Control method of device for discharging after secondary frying

Abstract

The invention discloses a control method of an after-secondary-decoction discharging device, and belongs to the field of traditional Chinese medicine decoction decocting equipment.The after-secondary-decoction discharging device comprises a medicine receiving unit with the movable position and a turnover unit, and the control method comprises the following steps that an empty second decoction pot is placed on a medicine receiving platform; the first decocting pot filled with the liquid medicine is placed on the turnover unit; the medicine receiving platform is controlled to move, the medicine receiving platform drives the second decocting pot to move from the first position to a second position, and the second position is closer to the overturning unit than the first position; the overturning unit drives the first decocting pot to overturn and pour the medicine, and the medicine liquid in the first decocting pot is poured into the second decocting pot. The relative position between the medicine receiving platform and the overturning unit can be adjusted, and therefore when the overturning unit pours medicine, medicine liquid can be poured into a decocting pot placed on the medicine receiving unit more accurately.

Description

Technical Field

[0001] The present invention belongs to the field of traditional Chinese medicine decoction equipment, and specifically relates to a control method for a device for adding ingredients after the second decoction. Background Art

[0002] The second decoction of traditional Chinese medicine means that after a dose of traditional Chinese medicine is decocted once, the medicinal juice is filtered out, the medicinal residues are retained, and then a certain amount of clear water is added for secondary decoction. Usually, the medicinal juice of the first decoction and the second decoction are mixed together to form the whole medicinal liquid of a dose of medicine. The purpose of the second decoction of traditional Chinese medicine is to fully decoct the ingredients of traditional Chinese medicine, better exert the medicinal properties of traditional Chinese medicine, and promote the recovery of diseases.

[0003] Chinese Patent with application number CN202211636476.5 discloses a fully automatic traditional Chinese medicine decocting system, which discloses that the device for adding ingredients after the second decoction includes a tipping unit with a support base and a fixed station for placing the second decocting pot close to it. The decoction coordination device transports the first decocting pot to the support base, and rotates the support base of the tipping unit to lift and tilt it upward to pour a part of the medicinal liquid in the first decocting pot into the second decocting pot according to a set ratio.

[0004] Since the relative position between the fixed station and the tipping unit is fixed, when the handling device places the second decocting pot on the fixed station and there is insufficient space between the tipping unit and the fixed station, the tipping unit is prone to collide with the handling device.

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

[0006] In order to solve at least some of the above problems, the present invention provides a control method for a device for adding ingredients after the second decoction, which can adjust the relative position between the medicine receiving platform and the tipping unit, so that when the tipping unit pours the medicine, the medicinal liquid can be more accurately poured into the interior of the decocting pot placed on the medicine receiving unit.

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

[0008] A control method for a device for adding ingredients after the second decoction, the device for adding ingredients after the second decoction includes a movable medicine receiving platform and a tipping unit, and the control method includes the following steps:

[0009] Place an empty second decocting pot on the medicine receiving platform;

[0010] Place the first decocting pot filled with medicinal liquid on the tipping unit;

[0011] Control the movement of the medicine receiving platform, and the medicine receiving platform drives the second decocting pot to move from the first position to the second position, and the second position is closer to the tipping unit than the first position;

[0012] The tipping unit drives the first decocting pot to tip and pour the liquid medicine in the first decocting pot into the interior of the second decocting pot.

[0013] Further, after the tipping unit completely pours the liquid medicine in the first decocting pot into the interior of the second decocting pot, the receiving platform is controlled to return from the second position to the first position.

[0014] Further, the second-decoction later-adding device further includes an inner pot extraction mechanism, which is located above the tipping unit and can move horizontally;

[0015] Before the tipping unit tips and pours the medicine in the first decocting pot, the inner pot extraction mechanism is controlled to move to the tipping unit and lift the inner pot of the first decocting pot out of the outer pot.

[0016] Further, when lifting the inner pot of the first decocting pot out of the outer pot:

[0017] The inner pot extraction mechanism grabs the inner pot of the first decocting pot and lifts the inner pot out of the outer pot until the inner pot is completely separated from the outer pot;

[0018] Judge whether the inner pot is completely separated from the outer pot. If so, the inner pot extraction mechanism stays at the grabbing position for a period of time. When the staying time of the inner pot extraction mechanism reaches the set time, the inner pot extraction mechanism moves towards the initial position.

[0019] Further, the second-decoction later-adding device further includes a liquid receiving unit, which includes a liquid receiving tray and a control device for driving the liquid receiving tray to move horizontally;

[0020] The height of the liquid receiving tray is located between the lifted inner pot and the outer pot;

[0021] The moving direction of the liquid receiving tray is the same as the moving direction of the inner pot extraction mechanism;

[0022] When the staying time of the inner pot extraction mechanism reaches the set time, the control device drives the liquid receiving tray to move to the liquid receiving position;

[0023] Obtain the position state of the liquid receiving tray. If the position of the liquid receiving tray is at the medicine receiving position, the inner pot extraction mechanism starts to move towards the initial position, and at the same time, the control device drives the liquid receiving tray to move towards the initial position synchronously with the inner pot extraction mechanism.

[0024] Further, judge whether the inner pot extraction mechanism has moved to the initial position. If so, the tipping unit pours the liquid medicine in the outer pot of the first decocting pot into the outer pot on the medicine receiving unit, and after the tipping is completed, the tipping unit returns to the initial state.

