Push-pull device of medicine decocting pot

Abstract

The utility model discloses a push-pull device for a medicine decocting pot. The push-pull device comprises a carrying platform and a push-pull mechanism, the loading platform is used for storing a medicine decocting pot, the push-pull mechanism is arranged on the loading platform, and the push-pull mechanism can drive the medicine decocting pot to move between the loading platform and a medicine decocting station; the medicine decocting stations can be located at any end or two ends of the push-pull mechanism in the push-pull direction. According to the medicine decocting pot push-pull device disclosed by the utility model, the taking and placing steps are simplified, and the medicine decocting pot can be taken and placed in two directions.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic food and medicine processing, and particularly relates to a pushing and pulling device for a decocting pot. Background Art

[0002] In the traditional automatic production line for decocting traditional Chinese medicine, a 6-axis industrial robot is used to pick up and place the decocting pot. The robot is installed on a ground rail and driven by a servo motor to drive a rack and pinion mechanism to realize the displacement of the robot.

[0003] In this transportation method, the 6-axis industrial robot has 6 degrees of freedom. Therefore, a relatively large working space needs to be provided for the 6-axis industrial robot. At the same time, the decocting pot and the weight of the traditional Chinese medicine decoction in the decocting pot are relatively large. During the process of the industrial robot picking up and placing the decocting pot, lifting and lowering actions need to be made. The industrial robot cannot effectively bear the weight of the decocting pot and the traditional Chinese medicine decoction in the decocting pot, resulting in a risk of the decocting pot tipping over during the process of the industrial robot picking up and placing the decocting pot, and there are potential safety hazards. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a pushing and pulling device for a decocting pot, which reduces the degrees of freedom required to realize picking up and placing the pot, requires a smaller working space, and uses a pushing and pulling action to move the decocting pot, so as to solve the technical problems existing in the prior art.

[0005] To solve the above technical problems, the utility model specifically provides the following technical solutions:

[0006] A pushing and pulling device for a decocting pot, comprising: a load platform for storing the decocting pot; a pushing and pulling mechanism arranged on the load platform; the pushing and pulling mechanism can drive the decocting pot to move between the load platform and the decocting station; wherein, the decocting station is located at any one or both ends in the pushing and pulling direction of the pushing and pulling mechanism.

[0007] Further, the pushing and pulling mechanism includes two parallel push rods, a pushing and pulling block arranged at the end of the push rod, and a driving device capable of driving the push rod to perform a linear reciprocating motion along its own length direction; wherein, the push rod is arranged on the plane of the load platform for storing the decocting pot along the moving path of the decocting pot between the load platform and the decocting station; the pushing and pulling block can apply an external force to the decocting pot during the movement of the push rod to drive the decocting pot to move between the load platform and the decocting station.

[0008] Further, the driving device includes a first motor, a driving gear arranged at the output end of the first motor, and a gear set; a rack is arranged at the bottom of the push rod, there are two groups of the gear sets, and the input gears in the two groups of gear sets are respectively meshed with the two racks; the driving gear is meshed with the input gear of one of the groups of gear sets, and the input gears of the two groups of gear sets are synchronously driven through a transmission shaft.

[0009] Further, on the plane of the loading platform for storing the decocting pot, guide rails are respectively arranged on the outer sides of the two push rods, and sliders capable of sliding along the guide rails are arranged on the push rods; the two guide rails are arranged along the moving path of the decocting pot between the loading platform and the decocting station to prevent interference between the pushing and pulling block and the decocting pot.

[0010] Further, the pushing and pulling block can rotate in a plane perpendicular to the push rod, so as to prevent the pushing and pulling block from contacting the decocting pot before the pushing and pulling block moves to the force application position of the decocting pot and during the reset process of the push rod, thereby restricting the movement of the push rod.

