dripping of the liquid medicine and for the cleaning member to pass through the through holes in the bottom wall of the outer pot 110 when cleaning the decocting pot 100.

[0061] As a preferred solution, the bottom plate 124 can be arranged in a disk-shaped structure with a higher middle part and a gradually decreasing circumference, so that when operating on the medicine bag such as squeezing, the liquid medicine in the medicine bag can flow smoothly into the outer pot 110.

[0062] Further, a protrusion 111 is provided on the inner peripheral wall of the outer pot 110; the protrusion 111 cooperates with the connecting rod 122 to limit the rotation of the inner support assembly 120 in the outer pot.

[0063] In this embodiment, in order to improve the stability of the inner support assembly 120 in the outer pot 110 and prevent unnecessary rotation during the decocting process, a protrusion 111 is provided on the inner peripheral wall of the outer pot 110, which cooperates with the connecting rod 122 of the inner support assembly 120.

[0064] Specifically, the shape and size of the protrusion 111 on the inner peripheral wall of the outer pot 110 are set to cooperate with the connecting rod 122. The shape of the protrusion 111 can be circular, square or other shapes suitable for cooperating with the connecting rod 122 to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0065] When the inner support assembly 120 is placed in the outer pot 110, the connecting rod 122 will contact the protrusion 111, and by means of physical restriction, even in the case of boiling or stirring of the liquid medicine during the decocting process, the inner support assembly 120 can maintain a relatively stable position.

[0066] Further, at least two protrusions 111 are provided and arranged oppositely on the inner peripheral wall of the outer pot 110; at least two connecting rods 122 are provided and arranged oppositely on the inner support assembly 120; the protrusions 111 and the connecting rods 122 correspond one by one to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0067] In this embodiment, on the inner peripheral wall of the outer pot 110, at least two protrusions 111 are provided and these two protrusions 111 are in opposite positions; the number and position of the protrusions 111 should be reasonably arranged according to the size of the outer pot 110 and the size of the inner support assembly 120 to achieve the best stable effect. Correspondingly, on the inner support assembly 120, at least two connecting rods 122 are provided and the two connecting rods 122 are in opposite positions. One end of the connecting rod 122 is connected to the tray 121 and the other end is connected to the bottom plate 124 to form a stable support structure. The number and position of the connecting rods 122 should correspond one by one to the protrusions 111 on the outer pot 110, so that during the decocting process, the connecting rods 122 can cooperate with the protrusions 111 to limit the rotation of the inner support assembly 120.

[0068] When decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it winds around the bottom of the connecting rod 122 for one week, and then the end is clamped and fixed in the clamping member 123, which can ensure that during the decocting of traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120 and will not float due to the buoyancy of the water in the decocting pot 100.

[0069] In another embodiment, four protrusions 111 are provided on the inner peripheral wall of the outer pot 110, and every two protrusions 111 form a group; the inner support assembly 120 is provided with four connecting rods 122, and every two connecting rods 122 form a group. The two protrusions 111 cooperate with the two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot. Specifically, when the inner support assembly 120 is placed in the outer pot 110, the two protrusions 111 are located between the two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot 110.

[0070] Specifically, a support rod connecting the two connecting rods 122 is provided between the two connecting rods 122 in a group, and the support rod is arranged near the bottom plate 124 of the inner support assembly 120; when decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it passes through the lower part of the support rod from the inside to the outside of the inner support assembly 120, and then the end is clamped and fixed in the clamping member 123, which can ensure that during the decocting of traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120 and will not float due to the buoyancy of the water in the decocting pot 100. As a preferred solution, the seal can be wound around the support rod for one week and then extended to the clamping member 123 for clamping and fixing.

[0071] Further, a rib 112 is provided on the outer peripheral wall of the outer pot 110, and the rib 112 is annularly arranged around the outer peripheral wall of the outer pot 110. When transporting the decocting pot 100, the transporting component clamps the pot wall of the outer pot 110 below the rib 112.

[0072] In this embodiment, a rib 112 is provided on the outer peripheral wall of the outer pot 110, and the rib 112 is annularly arranged around the outer peripheral wall of the outer pot 110. The shape and size of the rib 112 can ensure that it will not protrude too much to increase the volume and weight of the outer pot 110, while providing sufficient stability for the transporting component to clamp the decocting pot 100.

[0073] Specifically, when transporting the decocting pot 100, transporting components such as a transport cart and a gripper will clamp the pot wall of the outer pot 110 below the rib 112. Due to the design of the rib 112, the transporting component can clamp the outer pot 110 more stably, preventing accidents such as slipping or tipping over during transportation.

[0074] Further, at least two of the annular ribs 112 are provided on the outer peripheral wall of the outer pot 110. When transporting the decocting pot 100, the transporting component clamps the pot wall of the outer pot 110 between the two annular ribs 112.

[0075] In this embodiment, to further enhance the stability and safety of the decocting pot 100 during transportation, at least two annular ribs 112 are provided on the outer peripheral wall of the outer pot 110. The two annular ribs 112 are arranged circumferentially along the pot wall of the outer pot 110, and the two annular ribs 112 are spaced apart axially on the outer pot 110, and the spacing distance thereof at least satisfies the clamping of the transporting component.

[0076] Specifically, when transporting the decocting pot 100, transporting components such as a transporter and a gripper will clamp the pot wall portion of the outer pot 110 between the two annular ribs 112. Due to the presence of the two annular ribs 112, the transporting component can more firmly clamp the outer pot 110 and prevent it from shaking or slipping during transportation.

