Automatic milkvetch root rubbing device and milkvetch root rubbing method

Abstract

The invention provides an automatic milkvetch root rubbing device, and relates to the technical field of traditional Chinese medicinal material processing, the automatic milkvetch root rubbing device is characterized in that a first guide rail is arranged on a frame mechanism, and second guide rails are arranged on two sides of the first guide rail in parallel; the clamp mechanism is used for clamping an astragalus membranaceus bundle, is arranged on the first guide rail, can slide along the first guide rail and conveys the clamped astragalus membranaceus bundle to the rubbing working area; the rubbing mechanism comprises two sets of rubbing assemblies arranged on the two sides of the first guide rail and an upper rubbing plate lifting assembly; a lower rubbing plate of the rubbing assembly is arranged on a second guide rail in a sliding mode, an upper rubbing plate is arranged above the lower rubbing plate, the upper end of the upper rubbing plate is connected with an upper rubbing plate lifting assembly, and the upper rubbing plate lifting assembly can lift the upper rubbing plate to move in the vertical direction; the driving end of the first driving unit is connected with the lower rubbing plate and can drive the lower rubbing plate to reciprocate on the corresponding second guide rail. According to the scheme, labor force can be liberated, the kneading processing efficiency and the kneading uniformity are improved, and then the radix astragali processing quality is improved.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine processing technology, and in particular to an automatic astragalus kneading device and a method for kneading astragalus. Background Technology

[0002] Astragalus, also known as Astragalus membranaceus, is a commonly used traditional Chinese medicine. It has the effects of strengthening the spleen and replenishing the middle jiao, raising yang and lifting prolapse, benefiting wei qi and consolidating the exterior, promoting diuresis, and promoting tissue regeneration. It is mainly used to treat spleen qi deficiency, lung qi deficiency, spontaneous sweating due to qi deficiency, qi and blood deficiency, and sores that are difficult to ulcerate or heal. It is mainly produced in Inner Mongolia Autonomous Region, Shanxi Province, and Heilongjiang Province of China. Astragalus prefers cool conditions, is cold- and drought-resistant, but is intolerant of heat and waterlogging. It is suitable for planting in deep, humus-rich, and well-drained sandy loam soil. However, after being unearthed, Astragalus often presents as long, irregularly shaped strips. These deformed and curved Astragalus are not aesthetically pleasing and have lower medicinal value. Therefore, it is necessary to process the unearthed Astragalus by kneading to change its shape and make it straight. At the same time, the soil on the Astragalus needs to be removed, resulting in a rough processing.

[0003] However, current methods of kneading Astragalus in pharmaceutical preparations are all done manually. The Astragalus is bundled together with straps and then placed on a kneading board for repeated rolling and kneading. This method is not only labor-intensive and inefficient, but also results in uneven kneading, significant differences in the final kneading results, and a tendency for some areas to be over-kneaded or under-kneaded, leading to inconsistent kneading quality. Summary of the Invention

[0004] In view of this, and to address the above shortcomings, it is necessary to propose an automatic astragalus kneading device and a method for kneading astragalus, so as to free up labor, improve kneading efficiency and kneading uniformity, and thus improve the quality of astragalus processing.

[0005] In a first aspect, the present invention provides an automatic kneading device for Astragalus membranaceus, comprising: a frame mechanism, a clamping mechanism, a kneading mechanism, and a control mechanism;

[0006] The frame mechanism is provided with a first guide rail extending into the kneading working area and located within the kneading working area, and second guide rails are provided parallel to both sides of the first guide rail;

[0007] The clamping mechanism is used to clamp the bundle of Astragalus membranaceus. It is set on the first guide rail and can slide along the first guide rail to deliver the clamped bundle of Astragalus membranaceus to the kneading work area.

[0008] The kneading mechanism is disposed in the kneading working area and includes: two sets of kneading components and one set of upper kneading plate lifting components respectively disposed on both sides of the first guide rail; each set of kneading components includes an upper kneading plate, a lower kneading plate and a first driving unit; the lower kneading plate is slidably disposed on the second guide rail, the upper kneading plate is disposed above the lower kneading plate and its upper end is connected to the upper kneading plate lifting component, which can lift the upper kneading plate to move vertically; the driving end of the first driving unit is connected to the lower kneading plate and can drive the lower kneading plate to reciprocate on the corresponding second guide rail;

[0009] The control mechanism is electrically connected to the upper kneading board lifting assembly and the first drive unit, respectively.

[0010] Preferably, the frame mechanism includes: a support base;

[0011] The upper surface of the support base is provided with a hollow kneading working area. Four I-beam columns are arranged around the kneading working area. The four I-beam columns and the matching crossbeams are welded to form the upper mounting frame. The upper kneading board lifting assembly is installed on the mounting frame.