[0011] Further, the pushing and pulling blocks are arranged at both ends of the push rod and are rotatably connected to the push rod, and the pushing and pulling blocks at both ends of the same push rod are connected by a connecting rod; a second motor is arranged on the side edge of the loading platform parallel to the connecting rod, the output shaft of the second motor is arranged parallel to the connecting rod, and a hinged double connecting rod mechanism is vertically arranged between the output shaft and the connecting rod, and both ends of the double connecting rod mechanism are rotatably connected to the output shaft and the connecting rod respectively.

[0012] Further, it further includes a base for carrying the decocting pot, and convex platforms are symmetrically arranged on the two parallel side edges of the base, and the convex platforms are the positions where the pushing and pulling blocks apply external force to the decocting pot.

[0013] Further, a roller conveyor line is arranged on the plane of the loading platform for storing the decocting pot along the moving direction of the decocting pot.

[0014] Further, guide strips are respectively arranged on both sides of the roller conveyor line on the loading platform, and the inner sides of the ends of the guide strips are chamfered so that the two ends of the two guide strips are in a V shape.

[0015] The utility model has the following beneficial effects compared with the prior art:

[0016] The push-pull device for the decocting pot provided by the present utility model adopts a push-pull action to move the decocting pot between the loading platform and the decocting station, requiring only one degree of freedom in one direction. At the same time, based on the loading platform, the decocting pot is moved by a push-pull action, ignoring the influence of the weight of the decocting pot and the traditional Chinese medicine decoction inside it during the movement, reducing the risk of the decocting pot tipping over and eliminating potential safety hazards. Brief Description of the Drawings

[0017] In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0018] Figure 1 It is a schematic structural diagram of the push-pull device for the decocting pot provided by the present utility model;

[0019] Figure 2 It is the front view of the push-pull device for the decocting pot of the present utility model;

[0020] Figure 3 It is a schematic structural diagram of the push-pull mechanism in the present utility model;

[0021] Figure 4 It is a schematic structural diagram of the rotation of the push-pull block in the present utility model;

[0022] Figure 5 It is a schematic structural diagram of the base supporting the pot;

[0023] Figure 6 It is a schematic structural diagram of the loading platform in the present utility model;

[0024] Figure 7 It is a schematic structural diagram of the push-pull device for the decocting pot in the working state.

[0025] The reference numerals in the drawings are respectively represented as follows:

[0026] 1 - Loading platform, 11 - Roller conveyor line, 12 - Guide bar;

[0027] 2 - Push-pull mechanism, 21 - Push rod, 22 - Push-pull block, 23 - First motor, 24 - Driving gear, 25 - Gear set, 251 - Input gear, 252 - Output gear, 26 - Rack, 27 - Transmission shaft, 28 - Guide rail, 29 - Slide block, 20 - Limit block, 200 - Reducer;

[0028] 221 - Second motor, 222 - Double-link mechanism, 223 - Rotating seat, 224 - Link, 225 - Linear bearing;

[0029] 5 - Decoction - making station, 6 - Decoction - making pot, 7 - Decoction - making area, 8 - Track, 9 - Mobile trolley, 61 - Base, 62 - Boss. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0031] As Figure 1 and Figure 2 shown, the present utility model provides a detailed implementation manner of a pushing - pulling device for a decoction - making pot, including a load - carrying platform 1 and a pushing - pulling mechanism 2.

[0032] In this implementation manner, the load - carrying platform 1 is used to store the decoction - making pot 6; in other application scenarios, it can also be used to store other objects.

[0033] The pushing - pulling mechanism 2 is arranged on the load - carrying platform 1; the pushing - pulling mechanism 2 can drive the decoction - making pot 6 to move between the load - carrying platform 1 and the decoction - making station 5 through pushing or pulling actions; wherein, the decoction - making station 5 is located at any one or both ends in the pushing - pulling direction of the pushing - pulling mechanism 2.

[0034] In other application scenarios, the pushing - pulling device for the decoction - making pot can be used to pick up and place any object from any target position.

