Automatic traditional Chinese medicine decocting system

Abstract

The invention discloses an automatic traditional Chinese medicine decoction system, and belongs to the technical field of automatic traditional Chinese medicine decoction. Under the control of a central control module, an open decoction pot circulates along a dispensing and rechecking unit, a decoction unit, an extrusion unit, a medicine pouring and packaging unit and a cleaning unit to complete traditional Chinese medicine decoction; the decocting unit is provided with a liftable pot cover, and an open decocting pot is covered under the control of the central control module; the extrusion unit is provided with an extrusion module and a placement station, and the carrying device clamps the open decocting pot to the placement station of the extrusion unit under the control of the central control module and separates an outer pot of the decocting pot; the outer pot is placed on the medicine pouring and packaging unit by the carrying device for medicine pouring and packaging; the carrying device clamps the outer pot to return to the extrusion unit and is assembled with the inner supporting assembly to form an open decocting pot. According to the traditional Chinese medicine decocting device, the decocting pot can be covered when traditional Chinese medicine is decocted, and the decocting efficiency of medicinal materials is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic decocting of traditional Chinese medicine, and specifically relates to an automatic traditional Chinese medicine decocting system. Background Art

[0002] In the production process of traditional Chinese medicine, steps such as dispensing, decocting, and filling are required. When a large amount of medicine needs to be produced quickly to meet the demand, large-scale production is generally carried out through a traditional Chinese medicine decocting equipment production line.

[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 dosing system, a packaging system, and a total control system. The prepared traditional Chinese medicine decoction pieces are loaded into a medicine-carrying net barrel. 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 conveys them to the corresponding packaging points by a packaging conveyor belt.

[0004] In the production process of traditional Chinese medicine, steps such as dispensing (weighing a set weight of traditional Chinese medicine decoction pieces is called dispensing), decocting, and filling are required. At present, the transfer of materials between various process steps is all completed manually or partially manually, resulting in low automation.

[0005] In view of this, the present invention is specifically proposed. Summary of the Invention

[0006] The present invention provides an automatic traditional Chinese medicine decocting system to solve at least part of the above problems. The system can automatically carry the decocting pot and cover the decocting pot during the decocting process, improving the decocting efficiency of medicinal materials and the degree of automation.

[0007] The basic concept of the technical solution adopted by the present invention is: An automatic traditional Chinese medicine decocting system, under the control of a central control module, an open decocting pot circulates along a dispensing and verification unit, a decocting unit, an extrusion unit, a medicine pouring and packaging unit, and a cleaning unit to complete the decocting of traditional Chinese medicine; The decocting unit is provided with a liftable pot cover, which covers the open decocting pot under the control of the central control module and lifts the pot cover from the decocting pot after the decocting is completed; The extrusion unit is provided with an extrusion module and a placement station for supporting the inner support assembly of the decocting pot. The handling device, under the control of the central control module, clamps the open decocting pot to the placement station of the extrusion unit and separates the outer pot of the decocting pot. The medicine pouring and packaging unit. The handling device places the outer pot into the medicine pouring and packaging unit for pouring and packaging the medicine. The handling device clamps the outer pot and returns to the extrusion unit to assemble it with the inner support assembly into an open decocting pot.

[0008] Furthermore, the decocting unit includes: A frame; A heating mechanism, connected to the frame, for placing and heating the decocting pot. A capping mechanism, located above the heating mechanism. The capping mechanism rises and falls to close or open the feeding port of the decocting pot. The decocting unit is also provided with a water outlet part connected to the water supply mechanism, which adds water directly or through the capping mechanism to the decocting pot.

[0009] Furthermore, the capping mechanism includes: A fixing part, connected to the frame; The pot lid is movably arranged below the fixing part; A first lifting assembly, connected to the fixing part and the pot lid, for driving the pot lid to rise and fall. Furthermore, the capping mechanism also includes: A pressure plate, movably arranged below the pot lid; A second lifting assembly, connected to the fixing part and the pressure plate, for driving the pressure plate to rise and fall.

[0010] Furthermore, the automatic traditional Chinese medicine decocting system also includes a hot water supply unit. The water supply mechanism is connected to the hot water supply unit, and the hot water supply unit is used to send hot water into the water supply mechanism.

[0011] Furthermore, the open decocting pot reaches the decocting unit through the first conveyor line. The handling device transports the open decocting pot to the heating mechanism of the decocting unit; An identification unit is arranged on the handling device, and the identification unit is signal-connected to the central control module; When the handling device lifts the decocting pot, the identification unit identifies the label on the decocting pot to obtain the information of the decocting pot.

[0012] Furthermore, the handling device includes: A track group, arranged in a straight line; A handling robot, having a clamping mechanism for clamping the decocting pot; The handling robot is movably arranged on the track group and moves along the extension direction of the track group; The decocting unit, the extrusion unit, and the medicine pouring and packaging unit are arranged along one or both sides of the track group.

[0013] Further, the extrusion unit includes an extrusion frame and an extrusion module. The extrusion module is arranged on the extrusion frame, and a placement station is arranged inside the extrusion frame. The handling device holds the decocting pot and places the upper edge of the inner support assembly inside the placement station. The handling device holds the outer pot of the decocting pot and moves it downward until there is a distance between the inner support assembly and the medicinal liquid inside the outer pot, and extrudes the traditional Chinese medicine medicine bag inside the inner support assembly.

[0014] Further, the inner support assembly includes: A tray, horizontally arranged, and a vertical feeding port penetrating the tray is arranged on the tray surface; A bottom plate, located below the tray, and the vertical downward projection of the feeding port falls on the bottom plate; A connecting rod, one end of which is connected to the tray and the other end is connected to the bottom plate.

[0015] Further, a traditional Chinese medicine medicine bag is placed inside the inner support assembly of the decocting pot. The traditional Chinese medicine medicine bag has a sealing structure, and the sealing structure is tied and fixed to the inner support assembly.

[0016] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

[0017] 1. The automatic traditional Chinese medicine decocting system can automatically handle the decocting pot and cover the decocting pot during the decocting process, improving the decocting efficiency of the medicinal materials and the degree of automation.

[0018] 2. When the automatic traditional Chinese medicine decocting system decocts traditional Chinese medicine medicinal materials, the pot lid of the capping mechanism covers the feeding port of the decocting pot, and the pressing plate extends into the interior of the decocting pot to extrude the medicinal materials inside the decocting pot, enabling the medicine bag and the medicinal soup to come into more sufficient contact and improving the decocting concentration of the medicinal soup.

[0019] 3. During the decocting process, when it is necessary to replenish water into the interior of the decocting pot, the hot water supply unit can directly replenish hot water into the interior of the decocting pot, thereby avoiding the influence on the medicinal properties of the medicinal liquid caused by the decrease in water temperature and shortening the decocting time of the medicinal materials.

[0020] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. Description of the Drawings

[0021] The accompanying drawings, as part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation to the present invention. Obviously, the accompanying drawings in the following description are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the accompanying drawings: Figure 1 is a schematic structural diagram of the traditional Chinese medicine automatic 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 completed assembly of the decocting pot of the present invention; Figure 5 is a schematic diagram of the inner support assembly in 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 schematic diagram of the bottom support plate of the outer pot in the present invention; Figure 8 is the present invention Figure 7 schematic diagram of a single component of the bottom transport module of the outer pot in the present invention; Figure 9 is a schematic diagram of the overall structure of the decocting device of the present invention; Figure 10 is a schematic diagram of the overall structure of the capping mechanism of the present invention; Figure 11 is a cross-sectional view of the capping mechanism of the present invention; Figure 12 is a top view of the capping mechanism of the present invention; Figure 13 is Figure 12 a cross-sectional view along A-A in Figure 14 is a schematic diagram of the upper surface of the pot lid in the capping mechanism of the present invention; Figure 15 is a schematic diagram of the lower surface of the pot lid in the capping mechanism of the present invention; Figure 16 is a schematic side view of the decocting device of the present invention; Figure 17 is Figure 16 a cross-sectional view along B-B in Figure 18 is a schematic diagram of the overall assembly of the extrusion system for traditional Chinese medicine decocting of the present invention; Figure 19 isFigure 1 Enlarged view of part A Figure 20 Front elevation of the overall assembly of the extrusion system for decocting traditional Chinese medicine according to the present invention Figure 21 Schematic structural view of the grasping module for the inner support assembly according to the present invention Figure 22 Front elevation of the grasping module for the inner support assembly according to the present invention Figure 23 Schematic structural view of the extrusion module according to the present invention Figure 24 Schematic structural view of the extrusion module with part of the extrusion frame hidden according to the present invention Figure 25 Side elevation of the extrusion module according to the present invention

[0022] 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 part; 124, bottom plate; 130, carrier; 131, support plate; 1311, fixing part; 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, pressing cover 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 disc; 20541, through hole; 2055, second lifting assembly; 20551, electric cylinder; 20552, mounting sleeve; 20553, connecting column; 2056, guide rod; 20561, limiting ring; 206, water supply mechanism; 2057, spray head; 2058, three-way pipe; 2061, water outlet section; 2062, water inlet section; 2063, water pump; 2064, flow meter; 207, temperature sensor; 300, extrusion unit; 301, inner support assembly grasping module; 3011, frame; 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 part; 301322, clamping jaw; 301323, clamping part; 3014, guide rail; 3015, guide seat; 3016, wire groove; 3017, wire pipe; 3018, storage cavity; 3019, cover plate; 302, extrusion module; 3021, moving mechanism; 30211, first driving part; 30212, moving platform; 3022, extrusion mechanism; 30221, second driving part; 30222, extrusion disc; 3023, slide rail; 30231, fixing rod; 30232, guide post; 3024, sliding seat; 3025, clamping mechanism; 30251, third driving part; 30252, clamping plate; 303, extrusion disc cleaning module; 3031, cleaning pipe; 400, medicine pouring and packaging unit; 500, pot brushing unit; 600, cleaning unit; 701, first conveying line; 7011, first barcode scanner; 702, second conveying line; 703, third conveying line; 704, fourth conveying 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 rechecking unit;1000. Hot water supply unit; 1001. Circulation pipeline; 1002. Hot water supply device; 1100. Water filling unit; 1200. Second decoction unit;

[0023] 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 referring to specific embodiments. Detailed implementation manners

[0024] 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 of the present invention with reference to the accompanying 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.

