Traditional Chinese medicine compound medicament stirring and mixing device

By introducing an automated feeding and agitation system into the agitating and mixing device of the traditional Chinese medicine compound agent, automatic feeding and agitation is achieved using quality sensors and conveying devices, the problem of low manual feeding efficiency in the prior art is solved, and the mixing efficiency and labor intensity of workers are improved.

CN222287193UActive Publication Date: 2025-01-03HENAN GUANDU BIOLOGICAL ENG CO LTD
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Patent Information

Application Number
CN202421615044.0
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-07-09
Publication Date
2025-01-03
Estimated Expiration
2034-07-09

AI Technical Summary

Technical Problem

When the existing traditional Chinese medicine compound agent stirring and mixing device puts different quality Chinese medicine raw materials, the workers have high labor intensity and low efficiency, and need to manually operate the feeding, resulting in low efficiency in the mixing process.

Method used

A device including a mixing box, a control terminal, a motor, a mass sensor and a Jiaolong conveyor device was designed. The mass sensor monitored and controlled the conveyor to automatically feed the material, and the mixing and mixing were achieved using the motor and a stirring rod to reduce the demand for manual feeding.

Benefits of technology

Automatic feeding and stirring are realized, which reduces the labor intensity of workers, improves the mixing efficiency of traditional Chinese medicine compound agents, and can process multiple raw materials at the same time.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model provides a traditional Chinese medicine compound medicament stirring and mixing device, which relates to the technical field of medicine production and comprises a stirring box, one side of the stirring box is fixedly connected with a control terminal, and the bottom of the stirring box is fixedly connected with three supporting legs. According to the utility model, the mass of traditional Chinese medicine raw materials required to be stirred and mixed in each corresponding storage bin is input through the control terminal, when the control terminal receives a detection signal of a corresponding mass sensor to reach the input required mass, the control terminal starts a corresponding positive and negative motor, a movable frame moves along the axial direction of a threaded rod, and a spring deforms; in the process that the connecting plate moves out of the outer frame, the rotating plate is inclined under the tension effect of the elastic force of the spring, so that feeding is completed, manual feeding is not needed, the labor intensity of workers is reduced, meanwhile, multiple traditional Chinese medicine compound medicament raw materials can be fed at the same time, and efficiency is improved.
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Description

Technical Field

[0001] The utility model relates to the technical field of medicine production, in particular to a stirring and mixing device for a Chinese medicine compound medicine. Background Art

[0002] A Chinese herbal compound is a prescription composed of two or more medicinal ingredients with relatively prescribed processing and usage methods, designed for relatively specific diseases and symptoms. It is the main component of Chinese medicine prescriptions. In the production of Chinese herbal compound medicines, it is necessary to stir and mix the Chinese herbal raw materials, which requires the use of a Chinese herbal compound medicine stirring and mixing device.

[0003] However, in the prior art, when using a Chinese medicine compound medicine stirring and mixing device to mix Chinese medicine raw materials, it is found that before the Chinese medicine raw materials are stirred and mixed, workers are required to put Chinese medicine raw materials of different masses into the Chinese medicine compound medicine stirring and mixing device, which increases the labor intensity of the workers and reduces the efficiency. Utility Model Content

[0004] The purpose of the utility model is to solve the problems existing in the prior art.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a Chinese medicine compound medicament stirring and mixing device, comprising: a stirring box, one side of the stirring box is fixedly connected to a control terminal, the bottom of the stirring box is fixedly connected to three supporting legs, the bottom of the stirring box is fixedly embedded with a discharge port, the surface of the discharge port is provided with an electric control valve, the top of the stirring box is fixedly connected to a motor plate 1, the inner cavity of the discharge port is fixedly embedded with a triangular support plate, a plurality of mounting grooves are opened through the top of the surface of the stirring box, a plurality of the mounting grooves are internally provided with a feeding outer frame assembly, a plurality of the feeding outer frame assemblies are internally provided with a feeding assembly, and a plurality of the feeding assemblies are upperly provided with a conveying assembly.

