A continuous irradiation sterilization treatment device for traditional Chinese medicinal materials

Abstract

The application relates to the technical field of medicinal material sterilization equipment, and discloses a continuous irradiation sterilization treatment device for traditional Chinese medicinal materials, which comprises a first conveying belt, one end of the first conveying belt is provided with a third conveying belt, one end of the third conveying belt away from the first conveying belt is provided with a second conveying belt, a beating mechanism is arranged above the first conveying belt and the second conveying belt, a gantry is arranged outside the first conveying belt and the second conveying belt, an irradiation mechanism is fixedly connected in the gantry, a turnover mechanism is arranged above the third conveying belt, and a discharging mechanism is arranged above the second conveying belt. The application solves the problems that rigid mechanical components are prone to damaging the outer packaging of materials when the materials with an inclined space angle are grabbed and turned over, constant conveying speed cannot meet the dose requirement of complete sterilization of the central area of high-density materials, and the end of the conveying channel is prone to false positives and collision damage caused by dust interference due to the detection of material blockage by means of a photoelectric sensor.

Description

Technical Field

[0001] This invention relates to the field of medicinal herb sterilization equipment, specifically a continuous irradiation sterilization device for Chinese medicinal herbs. Background Technology

[0002] After harvesting and initial processing, Chinese medicinal herbs often carry microorganisms and require sterilization. Electron beam irradiation sterilization is a commonly used technique in the processing of Chinese medicinal herbs. In continuous irradiation processing lines, the herbs are usually placed in fixed packaging boxes and moved forward by a conveyor belt through the electron beam scanning area. Due to the physical limitations on the effective penetration depth of a single-sided high-energy electron beam, when the packaging box is thick, the single-sided high-energy electron beam cannot completely penetrate the herbs inside the packaging box, resulting in insufficient absorbed dose at the bottom of the packaging box and failure to achieve thorough sterilization of the entire internal volume. To solve the problem of insufficient penetration of high-energy electron beams, some processing equipment will set up a flipping process in the middle for double-sided irradiation. However, the material is prone to positional shift and spatial angle distortion when transported over long distances and passing through bends. When a conventional mechanical gripper grabs and flips the material with an skewed angle, the rigid mechanical gripper contact surface will physically interfere with the side wall of the material. The forced closure of the mechanical gripper can easily squeeze and damage the outer packaging of the material.

[0003] Meanwhile, the types and packaging conditions of Chinese medicinal materials vary. Some materials have loosely stacked medicinal materials, while others are overfilled, resulting in high density. Existing conveyor belts typically maintain a constant linear speed, meaning that high-density materials remain under the electron beam for the same amount of time as loose materials. High-density materials face greater penetration resistance from the high-energy electron beam, and a fixed irradiation time cannot guarantee that the central area of ​​high-density materials reaches the safety threshold set by the sterilization process, directly affecting the stability of sterilization quality. Furthermore, the continuous and dense conveying mode easily leads to material accumulation and physical blockage at the end of the conveyor channel. Existing equipment typically installs photoelectric sensors densely on both sides of the conveyor channel to detect blockages. However, due to the dust in the processing environment of Chinese medicinal materials, the probe mirrors of the photoelectric sensors are easily blocked by dust, generating false alarms. Moreover, the dense pushing and shoving of materials can easily damage the photoelectric sensing elements inside the channel, causing unexpected shutdowns of the sterilization production line. Therefore, this invention proposes a continuous irradiation sterilization device for Chinese medicinal materials to address the shortcomings of existing technologies. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a continuous irradiation sterilization treatment device for Chinese medicinal materials. It solves the problems of existing equipment where rigid mechanical parts easily damage the outer packaging of materials when grasping and flipping materials with skewed angles, the constant conveying speed cannot meet the dosage requirements for thorough sterilization of the central area of ​​high-density materials, and the reliance on photoelectric sensors at the end of the conveying channel to detect material blockages is easily affected by dust interference, resulting in false alarms and collision damage.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A continuous irradiation sterilization device for Chinese medicinal materials includes a first conveyor belt, a third conveyor belt at one end of the first conveyor belt, a second conveyor belt at the end of the third conveyor belt away from the first conveyor belt, a beating mechanism above both the first and second conveyor belts, a gantry frame spanning the outside of the first and second conveyor belts, an irradiation mechanism fixedly connected inside the gantry frame, a tilting mechanism above the third conveyor belt, and a feeding mechanism above the second conveyor belt.

[0007] The tapping mechanism includes a mounting frame fixedly connected to the side walls of the first conveyor belt and the second conveyor belt. A motor is fixedly connected to the side wall of the mounting frame. A first rotating rod is fixedly connected to the output end of the motor. Two first bevel gears are symmetrically fixedly connected to the surface of the first rotating rod. A second bevel gear meshes with the two first bevel gears below them. A second rotating rod is fixedly connected inside each of the two second bevel gears. The two second rotating rods are rotatably connected inside the mounting frame. A cam is fixedly connected to the surface of each of the two second rotating rods. Two connecting frames are slidably connected to the top of the first conveyor belt and the second conveyor belt. The side walls of the two cams abut against the surfaces of the corresponding connecting frames. A roller is rotatably connected inside each of the two connecting frames. A telescopic rod is fixedly connected to the side wall of each connecting frame near the cam. A spring is sleeved on the outside of each telescopic rod. The end of each telescopic rod away from the connecting frame is fixedly connected to the mounting frame.

[0008] Preferably, the motor output end is equipped with a torque sensor, a central controller is installed outside the first conveyor belt, the output end of the torque sensor is electrically connected to the input end of the central controller, and the output end of the central controller is electrically connected to the drive end of the first conveyor belt.

[0009] The central controller is configured to receive the torque value collected by the torque sensor, and when it is determined that the torque value exceeds a preset safety benchmark threshold, send a deceleration command to the drive end of the first conveyor belt.

[0010] Preferably, a first connecting plate is rotatably connected to the side wall of the connecting frame, and a connecting block is fixedly connected to the side of the first connecting plate away from the connecting frame. A movable groove is opened inside the connecting block, and a second connecting plate is slidably connected inside the movable groove. The sides of multiple second connecting plates away from the connecting block are respectively rotatably connected to the frame side walls of the first conveyor belt and the second conveyor belt.

