Double-fork transplanting robot

Abstract

The utility model relates to a double-fork transplanting robot which is characterized in that the double-fork transplanting robot comprises a longitudinal rail which is located between two rows of medicine decocting tanks and extends longitudinally, a vertical frame and a vertical frame driving structure which drives the vertical frame to move on the longitudinal rail are arranged on the longitudinal rail, and a supporting frame is arranged on the vertical frame through a lifting structure. Two transverse rails are arranged on the supporting frame, the two transverse rails are distributed on the same plane in the longitudinal direction, each transverse rail is provided with a supporting rod, the supporting frame is provided with a supporting rod driving structure for driving the supporting rods to move on the transverse rails, and the supporting rods can move to stretch out of the supporting frame. The medicine decocting pot transfer device has the advantages that the medicine decocting pots can be transferred between the two rows of medicine decocting pots, and the problem that corresponding equipment can be transferred between the two rows of medicine decocting pots is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of traditional Chinese medicine production, especially to a double-fork transplanting robot. BACKGROUND

[0002] The decoction is suitable for TCM syndrome differentiation and treatment, and the principle of adding or subtracting according to symptoms. In addition to the characteristics of simple preparation, wide solvent source, no irritation and no side effects, it also has the advantages of liquid preparation, that is, rapid absorption and rapid drug efficacy. Decoction is the most widely used dosage form in clinical practice.

[0003] In the early development of traditional Chinese medicine, cooking utensils were mostly food utensils. In ancient times, because raw materials were easy to obtain and the manufacturing cost was low, pottery medicine brewing utensils were widely used. At the same time, pottery vessels have stable chemical properties and have always been the main medicine brewing utensils.

[0004] With the development of the times and the promotion of urbanization, personal medicine brewing has gradually become a burden due to various factors, and traditional Chinese medicine decoction services are carried out in various places. Because traditional Chinese medicine decoction is a dialectical treatment, one prescription for one person, and a large amount of production relies on manual work. The current decoction machine mostly uses cloth bags to wrap and decoct, and due to the insolubility of the wrapped and decocted objects, combined with the squeezing and solid-liquid separation after decoction, part of the insoluble particles enter the medicine liquid, which seriously affects the quality of traditional Chinese medicine decoction; using cloth bags to wrap and soak and decoct makes it difficult to ensure that the effective part of the decoction is dissolved, which affects the curative effect. Large-scale decoction centers urgently need to introduce intelligent decoction equipment that follows the traditional decoction process to meet the growing demand for decoction and high-quality decoction services, improve decoction quality and management level, and promote the high-quality development of the decoction industry.

[0005] The existing decoction is to place the decoction pot (pot) one by one on a heating mechanism for decoction, and after decoction, the decoction pot is transferred away and then the next decoction pot is transferred to the heating mechanism for heating. This single layout method has the disadvantage of low decoction efficiency. Therefore, a method of decocting multiple decoction pots in two rows at the same time is designed, but there is currently a lack of equipment for transferring decoction pots between the two rows of decoction pots. Practical new type content

[0006] The utility model aims at providing a double-fork transplanting robot for transferring decoction pots between two rows of decoction pots, solving the problem of transferring between two rows of decoction pots.

[0007] The above technical problem is solved by the following technical scheme: a double-fork transplanting robot, characterized in that it comprises a longitudinal track extending between two rows of decocting pots, a stand is arranged on the longitudinal track, a stand driving structure is arranged on the longitudinal track to drive the stand to move on the longitudinal track, a holding frame is arranged on the stand through a lifting structure, two transverse tracks are arranged on the holding frame and are distributed on the same plane along the longitudinal direction, one holding rod is arranged on each of the transverse tracks, a holding rod driving structure is arranged on the holding frame to drive the holding rod to move on the transverse track, and the holding rod can move to extend out of the holding frame. In use, the holding rod driving structure drives the holding rod to extend transversely to be inserted below the hanging ear, then the lifting structure drives the holding frame to be lifted to lift the decocting pot, the holding rod driving structure drives the holding rod to be retracted to make the decocting pot reach above the holding frame, the stand driving structure drives the stand to move longitudinally to a set position, the holding rod driving structure drives the holding rod to move transversely to make the decocting pot reach the set position, the lifting structure drives the holding frame to be lowered to make the decocting pot rest at the corresponding position, and the holding rod driving structure drives the holding rod to be retracted to reset. The two rows of decocting pots can be conveniently transferred.

[0008] Preferably, the stand has two stands which are distributed along the longitudinal direction, and the directions in which the holding rods on the two stands extend out of the holding frame are opposite. The two rows of decocting pots can be independently operated at the same time.

[0009] Preferably, the holding frame is connected to the stand on only one side, the holding frames on the two stands are located between the two stands, and the lower ends of the two stands are connected together through a connecting frame. The two stands can be integrated and support each other.

[0010] Preferably, each stand is provided with two walking wheels which are distributed transversely, and the stand is supported on the longitudinal track through the walking wheels. The two stands can share the walking wheels to reduce the number of walking wheels.

[0011] Preferably, a supporting foot is arranged on the lower surface of the holding frame, and the supporting foot supports the connecting frame when the holding frame is lowered to the lowest position. The holding frame can be prevented from being damaged for long-term suspension.

[0012] Preferably, one end of the longitudinal track is provided with a limiting head, and the limiting head limits the stand. The contact can be prevented.

[0013] Preferably, the end of the limiting head away from the stand is provided with a longitudinal telescopic rod which is arranged in a connecting seat, a compression spring is arranged on the longitudinal telescopic rod, one end of the compression spring is connected to the limiting head, and the other end of the compression spring is connected to the connecting seat. The vibration generated when the limiting head contacts the connecting seat can be reduced.