[0025] Further, the tipping unit includes:

[0026] Pouring medicine platform, including a loading part with activity settings;

[0027] Control mechanism, connected to the loading part, used to drive the loading part to lift upward, flip towards the medicine receiving platform and reset;

[0028] Clamping mechanism, located on the loading part, used to fix the outer pot of the decocting pot on the loading part;

[0029] Judge whether the outer pot of the decocting pot is placed on the loading surface of the loading part. If so, the clamping mechanism is activated to fix the outer pot on the loading part;

[0030] Judge whether the clamping mechanism is activated. If so, the control mechanism is activated, and the control mechanism drives the loading part to lift upward and flip towards the medicine receiving platform.

[0031] Furthermore, judge whether the tipping unit returns to the initial state. If so, the inner pot extraction mechanism moves towards the tipping unit and places the inner pot back into the outer pot on the tipping unit.

[0032] Furthermore, an air vibration and inner pot pressing mechanism are provided on the loading part;

[0033] When cleaning the medicine bag in the first decocting pot:

[0034] Judge whether the inner pot is placed in the outer pot. If so, the inner pot pressing mechanism presses the inner pot of the first decocting pot to relatively fix the inner pot and the outer pot of the first decocting pot;

[0035] The control mechanism drives the loading part to flip. When the loading part flips to the set angle, the air vibration is activated.

[0036] Furthermore, when the tipping unit returns to the initial position:

[0037] Judge the state of the loading part. If the loading part is in a horizontal state, it is determined that the tipping unit has returned to the initial position and the control mechanism stops; if the loading part is in an inclined state, the control mechanism continues to control the loading part to reset until the loading part is in a horizontal state.

[0038] After adopting the above technical solutions, the present invention has the following beneficial effects compared with the prior art.

[0039] During the second decoction, place the first decocting pot on the tipping unit and the second decocting pot on the medicine receiving platform. Before the tipping unit tips the first decocting pot to pour out the medicine, the medicine receiving platform moves from the first position to the second position to approach the tipping platform. When the medicine receiving platform moves to the second position, the tipping unit tips the first decocting pot to pour the medicine liquid in the first decocting pot into the interior of the second decocting pot. After the medicine liquid in the first decocting pot is poured into the interior of the second decocting pot, the medicine receiving platform moves back from the second position to the first position. When the tipping unit tips the first decocting pot to pour out the medicine, the medicine receiving platform drives the second decocting pot to approach the tipping unit, so that the first decocting pot can more accurately enter the interior of the second decocting pot when pouring out the medicine liquid.

[0040] When placing the second decocting pot on the medicine receiving platform, move the medicine receiving platform to the first position. At this time, the distance between the medicine receiving platform and the tipping unit is relatively far. Therefore, when placing the second decocting pot on the medicine receiving platform through the handling device, it is not easy for the handling device to interfere with the tipping unit, ensuring the operating space of the handling device when handling the second decocting pot.

[0041] 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

[0042] The accompanying drawings, as a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts. In the drawings:

[0043] Figure 1 is the front view of the post - decoction addition device of the present invention;

[0044] Figure 2 is the schematic connection structure diagram among the chassis, the medicine receiving unit and the tipping unit of the post - decoction addition device of the present invention;

[0045] Figure 3 is Figure 2 the partial enlarged view of part A in

[0046] Figure 4 is the left view of the post - decoction addition device of the present invention;

[0047] Figure 5 is Figure 4 the partial enlarged view of part B in

[0048] Figure 6 is the top view of the post - decoction addition device of the present invention;

[0049] Figure 7 It is a flowchart of the control method of the second decoction addition-later device of the present invention.

[0050] In the figure: 1. Frame; 11. Bottom frame; 12. Side frame; 2. Medicine receiving unit; 21. Medicine receiving platform; 211. Sliding seat; 22. First horizontal telescopic pushing device; 3. Overturning unit; 31. Medicine pouring platform; 311. Support part; 312. Loading part; 32. Control mechanism; 321. Support frame; 322. Driving shaft; 323. Driving arm; 324. Driving device; 33. Clamping mechanism; 34. Air vibration; 35. Inner pot pressing mechanism; 351. Bracket; 352. Inner pot pressing component; 4. Guide rail; 5. Truss; 51. Cross beam; 511. Hollow groove; 52. Upright frame; 6. Inner pot extraction mechanism; 61. Sliding part; 62. Gripping claw; 621. Main body part; 622. First claw; 623. Second claw; 624. First driving part; 625. Second driving part; 63. Second vertical telescopic pushing device; 7. Second horizontal telescopic pushing device; 8. Liquid receiving unit; 81. Liquid receiving tray; 82. Control device; 821. External moving mechanism; 9. Control module.

[0051] 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

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0053] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0054] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be 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.

[0055] During the decocting process of traditional Chinese medicine in an automatic decocting system, the medicinal materials are generally decocted in a decocting pot. Currently, most of the decocting pots used are combined decocting pots, which include an outer pot and an inner pot, and the inner pot can be placed inside the outer pot. During the decocting process of traditional Chinese medicine materials, the medicine bag containing the materials is placed in the inner pot, and the inner pot and the materials are together placed in the outer pot. After the traditional Chinese medicine materials are decocted, the inner pot is taken out from the outer pot, and then the decocted medicinal residues can be separated from the medicinal liquid, and the decocted medicinal liquid is left inside the outer pot.

