Extrusion system for traditional Chinese medicine decoction and extrusion control method thereof

Abstract

The invention discloses an extrusion system for traditional Chinese medicine decoction and an extrusion control method thereof. The extrusion system for traditional Chinese medicine decoction comprises a frame, an extrusion module, an inner supporting assembly grabbing module and a communicated control module. The control module sends an extrusion signal to the extrusion module, and the extrusion module extrudes a medicine bag on an inner supporting assembly in the decoction pot assembly after receiving the extrusion signal; after extrusion is completed, the extrusion module sends an extrusion completion signal to the control module; the control module receives an extrusion completion signal and sends a grabbing signal to the inner supporting assembly grabbing module; the inner supporting assembly grabbing module grabs an inner supporting assembly in the decocting pot assembly after receiving the grabbing signal. According to the extrusion system for traditional Chinese medicine decoction, the control module controls the extrusion module and the inner supporting assembly grabbing module to cooperate, 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 traditional Chinese medicine decoction production, and specifically relates to an extrusion system for traditional Chinese medicine decoction and an extrusion control method therefor. Background Art

[0002] In the prior art, more and more automated devices are applied in the process of decocting traditional Chinese medicine. For example, a decocting device for decocting medicinal materials, a filling device for filling medicinal liquid, and an extrusion device for extruding the medicinal liquid in medicinal residues. The long process of decocting traditional Chinese medicine is split by several devices performing specific processes, which greatly improves the efficiency of each process of decocting traditional Chinese medicine and the quantity that can be processed simultaneously.

[0003] In order to facilitate the quick connection of the decoction process between these devices, a decocting pot assembly with an inner and outer layer structure is designed, which includes an outer pot and an inner support assembly. The medicine bag is placed on the inner support assembly. After the medicine bag is decocted, by extruding the medicine bag on the inner support assembly, the medicinal liquid can flow into the outer pot. Then, the outer pot and the inner support assembly are separated, and the medicinal liquid in the outer pot can be collected. In the existing production process, it is usually completed manually, that is, manually extruding the medicine bag and transferring the inner support assembly, which consumes manpower and has a large labor intensity for manual handling, cannot meet the requirements of long-term production, and reduces the production efficiency of traditional Chinese medicine.

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

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and provide an extrusion system for traditional Chinese medicine decoction, which realizes the full automation of medicine bag extrusion and inner support assembly grasping and transfer through the coordinated cooperation of a control module to control an extrusion module and an inner support assembly grasping module, reduces the labor intensity of workers, and improves the production efficiency.

[0006] The basic concept of the technical solution adopted by the present invention to solve the above technical problem is as follows:

[0007] An extrusion system for traditional Chinese medicine decoction includes a frame, an extrusion module, an inner support assembly grasping module, and a connected control module;

[0008] Both the extrusion module and the inner support assembly grasping module are arranged on the frame;

[0009] The control module sends an extrusion signal to the extrusion module, and after receiving the extrusion signal, the extrusion module extrudes the medicine bag on the inner support assembly in the decocting pot assembly;

[0010] The control module sends a grasping signal to the inner support assembly grasping module according to the extrusion completion signal sent by the extrusion module;

[0011] After the inner support component grasping module receives the grasping signal, it grasps the inner support component in the decocting pot component.

[0012] Furthermore, the extrusion module includes a moving mechanism, an extrusion mechanism disposed on the moving mechanism, and a first control unit;

[0013] The first control unit on the extrusion module sends a moving action signal to the moving mechanism according to the extrusion signal received from the control module, then sends an extrusion action signal to the extrusion mechanism according to the moving completion signal fed back by the moving mechanism, 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.

[0014] Furthermore, the first control unit on the extrusion module sends a reset action signal to the moving mechanism according to the extrusion action completion signal fed back by the extrusion mechanism, 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.

[0015] Furthermore, a decocting pot component placement station for placing the decocting pot component and an initial station where the initial position of the moving mechanism is located are provided on the frame;

[0016] After the moving mechanism receives the moving signal sent by the first control unit, it drives the extrusion mechanism to move from the initial station to the decocting pot component placement station;

[0017] A position detector for detecting the position of the moving mechanism is provided on the moving mechanism and / or the frame;

[0018] The first control unit feeds back a first in-place signal to the control module according to the position signal of the extrusion mechanism sent by the position detector.

[0019] Furthermore, the extrusion mechanism includes a second driving member installed on the moving mechanism, an extrusion disk installed on the second driving member, and a second control unit;

[0020] The second control unit on the extrusion mechanism sends an extrusion signal to the second driving member according to the first in-place signal of the control module, and the sensor on the second driving member completes the extrusion of the medicine bag according to the extrusion signal sent by the second control unit and feeds back an extrusion completion signal to the second control unit;

[0021] Preferably, the second control unit sends a reset action signal to the second driving member 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;

[0022] Preferably, after receiving the first in-place signal sent by the second control unit, the second driving member drives the extrusion disc to move up and down at the first working position.

[0023] A pressure sensor is provided on the extrusion disc, 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.

[0024] Furthermore, the inner support assembly grasping module includes

[0025] A moving seat, which is movably arranged on the frame;

[0026] A grasping mechanism, which is arranged on the moving seat and is used for grasping the inner support assembly in the decocting pot assembly;

[0027] A third control unit, which is arranged on the moving seat;

[0028] A fourth control unit, which is arranged on the grasping mechanism;

[0029] The third control unit sends a horizontal movement signal to the moving seat according to the extrusion completion signal sent by the control module and feeds back a horizontal movement in-place signal;

[0030] The third control unit sends a vertical movement signal to the moving seat according to the horizontal movement in-place signal and feeds back a vertical movement in-place signal;

[0031] The fourth control unit sends a grasping signal to the grasping mechanism according to the vertical movement in-place signal of the third control unit and feeds back a grasping completion signal;

[0032] Preferably, the third control unit sends a reset signal to the moving seat according to the grasping completion signal sent by the fourth control unit and feeds back a reset completion signal;

[0033] The third control unit sends a vertical movement signal to the moving seat again according to the feedback reset completion signal and feeds back a vertical movement in-place signal;

[0034] The fourth control unit sends a release signal to the grasping mechanism according to the vertical movement in-place signal of the third control unit.

