Automatic water adding system and water adding method for Chinese medicine prescription based on water adding device

Abstract

The present invention discloses an automatic water-adding system and water-adding method for Chinese medicine prescriptions based on a water-adding device, comprising: a machine platform, a medicine barrel, a water-adding component, a kneading mechanism, a control module and a sensing module; the medicine barrel is placed on the machine platform, and is used to accommodate medicine bags inside; the water-adding component comprises a water-adding pipe and a solenoid valve, the water outlet of the water-adding pipe is located above the medicine barrel, and the solenoid valve is installed in the direction of the water outlet of the water-adding pipe. In view of the problems of insufficient water-adding precision and poor adaptability of medicinal materials in traditional Chinese medicine decoction, the present invention adopts a multi-stage kneading strategy, namely, initial low-torque infiltration, main extrusion high-torque reciprocating, and final low-torque reset, and through a six-layer technical progression of multi-stage kneading-water volume compensation-magnetic control adsorption-adaptive cleaning-closed-loop control-efficient transmission, thereby solving the core problems of water-adding precision, medicinal material adaptability, cleaning efficiency, process traceability and equipment reliability in Chinese medicine decoction.

Description

Technical Field

[0001] The invention relates to an automatic water adding system and a water adding method for Chinese medicine prescriptions based on a water adding device, and belongs to the technical field of Chinese medicine processing. Background Art

[0002] As a core component of traditional Chinese medicine treatment, the precision of Chinese herbal decoction directly impacts the release of medicinal properties and clinical efficacy. With the increasing demand for standardization and efficiency in modern healthcare systems, automated decoction equipment is gradually replacing traditional manual operations, becoming a necessity, especially in large medical institutions and Chinese medicine pharmacies. However, due to the diverse nature of medicinal ingredients and their significant differences in water absorption properties, Chinese herbal prescriptions impose complex technical requirements on water addition precision and infiltration processes, necessitating the use of intelligent means for dynamic adaptation.

[0003] Current mainstream water-addition systems for traditional Chinese medicines generally utilize a fixed liquid-level threshold control mode, relying solely on feedback from a single liquid-level sensor for valve switching control. This results in water-addition errors often exceeding ±5%. This extensive control logic fails to consider the dynamic coupling between the dry weight of the medicinal material, its water absorption rate, and the ambient temperature and humidity, and can easily lead to insufficient infiltration or over-dilution of the medicinal material. Furthermore, existing equipment lacks a response mechanism to the physical properties of the drug package, and the kneading mechanism often utilizes a single pressure parameter, making it impossible to implement differentiated extrusion strategies for herbs of varying textures, such as rhizomes and leaves. This results in significant fluctuations in the dissolution rate of the active ingredient.

[0004] Therefore, the purpose of this study is to design an automatic water adding system and water adding method for traditional Chinese medicine prescriptions with multi-dimensional sensing collaborative control, dynamic water volume compensation and adaptive kneading and cleaning functions. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention aims to provide an automatic water adding system and water adding method for Chinese medicine prescriptions based on a water adding device to solve the problems of the prior art.

[0006] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0007] An automatic water adding system for Chinese medicine prescriptions based on a water adding device, comprising:

[0008] Machine, medicine barrel, water adding component, kneading mechanism, control module and sensing module;

[0009] The medicine barrel is placed on the machine table and is used to accommodate medicine packages;

[0010] The water adding assembly includes a water adding pipe and a solenoid valve. The water outlet of the water adding pipe is located above the medicine barrel. The solenoid valve is installed in the direction of the water outlet of the water adding pipe to control the water flow.

[0011] The kneading mechanism includes a kneading plate and a first driving assembly. The kneading plate is located above the medicine barrel. The first driving assembly is drivingly connected to the kneading plate to control the lifting and lowering of the kneading plate.

[0012] The sensing module includes a liquid level sensor and a position sensor. The liquid level sensor is used to monitor the liquid level in the medicine barrel, and the position sensor is used to detect whether the medicine barrel is in place at the processing position directly below the kneading plate.

[0013] The control module is a programmable logic controller, which is electrically connected to the solenoid valve, the first drive assembly, the liquid level sensor, and the position sensor, and executes the following control logic:

[0014] After the position sensor confirms that the medicine barrel is in place, the solenoid valve is controlled to open and water is added to the medicine barrel to the preset liquid level;

[0015] The real-time liquid level is fed back by the liquid level sensor, and the opening of the solenoid valve is dynamically adjusted by the control module to control the water addition accuracy to ±1% to 2%;

[0016] Control the first drive assembly to drive the kneading plate downward to perform multi-stage extrusion on the medicine bag, including:

[0017] In the initial stage, press down slowly with low torque for 5 to 10 seconds to soak the medicinal materials;

[0018] During the main extrusion phase, press down at high torque and medium speed, repeating the lifting and lowering 5 to 15 times, with each retraction of 50 to 100 mm;

[0019] The low torque is reset at the end stage, and the kneading disc is lifted to the standby position after the extrusion is completed;

[0020] Control the cleaning component to rinse the kneading plate. After confirming that the medicine barrel is in place through the position sensor, control the solenoid valve to open and fill the medicine barrel with water to the preset liquid level. The preset liquid level is calculated based on the water absorption rate of the medicinal material, the dosage and the target liquid volume through the formula calculate;

[0021] Among them, v1 is the amount of water added, v2 is the target amount of liquid medicine, k1 is the water absorption coefficient of 1~1.5, w is the dry weight of the medicinal material, and w2 is the evaporation amount.

[0022] As a further improvement, the low torque in the initial stage is 0.5-1.5 N / m, and the slow pressing speed is 10-20 mm / s, which lasts for 5-10 seconds to infiltrate the medicinal materials;

[0023] The high torque in the main extrusion stage is 2-5N / m, the medium speed downward pressure is 30-50mm / s, and the lifting and lowering are repeated 5-15 times, with a retraction of 50-100mm each time.

[0024] As a further improvement, the cleaning component includes an annular spray pipe arranged below the water filling pipe, and several guide nozzles arranged below the annular spray pipe. In the water injection mode, the solenoid valve is controlled to open slightly by the control module, and the guide nozzle guides the water flow toward the interior of the medicine barrel. In the cleaning mode, the solenoid valve is controlled to open widely by the control module, and the guide nozzle guides the water flow toward the kneading plate for impact cleaning.

[0025] As a further improvement, a guide piece is rotatably mounted on the inner side of the guide nozzle away from the kneading disk, and the inner side of the guide piece is movably connected to the inner wall of the water supply pipe. In the water injection mode, the guide piece is initially kept close to the inner wall of the water supply pipe. In the cleaning mode, the lower end of the guide piece is rotated, so that the upper end of the guide piece is expanded outward, guiding the water flow to impact and clean the lower part of the kneading disk.

[0026] The lower end of the guide piece is rotatably mounted on the water adding pipe via a rotating shaft, the upper inner side of the guide piece is connected to the inner wall of the water adding pipe via a spring, and the length of the guide piece is smaller than the opening length of the guide nozzle.

[0027] As a further improvement, the machine further comprises a frame, wherein the first drive assembly comprises a lifting cylinder assembly, the lifting cylinder assembly is vertically mounted on the frame, and a piston rod of the lifting cylinder assembly is fixedly connected to the upper portion of the kneading plate;

[0028] The control module controls the force of the kneading component to squeeze the medicine bag through feedback from the water pressure detection component. The depth of the kneading plate entering the water in the medicine barrel is proportional to the force of the kneading component to squeeze the medicine bag.

[0029] As a further improvement, the invention further comprises a kneading assembly disposed below the kneading disk, the kneading assembly comprising at least two groups of rods evenly distributed along the circumference of the kneading disk, each group of rods comprising two rods symmetrically disposed below the outer annular surface of the kneading disk; the second drive assembly comprises a linear drive unit corresponding to each rod, the linear drive unit driving the corresponding rod in the same group to move laterally to achieve clamping and release of the medicine bag;

[0030] The control module controls the force of the kneading component to squeeze the medicine bag through the feedback of the water pressure detection component, and the depth of the kneading plate entering the water in the medicine barrel is proportional to the force of the kneading component to squeeze the medicine bag;

[0031] The rod is an arc-shaped rigid member, which is rotatably mounted below the kneading disk. A guide groove is provided on the kneading disk corresponding to the rod, and the rod is driven to move radially in the guide groove by a linear drive unit.

[0032] The rod is made of metal material, and a number of magnetic sheets are embedded on the inner side of the arc-shaped rod. The kneading disk is embedded with an electromagnet near the guide groove. The electromagnet is electrically connected to the control module. By enhancing the magnetism of the electromagnet, the end of the rod is adsorbed to the bottom of the kneading disk with the help of the magnetic sheet.

[0033] The linear drive unit includes a servo motor and a screw nut mechanism;

[0034] The servo motor is fixedly installed between the top of the kneading plate and the lifting cylinder assembly. The output shaft of the servo motor is installed with a first bevel gear. A second bevel gear is installed at one end of the lead screw. The first bevel gear and the second bevel gear cooperate to drive the lead screw to rotate. A nut slider is threadedly connected to the lead screw. The side of the nut slider is fixedly connected to the top of the arc-shaped rigid component through a rotating shaft.

[0035] When the servo motor drives the lead screw to rotate, the nut slider moves along the lead screw axis, and the nut slider drives the rod to translate radially;

[0036] It also includes a conveyor belt arranged on the machine platform, and the medicine barrel is placed on the conveyor belt for transportation.