[0077] Further, a carrier 130 is provided at the bottom of the outer pot 110, and the movement of the decocting pot 100 on the conveyor line of the automatic decocting system is realized through the carrier 130.

[0078] Further, the carrier 130 includes: a support plate 131, and the support plate 131 is fixedly connected to the outer pot 110; a conveying module 132, and the conveying module 132 is coated on the outer periphery of the support plate 131 and is detachably connected to the support plate 131; Preferably, the support plate 131 is fixedly welded to the outer pot 110.

[0079] In this embodiment, to improve the automation degree and movement convenience of the decocting pot 100, a carrier 130 is provided at the bottom of the outer pot 110. The design of the carrier 130 should consider factors such as compatibility with the conveyor line, load-bearing capacity, and stability.

[0080] The carrier 130 is mainly composed of two parts: a support plate 131 and a conveying module 132. The support plate 131 is fixedly connected to the bottom of the outer pot 110 to provide stable support for the entire decocting pot 100; the conveying module 132 is wrapped around the outer periphery of the support plate 131 and is detachably connected to the support plate 131, so that the conveying module 132 can be replaced or adjusted according to different types of conveyor lines, improving the flexibility and adaptability of the decocting pot 100.

[0081] As a preferred embodiment, the support plate 131 and the outer pot 110 are fixed together by welding. Welding connection has the advantages of high strength, good sealing performance, firm connection, etc., which can ensure that there is no relative displacement or looseness between the support plate 131 and the outer pot 110 during the movement of the decocting pot 100, while simplifying the installation process and improving work efficiency.

[0082] Specifically, the support plate 131 is a square sheet metal structure, and the edge thereof is provided with a bent and formed fixing portion 1311; the bent and formed fixing portion 1311 is provided at the edges of the four sides of the support plate 131. When it is necessary to fix the outer pot 110 of the decocting pot 100, the fixing device cooperates with the fixing portion 1311 to achieve the fixing function. The fixing portion 1311 is an L-shaped structure. First, it bends upward from the plane of the support plate 131, and then bends horizontally. The connection at each bent section is an arc transition. The conveying module 132 covering the outside of the support plate 131 is connected by four straight rods 1321 inserted end to end. Grooves are provided on the straight rods 1321 to reduce the overall weight of the transport module. The support plate 131 and the conveying module 132 are assembled into a square carrier 130 with a size of 800 cm * 800 cm to ensure the stability during the transfer of the decocting pot 100 and the adaptability to the conveyor belt.

[0083] In this embodiment, the lifting and squeezing unit 300 includes a moving mechanism 3021 and a squeezing mechanism 3022. The moving mechanism 3021 is installed on the truss 3011 and moves above the decocting pot; the squeezing mechanism 3022 is installed on the moving mechanism 3021 and is used to extend into the decocting pot and squeeze the medicine bag. The moving mechanism 3021 drives the squeezing mechanism 3022 to move horizontally.

[0084] After the handling device 800 transports the decocting pot to the integration working area, the moving mechanism 3021 drives the squeezing mechanism 3022 to move to the integration working area and finally reach above the decocting pot. Then the squeezing mechanism 3022 descends and extends into the decocting pot, and squeezes the medicine bag in the inner support in the decocting pot, so that the liquid medicine flows out into the outer pot.

[0085] In this embodiment, the moving mechanism 3021 includes a first driving member 30211 and a moving platform 30212. The first driving member 30211 is installed on the truss 3011, the moving platform 30212 is installed on the first driving member 30211, and the squeezing mechanism 3022 is installed on the moving platform 30212. Through the movement of the first driving member 30211, the first driving member 30211 drives the moving platform 30212 to move in the direction close to or away from the decocting pot, thereby realizing the relative movement of the squeezing mechanism 3022.

[0086] In this embodiment, the first driving member 30211 can be a cylinder, a linear motor, or a gear-rack transmission mechanism or a ball screw transmission mechanism. Considering the simplicity of the structure and the installation difficulty, in this embodiment, a cylinder is preferably used.

[0087] In this embodiment, taking the cylinder as an example for further illustration: One end of the cylinder is fixedly installed on the truss 3011, and the other end of the cylinder is fixedly installed with the moving platform 30212. During operation, the cylinder rod of the cylinder extends or contracts horizontally, thereby driving the moving platform 30212 to move horizontally.

[0088] In this embodiment, a slide rail 3023 is installed on the truss 3011. The slide rail 3023 is horizontally arranged and is consistent with the moving path of the moving platform 30212. A slide seat 3024 is installed on the moving platform 30212, and the slide seat 3024 is slidably connected to the slide rail 3023. Through the cooperation of the slide seat 3024 and the slide rail 3023, the support of the moving platform 30212 is realized, and the movement of the moving platform 30212 is guided.

[0089] Furthermore, the slide rail 3023 includes a fixed rod 30231 and a guide rod 30232. Both ends of the fixed rod 30231 are connected to the truss 3011, and the guide rod 30232 is connected to the bottom or side of the fixed rod 30231. The fixed rod 30231 and the guide rod 30232 are arranged in parallel, and the slide seat 3024 is slidably connected to the guide rod 30232.

