Extrusion module for traditional Chinese medicine decoction and extrusion device for traditional Chinese medicine decoction

Abstract

The invention discloses an extrusion module for traditional Chinese medicine decoction and an extrusion device for traditional Chinese medicine decoction. The extrusion module for traditional Chinese medicine decoction is used for extruding a medicine bag in a decoction pot assembly; comprising a frame which is sequentially provided with a moving mechanism and a decocting pot assembly placing station; the moving mechanism is movably installed on the frame and located above the decocting pot assembly placing station. The extruding mechanism is mounted on the moving mechanism, and the medicine bag is extruded through lifting of the extruding mechanism; and the moving mechanism drives the extruding mechanism to move between an initial position and a decocting pot assembly placing station. According to the extrusion module for traditional Chinese medicine decoction, the moving mechanism is arranged on the frame, the moving mechanism can drive the extrusion mechanism to horizontally move, the extrusion mechanism can leave the position above the medicine decocting pot assembly after completing extrusion work, other procedures can be normally carried out conveniently, and therefore the extrusion mechanism can move in the vertical direction and the horizontal direction; and the flexibility of the extrusion mechanism is improved.

Description

Technical Field

[0002] The present invention belongs to the technical field of automatic decocting of traditional Chinese medicine, and more specifically, relates to an extrusion module for decocting traditional Chinese medicine and an extrusion device for decocting traditional Chinese medicine. Background Art

[0003] In the prior art, automated equipment is increasingly applied in the process of decocting traditional Chinese medicine. For example, there are decocting devices for decocting medicinal materials, filling devices for filling medicinal liquid, and extrusion devices for extruding the medicinal liquid 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 quick connection of the process flow of decocting traditional Chinese medicine 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 extruded, the medicinal liquid enters the outer pot.

[0004] Chinese Patent No. CN111067797A discloses a traditional Chinese medicine decocting device, which includes a cylinder for accommodating medicinal liquid, and the cylinder is provided with a liquid inlet, an exhaust port and a liquid outlet; a separation mesh cover coaxial with the cylinder is arranged inside the cylinder; a liquid driving cavity is formed between the separation mesh cover and the cylinder, and a liquid driving plate that can rotate along the liquid driving cavity is arranged in the liquid driving cavity. The liquid outlet is located at the bottom of the liquid driving cavity, and a heating device is arranged at the bottom of the cylinder; a turbulent flow cover that can be spirally lifted is arranged inside the cylinder; a scraping plate that moves on the bottom surface of the cylinder is arranged on the bottom surface of the cylinder. The extrusion mechanism in this application moves in a fixed direction, with low flexibility.

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

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and provides an extrusion module for decocting traditional Chinese medicine and an extrusion device for decocting traditional Chinese medicine. By setting a moving mechanism, the moving mechanism can drive the extrusion mechanism to move horizontally, and the extrusion mechanism can realize two-way movement in the vertical and horizontal directions, thereby improving the flexibility of the extrusion mechanism.

[0007] To solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: An extrusion module for decocting traditional Chinese medicine is used to extrude the medicine bag in the decocting pot assembly; Including A frame, which successively has a moving mechanism and a placement station for the decocting pot assembly; The moving mechanism is movably installed on the frame and is located above the placement station of the decocting pot assembly; An extrusion mechanism, which is installed on the moving mechanism and extrudes the medicine bag by lifting the extrusion mechanism; The moving mechanism drives the squeezing mechanism to move between the initial position and the placement station of the decocting pot assembly.

[0008] Furthermore, the moving mechanism includes: a moving platform for mounting the squeezing mechanism; The squeezing mechanism has a liftable end, The moving platform and the liftable end of the squeezing mechanism are higher than the placement station of the decocting pot assembly; The moving platform is driven by a first driving member to move towards or return to the placement station of the decocting pot assembly.

[0009] Furthermore, an opening for the decocting pot assembly to enter the placement station of the decocting pot assembly is provided on the frame, and a supporting device for supporting the inner supporting assembly in the decocting pot is provided at the placement station of the decocting pot assembly.

[0010] Furthermore, the supporting device includes Two clamping members for clamping the inner supporting assembly, and the two clamping members move away from or close to each other under the drive of corresponding third driving members; When the squeezing mechanism squeezes the medicine bag, the clamping members clamp and fix the inner supporting assembly.

[0011] Furthermore, the supporting device is located on one side of the opening, and the moving direction of the clamping member intersects with the moving direction when the decocting pot assembly enters the placement station of the decocting pot assembly.

[0012] Furthermore, the placement station of the decocting pot assembly and the initial position of the moving mechanism are on the same straight line; The moving direction of the moving mechanism is the same as or opposite to the moving direction when the decocting pot assembly enters the placement station of the decocting pot assembly.

[0013] Furthermore, the squeezing mechanism includes a squeezing disc for squeezing the medicine bag; A second driving member, with the fixed end fixed on the moving platform; The squeezing disc is lifted and lowered at the placement station of the decocting pot assembly under the drive of the moving end of the second driving member.

[0014] Furthermore, it further includes A positioning mechanism, installed on the moving mechanism, for detecting the initial position and the placement station of the decocting pot assembly; Preferably, the positioning mechanism can be a through-beam photoelectric sensor, a laser sensor, a camera; Preferably, it further includes a detection mechanism, installed on the frame (3011), for detecting the liquid level height in the decocting pot assembly.

[0015] The present invention also discloses an extrusion device for decocting traditional Chinese medicine, which includes a frame, an inner support component grabbing module, and the above-mentioned extrusion module. The inner support component grabbing module is used to transfer the inner support component and the medicine bag after being extruded by the extrusion module. The frame is provided with a coincidence working area where the inner support component grabbing module and the extrusion module cross, and the placing station of the decocting pot assembly is located within the coincidence working area.

