CN110399001A - A kind of Chinese medicine automation decoction system based on truss robot - Google Patents
A kind of Chinese medicine automation decoction system based on truss robot Download PDFInfo
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- CN110399001A CN110399001A CN201910561389.XA CN201910561389A CN110399001A CN 110399001 A CN110399001 A CN 110399001A CN 201910561389 A CN201910561389 A CN 201910561389A CN 110399001 A CN110399001 A CN 110399001A
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- 239000003814 drug Substances 0.000 title claims abstract description 19
- 238000010438 heat treatment Methods 0.000 claims abstract description 151
- 238000010411 cooking Methods 0.000 claims abstract description 111
- 238000009826 distribution Methods 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000011112 process operation Methods 0.000 claims description 3
- 238000009835 boiling Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000032258 transport Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 6
- 239000012530 fluid Substances 0.000 description 5
- 206010053615 Thermal burn Diseases 0.000 description 3
- 206010037660 Pyrexia Diseases 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4188—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by CIM planning or realisation
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
-
- 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
-
- 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
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- Manufacturing & Machinery (AREA)
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Abstract
The present invention discloses a kind of Chinese medicine automation decoction system based on truss robot, including heating cooking stove, multiple heating cooking stoves are electrically connected by Interface and Controler, are responsible for after the distribution instruction for receiving controller according to distribution instruction execution relevant operation；Middle control module is connected by controller with each heating cooking stove signal, and middle control module is responsible for the status information of each heating cooking stove of real-time reception, while assigning distribution instruction to controller and truss robot；Wherein distribution instruction is generated according to the positional relationship of decocting process information, the idle state of each heating cooking stove, heating cooking stove；Truss robot is connected with middle control module by signal, is responsible for the distribution instruction that control module in receiving issues, instructs control truss robot to fold up corresponding decoction pot according to distribution and will transport in moving range to it.Decoction pot is distributed and is transported in corresponding heating cooking stove using truss robot and heated by the present invention, improves the degree of automation, improves production efficiency.
Description
Technical field
The present invention relates to Chinese medicine automation pharmaceutical fields more particularly to a kind of Chinese medicine automation based on truss robot to decoct
Boil system.
Background technique
Currently, in order to produce different types of medical fluid, being needed in different decoctions in Chinese medicine automation pharmacy procedure
Different medicinal materials is added in pot, recycles worker to carry decoction pot and be placed on heating cooking stove and heats；It is raw in batches when needing
When production, then need to be arranged in workshop a large amount of heating cooking stove, a large amount of heating cooking stove carries out Chinese medicine to different decoction pots simultaneously and decocts
It boils, production efficiency can be increased substantially, but when heating cooking stove quantity is more, worker then needs for a large amount of decoction pot to be transported to pair
It is heated on the heating cooking stove answered, will increase the labour of worker, while pot body temperature is higher after the heating for decoction pot, workers carry holds
Easily scald；Further more, worker faces a large amount of decoction pot, the heating time of each decoction pot can not be accurately controlled, is easy to cause
Heating time is too long, and medicinal material is caused to be lost.And in existing pharmaceutical manufacturing line, can exist using travelling bogie to decoction pot into
Row is carried, although the labour of worker can be reduced, worker is avoided to scald, travelling bogie need in defined transport track or
It is transported in transport space, increases the occupied area of workshop, travelling bogie is transported along defined track, haulage time
It is relatively slow, and decoction pot is transferred on heating cooking stove from travelling bogie and worker or other equipment is needed to assist, it automates
Degree is not high, causes production efficiency that can not improve.
Summary of the invention
For overcome the deficiencies in the prior art, utilize truss robot by decoction pot the purpose of the present invention is to provide a kind of
It distributes and transports and heated in corresponding heating cooking stove, improve the Chinese medicine automation decoction system of the degree of automation.
The purpose of the present invention adopts the following technical scheme that realization:
A kind of Chinese medicine automation decoction system based on truss robot, including
Heating cooking stove, multiple heating cooking stoves are electrically connected by Interface and Controler, are responsible in the distribution for receiving controller
According to distribution instruction execution relevant operation after instruction；Multiple heating cooking stoves are distributed in matrix form；Each heating cooking stove, which marks, to be had
Information, wherein unique information includes the unique encodings of heating cooking stove and the position coordinates mutually bound with unique encodings；
Middle control module is connected by controller with each heating cooking stove signal, and middle control module is responsible for each hair of real-time reception
The status information of hot stove, while distribution instruction is assigned to controller and truss robot；Wherein distribution instruction is according to decoction work
Skill information, the idle state of each heating cooking stove, heating cooking stove positional relationship generated；
Truss robot is connected with middle control module by signal, be responsible for receive in control module issue distribution instruction, according to point
Corresponding decoction pot is folded up with instruction control truss robot and it will be transported in moving range.
