CN110723372B

CN110723372B - Automatic compatibility and intelligent conveying system for traditional Chinese medicine decoction pieces and application thereof

Info

Publication number: CN110723372B
Application number: CN201910963177.4A
Authority: CN
Inventors: 朱文军; 王朱逸男; 张嘎
Original assignee: Hangzhou Zhihui Pharmaceutical Technology Co ltd
Current assignee: Hangzhou Zhihui Pharmaceutical Technology Co ltd
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2021-12-28
Anticipated expiration: 2039-10-11
Also published as: CN110723372A

Abstract

The invention discloses a complete equipment system for automatic compatibility and intelligent conveying of traditional Chinese medicine decoction pieces and application thereof. The system is divided into a dispensing area, a rechecking area, an abnormal area, a charging area, a feeding area, a collecting area, a decocting area and a packaging area, wherein the complete equipment comprises a combined feeding device, a rechecking device, a logistics device, a cleaning machine, a tray rack, a material taking tray, a medicine decocting machine, a control computer and the like. The operation steps of taking the tray, taking the material, rechecking, conveying, blanking, returning the tray and the like can be completed. According to the traditional Chinese medicine prescription, hundreds of traditional Chinese medicine decoction pieces are automatically combined and formulated, and then are conveyed to a medicine decocting machine or a packaging machine for concentrated decoction of traditional Chinese medicines or distribution in a pharmacy. The invention has the functions of multipoint random material taking, multi-task cooperative operation, centralized material feeding, intelligent delivery and the like, and can realize full-automatic dispensing and delivery of the traditional Chinese medicine decoction pieces, thereby releasing the heavy labor of a traditional Chinese medicine dispensing physician, reducing the waiting time for taking medicine of a patient and improving the working efficiency and the intelligent level of a traditional Chinese medicine pharmacy.

Description

Automatic compatibility and intelligent conveying system for traditional Chinese medicine decoction pieces and application thereof

Technical Field

The invention belongs to the field of traditional Chinese medicine equipment, relates to an automatic compatibility and intelligent conveying system for traditional Chinese medicine decoction pieces, and discloses novel automatic compatibility complete equipment for the traditional Chinese medicine decoction pieces and a method for automatic compatibility and fixed-point conveying of the traditional Chinese medicine decoction pieces by using the system.

Background

The traditional Chinese medicine is valuable wealth of the Chinese famous group, the application range of the traditional Chinese medicine is wider and wider due to the technological progress, and the requirements of the traditional Chinese medicine are increased day by day. In a traditional Chinese medicine pharmacy, a prescription can be prepared after weighing, medicine distribution, checking and packaging for multiple times, traditional Chinese medicine decoction or prescription traditional Chinese medicine decoction pieces packaged according to a paste are delivered to a patient in a hospital, a decoction center and a preparation pharmacy are separated from each other and need to be manually transported, and an automatic device for automatically mixing and conveying the traditional Chinese medicine decoction pieces to a designated decoction machine or an automatic device capable of packaging according to a paste is lacked.

The economy of China is gradually developed, the existing mode cannot adapt to the requirements of the times, the traditional treatment of the traditional Chinese medicine prescription has high labor intensity, more personnel consumption and gradually increased manual expenditure proportion. The manual compatibility efficiency is low, and the efficiency of each person is only 10-15 pairs per hour, thereby wasting valuable time of medical staff and patients. The grabbing precision is not high, the attention of common people to health is higher and higher, the requirement on traditional Chinese medicines is higher and higher, the manual medicine grabbing is influenced by the quality and professional level of medical staff, the precision is lower, and the error fluctuation is larger. In the manual medicine taking process and the distribution process, mistakes can be made and the check cannot be carried out. In summary, the main problems of traditional treatment of traditional Chinese medicine are large manual dosage, low compatibility efficiency, long waiting time, low precision, large error fluctuation and incapability of rechecking.

In order to improve the problems, a dispensing vehicle for herbal pieces prepared for decoction pieces of traditional Chinese medicine is developed in patent CN102335050A, wherein the commonly used herbal pieces are placed on the movable dispensing vehicle, moved by hand push of workers, and then manually prepared, and the problem of movement of herbal pieces is only solved by adopting the manner.

Patent CN106904322A discloses a dispensing method for small-package herbal pieces, which dispenses the packaged herbal pieces in units of bags, and only dispenses the packaged herbal pieces according to the packaged integers, and the bags need to be removed during decoction, which is a large amount of labor, waste in packaging, and does not solve the problem of automatic delivery of herbal pieces.