[0016] Further, the frame has a first station for placing the inner support component in the decocting pot assembly. The inner support component grabbing module grabs the inner support component in the decocting pot assembly and reciprocates between the first station and the placing station of the decocting pot assembly.

[0017] After adopting the above technical solutions, the present invention has the following beneficial effects compared with the prior art.

[0018] For the extrusion module of the traditional Chinese medicine decocting of the present invention, by setting a moving mechanism on the frame, the moving mechanism can drive the extrusion mechanism to move horizontally. After the extrusion mechanism completes the extrusion work, it can leave above the decocting pot assembly, thereby providing a larger operating space. In this way, the extrusion mechanism can achieve two-way movement in the vertical and horizontal directions, improving the flexibility of the extrusion mechanism.

[0019] At the same time, the present invention has a simple structure, a concise method, and remarkable effects, and is suitable for popularization and use.

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

[0021] 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. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the accompanying drawings: Figure 1 is the overall assembly schematic diagram of the inner support component grabbing module, extrusion module, and extrusion disc cleaning module of the present invention; Figure 2 is the front view of the overall assembly of the inner support component grabbing module, extrusion module, and extrusion disc cleaning module of the present invention; Figure 3 is the structural schematic diagram of the extrusion module of the present invention; Figure 4 is the structural schematic diagram of the extrusion module of the present invention with part of the frame hidden; Figure 5 is the side view of the extrusion module of the present invention; Figure 6It is a schematic structural diagram of the inner support component grasping module of the present invention; Figure 7 It is a front view of the inner support component grasping module of the present invention; Figure 8 is Figure 1 the enlarged view of part A in Figure 9 It is a schematic diagram of the completed assembly of the cooking pot of the present invention; Figure 10 It is a schematic diagram of the inner support component of the cooking pot of the present invention; Figure 11 It is a schematic diagram of the outer pot of the cooking pot of the present invention; Figure 12 is the present invention Figure 11 a schematic diagram of a single component of the bottom conveying module of the outer pot in.

[0022] In the figure: 100, cooking pot assembly; 110, outer pot; 111, protrusion; 112, rib; 113, reinforcing rib; 120, inner support component; 121, tray; 1211, positioning hole; 122, connecting rod; 123, clamping component; 124, bottom plate; 130, carrier; 131, support plate; 1311, fixing part; 1312, locking hole; 132, conveying module; 1321, straight rod; 301, inner support component grasping module; 3011, frame; 30111, vertical beam; 30112, cross beam; 30113, cross bar; 3012, moving seat; 30121, mounting platform; 30122, first driving mechanism; 30123, second driving mechanism; 3013, grasping mechanism; 30131, loading platform; 30132, clamping arm; 301321, telescopic driving part; 301322, clamping jaw; 301323, clamping part; 3014, guide rail; 3015, guide seat; 3016, wire management groove; 3017, wire management pipe; 3018, storage cavity; 3019, cover plate; 302, extrusion module; 3021, moving mechanism; 30211, first driving part; 30212, moving platform; 3022, extrusion mechanism; 30221, second driving part; 30222, extrusion disk; 3023, slide rail; 30231, fixed rod; 30232, guide rod; 3024, sliding seat; 3025, clamping mechanism; 30251, third driving part; 30252, clamping part; 303, extrusion disk cleaning module; 3031, cleaning pipe.

[0023] 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 manner

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments 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.

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

[0026] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", 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.

[0027] As Figures 1 to 12 shown, the extrusion module 302 for decocting traditional Chinese medicine of the present invention includes a frame 3011, a moving mechanism 3021, and an extrusion mechanism 3022. The frame 3011 has a placement station for a decocting pot assembly. The moving mechanism 3021 is movably installed 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 extrusion mechanism 3022 has a liftable 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 of the decocting pot assembly.

[0028] After the robot transports the decocting pot assembly 100 to the integration work area, the moving mechanism 3021 drives the extrusion mechanism 3022 to move to the integration work 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 assembly 120 in the decocting pot assembly 100, so that the medicinal liquid flows out into the outer pot 110.

[0029] In this embodiment, the initial position and the placement station of 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 of the decocting pot assembly. With such an arrangement, the travel of the moving mechanism is minimized, the transfer efficiency is improved, and the installation space is also saved.

[0030] In this embodiment, the decocting pot assembly 100 includes an outer pot 110 for containing the medicinal liquid, and an inner support assembly 120 placed inside the outer pot 110 for supporting the traditional Chinese medicine medicine bag. The inner support assembly 120 is provided with a tray 121, and an inner support assembly 120 feeding port is formed on the inner circumference of the tray 121. The tray 121 is placed at the feeding port of the outer pot 110 to realize the placement of the inner support assembly 120 inside the outer pot 110.

[0031] In this embodiment, the decocting pot 100 includes an outer pot 110 and an inner support assembly 120 to realize the automation and convenience of traditional Chinese medicine decocting. The outer pot 110 is the main part of the entire decocting pot 100. The main function of the outer pot 110 is to contain the medicinal liquid required during the decocting process and needs to be made of materials with high temperature resistance and corrosion resistance, such as stainless steel or ceramics, to ensure that it can stably withstand high temperatures and maintain the purity of the medicinal liquid during the decocting process. In addition, the heat preservation performance of the outer pot 110 should also be considered to reduce heat loss during the decocting process and improve the decocting efficiency.

[0032] The inner support assembly 120 is placed inside the outer pot 110 for supporting the traditional Chinese medicine medicine bag. The design of the inner support assembly 120 should 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.