[0035] Furthermore, a first working position for placing the inner support assembly in the decocting pot assembly is provided on the frame;

[0036] The third control unit sends a horizontal movement signal to the moving seat according to the extrusion completion signal sent by the control module. After receiving the horizontal movement signal, the moving seat drives the grasping mechanism to move from the first working position to the placement working position of the decocting pot assembly and feeds back a horizontal movement in-place signal;

[0037] The third control unit sends a vertical movement signal to the moving seat according to the horizontal movement in-place signal. The moving seat receives the vertical movement signal, drives the grasping mechanism to descend at the placement station of the decocting pot assembly, and feeds back the vertical movement in-place signal.

[0038] Furthermore, it further includes an extrusion plate cleaning module provided at the bottom of the frame and a fifth control unit provided on the extrusion plate cleaning module;

[0039] The fifth control unit sends a cleaning signal to the extrusion plate cleaning module according to the reset action completion signal sent by the first control unit. The extrusion plate cleaning module receives the cleaning signal and cleans the extrusion plate;

[0040] Preferably, the extrusion plate cleaning module is located at the bottom of the frame;

[0041] The first control unit sends a descending signal to the moving mechanism according to the reset action completion signal fed back by the moving mechanism. The moving mechanism drives the extrusion plate to descend to the bottom of the frame.

[0042] Furthermore, the extrusion module further includes a clamping mechanism and a sixth control unit, which are installed on the frame and used to clamp the inner support assembly in the decocting pot assembly;

[0043] The sixth control unit receives the extrusion signal from the control module and sends a clamping signal to the clamping mechanism. After the sensor on the clamping mechanism receives the clamping signal, it clamps the inner support assembly in the decocting pot assembly and feeds back the clamping completion signal;

[0044] The first control unit sends a moving action signal to the moving mechanism according to the clamping completion signal of the sixth control unit.

[0045] The present invention also provides an extrusion control method for a decocting pot assembly, which uses the above-mentioned extrusion system for traditional Chinese medicine decocting, and includes the following steps:

[0046] The clamping mechanism clamps the inner support assembly in the decocting pot assembly;

[0047] The extrusion module extrudes the medicine bag on the inner support assembly in the decocting pot assembly;

[0048] The clamping mechanism releases the clamping state;

[0049] The extrusion module resets, and the inner support assembly grasping module grasps the inner support assembly in the decocting pot assembly;

[0050] The extrusion plate cleaning module cleans the extrusion plate.

[0051] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

[0052] In the extrusion system for traditional Chinese medicine decoction of the present invention, by setting a control module, an extrusion module, an inner support component grasping module, and an extrusion plate cleaning module, during the production process of traditional Chinese medicine, the control module controls the extrusion module, the inner support component grasping module, and the extrusion plate cleaning module to cooperate with each other, realizing the full automation of medicine package extrusion, inner support component grasping and transferring, and extrusion plate cleaning, so as to replace a large amount of manual labor, reduce the labor intensity of workers, and improve production efficiency.

[0053] At the same time, the present invention has a simple structure, a concise method, and remarkable effects, and is suitable for popularization and use.

[0054] The following further describes in detail the specific implementation manners of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] 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 to the present invention. Obviously, the accompanying drawings in the following description are only some embodiments, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In the drawings:

[0056] Figure 1 is the overall assembly schematic diagram of the extrusion system for traditional Chinese medicine decoction of the present invention;

[0057] Figure 2 is the front view of the overall assembly of the extrusion system for traditional Chinese medicine decoction of the present invention;

[0058] Figure 3 is the structural schematic diagram of the inner support component grasping module of the present invention;

[0059] Figure 4 is the front view of the inner support component grasping module of the present invention;

[0060] Figure 5 is Figure 1 the enlarged view of part A in

[0061] Figure 6 is the structural schematic diagram of the extrusion module of the present invention;

[0062] Figure 7 is the structural schematic diagram of the extrusion module with part of the frame hidden;

[0063] Figure 8 is the side view of the extrusion module of the present invention;

[0064] Figure 9It is a schematic diagram of the assembled decocting pot of the present invention;

[0065] Figure 10 It is a schematic diagram of the inner support assembly in the decocting pot of the present invention;

[0066] Figure 11 It is a schematic diagram of the outer pot of the decocting pot of the present invention;

[0067] Figure 12 It is the present invention Figure 11 A schematic diagram of a single component of the bottom conveying module of the outer pot in the present invention;

[0068] Figure 13 It is a flowchart of the extrusion control method of the decocting pot assembly of the present invention.

[0069] In the figure: 100, decocting pot assembly; 110, outer pot; 111, protrusion; 112, rib; 113, reinforcing rib; 120, inner support assembly; 121, support plate; 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; 301, inner support assembly grasping module; 3011, frame; 30111, vertical beam; 30112, cross beam; 30113, cross bar; 3012, moving seat; 30121, installation 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 rod; 3024, sliding seat; 3025, clamping mechanism; 30251, third driving part; 30252, clamping plate; 303, extrusion disc cleaning module; 3031, cleaning pipe.

[0070] 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

[0071] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will, with reference to the accompanying drawings in the embodiments of the present invention, clearly and completely describe the technical solutions in the embodiments. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0072] 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 accompanying 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 thus should not be construed as a limitation of the present invention.

[0073] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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.

[0074] As Figures 1 to 13 shown, the extrusion system for traditional Chinese medicine decocting of the present invention includes a frame 3011, an extrusion module 302, an inner support component grasping module 301, and a connected control module. The extrusion module 302 and the inner support component 120 grasping module 301 are both arranged on the frame 3011. The control module controls the extrusion module 302 to extrude the medicine package on the inner support component 120 in the decocting pot assembly 100, and the control module controls the inner support component grasping module 301 to grasp the inner support component 120 in the decocting pot assembly 100.

