CN110393666B - Automatic traditional Chinese medicine decoction method - Google Patents
Automatic traditional Chinese medicine decoction method Download PDFInfo
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- CN110393666B CN110393666B CN201910561408.9A CN201910561408A CN110393666B CN 110393666 B CN110393666 B CN 110393666B CN 201910561408 A CN201910561408 A CN 201910561408A CN 110393666 B CN110393666 B CN 110393666B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J3/00—Devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J2200/00—General characteristics or adaptations
- A61J2200/40—Heating or cooling means; Combinations thereof
- A61J2200/42—Heating means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J2200/00—General characteristics or adaptations
- A61J2200/70—Device provided with specific sensor or indicating means
- A61J2200/72—Device provided with specific sensor or indicating means for temperature
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J2200/00—General characteristics or adaptations
- A61J2200/70—Device provided with specific sensor or indicating means
- A61J2200/74—Device provided with specific sensor or indicating means for weight
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J2205/00—General identification or selection means
Abstract
The invention discloses an automatic traditional Chinese medicine decoction method, which comprises the following steps of S1: putting the traditional Chinese medicinal materials into a decocting pot, and associating the decoction sheets with the decocting pot by scanning the identification code on the decocting pot; s2: scanning an identification code on the decocting pot, acquiring the water adding amount in the prescription according to the identification content, controlling a water adding device to add proper water into the decocting pot, and kneading; s3: distributing the boiling pot to soaking areas of different layers for soaking according to the idle degree of the boiling area by a lifting mechanism; s4: according to the idle condition of the decocting furnace, transferring the soaked decocting pot to the idle decocting furnace through a transfer mechanism to carry out switching heating by strong fire and slow fire; s5: the filter barrel in the decocting pot is elevated on the decocting pot through a lifting device to be kept stand, so that the separation of slag and liquid is realized; s6: pouring the liquid medicine in the outer barrel into a packaging machine through pouring equipment for packaging; s7 the cover, the outer barrel and the filter barrel of the decocting pot are all cleaned and dried by the cleaning mechanism, which can improve the production efficiency of traditional Chinese medicine.
Description
Technical Field
The invention relates to the field of automatic traditional Chinese medicine production, in particular to an automatic traditional Chinese medicine decoction method.
Background
At present, because the traditional Chinese medicine decoction process is very complicated, all decoction processes of the traditional Chinese medicine decoction method need to be manually controlled, the use of patients or doctors is very inconvenient, and particularly, when a hospital or a traditional Chinese medicine decoction center needing batch production of traditional Chinese medicine bags operates, due to large decoction amount, the manual decoction mode becomes very inconvenient, and the situations of medicine confusion, decoction time and difficult control of fire are easy to occur in the process.
Along with the development of science and technology, more and more automation equipment replace manual medicine decocting process, but because the complexity of whole decocte flow is high, current traditional chinese medicine decocte equipment mostly carries out automated control to single decocte process, and degree of automation is not high, and the operating link that needs manual coordination is more, lacks whole traditional chinese medicine preparation automation system, can't accomplish complete automatic traditional chinese medicine decocte production process, leads to the efficiency of traditional chinese medicine preparation production can't improve.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an automatic traditional Chinese medicine decocting method, which improves the automation degree of a production line, reduces manual participation and improves the production efficiency of traditional Chinese medicines.