[0033] A tray 121 is provided at the top of the inner support assembly 120 and is placed on the circumference of the feeding port of the outer pot 110 to realize the stable placement of the inner support assembly 120 inside the outer pot 110. This is convenient for the feeding and removal of the medicine bag and avoids possible wear or contamination caused by the direct contact between the inner support assembly 120 and the bottom of the outer pot 110. The tray 121 also needs to be supported by materials with high temperature resistance and corrosion resistance to ensure its stability and durability during use.

[0034] Specifically, an inner support assembly 120 feeding port is formed on the inner circumference of the tray 121. During the decocting of traditional Chinese medicine, the traditional Chinese medicine materials are fed into the interior of the decocting pot 100 through the inner support assembly 120 feeding port for decocting.

[0035] Furthermore, a reinforcing rib 113 is provided at the feeding port of the outer pot 110. The reinforcing rib 113 is arranged in a ring around the feeding port of the outer pot 110; the tray 121 is placed on the reinforcing rib 113; preferably, the outer edge of the tray 121 protrudes from the reinforcing rib 113.

[0036] In this embodiment, a reinforcing rib 113 is provided at the feeding port of the outer pot 110. The reinforcing rib 113 is arranged around the feeding port in a circular manner. Its main purpose is to enhance the structural strength of this area of the outer pot 110. Since the feeding port is an area that is often subjected to internal and external forces, such as the placement and removal of the inner support assembly 120, and the feeding of medicine bags, etc., the addition of the reinforcing rib 113 can effectively prevent the feeding port from deforming or breaking due to long-term use or improper operation, thereby extending the service life of the outer pot 110. As a preferred solution, the reinforcing rib 113 is a circular reinforcing rib 113 arranged in a circle around the feeding port of the outer pot 110.

[0037] Specifically, the support plate 121 is placed on the reinforcing rib 113, which can provide stable support for the support plate 121 and ensure the accurate position of the inner support assembly 120 in the outer pot 110. The circular structure of the reinforcing rib 113 provides a flat and firm placement platform for the support plate 121, enabling the support plate 121 to firmly support the inner support assembly 120 and the traditional Chinese medicine medicine bag thereon, and preventing it from shaking or tilting during the decocting process.

[0038] As a preferred solution, the outer edge of the support plate 121 is designed to protrude from the reinforcing rib 113, which not only increases the contact area between the support plate 121 and the reinforcing rib 113, thereby improving the placement stability of the support plate 121, but also provides a certain guiding function for the placement and removal of the inner support assembly 120.

[0039] Furthermore, a clamping assembly 123 is provided on the side of the support plate 121 facing the inside of the inner support assembly 120. The clamping assembly 123 is used to clamp and fix the seal of the traditional Chinese medicine medicine bag; preferably, the clamping assembly 123 clamps and fixes the end of the seal.

[0040] During the decocting process, the traditional Chinese medicine medicine bag is usually sealed and packaged to prevent the medicinal materials from scattering or being contaminated. When the medicine bag is located in the inner support assembly 120, the clamping assembly 123 clamps the seal of the medicine bag, which can further ensure that the medicine bag is stably placed and avoid moving or tilting during the decocting process due to the boiling or stirring of the medicinal liquid.

[0041] Specifically, the inner circumference of the support plate 121 forms a feeding port of the inner support assembly 120. The edge of the feeding port is set to be alternately arranged with 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 is arranged towards the inside of the inner support assembly 120. The clamping assembly 123 includes: a housing, a core that can be telescopically moved in the housing, and a spring that provides a thrust force for the core.

[0042] More specifically, when decocting traditional Chinese medicine, first put the traditional Chinese medicine materials into a medicine bag, then tie the medicine bag tightly with a sealing member. Push the inner core of the clamping assembly 123 to make the opening of the inner core coincide with the opening of the housing. Place the sealing member at the opening. After placement, release the force pushing the inner core. The inner core is pushed by the restoring force of the spring in the housing and returns to its initial state. At this time, the sealing member is clamped and fixed in the clamping assembly 123.

[0043] It should be noted that the sealing member used to seal the medicine bag can be a separately provided cord. Tie the medicine bag tightly with the cord, and then clamp the remaining end after tying on the clamping assembly 123 to fix the sealing member. As another option, the sealing member used to seal the medicine bag can be a part of the medicine bag. Tie the medicine bag tightly with this part, and then clamp the remaining end after tying on the clamping assembly 123 to fix the sealing member.

[0044] 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.

[0045] In this embodiment, in addition to the support plate 121 provided in the inner support assembly 120, there are also a bottom plate 124 and a connecting rod 122. One end of the connecting rod 122 is connected to the support plate 121, and the other end is connected to the bottom plate 124 to form a stable support structure. The number and distribution mode of the connecting rods 122 should be reasonably designed according to the size and shape of the inner support assembly 120 to ensure the stability and balance of the entire structure. Similarly, the connecting rods 122 and the bottom plate 124 also need to be made of materials that are resistant to high temperature and corrosion to cope with the high temperature and humid environment during the decocting process.

[0046] Specifically, one end of the connecting rod 122 is set in a linear area on the inner peripheral edge of the support plate 121; there is a groove at the connection between the bottom plate 124 and the connecting rod 122, and the connecting rod 122 is connected in the groove. The bottom plate 124 is provided with through holes with different apertures for the dripping of the liquid medicine and for the cleaning member to pass through the through holes in the bottom wall of the outer pot 110 when cleaning the decocting pot 100.

[0047] 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 extrusion, the liquid medicine in the medicine bag can flow smoothly into the outer pot 110.

[0048] 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.

