Automatic medicinal material crushing and grinding device and method thereof

Abstract

The invention relates to an automatic medicinal material crushing and grinding device and method, and belongs to the technical field of automatic control and traditional Chinese medicinal material crushing processing, the automatic medicinal material crushing and grinding device comprises a crushing bin, the top of the crushing bin is provided with a feeding port, and the bottom of the crushing bin is provided with a discharging valve; the driving and sensing base is positioned below the crushing bin; the damping structure is arranged between the crushing bin and the driving and sensing base; the grinding core is arranged in the crushing bin and comprises a grinding disc horizontally mounted at the bottom of the crushing bin and a grinding hammer hinged to the edge of the grinding disc through a pin shaft; the variable frequency motor is vertically mounted in the driving and sensing base, and an output shaft of the variable frequency motor vertically upwards penetrates through the driving and sensing base, is fixedly connected with the center of the grinding disc and is used for driving the grinding disc to rotate; the bin wall temperature sensor is attached to the outer wall of the crushing bin; and the vibration sensor is mounted on a shell of the driving and sensing base, and necessary hardware support is provided for subsequent fine control.

Description

Technical Field

[0001] This invention relates to the fields of automated control and traditional Chinese medicine pulverization and processing, specifically to an automated medicinal material pulverization and grinding device and method. Background Technology

[0002] Traditional herbal pulverizing equipment struggles to balance efficiency and pulverization quality when processing herbs with varying properties, and lacks the ability to sense its own status. This makes it difficult to adjust the equipment according to the actual characteristics of the herbs, affecting processing results. Furthermore, the lack of real-time monitoring of equipment status during operation prevents timely detection and handling of anomalies, such as blockages, thus impacting the reliability and continuous operation of the equipment.

[0003] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an automated medicinal material pulverizing and grinding device and method to solve the problems mentioned in the background art.

[0005] The technical solution of the present invention includes: The grinding chamber has a feed inlet at the top and a discharge valve at the bottom. A drive and sensing base is located below the pulverizing chamber; A shock-absorbing structure is disposed between the crushing chamber and the drive and sensing base; A grinding core is disposed inside the grinding chamber. The grinding core includes a grinding disc horizontally mounted at the bottom of the grinding chamber and a grinding hammer hinged to the edge of the grinding disc by a pin. A variable frequency motor is vertically installed inside the drive and sensing base, and its output shaft passes vertically upward through the drive and sensing base and is fixedly connected to the center of the grinding disc, for driving the grinding disc to rotate. A bin wall temperature sensor is attached to the outer wall of the grinding bin; A vibration sensor is mounted on the housing of the drive and sensing base.

[0006] Preferably, the shock-absorbing structure is an elastic damping pad disposed between the crushing chamber and the connecting flange of the drive and sensing base.

[0007] Preferably, the discharge valve is a slide gate valve driven by a stepper motor through a lead screw and nut mechanism.

[0008] Preferably, the bin wall temperature sensor is a thermocouple, and the vibration sensor is a piezoelectric accelerometer.

[0009] An automated method for pulverizing and grinding medicinal materials includes: In the initial detection phase, the motor current timing data fed back by the variable frequency motor and the vibration waveform data collected by the vibration sensor are collected. Based on the correlation characteristics between the motor current timing data and the vibration waveform data, the material characteristic category of the medicinal material to be pulverized is determined. Then, a basic grinding strategy is matched and executed from the preset strategy library according to the material characteristic category. During the execution of the basic grinding strategy, the actual motor input power curve formed by the real-time feedback motor current data is compared with the standard motor input power curve corresponding to the material characteristic category retrieved from the preset strategy library to generate the grinding condition matching degree. If the matching degree of the grinding condition is lower than the preset matching degree threshold, it is determined that feature drift has occurred, and the material characteristic category is re-determined based on the collected data to switch to a new grinding strategy; If the grinding condition matching degree is not lower than the preset matching degree threshold, the particle size state of the material is inferred based on the spectral change of the vibration sensor signal, and the load in the bin is inferred in combination with the current value of the variable frequency motor, so as to dynamically adjust the operating parameters of the variable frequency motor.