[0012] Preferably, the mounting frame is provided with a first crossbeam at the top and a second crossbeam on the side of the rear end; both the first crossbeam and the top and rear end crossbeams are provided with fixed pulleys; the upper kneading board lifting assembly includes: a tubular truss, a chain, a lifting rope and a winch;

[0013] One end of the tubular truss is rotatably mounted on the second crossbeam, and the upper part of the other end is connected to one end of the lifting rope. The other end of the lifting rope passes through two fixed pulleys in sequence and is then connected to the winding end of the winch set on the support base.

[0014] The chain consists of several strands, one end of which is connected to the lower end of the truss and the other end is connected to the upper surface of the upper kneading plate. It is used to open one end of the upper kneading plate by winding the lifting rope with the winch, so that the bundle of astragalus held by the clamping mechanism can enter or move out.

[0015] Preferably, the lower end of the upper rubbing board and the upper end of the lower rubbing board are both arc-shaped surfaces, and the size of the upper rubbing board is smaller than that of the lower rubbing board;

[0016] The upper end of the upper kneading board is provided with a counterweight placement groove for placing counterweights.

[0017] Preferably, the first drive unit is located at the rear end of the support base, and its drive end is connected to the lower kneading plate through a crank rocker arm to drive the lower kneading plate to reciprocate along the second guide rail.

[0018] Preferably, the clamping mechanism includes: a clamping mounting base, an upper clamping body, a lower clamping body, a lever column, a first spring, and a first lever;

[0019] The lever column, the first spring, and the lower frame are sequentially arranged on the clamp mounting base along the same axis; the lower end of the middle part of the first lever is rotatably connected to the top end of the lever column, the bottom end of the first spring is fixedly connected to the clamp mounting base, and the upper end is fixedly connected to the first lever, with the first end of the first spring being fixedly connected to the upper clamp.

[0020] Preferably, the radius of the upper clamp is larger than the radius of the lower clamp; and both closed surfaces of the upper clamp are provided with grooves, and both closed surfaces of the lower clamp are provided with protrusions that cooperate with the grooves;

[0021] The support base is also provided with an inverted U-shaped post, and the end of the first lever away from the upper clamp is provided with a hook.

[0022] Preferably, a limit block is provided on the first guide rail;

[0023] The clamp mounting base is also provided with a second lever on each side. The second lever is rotatably mounted on both sides of the clamp mounting base, and the front end of the second lever is configured as a hook structure, which is used to lock onto the limit block when the clamp mechanism moves to the target position. The lower end of the second lever is fixedly connected to one end of the second spring, and the other end of the second spring is fixedly connected to the bottom of the clamp mounting base.

[0024] Secondly, the present invention provides a method for kneading Astragalus membranaceus, the main implementer of which is the automatic Astragalus membranaceus kneading device as described in the first aspect, the method comprising:

[0025] S1: Press down the tail of the first lever and fasten the hook at the tail of the first lever to the U-shaped post of the support base to open the upper and lower clamping bodies of the clamping mechanism;

[0026] S2: Securely place the bundled Astragalus membranaceus inside the upper and lower clamps;

[0027] S3: The control mechanism controls the operation of the upper kneading board lifting assembly, lifting the upper kneading board upwards to open the upper and lower kneading boards;

[0028] S4: Release the hook at the tail of the first lever from the U-shaped post to stably clamp the bundle of astragalus; and push the clamping mechanism holding the bundle of astragalus along the first guide rail to the kneading work area, and then firmly lock the hook-shaped structure at the front end of the second lever onto the limiting block;

[0029] S5: The control mechanism controls the operation of the upper kneading board lifting assembly to lower the upper kneading board to a horizontal position and fit it against the surface of the Astragalus bundle; and, a counterweight of a predetermined mass is placed in the counterweight placement slot on the upper kneading board.

[0030] S6: The control mechanism controls the first drive unit to work. The first drive unit controls the lower kneading plate to reciprocate at a predetermined speed for a predetermined time, and the upper and lower kneading plates knead the Astragalus bundles.

[0031] S7: After the kneading operation is completed, the device is reset and the kneaded bundle of astragalus is removed from the clamping mechanism.

[0032] Preferably, the method further includes:

[0033] S01: For Astragalus membranaceus classified into different diameter categories, several sets of kneading operations, such as steps S1-S7, are performed for each category in the early stage. During each set of kneading operations, the temperature of the Astragalus membranaceus bundles is monitored using a thermal imager. The kneading process parameters are adjusted according to the temperature distribution of the Astragalus membranaceus bundles until the temperature distribution of the Astragalus membranaceus bundles monitored by the thermal imager is uniform. The kneading process parameters include: the movement speed of the lower kneading plate, the movement duration of the lower kneading plate, and the mass of the counterweight.