[0056] As Figures 1 to 6 shown, the present invention discloses a device for adding ingredients after the second decoction.

[0057] The device for adding ingredients after the second decoction includes a frame body 1, and the frame body 1 includes a horizontally arranged bottom frame 11 and a side frame 12 located on one side of the bottom frame 11, and the bottom frame 11 and the side frame 12 are independently arranged with respect to each other.

[0058] In other embodiments, the bottom frame 11 and the side frame 12 may also be connected as a whole.

[0059] On the upper surface of the bottom frame 11, a medicine receiving unit 2 and a tipping unit 3 are sequentially arranged along the extending direction of the bottom frame 11. During the second decoction process, it is necessary to pour out the medicinal liquid in the first decocting pot from the inside of the first decocting pot, so that only the medicine bag remains in the first decocting pot, and then add water to the first decocting pot again to decoct the medicine bag in the first decocting pot again. When pouring out the medicinal liquid in the first decocting pot, place the first decocting pot on the tipping unit 3, place the second decocting pot on the medicine receiving unit 2, the tipping unit 3 tips the first decocting pot, and pours the medicinal liquid in the outer pot of the first decocting pot into the inside of the second decocting pot placed on the medicine receiving unit 2.

[0060] In this embodiment, the medicine receiving unit 2 includes a medicine receiving platform 21 that is horizontally movably arranged on the bottom frame 11, and the moving direction of the medicine receiving platform 21 is arranged along the extending direction of the bottom frame 11. The medicine receiving unit 2 further includes a first horizontally telescopic pushing device 22, and the telescopic direction of the first horizontally telescopic pushing device 22 is arranged along the extending direction of the bottom frame 11. One end of the first horizontally telescopic pushing device 22 is connected to the medicine receiving platform 21, and the other end of the first horizontally telescopic pushing device 22 is connected to the bottom frame 11. By controlling the telescoping of the first horizontally telescopic pushing device 22, the medicine receiving platform 21 is driven to move in the horizontal direction, so that the medicine receiving platform 21 can approach or move away from the tipping unit 3.

[0061] Specifically, the first horizontally telescopic pushing device 22 adopts a cylinder, the cylinder body of the cylinder is fixedly connected to the bottom frame 11, and the piston rod of the cylinder is fixedly connected to the medicine receiving platform 21.

[0062] Preferably, two guide rails 4 extending in a straight line are provided on the upper surface of the chassis 11, and the two guide rails 4 are arranged side by side. The extending direction of the two guide rails 4 is set along the extending direction of the chassis 11. The guide rails 4 are fixed to the chassis 11 by bolts. The first lateral telescopic pushing device 22 is located between the two guide rails 4. The bottom of the medicine receiving platform 21 is connected to the guide rail 4 through a sliding seat 211, the sliding seat 211 is slidably connected to the guide rail 4, and the sliding seat 211 is fixedly connected to the medicine receiving platform 21.

[0063] The moving positions of the medicine receiving platform 21 include a first position and a second position. The first position is located at one end of the guide rail 4 away from the tipping unit 3, and the second position is located at the movement of the guide rail 4 towards the tipping unit 3. When the piston rod of the first lateral telescopic pushing device 22 extends, the first lateral telescopic pushing device 22 pushes the medicine receiving platform 21 to move from the first position to the second position. When the piston rod of the first lateral telescopic pushing device 22 retracts, the first lateral telescopic pushing device 22 pulls the medicine receiving platform from the second position to the first position.

[0064] When the medicine receiving platform 21 moves to the second position, when the tipping unit 3 flips the first decocting pot to pour the medicine, the liquid medicine in the first decocting pot can be poured into the interior of the second decocting pot placed on the medicine receiving platform 21.

[0065] In this embodiment, the tipping unit 3 includes a medicine pouring platform 31 provided on the chassis 11, and the medicine pouring platform 31 is disposed opposite to the medicine receiving platform 21. When the medicine receiving platform 21 moves horizontally, the medicine receiving platform 21 can approach or move away from the medicine pouring platform 31.

[0066] Specifically, the medicine pouring platform 31 includes a support portion 311 fixed to the chassis 11 and a load portion 312 movably disposed above the support portion 311. When the load portion 312 is located on the support portion 311, the upper surface of the load portion 312 is a horizontal plane. The upper surface of the load portion 312 is the loading surface of the load portion 312.

[0067] In this embodiment, the tipping unit 3 further includes a control mechanism 32 fixed to the chassis 11. The control mechanism 32 is connected to the load portion 312 and is used to drive the load portion 312 to lift upward and flip towards the direction of the medicine receiving platform 21. When the load portion 312 is lifted upward and flipped towards the direction of the medicine receiving platform 21 through the control mechanism 32, the load portion 312 is separated from the support portion 311 and gradually flips towards the direction of the medicine receiving platform 21, and the loading surface of the load portion 312 gradually inclines.