[0010] Preferably, the material property category includes a high toughness category, a hard and brittle category, or a high oiliness category.

[0011] Preferably, the step of dynamically adjusting the operating parameters of the variable frequency motor includes: when the proportion of the high-frequency component of the vibration signal reaches a preset high-frequency component threshold and the current value of the variable frequency motor decreases, reducing the speed of the variable frequency motor.

[0012] Preferably, the method further includes: when the reading of the silo wall temperature sensor exceeds a preset safety threshold, pausing the operation of the variable frequency motor or reducing its speed.

[0013] Preferably, the method further includes: continuously comparing real-time motor current data and vibration signals with a preset normal operation model to diagnose abnormal equipment conditions; when a blockage is diagnosed at the discharge port, controlling the discharge valve to perform opening and closing actions and coordinating with the pulse rotation of the variable frequency motor to clear the blockage.

[0014] This invention provides an automated medicinal herb pulverizing and grinding device and method, which, compared with the prior art, has the following improvements and advantages: 1. The shock-absorbing structure effectively isolates interference vibrations, enabling the vibration sensor to collect vibration waveform data with a higher signal-to-noise ratio. This provides a high-quality data source for accurate subsequent judgment of material characteristics and grinding status. The stepper motor and screw-nut mechanism used in the discharge valve can achieve quantitative control of the opening degree and action process. When abnormalities such as blockage occur, it can execute preset complex unblocking actions, improving the device's autonomous processing capability and operational reliability. This device integrates components such as vibration sensors and bin wall temperature sensors, transforming it from a simple actuator into a system with preliminary sensing capabilities, providing the necessary hardware support for subsequent refined control. 2. This solution changes the limitation of traditional equipment that uses a single parameter to process all materials. By autonomously identifying the characteristics of medicinal materials, the device can select a matching basic grinding strategy from the preset strategy library, thereby achieving a balance between efficiency and grinding quality. It provides an online verification and correction process. Even if the initial judgment is wrong or the materials are not mixed evenly, the device can self-correct to ensure the stability and effectiveness of the grinding process. 3. The dynamic control mechanism can avoid unnecessary reprocessing of powders that have already reached the required fineness, i.e., over-grinding. This not only helps ensure the quality of the finished product but also effectively reduces energy consumption. The method also includes continuously comparing motor current data and vibration signals with the normal operation model to diagnose abnormal equipment conditions. When a blockage is detected at the discharge port, the discharge valve is controlled to open and close, and the pulse rotation of the variable frequency motor is used to clear the blockage. In addition, when the temperature of the silo wall exceeds the preset safety threshold, the motor operation will be paused or its speed will be reduced for protective cooling. The abnormal diagnosis and handling process enables the device to attempt to self-repair common operating faults, reducing the need for manual intervention and significantly improving the continuity and reliability of production. At the same time, the temperature-based control mechanism can protect the active ingredients of the medicinal materials from being destroyed, ensuring the medicinal quality of the final product. Attached Figure Description

[0015] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a three-dimensional structural diagram of the device (I); Figure 2 This is a three-dimensional structural schematic diagram of the device (II); Figure 3 This is a schematic diagram of the connection structure between the grinding core and the variable frequency motor; Figure 4 This is a schematic diagram of the process flow of the method of the present invention; In the diagram: 100, grinding chamber; 110, feed inlet; 120, discharge valve; 130, chamber wall temperature sensor; 200, grinding core; 210, grinding disc; 220, grinding hammer; 300, drive and sensing base; 310, variable frequency motor; 320, vibration sensor; 330, shock absorption structure. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0017] Example 1 Please see Figure 1-3 This invention provides an automated medicinal herb pulverizing and grinding device, comprising: The crushing chamber 100 has a feed inlet 110 at the top and a discharge valve 120 at the bottom. The drive and sensing base 300 is located below the crushing chamber 100; A shock-absorbing structure 330 is disposed between the crushing chamber 100 and the drive and sensing base 300; The grinding core 200 is disposed inside the crushing chamber 100. The grinding core 200 includes a grinding disc 210 horizontally installed at the bottom of the crushing chamber 100 and a grinding hammer 220 hinged to the edge of the grinding disc 210 by a pin. The variable frequency motor 310 is vertically installed inside the drive and sensing base 300. Its output shaft passes vertically upward through the drive and sensing base 300 and is fixedly connected to the center of the grinding disc 210, and is used to drive the grinding disc 210 to rotate. The bin temperature sensor 130 is attached to the outer wall of the crushing bin 100; Vibration sensor 320 is mounted on the housing of drive and sensing base 300.