[0011] Preferably, the feeding mechanism includes a connecting seat fixedly connected to the side wall of the second conveyor belt, a first turntable rotatably connected to the top of the connecting seat, a plurality of first baffle rods fixedly connected to the side wall of the first turntable, a second turntable rotatably connected to the bottom of the connecting seat, a slot provided on the side wall of the second turntable, a tension spring provided on the side wall of the connecting seat, a locking block provided at the end of the tension spring away from the connecting seat, the locking block rotatably connected to the side wall of the second conveyor belt, a first connecting rod rotatably connected to the side wall of the locking block, a second connecting rod rotatably connected to the end of the first connecting rod away from the locking block, an mounting plate fixedly connected to the side wall of the second conveyor belt, a second baffle rod rotatably connected to the top of the mounting plate, and the end of the second connecting rod away from the first connecting rod rotatably connected to the second baffle rod.

[0012] Preferably, the first turntable and the second turntable are fixedly connected by a central rotating shaft, one end of the locking block is movably inserted into the locking slot, and the tension spring is arranged in a direction parallel to the rotational tangent of the locking block.

[0013] Preferably, a speed sensor is installed at the center of the first turntable, and a micro switch is installed at the discharge end of the second conveyor belt. The output terminals of the speed sensor and the micro switch are both electrically connected to the input terminal of the central controller, and the output terminal of the central controller is electrically connected to the drive end of the second conveyor belt.

[0014] The central controller is also configured to: when the second conveyor belt is in operation and the presence of material is detected by the micro switch, and the angular velocity value collected by the speed sensor is lower than the preset blockage judgment angular velocity threshold, and the low speed state lasts for more than the preset delay time parameter, determine that a physical blockage has occurred in the output channel, send a power-off control command to the drive end of the second conveyor belt and output an alarm signal.

[0015] Preferably, the sidewall of the third conveyor belt is provided with sidewall probes at intervals along the conveyor line direction, the output end of the sidewall probes is electrically connected to the input end of the central controller, and the tilting mechanism is equipped with a pose compensation unit, the output end of the central controller is communicatively connected to the input end of the pose compensation unit;

[0016] The central controller is also configured to: receive trigger signals from different sidewall probes, record the time difference between the trigger signals, calculate the yaw angle of the material deviating from the standard conveying path by combining the running speed of the third conveyor belt and the physical distance between the sidewall probes, and send the yaw angle value to the pose compensation unit.

[0017] Preferably, the flipping mechanism is equipped with a spindle servo motor, a horizontal flipping axis motor, and a gripper assembly at its execution end, and the output end of the posture compensation unit is electrically connected to the spindle servo motor, the horizontal flipping axis motor, and the gripper assembly, respectively.

[0018] The pose compensation unit is also configured to: control the spindle servo motor to drive the gripper assembly to perform a spatial compensation rotation with the same yaw angle value before gripping the material, based on the received yaw angle value, so that the gripper assembly forms a parallel alignment with the side wall surface of the material in the skewed state before closing to grip the material.

[0019] Preferably, the third conveyor belt is configured as a U-shaped bend, the second conveyor belt and the first conveyor belt are arranged parallel to each other in space, the gantry includes two side columns and a crossbeam, the two side columns are respectively fixedly distributed on the outer walls of the first conveyor belt and the second conveyor belt, and the crossbeam is arranged across the space directly above the first conveyor belt and the second conveyor belt.

[0020] Preferably, the irradiation mechanism includes a first set of electron beam generating devices and a second set of electron beam generating devices installed inside the crossbeam, wherein the lead-out scanning window of the first set of electron beam generating devices faces the surface of the first conveyor belt, and the lead-out scanning window of the second set of electron beam generating devices faces the surface of the second conveyor belt.

[0021] This invention provides a continuous irradiation sterilization device for traditional Chinese medicinal materials. It has the following beneficial effects:

[0022] 1. This invention features a patting mechanism installed above the first and second conveyor belts. A cam drives the rollers inside the connecting frame to reciprocate and pat the material, forcing it to be centered, aligned, and compressed. A torque sensor is mounted on the motor output and linked to the central controller. When the material density is high enough that the torque value exceeds the safety threshold, the central controller sends a deceleration command to the first conveyor belt. This extends the pressure time of the high-density material inside the patting mechanism and the irradiation time below the irradiation mechanism, solving the problem of reduced penetration caused by different looseness of the medicinal materials and ensuring the consistency of the sterilization treatment effect inside the material.

[0023] 2. This invention features a feeding mechanism installed on the side wall of the second conveyor belt. The material pushes against the baffle rod, triggering a mechanical linkage between the tension spring and the locking block, which physically unlocks the first and second turntables. This isolates the continuously conveyed material and releases it in sequence, preventing material from piling up inside the channel. A speed sensor is installed at the center of the first turntable, and a micro switch is installed at the discharge end of the second conveyor belt. The central controller performs a logical comparison by combining the angular velocity value of the passive rotation of the turntable with the material presence status detected by the micro switch. This eliminates the influence of normal no-load material interruption on the blockage determination. Under the premise of avoiding the risk of damage caused by densely arranged photoelectric sensors, it achieves accurate identification of physical blockages in the channel and power failure alarm protection.

[0024] 3. This invention arranges sidewall probes on the sidewall of the third conveyor belt, and installs a posture compensation unit inside the flipping mechanism. The central controller calculates the yaw angle of the material based on the time difference when different sidewall probes are triggered. The posture compensation unit controls the spindle servo motor to drive the gripper assembly to perform spatial compensation rotation based on the yaw angle value. This makes the gripper assembly parallel and aligned with the sidewall of the material in the skewed state before closing and gripping it. After spatial flipping, it performs a reverse compensation rotation action, which overcomes the rigid physical interference between the mechanical gripping parts and the material, prevents damage to the outer packaging of the material, and places the material upright on the center line of the lower conveyor belt, providing an accurate physical spatial position for subsequent electron beam irradiation. Attached Figure Description

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 This is a partial structural diagram of the upper part of the first conveyor belt of the present invention;

[0027] Figure 3 This is a schematic diagram of the internal structure of the mounting bracket of the present invention;

[0028] Figure 4 This is a partial structural diagram of the tapping mechanism of the present invention;

[0029] Figure 5 This is a partial structural diagram of the upper part of the second conveyor belt of the present invention;

[0030] Figure 6 This is a partial structural diagram of the feeding mechanism of the present invention;

[0031] Figure 7 This is a schematic diagram of the system architecture of the present invention.

