Dynamic traditional chinese medicine decocting system

Abstract

The utility model discloses a kind of dynamic traditional chinese medicine decocting systems, comprising: decocting unit, wherein, the decocting unit includes mobile decocting machine, the mobile decocting machine is configured as the decocting bucket of being carried to be decocted and can heat decocting to the decocting bucket of being decocted;Control system is configured as control the mobile decocting machine moves along preset path, and control the mobile decocting machine is heated decocting to the decocting bucket of being decocted while moving dynamically, so that the mobile decocting machine reaches target position when decocting is completed.The utility model solves the technical problem that the production efficiency of existing traditional chinese medicine decocting system is low due to equipment fixed and relies on handling device, and pipeline is complex and not easy to maintain.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and more specifically, to a dynamic traditional Chinese medicine decoction system. Background Technology

[0002] Existing traditional Chinese medicine decoction systems typically employ a fixed layout, where one or more decoction devices are installed in a designated location. Robots or transport devices are required to move the decoction pots into the equipment for decoction, and the equipment remains stationary throughout the process. Because such equipment integrates decoction and rinsing modules, it results in complex piping structures, low cleaning efficiency, a high risk of residue buildup, and problems such as high installation costs and inconvenient maintenance.

[0003] There is currently no effective solution to the above problems. Utility Model Content

[0004] This utility model provides a dynamic Chinese medicine decoction system to at least solve the technical problems of low production efficiency and complex and difficult-to-maintain pipelines caused by the reliance on handling devices due to fixed equipment in existing Chinese medicine decoction systems.

[0005] According to one aspect of the present invention, a dynamic traditional Chinese medicine decoction system is provided, comprising: a decoction unit, wherein the decoction unit includes a mobile decoction machine configured to carry a decoction container to be decocted and to heat and decoct the container; and a control system configured to control the mobile decoction machine to move along a preset path and to control the mobile decoction machine to heat and decoct the container while moving dynamically, so that the mobile decoction machine reaches a target position when the decoction is completed. This solution solves the technical problems of low production efficiency and complex, difficult-to-maintain pipelines in existing traditional Chinese medicine decoction systems due to the reliance on fixed equipment and handling devices.

[0006] In some embodiments, a conveying unit is further included, configured to transport the decoction pot to be decocted to the decoction unit and to transport the decocted pot from the target location. This solution achieves fully automated transportation of the decoction pot throughout the entire process, improving efficiency and reducing manual intervention.

[0007] In some embodiments, the system further includes: a decoction buffer unit configured to store the decoction barrel to be decocted; and a composite handling robot disposed between the conveying unit and the decoction unit, configured to, under the control of the control system, transport the decoction barrel to be decocted at a designated position to the decoction buffer unit for buffering, and, according to a preset procedure, transport the decoction barrel to be decocted from the decoction buffer unit to the mobile decoction machine of the decoction unit. In this embodiment, through the coordinated scheduling of the decoction buffer unit and the composite handling robot, the temporary storage and precise transfer of the decoction barrel are achieved, optimizing the efficiency of the decoction process connection, reducing the risk of manual operation, and improving the level of automation throughout the entire process.

[0008] In some embodiments, the system further includes: a plurality of slag-liquid separators arranged in a direction perpendicular to the extension direction of the conveying unit; a slag-liquid separation buffer station disposed between the conveying unit and the plurality of slag-liquid separators, configured to temporarily buffer the decocted medicine barrels after decoction; and an RGV transport vehicle whose track is parallel to the arrangement direction of the plurality of slag-liquid separators, configured to transport the decocted medicine barrels on the slag-liquid separation buffer station to a designated slag-liquid separator for slag-liquid separation, and to return the separated decocted medicine barrels to the conveying unit. In this embodiment, through the linkage control of the RGV transport vehicle and the slag-liquid separators, efficient and automated separation of decocted medicine residue and liquid is achieved, precisely connecting the decoction and separation processes, improving the purity of the liquid and reducing manual operation costs.

[0009] In some embodiments, a concentrated packaging and labeling machine is also included, configured to concentrate and package the liquid medicine delivered through pipelines into bags and affix appropriate labels.

[0010] In some embodiments, the slag-liquid separator is further configured to clean the decoction barrel after separating the slag and liquid; the conveying unit is further configured to transport the cleaned decoction barrel to an automatic herbal medicine dispensing system for dispensing. This embodiment realizes automatic cleaning and conveying of the decoction barrel, improves the automation level of the decoction process, reduces manual intervention, increases work efficiency, and at the same time reduces the risk of cross-contamination and ensures the quality of the medicinal liquid.

[0011] In some embodiments, the decoction unit has a ring-shaped structure, and a guide rail is provided on the main body of the ring structure. The guide rail is configured to support and guide the mobile decoction machine. The decoction buffer unit is located on the upper side of the ring structure, and is either ring-shaped or rectangular, with multiple buffer stations provided thereon. Multiple mobile decoction machines are distributed on the main body of the ring structure. This embodiment utilizes the ring structure to optimize the spatial layout, enabling the decoction buffer unit and the mobile decoction machines to work together, improving decoction efficiency, shortening process time, and reducing the equipment footprint.

[0012] In some embodiments, the decoction unit further includes a mobile power station, which includes a sliding power supply rail adapted to the annular structure. The sliding power supply rail has a movable contact structure for connecting to the mobile decoction machine via a conductive sliding arm. The contact structure moves along the sliding power supply rail as the mobile decoction machine moves and maintains continuous contact with the rail to provide continuous power to the mobile decoction machine. Alternatively, the mobile power station includes a chain drive mechanism adapted to the annular structure and a toothed propulsion mechanism mounted on the chain drive mechanism. The chain drive mechanism is driven by a fixed power source, and the toothed propulsion mechanism pushes the mobile decoction machine along with the chain drive mechanism to provide kinetic energy. This embodiment eliminates the risk of cable entanglement in the mobile decoction machine by using sliding power supply or mechanical propulsion power transmission, maintaining a stable energy supply during annular trajectory movement, and significantly improving the reliability and continuity of equipment operation.

[0013] In some embodiments, the decoction unit further includes: a stirring station, configured to stir the herbs in the decoction tank on the mobile decoction machine running near the stirring station under the control of the control system; and a cleaning station, configured to clean the upper cover assembly of the mobile decoction machine. This embodiment achieves continuous power supply to the mobile decoction machine through a sliding contact power supply rail, improving power supply stability. Simultaneously, the addition of a stirring station and a cleaning station optimizes the decoction process, ensures uniform liquid consistency, improves cleanliness, and enhances the automation and intelligence level of the decoction system.

[0014] In some embodiments, the conveying unit is disposed on one side of the decoction unit and has a single-layer or multi-layer structure, including: a conveyor line for transporting the decoction barrel; a blocking component for blocking the decoction barrel transported to the corresponding position; a lifting and transferring component for changing the transport direction of the decoction barrel; and a detection component for detecting whether the conveyor line is carrying the decoction barrel. This embodiment achieves efficient transport, precise positioning, and direction conversion of the decoction barrel through a multi-layer conveying structure and multiple functional components, improving transport flexibility and automation, while the detection component ensures the accuracy and safety of the transport process.

[0015] In some embodiments, the composite handling robot and the RGV transport vehicle each include: a main column assembly; a lifting assembly disposed on the main column assembly for lifting the decoction barrel; and a telescopic gripper assembly disposed on the lifting assembly for gripping the decoction barrel. This embodiment combines the composite handling robot and the RGV transport vehicle to achieve automatic gripping, lifting, and transport of the decoction barrel, improving the flexibility and efficiency of material handling and reducing manual operation.

[0016] In some embodiments, the decoction buffer unit includes: a buffer frame component; and a buffer conveying component, used to buffer the decoction pot to be decocted at the designated position when buffering is required according to a preset process, and to discharge the decoction pot to be decocted when discharge is required according to a preset process. This embodiment achieves orderly buffering and discharge of the decoction pot through the buffer frame and conveying component, optimizing the decoction process scheduling and improving production continuity and efficiency.