[0037] A water adding method for an automatic water adding system for Chinese medicine prescriptions based on a water adding device, comprising the following steps:

[0038] S1, water treatment and pre-filtration: The raw water is sequentially filtered through a quartz sand filter to physically intercept suspended solids, an activated carbon filter to adsorb organic matter and residual chlorine, and a resin filter for ion exchange softening to obtain purified water which is then stored in a clean water tank;

[0039] S2, medicine barrel positioning and liquid level initialization: The medicine barrel is transported to the water adding station of the machine via a conveyor belt. The position sensor confirms that the medicine barrel is in place, and the liquid level sensor calibrates the initial liquid level;

[0040] S3, dynamic calculation of water addition: based on prescription parameters: dry weight of medicinal materials w, target liquid volume v2, water absorption coefficient k1=1~1.5, evaporation volume w 2， By formula Calculate the water addition amount v1 and send it to the control module;

[0041] S4, multi-stage extrusion and synergistic water addition:

[0042] During the initial extrusion, the kneading disk presses down the medicine bag at a torque of 0.5 to 1.5 N / m and a speed of 10 to 20 mm / s for 5 to 10 seconds to soak the medicinal material;

[0043] The kneading disk in the main extrusion is switched to a torque of 2-5 N / m and a speed of 30-50 mm / s, and is repeatedly raised and lowered 5-15 times, with each retraction of 50-100 mm;

[0044] During the extrusion process, the solenoid valve opens in stages in accordance with the extrusion rhythm, and the water addition accuracy is controlled to ±1% to 2% through the turbine flow meter and liquid level sensor feedback closed loop;

[0045] S5, after the extrusion is completed, the medicine barrel moves out of the working area, and the kneading plate is flushed through the annular spray pipe, and the kneading plate is lifted to the standby position;

[0046] S6, records the water adding parameters and extrusion data to the control module system. If a liquid level deviation is detected or the medicine barrel is not in place, an alarm is triggered and the machine is shut down for protection.

[0047] As a further improvement, the control logic of the multi-stage extrusion in step S4 includes:

[0048] Initial stage: The control module sends a torque command to the servo driver, and the electromagnet strengthens the magnetic attraction of the rod end;

[0049] Main extrusion stage: The control module sends lifting instructions to the lifting cylinder assembly to control the kneading plate to repeatedly lift and lower 5 to 15 times;

[0050] Secondary extrusion stage: The control module sends a torque command to the servo driver, which cuts off the power supply to the electromagnet. The electromagnet weakens its magnetism, allowing the adsorption rod to unfold. The servo motor drives the lead screw nut mechanism, causing the arc-shaped rigid rod to radially clamp the medicine package with a torque of 0.5 to 1.5 N / m for 5 to 10 seconds.

[0051] Termination stage: The control module cuts off the power supply to the electromagnet, the spring resets the guide plate, and the kneading disk returns to the standby position with a torque of 0.5N / m.

[0052] As a further improvement, the water addition precision control logic in step S4 includes:

[0053] The control module receives the real-time signal from the turbine flowmeter. If the actual water addition amount deviates from v1 by more than 1%, the solenoid valve opening is adjusted through the PID algorithm.

[0054] The amount of water added to the first decoction is v1, and the amount of water added to the second decoction is 0.9v1. The error in the combined medicinal liquid volume is ≤5%.

[0055] As a further improvement, the dynamic adjustment logic of the extrusion times in step S4 includes:

[0056] Identify medicinal material characteristics. Input the medicinal material type through the HMI. The control module calls the 5 preset extrusion modes 1-5 corresponding to 5 levels of torque gradient.

[0057] According to the water level drop rate fed back by the liquid level sensor, if the water absorption rate is less than 5ml / s, increase the number of squeezes to 15 times.

[0058] The beneficial effects of the present invention are:

[0059] In view of the problems of insufficient water addition accuracy and poor adaptability of traditional Chinese medicine decoction, the present invention adopts a multi-stage kneading strategy, namely, initial low-torque infiltration, main extrusion high-torque reciprocating, and final low-torque reset. The dynamic calculation formula is combined with v1 as the amount of water added, v2 as the target liquid volume, k1 as the water absorption coefficient of 1-1.5, w as the dry weight of the medicinal material, and w2 as the evaporation amount. The solenoid valve opening is adjusted through double closed-loop feedback of the liquid level sensor and turbine flowmeter.

[0060] By using low-torque, slow downward pressure in the initial stage to synchronize the water absorption of the medicinal material, and high-torque, medium-speed reciprocating pressure in the main extrusion phase to create a cyclical pressure gradient, the saponin dissolution rate of rhizomes and root herbs increased by 40%. A dynamic water compensation algorithm adjusts evaporation based on ambient temperature and humidity, achieving a water addition accuracy of ±1% to 2% and a drug solution concentration stability RSD of <3%.

[0061] Traditional kneading plates can only provide uniform pressure, resulting in insufficient infiltration of rhizomes or excessive crushing of leafy herbs.

[0062] Therefore, multiple sets of curved rigid rods are distributed circumferentially beneath the kneading disk. Electromagnets are embedded within the kneading disk, and radial movement of the rods is achieved via a servo motor driving a lead screw and nut mechanism. When the electromagnets become magnetically enhanced, the ends of the rods adhere to the curved surface of the drug package. When the power is turned off, the magnetic sheet assists in unfolding and clamping.

[0063] The control module dynamically switches the kneading mode based on feedback from the water pressure sensor. In addition, the magnetically controlled adsorption mechanism ensures that the contact area between the rod and the medicine bag is greater than 95%, and the friction coefficient μ=0.6-0.8, avoiding local excessive crushing caused by slippage.

[0064] Since the existing cleaning nozzles cannot cover the grooves, threads and other areas at the bottom of the kneading plate, and rely on manual wiping, the efficiency is low.

[0065] A rotatable guide nozzle is installed under the annular spray pipe, and the guide piece realizes the switching of water injection / cleaning mode through the rotating shaft and spring: water injection mode: slow flow triggers the guide piece to close, and the water flows smoothly along the inner wall of the medicine barrel; cleaning mode: rapid flow impacts the guide piece to expand, and the water flow impacts the bottom of the kneading plate.

[0066] Since the kneading force of traditional equipment is decoupled from the water absorption state of the medicine bag, it is easy to cause pressure mismatch due to water absorption and expansion.

[0067] The water pressure detection component is used to monitor the changes in the liquid level of the medicine barrel in real time. The control module dynamically corrects the rod driving force F=μ×P based on the fluid statics equation P=ρgh. At the same time, the lifting cylinder controls the immersion depth of the kneading plate, which is proportional to the force.

[0068] When a water pressure gradient ΔP / Δt > 0.2 kPa / s is detected, the herb is deemed to have completed initial water absorption and switches to the kneading stage. If rhizomes expand (h + 10%) due to water absorption, the rod driving force is automatically increased by 15% to maintain optimal wall-breaking efficiency. The lifting cylinder and servo drive work together to link the kneading disc's immersion depth (50-100 mm) with the pressure (0.5-5 N / m), increasing the plastic deformation rate of the cellulose microcrystals in rhizomes to 85%.

[0069] Due to the lack of real-time monitoring and data closed loop in existing equipment, abnormalities such as liquid level deviation and medicine barrel misplacement cannot be responded to in a timely manner.

[0070] The integrated HMI inputs the medicinal material type and uses near-infrared spectroscopy to measure moisture content online. Data from level sensors, position sensors, and torque sensors are combined to construct a three-dimensional control model for processing. The HMI calls up five preset extrusion modes (modes 1-5 correspond to torque gradients), and near-infrared spectroscopy dynamically adjusts the k1 value. If misalignment of the medicine barrel or excessive driving force is detected, a secondary alarm is immediately triggered, causing the machine to shut down.

[0071] Through the six-level technology advancement of multi-stage kneading - water volume compensation - magnetic control adsorption - adaptive cleaning - closed-loop control - efficient transmission, the core problems of water addition accuracy, medicinal material adaptation, cleaning efficiency, process traceability and equipment reliability in Chinese medicine decoction have been solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0073] Figure 1 It is a schematic diagram of the three-dimensional structure of the first working state of the present invention.

[0074] Figure 2 It is a schematic diagram of the three-dimensional structure of the second working state of the present invention.

[0075] Figure 3 It is a schematic diagram of the structure of the kneading disk of the present invention from a top view.

[0076] Figure 4 It is a schematic diagram of the side structure of the rod of the present invention.

[0077] Figure 5 It is a schematic diagram of the three-dimensional structure of the flexible contact pad of the present invention.

[0078] Figure 6 It is a schematic diagram of the three-dimensional structure of the water adding pipe of the present invention.

[0079] Figure 7 yes Figure 3 Enlarged structural diagram at point A in the middle.

[0080] Figure 8 yes Figure 3 Enlarged structural diagram at point B in the middle.

[0081] Figure 9 yes Figure 6 Schematic diagram of the enlarged structure of the first working state at point C in the middle.

[0082] Figure 10 yes Figure 6 Schematic diagram of the enlarged structure of the second working state at point C in the middle.

[0083] Figure 11 The present invention is a schematic diagram of the module connection of an automatic water adding system for traditional Chinese medicine prescriptions based on a water adding device.

[0084] Figure 12 This is a step diagram of a method for automatically adding water to a traditional Chinese medicine prescription based on a water adding device of the present invention.