[0006] As a preferred embodiment, the inner cavity of the discharge port is connected with the inner cavity of the mixing box, and a stirring rod is embedded in the top of the mixing box and the inside of the triangular support plate through a bearing. The top of the stirring rod is connected to a motor, and the output end of the motor is fixedly connected to the center of one end of the stirring rod, and one side of the motor is fixedly connected to the surface of motor plate one.

[0007] As a preferred embodiment, the feeding outer frame assembly includes an outer frame, one side of the outer frame is fixedly connected to a motor plate 2, the bottoms of both sides inside the outer frame are provided with movable grooves for movable frames, one of the movable grooves for movable frames has bearing holes at both ends, and the other two ends of the movable grooves for movable frames are fixedly connected to limiting rods, a spring movable groove is provided at the bottom of the outer frame, the bottom of the outer frame is fixedly connected to a connecting plate, one side of the connecting plate is fixedly connected to a hanging ear, and the surface of the hanging ear is wrapped with a spring.

[0008] As a preferred embodiment, the feeding assembly includes a moving frame, a feeding basket movable groove is formed through the surface of the moving frame, a threaded rod is embedded in the internal thread of one end of the moving frame, a forward and reverse motor is connected to one end of the threaded rod, the output end of the forward and reverse motor is fixedly connected to the center of one end of the threaded rod, through holes are formed on both sides of the movable groove of the feeding basket, movable rods are movably embedded in the two through holes, a rotating plate is fixedly connected to the surface of the movable rod, two hanging ears are fixedly connected to the bottom of one end of the rotating plate, a mass sensor is fixedly connected to the top of the rotating plate, and a feeding basket is fixedly connected to the top of the mass sensor.

[0009] As a preferred embodiment, the conveying assembly includes a Jiaolong conveying device, a storage bin is fixedly embedded on the top of one end of the Jiaolong conveying device, the inner cavity of the storage bin is connected with the inner cavity of the Jiaolong conveying device, a discharge port is opened at the bottom of the other end of the Jiaolong conveying device, and the surface of one end of the Jiaolong conveying device is fixedly embedded on three sides of the inner part of the outer frame.

[0010] As a preferred embodiment, the surfaces of the plurality of outer frames are fixedly embedded in the interior of the plurality of mounting grooves, and the other ends of the plurality of springs are wound and connected to the surfaces of the plurality of second hanging ears.

[0011] As a preferred embodiment, the internal movable sleeves at one end of the multiple movable frames are arranged on the surface of multiple limit rods, the two ends of the surfaces of the multiple threaded rods are embedded in the interior of multiple bearing holes through bearings, and the bottoms of the multiple forward and reverse motors are fixedly connected to the surfaces of multiple motor plates.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] The utility model places the Chinese medicine compound medicines to be stirred and mixed inside a plurality of storage bins respectively and connects the device with an external power supply device, the external power supply device is electrically connected to a control terminal, an electric control valve, a motor, a forward and reverse motor, a quality sensor and a Jiaolong conveying device and provides power, the control terminal is electrically connected to the electric control valve, the motor, the forward and reverse motor and the Jiaolong conveying device and is controlled in association, the quality sensor can monitor the quality of the Chinese medicine to be mixed and stirred inside the feeding basket in real time and send it to the control terminal; the quality of the Chinese medicine raw materials to be stirred and mixed inside each corresponding storage bin is input through the control terminal, the control terminal controls to start each Jiaolong conveying device to transport the Chinese medicine inside the storage bin to the other end of the Jiaolong conveying device, and the Chinese medicine falls into the feeding basket from the discharge port at the other end, when the control terminal receives the detection signal of the corresponding quality sensor and reaches the input required quality, the control terminal controls to stop the corresponding Jiaolong conveying device and starts the corresponding forward and reverse motor, the output end of the forward and reverse motor drives the threaded rod to rotate, so that the moving frame moves along the axial direction of the threaded rod. The spring is stretched and deformed by the pulling force of the moving plate. When the connecting plate moves out of the outer frame, the rotating plate is pulled by the elastic force of the spring, so that the rotating plate rotates with the movable rod as the center and tilts, so that the Chinese medicine raw materials in the feeding basket fall into the inner cavity of the mixing box to complete the feeding. After the feeding is completed, the forward and reverse motors are started in the reverse direction, and the moving frame returns to the initial position. When the moving frame moves to the inner part of the outer frame, the rotating plate is hindered by the bottom side of the outer frame, so that the rotating plate rotates with the movable rod as the center and returns to the initial position inside the moving frame. When all the required Chinese medicines are fed, the control terminal controls the start of the motor, and the output end of the motor drives the stirring rod to rotate to stir and mix the Chinese medicines in the inner cavity of the mixing box. After the mixing is completed, the control terminal stops the motor and opens the electric control valve, and the mixed Chinese medicine raw materials in the inner cavity of the mixing box flow out from the inner cavity of the discharge port. This design does not require manual feeding, which reduces the labor intensity of workers. At the same time, multiple Chinese medicine compound medicine raw materials can be fed at the same time, which improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 An overview schematic diagram of a Chinese medicine compound medicament stirring and mixing device provided by the utility model;