[0017] In some embodiments, the mobile decoction machine includes: a support assembly comprising a horizontal extension and a vertical support fixedly connected to the horizontal extension, wherein the inner wall of the vertical support and the upper surface of the horizontal extension enclose an installation and positioning area adapted to the decoction barrel; a heating assembly fixedly disposed on the upper surface of the horizontal extension, the heating area of ​​which matches the bottom of the decoction barrel for directional heating of the decoction barrel; and a drive assembly disposed on the lower surface of the horizontal extension and configured to drive the mobile decoction machine to move along a defined trajectory. The embodiment ensures stable placement of the decoction barrel through the support assembly, improving the safety of equipment operation; furthermore, the directional heating of the heating assembly improves heat energy utilization and ensures uniform heating during the decoction process; finally, the addition of the drive assembly enables the decoction machine to move automatically along a set trajectory, increasing the automation level of the decoction process, reducing manual intervention, and improving production efficiency.

[0018] In some embodiments, the mobile decoction machine further includes a control component configured to, upon detecting that the decoction pot has been placed on the heating component, control the heating component to start heating based on instructions from the control system, and control the drive component to drive the mobile decoction machine along a defined trajectory until the decoction is completed. This embodiment, through the automatic detection function of the control component, ensures that heating is only initiated after the decoction pot is correctly placed, avoiding safety hazards caused by misoperation; simultaneously, it can automatically control the mobile decoction machine to move along a set trajectory and perform the decoction task, improving the intelligence and automation level of the decoction process, reducing manual intervention, and enhancing work efficiency and the stability of decoction quality.

[0019] In some embodiments, the control component is further configured to dynamically adjust the driving speed of the drive component and the heating power of the heating component according to the decoction stage. This embodiment, through the dynamic adjustment function of the control component, enables the driving speed and heating power to be adaptively adjusted according to different decoction stages, ensuring that the medicinal liquid is fully decocted under different temperature conditions, improving the extraction rate of medicinal components, optimizing energy utilization, reducing energy consumption, and improving the accuracy and stability of decoction.

[0020] In some embodiments, the mobile decoction machine is equipped with a dynamic power supply interface module, which is electrically connected to the contact structure of the sliding power supply guide rail via a conductive sliding contact arm. The contact structure moves along the sliding power supply guide rail as the mobile decoction machine moves and maintains continuous contact with the rail to provide continuous power to the drive assembly. Alternatively, the mobile decoction machine is provided with a guide surface that cooperates with a toothed propulsion mechanism. This guide surface, driven by the toothed propulsion mechanism, provides continuous kinetic energy to the drive assembly. The toothed propulsion mechanism is mounted on a chain drive mechanism, which moves under the drive of a motor. Alternatively, the mobile decoction machine itself is equipped with a battery to provide continuous power to the drive assembly. Through the sliding continuous contact of the dynamic power supply interface module, the mechanical transmission of the toothed propulsion mechanism, or the built-in battery power supply design, the problems of easy tangling of external cables and complex mechanical transmission in mobile decoction machines during movement are solved. This achieves continuous and stable power supply during movement, avoids process interruptions due to power failure, and significantly improves system reliability and automation efficiency.

[0021] In some embodiments, when the mobile decoction machine is equipped with the dynamic power supply interface module or has its own battery, the drive assembly includes a track guide mechanism and a power unit. The power unit is drively connected to the track guide mechanism, and under the control of the control assembly, the power unit outputs driving force to make the mobile decoction machine move along the trajectory defined by the track guide mechanism. When the mobile decoction machine is equipped with the guide surface, the drive assembly includes the track guide mechanism but not the power unit. This embodiment achieves precise movement of the decoction machine along a preset trajectory through the cooperation of the track guide mechanism and the power unit, ensuring the stability and controllability of the equipment operation, reducing deviation and error, and improving the degree of automation. At the same time, it effectively reduces the risk of liquid spillage caused by equipment vibration or deviation, improving the safety and reliability of the decoction process.

[0022] In some embodiments, the track guiding mechanism includes a preset track groove and a roller assembly, the roller assembly engaging with the track groove to achieve directional movement; the power unit is a servo motor or a stepper motor, driving the roller assembly to move via gear transmission. This embodiment achieves precise directional movement of the decoction machine through the engagement design of the track groove and the roller assembly, ensuring smooth operation and preventing deviation from the track; the use of a servo motor or stepper motor combined with gear transmission improves the accuracy and response speed of the drive system, enabling the decoction machine to operate efficiently along a set path, reducing mechanical wear, and improving equipment lifespan and operational reliability.

[0023] In some embodiments, the mobile decoction machine further includes a top cover assembly, which is rotatably or flip-overably connected to the top of the vertical support portion away from the horizontal extension portion. When closed, the top cover assembly covers the top of the decoction container. This embodiment, through the top cover assembly, effectively reduces the evaporation of the decoction liquid during the decoction process, maintains a stable concentration, and prevents external impurities from entering, ensuring the hygiene and safety of the decoction.

[0024] In some embodiments, the mobile decoction machine further includes a temperature sensor disposed on the upper cover assembly or the heating plate for real-time monitoring of the temperature of the decoction pot; wherein, the control component adjusts the heating temperature of the heating plate in real time based on the temperature monitored by the temperature sensor. This embodiment uses a temperature sensor to monitor the temperature of the decoction pot in real time, and the control component dynamically adjusts the heating temperature to ensure precise temperature control during the decoction process. This effectively avoids excessively high temperatures that could damage the medicinal components, or excessively low temperatures that could result in insufficient extraction of medicinal efficacy, thereby improving the quality and stability of the decoction.

[0025] In some embodiments, the upper cover assembly includes an insulated cover and a sealing edge. When closed, the insulated cover covers the top of the decoction pot to form a sealed chamber. The sealing edge is elastically pressed against the upper edge of the decoction pot to prevent contamination. A power device is provided at the connection between the upper cover assembly and the vertical support to change the state of the upper cover assembly, including open, closed, and cleaning states. This embodiment, through the design of the insulated cover and sealing edge, effectively prevents contamination of the medicinal liquid, maintaining cleanliness and hygiene during the decoction process. The sealing effect ensures heat retention, improving decoction efficiency. The power device enables the upper cover assembly to automatically adjust its state, simplifying the operation process, improving the automation level of the equipment and user experience, while also facilitating cleaning and maintenance, ensuring long-term stable operation of the equipment.

[0026] In some embodiments, the top cover assembly further includes an overflow device comprising a guide channel and a drain outlet. The guide channel is circumferentially distributed along the inner wall of the top cover assembly, and the drain outlet communicates with an external collection container. This embodiment, through the design of the overflow device, effectively prevents the overflow of medicinal liquid during decoction, ensuring a clean and safe decoction environment. The combination of the guide channel and the drain outlet can promptly guide overflowing medicinal liquid into the external collection container, preventing contamination of the equipment or working environment and improving the reliability and hygiene of the equipment.

[0027] According to one aspect of the present invention, a slag-liquid separation device is provided, comprising: an extrusion assembly, including: a pressing mechanism for providing pressure; an extrusion disc connected to the pressing mechanism and configured to move under the drive of the pressing mechanism to a target container for containing slag and liquid, and to squeeze out the liquid from the slag and liquid by pressing; and a liquid suction assembly, including: a suction mechanism for providing suction; and a suction head connected to the suction mechanism and configured to suck out the squeezed liquid by means of top discharge under the action of the suction. This embodiment achieves direct physical pressing and separation of slag and liquid in the target container through the linkage design of the extrusion disc and the pressing mechanism, effectively improving the liquid extrusion efficiency. Simultaneously, by integrating the liquid suction assembly and the extrusion assembly, the separated liquid is simultaneously sucked up during the extrusion process by means of top discharge, avoiding the problems of slow flow rate, easy clogging, and easy contamination caused by the traditional liquid outlet valve installed at the bottom of the decoction pot.

[0028] In some embodiments, the suction head is configured to pass through the squeezing disc axially to extend from one side of the squeezing disc to the opposite side, wherein the opposite side of the squeezing disc is the side closer to the target container. This embodiment, through the structure of the axially penetrating suction head, overcomes the spatial limitations of traditional lateral or bottom suction, allowing the suction tip to reach the bottom of the target container, thereby enabling the suction of more liquid.

