Medicine decocting and packaging system for traditional Chinese medicine pharmacy

Abstract

The invention relates to a medicine decocting and packaging system for a traditional Chinese medicine pharmacy. The medicine decocting and packaging system comprises a plurality of medicine decocting units, at least one medicine liquid separating unit, a plurality of temporary packaging units, a mechanical arm, a first conveying line and a second conveying line. The mechanical arm comprises a mechanical arm front-back moving platform, a multi-axis mechanical arm and a grabbing and clamping mechanism. The multiple medicine decocting units, the at least one medicine liquid separating unit and the multiple temporary packaging units are distributed from back to front along the left side and the right side of the mechanical arm front-back moving platform. The first conveying line is connected with the rear end of the mechanical arm, and the second conveying line is connected with the front end of the mechanical arm. The first conveying line and the second conveying line are used for conveying the medicine decocting barrels and the medicine storage barrels; the medicine decocting unit is used for decocting; the liquid medicine separation unit is used for separating the decocted liquid medicine into a medicine storage barrel; and the caching packaging unit is used for caching the medicine storage barrels and packaging the medicine liquid in the medicine storage barrels. Through the design of the medicine decocting unit, the medicine liquid separating unit and the buffering packaging unit, the process is smoother and more efficient; and automatic operation is easy.

Description

Technical Field

[0001] This invention relates to the field of equipment for traditional Chinese medicine pharmacies, and in particular to a decoction and packaging system for traditional Chinese medicine pharmacies. Background Technology

[0002] Traditional Chinese medicine dispensing, decoction, and packaging processes are generally carried out manually or semi-automatically, resulting in low production efficiency. Current pharmacy solutions suffer from large floor space requirements, significant space waste, and inefficient process design, leading to complex and inefficient equipment for these processes.

[0003] How to automate the decoction process and simplify and streamline the decoction, liquid separation, and liquid packaging processes has become a problem that needs to be solved in the fully automated process of Chinese medicine pharmacies. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a decoction and packaging system for traditional Chinese medicine pharmacies. Through the design of a decoction unit, a liquid separation unit, and a buffer packaging unit, the process is smoother, more efficient, and easier to automate.

[0005] The technical solution adopted by this invention to solve its technical problem is: a decoction and packaging system for a traditional Chinese medicine pharmacy, comprising multiple decoction units, at least one liquid separation unit, multiple buffer packaging units, a robotic arm, a first conveyor line, and a second conveyor line; the robotic arm includes a robotic arm forward and backward moving platform, a multi-axis robotic hand mounted on the moving end of the robotic arm forward and backward moving platform, and a gripping mechanism mounted on the operating end of the multi-axis robotic hand; the multiple decoction units, at least one liquid separation unit, and multiple buffer packaging units are distributed from back to front along the left and right sides of the robotic arm forward and backward moving platform; the first conveyor line is connected to the rear end of the robotic arm, and the second conveyor line is connected to the front end of the robotic arm; the first conveyor line is used to convey decoction barrels containing traditional Chinese medicine to be decocted and empty medicine storage barrels; the decoction units are used for... The decoction pot containing the Chinese medicine to be decocted is used for decoction; the liquid separation unit is used to separate the liquid from the decocted pot into a storage pot; the buffer packaging unit is used to buffer the storage pot and package the liquid in the storage pot; the gripping mechanism, driven by the moving platform of the robotic arm and the multi-axis robotic arm, is used to grab the decoction pot containing the Chinese medicine to be decocted from the first conveyor line and place it at the decoction unit, grab the empty storage pot from the first conveyor line and place it at the liquid separation unit, grab the decocted pot from the decoction unit and place it at the liquid separation unit, grab the decoction pot from the liquid separation unit and place it at the decoction unit or the second conveyor line, grab the storage pot containing the liquid from the liquid separation unit and place it at the buffer packaging unit, and grab the empty storage pot from the buffer packaging unit and place it at the second conveyor line.

[0006] Furthermore, the decoction barrel includes a cylindrical body with an open top, a flow guide nozzle is provided on the side wall of the body near the top, and several filter holes are provided on the side wall of the body in the area corresponding to the flow guide nozzle; a limiting ring is provided on the outer wall of the body near the middle and lower section; the structure of the medicine storage barrel is the same as that of the decoction barrel.

[0007] Furthermore, the gripping mechanism includes a gripper mounting frame, a first gripper assembly, and a second gripper assembly; the gripper mounting frame is equipped with a gripper translation assembly and a gripper translation drive; the first gripper assembly is fixed to one end of the gripper mounting frame; the second gripper assembly is fixed to the moving end of the gripper translation assembly; the gripper translation assembly is used to receive the driving force of the gripper translation drive, and through the moving end, drives the second gripper assembly to move closer to or away from the first gripper assembly; the first gripper assembly and the second gripper assembly cooperate to grip or release the decoction barrel or the storage barrel.

[0008] Furthermore, the decoction unit includes a decoction rack and a pot lid assembly; the front of the decoction rack has several decoction positions, and the back of the decoction rack has cleaning positions corresponding to the decoction positions; the pot lid assembly is disposed between the decoction positions and the corresponding cleaning positions; a pot lid cleaning assembly is also disposed on the back of the decoction rack; the pot lid cleaning assembly includes a pot lid cleaning groove installed at the cleaning position of the decoction rack; the pot lid assembly includes a pot lid mounting plate fixed to the decoction rack, a pot lid translation mechanism installed on the pot lid mounting plate, and a fixing mechanism. The pot lid includes a pot lid fixing frame at the moving end of the pot lid sliding mechanism, a pot lid lifting mechanism fixed to the bottom side of the pot lid fixing frame, and a pot lid fixed to the bottom side of the lifting end of the pot lid lifting mechanism. The decoction position is used to carry the decoction pot and to heat the decoction pot. The pot lid is used to move between the decoction position and the cleaning position under the drive of the pot lid sliding mechanism. It is also used to cooperate with the decoction pot at the decoction position and with the pot lid cleaning groove at the cleaning position under the drive of the pot lid lifting mechanism. The pot lid is also equipped with a decoction water supply pipe for replenishing water to the decoction pot.

