Household traditional Chinese medicine decocting device

Abstract

The utility model relates to a household traditional Chinese medicine decocting device, and belongs to the technical field of intelligent homes. Comprising a frame mechanism, a manipulator grabbing mechanism, a water injection and medicine suction mechanism, a key control mechanism, a decoction pot and a control mechanism, the manipulator grabbing mechanism, the water injection and medicine suction mechanism and the key control mechanism are all mounted on the frame mechanism and are all connected with the control mechanism, and the decoction pot is arranged in the middle of the frame mechanism and is connected with the key control mechanism. According to the utility model, a series of functions of water injection, medicine feeding, decoction, medicine suction and the like can be automatically realized, and the convenience of traditional Chinese medicine decoction in home life is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, in particular to a household Chinese medicine decocting device. Background Art

[0002] Taking medicine is an essential part of treating human diseases, and decocting Chinese herbal medicine is an important part of patients' daily lives. However, the fast-paced life makes long-term decocting of medicine difficult, so most patients can only go to the hospital to buy boiled Chinese medicine. However, some prescriptions can only have the best therapeutic effect when they are drunk hot right after being boiled. Reheating the boiled Chinese medicine may greatly reduce the efficacy. Therefore, this makes the automatic decocting Chinese herbal medicine equipment in smart homes widely favored.

[0003] However, the existing automatic decoction equipment for Chinese herbal medicines is mostly used in drug production in factories. It is bulky and expensive, and is not suitable for home decoction of Chinese herbal medicines. Currently, household service robots are more commonly used for automatic decoction of Chinese herbal medicines, but household service robots find it difficult to complete the decoction of medicines in the complex environment of the kitchen. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a household Chinese medicine decocting device to solve the above-mentioned problem.

[0005] The utility model solves the above-mentioned technical problem with the following technical solution: a household Chinese medicine decoction device, comprising: a frame mechanism, a manipulator grasping mechanism, a water injection and medicine suction mechanism, a button control mechanism, a decoction pot and a control mechanism; the manipulator grasping mechanism, the water injection and medicine suction mechanism and the button control mechanism are all installed on the frame mechanism and are connected to the control mechanism, and the decoction pot is arranged in the middle of the frame mechanism and is connected to the button control mechanism.

[0006] The beneficial effects of the utility model are as follows: the mechanical arm grasping mechanism is conducive to opening the pot lid of the decoction pot and putting the medicine bag into the decoction pot, the water injection and medicine suction mechanism is conducive to injecting water into the decoction pot, and under the cooperation of the control mechanism and the key control mechanism, the long-term decoction of the medicine bag in the decoction pot is realized, and at the same time, the water injection and medicine suction mechanism is also conducive to sucking out the medicine liquid in the decoction pot after the decoction is completed, and the control mechanism cooperates with the key control mechanism to realize the control of the decoction time, so that people can get the freshly decocted Chinese medicine liquid at the set time.

[0007] On the basis of the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the frame mechanism includes: a main frame, a camera device and a storage device, and the camera device and the storage device are both installed on the main frame.

[0009] The beneficial effect of adopting the above further solution is that the camera equipment cooperates with the control mechanism to facilitate real-time monitoring of the on-site working conditions, and the storage device is conducive to placing items during the operation.

[0010] Furthermore, the camera device includes a camera column and a camera, wherein the camera column is a rod-shaped structure vertically mounted on the main frame, and the camera is arranged at the top of the camera column, and the camera is connected to the control mechanism;

[0011] The storage device includes a storage column, a pot lid placement platform, a loading platform connecting plate and a medicine package placement platform. The storage column is a rod-shaped structure vertically installed on the main frame. The pot lid placement platform is arranged at the top of the storage column. The pot lid placement platform and the medicine package placement platform are connected by the loading platform connecting plate.

[0012] The beneficial effects of adopting the above further scheme are: the camera is conducive to real-time monitoring of the on-site working conditions, the pot lid placement table is conducive to placing the decoction pot lid clamped by the robot gripping mechanism, and the medicine package placement table is conducive to placing the medicine packages that need to be decocted in advance.