The purpose of the invention is realized by adopting the following technical scheme:
an automated method of decocting herbal medicine, comprising:
step S1: rechecking by rechecking personnel after dispensing the traditional Chinese medicine prescription, putting the medicinal materials corresponding to the traditional Chinese medicine prescription into a decocting pot, associating the decoction sheets with the decocting pot after scanning the identification code on the decocting pot, and transferring the decocting pot to the inlet of a decocting automatic line by a transfer mechanism;
step S2: conveying the decocting pot to a water adding area from an automatic line inlet, scanning an identification code on the decocting pot after the decocting pot is confirmed to be in place, acquiring the water adding amount in the prescription according to the identification content, and controlling a water adding device to add proper water into the decocting pot and kneading;
step S3: after confirming that the frying pan is in place in the soaking area, scanning an identification code on the frying pan to count the soaking time of the frying pan, distributing the frying pan to the soaking areas of different layers according to the idle degree of the frying area through a lifting mechanism, soaking medicinal materials in the pan while the frying pan moves in the soaking areas, and transporting the frying pan to an input port of the frying area after the frying pan is soaked for a set time;
step S4: after the cooking pot is confirmed to be in place in the heating area, acquiring the required cooking time of the cooking pot by scanning the identification code on the cooking pot, and transferring the soaked cooking pot to an idle cooking furnace for switching heating with strong fire and slow fire by a transfer mechanism according to the idle condition of the cooking furnace;
step S5: transferring the decocted boiler to a separation area by a transfer mechanism, elevating a filter vat in the boiler on the boiler by a lifting device for standing to realize residue-liquid separation, taking the filter vat out of the boiler by the transfer mechanism after the residue-liquid separation, transporting an outer barrel of the boiler filled with filtrate to a packaging area for carrying out the packaging procedure of the step S6 for liquid medicine packaging, and transporting the filter vat to a cleaning area for carrying out the cleaning procedure of the step S7;
step S6: after the outer barrel is confirmed to be in place, the outer barrel is distributed to an idle packaging machine, liquid medicine in the outer barrel is poured into the packaging machine through pouring equipment, the packaging machine measures weight and temperature of the liquid medicine, and the liquid medicine meeting the weight and temperature requirements is packaged to form a medicine bag;
step S7: and (4) transferring the filter barrel in the step S5 and the outer barrel in the step S6 to a cleaning area by a transfer mechanism, carrying out all-dimensional cleaning and drying on the barrel cover, the outer barrel and the filter barrel of the decocting pot by the cleaning mechanism, recombining the barrel cover, the outer barrel and the filter barrel by the transfer mechanism, and then transporting the combined decocting pot back to the blending area to be put into the decocting process again.
Further, the transfer mechanism comprises one or more of a truss robot, a palletizing robot, a six-axis robot or a conveying line which are matched with one another.
Furthermore, the water adding equipment in the step S2 comprises a rack, a swing arm gripping device and a water injection pipe, wherein the rack is erected on the transportation equipment, the swing arm gripping device is installed at the inner top of the rack, the swing arm gripping device comprises a motor and a V-shaped swing arm, the motor is fixed on the rack, the bent part of the V-shaped swing arm is connected with the motor, and the motor drives the V-shaped swing arm to rotate in the horizontal direction; the two outer ends of the V-shaped swing arm are respectively provided with a suction cover device and a kneading device, and the water injection pipe is arranged on the machine frame positioned between the two outer ends of the V-shaped swing arm; when the cover suction device grabs the cover of the frying and boiling pot, the motor drives the V-shaped swing arm to rotate, so that the cover is far away from the frying and boiling pot, the water injection pipe adds water into the frying and boiling pot at the moment, the kneading device rotates to the frying and boiling pot to knead medicinal materials in the frying and boiling pot, the cover is put back on the frying and boiling pot after the kneading is finished, and the kneading device is cleaned and dried. .
Furthermore, the rubbing device comprises an air cylinder, a rubbing end and a cleaning mechanism, wherein one end of the air cylinder is connected with one outer end of the V-shaped swing arm, the other end of the air cylinder is connected with the rubbing end, and when the V-shaped swing arm drives the rubbing end to rotate right above the decocting pot, the rubbing end extends into the decocting pot under the pushing of the air cylinder to rub the liquid medicine in the decocting pot; the cleaning mechanism is arranged in the moving range of the kneading end and is used for cleaning and drying the kneading end after kneading work.
Furthermore, the kneading end is arranged in a disc-shaped structure, the diameter of the kneading end is smaller than that of the filter vat in the frying and boiling pot, a large number of water through holes are formed in the surface of the kneading end, and when the kneading end repeatedly goes up and down in the filter vat, liquid medicine seeps from the water through holes to accelerate the liquidity of the liquid medicine.
Further, the plurality of frying and boiling stoves in step S4 are distributed in a matrix form, and each frying and boiling stove is all connected with the PLC controller in a unified manner, and the PLC controller feeds back the use state of each frying and boiling stove in real time and controls the heating power and the heating time of each frying and boiling stove.
Further, after the filtering barrel is separated from the frying pan in the step S5, before the filtering barrel is transported to the cleaning area for the cleaning process, the method further includes a step S51: and conveying the medicine dregs in the filter barrel to a medicine dreg packaging machine to package the medicine dregs in the filter barrel.
Further, before the step S6 of packaging the liquid medicine, the method further includes a step S61: judging whether the weight and temperature measurement result reaches a set standard, and if the weight of the liquid medicine is measured to be too heavy, heating and concentrating the liquid medicine; if the weight of the liquid medicine is too light, finding out the corresponding medicine residue of the medicine bag, decocting the medicine residue, mixing the decocted liquid medicine into the original liquid medicine, and packaging; if the temperature is measured not to reach the standard, the liquid medicine is packaged after being heated or cooled.
