Extrusion disc cleaning module for traditional Chinese medicine decoction

Abstract

The invention discloses an extrusion disc cleaning module for traditional Chinese medicine decoction. The squeezing disc cleaning module for traditional Chinese medicine decoction comprises a frame, and the frame is provided with a decoction pot assembly placing station and a squeezing mechanism; the extruding mechanism is provided with a lifting structure, and the end of the lifting structure is provided with a medicine bag extruding disc. The frame is provided with a storage station for storing the extrusion disc and a cleaning station for cleaning the extrusion disc, and the extrusion disc moves between the storage station and the cleaning station; the water supply mechanism is mounted on the frame; one end of the cleaning pipe is connected with the water supply mechanism, and the other end of the cleaning pipe extends to a cleaning station; the cleaning pipe is a telescopic deformation pipe. According to the squeezing disc cleaning module for traditional Chinese medicine decoction, by arranging the telescopic cleaning pipe, the distance and / or the direction between the pipe opening of the cleaning pipe and the squeezing disc are / is adjusted, so that the squeezing disc is more fully cleaned, and the cleaning effect of the squeezing disc is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of traditional Chinese medicine decocting production, and specifically relates to a squeezing disk cleaning module for traditional Chinese medicine decocting. Background Art

[0002] In the prior art, more and more automated devices are applied in the process of decocting traditional Chinese medicine. For example, there are decocting devices for decocting medicinal materials, filling devices for filling liquid medicine, and squeezing devices for squeezing the liquid medicine from medicinal residues. The long and tedious process of decocting traditional Chinese medicine is split by several devices performing specific processes, greatly improving the efficiency of each process of decocting traditional Chinese medicine and the quantity that can be processed simultaneously. In order to facilitate the rapid connection of the decocting process flow 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, and when the medicine bag is squeezed, the liquid medicine enters the outer pot.

[0003] In order to quickly squeeze out the liquid medicine in the medicine bag, a squeezing disk is usually used for squeezing. After the liquid medicine extraction is completed, it is necessary to use the cleaning water flowing out of the sub-cleaning pipe to clean the squeezing disk to avoid contamination between different traditional Chinese medicines in subsequent use. However, the distance between the outlet of the existing cleaning pipe and the squeezing disk is fixed, and the flexibility is not high, affecting the cleaning effect of the squeezing disk.

[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 a squeezing disk cleaning module for traditional Chinese medicine decocting, which realizes adjusting the distance and / or orientation between the nozzle of the cleaning pipe and the squeezing disk, so as to achieve the purpose of improving the cleaning effect of the squeezing disk.

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

[0007] A squeezing disk cleaning module for traditional Chinese medicine decocting, characterized in that it includes

[0008] A frame, which has a placement station for the decocting pot assembly and a squeezing mechanism;

[0009] The squeezing mechanism has a liftable structure, and the end of the liftable structure has a squeezing disk for squeezing the medicine bag;

[0010] A storage station for storing the squeezing disk and a cleaning station for cleaning the squeezing disk are provided on the frame, and the squeezing disk moves between the storage station and the cleaning station;

[0011] A water supply mechanism, which is installed on the frame;

[0012] A cleaning pipe, one end of which is connected to the water supply mechanism and the other end extends to the cleaning station;

[0013] The cleaning pipe is a telescopic and deformable pipe.

[0014] Furthermore, a moving mechanism is also provided on the frame, above the placement station of the decocting pot assembly;

[0015] The extrusion mechanism is installed on the moving mechanism;

[0016] The moving mechanism drives the extrusion mechanism to move between the initial position and the placement station of the decocting pot assembly;

[0017] The cleaning pipe is located on one side of the moving mechanism.

[0018] Furthermore, an opening for the decocting pot assembly to enter the placement station of the decocting pot assembly is provided on the frame, and the cleaning pipe is located on the side of the moving mechanism away from the opening.

[0019] Furthermore, the cleaning pipe includes a connected first pipe section and a second pipe section. The end of the first pipe section is an inlet connected to the water supply mechanism, and the end of the second pipe section is a telescopic outlet at the extrusion disc;

[0020] The first pipe section is a pipe with a fixed axial length, and the second pipe section is a pipe with an adjustable axial length and / or a freely bendable pipe.

[0021] Furthermore, the cleaning pipe is made of a deformable material, and the cleaning pipe uses its own elasticity for axial telescoping and / or bending in any direction.

[0022] Furthermore, the outlet of the cleaning pipe is suspended;

[0023] The outlet is arranged facing the extrusion disc at the cleaning station.

[0024] Furthermore, the cleaning pipe has at least one working state by using its own elongation and / or bending deformation;

[0025] In the working state of the cleaning pipe, the outlet of the cleaning pipe faces the extrusion disc, and there is a distance between the cleaning pipe and the extrusion disc.

[0026] Furthermore, a nozzle is provided at the outlet of the cleaning pipe, and the nozzle has a water spraying hole with a radially narrowing size along the water outlet direction.

[0027] Furthermore, the axial length when the cleaning pipe extends to the maximum axial length is 2 - 5 times the axial length when it is compressed to the minimum axial length.

[0028] Furthermore, the cleaning pipe is detachably connected to the water supply mechanism;

[0029] The detachable connection includes any one or combination of plug-in connection, threaded connection, and snap connection.

[0030] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

[0031] In the extrusion plate cleaning module for traditional Chinese medicine decocting of the present invention, by setting a telescopic and deformable cleaning pipe, the purpose of adjusting the distance and / or orientation between the nozzle of the cleaning pipe and the extrusion plate is achieved, so as to achieve more thorough cleaning of the extrusion plate and improve the cleaning effect of the extrusion plate.

[0032] At the same time, the present invention has a simple structure, a concise method, and remarkable effects, and is suitable for popularization and use.