[0049] In this embodiment, to improve the stability of the inner support assembly 120 inside the outer pot 110 and prevent unnecessary rotation during the decocting process, a protrusion 111 is provided on the inner peripheral wall of the outer pot 110, which cooperates with the connecting rod 122 of the inner support assembly 120.

[0050] Specifically, the shape and size of the protrusion 111 on the inner peripheral wall of the outer pot 110 are set to cooperate with the connecting rod 122. The shape of the protrusion 111 can be circular, square, or other shapes suitable for cooperating with the connecting rod 122 to limit the rotation of the inner support assembly 120 in the outer pot 110.

[0051] When the inner support assembly 120 is placed inside the outer pot 110, the connecting rod 122 will come into contact with the protrusion 111. By means of physical restriction, even when the liquid medicine boils or is stirred during the decocting process, the inner support assembly 120 can maintain a relatively stable position.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] In another embodiment, four protrusions 111 are provided on the inner peripheral wall of the outer pot 110, with every two protrusions 111 as a group; the inner support assembly 120 is provided with four connecting rods 122, with every two connecting rods 122 as a group. The two protrusions 111 cooperate with the two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot. Specifically, when the inner support assembly 120 is placed inside the outer pot 110, the two protrusions 111 are located between the two connecting rods 122 to limit the rotation of the inner support assembly 120 inside the outer pot 110.

[0056] Specifically, a support rod connecting the two connecting rods 122 is provided between the two connecting rods 122 in a group, and the support rod is arranged at a position close to the bottom plate 124 of the inner support assembly 120; when decocting traditional Chinese medicine, after the seal of the medicine bag seals the medicine bag, it passes through from the inside of the inner support assembly 120 to the outside and then passes through the lower part of the support rod, and then the end is clamped and fixed in the clamping assembly 123, which can ensure that during the process of decocting traditional Chinese medicine, the medicine bag can always be close to the bottom plate 124 of the inner support assembly 120 and will not float due to the buoyancy of the water in the decocting pot 100. As a preferred solution, the seal can be wound around the support rod for one week and then extended to the clamping member 123 for clamping and fixing.

[0057] Further, a rib 112 is provided on the outer peripheral wall of the outer pot 110, and the rib 112 is arranged in a ring around the outer peripheral wall of the outer pot 110. When transporting the decocting pot 100, the transporting member clamps the pot wall of the outer pot 110 below the rib 112.

[0058] In this embodiment, a rib 112 is provided on the outer peripheral wall of the outer pot 110, and the rib 112 is arranged in a ring around the outer peripheral wall of the outer pot 110. The shape and size of the rib 112 can ensure that it will not protrude too much to increase the volume and weight of the outer pot 110, while providing sufficient stability for the transporting member to clamp the decocting pot 100.

[0059] 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 and prevent accidental situations such as slipping or tipping over during transportation.

[0060] 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.

[0061] 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 wall of the outer pot 110, and the two annular ribs 112 are spaced apart axially on the outer pot 110, and the spacing distance thereof at least satisfies the clamping of the transportation component.

[0062] Specifically, when transporting the decocting pot 100, transportation components such as a trolley and a gripper will clamp the part of the outer wall of the outer pot 110 between the two annular ribs 112. Due to the presence of the two annular ribs 112, the transportation component can clamp the outer pot 110 more firmly, preventing it from shaking or slipping during transportation.

[0063] Furthermore, a carrier 130 is provided at the bottom of the outer pot 110, and the movement of the decocting pot 100 on the conveyor line of the automatic decocting system is realized through the carrier 130.

[0064] Furthermore, the carrier 130 includes: a support plate 131, and the support plate 131 is fixedly connected to the outer pot 110; a conveying module 132, 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.

[0065] In this embodiment, 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.

[0066] 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, providing 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.

[0067] 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, firm connection, etc., which can ensure that there is no relative displacement or looseness between the support plate 131 and the outer pot 110 during the movement of the decocting pot 100, and at the same time simplifies the installation process and improves work efficiency.

[0068] Specifically, the support plate 131 is a square sheet metal structure, and a bent and formed fixing portion 1311 is provided at its edge; the bent and formed fixing portion 1311 is provided at the edges of the four sides of the support plate 131. When it is necessary to fix the outer pot 110 of the cooking pot 100, the fixing device cooperates with the fixing portion 1311 to achieve the fixing function. The fixing portion 1311 is an L-shaped structure. First, it bends upward from the plane of the support plate 131, and then bends horizontally. The connection of each bent section is in an arc transition. The conveying module 132 covering the outside of the support plate 131 is composed of four straight rods 1321 connected end to end. Grooves are provided on the straight rods 1321 to reduce the overall weight of the conveying module. The support plate 131 and the conveying module 132 are assembled into a square carrier 130 with a size of 400 cm * 400 cm to ensure the stability during the transfer of the cooking pot 100 and the adaptability to the conveyor belt.

[0069] Further, 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 pressing mechanism 3022 is installed on the moving platform 30212. Through the movement of the first driving member 30211, the first driving member 30211 drives the moving platform 30212 to move in a direction close to or away from the placement station of the cooking pot assembly, thereby realizing the relative movement of the pressing mechanism 3022.

[0070] 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.

[0071] In this embodiment, taking the cylinder as an example for further explanation: One end of the cylinder is fixedly installed on the frame 3011, and the other end of the cylinder is fixedly installed with the moving platform 30212. During operation, the cylinder rod of the cylinder extends or contracts horizontally, thereby driving the moving platform 30212 to move horizontally.

[0072] 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.

[0073] 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. 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.

[0074] In this embodiment, the guide rod 30232 is cylindrical. An arc-shaped recess is formed on the slide seat 3024, and the inner wall of the recess fits the outer wall of the guide rod 30232. When the moving platform 30212 moves, the guide rod 30232 is inserted into the recess of the slide seat 3024, and the guide rod 30232 and the slide seat 3024 are clamped to support 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 and the guiding effect on the moving platform 30212 are ensured.