[0085] 1. Machine platform; 11. Frame; 2. Medicine barrel; 21. Medicine bag; 4. Kneading plate; 41. Rod; 411. Flexible contact pad; 412. Cavity; 413. Water outlet; 414. One-way water inlet; 415. Pressure sensor; 416. Metal elastic strip; 417. Flexible sheet; 42. Guide groove; 43. Magnetic sheet; 44. Electromagnet; 5. Control module; 6. Lifting cylinder assembly; 7. Servo motor; 71. Lead screw; 711. Nut slider; 72. First bevel gear; 73. Second bevel gear; 9. Conveyor belt; 3. Water supply pipe; 31. Solenoid valve; 32. Annular spray pipe; 33. Guide nozzle; 34. Guide plate; 35. Rotating shaft; 36. Spring; 51. Sensing module; 511. Liquid level sensor; 512. Position sensor; 513. Evaporation prediction module; 514. Water volume calculation module; 8. Water pressure detection component; 81. Water pressure sensor; 82. Waterproof probe; 83. Pressure guide hole. DETAILED DESCRIPTION

[0086] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0087] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0088] Reference Figure 1-11 As shown, an automatic water adding system for Chinese medicine prescriptions based on a water adding device comprises:

[0089] Machine 1, medicine barrel 2, water adding component, kneading mechanism, control module 5 and sensing module 51;

[0090] The medicine barrel 2 is placed on the machine 1 and is used to accommodate medicine packages 21;

[0091] The water adding assembly includes a water adding pipe 3 and a solenoid valve 31. The water outlet 413 of the water adding pipe 3 is located above the medicine barrel 2. The solenoid valve 31 is installed in the direction of the water outlet 413 of the water adding pipe 3 to control the water flow.

[0092] The kneading mechanism includes a kneading plate 4 and a first driving assembly. The kneading plate 4 is located above the medicine barrel 2. The first driving assembly is connected to the kneading plate 4 for controlling the lifting and lowering of the kneading plate 4.

[0093] The sensing module 51 includes a liquid level sensor 511 and a position sensor 512. The liquid level sensor 511 is used to monitor the liquid level in the medicine barrel 2, and the position sensor 512 is used to detect whether the medicine barrel 2 is in place at the processing position directly below the kneading plate 4.

[0094] The control module 5 is a programmable logic controller, which is electrically connected to the solenoid valve 31, the first drive assembly, the liquid level sensor 511, and the position sensor 512, and executes the following control logic:

[0095] After confirming that the medicine barrel 2 is in place through the position sensor 512, the solenoid valve 31 is controlled to open and water is injected into the medicine barrel 2 to the preset liquid level; wherein, the position sensor 512 is a visual sensor, which visually monitors whether the medicine barrel 2 is in the preset processing position.

[0096] The real-time liquid level is fed back by the liquid level sensor 511, and the opening of the solenoid valve 31 is dynamically adjusted by the control module 5 to control the water addition accuracy to ±1% to 2%;

[0097] Controlling the first drive assembly to drive the kneading plate 4 downward to perform multi-stage extrusion on the medicine bag 21, including:

[0098] In the initial stage, press down slowly with low torque for 5 to 10 seconds to soak the medicinal materials;

[0099] During the main extrusion phase, press down at high torque and medium speed, repeating the lifting and lowering 5 to 15 times, with each retraction of 50 to 100 mm;

[0100] The low torque is reset at the end stage, and the kneading disc 4 is lifted to the standby position after the extrusion is completed;

[0101] The cleaning component is controlled to rinse the kneading plate 4. After the medicine barrel 2 is confirmed to be in place through the position sensor 512, the solenoid valve 31 is controlled to open and water is added to the medicine barrel 2 to a preset liquid level. The preset liquid level is calculated based on the water absorption rate of the medicinal material, the dosage and the target liquid volume through the formula calculate;

[0102] Among them, v1 is the amount of water added, v2 is the target amount of liquid medicine, k1 is the water absorption coefficient of 1~1.5, w is the dry weight of the medicinal material, and w2 is the evaporation amount.

[0103] Through multi-dimensional sensor collaborative control and dynamic water compensation mechanism, the technical problems of insufficient water addition accuracy, uneven medicinal material infiltration and single kneading strategy in traditional Chinese medicine decoction are effectively solved.

[0104] During the specific implementation process, after confirming that the medicine barrel 2 is in place through the position sensor 512, the control module 5 combines the dry weight of the medicinal material w, the water absorption coefficient k1 1~1.5 and the target liquid volume v2, according to the formula , where v is the amount of water added, Where w is the water absorption coefficient, and w2 is the evaporation compensation. This dynamically calculates the preset liquid level, breaking through the existing extensive control mode that relies solely on fixed liquid level thresholds. Liquid level sensor 511 provides real-time feedback on the liquid level in medicine barrel 2. Control module 5 precisely adjusts the opening of solenoid valve 31 using a PID algorithm, limiting the water addition error to within ±1% to 2%, a 3-4 times improvement over the traditional ±5% error level. This transition from static threshold control to dynamic water volume compensation is achieved.

[0105] The kneading mechanism utilizes a multi-stage adaptive strategy. Initially, the mechanism applies slow, low-torque pressure for 5 to 10 seconds to fully infiltrate the medicinal material's cellular structure. The main extrusion phase involves 5 to 15 cycles of high-torque, medium-speed reciprocating motion, each with a 50 to 100 mm retraction. This creates a periodic pressure gradient, effectively promoting the release of active ingredients from rhizomes. Finally, low-torque resetting is used during the final stage to prevent excessive fragmentation of fibrous materials. This segmented mechanical response mechanism, compared to traditional single-pressure parameter kneading devices, increases the dissolution rate of flavonoids from leafy herbs by 18% to 22% and the extraction efficiency of saponins from rhizomes by 25% to 30%.

[0106] Compared with existing technologies, the core advantage of this solution lies in the construction of a three-dimensional control model of medicinal material characteristics, environmental parameters, and process parameters. Through the adaptive adjustment of the k1 value of the water absorption rate dynamic compensation algorithm and the evaporation prediction module 513, w2 = 0.8-1.2 × medicinal material volume, the problem of liquid level fluctuation caused by differences in medicinal material water absorption is solved;

[0107] Secondly, the force control feedback system of the kneading mechanism can sense the impedance characteristics of the medicinal materials in real time. When the hardness of the root and rhizome medicinal materials is greater than 5N / mm 2 When using the deep pressing mode, the hardness of leaf medicinal materials is <2N / mm 2 High-frequency oscillation kneading is enabled to achieve differentiated processing driven by physical properties;

[0108] Finally, an integrated cleaning component automatically initiates a 20MPa pulsed water jet cleaning after extrusion, increasing efficiency six times compared to manual wiping while also eliminating the risk of cross-contamination. This improves the concentration stability of the decoction to an RSD of <3%, significantly better than the RSD of >8% achieved with conventional equipment.

[0109] In this embodiment, the low torque in the initial stage is 0.5-1.5 N / m, and the slow pressing speed is 10-20 mm / s, which lasts for 5-10 seconds to soak the medicinal material;

[0110] The main extrusion stage has a high torque of 2 to 5 N flow rate and liquid level and dynamic compensation algorithm / m, medium speed downward pressure of 30 to 50 mm / s, repeated lifting and lowering 5 to 15 times, and retraction of 50 to 100 mm each time.

[0111] A staged mechanical control strategy is adopted in the design of kneading process parameters, and the selection of torque and speed parameters is based on the physical and chemical principles of Chinese medicine decoction and experimental verification data.

[0112] In the initial stage, a low torque of 0.5-1.5N / m and a downward pressure speed of 10-20mm / s are used. Due to the need for cell wall softening, the active ingredients of traditional Chinese medicine are mostly stored in plant cells, and physical pressure is needed to destroy the cell wall structure for dissolution. In the initial stage, a low torque of 0.5-1.5N / m and a slow downward pressure of 10-20mm / s are used to avoid the direct application of high pressure, which would cause the surface of the medicinal material to quickly break up and form a dense layer, hindering water penetration.

[0113] Specifically, rhizome herbs such as Astragalus and Atractylodes have a dense vascular structure. Low-speed infiltration can allow water molecules to fully enter the vascular system, reduce the crystallinity of the cell wall, and lay the foundation for subsequent efficient extraction.

[0114] Experimental data shows that most Chinese medicinal herbs absorb water most rapidly within the first 5-10 seconds after contact with water. For example, licorice's initial water absorption rate reaches 0.3g / g·min, then gradually slows down. Slow kneading during this stage synchronizes the herbs' water absorption process, preventing mechanical disturbances that disrupt the established capillary effect. Specifically, slow kneading of leafy herbs such as mint maintains their cuticle integrity while promoting the opening of stomata, increasing water absorption by 12%-15%.

[0115] Low torque parameters of 0.5 to 1.5 N / m correspond to a minimum drive motor power output of approximately 30 to 50 watts. Compared to direct high-voltage starting, which requires an instantaneous power of over 200 watts, this design can reduce energy consumption by over 25% and minimize mechanical wear on the equipment.

[0116] The main extrusion stage has a high torque of 2 to 5 N / m, a pressing speed of 30 to 50 mm / s, and reciprocates 5 to 15 times.

[0117] The dissolution of active ingredients is driven by pressure gradient. According to the Noyes-Whitney equation, the concentration gradient at the solid-liquid interface is the core factor affecting the dissolution rate. By combining high torque of 2-5 N / m with medium speed pressure of 30-50 mm / s, periodic pressure pulsations can be generated inside the medicinal material:

[0118] High torque ensures that the cellulose microcrystalline structure of rhizome medicinal materials such as ginseng produces plastic deformation and the fracture strength must be ≥3.8N / m 2 ;

[0119] The medium speed downward pressure of 30 to 50 mm / s matches the elastic recovery time of the medicinal material. For example, when the elastic modulus of Coptis chinensis is 120 MPa, the stress relaxation time is about 2 seconds, thus avoiding energy loss.

[0120] Experiments show that under these parameters, the dissolution rate of saponin components such as ginsenoside Rg1 is increased by 40% compared with static immersion.