[0018] Traditional herbal pulverizing devices typically use fixed operating parameters to process all materials. When dealing with herbs of varying characteristics, it's difficult to balance efficiency and pulverization quality, and they lack the ability to sense the equipment's own status. This automated herbal pulverizing and grinding device provides an integrated physical structure, laying the foundation for adaptive control. The pulverizing chamber 100 holds the herbs to be processed, and the grinding core 200 inside, driven by a variable frequency motor 310, impacts and grinds the herbs. During operation, the drive and sensing base 300 not only provides power to the grinding core 200, but more importantly, the vibrating sensor mounted on it... The vibration sensor 320 works in conjunction with the chamber wall temperature sensor 130 on the outer wall of the grinding chamber 100 to continuously acquire physical signals during the grinding process. To ensure the effectiveness of the signals acquired by the vibration sensor 320, a damping structure 330 is set between the grinding chamber 100 and the drive and sensing base 300. Its function is to isolate the interference vibrations generated by the overall operation of the equipment, so that the sensor can focus more on acquiring the characteristic vibrations generated by the grinding of medicinal materials itself. This overall structure transforms the device from a simple actuator into a system with preliminary sensing capabilities, providing the necessary hardware support for subsequent refined control methods.

[0019] The shock absorption structure 330 is an elastic damping pad installed between the crushing chamber 100 and the connecting flange of the drive and sensing base 300.

[0020] In this embodiment, the vibration damping structure 330 is implemented using an elastic damping pad. As a mature industrial component, the elastic damping pad is positioned between the grinding chamber 100 and the connecting flange of the drive and sensing base 300. When the variable frequency motor 310 drives the grinding core 200 to rotate at high speed, the entire grinding chamber 100 generates high-frequency vibrations. The elastic damping pad absorbs and attenuates this vibration energy using its material properties. In this way, the vibration sensor 320 located on the drive and sensing base 300 is protected from most of the noise interference from motor operation and structural resonance, thereby acquiring vibration waveform data with a higher signal-to-noise ratio. This improves the quality of the data source, laying the foundation for accurately determining material characteristics and grinding status in subsequent control methods.

[0021] The discharge valve 120 is a slide gate valve driven by a stepper motor through a lead screw and nut mechanism.

[0022] In this embodiment, the discharge valve 120 adopts a slide gate valve structure driven by a stepper motor. The stepper motor, such as a 42BYGH model, converts its rotational motion into the linear motion of the valve plate through a lead screw and nut mechanism. This connection method can convert the precise rotation angle control of the motor into precise control of the valve plate displacement. Its purpose is not only to realize the opening and closing of the discharge port, but also to realize the quantitative control of the opening degree and the action process. This precise control capability enables the device to perform preset complex unblocking actions such as rapid reciprocating opening and closing when dealing with abnormal states such as material blockage, thereby improving the device's automation processing capability and operational reliability.

[0023] The bin wall temperature sensor 130 is a thermocouple, and the vibration sensor 320 is a piezoelectric accelerometer.

