Automatic traditional Chinese medicine decocting system

Abstract

The invention discloses an automatic traditional Chinese medicine decocting system which comprises a decocting unit, an extruding unit and a packaging unit, a carrying device carries a decocting pot assembly on the decocting unit to the extruding unit to extrude a medicine bag, and then the packaging unit pours and packages liquid medicine, and the automatic traditional Chinese medicine decocting system is characterized in that an inner supporting assembly of the decocting pot assembly is supported by the extruding unit; the outer pot is separated from the inner supporting assembly and located on the lower portion of the inner supporting assembly. The extrusion unit extrudes the inner support assembly medicine bag to enable the liquid medicine to enter the outer pot; the carrying device carries the outer pot to the packaging unit to pour and package the liquid medicine. Through cooperation of the decocting unit, the extruding unit, the carrying device and the packaging unit, full automation of medicine bag extruding, inner supporting assembly separating, decocting pot assembly transferring and carrying and medicine liquid packaging is achieved, the labor intensity of workers is reduced, and the production efficiency 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 production line of traditional Chinese medicine decocting equipment.

[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 dispensing and taking system, a packaging system, and a total control system. The prepared traditional Chinese medicine decoction pieces are loaded into a medicine-carrying net barrel, and the total control system associates the prescription information, decocting points, and bagging and packing points of the current traditional Chinese medicine decoction pieces with the chip in the medicine-carrying net barrel; the conveying system transfers the medicine-carrying net barrel to the corresponding branch port, and the feeding manipulator of the automatic feeding system sorts and grabs the inner wall of the matching medicine-carrying net barrel by the 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, and puts the bagged medicine bags into the corresponding medicine-containing frames and conveys them to the corresponding packaging points by the packaging conveyor belt.

[0004] In the existing production process, it is usually completed manually, that is, manually transferring the decocting pot assembly, manually squeezing the medicine bag and transferring the inner support assembly, which consumes manpower, and the labor intensity of manual handling is relatively large, unable to meet the requirements of long-term production, and reduces the production efficiency of traditional Chinese medicine.

[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 some of the above problems. Through the coordinated cooperation of a decocting unit, a squeezing unit, a handling device, and a packaging unit, it realizes the full automation of medicine bag squeezing, separation of the inner support assembly, transfer and handling of the decocting pot assembly, and packaging of the medicinal liquid, improving the production efficiency.

[0007] The basic concept of the technical solution adopted by the present invention is:

[0008] An automatic traditional Chinese medicine decocting system includes a decocting unit, a squeezing unit, and a packaging unit. The handling device transports the decocting pot assembly on the decocting unit to the squeezing unit to squeeze the medicine bag, and then to the packaging unit to pour and package the medicinal liquid;

[0009] The inner support assembly of the decocting pot assembly is supported by the squeezing unit, and the outer pot is separately arranged from the inner support assembly and is located below the inner support assembly;

[0010] The extrusion unit extrudes the medicine bag of the inner support assembly to make the liquid medicine enter the outer pot;

[0011] The handling device transports the outer pot to the packaging unit to pour and package the liquid medicine.

[0012] Furthermore, the extrusion unit includes a frame and an extrusion module, and the extrusion module is arranged on the frame;

[0013] The frame has a placement station for the decocting pot assembly;

[0014] The extrusion module moves between the initial station and the placement station of the decocting pot assembly, and extrudes the medicine bag at the placement station of the decocting pot assembly.

[0015] Furthermore, the extrusion unit further includes an inner support assembly grasping module, and the inner support assembly grasping module is arranged on the frame;

[0016] After the extrusion module extrudes the medicine bag, the inner support assembly grasping module grasps the inner support assembly and extracts the inner support assembly from the outer pot.

[0017] Furthermore, the frame has a first station for placing the inner support assembly in the decocting pot assembly;

[0018] The inner support assembly grasping module moves between the first station and the placement station of the decocting pot assembly, and can move up and down between the first station and the placement station of the decocting pot assembly and grasp the inner support assembly.

[0019] Furthermore, an opening for the decocting pot assembly to enter the placement station of the decocting pot assembly is provided on the frame, and a support device for supporting the inner support assembly is provided at the placement station of the decocting pot assembly;

[0020] The handling device clamps the outer pot or drives it to move downward to the placement station of the decocting pot assembly.

[0021] Furthermore, the opening on the frame, the placement station of the decocting pot assembly and the initial position of the extrusion module are on the same straight line;

[0022] The first station and the placement station of the decocting pot assembly are on the same straight line;

[0023] The straight line where the initial position of the extrusion module is located is perpendicular to the straight line where the first station is located.

[0024] Furthermore, the extrusion module includes

[0025] a moving mechanism, which is installed on the frame and is located above the placement station of the decocting pot assembly;

[0026] The extrusion mechanism is installed on the moving mechanism and has a liftable end for extruding the medicine bag.

[0027] Both the liftable end of the moving mechanism and the extrusion mechanism are higher than the placement station of the decocting pot assembly.

[0028] The moving mechanism drives the extrusion mechanism to move between the initial position and the placement station of the decocting pot assembly.

[0029] Furthermore, the inner support component grasping module includes

[0030] A grasping mechanism is arranged on the frame and can move between the placement station of the decocting pot assembly and the first station for grasping the inner support component in the decocting pot assembly.

[0031] The grasping mechanism vertically moves up and down between the placement station of the decocting pot assembly and the first station.

[0032] Furthermore, there is also a medicine liquid packaging station for packaging the medicine liquid.

[0033] After the handling device places the decocting pot assembly at the placement station of the decocting pot assembly, the extrusion unit extrudes the medicine bag and separates the inner support component, and the handling device transports the decocting pot assembly from the placement station of the decocting pot assembly to the medicine liquid packaging station.

[0034] After the medicine liquid packaging is completed, the handling device transports the decocting pot assembly back from the medicine liquid packaging station to the placement station of the decocting pot assembly.

[0035] The inner support component grasping module places the inner support component back into the decocting pot assembly.

[0036] Furthermore, the handling device includes:

[0037] A track group is arranged in a straight line extension.

[0038] A handling robot has a clamping mechanism for clamping the decocting pot assembly.

[0039] The handling robot is movably arranged on the track group and moves along the extension direction of the track group.