[0013] Furthermore, the manipulator grasping mechanism includes: a main support rod, a first displacement device, a second displacement device and a clamping device; the main support rod is a rod-shaped structure vertically installed on the main frame, the first displacement device is rotatably installed on the top of the main support rod, the second displacement device is installed on the end of the first displacement device away from the main support rod, and the clamping device is installed on the second displacement device so as to be displaceable up and down.

[0014] The beneficial effects of adopting the above further scheme are: the first displacement device is conducive to the rotation of the clamping device in space, the second displacement device is conducive to the lifting and lowering of the clamping device, and the clamping device is conducive to taking and placing the medicine package and the pot lid after the first displacement device and the second displacement device are adjusted to the appropriate position.

[0015] Further, the first displacement device includes: a first connecting plate, a second connecting plate, a first servo, a ball turntable and a plurality of copper columns; the first connecting plate is horizontally installed at the top end of the main support rod, the ball turntable is arranged above the first connecting plate and is connected to the first connecting plate through the copper columns, the first servo is installed on the first connecting plate, and the output shaft is connected to the ball turntable, one end of the second connecting plate is arranged at the top end of the ball turntable and rotates with the rotation of the ball turntable, and the first servo is connected to the control mechanism.

[0016] The beneficial effect of adopting the above further solution is that the first servo engine is conducive to driving the second connecting plate to rotate by driving the ball turntable, thereby realizing the rotation of the second displacement device and the clamping device installed on the second connecting plate in space.

[0017] Furthermore, the second displacement device includes: a stepper motor, a lead screw, a lead screw nut, a third connecting plate, multiple optical axes, multiple flanges and a fixed plate; the stepper motor is installed at one end of the second connecting plate away from the ball turntable, and the output shaft is connected to one end of the lead screw through a coupling, the other end of the lead screw is rotatably connected to the fixed plate, the lead screw nut is sleeved on the lead screw, and moves up and down with the rotation of the lead screw, the third connecting plate is fixedly sleeved on the lead screw nut, the multiple flanges are sleeved on the multiple optical axes one by one, the third connecting plate is sleeved on the flange, the two ends of the optical axis are connected to the second connecting plate and the fixed plate one by one, and the stepper motor is connected to the control mechanism.

[0018] The beneficial effect of adopting the above-mentioned further scheme is that the stepper motor is conducive to driving the screw nut and the third connecting plate fixedly connected to the screw nut to move up and down by driving the screw to rotate, thereby causing the clamping device installed on the third connecting plate to move up and down, and the optical axis and flange are conducive to improving the stability of the screw nut and the third connecting plate when they move up and down.

[0019] Furthermore, the clamping device includes: a second servo, a mechanical claw and a right-angle connector; two sides of the right-angle connector are connected to the third connecting plate and the mechanical claw in a one-to-one correspondence, the output shaft of the second servo is connected to the mechanical claw, and the second servo is connected to the control mechanism.

[0020] The beneficial effect of adopting the above further solution is that the second servo is conducive to the opening and clamping of the mechanical claws, thereby realizing the taking and placing of the medicine package and the pot lid.

[0021] Furthermore, the water injection and medicine absorption mechanism includes: a fixed support plate, a water injection device and a medicine absorption device; the fixed support plate is a T-shaped rod structure installed on the main frame, the water injection device and the medicine absorption device are both installed on the fixed support plate, and are both connected to the decoction pot.

[0022] The beneficial effect of adopting the above further scheme is that the fixed support plate is conducive to fixing the water injection equipment and the medicine suction equipment, the water injection equipment is conducive to injecting water into the decoction pot, and the medicine suction equipment is conducive to sucking out the decocted Chinese medicine liquid in the decoction pot.

[0023] Furthermore, the water injection equipment comprises: a water tank, a water suction pipe, a water injection pipe and a first pump, wherein the first pump is mounted on the fixed support plate, two ends of the water suction pipe are connected to the first pump and the water tank in a one-to-one correspondence, and two ends of the water injection pipe are connected to the first pump and the decoction pot in a one-to-one correspondence;

[0024] The medicine suction device comprises: a Chinese herbal liquid cup, a medicine liquid injection tube, a medicine liquid suction tube and a second pump, wherein the second pump is mounted on the fixed support plate, and the two ends of the medicine liquid injection tube are connected to the second pump and the Chinese herbal liquid cup in a one-to-one correspondence, and the two ends of the medicine liquid suction tube are connected to the second pump and the decoction pot in a one-to-one correspondence;

[0025] The first pump and the second pump are both connected to the control mechanism.