[0121] The reciprocating motion enhances mass transfer efficiency. The design of 5 to 15 reciprocating lifts and retractions of 50 to 100 mm is based on the following mechanism:

[0122] Each retreat action can peel off the saturated solution layer on the surface of the medicinal material and update the solid-liquid interface. For example, the mass transfer coefficient of rhubarb anthraquinone substances is increased by 28%. The negative pressure environment of about -15kPa formed during the retreat process can induce the liquid phase in the cell to explode and release the embedded components. For example, the extraction rate of volatile oil substances is increased by 18%. The maximum reciprocating number of 15 times is aimed at high-density medicinal materials such as mineral magnets to ensure sufficient penetration of mechanical force.

[0123] Regarding the adaptation to the physical properties of medicinal materials, the hardness of rhizome medicinal materials is >5N / mm 2 : Use high torque 4-5N / m with low frequency reciprocating 5-8 times to avoid excessive crushing and resulting in filtering difficulties.

[0124] Hardness of leaf and flower medicinal materials <2N / mm 2 : Switch to medium torque 2-3N / m with high-frequency reciprocation 10-15 times, and use the elastic hysteresis effect of tough fiber, such as the dissolution rate of chrysanthemum chlorogenic acid is increased by 22%.

[0125] Traditional equipment only uses constant pressure such as 3N / m for kneading, which results in excessive crushing of leaf medicinal materials and a large amount of fine debris, resulting in filtration loss of >8%. Root and rhizome medicinal materials have residual active ingredients due to insufficient pressure, such as the residual amount of paeoniflorin in white peony reaches 12%.

[0126] Through stage-by-stage control, the integrity of leaf medicinal materials is maintained at >90%, and the cell wall rupture rate of root and stem medicinal materials is increased to more than 85%.

[0127] Existing technologies lack feedback adjustment of medicinal material impedance, while this device uses a torque sensor to monitor load changes in real time: when a sudden increase in resistance is detected, such as when encountering lignified medicinal materials, it automatically switches to a maximum torque of 5N / m and reduces the downward pressure speed to 30mm / s to avoid equipment overload or damage to the medicinal materials.

[0128] All parameters are verified by orthogonal experiments based on the physical properties database of medicinal materials included in the 2020 edition of the "Chinese Pharmacopoeia", covering parameters such as elastic modulus, water absorption rate, cell wall thickness, etc. of 200 commonly used medicinal materials, to ensure that the parameter combination is universal for more than 90% of medicinal materials.

[0129] In order to achieve precise cleaning of the bottom of the kneading plate 4, the cleaning component includes an annular spray pipe 32 arranged below the water supply pipe 3, and several guide nozzles 33 arranged below the annular spray pipe 32. In the water injection mode, the control module 5 controls the solenoid valve 31 to open slightly, and the guide nozzle 33 guides the water flow toward the inside of the medicine barrel 2. In the cleaning mode, the control module 5 controls the solenoid valve 31 to open significantly, and the guide nozzle 33 guides the water flow toward the kneading plate 4 for impact cleaning.

[0130] A guide piece 34 is rotatably mounted on the inner side of the guide nozzle 33 away from the kneading plate 4. The inner side of the guide piece 34 is movably connected to the inner wall of the water supply pipe 3. In the water injection mode, the guide piece 34 is initially kept close to the inner wall of the water supply pipe 3. In the cleaning mode, the lower end of the guide piece 34 rotates, causing the upper end of the guide piece 34 to expand outward, guiding the water flow to impact and clean the lower part of the kneading plate 4.

[0131] The lower end of the guide piece 34 is rotatably mounted on the water supply pipe 3 via a rotating shaft 35 , and the upper inner side of the guide piece 34 is connected to the inner wall of the water supply pipe 3 via a spring 36 . The length of the guide piece 34 is smaller than the opening length of the guide nozzle 33 .

[0132] During the water injection stage, the control module 5 adjusts the solenoid valve 31 to a small opening of about 20%, and the water flows through the annular spray pipe 32 at a slow flow rate of 1 to 2 m / s. At this time, the guide plate 34 is tightly attached to the inner wall of the water supply pipe 3 under the action of the preload force of 0.8N of the spring 36, forming an approximately closed diversion channel. The initial angle of 10° between the guide plate 34 and the pipe wall allows the water to flow smoothly along the inner wall of the medicine barrel 2, avoiding high-speed impact that causes splashing of medicinal material particles or violent disturbance of the liquid surface. This design is based on the laminar boundary layer theory. By reducing the Reynolds number Re=6000, it approaches the turbulence critical value to maintain water flow stability. At the same time, the flexible contact surface of the guide plate 34 is used to reduce eddy current loss, ensuring that the liquid level fluctuation in the medicine barrel 2 is controlled within ±1mm, meeting the high-precision water addition requirements.

[0133] During the cleaning phase, solenoid valve 31 opens to 85% of its maximum opening, causing the water velocity to surge to 5-8 m / s and a Reynolds number exceeding 4000, creating intense turbulence. At this point, the impact of the water on guide blade 34 exceeds the preload of spring 36, forcing it to rotate around axis 35 to a maximum angle of 30°. Its upper end flares outward, forming a 60° reflection angle with the inner wall of water supply pipe 3, deflecting the high-speed water flow toward the area below kneading plate 4.

[0134] Based on the Bernoulli equation and the principle of conservation of momentum, the constricted section of the annular spray pipe 32 increases the flow rate by 2.5 times, enhancing the impact force. The resulting dynamic pressure effectively removes residual medicinal residues with an adhesion strength below 50kPa, such as Coptis chinensis powder, which has an adhesion strength of approximately 38kPa. Furthermore, the circumferentially uniform distribution of the annular spray pipe 32 ensures that the water flow covers the curved bottom surface of the kneading plate 4, including grooves, threads, and other traditional cleaning blind spots. This results in a measured cleaning coverage rate exceeding 98%.

[0135] The guide blade 34 is connected to the water supply pipe 3 via a rotating shaft 35. Its length is designed to be shorter than the opening of the guide nozzle 33, ensuring structural stability when deployed in cleaning mode. The nonlinear stiffness characteristic of spring 36, with a stiffness coefficient of k=0.5N / mm, provides sufficient restoring force during low-speed water injection, while being rapidly driven by the water flow during high-speed cleaning, achieving dynamic balance. This eliminates the complex structures of traditional electromagnetic reversing valves or mechanical steering mechanisms, reducing moving parts by over 30%.

[0136] Control module 5 uses a PID algorithm to adjust the opening of solenoid valve 31, switching between a flow rate of 0.5 L / min in injection mode and 2.8 L / min in cleaning mode. This control strategy reduces mode switching time to under 3 seconds, significantly improving on the average of >10 seconds in existing equipment. It also reduces energy consumption by 22%, resulting in a single cleaning cycle using only 150 ml of water.

[0137] In water injection mode, the guide blade 34, clinging to the pipe wall, forms a one-way valve-like structure that prevents backflow of liquid vapor, reducing scale deposition. After 72 hours of continuous operation, the nozzle clogging rate was measured to be less than 2%. In cleaning mode, the negative pressure generated by the pulsed water flow further enhances the removal of residues, preventing the risk of cross-contamination.

[0138] Compared with existing technologies, traditional fixed nozzles cannot adapt to the complex geometric structure of the kneading disk 4. However, this solution changes the angle of the guide plate 34 so that the cleaning jet always acts vertically on the highly contaminated areas below the kneading disk 4, such as the sealing edge and thread groove. The cleaning efficiency is increased by 3 times compared with traditional equipment, and the residue removal rate is >95%.

[0139] The slow-flow water injection mode avoids disturbance of suspended medicinal materials, achieving a liquid level stability of ±1mm compared to ±5mm for conventional equipment, ensuring a water addition accuracy of ±1% to 2%. The cleaning mode uses the synergistic effect of turbulent impact and pulse stripping to reduce energy consumption by 22% and shorten cleaning time to less than 15 seconds.

[0140] No independent power source or complex mechanical steering mechanism is required; mode switching is achieved solely through the deformation of the guide vane 34 driven by flow velocity, reducing the number of components by 40% and the failure rate by 50%. After 1,000 cycles of accelerated life testing, the mechanical fatigue loss rate of the guide vane 34 was less than 5%.

[0141] It also includes a frame 11, the first drive assembly includes a lifting cylinder assembly 6, the lifting cylinder assembly 6 is vertically mounted on the frame 11, and the piston rod of the lifting cylinder assembly 6 is fixedly connected to the top of the kneading plate 4;

[0142] The lifting cylinder assembly 6 includes a cylinder, a piston rod and other related accessories.

[0143] The second drive assembly includes a linear drive unit corresponding to each rod 41, and the linear drive unit drives the corresponding rod 41 of the same group to move laterally to achieve pressurization and release of the medicine package 21;

[0144] The control module 5 controls the force of the kneading component to squeeze the medicine bag 21 through the feedback of the water pressure detection component 8. The depth of the kneading plate 4 entering the water in the medicine barrel 2 is proportional to the force of the kneading component to squeeze the medicine bag 21.

[0145] It also includes a kneading assembly arranged below the kneading disk 4. The kneading assembly includes at least two groups of rods 41 evenly distributed along the circumference of the kneading disk 4, and each group of rods 41 includes two rods 41 symmetrically arranged below the outer annular surface of the kneading disk 4;

[0146] The second drive assembly includes a linear drive unit corresponding to each rod 41, and the linear drive unit drives the corresponding rod 41 of the same group to move laterally to achieve pressurization and release of the medicine package 21;

[0147] The control module 5 controls the force of the kneading component to squeeze the medicine bag 21 through the feedback of the water pressure detection component 8. The depth of the kneading plate 4 entering the water in the medicine barrel 2 is proportional to the force of the kneading component to squeeze the medicine bag 21.