Further, the decocting process information include decoct prescription, decoct type, required decoction pot quantity, it is required plus
The decoction pot identification information of heat, required heating time of each decoction pot, each decoction pot required heating temperature.
Further, the truss robot includes micro controller and the traverse rod being connected with micro controller signal, sliding rail and grabs
Take arm, the distribution edge that at least two traverse rods are erected at decoction pot, distribution of the sliding rail across decoction pot, both ends
It is slidably connected respectively with traverse rod；The crawl arm is slidably connected on the slide rail；Micro controller instructs control crawl arm according to distribution
Motion state.
Further, the motion state of the crawl arm includes that the lifting of position coordinates, crawl arm that crawl arm reaches is high
The grasping force for grabbing moment, crawl arm of degree, crawl arm.
Further, there are two symmetrical half arcs to press from both sides end for the grasping end setting of the crawl arm, and two and half arcs press from both sides end
Radian it is identical as the outer barrel radian of decoction pot；It is dynamic that folding up for decoction pot is completed at two and half arcs folder end under the drive of cylinder
Make.
Further, the controller instructs the switch state, corresponding heating cooking stove for controlling corresponding heating cooking stove according to distribution
The heating time of heating power and corresponding heating cooking stove.
Further, it is slow that heating cooking stove distributed areas, heating zone are provided in the specific moving range of the truss robot
Deposit area and heating zone outlet area；The decoction pot of heating zone buffer area is clamped and is shifted according to distribution instruction by truss robot
It is heated on to some heating cooking stove of the correspondence in heating cooking stove distributed areas；Truss robot crawl is decocted after decoction pot completes heating
Saucepan is transferred to progress next step process operation in the outlet area of heating zone.
Further, tilting device, middle control module judgement are additionally provided in the specific moving range of the truss robot
Decoct type whether belong to be decocted first after lower module, if so, truss robot in sequence by decoction pot be transferred to heating cooking stove distribution
Idle heating cooking stove in region is heated, and the decoction pot that crawl has been heated thereafter is transferred in tilting device and other decoction pots
Interior medicinal material is mixed, the relevant operation under completing after being decocted first.
Compared with prior art, the beneficial effects of the present invention are:
Decoction pot is carried using truss robot, while being instructed according to different decocting process schemes and distribution by decoction pot
It is transported to suitable position to be heated, shortens handling time, reduce and carry energy consumption, to improve the handling efficiency of decoction pot.
Detailed description of the invention
Fig. 1 is that signal of the invention transmits schematic diagram；
Fig. 2 is the structural schematic diagram of decoction system of the invention；
Fig. 3 is that the present invention has tilting device and proposes the decoction system structure diagram of lid mechanism；
Fig. 4 is the structural schematic diagram for mentioning lid mechanism of the invention；
Fig. 5 is the structural schematic diagram of tilting device of the invention；
Fig. 6 is truss robot structural schematic diagram of the invention.
In figure: 1, truss robot；101, traverse rod；102, sliding rail；103, crawl arm；2, heating cooking stove；3, tilting device；
301, rotating mechanism；4, middle control module；5, controller；6, lid mechanism is mentioned.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
A kind of Chinese medicine automation decoction system based on truss robot, as shown in figs. 1 to 6, including
Heating cooking stove 2, multiple heating cooking stoves 2 are electrically connected by RS485 Interface and Controler 5, and multiple heating cooking stoves 2 are in matrix
Formula distribution, heating cooking stove 2 are responsible for after the distribution instruction for receiving controller 5 according to the switch of distribution instruction execution heating cooking stove 2, are added
The control of the relevant parameters such as hot moment, heating duration, heating power.