[0068] Specifically, the control mechanism 32 includes a support frame 321 fixed to the chassis 11. The top of the support frame 321 is higher than the height of the loading part 312 when the loading part 312 is in the state of being supported by the supporting part 311. A driving shaft 322 is rotatably supported at the top of the support frame 321. The axial direction of the driving shaft 322 is perpendicular to the arrangement direction of the medicine receiving platform 21 and the medicine pouring platform 31. A driving arm 323 is provided between one end of the driving shaft 322 and the loading part 312. One end of the driving arm 323 is fixedly connected to the driving shaft 322, and the other end of the driving arm 323 is fixedly connected to the loading part 312. Since the loading part 312 is connected to the driving shaft 322 through the driving arm 323, when the driving shaft 322 rotates, the loading part 312 rotates synchronously.

[0069] The other end of the driving shaft 322 is provided with a driving device 324. The driving device 324 is connected to the driving shaft 322 and is fixed to the support frame 321. The driving device 324 is used to drive the driving shaft 322 to rotate.

[0070] Specifically, the driving device 324 is a driving motor. The motor shaft of the driving motor is coaxially fixed to the driving shaft 322. When the driving motor is started, the motor shaft of the driving motor rotates to drive the driving shaft 322 to rotate. As the driving shaft 322 rotates, the loading part 312 is driven by the driving arm 323, and the loading part 312 is lifted upward and flipped in the direction of the medicine receiving platform 21. When the loading part 312 is lifted upward and flipped in the direction of the medicine receiving platform 21, the loading part 312 is separated from the supporting part 311.

[0071] In this embodiment, in order to fix the outer pot of the first decocting pot to the loading surface of the loading part 312, clamping mechanisms 33 are respectively arranged in the middle regions on the opposite sides of the loading surface of the loading part 312. The clamping mechanisms 33 are fixed to the loading part 312. The clamping mechanisms 33 adopt lever cylinders in this embodiment. When the outer pot of the first decocting pot is placed on the loading surface of the loading part 312, the clamping mechanisms 33 press the bottom of the outer pot of the first decocting pot to lock the relative position between the outer pot of the first decocting pot and the loading part 312.

[0072] When the loading part 312 is located above the supporting part 311, the loading part 312 is in a horizontal state, and the loading surface of the loading part 312 is a horizontal plane. The position when the loading part 312 is located above the supporting part 311 is the initial position of the loading part 312. When the control mechanism 32 drives the loading part 312 to be lifted upward and flipped in the direction of the medicine receiving unit 2, this process is the medicine pouring process of the pouring unit 3.

[0073] When pouring the medicine, the outer pot of the first decocting pot is fixed on the loading part 312. As the loading part 312 is lifted upward and flipped in the direction of the medicine receiving unit 2, after pouring out the liquid medicine in the outer pot of the first decocting pot, the control mechanism 32 drives the loading part 312 back to the initial position.

[0074] Specifically, after pouring out the liquid medicine in the outer pot of the first decocting pot, the driving device 324 drives the driving shaft 322 to rotate in the reverse direction. As the driving shaft 322 rotates in the reverse direction, the driving arm 323 drives the loading part 312 to flip in the direction away from the medicine receiving unit 2 until the loading part 312 abuts against the top of the supporting part 311, making the loading surface of the loading part 312 in a horizontal state. When the loading part 312 is reset to the horizontal state, the outer pot of the first decocting pot is in a vertical state.

[0075] In this embodiment, an air vibrator 34 is fixed on the loading surface of the loading part 312. An inner pot pressing mechanism 35 is also provided on the loading part 312. The inner pot pressing mechanism 35 includes a bracket 351 and an inner pot pressing component 352 located at the top of the bracket 351. The inner pot pressing component 352 uses a spinning cylinder. The bottom of the bracket 351 is fixed to the loading part 312 by bolts or welding. The inner pot pressing component 352 is fixed to the top of the bracket 351. When the whole first decocting pot is placed on the loading part 312, the inner pot pressing component 352 can press the inner pot from the top of the inner pot of the first decocting pot, making the inner pot and the outer pot of the first decocting pot relatively fixed.

[0076] Due to the certain adhesiveness after decocting, the medicine bag is prone to sticking to the inner pot of the first decocting pot. When pouring out the medicine bag from the first decocting pot, the situation that the medicine bag sticks to the inner pot of the first decocting pot and cannot be poured out easily occurs. When it is necessary to pour out the medicine bag in the first decocting pot from the first decocting pot, the whole first decocting pot is placed on the loading part 312, and the inner pot pressing component 352 presses the inner pot of the first decocting pot, making the inner pot and the outer pot relatively fixed. The tipping unit 3 drives the whole first decocting pot to flip. When the first decocting pot is flipped to the required angle, the feeding port of the first decocting pot faces downward, and the air vibrator 34 is started. After the air vibrator 34 is started, the vibration generated by the air vibrator 34 can drive the first decocting pot to vibrate. When the first decocting pot vibrates, the medicine bag in the inner pot is more likely to separate from the inner pot.

[0077] In this embodiment, the second decocting and later-adding device further includes a truss 5, and the truss 5 is fixed on the chassis 11. The truss 5 includes a horizontally arranged cross beam 51, and the cross beam 51 is located above the medicine receiving platform 21 and the medicine pouring platform 31. Vertical frames 52 are respectively arranged at both ends of the cross beam 51. The top of the vertical frame 52 is fixedly connected to the cross beam 51, and the bottom end of the vertical frame 52 is fixedly connected to the chassis 11.