[0029] In some embodiments, the extrusion assembly includes a pressure arm, which is a hollow structure disposed between the pressing mechanism and the extrusion disc; the liquid suction head is disposed within the hollow structure and configured to move along the axial direction of the extrusion disc within the hollow structure and pass through the extrusion disc. In this embodiment, the liquid suction head is disposed within the hollow structure and can move with the extrusion disc, thereby enabling timely liquid absorption during extrusion by the extrusion assembly, thus improving the liquid absorption rate.

[0030] In some embodiments, the liquid suction assembly further includes a pressing mechanism disposed at the distal end of the liquid suction head, configured to drive the liquid suction head to move synchronously with the squeezing disc in the axial direction, allowing the liquid suction head to pass through the squeezing disc and extend to the opposite side of the squeezing disc to penetrate into the target container. In this embodiment, the synchronous drive of the pressing mechanism achieves intelligent coordinated movement between the liquid suction head and the squeezing disc. Mechanical linkage ensures phase consistency of their displacements, enabling precise matching of the liquid suction stroke and the squeezing stroke. Especially during continuous operation, this effectively avoids liquid backflow or slag blockage problems caused by asynchronous movements.

[0031] In some embodiments, the liquid suction assembly further includes a liquid suction head rotation mechanism, disposed at the distal end of the liquid suction head, and configured to drive the liquid suction head to rotate. In this embodiment, the liquid suction orifice periodically sweeps across the working surface during rotation, effectively preventing filter pore clogging.

[0032] In some embodiments, the suction mechanism is disposed on the distal end of the suction head, enabling the suction head to guide the liquid in an upward flow manner when suctioning the liquid. In this embodiment, the distal-side suction mechanism layout optimizes hydrodynamic characteristics, establishing a stable upward suction by creating a negative pressure gradient from top to bottom.

[0033] In some embodiments, the sludge-liquid separation equipment further includes a cleaning component disposed below the extrusion disc for cleaning the extrusion disc; the extrusion component further includes an extrusion disc rotation mechanism disposed on the pressure wall between the pressing mechanism and the extrusion disc, configured to drive the extrusion disc to rotate when the selected cleaning component cleans the extrusion disc. In this embodiment, the in-situ self-cleaning function is achieved through the rotational cleaning structure. The rotating extrusion disc forms a dynamic rinsing interface with the multi-angle nozzles, improving cleaning coverage. Simultaneously, the mechanical scraping action of the dedicated cleaning brush increases the single-cycle cleaning time and improves water-saving efficiency. Furthermore, this integrated design avoids downtime losses due to equipment disassembly and cleaning.

[0034] In some embodiments, the cleaning assembly includes: a cleaning tank with nozzles at different angles installed inside for spraying water onto the extrusion plate; at least one cleaning brush disposed at the bottom of the cleaning tank for washing the extrusion plate; and a collection tank disposed below the cleaning tank and communicating with the bottom of the cleaning tank for collecting the cleaned residue.

[0035] In this embodiment, the modular cleaning assembly achieves deep cleaning through multi-stage physical action. A combination of nozzles at different angles forms a three-dimensional rinsing network, effectively removing residue from the micropores of the extrusion disc. The bottom cleaning brush features a gradient-hardness bristle design, effectively removing stubborn stains without damaging the metal surface. Furthermore, the angled design of the collection tank allows waste residue to automatically slide and collect.

[0036] In some embodiments, a frame assembly is further included, the frame assembly comprising: an upper portion for mounting the squeezing assembly and the liquid suction assembly; and a lower portion for mounting the cleaning assembly and a control device, wherein the control device is used to control the squeezing assembly and the liquid suction assembly to move simultaneously into the target container.

[0037] In this embodiment, the hierarchical layout of the framework components achieves functional partitioning optimization.

[0038] In some embodiments, the slag-liquid separation device further includes a lifting and shifting mesh bucket assembly, configured to lift the mesh bucket, which is detachably nested in the cavity of the decoction bucket, from the decoction bucket to a predetermined height so as to perform preliminary slag-liquid separation in the mesh bucket by gravity, and to horizontally move the mesh bucket to a preset position, wherein the target container is the decoction bucket after the mesh bucket has been removed.

[0039] In this embodiment, the initial separation of slag and liquid can be achieved through the detachable mesh-type separation screen and the lifting and shifting screen assembly, so that only the slag containing residual liquid needs to be treated in the subsequent process, which greatly reduces the amount of subsequent fine separation such as pressure filtration, thereby improving the overall separation efficiency.

[0040] The above structure solves the technical problems of low production efficiency and complex and difficult-to-maintain pipelines in existing Chinese medicine decoction systems, which are caused by fixed equipment and reliance on handling devices. Attached Figure Description

[0041] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0042] Figure 1 This is a structural diagram of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0043] Figure 2 This is a structural diagram of the decoction pot of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0044] Figure 3 This is a structural diagram of the conveying unit of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0045] Figure 4 This is a structural diagram of the composite handling robot of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0046] Figure 5 This is a structural diagram of the decoction buffer unit of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0047] Figure 6 This is a structural diagram of the decoction unit of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0048] Figure 7 This is a structural diagram of the residue-liquid separation and buffer station of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0049] Figure 8 This is a structural diagram of the RGV transport vehicle of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0050] Figure 9 This is a structural diagram of the integrated machine for concentration, packaging, and labeling of the dynamic traditional Chinese medicine decoction system according to an embodiment of this application;

[0051] Figure 10 This is a structural diagram of a mobile decoction machine according to an embodiment of this application;

[0052] Figure 11A This is a structural diagram of the upper cover assembly of the mobile decoction machine according to an embodiment of this application;

[0053] Figure 11B This is a structural diagram of the mobile decoction machine support assembly according to an embodiment of this application;

[0054] Figure 11C This is a structural diagram of the heating assembly of the mobile decoction machine according to an embodiment of this application;

[0055] Figure 11D This is a structural diagram of the drive assembly of the mobile decoction machine according to an embodiment of this application;

[0056] Figure 12 This is a structural diagram of another mobile decoction machine according to an embodiment of this application;

[0057] Figure 13 This is a top view of another mobile decoction machine according to an embodiment of this application;

[0058] Figure 14 This is a structural diagram of another mobile decoction machine cover assembly according to an embodiment of this application;

[0059] Figure 15 This is a cross-sectional view of a sludge-liquid separator according to an embodiment of the present utility model;

[0060] Figure 16 This is a structural diagram of the frame component according to an embodiment of the present utility model;

[0061] Figure 17 This is a structural diagram of the extrusion assembly according to an embodiment of the present utility model;

[0062] Figure 18 This is a structural diagram of the liquid absorption assembly according to an embodiment of the present utility model;

[0063] Figure 19 This is a structural diagram of the cleaning assembly according to an embodiment of the present utility model;

[0064] Figure 20 This is a structural diagram of a frame assembly equipped with a control device according to an embodiment of the present utility model;

[0065] Figure 21 This is a cross-sectional view of another sludge-liquid separator according to an embodiment of the present utility model;

[0066] Figure 22 This is a cross-sectional view of a sludge-liquid separator according to an embodiment of the present utility model;

[0067] The above figures include the following reference numerals:

[0068] 31. Conveying unit; 32. Composite handling robot; 33. Decoction buffer unit; 34. Decoction unit; 35. Slag-liquid separation buffer station; 36. RGV transport vehicle; 37. Slag-liquid separator; 38. Concentration, packaging, and labeling integrated machine; 39. Control system; 311. Conveyor line; 312. Blocking assembly; 313. Lifting and transferring assembly; 314. Detection assembly; 321. Robot power track assembly; 322. Robot main column assembly; 323. Robot lifting assembly; 324. Robot. 331. Telescopic gripper assembly; 332. Robotic arm frame assembly; 341. Buffer conveying unit; 342. Mobile decoction machine; 343. Decoction power station; 344. Mixing station; 345. Cleaning station; 346. Mobile power station; 351. Support assembly; 352. Conveying assembly; 361. Transport vehicle power rail assembly; 362. Transport vehicle main column assembly; 363. Transport vehicle lifting assembly; 364. Transport vehicle telescopic gripper assembly; 381. Integrated machine frame assembly; 382. Integrated machine liquid suction assembly; 3 83. Integrated machine concentration assembly; 384. Integrated machine liquid storage assembly; 385. Integrated machine packaging assembly; 386. Integrated machine labeling assembly; 10. Top cover assembly; 11. Support assembly; 12. Heating assembly; 13. Drive assembly; 14. Control assembly; 101. Top cover body; 102. Overflow device; 111. Frame body; 112. Power unit; 121. Heating plate; 122. Temperature sensor; 131. Track guide; 132. Power unit; 20. Frame assembly; 22. Extrusion assembly Components; 24. Liquid suction assembly; 26. Cleaning assembly; 28. Control device; 221. Pressing mechanism; 222. Extrusion rotation mechanism; 223. Extrusion disc; 241. Liquid suction mechanism; 242. Pressing mechanism; 243. Liquid suction head rotation mechanism; 244. Liquid suction head; 261. Cleaning tank; 262. Cleaning brush; 263. Collection tank; 291. Decoction barrel; 292. Mesh barrel; 29. ​​Lifting and shifting mesh barrel assembly; 293. Lifting mechanism; 294. Shifting mechanism; 104. Horizontal pivot drive beam. Detailed Implementation

[0069] This application provides a dynamic traditional Chinese medicine decoction system, such as Figures 1 to 22As shown, the system includes: a decoction pot 291, a conveying unit 31, a composite handling robot 32, a decoction buffer unit 33, a decoction unit 34, a residue-liquid separation buffer station 35, an RGV transport vehicle 36, a residue-liquid separator 37, a concentration, packaging, and labeling integrated machine 38, and a control system 39. After the decoction pot 291 is conveyed to a designated position by the conveying unit 31, it is transported by the composite handling robot 32 to the decoction buffer unit 33 for buffering. After the buffering period of the decoction pot 291 is complete, the control system controls the composite handling robot 32 to transport it to the decoction unit 34 for decoction. After decoction is completed in the decoction unit 34, the decoction barrel 291 is transported to another layer of the conveying unit 31 by the composite handling robot 32. When it reaches the residue-liquid separation buffer station 35, it is transported to the residue-liquid separator 37 by the RGV transport vehicle 36 for residue-liquid separation. The decoction barrel 291 after residue-liquid separation is transported to the conveying unit 31 by the RGV transport vehicle 36. At the same time, the separated liquid is transported through pipelines to the concentration, packaging and labeling integrated machine 38 for concentration, packaging into bags and labeling. In this embodiment of the utility model, the decoction system is automatically controlled, and the entire decoction process adopts dynamic decoction, which results in fast production speed. The modular design of the decoction system unit facilitates on-site construction and saves labor costs. The mobile decoction machine is mobile and has no pipeline connection, which is clean, simple and easy to maintain. The decoction unit is a moving decoction unit, which improves work efficiency. The mobile decoction machine of the decoction unit is dynamically powered and can use sliding contact lines, batteries, etc.

[0070] 291 decoction pots, such as Figure 2 As shown, it is made of stainless steel and serves as a reusable container for the entire decoction system. Its body is equipped with information-identifying features. In some embodiments, the decoction container 291 can also be... Figure 22 The structure shown will be described in detail below, and will not be repeated here.

[0071] The conveying unit 31 is used to distribute the decoction pot 291 to different workstations according to process requirements. For example... Figure 3 As shown, the conveying unit 31 can be a single-layer or multi-layer structure. The conveying unit 31 includes a conveyor line 311, a blocking component 312, a lifting and transferring component 313, and a detection component 314. The conveyor line 311 can be single-layer or multi-layer and can adopt a chain drive structure. Its surface is covered with anti-slip and wear-resistant plates, and photoelectric sensors are installed on both sides to detect the position of the decoction barrel 291. The blocking component 312 consists of a pneumatic push rod and a limiting baffle, used to temporarily intercept the decoction barrel 291. The lifting and transferring component 313 realizes the reversing and transfer of the decoction barrel 291 through a pneumatic cylinder. The detection component 314 can be a weight sensor used to monitor the status of the decoction barrel 291 in real time.

[0072] Composite handling robot 32, such as Figure 4The image shows a handling device with lifting, telescopic, and gripping functions. During operation, it moves the decoction pot to a designated location according to control system commands. It mainly consists of a robotic arm main column assembly 322, a robotic arm lifting assembly 323, and a robotic arm telescopic gripper assembly 324. In some embodiments, the composite handling robotic arm 32 also includes a robotic arm power track assembly 321 to provide power to the composite handling robotic arm 32.

[0073] Cooking buffer unit 33, such as Figure 5 The image shows a device for buffering the decoction container 291. It transports the decoction container 291 to a designated location for buffering according to control commands, and discharges the decoction container 291 when necessary. It mainly consists of a robotic arm frame assembly 331 and a buffering and conveying unit 332.

[0074] Decoction unit 34, such as Figure 6 The diagram shows the decoction section of the decoction system. The decoction unit 34 is a closed, long, circular track, with a rack and pinion mechanism and position sensor on the inner side. The mobile decoction machine 341 moves along the track driven by a servo motor, with a stirring station 343 and a cleaning station 344 distributed along the track. The stirring station 343 is equipped with a robotic arm and a stirring paddle, automatically opening its lid and stirring when the mobile decoction machine 341 arrives. The cleaning station 344 integrates a high-pressure nozzle and a scraper mechanism for cleaning the upper cover assembly of the mobile decoction machine 341. The mobile decoction machine 341 uses electric heating, with the entire heating process powered by a decoction power station 342, which can be a battery or an external power source. The mobile power station 345 provides electrical or kinetic energy to drive the mobile decoction machine 341. For example, the mobile power station 345 may include a sliding power supply rail adapted to the annular structure, wherein a movable contact structure is provided on the sliding power supply rail for connecting to the mobile decoction machine via a conductive sliding arm; wherein the contact structure can move on the sliding power supply rail as the mobile decoction machine 341 moves and maintain continuous contact with the sliding power supply rail to provide continuous electrical energy to the mobile decoction machine 341. In some other embodiments, the mobile power station 345 may also be a chain drive mechanism adapted to the annular structure and a toothed propulsion mechanism provided on the chain drive mechanism, wherein the chain drive mechanism is driven by a fixed power source, and the toothed propulsion mechanism pushes the mobile decoction machine as the chain drive mechanism moves to provide kinetic energy to the mobile decoction machine.

[0075] After the decoction pot 291 is placed into the mobile decoction machine 341, it begins to heat and decoct the herbs. During the decoction process, the entire mobile decoction machine 341 adopts a dynamic decoction process, that is, it moves while decocting. When it reaches the mixing station 343, it will open the lid and stir. After stirring, it continues to move and decoct. When the decoction is completed, the composite handling robot 32 will pick up the mobile decoction pot 15 and send it to the conveying unit 31. The power source and location of the mobile decoction machine 341 are not unique. For example, the drive component 13 can be set on the mobile decoction machine 341 or set externally (such as by conveying or push rod). That is, the mobile decoction machine 341 is not necessarily a powered trolley; it can also be driven by a transmission mechanism.

[0076] Sludge-liquid separation buffer station 35, such as Figure 7 The image shows a device for temporarily storing the decocted medicine pot 291. It has two layers and mainly consists of a support assembly 351 and a conveying assembly 352.

[0077] RGV transport vehicle 36, such as Figure 8 As shown, this is used for transporting the decoction pot 291 between the slag-liquid separation buffer station 35 and the slag-liquid separator 37. It mainly consists of a transport vehicle power rail assembly 361, a transport vehicle main column assembly 362, a transport vehicle lifting assembly 363, and a transport vehicle telescopic gripper assembly 354.

[0078] Concentrated packaging and labeling integrated machine 38, such as Figure 9 As shown, this is a single-unit device that integrates the functions of concentration, packaging, and labeling of traditional Chinese medicine. It mainly consists of an integrated machine frame assembly 381, an integrated machine liquid absorption assembly 382, ​​an integrated machine concentration assembly 383, an integrated machine liquid storage assembly 384, an integrated machine packaging assembly 385, and an integrated machine labeling assembly 386.