[0032] The components include: 1. First conveyor belt; 2. Second conveyor belt; 3. Third conveyor belt; 4. Beating mechanism; 5. Unloading mechanism; 6. Gantry frame; 7. Irradiation mechanism; 8. Tilting mechanism; 401. Mounting frame; 402. Motor; 403. First rotating rod; 404. First bevel gear; 405. Second bevel gear; 406. Second rotating rod; 407. Cam; 408. Telescopic rod; 409. Spring; 410. Connecting frame; 411. Roller; 412. First connecting plate; 413. Connecting block; 414. Movable groove; 415. Second connecting plate; 501. Connecting seat; 502. First turntable; 503. First stop rod; 504. Second turntable; 505. Slot; 506. Tension spring; 507. Block; 508. First connecting rod; 509. Second connecting rod; 510. Mounting plate; 511. Second stop rod. Detailed Implementation

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figures 1-3 This invention provides a continuous irradiation sterilization device for Chinese medicinal materials, including a first conveyor belt 1, a third conveyor belt 3 at one end of the first conveyor belt 1, a second conveyor belt 2 at the end of the third conveyor belt 3 away from the first conveyor belt 1, a beating mechanism 4 above both the first conveyor belt 1 and the second conveyor belt 2, a gantry frame 6 spanning the outside of the first conveyor belt 1 and the second conveyor belt 2, an irradiation mechanism 7 fixedly connected inside the gantry frame 6, a turning mechanism 8 above the third conveyor belt 3, and a feeding mechanism 5 above the second conveyor belt 2.

[0035] The tapping mechanism 4 includes a mounting frame 401 fixedly connected to the side walls of the first conveyor belt 1 and the second conveyor belt 2. A motor 402 is fixedly connected to the side wall of the mounting frame 401. A first rotating rod 403 is fixedly connected to the output end of the motor 402. Two first bevel gears 404 are symmetrically fixedly connected to the surface of the first rotating rod 403. Second bevel gears 405 are respectively meshed below the two first bevel gears 404. A second rotating rod 406 is fixedly connected inside each of the two second bevel gears 405. The two second rotating rods 406 are rotatably connected inside the mounting frame 401. Cams 407 are fixedly connected to the surface of rod 406. Two connecting frames 410 are slidably connected above the first conveyor belt 1 and the second conveyor belt 2. The side walls of the two cams 407 abut against the surface of the corresponding connecting frame 410. Rollers 411 are rotatably connected inside the two connecting frames 410. Telescopic rods 408 are fixedly connected to the side walls of the two connecting frames 410 near the cams 407. Springs 409 are sleeved on the outside of the two telescopic rods 408. The ends of the two telescopic rods 408 away from the connecting frame 410 are fixedly connected to the mounting bracket 401.

[0036] Specifically, when the device is in operation, the worker places the material containing Chinese medicinal herbs onto the first conveyor belt 1. The first conveyor belt 1 moves forward, carrying the material into the internal area of ​​the beating mechanism 4. At this time, the motor 402 is turned on, and the output end of the motor 402 drives the first rotating rod 403 to rotate. The first rotating rod 403 drives the two first bevel gears 404 to rotate synchronously. The two first bevel gears 404 respectively drive the two meshing second bevel gears 405 to rotate, converting the horizontal rotational power into the vertical rotational power, driving the two second rotating rods 406 and the two cams 407 to rotate continuously. When the cams... When the protruding part of 407 rotates to a direction close to the connecting frame 410, the side wall of cam 407 will press the connecting frame 410, causing the two connecting frames 410 on both sides to slide towards the center line of the first conveyor belt 1. At the same time, the telescopic rod 408 plays a linear sliding guide role inside. When the connecting frame 410 slides, it compresses the spring 409 sleeved outside the telescopic rod 408. The two ends of the spring 409 are deformed by the pressure of the connecting frame 410 and the mounting bracket 401 respectively. When the protruding part of cam 407 rotates away from the connecting frame 410, the spring 409 rebounds and pushes the connecting frame 410 to reset backward.

[0037] As the motor 402 continues to operate, the connecting frames 410 on both sides slide back and forth in a straight line. The rollers 411 inside the connecting frames 410 then reciprocate by patting the side walls of the material. The reciprocating patting and pushing action of the rollers 411 compresses the relatively loose medicinal herbs inside the material, while simultaneously forcing the material to align itself along the center line of the first conveyor belt 1. The rollers 411 are in a rotating connection state inside the connecting frames 410. When the material moves forward in a straight line under the influence of surface friction on the first conveyor belt 1 and is squeezed by the rollers 411, the surface of the rollers 411 will passively rotate due to friction with the material. This passive rotation of the rollers 411 will... The original sliding friction is transformed into rolling friction, which can prevent the material from getting stuck inside the patting mechanism 4 when it is patted. In addition to providing the reset power, the spring 409 also has an elastic buffering effect to avoid excessive squeezing force causing damage to the outer packaging box of the material. After the material is centered and internally compressed, the distribution is relatively uniform, which helps to improve the irradiation uniformity when the electron beam is output downward by the subsequent irradiation mechanism 7. In addition, when the material enters the surface of the second conveyor belt 2, the patting mechanism 4 above the second conveyor belt 2 repeats the same working action as above, patting and compressing the flipped material again to ensure the consistency of the reverse side of the material before irradiation.

[0038] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 The output end of motor 402 is equipped with a torque sensor, and a central controller is installed on the outside of the first conveyor belt 1. The output end of the torque sensor is electrically connected to the input end of the central controller, and the output end of the central controller is electrically connected to the drive end of the first conveyor belt 1.