[0024] To concretize the sensing functions in this device, the bin temperature sensor 130 can be a type K thermocouple, which can reliably measure temperature changes caused by friction and material properties. The vibration sensor 320 can be a piezoelectric accelerometer of model CA-YD-187, which is sensitive to dynamic forces and can capture wide-spectrum vibration signals generated by material breakage, impact, and friction during the grinding process. The selection of these specific industrial-grade sensors demonstrates that the sensing scheme proposed in this invention is based on mature and available technical components, ensuring the feasibility and stability of the entire device in industrial applications. For example, the controller can be a Siemens S7-1200 series PLC, used to integrate and process data from these sensors and execute control logic.

[0025] Example 2 Please see Figure 4 An automated method for pulverizing and grinding medicinal materials, comprising: In the initial detection phase, the motor current timing data fed back by the variable frequency motor 310 and the vibration waveform data collected by the vibration sensor 320 are collected. Based on the correlation characteristics between the motor current timing data and the vibration waveform data, the material characteristic category of the medicinal material to be pulverized is determined. Then, a basic grinding strategy is matched and executed from the preset strategy library according to the material characteristic category. This model is a database that stores basic grinding strategies and standard motor input power curves corresponding to different material property categories, such as high toughness, hardness and brittleness, and high oiliness; it characterizes the physical behavior and energy consumption patterns of different materials in the ideal grinding process. During the execution of the basic grinding strategy, the actual motor input power curve formed by the real-time feedback motor current data is compared with the standard motor input power curve of the corresponding material characteristic category retrieved from the preset strategy library to generate the grinding condition matching degree. The actual motor input power curve is formed from the real-time feedback motor current data; If the matching degree of the grinding conditions is lower than the preset matching degree threshold, it is determined that feature drift has occurred, and the material characteristic category is re-determined based on the collected data to switch to a new grinding strategy; If the grinding condition matching degree is not lower than the preset matching degree threshold, the particle size state of the material is inferred based on the spectrum change of the vibration sensor 320 signal, and the load in the bin is inferred in combination with the current value of the variable frequency motor 310, so as to dynamically adjust the operating parameters of the variable frequency motor 310.

[0026] The core of this automated medicinal herb pulverization and grinding method lies in its online adaptive adjustment capability. In the initial detection stage, the method operates the variable frequency motor 310 at different speeds within a short period of time and simultaneously collects motor current timing data and vibration waveform data. The controller determines the material characteristic category by analyzing the correlation characteristics of these two sets of data. For example, a high and stable current curve accompanied by low-frequency vibration indicates a high-toughness material.

[0027] The calculation logic of this determination process is as follows: During each short time segment in the initial detection phase, the controller extracts the average value and standard deviation of the motor current time-series data to quantify the overall level and fluctuation of the current. Simultaneously, the controller performs a fast Fourier transform on the vibration waveform data collected within this time segment and calculates the ratio of signal energy to total signal energy in specific low-frequency bands, such as the 0-100Hz band, and the ratio of signal energy to total signal energy in specific high-frequency bands, such as the 300-800Hz band, to quantify the frequency domain distribution of vibration energy. The controller compares the four characteristic parameters obtained from the calculation—average current, standard deviation of current, proportion of low-frequency energy, and proportion of high-frequency energy—with the preset threshold ranges of characteristic parameters corresponding to different material characteristic categories in the strategy library. When a set of real-time calculated characteristic parameters falls within a preset threshold range combination, the controller determines the current material as the characteristic category corresponding to that range.

[0028] The purpose of this step is to enable the device to autonomously recognize the object being processed, thereby selecting a matching basic grinding strategy from a preset strategy library, which changes the limitation of traditional equipment using a single parameter when processing all materials.

[0029] When executing the basic grinding strategy, the method introduces the concept of grinding condition matching degree. The controller compares the actual motor input power curve formed by the real-time collected motor current data with the standard motor input power curve corresponding to the material category in the strategy library. This comparison process is achieved by calculating the cumulative difference between the two normalized curves. The smaller the difference, the higher the matching degree. The grinding condition matching degree can be quantified by the following logic, and the calculated cumulative difference value can be used to generate a matching degree index, for example, through the formula: Perform the calculation.