Further, the step S6 of packaging the medical solution further includes the step S62: scanning an identification code on an outer barrel filled with liquid medicine, tracing prescription information and production information of the liquid medicine, generating a medicine package label according to the prescription information and the production information, and pasting the medicine package label on the medicine package.
Further, after the labeling of the medicine package in the step S62, the method further includes a step S63: the labeled medicine package is transferred to a packaging and rechecking area through a transferring tray provided with RFID labels, wherein the RFID label of each transferring tray is in information binding with a packaging machine, the information of the packaging machine corresponding to the medicine package and the prescription information of the medicine package are obtained in the rechecking area by reading the RFID labels on the transferring tray and the label information of the medicine package, and rechecking personnel inquire whether the labels, the number and the packaging amount of the medicine package are consistent according to the information, so that the packaging and rechecking operation is performed.
Compared with the prior art, the invention has the beneficial effects that:
traditional chinese medicine decocte adopts the automated mode to produce, adopts scanning equipment to read the identification code of boiling pan between each step, binds with every production information through reading the information of boiling pan to can fix a position the boiling pan, understand the production process of boiling pan in real time, reduce personnel's participation, thereby improve production efficiency.
Drawings
FIG. 1 is a schematic flow chart of the steps of the present invention;
FIG. 2 is a schematic view of a zone flow in steps of the present invention;
FIG. 3 is a schematic structural diagram of the water adding apparatus of the present invention;
FIG. 4 is a schematic view of the construction of the fryer of the present invention;
FIG. 5 is a schematic diagram of a heating zone according to the present invention;
FIG. 6 is a schematic structural view of a clasping and rotating mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the separation apparatus of the present invention;
FIG. 8 is a schematic view of the structure of the cleaning zone of the present invention.
In the figure: 1. a frame; 2. a V-shaped swing arm; 201. a suction cap device; 202. a kneading device; 3. a motor; 4. a cleaning mechanism; 5. an outer tub; 6. a filter vat; 7. a barrel cover; 8. a truss robot; 9. a furnace position; 10. a clamping and rotating mechanism; 11. a separation device; 12. a turning device; 13. a combination device; 14. and (5) cleaning the wire.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
An automatic traditional Chinese medicine decoction method is shown in figures 1-2 and comprises the following steps:
step S1: rechecking by rechecking personnel after dispensing the traditional Chinese medicine prescription, putting the medicinal materials corresponding to the traditional Chinese medicine prescription into a decocting pot, associating the decoction sheets with the decocting pot after scanning the identification code on the decocting pot, and transferring the decocting pot to the inlet of a decocting automatic line by a transfer mechanism;
the preparation rechecking requires a drug sorting worker to sort the drugs according to the prescription, the rechecking worker rechecks the corresponding traditional Chinese medicine components according to the drug list, after the drug list is confirmed, the drug sorting worker takes the next decocting pot from the temporary storage area conveying belt of the decocting pot to place the next decocting pot on the rechecking table, the traditional Chinese medicine is poured into the filter barrel 6 of the decocting pot, and the decocting pot filled with the traditional Chinese medicine enters the rechecking area through the conveying belt.
When the boiling pot enters the rechecking area through the transmission line, a rechecker scans the identification code of the prescription list and the outer barrel 5 of the boiling pot by using a code scanning gun, the prescription list and the boiling pot are associated, after the prescription name and the corresponding boiling scheme are confirmed by the rechecker, the camera equipment above the rechecking table shoots the medicinal materials in the boiling pot, meanwhile, the weighing equipment is used for weighing the boiling pot, the shot picture, the weighing information, the prescription of the medicinal material list and the corresponding unique code of the boiling pot are associated, and the picture, the weighing information, the prescription of the medicinal material list and the corresponding unique code of the boiling pot are uploaded for secondary rechecking and recording.
After the rechecker covers the barrel cover 7 on the frying pan, when the position sensor detects that the frying pan is in place and the current pan position is empty, the frying pan is dispatched and transferred to a transmission line for the next link. The rechecking step can be used for rechecking the medicines after the medicines are sorted according to the prescription so as to ensure that the medicine order corresponds to the traditional Chinese medicines, thereby reducing the error probability.