[0075] During the production process of traditional Chinese medicine, through the coordinated cooperation of the control module to control the extrusion module 302 and the inner support component grasping module 301, the full automation of medicine package extrusion and inner support component 120 grasping and transfer is realized, replacing a large amount of manual labor, reducing the labor intensity of workers, and improving production efficiency.

[0076] The specific working process is as follows: The control module sends an extrusion signal to the extrusion module 302. After receiving the extrusion signal, the extrusion module 302 extrudes the medicine package on the inner support component 120 in the decocting pot assembly 100. The control module sends a grasping signal to the inner support component grasping module 301 based on the extrusion completion signal sent by the extrusion module 302. After receiving the grasping signal, the inner support component grasping module 301 grasps the inner support component 120 in the decocting pot assembly 100.

[0077] Specifically, the extrusion module 302 includes a moving mechanism 3021, an extrusion mechanism 3022, and a first control unit. The moving mechanism 3021 is installed on the frame 3011 and moves above the decocting pot assembly 100; the extrusion mechanism 3022 is installed on the moving mechanism 3021 and is used to extend into the decocting pot assembly 100 to extrude the medicine bag, and the moving mechanism 3021 drives the extrusion mechanism 3022 to move horizontally.

[0078] In this embodiment, a decocting pot assembly placement station for placing the decocting pot assembly 100 and an initial station where the initial position of the moving mechanism 3021 is located are provided on the frame 3011, and the control module controls the moving mechanism 3021 to drive the extrusion mechanism 3022 to move horizontally between the decocting pot assembly placement station and the initial station.

[0079] When the robot (RGV) transports the decocting pot assembly 100 to the integration working area, the moving mechanism 3021 drives the extrusion mechanism 3022 to move to the decocting pot assembly placement station, that is, above the decocting pot assembly 100, and then the extrusion mechanism 3022 descends and extends into the decocting pot assembly 100, and extrudes the medicine bag in the inner support assembly 120 in the decocting pot assembly 100, so that the medicinal liquid flows out into the outer pot 110.

[0080] 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.

[0081] 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 by 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.

[0082] 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 decocting pot assembly placement station. A position detector for detecting the position of the moving mechanism 3021 is provided on the moving mechanism 3021 and / or the frame 3011, and 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.

[0083] In this embodiment, the decocting pot assembly 100 includes an outer pot 110 for containing the medicinal liquid, and an inner support assembly 120 placed inside the outer pot 110 for supporting the traditional Chinese medicine medicine bag. The inner support assembly 120 is provided with a tray 121, and the inner circumference of the tray 121 forms a feeding opening of the inner support assembly 120. The tray 121 is placed at the feeding opening of the outer pot 110 to realize the placement of the inner support assembly 120 inside the outer pot 110.

[0084] 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 contain 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.

[0085] The inner support assembly 120 is placed inside the outer pot 110 for supporting 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.

[0086] At the top of the inner support assembly 120, there is a tray 121, which is placed on the circumference of the feeding opening of the outer pot 110 to realize the stable placement of the inner support assembly 120 inside the outer pot 110. This is not only convenient for the feeding and taking 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 tray 121 also needs to be supported by materials with high temperature resistance and corrosion resistance to ensure its stability and durability during use.

[0087] Specifically, the inner circumference of the tray 121 forms a feeding opening of the inner support assembly 120. When decocting traditional Chinese medicine, the traditional Chinese medicine materials are fed into the interior of the decocting pot 100 through the feeding opening of the inner support assembly 120 for decocting.

[0088] Further, a reinforcing rib 113 is provided at the feeding opening of the outer pot 110. The reinforcing rib 113 is arranged in a ring around the feeding opening of the outer pot 110. The tray 121 is placed on the reinforcing rib 113. Preferably, the outer edge of the tray 121 protrudes from the reinforcing rib 113.

[0089] 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, 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.

[0090] 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 bag thereon, preventing it from shaking or tilting during the decocting process.

[0091] 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 placement stability of the support plate 121, but also provides a certain guiding effect for the placement and removal of the inner support assembly 120.

[0092] Furthermore, a clamping assembly 123 is provided on the side of the support plate 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 bag; preferably, the clamping assembly 123 clamps and fixes the end of the seal.

[0093] During the decocting process, the traditional Chinese medicine bag is usually sealed to prevent the medicinal materials from scattering or being contaminated. When the medicine bag is located in the inner support assembly 120, the clamping assembly 123 clamps the seal of the medicine bag, which can further ensure that the medicine bag is stably placed and avoid moving or tilting during the decocting process due to the boiling or stirring of the liquid medicine.

[0094] Specifically, the inner circumference of the support plate 121 forms a feeding port for 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 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 inside the housing, and a spring that provides a thrust force for the core.

[0095] More specifically, when decocting traditional Chinese medicine, first put the traditional Chinese medicine herbs into a medicine bag, then tie up the medicine bag with a sealing member. Push the inner core of the clamping assembly 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 assembly 123.

[0096] It should be noted that the sealing member used to seal the medicine bag can be a separately provided cord. Tie up the medicine bag with the cord, and then clamp the remaining end after tying up on the clamping assembly 123 to fix the sealing member. As another option, 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 assembly 123 to fix the sealing member.

[0097] Furthermore, the inner support assembly 120 is further provided with: a bottom plate 124, close to 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 support plate 121, and the other end is connected to the bottom plate 124.

[0098] In this embodiment, in addition to the support plate 121 provided in the inner support assembly 120, there are also a bottom plate 124 and a connecting rod 122. 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 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 that are resistant to high temperature and corrosion to cope with the high temperature and humid environment during the decocting process.

[0099] Specifically, one end of the connecting rod 122 is set in a linear area on the inner peripheral edge of the support plate 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 of different apertures for the dripping of the liquid medicine and for the cleaning member to pass through the through holes in the bottom wall of the outer pot 110 when cleaning the decocting pot 100.