[0034] S02: The optimal kneading process parameters obtained for each different diameter category of Astragalus are stored in the control mechanism in a mapping relationship;

[0035] S03: When kneading Astragalus membranaceus, the operator inputs the diameter range of the Astragalus membranaceus to be kneaded into the control mechanism. The control mechanism automatically controls the first drive unit to work according to the corresponding optimal kneading process parameters, and at the same time prompts the operator with the current optimal counterweight mass.

[0036] As can be seen from the above technical solution, the automatic astragalus kneading device provided by this solution includes a frame mechanism, a clamping mechanism, a kneading mechanism, and a control mechanism. During the kneading operation, the tail of the first lever is first pressed down, and the hook at the tail of the first lever is fastened to the U-shaped post on the support base to open the upper and lower clamping bodies of the clamping mechanism. Then, the bundled astragalus is stably placed within the upper and lower clamping bodies. Further, the control mechanism controls the upper kneading plate lifting assembly to lift the upper kneading plate upwards, opening the upper and lower kneading plates. After opening, the connection between the hook at the tail of the first lever and the U-shaped post is released, stably clamping the astragalus bundle. The clamping mechanism then... After the clamping mechanism with bundles of Astragalus membranaceus is pushed along the first guide rail to the kneading work area, the hook-shaped structure at the front end of the second lever is firmly locked onto the limiting block. Then, the control mechanism controls the upper kneading plate lifting assembly to lower the upper kneading plate to a horizontal position and fit it against the surface of the bundles of Astragalus membranaceus. A counterweight of a predetermined mass is placed in the counterweight placement slot on the upper kneading plate. At this time, the control mechanism controls the first drive unit to operate, which in turn controls the lower kneading plate to reciprocate at a predetermined speed for a predetermined time, performing kneading operations on the bundles of Astragalus membranaceus through the upper and lower kneading plates. After the kneading operation is completed, the device resets and the kneaded bundles of Astragalus membranaceus are removed from the clamping mechanism. Therefore, this solution eliminates the need for manual kneading operations; the operator only plays an auxiliary role, greatly freeing up labor and improving the efficiency of Astragalus membranaceus kneading processing. Moreover, compared to manual operation, this solution uses a kneading mechanism to knead Astragalus membranaceus, resulting in higher kneading uniformity and thus higher processing quality. Furthermore, by optimizing the preliminary processing, the optimal kneading process parameters for Astragalus membranaceus of different diameters were found. By configuring these optimal kneading process parameters into the control mechanism, the workload of operators in inputting process parameters can be further reduced, and the efficiency of kneading operations can be further improved. At the same time, the optimal process parameters can enable the kneaded Astragalus membranaceus to have higher processing quality. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of an automatic kneading device for Astragalus membranaceus provided in an embodiment of the present invention.

[0038] Figure 2 This is a rear view of the automatic Astragalus kneading device provided in an embodiment of the present invention.

[0039] Figure 3 This is a partial view of the clamping mechanism provided in an embodiment of the present invention.

[0040] Figure 4 The left view is of the automatic kneading device for Astragalus membranaceus provided in an embodiment of the present invention.

[0041] Figure 5 This is a front view of the automatic kneading device for Astragalus membranaceus provided in an embodiment of the present invention.

[0042] Figure 6 This is a schematic diagram of the installation of the limiting block provided in an embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of a clamping mechanism provided in an embodiment of the present invention.

[0044] Figure 8 This is a schematic diagram of a limiting block provided in an embodiment of the present invention.

[0045] Figure 9 This is a schematic diagram of a kneading assembly provided in an embodiment of the present invention.

[0046] Figure 10 This is a flowchart of a method for kneading Astragalus membranaceus provided in an embodiment of the present invention.

[0047] In the diagram: Frame mechanism 10, first guide rail 11, second guide rail 12, support base 13, mounting frame 14, first crossbeam 141, second crossbeam 142, U-shaped pile 15, limiting block 16, clamping mechanism 20, clamping mounting seat 21, upper clamping body 22, groove 221, lower clamping body 23, protrusion 231, lever column 24, first spring 25, first lever 26, hook 261, second lever 27, second spring 28, kneading mechanism 30, kneading assembly 31, upper kneading plate 311, lower kneading plate 312, first drive unit 313, crank rocker 314, upper kneading plate lifting assembly 32, fixed pulley 321, tubular truss 322, chain 323, lifting rope 324, winch 325, counterweight placement slot 33, control mechanism 40. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0049] In the description of this invention, it should be noted that the terms "front," "rear," "inner," "outer," "right," "left," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] like Figure 1-9 As shown, the present invention provides an automatic kneading device for Astragalus membranaceus, characterized in that it includes: a frame mechanism 10, a clamping mechanism 20, a kneading mechanism 30, and a control mechanism 40;

[0052] The frame mechanism 10 is provided with a first guide rail 11 extending into the kneading working area and located within the kneading working area. Second guide rails 12 are provided parallel to both sides of the first guide rail 11.