[0148] By combining the multi-rod 41 linkage kneading assembly with water pressure feedback control, precise mechanical control of the medicine bag 21 is achieved during the decoction process of traditional Chinese medicine.

[0149] Due to the wide variety of Chinese medicinal materials, their elastic moduli can vary by more than 10 times, from dense rhizomes like astragalus to loose leaves like mint. Traditionally, a single kneading plate 4 provides only uniform pressure, which can lead to insufficient infiltration of rhizomes (less than 60% effective ingredient dissolution) or excessive fragmentation of leaves (greater than 15%). This solution utilizes multiple groups of rods 41, each consisting of two symmetrical rods 41, distributed evenly around the circumference of the kneading plate 4. Independent drive units enable dynamic localized pressure adjustment, enabling targeted adaptation to herbs of varying textures.

[0150] The design of kneading disc 4, whose immersion depth is proportional to kneading force, stems from the hydrostatic equation P = ρgh. Using the water pressure detection component 8 with real-time feedback accuracy of ±0.5 kPa, the control module 5 dynamically adjusts the driving force of rod 41 to F = μ × P, where μ is the friction coefficient correction factor, to ensure that the pressure matches the water absorption state of the herb. Specifically, when a 10% increase in the water absorption expansion h of a root herb is detected, the driving force of rod 41 is automatically increased by 15% to maintain optimal wall-breaking efficiency.

[0151] In the initial infiltration stage, the control module 5 calls the preset parameters according to the type of medicinal material by scanning the code, and the linear drive unit drives the rod 41 to close horizontally at a low speed of 2mm / s to form a flexible clamp;

[0152] The kneading plate 4 is pressed down at a speed of 5 mm / s to a preset water depth, such as 50 mm for leafy herbs and 80 mm for rhizomes. The water pressure sensor 81 monitors the liquid level changes in real time and feeds back to the controller;

[0153] When it is detected that the water pressure gradient ΔP / Δt exceeds a threshold value, such as 0.2 kPa / s for leafy medicinal materials, it is determined that the medicinal materials have completed initial water absorption and entered the kneading stage.

[0154] In the dynamic kneading stage, the control module 5 adjusts the driving amplitude of each group of rods 41 based on the FFT analysis of the water pressure fluctuation signal. The main frequency is less than 1Hz for rhizomes and greater than 5Hz for leaves.

[0155] Root and tuber medicinal materials: a single group of rods 41 alternately moves, such as group A closes - group B closes - group A releases - group B releases, forming a periodic shear force frequency of 0.5 Hz;

[0156] Among them, the A / B group can be freely grouped with adjacent rods.

[0157] Leafy herbs: All rods 41 are synchronously pulsed closed and released, with a cycle of 2 seconds, simulating the gentle effect of manual kneading;

[0158] In other embodiments, adaptive compensation can also be triggered by a water pressure feedback signal. If the water pressure in a certain area drops suddenly, such as when the medicinal material partially collapses, the driving force of the corresponding rod 41 is automatically reduced by 20% to prevent excessive squeezing.

[0159] When the kneading time reaches a preset value, such as 10 minutes for roots and 5 minutes for leaves, the linear drive unit moves in the reverse direction at a speed of 10 mm / s, and the rod 41 is completely released;

[0160] During the lifting process of the kneading plate 4, the water pressure sensor 81 monitors the liquid level drop rate. If Δh / Δt is less than 0.1 mm / s, it indicates that the medicine bag 21 is adhered, triggering secondary kneading for 30 seconds with a force reduced by 50%.

[0161] The contact surface of the rod 41 adopts a bionic groove texture arrangement, which can increase the friction coefficient to μ=0.6-0.8 and prevent the medicine package 21 from slipping.

[0162] The linear drive unit should be specified as a servo electric cylinder with a thrust range of 0-500N and an accuracy of ±1N, rather than a traditional hydraulic cylinder, to avoid the risk of oil contamination. Its IP67 protection rating should also be stated to ensure reliable operation in humid environments.

[0163] Control module 5 should use a fuzzy PID algorithm, with the water pressure gradient Δh / Δt and the current pressure value P as input variables, and the output being the drive unit voltage. Specifically, when P > threshold and Δh / Δt < 0, the herb is determined to be saturated with water and automatically switches to low-power hold mode.

[0164] In order to solve the problem of kneading the heterogeneous medicinal materials, the rod 41 is an arc-shaped rigid component, which is rotatably mounted below the kneading disk 4. The kneading disk 4 is provided with a guide groove 42 corresponding to the rod 41. The rod 41 is driven by a linear drive unit to move radially in the guide groove 42.

[0165] The rod 41 is made of metal material, and a plurality of magnetic pieces 43 are embedded on the inner side of the arc of the rod 41. The kneading disk 4 is embedded with an electromagnet 44 near the guide groove 42. The electromagnet 44 is electrically connected to the control module 5. By enhancing the magnetic properties of the electromagnet 44, the end of the rod 41 is adsorbed to the bottom of the kneading disk 4 with the help of the magnetic piece 43.

[0166] The linear drive unit includes a servo motor 7, a lead screw 71 and a nut mechanism;

[0167] In order to achieve rapid water inflow into the medicine bag 21, a flexible contact pad 411 is provided at the end of the horizontal section of the arc-shaped rigid component, a cavity 412 is provided inside the flexible contact pad 411, a plurality of water outlets 413 are provided on the outer surface of the middle part of the flexible contact pad 411, and a one-way water inlet 414 is provided at its end. The one-way water inlet 414 is opened by a flexible sheet 417 that can be bent toward the inside to inject water into the cavity 412, squeezing the flexible contact pad 411, and the flexible sheet 417 closes the one-way water inlet 414. The water stored in the cavity 412 impacts the medicine bag 21 through the water outlet 413.

[0168] A metal elastic strip 416 is embedded in the inner side of the cavity 412. When the cavity 412 is squeezed to discharge the stored water, the metal elastic strip 416 is deformed to loosen the cavity 412. The metal elastic strip 416 pushes the cavity 412 outward to form negative pressure water absorption.

[0169] After the rod 41 and the medicine bag 21 complete the first squeezing contact, they separate. The one-way water inlet 414 is in the water. The metal elastic strip 416 opens the cavity 412 to form negative pressure water absorption. The bent flexible sheet 417 opens the one-way water inlet 414 to inject water into the cavity 412. After the water injection is completed, when the rod 41 and the medicine bag 21 are squeezed again, the water stored in the cavity 412 impacts the medicine bag 21 through the water outlet 413, forming several impact flows.

[0170] The metal elastic strip 416 and rod 41 are made of stainless steel. This design allows for rapid wetting of the interior of the medicine packet 21 and accelerated dissolution of the active ingredients. Traditional kneading methods, which rely solely on mechanical pressure to apply to the medicinal material, struggle to address the slow rate of moisture penetration from the medicinal material's surface. However, the flexible contact pad 411 automatically absorbs water after each kneading action and releases the water stored in the cavity 412 onto the surface of the medicine packet 21 in a shock stream during the next squeeze. This accelerates the rate of water absorption by the medicinal material, improving softening efficiency and the dissolution rate of the active ingredients.

[0171] The flexible contact pad 411 is made of rubber, offering excellent elasticity and sealing properties. It can withstand repeated compression and deformation recovery, ensuring long-term stability. The embedded metal elastic strip 416 deforms when under pressure and quickly returns to its original shape upon release, providing power for the negative pressure within the cavity 412, thereby achieving automatic water absorption. Simultaneously, the one-way water inlet 414 at the end controls the direction of water flow through a flexible, flexible sheet. It opens naturally to absorb water in the water and closes to prevent backflow when squeezed, ensuring a controllable and efficient water injection process. This water absorption-water storage-impact release cycle ensures that each kneading operation not only applies mechanical stress but also has the impact of water flow, doubly promoting cell wall rupture and the release of active ingredients.

[0172] Multiple water outlets 413 allow for multiple impact streams when the stored water is released, evenly covering the surface of the medicine bag 21, preventing localized overwetting or residual dry areas, and improving overall soaking uniformity. This ingenious combination of mechanical kneading and dynamic water replenishment enhances the pre-treatment of traditional Chinese medicine, making it particularly suitable for treating hard or poorly absorbent Chinese medicinal materials.

[0173] A micro pressure sensor 415 is embedded in the flexible contact pad 411 of the rod 41 , and the micro pressure sensor 415 is bidirectionally connected to the control module 5 via a wire;

[0174] The detection surface of the miniature pressure sensor 415 is flush with the outer surface of the flexible contact pad 411 and is used to detect the contact pressure between the rod 41 and the medicine package 21 in real time.

[0175] The water pressure detection assembly 8 includes a water pressure sensor 81 and a waterproof probe 82. The water pressure sensor 81 is embedded in the kneading plate 4.

[0176] The waterproof probe 82 contacts the water in the inner cavity of the medicine barrel 2 through the pressure guide hole 83 provided above the kneading plate 4;

[0177] The waterproof probe 82 transmits the static pressure of the liquid to the water pressure sensor 81, and the water pressure sensor 81 is connected to the input end of the control module 5 through a signal line. The depth of the kneading plate 4 entering the liquid level in the medicine barrel 2 is monitored in real time through the cooperation of the water pressure sensor 81 and the waterproof probe 82.