[0075] In this embodiment, the extrusion mechanism 3022 includes a second driving member 30221 and an extrusion disc 30222. The second driving member 30221 is installed on the moving platform 30212, and the extrusion disc 30222 is installed on the second driving member 30221. The second driving member 30221 drives the extrusion disc 30222 to move up and down. By the second driving member 30221, driving the extrusion disc 30222 to move up and down, automatic extrusion of the medicine package can be realized.

[0076] 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.

[0077] In this embodiment, taking the cylinder as an example for further explanation: 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 disc 30222 is installed on the cylinder rod. During operation, the cylinder rod of the cylinder extends or retracts in the vertical direction, thereby driving the extrusion disc 30222 to move vertically.

[0078] In this embodiment, when the medicine package is being extruded, 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. As the liquid level of the medicinal liquid continuously rises, due to the existence of the distance, the medicinal liquid will not soak the medicine package again. A clamping mechanism 3025 is arranged on the frame 3011. Before the extrusion mechanism 3022 extrudes the medicine package, the clamping mechanism 3025 clamps the inner support assembly 120 in the decocting pot assembly 100. At the same time, the robot can drive the outer pot 110 to move downward, so that there is a distance between the bottom of the inner support assembly 120 and the bottom of the outer pot 110 in the decocting pot assembly 100, facilitating extrusion.

[0079] In this embodiment, an opening is provided on the frame 3011 for the decocting pot assembly 100 to enter the placement station of the decocting pot assembly, and a supporting device for supporting the inner supporting assembly 120 is provided at the placement station of the decocting pot assembly.

[0080] Specifically, the supporting device includes two clamping mechanisms 3025, which are respectively arranged on both sides of the decocting pot, and the two clamping mechanisms 3025 clamp from both sides of the decocting pot assembly 100, with higher stability.

[0081] 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.

[0082] 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 when the decocting pot assembly 100 enters the placement station of the decocting pot assembly.

[0083] 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: The cylinder block of the cylinder is fixedly installed on the frame 3011, the cylinder rod of the cylinder extends and retracts in the horizontal direction, and the clamping member 30252 is installed on the cylinder rod. During operation, the cylinder rod of the cylinder extends or retracts horizontally, thereby changing the distance between the two clamping members 30252.

[0084] 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 supporting assembly 120 in the decocting pot assembly 100 for easy clamping.

[0085] In this embodiment, the pressing module 302 is also provided with a positioning mechanism for enabling the moving mechanism 3021 to drive the pressing mechanism 3022 to move between preset positions.

[0086] 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.

[0087] Taking the opposed photoelectric sensor 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 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 member 30211 to stop moving, and then controls the second driving member 30221 to drive the pressing disc 30222 to descend. Again, through the control of the opposed photoelectric sensor, when reaching the specified position, the controller controls the second driving member 30221 to stop moving to complete the pressing work on the medicine bag.

[0088] After the pressing is completed, the controller controls the second driving member 30221 to drive the pressing disc 30222 to rise to the top, and then controls the first driving member 30211 to drive the moving platform 30212 to move horizontally. Again, through the control of the opposed photoelectric sensor, the first driving member 30211 returns to the initial position, and the first driving mechanism 30122 is controlled to stop moving.

[0089] 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 pressing disc 30222 presses 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.

[0090] 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 pressing disc 30222.

[0091] In this embodiment, a squeezing device for traditional Chinese medicine decocting is also disclosed, which includes an inner support assembly grasping module 301, a pressing disc cleaning module 303, and the above-mentioned pressing module 302.

[0092] In this embodiment, when the robot transports the decocting pot assembly 100 to the specified position, the pressing module 302 presses the medicine bag in the inner support assembly 120, so that the medicinal liquid flows into the outer pot 110. Then, the inner support assembly grasping module 301 grasps the inner support assembly 120 and transfers it to the specified position, and at the same time, the pressing disc cleaning module 303 cleans the pressing module 302.

[0093] The inner support component grasping module 301 of the present invention is used to grasp the inner support component 120 inside the decocting pot component placed on the frame 3011. There is a placement station for the decocting pot component 100 on the frame 3011 and a first station for placing the inner support component inside the decocting pot component 100. The inner support component grasping module 301 grasps the inner support component 120 inside the decocting pot component 100 and moves it between the first station and the placement station of the decocting pot component.

[0094] The inner support component grasping module 301 includes a moving seat 3012 and a grasping mechanism 3013. The moving seat 3012 is movably arranged on the frame 3011, and the grasping mechanism 3013 is arranged on the moving seat 3012 for grasping the inner support component 120 inside the decocting pot. The moving seat 3012 drives the grasping mechanism 3013 to move horizontally and vertically.

[0095] When it is necessary to separate the inner support component 120 from the outer pot 110, the moving seat 3012 first drives the grasping mechanism 3013 to move above the inner support component 120, and then the moving seat 3012 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 is located on the outer periphery of the inner support component 120. The grasping mechanism 3013 clamps the inner support component 120, and the moving seat 3012 drives the grasping mechanism 3013 to rise and move horizontally to a specified position.

[0096] By providing the moving seat 3012 and the grasping mechanism 3013, the automatic transfer of the inner support component 120 is realized, eliminating the need for manual handling, greatly reducing the labor intensity, and also ensuring the efficiency of decocting in the decocting pot.

[0097] 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. The two cross beams 30112 guide the moving seat 3012. In this embodiment, the cross bars 30113 are perpendicularly connected to the vertical beams 30111, and the connection method can be welding, or detachable connection such as screws, or connection through a connecting piece.