[0015] Figure 2 A side sectional view of a Chinese medicine compound medicine stirring and mixing device provided by the utility model;

[0016] Figure 3 A schematic diagram of the connection between a feeding outer frame component and a conveying component of a Chinese medicine compound medicament stirring and mixing device provided by the utility model;

[0017] Figure 4 A schematic diagram of a feeding outer frame assembly of a Chinese medicine compound medicament stirring and mixing device provided by the utility model;

[0018] Figure 5 A partial schematic diagram of a feeding component of a Chinese medicine compound medicament stirring and mixing device provided by the utility model;

[0019] Figure 6 The utility model provides a partial schematic diagram of a feeding component of a stirring and mixing device for a Chinese medicine compound medicine.

[0020] Legend:

[0021] 1. Mixing box; 101. Control terminal; 102. Support leg; 103. Discharge port; 104. Electric control valve; 105. Motor plate 1; 106. Triangular support plate; 107. Mixing rod; 108. Motor; 109. Mounting slot; 2. Feeding outer frame assembly; 201. Outer frame; 202. Motor plate 2; 203. Moving frame movable slot; 204. Bearing hole; 205. Limit rod; 206. Spring movable slot slot; 207, connecting plate; 208, ear one; 209, spring; 3, feeding assembly; 301, moving frame; 302, feeding basket movable slot; 303, threaded rod; 304, forward and reverse motor; 305, through hole; 306, movable rod; 307, rotating plate; 308, ear two; 309, quality sensor; 310, feeding basket; 4, conveying assembly; 401, Jiaolong conveying device; 402, storage bin. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figure 1-6 The utility model provides a technical solution: a Chinese medicine compound medicine stirring and mixing device, comprising: a stirring box 1, a control terminal 101 is fixedly connected to one side of the stirring box 1, three supporting legs 102 are fixedly connected to the bottom of the stirring box 1, a discharge port 103 is fixedly embedded in the bottom of the stirring box 1, an electric control valve 104 is arranged on the surface of the discharge port 103, a motor plate 105 is fixedly connected to the top of the stirring box 1, a triangular supporting plate 106 is fixedly embedded in the inner cavity of the discharge port 103, a plurality of mounting grooves 109 are opened through the top of the surface of the stirring box 1, a plurality of mounting grooves 109 are arranged inside the feeding outer frame components 2, a plurality of feeding outer frame components 2 are arranged inside the feeding components 3, and a transmission component 4 is arranged above the plurality of feeding components 3.

[0024] Specifically: the mass of the Chinese medicinal raw materials required to be stirred and mixed inside each corresponding storage bin 402 is input through the control terminal 101. When the control terminal 101 receives the detection signal of the corresponding mass sensor 309 and reaches the input required mass, the control terminal 101 starts the corresponding forward and reverse motor 304, and the moving frame 301 moves along the axial direction of the threaded rod 303, and the spring 209 is deformed. In the process of the connecting plate 207 moving out of the outer frame 201, the rotating plate 307 is pulled by the elastic force of the spring 209, causing the rotating plate 307 to tilt, and the feeding is completed. This design does not require manual feeding, which reduces the labor intensity of workers. At the same time, multiple Chinese medicinal compound raw materials can be fed at the same time, which improves efficiency.