[0033] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, as a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation to the present invention. Obviously, the accompanying drawings in the following description are only some embodiments, and those of ordinary skill in the art can obtain other drawings according to these drawings without creative efforts. In the drawings:

[0035] Figure 1 is the general assembly schematic diagram of the inner support component grasping module, extrusion module, and extrusion plate cleaning module for traditional Chinese medicine decocting of the present invention;

[0036] Figure 2 is the front view of the general assembly of the inner support component grasping module, extrusion module, and extrusion plate cleaning module for traditional Chinese medicine decocting of the present invention;

[0037] Figure 3 is the structural schematic diagram of the inner support component grasping module of the present invention;

[0038] Figure 4 is the front view of the inner support component grasping module of the present invention;

[0039] Figure 5 is Figure 1 the enlarged view of part A in

[0040] Figure 6 is Figure 1 the enlarged view of part B in

[0041] Figure 7 is the structural schematic diagram of the extrusion module of the present invention with part of the frame hidden;

[0042] Figure 8It is a side view of the extrusion module of the present invention;

[0043] Figure 9 It is a schematic diagram of the completed assembly of the decocting pot of the present invention;

[0044] Figure 10 It is a schematic diagram of the inner support assembly in the decocting pot of the present invention;

[0045] Figure 11 It is a schematic diagram of the outer pot of the decocting pot of the present invention;

[0046] 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.

[0047] 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 management groove; 3017, wire management pipe; 3018, storage cavity; 3019, cover plate; 302, extrusion module; 3021, moving mechanism; 30211, first driving part; 30212, moving platform; 3022, extrusion mechanism; 30221, second driving part; 30222, extrusion disc; 3023, slide rail; 30231, fixed rod; 30232, guide rod; 3024, sliding seat; 3025, clamping mechanism; 30251, third driving part; 30252, clamping plate; 303, extrusion disc cleaning module for traditional Chinese medicine decocting; 3031, cleaning pipe.

[0048] It should be noted that these drawings and text descriptions are not intended to limit the scope of the concept of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments in conjunction with the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0050] 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.

[0051] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, 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.

[0052] As Figures 1 to 12 shown, the extrusion disc cleaning module 303 for traditional Chinese medicine decocting of the present invention includes a cleaning pipe 3031 and a water supply mechanism. The water supply mechanism is installed on the frame 3011, and the cleaning pipe 3031 is connected to the water outlet of the water supply mechanism. When the first driving member 30211 drives the moving platform 30212 to move to the initial position, the second driving member 30221 drives the extrusion disc 30222 to move towards the direction close to the cleaning pipe 3031. After reaching the preset position, the water supply mechanism is activated, and the extrusion disc 30222 is cleaned through the cleaning pipe 3031, avoiding the situation of pollution generated by the extrusion disc 30222 in subsequent use.

[0053] In this embodiment, the water supply mechanism can be a washing pump, a pressurizing pump, a water extraction pump, etc., without specific limitation.

[0054] In this embodiment, one end of the cleaning pipe 3031 is connected to the water supply mechanism, and the other end extends to the extrusion disc. The cleaning pipe 3031 is a telescopic and deformable pipe, which realizes adjusting the distance and / or orientation between the pipe orifice of the cleaning pipe 3031 and the extrusion disc 30222, so as to clean the extrusion disc 30222 more fully, and thus greatly improves the cleaning effect of the extrusion disc 30222.

[0055] Further, the cleaning pipe 3031 includes a connected first pipe section and a second pipe section. The end of the first pipe section is an inlet connected to the water supply mechanism, and the end of the second pipe section is a telescopic outlet at the extrusion disc 30222; the first pipe section is a pipe with a fixed axial length, and the second pipe section is a pipe with an adjustable axial length and / or a freely bendable pipe.

[0056] In this embodiment, the second pipe section is any one or a combination of a corrugated pipe and a bamboo joint pipe.

[0057] In this embodiment, the cleaning pipe 3031 is made of a deformable material and axially expands and contracts and / or bends in any direction by using its own elasticity. According to the actual situation, when the cleaning pipe 3031 extends a certain length, the cleaning pipe 3031 can maintain this state, and when it needs to return to its original state, the cleaning pipe 3031 can automatically return by using its elasticity. Among them, the deformable material can be rubber, silica gel, elastic plastic, etc.

[0058] In this embodiment, the outlet of the cleaning pipe 3031 is suspended, and the outlet is arranged facing the extrusion disc 30222 at the storage station.

[0059] Further, the cleaning pipe 3031 has at least one working form by using its own elongation and / or bending deformation; in the working form of the cleaning pipe 3031, the outlet of the cleaning pipe 3031 faces the extrusion disc 30222, and there is a distance between the cleaning pipe 3031 and the extrusion disc 30222.

[0060] In this way, the length of the cleaning pipe 3031 can be adjusted according to the actual situation. When the cleaning pipe 3031 extends, the outlet of the cleaning pipe 3031 can face the extrusion disc 30222, which can ensure that the water flow pressure directly acts on the extrusion disc 30222.

[0061] In this embodiment, the axial length of the cleaning pipe 3031 when it extends to the maximum axial length is 2-5 times the axial length when it is compressed to the minimum axial length, so that the cleaning pipe 3031 has more selectivity and practicability.

[0062] In this embodiment, a nozzle is provided at the outlet of the cleaning pipe 3031, and the nozzle has a water spraying hole with a radially narrowing size along the water outlet direction. By using the nozzle, the pressure of the cleaning water flow can be increased to achieve a better cleaning effect.

[0063] In this embodiment, the cleaning pipe 3031 is detachably connected to the water supply mechanism for easy installation and disassembly. Specifically, the detachable connection includes any one or a combination of plug-in connection, threaded connection, and snap connection. In this embodiment, no specific limitation is made.

[0064] In this embodiment, a storage station for accommodating the extrusion disc 30222 and a cleaning station for cleaning the extrusion disc 30222 are provided on the frame 3011, and the extrusion disc 30222 moves between the storage station and the cleaning station.

[0065] In this embodiment, an extrusion device is further disclosed, which includes an extrusion module 302, an inner support component grasping module 301, and the above-mentioned extrusion disc cleaning module 303 for traditional Chinese medicine decoction.

[0066] In this embodiment, when the robot transports the decocting pot assembly 100 to the designated position, the extrusion module 302 extrudes the medicine bag in the inner support component 120, so that the medicinal liquid flows into the outer pot. Then, the inner support component grasping module 301 grasps the inner support component 120 and transfers it to the designated position, and at the same time, the extrusion disc cleaning module 303 for traditional Chinese medicine decoction cleans the extrusion module 302.