[0025] 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 therefore should not be construed as a limitation of the present invention.

[0026] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For 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.

[0027] As Figures 1 to 25 shown, the present invention discloses an automatic traditional Chinese medicine decocting system.

[0028] The present invention discloses an automatic traditional Chinese medicine decocting system.

[0029] The automatic traditional Chinese medicine decocting system includes a decocting pot 100, a decocting unit 200 for heating the decocting pot 100, a first conveyor line 701 for conveying the decocting pot 100, and a central control module. Both the decocting unit 200 and the first conveyor line 701 are signal-connected to the central control module. The central control module can send control instructions to the decocting unit 200 and the first conveyor line 701 to control the decocting unit 200 and the first conveyor line 701. The decocting unit 200 and the first conveyor line 701 perform corresponding actions according to the control instructions issued by the central control module.

[0030] The decocting unit 200 is located at the downstream end of the first conveyor line 701. A dispensing and verification unit 900 is provided at the upstream end of the first conveyor line 701. The dispensing and verification unit 900 adjusts the medicinal materials according to the prescription information, packs the adjusted medicinal materials into medicine bags, and finally puts the medicine bags filled with medicinal materials into the interior of the decocting pot 100.

[0031] An identification code is provided outside the decocting pot 100, and the identification code is used to record the prescription information of the medicine bag in the decocting pot 100. When the decocting pot 100 filled with the medicine bag is placed on the first conveyor line 701, the prescription information of the medicine bag in the decocting pot 100 is synchronously recorded in the central control module.

[0032] A plurality of first barcode scanners 7011 are arranged along the conveying path of the first conveyor line 701 on the first conveyor line 701. The first barcode scanners 7011 use barcode scanning cameras. The first barcode scanners 7011 are installed in the lateral direction of the conveying path of the first conveyor line 701. The first barcode scanners 7011 are signal-connected to the central control module. When the first conveyor line 701 conveys the decocting pot 100, the first barcode scanners 7011 can scan the identification code on the decocting pot 100, obtain the prescription information of the medicine bag in the decocting pot 100, and send the prescription information to the central control module. The central control module records the position of the decocting pot 100 on the first conveyor line 701 according to the prescription information.

[0033] Specifically, the area between two adjacent first barcode scanners 7011 on the first conveyor line 701 is one of the conveying sections of the first conveyor line 701. The plurality of first barcode scanners 7011 divide the first conveyor line 701 into multiple conveying sections. When the decocting pot 100 is placed on the first conveyor line 701, the side of the decocting pot 100 with the identification code faces the side where the first barcode scanners 7011 are located. The height of the first barcode scanners 7011 is adapted to the height of the identification code on the decocting pot 100.

[0034] The central control module numbers the first barcode scanners 7011 installed on the first conveyor line 701, and the numbering sequence increases sequentially from the upstream end of the first conveyor line 701 to the downstream end of the first conveyor line 701. For example: the number of the first barcode scanner 7011 closest to the upstream end of the first conveyor line 701 is No. 1, the number of the second first barcode scanner 7011 is No. 2, the number of the third first barcode scanner 7011 is No. 3, and so on, to number all the first barcode scanners 7011.

[0035] When the cooking pot 100 is being conveyed on the first conveyor line 701, when the cooking pot 100 moves to a position opposite to the first barcode scanner 7011, the first barcode scanner 7011 scans the identification code on the cooking pot 100, obtains the prescription information, and transmits the prescription information to the central control module. This indicates that the first barcode scanner 7011 under this number has recognized the cooking pot, and at the same time, it also indicates that the cooking pot has been conveyed to the next conveying section.

[0036] If a certain first barcode scanner 7011 fails to scan the identification code of the cooking pot 100, it means that the cooking pot 100 is in the conveying section upstream of this first barcode scanner 7011. When problems occur and it is necessary to track the cooking pot 100, it can be known which conveying section the cooking pot is in on the first conveyor line 701, facilitating the staff to track and inspect the cooking pot 100.

[0037] In this embodiment, a handling device 800 is provided between the cooking unit 200 and the first conveyor line 701. The handling device 800 is used to carry the cooking pot 100 located on the first conveyor line 701 and send it into the cooking unit 200.

[0038] Specifically, the handling device 800 includes a track group 801 extending linearly. 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, and the clamping mechanism 8021 can grab the cooking pot 100. The handling robot 802 uses an existing multi-axis robot, and the clamping mechanism 8021 uses a grabbing mechanical claw.

[0039] 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 extension direction of the ground track 8011.

[0040] Specifically, the traction mechanism 803 includes a linear rack 8031 fixed to one of the ground tracks 8011. The extension direction of the linear rack 8031 is parallel to the extension direction of the ground track 8011. The traction mechanism 803 also 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.

[0041] After the driving motor 8033 is driven, the second planetary speed reducer 8034 transmits the force applied to 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 8032 drives the handling robot 802 to move along the extension 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.

[0042] 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 of each pair of teeth, improves the bearing capacity of the gear, and extends the service life.

[0043] 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, so as to obtain the prescription information of the medicine bag in the decocting pot 100.

[0044] 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 bag 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 means 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 means 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.

[0045] In some other embodiments, the handling device 800 can also adopt an AGV handling robot.

[0046] In this embodiment, the number of 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.

[0047] 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 decocting. The outer pot 110 is the main part 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. It 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.

[0048] 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, and at the same time, it can maintain the shape of the medicine bag to prevent 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.

[0049] A tray 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. This is convenient for the feeding and taking of the medicine bag, and at the same time, it avoids the possible wear or contamination caused by the direct contact between the inner support assembly 120 and the bottom of the outer pot 110. The tray 121 also needs to be supported by materials with high temperature resistance and corrosion resistance to ensure its stability and durability during use.

[0050] Specifically, an inner support assembly 120 feeding port is formed on the inner circumference of the tray 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 decocting.

[0051] 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 tray 121 is erected on the reinforcing rib 113; Preferably, the outer edge of the tray 121 protrudes from the reinforcing rib 113.

[0052] 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 breaking 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.

[0053] Specifically, the support plate 121 is placed on the reinforcing rib 113, which can provide stable support for the support plate 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 support plate 121, enabling the support plate 121 to firmly support the inner support assembly 120 and the traditional Chinese medicine medicine bag thereon, preventing shaking or tilting during the decocting process.

[0054] As a preferred solution, the outer edge of the support plate 121 is designed to protrude from the reinforcing rib 113, which not only increases the contact area between the support plate 121 and the reinforcing rib 113, thereby improving the stability of the placement of the support plate 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.

[0055] Furthermore, a clamping member 123 is provided on one side of the support plate 121 facing the inside of the inner support assembly 120. The clamping member 123 is used to clamp and fix the seal of the traditional Chinese medicine medicine bag; Preferably, the clamping member 123 clamps and fixes the end of the seal.

[0056] In this embodiment, a clamping member 123 is provided on one side of the support plate 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 medicine bag. During the decocting process, the traditional Chinese medicine 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 avoid moving or tilting during the decocting process due to the boiling or stirring of the liquid medicine.

[0057] Specifically, the inner circumference of the support plate 121 forms the feeding port of the inner support assembly 120. The edge of the feeding port is set to alternate between a straight line and an arc line. 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 a thrust force for the core.

[0058] More specifically, when decocting traditional Chinese medicine, first put the traditional Chinese medicine materials into a medicine bag, then tie up the medicine bag through a sealing member. 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 sealing member at the opening. 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 its initial state. At this time, the sealing member is clamped and fixed within the clamping member 123.

[0059] As a preferred solution, the clamping member 123 clamps the end of the sealing member, 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.

[0060] It should be noted that the sealing member 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 sealing member. Another option is that the sealing member 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 sealing member.

[0061] 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.

[0062] 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.

[0063] Specifically, one end of the connecting rod 122 is set in a linear area on the inner peripheral edge of the tray 121; there is a groove 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 medicinal liquid 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.

[0064] As a preferred solution, the bottom plate 124 can be set as a disk-shaped structure with a higher middle part and 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.

[0065] Furthermore, 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.

[0066] In this embodiment, 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 and cooperates with the connecting rod 122 of the inner support assembly 120.

[0067] 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.

[0068] 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.

[0069] Furthermore, at least two protrusions 111 are provided and are arranged oppositely on the inner peripheral wall of the outer pot 110; at least two connecting rods 122 are provided and are 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.

[0070] 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 stability 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.

[0071] When decocting traditional Chinese medicine, after the sealing member 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 decoction 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.

[0072] 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. Two protrusions 111 cooperate with 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, two protrusions 111 are located between two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot 110.

[0073] Specifically, a support rod connecting the two connecting rods 122 is provided between a group of two connecting rods 122, and the support rod is arranged at a position close to the bottom plate 124 of the inner support assembly 120; when decocting traditional Chinese medicine, after the sealing member of the medicine bag seals the medicine bag, it passes through the lower part of the support rod from the inside of the inner support assembly 120 to the outside, and then the end is clamped and fixed in the clamping member 123, which can ensure that during the decoction 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 sealing member can be wound around the support rod for one week and then extended to the clamping member 123 for clamping and fixing.