[0040] A traction mechanism is respectively connected to the track group and the handling device for driving the handling robot to move.

[0041] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

[0042] The present invention provides an automatic traditional Chinese medicine decocting system. After the decocting unit finishes decocting the medicine bag, the handling device transports the decocting pot assembly to the working station of the squeezing unit. The squeezing unit squeezes the medicine bag on the inner support assembly in the decocting pot assembly, then grabs and transfers the inner support assembly out of the decocting pot assembly. The handling device transports the decocting pot assembly to the working station of the packaging unit to package the medicinal liquid. After the packaging of the medicinal liquid is completed, the handling device transports the decocting pot assembly to the working station of the squeezing unit again, and the squeezing unit puts the inner support assembly back into the decocting pot assembly. Then the handling device can transport the decocting pot assembly to the next working station. Through the coordinated cooperation of the decocting unit, the squeezing unit, the handling device and the packaging unit, the full automation of medicine bag squeezing, inner support assembly separation, transfer and handling of the decocting pot assembly, and medicinal liquid packaging is realized, so as to replace a large amount of manual labor, reduce the labor intensity of workers, and improve production efficiency.

[0043] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. Description of the Drawings

[0044] The accompanying drawings, as a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts. In the drawings:

[0045] Figure 1 is a schematic structural diagram of the automatic traditional Chinese medicine decocting system of the present invention;

[0046] Figure 2 is a schematic structural diagram of the handling device of the present invention;

[0047] Figure 3 is a schematic connection structure diagram between the handling robot and the track group of the handling device of the present invention;

[0048] Figure 4 is a general assembly schematic diagram of the squeezing unit of the present invention;

[0049] Figure 5 is a front view of the squeezing unit of the present invention;

[0050] Figure 6 is a schematic structural diagram of the inner support assembly grasping module of the present invention;

[0051] Figure 7 is a front view of the inner support assembly grasping module of the present invention;

[0052] Figure 8 is of the present invention Figure 4 an enlarged view of part A in

[0053] Figure 9 is a schematic structural view of the extrusion module of the present invention;

[0054] Figure 10 is a schematic structural view of the extrusion module of the present invention with part of the frame hidden;

[0055] Figure 11 is a side view of the extrusion module of the present invention;

[0056] Figure 12 is a schematic view of the assembled cooking pot of the present invention;

[0057] Figure 13 is a schematic view of the inner support assembly in the cooking pot of the present invention;

[0058] Figure 14 is a schematic view of the outer pot of the cooking pot of the present invention;

[0059] Figure 15 is the present invention Figure 11 a schematic view of a single component of the bottom conveying module of the outer pot in the present invention.

[0060] In the figure: 100, decocting pot assembly; 110, outer pot; 111, protrusion; 112, rib; 113, reinforcing rib; 120, inner support assembly; 121, pallet; 1211, positioning hole; 122, connecting rod; 123, clamping assembly; 124, bottom plate; 130, carrier; 131, support plate; 1311, fixing part; 1312, locking hole; 132, conveying module; 1321, straight rod; 200, decocting unit; 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 management groove; 3017, wire management 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 rod; 3024, sliding seat; 3025, clamping mechanism; 30251, third driving part; 30252, clamping plate; 303, extrusion disc cleaning module; 3031, cleaning pipe; 400, packaging unit; 800, handling device; 801, track group; 8011, ground track; 802, handling robot; 8021, clamping assembly; 803, traction mechanism; 8031, linear rack; 8032, driving gear; 8033, driving motor; 8034, planetary speed reducer.

[0061] It should be noted that these drawings and text 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

[0062] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0063] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 to the present invention.

[0064] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] As Figures 1 to 15 shown, the present invention discloses an automatic traditional Chinese medicine decocting system.

[0066] The automatic traditional Chinese medicine decocting system includes a decocting unit 200, an extrusion unit 300, and a packaging unit 400. After the handling device 800 transports the decocting pot assembly 100 on the decocting unit 200 to the extrusion unit 300 to extrude the medicine bag, it goes to the packaging unit 400 to pour and package the medicinal liquid.

[0067] The inner support assembly 120 of the decocting pot assembly 100 is supported by the extrusion unit. The outer pot 110 is separated from the inner support assembly 120 and is located below the inner support assembly 120; the extrusion unit extrudes the medicine bag on the inner support assembly 120 to make the medicinal liquid enter the outer pot 110.

[0068] Through the coordinated cooperation of the decocting unit 200, the extrusion unit 300, the handling device 800, and the packaging unit 400, the full automation of medicine bag extrusion, separation of the inner support assembly 120, transfer and handling of the decocting pot assembly 100, and medicinal liquid packaging is realized, so as to replace a large amount of manual labor, reduce the labor intensity of workers, and improve production efficiency.

[0069] In this embodiment, the decocting pot assembly 100 includes an outer pot 110 for containing the medicinal liquid; an inner support assembly 120 placed in the outer pot 110 for supporting the traditional Chinese medicine medicine bag; the inner support assembly 120 is provided with a tray 121, and an inner support assembly 120 feeding port is formed inside the circumference of the tray 121; the tray 121 is placed at the feeding port of the outer pot 110 to realize the placement of the inner support assembly 120 in the outer pot 110.

[0070] In this embodiment, the decocting pot 100 includes an outer pot 110 and an inner support assembly 120 to achieve the automation and convenience of traditional Chinese medicine decoction. The outer pot 110 serves as the main 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 and needs to be made of materials with high temperature resistance and corrosion resistance, such as stainless steel or ceramics, to ensure that it can stably withstand high temperatures and maintain the purity of the medicinal liquid during the decocting process. In addition, the heat preservation performance of the outer pot 110 should also be considered to reduce heat loss during the decocting process and improve the decocting efficiency.

[0071] The inner support assembly 120 is placed inside the outer pot 110 and is used to support the traditional Chinese medicine medicine bag. The design of the inner support assembly 120 should facilitate disassembly and cleaning to ensure the hygiene and safety of each decocting process; the inner support assembly 120 can adopt a mesh or porous structure so that the medicinal liquid can fully penetrate into the medicine bag, while maintaining the shape of the medicine bag and preventing the medicinal materials from scattering. In addition, the material of the inner support assembly 120 should also have characteristics such as high temperature resistance and corrosion resistance to cope with the high temperature environment during the decocting process.