[0078] In this embodiment, the extending direction of the cross beam 51 is arranged along the arrangement direction of the medicine receiving platform 21 and the medicine pouring platform 31. An inner pot extraction mechanism 6 is movably arranged on the cross beam 51, and the inner pot extraction mechanism 6 can move horizontally along the extending direction of the cross beam 51. A second horizontal telescopic pushing device 7 is arranged between the inner pot extraction mechanism 6 and the end of the cross beam 51. One end of the second horizontal telescopic pushing device 7 is connected to the inner pot extraction mechanism 6, and the other end of the second horizontal telescopic pushing device 7 is connected to the cross beam 51. When the second horizontal telescopic pushing device 7 expands and contracts, the second horizontal telescopic pushing device 7 drives the inner pot extraction mechanism 6 to move.

[0079] The stroke of the inner pot extraction mechanism 6 includes an initial position and a grasping position. When the length of the second horizontal telescopic pushing device 7 is in the longest state, the position where the inner pot extraction mechanism 6 is located is the grasping position of the inner pot extraction mechanism 6. At this time, the inner pot extraction mechanism 6 is located directly above the medicine pouring platform 31. When the length of the second horizontal telescopic pushing device 7 gradually shortens and reaches the shortest state, the inner pot extraction mechanism 6 moves from the grasping position to the initial position, and the inner pot extraction mechanism 6 moves away from directly above the medicine pouring platform 31.

[0080] In this embodiment, a rectangular hollow groove 511 vertically penetrating the cross beam is arranged on the cross beam 51, and the extending direction of the hollow groove 511 is arranged along the extending direction of the cross beam 51.

[0081] In this embodiment, the inner pot extraction mechanism 6 includes a sliding part 61 slidably connected to the upper surface of the cross beam 51, and the moving direction of the sliding part 61 is arranged along the extending direction of the cross beam 51. The sliding part 61 is connected to the second horizontal telescopic pushing device 7.

[0082] A grasping claw 62 is arranged below the cross beam 51. A vertically arranged second vertical telescopic pushing device 63 is arranged between the grasping claw 62 and the sliding part 61. The bottom of the second vertical telescopic pushing device 63 is fixedly connected to the grasping claw 62, and the top of the second vertical telescopic pushing device 63 passes through the hollow groove 511 on the cross beam 51 and is fixedly connected to the sliding part 61. By controlling the length of the second vertical telescopic pushing device 63, the elevation or depression of the grasping claw 62 is realized.

[0083] Specifically, the second vertical telescopic pushing device 63 adopts a cylinder.

[0084] The vertical moving stroke of the grasping claw 62 includes an initial height and a grasping height. When the length of the second vertical telescopic pushing device 63 is in the shortest state, the height where the grasping claw 62 is located is the initial height. When the length of the second vertical telescopic pushing device 63 is in the longest state, the height where the grasping claw 62 is located is the grasping height.

[0085] In this embodiment, the grasping claw 62 includes a horizontally arranged main body portion 621, and the main body portion 621 is connected to the second vertical telescopic pushing device 63. A first clamping claw 622 and a second clamping claw 623 are movably arranged below the main body portion 621, and the first clamping claw 622 and the second clamping claw 623 are arranged mirror-symmetrically in the horizontal direction.

[0086] A first driving member 624 is arranged between the main body portion 621 and the first clamping claw 622. One end of the first driving member 624 is connected to the main body portion 621, and the other end is connected to the first clamping claw 622. The first driving member 624 is used to drive the first clamping claw 622 to approach or move away from the second clamping claw 623.

[0087] A second driving member 625 is arranged between the main body portion 621 and the second clamping claw 623. One end of the second driving member 625 is connected to the main body portion 621, and the other end is connected to the second clamping claw 623. The second driving member 625 is used to drive the second clamping claw 623 to approach or move away from the first clamping claw 622. Driven by the first driving member 624, the first clamping claw 622 and driven by the second driving member 625, the second clamping claw 623, the first clamping claw 622 and the second clamping claw 623 can approach or move away from each other simultaneously.

[0088] Specifically, both the first driving member 624 and the second driving member 625 adopt air cylinders. By controlling the movement of the piston rod of the air cylinder, the movement of the first clamping claw 622 or the second clamping claw 623 is driven.

[0089] In this embodiment, a liquid receiving unit 8 is arranged on one of the vertical frames 52 of the truss 5, and the height where the liquid receiving unit 8 is located is between the inner pot extraction mechanism 6 and the medicine pouring platform 31.

[0090] Specifically, the liquid receiving unit 8 includes a horizontally placed liquid receiving tray 81 and a control device 82 for driving the liquid receiving tray 81 to move horizontally. The mouth of the liquid receiving tray 81 faces directly upward.

[0091] The horizontal movement stroke of the liquid receiving tray 81 includes a liquid receiving position and an initial position. When the external moving mechanism 821 of the control device 82 moves to one end in the direction of the medicine pouring platform 31 to the end point, the liquid receiving tray 81 moves to directly above the medicine pouring platform 31, and this is the liquid receiving position of the liquid receiving tray 81. When the external moving mechanism 821 of the control device 82 moves to the end point at one end away from the medicine pouring platform 31, the position of the liquid receiving tray 81 is the initial position of the liquid receiving tray 81.