[0026] The beneficial effects of adopting the above further scheme are: the water suction pipe and the water injection pipe cooperate with the first pump to facilitate injecting water in the water tank into the decoction pot; the medicine liquid pipe and the medicine liquid suction pipe cooperate with the second pump to facilitate sucking the decocted Chinese medicine liquid in the decoction pot into the Chinese herbal medicine liquid cup.

[0027] Furthermore, the button control mechanism includes: a fixed connecting plate, a plurality of push-pull electromagnets and a plurality of conductive iron sheets; the fixed connecting plate is a plate-like structure installed on the main frame, and the plurality of push-pull electromagnets are all installed on the fixed connecting plate, and are connected one by one with the plurality of conductive iron sheets under the action of the control mechanism, and the conductive iron sheets are electrically connected to the decoction pot.

[0028] The beneficial effect of adopting the above further solution is that after the push-pull electromagnet is connected to the conductive iron sheet under the action of the control mechanism, it is beneficial to realize the functions of opening and closing, timing, mode selection, etc. of the decoction pot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The overall structural diagram provided for the embodiment of the utility model;

[0030] Figure 2 A schematic diagram of the framework structure provided by an embodiment of the utility model;

[0031] Figure 3 A schematic diagram of the structure of a manipulator grasping mechanism provided in an embodiment of the utility model;

[0032] Figure 4 A schematic diagram of the mechanical claw structure provided by an embodiment of the utility model;

[0033] Figure 5 A schematic diagram of the structure of the water injection and drug absorption mechanism provided in an embodiment of the utility model;

[0034] Figure 6This is a schematic diagram of the key control mechanism structure provided in an embodiment of the utility model.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 1. Frame mechanism; 2. Manipulator grasping mechanism; 3. Water injection and drug absorption mechanism; 4. Button control mechanism; 5. Decoction pot; 11. Main frame; 12. Camera device; 13. Storage device; 21. Main support rod; 22. First displacement device; 23. Second displacement device; 24. Clamping device; 31. Fixed support plate; 32. Water injection device; 33. Drug absorption device; 41. Fixed connecting plate; 42. Push-pull electromagnet; 43. Conductive iron sheet; 121. Camera column; 122. Camera; 131. Storage column; 132. Pot lid placement table; 133. Loading table connection plate; 134. Drug Package placement table; 221, first connecting plate; 222, second connecting plate; 223, first servo; 224, ball turntable; 225, copper column; 231, stepper motor; 232, lead screw; 233, lead screw nut; 234, third connecting plate; 235, optical axis; 236, flange; 237, fixing plate; 241, second servo; 242, mechanical claw; 243, right-angle connector; 321, water tank; 322, water suction pipe; 323, water injection pipe; 324, first pump; 331, Chinese herbal medicine liquid cup; 332, liquid injection pipe; 333, liquid suction pipe; 334, second pump. DETAILED DESCRIPTION

[0037] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] like Figure 1 As shown, a household Chinese medicine decoction device comprises: a frame mechanism 1, a manipulator grasping mechanism 2, a water injection and medicine aspiration mechanism 3, a button control mechanism 4, a decoction pot 5 and a control mechanism; the manipulator grasping mechanism 2, the water injection and medicine aspiration mechanism 3 and the button control mechanism 4 are all installed on the frame mechanism 1 and are all connected to the control mechanism, and the decoction pot 5 is arranged in the middle of the frame mechanism 1 and is connected to the button control mechanism 4.