[0074] Further, a rib 112 is provided on the outer peripheral wall of the outer pot 110, and the rib 112 is arranged in a ring around the outer peripheral wall of the outer pot 110. When transporting the decocting pot 100, the transporting member clamps the pot wall of the outer pot 110 below the rib 112.

[0075] In this embodiment, a rib 112 is provided on the outer peripheral wall of the outer pot 110, and the rib 112 is arranged in a ring 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 member to clamp the decocting pot 100.

[0076] Specifically, when transporting the decocting pot 100, transporting members such as a forklift truck 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 member can clamp the outer pot 110 more stably, preventing accidental situations such as slipping or tipping over during transportation.

[0077] Further, at least two 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.

[0078] 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.

[0079] Specifically, when transporting the decocting pot 100, transporting components such as a transporter and a gripper will clamp the part of the pot wall 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 clamp the outer pot 110 more firmly, preventing it from shaking or slipping during transportation.

[0080] 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.

[0081] 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 wrapped around 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.

[0082] In this embodiment, to improve the automation degree and moving 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.

[0083] 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.

[0084] As a preferred solution, the support plate 131 is fixedly connected to the outer pot 110 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. At the same time, it simplifies the installation process and improves work efficiency.

[0085] Specifically, the support plate 131 is a square sheet metal structure, and a bent and formed fixing portion 1311 is provided at its edge; 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 wrapped outside the support plate 131 is composed of four straight rods 1321 inserted end to end. Grooves are provided on the straight rods 1321 to reduce the overall weight of the conveying 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.

[0086] The decocting unit 200 includes a vertically arranged rectangular frame 201. On one side wall of the frame 201, an upper truss 202 extending horizontally outward is provided at the top of the frame 201, and a lower truss 203 extending horizontally outward is provided at the bottom of the frame 201. The upper truss 202 and the lower truss 203 are arranged opposite to each other up and down. Both the upper truss 202 and the lower truss 203 are fixed to the frame 201, and the connection between the upper truss 202 and the lower truss 203 and the frame 201 can be fixed by bolts or welding.

[0087] A heating mechanism 204 is provided between the upper truss 202 and the lower truss 203. The heating mechanism 204 is fixed to the frame 201, and the connection between the heating mechanism 204 and the frame 201 can be fixed by bolts or welding. There is a space between the heating mechanism 204 and the upper truss 202. There is also a space between the heating mechanism 204 and the lower truss 203.

[0088] The space left between the heating mechanism 204 and the upper truss 202 is used to place the decocting pot on the heating mechanism 204. When decocting medicine, place the decocting pot filled with medicine packets on the heating mechanism 204, and the heating mechanism 204 heats the decocting pot. The space left between the heating mechanism 204 and the lower truss 203 can accommodate the decocting pot. When the decocting pot is sent to the decocting unit 200 for heating, and when there is already a decocting pot on the heating mechanism 204 for decocting, the remaining decocting pots can be temporarily stored on the lower truss 203.

[0089] A conveyor line can also be installed in the space left between the heating mechanism 204 and the lower truss 203. The decocting pot is transported through the conveyor line. The un-decocted decocting pot can be sent to the decocting unit 200 for heating, and the decocted decocting pot can be sent to the next process through the conveyor line.

[0090] In this embodiment, a capping mechanism 205 is provided on the upper truss 202. When the decocting pot is placed on the heating mechanism 204, the capping mechanism 205 closes the feeding port of the decocting pot.

[0091] A control circuit module is also provided on the frame 201. The control circuit module is signal-connected to the capping mechanism 205 and the heating mechanism 204. The control circuit module is used to send control instructions to the capping mechanism 205 and the heating mechanism 204, and control the heating mechanism 204 and the capping mechanism 205 to perform corresponding actions according to the control instructions.

[0092] Specifically, the capping mechanism 205 includes a horizontally arranged fixed plate 2051, and the fixed plate 2051 is fixed on the lower surface of the upper truss 202. A pot lid 2052 is movably arranged below the fixed plate 2051. A first lifting assembly 2053 is arranged between the pot lid 2052 and the fixed plate 2051. The first lifting assembly 2053 is respectively connected to the fixed plate 2051 and the pot lid 2052, and the first lifting assembly 2053 is used to drive the pot lid 2052 to rise or fall.

[0093] The height points of the lifting of the pot lid 2052 include the highest point and the lowest point.

[0094] When the pot lid 2052 is at the highest point, the position of the pot lid 2052 is higher than the top end of the decocting pot placed on the heating mechanism 204, so that the decocting pot can be placed on the heating mechanism 204 or removed from the heating mechanism 204.

[0095] When the pot lid 2052 is at the lowest point, the pot lid 2052 can press on the top end face of the decocting pot placed on the heating mechanism 204, thereby closing the top feeding port of the decocting pot.

[0096] A pressing plate 2054 is movably arranged directly below the pot lid 2052. A second lifting assembly 2055 is arranged between the pressing plate 2054 and the fixed plate 2051. The second lifting assembly 2055 is respectively connected to the fixed plate 2051 and the pressing plate 2054. The second lifting assembly 2055 is used to drive the pressing plate 2054 to lift or lower.

[0097] The height points of the lifting of the pressing plate 2054 include a first height point, a second height point, and a third height point.

[0098] The first height point is the height point when the pressing plate 2054 is lifted to the highest position. When the pressing plate 2054 is at the first height point, the position of the pressing plate 2054 is higher than the top end of the decocting pot placed on the heating mechanism 204, so that the decocting pot can be placed on the heating mechanism 204 or removed from the heating mechanism 204. When the pressing plate 2054 is at the first height point, the height position of the pressing plate 2054 is lower than the height position of the pot lid 2052 at the highest point.

[0099] The second height point is the height point when the pressing plate 2054 is located at the top of the internal space of the decocting pot. When the pressing plate 2054 is at the second height point, the pressing plate 2054 is in a separated state from the medicinal materials placed in the decocting pot.

[0100] The third height point is the height point when the pressing plate 2054 is located at the bottom of the internal space of the decocting pot. When the pressing plate 2054 is at the third height point, the pressing plate 2054 is in a state of squeezing the medicinal materials inside the decocting pot.

[0101] In this embodiment, a plurality of guide rods 2056 are arranged between the pressing plate 2054 and the fixed plate 2051, and the number of the guide rods 2056 is multiple. In this embodiment, the number of the guide rods 2056 is four, and the four guide rods 2056 are arranged in a circumferential array with the central axis of the pot lid 2052 as the center line. One end of the guide rod 2056 is fixed to the pressing plate 2054, and the other end of the guide rod 2056 extends above the fixed plate 2051. The rod body of the guide rod 2056 sequentially penetrates through the pot lid 2052 and the fixed plate 2051. Through holes for the guide rods 2056 to pass through are formed at positions on the fixed plate 2051 opposite to the guide rods 2056, and the aperture of the through holes is larger than the rod diameter of the guide rods 2056. The guide rods 2056 are slidably connected to the fixed plate 2051. Similarly, through holes for the guide rods 2056 to pass through are formed at positions on the pot lid 2052 opposite to the guide rods 2056, and the aperture of the through holes is larger than the rod diameter of the guide rods 2056. The guide rods 2056 are slidably connected to the pot lid 2052.

[0102] On the lower surface of the fixed plate 2051, guide sleeves 20511 with the same number as the guide rods 2056 are fixed. The guide sleeves 20511 and the guide rods 2056 are arranged in a one-to-one correspondence. The guide sleeves 20511 and the corresponding guide rods 2056 are coaxially arranged. The guide rods 2056 pass through the inner holes of the corresponding guide sleeves 20511. The guide rods 2056 and the guide sleeves 20511 are slidably connected to each other.

[0103] Preferably, a limit ring 20561 is provided at the end of the guide rod 2056 extending above the fixed plate 2051, and the limit ring 20561 is fixed to the guide rod 2056. The outer diameter of the limit ring 20561 is larger than the aperture of the perforation on the fixed plate 2051.

[0104] Specifically, the first lifting assembly 2053 includes a vertically arranged air cylinder 20531, and the cylinder body of the air cylinder 20531 is fixedly connected to the fixed plate 2051. The piston rod of the air cylinder 20531 faces the direction where the pot lid 2052 is located. The piston rod of the air cylinder 20531 is fixedly opposed to the pot lid 2052. When the piston rod of the air cylinder 20531 extends out of the cylinder body, the piston rod of the air cylinder 20531 pushes the pot lid 2052 to move the pot lid 2052 downward. When the piston rod of the air cylinder 20531 retracts into the cylinder body, the piston rod of the air cylinder 20531 pulls the pot lid 2052 to move the pot lid 2052 upward.

[0105] Specifically, the second lifting assembly 2055 includes a vertically arranged electric cylinder 20551, and the electric cylinder 20551 is located above the fixed plate 2051. An installation sleeve 20552 is provided between the cylinder body of the electric cylinder 20551 and the fixed plate 2051, and the installation sleeve 20552 is vertically arranged. One end of the installation sleeve 20552 is fixed to the fixed plate 2051, and the other end of the installation sleeve 20552 is fixed to the cylinder body of the electric cylinder 20551. The push rod of the electric cylinder 20551 faces the inner hole of the installation sleeve 20552, and the push rod of the electric cylinder 20551 extends into the interior of the installation sleeve 20552.

[0106] A connecting column 20553 is arranged in the inner hole of the installation sleeve 20552, and the connecting column 20553 and the push rod of the electric cylinder 20551 are coaxially arranged. One end of the connecting column 20553 is butt-joined and fixed to the push rod of the electric cylinder 20551, and the other end of the connecting column 20553 sequentially passes through the fixed plate 2051 and the pot lid 2052 and is thus connected to the pressure plate 2054. The connecting column 20553 and the pressure plate 2054 are fixed by bolts.