[0009] Furthermore, the front of the decoction rack is vertically provided with multiple layers of decoction carrier plates, and the back is provided with a number of cleaning and mounting plates corresponding to the number of decoction carrier plates; the decoction carrier plates are provided with several heating plates, and the heating plates constitute the decoction position.

[0010] Furthermore, the liquid-drug separation unit includes a liquid-drug separation frame; the liquid-drug separation frame includes a receiving platform on the bottom side and a separation mounting frame located on the back of the platform; the receiving platform has a receiving position for carrying a storage tank for receiving medicine; a liquid-drug separation mechanism is mounted on the separation mounting frame; the liquid-drug separation mechanism includes a rotary drive mechanism mounted on the separation mounting frame and a rotary table mounted on the rotary end of the rotary drive mechanism; the rotary table includes a rotating plate and a rotating platform; a pressing mechanism is mounted on the rotating plate; the pressing mechanism includes a pressing fixing frame fixed to the rotating plate and a pressing drive mounted on the pressing fixing frame. The device includes a driving mechanism and a pressing filter disc installed at the telescopic end of the pressing drive mechanism; a rotating carrier plate for supporting the decoction barrel to be separated from the medicinal liquid; a pressing clamping mechanism fixed on the rotating vertical plate for fixing the decoction barrel located on the rotating carrier plate; the pressing filter disc for extending into the decoction barrel under the drive of the pressing drive mechanism to press the dregs, so that the medicinal liquid is above the dregs; a rotating platform for flipping under the drive of the rotating drive mechanism, so that the decoction barrel pours the medicinal liquid into the storage barrel at the receiving position under the pressing state; the structure of the pressing clamping mechanism is the same as that of the gripping mechanism, and the gripper mounting frame of the pressing clamping mechanism is fixed to the rotating vertical plate.

[0011] Furthermore, the rotating upright plate is also fixed with a squeeze filter plate cleaning mechanism; the squeeze filter plate cleaning mechanism includes a squeeze filter plate cleaning mounting frame, a squeeze filter plate cleaning frame hinged to the squeeze filter plate cleaning mounting frame, a squeeze filter plate cleaning groove installed on the squeeze filter plate cleaning frame, and a squeeze filter plate cleaning flipping drive mechanism for driving the squeeze filter plate cleaning frame to flip relative to the squeeze filter plate cleaning mounting frame; the squeeze filter plate cleaning groove is used to flip to the underside of the squeeze filter plate by the squeeze filter plate cleaning frame under the drive of the squeeze filter plate cleaning flipping drive mechanism; the squeeze filter plate is also used to extend into the squeeze filter plate cleaning groove under the drive of the squeeze drive mechanism, and to complete the cleaning in the squeeze filter plate cleaning groove under the repeated extension and retraction drive of the squeeze drive mechanism.

[0012] Furthermore, the buffer packaging unit includes a buffer packaging frame, a liquid pouring mechanism, and a packaging mechanism; the front of the buffer packaging frame has several packaging buffer positions and a liquid pouring position, and the packaging mechanism is installed on the back; the liquid pouring mechanism is installed on the back of the buffer packaging frame between the liquid pouring position and the liquid inlet of the packaging mechanism; the liquid pouring mechanism includes a pouring mounting frame, a pouring flipping frame hinged to the mounting frame, and a pouring drive mechanism for driving the pouring flipping frame to flip relative to the pouring mounting frame; the pouring flipping frame has a pair of clamping arms, forming a clamping space between the two clamping arms; each clamping arm is also equipped with a clamping device, and the two clamping devices cooperate to clamp the storage tank located at the liquid pouring position; the pouring flipping frame is used to flip the storage tank at the liquid pouring position to the liquid inlet of the packaging mechanism for liquid pouring under the action of the pouring drive mechanism; the packaging mechanism is used to package the liquid.

[0013] Furthermore, the clamping device includes a clamping drive mechanism fixed to the clamping arm and a clamping block fixed to the telescopic end of the clamping drive mechanism; the two clamping blocks cooperate to clamp the medicine storage barrel under the drive of the clamping drive mechanism; the clamping arm is provided with a clamping block receiving groove at a position corresponding to the clamping block; the clamping block receiving groove is used to receive the clamping block when not clamping; a tilting pad block is also fixed in the area between the two clamping arms of the tilting and flipping frame.

[0014] Furthermore, the front of the buffer packaging frame is provided with multiple buffer carrier plates; each buffer carrier plate is provided with multiple packaging buffer positions; one of the buffer carrier plates is provided with the medicine pouring position at the position corresponding to the medicine pouring mechanism.

[0015] Advantages of this invention: The decoction and packaging system for traditional Chinese medicine pharmacies of this invention features a decoction unit, a liquid separation unit, and a buffer packaging unit, resulting in a smoother and more efficient process; it is easy to automate and occupies a small area; the decoction unit, with its front decoction station and back cleaning station, allows for the reuse of the pot lid while ensuring no contamination during the decoction process, eliminating the need for additional operations on the pot lid; the decoction process is more efficient and simpler; the liquid separation unit integrates pressure filtration, rotary tilting, dregs rinsing, and filter plate squeezing cleaning, resulting in a smooth, simple, and efficient liquid separation process; the buffer packaging unit, with its front buffer and tilting stations and its back liquid tilting and packaging mechanisms, can buffer the medicine storage tank of the liquid separation unit, resulting in a smooth and simple packaging process; the robotic arm efficiently connects the decoction unit, liquid separation unit, buffer packaging unit, and the first and second conveyor lines, ensuring a smooth and efficient process; the overall system makes full use of limited space, occupying a small area. Attached Figure Description

[0016] Figure 1This is a perspective view of a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0017] Figure 2 This is a top view schematic diagram of a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0018] Figure 3 This is a perspective view of a decoction unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0019] Figure 4 This is a perspective view of a decoction unit of a decoction and packaging system for a traditional Chinese medicine pharmacy, with its outer shell removed, as an example.