[0092] When the inner pot extraction mechanism 6 is in the initial position and the liquid receiving tray 81 is in the initial position, the liquid receiving tray 81 is directly below the inner pot extraction mechanism 6. When the inner pot extraction mechanism 6 is in the grasping position and the liquid receiving tray 81 is in the liquid receiving position, the liquid receiving tray 81 is also directly below the inner pot extraction mechanism 6.

[0093] Specifically, the control device 82 uses a rodless cylinder. The rodless cylinder is horizontally fixed on the vertical frame 52. One end of the rodless cylinder faces the tipping unit 3, and the other end of the rodless cylinder is fixedly connected to the vertical frame 52. The moving direction of the external moving mechanism 821 of the rodless cylinder is the same as the moving direction of the inner pot extraction mechanism 6. The external moving mechanism 821 of the rodless cylinder faces upward. The liquid receiving tray 81 is located above the external moving mechanism of the rodless cylinder. The liquid receiving tray 81 is fixed on the external moving mechanism 821 of the rodless cylinder.

[0094] In this embodiment, when the liquid receiving tray 81 is in the liquid receiving position and the grasping claws 62 are in the grasping position, the liquid receiving tray 81 is located directly below the grasping claws 62. When the liquid receiving tray 81 is in the initial position and the grasping claws 62 are in the initial position, the liquid receiving tray 81 is located directly below the grasping claws 62.

[0095] In this embodiment, a control module 9 is installed on the side frame 12 of the frame body 1. The control module 9 is in signal communication with the medicine receiving unit 2, the tipping unit 3, the inner pot extraction mechanism 6, and the liquid receiving unit 8. The control module 9 can send control instructions to the medicine receiving unit 2, the tipping unit 3, the inner pot extraction mechanism 6, and the liquid receiving unit 8. The medicine receiving unit 2, the tipping unit 3, the inner pot extraction mechanism 6, and the liquid receiving unit 8 receive the control instructions issued by the control module 9 and perform corresponding actions according to the received control instructions.

[0096] When pouring out the liquid medicine in the first decocting pot, first place the first decocting pot on the medicine receiving platform 21 of the medicine receiving unit 2, and place the second decocting pot on the medicine pouring platform 31 of the tipping unit 3. When placing the first decocting pot on the medicine pouring platform 31, the clamping mechanism 33 locks the outer pot of the first decocting pot and the loading part 312 of the medicine pouring platform 31.

[0097] The second horizontally telescopic pushing device 7 pushes the inner pot extraction mechanism 6 to move horizontally and makes the inner pot extraction mechanism 6 move to the grasping position. After the inner pot extraction mechanism 6 moves to the grasping position, the second vertically telescopic pushing device 63 drives the grasping claws 62 to move downward and makes the grasping claws 62 move to the grasping height. After the grasping claws 62 move to the grasping height, the grasping claws 62 grasp the inner pot of the first decocting pot. After the grasping claws 62 grasp the inner pot of the first decocting pot, the second vertically telescopic pushing device 63 drives the grasping claws 62 to lift to the initial height. As the grasping claws 62 are lifted to the initial height, the inner pot of the first decocting pot is separated from the outer pot of the first decocting pot.

[0098] After the grasping claws 62 are lifted to the initial height, the inner pot extraction mechanism 6 stays at the grasping position and maintains for a period of time, so that the liquid medicine in the inner pot of the first decocting pot drips into the outer pot of the first decocting pot.

[0099] When the residence time of the inner pot extraction mechanism 6 at the grasping position reaches the set time, the control device 82 of the liquid receiving unit 8 drives the liquid receiving tray 81 to move to the liquid receiving position, and the liquid receiving tray 81 is located directly below the inner pot of the first decocting pot grasped by the grasping claws 62. The medicinal liquid dripping from the inner pot of the first decocting pot drips into the interior of the liquid receiving tray 81.

[0100] After the liquid receiving tray 81 moves to the liquid receiving position, the second horizontal telescopic pushing device 7 pulls the inner pot extraction mechanism 6 to move horizontally, so that the inner pot extraction mechanism 6 moves to the initial position. While the second horizontal telescopic pushing device 7 pulls the inner pot extraction mechanism 6 towards the initial position, the control device 82 simultaneously drives the liquid receiving tray 81 to move towards the initial position. While the liquid receiving tray 81 is moving towards the initial position, the liquid receiving tray 81 always remains below the inner pot of the first decocting pot.

[0101] After the inner pot extraction mechanism 6 moves to the initial position, the liquid receiving tray 81 also moves to the initial position. The control mechanism 32 of the tipping unit 3 drives the loading part 312 of the medicine pouring platform 31 to lift upwards and flip towards the direction of the medicine receiving platform 21. As the loading part 312 gradually lifts upwards and flips towards the direction of the medicine receiving platform 21, the outer pot of the first decocting pot rotates in reverse synchronously, and the medicinal liquid is poured into the interior of the second decocting pot placed on the medicine receiving platform 21.

[0102] Refer to Figure 7 , the present invention also discloses a control method for the second decoction and later addition device, which is used to control the second decoction and later addition device disclosed in the present invention.

[0103] The control method of the second decoction and later addition device includes the following steps:

[0104] Place an empty second decocting pot on the medicine receiving platform 21;

[0105] Place the first decocting pot filled with medicinal liquid on the tipping unit 3;

[0106] Control the movement of the medicine receiving platform 21, and the medicine receiving platform 21 moves from the first position to the second position, wherein the second position is closer to the tipping unit than the first position.