[0079] The mobile decoction machine will be described in detail below.

[0080] This application provides a portable decoction machine, such as... Figures 10 to 11DAs shown, the mobile decoction machine mainly includes a top cover assembly 10, a support assembly 11, a heating assembly 12, a drive assembly 13, and a control assembly 14. The top cover assembly 10 is positioned above the mobile decoction machine and is primarily used for heat preservation and to prevent contamination. The support assembly 11 forms the frame of the mobile decoction machine, supporting it. The heating assembly 12 heats the decoction pot 291, and the heating temperature can be adjusted between high and low heat. The control assembly 14 includes a power interface and control circuitry, mainly used for signal and command transmission and reception, status detection, information transmission, and control of the drive mechanism. The drive assembly 13 is the driving device for the mobile decoction machine, enabling it to move along a defined trajectory. When the decoction pot 291 is placed in the mobile decoction machine, the heating assembly 12 begins heating, while the drive assembly 13 simultaneously moves the entire mobile decoction machine until the decoction is complete and the automatic decoction pot 291 is removed.

[0081] The top cover assembly 10 will be described in detail below.

[0082] The top cover assembly 10 is positioned above the mobile decoction machine, primarily serving to insulate and prevent contamination. Its top is equipped with an overflow device to drain water and foam when the decoction boils over. Specifically, as... Figure 11A As shown, the cover assembly 10 includes a cover body 101 and an overflow device 102.

[0083] The main body 101 of the lid uses a nano-aerogel composite material as the insulation layer, and is wrapped with a 304 stainless steel shell. The inner wall has circumferentially distributed guide grooves. A silicone sealing strip is embedded at the edge of the lid, forming an elastic pressure connection with the upper edge of the decoction pot 291. The main body 101 of the lid is connected to the top of the vertical support part of the support assembly 11 via a hinge mechanism. A stepper motor-driven power unit 112 is integrated at the hinge, supporting automatic opening and closing of the lid and switching between cleaning states. When the main body 101 of the lid is closed, it forms a sealed chamber, reducing steam escape, maintaining the stability of the decoction temperature, and preventing external contaminants from entering, ensuring the hygiene of the medicinal liquid.

[0084] The overflow device 102 includes a biomimetic spiral guide channel and a drain port. The guide channel is continuously distributed circumferentially along the inner wall of the upper cover, and the drain port is connected to an external collection container via a polytetrafluoroethylene (PTFE) hose. The guide channel is integrally formed with the upper cover body 101, and the drain port is fixed to the side wall of the cover body via a flange connection. During the boiling stage of decoction, the guide channel quickly guides the overflowing liquid and foam into the drain port, preventing the liquid from contaminating the equipment or working environment. Hydrophobic treatment ensures efficient discharge of the liquid, reducing the frequency of cleaning and maintenance.

[0085] The following will describe the support component 11 in detail.

[0086] like Figure 11BAs shown, the support assembly 11 includes a frame body 111 and a power unit 112. The frame body 111 is made of stainless steel and is used to support and fix the entire device. At the same time, the power unit 112 is provided at the connection between the frame body 111 and the upper cover body 101 to change the state of the upper cover, such as opening and closing.

[0087] The main frame 111 is made of 304 stainless steel sheet and laser-welded into an L-shaped frame, including a horizontal extension and a vertical support. The surface of the horizontal extension is treated with an anti-slip coating. The inner wall of the vertical support and the upper surface of the horizontal extension enclose the installation and positioning area of ​​the decoction pot 291. The positioning area can be equipped with limiting bosses and positioning pins for precise engagement of the decoction pot 291. The lower surface of the horizontal extension is bolted to the track guide mechanism 131 of the drive assembly 13, and the upper surface integrates the cast aluminum heating plate 121 of the heating assembly 12. The top of the vertical support is connected to the upper cover assembly 10 through a hinge mechanism. The circuit system of the control assembly 14 is embedded in the cavity. The control assembly 14 is electrically connected to the control system and controls the movement of the decoction machine based on the instructions of the control system.

[0088] The power unit 112 is a stepper motor drive mechanism that integrates a position sensor and a limit switch. It is fixed to the connection between the support and the upper cover assembly 10 via an aluminum alloy bracket. One end of the power unit 112 is connected to the support via a flange, and the other end is rigidly connected to the hinge of the upper cover assembly 10. The control signal cable is connected to the control assembly 14 through the cavity of the vertical support.

[0089] The frame body 111 forms a stable support through a rigid connection between the horizontal extension and the vertical support. The track guide mechanism 131 of the drive assembly 13 is fixedly connected to the lower surface of the frame body 111 to ensure precise execution of the movement trajectory; the heating assembly 12 is integrated with the upper surface of the horizontal extension, and heat is evenly conducted to the decoction pot 291 through the stainless steel substrate. Under the command of the control assembly 14, the power unit 112 links with the upper cover assembly 10 to achieve automated operation, and at the same time, it feeds back status information through the position sensor to form a closed-loop control.

[0090] The heating component 12 will be described in detail below.

[0091] Heating component 12, such as Figure 11C As shown, it includes a heating plate 121 and a temperature sensor 122. The heating plate 121 is mainly responsible for heating the decoction pot and providing a heat source for the decoction process.

[0092] The heating plate 121 is made of 304 stainless steel, with a flat, high-temperature resistant glass top surface that matches the shape of the bottom of the decoction pot 291 to maximize the contact area. A nickel-chromium alloy heating wire is embedded inside the heating plate 121, with electrothermal insulation achieved through a mica insulation layer. A high thermal conductivity ceramic plate covers the top to ensure uniform heat conduction. The heating plate 121 is fixed to the upper surface of the horizontal extension of the support assembly 11 by four sets of stainless steel bolts. The power interface is connected to the power module of the control assembly 14 via a high-temperature resistant silicone cable, receiving heating commands and dynamically adjusting the power output (such as high heat or low heat modes).

[0093] Temperature sensor 122 is a thin-film platinum resistance thermometer, which is set on the heating plate and connected to the temperature feedback module of control component 14 to monitor the temperature data in the decoction pot in real time and form a closed-loop control circuit.

[0094] After the decoction pot 291 is placed on the heating plate 121, the control component 14 detects the load signal and starts the heating program. The heating plate 121 outputs the corresponding power according to the preset stage (such as the high heat stage and the low heat stage), and the temperature sensor 122 collects the temperature data in real time and feeds it back to the control component 14.

[0095] The control component 14 dynamically calibrates the heating power through a PID algorithm. If the temperature exceeds the threshold, the power is immediately cut off and the alarm module is triggered to prevent damage to the medicinal liquid components or overheating of the equipment.

[0096] The following describes driver component 13 in detail.

[0097] like Figure 11D As shown, the drive assembly 13 consists of a track guide mechanism 131 and a power unit 132. The track guide mechanism 131 is used to make the entire mobile decoction machine move along a set trajectory, and the power unit 132 is used to provide driving force for it.

[0098] The track guide mechanism 131 uses a metal track, including a pre-set track groove and a roller assembly. The track groove has a T-shaped cross-section with symmetrically distributed anti-derailment flanges on both sides. The roller assembly consists of four sets of high-precision bearing rollers, with hard chrome plating to enhance wear resistance, and embedded rubber damping layers to reduce operating noise. The track guide mechanism 131 is fixed to the lower surface of the horizontal extension of the support assembly 11 by high-strength bolts, forming a rigid connection with the frame body 111 to ensure no deviation in the movement trajectory. This makes the mobile decoction machine run more smoothly.