[0090] In this embodiment, the guide rod 30232 is cylindrical, and an arc-shaped recess is formed on the slide seat 3024. The inner wall of the recess fits with the outer wall of the guide rod 30232. When the moving platform 30212 moves, the guide rod 30232 is embedded in the recess of the slide seat 3024, and the guide rod 30232 and the slide seat 3024 are clamped to realize the support of the moving platform 30212. By using the cooperation of the guide rod 30232 and the recess, both the support strength of the moving platform 30212 is ensured, and the moving platform 30212 can be guided.

[0091] In this embodiment, the extrusion mechanism 3022 includes a second driving member 30221 and an extrusion disc 30222. The second driving member 30221 is installed on the moving platform 30212, and the extrusion disc 30222 is installed on the second driving member 30221. The second driving member 30221 drives the extrusion disc 30222 to move up and down. By the second driving member 30221, driving the extrusion disc 30222 to move up and down, the automatic extrusion of the medicine package can be realized.

[0092] In this embodiment, when squeezing the medicine bag, there should be a certain distance between the bottom of the inner support and the bottom of the outer pot in the decocting pot. When the liquid level of the medicinal liquid continuously rises, due to the existence of the distance, the medicinal liquid will not soak the medicine bag again. A clamping mechanism 3025 is provided on the truss 3011. Before the squeezing mechanism 3022 squeezes the medicine bag, the clamping mechanism 3025 clamps the inner support in the decocting pot. At the same time, the handling device 800 can drive the outer pot to move downward, so that there is a distance between the bottom of the inner support and the bottom of the outer pot in the decocting pot for easy squeezing.

[0093] Specifically, two clamping mechanisms 3025 are provided. The two clamping mechanisms 3025 are respectively arranged on both sides of the decocting pot. The two clamping mechanisms 3025 clamp from both sides of the decocting pot, and the stability is higher.

[0094] In this embodiment, the clamping mechanism 3025 includes a third driving member 30251 and a clamping plate 30252. The third driving member 30251 is installed on the truss 3011, and the clamping plate 30252 is installed on the third driving member 30251. The third driving member 30251 drives the clamping plate 30252 to move.

[0095] In this embodiment, the third driving member 30251 can be a cylinder, a linear motor, or an electric push rod. Taking the cylinder as an example, the clamping mechanism 3025 is further described: The cylinder block of the cylinder is fixedly installed on the truss 3011. The cylinder rod of the cylinder expands and contracts in the horizontal direction, and the clamping plate 30252 is installed on the cylinder rod. During operation, the cylinder rod of the cylinder extends or contracts horizontally, thereby changing the distance between the two clamping plates 30252.

[0096] In this embodiment, the clamping plate 30252 can be processed into an arc shape so that the clamping plate 30252 fits the shape of the inner support in the decocting pot for easy clamping.

[0097] In this embodiment, the lifting and squeezing module 302 is also provided with a positioning mechanism for driving the squeezing mechanism 3022 to move between preset positions by the moving mechanism 3021.

[0098] Specifically, the positioning mechanism can be a pair of photoelectric sensors, a laser sensor, or a camera. In this embodiment, the first driving member 30211 and the positioning mechanism cooperate with the controller to achieve automatic control. Of course, the squeezing mechanism 3022 and the clamping mechanism 3025 are also controlled by the controller. In this embodiment, the controller can also be a PLC controller.

[0099] Taking the opposed photoelectric sensor as an example for illustration: The controller controls the third driving member 30251 to extend, so that the clamping plate 30252 clamps the inner support in the decocting pot. The first driving member 30211 drives the moving platform 30212 to move. When the receiving end of the opposed photoelectric sensor receives the light emitted by the transmitting end of the opposed photoelectric sensor, the controller receives the signal emitted by the receiving end of the opposed photoelectric sensor, controls the first driving member 30211 to stop moving, and then controls the second driving member 30221 to drive the extrusion disc 30222 to descend. Again, through the control of the opposed photoelectric sensor, when reaching the specified position, the controller controls the second driving member 30221 to stop moving to complete the extrusion work on the medicine bag.

[0100] After the extrusion is completed, the controller controls the second driving member 30221 to drive the extrusion disc 30222 to rise to the top, and then controls the first driving member 30211 to drive the moving platform 30212 to move horizontally. Again, through the control of the opposed photoelectric sensor, the first driving member 30211 returns to the initial position, and the first driving mechanism 30122 is controlled to stop moving.

[0101] As Figures 11 to 14 described, in this embodiment, a lifting and extrusion device is also disclosed, which includes an inner support grasping module 301, an extrusion disc cleaning module 303, and the above-mentioned lifting and extrusion module 302.

[0102] In this embodiment, when the robot transports the decocting pot to the specified position, the lifting and extrusion module 302 extrudes the medicine bag in the inner support, so that the medicinal liquid flows into the outer pot. Then, the inner support grasping module 301 grasps the inner support and transfers it to the specified position, and at the same time, the extrusion disc cleaning module 303 cleans the lifting and extrusion module 302.

[0103] The inner support grasping module of the present invention is used to grasp the inner support in the decocting pot placed on the truss 3011. There are a first station for placing the decocting pot and a second station for placing the inner support in the decocting pot on the truss 3011. The inner support grasping module 301 grasps the inner support in the decocting pot and moves between the first station and the second station.

[0104] The inner support grasping module 301 includes a moving seat 3012 and a grasping mechanism 3013. The moving seat 3012 is movably arranged on the truss 3011. The grasping mechanism 3013 is arranged on the moving seat 3012 and is used to grasp the inner support in the decocting pot. The moving seat 3012 drives the grasping mechanism 3013 to move horizontally and vertically.