Each heating cooking stove 2, which marks, to be had, wherein unique information include heating cooking stove 2 unique encodings and with it is unique
Encode the position coordinates mutually bound；Wherein position coordinates can be used for positioning each heating cooking stove 2, allow truss robot 1
Accurately decoction pot can be transferred on coordinate belonging to the heating cooking stove 2 and be heated, improve the accuracy of transport.It is described unique
Number can the distance according to heating cooking stove 2 apart from initial position be numbered, such as near initial position heating cooking stove 2 number be
1, heating cooking stove 2 number farthest apart from initial position is n, and so on, wherein n is greater than 1.Since decoction process is heated in automation
Middle truss robot 1 must decoct process since the inlet crawl decoction pot for decocting area, it is also necessary to by the decoction after heating
The exit that pot is transferred to decoction area terminates decoction process must will then decoct in the decocting process under after being decocted first
Saucepan is transferred to the medical fluid mixing carried out in multiple decoction pots in tilting device 3, therefore initial position may be provided at truss machine
The entry position in the necessary decoction area of people 1, the outlet port for decocting area or tilting device 3, are distributed near initial position at first
Heating cooking stove 2 starts, and can shorten the transportation route of decoction pot, to lower transport energy consumption.
Middle control module 4 is connected by controller 5 with each 2 signal of heating cooking stove, and it is each that middle control module is responsible for real-time reception
The status information of heating cooking stove 2, while distribution instruction is assigned to controller 5 and truss robot 1；Wherein distribution instruction is according to pan-fried
Boil technique information, the idle state of each heating cooking stove 2, heating cooking stove 2 positional relationship generated；The decocting process information includes
Prescription, decoction type, required decoction pot quantity, the decoction pot identification information of required heating, the required of each decoction pot is decocted to add
The hot time, each decoction pot required heating temperature；The positional relationship of the heating cooking stove 2 then represents closest apart from initial position
And 2 position of heating cooking stove that is in idle condition.
Truss robot 1 is connected with middle 4 signal of control module, is responsible for the distribution instruction that control module 4 in receiving issues,
Middle distribution instruction is identical as the distribution instruction of heating cooking stove 2, and middle control module 4 controls while distributing the starting heating of some heating cooking stove 2
The clamping decoction pot of truss robot 1 transports to be heated on the heating cooking stove 2.
As shown in fig. 6, the truss robot 1 includes micro controller and the traverse rod 101, the sliding rail that are connected with micro controller signal
102 and crawl arm 103, the distribution edge that at least two traverse rods 101 are erected at decoction pot, sliding rail 102 is across decoction pot
Distribution, both ends are slidably connected with traverse rod 101 respectively；The crawl arm 103 is slidably connected on sliding rail 102；It is described
Micro controller is connected with middle 4 signal of control module, and the distribution instruction of middle control module 4 is transmitted in micro controller through control sliding rail 102
Motion state with crawl arm 103 is to control the position coordinates of the arrival of crawl arm 103, the adjustable height of crawl arm 103, crawl
Crawl moment, grasping force of crawl arm 103 of arm 103 etc..
Wherein, there are two symmetrical half arcs to press from both sides end for the grasping end setting of the crawl arm 103, and two and half arcs press from both sides end
Radian is identical as the outer barrel radian of decoction pot；It is dynamic that folding up for decoction pot is completed at two and half arcs folder end under the drive of cylinder
Make, the decoction pot after heating can be clamped, personnel's operation is avoided to cause to scald.
It and include that 2 distributed areas of heating cooking stove, heating zone buffer area, heating zone go out in the traffic coverage of truss robot 1
Mouth region and tilting device 3；The decoction pot of heating zone buffer area is clamped and is transferred into according to distribution instruction by truss robot 1
It is heated on correspondence some heating cooking stove 2 in 2 distributed areas of heating cooking stove；Truss robot 1 grabs after decoction pot completes heating
Decoction pot is transferred to progress next step process operation in the outlet area of heating zone；Control module 4 determines according to decocting process information in the middle
For when lower decocting process, a decoction pot after heating is transferred on tilting device 3 by truss robot 1 in sequence after being decocted first
Its medical fluid and the dregs of a decoction are poured into another decoction pot and mixed, then grabs mixed decoction pot and is transferred to idle fever
It is heated in furnace 2, completion lower operation after being decocted first.
Decoction pot is carried out on tilting device 3 before toppling over mixing, as shown in figure 5, decoction pot is placed on tilting device 3
On rotating mechanism 301, the slag medicine in decoction pot can be poured into the another of 301 other side of rotating mechanism by the rotation of rotating mechanism 301
In a decoction pot.And be provided in the side of tilting device 3 and mention lid mechanism 6, as shown in figure 4, mention lid mechanism 6 include telescopic rod,
Cylinder and sucker, one end of the telescopic rod is fixed on the support frame, and the other end of telescopic rod connects cylinder, and telescopic rod can drive
Cylinder is gone up and down back and forth, and the lower surface of the movable end of cylinder is equipped with the sucker for extracting bung, by telescopic rod and
The mutual cooperation of cylinder, lifts bung after promoting sucker to suck bung, so that the medical fluid in decoction pot can be flowed out out of bucket.