[0067] The extrusion module 302 includes a frame 3011, a moving mechanism 3021, and an extrusion mechanism 3022. The frame 3011 has a placement station for the decocting pot assembly. The moving mechanism 3021 is movably installed on the frame 3011 and is located above the placement station for the decocting pot assembly. The extrusion mechanism 3022 is installed on the moving mechanism 3021. The extrusion mechanism 3022 has a lifting end for extruding the medicine bag, and the moving mechanism 3021 drives the extrusion mechanism 3022 to reciprocate between the initial position and the placement station for the decocting pot assembly. The cleaning pipe 3031 is located on one side of the moving mechanism 3021.

[0068] When the robot transports the decocting pot assembly 100 to the integrated working area, the moving mechanism 3021 drives the extrusion mechanism 3022 to move to the integrated working area and finally reach above the decocting pot assembly 100. Then, the extrusion mechanism 3022 descends and extends into the decocting pot assembly 100, and extrudes the medicine bag in the inner support component 120 in the decocting pot assembly 100, so that the medicinal liquid flows out into the outer pot.

[0069] In this embodiment, the initial position and the placement station for the decocting pot assembly are on the same straight line. The moving direction of the moving mechanism 3021 is the same as or opposite to the moving direction when the decocting pot assembly 100 enters the placement station for the decocting pot assembly. With such an arrangement, the stroke of the moving mechanism is minimized, the transfer efficiency is improved, and the installation space is also saved.

[0070] In this embodiment, the decocting pot assembly 100 includes an outer pot 110 for accommodating the medicinal liquid, and an inner support component 120 placed in the outer pot 110 for supporting the traditional Chinese medicine medicine bag. The inner support component 120 is provided with a tray 121, and an inner support component 120 placement opening is formed inside the circumference of the tray 121. The tray 121 is placed at the placement opening of the outer pot 110 to realize the placement of the inner support component 120 in the outer pot 110.

[0071] 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 serves as the main body of the entire decocting pot 100. The main function of the outer pot 110 is to hold the medicinal liquid required during the decocting process. 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.

[0072] The inner support assembly 120 is placed inside the outer pot 110 and is used to support the traditional Chinese medicine medicine bag. The design of the inner support assembly 120 should be convenient for 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.

[0073] A tray 121 is provided at the top of the inner support assembly 120 and is erected on the circumference of the feeding port of the outer pot 110 to achieve the stable placement of the inner support assembly 120 inside the outer pot 110. This is not only convenient for the feeding and removal of the medicine bag, but also avoids the possible wear or contamination caused by the direct contact between the inner support assembly 120 and the bottom of the outer pot 110. The tray 121 also needs to be supported by a material with high temperature resistance and corrosion resistance to ensure its stability and durability during use.

[0074] Specifically, the inner circumference of the tray 121 forms a feeding port for 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 port of the inner support assembly 120 for decocting.

[0075] Further, a reinforcing rib 113 is provided at the feeding port of the outer pot 110. The reinforcing rib 113 is arranged in a ring around the feeding port of the outer pot 110; the tray 121 is erected on the reinforcing rib 113; preferably, the outer edge of the tray 121 protrudes from the reinforcing rib 113.

[0076] In this embodiment, a reinforcing rib 113 is provided at the feeding port of the outer pot 110. The reinforcing rib 113 is arranged in a ring around the feeding port. Its main purpose is to enhance the structural strength of this area of the outer pot 110. Since the feeding port is an area that is often subjected to internal and external forces, such as the placement and removal of the inner support assembly 120 and the feeding of the medicine bag, the addition of the reinforcing rib 113 can effectively prevent the feeding port from deforming or breaking due to long-term use or improper operation, thereby extending the service life of the outer pot 110. As a preferred solution, the reinforcing rib 113 is a ring-shaped reinforcing rib 113 arranged in a circle around the feeding port of the outer pot 110.

[0077] Specifically, the pallet 121 is placed on the reinforcing rib 113, which can provide stable support for the pallet 121 and ensure the accurate position of the inner support assembly 120 within the outer pot 110. The annular structure of the reinforcing rib 113 provides a flat and firm placement platform for the pallet 121, enabling the pallet 121 to firmly support the inner support assembly 120 and the traditional Chinese medicine medicine bag thereon, preventing shaking or tilting during the decocting process.

[0078] As a preferred embodiment, the outer edge of the pallet 121 is designed to protrude beyond the reinforcing rib 113, which not only increases the contact area between the pallet 121 and the reinforcing rib 113, thereby improving the placement stability of the pallet 121, but also provides a certain guiding function for the placement and removal of the inner support assembly 120.

[0079] Furthermore, a clamping assembly 123 is provided on the side of the pallet 121 facing the inside of the inner support assembly 120. The clamping assembly 123 is used to clamp and fix the seal of the traditional Chinese medicine medicine bag; preferably, the clamping assembly 123 clamps and fixes the end of the seal.

[0080] During the decocting process, the traditional Chinese medicine medicine bag is usually sealed to prevent the medicinal materials from scattering or being contaminated. When the medicine bag is located in the inner support assembly 120, the clamping assembly 123 clamps the seal of the medicine bag, which can further ensure the stable placement of the medicine bag and prevent it from moving or tilting due to the boiling of the liquid medicine or stirring during the decocting process.

[0081] Specifically, an inner support assembly 120 feeding port is formed on the inner circumference of the pallet 121. The edge of the feeding port is arranged with alternating straight lines and arc lines. The two arc lines are arranged opposite to each other, and the two straight lines are arranged opposite to each other. The clamping assembly 123 is arranged at one of the straight lines and faces the inside of the inner support assembly 120. The clamping assembly 123 includes: a housing, a core that can be telescopically moved within the housing, and a spring that provides a thrust force for the core.

[0082] More specifically, when decocting traditional Chinese medicine, first put the traditional Chinese medicine materials into the medicine bag, then tie the medicine bag tightly with a seal. Push the core of the clamping assembly 123 to make the opening of the core coincide with the opening of the housing. Place the seal at the opening. After the placement is completed, release the force pushing the core. The core is pushed by the restoring force of the spring within the housing and returns to the initial state. At this time, the seal is clamped and fixed within the clamping assembly 123.