[0107] The tipping unit 3 drives the first decocting pot to tip and pour medicine, and pours the medicinal liquid in the first decocting pot into the interior of the second decocting pot;

[0108] After the tipping unit 3 completely pours the medicinal liquid in the first decocting pot into the interior of the second decocting pot, the tipping unit 3 resets. After the tipping unit 3 resets, control the movement of the medicine receiving platform 21, and the medicine receiving platform 21 returns from the second position to the first position.

[0109] When the medicine receiving platform 21 moves from the first position to the second position, the medicine receiving platform 21 gradually approaches the tipping unit 3 with the second decocting pot. The tipping unit 3 is activated to pour the liquid medicine in the first decocting pot into the interior of the second decocting pot. After the liquid medicine in the first decocting pot is poured into the second decocting pot, when the medicine receiving platform 21 returns from the second position to the first position, the medicine receiving platform 21 gradually moves away from the tipping unit 3 with the second decocting pot, increasing the distance between the medicine receiving platform 21 and the tipping unit 3, which facilitates the handling device to handle the second decocting pot.

[0110] In this embodiment, the control method of the second decoction and later addition device further includes:

[0111] After placing the first decocting pot on the tipping unit 3 and before the tipping unit tips the first decocting pot, control the inner pot extraction mechanism 6 to move to the grasping position, and control the inner pot extraction mechanism 6 to lift the inner pot of the first decocting pot out of the outer pot.

[0112] Specifically, when lifting the inner pot of the first decocting pot out of the outer pot:

[0113] First, determine whether the inner pot extraction mechanism 6 is located at the grasping position. If so, the inner pot extraction mechanism 6 grasps the inner pot of the first decocting pot and lifts the inner pot out of the outer pot until the inner pot is completely separated from the outer pot.

[0114] Judge whether the inner pot and the outer pot are completely separated. If so, make the inner pot extraction mechanism 6 stay at the grasping position for a period of time. When the time that the inner pot extraction mechanism 6 stays at the grasping position reaches the set time, the inner pot extraction mechanism 6 moves the inner pot towards the initial position;

[0115] When the time that the inner pot extraction mechanism 6 stays at the grasping position reaches the set time, control the device 82 to drive the liquid receiving tray 81 to move to the liquid receiving position.

[0116] Obtain the position of the liquid receiving tray 81. If the position where the liquid receiving tray 81 is located is at the liquid receiving position, the inner pot extraction mechanism 6 starts to move towards the initial position, and at the same time, the control device 82 drives the liquid receiving tray 81 to move towards the initial position simultaneously.

[0117] Specifically, the moving speed of the liquid receiving tray 81 is the same as that of the inner pot extraction mechanism 6. By making the moving speed of the liquid receiving tray 81 the same as that of the inner pot extraction mechanism 6, when the inner pot extraction mechanism 6 moves with the inner pot, the liquid receiving tray 81 is always below the inner pot.

[0118] Judge whether the inner pot extraction mechanism 6 has moved to the initial position. If so, the tipping unit 3 pours the liquid medicine in the outer pot on the tipping unit 3 into the outer pot on the medicine receiving platform 21 according to a set ratio, and the tipping unit 3 returns to the initial state after the tipping is completed.

[0119] Determine whether the tipping unit has returned to the initial state. If so, control the inner pot extraction mechanism 6 to move to the grasping position and place the grasped inner pot back into the outer pot on the tipping unit 3.

[0120] When it is necessary to clean the medicine bag in the first decocting pot:

[0121] Determine whether the inner pot is placed inside the outer pot. If so, the inner pot pressing member 352 of the inner pot pressing mechanism 35 presses the inner pot of the first decocting pot to make the inner pot and the outer pot relatively fixed.

[0122] The control mechanism 32 is started to drive the loading part 312 to turn upward until a set angle is reached. When the loading part 312 reaches the set angle, the feeding ports of the inner pot and the outer pot of the first decocting pot both face downward.

[0123] After the loading part reaches the set angle, start the air vibration 34.

[0124] Specifically, before the tipping unit 3 tips the outer pot of the first decocting pot:

[0125] Determine whether the outer pot of the first decocting pot is placed on the loading surface of the loading part 312. If so, the clamping mechanism 33 is started to fix the outer pot on the loading part 312.

[0126] Determine whether the clamping mechanism 33 is started. If so, the control mechanism 32 is started. The control mechanism 32 drives the loading part 312 to lift upward and turn in the direction of the medicine receiving platform 21, and pour the liquid medicine in the outer pot on the tipping unit 3 into the outer pot on the medicine receiving platform 21.

[0127] In this embodiment, when the tipping unit 3 returns to the initial position:

[0128] Judge and identify the reset state of the loading part 312. If the loading part 312 is in a horizontal state, it is determined that the tipping unit 3 has returned to the initial position, and the control mechanism 32 stops; if the loading part 312 is in an inclined state, the control mechanism 32 continues to control the loading part 312 to reset until the loading part 312 is in a horizontal state.

[0129] The above are only the preferred embodiments of the present invention, and there is no limitation to the present invention in any form. 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 to equivalent embodiments of equivalent changes by using the technical content prompted above. The implementation schemes in the above embodiments can also be further combined or replaced. However, as long as the content does not depart from the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the present invention.