[0035] An embodiment of the pushing - pulling mechanism is provided in this implementation manner, specifically as Figure 3 shown:

[0036] The pushing - pulling mechanism 2 includes two parallel push rods 21, a pushing - pulling block 22 arranged at the end of the push rod 21, and a driving device capable of driving the push rod 21 to perform linear reciprocating motion along its own length direction.

[0037] Among them, the push rod 21 is arranged along the path of the pot moving between the load - carrying platform 1 and the decoction - making station, specifically arranged along the direction parallel to the central axis of the load - carrying platform 1, and arranged on the plane of the load - carrying platform 1 for storing the pot.

[0038] The pushing - pulling block 22 can contact the pot during the movement of the push rod 21 and apply an external force to the pot to drive the pot to move between the load - carrying platform 1 and the decoction - making station.

[0039] In this embodiment, the driving device includes a first motor 23, a driving gear 24 disposed at the output end of the first motor 23, and a gear set 25. A rack 26 is provided at the bottom of each of the two push rods 21. There are two sets of gear sets 25, and the input gears 251 in the two sets of gear sets 25 are respectively engaged with the two racks 26. The driving gear 24 is engaged with the input gear 251 of one of the two sets of gear sets 25, and the input gears 251 of the two sets of gear sets 25 are synchronously driven through a transmission shaft 27.

[0040] Wherein, the output shaft of the first motor 23 drives the driving gear 24 to rotate through a speed reducer 200.

[0041] In this embodiment, on the plane of the load platform 1 for storing the cookware, guide rails 28 are respectively provided inside or outside the two push rods 21. Sliders 29 capable of sliding along the guide rails are provided on the push rods 21. The two sets of guide rails 28 are arranged along the path of the decocting cookware moving between the load platform 1 and the decocting station 5, so that the push rods 21 can move along the path. Limit blocks 20 are provided at both ends of the guide rails 28, and are in contact with the limit blocks 20 and the sliders 29 to limit the stroke of the push rods 21.

[0042] During the movement of the push rod 21, interference may occur between the push-pull block 22 and the cookware.

[0043] For example, during the process of taking the cookware from the decocting station, the push rod 21 applies a force to the cookware from the back of the cookware (with the side facing the load platform 1 as the front). Therefore, during the movement of the push rod 21 towards the cookware, the cookware will block the push-pull block 22, making the push rod 21 unable to continue moving towards the cookware.

[0044] During the process of placing the cookware on the load platform 1 onto the decocting station, the initial position of the cookware is located in the middle of the load platform 1, between the push-pull blocks 22 at both ends of the push rod 21. Therefore, after the push-pull block 22 at one end of the push rod 21 pushes the cookware into the decocting station, during the reset process of the push rod 21, the cookware will block the push-pull block 22 at the other end of the push rod 21, making the push rod 21 unable to continue moving towards the cookware.

[0045] To avoid the above situation, in this embodiment, the push-pull block 22 can rotate in a plane perpendicular to the push rod 21, so as to avoid contact between the push-pull block 22 and the cookware before the push-pull block 22 moves to the force application position of the cookware and during the reset process of the push rod 21, and avoid interference between the push-pull block 22 and the cookware.

[0046] Furthermore, this embodiment provides an embodiment of the push-pull block, specifically as Figure 4 shown:

[0047] Both ends of the push rod 21 are provided with rotating seats 223, and the push-pull block 22 is rotatably connected to the rotating seat 223, so that the push-pull block 22 can rotate in a plane perpendicular to the push rod 21.

[0048] Furthermore, the push-pull blocks 22 at both ends of the same push rod 21 are connected by a connecting rod 224; the carrying platform 1 is provided with a second motor 221 at the edge parallel to the connecting rod 224, the output shaft of the second motor 221 is arranged parallel to the connecting rod, and a hinged double-link mechanism 222 is vertically arranged between the output shaft and the connecting rod 224. Both ends of the double-link mechanism 222 are rotatably connected to the output shaft and the connecting rod 224 respectively.