[0105] When it is necessary to separate the inner support and the outer pot, the moving seat 3012 first drives the grasping mechanism 3013 to move above the inner support, and then the moving seat 3012 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 is located on the outer periphery of the inner support. The grasping mechanism 3013 clamps the inner support, and the moving seat 3012 drives the grasping mechanism 3013 to rise and horizontally move to a specified position.

[0106] Through the provided moving seat 3012 and the grasping mechanism 3013, the automatic transfer of the inner support is realized, eliminating the need for manual handling, greatly reducing the labor intensity, and also ensuring the efficiency of the decocting pot for decoction.

[0107] Specifically, the truss 3011 includes vertical beams 30111, cross beams 30112 and cross bars 30113. There are multiple vertical beams 30111 and cross bars 30113. The vertical beams 30111 are arranged in parallel at intervals, and the cross bars 30113 are arranged between two adjacent vertical beams 30111. The cross bars 30113 are arranged in parallel with each other. There are two cross beams 30112, and both cross beams 30112 are arranged at the top of the vertical beams 30111 and are parallel to each other. The two cross beams 30112 guide the moving seat 3012. In this embodiment, the cross bars 30113 are perpendicularly connected to the vertical beams 30111. The connection method can be welding, or detachable connection such as screws, or connection through connectors.

[0108] In this embodiment, the truss 3011 adopts a detachable connection method. Specifically, L-shaped steel plates are used for connection. One side of the steel plate is connected to the vertical beam 30111 by bolts, and the other side of the steel plate is connected to the ground by bolts, thereby realizing the overall fixation of the truss 3011.

[0109] In this embodiment, support legs are also installed at the bottom of the vertical beams 30111. Through the support legs, leveling can be performed, and they can also play a supporting role, improving the overall strength and stability of the truss 3011.

[0110] Furthermore, the moving seat 3012 includes an installation platform 30121, a first driving mechanism 30122 and a second driving mechanism 30123. The installation platform 30121 is slidably connected to the truss 3011. The grasping mechanism 3013 is installed on the installation platform 30121. The first driving mechanism 30122 and the second driving mechanism 30123 are both installed on the installation platform 30121. The first driving mechanism 30122 is used to drive the installation platform 30121 to move horizontally along the truss 3011, and the second driving mechanism 30123 is used to drive the grasping mechanism 3013 to move vertically along the truss 3011.

[0111] When the outer pot and the inner support need to be separated, the first driving mechanism 30122 drives the installation platform 30121 to move above the inner support, that is, drives the grasping mechanism 3013 to move above the inner support. The second driving mechanism 30123 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 can hold the inner support. After the grasping mechanism 3013 holds the inner support, the second driving mechanism 30123 drives the grasping mechanism 3013 to rise. At the same time, the first driving mechanism 30122 drives the installation platform 30121 to move above the designated position, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend, and the grasping mechanism 3013 releases the clamping state.

[0112] Specifically, the first driving mechanism 30122 can be a cylinder, a linear motor, an electric push rod, a gear-rack transmission mechanism, a ball screw transmission mechanism, etc. In this embodiment, the gear-rack transmission mechanism is taken as an example for further description.

[0113] The first driving mechanism 30122 includes a motor, a gear and a rack. The motor is installed on the installation platform 30121. The gear is connected to the output end of the motor. The rack is installed on the truss 3011, and the gear meshes with the rack. When the motor is started, the output shaft of the motor rotates to drive the gear to rotate. Since the gear and the rack mesh, the rotation of the gear drives the movement of the installation platform 30121. Through the gear-rack transmission mechanism, the installation platform 30121 moves more smoothly, ensuring the safety of the inner support during the movement. At the same time, the gear and the rack can improve the positioning accuracy, facilitating the grasping and storage of the inner support.

[0114] The first driving mechanism 30122 can be selected according to the actual situation. In this embodiment, other forms of the first driving mechanism 30122 will not be specifically described.

[0115] In this embodiment, the second driving mechanism 30123 can be a cylinder, a linear motor, an electric push rod, a gear-rack transmission mechanism, a ball screw transmission mechanism, etc. Considering the installation difficulty, a cylinder is preferably used. In this embodiment, the second driving mechanism 30123 is further described taking the cylinder as an example.

[0116] The second driving mechanism 30123 includes a cylinder. The cylinder is installed vertically. The cylinder body of the cylinder is fixed on the installation platform 30121, and the grasping mechanism 3013 is installed on the output end of the cylinder. By the extension or contraction of the cylinder, the grasping mechanism 3013 is driven to descend or rise.

[0117] The second driving mechanism 30123 can be selected according to the actual situation. In this embodiment, other forms of the second driving mechanism 30123 will not be specifically described.

[0118] In this embodiment, the installation platform 30121 can be of a double-layer structure to facilitate the installation of the motor and the cylinder respectively, and avoid interference between the first driving mechanism 30122 and the first driving mechanism 30122 due to the narrow installation space. The two-layer structure (two mounting plates) of the installation platform 30121 is parallel. The upper structure of the installation platform 30121 is located above the two cross beams 30112, and the lower structure of the installation platform 30121 is located below the two cross beams 30112. The output shaft of the cylinder passes through the two-layer structure of the installation platform 30121 in sequence.