[0020] Figure 5 This is a perspective view of a decoction unit of a decoction and packaging system for a traditional Chinese medicine pharmacy, with its outer shell removed, according to an embodiment.

[0021] Figure 6 This is a perspective view of the pot lid assembly of a decoction unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an embodiment.

[0022] Figure 7 This is a perspective view of the pot lid cleaning tank of a decoction unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0023] Figure 8 This is a three-dimensional schematic diagram of a medicine liquid separation unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0024] Figure 9 This is a three-dimensional schematic diagram of a decoction and packaging system for a traditional Chinese medicine pharmacy with its outer shell removed, as an example.

[0025] Figure 10 This is a three-dimensional schematic diagram of a liquid separation mechanism in a liquid separation unit of a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0026] Figure 11 This is a three-dimensional schematic diagram of a pressure filter plate cleaning mechanism in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0027] Figure 12 This is a three-dimensional schematic diagram from another angle of the squeezing filter plate cleaning mechanism of a decoction and packaging system for a traditional Chinese medicine pharmacy, as an embodiment.

[0028] Figure 13 This is a three-dimensional schematic diagram of the extrusion state of a liquid separation unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as shown in the embodiment.

[0029] Figure 14This is a three-dimensional schematic diagram of the tilting state of a medicine liquid separation unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an embodiment.

[0030] Figure 15 This is a three-dimensional schematic diagram of the rinsing state of a medicine liquid separation unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0031] Figure 16 This is a three-dimensional schematic diagram of the cleaning state of a medicine liquid separation unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0032] Figure 17 This is a perspective view of a buffer packaging unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0033] Figure 18 This is a perspective view of another angle of a buffer packaging unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as described in an embodiment.

[0034] Figure 19 This is a perspective view of a liquid pouring mechanism in a buffer packaging unit of a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0035] Figure 20 This is a three-dimensional schematic diagram of the pouring state of a buffer packaging unit in a decoction and packaging system for a traditional Chinese medicine pharmacy, as shown in the embodiment.

[0036] Figure 21 This is a three-dimensional schematic diagram of a robotic arm used in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0037] Figure 22 This is a three-dimensional schematic diagram of the gripping mechanism of a robotic arm in a decoction and packaging system for a traditional Chinese medicine pharmacy, as an example.

[0038] Figure 23 This is a perspective view of a decoction barrel for a decoction and packaging system used in a traditional Chinese medicine pharmacy, as an example.

[0039] Among them, 1-decoction unit, 11-decoction rack, 12-pot lid assembly, 13-pot lid cleaning assembly, 111-decoction carrier plate, 112-heating plate, 113-cleaning mounting plate, 121-pot lid mounting plate, 122-pot lid translation mechanism, 123-pot lid fixing frame, 124-pot lid lifting mechanism, 125-pot lid, 126-decoction water supply pipe, 131-pot lid cleaning tank, 132-cleaning water supply pipe, 133-wastewater drain pipe, 1311-cleaning tank body, 1312-cleaning water inlet, 1313-cleaning spray ball;

[0040] 2-Drug-liquid separation unit, 21-Drug-liquid separation rack, 22-Drug-liquid separation mechanism, 23-Extrusion filter disc cleaning mechanism, 211-Drug receiving platform, 212-Separation mounting frame, 221-Rotating table, 222-Rotation drive mechanism, 223-Extrusion mechanism, 224-Extrusion clamping mechanism, 225-Spray nozzle, 2211-Rotating vertical plate, 2212-Rotating carrier plate, 2231-Extrusion fixing frame, 2232-Extrusion drive mechanism, 2233-Extrusion filter disc, 231-Extrusion filter disc cleaning mounting frame, 232-Extrusion filter disc cleaning frame, 233-Extrusion filter disc cleaning tank, 234-Extrusion filter disc cleaning flipping drive mechanism, 2331-Extrusion filter disc clean water inlet, 2332-Extrusion filter disc wastewater outlet;

[0041] 3-Buffer packaging unit, 31-Buffer packaging frame, 32-Medicine liquid pouring mechanism, 33-Packaging mechanism, 311-Buffer carrier plate, 312-First mounting step, 313-Second mounting step, 321-Tilting mounting frame, 322-Tilting flipping frame, 323-Tilting drive mechanism, 324-Clamping device, 3221-Clamping arm, 3222-Clamping block receiving slot, 3223-Tilting pad, 3241-Clamping drive mechanism, 3242-Clamping block;

[0042] 4-Robotic arm; 41-Robotic arm forward and backward moving platform; 42-Multi-axis robotic hand; 43-Gripping mechanism; 431-Gripper mounting bracket; 432-First gripper assembly; 433-Second gripper assembly; 434-Gripper translation assembly; 435-Gripper translation drive component.

[0043] 5-First conveyor line;

[0044] 6-Second conveyor line;

[0045] 7-Decoction pot, 71-Cylinder body, 72-Drip nozzle, 73-Filter hole, 74-Limiting ring;

[0046] 8-Medicine storage tank. Detailed Implementation

[0047] To enhance understanding of the present invention, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. These embodiments are only used to explain the invention and do not limit the scope of protection of the invention.