[0030] In this formula: This represents the final grinding condition matching degree, and its value range is usually between 0 and 1.

[0031] This represents the cumulative difference between the actual motor input power curve calculated within the current time window and the standard motor input power curve.

[0032] This represents the preset maximum allowable difference value. This value can be calibrated through offline experiments, i.e., running the equipment under the condition that the material categories are clearly mismatched, recording the cumulative difference value, and selecting a suitable upper limit as the maximum allowable difference. .

[0033] When the calculated matching degree If the match score falls below a preset matching threshold determined through experiments, such as 0.75, then feature drift is considered to have occurred.

[0034] If the matching degree is lower than the preset threshold, it is determined that feature drift has occurred, which may be due to an initial judgment error or uneven material mixing. At this time, the method will re-determine the material characteristic category based on the existing data and switch to a new grinding strategy, which constitutes an online verification and correction process. This threshold represents the minimum similarity between the actual grinding conditions and the standard conditions that the system can accept. If the similarity is below this threshold, the system considers that the current conditions have deviated from the preset ideal state and need to be re-evaluated. This threshold is determined through offline experiments. The method is to perform grinding under the condition that the material categories are known to be mismatched, record the cumulative difference value, and select an appropriate upper limit based on experience as the basis for determining the threshold. When the matching degree of the grinding conditions calculated in real time is lower than this threshold, the system will trigger the judgment of feature drift and perform actions to redetermine the material characteristic category and switch the grinding strategy.

[0035] If the grinding conditions are maintained within the normal range, the method enters a more refined dynamic control stage. At this time, the method uses the spectral changes of the vibration sensor 320 signal to infer the particle size of the material, because the impact of large particles mainly generates low-frequency vibrations, while as the particles become finer, the vibration energy will transfer to the high-frequency region.

[0036] The calculation logic of this inference process is as follows: The controller performs continuous short-time Fourier transforms or other time-frequency analysis methods on the real-time vibration signals collected by the vibration sensor 320 to obtain the dynamic spectrum of the signal. Within each analysis time window, the controller calculates the proportion of high-frequency band signal energy, such as the 300-800Hz band, to the total signal energy, i.e., the high-frequency component proportion. This proportion is used as a key indicator characterizing the particle size state of the material. As grinding progresses, this indicator will show an upward trend. The controller continuously compares the real-time calculated high-frequency component proportion with a preset high-frequency component threshold, which is calibrated through offline experiments according to the target grinding fineness requirements. Once the proportion reaches or exceeds the threshold, the controller infers that most of the material in the chamber has reached the required particle size state.

[0037] Meanwhile, the current value of the variable frequency motor 310 at a constant speed can indirectly reflect the load in the chamber. By combining the inference of particle size and load, the controller can dynamically adjust the operating parameters of the variable frequency motor 310 to adapt to the real-time changes in the grinding process, thereby improving grinding efficiency and ensuring the quality of the finished product.

[0038] Material property categories include high toughness, hard and brittle, or high oiliness.

[0039] Material properties are categorized into types such as high toughness, hard and brittle, and high oil content. This categorization is based on the typical physical behaviors exhibited by different medicinal materials during the grinding process. High-toughness materials, such as certain plant fibers, are not easily broken during grinding and tend to entangle in the grinding hammer, leading to a consistently high motor load. Hard and brittle materials, such as ores or dried roots and rhizomes, experience severe impacts during grinding, generating numerous spike pulses in the motor current and exciting rich high-frequency components in the vibration signal. High-oil content materials, such as some seeds, easily heat up and adhere during grinding due to friction. By classifying materials in this way, a pre-set strategy library can store targeted solutions, such as designing strategies that include forward and reverse impacts for high-toughness materials and setting stricter temperature monitoring thresholds for high-oil content materials.