[0083] It should be noted that the seal for sealing the medicine bag can be a separately provided rope. The medicine bag is tied tightly with the rope, and then the remaining end after tying is clamped on the clamping assembly 123 to fix the seal. As another option, the seal for sealing the medicine bag can be a part of the medicine bag. This part is used to tie the medicine bag tightly, and then the remaining end after tying is clamped on the clamping assembly 123 to fix the seal.

[0084] 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.

[0085] 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 with high temperature resistance and corrosion resistance to cope with the high temperature and humid environment during the decocting process.

[0086] Specifically, one end of the connecting rod 122 is set in a straight-line 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 with different apertures for the dripping of the liquid medicine and for the cleaning parts to pass through the through holes in the bottom wall of the outer pot 110 when cleaning the decocting pot 100.

[0087] As a preferred solution, the bottom plate 124 can be set into a disc-shaped structure with a high middle and a gradually decreasing circumference, so that when operating on the medicine bag such as squeezing, the liquid medicine in the medicine bag can flow smoothly into the outer pot 110.

[0088] Furthermore, a protrusion 111 is provided on the inner peripheral wall of the outer pot 110; the protrusion 111 cooperates with the connecting rod 122 to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0089] In this embodiment, to improve the stability of the inner support assembly 120 in the outer pot 110 and prevent unnecessary rotation during the decocting process, a protrusion 111 is provided on the inner peripheral wall of the outer pot 110, which cooperates with the connecting rod 122 of the inner support assembly 120.

[0090] Specifically, the protrusion 111 on the inner peripheral wall of the outer pot 110 is provided with a shape and size that cooperate with the connecting rod 122. The shape of the protrusion 111 can be circular, square, or other shapes suitable for cooperating with the connecting rod 122 to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0091] When the inner support assembly 120 is placed in the outer pot 110, the connecting rod 122 will come into contact with the protrusion 111, preventing the inner support assembly 120 from maintaining a relatively stable position during the decocting process, even when the liquid medicine is boiling or being stirred, through physical restriction.

[0092] Furthermore, at least two protrusions 111 are provided and arranged oppositely on the inner peripheral wall of the outer pot 110; at least two connecting rods 122 are provided and arranged oppositely on the inner support assembly 120; the protrusions 111 and the connecting rods 122 correspond one by one to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0093] In this embodiment, on the inner peripheral wall of the outer pot 110, at least two protrusions 111 are provided and these two protrusions 111 are in opposite positions; the number and position of the protrusions 111 should be reasonably arranged according to the size of the outer pot 110 and the size of the inner support assembly 120 to achieve the best stability effect. Correspondingly, on the inner support assembly 120, at least two connecting rods 122 are provided and the two connecting rods 122 are in opposite positions. One end of the connecting rod 122 is connected to the tray 121 and the other end is connected to the bottom plate 124 to form a stable support structure. The number and position of the connecting rods 122 should correspond one by one to the protrusions 111 on the outer pot 110 so that during the decocting process, the connecting rods 122 can cooperate with the protrusions 111 to limit the rotation of the inner support assembly 120.

[0094] When decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it winds around the bottom of the connecting rod 122 for one week, and then the end is clamped and fixed in the clamping assembly 123, which can ensure that during the process of decocting traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120. The bottom plate 124 is higher than the inner bottom wall of the outer pot and will not float due to the buoyancy of the water in the decocting pot 100.

[0095] In another embodiment, four protrusions 111 are provided on the inner peripheral wall of the outer pot 110, and every two protrusions 111 form a group; four connecting rods 122 are provided on the inner support assembly 120, and every two connecting rods 122 form a group. Two protrusions 111 cooperate with two connecting rods 122 to limit the rotation of the inner support assembly 120 in the outer pot. Specifically, when the inner support assembly 120 is placed in the outer pot 110, the two protrusions 111 are located between the two connecting rods 122 to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0096] Specifically, a support rod connecting the two connecting rods 122 is provided between a set of two connecting rods 122, and the support rod is arranged near the bottom plate 124 of the inner support assembly 120; when decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it passes through the lower part of the support rod from the inside to the outside of the inner support assembly 120, and then the end is clamped and fixed in the clamping assembly 123, which can ensure that during the process of decocting traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120 and will not float due to the buoyancy of the water in the decocting pot 100. As a preferred solution, the seal can be wound around the support rod for one week and then clamped and fixed at the clamping member 123.

[0097] Further, a rib 112 is provided on the outer peripheral wall of the outer pot 110. 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.

[0098] In this embodiment, a rib 112 is provided on the outer peripheral wall of the outer pot 110. 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.

[0099] Specifically, when transporting the decocting pot 100, transporting members such as a transport cart and a gripper will clamp the pot wall of the outer pot 110 below the rib 112. Due to the design of the rib 112, the transporting member can clamp the outer pot 110 more stably, preventing accidental situations such as slipping or tipping over during transportation.

[0100] 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.

[0101] In this embodiment, to further enhance the stability and safety of the decocting pot 100 during transportation, at least two annular ribs 112 are provided on the outer peripheral wall of the outer pot 110. The two annular ribs 112 are arranged circumferentially along the pot wall of the outer pot 110, and the two annular ribs 112 are spaced apart axially on the outer pot 110, and the spacing distance at least satisfies the clamping of the transporting member.

[0102] Specifically, when transporting the decocting pot 100, transporting members such as a transport cart and a gripper will clamp the part of the pot wall of the outer pot 110 between the two annular ribs 112. Due to the presence of the two annular ribs 112, the transporting member can clamp the outer pot 110 more firmly, preventing shaking or slipping during transportation.

[0103] Further, a carrier 130 is provided at the bottom of the outer pot 110, and the movement of the decocting pot 100 on the conveyor line of the automatic decocting system is realized through the carrier 130.

[0104] Further, the carrier 130 includes: a support plate 131, and the support plate 131 is fixedly connected to the outer pot 110;

[0105] 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.

[0106] In this embodiment, in order to improve the automation degree and movement convenience of the decocting pot 100, a carrier 130 is provided at the bottom of the outer pot 110, and the design of the carrier 130 should consider factors such as compatibility with the conveyor line, load-bearing capacity, and stability.