Claims

1. A control method for a second decoction post-adding device, the second decoction post-adding device comprising a medicine receiving platform (21) with a movable position and a tipping unit (3), characterized in that, The control method includes the following steps: Place an empty second decocting pot on the medicine receiving platform (21); Place the first decocting pot filled with medicinal liquid on the tipping unit (3); Control the movement of the medicine receiving platform (21), and the medicine receiving platform (21) drives the second decocting pot to move from the first position to the second position, and the second position is closer to the tipping unit (3) than the first position; The tipping unit (3) drives the first decocting pot to tip and pour the medicinal liquid in the first decocting pot into the interior of the second decocting pot.

2. The control method of a second decoction post-adding device according to claim 1, characterized in that After the tipping unit (3) completely pours the medicinal liquid in the first decocting pot into the interior of the second decocting pot, control the medicine receiving platform (21) to return from the second position to the first position.

3. The control method of a second decoction and late addition device according to claim 1, characterized in that, The post-second-decoction addition device further includes an inner pot extraction mechanism (6), and the inner pot extraction mechanism (6) is located above the tipping unit (3) and can move horizontally; Before the tipping unit (3) tips and pours the first decocting pot, control the inner pot extraction mechanism (6) to move to the tipping unit (3) and lift the inner pot of the first decocting pot out of the outer pot.

4. The control method of a second decoction addition-later device according to claim 3, characterized in that, When lifting the inner pot of the first decocting pot out of the outer pot: The inner pot extraction mechanism (6) grabs the inner pot of the first decocting pot and lifts the inner pot out of the outer pot until the inner pot is completely separated from the outer pot; Judge whether the inner pot and the outer pot are completely separated. If so, the inner pot extraction mechanism (6) stays at the grabbing position for a period of time. When the staying time of the inner pot extraction mechanism (6) reaches the set time, the inner pot extraction mechanism (6) moves towards the initial position.

5. The control method of a second-decoction and later-adding device according to claim 4, characterized in that, The post-second-decoction addition device further includes a liquid receiving unit (8), and the liquid receiving unit (8) includes a liquid receiving tray (81) and a control device (82) for driving the liquid receiving tray (81) to move horizontally; The height of the liquid receiving tray (81) is located between the lifted inner pot and the outer pot; The moving direction of the liquid receiving tray (81) is the same as the moving direction of the inner pot extraction mechanism (6); When the staying time of the inner pot extraction mechanism (6) reaches the set time, the control device (82) drives the liquid receiving tray (81) to move to the liquid receiving position; Obtain the position state of the liquid receiving tray (81). If the position of the liquid receiving tray (81) is at the medicine receiving position, the inner pot extraction mechanism (6) starts to move towards the initial position, and at the same time the control device (82) drives the liquid receiving tray (81) to move towards the initial position synchronously with the inner pot extraction mechanism (6).

6. The control method of a second decoction addition-later device according to claim 5, characterized in that, Judge whether the inner pot extraction mechanism (6) has moved to the initial position. If so, the tipping unit (3) pours the medicinal liquid in the outer pot of the first decocting pot into the outer pot on the medicine receiving unit (2), and after the tipping is completed, the tipping unit (3) returns to the initial state.

7. The control method of a second decoction addition-later device according to claim 6, characterized in that The tipping unit (3) includes: A pouring platform (31), including a load-carrying part (312) arranged movably; A control mechanism (32), connected to the load-carrying part (312), for driving the load-carrying part (312) to lift upwards, tip towards the direction of the medicine receiving platform (21) and reset; A clamping mechanism (33), located on the load-carrying part (312), for fixing the outer pot of the decocting pot on the load-carrying part (312); Determine whether the outer pot of the decocting pot is placed on the loading surface of the loading part (312). If so, the clamping mechanism (33) is activated to fix the outer pot on the loading part (312). Determine whether the clamping mechanism (33) is activated. If so, the control mechanism (32) is activated, and the control mechanism (32) drives the loading part (312) to lift upward and flip in the direction of the medicine receiving platform (21).

8. The control method of a second decoction addition-later device according to claim 7, characterized in that, Determine whether the tipping unit (3) has returned to the initial state. If so, the inner pot extraction mechanism (6) moves towards the tipping unit (3) and places the inner pot back into the outer pot on the tipping unit (3).

9. The control method of a second decoction post-adding device according to claim 8, wherein, An air vibration (34) and an inner pot pressing mechanism (35) are provided on the loading part (312). When cleaning the medicine bag in the first decocting pot: Determine whether the inner pot is placed in the outer pot. If so, the inner pot pressing mechanism (35) presses the inner pot of the first decocting pot to relatively fix the inner pot and the outer pot of the first decocting pot. The control mechanism (32) drives the loading part (312) to flip. When the loading part (312) flips to the set angle, the air vibration (34) is activated.

10. The control method of a second decoction post-adding device according to claim 8, characterized in that, When the tipping unit (3) returns to the initial position: Determine the state of the loading part (312). If the loading part (312) is in a horizontal state, it is determined that the tipping unit (3) has returned to the initial position, and the control mechanism (32) stops; if the loading part (312) is in an inclined state, the control mechanism (32) continues to control the loading part (312) to reset until the loading part (312) is in a horizontal state.

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