As shown in fig. 4, the frying and boiling pan comprises an outer barrel 5, a filter barrel 6 and a barrel cover 7, wherein a plurality of grooves are formed in the upper edge of the outer barrel 5, the upper edge of the filter barrel 6 is provided with limit blocks corresponding to the grooves, and the limit blocks are correspondingly clamped into the grooves when the filter barrel 6 is placed in the outer barrel 5, so that the filter barrel 6 sinks to a proper height and is fully contacted with water at the bottom of the outer barrel 5. The outer surfaces of the outer barrel 5 and the filter barrel 6 of the frying and boiling pot are respectively provided with an identification code, the identification codes record unique coding information of the frying and boiling pot, and the operation information of the frying and boiling pot in a plurality of links can be bound together by identifying the identification code of the frying and boiling pot in each flow of each module, so that the action parameters of each frying and boiling pot in each link of the production line can be known.
Step S2: conveying the decocting pot to a water adding area from an automatic line inlet, scanning an identification code on the decocting pot after the decocting pot is confirmed to be in place, acquiring the water adding amount in the prescription according to the identification content, and controlling a water adding device to add proper water into the decocting pot and kneading;
as shown in fig. 3, the water filling equipment comprises a frame 1, a swing arm gripping device and a water filling pipe, wherein the frame 1 is erected on the transportation equipment, the swing arm gripping device is installed at the inner top of the frame 1, the swing arm gripping device comprises a motor 3 and a V-shaped swing arm 2, the motor 3 is fixed on the frame 1, the bent part of the V-shaped swing arm 2 is connected with the motor 3, and the motor 3 drives the V-shaped swing arm 2 to rotate in the horizontal direction; the two outer ends of the V-shaped swing arm 2 are respectively provided with a suction cover device 201 and a kneading device 202, and the water injection pipe is arranged on the frame 1 positioned between the two outer ends of the V-shaped swing arm 2; the frying pan passes through the frame 1 of the water adding equipment through the conveying equipment, when the frying pan is in place and under the cover sucking device 201, the frying pan is tightly held and fixed through the tightly holding and jacking mechanism, the weight of the frying pan is measured in real time through the tightly holding and jacking mechanism, and the weight is used for monitoring the change of the water adding amount; then the motor 3 drives the cover sucking device 201 to grab the barrel cover 7 of the frying and boiling pot, the V-shaped swing arm 2 rotates for a certain angle, the barrel cover 7 of the frying and boiling pot leaves the frying and boiling pot, the water injection pipe adds water into the frying and boiling pot, the kneading device 202 rotates to the frying and boiling pot through the V-shaped swing arm 2, the kneading device 202 kneads medicinal materials in the frying and boiling pot, and the barrel cover 7 is placed back to the frying and boiling pot after the kneading is finished.
The kneading device 202 includes a cylinder and a kneading end, the kneading end is configured as a disc-shaped structure, the diameter of the kneading end is smaller than the diameter of the filtering barrel 6 in the decocting pan, a large number of water through holes are formed on the surface of the kneading end, and when the kneading end repeatedly goes up and down in the filtering barrel 6, the liquid medicine seeps from the water through holes to accelerate the fluidity of the liquid medicine. One end of the air cylinder is connected with one outer end of the V-shaped swing arm 2, the other end of the air cylinder is connected with the kneading end, when the V-shaped swing arm 2 drives the kneading end to rotate to the position right above the decocting pot, the kneading end extends into the decocting pot under the pushing of the air cylinder, and the kneading operation of the liquid medicine in the decocting pot is realized by controlling the kneading end to move up and down in a reciprocating manner.
The kneading device 202 further comprises a cleaning mechanism 4, the cleaning mechanism 4 is fixed on the frame 1, the V-shaped swing arm 2 drives the kneading end to rotate above the cleaning mechanism 4, and the cylinder of the V-shaped swing arm pushes the kneading end to extend into the cleaning mechanism 4 for cleaning and drying.
After water is added in the water adding area, the water is driven by a conveying line to move to the soaking area for the next soaking procedure.
Step S3: after confirming that the decocting pan is in place in the soaking area, counting the soaking time of each decocting pan by scanning the identification code on the decocting pan, distributing the decocting pan to the soaking areas of different layers according to the idle degree of the decocting area by a lifting mechanism, soaking medicinal materials in the pan while the decocting pan moves in the soaking area, and transporting the decocting pan to the input port of the decocting area after the soaking of set time;
the soaking area is divided into a plurality of soaking sub-modules, and the plurality of sub-modules can work in parallel, so that the productivity is improved. The lifting mechanism can be a multi-layer lifter, and each layer of the lifter is correspondingly provided with a transmission line. The scanning device reads the identification code of the frying pan, and the detection of the distance sensor is matched to judge whether the frying pan is in place, when the frying pan is in place, the elevator transports the frying pan to different transmission lines in sequence according to the idle condition on each layer of transmission line to regulate the speed of the transmission lines, so that the speed of the transmission lines is reduced, and the frying pan is soaked for at least 30 minutes in the transportation process.