[0119] In this embodiment, in order to support and guide the installation platform 30121, a guide rail 3014 and a guide seat 3015 are further provided. The guide rail 3014 is installed on the cross beam 30112 and is horizontally arranged. The guide rail 3014 is arranged along the extending direction of the cross beam 30112. The guide seat 3015 is installed on the installation platform 30121, and the guide seat 3015 is slidably connected to the guide rail 3014. Through the sliding fit between the guide seat 3015 and the guide rail 3014, the stability of the installation platform 30121 during movement can be improved, that is, the stability during the transfer of the inner support can be improved.

[0120] In this embodiment, the grasping mechanism 3013 includes a loading platform 30131 and clamping arms 30132. The loading platform 30131 is installed on the second driving mechanism 30123. There are two clamping arms 30132, both of which are installed on the loading platform 30131. The two clamping arms 30132 can move in directions away from or close to each other, and are used for clamping the inner support in the decocting pot. When the first driving mechanism 30122 and the second driving mechanism 30123 drive the loading platform 30131 to move to a preset position, the two clamping arms 30132 move in a direction close to each other to clamp the inner support in the decocting pot. When it is necessary to release the clamping state, it is only necessary to move the two clamping arms 30132 in a direction away from each other.

[0121] Further, the clamping arm 30132 includes a telescopic driving member 301321 and a clamping jaw 301322. The telescopic driving member 301321 is installed on the loading platform 30131, and the clamping jaw 301322 is installed on the telescopic driving member 301321. By extending or retracting the telescopic driving member 301321, the distance between the two clamping jaws 301322 is controlled to realize the switching between the clamping and releasing states.

[0122] In this embodiment, the telescopic driving member 301321 can be a cylinder, a linear motor, an electric push rod, etc. Taking the cylinder as an example for further illustration: The cylinder block of the cylinder is fixedly installed on the loading platform 30131, and the clamping jaw 301322 is installed on the output end of the cylinder. Through the telescoping of the cylinder, the movement of the clamping jaw 301322 is driven.

[0123] In this embodiment, an arc-shaped clamping portion 301323 is formed on the clamping jaw 301322. Since the inner support in the decocting pot is of a cylindrical structure, in order to facilitate the clamping of the two clamping jaws 301322, an arc-shaped clamping portion 301323 is machined on the clamping jaw 301322, which can fit the outer shape of the inner support in the decocting pot. In this way, during the clamping process, the outer wall of the inner support in the decocting pot can be attached to the clamping portion 301323, making the clamping process more stable and safe.

[0124] In this embodiment, in order to ensure the accuracy of the operation of the first driving mechanism 30122 and the second driving mechanism 30123, a positioning mechanism is further provided, and the positioning mechanism is installed on the moving seat 3012. Through the positioning mechanism, the moving seat 3012 drives the grasping mechanism 3013 to reciprocate between preset positions.

[0125] Specifically, the positioning mechanism can be a through-beam photoelectric sensor, a laser sensor, or a camera. In this embodiment, the first driving mechanism 30122, the second driving mechanism 30123, and the positioning mechanism cooperate with the controller to achieve automatic control. Of course, the grasping mechanism 3013 is also controlled by the controller. In this embodiment, the controller can be a PLC controller.

[0126] Taking the through-beam photoelectric sensor as an example for illustration: The first driving mechanism 30122 drives the installation platform 30121 to move. When the receiving end of the through-beam photoelectric sensor receives the light emitted by the transmitting end of the through-beam photoelectric sensor, the controller receives the signal emitted by the receiving end of the through-beam photoelectric sensor, controls the first driving mechanism 30122 to stop moving, and then controls the second driving mechanism 30123 to drive the grasping mechanism 3013 to descend. After being controlled by the through-beam photoelectric sensor again, when reaching the specified position, the controller controls the second driving mechanism 30123 to stop moving and simultaneously controls the grasping mechanism 3013 to clamp the inner support in the decocting pot.

[0127] After the grasping mechanism 3013 finishes clamping, the controller controls the second driving mechanism 30123 to drive the grasping mechanism 3013 to rise to the top, and then controls the first driving mechanism 30122 to drive the installation platform 30121 to move horizontally until it moves to the preset position. It can be controlled by the through-beam photoelectric sensor again, control the first driving mechanism 30122 to stop moving, and then control the second driving mechanism 30123 to drive the grasping mechanism 3013 to descend. Then, when reaching the preset position, the grasping mechanism 3013 releases the clamping state.

[0128] In this embodiment, a cable trough 3016 is provided on the truss 3011, and a cable conduit 3017 is arranged in the cable trough 3016. The cable conduit 3017 is used for threading air pipes, electric wires, etc. By providing the cable trough 3016 and the cable conduit 3017, during the movement of the moving seat 3012, the air pipes, electric wires, etc. are prevented from affecting the movement of the moving seat 3012 or getting entangled.

[0129] In this embodiment, by installing a surrounding plate on the truss 3011, a storage cavity 3018 is formed for placing the inner support in the decocting pot. The storage cavity 3018 is located below the moving seat 3012 and the grasping mechanism 3013. When the first driving mechanism 30122 drives the inner support in the decocting pot to move above the storage cavity 3018, the second driving mechanism 30123 drives the inner support in the decocting pot to descend until the inner support in the decocting pot enters the storage cavity 3018, and the grasping mechanism 3013 releases the clamping state to complete the placement of the inner support in the decocting pot.