[0039] The central controller is configured to receive torque values ​​collected by the torque sensor and send a deceleration command to the drive end of the first conveyor belt 1 when it determines that the torque value exceeds a preset safety benchmark threshold.

[0040] Specifically, during the operation of the tapping mechanism 4, the connecting frame 410 experiences a reaction force from the material when tapping it. This reaction force is transmitted in reverse to the motor 402 via the cam 407, the second rotating rod 406, the second bevel gear 405, the first bevel gear 404, and the first rotating rod 403. The torque sensor collects the torque value at the output of the motor 402 in real time and sends the torque value to the central controller. If the density of the medicinal herbs inside the material is high or the texture is hard, the resistance encountered by the motor 402 is greater, and the torque value collected by the torque sensor is relatively higher. The central controller then receives the higher torque value. After determining that the torque value exceeds the preset safety threshold, a deceleration command is sent to the drive end of the first conveyor belt 1 to reduce its operating speed. Reducing the operating speed of the first conveyor belt 1 extends the residence time of the material inside the slapping mechanism 4, which helps the slapping mechanism 4 to fully compact the high-density material. It also increases the residence time of the high-density material under the irradiation mechanism 7, which facilitates the improvement of the sterilization effect. Conversely, if the torque value is in the lower normal range, it indicates that the material is relatively loose. The central controller maintains the current normal operating speed of the first conveyor belt 1 to ensure normal conveying efficiency.

[0041] Please see Figures 1-4 A first connecting plate 412 is rotatably connected to the side wall of the connecting frame 410. A connecting block 413 is fixedly connected to the side of the first connecting plate 412 away from the connecting frame 410. A movable groove 414 is opened inside the connecting block 413. A second connecting plate 415 is slidably connected inside the movable groove 414. The sides of multiple second connecting plates 415 away from the connecting block 413 are respectively rotatably connected to the side walls of the frame of the first conveyor belt 1 and the second conveyor belt 2.

[0042] Specifically, as the material moves forward along the first conveyor belt 1 and the second conveyor belt 2 to enter the beating mechanism 4, the material passes through the inner side formed by the second connecting plate 415, the connecting block 413, and the first connecting plate 412. Because the connecting frame 410 is in a continuous reciprocating sliding state during operation, the distance between the connecting frame 410 and the side walls of the first conveyor belt 1 and the second conveyor belt 2 frame is constantly changing. Since the first connecting plate 412 is rotatably connected to the connecting frame 410, and the second connecting plate 415 is rotatably connected to the side wall of the frame, when the connecting frame 410 slides, the first connecting plate 412 moves along with the connecting frame 410 and undergoes angular deviation. As the second connecting plate 415 rotates, it deflects relative to the side wall of the frame. At the same time, the second connecting plate 415 slides and pulls within the movable groove 414 inside the connecting block 413. The sliding action of the second connecting plate 415 within the movable groove 414 fills the distance difference caused by the movement of the connecting frame 410, maintaining the continuous physical connection between the second connecting plate 415, the connecting block 413, and the first connecting plate 412. This continuous physical connection provides a guiding and limiting space for the material, enabling it to smoothly transition into the internal area of ​​the connecting frame 410 to be tapped, thus preventing the material from falling from the edge of the first conveyor belt 1 or the second conveyor belt 2 during movement.

[0043] Please see Figures 5-6 The feeding mechanism 5 includes a connecting seat 501 fixedly connected to the side wall of the second conveyor belt 2. A first turntable 502 is rotatably connected to the top of the connecting seat 501. A plurality of first baffle rods 503 are fixedly connected to the side wall of the first turntable 502. A second turntable 504 is rotatably connected to the bottom of the connecting seat 501. A slot 505 is provided on the side wall of the second turntable 504. A tension spring 506 is provided on the side wall of the connecting seat 501. A locking block 507 is provided at the end of the tension spring 506 away from the connecting seat 501. The locking block 507 is rotatably connected to the side wall of the second conveyor belt 2. A first connecting rod 508 is rotatably connected to the side wall of the locking block 507. A second connecting rod 509 is rotatably connected to the end of the first connecting rod 508 away from the locking block 507. An mounting plate 510 is fixedly connected to the side wall of the second conveyor belt 2. A second baffle rod 511 is rotatably connected to the top of the mounting plate 510. The end of the second connecting rod 509 away from the first connecting rod 508 is rotatably connected to the second baffle rod 511.

[0044] Specifically, when the material moves forward on the surface of the second conveyor belt 2 and reaches the position of the feeding mechanism 5, the material first contacts and pushes the second stop bar 511. After being pushed, the second stop bar 511 rotates at the top of the mounting plate 510. The rotating second stop bar 511 pulls the second connecting rod 509, and the second connecting rod 509 pulls the first connecting rod 508, causing the locking block 507 to overcome the tension of the tension spring 506 and rotate outward, moving out of the slot 505 on the side wall of the second turntable 504. At this time, the second turntable 504 is released from the fixed limit of the first turntable 502 and is in an unlocked state that can be rotated. After being unlocked, the material continues to move forward on the surface of the second conveyor belt 2, contacting and pushing the first stop bar 503. Since the first turntable 502 and the second turntable 504 are fixedly connected by the central rotating shaft, the forward pushing force of the material drives the first turntable 502 and the lower stop bar 504 to rotate. The second turntable 504 rotates synchronously, and the material then enters the space between the two adjacent first baffles 503. As the first turntable 502 rotates, the material is released backward. When the material has completely passed through and no longer contacts the second baffle 511, the second baffle 511 loses its forward pushing force, the tension spring 506 retracts inward to reset, and drives the locking block 507 to rotate again and insert into the next locking slot 505 aligned with the second turntable 504 after rotation. After the locking block 507 is inserted, the second turntable 504 and the first turntable 502 are physically locked again and stop rotating. The above mechanical linkage action can isolate the continuously conveyed material and realize sequential release. The purely mechanical blocking and unlocking action does not require an additional power source, which can save energy to a certain extent, and at the same time help prevent the material from stacking and blocking in the subsequent conveying channel.