Meanwhile, when the boiling pot enters the soaking zone, the identification code of the boiling pot is scanned, and when the boiling pot leaves the soaking zone, the same boiling pot is scanned again, and the soaking time of each boiling pot is counted and recorded.
Step S4: after the situation that the boiling pot is in place in the heating area is confirmed, the heating time of the boiling pot is counted by scanning the identification code on the boiling pot, and the soaked boiling pot is transferred to an idle boiling furnace by a transfer mechanism to be heated by switching between strong fire and slow fire according to the idle condition of the boiling furnace;
after leaving the soaking zone, the frying pan enters a cache zone of the heating zone, wherein the transfer mechanism can be realized by a transfer mechanism such as a truss robot 8, a palletizing robot, a six-axis robot, a conveying line and the like, and the transfer mechanism in the embodiment is the truss robot 8; the position sensor is arranged in the cache region, whether the cache region is to be boiled and the number of the pots are read, and the head of the cache region is partially overlapped with the motion region of the truss robot 8, so that the truss robot 8 can grab the pots on the head of the cache region. As shown in fig. 5, the decocting module includes a truss robot 8 and a plurality of oven positions 9 distributed in a matrix form, after the decocting pan is stored in the buffer area, the truss robot 8 grabs the decocting pan on the buffer area, transports the decocting pan to an idle oven position 9, and when a position sensor beside the oven position 9 detects that the decocting pan is in place, controls the oven position 9 to start to heat the decocting pan, and the heating temperature of each oven position 9 can be directly controlled by the central control module, and the oven position 9 is controlled to heat for about 10 minutes by using high power (about 3500 watts) and then heated for 40 minutes by using low power (about 1000 watts); or firstly heating with high power for about 10 minutes, then heating with high power and low power for 1 minute respectively, and then alternately switching heating to total time of about 40 minutes, thereby realizing a decocting mode of firstly strong fire and then slow fire. And after heating is finished, controlling the furnace position 9 to stop heating, and simultaneously controlling the truss robot 8 to move to the position above the decocting pot which finishes decocting, clamping the decocting pot and conveying the decocting pot to an outlet of a heating area.
Step S5: transferring the decocted boiler to a residue-liquid separation zone by a transfer mechanism, elevating a filter barrel 6 in the boiler by a clasping rotating mechanism 10 for standing to realize residue-liquid separation, taking the filter barrel 6 out of the boiler by the transfer mechanism after the residue-liquid separation, transporting an outer barrel 5 of the boiler filled with filtrate to a packaging zone to perform the packaging procedure of the step S6 for liquid medicine packaging, and transporting the filter barrel 6 to a cleaning zone to perform the cleaning procedure of the step S7;
taking out the filter vat 6 from the decocting pot is realized through the holding clamp rotating mechanism 10, as shown in fig. 6, the holding clamp rotating mechanism 10 clamps the upper edge of the filter vat 6 of the decocting pot, vertically and upwards lifts the filter vat 6 and the barrel cover 7, drives the filter vat 6 and the barrel cover 7 to synchronously rotate for a set angle, and then puts down the filter vat 6 and the barrel cover 7, and the limiting block of the filter vat 6 is erected at the upper edge of the outer barrel 5 at the moment, so that the bottom of the filter vat 6 is separated from the liquid level, and then the decocting pot is continuously transported in a conveying belt, thereby achieving the effect of completely draining the decoction dregs.
At the moment, the decoction dregs and the liquid medicine in the decocting pot are completely separated, and the decoction dregs and the liquid medicine can be independently treated after the decocting pot enters a packaging area. The packaging module comprises a medicine residue packaging machine, a liquid medicine packaging machine and the like. When the frying pan enters the packaging area and is sensed in place by the sensor, the scanning device is controlled to scan the frying pan, and the identified information is recorded.
After the filtering barrel 6 is separated from the decocting pot and before the filtering barrel is transported to a cleaning area for cleaning, the medicine dregs in the filtering barrel 6 are transported to a medicine dreg packing machine for packing the medicine dregs in the filtering barrel 6. The packed medicine dregs are placed on a conveying belt by a packing mechanism and are conveyed to a medicine dreg collecting position for centralized collection; then, the clamping device drives the filter vat 6 to rotate to the initial position, the clamping device is loosened, and the filter vat 6 is conveyed to a cleaning area to be cleaned.