[0107] 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.

[0108] As a preferred solution, the support plate 131 and the outer pot 110 are fixed together by welding. Welding connection has the advantages of high strength, good sealing performance, and firm connection, etc., which can ensure that there is no relative displacement or loosening between the support plate 131 and the outer pot 110 during the movement of the decocting pot 100, and at the same time simplifies the installation process and improves work efficiency.

[0109] Specifically, the support plate 131 is a square sheet metal structure, and a bent and formed fixing portion 1311 is provided at its edge; the bent and formed fixing portion 1311 is provided at the edges of the four sides of the support plate 131. When it is necessary to fix the outer pot 110 of the decocting pot 100, the fixing device cooperates with the fixing portion 1311 to achieve the fixing function. The fixing portion 1311 is an L-shaped structure, first bent upward from the plane of the support plate 131, and then horizontally bent, and the connection at each bent section is in an arc transition. The conveying module 132 wrapped outside the support plate 131 is connected by four straight rods 1321 inserted end to end. Grooves are provided on the straight rods 1321 to reduce the overall weight of the 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 decocting pot 100 and the adaptability to the conveyor belt.

[0110] In this embodiment, the moving mechanism 3021 includes a first driving member 30211 and a moving platform 30212. The first driving member 30211 is installed on the frame 3011, the moving platform 30212 is installed on the first driving member 30211, and the extrusion mechanism 3022 is installed on the moving platform 30212. By the movement of the first driving member 30211, the first driving member 30211 drives the moving platform 30212 to move in a direction closer to or farther from the placement station of the decocting pot assembly, thereby realizing the relative movement of the extrusion mechanism 3022.

[0111] 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.

[0112] 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.

[0113] In this embodiment, a slide rail 3023 is installed on the frame 3011. The slide rail 3023 is horizontally arranged and is consistent with the moving path of the moving platform 30212. A slide seat 3024 is installed on the moving platform 30212, and the slide seat 3024 is slidably connected to the slide rail 3023. Through the cooperation of the slide seat 3024 and the slide rail 3023, the support of the moving platform 30212 is realized, and the movement of the moving platform 30212 is guided.

[0114] Further, the slide rail 3023 includes a fixed rod 30231 and a guide rod 30232. Both ends of the fixed rod 30231 are connected to the frame 3011, and the guide rod 30232 is connected to the bottom or side of the fixed rod 30231. The fixed rod 30231 and the guide rod 30232 are arranged in parallel, and the slide seat 3024 is slidably connected to the guide rod 30232.

[0115] In this embodiment, the guide rod 30232 is cylindrical, and an arc-shaped recess is formed on the slide seat 3024. The inner wall of the recess fits with the outer wall of the guide rod 30232. When the moving platform 30212 moves, the guide rod 30232 is embedded in the recess of the slide seat 3024, and the guide rod 30232 and the slide seat 3024 are clamped to realize the support of the moving platform 30212. By using the cooperation of the guide rod 30232 and the recess, both the support strength of the moving platform 30212 is ensured, and the moving platform 30212 can be guided.

[0116] In this embodiment, the extrusion mechanism 3022 has a liftable structure. The end of the liftable structure is provided with an extrusion disk 30222 for extruding the medicine bag. The liftable structure includes a second driving member 30221. The second driving member 30221 is installed on the moving platform 30212, and the extrusion disk 30222 is installed on the second driving member 30221. The second driving member 30221 drives the extrusion disk 30222 to lift. Through the second driving member 30221, driving the extrusion disk 30222 to move up and down, automatic extrusion of the medicine bag can be achieved. One end of the cleaning pipe 3031 away from the water supply mechanism extends to the cleaning station.

[0117] 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.

[0118] In this embodiment, taking the cylinder as an example for further illustration: The cylinder block of the cylinder is fixedly installed on the moving platform 30212, and the cylinder rod of the cylinder extends and retracts vertically. The extrusion disk 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 disk 30222 to move vertically.

[0119] In this embodiment, when extruding 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 provided on the frame 3011. Before the extrusion mechanism 3022 extrudes 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 to facilitate extrusion.

[0120] In this embodiment, an opening for the decocting pot assembly 100 to enter the placement station of the decocting pot assembly is provided on the frame 3011. The cleaning pipe 3031 is located on the side of the moving mechanism 3021 away from the opening. A supporting device for supporting the inner support assembly 120 is provided at the placement station of the decocting pot assembly.

[0121] Specifically, the supporting device includes two clamping mechanisms 3025. The two clamping mechanisms 3025 are respectively arranged on both sides of the decocting pot. The two clamping mechanisms 3025 clamp from both sides of the decocting pot assembly 100, and the stability is higher.

[0122] In this embodiment, the clamping mechanism 3025 includes a third driving member 30251 and a clamping member 30252. The third driving member 30251 is installed on the frame 3011, and the clamping member 30252 is installed on the third driving member 30251. The third driving member 30251 drives the clamping member 30252 to move.

[0123] In this embodiment, the supporting device is located on one side of the opening, and the moving direction of the clamping member 30252 intersects with the moving direction of the decocting pot assembly 100 when it enters the placement station of the decocting pot assembly.

[0124] 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:

[0125] The cylinder block of the cylinder is fixedly installed on the frame 3011, and the cylinder rod of the cylinder expands and contracts in the horizontal direction. The clamping member 30252 is installed on the cylinder rod. During operation, the cylinder rod of the cylinder extends or contracts horizontally, thereby changing the distance between the two clamping members 30252.

[0126] In this embodiment, the clamping member 30252 can be processed into an arc shape so that the clamping member 30252 fits the outer shape of the inner support assembly 120 in the decocting pot assembly 100 for easy clamping.

[0127] In this embodiment, the pressing module 302 is also provided with a positioning mechanism for driving the pressing mechanism 3022 to move between preset positions by the moving mechanism 3021.

[0128] Specifically, the positioning mechanism can be a pair of photoelectric sensors, a laser sensor, or a camera. In this embodiment, the first driving member 30211 and the positioning mechanism cooperate with the controller to achieve automatic control. Of course, the pressing mechanism 3022 and the clamping mechanism 3025 are also controlled by the controller. In this embodiment, the controller can also be a PLC controller.