[0107] Preferably, the central axis of the connecting column 20553 is coaxial with the central axis of the pressure plate 2054.

[0108] When the push rod of the electric cylinder 20551 extends out of the cylinder block, the push rod of the electric cylinder 20551 pushes the connecting column 20553, and the connecting column 20553 pushes the pressure plate 2054, causing the pressure plate 2054 to move downward. When the push rod of the electric cylinder 20551 retracts into the interior of the cylinder block, the push rod of the electric cylinder 20551 pulls the connecting column 20553, and the connecting column 20553 pulls the pressure plate 2054, causing the pressure plate 2054 to move upward.

[0109] In this embodiment, a nozzle 2057 is installed on the pot lid 2052. A water supply mechanism 206 connected to the nozzle 2057 is installed on the frame 201. The water supply mechanism 206 can supply water to the interior of the nozzle 2057, and the water supplied into the interior of the nozzle 2057 by the water supply mechanism 206 is sprayed into the decocting pot for decocting medicinal materials through the nozzle 2057. The water outlet part of the nozzle 2057 faces the pressure plate 2054, so that the water sprayed by the nozzle 2057 can be sprayed onto the pressure plate 2054.

[0110] Similarly, the water supply mechanism 206 is signal-connected to the control circuit module. The control circuit module sends a control instruction to the water supply mechanism 206, and the water supply mechanism 206 performs corresponding actions according to the control instruction.

[0111] In this embodiment, the number of nozzles 2057 is two. In the actual production and processing process, the number of nozzles 2057 is not limited to two, and can be one, or three or more. Taking the number of nozzles 2057 as two in this embodiment, the two nozzles 2057 are arranged symmetrically with respect to the central axis of the pot lid 2052. The water outlet part of the nozzle 2057 is located below the pot lid 2052, and the water inlet part of the nozzle 2057 is located above the pot lid 2052. The nozzle 2057 penetrates through the pot lid 2052 and is fixedly connected to the pot lid 2052.

[0112] A tee pipe 2058 is fixed on the upper surface of the pot lid 2052. One of the interfaces of the tee pipe 2058 is used to communicate with the water supply mechanism 206. Among the remaining two interfaces of the tee pipe 2058, one interface is connected to one nozzle 2057 through a pipe fitting, and the other interface is also connected to the other nozzle 2057 through a pipe fitting.

[0113] Specifically, the water supply mechanism 206 is fixed on the frame 201. The water supply mechanism 206 includes a water outlet section 2061, a water inlet section 2062 and a water pump 2063. One end of the water outlet section 2061 is connected to the water outlet of the water pump 2063, and the other end of the water outlet section 2061 is connected to the nozzle 2057. One end of the water inlet section 2062 is connected to the water inlet of the water pump 2063, and the other end of the water inlet section 2062 is a free end. The free end of the water inlet section 2062 is used to connect to a water source. After the water inlet section 2062 is connected to the water source, the water pump 2063 can extract water from the water source and send the water to the water outlet section 2061. The water entering the water outlet section 2061 is sent to the nozzle 2057 along the water inlet section 2062. The water entering the nozzle 2057 is sprayed out and sprayed onto the pressure plate 2054.

[0114] A flow meter 2064 is installed on the water inlet section 2062. The flow meter 2064 can measure the amount of water passing through the water inlet section 2062, so as to calculate the amount of water sent into the frying pot.

[0115] The water inlet section 2062 is made of a hard pipe and is fixed on the frame 201. The water pump 2063 is also fixed on the frame 201. The water outlet section 2061 is made of a hose. The length of the water outlet section 2061 can meet the requirement that the water outlet section 2061 will not be separated from the nozzle 2057 during the up and down movement of the pot cover 2052. When the pot cover 2052 moves up and down, the water outlet section 2061 can be bent and deformed as the pot cover 2052 moves.

[0116] A fixing block 20532 is also provided between the piston rod of the cylinder 20531 and the pot cover 2052, and the fixing block 20532 is fixedly connected to the piston rod of the cylinder 20531 and the pot cover 2052. A pipe through hole 20533 is processed on the fixing block 20532 to penetrate the fixing block 20532 transversely. When the water outlet section 2061 is connected to the nozzle 2057, the water outlet section 2061 is passed through the pipe through hole 20533 of the fixing block 20532, and the water outlet section 2061 can be restricted by the pipe through hole 20533. When water flows through the inside of the water outlet section 2061, the vibration of the water outlet section 2061 caused by the water flow is reduced, so that the water outlet section 2061 can be kept stable, and the separation of the water outlet section 2061 and the nozzle 2057 is reduced.

[0117] At the same time, when the cylinder 20531 pushes the pot cover 2052 to move up and down, the end of the water outlet section 2061 that is connected to the nozzle 2057 can move up and down synchronously with the pot cover 2052, avoiding the water outlet section 2061 from being pulled, thereby preventing the water outlet section 2061 from being separated from the nozzle 2057 due to the water outlet section 2061 being pulled.

[0118] Specifically, the heating mechanism 204 includes a housing 2041, which is fixed on the frame 201. The upper surface of the housing 2041 is a horizontal plane. An induction cooker 2042 is embedded inside the housing 2041, and the cooking surface of the induction cooker 2042 is exposed from the upper surface of the housing 2041. The capping mechanism 205 is located directly above the induction cooker 2042.

[0119] Specifically, the cooking surface of the induction cooker 2042 is flush with or higher than the upper surface of the housing 2041. A plurality of positioning blocks 2043 are fixed on the upper surface of the housing 2041, and the positioning blocks 2043 surround the cooking surface of the induction cooker 2042 on the inner side. When the decocting pot is placed on the induction cooker 2042, the bottom of the decocting pot abuts against the positioning blocks 2043. By providing a plurality of positioning blocks 2043, the position of the decocting pot when placed on the induction cooker 2042 can be restricted, so that the decocting pot can be placed at the same position every time when placed on the induction cooker 2042, ensuring that the relative position between the induction cooker 2042 and the decocting pot is the optimal heating position.

[0120] In this embodiment, a temperature sensor 207 is installed on the lid 2052, and the temperature sensor 207 penetrates through the lid 2052 and extends to the lower side of the lid 2052. When the lid 2052 is placed on the top of the decocting pot, the temperature sensor 207 extends into the decocting pot, and the temperature sensor 207 can measure the temperature inside the decocting pot.

[0121] In this embodiment, a plurality of through holes 20541 are formed on the surface of the pressing plate 2054, and the through holes 20541 are evenly distributed on the surface of the pressing plate 2054. When the pressing plate 2054 is lifted and lowered by the driving of the second lifting assembly 2055, the pressing plate 2054 squeezes the medicine bag located inside the decocting pot, and the medicinal liquid passes through the through holes 20541 on the pressing plate 2054. When the medicinal liquid passes through the through holes 20541, the flow rate of the medicinal liquid is accelerated. Since the pressing plate 2054 lifts and stirs the medicinal liquid, the flow of the medicinal liquid can wash the medicine bag, enabling the medicinal properties of the medicinal materials in the medicine bag to be better decocted and improving the concentration of the decocted medicinal liquid.

[0122] In this embodiment, the number of induction cookers 2042 is two, and the two induction cookers 2042 are arranged side by side on the housing 2041. Correspondingly, the number of capping mechanisms 205 is also two, and one capping mechanism 205 and one induction cooker 2042 form a group. The two induction cookers 2042 are arranged side by side. Similarly, the two capping mechanisms 205 are also arranged side by side.

[0123] When decocting medicinal materials, place the decocting pot filled with the medicinal material packet and water on the cooking surface of the induction cooker 2042, and start the induction cooker 2042 to heat the decocting pot. After the decocting pot is placed on the cooking surface of the induction cooker 2042, the first lifting assembly 2053 drives the pot lid 2052 to move downward, and the pot lid 2052 covers the top of the decocting pot to seal the feeding port of the decocting pot. The second lifting assembly 2055 drives the pressing plate 2054 to move towards the bottom of the decocting pot, so that the pressing plate 2054 can squeeze the medicinal material packet in the decocting pot. After the pressing plate 2054 squeezes the medicinal material packet, the second lifting assembly 2055 raises the pressing plate 2054 to complete one extrusion of the medicinal material packet. During the decocting process, the second lifting assembly 2055 controls the pressing plate 2054 to lift and lower multiple times to achieve multiple extrusions of the medicinal material packet, enabling the medicinal material packet to come into more sufficient contact with the medicinal liquid, allowing the medicinal properties of the medicinal materials to be decocted more fully, and improving the concentration of the decocted medicinal materials.

[0124] When multiple decocting pots are decocting the same traditional Chinese medicine decoction, since the water supply mechanism 206 is provided on the pot lid 2052, there is no need to add water to the inside of the decocting pot before placing the decocting pot on the induction cooker 2042, and water can be added to the inside of the decocting pot through the water supply mechanism. When the water supply mechanism 206 adds water to the inside of the decocting pot, the water supply mechanism can wash the pressing plate 2054 and wash the medicinal liquid adhering to the pressing plate 2054 into the decocting pot. After the decocting task is completed, the water supply mechanism 206 can play a role in cleaning the pressing plate 2054, so there is no need to disassemble and clean the pressing plate 2054, reducing the workload of cleaning the pressing plate 2054.

[0125] In this embodiment, the traditional Chinese medicine decocting system further includes a hot water supply unit 1000, and the hot water supply unit 1000 is connected to the water supply mechanism 206. The hot water supply unit 1000 can send hot water into the water supply mechanism 206.