[0045] Please see Figures 5-6 The first turntable 502 and the second turntable 504 are fixedly connected by a central rotating shaft. One end of the locking block 507 is movably inserted into the slot 505. The tension spring 506 is arranged in a direction parallel to the rotational tangent of the locking block 507.

[0046] Specifically, the first turntable 502 and the second turntable 504 are fixedly connected together by a central rotating shaft, ensuring that when the first turntable 502 rotates due to material pushing, it can drive the second turntable 504 at the bottom to rotate synchronously at the same angle. This causes the slot 505 on the side wall of the second turntable 504 to change position along with the first turntable 502. The tension spring 506 is arranged parallel to the rotation tangent of the block 507, so that the tension direction generated when the tension spring 506 contracts or stretches is consistent with the rotation tangent of the block 507. This tangential force structure avoids the block 507 from being subjected to additional deflection force other than the elastic force of the tension spring 506 during rotation. It can prevent the block 507 from mechanically or physically jamming when it is inserted into or removed from the slot 505, ensuring the smooth execution of the unlocking and locking actions of the feeding mechanism 5.

[0047] Please see Figures 5-7 A speed sensor is installed at the center of the first turntable 502, and a micro switch is installed at the discharge end of the second conveyor belt 2. The outputs of the speed sensor and the micro switch are electrically connected to the input of the central controller, and the output of the central controller is electrically connected to the drive end of the second conveyor belt 2.

[0048] The central controller is also configured to: when the second conveyor belt 2 is in operation and the presence of material is detected by the micro switch, and the angular velocity value collected by the speed sensor is lower than the preset blockage judgment angular velocity threshold, and the low speed state lasts for more than the preset delay time parameter, determine that a physical blockage has occurred in the output channel, send a power-off control command to the drive end of the second conveyor belt 2 and output an alarm signal.

[0049] Specifically, during the material isolation and release process of the feeding mechanism 5, the first turntable 502 passively rotates under the physical pushing action of the material. The speed sensor collects the angular velocity value of the first turntable 502 in real time and sends it to the central controller. If material accumulation and physical blockage occur in the conveying channel behind the feeding mechanism 5, preventing the material from moving smoothly forward, a backward congestion resistance will be generated in front of the feeding mechanism 5, increasing the rotational resistance of the first turntable 502 and causing its actual rotational speed to decrease. The central controller receives the angular velocity value sent by the speed sensor and logically compares it with the system's preset blockage judgment angular velocity threshold. To eliminate the influence of normal no-load material interruption, the central controller... The system monitors the operating status of the second conveyor belt 2 and whether there is material present. When the second conveyor belt 2 is in normal operation and the presence of material is detected by the micro switch, and the angular velocity value is lower than the preset blockage judgment angular velocity threshold, and the low speed state continues for more than the preset delay time parameter, the central controller comprehensively judges and outputs that a physical blockage has occurred inside the channel. When the central controller determines that the physical blockage state is established, it will send a power-off control command to the drive end of the second conveyor belt 2 to cut off the conveying drive power of the second conveyor belt 2, stop the second conveyor belt 2 from running, and simultaneously output an alarm electrical signal. The monitoring method based on passive speed linkage avoids the risk of hardware damage caused by densely installing photoelectric sensors inside the channel, and helps to stop the machine in time and issue an alarm when material blockage occurs.

[0050] Please see Figure 1 and Figure 7 The third conveyor belt 3 has side wall probes arranged at intervals along the conveyor line direction. The output end of the side wall probe is electrically connected to the input end of the central controller. The tilting mechanism 8 has a posture compensation unit installed inside. The output end of the central controller is communicatively connected to the input end of the posture compensation unit.

[0051] The central controller is also configured to receive trigger signals from different sidewall probes, record the time difference between the trigger signals, calculate the yaw angle of the material deviating from the standard conveying path by combining the running speed of the third conveyor belt 3 and the physical distance between the sidewall probes, and send the yaw angle value to the pose compensation unit.

[0052] Specifically, the third conveyor belt 3 contains a curved section. When the material moves forward on the third conveyor belt 3 through the curved section, it will be affected by centrifugal force and its spatial posture will be deflected. The side of the deflected material will successively touch multiple side wall probes arranged on the side wall of the third conveyor belt 3. After being touched by the material, the side wall probes will close and send a trigger signal to the central controller. After receiving the trigger signals from different side wall probes, the central controller records the timestamp of the trigger signal. The central controller combines the running speed of the third conveyor belt 3, the time difference of the side wall probes being triggered, the physical straight-line distance between the side wall probes, and the effective physical contact length of the material side wall to calculate the yaw angle of the material deviating from the standard conveying path. The yaw angle value reflects the current degree of skew of the material.

[0053] After the central controller obtains the yaw angle, it sends the yaw angle value to the pose compensation unit inside the flipping mechanism 8. When material with a skew angle moves into the working area of ​​the flipping mechanism 8, the pose compensation unit controls the actuator of the flipping mechanism 8 to rotate spatially before grasping the material, based on the received yaw angle value. The rotation angle value of the actuator is the same as the yaw angle value, and the rotation direction of the actuator is consistent with the direction in which the material's spatial attitude skews. This ensures that the contact surface of the actuator and the side wall surface of the material in the skewed state are parallel and aligned. The actuator closes and grasps the material in the parallel and aligned state, which can overcome the rigid physical interference between mechanical parts and material and prevent damage to the outer packaging of the material. After the flipping mechanism 8 grasps the material and completes the 180-degree spatial flipping action, the pose compensation unit controls the actuator to perform a reverse compensation rotation, and then releases the actuator to place the material parallel to the geometric center line of the conveyor belt below. The reverse compensation rotation action cancels out the skew angle error of the material, which helps to place the material upright on the center line of the conveyor belt.

[0054] Please see Figure 1 and Figure 7 The flipping mechanism 8 is equipped with a spindle servo motor, a horizontal flipping axis motor and a gripper assembly at its execution end. The output end of the posture compensation unit is electrically connected to the spindle servo motor, the horizontal flipping axis motor and the gripper assembly respectively.