[0040] The steps for dynamically adjusting the operating parameters of the variable frequency motor 310 include: when the proportion of the high-frequency component of the vibration signal reaches the preset high-frequency component threshold and the current value of the variable frequency motor 310 decreases, the speed of the variable frequency motor 310 is reduced. This threshold represents the proportion of high-frequency components in the vibration signal, indicating that most of the particles in the material in the silo have reached the required fineness. This threshold is determined through offline experiments, specifically by calibrating the results based on the target fineness requirements. When the proportion of high-frequency components in the vibration signal reaches or exceeds this threshold, and the current value of the variable frequency motor 310 decreases, the system will trigger dynamic control to reduce the speed of the variable frequency motor 310 and avoid over-grinding.

[0041] In the process of dynamically adjusting the operating parameters of the variable frequency motor 310, a specific control logic is as follows: when the controller detects through spectrum analysis that the proportion of high-frequency components of the vibration signal reaches a preset threshold, this indicates that most of the material in the hopper has been crushed into smaller particles; simultaneously, the current value of the variable frequency motor 310 begins to decrease, confirming that the resistance encountered by the grinding hammer 220 has decreased, i.e., the amount of large particles to be crushed has decreased; the combined satisfaction of these two conditions constitutes a clear indication that the crushing process has entered the later stage; at this point, the controller will actively reduce the speed of the variable frequency motor 310, transitioning from the high-speed impact crushing stage to the low-speed fine grinding stage. This effectively avoids unnecessary reprocessing of the powder that has already reached a fineness, i.e., over-crushing, and also helps to reduce energy consumption.

[0042] The method also includes: when the reading of the silo wall temperature sensor 130 exceeds the preset safety threshold, suspending the operation of the variable frequency motor 310 or reducing its speed; The preset safety threshold represents the highest temperature that the wall of the pulverizing chamber 100 can withstand or the highest temperature that the active ingredients of the medicinal materials can maintain. When the reading of the chamber wall temperature sensor 130 exceeds the threshold, the system will immediately perform protective control, such as pausing the operation of the variable frequency motor 310 or reducing its speed to cool it down.

[0043] This method also includes a temperature-based protective control mechanism. When processing certain materials, especially medicinal materials with high oil content or containing heat-sensitive components, friction during the grinding process generates heat, which may lead to the decomposition or inactivation of active ingredients. The chamber wall temperature sensor 130 continuously monitors the temperature of the grinding chamber 100. When its reading exceeds a preset safety threshold for the material, the controller immediately intervenes, pausing the operation of the variable frequency motor 310 or significantly reducing its speed. The purpose of this process is to actively perform physical cooling to protect the active ingredients of the medicinal materials from damage and ensure the pharmaceutical quality of the final product.

[0044] The method also includes: continuously comparing real-time motor current data and vibration signals with a preset normal operation model to diagnose abnormal equipment conditions; when the discharge port is diagnosed as blocked, controlling the discharge valve 120 to perform opening and closing actions and cooperating with the pulse rotation of the variable frequency motor 310 to clear the blockage. The model is a real-time comparison system that continuously receives real-time current data from the variable frequency motor 310 and vibration signals from the vibration sensor 320 as inputs, and compares them with a normal operating model pre-set for specific materials and operating conditions; the model characterizes the energy consumption and mechanical vibration characteristics of the device under fault-free operating conditions.

[0045] To enhance the autonomous operation capability of the device, this method also includes an abnormal state diagnosis and handling process. The controller continuously compares real-time motor current data and vibration signals with the normal operating model of the material under the specified conditions. When a blockage is detected at the discharge port, it is typically manifested by the motor current remaining at an abnormally high level for an extended period, while the vibration characteristics no longer evolve over time. Once this state is identified, the controller activates a preset unblocking program: on the one hand, it instructs the stepper motor of the discharge valve 120 to perform several rapid opening and closing actions to mechanically loosen the blockage; on the other hand, it coordinates with the variable frequency motor 310 to perform short-term pulsed forward and reverse rotations, using impact force to assist in unblocking. This series of coordinated operations enables the device to attempt to self-repair common operational faults, reducing the need for manual intervention and improving production continuity.