[0072] A support plate 121 is provided at the top of the inner support assembly 120 and is erected on the circumference of the feeding port of the outer pot 110 to achieve the stable placement of the inner support assembly 120 inside the outer pot 110. This is not only convenient for the feeding and removal of the medicine bag but also avoids possible wear or contamination caused by the direct contact between the inner support assembly 120 and the bottom of the outer pot 110. The support plate 121 also needs to be made of materials with high temperature resistance and corrosion resistance to ensure its stability and durability during use.

[0073] Specifically, an inner support assembly 120 feeding port is formed on the inner circumference of the support plate 121. When decocting traditional Chinese medicine, the traditional Chinese medicine materials are fed into the interior of the decocting pot 100 through the inner support assembly 120 feeding port for decoction.

[0074] Furthermore, a reinforcing rib 113 is provided at the feeding port of the outer pot 110. The reinforcing rib 113 is arranged in a ring around the feeding port of the outer pot 110; the support plate 121 is erected on the reinforcing rib 113; preferably, the outer edge of the support plate 121 protrudes from the reinforcing rib 113.

[0075] In this embodiment, 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. 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 the medicine bag, 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 ring-shaped reinforcing rib 113 arranged in a circle around the feeding port of the outer pot 110.

[0076] Specifically, the pallet 121 is placed on the reinforcing rib 113, which can provide stable support for the pallet 121 and ensure the accurate position of the inner support assembly 120 within the outer pot 110. The annular structure of the reinforcing rib 113 provides a flat and firm placement platform for the pallet 121, enabling the pallet 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.

[0077] As a preferred solution, the outer edge of the pallet 121 is designed to protrude from the reinforcing rib 113, which not only increases the contact area between the pallet 121 and the reinforcing rib 113, thereby improving the placement stability of the pallet 121, but also provides a certain guiding effect for the placement and removal of the inner support assembly 120.

[0078] Furthermore, a clamping assembly 123 is provided on the side of the pallet 121 facing the inside of the inner support assembly 120. The clamping assembly 123 is used to clamp and fix the seal of the traditional Chinese medicine medicine bag; preferably, the clamping assembly 123 clamps and fixes the end of the seal.

[0079] During the decocting process, the traditional Chinese medicine medicine bag is usually hermetically packaged to prevent the medicinal materials from scattering or being contaminated. When the medicine bag is located in the inner support assembly 120, the clamping assembly 123 clamps the seal of the medicine bag, which can further ensure the stable placement of the medicine bag and prevent it from moving or tilting due to the boiling of the liquid medicine or stirring during the decocting process.

[0080] Specifically, the inner circumference of the pallet 121 forms a feeding opening for the inner support assembly 120. The edge of the feeding opening is arranged with alternating straight lines and arc lines. Two arc lines are arranged opposite to each other, and two straight lines are arranged opposite to each other. The clamping assembly 123 is arranged at one of the straight lines and faces the inside of the inner support assembly 120. The clamping assembly 123 includes: a housing, a core that can be telescopically moved within the housing, and a spring that provides a thrust force for the core.

[0081] More specifically, when decocting traditional Chinese medicine, first put the traditional Chinese medicine materials into the medicine bag, then tie the medicine bag tightly with a seal, push the core of the clamping assembly 123 to make the opening of the core coincide with the opening of the housing, place the seal at the opening, and after the placement is completed, release the force pushing the core. The core is pushed by the restoring force of the spring within the housing and returns to the initial state. At this time, the seal is clamped and fixed within the clamping assembly 123.

[0082] It should be noted that the seal for sealing the medicine bag can be a separately provided rope. The medicine bag is tied tightly with the rope, and then the remaining end after tying is clamped on the clamping assembly 123 to fix the seal. As another option, the seal for sealing the medicine bag can be a part of the medicine bag. This part is used to tie the medicine bag tightly, and then the remaining end after tying is clamped on the clamping assembly 123 to fix the seal.

[0083] 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.

[0084] 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.

[0085] Specifically, one end of the connecting rod 122 is set in a linear area on the inner peripheral edge of the tray 121; a groove is provided at the connection between the bottom plate 124 and the connecting rod 122, and the connecting rod 122 is connected in the groove. The bottom plate 124 is provided with through holes with different apertures for the dripping of the medicinal liquid and for the cleaning part to pass through the through holes in the bottom wall of the cleaning outer pot 110 when cleaning the decocting pot 100.

[0086] As a preferred solution, the bottom plate 124 can be set in a disk-shaped structure with a high middle and a gradually decreasing circumference, so that when operating on the medicine bag such as squeezing, the medicinal liquid in the medicine bag can flow smoothly into the outer pot 110.

[0087] 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 110.

[0088] 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, which cooperates with the connecting rod 122 of the inner support assembly 120.

[0089] Specifically, the protrusion 111 on the inner peripheral wall of the outer pot 110 is provided with a shape and size that 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.

[0090] When the inner support assembly 120 is placed in the outer pot 110, the connecting rod 122 will come into contact with the protrusion 111, preventing the inner support assembly 120 from maintaining a relatively stable position during the decocting process even when the liquid medicine boils or is stirred through physical restriction.

[0091] Furthermore, at least two protrusions 111 are provided and are oppositely arranged on the inner peripheral wall of the outer pot 110; at least two connecting rods 122 are provided and are oppositely arranged 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.

[0092] 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 support plate 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 rod 122 can cooperate with the protrusion 111 to limit the rotation of the inner support assembly 120.

[0093] When decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it winds around the bottom of the connecting rod 122 for one week and then the end is clamped and fixed in the clamping assembly 123, which can ensure that during the process of decocting traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120. The bottom plate 124 is higher than the inner bottom wall of the outer pot and will not float due to the buoyancy of the water in the decocting pot 100.