[0100] As a preferred solution, the bottom plate 124 can be set into a disk-shaped structure with a higher middle and gradually decreasing circumference, so that when operating such as squeezing the medicine bag, the liquid medicine in the medicine bag can flow smoothly into the outer pot 110.

[0101] 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 within the outer pot 110.

[0102] In this embodiment, in order to improve the stability of the inner support assembly 120 inside 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.

[0103] 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.

[0104] When the inner support assembly 120 is placed inside the outer pot 110, the connecting rod 122 will come into contact with the protrusion 111. By means of physical restriction, even in the case of boiling or stirring of the medicinal liquid during the decocting process, the inner support assembly 120 can maintain a relatively stable position.

[0105] 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 to each other one by one to limit the rotation of the inner support assembly 120 inside the outer pot 110.

[0106] 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 positions 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 positions of the connecting rods 122 should correspond to the protrusions 111 on the outer pot 110 one by one 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.

[0107] 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 inside 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.

[0108] In another embodiment, four protrusions 111 are provided on the inner peripheral wall of the outer pot 110, with every two protrusions 111 as a group; the inner support assembly 120 is provided with four connecting rods 122, with every two connecting rods 122 as a group. The two protrusions 111 cooperate with the two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot. Specifically, when the inner support assembly 120 is placed inside the outer pot 110, the two protrusions 111 are located between the two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot 110.

[0109] Specifically, a support rod connecting the two connecting rods 122 is provided between the two connecting rods 122 in a group, and the support rod is arranged at a position close to 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 from the inside of the inner support assembly 120 to the outside and then passes through the lower part of the support rod, 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 extended to the clamping member 123 for clamping and fixing.

[0110] 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.

[0111] 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.

[0112] 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 below the rib 112. Due to the design of the rib 112, the transporting member can clamp the outer pot 110 more stably and prevent accidents such as slipping or tipping over during transportation.

[0113] 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.

[0114] In this embodiment, in order 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 wall of the outer pot 110, and the two annular ribs 112 are arranged at intervals in the axial direction of the outer pot 110, and the interval distance is at least sufficient to hold the clamping of the transportation component.

[0115] Specifically, when transporting the decocting pot 100, transportation components such as a trolley and a gripper will clamp the part of the outer wall of the outer pot 110 between the two annular ribs 112. Due to the presence of the two annular ribs 112, the transportation component can more firmly hold the outer pot 110 and prevent it from shaking or slipping during transportation.

[0116] Furthermore, 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.

[0117] Furthermore, the carrier 130 includes: a support plate 131, and the support plate 131 is fixedly connected to the outer pot 110;

[0118] 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.

[0119] 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. The design of the carrier 130 should consider factors such as compatibility with the conveyor line, load-bearing capacity, and stability.

[0120] 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.

[0121] 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, 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, while simplifying the installation process and improving work efficiency.

[0122] 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 cooking 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 in an arc transition. The conveying module 132 wrapped outside the support plate 131 is composed of four straight rods 1321 connected 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 400 cm * 400 cm to ensure the stability during the transfer of the cooking pot 100 and the adaptability to the conveyor belt.

[0123] In this embodiment, the frame 3011 includes vertical beams 30111, cross beams 30112 and horizontal bars 30113. There are multiple vertical beams 30111 and horizontal bars 30113. The vertical beams 30111 are arranged in parallel at intervals, the horizontal bars 30113 are arranged between two adjacent vertical beams 30111, and the horizontal bars 30113 are arranged in parallel with each other. There are two cross beams 30112. Both cross beams 30112 are arranged at the top of the vertical beams 30111 and are parallel to each other. The two cross beams 30112 guide the moving seat 3012. In this embodiment, the horizontal bars 30113 are perpendicularly connected to the vertical beams 30111. The connection method can be welding, or detachable connection such as screws, or connection through connectors.

[0124] In this embodiment, the frame 3011 can be directly fixed to the ground or fixed to other devices, such as steel plates, boxes, etc. Taking the frame 3011 fixed to the ground as an example for illustration:

[0125] In this embodiment, the frame 3011 adopts a detachable connection method. Specifically, L-shaped steel plates are used for connection. One side of the steel plate is connected to the vertical beam 30111 through bolts, and the other side of the steel plate is connected to the ground through bolts, so as to realize the overall fixation of the frame 3011.

[0126] In this embodiment, support legs are also installed at the bottom of the vertical beams 30111. Through the support legs, leveling can be performed, and they can also play a supporting role to improve the overall strength and stability of the frame 3011.

[0127] 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 away from the decocting pot assembly 100, thereby realizing the relative movement of the extrusion mechanism 3022.

[0128] 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.

[0129] In this embodiment, taking the cylinder as an example for further illustration: 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.

[0130] 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 block 3024 is installed on the moving platform 30212, and the slide block 3024 is slidably connected to the slide rail 3023. Through the cooperation of the slide block 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.

[0131] Furthermore, the slide rail 3023 includes a fixed rod 30231 and a guide rod 30232. The two 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 block 3024 is slidably connected to the guide rod 30232.

[0132] In this embodiment, the guide rod 30232 is cylindrical, and an arc-shaped recess is formed on the slide block 3024. The inner wall of the recess fits with the outer wall of the guide rod 30232. When the moving platform 30212 moves, the guide rod 30232 is embedded in the recess of the slide block 3024, and the guide rod 30232 and the slide block 3024 are clamped to realize the support of the moving platform 30212. By using the cooperation of the guide rod 30232 and the recess, both the support strength of the moving platform 30212 is ensured, and the moving platform 30212 can be guided.

[0133] In this embodiment, the extrusion mechanism 3022 is further described:

[0134] The extrusion mechanism 3022 includes a second driving member 30221, an extrusion disc 30222, and a second control unit. 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 means of the second driving member 30221, the extrusion disc 30222 can be driven to move up and down at the placement station or the initial station of the decocting pot assembly, so as to realize the automatic extrusion of the medicine bag or the adjustment of the initial state.

[0135] 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 operation according to the extrusion signal sent by the second control unit and feeds back an extrusion completion signal to the second control unit.

[0136] 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.