[0048] Example

[0049] Please refer to Figures 1 to 23As shown, this embodiment provides a decoction and packaging system for a traditional Chinese medicine pharmacy, including multiple decoction units 1, at least one liquid separation unit 2, multiple buffer packaging units 3, a robotic arm 4, a first conveyor line 5, and a second conveyor line 6. The robotic arm 4 includes a robotic arm forward and backward moving platform 41, a multi-axis robotic arm 42 mounted on the moving end of the robotic arm forward and backward moving platform 41, and a gripping mechanism 43 mounted on the operating end of the multi-axis robotic arm 42. The multiple decoction units 1, at least one liquid separation unit 2, and multiple buffer packaging units 3 are distributed from back to front along the left and right sides of the robotic arm forward and backward moving platform 41. The first conveyor line 5 is connected to the rear end of the robotic arm 4, and the second conveyor line 6 is connected to the front end of the robotic arm 4. The first conveyor line 5 is used to convey decoction barrels 7 containing traditional Chinese medicine to be decocted and empty storage barrels 8. The decoction units 1 are used to transport the traditional Chinese medicine to be decocted. The decoction barrel 7 is used for decoction; the liquid separation unit 2 is used to separate the decoction liquid from the decoction barrel 7 into the storage barrel 8; the buffer packaging unit 3 is used to buffer the storage barrel 8 and package the liquid in the storage barrel 8; the gripping mechanism 43 is used, driven by the robotic arm moving platform 41 and the multi-axis robotic arm 42, to grip the decoction barrel 7 containing the Chinese medicine to be decocted from the first conveyor line 5 and place it at the decoction unit 1, to grip the empty storage barrel 8 from the first conveyor line 5 and place it at the liquid separation unit 2, to grip the decoction barrel 7 after decoction from the decoction unit 1 and place it at the liquid separation unit 2, to grip the decoction barrel 7 from the liquid separation unit 2 and place it at the decoction unit 1 or the second conveyor line 6, to grip the storage barrel 8 containing the liquid from the liquid separation unit 2 and place it at the buffer packaging unit 3, and to grip the empty storage barrel 8 from the buffer packaging unit 3 and place it at the second conveyor line 6.

[0050] Please refer to the following: Figure 23 As shown, the decoction pot 7 includes a cylindrical body 71 with an open top. A guide nozzle 72 is provided on the side wall of the body 71 near the top. Several filter holes 73 are provided on the side wall of the body 71 in the area corresponding to the guide nozzle 72. A limiting ring 74 is provided around the outer wall of the body 71 near the lower middle section. The structure of the medicine storage pot 8 is the same as that of the decoction pot 7. Specifically, there are two limiting rings 74, arranged vertically.

[0051] Please refer to the following: Figure 22As shown, the gripping mechanism 43 includes a gripper mounting frame 431, a first gripper assembly 432, and a second gripper assembly 433. The gripper mounting frame is equipped with a gripper translation assembly 434 and a gripper translation drive 435. The first gripper assembly 432 is fixed to one end of the gripper mounting frame 431. The second gripper assembly 433 is fixed to the moving end of the gripper translation assembly 434. The gripper translation assembly 434 is used to receive the driving force of the gripper translation drive 435, and through its moving end, it drives the second gripper assembly 433 to move closer to or away from the first gripper assembly 432. The first gripper assembly 432 and the second gripper assembly 433 cooperate to grip or release the decoction barrel 7 or the storage barrel 8.

[0052] Please refer to the following: Figures 3 to 7 As shown, the decoction unit 1 includes a decoction rack 11 and a pot lid assembly 12; the front of the decoction rack 11 has several decoction positions, and the back of the decoction rack 11 has cleaning positions corresponding to the decoction positions; the pot lid assembly 12 is arranged between the decoction positions and the corresponding cleaning positions; a pot lid cleaning assembly 13 is also arranged on the back of the decoction rack 11; the pot lid cleaning assembly 13 includes a pot lid cleaning groove 131 installed at the cleaning position of the decoction rack 11; the pot lid assembly 12 includes a pot lid mounting plate 121 fixed to the decoction rack 11, a pot lid translation mechanism 122 installed on the pot lid mounting plate 121, and a pot lid fixed to the pot lid. The translation mechanism 122 includes a pot lid fixing bracket 123 at its moving end, a pot lid lifting mechanism 124 fixed to the bottom side of the pot lid fixing bracket 123, and a pot lid 125 fixed to the bottom side of the lifting end of the pot lid lifting mechanism 124. The decoction position is used to carry the decoction pot 7 and to heat the decoction pot 7. The pot lid 125 is used to move between the decoction position and the cleaning position under the drive of the pot lid translation mechanism 122, and is also used to cooperate with the decoction pot 7 at the decoction position and with the pot lid cleaning groove 131 at the cleaning position under the drive of the pot lid lifting mechanism 124. A decoction water supply pipe 126 is also installed on the pot lid 125 for supplying water to the decoction pot 7.

[0053] Please refer to the following: Figure 4 and Figure 5 As shown, the decoction rack 11 has multiple layers of decoction carrier plates 111 vertically arranged on its front side and a number of cleaning and mounting plates 113 corresponding to the number of decoction carrier plates 111 arranged on its back side; the decoction carrier plates 111 are provided with a plurality of heating plates 112, and the heating plates 112 constitute the decoction positions. In this embodiment, the decoction carrier plates are divided into upper and lower layers, and each layer of the decoction carrier plate has two decoction positions.

[0054] Please refer to the following: Figure 7As shown, the pot lid cleaning tank 131 includes a cleaning tank body 1311, which has a cleaning water inlet 1312 and a wastewater drain at the bottom; a cleaning spray ball 1313 is provided inside the cleaning tank body 1311; the cleaning spray ball 1313 is connected to the cleaning water inlet 1312 via a pipeline.

[0055] Please refer to the following: Figure 5 As shown, the pot lid cleaning assembly 13 also includes a cleaning water supply pipe 132 connected to the cleaning water inlets 1312 of the multiple pot lid cleaning tanks 131, and a wastewater drain pipe 133 connected to the wastewater drain outlets of the multiple pot lid cleaning tanks 131.