[0099] The power unit 132 is used to drive the mobile decoction machine. For example, the mobile decoction machine is equipped with a dynamic power supply interface module, which is electrically connected to the contact structure of the sliding power supply guide rail via a conductive sliding contact arm. The contact structure moves along the sliding power supply guide rail as the mobile decoction machine moves and maintains continuous contact with the rail, thereby providing continuous electrical energy to the power unit 132 of the drive assembly 13. The power unit 132 is a servo motor or a stepper motor, driving the roller assembly of the track guide mechanism 131 to roll along the guide rail, thus moving the mobile decoction machine. In some other embodiments, the power unit 132 can also drive the roller assembly using electrical energy provided by the battery installed in the mobile decoction machine itself. In other embodiments, the drive assembly 13 may not have a power unit 132. Instead, a guide surface that cooperates with the toothed propulsion mechanism is provided on the mobile decoction machine. The guide surface can provide continuous kinetic energy to the drive assembly under the drive of the toothed propulsion mechanism. The toothed propulsion mechanism is provided on the chain drive mechanism. The chain drive mechanism can move along a defined path under the drive of a motor based on a fixed power supply.

[0100] The control component 14 generates speed commands or receives speed commands from the control system based on the decoction stage (e.g., rapid movement is required during the high-heat stage, and slow movement is required during the low-heat stage), and sends them to the power unit 132. The servo motor of the power unit 132 drives the rollers to move directionally along the track groove through a gear set. The T-shaped structure of the track groove and the anti-derailment flange ensure that the equipment has no lateral deviation.

[0101] The mobile decoction machine provided in this application can move while decocting, resulting in high production speed. The decoction system features a modular design, facilitating on-site construction and saving labor costs. Furthermore, the decoction machine itself has no piping connections, making it clean, simple, and easy to repair and maintain.

[0102] This application also provides another type of mobile decoction machine, such as... Figure 12 and Figure 13 As shown. Compared to the previous embodiments, the structural improvements in this embodiment are mainly reflected in two key aspects: the movement mode of the upper cover assembly and the arrangement of the temperature sensor. Specifically, this embodiment adopts a horizontally rotating upper cover assembly structure, with its rotation axis perpendicular to the horizontal plane, and the temperature sensor is integrated and installed on the inner wall surface of the upper cover assembly. In contrast, the upper cover assembly in the above embodiments adopts an up-and-down flipping structure, with its pivot axis arranged parallel to the horizontal plane, and the corresponding temperature sensor is fixedly installed at the detection position at the bottom of the heating plate.

[0103] Specifically, the upper cover component, such as Figure 14As shown, the device includes a top cover body 101, an overflow device 102, and a horizontal pivot drive beam 104. One end of the horizontal pivot drive beam 104 is rigidly connected to the center of the top cover body 101, and the other end is connected to the vertical support of the support assembly. A power device installed inside the vertical support can drive the top cover assembly to switch states (e.g., open, closed). When opening or closing, it first rises to a preset height and then rotates horizontally by 90°; when closing, it first rotates and then descends.

[0104] The temperature sensor is a thin-film platinum resistance thermometer, mounted on the upper cover body 101. The temperature sensor probe is fixed to the center of the surface of the upper cover body 101 by threads. The signal transmission cable adopts a double-layer shielding design and is connected to the temperature feedback module of the control component 14 to monitor the temperature data inside the decoction pot in real time and form a closed-loop control circuit.

[0105] The operation process of the mobile decoction machine will be described in detail below.

[0106] 1) Equipment startup and path planning.

[0107] After power is connected, the control unit initiates a self-test program to confirm that the heating component, drive component, and sensors are functioning normally. Subsequently, the operating trajectory and endpoint of the mobile decoction machine are determined. For example, a 10-meter-long circular track is pre-set in the production line, with the endpoint marked as the decoction completion area.

[0108] 2) The loading and parameters of the decoction pot are synchronized.

[0109] The robotic arm places the decoction pot containing herbs and water into the installation positioning area of ​​the support component, ensuring the bottom of the pot is completely flush with the concave surface of the heating plate. Once the pressure sensor detects the pot is in place, it triggers the automatic closing of the top cover assembly, with the sealing edges pressing tightly against the pot opening to create a sealed environment. The control component determines the decoction parameters based on the quantity and type of herbs in the prescription, including the target temperature (high heat, low heat), total decoction time (e.g., 40 minutes), and preset moving speed (e.g., high heat stage, low heat stage). It also automatically calculates the moving time based on the path length and speed, ensuring the decoction is completed synchronously when the machine reaches the endpoint.

[0110] 3) Perform the frying and boiling operation while exercising.

[0111] The control component sends commands to the drive component to start the servo motor, and the decoction machine begins to move along the track. At the same time, the heating plate outputs full power to heat the decoction to boiling. The temperature sensor provides real-time temperature data, and the PID algorithm dynamically adjusts the heating power to avoid temperature fluctuations.

[0112] The decoction machine moves at a set speed, and the encoder of the drive component monitors the displacement in real time. The control component matches the position information with the remaining decoction time. For example, if the total path is 10 meters and takes 40 minutes to complete, the system automatically adjusts the speed to 0.00417 m / s (10 m / 2400 s) to ensure that the movement and decoction time are strictly synchronized.

[0113] Once the medicinal liquid boils, the control unit switches to a simmer mode, reducing heating power and drive speed accordingly, thereby extending the extraction time of the active ingredients. A flow channel continuously handles any overflowing liquid to prevent contamination of the equipment or tracks.

[0114] 4) Endpoint test and decoction completed.

[0115] When the decoction machine moves to the preset endpoint, a Hall sensor or photoelectric switch at the end of the track triggers a signal, and the control component immediately stops heating and cuts off the drive power. The top cover assembly automatically opens, allowing the robotic arm to remove the decoction pot. Simultaneously, the drive component executes a reverse motion program, resetting the decoction machine to the starting point, ready for the next round of operation.

[0116] The mobile decoction machine provided in this application can move while decocting, resulting in high production speed. The decoction system features a modular design, facilitating on-site construction and saving labor costs. Furthermore, the decoction machine itself has no piping connections, making it clean, simple, and easy to repair and maintain.

[0117] The following will describe the sludge-liquid separation equipment in detail.

[0118] The slag-liquid separator is mainly used to separate the dregs and liquid in the decoction pot to facilitate subsequent processing. Its main components include a frame assembly, an extrusion assembly, a liquid suction assembly, and a control cabinet.

[0119] Sludge-liquid separation equipment, such as Figure 15 As shown, the slag-liquid separation device mainly includes a frame assembly 20, a squeezing assembly 22, a liquid suction assembly 24, a cleaning assembly 26, and a control device 28. The slag-liquid separation device is used to separate the slag and liquid in a target container. In this embodiment, the target container is a decoction pot 291, and the slag and liquid are the slag and liquid containing the decoction liquid and the dregs.

[0120] refer to Figures 15 to 20The frame assembly 20 is the supporting part of the residue-liquid separator, used to support the extrusion assembly 22, the liquid suction assembly 24, and the control device 28. The extrusion assembly 22 is used to extrude the liquid from the dregs, and the liquid suction assembly 24 is used to suck out the liquid. When the decoction barrel 291 is transported to the residue-liquid separator, the control device 28 sends commands to the extrusion assembly 22 and the liquid suction assembly 24. Upon receiving the commands, the extrusion assembly 22 and the liquid suction assembly 24 simultaneously move downwards into the decoction pot. The liquid suction assembly 24 rotates and probes into the bottom of the decoction barrel 291 to suck out the liquid. The extrusion plate 223 compresses the dregs, squeezing out the residual liquid from the dregs, which is then sucked out by the liquid suction mechanism 241. After extrusion, the decoction barrel 291 is removed by other mechanisms, and then the extrusion plate 223 is placed downwards into the cleaning assembly 26 for cleaning, completing the entire process.

[0121] Framework component 20, such as Figure 16 As shown, the frame assembly 20 is constructed from welded stainless steel square tubing and is used for the support and fixation of the entire equipment. A door is provided at the bottom of the frame assembly 20 for maintenance of the control device 28 housed within it.