In order to allow the transport Power dissipation reductions of truss robot 1, shorten haulage time when carrying decoction pot, to sending purlin to
The distribution instruction of frame robot 1 and heating cooking stove 2 optimizes adjustment: the shape of the middle control each heating cooking stove 2 of 4 real-time reception of module
The quantity for being currently at the heating cooking stove 2 of idle state is counted after state information, according to the required decoction pot in decocting process information
The difference of quantity, middle control module 4 generate different distribution instructions while being transmitted in heating cooking stove 2 and truss robot 1.
When required decoction pot quantity is one, middle control module 4 transfers the unique information for being in idle condition heating cooking stove 2,
The unique number for knowing the heating cooking stove 2 in each be in idle condition is judged according to the unique number of heating cooking stove 2 in the free time
Closest to 2 position of heating cooking stove of initial position in numerous heating cooking stoves 2 of state, and to it closest to the heating cooking stove 2 of initial position
It being marked, middle control module 4 then assigns the distribution instruction about the mark position coordinate to heating cooking stove 2 and truss robot 1, this
When truss robot 1 receive distribution instruction after decoction pot is transported on the heating cooking stove 2 of the mark position coordinate, the heating cooking stove 2
Distribution instruction starting is received, decoction pot is heated according to decocting process information.The distribution instructs command range initial bit
It sets nearest single heating cooking stove 2 to start, and controls truss robot 1 and decoction pot is transported to the fever nearest apart from initial position
On furnace 2, transport energy consumption needed for transfer decoction pot can be reduced, while shortening the handling time of decoction pot, improve the intelligence of heating cooking stove 2
It can control degree, to improve production efficiency.
When required decoction pot quantity is two, middle control module 4 transfers the unique information for being in idle condition heating cooking stove 2,
The unique number for knowing the heating cooking stove 2 in each be in idle condition obtains appointing near initial position according to unique number
It anticipates the position coordinates of one group of adjacent idle heating cooking stove 2, and the coordinate of two heating cooking stoves 2 is subtracted each other to obtain corresponding vector
Coordinate determines that two adjacent idle heating cooking stoves 2 are phase if the abscissa and ordinate of vectorial coordinate are respectively less than setting value
Gauge from it is minimum, closest to two heating cooking stoves 2, which is then labeled, and middle control module 4 is then to heating cooking stove 2 and purlin
The distribution instruction about two mark position coordinates is assigned by frame robot 1, controls truss robot 1 successively by two decoction pots
It is transferred on corresponding heating cooking stove 2 and is heated, and control two heating cooking stoves 2 and be actuated for heating, if desired decoct two
When the medical fluid of saucepan is mixed, two decoction pots are successively transferred in tilting device 3 by control truss robot 1 to be mixed
It closes；The heating location of two decoction pots is limited in the place closed on, two decoction pots can be carried out simultaneously convenient for operator
Monitoring, while also transport energy consumption needed for two decoction pots of reduction transfer, shorten the handling time of two decoction pots, improve production
Efficiency.
Carried out when required decoction pot quantity is three, such as after being decocted first under lower mode in pharmacy procedure, need using
The decoction pots different to three fill different medicinal materials respectively；And distribution instruction in such a mode is then under upper one mode
Further generate.Middle control module 4 first determine two near initial position and the smallest heating cooking stove 2 of standoff distance, and to this
The position of two heating cooking stoves 2 is marked；Wherein any one labeled heating cooking stove 2 is selected again, is found adjacent thereto another
The smallest 2 position of heating cooking stove of one standoff distance, and be marked；Control module 4 is then to heating cooking stove 2 and truss machine in then
People 1 assigns the distribution instruction about three labeled heating cooking stoves 2, and control truss robot 1 is sending out three heating cooking stoves 2 back and forth
It is transported between hot stove 2 and tilting device 3, while controlling three startings of heating cooking stove 2 and executing heating movement.Distribution instruction allows three
A 2 position of heating cooking stove is closest to initial position and adjacent to one another, and three decoction pots can be closed in heating, mix stages
Processing, transport energy consumption needed for reducing by three decoction pots shortens the transfer time of decoction pot, to improve production efficiency.
When decoction pot requirement is three or more, then circulation mark is carried out to multiple heating cooking stoves 2 with above-mentioned distribution instruction
Until 2 quantity of heating cooking stove of label is identical as required decoction pot quantity, label just terminates note, completes batch operation.