[0098] 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: In this embodiment, the frame 3011 adopts a detachable connection method. Specifically, an L-shaped steel plate is used for connection. One side of the steel plate is connected to the vertical beam 30111 through bolts, and the other side of the steel plate is connected to the ground through bolts, thereby realizing the overall fixation of the frame 3011.

[0099] In this embodiment, support legs are also installed at the bottom of the vertical beam 30111. Through the support legs, leveling can be performed, and they can also play a supporting role, improving the overall strength and stability of the frame 3011.

[0100] Furthermore, the moving base 3012 includes an installation platform 30121, a first driving mechanism 30122, and a second driving mechanism 30123. The installation platform 30121 is slidably connected to the frame 3011. The grasping mechanism 3013 is installed on the installation platform 30121. Both the first driving mechanism 30122 and the second driving mechanism 30123 are installed on the installation platform 30121. The first driving mechanism 30122 is used to drive the installation 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.

[0101] When the outer pot 110 needs to be separated from the inner support assembly 120, the first driving mechanism 30122 drives the installation platform 30121 to move above the inner support assembly 120, that is, drives the grasping mechanism 3013 to move above the inner support assembly 120. The second driving mechanism 30123 drives the grasping mechanism 3013 to descend until the grasping mechanism 3013 can clamp the inner support assembly 120; after the grasping mechanism 3013 clamps the inner support assembly 120, the second driving mechanism 30123 drives the grasping mechanism 3013 to rise, and at the same time, the first driving mechanism 30122 drives the installation platform 30121 to move above the designated position, and the second driving mechanism 30123 drives the grasping mechanism 3013 to descend, and the grasping mechanism 3013 releases the clamping state.

[0102] 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.

[0103] The first driving mechanism 30122 includes a motor, a gear, and a rack. The motor is installed on the mounting platform 30121. The gear is connected to the output end of the motor. The rack is installed on the frame 3011, and the gear meshes with the rack. When the motor is started, the output shaft of the motor rotates to drive the gear to rotate. Since the gear meshes with the rack, the rotation of the gear drives the movement of the mounting platform 30121. Through the gear-rack transmission mechanism, the movement of the mounting platform 30121 is more stable, ensuring the safety of the inner support assembly 120 during the movement process. At the same time, the gear and the rack can improve the positioning accuracy, facilitating the grasping and storage of the inner support assembly 120.

[0104] 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.

[0105] 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 selected. In this embodiment, the second driving mechanism 30123 will be further described by taking the cylinder as an example.

[0106] The second driving mechanism 30123 includes a cylinder. The cylinder is installed vertically. The cylinder body of the cylinder is fixed on the mounting platform 30121, and the grasping mechanism 3013 is installed on the output end of the cylinder. By the extension or contraction of the cylinder, the grasping mechanism 3013 is driven to move down or up.

[0107] 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.

[0108] In this embodiment, the mounting platform 30121 can be a double-layer structure to facilitate the installation of the motor and the cylinder respectively, avoiding interference between the first driving mechanism 30122 and the first driving mechanism 30122 due to the narrow installation space. The two-layer structure (two mounting plates) of the mounting platform 30121 is parallel. The upper layer structure of the mounting platform 30121 is located above the two cross beams 30112, and the lower layer structure of the mounting platform 30121 is located below the two cross beams 30112. The output shaft of the cylinder passes through the two-layer structure of the mounting platform 30121 in sequence.

[0109] 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, and the guide rail 3014 is arranged along the extending direction of the cross beam 30112. The guide seat 3015 is installed on the installation platform 30121, and the guide seat 3015 is slidably connected to the guide rail 3014. Through the sliding fit between the guide seat 3015 and the guide rail 3014, the stability of the installation platform 30121 during movement can be improved, that is, the stability of the inner support assembly 120 during transfer can be improved.

[0110] In this embodiment, the grasping mechanism 3013 includes a loading platform 30131 and clamping arms 30132. The loading platform 30131 is installed on the second driving mechanism 30123. There are two clamping arms 30132, both of which are installed on the loading platform 30131. The two clamping arms 30132 can move in directions away from or close to each other, and are used to clamp the inner support assembly 120 in the decocting pot assembly 100. When the first driving mechanism 30122 and the second driving mechanism 30123 drive the loading platform 30131 to move to a preset position, the two clamping arms 30132 move in a direction close to each other to clamp the inner support assembly 120 in the decocting pot assembly 100. When it is necessary to release the clamping state, only need to move the two clamping arms 30132 in a direction away from each other.

[0111] Further, the clamping arm 30132 includes a telescopic driving member 301321 and a clamping jaw 301322. The telescopic driving member 301321 is installed on the loading platform 30131, and the clamping jaw 301322 is installed on the telescopic driving member 301321. By extending or retracting the telescopic driving member 301321, the distance between the two clamping jaws 301322 is controlled to realize the switching between the clamping and releasing states.

[0112] In this embodiment, the telescopic driving member 301321 can be a cylinder, a linear motor, an electric push rod, etc. Taking the cylinder as an example for further explanation: The cylinder block of the cylinder is fixedly installed on the loading platform 30131, and the clamping jaw 301322 is installed on the output end of the cylinder. Through the expansion and contraction of the cylinder, the movement of the clamping jaw 301322 is driven.

[0113] In this embodiment, an arc-shaped clamping portion 301323 is formed on the clamping jaw 301322. Since the inner support assembly 120 in the decocting pot assembly 100 is a cylindrical structure, in order to facilitate the clamping of the two clamping jaws 301322, an arc-shaped clamping portion 301323 is machined on the clamping jaw 301322, which can fit the outer shape of the inner support assembly 120 in the decocting pot assembly 100. In this way, during the clamping process, the outer wall of the inner support assembly 120 in the decocting pot assembly 100 can be attached to the clamping portion 301323, making the clamping process more stable and safe.