[0094] 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; four connecting rods 122 are provided on the inner support assembly 120, and every two connecting rods 122 form a group. The two protrusions 111 cooperate with the two connecting rods 122 to limit the rotation of the inner support assembly 120 in the outer pot. Specifically, when the inner support assembly 120 is placed in the outer pot 110, the two protrusions 111 are located between the two connecting rods 122 to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0095] Specifically, between a set of two connecting rods 122, there is a support rod connecting the two connecting rods 122, and the support rod is arranged near the bottom plate 124 of the inner support assembly 120; when decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it passes through the lower part of the support rod from the inside of the inner support assembly 120 to the outside, and then the end is clamped and fixed in the clamping assembly 123, which can ensure that during the process of decocting traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120 and will not float due to the buoyancy of the water in the decocting pot 100. As a preferred solution, the seal can be wound around the support rod for one week and then clamped and fixed at the clamping member 123.

[0096] Further, the outer peripheral wall of the outer pot 110 is provided with a rib 112, 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 at the lower part of the rib 112.

[0097] 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.

[0098] Specifically, when transporting the decocting pot 100, transporting members such as a trolley and a gripper will clamp the pot wall of the outer pot 110 at the lower part of the rib 112. Due to the design of the rib 112, the transporting member can clamp the outer pot 110 more stably, preventing accidents such as slipping or tipping over during transportation.

[0099] 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 member clamps the pot wall of the outer pot 110 between the two annular ribs 112.

[0100] 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 at least meets the clamping of the transporting member.

[0101] Specifically, when transporting the decocting pot 100, transporting members such as a trolley 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 member can clamp the outer pot 110 more firmly, preventing shaking or slipping during transportation.

[0102] 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.

[0103] Further, the carrier 130 includes: a support plate 131, and the support plate 131 is fixedly connected to the outer pot 110;

[0104] A conveying module 132, 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.

[0105] In this embodiment, in order to improve the automation degree and movement convenience of the decocting pot 100, a carrier 130 is provided at the bottom of the outer pot 110, and the design of the carrier 130 should consider factors such as compatibility with the conveyor line, load-bearing capacity, and stability.

[0106] 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.

[0107] As a preferred solution, the support plate 131 and the outer pot 110 are fixed together by welding. Welding connection has the advantages of high strength, good sealing performance, and firm connection, etc., which can ensure that there is no relative displacement or loosening between the support plate 131 and the outer pot 110 during the movement of the decocting pot 100, and at the same time simplifies the installation process and improves work efficiency.

[0108] 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 bent upward from the plane of the support plate 131, and then horizontally bent, and the connection of each bent section is in an arc transition. The conveying module 132 wrapped around the outside of the support plate 131 is connected by four straight rods 1321 inserted end to end, and grooves are provided on the straight rods 1321 to reduce the overall weight of the transport module. The support plate 131 and the conveying module 132 are assembled into a square carrier 130 with a size of 400 cm * 400 cm to ensure the stability during the transfer of the decocting pot 100 and the adaptability to the conveyor belt.

[0109] In this embodiment, the extrusion system 300 includes a frame 3011, an extrusion module 302, and an inner support assembly grasping module 301. The extrusion module 302 and the inner support assembly grasping module 301 are both arranged on the frame 3011. The extrusion module 302 extrudes the medicine bags on the inner support assembly 120 in the decocting pot assembly 100, and the inner support assembly grasping module 301 grasps the inner support assembly 120 in the decocting pot assembly 100.

[0110] During the traditional Chinese medicine production process, through the coordinated cooperation of the extrusion module 302 and the inner support assembly grasping module 301, the full automation of medicine bag extrusion and inner support assembly 120 grasping and transfer is realized, replacing a large amount of manual labor, reducing the labor intensity of workers, and improving production efficiency.

[0111] Specifically, the 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. The connection method can be welding, or detachable connection such as screws, or connection through a connecting piece.

[0112] In this embodiment, the frame 3011 can be directly fixed on the ground or fixed on other devices, such as steel plates, boxes, etc. Taking the frame 3011 fixed on the ground as an example for illustration:

[0113] In this embodiment, the 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 frame 3011.

[0114] In this embodiment, support legs are also installed at the bottom of the vertical beams 30111. Through the support legs, leveling can be carried out, and they can also play a supporting role, improving the overall strength and stability of the frame 3011.

[0115] 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 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. By 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 100, thereby realizing the relative movement of the extrusion mechanism 3022.

[0116] In this embodiment, the first driving member 30211 can be a cylinder, a linear motor, or a gear-rack transmission mechanism or a ball screw transmission mechanism. Considering the simplicity of the structure and the installation difficulty, in this embodiment, a cylinder is preferably used.

[0117] In this embodiment, taking the cylinder as an example for further explanation: One end of the cylinder is fixedly installed on the 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.

[0118] In this embodiment, a slide rail 3023 is installed on the frame 3011. The slide rail 3023 is horizontally arranged and is consistent with the moving path of the moving platform 30212. A slide seat 3024 is installed on the moving platform 30212, and the slide seat 3024 is slidably connected to the slide rail 3023. Through the cooperation of the slide seat 3024 and the slide rail 3023, the support of the moving platform 30212 is realized, and the movement of the moving platform 30212 is guided.

[0119] Further, the slide rail 3023 includes a fixed rod 30231 and a guide rod 30232. Both ends of the fixed rod 30231 are connected to the frame 3011, and the guide rod 30232 is connected to the bottom or side of the fixed rod 30231. The fixed rod 30231 and the guide rod 30232 are arranged in parallel, and the slide seat 3024 is slidably connected to the guide rod 30232.

[0120] In this embodiment, the guide rod 30232 is cylindrical, and an arc-shaped recessed portion is formed on the slide seat 3024. The inner wall of the recessed portion fits with the outer wall of the guide rod 30232. When the moving platform 30212 moves, the guide rod 30232 is embedded in the recessed portion of the slide seat 3024, and the guide rod 30232 and the slide seat 3024 are clamped to realize the support of the moving platform 30212. By using the cooperation of the guide rod 30232 and the recessed portion, both the support strength of the moving platform 30212 is ensured, and the moving platform 30212 can be guided.

[0121] In this embodiment, the extrusion mechanism 3022 includes a second driving member 30221 and an extrusion disc 30222. The second driving member 30221 is installed on the moving platform 30212, and the extrusion disc 30222 is installed on the second driving member 30221. The second driving member 30221 drives the extrusion disc 30222 to move up and down. By the second driving member 30221, driving the extrusion disc 30222 to move up and down, automatic extrusion of the medicine package can be achieved.