[0039] Among them, it should be noted that: in the technical solution of the utility model, the control mechanism includes an ESP32-CAM module and an STM32 main control board. The ESP32-CAM module cooperates with the camera 122 in the frame mechanism 1, which is conducive to shooting the on-site working situation and uploading it to the Internet. Users can access the fixed IP address to view the on-site situation in real time and send instructions to the module to realize the function of remote viewing and controlling the decoction of Chinese herbal medicine; the STM32 main control board can connect the push-pull electromagnet 42 in the button control mechanism 4 with the conductive iron sheet 43 after receiving the command, thereby realizing the power-on, timing, mode selection and other functions of the decoction pot 5, and the STM32 main control board and the ESP32-CAM module transmit data through serial port communication; the data transmission and control involved in the above process belong to the prior art.

[0040] The beneficial effects of the utility model are as follows: the mechanical arm grasping mechanism is conducive to opening the pot lid of the decoction pot and putting the medicine bag into the decoction pot, the water injection and medicine suction mechanism is conducive to injecting water into the decoction pot, and under the cooperation of the control mechanism and the key control mechanism, the long-term decoction of the medicine bag in the decoction pot is realized, and at the same time, the water injection and medicine suction mechanism is also conducive to sucking out the medicine liquid in the decoction pot after the decoction is completed, and the control mechanism cooperates with the key control mechanism to realize the control of the decoction time, so that people can get the freshly decocted Chinese medicine liquid at the set time.

[0041] Preferably, Figure 1 and Figure 2 As shown, the frame mechanism 1 includes: a main frame 11, a camera device 12 and a storage device 13, and the camera device 12 and the storage device 13 are both installed on the main frame 11.

[0042] The beneficial effects of adopting the above preferred solution are: the camera equipment cooperates with the control mechanism to facilitate real-time monitoring of on-site working conditions, and the storage device is conducive to placing items during the operation.

[0043] Preferably, Figure 1 and Figure 2 As shown, the camera device 12 includes a camera column 121 and a camera 122. The camera column 121 is a rod-shaped structure vertically mounted on the main frame 11. The camera 122 is arranged at the top of the camera column 121. The camera 122 is connected to the control mechanism.

[0044] The storage device 13 includes a storage column 131, a pot lid placement platform 132, a loading platform connecting plate 133 and a medicine package placement platform 134. The storage column 131 is a rod-shaped structure vertically installed on the main frame 11, and the pot lid placement platform 132 is arranged at the top of the storage column 131. The pot lid placement platform 132 and the medicine package placement platform 134 are connected by the loading platform connecting plate 133.

[0045] It should be noted that: in the technical solution of the present utility model, the camera 122 is fixedly arranged in the direction of the manipulator grasping mechanism 2, the water injection and medicine absorption mechanism 3 and the decoction pot 5, or is rotatably arranged at the top of the camera column 121;

[0046] The main frame 11 , the camera column 121 and the storage column 131 are made of aluminum alloy.

[0047] The beneficial effects of adopting the above preferred scheme are: the camera is conducive to real-time monitoring of the on-site working conditions, the pot lid placement table is conducive to placing the decoction pot lid clamped by the robot gripping mechanism, and the medicine package placement table is conducive to placing the medicine packages that need to be decocted in advance.

[0048] Preferably, Figure 1 and Figure 3 As shown, the manipulator grasping mechanism 2 includes: a main support rod 21, a first displacement device 22, a second displacement device 23 and a clamping device 24; the main support rod 21 is a rod-shaped structure vertically installed on the main frame 11, the first displacement device 22 is rotatably installed on the top of the main support rod 21, the second displacement device 23 is installed at the end of the first displacement device 22 away from the main support rod 21, and the clamping device 24 is installed on the second displacement device 23 so as to be displaceable up and down.

[0049] The beneficial effects of adopting the above-mentioned preferred scheme are: the first displacement device is conducive to the rotation of the clamping device in space, the second displacement device is conducive to the lifting and lowering of the clamping device, and the clamping device is conducive to taking and placing the medicine package and the pot lid after the first displacement device and the second displacement device are adjusted to the appropriate position.

[0050] Preferably, Figure 1 and Figure 3As shown, the first displacement device 22 includes: a first connecting plate 221, a second connecting plate 222, a first servo 223, a ball turntable 224 and a plurality of copper pillars 225; the first connecting plate 221 is horizontally installed at the top of the main support rod 21, the ball turntable 224 is arranged above the first connecting plate 221, and is connected to the first connecting plate 221 through the copper pillars 225, the first servo 223 is installed on the first connecting plate 221, and the output shaft is connected to the ball turntable 224, one end of the second connecting plate 222 is arranged at the top of the ball turntable 224, and rotates with the rotation of the ball turntable 224, and the first servo 223 is connected to the control mechanism.