[0055] The pose compensation unit is also configured to: control the spindle servo motor to drive the gripper assembly to perform spatial compensation rotation with the same yaw angle value before gripping the material, based on the received yaw angle value, so that the gripper assembly and the side wall surface of the material in the skewed state are aligned in a parallel state before closing to grip the material.

[0056] Specifically, before the flipping mechanism 8 grips the material, the posture compensation unit sends a running control electrical signal to the spindle servo motor. The spindle servo motor performs a spatial rotation movement according to the received control electrical signal. The rotation movement of the spindle servo motor drives the gripper assembly below to synchronously change the spatial angle, so that the inner contact surface of the gripper assembly is physically parallel and aligned with the side wall surface of the skewed material. Then, the posture compensation unit sends a closing electrical signal to the gripper assembly. After receiving the closing electrical signal, the gripper assembly retracts inward to physically clamp the outer two side walls of the material. The rotation movement of the spindle servo motor, combined with the retraction and closing movement of the gripper assembly, can prevent mechanical parts from forcibly squeezing the material and help to smoothly grip the material with a skewed posture.

[0057] After the gripper assembly clamps the material and the flipping mechanism 8 lifts the material upwards and removes it from the surface of the conveyor belt below, the posture compensation unit sends a start electrical signal to the horizontal flipping shaft motor. The horizontal flipping shaft motor drives the entire execution end and the clamped material to perform a 180-degree spatial flipping motion around the longitudinal horizontal axis parallel to the geometric center line of the conveyor belt. After the spatial flipping motion is completed, the top and bottom surfaces of the material are swapped, and the material is in a bottom-up state. Subsequently, the posture compensation unit controls the main shaft servo motor to perform a reverse compensation rotation motion to counteract the skew angle that occurred when gripping the material. Finally, the posture compensation unit controls the gripper assembly to open outwards and release the material. The main shaft servo motor, the horizontal flipping shaft motor, and the gripper assembly work together to complete the spatial flipping and centering alignment of the material, providing a physical positional basis for subsequent double-sided supplementary irradiation sterilization treatment of the bottom surface of the material.

[0058] Please see Figure 1 and Figure 7 The third conveyor belt 3 is configured as a U-shaped bend section. The second conveyor belt 2 and the first conveyor belt 1 are arranged in parallel in space. The gantry frame 6 includes two side columns and a crossbeam. The two side columns are fixedly distributed on the outer walls of the first conveyor belt 1 and the second conveyor belt 2 respectively. The crossbeam spans the space directly above the first conveyor belt 1 and the second conveyor belt 2.

[0059] Specifically, because the third conveyor belt 3 is configured with a U-shaped bend, the second conveyor belt 2 and the first conveyor belt 1 are arranged parallel to each other in space. Based on this, the two side columns are fixed to the outer walls of the first conveyor belt 1 and the second conveyor belt 2 respectively. A crossbeam spans the space directly above the first conveyor belt 1 and the second conveyor belt 2, allowing the gantry frame 6 to provide physical support for both the first surface irradiation process on the first conveyor belt 1 and the second surface supplementary irradiation process on the second conveyor belt 2. When the material moves forward across the space below the gantry frame 6 on the surface of the first conveyor belt 1 or the second conveyor belt 2, the first conveyor... Belt 1 or the second conveyor belt 2 maintains a constant linear running speed, ensuring that the material maintains a uniform linear motion. The uniform linear motion of the material along the geometric center line of the conveyor belt can, to a certain extent, prevent lateral displacement or longitudinal physical vibration of the material during the conveying process. This ensures that a safe distance is always maintained between the left and right outer edges of the material and the effective irradiation boundary of the electron beam, preventing the material edges from deviating from the irradiation area and resulting in insufficient radiation dose. This helps the material pass smoothly through the area below the gantry 6, providing a stable physical spatial position for each area on the top surface of the subsequent material to receive a uniform electron beam irradiation dose.

[0060] Please see Figure 1 and Figure 7 The irradiation mechanism 7 includes a first set of electron beam generating devices and a second set of electron beam generating devices installed inside the crossbeam. The lead-out scanning window of the first set of electron beam generating devices faces the surface of the first conveyor belt 1, and the lead-out scanning window of the second set of electron beam generating devices faces the surface of the second conveyor belt 2.

[0061] Specifically, when the first conveyor belt 1 transports the material to the area directly below the first set of electron beam generators, the first set of electron beam generators emits a high-energy electron beam downwards. The high-energy electron beam penetrates the packaging material on top of the material and enters the interior of the material. The high-energy electron beam ionizes and collides with the microorganisms remaining inside the Chinese medicinal materials, destroying the genetic molecular structure of the microbial cells and completing the first irradiation sterilization treatment of the Chinese medicinal materials in the upper half of the material's thickness space. Subsequently, the material passes through the flipping mechanism 8 to complete the spatial flipping and is sent to the second conveyor belt 2. When the second conveyor belt 2 transports the material, which is in a bottom-up state, to the area directly below the second set of electron beam generators, the second set of electron beam generators emits a high-energy electron beam downwards, completing the second supplementary irradiation sterilization treatment of the Chinese medicinal materials in the lower half of the material's thickness space.

[0062] Because the effective penetration depth of the single-sided high-energy electron beam under the set acceleration voltage is configured to be slightly greater than half the overall thickness of the material, the downward penetration path of the high-energy electron beam generated by the first irradiation and the downward penetration path of the high-energy electron beam generated by the second supplementary irradiation physically intersect in the geometric center plane region in the height direction of the material. The local absorbed dose generated by the two irradiations is numerically superimposed in the center plane region of the material. The double-sided superimposed irradiation sterilization action can compensate for the problem of the penetration power of the single-sided high-energy electron beam attenuating to deeper layers, ensuring that the actual total absorbed dose at the center position inside the material reaches the safety threshold set by the process, which helps to achieve a closed loop of sterilization process in the entire volume space inside the material.