[0122] In this embodiment, the second driving member 30221 can be a cylinder, a linear motor, or a gear-rack transmission mechanism or a ball screw transmission mechanism. Considering the simplicity of the structure and the installation difficulty, in this embodiment, a cylinder is preferably used.

[0123] 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, the cylinder rod of the cylinder extends and retracts vertically, and the extrusion 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 extrusion disc 30222 to move vertically.

[0124] In this embodiment, when extruding the medicine package, there should be a certain distance between the bottom of the inner support assembly 120 in the decocting pot assembly 100 and the bottom of the decocting pot assembly 100. When the liquid level of the liquid medicine continuously rises, due to the existence of the distance, the liquid medicine will not soak the medicine package again. A clamping mechanism 3025 is arranged on the frame 3011. Before the extrusion mechanism 3022 extrudes the medicine package, the clamping mechanism 3025 clamps the inner support assembly 120 in the decocting pot assembly 100. At the same time, the robot can drive the decocting pot assembly 100 to move downward, so that there is a distance between the bottom of the inner support assembly 120 in the decocting pot assembly 100 and the bottom of the decocting pot assembly 100, facilitating extrusion.

[0125] Specifically, there are two clamping mechanisms 3025, and the two clamping mechanisms 3025 are respectively arranged on both sides of the decocting pot assembly 100. The two clamping mechanisms 3025 clamp from both sides of the decocting pot assembly 100, with higher stability.

[0126] 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 frame 3011, and the clamping plate 30252 is installed on the third driving member 30251. By the third driving member 30251, the clamping plate 30252 is driven to move.

[0127] In this embodiment, the third driving member 30251 can be a cylinder, a linear motor, or an electric push rod. Taking the cylinder as an example for further illustration of the clamping mechanism 3025:

[0128] The cylinder block of the cylinder is fixedly installed on the 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.

[0129] 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 120 in the decocting pot assembly 100 for easy clamping.

[0130] In this embodiment, the extrusion module 302 is also provided with a positioning mechanism for driving the extrusion mechanism 3022 to move between preset positions by the moving mechanism 3021.

[0131] Specifically, the positioning mechanism can be a pair of photoelectric sensors, a laser sensor, or a camera. In this embodiment, the first driving member 30211 and the positioning mechanism cooperate with the controller to achieve automatic control. Of course, the extrusion mechanism 3022 and the clamping mechanism 3025 are also controlled by the controller. In this embodiment, the controller can also be a PLC controller.

[0132] Taking the pair of photoelectric sensors as an example for illustration: The controller controls the third driving member 30251 to extend so that the clamping plate 30252 clamps the inner support assembly 120 in the decocting pot assembly 100. The first driving member 30211 drives the moving platform 30212 to move. When the receiving end of the pair of photoelectric sensors receives the light emitted by the emitting end of the pair of photoelectric sensors, the controller receives the signal emitted by the receiving end of the pair of photoelectric sensors, 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 pair of photoelectric sensors, when reaching the specified position, the controller controls the second driving member 30221 to stop moving to complete the extrusion work on the medicine bag.

[0133] After the extrusion is completed, the controller controls the second driving member 30221 to drive the extrusion disk 30222 to rise to the top, and then controls the first driving member 30211 to drive the moving platform 30212 to move horizontally. Again, through the control of the pair of photoelectric sensors, the first driving member 30211 returns to the initial position, and the first driving mechanism 30122 is controlled to stop moving.

[0134] In this embodiment, a detection mechanism is further provided. It is installed on the frame 3011, on one side of the placement station of the decocting pot assembly, and is used to detect the liquid level height in the decocting pot assembly. After the extrusion disc 30222 extrudes the medicine bag, the detection mechanism detects the liquid level height in the decocting pot assembly. When the liquid level height in the decocting pot assembly meets the requirements, the next process is continued; when the liquid level height in the decocting pot assembly does not meet the requirements, water needs to be added to the decocting pot assembly until the requirements are met and then the next process is carried out.

[0135] Specifically, the detection mechanism includes a rotary cylinder and a liquid level sensor. The liquid level sensor is installed on the rotary cylinder, and the rotary cylinder drives the liquid level sensor to rotate. When detection is not required, the rotary cylinder rotates a certain angle to rotate the liquid level sensor to one side of the placement station of the decocting pot assembly to avoid the extrusion disc 30222.

[0136] The inner support assembly grasping module 301 includes a moving seat 3012 and a grasping mechanism 3013. The moving seat 3012 is movably arranged on the frame 3011, and the grasping mechanism 3013 is arranged on the moving seat 3012 and is used to grasp the inner support assembly 120 in the decocting pot. The moving seat 3012 drives the grasping mechanism 3013 to move horizontally and vertically.

[0137] When it is necessary to separate the inner support assembly 120 from the outer pot 110, the moving seat 3012 first drives the grasping mechanism 3013 to move above the inner support assembly 120, 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 assembly 120. The grasping mechanism 3013 clamps the inner support assembly 120, and the moving seat 3012 drives the grasping mechanism 3013 to rise and move horizontally to a designated position.

[0138] Furthermore, the moving seat 3012 includes an installation platform 30121, a first driving mechanism 30122, and a second driving mechanism 30123. The installation platform 30121 is slidably connected to the frame 3011, the grasping mechanism 3013 is installed on the installation platform 30121, the first driving mechanism 30122 and the second driving mechanism 30123 are both installed on the installation platform 30121. The first driving mechanism 30122 is used to drive the installation platform 30121 to move along the horizontal direction of the frame 3011, and the second driving mechanism 30123 is used to drive the grasping mechanism 3013 to move along the vertical direction of the frame 3011.

[0139] When the outer pot 110 and the inner support assembly 120 need to be separated, the first driving mechanism 30122 drives the mounting platform 30121 to move above the inner support assembly 120, that is, drives the grasping mechanism 3013 to move above the inner support assembly 120. The second driving mechanism 30123 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 can clamp the inner support assembly 120. After the grasping mechanism 3013 clamps the inner support assembly 120, the second driving mechanism 30123 drives the grasping mechanism 3013 to rise. At the same time, the first driving mechanism 30122 drives the mounting platform 30121 to move above a specified position, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend, and the grasping mechanism 3013 releases the clamping state.