[0056] Please refer to the following: Figures 8 to 16 As shown, the liquid medicine separation unit 2 includes a liquid medicine separation frame 21; the liquid medicine separation frame 21 includes a receiving platform 211 on the bottom side and a separation mounting frame 212 located on the back of the platform 211; the receiving platform 211 has a receiving position for supporting a storage tank 8 for receiving medicine; a liquid medicine separation mechanism 22 is installed on the separation mounting frame 212; the liquid medicine separation mechanism 22 includes a rotary drive mechanism 222 installed on the separation mounting frame 212 and a rotary table 221 installed on the rotary drive mechanism 222; the rotary table 221 includes a rotating plate 2211 and a rotating platform 2212; a pressing mechanism 223 is installed on the rotating plate 2211; the pressing mechanism 223 includes a pressing fixing frame 2231 fixed to the rotating plate 2211 and a pressing fixing frame 2231 installed on the pressing fixing frame 2231. The system includes a compression drive mechanism 2232 and a compression filter disc 2233 installed at the telescopic end of the compression drive mechanism 2232; a rotating carrier plate 2212 is used to support the decoction barrel 7 to be separated from the medicine liquid; a compression clamping mechanism 224 is also fixed on the rotating vertical plate 2211 to fix the decoction barrel 7 located on the rotating carrier plate 2212; the compression filter disc 2233 is used to extend into the decoction barrel 7 under the drive of the compression drive mechanism 2232 to compress the medicine residue, so that the medicine liquid is above the medicine residue; the rotating table 221 is used to rotate under the drive of the rotating drive mechanism 222, so that the decoction barrel 7 pours the medicine liquid into the medicine storage tank 8 at the receiving position under the compression state; the structure of the compression clamping mechanism 224 is the same as that of the gripping mechanism 43, and the gripper mounting frame of the compression clamping mechanism 224 is fixed to the rotating vertical plate 2211.

[0057] Please refer to the following: Figure 9 As shown, a rinsing nozzle 225 located above the extrusion filter plate is also fixed on the extrusion fixing frame 2231, which is used to rinse the extrusion filter plate 2233 and wash away the medicine residue on the extrusion filter plate 2233.

[0058] Please refer to the following: Figure 11 and Figure 12As shown, the rotating upright plate 2211 is also fixed with a squeeze filter plate cleaning mechanism 23; the squeeze filter plate cleaning mechanism 23 includes a squeeze filter plate cleaning mounting frame 231, a squeeze filter plate cleaning frame 232 hinged to the squeeze filter plate cleaning mounting frame 231, a squeeze filter plate cleaning groove 233 installed on the squeeze filter plate cleaning frame 232, and a squeeze filter plate cleaning flipping drive mechanism 234 for driving the squeeze filter plate cleaning frame 232 to flip relative to the squeeze filter plate cleaning mounting frame 231; the squeeze filter plate cleaning groove 233 is used to flip to the underside of the squeeze filter plate by the squeeze filter plate cleaning frame 232 under the drive of the squeeze filter plate cleaning flipping drive mechanism 234; the squeeze filter plate is also used to extend into the squeeze filter plate cleaning groove 233 under the drive of the squeeze drive mechanism 2232, and complete the cleaning in the squeeze filter plate cleaning groove 233 under the repeated extension and retraction drive of the squeeze drive mechanism 2232.

[0059] Please refer to the following: Figure 11 and Figure 12 As shown, the squeezing filter plate cleaning tank 233 has a squeezing filter plate clean water inlet 2331 at the upper position and a squeezing filter plate wastewater outlet 2332 at the lower bottom position.

[0060] In this embodiment, the drug receiving platform is also equipped with a weighing sensor at the drug receiving position; in this embodiment, the drug receiving platform also has several drug receiving buffer positions; the setting of the drug receiving buffer positions can buffer the storage of the drug barrel 8.

[0061] Please refer to the following: Figures 17 to 20 As shown, the buffer packaging unit 3 includes a buffer packaging frame 31, a liquid pouring mechanism 32, and a packaging mechanism 33. The front of the buffer packaging frame 31 has several packaging buffer positions and a liquid pouring position, and the packaging mechanism 33 is installed on the back. The liquid pouring mechanism 32 is installed on the back of the buffer packaging frame 31 between the liquid pouring position and the liquid inlet of the packaging mechanism 33. The liquid pouring mechanism 32 includes a pouring mounting frame 321, a pouring tilting frame 322 hinged to the mounting frame 321, and a mechanism for driving the pouring tilting frame 322 relative to the liquid inlet of the packaging mechanism 33. The tilting mounting frame 321 has a tilting drive mechanism 323 for flipping; the tilting and flipping frame 322 has a pair of clamping arms 3221, and a clamping space is formed between the two clamping arms 3221; each clamping arm 3221 is also equipped with a clamping device 324, and the two clamping devices 324 cooperate to clamp the medicine storage tank 8 located in the medicine pouring position; the tilting and flipping frame 322 is used to flip the medicine storage tank 8 in the medicine pouring position to the medicine inlet of the packaging mechanism 33 for medicine pouring under the action of the tilting drive mechanism 323; the packaging mechanism 33 is used to package the medicine.

[0062] Please refer to the following: Figure 19As shown, the clamping device 324 includes a clamping drive mechanism 3241 fixed to the clamping arm 3221 and a clamping block 3242 fixed to the telescopic end of the clamping drive mechanism 3241; the two clamping blocks 3242 cooperate to clamp the medicine storage barrel 8 under the drive of the clamping drive mechanism 3241; the clamping arm 3221 is provided with a clamping block receiving groove 3222 at a position corresponding to the clamping block 3242; the clamping block receiving groove 3222 is used to receive the clamping block 3242 when not clamping; the tilting and flipping frame 322 is also fixed with a tilting pad 3223 in the area between the two clamping arms 3221.