[0130] In this embodiment, there are multiple storage cavities 3018 arranged in a line. The moving seat 3012 can move above each storage cavity 3018 in sequence. By providing multiple storage cavities 3018, multiple inner supports in the decocting pots can be placed simultaneously, improving the processing efficiency.

[0131] In this embodiment, a cover plate 3019 is further provided. The cover plate 3019 seals the top of the storage cavity 3018. Through holes are provided on the cover plate 3019, and the inner support in the decocting pot can enter the storage cavity 3018 through the through holes on the cover plate 3019. The cover plate 3019 and the storage cavity 3018 are arranged in one-to-one correspondence.

[0132] Since a support plate is provided on the top of the inner support in the decocting pot, and the support plate is arranged annularly along the outer wall of the inner support in the decocting pot. In this embodiment, the size of the through hole is smaller than the size of the support plate of the inner support in the decocting pot, so that the support plate of the inner support in the decocting pot can hang on the cover plate 3019, facilitating the taking and placing of the inner support in the decocting pot.

[0133] In this embodiment, the working process of the inner support grasping module 301 is as follows: After the medicine bag is squeezed, the first driving mechanism 30122 drives the grasping mechanism 3013 to move above the decocting pot, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend until it descends to the height at which the grasping mechanism 3013 can clamp the inner support in the decocting pot. The two clamping jaws 301322 move towards each other to clamp the inner support in the decocting pot. Then, the second driving mechanism 30123 drives the grasping mechanism 3013 to rise to the top, the first driving mechanism 30122 returns and moves above one of the storage cavities 3018, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend. The inner support in the decocting pot also descends together and enters the storage cavity 3018 until the support plate of the inner support in the decocting pot overlaps with the cover plate 3019, thus completing the storage of the inner support in the decocting pot.

[0134] In this embodiment, the support squeezing module 302, the extrusion disc 30222 cleaning module, and the inner support grasping module 301 are all installed on the truss 3011. The truss 3011 is L-shaped. The moving directions of the support squeezing module 302 and the inner support grasping module 301 are consistent with the L-shaped truss 3011, that is, the moving directions of the support squeezing module 302 and the inner support grasping module 301 are perpendicular. In this embodiment, the support squeezing module 302 and the extrusion disc cleaning module 303 are located on the same side, and the extrusion disc cleaning module 303 is located below the support squeezing module 302 to facilitate timely cleaning of the support squeezing module 302.

[0135] In this embodiment, there is an integrated working area on the truss 3011 where the inner support grasping module 301 and the support squeezing module 302 overlap, that is, at the corner of the L-shaped truss 3011. The integrated working area means that the support squeezing module 302 can move to this area to squeeze the medicine bag, and at the same time, the inner support grasping module 301 can move to this area to clamp the inner support in the decocting pot, which can make the structure more compact and save installation space.

[0136] The specific working process is as follows: The robot transports the decocting pot to the integrated working area. First, the support squeezing module 302 squeezes the medicine bag to separate the medicinal liquid. Then, the inner support grasping module 301 clamps the inner support in the decocting pot and removes it. The robot transports the outer pot to the next process to collect the medicinal liquid. At the same time, the extrusion disc 30222 cleaning module cleans the support squeezing module 302. Finally, the robot sends back the outer pot from which the medicinal liquid has been extracted, and the inner support grasping module 301 sends the inner support in the decocting pot back into the outer pot.

[0137] In this embodiment, the extrusion disc cleaning module 303 includes a cleaning pipe 3031 and a washing pump. The washing pump is installed on the truss 3011, and the cleaning pipe 3031 is connected to the water outlet of the washing pump. When the first driving member 30211 drives the moving platform 30212 to move to the initial position, the second driving member 30221 drives the extrusion disc 30222 to move in the direction close to the cleaning pipe 3031. After reaching the preset position, the washing pump is started, and the extrusion disc 30222 is cleaned through the cleaning pipe 3031 to avoid the situation of pollution generated by the extrusion disc 30222 during subsequent use.

[0138] In this embodiment, the packaging and medicine pouring module is a medicine pouring device, and the medicine pouring device includes a decocting pot fixing frame 400, which is a hollow frame structure formed by four mutually parallel vertical rods, horizontal rods and longitudinal rods; A decocting pot bearing platform 401, which is rotatably arranged at the upper end of the decocting pot fixing frame 400 and is used for bearing the decocting pot; A rotating device 440, which is arranged in the frame of the decocting pot fixing frame 400, one end is connected to the decocting pot fixing frame 400, and the other end is movably connected to the bottom of the decocting pot bearing platform 401, and is used to control the rotation of the decocting pot bearing platform 401.

[0139] Specifically, the decocting pot fixing frame 400 includes four fixing frame vertical rods 403 arranged parallel to each other in the vertical direction, four fixing frame longitudinal rods 405 arranged parallel to each other in the horizontal direction, and four fixing frame horizontal rods 404 arranged parallel to each other in the horizontal direction. The two ends of the adjacent fixing frame vertical rods 403 are respectively connected by the fixing frame longitudinal rods 405 and the fixing frame horizontal rods 404. The fixing frame vertical rods 403, the fixing frame horizontal rods 404 and the fixing frame longitudinal rods 405 are arranged perpendicular to each other, and together with the fixing frame vertical rods 403, they form a hollow frame structure. The upper side of the decocting pot fixing frame 400 is provided with a rotatable decocting pot bearing platform 401, and the decocting pot and the base are placed on the decocting pot bearing platform 401. One end of the rotating device 440 is connected to a fixing frame longitudinal rod 405 or a fixing frame horizontal rod 404 at the bottom of the decocting pot fixing frame 400, and the other end is connected to the bottom wall of the decocting pot bearing platform 401.