[0140] In this embodiment, after the inner support assembly 120 is separated, the rotary cylinder rotates the liquid level sensor to directly above the decocting pot assembly, and the liquid level sensor detects the liquid level. When the set requirements are met, the next process is continued.

[0141] Specifically, the first driving mechanism 30122 can be a cylinder, a linear motor, an electric push rod, a gear and rack transmission mechanism, a ball screw transmission mechanism, etc. In this embodiment, the gear and rack transmission mechanism is taken as an example for further illustration.

[0142] The first driving mechanism 30122 includes a motor, a gear and a rack. The motor is installed on the mounting platform 30121. The gear is connected to the output end of the motor. The rack is installed on the 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 meshes with the rack, the rotation of the gear drives the movement of the mounting platform 30121. Through the gear and rack transmission mechanism, the mounting platform 30121 moves more smoothly, ensuring the safety of the inner support assembly 120 during the movement process. At the same time, the gear and the rack can improve the positioning accuracy, facilitating the grasping and storage of the inner support assembly 120.

[0143] 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.

[0144] In this embodiment, the second driving mechanism 30123 can be a cylinder, a linear motor, an electric push rod, a gear and 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 illustrated by taking the cylinder as an example.

[0145] The second driving mechanism 30123 includes a cylinder. The cylinder is vertically installed. The cylinder block of the cylinder is fixed on the mounting 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 achieve descent or ascent.

[0146] 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.

[0147] In this embodiment, the mounting platform 30121 can be of a double-layer structure to facilitate the installation of the motor and the cylinder respectively, and avoid interference between the first driving mechanism 30122 and the first driving mechanism 30122 due to the narrow mounting space. The two-layer structure (two mounting plates) of the mounting platform 30121 is parallel. The upper-layer structure of the mounting platform 30121 is located above the two cross beams 30112, and the lower-layer structure of the mounting platform 30121 is located below the two cross beams 30112. The output shaft of the cylinder passes through the two-layer structure of the mounting platform 30121 in sequence.

[0148] In this embodiment, in order to support and guide the mounting 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 mounting platform 30121, and the guide seat 3015 is slidably connected to the guide rail 3014. Through the sliding cooperation between the guide seat 3015 and the guide rail 3014, the stability of the mounting platform 30121 during movement can be improved, that is, the stability of the inner support assembly 120 during transfer can be improved.

[0149] 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 to clamp the inner support assembly 120 in the decocting pot assembly 110. 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 of approaching each other to clamp the inner support assembly 120 in the decocting pot assembly 110. When it is necessary to release the clamping state, only need to move the two clamping arms 30132 in the direction of moving away from each other.

[0150] 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.

[0151] 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, a further description is made as follows: The cylinder block of the cylinder is fixedly installed on the loading platform 30131, and the clamping jaw 301322 is installed at the output end of the cylinder. Through the telescopic movement of the cylinder, the movement of the clamping jaw 301322 is driven.

[0152] In this embodiment, an arc-shaped clamping portion 301323 is formed on the clamping jaw 301322. Since the inner support assembly 120 in the decocting pot assembly 110 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 120 in the decocting pot assembly 110. In this way, during the clamping process, the outer wall of the inner support assembly 120 in the decocting pot assembly 110 can be attached to the clamping portion 301323, making the clamping process more stable and safe.

[0153] In this embodiment, in order to ensure the accuracy during the operation of the first driving mechanism 30122 and the second driving mechanism 30123, a positioning mechanism is further provided, and the positioning mechanism is installed on the moving seat 3012. Through the positioning mechanism, the moving seat 3012 drives the grasping mechanism 3013 to reciprocate between preset positions.

[0154] Specifically, the positioning mechanism can be a pair of opposed photoelectric sensors, a laser sensor, or a camera. In this embodiment, the first driving mechanism 30122, the second driving mechanism 30123, and the positioning mechanism cooperate with the controller to achieve automatic control. Of course, the grasping mechanism 3013 is also controlled by the controller. In this embodiment, the controller can be a PLC controller.

[0155] Taking the pair of opposed photoelectric sensors as an example for description: The first driving mechanism 30122 drives the installation platform 30121 to move. When the receiving end of the pair of opposed photoelectric sensors receives the light emitted by the transmitting end of the pair of opposed photoelectric sensors, the controller receives the signal emitted by the receiving end of the pair of opposed photoelectric sensors, 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 the pair of opposed photoelectric sensors are controlled again, when reaching the specified position, the controller 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 120 in the decocting pot assembly 110.

[0156] After the grasping mechanism 3013 finishes clamping, the controller controls the second driving mechanism 30123 to drive the grasping mechanism 3013 to rise to the top, and then controls the first driving mechanism 30122 to drive the mounting platform 30121 to move horizontally until it moves to a preset position. It can be controlled again by the transmissive 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, and then reach the preset position, and the grasping mechanism 3013 releases the clamping state.

[0157] In this embodiment, a buffer is also provided. The buffer is arranged on the loading platform 30131, and multiple buffers can be provided. When the grasping mechanism 3013 descends from above to grasp the inner support assembly 120, the buffer can play a buffering effect to avoid damaging the grasping mechanism 3013. At the same time, during the process of transporting the inner support assembly 120, the buffer can press the inner support assembly 120 to ensure that the inner support assembly 120 is horizontal, so as to facilitate accurate placement later. In this embodiment, the buffer can be an oil buffer or a spring buffer.

[0158] In this embodiment, a detection sensor and a sensing element are also provided to judge whether the inner support assembly 120 is tilted to ensure safety during the transportation process. Specifically, the detection sensor is installed on the loading platform 30131, and the sensing element is movably inserted through the loading platform 30131. Under normal circumstances, the detection sensor cannot detect the sensing element. When the inner support assembly 120 is tilted, the inner support assembly 120 will push up the sensing element, and the sensing element slides upward under force, so that the sensing element moves to one side of the detection sensor. When the detection sensor detects the sensing element, it can transmit a signal, indicating that the inner support assembly 120 is tilted.