[0063] Please refer to the following: Figure 17 As shown, the front of the buffer packaging frame 31 is provided with multiple buffer carrier plates 311; each buffer carrier plate 311 is provided with multiple packaging buffer positions; one of the buffer carrier plates 311 is provided with the medicine pouring position at the position corresponding to the medicine pouring mechanism 32.

[0064] Please refer to the following: Figure 18 As shown, the back of the buffer packaging frame 31 is provided with an upper first mounting step 312 and a lower second mounting step 313; the liquid pouring mechanism 32 is installed on the first mounting step 312, and the packaging mechanism 33 is installed on the second mounting step 313.

[0065] This embodiment describes a decoction and packaging system for traditional Chinese medicine pharmacies, which typically follows a process sequence of one decoction, separation of the first decoction liquid, a second decoction, separation of the second decoction liquid, merging of the liquids, buffering, and packaging; specifically as follows:

[0066] First decoction: The first conveyor line delivers the decoction barrel containing the prepared and soaked Chinese herbs to be decocted, along with an empty storage barrel, to the rear end of the robotic arm's forward and backward moving platform. The robotic arm, through a gripping mechanism, grasps the decoction barrel (the herbs have already been mixed with the required water) and delivers it to a specific decoction position among multiple decoction units. The corresponding pot lid descends under the action of the pot lid lifting mechanism to cover the decoction barrel. The heating plate heats the herbs for decoction. After the set decoction time, the pot lid rises under the action of the pot lid lifting mechanism and moves to above the pot lid cleaning tank under the action of the pot lid translation mechanism. Then, it descends into the pot lid cleaning tank under the action of the pot lid lifting mechanism to begin the cleaning operation. The cleaning water supply pipe supplies water to the corresponding pot lid cleaning tank under the control of a solenoid valve, and the wastewater after cleaning is discharged through the wastewater drain pipe. At the same time, the robotic arm, through the gripping mechanism, grasps the decoction barrel and delivers it to the liquid separation unit.

[0067] First, the decoction liquid is separated: the robotic arm grips the decoction barrel via a gripping mechanism and delivers it to the rotating carrier plate of the decoction liquid separation unit; the robotic arm also grips an empty storage barrel via the gripping mechanism and delivers it to the receiving position; the squeezing and clamping mechanism, driven by the translational drive of the gripping fingers, uses the cooperation of the first and second gripping finger assemblies to fix the decoction barrel; then, the squeezing filter disc extends downward under the drive of the squeezing drive mechanism, extending into the decoction barrel (e.g., ...). Figure 13 (As shown); then, the rotary drive mechanism drives the rotary table to rotate, causing the decoction pot to flip, and the decoction is poured into the storage tank located at the receiving position (as shown). Figure 14 As shown); during this process, the extrusion drive mechanism continuously extrudes the medicine, squeezing out the residual liquid from the dregs; when the weighing sensor shows no increase in weight within a set time, the rotation drive mechanism drives the rotary table to rotate in the opposite direction to the initial position; the extrusion filter disc retracts upwards to the upper part of the decoction barrel (located inside the barrel) under the drive of the extrusion drive mechanism, and the rinsing nozzles are turned on to rinse the extrusion filter disc, washing away the filter residue on the extrusion filter disc (such as...). Figure 15 (As shown); then, the extrusion filter disc retracts upward to its initial position under the drive of the extrusion drive mechanism; the robotic arm grabs the decoction barrel through the gripping mechanism and sends it to a decoction position in one of the multiple decoction units for a second decoction; the extrusion filter disc cleaning and flipping drive mechanism drives the extrusion filter disc cleaning tank to flip to below the extrusion filter disc, and the extrusion filter disc extends downward into the extrusion filter disc cleaning tank under the drive of the extrusion drive mechanism (as shown). Figure 16 As shown, clean water is injected into the squeezing filter plate cleaning tank through the clean water inlet of the squeezing filter plate; through the repeated extension and retraction of the squeezing drive mechanism, the squeezing filter plate is driven to move up and down in the water of the squeezing filter plate cleaning tank to achieve cleaning. Finally, the squeezing filter plate returns to the initial position, and the squeezing filter plate cleaning flipping drive mechanism drives the squeezing filter plate cleaning tank to flip back to the initial position; the robotic arm grabs the medicine storage barrel containing a decoction through the gripping mechanism and places it in the medicine receiving buffer position; while waiting for the second decoction process, other medicine separation operations can be performed.

[0068] Second decoction: The same steps as the second decoction, in which the required amount of water is added to the decoction tank through the decoction water supply pipe before the second decoction; after the second decoction is completed, the robotic arm grabs the decoction tank through the gripping mechanism and sends it to the liquid separation unit.

[0069] Separation and merging of the second decoction: In the step of separating the decoction, the robotic arm uses a gripping mechanism to grab the corresponding storage container containing the decoction and place it at the receiving position, so that the second decoction is directly separated into the storage container containing the first decoction; after the separation of the second decoction is completed, the robotic arm uses a gripping mechanism to grab the decoction container with dregs and send it to the second conveyor line for subsequent processes; the robotic arm uses a gripping mechanism to grab the storage container and send it to the buffer packaging unit;

[0070] Cache: Depending on the busy status of the packaging machine, the robotic arm uses a gripping mechanism to grab the medicine storage barrel and send it to the packaging cache position of the cache packaging unit for queuing;

[0071] Packaging: The robotic arm sequentially grasps the medicine storage containers from the packaging buffer position and places them in the medicine pouring position using a gripping mechanism; the pouring drive mechanism drives the pouring and flipping frame to rotate to the medicine storage container in the medicine pouring position, and the clamping drive mechanism drives the clamping blocks to extend from the clamping block receiving slot, with the two clamping blocks cooperating to clamp the medicine storage container; then, the pouring drive mechanism drives the pouring and flipping frame to rotate in the opposite direction, causing the medicine storage container to tilt (e.g., ...). Figure 20 As shown, the liquid medicine is poured from the storage tank into the packaging machine, which packages the liquid medicine. The tilting drive mechanism drives the tilting and flipping frame to flip the storage tank to the liquid medicine tilting position. The clamping drive mechanism drives the clamping block to retract into the clamping block receiving groove to release the storage tank. The robotic arm takes the storage tank from the liquid medicine tilting position through the gripping mechanism and sends it to the second conveyor line for subsequent processes. Then, a new storage tank containing liquid medicine is placed in the liquid medicine tilting position.