[0129] Taking the pair of photoelectric sensors as an example for illustration: The controller controls the third driving member 30251 to extend, so that the clamping member 30252 clamps the inner support assembly 120 in the decocting pot assembly 100. The first driving member 30211 drives the moving platform 30212 to move. When the receiving end of the pair of photoelectric sensors receives the light emitted by the transmitting end of the pair of photoelectric sensors, the controller receives the signal emitted by the receiving end of the pair of photoelectric sensors, controls the first driving member 30211 to stop moving, and further controls the second driving member 30221 to drive the pressing disk 30222 to descend. Again, through the control of the pair of photoelectric sensors, when reaching the specified position, the controller controls the second driving member 30221 to stop moving to complete the pressing work on the medicine bag.

[0130] After the extrusion is completed, the controller controls the second driving member 30221 to drive the extrusion disc 30222 to rise to the top, and then controls the first driving member 30211 to drive the moving platform 30212 to move horizontally. Again, through the control of the transmissive photoelectric sensor, the first driving member 30211 returns to the initial position, and the first driving mechanism 30122 is controlled to stop moving.

[0131] In this embodiment, a detection mechanism is further provided, which is installed on the frame 3011 and 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 extrusion disc 30222 extrudes the medicine bag, the detection mechanism detects the liquid level height in the decocting pot assembly. When the liquid level height in the decocting pot assembly meets the requirements, the next process is continued; when the liquid level height in the decocting pot assembly does not meet the requirements, water needs to be added to the decocting pot assembly until the requirements are met and then the next process is carried out.

[0132] 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 by a certain angle to rotate the liquid level sensor to one side of the placement station of the decocting pot assembly to avoid the extrusion disc 30222.

[0133] In this embodiment, an extrusion device for traditional Chinese medicine decoction is also disclosed, which includes an inner support component grasping module 301, a cleaning module 303 for the extrusion disc for traditional Chinese medicine decoction, and the above extrusion module 302.

[0134] In this embodiment, when the robot transports the decocting pot assembly 100 to the designated position, the extrusion module 302 extrudes the medicine bag in the inner support component 120, so that the medicinal liquid flows into the outer pot 110. Then, the inner support component grasping module 301 grasps the inner support component 120 and transfers it to the designated position, and at the same time, the cleaning module 303 for the extrusion disc for traditional Chinese medicine decoction cleans the extrusion module 302.

[0135] The inner support component grasping module of the present invention is used to grasp the inner support component 120 in the decocting pot assembly 100 placed on the frame 3011. The frame 3011 has a placement station for the decocting pot assembly 100 and a first station for placing the inner support component in the decocting pot assembly 100. The inner support component grasping module 301 grasps the inner support component 120 in the decocting pot assembly 100 and moves between the first station and the placement station of the decocting pot assembly.

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

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

[0138] By providing the moving base 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 ensuring the decocting efficiency of the decocting pot.

[0139] Specifically, the frame 3011 includes vertical beams 30111, cross beams 30112 and cross bars 30113. There are multiple vertical beams 30111 and cross bars 30113. The vertical beams 30111 are arranged in parallel at intervals, the cross bars 30113 are arranged between two adjacent vertical beams 30111, and the cross bars 30113 are arranged in parallel. There are two cross beams 30112, both of which are arranged on the top of the vertical beams 30111 and are parallel, and the two cross beams 30112 guide the moving base 3012. In this embodiment, the cross bars 30113 are perpendicularly connected to the vertical beams 30111, and the connection method can be welding, or detachable connection such as screws, or connection through a connecting piece.

[0140] In this embodiment, the frame 3011 can be directly fixed on the ground or fixed on other devices, such as steel plates, boxes, etc. Taking the frame 3011 fixed on the ground as an example for illustration:

[0141] In this embodiment, the frame 3011 adopts a detachable connection method. Specifically, an L-shaped steel plate is used for connection. One side of the steel plate is connected to the vertical beam 30111 by bolts, and the other side of the steel plate is connected to the ground by bolts, thereby realizing the overall fixation of the frame 3011.

[0142] In this embodiment, support legs are also installed at the bottom of the vertical beams 30111. Through the support legs, leveling can be carried out, and they can also play a supporting role, improving the overall strength and stability of the frame 3011.

[0143] Further, 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, and the second driving mechanism 30123 is used to drive the grasping mechanism 3013 to move vertically along the frame 3011.

[0144] When the outer pot 110 needs to be separated from the inner support assembly 120, the first driving mechanism 30122 drives the mounting platform 30121 to move above the inner support assembly 120, that is, drives the grasping mechanism 3013 to move above the inner support assembly 120. The second driving mechanism 30123 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 can clamp the inner support assembly 120. After the grasping mechanism 3013 clamps the inner support assembly 120, the second driving mechanism 30123 drives the grasping mechanism 3013 to rise. At the same time, the first driving mechanism 30122 drives the mounting platform 30121 to move above 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.

[0145] 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.

[0146] The first driving mechanism 30122 includes a motor, a gear, and a rack. The motor is mounted on the mounting platform 30121. The gear is connected to the output end of the motor. The rack is mounted on the frame 3011, and the gear meshes with the rack. When the motor is started, the output shaft of the motor rotates to drive the gear to rotate. Since the gear meshes with the rack, the rotation of the gear drives the movement of the mounting platform 30121. Through the gear-rack transmission mechanism, the mounting 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.

[0147] 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.

[0148] 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 will be further described by taking the cylinder as an example.

[0149] The second driving mechanism 30123 includes a cylinder which is vertically installed. The cylinder block of the cylinder is fixed on the installation platform 30121, and the grasping mechanism 3013 is installed on the output end of the cylinder. By the extension or contraction of the cylinder, the grasping mechanism 3013 is driven to move down or up.

[0150] 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.

[0151] In this embodiment, the installation platform 30121 can be of a double-layer structure to facilitate the installation of the motor and the cylinder respectively, and avoid interference between the first driving mechanism 30122 and the first driving mechanism 30122 due to the narrow installation space. The two-layer structure (two installation plates) of the installation platform 30121 is parallel. The upper-layer structure of the installation platform 30121 is located above the two cross beams 30112, and the lower-layer structure of the installation platform 30121 is located below the two cross beams 30112. The output shaft of the cylinder passes through the two-layer structure of the installation platform 30121 in sequence.