[0159] In this embodiment, a cable duct 3016 is arranged on the frame 3011, and a cable conduit 3017 is arranged in the cable duct 3016. The cable conduit 3017 is used for threading air pipes, wires, etc. By arranging the cable duct 3016 and the cable conduit 3017, it is avoided that during the movement of the moving seat 3012, the air pipes, wires, etc. affect the movement of the moving seat 3012, or the air pipes, wires, etc. are wound.

[0160] In this embodiment, by installing a surrounding plate on the frame 3011, a storage cavity 3018 is formed for placing the inner support assembly 120 in the decocting pot assembly 100. 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 120 in the decocting pot assembly 100 to move above the storage cavity 3018, the second driving mechanism 30123 drives the inner support assembly 120 in the decocting pot assembly to descend until the inner support assembly 120 in the decocting pot assembly 100 enters the storage cavity 3018, and the grasping mechanism 3013 releases the clamping state to complete the placement of the inner support assembly 120 in the decocting pot assembly 100.

[0161] In this embodiment, there are multiple storage cavities 3018, and the multiple storage cavities 3018 are arranged in a line. The moving seat 3012 can move above each storage cavity 3018 in sequence. By providing multiple storage cavities 3018, multiple inner support assemblies 120 in the decocting pot assemblies 100 can be placed simultaneously, improving the processing efficiency.

[0162] 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 120 in the decocting pot assembly 100 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.

[0163] In this embodiment, a storage station is further provided on the frame 3011. The storage station is located at one end of the frame 3011 and is arranged close to the storage cavity 3018. An outer pot 110 is placed on the storage station. After the grasping mechanism 3013 grasps the inner support assembly 120, it can be placed in the storage cavity 3018 or directly placed in the outer pot 110 on the storage station, and then the assembled decocting pot assembly 100 is conveyed to other processes through a conveying line (conveyor belt).

[0164] In this embodiment, the working process of the inner support assembly grasping module 301 is as follows:

[0165] After the medicine bag is squeezed, the first driving mechanism 30122 drives the grasping mechanism 3013 to move above the decocting pot assembly 100, 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 120 in the decocting pot assembly 100. The two clamping jaws 301322 move towards each other to clamp the inner support assembly 120 in the decocting pot assembly 100. 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 120 in the decocting pot assembly 100 also descends into the storage cavity 3018 accordingly until the tray of the inner support assembly 120 in the decocting pot assembly 100 abuts against the cover plate 3019, thus completing the storage of the inner support assembly 120 in the decocting pot assembly 100.

[0166] In this embodiment, the extrusion module 302, the extrusion disc 30222 cleaning module, and the inner support assembly grasping module 301 are all installed on the frame 3011. The frame 3011 is L-shaped. The moving directions of the extrusion module 302 and the inner support assembly grasping module 301 are consistent with the L-shaped frame 3011, that is, the moving directions of the extrusion module 302 and the inner support assembly 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 the timely cleaning of the extrusion module 302.

[0167] In this embodiment, there is an integrated working area on the frame 3011 where the inner support assembly grasping module 301 and the extrusion module 302 overlap, that is, at the corner of the L-shaped frame 3011. The integrated working area means that the extrusion module 302 can move to this area to squeeze the medicine bag, and at the same time, the inner support assembly grasping module 301 can move to this area to clamp the inner support assembly 120 in the decocting pot assembly 100, which can make the structure more compact and save installation space.

[0168] In this embodiment, the extrusion unit 300 further includes an extrusion disc cleaning module 303. The extrusion disc cleaning module 303 includes a cleaning pipe 3031 and a washing pump. The washing pump is installed on the frame 3011, and the cleaning pipe 3031 is connected to the water outlet of the washing pump. When the first driving member 30211 drives the moving platform 30212 to move to the initial position, the second driving member 30221 drives the extrusion disc 30222 to move towards the cleaning pipe 3031. After reaching the preset position, the washing pump is started, and the extrusion disc 30222 is cleaned through the cleaning pipe 3031 to avoid contamination of the extrusion disc 30222 during subsequent use.

[0169] In this embodiment, 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 grasp the decocting pot assembly 100. The handling robot 802 adopts an existing multi-axis robot, and the clamping mechanism 8021 adopts a grasping mechanical claw.

[0170] In this embodiment, a traction mechanism 803 is provided between the track group 801 and the handling robot 802. The traction mechanism 803 is used to drive the handling robot 802 to move along the extending direction of the ground track 8011.

[0171] Specifically, the traction mechanism 803 includes a linear rack 8031 fixed to one of the ground tracks 8011. The extending direction of the linear rack 8031 is parallel to the extending direction of the ground track 8011. The traction mechanism 803 further includes a driving gear 8032 rotatably connected to the bottom of the handling robot 802. The driving gear 8032 meshes with the linear rack 8031. A driving motor 8033 is provided on the handling robot 802. Between the motor shaft of the driving motor 8033 and the driving gear 8032, there is a second planetary reducer 8034. 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.

[0172] When the driving motor 8033 is driven, the second planetary reducer 8034 transmits the force applied by the motor shaft of the driving motor 8033 to the driving gear 8032, causing the driving gear 8032 to rotate. As the driving gear 8032 rotates, the driving gear drives the handling robot 802 to move along the extending direction of the linear rack 8031. By using the cooperation of the driving gear 8032 and the linear rack 8031 to drive the handling robot 802 to move, the moving position of the handling robot 802 can be controlled more precisely, and the error of the moving position of the handling robot 802 can be reduced.

[0173] Preferably, the linear rack 8031 adopts a helical straight rack, and the driving gear 8032 adopts a helical gear. By setting the driving gear 8032 as a helical gear and the linear rack 8031 as a helical straight 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.

[0174] In some other embodiments, the handling device 800 may also adopt an AGV handling robot.

[0175] In this embodiment, the decocting unit 200 is used to heat the decocting pot assembly 100, and then decoct the medicine bag. The decocting unit 200 may adopt an existing heating device to heat the decocting pot assembly 100, which will not be specifically described in this embodiment.

[0176] In this embodiment, the packaging unit 400 is used to pour out the liquid medicine in the decocting pot assembly 100 and subpackage the liquid medicine. The packaging unit 400 may adopt an existing subpackaging device, which will not be specifically described in this embodiment.