[0014] As preferred, the supporting rod is provided with a sensor for detecting the decocting pot, and the sensor detects the decocting pot when the supporting rod is extended into the hanging ear to a set position.

[0015] The utility model has the beneficial effects that two rows of decocting pots can be transferred. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a top view schematic diagram of the utility model;

[0017] Figure 2 It is a partial enlarged schematic diagram of Figure 1

[0018] Figure 3 It is a partial enlarged schematic diagram of A of Figure 2

[0019] Figure 4 It is a front view schematic diagram of the utility model;

[0020] Figure 5 It is a partial enlarged schematic diagram of Figure 4

[0021] Figure 6 It is a partial enlarged schematic diagram of B of Figure 5

[0022] In the figure: decocting pot 1, hanging ear 2, bottom support 3, longitudinal rail 4, supporting frame 5, transverse rail 6, supporting rod 7, connecting frame 8, walking wheel 9, supporting leg 10, limiting top head 11, longitudinal telescopic rod 12, compression spring 13, sensor 14, vertical frame 15, connecting seat 16. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the utility model.

[0024] Referring to Figures 1 to 6 ​​​​A double-fork transplanting robot comprises a longitudinal track 4 extending between two rows of decocting pots 1. The two rows of decocting pots are distributed in a transverse direction, and the decocting pots in the same row are distributed in a longitudinal direction. The decocting pots are provided with hanging ears 2, and the decocting pots are arranged on a base 3, and the hanging ears are arranged on the base. The longitudinal track is provided with a vertical frame 15 and a vertical frame driving structure for driving the vertical frame to move on the longitudinal track (such as walking like a rail vehicle). The vertical frame is provided with a holding frame 5 through a lifting structure. The holding frame is provided with two transverse tracks 6 distributed in the same plane in a longitudinal direction. Each transverse track is provided with a holding rod 7. The holding frame is provided with a holding rod driving structure for driving the holding rod to move on the transverse track. The holding rod can move to extend out of the holding frame. In use, the holding rod driving structure drives the holding rod to extend transversely and insert below the hanging ear. Then the lifting structure drives the holding frame to rise and lift the decocting pot. The holding rod driving structure drives the holding rod to retract so that the decocting pot reaches above the holding frame. The vertical frame driving structure drives the vertical frame to move longitudinally to a set position. The holding rod driving structure drives the holding rod to move transversely so that the decocting pot reaches the set position. The lifting structure drives the holding frame to descend so that the decocting pot is placed in the corresponding position. The holding rod driving structure drives the holding rod to retract and reset. The vertical frame has two vertical frames distributed in a longitudinal direction. The holding rods of the two vertical frames extend in opposite directions out of the holding frame. The holding frame is connected to the vertical frame on one side. The holding frames on the two vertical frames are located between the two vertical frames. The lower ends of the two vertical frames are connected together through a connecting frame 8. Each vertical frame is provided with two walking wheels 9 distributed in a transverse direction. The vertical frame is supported on the longitudinal track through the walking wheels. The lower surface of the holding frame is provided with a supporting foot 10. When the holding frame is lowered to the lowest position, the supporting foot is supported on the connecting frame. One end of the longitudinal track is provided with a limiting head 11 for limiting the vertical frame. The end of the limiting head away from the vertical frame is provided with a longitudinal telescopic rod 12 penetrating through a connecting seat 16. The longitudinal telescopic rod is provided with a compression spring 13. One end of the compression spring is connected to the limiting head, and the other end is connected to the connecting seat. The holding rod is provided with a sensor 14 for detecting the decocting pot. When the length of the holding rod extending into the hanging ear reaches a set position, the sensor detects the decocting pot.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0026] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A dual-fork transplanting robot, characterized by, The vertical rail is arranged between two rows of decocting pots, and a vertical frame and a vertical frame driving structure for driving the vertical frame to move on the vertical rail are arranged on the vertical rail.

2. A double-fork transplanting robot according to claim 1, characterized in that, The vertical frame has two vertical frames which are arranged in a longitudinal direction, and the directions in which the holding rods of the two vertical frames extend out of the holding frame are opposite.

3. A double-fork transplanting robot according to claim 2, characterized in that, The holding frame is connected to the vertical frame on one side only, and the holding frames of the two vertical frames are arranged between the two vertical frames.

4. A double-fork transplanting robot according to claim 3, characterized in that, Each vertical frame is provided with two walking wheels which are arranged in a transverse direction, and the vertical frame is supported on the vertical rail by the walking wheels.

5. A double fork transplanting robot according to claim 3 or 4, characterized in that A supporting leg is arranged on the lower surface of the holding frame, and the supporting leg supports the connecting frame when the holding frame is lowered to the lowest position.

6. A double fork transplanting robot according to claim 1 or 2 or 3 or 4, characterized in that, One end of the vertical rail is provided with a limiting head which limits the vertical frame.

7. A double-fork transplanting robot according to claim 6, characterized in that, The end of the limiting head which is away from the vertical frame is provided with a longitudinal telescopic rod which is arranged in the connecting seat, a compression spring is sleeved on the longitudinal telescopic rod, one end of the compression spring is connected to the limiting head, and the other end of the compression spring is connected to the connecting seat.

8. A double fork transplanting robot according to claim 1 or 2 or 3 or 4, characterized in that, A sensor for detecting the decocting pot is arranged on the holding rod, and the sensor detects the decocting pot when the holding rod extends into the hanging ear to a set position.

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