[0137] In this embodiment, after receiving the first in-place signal sent by the second control unit, the second driving member 30221 drives the extrusion disc 30222 to move up and down at the placement station of the decocting pot assembly. A pressure sensor is provided on the extrusion disc 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.

[0138] 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.

[0139] 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.

[0140] In this embodiment, when squeezing the medicine bag, there should be a certain distance between the bottom of the inner support assembly 120 and the bottom of the outer pot 110 in the decocting pot assembly 100. When the liquid level of the medicinal liquid continuously rises, due to the existence of the distance, the medicinal liquid will not soak the medicine bag again. A clamping mechanism 3025 is arranged on the frame 3011. Before the squeezing mechanism 3022 squeezes the medicine bag, 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 outer pot 110 to move downward, so that there is a distance between the bottom of the inner support assembly 120 and the bottom of the outer pot 110 in the decocting pot assembly 100, facilitating squeezing.

[0141] Specifically, there are two clamping mechanisms 3025. 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 100. The two clamping mechanisms 3025 clamp from both sides of the decocting pot assembly 100, with higher stability.

[0142] 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. The third driving member 30251 drives the clamping plate 30252 to move.

[0143] The clamping mechanism 3025 is provided with a sixth control unit. The sixth control unit receives the squeezing signal from the self-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 120 in the decocting pot assembly 100 and feeds back the clamping completion signal. The first control unit sends a moving action signal to the moving mechanism 3021 based on the clamping completion signal of the sixth control unit.

[0144] In this embodiment, the third driving member 30251 can be a cylinder, a linear motor, or an electric push rod. Taking the cylinder as an example, the clamping mechanism 3025 will be further described:

[0145] 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.

[0146] 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, facilitating clamping.

[0147] 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 an opposed photoelectric sensor.

[0148] Taking the opposed 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 120 in the decocting pot assembly 100. 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 opposed photoelectric sensor receives the light emitted by the transmitting end of the opposed photoelectric sensor, the control module receives the signal sent by the receiving end of the opposed photoelectric sensor, controls the first driving member 30211 to stop moving, and then controls the second driving member 30221 to drive the pressing disc 30222 to descend. Again, through the control of the opposed 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.

[0149] After the extrusion is completed, the control module controls the second driving member 30221 to drive the pressing disc 30222 to rise to the top, and then controls the first driving member 30211 to drive the moving platform 30212 to move horizontally. Again, through the control of the opposed photoelectric sensor, the first driving member 30211 returns to the initial station, and the first driving mechanism 30122 is controlled to stop moving.

[0150] In this embodiment, a detection mechanism is further provided, which is installed on the frame 3011 and is located on one side of the placement station of the decocting pot assembly for detecting the liquid level height in the decocting pot assembly. After the pressing 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.

[0151] 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 pressing disc 30222.

[0152] Further, the inner support component grasping module 301 is used to grasp the inner support component 120 in the decocting pot component 100 placed on the frame 3011. There is a first station on the frame 3011 for placing the inner support component 120 in the decocting pot component 100. The control module controls the inner support component grasping module 301 to grasp the inner support component 120 in the decocting pot component 100 and move it between the first station and the placement station of the decocting pot component.

[0153] 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 frame 3011, and the grasping mechanism 3013 is arranged on the moving seat 3012 for grasping the inner support component 120 in the decocting pot. The moving seat 3012 drives the grasping mechanism 3013 to move horizontally and vertically.

[0154] When it is necessary to separate the inner support component 120 from the outer pot 110, 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 component 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 120. The grasping mechanism 3013 clamps the inner support component 120, and the moving seat 3012 drives the grasping mechanism 3013 to rise and move from the placement station of the decocting pot component to the first station.

[0155] By setting the moving seat 3012 and the grasping mechanism 3013, the automatic transfer of the inner support component 120 is realized, eliminating the need for manual handling, greatly reducing the labor intensity, and also ensuring the decocting efficiency of the decocting pot component 100.

[0156] 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 and feedbacks a horizontal movement in-place signal according to the extrusion completion signal sent by the control module. The third control unit sends a vertical movement signal to the moving seat 3012 and feedbacks a vertical movement in-place signal according to the horizontal movement in-place signal. The fourth control unit sends a grasping signal to the grasping mechanism 3013 and feedbacks a grasping completion signal according to the vertical movement in-place signal of the third control unit.

[0157] Further, the third control unit sends a reset signal to the moving seat 3012 and feedbacks a reset completion signal according to the grasping completion signal sent by the fourth control unit. The third control unit sends a vertical movement signal to the moving seat 3012 again and feedbacks a vertical movement in-place signal according to the feedback reset completion 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 120 of the decocting pot component 100 at a preset position.

[0158] In this embodiment, the third control unit sends a horizontal movement signal to the moving base 3012 according to the extrusion completion signal sent by the control module. The moving base 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 signal indicating that the horizontal movement is in place.

[0159] The third control unit sends a vertical movement signal to the moving base 3012 according to the signal indicating that the horizontal movement is in place. The moving base 3012 receives the vertical movement signal, drives the grasping mechanism 3013 to descend at the placement station of the decocting pot assembly, and feeds back a signal indicating that the vertical movement is in place.

[0160] Furthermore, the moving base 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 frame 3011. The grasping mechanism 3013 is mounted on the mounting platform 30121. Both the first driving mechanism 30122 and the second driving mechanism 30123 are mounted on the mounting platform 30121. The first driving mechanism 30122 is used to drive the mounting platform 30121 to move horizontally along the frame 3011 (reciprocate 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 vertically along the frame 3011.

[0161] The first driving mechanism 30122 receives the 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 third in-place signal; the control module receives the third in-place signal, sends a descending signal to the second driving mechanism 30123. The second driving mechanism 30123 receives the descending signal, drives the grasping mechanism 3013 to descend to a specified position, and feeds back a fourth in-place signal; after the control module receives the fourth in-place signal, it sends a grasping signal to the grasping mechanism 3013.