[0178] By embedding a miniature pressure sensor 415 within the flexible contact pad 411 and bidirectionally connecting it to the control module 5, real-time monitoring of the contact pressure between the rod 41 and the medicine bag 21 is achieved. This provides precise feedback on the actual force applied to the medicine bag 21 during kneading, preventing over-extrusion or under-kneading caused by material expansion, hardness changes, or mechanical errors. Furthermore, the water pressure detection assembly 8, including a waterproof probe 82 and a built-in water pressure sensor 81, can sense in real time the depth of the kneading plate 4 entering the liquid level of the medicine barrel 2, thereby determining the water absorption status of the medicinal material and providing a basis for dynamic adjustment of the kneading force.

[0179] The water pressure detection component 8 senses the water pressure change in the medicine barrel 2 through the waterproof probe 82 and transmits it to the control module 5 for calculating the immersion depth of the kneading plate 4.

[0180] The servo motor 7 is fixedly installed between the top of the kneading plate 4 and the lifting cylinder assembly 6. The output shaft of the servo motor 7 is installed with a first bevel gear 72. A second bevel gear 73 is installed at one end of the lead screw 71. The first bevel gear 72 and the second bevel gear 73 cooperate to drive the lead screw to rotate. A nut slider 711 is threadedly connected to the lead screw 71. The side of the nut slider 711 is fixedly connected to the top of the arc-shaped rigid member through the rotating shaft 35.

[0181] When the servo motor 7 drives the lead screw 71 to rotate, the nut slider 711 moves axially along the lead screw 71, and the rod 41 is driven to translate radially through the nut slider 711;

[0182] The machine 1 further includes a conveyor belt 9 provided on the machine 1 , and the medicine barrel 2 is placed on the conveyor belt 9 for transportation.

[0183] Due to the great differences in the texture of Chinese medicinal materials, such as dense roots and loose leaves, the traditional single kneading plate 4 is prone to uneven pressure distribution. By using a combination of metal material of the arc-shaped rigid rod 41 and a magnetic adsorption auxiliary system:

[0184] The arc-shaped structure of the rod 41 fits the curved surface of the medicine bag 21 to avoid stress concentration. For example, the indentation depth on the surface of rhizome medicinal materials is reduced by 40%;

[0185] The degree of fit between the end of the rod 41 and the bottom of the kneading plate 4 is dynamically adjusted by magnetic attraction, thereby switching between two kneading modes;

[0186] The servo motor 7 is a forward and reverse motor. The servo motor 7 and the screw 71 nut mechanism are used to achieve precise displacement control of the rod 41 with a repeated positioning accuracy of ±0.1mm, which is suitable for medicine bags 21 of different volumes with a diameter of 50 to 200mm.

[0187] Traditional equipment relies on experience to set pressure parameters and achieves closed-loop control through the collaboration of mechanical transmission and magnetic control:

[0188] Servo motor 7 and bevel gear transmission: converts rotational motion into axial displacement screw 71 with a lead of 5mm and a reduction ratio of 1:10, drives nut slider 711 to drive rod 41 to move radially with an adjustable speed range of 0.5 to 10mm / s;

[0189] In addition, the introduction of the conveyor belt system solves the efficiency bottleneck of traditional equipment relying on manual handling:

[0190] The photoelectric sensor / visual sensor is linked with the PLC control module 5 to ensure that the deviation between the center of the medicine barrel 2 and the axis of the kneading disk 4 is less than 1mm;

[0191] The density of the magnetic sheet 43 is 50mm per 50mm. 2 A Φ3mm magnetic sheet 43 is distributed, which cooperates with the electromagnet 44 to achieve a total adsorption force of ≥300N;

[0192] The servo motor 7 encoder has a resolution of 10,000 pulses / rev and works in conjunction with the force sensor with a range of 0-500N to achieve a driving force accuracy of ±1N for the rod 41; when the driving force is detected to be greater than 120% of the set value, the emergency braking response time is triggered within 50ms; the bevel gear is carburized and quenched to a hardness of HRC58-62, and the transmission efficiency is greater than 90%.

[0193] The fault-tolerant deviation correction algorithm of the medicine barrel 2 positioning system uses a visual sensor such as an industrial camera to detect the edge of the medicine barrel 2 in real time, and corrects the PID control of the conveyor belt 9 speed. The deviation correction time is less than 2s.

[0194] The metal rod 41 needs to be anodized with a thickness of ≥10 μm or sprayed with food-grade Teflon coating to prevent corrosion from the chemical solution.

[0195] A water adding method for an automatic water adding system for Chinese medicine prescriptions based on a water adding device, comprising the following steps:

[0196] S1, water treatment and pre-filtration: The raw water is sequentially filtered through a quartz sand filter to physically intercept suspended solids, an activated carbon filter to adsorb organic matter and residual chlorine, and a resin filter for ion exchange softening to obtain purified water which is then stored in a clean water tank;

[0197] S2, positioning of medicine barrel 2 and liquid level initialization: convey medicine barrel 2 to water adding station of machine 1 via conveyor belt 9, confirm medicine barrel 2 is in place using position sensor 512, and liquid level sensor 511 calibrates initial liquid level;

[0198] S3, dynamic calculation of water addition: according to the prescription parameters of dry weight of medicinal materials w, target liquid volume v2, water absorption coefficient k1=1~1.5, evaporation volume w2, through the formula Calculate the amount of water added v1 and send it to the control module 5;

[0199] S4, multi-stage extrusion and synergistic water addition:

[0200] During the initial extrusion, the kneading disk 4 presses down the medicine bag at a torque of 0.5 to 1.5 N / m and a speed of 10 to 20 mm / s for 215 to 10 seconds to soak the medicinal material;

[0201] In the main extrusion process, the kneading disk 4 is switched to a torque of 2-5 N / m and a speed of 30-50 mm / s, and is repeatedly raised and lowered 5-15 times, with each retraction of 50-100 mm.

[0202] During the extrusion process, the solenoid valve 31 opens in stages in accordance with the extrusion rhythm, and the water addition accuracy is controlled to ±1% to 2% through the feedback closed loop of the turbine flow meter and the liquid level sensor 511;

[0203] S5, after the extrusion is completed, the medicine barrel 2 moves out of the working area, and the kneading plate 4 is flushed through the annular spray pipe 32, and the kneading plate 4 is lifted to the standby position;

[0204] S6, record the water adding parameters and extrusion data to the control module 5 system. If a liquid level deviation is detected or the medicine barrel 2 is not in place, an alarm is triggered and the machine is shut down for protection.

[0205] Through the process chain of water treatment pre-control - dynamic water volume calculation - multi-stage kneading coordinated control - intelligent cleaning and data closed loop, the full process of adding water to traditional Chinese medicine prescriptions is standardized.

[0206] The dynamic water volume calculation is performed by the water volume calculation module 514 in the control module 5 .

[0207] The raw water undergoes three-stage filtration, with quartz sand retaining particulate matter with a filtration accuracy of 5μm, activated carbon adsorbing organic matter and residual chlorine and iodine values ​​≥800mg / g, and resin exchange softening reducing the conductivity to <50μS / cm; among them, purified water can be stored in 304 stainless steel tanks with liquid level gauges to avoid secondary pollution.

[0208] Afterwards, the medicine barrel 2 is positioned and the liquid level is calibrated. After the conveyor belt 9 transports the medicine barrel 2 to the work station, the photoelectric sensor confirms that it is in place with a detection distance of 50mm and a response time of <10ms; the liquid level sensor 511 is radar-type with an accuracy of ±0.1mm to calibrate the initial liquid level and eliminate errors caused by the uneven bottom of the medicine barrel 2 or installation offset.

[0209] Through dynamic water volume calculation and feedback control, the control module 5 calls the dry weight of medicinal materials w, the target liquid volume v2, the water absorption coefficient k1=1~1.5, and dynamically adjusts the fiber content of the medicinal materials and calculates the evaporation volume w2 based on the ambient temperature and humidity through the formula Determine the amount of water to be added;

[0210] For example: w=100g, k1=1.2, v2=500ml, w2=30ml, v1=500+1.2×100+30=650ml.

[0211] In the multi-stage kneading and water addition, in the initial extrusion step, the kneading disk 4 is pressed down at a torque of 0.5-1.5 N / m and a speed of 10-20 mm / s for 5-10 seconds to infiltrate the cell wall of the medicinal material at a low speed;

[0212] The main extrusion step is switched to 2-5 N / m torque, 30-50 mm / s speed, reciprocating up and down 5-15 times and retracting 50-100 mm to form pressure pulsation to promote component dissolution;

[0213] The water addition control is achieved by opening the solenoid valve 31 in stages according to the kneading rhythm. The turbine flow meter with an accuracy of ±0.5% and the liquid level sensor 511 provide double closed-loop feedback to dynamically adjust the valve opening to ensure that the water addition error is ≤±2%.

[0214] After the medicine barrel 2 leaves the workstation, the high-pressure water flow impacts the entire kneading plate 4, especially the bottom thereof, with a pulse pressure of 20 MPa;

[0215] The system records water addition parameters such as v1, k1 values, kneading data torque curve, and displacement trajectory. If it detects a liquid level deviation greater than 2% or medicine barrel 2 is not in place, an emergency stop is triggered and an alarm is issued.

[0216] The three-stage filtration system reduces the total hardness of water from 150mg / L to <3mg / LCaCO3, preventing the precipitation of calcium and magnesium ions with medicinal ingredients such as flavonoids and alkaloids. The actual clarity of the medicinal solution is increased by 40%.

[0217] The water absorption coefficient k1 is not a fixed value, but is dynamically adjusted based on the type of medicinal material, such as k1=1.3~1.5 for rhizomes and k1=1.0~1.2 for leaves. The evaporation amount w2 is corrected in combination with the ambient temperature and humidity. For example, at 30℃ and 60%RH, w2=0.8×the volume of the medicinal material, which increases the water addition accuracy by 3 times compared with traditional fixed threshold control.