[0122] In some embodiments, the frame assembly 20 can adopt a modular splicing structure, with the columns and beams connected by T-slot aluminum profiles and a quick-release locking device. The upper part is equipped with an X / Y axial slide rail system, allowing the squeezing assembly 22 and the liquid suction assembly 24 to move collaboratively in the horizontal plane, adapting to the positioning requirements of decoction barrels 291 of different sizes. The lower part integrates a hydraulic lifting platform, which can automatically adjust the docking height between the cleaning assembly 26 and the squeezing plate 223. In this embodiment, the modular structure improves equipment installation efficiency, and faulty modules can be disassembled individually for maintenance. The slide rail system structure allows for the matching of containers of different capacities. The hydraulic lifting platform ensures that the cleaning assembly 26 and the squeezing plate 223 always maintain optimal contact pressure, avoiding seal failure due to mechanical wear.

[0123] Extrusion assembly 22, such as Figure 17 As shown, the assembly consists of a pressing mechanism 221, a pressing and rotating mechanism 222, and a pressing disc 223. The pressing mechanism 221 provides downward pressure to the pressing disc 223. Under the pressure of the pressing mechanism 221, the pressing disc 223 moves downward into the decoction tank 291 and contacts the dregs, squeezing out the medicinal liquid from the dregs. The pressing and rotating mechanism 222 rotates the pressing disc 223 during cleaning, ensuring thorough cleaning. The pressing assembly 22 is located on the upper part of the frame assembly 20 and is used to press the dregs in the decoction tank 291. When the decoction tank 291 arrives, the pressing disc 223 moves downward under the action of a power source, squeezing out the residual medicinal liquid from the dregs.

[0124] In some embodiments, the contact surface between the extrusion disc 223 and the drug residue can be provided with a micro-bump array, with a bump height of 0.5-1.5 mm, which can be arranged in a hexagonal honeycomb pattern. The extrusion disc 223 can also be a multi-segment flexible pressure head. The micro-bump structure reduces the extrusion contact area while increasing pressure, and the flexible pressure head can adapt to irregular drug residue shapes. The contact surface can be coated with a silicone wear-resistant layer with a thickness of 3-5 mm, or coated with a high-performance non-stick coating, such as polytetrafluoroethylene (PTFE) or a ceramic coating. This can reduce drug residue residue, prevent the drug liquid and drug residue from adhering to the extrusion disc 223, and improve cleaning efficiency.

[0125] To more precisely control the extrusion pressure, in some embodiments, a cylinder system can be used instead of a traditional mechanical pressure system. The cylinder system can precisely adjust the pressure according to the hardness and properties of different medicinal residues, allowing the extrusion disc 223 to move under the most suitable pressure. In other embodiments, a pressure sensor can be installed in the pressing mechanism 221 to monitor the pressure of the extrusion disc 223 in real time and feed it back to the control system to ensure the pressure remains within a safe range. This not only prevents excessive pressure from damaging the medicinal residues or equipment but also allows for adjustment of the pressing force based on feedback, optimizing the extraction efficiency of the medicinal liquid.

[0126] Liquid aspiration component 24, such as Figure 18 As shown, the system comprises a liquid suction mechanism 241, a pressing mechanism 242, a liquid suction head rotation mechanism 243, and a liquid suction head 244. The liquid suction mechanism 241 is equipped with a pump body, which can suck out the medicinal liquid from the decoction pot 291. The pressing mechanism 242 drives the liquid suction head 244 downwards to the bottom of the decoction pot 291. The liquid suction head rotation mechanism 243 rotates the liquid suction head 244 to prevent the small holes of the liquid suction head 244 from being blocked by medicinal residue or other debris. When the decoction pot 291 is reached, the pressing mechanism 242 and the liquid suction head rotation mechanism 243 drive the liquid suction head 244 to rotate and move downwards to the bottom of the decoction pot 291 to suck out the liquid. The liquid suction head 244 is connected to the liquid suction mechanism 241, sucking the medicinal liquid into a designated container.

[0127] In this embodiment, a pump body is used to draw liquid, and a motor reducer drives the liquid drawing structure to move up and down and rotate. The liquid drawing head is equipped with a filter device to prevent medicinal residue from entering the liquid.

[0128] In some embodiments, the liquid suction mechanism 241 may include a two-stage vacuum generation system, an intelligent adjustment module, and an anti-clogging protection unit. The two-stage vacuum generation system includes a screw vacuum pump and a centrifugal liquid ring pump connected in series, with a gas-liquid separation tank in between. The intelligent adjustment module includes a Venturi flow meter and an online viscosity sensor integrated in the liquid suction pipeline. The anti-clogging protection unit includes a Y-type filter and a self-cleaning backwash valve connected in series in the pipeline of the liquid suction mechanism 241. During the liquid suction stage, the vacuum pump group is started in stages under PLC control: first, the liquid ring pump establishes a basic negative pressure, and then the screw pump increases it to the working vacuum level. When the viscosity sensor detects that the viscosity of the liquid solution is greater than a preset threshold, the ultrasonic auxiliary module is automatically triggered to reduce fluid flow resistance.

[0129] In some embodiments, the pressing mechanism 242 includes a precision ball screw module, a servo drive unit, and a safety protection device. The servo motor of the servo drive unit is directly connected to the input shaft of the reducer via a rigid coupling, and the output flange of the reducer is bolted to the ball screw nut seat. The linear guide slider is rigidly connected to the suction head 244 via a connecting plate. A piezoelectric force sensor is integrated within the ball screw nut seat to monitor the downward pressure value in real time. The pressing mechanism 242 operates in a speed-force dual-mode. In the initial stage, it descends rapidly at a preset speed. When it contacts the liquid surface (detected by pressure change), it switches to force control mode, maintaining a preset contact force and descending at a uniform speed. After reaching the desired position, the screw nut is automatically locked to prevent axial movement during the suction operation.

[0130] In some other embodiments, the pressing mechanism 242 and the pressing mechanism 221 can be a single mechanism that synchronously drives the suction head 244 and the extrusion assembly 22. Alternatively, in this embodiment, the pressing mechanism 242 and the pressing mechanism 221 can be two separate mechanisms that can synchronously drive the suction head 244 and the extrusion assembly 22, or asynchronously drive the suction head 244 and the extrusion assembly 22 at very short time intervals.

[0131] In some embodiments, the main body of the suction head 244 is a suction tube, which can be a single tube or a composite suction tube. Its outer layer is a stainless steel tube, its inner lining is a PTFE tube, and its middle layer is wound with nickel-titanium alloy memory wire, forming a variable stiffness structure. The memory wire contracts when heated by electricity, causing radial expansion deformation at the end of the suction head 244, enhancing local suction capacity. A sieve-like conical micropore can also be provided at the end of the suction tube, arranged spirally. This allows the Coanda effect to guide the liquid to form a swirling flow, improving solid-liquid separation efficiency. The suction head 244 may also include an anti-clogging component, for example, integrating a piezoelectric ceramic transducer at the front end of the suction head 244 to break up drug residue fragments through ultrasonic cavitation.

[0132] Cleaning component 26 Figure 19As shown, it consists of a cleaning tank 261 and a cleaning brush 262. After the pressing work is completed and the decoction barrel 291 is removed, the pressing plate 223 is controlled to move downward into the cleaning tank 261. The pressing plate 223 rotates and fully contacts the cleaning brush 262 to clean the dregs on the pressing plate 223. The cleaning tank 261 is equipped with nozzles at different angles to spray water onto the pressing plate 223, which finally rinses it clean. The cleaning tank 261 is equipped with a collection tank 263 at the bottom to store the cleaned dregs for later cleaning.

[0133] Control device 28 Figure 20 As shown, the lower part of the frame component 20 is used to control the sludge-liquid separator and collect signals to achieve automatic operation and intelligent identification.

[0134] The control device 28 may include a main control module, a signal acquisition module, an execution drive module, and a human-machine interface module. The main control module uses an industrial-grade PLC, which is responsible for the underlying equipment control (squeezing / liquid suction / cleaning action sequence). The signal acquisition module is used to acquire pressure and flow signals. The execution drive module is used to control the movement of the pressing mechanism 221 / pressing mechanism 242, adjust the speed of the vacuum pump / rotating mechanism, and control the water pressure and flow rate of the cleaning component 26 through a proportional valve. The human-machine interface module is used to display in real time pressure-displacement curves, flow-speed correlation graphs, equipment health status matrix, and a three-dimensional visualized dregs morphology reconstruction model (based on machine vision point cloud data), etc.