[0049] Among them, the connecting rod 224 will move along with the movement of the push rod 21; therefore, a linear bearing 225 is provided at one end of the double-link mechanism 222 connected to the connecting rod 224. The linear bearing 225 is sleeved outside the connecting rod 224 to facilitate the linear movement of the connecting rod 224.

[0050] When the push rod 21 makes a linear reciprocating motion, it can drive the push-pull block 22 to make a synchronous linear reciprocating motion; during this process, the second motor 221 can drive the push-pull block 22 to make a rotational motion through the double-link mechanism 222.

[0051] Furthermore, since the cooking pot 6 is cylindrical, in order to facilitate the push-pull block 22 to apply an external force to the cooking pot 6, in this embodiment, as Figure 5 shown, the cooking pot 6 is equipped with a base 61, and convex platforms 62 are symmetrically arranged on two parallel side edges of the base 61. The convex platforms 62 are the positions where the push-pull block 22 applies an external force to the cooking pot 6.

[0052] In order to facilitate the movement of the cooking pot, as Figure 6 shown, a roller conveyor line 11 is arranged on the carrying platform 1 along the moving direction of the cooking pot, converting the sliding friction between the bottom of the cooking pot and the carrying platform 1 into rolling friction to facilitate the movement of the cooking pot.

[0053] Furthermore, guide strips 12 are arranged on both sides of the carrying platform 1 along the moving direction of the cooking pot. The inner sides of the ends of the guide strips 12 are chamfered so that the two ends of the two guide strips 12 are in a V shape, facilitating the medicinal cooking pot 6 to enter the carrying platform 1 from the medicinal cooking station 5.

[0054] This device can perform the picking and placing actions of the medicinal cooking pot 6 at the double-sided medicinal cooking station 5.

[0055] If this device is installed on a lifting device, it can perform the picking and placing actions of the medicinal cooking pot 6 at multiple-layer medicinal cooking stations 5.

[0056] If this device is installed on a walking device, it can perform the picking and placing actions of the medicinal cooking pot 6 at multiple-row medicinal cooking stations 5.

[0057] AsFigure 7 As shown in the figure, this embodiment provides a specific application scenario for the pushing and pulling device of the decocting pot. The pushing and pulling device of the decocting pot is arranged on the moving trolley 9, and the moving trolley 9 moves along the track 8 laid on the ground.

[0058] Among them, there are multiple decocting stations 5, and the multiple decocting stations 5 are distributed on both sides of the track 8 to form two decocting areas 7.

[0059] The height of the loading platform 1 is set such that the loading platform 1 is at the same height as the decocting station 5, so that the decocting pot can slide into the decocting station 5 from the loading platform 1, or slide into the loading platform 1 from the decocting station 5.

[0060] The size of the loading platform 1 is set such that during the movement of the loading platform 1, the edge of the loading platform 1 is close to the decocting station 5 to avoid too large an interval between the two, so that the pot 6 can slide smoothly between the two; and during the movement of the loading platform 1, there is no interference between the loading platform 1 and the decocting stations 5 on both sides of the loading platform 1.

[0061] Pushing the decocting pot from the loading platform of the device to the decocting station is called putting the pot; pulling the decocting pot from the decocting station to the loading platform of the device is called taking the pot.

[0062] When taking the pot is needed, the pushing and pulling device of the decocting pot aligns with the decocting station, the pushing and pulling linear mechanism extends to the target position, the pushing and pulling piece rotates a certain angle, and the pushing and pulling linear mechanism contracts to pull the decocting pot to the pot-loading platform of the pushing and pulling device of the decocting pot, completing the action of taking the pot.

[0063] When putting the pot is needed, the pushing and pulling device of the decocting pot aligns with the decocting station. After the pushing and pulling linear mechanism moves to the target position, the pushing and pulling piece rotates a certain angle, the pushing and pulling linear mechanism extends to push the pot to the pot-putting station, the pushing and pulling piece rotates back to the initial position, and the pushing and pulling linear mechanism contracts back to the starting position, completing the action of putting the pot.