[0177] After the decocting unit 200 finishes decocting, the handling robot 802 transports the entire decocting pot assembly 100 to the placing station of the decocting pot assembly in the squeezing unit 300. The inner support assembly 120 in the decocting pot assembly 100 is supported by the supporting device, and the handling robot 802 drives the outer pot 110 to move downward. The squeezing module 302 moves to the placing station of the decocting pot assembly to squeeze the medicine bag to separate the liquid medicine. Then, the inner support assembly grasping module 301 clamps the inner support assembly 120 in the decocting pot assembly 100 and moves it away, so that the decocting pot assembly 100 and the inner support assembly 120 are separated, and at the same time, the medicine bag is taken out of the decocting pot assembly along with the inner support assembly 120. The handling robot 802 sends the decocting pot assembly 100 containing the liquid medicine into the packaging unit 400, and the transplanting and packaging unit 400 pours out the liquid medicine in the decocting pot assembly 100 and subpackages the liquid medicine. The handling robot 802 transports the decocting pot assembly 100 back into the squeezing unit 300, and the inner support assembly grasping module 301 installs the inner support assembly 120 back into the interior of the decocting pot assembly 100.

[0178] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of this patent, without departing from the scope of the technical solution of the present invention, may make some changes or modifications into equivalent embodiments by using the technical content prompted above. The implementation schemes in the above embodiments can also be further combined or replaced. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the present invention.

Claims

1. An automatic traditional Chinese medicine decocting system, comprising a decocting unit (200), an extrusion unit (300), a packaging unit (400) and a handling device (800). The handling device (800) transports the decocting pot assembly (100) on the decocting unit (200) to the extrusion unit (300) to extrude the medicine bag, and then to the packaging unit (400) to pour and package the medicinal liquid. It is characterized in that: The inner support assembly (120) of the decocting pot assembly (100) is supported by the extrusion unit (300), and the outer pot (110) is separately arranged from the inner support assembly and is located below the inner support assembly (120); The extrusion unit (300) extrudes the medicine bag on the inner support assembly (120) to make the medicinal liquid enter the outer pot (110); The handling device (800) transports the outer pot (110) to the packaging unit (400) to pour and package the medicinal liquid.

2. The automatic traditional Chinese medicine decocting system according to claim 1, wherein: The extrusion unit (300) includes a frame (3011) and an extrusion module (302), and the extrusion module (302) is arranged on the frame (3011); The frame (3011) has a placement station for the decocting pot assembly; The extrusion module (302) moves between the initial station and the placement station of the decocting pot assembly, and extrudes the medicine bag at the placement station of the decocting pot assembly.

3. The automatic traditional Chinese medicine decocting system according to claim 2, wherein: The extrusion unit (300) further includes an inner support assembly grasping module (301), and the inner support assembly grasping module (301) is arranged on the frame (3011); After the extrusion module (302) extrudes the medicine bag, the inner support assembly grasping module (301) grasps the inner support assembly (120) and lifts the inner support assembly (120) out of the outer pot (110).

4. The automatic traditional Chinese medicine decocting system according to claim 2, wherein: The frame (3011) has a first station for placing the inner support assembly (120) in the decocting pot assembly (100); The inner support assembly grasping module (301) moves between the first station and the placement station of the decocting pot assembly, and can move up and down between the first station and the placement station of the decocting pot assembly and grasp the inner support assembly (120).

5. The automatic traditional Chinese medicine decocting system according to any one of claims 2-4, wherein: An opening for the decocting pot assembly (100) to enter the placement station of the decocting pot assembly is provided on the frame (3011), and a support device for supporting the inner support assembly (120) is provided at the placement station of the decocting pot assembly; The handling device (800) clamps the outer pot (110) or drives it to move down to the placement station of the decocting pot assembly.

6. The automatic traditional Chinese medicine decocting system according to claim 5, wherein: The opening on the frame (3011), the placement station of the decocting pot assembly and the initial position of the extrusion module (302) are on the same straight line; The first station and the placement station of the decocting pot assembly are on the same straight line; The straight line where the initial position of the extrusion module (302) is located is perpendicular to the straight line where the first station is located.

7. A traditional Chinese medicine automatic decocting system according to any one of claims 2-6, characterized in that The extrusion module (302) includes A moving mechanism (3021) installed on the frame (3011) and located above the placement station of the decocting pot assembly; An extrusion mechanism (3022) installed on the moving mechanism (3021), having a liftable end for extruding the medicine bag; Both the moving mechanism (3021) and the liftable end of the extrusion mechanism (3022) are higher than the placement station of the decocting pot assembly; The moving mechanism (3021) drives the extrusion mechanism (3022) to move between the initial position and the placement station of the decocting pot assembly.

8. A traditional Chinese medicine automatic decocting system according to any one of claims 4-7, characterized in that The inner support component grasping module (301) includes A grasping mechanism (3013) provided on the frame (3011), which can move between the placement station of the decocting pot assembly and the first station, and is used to grasp the inner support component (120) in the decocting pot assembly (100); The grasping mechanism (3013) vertically moves up and down between the placement station of the decocting pot assembly and the first station.

9. A traditional Chinese medicine automatic decocting system according to any one of claims 2-8, characterized in that There is also a liquid medicine packaging station for packaging the liquid medicine; After the handling device (800) places the decocting pot assembly (100) at the placement station of the decocting pot assembly, the extrusion unit (300) extrudes the medicine bag and separates the inner support component (120), and the handling device (800) transports the decocting pot assembly (100) from the placement station of the decocting pot assembly to the liquid medicine packaging station; After the liquid medicine packaging is completed, the handling device (800) transports the decocting pot assembly (100) back from the liquid medicine packaging station to the placement station of the decocting pot assembly; The inner support component grasping module (301) places the inner support component (120) back into the decocting pot assembly.

10. A traditional Chinese medicine automatic decocting system according to any one of claims 1-9, characterized in that The handling device (800) includes: A track group (801) extending linearly; A handling robot (802) having a clamping component (8021) for clamping the decocting pot assembly (100); The handling robot (802) is movably arranged on the track group (801) and moves along the extending direction of the track group (801); A traction mechanism (803) is respectively connected to the track group (801) and the handling device (800), and is used to drive the handling robot (802) to move.

Images