[0053] The clamping mechanism 20 is used to clamp the bundle of Astragalus membranaceus. It is set on the first guide rail 11 and can slide along the first guide rail 11 to send the clamped bundle of Astragalus membranaceus to the kneading work area.

[0054] The kneading mechanism 30 is disposed in the kneading working area and includes: two sets of kneading components 31 and one set of upper kneading plate lifting components 32 respectively disposed on both sides of the first guide rail 11; each set of kneading components 31 includes an upper kneading plate 311, a lower kneading plate 312 and a first driving unit 313; the lower kneading plate 312 is slidably disposed on the second guide rail 12, and the upper kneading plate 311 is disposed above the lower kneading plate 312, the upper end of which is connected to the upper kneading plate lifting component 32, which can lift the upper kneading plate 311 to move vertically; the driving end of the first driving unit 313 is connected to the lower kneading plate 312 and can drive the lower kneading plate 312 to reciprocate on the corresponding second guide rail 12;

[0055] The control mechanism 40 is electrically connected to the upper kneading board lifting assembly 32 and the first drive unit 313, respectively.

[0056] In one embodiment, the frame mechanism 10 may include: a support base 13; the upper surface of the support base 13 is provided with a hollowed-out kneading working area, and four I-beam columns are provided around the kneading working area. The four I-beam columns and the matching crossbeams are welded to form an upper mounting frame 14; the upper kneading board lifting assembly 32 is installed on the mounting frame 14.

[0057] Furthermore, in one embodiment, the mounting frame 14 is provided with a first crossbeam 141 at the top and a second crossbeam 142 on the side of the rear end; both the first crossbeam 141 and the crossbeam at the top rear end are provided with fixed pulleys 321; the upper kneading board lifting assembly 32 includes: a tubular truss 322, a chain 323, a lifting rope 324 and a winch 325;

[0058] One end of the tubular truss 322 is rotatably mounted on the second crossbeam 142, and the upper part of the other end is connected to one end of the lifting rope 324. The other end of the lifting rope 324 passes through two fixed pulleys 321 in sequence and is connected to the winding end of the winch 325 set on the support base 13.

[0059] The chain 323 is provided with several chains, one end of which is connected to the lower end of the truss 322, and the other end is connected to the upper surface of the upper kneading plate 311. It is used to open one end of the upper kneading plate 311 by winding the lifting rope 324 through the winch 325, so that the bundle of astragalus held by the clamping mechanism 20 can enter or move out.

[0060] In this embodiment, the control mechanism 40 can control the operation of the winch 325 to pull one end of the truss 322 upwards or downwards, thereby opening or closing the opening of the upper kneading plate 311. For example, the winch 325 can be controlled to rotate forward 3 turns to raise the upper kneading plate 311 to a preset height to meet the clamping requirements. Similarly, the winch 325 can be controlled to rotate backwards 3 turns to lower the upper kneading plate 311 to a horizontal position and fit against the surface of the astragalus root.

[0061] In one embodiment, the lower end of the upper kneading plate 311 and the upper end of the lower kneading plate 312 are both arc-shaped surfaces, and the size of the upper kneading plate 311 is smaller than that of the lower kneading plate 312; the upper end of the upper kneading plate 311 is provided with a counterweight placement groove 33 for placing a counterweight. This allows the astragalus to be more stably confined between the upper kneading plate 311 and the lower kneading plate 312, achieving a more stable kneading operation.

[0062] In one embodiment, the first drive unit 313 is disposed at the rear end of the support base 13, and its drive end is connected to the lower kneading plate 312 through a crank rocker arm 314 to drive the lower kneading plate 312 to reciprocate along the second guide rail 12.

[0063] In this embodiment, the first driving unit 313 is a motor, which drives the lower kneading plate 312 to reciprocate along the second guide rail 12 via the crank rocker arm 314, thereby realizing the kneading of the Astragalus bundle between the upper kneading plate 311 and the lower kneading plate 312.

[0064] In one embodiment, the clamping mechanism 20 may include a clamping mounting base 21, an upper clamping body 22, a lower clamping body 23, a lever column 24, a first spring 25, and a first lever 26.

[0065] The lever column 24, the first spring 25, and the lower frame are sequentially arranged on the clamp mounting base 21 along the same axis; the lower end of the middle part of the first lever 26 is rotatably connected to the top end of the lever column 24, the bottom end of the first spring 25 is fixedly connected to the clamp mounting base 21, and the upper end is fixedly connected to the first lever 26; the first lever 26 is located at the first end of the first spring 25 and is fixedly connected to the upper clamp 22.