[0152] In this embodiment, in order to support and guide the installation platform 30121, a guide rail 3014 and a guide seat 3015 are further provided. The guide rail 3014 is installed on the cross beam 30112 and is horizontally arranged. The guide rail 3014 is arranged along the extension direction of the cross beam 30112. The guide seat 3015 is installed on the installation platform 30121, and the guide seat 3015 is slidably connected with the guide rail 3014. Through the sliding cooperation between the guide seat 3015 and the guide rail 3014, the stability of the installation platform 30121 during movement can be improved, that is, the stability of the inner support assembly 120 during transfer can be improved.

[0153] In this embodiment, the grabbing mechanism 3013 includes a loading platform 30131 and a clamping arm 30132. The loading platform 30131 is mounted on the second driving mechanism 30123. Two clamping arms 30132 are provided, both of which are mounted on the loading platform 30131. The two clamping arms 30132 can move in a direction away from or towards each other, and are used to clamp the inner support assembly 120 in the frying 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 towards each other to clamp the inner support assembly 120 in the frying pot assembly 100. When the clamping state needs to be released, the two clamping arms 30132 only need to be moved in a direction away from each other.

[0154] Furthermore, the clamp arm 30132 includes a telescopic driving member 301321 and a clamping claw 301322. The telescopic driving member 301321 is mounted on the loading platform 30131, and the clamping claw 301322 is mounted on the telescopic driving member 301321. By extending or retracting the telescopic driving member 301321, the distance between the two clamping claws 301322 is controlled to achieve switching between the clamping and releasing states.

[0155] In this embodiment, the telescopic driving member 301321 can be a cylinder, a linear motor, an electric push rod, etc., and the cylinder is taken as an example for further explanation: the cylinder body of the cylinder is fixedly installed on the loading platform 30131, and the clamping claw 301322 is installed on the output end of the cylinder. The extension and contraction of the cylinder drives the movement of the clamping claw 301322.

[0156] In this embodiment, an arc-shaped clamping portion 301323 is formed on the clamping jaws 301322. Since the inner support assembly 120 in the frying pot assembly 100 is a cylindrical structure, in order to facilitate the clamping of the two clamping jaws 301322, the arc-shaped clamping portion 301323 is processed on the clamping jaws 301322, which can match the outer shape of the inner support assembly 120 in the frying pot assembly 10. In this way, during the clamping process, the outer wall of the inner support assembly 120 in the frying pot assembly 100 can fit with the clamping portion 301323, making the clamping process more stable and safe.

[0157] In this embodiment, in order to ensure the accuracy of the first driving mechanism 30122 and the second driving mechanism 30123 during operation, a positioning mechanism is also provided, and the positioning mechanism is installed on the moving seat 3012. Through the positioning mechanism, the moving seat 3012 drives the grabbing mechanism 3013 to move back and forth between preset positions.

[0158] Specifically, the positioning mechanism can be an opposed photoelectric sensor, a laser sensor, or a camera. In this embodiment, the first driving mechanism 30122, the second driving mechanism 30123, and the positioning mechanism cooperate with the controller to achieve automatic control. Of course, the grasping mechanism 3013 is also controlled by the controller. In this embodiment, the controller can be a PLC controller.

[0159] 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 controller receives the signal emitted by the receiving end of the opposed photoelectric sensor, controls the first driving mechanism 30122 to stop moving, and then controls the second driving mechanism 30123 to drive the grasping mechanism 3013 to descend. After controlling the opposed photoelectric sensor again, when reaching the specified position, the controller controls the second driving mechanism 30123 to stop moving, and at the same time controls the grasping mechanism 3013 to clamp the inner support assembly 120 in the decocting pot assembly 100.

[0160] After the grasping mechanism 3013 finishes clamping, the controller controls the second driving mechanism 30123 to drive the grasping mechanism 3013 to rise to the top, and then controls the first driving mechanism 30122 to drive the installation platform 30121 to move horizontally until it moves to the preset position. It can be controlled by the opposed photoelectric sensor again to control the first driving mechanism 30122 to stop moving, and then control the second driving mechanism 30123 to drive the grasping mechanism 3013 to descend. Then, when reaching the preset position, the grasping mechanism 3013 releases the clamping state.

[0161] 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.

[0162] In this embodiment, a buffer is also provided. The buffer is arranged on the loading platform 30131, and multiple buffers can be set. 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 the horizontality of the inner support assembly 120 for subsequent accurate placement. In this embodiment, the buffer can be an oil pressure buffer or a spring buffer.

[0163] In this embodiment, a detection sensor and a sensing element are further provided to determine whether the inner support assembly 120 is tilted, ensuring safety during the transfer process. Specifically, the detection sensor is installed on the loading platform 30131, and the sensing element is movably inserted through the loading platform 30131. Under normal circumstances, the detection sensor cannot detect the sensing element. When the inner support assembly 120 is tilted, the inner support assembly 120 will push up the sensing element. The sensing element slides upward under the force, causing the sensing element to move 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.

[0164] In this embodiment, a cable management groove 3016 is provided on the frame 3011, and a cable management pipe 3017 is arranged in the cable management groove 3016. The cable management pipe 3017 is used for threading air pipes, electric wires, etc. By providing the cable management groove 3016 and the cable management pipe 3017, it is avoided that during the movement of the moving seat 3012, air pipes, electric wires, etc. affect the movement of the moving seat 3012 or the situation where air pipes, electric wires, etc. are entangled.

[0165] In this embodiment, by installing a side plate on the frame 3011, a storage cavity 3018 is formed for placing the inner support assembly 120 in the decocting pot assembly 100, which is the first station. 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.

[0166] In this embodiment, there are multiple storage cavities 3018, and the multiple storage cavities 3018 are arranged in a row. The moving seat 3012 can sequentially move above each storage cavity 3018. By providing multiple storage cavities 3018, multiple inner support assemblies 120 in the decocting pot assemblies 100 can be placed simultaneously, improving the processing efficiency.