[0162] Furthermore, after the grasping mechanism 3013 receives the grasping signal, it clamps the inner support assembly 120 in the decocting pot assembly 100 and feeds back a signal indicating that the clamping is completed; after the control module receives the signal indicating that the clamping is completed, it sends a rising signal to the second driving mechanism 30123 and a return signal to the first driving mechanism 30122; after the second driving mechanism 30123 receives the rising signal, it drives the grasping mechanism 3013 to rise to a specified position; after the first driving mechanism 30122 receives the return signal, it drives the grasping mechanism 3013 to move from the placement station of the decocting pot assembly to the first station.

[0163] When the outer pot 110 and the inner support assembly 120 need to be separated, the first driving mechanism 30122 drives the installation 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 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.

[0164] 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 illustration.

[0165] 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 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 installation platform 30121. Through the gear-rack transmission mechanism, the installation platform 30121 moves more smoothly, ensuring the safety of the inner support assembly 120 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 120.

[0166] 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.

[0167] 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 illustrated by taking the cylinder as an example.

[0168] The second driving mechanism 30123 includes a cylinder. The cylinder is installed vertically, the cylinder body 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 realize descent or ascent.

[0169] 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.

[0170] 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, avoiding 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 sequentially passes through the two-layer structure of the mounting platform 30121.

[0171] 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 mounted 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 mounted on the mounting platform 30121, and the guide seat 3015 is slidably connected to the guide rail 3014. Through the sliding fit between the guide seat 3015 and the guide rail 3014, the stability of the mounting platform 30121 during movement can be improved, that is, the stability of the inner support assembly 120 during transfer can be improved.

[0172] In this embodiment, the grasping mechanism 3013 includes a loading platform 30131 and clamping arms 30132. The loading platform 30131 is mounted on the second driving mechanism 30123. There are two clamping arms 30132, both of which are mounted 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 100. When the first driving mechanism 30122 and the second driving mechanism 30123 drive the loading platform 30131 to move to a preset position, the two clamping arms 30132 move in a direction close to each other to clamp the inner support assembly 120 in the decocting pot assembly 100. When it is necessary to release the clamping state, only need to move the two clamping arms 30132 in a direction away from each other.

[0173] Furthermore, the clamping arm 30132 includes a telescopic driving member 301321 and a clamping jaw 301322. The telescopic driving member 301321 is mounted on the loading platform 30131, and the clamping jaw 301322 is mounted on the telescopic driving member 301321. By extending or retracting the telescopic driving member 301321, the control of the distance between the two clamping jaws 301322 is realized, so as to realize the switching between the clamping and releasing states.

[0174] 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, further description is 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.

[0175] 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 100 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 100. In this way, during the clamping process, the outer wall of the inner support assembly 120 in the decocting pot assembly 100 can be attached to the clamping portion 301323, making the clamping process more stable and safe.

[0176] Taking the opposed photoelectric sensor as an example for illustration: The first driving mechanism 30122 drives the installation platform 30121 to move. When the receiving end of the 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 further controls the second driving mechanism 30123 to drive the grasping mechanism 3013 to descend. After controlling the opposed photoelectric sensor again, when reaching the specified 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 120 in the decocting pot assembly 100.

[0177] 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 installation 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 further 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.

[0178] In this embodiment, when 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 performs liquid level detection. When the set requirements are met, the next process is continued.

[0179] In this embodiment, a buffer is further 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 in the subsequent process. In this embodiment, the buffer can be an oil buffer or a spring buffer.

[0180] In this embodiment, a detection sensor and a sensing element are further provided to determine 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 the sensing element upward, 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, a signal can be transmitted, indicating that the inner support assembly 120 is tilted.

[0181] In this embodiment, a cable trough 3016 is arranged on the frame 3011, and a cable conduit 3017 is arranged in the cable trough 3016. The cable conduit 3017 is used for threading air pipes, wires, etc. By arranging the cable trough 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 entangled.

[0182] In this embodiment, by installing a surrounding plate on the frame 3011, a storage cavity 3018, that is, the first working station, 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 100 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.

[0183] In this embodiment, multiple storage cavities 3018 are provided, and the multiple storage cavities 3018 are linearly arranged. The moving seat 3012 can move above each storage cavity 3018 in sequence. By arranging multiple storage cavities 3018, multiple inner support assemblies 120 in the decocting pot assemblies 100 can be placed simultaneously, improving the processing efficiency.

[0184] In this embodiment, a cover plate 3019 is further provided. The cover plate 3019 seals the top of the storage cavity 3018. A through hole is 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 hole on the cover plate 3019. The cover plate 3019 and the storage cavity 3018 are arranged in one-to-one correspondence.

[0185] Since a tray is provided at the top of the inner support assembly 120 in the decocting pot assembly 100, and the tray is annularly arranged along the outer wall of the inner support assembly 120 in the decocting pot assembly 100. In this embodiment, the size of the through hole is smaller than the size of the tray of the inner support assembly 120 in the decocting pot assembly 100, so that the tray of the inner support assembly 120 in the decocting pot assembly 100 can be hung on the cover plate 3019, which is convenient for the taking and placing of the inner support assembly 120 in the decocting pot assembly 100.

[0186] 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 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 conveyor line (conveyor belt).

[0187] In this embodiment, the working process of the inner support assembly grasping module 301 is as follows:

[0188] 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 at which the grasping mechanism 3013 can clamp the inner support assembly 120 in the decocting pot assembly 100, and the two jaws 301322 move in the direction of approaching 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, and the inner support assembly 120 in the decocting pot assembly 100 also descends into the storage cavity 3018 together until the tray of the inner support assembly 120 in the decocting pot assembly 100 is lapped with the cover plate 3019, thus completing the storage of the inner support assembly 120 in the decocting pot assembly 100.

[0189] In this embodiment, when the robot (RGV) transports the decocting pot assembly 100 to a specified position, the extrusion module 302 extrudes the medicine bag inside the inner support assembly 120, causing the liquid medicine to flow into the outer pot 110. Then, the inner support assembly grasping module 301 grasps the inner support assembly 120 and transfers it to a specified position. Meanwhile, the extrusion disk cleaning module 303 cleans the extrusion module 302.