Step S6: after the outer barrel 5 is confirmed to be in place, the outer barrel 5 is distributed to an idle packaging machine, the liquid medicine in the outer barrel 5 is poured into the packaging machine through pouring equipment, the packaging machine measures the weight and the temperature of the liquid medicine, and the liquid medicine meeting the weight and temperature requirements is packaged to form a medicine bag;
when the sensor senses that the outer barrel 5 is in place, the scanning equipment scans the identification code on the outer barrel 5 to obtain various production information of the decocting pot corresponding to the liquid medicine, and the binding information of the identification code generates a unique label. And then the outer barrel 5 is transported to an idle liquid medicine packaging machine, the clamping device of the liquid medicine packaging machine clamps the upper half part of the filter barrel 6 at about one third position, at the moment, the liquid medicine packaging machine automatically opens the packaging bag, liquid medicine is poured into the packaging bag, and then the packaging device is controlled to automatically package and label the packaging bag. The packed medicine bags are placed on a conveying belt by a packing mechanism for centralized collection. Thereafter, the clamping device drives the outer tub 5 to rotate to the initial position, the clamping device is loosened, and the outer tub 5 is transferred to the washing area for washing.
Before packaging the liquid medicine, judging whether the weight and temperature measurement result reaches a set standard, and if the weight of the liquid medicine is measured to be too heavy, heating and concentrating the liquid medicine; if the weight of the liquid medicine is too light, finding out the corresponding medicine residue of the medicine bag, decocting the medicine residue, mixing the decocted liquid medicine into the original liquid medicine, and packaging; if the temperature is not up to the standard, the liquid medicine is packaged after being heated or cooled. The packaging machine automatically adjusts and packages according to the packaging quantity of each bag required by the single prescription, thereby improving the automation degree.
After the package is finished, the medicine bag is automatically pasted with a special label, and the medicine bag transfer device is controlled to transfer the medicine bag to the transport tray to carry out rechecking operation of the next module. The label information comprises but is not limited to an outer barrel 5 unique code corresponding to the medicine package, a filter barrel 6 unique code bound with the outer barrel 5, prescription information and rechecking information corresponding to the decocting pot, the whole production flow of the medicine package can be known through the label information, and a subsequent package rechecking module can conveniently recheck the medicine package information. The RFID label that is provided with on the transportation tray and binds each other with packagine machine information, through reading the RFID label on the transportation tray and the label information of cartridge bag on rechecking bench, can learn the packagine machine information that produces this cartridge bag and the prescription information of this cartridge bag, whether the personnel of rechecking are unanimous according to the label of above-mentioned information inquiry cartridge bag, quantity, packing volume etc. to accomplish the packing and rechecking operation, the cartridge bag will be photographed and filed in the process of rechecking, and record and recheck time and relevant recheck personnel.
After rechecking, the medicine package is packed, and after packing, the medicine package is conveyed to a storage area or flows out of a goods area by a conveying device. After completion, the package transfer tray will be transported back to the designated packaging machine via the transport line, ready for the next transfer.
Step S7: as shown in fig. 8, the transfer mechanism transfers the filter drum 6 in step S5 and the outer drum 5 in step S6 to the washing area, the washing mechanism 4 is used to wash and dry the drum cover 7, the outer drum 5 and the filter drum 6 of the fryer in all directions, the transfer mechanism is used to recombine the drum cover 7, the outer drum 5 and the filter drum 6, and then the combined fryer is transported back to the blending area to be put into the decocting process again.
After each part of the decocting pot is subjected to the packaging process of the packaging module, the outer barrel 5, the filter barrel 6 and the barrel cover 7 are all transported to a cleaning area for cleaning. The washing module comprises a separating device 11, a turnover device 12, a combining device 13 and a washing line 14, as shown in fig. 7, the separating device 11 is used for separating the outer barrel 5 and the barrel cover 7 and transferring the barrel cover 7 to the washing line 14; then the turnover device 12 is controlled to turn over the outer barrel 5 and the filter barrel 6 to be reversed on the cleaning line 14 for cleaning. After the outer barrel 5, the barrel cover 7 and the filter barrel 6 are cleaned and dried, the water flows into outlets of the cleaning lines 14, the filter barrel 6 and the barrel cover 7 are sequentially placed on the outer barrel 5 for combination through a combination device 13 at the outlets of the cleaning lines 14, and the combined decocting pot is transferred to a return line for next circulation. After the outer barrel 5, the filter barrel 6 and the barrel cover 7 are combined, the mixture is transferred to a return line to return to a re-nucleation area, and then enters the next cycle.