[0063] Working principle:

[0064] Workers place materials containing Chinese medicinal herbs on the surface of the first conveyor belt 1. The first conveyor belt 1 moves forward, carrying the materials into the area of ​​the front tapping mechanism 4. At this time, the motor 402 is turned on. The output end of the motor 402 drives the first rotating rod 403 to rotate. The first rotating rod 403 drives the two first bevel gears 404 to rotate. The first bevel gears 404 drive the meshing second bevel gear 405 to rotate, thereby driving the second rotating rod 406 and the cam 407 on the surface to rotate continuously. When the cam 407 rotates, its protruding part presses the connecting frame 410 inward, causing the connecting frames 410 on both sides to move towards the center of the first conveyor belt 1. The center line slides and compresses the spring 409; when the cam 407 rotates away from the connecting frame 410, the spring 409 rebounds and pushes the connecting frame 410 back to its original position. With the motor 402 running continuously, the connecting frame 410 drives the internal roller 411 to slide back and forth in a straight line, repeatedly patting and pushing the two side walls of the material. When the material moves, it touches the roller 411, and the roller 411 rotates passively. When the connecting frame 410 slides, the first connecting plate 412 moves and deflects with the connecting frame 410, and the second connecting plate 415 deflects synchronously and slides in the movable groove 414 of the connecting block 413.

[0065] During the patting action, the torque sensor collects the torque value at the output of motor 402 in real time and sends it to the central controller. The central controller receives the torque value and compares it with a preset safety benchmark threshold. When the torque value exceeds the threshold, the central controller sends a deceleration command to the drive end of the first conveyor belt 1 to reduce the running speed of the first conveyor belt 1. When the torque value does not exceed the threshold, the central controller maintains the current running speed of the first conveyor belt 1. The material then moves with the first conveyor belt 1 and passes under the gantry 6. The first set of electron beam generators emits high-energy electron beams downward to irradiate the upper part of the material's thickness space. The material that has completed the first surface irradiation enters the third conveyor belt 3, which is configured in a U-shaped bend, with the conveyor belt. When the material moves in the bend section, it touches the side wall probes. The side wall probes close and send a trigger signal to the central controller. The central controller records the timestamps of the trigger signals sent by different side wall probes and calculates the yaw angle of the material by combining the running speed of the third conveyor belt 3, the time difference of the side wall probes being triggered, and the straight-line distance between the side wall probes. The yaw angle value is then sent to the pose compensation unit inside the flipping mechanism 8.

[0066] Before the material moves to the working area of ​​the flipping mechanism 8, the posture compensation unit sends a running control electrical signal to the main spindle servo motor based on the received yaw angle value. The main spindle servo motor drives the gripper assembly to perform a spatial rotation movement of the same angle. Then, the posture compensation unit sends a closing electrical signal to the gripper assembly, and the gripper assembly retracts inward to clamp the outer two side walls of the material. After the flipping mechanism 8 lifts the material upward and removes it from the lower surface, the posture compensation unit sends a start signal to the horizontal flipping axis motor, driving the execution end and the material to perform a spatial flipping movement of 180 degrees around the longitudinal horizontal axis. After the flipping is completed, the posture compensation unit controls the main spindle servo motor to perform a reverse rotation movement, and then controls the gripper assembly to open outward, placing the flipped material on the surface of the second conveyor belt 2.

[0067] The material enters the area of ​​the slapping mechanism 4 on the surface of the second conveyor belt 2 and is slapped a second time according to the same slapping logic. Then, the material moves with the second conveyor belt 2 and passes under the gantry 6. The second set of electron beam generators emits a high-energy electron beam downwards to provide supplementary irradiation to the lower half of the material's thickness. After irradiation, the material moves to the unloading mechanism 5 on the surface of the second conveyor belt 2. The material pushes forward against the second baffle rod 511, causing the second baffle rod 511 to rotate and pull the second connecting rod 509. The second connecting rod 509 pulls the first connecting rod 508, which in turn drives the locking block 5. 07 overcomes the tension of the tension spring 506 and rotates outward, causing the locking block 507 to move out of the slot 505 of the second turntable 504. The second turntable 504 and the first turntable 502 are then unlocked. The material continues to push forward against the first stop bar 503, causing the first turntable 502 and the second turntable 504 below it to rotate synchronously. The material is released backward with the rotation. After the material leaves the second stop bar 511, the tension spring 506 retracts inward, causing the locking block 507 to rotate and insert into the next slot 505 aligned with the second turntable 504. The first turntable 502 and the second turntable 504 are then locked again.

[0068] When the material pushes the first turntable 502 and causes it to rotate passively, the speed sensor collects the angular velocity value of the first turntable 502 in real time and sends it to the central controller. When the central controller monitors that the second conveyor belt 2 is in operation and the micro switch detects the presence of material, it compares the angular velocity value with the preset blockage judgment angular velocity threshold. When the angular velocity value is lower than the threshold and the low speed state lasts for more than the preset delay time parameter, the central controller sends a power-off control command to the drive end of the second conveyor belt 2 to cut off the power supply to the second conveyor belt 2 and stop the second conveyor belt 2, and outputs an alarm signal at the same time.

Claims

1. A continuous irradiation sterilization device for traditional Chinese medicinal materials, characterized in that, Includes a first conveyor belt (1), a third conveyor belt (3) is provided at one end of the first conveyor belt (1), a second conveyor belt (2) is provided at the end of the third conveyor belt (3) away from the first conveyor belt (1), a beating mechanism (4) is provided above both the first conveyor belt (1) and the second conveyor belt (2), a gantry frame (6) is provided across the outside of the first conveyor belt (1) and the second conveyor belt (2), an irradiation mechanism (7) is fixedly connected inside the gantry frame (6), a turning mechanism (8) is provided above the third conveyor belt (3), and a feeding mechanism (5) is provided above the second conveyor belt (2); The tapping mechanism (4) includes a mounting frame (401) fixedly connected to the side walls of the first conveyor belt (1) and the second conveyor belt (2). A motor (402) is fixedly connected to the side wall of the mounting frame (401). A first rotating rod (403) is fixedly connected to the output end of the motor (402). Two first bevel gears (404) are symmetrically fixedly connected to the surface of the first rotating rod (403). A second bevel gear (405) meshes with the two first bevel gears (404) respectively. A second rotating rod (406) is fixedly connected inside each of the two second bevel gears (405). The two second rotating rods (406) are rotatably connected inside the mounting frame (401). 406) Cams (407) are fixedly connected to the surface of each of the two conveyor belts (1) and the second conveyor belt (2). Two connecting frames (410) are slidably connected to each other above the first conveyor belt (1) and the second conveyor belt (2). The side walls of the two cams (407) abut against the surface of the corresponding connecting frame (410). Rollers (411) are rotatably connected inside the two connecting frames (410). Telescopic rods (408) are fixedly connected to the side walls of the two connecting frames (410) near the cams (407). Springs (409) are sleeved on the outside of the two telescopic rods (408). The ends of the two telescopic rods (408) away from the connecting frame (410) are fixedly connected to the mounting bracket (401).