[0025] In one embodiment, the inner cavity of the discharge port 103 is connected to the inner cavity of the mixing box 1, and a stirring rod 107 is embedded in the top of the mixing box 1 and the inside of the triangular support plate 106 through a bearing. The top of the stirring rod 107 is connected to a motor 108, and the output end of the motor 108 is fixedly connected to the center of one end of the stirring rod 107, and one side of the motor 108 is fixedly connected to the surface of the motor plate 105.

[0026] Specifically: the motor 108 is fixedly connected to the surface of the motor plate 105 to prevent the motor 108 from shaking when starting and affecting the normal operation of the device. The triangular support plate 106 is designed as a triangle to prevent the Chinese medicine from falling off the surface after stirring and mixing.

[0027] In one embodiment, the feeding outer frame assembly 2 includes an outer frame 201, one side of the outer frame 201 is fixedly connected to a motor plate 202, movable frame grooves 203 are provided at the bottom of both sides inside the outer frame 201, bearing holes 204 are penetrated at both ends of one movable frame groove 203, and limiting rods 205 are fixedly connected at both ends of the other movable frame groove 203, a spring movable groove 206 is penetrated at the bottom of the outer frame 201, a connecting plate 207 is fixedly connected to the bottom of the outer frame 201, a hanging ear 208 is fixedly connected to one side of the connecting plate 207, and a spring 209 is wound around the surface of the hanging ear 208.

[0028] Specifically: during the process of the connecting plate 207 moving out of the outer frame 201, the rotating plate 307 is subjected to the pulling force of the elastic force of the spring 209, causing the rotating plate 307 to rotate with the movable rod 306 as the center and tilt, so that the Chinese medicine raw materials inside the feeding basket 310 fall into the inner cavity of the mixing box 1. The spring 209 plays an auxiliary role to prevent the gap between the rotating plate 307 and the movable frame 301 from getting stuck in the Chinese medicine, resulting in the feeding basket 310 being unable to rotate due to its own gravity.

[0029] In one embodiment, the feeding assembly 3 includes a moving frame 301, and a feeding basket movable groove 302 is opened through the surface of the moving frame 301. A threaded rod 303 is embedded in the internal thread of one end of the moving frame 301, and a forward and reverse motor 304 is connected to one end of the threaded rod 303. The output end of the forward and reverse motor 304 is fixedly connected to the center of one end of the threaded rod 303. Through holes 305 are opened on both sides of the inside of the feeding basket movable groove 302, and movable rods 306 are movably embedded in the two through holes 305. A rotating plate 307 is fixedly connected to the surface of the movable rod 306, and a hanging ear 308 is fixedly connected to the bottom of one end of the rotating plate 307. A mass sensor 309 is fixedly connected to the top of the rotating plate 307, and a feeding basket 310 is fixedly connected to the top of the mass sensor 309.

[0030] Specifically: since the storage space of the feeding basket 310 is limited in size, the control terminal 101 can control the Jiaolong conveying device 401 to stop directly and start the forward and reverse motor 304 to feed the materials when the quality sensor 309 detects the maximum storage capacity of the feeding basket 310, and then continue to start the Jiaolong conveying device 401 after waiting for the feeding basket 310 to return to its position, so that the materials can be fed multiple times until the quality of the Chinese medicine reaches the input quality.

[0031] In one embodiment, the conveying component 4 includes a Jiaolong conveying device 401, a storage bin 402 is fixedly embedded on the top of one end of the Jiaolong conveying device 401, the inner cavity of the storage bin 402 is connected with the inner cavity of the Jiaolong conveying device 401, and a discharge port is opened at the bottom of the other end of the Jiaolong conveying device 401, and the surface of one end of the Jiaolong conveying device 401 is fixedly embedded on three sides of the inner part of the outer frame 201.

[0032] Specifically: the Jiaolong conveying device 401 is a commonly used conveying device, and the specific structure is not repeated here; the discharge port at one end of the Jiaolong conveying device 401 is located above the feeding basket 310 when no feeding is performed.