In the whole traditional Chinese medicine decocting process, the degree of automation is high, the participation of manpower is reduced, the production efficiency can be greatly improved, meanwhile, a plurality of soaking and heating processing lines can be increased, a large number of decocting pots can be intensively and simultaneously processed, and the productivity is improved.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. An automatic traditional Chinese medicine decoction method is characterized by comprising the following steps:
step S1: rechecking by rechecking personnel after dispensing the traditional Chinese medicine prescription, putting the medicinal materials corresponding to the traditional Chinese medicine prescription into a decocting pot, associating the decoction sheets with the decocting pot after scanning the identification code on the decocting pot, and transferring the decocting pot to the inlet of a decocting automatic line by a transfer mechanism;
step S2: conveying the decocting pot to a water adding area from an automatic line inlet, scanning an identification code on the decocting pot after the decocting pot is confirmed to be in place, acquiring the water adding amount in the prescription according to the identification content, and controlling a water adding device to add proper water into the decocting pot and kneading; the water adding equipment comprises a rack, a swing arm grabbing device and a water injection pipe, wherein the rack is erected on the transportation equipment, the swing arm grabbing device is installed at the inner top of the rack, the swing arm grabbing device comprises a motor and a V-shaped swing arm, the motor is fixed on the rack, the bent part of the V-shaped swing arm is connected with the motor, and the motor drives the V-shaped swing arm to rotate in the horizontal direction; the two outer ends of the V-shaped swing arm are respectively provided with a suction cover device and a kneading device, and the water injection pipe is arranged on the machine frame positioned between the two outer ends of the V-shaped swing arm;
step S3: after the decocting pot is confirmed to be in place in the soaking area, scanning an identification code on the decocting pot to count the soaking time of the decocting pot, distributing the decocting pot to soaking areas of different layers according to the idle degree of the decocting area through a lifting mechanism, soaking medicinal materials in the pot while the decocting pot moves in the soaking areas, and transporting the decocting pot to an input port of the decocting area after the decocting pot is soaked for a set time;
step S4: after the cooking pot is confirmed to be in place in the heating area, acquiring the required cooking time of the cooking pot by scanning the identification code on the cooking pot, and transferring the soaked cooking pot to an idle cooking furnace for switching heating with strong fire and slow fire by a transfer mechanism according to the idle condition of the cooking furnace;
step S5: transferring the decocted pot to a separation region by a transfer mechanism, elevating a filter barrel in the pot on the pot by a lifting device for standing to realize residue-liquid separation, taking out the filter barrel from the pot by the transfer mechanism after the residue-liquid separation, transporting the outer barrel of the pot filled with filtrate to a packaging region for execution
The packaging process of the step S6 is to package the liquid medicine, and at the same time, the filter vat is transported to the cleaning area to execute the cleaning process of the step S7;
step S6: after the outer barrel is confirmed to be in place, the outer barrel is distributed to an idle packaging machine, liquid medicine in the outer barrel is poured into the packaging machine through pouring equipment, the packaging machine measures weight and temperature of the liquid medicine, and the liquid medicine meeting the weight and temperature requirements is packaged to form a medicine bag;
step S7: and (4) transferring the filter barrel in the step S5 and the outer barrel in the step S6 to a cleaning area by a transfer mechanism, carrying out all-dimensional cleaning and drying on the barrel cover, the outer barrel and the filter barrel of the decocting pot by the cleaning mechanism, recombining the barrel cover, the outer barrel and the filter barrel by the transfer mechanism, and then transporting the combined decocting pot back to the blending area to be put into the decocting process again.
2. The automated method of claim 1, wherein the transfer mechanism comprises one or more of a truss robot, a palletizing robot, a six-axis robot, or a conveyor line.
3. The automated traditional Chinese medicine decocting method of claim 1, wherein in step S2, after the lid sucking device grabs the lid of the decocting pot, the motor drives the V-shaped swing arm to rotate so as to keep the lid away from the decocting pot, at this time, the water injection pipe adds water into the decocting pot, the kneading device is rotated onto the decocting pot, the kneading device kneads the medicinal materials in the decocting pot, the lid is put back onto the decocting pot after kneading is completed, and the kneading device is cleaned and dried.