[0114] In this embodiment, after the inner support assembly 120 is separated, the rotary cylinder rotates the liquid level sensor to directly above the decocting pot assembly, and the liquid level sensor detects the liquid level. When the set requirements are met, the next process is continued.

[0115] In this embodiment, in order to ensure the accuracy of the operation of the first driving mechanism 30122 and the second driving mechanism 30123, a positioning mechanism is further provided. The positioning mechanism is installed on the moving seat 3012. Through the positioning mechanism, the moving seat 3012 drives the grasping mechanism 3013 to reciprocate between preset positions.

[0116] Specifically, the positioning mechanism can be a through-beam 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.

[0117] Taking the through-beam 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 through-beam photoelectric sensor receives the light emitted by the transmitting end of the through-beam photoelectric sensor, the controller receives the signal emitted by the receiving end of the through-beam 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 being controlled by the through-beam photoelectric sensor again, when the designated position is reached, 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.

[0118] 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 through-beam photoelectric sensor again. The controller 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. Then, when the preset position is reached, the grasping mechanism 3013 releases the clamping state.

[0119] In this embodiment, a buffer is further provided. The buffer is arranged on the loading platform 30131, and multiple buffers can be provided. During the process that 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 tightly to ensure that the inner support assembly 120 is horizontal, so as to facilitate subsequent accurate placement. In this embodiment, the buffer can be an oil buffer or a spring buffer.

[0120] In this embodiment, a detection sensor and a sensing element are further provided to judge whether the inner support assembly 120 is tilted to ensure safety during the transportation process. Specifically, the detection sensor is installed on the loading platform 30131, and the sensing element is movably penetrated through the loading platform 30131. Under normal circumstances, the detection sensor cannot detect the sensing element. When the inner support assembly 120 is tilted, the inner support assembly 120 will push the sensing element upward, and the sensing element slides upward under force, so that the sensing element moves to one side of the detection sensor. When the detection sensor detects the sensing element, a signal can be transmitted, indicating that the inner support assembly 120 is tilted.

[0121] In this embodiment, a cable trough 3016 is arranged on the frame 3011, and a cable pipe 3017 is arranged in the cable trough 3016. The cable pipe 3017 is used for threading air pipes, electric wires, etc. By arranging the cable trough 3016 and the cable pipe 3017, it is avoided that during the process of moving the moving seat 3012, the air pipes, electric wires, etc. affect the movement of the moving seat 3012 or the air pipes, electric wires, etc. are wound.

[0122] In this embodiment, by installing a surrounding plate on the frame 3011, a storage cavity 3018 is formed for placing the inner support assembly 120 in the decocting pot assembly 100, that is, the first working 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.

[0123] In this embodiment, multiple storage cavities 3018 are provided, and the multiple storage cavities 3018 are arranged in a row. The moving seat 3012 can move above each storage cavity 3018 in sequence. By arranging multiple storage cavities 3018, multiple inner support assemblies 120 in the decocting pot assemblies 100 can be placed simultaneously, improving the processing efficiency.

[0124] In this embodiment, a cover plate 3019 is further provided. The cover plate 3019 seals the top of the storage cavity 3018. A through hole is provided on the cover plate 3019. The inner support assembly 120 in the decocting pot assembly 100 can enter the storage cavity 3018 through the through hole on the cover plate 3019. The cover plate 3019 and the storage cavity 3018 are provided in a one-to-one correspondence.

[0125] Since a support plate is provided at the top of the inner support assembly 120 in the decocting pot assembly 100, and the support plate is annularly arranged along the outer wall of the inner support assembly 120 in the decocting pot assembly 100. In this embodiment, the size of the through hole is smaller than the size of the support plate of the inner support assembly 120 in the decocting pot assembly 100, so that the support plate of the inner support assembly 120 in the decocting pot assembly 100 can be hung on the cover plate 3019, which is convenient for the taking and placing of the inner support assembly 120 in the decocting pot assembly 100.

[0126] In this embodiment, a storage station is further provided on the frame 3011. The storage station is located at one end of the frame 3011 and is close to the storage cavity 3018. An outer pot 110 is placed on the storage station. After the grabbing mechanism 3013 grabs the inner support assembly 120, it can be placed in the storage cavity 3018 or directly placed in the outer pot 110 at the storage station, and then the assembled decocting pot assembly 100 is conveyed to other processes through a conveyor line (conveyor belt).

[0127] In this embodiment, the working process of the inner support assembly grabbing module 301 is as follows: After the medicine bag is squeezed, the first driving mechanism 30122 drives the grabbing mechanism 3013 to move above the decocting pot assembly 100, and the second driving mechanism 30123 drives the grabbing mechanism 3013 to descend until it descends to a height where the grabbing mechanism 3013 can clamp the inner support assembly 120 in the decocting pot assembly 100. The two jaws 301322 move towards each other to clamp the inner support assembly 120 in the decocting pot assembly 100; then the second driving mechanism 30123 drives the grabbing 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 grabbing mechanism 3013 to descend. The inner support assembly 120 in the decocting pot assembly 100 also descends into the storage cavity 3018 together until the support plate of the inner support assembly 120 in the decocting pot assembly 100 is lapped with the cover plate 3019, thus completing the storage of the inner support assembly 120 in the decocting pot assembly 100.