[0126] Specifically, the hot water supply unit 1000 includes a circulation pipeline 1001 and a hot water supply device 1002 that is connected to the circulation pipeline 1001 and sends hot water into the circulation pipeline 1001. The hot water supply device 1002 can adopt a boiler. The water supply mechanism 206 is connected to the circulation pipeline 1001.

[0127] When it is necessary to replenish water inside the decocting pot 100, the water replenished into the decocting pot 100 is hot water, thus avoiding the temperature drop of the medicinal liquid in the decocting pot 100 when replenishing water into the decocting pot 100, which affects the medicinal properties of the medicine.

[0128] In this embodiment, a water adding unit 1100 is provided on one side of the first conveyor line 701. The water adding unit 1100 is used to add water into the interior of the decocting pot 100 located on the first conveyor line 701. When the decocting pot 100 is conveyed by the first conveyor line 701 to the position of the water adding unit 1100, the central control module issues a control instruction to the first conveyor line 701 to control the first conveyor line 701 to stop, and the water adding unit 1100 adds a set amount of water into the interior of the decocting pot 100. After the water adding unit 1100 adds the set amount of water into the decocting pot 100, the central control module issues a control instruction to the first conveyor line 701 to start the first conveyor line 701, and the first conveyor line 701 continues to send the decocting pot 100 to the decocting unit 200.

[0129] In this embodiment, the automatic traditional Chinese medicine decocting system further includes an extrusion unit 300, a medicine pouring and packaging unit 400, and a second decocting unit 1200. The extrusion unit 300 is used to separate the medicine bag in the decocting pot 100 from the medicinal liquid and leave the medicinal liquid in the outer pot 110 of the decocting pot 100.

[0130] The extrusion unit 300, the medicine pouring and packaging unit 400, and the second decocting unit 1200 are all connected to the central control module through signal connections. The central control module can issue control instructions to the extrusion unit 300, the medicine pouring and packaging unit 400, and the second decocting unit 1200 to control the extrusion unit 300, the medicine pouring and packaging unit 400, and the second decocting unit 1200. The extrusion unit 300, the medicine pouring 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.

[0131] The medicine pouring and packaging unit 400 is used to pour out the medicinal liquid remaining in the outer pot 110 and package the poured-out medicinal liquid.

[0132] The extrusion unit 300, the medicine pouring 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 circulate among the decocting unit 200, the extrusion unit 300, the medicine pouring and packaging unit 400, and the second decocting unit 1200.

[0133] After the decocting unit 200 finishes decocting, the handling robot 802 transports the entire decocting pot 100 into the squeezing unit 300, and the squeezing unit 300 separates the outer pot 110 of the decocting pot 100 from the inner support assembly 120. When separating the inner support assembly 120 from the outer pot 110, the medicine bag is taken out of the outer pot 110 along with the inner support assembly 120. The handling robot 802 sends the outer pot 110 filled with medicinal liquid into the medicine-pouring and packaging unit 400, and the medicine-pouring and packaging unit 400 pours out the medicinal liquid in the outer pot 110 and divides and packages the medicinal liquid. After the medicine-pouring and packaging unit 400 pours out the medicinal liquid in the outer pot 110, the handling robot 802 transports the outer pot 110 back into the squeezing unit 300, and the squeezing unit 300 installs the inner support assembly 120 back inside the outer pot 110.

[0134] The squeezing unit includes a squeezing frame 3011, a squeezing module 302, an inner support assembly grasping module 301, and a connected control module. The squeezing module 302 and the inner support assembly grasping module 301 are both arranged on the squeezing frame 3011. The control module controls the squeezing module 302 to squeeze the medicine bag on the inner support assembly in the decocting pot assembly, and the control module controls the inner support assembly grasping module 301 to grasp the inner support assembly in the decocting pot assembly.

[0135] During the traditional Chinese medicine production process, through the control module to control the squeezing module 302 and the inner support assembly grasping module 301 to cooperate with each other, the full automation of medicine bag squeezing and inner support assembly grasping and transferring is realized, so as to replace a large amount of manual labor, reduce the labor intensity of workers, and improve the production efficiency.

[0136] The specific working process is as follows: The control module sends a squeezing signal to the squeezing module 302. After receiving the squeezing signal, the squeezing module 302 squeezes the medicine bag on the inner support assembly in the decocting pot assembly; the control module sends a grasping signal to the inner support assembly grasping module 301 according to the squeezing completion signal sent by the squeezing module 302; after receiving the grasping signal, the inner support assembly grasping module 301 grasps the inner support assembly in the decocting pot assembly.

[0137] Specifically, the squeezing module 302 includes a moving mechanism 3021, a squeezing mechanism 3022, and a first control unit. The moving mechanism 3021 is installed on the squeezing frame 3011 and moves above the decocting pot assembly; the squeezing mechanism 3022 is installed on the moving mechanism 3021 and is used to extend into the decocting pot assembly to squeeze the medicine bag, and the moving mechanism 3021 drives the squeezing mechanism 3022 to move horizontally.

[0138] In this embodiment, the extrusion frame 3011 is provided with a placement station for the decocting pot assembly and an initial station where the initial position of the moving mechanism 3021 is located. The control module controls the moving mechanism 3021 to drive the extrusion mechanism 3022 to move horizontally between the placement station of the decocting pot assembly and the initial station.

[0139] After the robot (RGV) transports the decocting pot assembly to the integration work area, the moving mechanism 3021 drives the extrusion mechanism 3022 to move to the placement station of the decocting pot assembly, that is, above the decocting pot assembly. Then, the extrusion mechanism 3022 descends and extends into the decocting pot assembly, and squeezes the medicine bag in the inner support assembly in the decocting pot assembly, so that the medicinal liquid flows out into the outer pot.

[0140] Specifically, the first control unit on the extrusion module 302 sends a moving action signal to the moving mechanism 3021 according to the extrusion signal received from the control module, then sends an extrusion action signal to the extrusion mechanism 3022 according to the moving completion signal fed back by the moving mechanism 3021, and finally feeds back an extrusion completion signal to the control module according to the extrusion action completion signal fed back by the extrusion mechanism 3022.

[0141] Further, the first control unit on the extrusion module 302 sends a reset action signal to the moving mechanism 3021 according to the extrusion action completion signal fed back from the extrusion mechanism 3022, and then feeds back an extrusion completion signal to the control module according to the reset action completion signal fed back by the moving mechanism 3021.

[0142] In this embodiment, after receiving the moving signal sent by the first control unit, the moving mechanism 3021 drives the extrusion mechanism 3022 to move from the initial station to the placement station of the decocting pot assembly. A position detector for detecting the position of the moving mechanism 3021 is provided on the moving mechanism 3021 and / or the extrusion frame 3011. The first control unit feeds back a first in-place signal to the control module according to the position signal of the extrusion mechanism 3022 sent by the position detector.

[0143] In this embodiment, the extrusion frame 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. The cross bars 30113 are arranged between two adjacent vertical beams 30111, and the cross bars 30113 are arranged in parallel. There are two cross beams 30112, and both cross beams 30112 are arranged on the top of the vertical beams 30111 and are parallel. 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, and the connection method can be welding, or detachable connection such as screws, or connection through a connecting piece.

[0144] In this embodiment, the extrusion frame 3011 can be directly fixed to the ground or fixed to other devices, such as steel plates, boxes, etc. Taking the extrusion frame 3011 fixed to the ground as an example for illustration: In this embodiment, the extrusion frame 3011 adopts a detachable connection method. Specifically, an L-shaped steel plate is used for connection. One side of the steel plate is connected to the vertical beam 30111 through bolts, and the other side of the steel plate is connected to the ground through bolts, thereby realizing the overall fixation of the extrusion frame 3011.

[0145] In this embodiment, support legs are also installed at the bottom of the vertical beam 30111. Through the support legs, leveling can be carried out, and it can also play a supporting role, improving the overall strength and stability of the extrusion frame 3011.

[0146] 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 extrusion frame 3011, the moving platform 30212 is installed on the first driving member 30211, and the extrusion 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 a direction closer to or farther away from the decocting pot assembly, thereby realizing the relative movement of the extrusion mechanism 3022.

[0147] In this embodiment, the first driving member 30211 can be a cylinder, a linear motor, or a gear-rack transmission mechanism, a ball screw transmission mechanism. Considering the simplicity of the structure and the installation difficulty, in this embodiment, a cylinder is preferably used.

[0148] In this embodiment, taking the cylinder as an example for further illustration: One end of the cylinder is fixedly installed on the extrusion frame 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.

[0149] In this embodiment, a slide rail 3023 is installed on the extrusion frame 3011. The slide rail 3023 is horizontally arranged and is consistent with the movement 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.

[0150] Further, the slide rail 3023 includes a fixed rod 30231 and a guide post 30232. Both ends of the fixed rod 30231 are connected to the extrusion frame 3011. The guide post 30232 is connected to the bottom or side of the fixed rod 30231. The fixed rod 30231 and the guide post 30232 are arranged in parallel. The slide block 3024 is slidably connected to the guide post 30232.

[0151] In this embodiment, the guide post 30232 is cylindrical. An arc-shaped recess is formed on the slide block 3024, and the inner wall of the recess fits with the outer wall of the guide post 30232. When the moving platform 30212 moves, the guide post 30232 is inserted into the recess of the slide block 3024, and the guide post 30232 and the slide block 3024 are clamped to support the moving platform 30212. With the cooperation of the guide post 30232 and the recess, both the support strength of the moving platform 30212 is ensured and the moving platform 30212 can be guided.