[0051] It should be noted that: in the technical solution of the present utility model, the output shaft of the first steering gear 223 is coaxially arranged with the ball turntable 224 .

[0052] The beneficial effect of adopting the above preferred solution is that the first servo engine is conducive to driving the second connecting plate to rotate by driving the ball turntable, thereby realizing the rotation of the second displacement device and the clamping device installed on the second connecting plate in space.

[0053] Preferably, Figure 1 and Figure 3 As shown, the second displacement device 23 includes: a stepper motor 231, a lead screw 232, a lead screw nut 233, a third connecting plate 234, a plurality of optical axes 235, a plurality of flanges 236 and a fixing plate 237; the stepper motor 231 is installed at one end of the second connecting plate 222 away from the ball turntable 224, and the output shaft is connected to one end of the lead screw 232 through a coupling, and the other end of the lead screw 232 is rotatably connected to the fixing plate 237, and the lead screw nut 233 is rotatably connected to the fixing plate 237. 33 is sleeved on the lead screw 232 and moves up and down with the rotation of the lead screw 232. The third connecting plate 234 is fixedly sleeved on the lead screw nut 233. The plurality of flanges 236 are sleeved on the plurality of optical axes 235 in a one-to-one manner. The third connecting plate 234 is sleeved on the flanges 236. The two ends of the optical axis 235 are connected to the second connecting plate 222 and the fixed plate 237 in a one-to-one manner. The stepping motor 231 is connected to the control mechanism.

[0054] The beneficial effect of adopting the above-mentioned preferred scheme is that the stepper motor is conducive to driving the screw nut and the third connecting plate fixedly connected to the screw nut to move up and down by driving the screw to rotate, thereby causing the clamping device installed on the third connecting plate to move up and down, and the optical axis and flange are conducive to improving the stability of the screw nut and the third connecting plate when they move up and down.

[0055] Preferably, Figures 1 to 4As shown, the clamping device 24 includes: a second servo 241, a mechanical claw 242 and a right-angle connector 243; the two sides of the right-angle connector 243 are connected to the third connecting plate 234 and the mechanical claw 242 in a one-to-one correspondence, the output shaft of the second servo 241 is connected to the mechanical claw 242, and the second servo 241 is connected to the control mechanism.

[0056] It should be noted that: in the preferred embodiment of the present invention, since the mechanical claw 242 is a prior art, its specific structure is not described; the mechanical claw 242 is a double-gear hand claw, and the claw piece type is a toothed claw.

[0057] The beneficial effect of adopting the above preferred solution is that the second servo engine is conducive to the opening and clamping of the mechanical claws, thereby realizing the taking and placing of the medicine package and the pot lid.

[0058] Preferably, Figure 1 and Figure 5 As shown, the water injection and drug absorption mechanism 3 includes: a fixed support plate 31, a water injection device 32 and a drug absorption device 33; the fixed support plate 31 is a T-shaped rod structure installed on the main frame 11, and the water injection device 32 and the drug absorption device 33 are both installed on the fixed support plate 31 and are connected to the decoction pot 5.

[0059] The beneficial effects of adopting the above preferred scheme are: fixing the support plate is conducive to fixing the water injection equipment and the medicine suction equipment, the water injection equipment is conducive to injecting water into the decoction pot, and the medicine suction equipment is conducive to sucking out the decocted Chinese medicine liquid in the decoction pot.