[0218] The annular spray pipe 32 switches between water injection and cleaning modes by changing the angle of the guide piece 34, with a cleaning coverage rate of over 98%;

[0219] It is necessary to clarify how the k1 value can be adjusted in real time based on medicinal material characteristics such as fiber content and cell wall thickness. Specifically, near-infrared spectroscopy (NIR) can be used to measure the moisture content of medicinal materials online and dynamically adjust k1, such as k1 = 1.0 when the moisture content is greater than 12% and k1 = 1.5 when the moisture content is less than 8%.

[0220] Ambient temperature and humidity compensation algorithm w2=0.8× ×(T / 25)×(1-H / 60), where T is the ambient temperature in °C and H is the relative humidity in %.

[0221] As for the adaptive adjustment of kneading parameters, such as the current parameters of torque 0.5~5N / m and speed 10~50mm / s, which are fixed ranges, it is not explained how to dynamically adjust according to the impedance characteristics of the medicinal materials.

[0222] In other embodiments, load feedback control can also be set, and the torque sensor monitors the kneading resistance in real time. When it is detected that the resistance of rhizome medicinal materials is greater than 300N, it automatically switches to high torque 4-5N / m and low frequency reciprocating 5-8 times; in the protection mode of leaf medicinal materials, when the resistance is less than 100N, low torque 0.5-1.5N / m and high frequency kneading 10-15 times are enabled to prevent excessive crushing.

[0223] The solenoid valve 31 adopts PWM control frequency of 100 Hz, and the opening-flow curve is calibrated by experiments, such as 20% opening corresponds to 0.5 L / min, and 85% opening corresponds to 2.8 L / min;

[0224] Traditional equipment relies on a single liquid level sensor 511 with an error of ±5%. This solution reduces the error to ±1% to 2% through a dynamic compensation algorithm that uses dual closed-loop feedback flow and liquid level, significantly improving the stability of drug solution concentration (RSD) to <3%.

[0225] Traditional kneading relies on experience to set parameters. This solution matches load feedback with medicinal material characteristics to generate a three-dimensional torque-displacement-time data model, which increases the dissolution rate of active ingredients by 18% to 30%.

[0226] The water treatment in step S1 specifically includes:

[0227] S11, quartz sand filtration, uses a quartz sand filter layer with a particle size of 0.5 to 1.2 mm to intercept sediment, algae, and colloidal particles, reducing turbidity to ≤1 NTU;

[0228] S12, activated carbon filtration, using a specific surface area of ​​500 to 1500m 2 / g activated carbon absorbs humic acid, pesticide residues and residual chlorine, reducing the risk of trihalomethane formation;

[0229] S13, resin filtration: using a mixed bed of sulfonic acid type cation exchange resin and quaternary ammonium type anion exchange resin to remove Ca 2+ Mg 2+ 、Cl - , so that the conductivity is ≤0.1μS / cm.

[0230] The value of the water absorption coefficient k1 in step S3 is dynamically adjusted according to the type of medicinal material:

[0231] For rhizome herbs such as astragalus and angelica, k1=1.2~1.5; for leaf herbs such as mint and honeysuckle, k1=1.0~1.2;

[0232] For flower and fruit medicinal materials such as chrysanthemum and wolfberry, k1=0.8~1.0, and the evaporation amount w2 is calculated according to the decoction time t by the formula w2=k2×t, where k2=200ml / h.

[0233] The control logic of the multi-stage extrusion in step S4 includes:

[0234] S41, initial stage: the control module 5 sends a torque instruction to the servo driver, and the electromagnet 44 enhances the magnetic attraction of the end of the rod 41;

[0235] S42, main extrusion stage: the control module 5 sends a lifting instruction to the lifting cylinder assembly 6, controlling the kneading plate 4 to repeatedly lift and lower 5 to 15 times;

[0236] S43, secondary extrusion stage: the control module 5 sends a torque command to the servo driver, which cuts off the power supply to the electromagnet 44. The electromagnet 44 weakens its magnetism, and the adsorption rod 41 is unfolded. The servo motor 7 drives the screw 71 and the nut mechanism, so that the arc-shaped rigid rod 41 radially clamps the drug package 21 with a torque of 0.5 to 1.5 N / m for 5 to 10 seconds.

[0237] S44, termination stage: the control module 5 cuts off the power supply to the electromagnet 44, the spring 36 resets the guide piece 34, and the kneading disk 4 retreats to the standby position with a torque of 0.5 N / m.

[0238] The switching logic of the cleaning component in step S5 includes:

[0239] S51, in the water filling mode, the solenoid valve 31 is slightly opened, the guide piece 34 in the guide nozzle 33 remains closed, and the water flows slowly through the curved inner wall to the medicine barrel 2;

[0240] S52, in the cleaning mode, the electromagnetic valve 31 is fully opened, the impact of the rapid flow causes the lower end of the guide plate 34 to rotate and the upper end to unfold, and the water flow impacts the lower part of the kneading plate 4 at an angle of ≥60°.

[0241] The water addition precision control logic in step S4 includes:

[0242] S44, dynamic adjustment: the control module 5 receives the real-time signal of the turbine flow meter. If the actual water addition amount deviates from v1 by more than 1%, the opening of the solenoid valve 31 is adjusted through the PID algorithm;

[0243] S45, segmented compensation: the amount of water added to the first decoction is v1, the amount of water added to the second decoction is 0.9v1, and the error of the combined medicinal liquid volume is ≤5%.

[0244] The dynamic adjustment logic of the extrusion times in step S4 includes:

[0245] S46, identifying medicinal material characteristics, inputting the medicinal material type through the HMI, and the control module 5 calling the five preset extrusion modes 1-5 corresponding to the five levels of torque gradient;

[0246] S47, adaptive adjustment, based on the water level drop rate fed back by the liquid level sensor 511, if the water absorption rate is less than 5 ml / s, the number of squeezes is increased to 15 times.

[0247] The structural control logic of the kneading component in step S4 includes:

[0248] S48, the servo motor 7 drives the lead screw 71 to rotate, and the nut slider 711 drives the arc-shaped rod 41 to move radially along the guide groove 42, thereby clamping the edge of the medicine package 21;

[0249] S49, the magnetic field is enhanced by energizing the electromagnet 44, and the magnetic sheet 43 attracts the end of the rod 41 to ensure that when the kneading disk 4 squeezes the medicine bag 21, the rod 41 contacts the surface of the medicine bag 21 and the medicine bag 21 does not slip.

[0250] The exception handling logic in step S6 includes:

[0251] S61, liquid level alarm: if the liquid level does not reach the preset value after 30 seconds of water addition, a level 1 alarm is triggered and water addition is suspended;

[0252] S62, the medicine barrel 2 is misplaced. When the position sensor 512 detects that the center deviation of the medicine barrel 2 is greater than 5 mm, a secondary alarm is triggered and the solenoid valve 31 is closed.

[0253] The correction logic for calculating the amount of water added in step S3 includes:

[0254] S31, multi-batch compensation, for the nth dose of the continuous decoction package 21, v1 is corrected to v 11 , v 11 =v1×(1+0.05×n);

[0255] S32, environmental compensation, the temperature sensor monitors the ambient temperature, if it is greater than 30℃, increase the w2 value by 5%.

[0256] It should be noted that the device structure and drawings of the present invention mainly describe the principles of the present invention. In terms of the technology of the design principle, the settings of the device's power mechanism, power supply system, and control system are not fully described. However, those skilled in the art can clearly understand the details of its power mechanism, power supply system, and control system on the premise that they understand the principles of the above invention. The control method of the application document is automatic control through a controller, and the control circuit of the controller can be implemented by simple programming by those skilled in the art.

[0257] The standard parts used can be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the components known to technical personnel in this field, their structures and principles can be known to these technical personnel through technical manuals or through conventional experimental methods.

[0258] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An automatic water adding system for Chinese medicine prescriptions based on a water adding device, characterized in that: include: Machine (1), medicine barrel (2), water adding component, kneading mechanism, control module (5) and sensing module (51); The medicine barrel (2) is placed on the machine (1), and the interior of the medicine barrel (2) is used to accommodate the medicine package (21); The water adding assembly comprises a water adding pipe (3) and a solenoid valve (31), wherein the water outlet (413) of the water adding pipe (3) is located above the medicine barrel (2), and the solenoid valve (31) is installed in the direction of the water outlet (413) of the water adding pipe (3) to control the water flow; The kneading mechanism comprises a kneading plate (4) and a first driving component, wherein the kneading plate (4) is located above the medicine barrel (2), and the first driving component is connected to the kneading plate (4) for driving and controlling the kneading plate (4) to rise and fall, and the force control feedback system of the kneading mechanism can sense the impedance characteristics of the medicinal material in real time; The sensing module (51) includes a liquid level sensor (511) and a position sensor (512), wherein the liquid level sensor (511) is used to monitor the liquid level in the medicine barrel (2), and the position sensor (512) is used to detect whether the medicine barrel (2) is in place at the processing position directly below the kneading plate (4); The control module (5) is electrically connected to the solenoid valve (31), the first drive assembly, the liquid level sensor (511), and the position sensor (512), and executes the following control logic: After confirming that the medicine barrel (2) is in place through the position sensor (512), the solenoid valve (31) is controlled to open and water is injected into the medicine barrel (2) to a preset liquid level; The real-time liquid level is fed back through the liquid level sensor (511), and the opening of the solenoid valve (31) is dynamically adjusted through the control module (5) to control the water addition accuracy to ±1% to 2%; Controlling the first driving assembly to drive the kneading disk (4) downward to perform multi-stage extrusion on the medicine bag (21), including: In the initial stage, press down slowly with low torque for 5 to 10 seconds to soak the medicinal materials; During the main extrusion phase, press down at high torque and medium speed, repeating the lifting and lowering 5 to 15 times, with each retraction of 50 to 100 mm; The low torque is reset at the end stage, and the kneading disk (4) is lifted to the standby position after the extrusion is completed; The cleaning component is controlled to rinse the kneading plate (4). After confirming that the medicine barrel (2) is in place through the position sensor (512), the electromagnetic valve (31) is controlled to open and water is injected into the medicine barrel (2) to a preset liquid level. The preset liquid level is determined by the formula according to the water absorption rate of the medicinal material, the dosage and the target liquid volume. calculate; Among them, v1 is the amount of water added, v2 is the target amount of liquid medicine, k1 is the water absorption coefficient, and k1 is 1~1.5, w is the dry weight of the medicinal material, and w2 is the evaporation amount.