[0072] The above embodiments should not limit the present invention in any way. All technical solutions obtained by equivalent substitution or equivalent conversion fall within the protection scope of the present invention.

Claims

1. A decoction and packaging system for traditional Chinese medicine pharmacies, characterized in that, The system includes multiple decoction units (1), at least one liquid separation unit (2), multiple buffer packaging units (3), a robotic arm (4), a first conveyor line (5), and a second conveyor line (6). The robotic arm (4) includes a robotic arm forward and backward moving platform (41), a multi-axis robotic arm (42) installed at the moving end of the robotic arm forward and backward moving platform (41), and a gripping mechanism (43) installed at the operating end of the multi-axis robotic arm (42). The multiple decoction units (1), at least one liquid separation unit (2), and multiple buffer packaging units (3) are distributed from back to front along the left and right sides of the robotic arm forward and backward moving platform (41). The first conveyor line (5) is connected to the rear end of the robotic arm (4), and the second conveyor line (6) is connected to the front end of the robotic arm (4). The first conveyor line (5) is used to convey a decoction barrel (7) containing Chinese medicine to be decocted and an empty medicine storage barrel (8). The decoction unit (1) is used to decoct the Chinese medicine to be decocted in the decoction barrel (7). The liquid separation unit (2) is used to convey the Chinese medicine to be decocted in the decoction barrel (7). The unit (2) is used to separate the decoction liquid from the decoction barrel (7) to the storage barrel (8); the buffer packaging unit (3) is used to buffer the storage barrel (8) and package the decoction liquid in the storage barrel (8); the gripping mechanism (43) is used to grip the decoction barrel (7) containing the Chinese medicine to be decocted from the first conveyor line (5) and place it at the decoction unit (1) under the drive of the robotic arm moving platform (41) and the multi-axis robotic arm (42), and to grip the empty storage barrel from the first conveyor line (5). The medicine barrel (8) is placed at the medicine liquid separation unit (2). The medicine barrel (7) after decoction is taken from the medicine decoction unit (1) and placed at the medicine liquid separation unit (2). The medicine barrel (7) is taken from the medicine liquid separation unit (2) and placed at the medicine decoction unit (1) or the second conveyor line (6). The medicine storage barrel (8) containing medicine liquid is taken from the medicine liquid separation unit (2) and placed at the buffer packaging unit (3). The empty medicine storage barrel (8) is taken from the buffer packaging unit (3) and placed at the second conveyor line (6).

2. The decoction and packaging system for traditional Chinese medicine pharmacies according to claim 1, characterized in that, The decoction barrel (7) includes a cylindrical body (71) with an open top. A guide nozzle (72) is provided on the side wall of the body (71) near the top. Several filter holes (73) are provided on the side wall of the body (71) in the area corresponding to the guide nozzle (72). A limiting ring (74) is provided around the outer wall of the body (71) near the middle and lower section. The structure of the medicine storage barrel (8) is the same as that of the decoction barrel (7).

3. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 2, characterized in that, The gripping mechanism (43) includes a gripper mounting frame (431), a first gripper assembly (432), and a second gripper assembly (433). The gripper mounting frame is equipped with a gripper translation assembly (434) and a gripper translation drive (435). The first gripper assembly (432) is fixed to one end of the gripper mounting frame (431). The second gripper assembly (433) is fixed to the moving end of the gripper translation assembly (434). The gripper translation assembly (434) is used to receive the driving force of the gripper translation drive (435) and drive the second gripper assembly (433) to move closer to or away from the first gripper assembly (432) through the moving end. The first gripper assembly (432) and the second gripper assembly (433) cooperate to grip or release the decoction barrel (7) or the storage barrel (8).

4. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 3, characterized in that, The decoction unit (1) includes a decoction rack (11) and a pot lid assembly (12); the front of the decoction rack (11) has several decoction positions, and the back of the decoction rack (11) has cleaning positions corresponding to the decoction positions; the pot lid assembly (12) is arranged between the decoction positions and the corresponding cleaning positions; a pot lid cleaning assembly (13) is also arranged on the back of the decoction rack (11); the pot lid cleaning assembly (13) includes a pot lid cleaning groove (131) installed on the cleaning position of the decoction rack (11); the pot lid assembly (12) includes a pot lid mounting plate (121) fixed to the decoction rack (11), a pot lid translation mechanism (122) installed on the pot lid mounting plate (121), and a pot lid translation mechanism (122) fixed to the pot lid translation mechanism. The mechanism (122) includes a pot lid fixing bracket (123) at the moving end, a pot lid lifting mechanism (124) fixed to the bottom side of the pot lid fixing bracket (123), and a pot lid (125) fixed to the bottom side of the lifting end of the pot lid lifting mechanism (124). The decoction position is used to carry the decoction pot (7) and to heat the decoction pot (7). The pot lid (125) is used to move between the decoction position and the cleaning position under the drive of the pot lid translation mechanism (122), and is also used to cooperate with the decoction pot (7) at the decoction position and with the pot lid cleaning groove (131) at the cleaning position under the drive of the pot lid lifting mechanism (124). The pot lid (125) is also equipped with a decoction water supply pipe (126) for supplying water to the decoction pot (7).

5. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 4, characterized in that, The front of the decoction rack (11) is vertically provided with multiple decoction carrier plates (111), and the back is provided with a number of cleaning and mounting plates (113) corresponding to the decoction carrier plates (111); the decoction carrier plates (111) are provided with a number of heating plates (112), and the heating plates (112) constitute the decoction position.

6. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 3, characterized in that, The liquid medicine separation unit (2) includes a liquid medicine separation rack (21); the liquid medicine separation rack (21) includes a receiving platform (211) on the bottom side and a separation mounting frame (212) located on the back of the platform (211); the receiving platform (211) has a receiving position for carrying a storage tank (8) for receiving medicine; a liquid medicine separation mechanism (22) is installed on the separation mounting frame (212); the liquid medicine separation mechanism (22) includes components installed on the separation mounting frame. The rotating drive mechanism (222) of the upright frame (212) and the rotating table (221) mounted on the rotating end of the rotating drive mechanism (222); the rotating table (221) includes a rotating upright plate (2211) and a rotating carrier plate (2212); an extrusion mechanism (223) is mounted on the rotating upright plate (2211); the extrusion mechanism (223) includes an extrusion fixing frame (2231) fixed to the rotating upright plate (2211) and an extrusion fixing frame (2231) mounted on the extrusion fixing frame (2212). The extrusion drive mechanism (2232) and the extrusion filter disc (2233) installed on the telescopic end of the extrusion drive mechanism (2232); the rotating carrier plate (2212) is used to support the decoction barrel (7) to be separated from the medicine liquid; the rotating vertical plate (2211) is also fixed with an extrusion clamping mechanism (224) for fixing the decoction barrel (7) located on the rotating carrier plate (2212); the extrusion filter disc (2233) is used to support the decoction barrel (7) to be separated from the medicine liquid in the extrusion drive mechanism (2231). Driven by 2), it extends into the decoction barrel (7) to squeeze the dregs, so that the liquid medicine is above the dregs; the rotating table (221) is used to rotate under the drive of the rotating drive mechanism (222), so that the decoction barrel (7) pours the liquid medicine into the storage barrel (8) at the receiving position under the squeezing state; the structure of the squeezing clamping mechanism (224) is the same as that of the gripping mechanism (43), and the gripper mounting frame of the squeezing clamping mechanism (224) is fixed to the rotating upright plate (2211).

7. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 6, characterized in that, The rotating upright plate (2211) is also fixed with a squeeze filter plate cleaning mechanism (23); the squeeze filter plate cleaning mechanism (23) includes a squeeze filter plate cleaning mounting frame (231), a squeeze filter plate cleaning frame (232) hinged to the squeeze filter plate cleaning mounting frame (231), a squeeze filter plate cleaning groove (233) installed on the squeeze filter plate cleaning frame (232), and a squeeze filter plate cleaning flipper for driving the squeeze filter plate cleaning frame (232) to rotate relative to the squeeze filter plate cleaning mounting frame (231). The rotating drive mechanism (234) is used to rotate the extrusion filter plate cleaning tank (233) under the drive of the extrusion filter plate cleaning flipping drive mechanism (234) and driven by the extrusion filter plate cleaning frame (232) to the underside of the extrusion filter plate; the extrusion filter plate is also used to extend into the extrusion filter plate cleaning tank (233) under the drive of the extrusion drive mechanism (2232) and complete the cleaning in the extrusion filter plate cleaning tank (233) under the repeated extension and retraction drive of the extrusion drive mechanism (2232).

8. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 3, characterized in that, The buffer packaging unit (3) includes a buffer packaging frame (31), a liquid pouring mechanism (32), and a packaging mechanism (33); the front of the buffer packaging frame (31) has several packaging buffer positions and a liquid pouring position, and the packaging mechanism (33) is installed on the back; the liquid pouring mechanism (32) is installed on the back of the buffer packaging frame (31) between the liquid pouring position and the liquid inlet of the packaging mechanism (33); the liquid pouring mechanism (32) includes a pouring mounting frame (321), a pouring tilting frame (322) hinged to the mounting frame (321), and a mechanism for driving the pouring tilting frame (322) relative to the tilting position. The tilting and flipping frame (322) has a tilting drive mechanism (323) for flipping the tilting and flipping frame (322); the tilting and flipping frame (322) has a pair of clamping arms (3221), and a clamping space is formed between the two clamping arms (3221); each clamping arm (3221) is also equipped with a clamping device (324), and the two clamping devices (324) cooperate to clamp the medicine storage tank (8) located in the medicine pouring position; the tilting and flipping frame (322) is used to flip the medicine storage tank (8) in the medicine pouring position to the medicine inlet of the packaging mechanism (33) for medicine pouring under the action of the tilting drive mechanism (323); the packaging mechanism (33) is used to package the medicine.

9. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 8, characterized in that, The clamping device (324) includes a clamping drive mechanism (3241) fixed to the clamping arm (3221) and a clamping block (3242) fixed to the telescopic end of the clamping drive mechanism (3241); the two clamping blocks (3242) cooperate to clamp the medicine storage barrel (8) under the drive of the clamping drive mechanism (3241); the clamping arm (3221) is provided with a clamping block receiving groove (3222) at a position corresponding to the clamping block (3242); the clamping block receiving groove (3222) is used to receive the clamping block (3242) when not clamping; the tilting and turning frame (322) is also fixed with a tilting pad (3223) in the area between the two clamping arms (3221).

10. A decoction and packaging system for traditional Chinese medicine pharmacies according to claim 8, characterized in that, The front of the cache packaging frame (31) is provided with multiple cache carrier plates (311); each cache carrier plate (311) is provided with multiple packaging cache positions; One of the buffer plates (311) is provided with the medicine pouring position at the position corresponding to the medicine pouring mechanism (32).

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