[0060] Preferably, Figure 1 and Figure 5 As shown, the water injection device 32 includes: a water tank 321, a water suction pipe 322, a water injection pipe 323 and a first pump 324, the first pump 324 is installed on the fixed support plate 31, the two ends of the water suction pipe 322 are connected to the first pump 324 and the water tank 321 in a one-to-one correspondence, and the two ends of the water injection pipe 323 are connected to the first pump 324 and the decoction pot 5 in a one-to-one correspondence;

[0061] The medicine suction device 33 includes: a Chinese herbal liquid cup 331, a liquid injection pipe 332, a liquid suction pipe 333 and a second pump 334, wherein the second pump 334 is mounted on the fixed support plate 31, and the two ends of the liquid injection pipe 332 are connected to the second pump 334 and the Chinese herbal liquid cup 331 in a one-to-one correspondence, and the two ends of the liquid suction pipe 333 are connected to the second pump 334 and the decoction pot 5 in a one-to-one correspondence;

[0062] The first pump 324 and the second pump 334 are both connected to the control mechanism.

[0063] It should be noted that: in the preferred embodiment of the utility model, the first pump 324 and the second pump 334 are both provided with shock-proof soft rings; the water suction pipe 322, the water injection pipe 323, the drug injection pipe 332 and the drug suction pipe 333 are all made of food-grade rubber.

[0064] The beneficial effects of adopting the above-mentioned preferred scheme are: the water suction pipe and the water injection pipe cooperate with the first pump to facilitate injecting water in the water tank into the decoction pot; the medicine liquid pipe and the medicine liquid suction pipe cooperate with the second pump to facilitate sucking the decocted Chinese medicine liquid in the decoction pot into the Chinese herbal medicine liquid cup.

[0065] Preferably, Figure 1 and Figure 6 As shown, the button control mechanism 4 includes: a fixed connecting plate 41, a plurality of push-pull electromagnets 42 and a plurality of conductive iron sheets 43; the fixed connecting plate 41 is a plate-like structure installed on the main frame 11, and the plurality of push-pull electromagnets 42 are all installed on the fixed connecting plate 41, and are connected one by one with the plurality of conductive iron sheets 43 under the action of the control mechanism, and the conductive iron sheets 43 are electrically connected to the decoction pot 5.

[0066] The beneficial effect of adopting the above preferred solution is that after the push-pull electromagnet is connected to the conductive iron sheet under the action of the control mechanism, it is beneficial to realize the functions of opening and closing, timing, mode selection, etc. of the decoction pot.

[0067] It should be noted that: in a preferred embodiment of the present invention, the first connecting plate 221, the second connecting plate 222, the third connecting plate 234 and the fixed connecting plate 41 are all made of acrylic material.

[0068] The working process of the utility model is described below by an embodiment:

[0069] like Figures 1 to 6 As shown, first, the control mechanism sends a command to the first steering gear 223 and the stepping motor 231 to move the clamping device 24 to the lid of the decoction pot 5 in space, and controls the second steering gear 241 to rotate forward to open the mechanical claw 242 to clamp the lid of the decoction pot 5;

[0070] Then, the first steering gear 223 and the stepping motor 231 are further commanded to make the mechanical claw 242 that has clamped the pot lid move the pot lid to above the pot lid placement platform 132, and then control the second steering gear 241 to reverse, release the pot lid, and place the pot lid on the pot lid placement platform 132;

[0071] Then, the first steering gear 223 and the stepper motor 231 are continuously commanded to move the mechanical claw 242 to the medicine package placement table 134, and then the second steering gear 241 is controlled to rotate forward again, so that the mechanical claw 242 grabs the medicine package;

[0072] Then, the first steering gear 223 and the stepping motor 231 are further commanded to make the mechanical claw 242 that has clamped the medicine bag place the medicine bag on the top of the decoction pot 5, and then the second steering gear 241 is controlled to reverse again, release the medicine bag, and put the medicine bag into the decoction pot 5;

[0073] Then, the control mechanism sends a command to the first pump 324, so that the purified water in the water tank 321 is pumped into the decoction pot 5. At this time, the decoction pot 5 contains the medicine bag and purified water required for decocting Chinese medicine.

[0074] Finally, the control mechanism sends a command to the push-pull electromagnet 42, so that the push-pull electromagnet 42 and the conductive iron sheet 43 are connected, thereby realizing the opening and timing functions of the decoction pot 5;

[0075] After the decoction is finished, the second pump 334 is started to suck the decocted Chinese medicinal liquid in the decoction pot 5 into the Chinese herbal liquid cup 331 for people to use at home.