[0190] In this embodiment, there is also an extrusion disk cleaning module 303 and a fifth control unit. The extrusion disk cleaning module 303 is arranged on the frame 3011. The fifth control unit sends a cleaning signal to the extrusion disk cleaning module 303 according to the reset action completion signal sent by the first control unit. The extrusion disk cleaning module 303 receives the cleaning signal and cleans the extrusion disk 30222.

[0191] Furthermore, the extrusion disk cleaning module 303 is located at the bottom of the 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 disk 30222 to descend to the bottom of the frame 3011.

[0192] The extrusion disk 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 disk 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 disk 30222 is cleaned through the cleaning pipe 3031, avoiding the situation of pollution of the extrusion disk 30222 during subsequent use.

[0193] In this embodiment, the extrusion disk cleaning module 303 is arranged on one side of the initial work station, and the control module controls the extrusion disk cleaning module 303 to clean the extrusion disk 30222 located at the initial work station.

[0194] In this embodiment, a static area and a cleaning area are provided at the initial work station. The static area is located above the cleaning area, and the extrusion disk cleaning module 303 is located on one side of the cleaning area. When the extrusion disk 30222 enters the cleaning area, the control module controls the extrusion disk cleaning module 303 to clean the extrusion disk 30222.

[0195] After the squeezing disc 30222 finishes squeezing 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 squeezing disc 30222 to descend. After moving from the static area to the cleaning area, the control module controls the squeezing disc cleaning module 303 to clean the squeezing disc 30222. After the cleaning is completed, the control module controls the second driving member 30221 to drive the squeezing disc 30222 to rise to the top.

[0196] Specifically, the squeezing module 302, the squeezing disc cleaning module 303, 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 squeezing 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 squeezing module 302 and the inner support assembly grasping module 301 are perpendicular. In this embodiment, the squeezing module 302 and the squeezing disc cleaning module 303 are located on the same side, and the squeezing disc cleaning module 303 is located below the squeezing module 302 to facilitate timely cleaning of the squeezing module 302.

[0197] The specific working process is as follows: The robot transports the decocting pot assembly 100 to the integration working area. First, the squeezing module 302 squeezes the medicine bag to separate the medicinal liquid. Then, the inner support assembly grasping module 301 clamps the inner support assembly 120 in the decocting pot assembly 100 and removes it. The robot transports the outer pot 110 to the next process to collect the medicinal liquid. At the same time, the squeezing disc cleaning module 303 cleans the squeezing disc 30222 in the squeezing module. Finally, the robot sends back the outer pot 110 from which the medicinal liquid has been extracted, and the inner support assembly grasping module 301 sends back the inner support assembly 120 in the decocting pot assembly 100 into the outer pot 110.

[0198] 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.

[0199] In this embodiment, a control method for a squeezing system for traditional Chinese medicine decocting is also disclosed. Based on the above squeezing system for traditional Chinese medicine decocting, after the robot (RGV) places the decocting pot assembly 100 at the placement station of the decocting pot assembly, it includes the following steps:

[0200] The clamping mechanism 3025 clamps the inner support assembly 120 in the decocting pot assembly 100: The clamping mechanism 3025 receives the clamping signal sent by the control module and clamps the inner support assembly 120 in the decocting pot assembly 100.

[0201] The squeezing module 302 squeezes the medicine bag on the inner support assembly 120 in the decocting pot assembly 100.

[0202] Specifically, it includes the following process:

[0203] The control module controls the moving mechanism 3021 to drive the squeezing mechanism 3022 to move from the initial station to the placing station of the decocting pot assembly;

[0204] The control module controls the squeezing mechanism 3022 to vertically descend at the placing 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;

[0205] The control module controls the squeezing mechanism 3022 to rise to the top;

[0206] The control module controls the moving mechanism 3021 to drive the squeezing mechanism 3022 to return to the initial station.

[0207] The clamping mechanism 3025 releases the clamping state: The control module issues a signal to release the clamping to let the clamping mechanism 3025 release the clamping state;

[0208] The squeezing module 302 resets, and the inner support component grabbing module 301 grabs the inner support component 120 in the decocting pot assembly 100;

[0209] Specifically, it includes the following steps:

[0210] The control module controls the moving seat 3012 to move from the first station to the placing station of the decocting pot assembly;

[0211] The control module controls the grabbing mechanism 3013 to clamp the inner support component 120 of the decocting pot assembly 100 and return to the top;

[0212] The control module controls the moving seat 3012 to move from the placing station of the decocting pot assembly to the first station and place the inner support component 120 of the decocting pot assembly 100.

[0213] The squeezing module 302 resets, and the squeezing disk cleaning module 303 cleans the squeezing disk 30222.

[0214] In this embodiment, the order of the control module controlling the clamping mechanism 3025 to release the clamping state, the control module controlling the moving seat 3012 to move from the first station to the placing station of the decocting pot assembly, and the control module controlling the squeezing disk 30222 to descend to the cleaning area and controlling the squeezing disk cleaning module 303 to clean the squeezing disk 30222 can be adjusted, that is, there are also the following situations:

[0215] In the order of the control module controlling the clamping mechanism 3025 to release the clamping state, the control module controlling the squeezing disk 30222 to descend to the cleaning area and controlling the squeezing disk cleaning module 303 to clean the squeezing disk 30222, and the control module controlling the moving seat 3012 to move from the first station to the placing station of the decocting pot assembly in sequence;

[0216] The control module controls the moving base 3012 to move from the first station to the placing 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 pressing disk 30222 to descend to the cleaning area and controls the pressing disk cleaning module 303 to clean the pressing disk 30222 in sequence;

[0217] The control module controls the pressing disk 30222 to descend to the cleaning area and controls the pressing disk cleaning module 303 to clean the pressing disk 30222, the control module controls the clamping mechanism 3025 to release the clamping state, and the control module controls the moving base 3012 to move from the first station to the placing station of the decocting pot assembly in sequence;

[0218] Of course, the control module controls the clamping mechanism 3025 to release the clamping state, the control module controls the pressing disk 30222 to descend to the cleaning area and controls the pressing disk cleaning module 303 to clean the pressing disk 30222, and the control module controls the moving base 3012 to move from the first station to the placing station of the decocting pot assembly can also be carried out synchronously.