[0152] In this embodiment, the extrusion mechanism 3022 is further described: The extrusion mechanism 3022 includes a second driving member 30221, an extrusion disk 30222, and a second control unit. The second driving member 30221 is installed on the moving platform 30212, and the extrusion disk 30222 is installed on the second driving member 30221. The second driving member 30221 drives the extrusion disk 30222 to move up and down. Through the second driving member 30221, the extrusion disk 30222 is driven to move up and down at the placement station or the initial station of the decocting pot assembly, and the automatic extrusion of the medicine bag or the adjustment of the initial state can be realized.

[0153] The second control unit on the extrusion mechanism 3022 sends an extrusion signal to the second driving member 30221 according to the first in-place signal of the control module. The second driving member 30221 completes the medicine bag action according to the extrusion signal sent by the second control unit and feeds back an extrusion completion signal to the second control unit.

[0154] The second control unit sends a reset action signal to the second driving member 30221 according to the extrusion completion signal, and then feeds back an extrusion completion signal to the control module according to the reset action completion signal fed back by the second driving member 30221.

[0155] In this embodiment, after receiving the first in-place signal sent by the second control unit, the second driving member 30221 drives the extrusion disk 30222 to move up and down at the placement station of the decocting pot assembly. A pressure sensor is provided on the extrusion disk 30222, and the second control unit feeds back an extrusion completion signal to the second control unit according to the pressure signal sent by the pressure sensor.

[0156] In this embodiment, the second driving member 30221 may 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.

[0157] In this embodiment, taking the cylinder as an example for further illustration: The cylinder block of the cylinder is fixedly installed on the moving platform 30212, and the cylinder rod of the cylinder stretches and retracts vertically, and the pressing disc 30222 is installed on the cylinder rod. During operation, the cylinder rod of the cylinder extends or retracts in the vertical direction, thereby driving the pressing disc 30222 to move vertically.

[0158] In this embodiment, when squeezing the medicine package, there should be a certain distance between the bottom of the inner support assembly and the bottom of the outer pot in the decocting pot assembly. 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 package again. A clamping mechanism 3025 is provided on the squeezing frame 3011. Before the squeezing mechanism 3022 squeezes the medicine package, the clamping mechanism 3025 clamps the inner support assembly in the decocting pot assembly. At the same time, the robot can drive the outer pot to move downward, so that there is a distance between the bottom of the inner support assembly and the bottom of the outer pot in the decocting pot assembly to facilitate squeezing.

[0159] Specifically, there are two clamping mechanisms 3025, and both clamping mechanisms 3025 are located at the placement station of the decocting pot assembly. The two clamping mechanisms 3025 are respectively arranged on both sides of the decocting pot assembly, and the two clamping mechanisms 3025 clamp from both sides of the decocting pot assembly, with higher stability.

[0160] 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 squeezing frame 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.

[0161] The clamping mechanism 3025 is provided with a sixth control unit. The sixth control unit receives the squeezing signal from the control module and sends a clamping signal to the clamping mechanism 3025. After receiving the clamping signal, the clamping mechanism 3025 clamps the inner support assembly in the decocting pot assembly and feeds back a clamping completion signal. The first control unit sends a moving action signal to the moving mechanism 3021 according to the clamping completion signal of the sixth control unit.

[0162] In this embodiment, the third driving member 30251 may be a cylinder, a linear motor, or an electric push rod. Taking the cylinder as an example for further illustration of the clamping mechanism 3025: The cylinder block of the cylinder is fixedly installed on the extrusion frame 3011. The cylinder rod of the cylinder extends and retracts 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 retracts horizontally, thereby changing the distance between the two clamping plates 30252.

[0163] In this embodiment, the clamping plate 30252 can be processed into an arc shape so that the clamping plate 30252 fits the outer shape of the inner support assembly in the decocting pot assembly, facilitating clamping.

[0164] In this embodiment, the control module further includes an input unit, a signal processing unit, and a positioning mechanism. The input unit is used to input actual data, the signal processing unit is used to process the signals sent by the positioning mechanism, and the control unit is used to send signals or receive feedback signals. The position detector can be a through-beam photoelectric sensor.

[0165] Taking the through-beam photoelectric sensor as an example for illustration: The control module controls the third driving member 30251 to extend, so that the clamping plate 30252 clamps the inner support assembly in the decocting pot assembly. The first driving member 30211 drives the moving platform 30212 to move to the placement station of the decocting pot assembly. 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 control module receives the signal sent by the receiving end of the through-beam photoelectric sensor, controls the first driving member 30211 to stop moving, and then controls the second driving member 30221 to drive the extrusion disk 30222 to descend. Again, through the control of the through-beam photoelectric sensor, when reaching the specified position, the control module controls the second driving member 30221 to stop moving to complete the extrusion work of the medicine bag.

[0166] After the extrusion is completed, the control module controls the second driving member 30221 to drive the extrusion disk 30222 to rise to the top, then controls the first driving member 30211 to drive the moving platform 30212 to move horizontally. Again, through the control of the through-beam photoelectric sensor, the first driving member 30211 returns to the initial station, and the first driving mechanism 30122 is controlled to stop moving.

[0167] Furthermore, the inner support assembly grasping module 301 is used to grasp the inner support assembly in the decocting pot assembly placed on the extrusion frame 3011. There is a first station on the extrusion frame 3011 for placing the inner support assembly in the decocting pot assembly. The control module controls the inner support assembly grasping module 301 to grasp the inner support assembly in the decocting pot assembly and move it between the first station and the placement station of the decocting pot assembly.

[0168] Specifically, the inner support component grasping module 301 includes a moving seat 3012 and a grasping mechanism 3013. The moving seat 3012 is movably arranged on the extrusion frame 3011, and the grasping mechanism 3013 is arranged on the moving seat 3012 for grasping the inner support component in the decocting pot. The moving seat 3012 drives the grasping mechanism 3013 to move horizontally and vertically.

[0169] When it is necessary to separate the inner support component from the outer pot, the control module controls the moving seat 3012 to first drive the grasping mechanism 3013 to move from the placement station of the decocting pot assembly to the first station, 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 component. The grasping mechanism 3013 clamps the inner support component, and the moving seat 3012 drives the grasping mechanism 3013 to rise and move to the first station from the placement station of the decocting pot assembly.

[0170] Through the arranged moving seat 3012 and grasping mechanism 3013, the automatic transfer of the inner support component is realized, eliminating the need for manual handling, greatly reducing the labor intensity, and also ensuring the decocting efficiency of the decocting pot assembly.

[0171] A third control unit is provided on the moving seat 3012, and a fourth control unit is provided on the grasping mechanism 3013. The third control unit sends a horizontal movement signal to the moving seat 3012 according to the extrusion completion signal sent by the control module and feeds back a horizontal movement in-place signal. The third control unit sends a vertical movement signal to the moving seat 3012 according to the horizontal movement in-place signal and feeds back a vertical movement in-place signal. The fourth control unit sends a grasping signal to the grasping mechanism 3013 according to the vertical movement in-place signal of the third control unit and feeds back a grasping completion signal.

[0172] Furthermore, the third control unit sends a reset signal to the moving seat 3012 according to the grasping completion signal sent by the fourth control unit and feeds back a reset completion signal. The third control unit sends a vertical movement signal to the moving seat 3012 again according to the feedback reset completion signal and feeds back a vertical movement in-place signal. The fourth control unit sends a release signal to the grasping mechanism 3013 according to the vertical movement in-place signal of the third control unit to place the inner support component of the decocting pot assembly at a preset position.

[0173] In this embodiment, the third control unit sends a horizontal movement signal to the moving seat 3012 according to the extrusion completion signal sent by the control module. The moving seat 3012 receives the horizontal movement signal, drives the grasping mechanism 3013 to move from the first station to the placement station of the decocting pot assembly, and feeds back a horizontal movement in-place signal.

[0174] The third control unit sends a vertical movement signal to the moving seat 3012 according to the horizontal movement in-place signal. After receiving the vertical movement signal, the moving seat 3012 drives the grasping mechanism 3013 to descend at the placement station of the decocting pot assembly and feedbacks the vertical movement in-place signal.

[0175] Further, the moving seat 3012 includes a mounting platform 30121, a first driving mechanism 30122, and a second driving mechanism 30123. The mounting platform 30121 is slidably connected to the extrusion frame 3011. The grasping mechanism 3013 is installed on the mounting platform 30121. Both the first driving mechanism 30122 and the second driving mechanism 30123 are installed on the mounting platform 30121. The first driving mechanism 30122 is used to drive the mounting platform 30121 to move in the horizontal direction along the extrusion frame 3011 (reciprocating movement between the placement station of the decocting pot assembly and the first station), and the second driving mechanism 30123 is used to drive the grasping mechanism 3013 to move in the vertical direction along the extrusion frame 3011.

[0176] After receiving the movement signal, the first driving mechanism 30122 drives the grasping mechanism 3013 to move from the first station to the placement station of the decocting pot assembly and feedbacks the third in-place signal; after receiving the third in-place signal, the control module sends a descending signal to the second driving mechanism 30123. After receiving the descending signal, the second driving mechanism 30123 drives the grasping mechanism 3013 to descend to the specified position and feedbacks the fourth in-place signal; after receiving the fourth in-place signal, the control module sends a grasping signal to the grasping mechanism 3013.

[0177] Further, after receiving the grasping signal, the grasping mechanism 3013 clamps the inner support assembly in the decocting pot assembly and feedbacks the clamping completion signal; after receiving the clamping completion signal, the control module sends an ascending signal to the second driving mechanism 30123 and a return signal to the first driving mechanism 30122; after receiving the ascending signal, the second driving mechanism 30123 drives the grasping mechanism 3013 to ascend to the specified position; after receiving the return signal, the first driving mechanism 30122 drives the grasping mechanism 3013 to move from the placement station of the decocting pot assembly to the first station.