[0140] In a further embodiment, the rotating device 440 includes a rotating cylinder 409, at least one set of first connecting rods 411 and a second connecting rod 412 movably connected to the first connecting rods 411. The rotating cylinder 409 pushes the first connecting rods 411. One end of the first connecting rods 411 is connected to the decocting pot fixing frame 400, and the other end is movably connected to one end of the second connecting rod 412. The other end of the second connecting rod 412 is connected to the bottom of the decocting pot bearing platform 401.

[0141] Specifically, in one embodiment, a first connecting rod 411 and a second connecting rod 412 are provided. The first connecting rod 411 is connected to the middle position of the crossbar 404 or the longitudinal rod 405 of the fixed frame. The push rod of the rotary cylinder 409 is connected to the middle part of the first connecting rod 411, pushing the first connecting rod 411 to rotate, and then driving the second connecting rod 412 to rotate, and further pushing the decocting pot bearing platform 401. In another embodiment, two first connecting rods 411 and two second connecting rods 412 are provided. The two first connecting rods 411 are arranged at intervals and are symmetrically arranged along the central axis on both sides of the decocting pot bearing platform 401. The two first connecting rods 411 are connected by a connecting rod 413, which is connected near the middle section of the first connecting rod 411. The connecting rod 413 is pushed by the push rod to drive the first connecting rod 411 to rotate, and further drive the second connecting rod 412.

[0142] In a further embodiment, a plurality of positioning parts 402 are provided on the decocting pot bearing platform 401 to position the decocting pot on the decocting pot bearing platform 401 and limit the movement of the decocting pot.

[0143] Specifically, four positioning parts 402 for restricting the movement of the decocting pot are provided on the decocting pot bearing platform 401. The positioning parts 402 are evenly distributed circumferentially near the edge of the decocting pot bearing platform 401. The adjacent two limiting parts 402 are perpendicular to each other, and the opposite two limiting parts 402 are parallel to each other. The positioning part 402 has a V-shaped plate structure, one side is fixed on the decocting pot fixing frame 400, and the outer edge of the other side is arc-shaped. The distance between the two parallel limiting parts is basically the same as the length of the base of the decocting pot.

[0144] In a further embodiment, on the same horizontal plane at a certain distance from the bottom end inside the decocting pot fixing frame 400, two parallel fixed crossbars 407 and two parallel fixed longitudinal rods 406 are connected. A rotary cylinder mounting plate 408 is provided on one of the fixed crossbars 407 or the fixed longitudinal rods 406. A rotary cylinder 409 for pushing the decocting pot bearing platform 401 to flip is rotatably mounted on the mounting plate 408. The end of the piston push rod of the rotary cylinder 409 is connected to a driving articulated connecting rod. The articulated connecting rod includes two first connecting rods 411 and two second connecting rods 412 that are parallel and symmetrically arranged. One end of the first connecting rod 411 is connected to the decocting pot fixing frame 400, and the other end is hinged to one end of the second connecting rod 412. A push rod is detachably connected between the first connecting rods 411. The second connecting rod 412 is connected to the decocting pot bearing platform 401.

[0145] In a further embodiment, a linkage mechanism is detachably provided on one side of the upper end of the decocting pot fixing frame 400. The linkage mechanism is a rotating bracket 450. The rotating bracket 450 includes at least one fixed rod 414 and a rotating rod 415 movably connected thereto. One end of the fixed rod 414 is connected to the decocting pot fixing frame 400, and the other end is connected to one end of the rotating rod 415. The other end of the rotating rod 415 is connected to the bottom of the decocting pot bearing platform 401. The rotating device 440 is cooperated with the rotating bracket 450 to turn the decocting pot bearing platform 401.

[0146] Specifically, in one embodiment, there is one fixed rod 414 and one rotating rod 415. The fixed rod 414 is connected to the middle position of the cross bar 404 or the longitudinal bar 405 of the fixing frame. One end of the rotating rod 415 is connected to the bottom of the decocting pot bearing platform 401 near the middle position. In another embodiment, there are two fixed rods 414 and two rotating rods 415. The two fixed rods 414 are arranged at intervals and are symmetrically arranged along the central axis near both sides of the decocting pot bearing platform 401. In still another embodiment, there are four fixed rods 414 and four rotating rods 415. They are arranged in pairs at intervals and are symmetrically arranged along the central axis near both sides of the decocting pot bearing platform 401. Each pair is connected by a rotating shaft. The multi-group setting makes the rotating bracket more stable and is not easily damaged due to the decocting pot. The above embodiments are for illustrative purposes, and other more feasible embodiments also fall within the scope of protection of this application.

[0147] In a further embodiment, two pressing devices 430 are detachably installed on both sides of the decocting pot bearing platform 401 respectively. The pressing device 430 includes a pressing cylinder 410 and a telescopic rod. The upper end of the telescopic rod is rotatably connected with a hook head 431. The hook head 431 rotates in the radial direction along the axis of the telescopic rod. The hook head 352 has two active states: State 1: The hook head 431 faces the direction of the rotating bracket 450 in the radial direction along the axis of the telescopic rod. State 2: The hook head 431 moves upward under the push of the pressing cylinder 410, then rotates towards the decocting pot bearing platform 401, and the telescopic rod resets downward, driving the hook head 431 to press on the bottom plate of the decocting pot.