[0064] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present application, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present application.

Claims

1. A push-pull device for a decocting pot, characterized in that, Comprising: A load platform (1) for storing a decocting pot (6); A push-pull mechanism (2) disposed on the load platform (1); the push-pull mechanism (2) can drive the decocting pot (6) to move between the load platform (1) and the decocting station (5) through a pushing or pulling action; Wherein, the decocting station (5) is located at any one or both ends in the push-pull direction of the push-pull mechanism (2).

2. The push-pull device for decocting medicine pot according to claim 1, characterized in that The push-pull mechanism (2) includes two parallel push rods (21), a push-pull block (22) disposed at the end of the push rod (21), and a driving device capable of driving the push rod (21) to perform a linear reciprocating motion along its own length direction; Wherein, the push rod (21) is arranged along the path of the decocting pot (6) moving between the load platform (1) and the decocting station (5), and is disposed on the plane of the load platform (1) for storing the decocting pot (6); The push-pull block (22) can apply an external force to the decocting pot (6) during the movement of the push rod (21), so as to drive the decocting pot (6) to move between the load platform (1) and the decocting station (5) along with the push rod (21).

3. The decoction pot push-pull device according to claim 2, characterized in that, The driving device includes a first motor (23), a driving gear (24) disposed at the output end of the first motor (23), and a gear set (25); A rack (26) is disposed at the bottom of the push rod (21), and there are two sets of gear sets (25). The input gears (251) in the two sets of gear sets (25) are respectively engaged with the two racks (26); the driving gear (24) is engaged with the input gear (251) of one of the sets of gear sets (25), and the input gears (251) of the two sets of gear sets (25) are synchronously driven through a transmission shaft (27).

4. The push-pull device for the decocting pot according to claim 3, characterized in that, On the plane of the load platform (1) for storing the decocting pot (6), guide rails (28) are respectively disposed outside the two push rods (21), and sliders (29) capable of sliding along the guide rails are disposed on the push rods (21); the two sets of guide rails (28) are arranged along the path of the decocting pot (6) moving between the load platform (1) and the decocting station (5), so that the push rod (21) can move along the path.

5. The push-pull device for decocting pot according to claim 4, characterized in that, The push-pull block (22) can rotate in a plane perpendicular to the push rod (21) to avoid interference between the push-pull block (22) and the decocting pot (6) before the push-pull block (22) moves to the force-applying position of the decocting pot (6) and during the reset process of the push rod (21).

6. The push-pull device for the decocting pot according to claim 5, wherein, The push-pull blocks (22) are disposed at both ends of the push rod (21) and are rotatably connected to the push rod (21). The push-pull blocks (22) at both ends of the same push rod (21) are connected by a connecting rod (224); The loading platform (1) is provided with a second motor (221) on a side parallel to the connecting rod (224). The output shaft of the second motor (221) is arranged parallel to the connecting rod (224). A double-link mechanism (222) is vertically and hingedly arranged between the output shaft and the connecting rod (224). Two ends of the double-link mechanism (222) are respectively rotatably connected to the output shaft and the connecting rod (224).

7. The push-pull device for the decocting pot according to claim 6, wherein, It further includes a base (61) for carrying the decocting pot (6). On two parallel side edges of the base (61), bosses (62) are symmetrically arranged. The bosses (62) are positions where the push-pull block (22) applies an external force to the decocting pot (6).

8. The decoction pot push-pull device according to claim 1 or 7, characterized in that, On the plane of the loading platform (1) for storing the decocting pot (6), a roller conveyor line (11) is arranged along the moving direction of the decocting pot (6).

9. The decocting pot push-pull device according to claim 8, wherein, On both sides of the roller conveyor line (11) of the loading platform (1), guiding strips (12) are respectively arranged. The inner sides of the ends of the guiding strips (12) are chamfered so that the two ends of the two guiding strips (12) are in a V shape.

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