[0178] When the outer pot and the inner support assembly need to be separated, the first driving mechanism 30122 drives the installation platform 30121 to move above the inner support assembly, that is, drives the grasping mechanism 3013 to move above the inner support assembly. The second driving mechanism 30123 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 can clamp the inner support assembly. After the grasping mechanism 3013 clamps the inner support assembly, 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.

[0179] 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.

[0180] 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 extrusion frame 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 assembly 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 assembly.

[0181] 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.

[0182] 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.

[0183] The second driving mechanism 30123 includes a cylinder. The cylinder is vertically installed. 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.

[0184] 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.

[0185] 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, avoiding 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-layer structure of the installation platform 30121 is located above the two cross beams 30112, and the lower-layer 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.

[0186] 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 with 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 assembly can be improved.

[0187] 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 assembly in the decocting pot assembly. 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 the direction close to each other to clamp the inner support assembly in the decocting pot assembly. When it is necessary to release the clamping state, only need to move the two clamping arms 30132 in the direction away from each other.

[0188] 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 loosening states.

[0189] 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 explanation: 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 telescopic movement of the cylinder, the movement of the clamping jaw 301322 is driven.

[0190] In this embodiment, an arc-shaped clamping portion 301323 is formed on the clamping jaw 301322. Since the inner support assembly in the decocting pot assembly 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 assembly in the decocting pot assembly. In this way, during the clamping process, the outer wall of the inner support assembly in the decocting pot assembly can be attached to the clamping portion 301323, making the clamping process more stable and safe.

[0191] Taking the opposed photoelectric sensor as an example for illustration: The first driving mechanism 30122 drives the mounting platform 30121 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 control module receives the signal emitted by the receiving end of the opposed 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 controlling the opposed photoelectric sensor again, when reaching the designated position, the control module controls the second driving mechanism 30123 to stop moving, and at the same time controls the grasping mechanism 3013 to clamp the inner support assembly in the decocting pot assembly.

[0192] After the grasping mechanism 3013 finishes clamping, the control module 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 mounting platform 30121 to move horizontally until it moves to the preset position. It can be controlled again through the opposed photoelectric sensor to 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.

[0193] In this embodiment, a cable management groove 3016 is provided on the extrusion frame 3011, and a cable management pipe 3017 is arranged in the cable management groove 3016. The cable management pipe 3017 is used for threading air pipes, electric wires, etc. By providing the cable management groove 3016 and the cable management pipe 3017, it is avoided that during the movement of the moving seat 3012, the air pipes, electric wires, etc. affect the movement of the moving seat 3012 or the situation where the air pipes, electric wires, etc. are entangled.

[0194] In this embodiment, by installing a surrounding plate on the extrusion frame 3011, a storage cavity 3018 is formed, that is, the first station, for placing the inner support assembly in the decocting pot assembly. 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 assembly in the decocting pot assembly to move above the storage cavity 3018, the second driving mechanism 30123 drives the inner support assembly in the decocting pot assembly to descend until the inner support assembly in the decocting pot assembly enters the storage cavity 3018, and the grasping mechanism 3013 releases the clamping state to complete the placement of the inner support assembly in the decocting pot assembly.

[0195] In this embodiment, there are multiple storage cavities 3018, and the multiple storage cavities 3018 are linearly arranged. The moving seat 3012 can sequentially move above each storage cavity 3018. By providing multiple storage cavities 3018, multiple inner support assemblies in the decocting pot assemblies can be placed simultaneously, improving the processing efficiency.

[0196] 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 assembly in the decocting pot assembly 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 provided in one-to-one correspondence.

[0197] Since a support plate is provided at the top of the inner support assembly in the decocting pot assembly, and the support plate is annularly arranged along the outer wall of the inner support assembly in the decocting pot assembly. In this embodiment, the size of the through hole is smaller than the size of the support plate of the inner support assembly in the decocting pot assembly, so that the support plate of the inner support assembly in the decocting pot assembly can hang on the cover plate 3019, facilitating the taking and placing of the inner support assembly in the decocting pot assembly.

[0198] In this embodiment, the working process of the inner support assembly grasping module 301 is as follows: When the medicine bag extrusion is completed, the first driving mechanism 30122 drives the grasping mechanism 3013 to move above the decocting pot assembly, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend until it descends to a height where the grasping mechanism 3013 can clamp the inner support assembly in the decocting pot assembly. The two jaws 301322 move towards each other to clamp the inner support assembly in the decocting pot assembly; 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 assembly in the decocting pot assembly also descends together into the storage cavity 3018 until the support plate of the inner support assembly in the decocting pot assembly is lapped with the cover plate 3019, thus completing the storage of the inner support assembly in the decocting pot assembly.

[0199] In this embodiment, when the robot (RGV) transports the decocting pot assembly to the designated position, the extrusion module 302 extrudes the medicine bag in the inner support assembly, so that the liquid medicine flows into the outer pot. Then, the inner support assembly gripping module 301 grips the inner support assembly and transfers it to the designated position. At the same time, the extrusion disc cleaning module 303 cleans the extrusion module 302.

[0200] In this embodiment, there is also an extrusion disc cleaning module 303 and a fifth control unit. The extrusion disc cleaning module 303 is arranged on the extrusion frame 3011. The fifth control unit sends a cleaning signal to the extrusion disc cleaning module 303 according to the reset action completion signal sent by the first control unit. The extrusion disc cleaning module 303 receives the cleaning signal and cleans the extrusion disc 30222.

[0201] Furthermore, the extrusion disc cleaning module 303 is located at the bottom of the extrusion frame 3011. The first control unit sends a descending signal to the moving mechanism 3021 according to the reset action completion signal fed back by the moving mechanism 3021, and the moving mechanism 3021 drives the extrusion disc 30222 to descend to the bottom of the extrusion frame 3011.

[0202] The extrusion disc cleaning module 303 includes a cleaning pipe 3031 and a washing pump. The washing pump is installed on the extrusion frame 3011, and the cleaning pipe 3031 is connected to the water outlet of the washing pump. When the first driving part 30211 drives the moving platform 30212 to move to the initial position, the second driving part 30221 drives the extrusion disc 30222 to move towards 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, avoiding the situation of pollution generated by the extrusion disc 30222 in subsequent use.

[0203] In this embodiment, the extrusion disc cleaning module 303 is arranged on one side of the initial station, and the control module controls the extrusion disc cleaning module 303 to clean the extrusion disc 30222 located at the initial station.

[0204] In this embodiment, there is a static area and a cleaning area at the initial station. The static area is located above the cleaning area, and the extrusion disc cleaning module 303 is located on one side of the cleaning area. When the extrusion disc 30222 enters the cleaning area, the control module controls the extrusion disc cleaning module 303 to clean the extrusion disc 30222.

[0205] After the extrusion disc 30222 finishes extruding the medicine bag, it returns from the placement station of the decocting pot assembly to the initial station. The control module controls the second driving member 30221 to drive the extrusion disc 30222 to descend. After moving from the static area to the cleaning area, the control module controls the extrusion disc cleaning module 303 to clean the extrusion disc 30222. After the cleaning is completed, the control module controls the second driving member 30221 to drive the extrusion disc 30222 to rise to the top.

[0206] Specifically, the extrusion module 302, the extrusion disc cleaning module 303, and the inner support component grasping module 301 are all installed on the extrusion frame 3011. The extrusion frame 3011 is L-shaped. The moving directions of the extrusion module 302 and the inner support component grasping module 301 are consistent with the L-shaped extrusion frame 3011, that is, the moving directions of the extrusion module 302 and the inner support component grasping module 301 are perpendicular. In this embodiment, the extrusion 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 extrusion module 302 to facilitate timely cleaning of the extrusion module 302.

[0207] The specific working process is as follows: The robot transports the decocting pot assembly to the integration working area. First, the extrusion module 302 extrudes the medicine bag to separate the medicinal liquid. Then, the inner support component grasping module 301 clamps the inner support component in the decocting pot assembly 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 cleaning module 303 cleans the extrusion disc 30222 in the extrusion module. Finally, the robot sends back the outer pot from which the medicinal liquid has been extracted, and the inner support component grasping module 301 sends back the inner support component in the decocting pot assembly to the outer pot.

[0208] In this embodiment, the first control unit, the second control unit, the third control unit, the fourth control unit, the fifth control unit, and the sixth control unit can be set separately or integrated with the control module.

[0209] In this embodiment, a control method for an extrusion system for traditional Chinese medicine decoction is also disclosed. Based on the above extrusion system for traditional Chinese medicine decoction, after the robot (RGV) places the decocting pot assembly at the placement station of the decocting pot assembly, it includes the following steps: The clamping mechanism 3025 clamps the inner support component in the decocting pot assembly: The clamping mechanism 3025 receives the clamping signal sent by the control module and clamps the inner support component in the decocting pot assembly. The extrusion module 302 extrudes the medicine bag on the inner support component in the decocting pot assembly. Specifically, it includes the following process: The control module controls the moving mechanism 3021 to drive the extrusion mechanism 3022 to move from the initial station to the placement station of the decocting pot assembly. The control module controls the squeezing mechanism 3022 to vertically descend at the placement station of the decocting pot assembly to squeeze the medicine bag for a period of time to ensure that the medicine bag is fully squeezed and the liquid medicine can be fully discharged; The control module controls the squeezing mechanism 3022 to rise to the top; The control module controls the moving mechanism 3021 to drive the squeezing mechanism 3022 to return to the initial station.