[0033] In one embodiment, the surfaces of the plurality of outer frames 201 are fixedly embedded in the interior of the plurality of mounting grooves 109 , and the other ends of the plurality of springs 209 are wound and connected to the surfaces of the plurality of second hanging ears 308 .

[0034] Specifically, the spring 209 plays an auxiliary role to prevent the gap between the rotating plate 307 and the moving frame 301 from getting stuck to the Chinese medicine, so that the feeding basket 310 cannot rotate under its own gravity.

[0035] In one embodiment, the internal movable sleeves at one end of the multiple movable frames 301 are mounted on the surfaces of the multiple limit rods 205, the two ends of the surfaces of the multiple threaded rods 303 are embedded in the interior of the multiple bearing holes 204 through bearings, and the bottoms of the multiple forward and reverse motors 304 are fixedly connected to the surfaces of the multiple motor plates 202.

[0036] Specifically: the forward and reverse motor 304 is fixed on the surface of the motor plate 202 to prevent the forward and reverse motor 304 from shaking when starting, thereby affecting the normal operation of the device.

[0037] Working principle: The Chinese herbal compound medicines to be stirred and mixed are placed in a plurality of storage bins 402 respectively and the device is connected to an external power supply device, the external power supply device is electrically connected to the control terminal 101, the electric control valve 104, the motor 108, the forward and reverse motor 304, the quality sensor 309 and the Jiaolong conveying device 401 and provides power, the control terminal 101 is electrically connected to the electric control valve 104, the motor 108, the forward and reverse motor 304, and the Jiaolong conveying device 401 and associated control, the quality sensor 309 can monitor the quality of the Chinese herbal medicine to be mixed and stirred in the feeding basket 310 in real time and send it to the control terminal 101; through the control terminal 101 inputs the mass of the Chinese medicine raw materials that need to be stirred and mixed inside each corresponding storage bin 402, and the control terminal 101 controls the start of each dragon conveyor 401 to transport the Chinese medicine inside the storage bin 402 to the other end of the dragon conveyor 401, and drops it into the feeding basket 310 from the discharge port at the other end. When the control terminal 101 receives the detection signal of the corresponding quality sensor 309 reaching the input required mass, the control terminal 101 controls the stop of the corresponding dragon conveyor 401 and starts the corresponding forward and reverse motor 304. The output end of the forward and reverse motor 304 drives the threaded rod 303 to rotate, so that the moving frame 301 moves along the threaded rod 303. The rotating plate 307 moves in the axial direction of the outer frame 201, and the rotating plate 307 moves along with the movement inside the outer frame 201. The spring 209 is stretched and deformed by the pulling force of the rotating plate 307. In the process of the connecting plate 207 moving out of the outer frame 201, the rotating plate 307 is pulled by the elastic force of the spring 209, so that the rotating plate 307 rotates with the movable rod 306 as the center and tilts, so that the Chinese medicine raw materials in the feeding basket 310 fall into the inner cavity of the mixing box 1, and the feeding is completed. After the feeding is completed, the forward and reverse motors 304 are reversely started, and the moving frame 301 returns to its initial position. In the process of the moving frame 301 moving back to the inner part of the outer frame 201, the rotating plate 307 is The rotatable plate 307 rotates around the movable rod 306 as the center to return to the internal position of the initial moving frame 301. When all the required Chinese medicines are fed, the control terminal 101 controls the start motor 108. The output end of the motor 108 drives the stirring rod 107 to rotate to stir and mix the Chinese medicines in the inner cavity of the mixing box 1. After the stirring is completed, the control terminal 101 stops the motor 108 and opens the electric control valve 104. The mixed Chinese medicine raw materials in the inner cavity of the mixing box 1 flow out from the inner cavity of the discharge port 103. This design does not require manual feeding, which reduces the labor intensity of workers. At the same time, multiple Chinese medicine compound medicine raw materials can be fed at the same time, which improves efficiency.