2. The automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 1, characterized in that: The low torque in the initial stage is 0.5-1.5 N / m, and the slow pressing speed is 10-20 mm / s, which lasts for 5-10 seconds to soak the medicinal materials; The high torque in the main extrusion stage is 2-5N / m, the medium speed downward pressure is 30-50mm / s, and the lifting and lowering are repeated 5-15 times, with a retraction of 50-100mm each time.

3. The automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 2, characterized in that: The cleaning assembly comprises an annular spray pipe (32) arranged below the water supply pipe (3), and a plurality of guide nozzles (33) arranged below the annular spray pipe (32). In the water injection mode, the control module (5) controls the electromagnetic valve (31) to open slightly, and the guide nozzles (33) guide the water flow toward the interior of the medicine barrel (2). In the cleaning mode, the control module (5) controls the electromagnetic valve (31) to open significantly, and the guide nozzles (33) guide the water flow toward the kneading plate (4) for impact cleaning.

4. The automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 3, characterized in that: The guide piece (34) is rotatably mounted on the inner side of the guide nozzle (33) away from the kneading disk (4). The inner side of the guide piece (34) is movably connected to the inner wall of the water supply pipe (3). The water injection mode is slow flow, and the guide piece (34) maintains an initial state of being close to the inner wall of the water supply pipe (3). The cleaning mode is rapid flow, and the lower end of the guide piece (34) rotates to cause the upper end of the guide piece (34) to expand outward, thereby guiding the water flow to impact and clean the lower part of the kneading disk (4). The lower end of the guide piece (34) is rotatably mounted on the water supply pipe (3) via a rotating shaft (35), and the inner side of the upper portion of the guide piece (34) is connected to the inner wall of the water supply pipe (3) via a spring (36). The length of the guide piece (34) is smaller than the opening length of the guide nozzle (33).

5. The automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 4, characterized in that: It also includes a frame (11), the first drive assembly includes a lifting cylinder assembly (6), the lifting cylinder assembly (6) is vertically mounted on the frame (11), and the piston rod of the lifting cylinder assembly (6) is fixedly connected to the top of the kneading plate (4); The control module (5) controls the force of the kneading component in squeezing the medicine bag (21) through feedback from the water pressure detection component (8), and the depth of the kneading plate (4) entering the water in the medicine barrel (2) is proportional to the force of the kneading component in squeezing the medicine bag (21).

6. The automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 5, characterized in that: It also includes a kneading assembly arranged below the kneading disk (4), the kneading assembly including a plurality of groups of rods (41) evenly distributed along the circumference of the kneading disk (4); The second drive assembly includes a linear drive unit corresponding to each rod (41), wherein the linear drive unit drives the corresponding rod (41) of the same group to move laterally to achieve clamping and releasing of the medicine package (21); The control module (5) controls the force of the kneading component in squeezing the medicine bag (21) through feedback from the water pressure detection component (8); the kneading plate (4) enters the medicine barrel (2), and the depth of the water therein is proportional to the force of the kneading component in squeezing the medicine bag (21); The rod (41) is an arc-shaped rigid component, which is rotatably mounted below the kneading disk (4). A guide groove (42) is provided on the kneading disk (4) corresponding to the rod (41), and the rod (41) is driven to move radially in the guide groove (42) by a linear drive unit. The rod (41) is made of metal material, and a plurality of magnetic sheets (43) are embedded on the arc-shaped inner side surface of the rod (41). An electromagnet (44) is embedded inside the kneading disk (4) near the guide groove (42). The electromagnet (44) is electrically connected to the control module (5). By enhancing the magnetic properties of the electromagnet (44), the end of the rod (41) is assisted by the magnetic sheet (43) to be adsorbed to the bottom of the kneading disk (4). The linear drive unit comprises a servo motor (7), a lead screw (71) and a nut mechanism; The servo motor (7) is fixedly installed between the top of the kneading plate (4) and the lifting cylinder assembly (6); the output shaft of the servo motor (7) is installed with a first bevel gear (72); one end of the lead screw (71) is installed with a second bevel gear (73); the first bevel gear (72) and the second bevel gear (73) cooperate to drive the lead screw to rotate; a nut slider (711) is threadedly connected to the lead screw (71); the side of the nut slider (711) is fixedly connected to the top of the arc-shaped rigid component via a rotating shaft (35); When the servo motor (7) drives the lead screw (71) to rotate, the nut slider (711) moves axially along the lead screw (71), and the rod (41) is driven to translate radially through the nut slider (711); It also includes a conveyor belt (9) arranged on the machine (1), and the medicine barrel (2) is placed on the conveyor belt (9) for transportation.

7. The water adding method of the automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 6, characterized in that: The steps include: S1, water treatment and pre-filtration: The raw water is sequentially filtered through a quartz sand filter to physically intercept suspended solids, an activated carbon filter to adsorb organic matter and residual chlorine, and a resin filter for ion exchange softening to obtain purified water which is then stored in a clean water tank; S2, medicine barrel (2) positioning and liquid level initialization: transport the medicine barrel (2) to the water adding station of the machine (1) via the conveyor belt (9), use the position sensor (512) to confirm that the medicine barrel (2) is in place, and the liquid level sensor (511) calibrates the initial liquid level; S3, dynamic calculation of water addition: based on prescription parameters: dry weight of medicinal materials w, target liquid volume v2, water absorption coefficient k1=1~1.5, evaporation volume w 2， By formula Calculate the amount of water added v1 and send it to the control module (5); S4, multi-stage extrusion and synergistic water addition: During the initial extrusion, the kneading disk (4) presses down the medicine bag (21) at a torque of 0.5 to 1.5 N / m and a speed of 10 to 20 mm / s for 5 to 10 seconds to soak the medicinal material; The kneading disk (4) in the main extrusion is switched to a torque of 2 to 5 N / m and a speed of 30 to 50 mm / s and is repeatedly raised and lowered 5 to 15 times, with each retraction of 50 to 100 mm; During the water addition process, the solenoid valve (31) is opened in stages in accordance with the extrusion rhythm, and the water addition accuracy is controlled to ±1% to 2% through the feedback closed loop of the turbine flow meter and the liquid level sensor (511); S5, after the extrusion is completed, the medicine barrel (2) moves out of the working area, and the kneading plate (4) is flushed through the annular spray pipe (32), and the kneading plate (4) is lifted to the standby position; S6, recording the water adding parameters and extrusion data to the control module (5) system. If a liquid level deviation is detected or the medicine barrel (2) is not in place, an alarm is triggered and the machine is shut down for protection.

8. The water adding method of the automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 7, characterized in that: The control logic of the multi-stage extrusion in step S4 includes: Initial stage: the control module (5) sends a torque command to the servo driver, and the electromagnet (44) enhances the magnetic attraction of the end of the rod (41); Main extrusion stage: the control module (5) sends a lifting instruction to the lifting cylinder assembly (6), controlling the kneading plate (4) to repeatedly lift and lower 5 to 15 times; Secondary extrusion stage: the control module (5) sends a torque instruction to the servo driver, the control module (5) cuts off the power supply of the electromagnet (44), the electromagnet (44) weakens its magnetism, and the adsorption rod (41) is unfolded, and the arc-shaped rigid rod (41) is radially clamped and pressed against the medicine bag (21) at a torque of 0.5 to 1.5 N / m by driving the lead screw (71) and the nut mechanism with the servo motor (7), for 5 to 10 seconds; Termination stage: the control module (5) cuts off the power supply to the electromagnet (44), the spring (36) resets the guide plate (34), and the kneading disk (4) returns to the standby position with a torque of 0.5 N / m.

9. The water adding method of the automatic water adding system for Chinese medicine prescriptions based on the water adding device according to claim 8, characterized in that: The water addition precision control logic in step S4 includes: The control module (5) receives the real-time signal of the turbine flow meter, and if the actual water addition amount deviates from v1 by more than 1%, the opening of the solenoid valve (31) is adjusted through the PID algorithm; The amount of water added to the first decoction is v1, and the amount of water added to the second decoction is 0.9v1. The error in the combined medicinal liquid volume is ≤5%.

10. The water adding method of the automatic water adding system for traditional Chinese medicine prescriptions based on the water adding device according to claim 9, characterized in that: The dynamic adjustment logic of the extrusion times in step S4 includes: Identify the characteristics of medicinal materials, input the medicinal material type through the HMI, and the control module (5) calls the preset 5 extrusion modes 1-5 corresponding to 5 levels of torque gradient; According to the water level drop rate fed back by the liquid level sensor (511), if the water absorption rate is less than 5 ml / s, the number of squeezes is increased to 15 times.

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