[0210] The clamping mechanism 3025 releases the clamping state: The control module issues a clamping release signal to let the clamping mechanism 3025 release the clamping state; The squeezing module 302 resets, and the inner support assembly grasping module 301 grasps the inner support assembly in the decocting pot assembly; Specifically, it includes the following steps: The control module controls the moving seat 3012 to move from the first station to the placement station of the decocting pot assembly; The control module controls the grasping mechanism 3013 to clamp the inner support assembly of the decocting pot assembly and return to the top; The control module controls the moving seat 3012 to move from the placement station of the decocting pot assembly to the first station and place the inner support assembly of the decocting pot assembly.

[0211] The squeezing module 302 resets, and the squeezing disk cleaning module 303 cleans the squeezing disk 30222.

[0212] In this embodiment, the order in which the control module controls the clamping mechanism 3025 to release the clamping state, the control module controls the moving seat 3012 to move from the first station to the placement station of the decocting pot assembly, the control module controls the squeezing disk 30222 to descend to the cleaning area, and the control module controls the squeezing disk cleaning module 303 to clean the squeezing disk 30222 can be adjusted, that is, there are also the following situations: In the order that the control module controls the clamping mechanism 3025 to release the clamping state, the control module controls the squeezing disk 30222 to descend to the cleaning area and controls the squeezing disk cleaning module 303 to clean the squeezing disk 30222, and the control module controls the moving seat 3012 to move from the first station to the placement station of the decocting pot assembly in sequence; In the order that the control module controls the moving seat 3012 to move from the first station to the placement station of the decocting pot assembly, the control module controls the clamping mechanism 3025 to release the clamping state, and the control module controls the squeezing disk 30222 to descend to the cleaning area and controls the squeezing disk cleaning module 303 to clean the squeezing disk 30222 in sequence; The control module controls the pressing disc 30222 to descend to the cleaning area and controls the pressing disc cleaning module 303 to clean the pressing disc 30222, the control module controls the clamping mechanism 3025 to release the clamping state, and the control module controls the moving seat 3012 to move from the first station to the decocting pot assembly placement station in sequence; Of course, the control module controls the clamping mechanism 3025 to release the clamping state, the control module controls the pressing disc 30222 to descend to the cleaning area and controls the pressing disc cleaning module 303 to clean the pressing disc 30222, and the control module controls the moving seat 3012 to move from the first station to the decocting pot assembly placement station can also be carried out synchronously.

[0213] When the second decoction of the medicinal liquid is required, the handling robot 802 removes the decocting pot 100 from the decocting unit 200 and moves it into the second decocting unit 1200. The second decocting unit 1200 pours out and retains the medicinal liquid after the first decoction in the decocting pot 100 according to the set ratio. Then, the handling robot 802 transports the decocting pot 100 back to the decocting unit 200. The water supply mechanism 206 of the decocting unit 200 is opened to send the set hot water into the interior of the decocting pot 100, completing the water addition for the second decoction of the decocting pot 100. By directly sending hot water into the interior of the decocting pot 100, the decocting time for the second decoction can be shortened.

[0214] When the medicinal materials in the decocting pot 100 for the second decoction are finished being decocted, the handling robot 802 transports the decocting pot 100 to the second decocting unit 1200. The second decocting unit 1200 mixes the medicinal liquid after the second decoction with the medicinal liquid retained after the first decoction.

[0215] In this embodiment, the automatic traditional Chinese medicine decocting system further includes a cleaning unit, and the cleaning unit includes a pot brushing unit 500 and a cleaning unit 600. A second conveyor line 702 is provided between the pot brushing unit 500 and the squeezing unit 300. The used decocting pot 100 after being reassembled is placed on the second conveyor line 702 and sent to the pot brushing unit 500 through the second conveyor line 702. The pot brushing unit 500 cleans the surfaces of the outer pot 110 and the inner support assembly 120 of the decocting pot 100, and cleans the medicinal residues attached to the surfaces of the outer pot 110 and the inner support assembly 120.

[0216] In this embodiment, a third conveyor line 703 is provided between the pot brushing unit 500 and the cleaning unit 600. When the pot brushing unit 500 finishes cleaning the outer pot 110 and the inner support assembly 120 of the decocting pot 100, the decocting pot is sent into the cleaning unit 600 through the third conveyor line 703, and the cleaning unit 600 flushes and cleans the outer pot 110 and the inner support assembly 120 of the decocting pot 100 to thoroughly clean the decocting pot 100.

[0217] In this embodiment, a fourth conveyor line 704 is provided between the cleaning unit 600 and the dispensing and verification unit 900. The decocting pot 100 that has been thoroughly cleaned by the cleaning unit 600 is sent to the dispensing and verification unit 900 through the fourth conveyor line 704 for recycling.

[0218] The above are only preferred embodiments of the present invention and do not impose any formal limitations on the present invention. Although the present invention has been disclosed above with 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, may 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 it does not depart from the content of 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. An automatic traditional Chinese medicine decocting system, characterized in that, Under the control of the central control module, the open decocting pot (100) is circulated along the dispensing and review unit, the decocting unit (200), the extrusion unit (300), the medicine pouring and packaging unit (400), and the cleaning unit to complete the decoction of traditional Chinese medicine; The decocting unit (200) is provided with a liftable pot cover (2052), which covers the open decocting pot (100) under the control of the central control module, and lifts the pot cover (2052) from the decocting pot (100) after decoction is completed; The extrusion unit (300) is provided with an extrusion module (302) and a placement station for supporting the inner support assembly (120) of the decocting pot (100). The handling device (800) clamps the open decocting pot (100) to the placement station of the extrusion unit (300) under the control of the central control module, and separates the outer pot (110) of the decocting pot (100); For the medicine pouring and packaging unit, the handling device (800) places the outer pot (110) into the medicine pouring and packaging unit for pouring and packaging; The handling device (800) clamps the outer pot (110) and returns to the extrusion unit (300) to assemble with the inner support assembly (120) into an open decocting pot (100).

2. The automatic traditional Chinese medicine decocting system according to claim 1, characterized in that, The decocting unit (200) includes: A frame (201); A heating mechanism (204), connected to the frame (201), for placing the decocting pot (100) and heating it; A pot cover pressing mechanism (205), located above the heating mechanism (204), and the pot cover pressing mechanism (205) rises and falls to close or open the feeding port of the decocting pot (100); The decocting unit (200) is also provided with a water outlet member connected to the water supply mechanism (206), which adds water directly or through the pot cover pressing mechanism (205) into the decocting pot (100).

3. The automatic traditional Chinese medicine decocting system according to claim 2, wherein, The pot cover pressing mechanism (205) includes: A fixing member, connected to the frame (201); The pot cover (2052) is movably arranged below the fixing member; A first lifting assembly (2053), connected to the fixing member and the pot cover (2052), for driving the pot cover (2052) to rise and fall.

4. The automatic traditional Chinese medicine decocting system according to claim 3, characterized in that, The pot cover pressing mechanism (205) further includes: A pressure plate (2054), movably arranged below the pot cover (2052); A second lifting assembly (2055), connected to the fixing member and the pressure plate (2054), for driving the pressure plate (2054) to rise and fall.

5. The automatic traditional Chinese medicine decocting system according to claim 2, characterized in that, The automatic traditional Chinese medicine decocting system further includes a hot water supply unit (1000), the water supply mechanism (206) is connected to the hot water supply unit (1000), and the hot water supply unit (1000) is used to send hot water into the water supply mechanism (206).

6. The automatic traditional Chinese medicine decocting system according to claim 1, characterized in that The open decocting pot (100) reaches the decocting unit (200) through the first conveyor line (701), and the handling device (800) transports the open decocting pot (100) to the heating mechanism (204) of the decocting unit (200); An identification unit is arranged on the handling device (800), and the identification unit is signal-connected to the central control module; When the handling device (800) lifts the decocting pot (100), the identification unit identifies the identifier on the decocting pot (100) to obtain the information of the decocting pot (100).

7. A traditional Chinese medicine automatic decocting system according to claim 1 or 6, characterized in that, The handling device (800) includes: A track group (801), which is arranged to extend linearly; A handling robot (802), which has a clamping mechanism (8021) for clamping the decocting pot (100); The handling robot (802) is movably arranged on the track group (801) and moves along the extension direction of the track group (801); The decocting unit (200), the extrusion unit (300), and the medicine pouring and packaging unit (400) are arranged on one side or both sides of the track group (801).

8. A traditional Chinese medicine automatic decocting system according to claim 1, characterized in that, The extrusion unit (300) includes an extrusion frame (3011) and an extrusion module (302). The extrusion module (302) is arranged on the extrusion frame (3011). A placement station is arranged inside the extrusion frame (3011). The handling device (800) clamps the decocting pot (100) and places the upper edge of the inner support assembly (120) inside the placement station. The handling device (800) clamps the outer pot (110) of the decocting pot (100) and moves it downward until there is a distance between the inner support assembly (120) and the medicinal liquid inside the outer pot (110), and extrudes the traditional Chinese medicine medicine packet inside the inner support assembly (120).

9. The automatic traditional Chinese medicine decocting system according to claim 8, characterized in that, The inner support assembly (120) includes: A tray (121), which is horizontally arranged and the plate surface of the tray (121) is provided with a feeding port vertically penetrating the tray (121); A bottom plate (124), which is located below the tray (121), and the vertical downward projection of the feeding port falls on the bottom plate (124); A connecting rod (122), one end of which is connected to the tray (121) and the other end is connected to the bottom plate (124).

10. The automatic traditional Chinese medicine decocting system according to claim 9, wherein, A traditional Chinese medicine medicine packet is placed inside the inner support assembly (120) of the decocting pot (100). The traditional Chinese medicine medicine packet has a sealing structure, and the sealing structure is tied and fixed to the inner support assembly (120).

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