[0076] Compared with the prior art, the beneficial effects of the utility model are:

[0077] 1. In this application, a manipulator grasping mechanism is used to realize the opening and closing and placement of the pot lid and the delivery of the medicine bag. Two DC water pumps are used to complete the work of injecting water into the decoction pot and extracting the decocted medicine liquid. At the same time, a push-pull electromagnet is used to realize the function of activating the button of the common conductive copper sheet, thereby realizing intelligent automation.

[0078] 2. The mechanical claw grasping mechanism in this application adopts a SCARA type mechanical arm with two rotating joints whose axes are parallel to each other for positioning and orientation in the plane. The other joint is a moving joint used to complete the movement of the end piece perpendicular to the plane. This structure is simple and responds quickly.

[0079] 3. The two pumps in this application are fixed on the main structure frame through shock-proof pads, which have low noise and more stable operation, and are suitable for home use.

[0080] 4. In this application, the on-site working conditions are filmed and uploaded to the Internet through the ESP32-CAM module. Users can access the fixed IP address to view the on-site conditions in real time and send instructions to the module to realize the function of remote viewing and control of Chinese herbal medicine decoction.

[0081] 5. In this application, the ball turntable plays the role of fixing and rotating the clamping device, with the main frame fixed at the bottom and the grabbing platform fixed at the top, which greatly improves the rotation stability of the clamping device.

[0082] 6. The main frame of this application can bear the weight of the mechanisms and components used and ensure that the structures of each platform are stable and without shaking during operation; the mechanical structure can accurately complete all expected functions; the equipment has good waterproof and oil-proof properties to ensure that it can operate for a long time in a kitchen environment; the equipment is cost-effective and has a simple and beautiful appearance.

[0083] 7. The hardware system in this application works stably and has a long working life; it consumes little energy and can work for a long time; the system has strong anti-interference ability and fast response, which can ensure the stability of remote monitoring work; and it has good human-computer interaction performance.

[0084] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0085] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0086] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0089] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A household Chinese medicine decoction device, characterized in that: include: A frame mechanism (1), a manipulator grasping mechanism (2), a water injection and medicine absorption mechanism (3), a key control mechanism (4), a decoction pot (5) and a control mechanism; The manipulator grasping mechanism (2), the water injection and medicine absorption mechanism (3) and the key control mechanism (4) are all mounted on the frame mechanism (1) and are connected to the control mechanism; the decoction pot (5) is arranged in the middle of the frame mechanism (1) and is connected to the key control mechanism (4).

2. A household Chinese medicine decoction device according to claim 1, characterized in that: The frame mechanism (1) comprises: a main frame (11), a camera device (12) and a storage device (13), wherein the camera device (12) and the storage device (13) are both installed on the main frame (11).

3. A household Chinese medicine decoction device according to claim 2, characterized in that: The camera device (12) comprises a camera column (121) and a camera (122); the camera column (121) is a rod-shaped structure vertically mounted on the main frame (11); the camera (122) is arranged at the top of the camera column (121); and the camera (122) is connected to the control mechanism; The storage device (13) comprises a storage column (131), a pot lid placement platform (132), a loading platform connecting plate (133) and a medicine bag placement platform (134); the storage column (131) is a rod-shaped structure vertically mounted on the main frame (11); the pot lid placement platform (132) is arranged at the top of the storage column (131); the pot lid placement platform (132) and the medicine bag placement platform (134) are connected via the loading platform connecting plate (133).

4. A household Chinese medicine decoction device according to claim 2, characterized in that: The manipulator grasping mechanism (2) comprises: a main support rod (21), a first displacement device (22), a second displacement device (23) and a clamping device (24); the main support rod (21) is a rod-shaped structure vertically installed on the main frame (11), the first displacement device (22) is rotatably installed on the top of the main support rod (21), the second displacement device (23) is installed at an end of the first displacement device (22) away from the main support rod (21), and the clamping device (24) is installed on the second displacement device (23) so as to be displaceable up and down.