[0128] In this embodiment, the extrusion module 302, the extrusion disk 30222 cleaning module, and the inner support component gripping module 301 are all installed on the frame 3011. The frame 3011 is L-shaped. The moving directions of the extrusion module 302 and the inner support component gripping module 301 are consistent with that of the L-shaped frame 3011, that is, the moving directions of the extrusion module 302 and the inner support component gripping module 301 are perpendicular. In this embodiment, the extrusion module 302 and the extrusion disk cleaning module 303 are located on the same side, and the extrusion disk cleaning module 303 is located below the extrusion module 302 to facilitate timely cleaning of the extrusion module 302.

[0129] In this embodiment, there is an integrated working area on the frame 3011 where the inner support component gripping module 301 and the extrusion module 302 overlap, that is, at the corner of the L-shaped frame 3011. The integrated working area means that the extrusion module 302 can move to this area to extrude the medicine bag, and at the same time, the inner support component gripping 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.

[0130] The specific working process is as follows: The robot transports the decocting pot assembly 100 to the decocting pot assembly placement station. First, the extrusion module 302 extrudes the medicine bag to separate the liquid medicine. Then, the inner support component gripping 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 extrusion disk cleaning module 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 gripping module 301 returns the inner support component 120 in the decocting pot assembly 100 to the outer pot 110.

[0131] In this embodiment, the extrusion disk cleaning module 303 includes a cleaning pipe 3031 and a washing pump. The washing pump is installed on the frame 3011, and the cleaning pipe 3031 is connected to the water outlet of the washing pump. When the first driving member 30211 drives the moving platform 30212 to move to the initial position, the second driving member 30221 drives the extrusion disk 30222 to move towards the direction close to the cleaning pipe 3031. After reaching the preset position, the washing pump is started, and the extrusion disk 30222 is cleaned through the cleaning pipe 3031 to avoid contamination of the extrusion disk 30222 during subsequent use.

[0132] 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 using the technical content prompted above to obtain equivalent embodiments with equivalent changes. 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's solution.

[0133] 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 using the technical content prompted above to obtain equivalent embodiments with equivalent changes. 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's solution.

Claims

1. A squeezing module for decocting traditional Chinese medicine, which is used to squeeze the medicine bag in the decocting pot assembly (100); It is characterized in that: Comprising A frame (3011) which successively has a moving mechanism (3021) and 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; A squeezing mechanism (3022), which is installed on the moving mechanism (3021) and squeezes the medicine bag by lifting the squeezing mechanism (3022); The moving mechanism (3021) drives the squeezing mechanism (3022) to move between the initial position and the placement station for the decocting pot assembly.

2. The squeezing module for decocting traditional Chinese medicine according to claim 1, wherein: The moving mechanism (3021) includes: a moving platform (30212) for installing the squeezing mechanism (3022); The squeezing mechanism (3022) has a liftable end; The moving platform (30212) and the liftable end of the squeezing mechanism (3022) are higher than the placement station for the decocting pot assembly; The moving platform (30212) moves towards or returns to the placement station for the decocting pot assembly under the drive of a first driving member (30211).

3. The squeezing module for decocting traditional Chinese medicine according to claim 2, wherein: An opening for the decocting pot assembly (100) to enter the placement station for the decocting pot assembly is provided on the frame (3011), and a supporting device for supporting the inner supporting assembly (120) of the decocting pot assembly (100) is provided at the placement station for the decocting pot assembly.

4. The squeezing module for decocting traditional Chinese medicine according to claim 3, wherein: The supporting device includes Two clamping members (30252) for clamping the inner supporting assembly (120), and the two clamping members (30252) move away from or close to each other under the drive of corresponding third driving members (30251); When the squeezing mechanism (3022) squeezes the medicine bag, the clamping members (30252) clamp and fix the inner supporting assembly (120).

5. The squeezing module for decocting traditional Chinese medicine according to any one of claims 3 to 4, wherein: 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 when the decocting pot assembly (100) enters the placement station for the decocting pot assembly.

6. The squeezing module for decocting traditional Chinese medicine according to any one of claims 3 to 5, wherein: The placement station for the decocting pot assembly and the initial position of the moving mechanism (3021) 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.

7. The squeezing module for decocting traditional Chinese medicine according to any one of claims 2 to 5, wherein: The squeezing mechanism (3022) includes a squeezing disc (30222) for squeezing the medicine bag; A second driving member (30221), the fixed end of which is fixed on the moving platform (30212); The extrusion disc (30222) is lifted and lowered at the placement station of the decocting pot assembly under the drive of the mobile end of the second driving member (30221).

8. The extrusion module for traditional Chinese medicine decocting according to any one of claims 1 to 7, characterized in that: It further includes a positioning mechanism, installed on the moving mechanism (3021), for detecting the initial position and the placement station of the decocting pot assembly; Preferably, the positioning mechanism can be a transmissive photoelectric sensor, a laser sensor, or a camera; Preferably, it further includes a detection mechanism, installed on the frame (3011), for detecting the liquid level height in the decocting pot assembly.

9. An extrusion device for decocting traditional Chinese medicine, characterized in that: It includes a frame (3011), an inner support assembly grasping module (301), and the extrusion module (302) according to any one of claims 1 to 8. The inner support assembly grasping module (301) is used to transfer the inner support assembly (120) and the medicine bag after being extruded by the extrusion module (302). There is an overlapping working area where the inner support assembly grasping module (301) and the extrusion module (302) cross on the frame (3011), and the placement station of the decocting pot assembly is located within the overlapping working area.

10. The extrusion device for traditional Chinese medicine decocting according to claim 9, characterized in that: The frame (3011) has a first station for placing the inner support assembly (120) in the decocting pot assembly (100), and the inner support assembly grasping module (301) grasps the inner support assembly (120) in the decocting pot assembly (100) and reciprocates between the first station and the placement station of the decocting pot assembly.

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