[0066] In this embodiment, the radius of the upper clamping body 22 is further considered to be larger than the radius of the lower clamping body 23; and grooves 221 are provided on both closed surfaces of the upper clamping body 22, and protrusions 231 that cooperate with the grooves 221 are provided on both closed surfaces of the lower clamping body 23. This allows the upper clamping body 22 and the lower clamping body 23 to better engage with the grooves 221 through the protrusions 231 when they are closed, making the clamping of the Astragalus bundle more secure and more stable during the kneading process.

[0067] Furthermore, an inverted U-shaped post 15 is provided on the support base 13, and a hook 261 is provided at the end of the first lever 26 away from the upper clamp 22. Thus, the operator can hook the hook 261 onto the U-shaped post 15 to open the upper clamp 22 and lower clamp 23, and then place the bundle of astragalus. Afterwards, the operator can proceed to operate the drive mechanism. In this way, one operator can assist the device in completing the astragalus kneading operation, greatly saving manpower.

[0068] In one embodiment, a limit block 16 is also provided on the first guide rail 11; a second lever 27 is also provided on both sides of the clamp mounting base 21, the second lever 27 is rotatably mounted on both sides of the clamp mounting base 21, and the front end of the second lever 27 is configured as a hook structure for locking on the limit block 16 when the clamp mechanism 20 moves to the target position; the lower end of the second lever 27 is fixedly connected to one end of the second spring 28, and the other end of the second spring 28 is fixedly connected to the bottom of the clamp mounting base 21.

[0069] In this embodiment, after the clamping mechanism 20 is pushed into the kneading working area, the second lever 27 can be pressed down, causing the front end of the second lever 27 to be locked in the limiting block 16, thereby preventing the clamping mechanism 20 from sliding on the first guide rail 11 during the kneading process and affecting the kneading effect. The limiting block 16 can be a semi-cylindrical structure, which is positioned on the second guide rail 12 to ensure that the Astragalus bundle in the clamp is stably kneaded in the kneading mechanism 30. When the clamping mechanism 20 is pushed to the target area, the hook-like structure at the front end of the second lever 27 hooks onto the plane on the rear side of the semi-cylindrical body. The arc-shaped surface of the semi-cylindrical body can just abut against the front end of the clamp mounting base 21, thereby ensuring that the clamp mounting base 21, which is slidably mounted on the first guide rail 11, will not slide along the first guide rail 11 at this time.

[0070] The control mechanism 40 can be an industrial computer with built-in control programs and a database. It is responsible for receiving touchscreen or button commands and coordinating the timing actions of the motor controller. The touchscreen can be connected to the industrial computer via a network cable, serving as a human-machine interface terminal for parameter setting, process selection, status display, and historical data querying. It supports touch operation to replace some physical button functions. For example, the control button configuration can be as shown in the table below:

[0071] Serial Number Control method Functional modules Core Functions Specific actions 1 physical button Power button The main power supply to the equipment is connected. After pressing, the industrial computer, touch screen, and motor controller are powered on, the power indicator lights up, and the system enters standby mode. 2 physical button Master Stop Button All motors stopped running. After pressing the button, the industrial control computer sends a stop command, the two motor controllers cut off their output, and the equipment resets. 3 physical button Emergency stop button Emergency shutdown Rotary reset type: pressing this button immediately cuts off the power output from the motor controller to the industrial computer, all actions stop, and the alarm light illuminates. 4 physical button Auto Execution Button Start the automatic kneading process After selecting the storage parameters and pressing the button, the industrial control computer coordinates the dual-motor controller to execute a complete set of timing actions, and the thermal imager automatically measures the temperature. 5 physical button Process data recording button Store current processing parameters After pressing, the industrial control computer collects motor parameters and thermal imager temperature, simultaneously inputs the data manually entered into the touchscreen, and archives it. 6 Touchscreen operation 325 winch forward / reverse control Upper kneading board 311 height adjustment When the corresponding icon is clicked on the touch screen, the industrial computer sends a command, and the motor controller drives the motor to rotate forward / reverse for 3 seconds before stopping. 7 Touchscreen operation Crank-slider start / stop / reset control Manual kneading operation control Touchscreen controls enable / reset, the industrial computer instructs the motor controller to perform the corresponding action, and the status is displayed in real time. 8 Touchscreen operation Kneading speed adjustment module Set the speed of the crank slider The control input value is sent from the industrial computer to the motor controller, and the speed is displayed in real time. 9 Touchscreen operation Process parameter setting module Custom process parameters Input the preset values ​​for kneading time and pressing force, save it as a new process scheme, and support naming and categorization. 10 Touchscreen operation Historical data query module Get the optimal process parameters Filter by Astragalus diameter / batch, display complete parameters (including thermal imaging temperature), and support one-click access. 11 Touchscreen operation Real-time monitoring module Display device operating status Simultaneous display of motor operating parameters, thermal imaging temperature curve, limit switch status, and fault alarm information. 12 Thermal Imager (Automatic) Temperature acquisition module Astragalus perceived temperature detection The system automatically captures and measures the temperature after processing, and the data is uploaded to the industrial control computer in real time. An alarm is triggered when the temperature exceeds the limit.