[0148] In this embodiment, the decocting pot is conveyed to the decocting pot bearing platform 401 through a transmission line. The bottom of the decocting pot has a decocting pot base, and the base of the decocting pot is fixed at the decocting pot bearing platform 401. The pressing device 430 restricts the decocting pot on the decocting pot bearing platform 401. When the decocting pot is placed at the decocting pot bearing platform 401, the pressing cylinder 431 pushes the hook 432 upward, and the hook 432 rotates towards the decocting pot bearing platform 401, pressing on the base of the decocting pot to restrict the movement of the decocting pot base and prevent the decocting pot from falling during the rotation of the decocting pot bearing platform 401.

[0149] In another embodiment, the telescopic shaft of the pressing cylinder 410 can telescopically extend a certain distance in the vertical direction, and the maximum extension distance in the vertical direction is greater than the height of the decocting pot placed on the decocting pot bearing platform 401. The bottom of the pressing cylinder 451 is detachably installed at the upper end of the upper frame of the decocting pot fixing frame 400. After the decocting pot is placed on the decocting pot bearing platform 401, the convex platform 433 extends synchronously with the pressing cylinder 431 to the same height as the upper end of the outer barrel of the decocting pot. Pushed upward by the pressing cylinder 431, under the influence of the convex platform 433 and the guide plate, the hook 432 is driven to rotate towards the outer barrel and press on the top of the outer barrel, cooperating with the positioning part 402 on the decocting pot bearing platform 401 to prevent the outer barrel from detaching from the lifting device during the rotation process.

[0150] The above are only the preferred embodiments of the present invention and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of this patent, without departing from the scope of the technical solution of the present invention, can make some changes or modifications using the technical content prompted above into equivalent embodiments of equivalent changes. The implementation schemes in the above embodiments can also be further combined or replaced. However, as long as the content does not depart from the technical solution of the present invention, any simple modification, equivalent change, and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the present invention.

Claims

1. A lifting and squeezing system for decocting traditional Chinese medicine, characterized in that: It includes a frame (3011), a lifting and squeezing module (302), an inner support component grasping module (301), a combination unit, and a connected control module; After receiving the grasping signal, the inner support component grasping module (301) grasps the inner support component in the decocting pot assembly and moves it to a certain distance from the decocting pot; After the combination unit grasps the outer barrel for pouring out the medicinal liquid to the combination station according to the transfer unit, the inner support component grasping module receives the grasping signal and grasps and places the inner support component into the outer barrel. The combination station is connected with a conveying unit, and the conveying unit is used for the transmission of the decocting pot.

2. The decocting and squeezing system for traditional Chinese medicine according to claim 1, wherein: Several stations for placing the inner support component are provided on the frame (3011), and the combination station is located on one side of the inner support component station.

3. The decocting and squeezing system for traditional Chinese medicine according to claim 2, wherein: The combination station moves along with the conveying unit on the conveying unit, and a part of the conveying unit passes through the frame (3011) and is inside the frame.

4. The decocting and squeezing system for traditional Chinese medicine according to claim 3, wherein: After the outer barrel is in the combination station, the inner support component grasping module lifts and horizontally moves the inner support component from the placement station and places it into the outer barrel. The baffle rotates towards the transportation direction of the conveying unit, and the combined decocting pot is conveyed through the conveying unit.

5. The decocting and squeezing system for traditional Chinese medicine according to claim 4, wherein: The frame (3011) is further provided with a placement station for placing the decocting pot with medicinal liquid. Several inner support component stations are located between the decocting pot placement station and the combination station and are arranged at intervals along the direction from the decocting pot placement station to the combination station; The decocting pot is placed at the placement station, and the inner support component grasping module grasps the inner support component and sequentially places it along the decocting pot placement station towards the combination station.

6. The decocting and squeezing system for traditional Chinese medicine according to claim 5, wherein: After the outer barrel is placed at the combination station, the inner support component grasping module sequentially grasps and places it into the outer barrel along the direction from the combination station to the decocting pot placement station.

7. The decocting and squeezing system for traditional Chinese medicine according to any one of claims 1-6, wherein: A moving mechanism (3021) is provided on the frame (3011), and a position device for monitoring the position of the moving mechanism (3021) is provided on the moving mechanism (3021) and / or the frame (3011).

8. The decocting and squeezing system for traditional Chinese medicine according to claim 7, wherein: The position device includes a position device for position monitoring at the combination station. After monitoring that the outer barrel is placed at the combination station, a position device for position monitoring at the inner support component station monitors whether there is an inner support component. The moving mechanism of the inner support component grasping module moves to the station with the inner support component and grasps and places the inner support component into the outer barrel at the combination station.

9. The decocting and squeezing system for traditional Chinese medicine according to claim 8, wherein: The inner support component gripping module sequentially grips the inner support components and places them on the combination station in the direction from the combination station to the decoction pot placement station.

10. A lifting and squeezing control method for a decocting pot assembly, which uses the lifting and squeezing system for traditional Chinese medicine decocting according to any one of claims 1-9, characterized in that: It includes the following steps: The outer barrel of the decoction pot is placed on the combination station through the transfer unit; The inner support component gripping module grips the inner support components and places them inside the outer barrel on the combination station; The baffle rotates in the conveying direction of the conveying unit, and the conveying unit conveys the combined decoction pot.

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