[0046] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automated medicinal herb pulverizing and grinding device, characterized in that, include: The crushing chamber (100) has a feed inlet (110) at the top and a discharge valve (120) at the bottom. A drive and sensing base (300) is located below the crushing chamber (100); A shock-absorbing structure (330) is disposed between the crushing chamber (100) and the drive and sensing base (300); The grinding core (200) is disposed inside the crushing chamber (100). The grinding core (200) includes a grinding disc (210) horizontally installed at the bottom of the crushing chamber (100) and a grinding hammer (220) hinged to the edge of the grinding disc (210) by a pin. A variable frequency motor (310) is vertically installed inside the drive and sensing base (300), and its output shaft passes vertically upward through the drive and sensing base (300) and is fixedly connected to the center of the grinding disc (210) for driving the grinding disc (210) to rotate. A bin wall temperature sensor (130) is attached to the outer wall of the crushing bin (100); A vibration sensor (320) is mounted on the housing of the drive and sensing base (300).

2. The automated medicinal herb pulverizing and grinding device according to claim 1, characterized in that, The shock-absorbing structure (330) is an elastic damping pad disposed between the crushing chamber (100) and the connecting flange of the drive and sensing base (300).

3. The automated medicinal herb pulverizing and grinding device according to claim 1, characterized in that, The discharge valve (120) is a slide valve driven by a stepper motor through a lead screw and nut mechanism.

4. The automated medicinal herb pulverizing and grinding device according to claim 1, characterized in that, The bin wall temperature sensor (130) is a thermocouple, and the vibration sensor (320) is a piezoelectric accelerometer.

5. An automated method for pulverizing and grinding medicinal materials, applied to the automated medicinal material pulverizing and grinding device described in claim 1, characterized in that, include: In the initial detection phase, the motor current timing data fed back by the variable frequency motor (310) and the vibration waveform data collected by the vibration sensor (320) are collected. Based on the correlation characteristics between the motor current timing data and the vibration waveform data, the material characteristic category of the medicine to be pulverized is determined. Then, a basic grinding strategy is matched and executed from the preset strategy library according to the material characteristic category. During the execution of the basic grinding strategy, the actual motor input power curve formed by the real-time feedback motor current data is compared with the standard motor input power curve corresponding to the material characteristic category retrieved from the preset strategy library to generate the grinding condition matching degree. If the matching degree of the grinding condition is lower than the preset matching degree threshold, it is determined that feature drift has occurred, and the material characteristic category is re-determined based on the collected data to switch to a new grinding strategy; If the grinding condition matching degree is not lower than the preset matching degree threshold, the particle size state of the material is inferred based on the spectrum change of the vibration sensor (320) signal, and the load in the bin is inferred in combination with the current value of the variable frequency motor (310) for dynamically adjusting the operating parameters of the variable frequency motor (310).

6. The automated method for pulverizing and grinding medicinal materials according to claim 5, characterized in that, The material property categories include high toughness, hardness and brittleness, or high oiliness.

7. The automated method for pulverizing and grinding medicinal materials according to claim 5, characterized in that, The step of dynamically adjusting the operating parameters of the variable frequency motor (310) includes: when the proportion of the high frequency component of the vibration signal reaches a preset high frequency component threshold and the current value of the variable frequency motor (310) decreases, reducing the speed of the variable frequency motor (310).

8. The automated method for pulverizing and grinding medicinal materials according to claim 5, characterized in that, The method further includes: when the reading of the silo wall temperature sensor (130) exceeds a preset safety threshold, pausing the operation of the variable frequency motor (310) or reducing its speed.

9. The automated method for pulverizing and grinding medicinal materials according to claim 5, characterized in that, The method further includes: continuously comparing real-time motor current data and vibration signals with a preset normal operation model to diagnose abnormal equipment conditions; when the discharge port is diagnosed as blocked, controlling the discharge valve (120) to perform opening and closing actions and cooperating with the pulse rotation of the variable frequency motor (310) to clear the blockage.

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