[0072] like Figure 10 As shown, the present invention also provides a method for kneading Astragalus membranaceus, the main body of which is the automatic Astragalus membranaceus kneading device as described in the above embodiments, the method comprising:

[0073] S1: Press down the tail of the first lever 26 and fasten the hook 261 at the tail of the first lever 26 to the U-shaped post 15 of the support base 13 to open the upper clamp 22 and lower clamp 23 of the clamping mechanism 20.

[0074] S2: Securely place the bundled Astragalus membranaceus inside the upper clamp 22 and lower clamp 23;

[0075] S3: The control mechanism 40 controls the upper kneading board lifting assembly 32 to work, lifting the upper kneading board 311 upwards and opening the upper kneading board 311 and the lower kneading board 312;

[0076] S4: Release the connection between the hook 261 at the tail of the first lever 26 and the U-shaped post 15, and stably clamp the bundle of astragalus; push the clamping mechanism 20 holding the bundle of astragalus along the first guide rail 11 to the kneading work area, and then firmly lock the hook-shaped structure at the front end of the second lever 27 onto the limiting block 16.

[0077] S5: The control mechanism 40 controls the upper kneading board lifting assembly 32 to work, lowering the upper kneading board 311 to a horizontal position and fitting it against the surface of the Astragalus bundle; and placing a counterweight of a predetermined mass in the counterweight placement groove 33 on the upper kneading board 311.

[0078] S6: The control mechanism 40 controls the first drive unit 313 to work. The first drive unit 313 controls the lower kneading plate 312 to reciprocate at a predetermined speed for a predetermined time. The upper kneading plate 311 and the lower kneading plate 312 are used to knead the Astragalus bundle.

[0079] S7: After the kneading operation is completed, the device is reset and the kneaded bundle of astragalus is taken out from the clamping mechanism 20.

[0080] In this embodiment, when performing the astragalus kneading operation, the hook 261 at the end of the clamping mechanism 20 is first hooked onto the U-shaped post 15 of the support base 13, causing the upper clamping body 22 and the lower clamping body 23 to open their clamping openings. Then, the bundled astragalus is stably placed inside the clamp. Further, the operation panel can be clicked to call the integrated forward and reverse forming controller, which sends a forward rotation 3-turn action command to the winch 325. The winch 325 rewinds and pulls the rope 324, sequentially pulling up the truss 322, the chain 323, and the upper kneading plate 311, thereby pulling the upper kneading plate 311 upward to a preset height. The internal space meets the clamping insertion requirements, that is, the astragalus can be pushed into the lower kneading plate 312 and the upper kneading plate 311. Afterwards, the connection between the hook 261 at the tail of the clamp and the U-shaped post 15 can be released. Then, the clamp mechanism 20 is pushed inwards along the first guide rail 11 until the head of the clamp mechanism 20 reaches the target wood, engaging the hook-like structure at the front end of the second lever 27 with the limiting block 16, preventing the clamp mechanism 20 from moving. Next, click the operation panel to control the winch 325 to reverse 3 turns, causing the upper kneading plate 311 to lower. Place a 30-40kg counterweight in the counterweight placement slot 33. Then, click the operation panel to start the first drive unit 313, which starts the motor. The crank rocker arm 314 drives the lower kneading plate 312 to reciprocate along the second guide rail 12, thus achieving the kneading operation of the astragalus. The reciprocating motion of the lower kneading plate 312 lasts for 10-20 minutes at a speed of 0.4-0.8 m / s. During the kneading process, observe whether the surface of the astragalus turns light brownish-yellow and whether there are longitudinal wrinkles. If so, stop the operation; otherwise, continue the operation. After the kneading operation is completed, click the control panel to stop the first drive unit 313 from working, causing the lower kneading plate 312 to stop its reciprocating motion. Then, synchronously control the winch 325 to rotate forward 3 turns to lift the upper kneading plate 311. Further, manually press the tail of the second lever 27 to release the engagement between the hook-like structure at the front end of the second lever 27 and the limiting block 16. Then, pull the clamping mechanism 20 out along the first guide rail 11 and re-hook the hook 261 at the tail of the clamp onto the U-shaped post 15, so that the upper clamp 22 and the lower clamp 23 open, allowing the kneaded astragalus bundle to be removed.