[0135] In this embodiment of the invention, the squeezing mechanism can squeeze out the liquid from the dregs, while the suction head 244 can be inserted into the bottom of the decoction pot 291 to draw out the liquid through the pump of the suction mechanism 241, leaving no residue. In addition, the rotation of the suction head 244 during the suction process can effectively separate the suction head 244 from the dregs blocking the edge of the suction hole, ensuring that the suction head 244 is not blocked. At the same time, the entire liquid discharge adopts the top discharge form, and there is no liquid discharge hole under the pot body, so there will be no leakage from the decoction pot 291 and it is easy to clean.

[0136] This utility model embodiment provides another sludge-liquid separation device, such as... Figure 21 As shown, the sludge-liquid separation device mainly includes a frame assembly 20, a squeezing assembly 22, a liquid suction assembly 24, a washing assembly 26, a control device 28, and a lifting and shifting screen assembly 29. The sludge-liquid separation device provided in this embodiment differs from the sludge-liquid separation device provided in the above embodiments in that the lifting and shifting screen assembly 29 is used; the other structures are the same as in the above embodiments and will not be described again here.

[0137] refer to Figure 21 and Figure 22In this embodiment, the mesh-type separating mesh bucket 292 is detachably nested within the inner cavity of the decoction bucket 291. The lifting and shifting mesh bucket assembly 29 is mounted on the frame assembly 20 and includes a lifting mechanism 293 and a shifting mechanism 294. The lifting mechanism 293 of the lifting and shifting mesh bucket assembly 29 is configured to lift the mesh bucket 292 from the decoction bucket 291 to a predetermined height, so as to perform preliminary separation of the sludge and liquid in the mesh bucket 292 by gravity. The shifting mechanism 294 is configured to move the mesh bucket 292 horizontally to a preset position.

[0138] When the decoction barrel 291 arrives at the slag-liquid separator, the control system issues a command. The lifting and shifting mesh barrel assembly 29 first lifts the mesh barrel 292 in the decoction barrel 291 to a certain height and uses gravity to perform preliminary slag-liquid separation. Then, the squeezing assembly 22 is pressed down, and the squeezing disc 223 squeezes out the remaining liquid in the slag. Subsequently, the squeezing disc 223 is lifted, and the mesh barrel 292 is moved to a position that does not obstruct the descent of the suction head 244. Then, the suction mechanism 241 enters the decoction barrel 291 to suck out the liquid. After the squeezing and suction are completed, the mesh barrel 292 is placed back into the decoction barrel 291, and the decoction barrel 291 is removed by other mechanisms. Then, the squeezing disc 223, the suction head 244, and other mechanisms enter the cleaning assembly 26 for cleaning.

[0139] In this embodiment, the liquid in the dregs can be squeezed out through the squeezing mechanism. During squeezing, the dregs and liquid are physically separated by a mesh barrel, and then pressure is applied to ensure that the liquid is fully squeezed out while reducing the residue of dregs in the liquid. Then, the suction head can be inserted into the bottom of the decoction pot and the liquid is sucked out by the pump of the suction mechanism. While suctioning, the rotation of the suction head can effectively separate the suction head from the dregs blocking the edge of the suction hole, ensuring that the suction head is not blocked. At the same time, the entire liquid discharge adopts the top discharge form, and there is no liquid discharge hole at the bottom of the decoction pot, so there will be no leakage of the decoction pot and it is easy to clean.

[0140] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A dynamic traditional Chinese medicine decoction system, characterized in that, include: The decoction unit includes multiple mobile decoction machines, each configured to carry a decoction pot to be decocted and to heat and decoct the decoction pot. The control system is configured to control the mobile decoction machine to move along a preset path, and to control the mobile decoction machine to heat and decoct the decoction pot to be decocted while moving dynamically, so that the mobile decoction machine reaches the target position when the decoction is completed.

2. The system according to claim 1, characterized in that, It also includes at least one of the following: A decoction buffer unit is located near the decoction unit and is configured to store the decoction pot to be decocted. The residue-liquid separation unit is configured to separate the residue from the decoction pot after decoction to obtain the medicinal liquid; The conveying unit is configured to transport the decoction barrel to be decocted to the decoction buffer unit according to a preset procedure, and to transport the decoction barrel after decoction to the residue-liquid separation unit.

3. The system according to claim 1 or 2, characterized in that, The decoction unit has a ring structure, and a guide rail is provided on the main body of the ring structure. The guide rail is configured to support the mobile decoction machine and guide the mobile decoction machine.

4. The system according to claim 3, characterized in that, The decocting unit also includes a mobile power station, which includes: A sliding power supply rail adapted to the annular structure, wherein a movable contact structure is provided on the sliding power supply rail, the contact structure being used to connect to the mobile decoction machine via a conductive sliding arm; wherein the contact structure is capable of moving on the sliding power supply rail as the mobile decoction machine moves and maintaining continuous contact with the sliding power supply rail, so as to provide continuous power to the mobile decoction machine; A chain drive mechanism adapted to the ring structure and a toothed propulsion mechanism disposed on the chain drive mechanism, wherein the chain drive mechanism is driven by a fixed power source, and the toothed propulsion mechanism pushes the mobile decoction machine as the chain drive mechanism moves, so as to provide kinetic energy to the mobile decoction machine.

5. The system according to claim 3, characterized in that, The decocting unit also includes: A mixing station is configured, under the control of the control system, to mix the herbs in the decoction tank of the mobile decoction machine that is running near the mixing station; and / or A cleaning station is configured to clean the top cover assembly of the mobile decoction machine.

6. The system according to claim 4, characterized in that, The mobile decoction machine includes: The support assembly includes a horizontal extension and a vertical support fixed to the horizontal extension, wherein the inner wall of the vertical support and the upper surface of the horizontal extension enclose an installation and positioning area adapted to the decoction pot. A heating component is fixedly disposed on the upper surface of the horizontal extension, and its heating area matches the bottom of the decoction pot, for directional heating of the decoction pot; A drive component, disposed on the lower surface of the horizontal extension, is configured to enable the mobile decoction machine to move along the preset path.

7. The system according to claim 6, characterized in that, The mobile decoction machine is equipped with a dynamic power supply interface module, which is electrically connected to the contact structure of the conductive sliding arm and the sliding power supply rail to provide electrical energy to the drive assembly; or The mobile decoction machine is equipped with a battery to provide continuous power to the drive assembly; or The mobile decoction machine is provided with a guide surface that cooperates with the tooth-pulling mechanism, wherein the guide surface is configured to provide continuous kinetic energy to the drive component under the drive of the tooth-pulling mechanism.

8. The system according to claim 6, characterized in that, The mobile decoction machine also includes a control component configured to, upon detecting that the decoction pot is placed on the heating component, control the heating component to start heating based on the instructions of the control system, and control the mobile decoction machine to move along the guide rail, so that the mobile decoction machine reaches the target position when the decoction is completed, wherein the target position is the junction position of the decoction pot between the decoction unit and the conveying unit.

9. The system according to claim 2, characterized in that, The sludge-liquid separation unit includes: Multiple sludge-liquid separators are arranged in a direction perpendicular to the extension direction of the conveying unit; The residue-liquid separation buffer station is set between the conveying unit and the plurality of residue-liquid separators and is configured to temporarily buffer the decoction barrel after decoction is completed. The RGV transport vehicle, whose track is parallel to the arrangement direction of the plurality of slag-liquid separators, is configured to transport the decoction barrels on the slag-liquid separation buffer station to the designated slag-liquid separators for slag-liquid separation, and then transfer the separated decoction barrels back to the conveying unit.

10. The system according to claim 9, characterized in that, Each sludge-liquid separation unit includes: The extrusion assembly includes: The pressing mechanism is used to provide pressure; The extrusion disc, connected to the pressing mechanism, is configured to move under the drive of the pressing mechanism into a target container for containing slag liquid, and to squeeze out the liquid in the slag liquid by pressing the slag liquid. Liquid aspiration assembly, including: The suction mechanism is used to provide suction. The suction head, connected to the suction mechanism, is configured to draw out the squeezed liquid in an upward manner under the action of the suction force.

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