[0219] The above is only a preferred embodiment of the present invention, and it does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art of this patent, without departing from the scope of the technical solution of the present invention, can make some changes or modifications to the 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. A squeezing system for decocting traditional Chinese medicine, comprising a frame (3011), a squeezing module (302), an inner support component grasping module (301) and a connected control module; The squeezing module (302) and the inner support component grasping module (301) are both arranged on the frame (3011); The control module sends a squeezing signal to the squeezing module (302), and after receiving the squeezing signal, the squeezing module (302) squeezes the medicine bag on the inner support component (120) in the decocting pot assembly (100); The control module sends a grasping signal to the inner support component grasping module (301) according to the squeezing completion signal sent by the squeezing module (302); After receiving the grasping signal, the inner support component grasping module (301) grasps the inner support component (120) in the decocting pot assembly (100).

2. The squeezing system for decocting traditional Chinese medicine according to claim 1, characterized in that: The squeezing module (302) includes a moving mechanism (3021), a squeezing mechanism (3022) arranged on the moving mechanism (3021) and a first control unit; The first control unit on the squeezing module (302) sends a moving action signal to the moving mechanism (3021) according to the squeezing signal received from the control module, then sends a squeezing action signal to the squeezing mechanism (3022) according to the moving completion signal fed back by the moving mechanism (3021), and finally feeds back a squeezing completion signal to the control module according to the squeezing action completion signal fed back by the squeezing mechanism (3022).

3. The squeezing system for decocting traditional Chinese medicine according to claim 2, characterized in that: The first control unit on the squeezing module (302) sends a reset action signal to the moving mechanism (3021) according to the squeezing action completion signal fed back by the squeezing mechanism (3022), and then feeds back a squeezing completion signal to the control module according to the reset action completion signal fed back by the moving mechanism (3021).

4. The squeezing system for decocting traditional Chinese medicine according to claim 3, characterized in that: The frame (3011) is provided with a decocting pot assembly placement station for placing the decocting pot assembly (100) and an initial station where the initial position of the moving mechanism (3021) is located; After receiving the moving signal sent by the first control unit, the moving mechanism (3021) drives the squeezing mechanism (3022) to move from the initial station to the decocting pot assembly placement station; A position detector for detecting the position of the moving mechanism (3021) is arranged on the moving mechanism (3021) and / or the frame (3011); The first control unit feeds back a first in-place signal to the control module according to the position signal of the squeezing mechanism (3022) sent by the position detector.

5. The squeezing system for decocting traditional Chinese medicine according to claim 4, characterized in that: The extrusion mechanism (3022) includes a second driving member (30221) mounted on the moving mechanism (3021), an extrusion disk (30222) mounted on the second driving member (30221), and a second control unit; 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 extrusion of the medicine bag according to the extrusion signal sent by the second control unit. The sensor on the second driving member (30221) feeds back an extrusion completion signal to the second control unit; Preferably, 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); Preferably, 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.

6. The extrusion system for traditional Chinese medicine decocting according to any one of claims 1-5, characterized in that: The inner support assembly grasping module (301) includes A moving seat (3012) movably arranged on the frame (3011); A grasping mechanism (3013) arranged on the moving seat (3012) for grasping the inner support assembly (120) in the decocting pot assembly (100); A third control unit arranged on the moving seat (3012); A fourth control unit arranged 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; Preferably, 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.

7. The extrusion system for traditional Chinese medicine decocting according to claim 6, characterized in that: A first station for placing the inner support assembly in the decocting pot assembly (100) is provided on the frame (3011); 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 placing station of the decocting pot assembly and feeds back a signal indicating that the horizontal movement is in place; The third control unit sends a vertical movement signal to the moving seat (3012) according to the signal indicating that the horizontal movement is in place. The sensor on the moving seat (3012) receives the vertical movement signal, drives the grasping mechanism (3013) to descend at the placing station of the decocting pot assembly and feeds back a signal indicating that the vertical movement is in place.

8. The extrusion system for traditional Chinese medicine decocting according to any one of claims 3-5, characterized in that: It further includes a pressing plate cleaning module (303) arranged at the bottom of the frame (3011) and a fifth control unit arranged on the pressing plate cleaning module (303); The fifth control unit sends a cleaning signal to the pressing plate cleaning module (303) according to the reset action completion signal sent by the first control unit. The pressing plate cleaning module (303) receives the cleaning signal and cleans the pressing plate (30222); Preferably, the pressing plate cleaning module (303) is located at the bottom of the 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). The moving mechanism (3021) drives the pressing plate (30222) to descend to the bottom of the frame (3011).

9. The extrusion system for traditional Chinese medicine decocting according to any one of claims 2-5, characterized in that: The extrusion module (302) further includes a clamping mechanism (3025) and a sixth control unit, which are installed on the frame (3011) and are used to clamp the inner support assembly (120) in the decocting pot assembly; The sixth control unit receives the extrusion signal from the control module and sends a clamping signal to the clamping mechanism (3025). After the sensor on the clamping mechanism (3025) receives the clamping signal, it clamps the inner support assembly (120) in the decocting pot assembly (100) 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.

10. An extrusion control method for a decocting pot assembly, using the Chinese medicine decocting extrusion system according to any one of claims 1-9, characterized in that: It includes the following steps: The clamping mechanism (3025) clamps the inner support assembly (120) in the decocting pot assembly (100); The extrusion module (302) extrudes the medicine bag on the inner support assembly (120) in the decocting pot assembly (100); The clamping mechanism (3025) releases the clamping state; After the extrusion module (302) resets, the inner support assembly grasping module (301) grasps the inner support assembly (120) in the decocting pot assembly (100); The pressing plate cleaning module (303) cleans the pressing plate (30222).

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