[0081] Furthermore, in one embodiment, it is also possible to optimize the kneading process parameters in advance, and then configure the optimized kneading process parameters into the control unit to execute autonomous control operations. Specifically, this may include the following steps:

[0082] S01: For Astragalus membranaceus classified into different diameter categories, several sets of kneading operations, such as steps S1-S7, are performed for each category in the early stage. During each set of kneading operations, the temperature of the Astragalus membranaceus bundles is monitored by a thermal imager. The kneading process parameters are adjusted according to the temperature distribution of the Astragalus membranaceus bundles until the temperature distribution of the Astragalus membranaceus bundles monitored by the thermal imager is uniform. The kneading process parameters include: the movement speed of the lower kneading plate 312, the movement duration of the lower kneading plate 312, and the mass of the counterweight.

[0083] S02: The optimal kneading process parameters obtained for Astragalus membranaceus of different diameters are stored in the control mechanism 40 in a mapping manner;

[0084] S03: When kneading Astragalus membranaceus, the operator inputs the diameter range of the Astragalus membranaceus to be kneaded into the control mechanism 40. The control mechanism 40 automatically controls the first drive unit 313 to work according to the corresponding optimal kneading process parameters, and at the same time prompts the operator with the current optimal counterweight mass.

[0085] In this embodiment, when adjusting the kneading process parameters according to the temperature distribution uniformity of the Astragalus bundle in S01, it is also necessary to observe whether there is any damage on the surface of the Astragalus, so as to ensure that the optimal process parameters can simultaneously ensure that the Astragalus is not damaged after kneading and that the temperature uniformity is high.

[0086] The automatic process execution control logic in this embodiment may include: first, selecting the stored optimal process parameters (kneading speed, running time, and preset pressing force values) on the touchscreen, clicking to confirm the automatic mode, and the industrial control computer retrieving the parameters and sending them to the corresponding motor controller; then, pressing the physical automatic execution button or clicking to start the automatic process on the touchscreen, and the industrial control computer coordinating the dual motor controllers according to a preset timing sequence:

[0087] ① The winch 325 controller executes 3 forward rotations → ② The industrial control computer detects the limit switch positioning signal set on the limit block 16 (if valid, continue; if invalid, stop and alarm) → ③ The winch 325 controller executes 3 reverse rotations → ④ The first drive unit 313 starts at the preset speed, and the industrial control computer times synchronously → ⑤ When the timer reaches the target, the first drive unit 313 resets → ⑥ The winch 325 controller executes 3 forward rotations again → ⑦ The thermal imager automatically collects the surface temperature of the astragalus and uploads it to the industrial control computer. The process ends, and the industrial control computer automatically triggers the process data storage command to integrate and archive all parameters.

[0088] The modules or units in the device of this invention can be merged, divided, and deleted according to actual needs. The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the processes of the above embodiments and making equivalent changes according to the claims of this invention still fall within the scope of the invention.

Claims

1. An automatic kneading device for Astragalus membranaceus, characterized in that, include: Frame mechanism, clamping mechanism, kneading mechanism, and control mechanism; The frame mechanism is provided with a first guide rail extending into the kneading working area and located within the kneading working area, and second guide rails are provided parallel to both sides of the first guide rail; The clamping mechanism is used to clamp the bundle of Astragalus membranaceus. It is set on the first guide rail and can slide along the first guide rail to deliver the clamped bundle of Astragalus membranaceus to the kneading work area. The kneading mechanism is located in the kneading working area and includes: two sets of kneading components and a set of upper kneading plate lifting components respectively arranged on both sides of the first guide rail; Each set of the kneading components includes an upper kneading plate, a lower kneading plate, and a first driving unit; the lower kneading plate is slidably disposed on a second guide rail, and the upper kneading plate is disposed above the lower kneading plate, with its upper end connected to an upper kneading plate lifting assembly, which can lift the upper kneading plate to move vertically; the driving end of the first driving unit is connected to the lower kneading plate and can drive the lower kneading plate to reciprocate on the corresponding second guide rail; The control mechanism is electrically connected to the upper kneading board lifting assembly and the first drive unit, respectively.

2. The automatic Astragalus kneading device according to claim 1, characterized in that, The frame mechanism includes: a support base; The upper surface of the support base is provided with a hollow kneading working area. Four I-beam columns are arranged around the kneading working area. The four I-beam columns and the matching crossbeams are welded to form the upper mounting frame. The upper kneading board lifting assembly is installed on the mounting frame.

3. The automatic kneading device for Astragalus membranaceus according to claim 2, characterized in that, The mounting frame is provided with a first crossbeam at the top and a second crossbeam on the side of the rear end; both the first crossbeam and the top and rear end crossbeams are provided with fixed pulleys; the upper kneading board lifting assembly includes: a tubular truss, a chain, a lifting rope and a winch; One end of the tubular truss is rotatably mounted on the second crossbeam, and the upper part of the other end is connected to one end of the lifting rope. The other end of the lifting rope passes through two fixed pulleys in sequence and is then connected to the winding end of the winch set on the support base. The chain consists of several strands, one end of which is connected to the lower end of the truss and the other end is connected to the upper surface of the upper kneading plate. It is used to open one end of the upper kneading plate by winding the lifting rope with the winch, so that the bundle of astragalus held by the clamping mechanism can enter or move out.