[0167] In this embodiment, a cover plate 3019 is further provided. The cover plate 3019 covers the top of the storage cavity 3018, and through holes are provided on the cover plate 3019. The inner support assembly 120 in the decocting pot assembly 100 can enter the storage cavity 3018 through the through holes on the cover plate 3019. The cover plate 3019 and the storage cavity 3018 are provided in one-to-one correspondence.

[0168] Since a tray is provided at the top of the inner support assembly 20 within the decocting pot assembly 100, and the tray is annularly arranged along the outer wall of the inner support assembly 120 within 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 within the decocting pot assembly 100, such that the tray of the inner support assembly 120 within the decocting pot assembly 100 can be hung on the cover plate 3019, facilitating the taking and placing of the inner support assembly 120 within the decocting pot assembly 100.

[0169] 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, 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).

[0170] In this embodiment, the working process of the inner support assembly grasping module 301 is as follows:

[0171] 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 within the decocting pot assembly 100. The two jaws 301322 move towards each other to clamp the inner support assembly 120 within the decocting pot assembly 100; then the second driving mechanism 30123 drives the grasping mechanism 3013 to rise to the top, the first driving mechanism 30122 returns and moves above one of the storage cavities 3018, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend. The inner support assembly 120 within the decocting pot assembly 100 also descends together into the storage cavity 3018 until the tray of the inner support assembly 120 within the decocting pot assembly 100 abuts against the cover plate 3019, thus completing the storage of the inner support assembly 120 within the decocting pot assembly 100.

[0172] In this embodiment, the squeezing module 302, the squeezing disk 30222 cleaning module, and the inner support assembly grasping module 301 are all installed on the frame 3011. The frame 3011 is L-shaped. The moving directions of the 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 traditional Chinese medicine decocting squeezing disk cleaning module 303 are located on the same side, and the traditional Chinese medicine decocting squeezing disk cleaning module 303 is located below the squeezing module 302 to facilitate the timely cleaning of the squeezing module 302.

[0173] In this embodiment, there is an integrated working area where the inner support component grasping module 301 and the extrusion module 302 overlap on the frame 3011, which is located at the corner of the L-shaped frame 3011. The integrated working area means that the extrusion module 302 can move to this area to extrude the medicine package, and at the same time, the inner support component grasping module 301 can move to this area to clamp the inner support component 120 in the decocting pot, which can make the structure more compact and save installation space.

[0174] The specific working process is as follows: The robot transports the decocting pot assembly 100 to the placement station of the decocting pot assembly. First, the extrusion module 302 extrudes the medicine package to separate the liquid medicine. Then, the inner support component grasping module 301 clamps the inner support component 120 in the decocting pot assembly 100 and removes it. The robot transports the outer pot 110 to the next process to collect the liquid medicine; at the same time, the cleaning module of the extrusion disk 30222 cleans the extrusion module 302; finally, the robot returns the outer pot 110 from which the liquid medicine has been extracted, and the inner support component grasping module 301 returns the inner support component 120 in the decocting pot assembly 100 to the outer pot 110.

[0175] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of this patent, without departing from the scope of the technical solution of the present invention, can make some changes or modifications into equivalent embodiments with equivalent changes 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 cleaning module for an extrusion disc used in traditional Chinese medicine decocting, characterized in that: including a frame (3011) having a placement station for a decocting pot assembly and an extrusion mechanism (3022); the extrusion mechanism (3022) has a liftable structure, and an end of the liftable structure has an extrusion disk (30222) for extruding medicine bags; a storage station for receiving the extrusion disk (30222) and a cleaning station for cleaning the extrusion disk (30222) are provided on the frame (3011), and the extrusion disk (30222) moves between the storage station and the cleaning station; a water supply mechanism installed on the frame (3011); a cleaning pipe (3031) having one end connected to the water supply mechanism and the other end extending to the cleaning station; the cleaning pipe (3031) is a telescopic and deformable pipe.

2. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 1, wherein: a moving mechanism (3021) is further provided on the frame (3011) and is located above the placement station of the decocting pot assembly; the extrusion mechanism (3022) is installed on the moving mechanism (3021); the moving mechanism (3021) drives the extrusion mechanism (3022) to move between an initial position and the placement station of the decocting pot assembly; the cleaning pipe (3031) is located on one side of the moving mechanism (3021).

3. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 2, wherein: an opening for the decocting pot assembly (100) to enter the placement station of the decocting pot assembly is provided on the frame (3011), and the cleaning pipe (3031) is located on a side of the moving mechanism (3021) away from the opening.

4. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 1, wherein: the cleaning pipe (3031) includes a first pipe section and a second pipe section connected to each other. An end of the first pipe section is a water inlet connected to the water supply mechanism, and an end of the second pipe section is a water outlet that is telescopic and is at the extrusion disk (30222); the first pipe section is a pipe with a fixed axial length, and the second pipe section is a pipe with an adjustable axial length and / or a freely bendable pipe.

5. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 4, wherein: the cleaning pipe (3031) is made of a deformable material, and the cleaning pipe (3031) axially expands and contracts and / or bends in any azimuth by using its own elasticity.

6. The extrusion disk cleaning module for traditional Chinese medicine decocting according to any one of claims 1 to 5, wherein: the water outlet of the cleaning pipe (3031) is suspended; the water outlet is arranged facing the extrusion disk (30222) at the cleaning station.

7. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 6, wherein: the cleaning pipe (3031) has at least one working state by using its own elongation and / or bending deformation; in the working state of the cleaning pipe (3031), the water outlet of the cleaning pipe (3031) faces the extrusion disk (30222), and at the same time, there is a distance between the cleaning pipe (3031) and the extrusion disk (30222).

8. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 1, characterized in that: A nozzle is provided at the water outlet of the cleaning pipe (3031), and the nozzle has a water spraying hole with a radially narrowing dimension along the water outlet direction.

9. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 1, characterized in that: The axial length of the cleaning pipe (3031) when it extends to the maximum axial length is 2-5 times the axial length when it is compressed to the minimum axial length.

10. The extrusion disk cleaning module for traditional Chinese medicine decocting according to claim 1, wherein: The cleaning pipe (3031) is detachably connected to the water supply mechanism; The detachable connection includes any one or a combination of plug-in connection, threaded connection, and snap connection.

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