2. The continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 1, characterized in that, The output end of the motor (402) is equipped with a torque sensor, and a central controller is installed on the outside of the first conveyor belt (1). The output end of the torque sensor is electrically connected to the input end of the central controller, and the output end of the central controller is electrically connected to the drive end of the first conveyor belt (1). The central controller is configured to receive the torque value collected by the torque sensor and, when it is determined that the torque value exceeds a preset safety benchmark threshold, send a deceleration command to the drive end of the first conveyor belt (1).

3. The continuous irradiation sterilization device for Chinese medicinal materials according to claim 1, characterized in that, The side wall of the connecting frame (410) is rotatably connected to a first connecting plate (412). A connecting block (413) is fixedly connected to the side of the first connecting plate (412) away from the connecting frame (410). A movable groove (414) is provided inside the connecting block (413). A second connecting plate (415) is slidably connected inside the movable groove (414). A plurality of second connecting plates (415) are rotatably connected to the side wall of the frame of the first conveyor belt (1) and the second conveyor belt (2) respectively on the side away from the connecting block (413).

4. The continuous irradiation sterilization device for Chinese medicinal materials according to claim 1, characterized in that, The feeding mechanism (5) includes a connecting seat (501) fixedly connected to the side wall of the second conveyor belt (2). A first turntable (502) is rotatably connected to the top of the connecting seat (501). A plurality of first baffle rods (503) are fixedly connected to the side wall of the first turntable (502). A second turntable (504) is rotatably connected to the bottom of the connecting seat (501). A slot (505) is provided on the side wall of the second turntable (504). A tension spring (506) is provided on the side wall of the connecting seat (501). A locking block (507) is provided at the end of the tension spring (506) away from the connecting seat (501). The card block (507) is rotatably connected to the side wall of the second conveyor belt (2). The side wall of the card block (507) is rotatably connected to a first connecting rod (508). The end of the first connecting rod (508) away from the card block (507) is rotatably connected to a second connecting rod (509). The side wall of the second conveyor belt (2) is fixedly connected to an installation plate (510). The top of the installation plate (510) is rotatably connected to a second baffle rod (511). The end of the second connecting rod (509) away from the first connecting rod (508) is rotatably connected to the second baffle rod (511).

5. The continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 4, characterized in that, The first turntable (502) and the second turntable (504) are fixedly connected by a central rotating shaft. One end of the locking block (507) is movably inserted into the locking slot (505). The tension spring (506) is arranged in a direction parallel to the rotational tangent of the locking block (507).

6. The continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 4, characterized in that, A speed sensor is installed at the center of the first turntable (502), and a micro switch is installed at the discharge end of the second conveyor belt (2). The output ends of the speed sensor and the micro switch are electrically connected to the input end of the central controller, and the output end of the central controller is electrically connected to the drive end of the second conveyor belt (2). The central controller is also configured to: when the second conveyor belt (2) is in operation and the presence of material is detected by the micro switch, and the angular velocity value collected by the speed sensor is lower than the preset blockage judgment angular velocity threshold, and the duration of the low speed state exceeds the preset delay time parameter, determine that the output channel is physically blocked, send a power-off control command to the drive end of the second conveyor belt (2) and output an alarm signal.

7. The continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 1, characterized in that, The third conveyor belt (3) has side wall probes arranged at intervals along the conveyor line direction. The output end of the side wall probe is electrically connected to the input end of the central controller. The flipping mechanism (8) is equipped with a posture compensation unit. The output end of the central controller is communicatively connected to the input end of the posture compensation unit. The central controller is also configured to: receive trigger signals from different sidewall probes, record the time difference between the trigger signals, calculate the yaw angle of the material deviating from the standard conveying path by combining the running speed of the third conveyor belt (3) and the physical distance between the sidewall probes, and send the yaw angle value to the pose compensation unit.

8. The continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 7, characterized in that, The flipping mechanism (8) is equipped with a main spindle servo motor, a horizontal flipping axis motor and a gripper assembly at its execution end. The output end of the posture compensation unit is electrically connected to the main spindle servo motor, the horizontal flipping axis motor and the gripper assembly respectively. The pose compensation unit is also configured to: control the spindle servo motor to drive the gripper assembly to perform a spatial compensation rotation with the same yaw angle value before gripping the material, based on the received yaw angle value, so that the gripper assembly forms a parallel alignment with the side wall surface of the material in the skewed state before closing to grip the material.

9. The continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 1, characterized in that, The third conveyor belt (3) is configured as a U-shaped bend section. The second conveyor belt (2) and the first conveyor belt (1) are arranged in parallel in space. The gantry frame (6) includes two side columns and a crossbeam. The two side columns are respectively fixedly distributed on the outer walls of the first conveyor belt (1) and the second conveyor belt (2). The crossbeam spans the space directly above the first conveyor belt (1) and the second conveyor belt (2).

10. A continuous irradiation sterilization device for traditional Chinese medicinal materials according to claim 9, characterized in that, The irradiation mechanism (7) includes a first set of electron beam generating devices and a second set of electron beam generating devices installed inside the crossbeam. The lead-out scanning window of the first set of electron beam generating devices faces the surface of the first conveyor belt (1), and the lead-out scanning window of the second set of electron beam generating devices faces the surface of the second conveyor belt (2).

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