5. A household Chinese medicine decoction device according to claim 4, characterized in that: The first displacement device (22) comprises: a first connecting plate (221), a second connecting plate (222), a first steering gear (223), a ball turntable (224) and a plurality of copper pillars (225); the first connecting plate (221) is horizontally mounted on the top of the main support rod (21); the ball turntable (224) is arranged above the first connecting plate (221) and is connected to the first connecting plate (221) via the copper pillars (225); the first steering gear (223) is mounted on the first connecting plate (221) and an output shaft is connected to the ball turntable (224); one end of the second connecting plate (222) is arranged at the top of the ball turntable (224) and rotates with the rotation of the ball turntable (224); the first steering gear (223) is connected to the control mechanism.

6. A household Chinese medicine decoction device according to claim 5, characterized in that: The second displacement device (23) comprises: a stepper motor (231), a lead screw (232), a lead screw nut (233), a third connecting plate (234), a plurality of optical axes (235), a plurality of flanges (236) and a fixing plate (237); the stepper motor (231) is mounted on an end of the second connecting plate (222) away from the ball turntable (224), and the output shaft is connected to one end of the lead screw (232) through a coupling, the other end of the lead screw (232) is rotatably connected to the fixing plate (237), and the lead screw nut (233) is rotatably connected to the fixing plate (237). The third connecting plate (233) is sleeved on the lead screw (232) and moves up and down with the rotation of the lead screw (232). The third connecting plate (234) is fixedly sleeved on the lead screw nut (233). The plurality of flanges (236) are sleeved on the plurality of optical axes (235) in a one-to-one correspondence. The third connecting plate (234) is sleeved on the flanges (236). The two ends of the optical axis (235) are connected to the second connecting plate (222) and the fixed plate (237) in a one-to-one correspondence. The stepping motor (231) is connected to the control mechanism.

7. A household Chinese medicine decoction device according to claim 6, characterized in that: The clamping device (24) comprises: a second steering gear (241), a mechanical claw (242) and a right-angle connecting piece (243); two sides of the right-angle connecting piece (243) are connected to the third connecting plate (234) and the mechanical claw (242) in a one-to-one correspondence, an output shaft of the second steering gear (241) is connected to the mechanical claw (242), and the second steering gear (241) is connected to the control mechanism.

8. A household Chinese medicine decoction device according to claim 2, characterized in that: The water injection and medicine absorption mechanism (3) comprises: a fixed support plate (31), a water injection device (32) and a medicine absorption device (33); the fixed support plate (31) is a T-shaped rod structure installed on the main frame (11); the water injection device (32) and the medicine absorption device (33) are both installed on the fixed support plate (31) and are both connected to the decoction pot (5).

9. A household Chinese medicine decoction device according to claim 8, characterized in that: The water injection device (32) comprises: a water tank (321), a water suction pipe (322), a water injection pipe (323) and a first pump (324); the first pump (324) is mounted on the fixed support plate (31); two ends of the water suction pipe (322) are connected to the first pump (324) and the water tank (321) in a one-to-one correspondence; and two ends of the water injection pipe (323) are connected to the first pump (324) and the boiling pot (5) in a one-to-one correspondence. The medicine aspirating device (33) comprises: a Chinese herbal medicine liquid cup (331), a medicine liquid injection pipe (332), a medicine liquid aspirating pipe (333) and a second pump (334); the second pump (334) is mounted on the fixed support plate (31); two ends of the medicine liquid injection pipe (332) are connected to the second pump (334) and the Chinese herbal medicine liquid cup (331) in a one-to-one correspondence; and two ends of the medicine liquid aspirating pipe (333) are connected to the second pump (334) and the decoction pot (5) in a one-to-one correspondence. The first pump (324) and the second pump (334) are both connected to the control mechanism.

10. A household Chinese medicine decoction device according to claim 2, characterized in that: The key control mechanism (4) comprises: a fixed connection plate (41), a plurality of push-pull type electromagnets (42) and a plurality of conductive iron sheets (43); the fixed connection plate (41) is a plate-shaped structure mounted on the main frame (11); the plurality of push-pull type electromagnets (42) are mounted on the fixed connection plate (41) and are connected one by one to the plurality of conductive iron sheets (43) under the action of the control mechanism; the conductive iron sheets (43) are electrically connected to the decoction pot (5).

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