4. The automatic kneading device for Astragalus membranaceus according to claim 3, characterized in that, The lower end of the upper rubbing board and the upper end of the lower rubbing board are both arc-shaped surfaces, and the size of the upper rubbing board is smaller than that of the lower rubbing board. The upper end of the upper kneading board is provided with a counterweight placement groove for placing counterweights.

5. The automatic kneading device for Astragalus membranaceus according to claim 2, characterized in that, The first drive unit is located at the rear end of the support base, and its drive end is connected to the lower kneading plate through a crank rocker arm to drive the lower kneading plate to reciprocate along the second guide rail.

6. The automatic Astragalus kneading device according to claim 2, characterized in that, The clamping mechanism includes: a clamping mounting base, an upper clamping body, a lower clamping body, a lever column, a first spring, and a first lever; The lever column, the first spring, and the lower frame are sequentially arranged on the clamp mounting base along the same axis; the lower end of the middle part of the first lever is rotatably connected to the top end of the lever column, the bottom end of the first spring is fixedly connected to the clamp mounting base, and the upper end is fixedly connected to the first lever, with the first end of the first spring being fixedly connected to the upper clamp.

7. The automatic kneading device for Astragalus membranaceus according to claim 6, characterized in that, The radius of the upper clamp is greater than the radius of the lower clamp; and grooves are provided on both closed surfaces of the upper clamp, and protrusions that cooperate with the grooves are provided on both closed surfaces of the lower clamp. The support base is also provided with an inverted U-shaped post, and the end of the first lever away from the upper clamp is provided with a hook.

8. The automatic Astragalus kneading device according to claim 6, characterized in that, Limit blocks are provided on the first guide rail; The clamp mounting base is also provided with a second lever on each side. The second lever is rotatably mounted on both sides of the clamp mounting base, and the front end of the second lever is configured as a hook structure, which is used to lock onto the limit block when the clamp mechanism moves to the target position. The lower end of the second lever is fixedly connected to one end of the second spring, and the other end of the second spring is fixedly connected to the bottom of the clamp mounting base.

9. A method for kneading Astragalus membranaceus, characterized in that, The implementing entity is the automatic Astragalus kneading device as described in claims 1-8, and the method includes: S1: Press down the tail of the first lever and fasten the hook at the tail of the first lever to the U-shaped post of the support base to open the upper and lower clamping bodies of the clamping mechanism; S2: Securely place the bundled Astragalus membranaceus inside the upper and lower clamps; S3: The control mechanism controls the operation of the upper kneading board lifting assembly, lifting the upper kneading board upwards to open the upper and lower kneading boards; S4: Release the hook at the tail of the first lever from the U-shaped post to stably clamp the bundle of astragalus; and push the clamping mechanism holding the bundle of astragalus along the first guide rail to the kneading work area, and then firmly lock the hook-shaped structure at the front end of the second lever onto the limiting block; S5: The control mechanism controls the operation of the upper kneading board lifting assembly to lower the upper kneading board to a horizontal position and fit it against the surface of the Astragalus bundle; and, a counterweight of a predetermined mass is placed in the counterweight placement slot on the upper kneading board. S6: The control mechanism controls the first drive unit to work. The first drive unit controls the lower kneading plate to reciprocate at a predetermined speed for a predetermined time, and the upper and lower kneading plates knead the Astragalus bundles. S7: After the kneading operation is completed, the device is reset and the kneaded bundle of astragalus is removed from the clamping mechanism.

10. The method for kneading Astragalus membranaceus according to claim 9, characterized in that, The method also includes: S01: For Astragalus membranaceus classified into different diameter categories, several sets of kneading operations, such as steps S1-S7, are performed for each category in the early stage. During each set of kneading operations, the temperature of the Astragalus membranaceus bundles is monitored using a thermal imager. The kneading process parameters are adjusted according to the temperature distribution of the Astragalus membranaceus bundles until the temperature distribution of the Astragalus membranaceus bundles monitored by the thermal imager is uniform. The kneading process parameters include: the movement speed of the lower kneading plate, the movement duration of the lower kneading plate, and the mass of the counterweight. S02: The optimal kneading process parameters obtained for each different diameter category of Astragalus are stored in the control mechanism in a mapping relationship; S03: When kneading Astragalus membranaceus, the operator inputs the diameter range of the Astragalus membranaceus to be kneaded into the control mechanism. The control mechanism automatically controls the first drive unit to work according to the corresponding optimal kneading process parameters, and at the same time prompts the operator with the current optimal counterweight mass.

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