[0038] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A Chinese medicine compound medicine stirring and mixing device, characterized in that: include: A mixing box (1), wherein a control terminal (101) is fixedly connected to one side of the mixing box (1), three supporting legs (102) are fixedly connected to the bottom of the mixing box (1), a discharge port (103) is fixedly embedded in the bottom of the mixing box (1), an electric control valve (104) is arranged on the surface of the discharge port (103), a motor plate (105) is fixedly connected to the top of the mixing box (1), a triangular supporting plate (106) is fixedly embedded in the inner cavity of the discharge port (103), a plurality of mounting grooves (109) are opened through the top of the surface of the mixing box (1), a plurality of the mounting grooves (109) are each provided with a feeding outer frame assembly (2), a plurality of the feeding outer frame assemblies (2) are each provided with a feeding assembly (3), and a conveying assembly (4) is arranged above each of the feeding assemblies (3).

2. A Chinese medicine compound medicament stirring and mixing device according to claim 1, characterized in that: The inner cavity of the discharge port (103) is connected to the inner cavity of the stirring box (1); a stirring rod (107) is embedded in the top of the stirring box (1) and the inside of the triangular support plate (106) through a bearing; the top of the stirring rod (107) is connected to a motor (108); the output end of the motor (108) is fixedly connected to the center of one end of the stirring rod (107); and one side of the motor (108) is fixedly connected to the surface of the motor plate (105).

3. A Chinese medicine compound medicine stirring and mixing device according to claim 1, characterized in that: The feeding outer frame assembly (2) comprises an outer frame (201), one side of the outer frame (201) is fixedly connected to a second motor plate (202), the bottoms of both sides of the inner part of the outer frame (201) are provided with movable frame grooves (203), both ends of one of the movable frame grooves (203) are penetrated with bearing holes (204), and both ends of the inner part of the other movable frame groove (203) are fixedly connected to limit rods (205), the bottom of the outer frame (201) is penetrated with a spring movable groove (206), the bottom of the outer frame (201) is fixedly connected to a connecting plate (207), one side of the connecting plate (207) is fixedly connected to a first hanging ear (208), and the surface of the first hanging ear (208) is wound with a spring (209).

4. A Chinese medicine compound medicament stirring and mixing device according to claim 1, characterized in that: The feeding assembly (3) comprises a moving frame (301), the surface of the moving frame (301) is provided with a feeding basket movable groove (302), a threaded rod (303) is embedded in the internal thread of one end of the moving frame (301), one end of the threaded rod (303) is connected to a forward and reverse motor (304), the output end of the forward and reverse motor (304) is fixedly connected to the center of one end of the threaded rod (303), through holes (305) are provided on both sides of the inside of the feeding basket movable groove (302), movable rods (306) are movably embedded in the two through holes (305), the surface of the movable rod (306) is fixedly connected with a rotating plate (307), the bottom of one end of the rotating plate (307) is fixedly connected with a second hanging ear (308), the top of the rotating plate (307) is fixedly connected with a mass sensor (309), and the top of the mass sensor (309) is fixedly connected with a feeding basket (310).

5. A Chinese medicine compound medicine stirring and mixing device according to claim 1, characterized in that: The conveying assembly (4) comprises a Jiaolong conveying device (401), a material storage bin (402) is fixedly embedded on the top of one end of the Jiaolong conveying device (401), the inner cavity of the material storage bin (402) is connected with the inner cavity of the Jiaolong conveying device (401), a discharge port is provided at the bottom of the other end of the Jiaolong conveying device (401), and the surface of one end of the Jiaolong conveying device (401) is fixedly embedded on three sides of the inner part of the outer frame (201).

6. A Chinese medicine compound medicine stirring and mixing device according to claim 3, characterized in that: The surfaces of the plurality of outer frames (201) are fixedly embedded in the interior of the plurality of mounting grooves (109), and the other ends of the plurality of springs (209) are wound and connected to the surfaces of the plurality of second hanging ears (308).

7. A Chinese medicine compound medicine stirring and mixing device according to claim 4, characterized in that: The inner movable sleeves at one end of the plurality of movable frames (301) are mounted on the surfaces of the plurality of limit rods (205), the two ends of the surfaces of the plurality of threaded rods (303) are embedded in the interior of the plurality of bearing holes (204) through bearings, and the bottoms of the plurality of forward and reverse motors (304) are fixedly connected to the surfaces of the plurality of motor plates (202).