Since heating cooking stove 2 can generate residual temperature to heating cooking stove 2 after carrying out heating decoction to previous decoction pot, in order to more
Quickly and correctly control the temperature of each decoction pot, between the different decoction pots of same prescription using different heating cooking stoves 2 into
Row heating, avoids the residual temperature of previous decoction pot from influencing the decoction temperature control of latter decoction pot.It is carried and is decocted using truss robot 1
Saucepan, while decoction pot is transported to suitable position and is heated according to different decocting process schemes and distribution instruction, it contracts
Short handling time reduces and carries energy consumption, to improve the handling efficiency of decoction pot.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (8)
1. a kind of Chinese medicine based on truss robot automates decoction system, which is characterized in that including
Heating cooking stove, multiple heating cooking stoves are electrically connected by Interface and Controler, are responsible in the distribution instruction for receiving controller
Afterwards according to distribution instruction execution relevant operation；Multiple heating cooking stoves are distributed in matrix form；Each heating cooking stove, which marks, to be had,
Wherein unique information includes the unique encodings of heating cooking stove and the position coordinates mutually bound with unique encodings；
Middle control module is connected by controller with each heating cooking stove signal, and middle control module is responsible for each heating cooking stove of real-time reception
Status information, while to controller and truss robot assign distribution instruction；Wherein distribution instruction is believed according to decocting process
Breath, the idle state of each heating cooking stove, heating cooking stove positional relationship generated；
Truss robot is connected with middle control module by signal, is responsible for the distribution instruction that control module in receiving issues, is referred to according to distribution
Control truss robot is enabled to fold up corresponding decoction pot and will transport in moving range to it.
2. the Chinese medicine according to claim 1 based on truss robot automates decoction system, which is characterized in that described to decoct
Boiling technique information includes decocting prescription, decocting type, is required decoction pot quantity, the decoction pot identification information of required heating, each
Required heating time of decoction pot, each decoction pot required heating temperature.
3. the Chinese medicine according to claim 1 based on truss robot automates decoction system, which is characterized in that the purlin
Frame robot includes micro controller and the traverse rod being connected with micro controller signal, sliding rail and crawl arm, and at least two traverse rods are erected at
The distribution edge of decoction pot, across the distribution of decoction pot, both ends are slidably connected with traverse rod sliding rail respectively；It is described
Crawl arm is slidably connected on the slide rail；Micro controller instructs the motion state of control crawl arm according to distribution.
4. the Chinese medicine according to claim 3 based on truss robot automates decoction system, which is characterized in that described to grab
The motion state for taking arm includes the position coordinates of crawl arm arrival, the adjustable height of crawl arm, the crawl moment of crawl arm, crawl
The grasping force of arm.
5. the Chinese medicine according to claim 4 based on truss robot automates decoction system, which is characterized in that described to grab
Taking the grasping end of arm to be arranged, there are two symmetrical half arcs to press from both sides end, and two and half arcs press from both sides the radian at end and the outer barrel radian of decoction pot
It is identical；What decoction pot was completed at two and half arcs folder end under the drive of cylinder folds up movement.
6. the Chinese medicine according to claim 1 based on truss robot automates decoction system, which is characterized in that the control
Device processed controls the switch state, the heating power of corresponding heating cooking stove and adding for corresponding heating cooking stove of corresponding heating cooking stove according to distribution instruction
The hot time.
7. the Chinese medicine according to claim 1 or 3 based on truss robot automates decoction system, which is characterized in that institute
It states and is provided with heating cooking stove distributed areas, heating zone buffer area and heating zone outlet area in the specific moving range of truss robot；
The decoction pot of heating zone buffer area is clamped and is transferred into heating cooking stove distributed areas according to distribution instruction by truss robot
Correspondence some heating cooking stove on heated；Truss robot crawl decoction pot is transferred to heating zone and goes out after decoction pot completes heating
Next step process operation is carried out in mouth region.
8. the Chinese medicine according to claim 7 based on truss robot automates decoction system, which is characterized in that the purlin
Be additionally provided with tilting device in the specific moving range of frame robot, middle control module judge to decoct type whether belong to be decocted first after under
Module is added if so, decoction pot is transferred to the idle heating cooking stove in heating cooking stove distributed areas in sequence by truss robot
Heat, the decoction pot that crawl has been heated thereafter is transferred in tilting device to be mixed with the medicinal material in other decoction pots, is completed first
Relevant operation under after decocting.
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Application publication date: 20191101 |