4. The automatic traditional Chinese medicine decocting method according to claim 3, wherein the kneading device comprises a cylinder, a kneading end and a cleaning mechanism, one end of the cylinder is connected with one outer end of a V-shaped swing arm, the other end of the cylinder is connected with the kneading end, and when the V-shaped swing arm drives the kneading end to rotate right above the decocting pot, the kneading end is pushed by the cylinder to extend into the decocting pot to knead the liquid medicine in the decocting pot; the cleaning mechanism is arranged in the moving range of the kneading end and is used for cleaning and drying the kneading end after kneading work.
5. The automated method of claim 4, wherein the kneading tip is formed in a disc shape having a diameter smaller than that of the drum in the boiler, and a plurality of water holes are formed on the surface of the kneading tip, so that the liquid medicine is permeated through the water holes when the kneading tip is repeatedly lifted up and down in the drum to accelerate the fluidity of the liquid medicine.
6. The method of claim 1, wherein the plurality of decocting ovens in the step S4 are distributed in a matrix form, each of the plurality of decocting ovens is connected to the PLC controller, and the PLC controller feeds back the usage status of each of the plurality of decocting ovens in real time and controls the heating power and the heating time of each of the plurality of decocting ovens.
7. The automated method of claim 1, wherein the step S5, after separating the lauter tub from the pan, further comprises a step S51: and conveying the medicine dregs in the filter barrel to a medicine dreg packaging machine to package the medicine dregs in the filter barrel.
8. The automated method for decocting Chinese herbs in water according to claim 1, wherein the step S6 further comprises the step S61: judging whether the weight and temperature measurement result reaches a set standard, and if the weight of the liquid medicine is measured to be too heavy, heating and concentrating the liquid medicine; if the weight of the liquid medicine is too light, the corresponding medicine residue of the medicine bag is found back, the medicine residue is turned over and decocted, and the decocted liquid medicine is mixed into the original liquid medicine and then packaged; if the temperature is measured not to reach the standard, the liquid medicine is packaged after being heated or cooled.
9. The automated method for decocting Chinese herbs in water according to claim 8, wherein the step S6 further comprises the step S62: scanning an identification code on an outer barrel filled with the liquid medicine, tracing the prescription information and the production information of the liquid medicine, generating a medicine package label according to the prescription information and the production information, and pasting the medicine package label on the medicine package.
10. The automated method for decocting herbal medicines according to claim 9, wherein the step S62 of labeling the medicine package further comprises the step S63: the labeled medicine package is transferred to a packaging and rechecking area through a transferring tray provided with RFID labels, wherein the RFID label of each transferring tray is in information binding with a packaging machine, the information of the packaging machine corresponding to the medicine package and the prescription information of the medicine package are obtained in the rechecking area by reading the RFID labels on the transferring tray and the label information of the medicine package, and rechecking personnel inquire whether the labels, the number and the packaging amount of the medicine package are consistent according to the information, so that the packaging and rechecking operation is performed.
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| CN111423269A (en) * | 2020-03-23 | 2020-07-17 | 上海养和堂中药饮片有限公司 | Decocting process of traditional Chinese medicine decoction pieces and herb residue treatment method |
| CN111991234A (en) * | 2020-08-12 | 2020-11-27 | 浙江桐君堂中药饮片有限公司 | Preparation process of traditional Chinese medicine ointment formula |
| CN113625788A (en) * | 2021-07-20 | 2021-11-09 | 广东畅联智能装备有限公司 | Automatic water adding control method, device and system |
| CN113813181A (en) * | 2021-07-27 | 2021-12-21 | 上海观道生物科技有限公司 | Traditional Chinese medicine decocting machine, decocting and mixing system and module |
| CN114504500A (en) * | 2022-02-17 | 2022-05-17 | 广东和翔制药有限公司 | Intelligent medicine decocting management method and system |
| CN114504502A (en) * | 2022-04-07 | 2022-05-17 | 山东福致新能健康科技有限公司 | Automatic decoction method, equipment and medium based on intelligent traditional Chinese medicine |
| CN114712238B (en) * | 2022-04-07 | 2024-04-09 | 山东厚朴智能科技有限公司 | Traditional Chinese medicine-based production method, equipment and medium |
| CN115624481B (en) * | 2022-12-20 | 2023-03-14 | 北京东华原医疗设备有限责任公司 | Traditional chinese medicine automatic production line's decocte unit |
| CN115624478B (en) * | 2022-12-20 | 2023-03-31 | 北京东华原医疗设备有限责任公司 | Production line of automatic decocte of traditional chinese medicine |
| CN115624482B (en) * | 2022-12-20 | 2023-05-19 | 北京东华原医疗设备有限责任公司 | Control method of full-automatic traditional Chinese medicine decoction system |
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