In summary, although some improvements and inventions are made in the dispensing technology of the traditional Chinese medicine decoction pieces, the problem of unmanned operation of dispensing of the traditional Chinese medicine decoction pieces is still not solved. Therefore, according to the characteristics of the herbal pieces-a herbal piece automatic blending and intelligent conveying system is needed to be designed for the herbal pieces automatic blending and fixed point conveying.

Disclosure of Invention

The invention aims to provide an automatic compatibility and intelligent conveying system for traditional Chinese medicine decoction pieces, which is divided into a dispensing area, a rechecking area, an abnormal area, a charging area, a supply area, a collecting area and a decocting and packaging area according to blocks. The combined feeding device is positioned in the dispensing area, the decocting area is provided with a decocting machine, and the rechecking device, the logistics device, the cleaning machine, the tray rack and the material taking disc are operated in a unified way through the control computer.

The combined feeding device consists of a plurality of stepping motors, a material level meter, a weighing hopper, a weighing sensor, an identifier, a temporary storage tank and a screw, wherein the temporary storage tank is provided with a plurality of stepping motors and a material level meter above the temporary storage tank, the screw is positioned at the lower part inside the temporary storage tank, the weighing hopper and the weighing sensor are arranged below the screw, and the identifier is arranged at the lower part of the weighing sensor.

The combined feeding device is formed by combining a plurality of tank bodies, quantitative feeding of various decoction pieces can be realized, the number of the drinking tablets provided by a single feeding device is 2-8, and the preferred value is 3-5. On the other hand, in the feeding device, the combination of the decoction pieces adopts a mixing mode with different use frequencies. The variety of the feeding device is classified into 4 types such as high-frequency, common, general and rare according to the use frequency. The preferable volume ratio of the tanks is 10:5:3:1, and the volume of the tank of the feeding device is 50L-1500L, and the preferable value is 100L-500L.

The tray frame on the logistics device can automatically lift the material taking disc to enable the material taking disc to leave the material supplying disc device or the recovery device, and meanwhile, the material taking disc can be driven to accurately move in the horizontal plane.

The upper part of the temporary storage tank is provided with a material level meter which can detect the material level of the Chinese herbal pieces in the feeding device, and the preliminary volume measurement of the combined feeding device is realized by connecting a stepping motor and a screw rod.

The weighing hopper is arranged on a weighing sensor, the weighing sensor is arranged on a stepping motor, and the weighing RFID recognizer is arranged at the lower part of the weighing sensor.

The functions of each block of the system of the invention are as follows:

a dispensing area: quantitatively supplying different Chinese medicinal decoction pieces into the material taking tray according to the prescribed dosage.

A double nucleus area: and rechecking the total weight of the decoction pieces in the taking disc, finding out abnormal dosage and reminding manual inspection.

An abnormal area: the material taking disc with the dosage exceeding the range in the dispensing process is manually processed.

A charging area: the AGC logistics device is provided with a charging place and a charging device.

Disk supply area: provides a clean material taking disc which is the starting point of automatic compatibility and intelligent transportation.

A disc collecting area: and recycling the used material taking disc. If the system is used for pharmacy compatibility, the collecting area can be omitted.

A decocting area: realizes the decoction of the traditional Chinese medicine decoction pieces and provides the traditional Chinese medicine decoction.

A packaging area: the Chinese medicinal decoction pieces are divided into different parts and packaged according to the prescription.

The invention also aims to provide a using method of the automatic compatibility and intelligent conveying system for the traditional Chinese medicine decoction pieces, which is realized by the following steps:

1. in the dispensing area, the Chinese herbal pieces are quantitatively put into a material taking tray 6 according to the dosage of the prescription: the material is put in by adopting a mode of firstly rough putting and then accurate metering. The weight of the Chinese herbal pieces is roughly increased to 80% by a screw 13, and then the Chinese herbal pieces is slowly increased to 100% according to the data of the weighing sensor 10, and the error is less than 5%. The stepping motor 7 drives the weighing sensor 10 and the weighing hopper 9 to turn 180 degrees together, and the traditional Chinese medicine decoction pieces are poured into the material taking tray 6 of the material flow device 3.

2. In the rechecking area, the dosage of the prescription decoction pieces is rechecked, which is a safety measure for dispensing and metering: the logistics device 3 runs to the rechecking device 2, weighing is carried out, weight data of an empty material taking disc 6 carried by the logistics device 3 is transmitted to the control computer, after the control computer is checked, the logistics device 3 is commanded to carry medicinal materials to run to the rechecking device 2 again after dispensing is finished, the weight data are fed back to the control computer, weight of the Chinese medicinal decoction pieces obtained by subtracting the weight of the Chinese medicinal decoction pieces twice is compared with the weight of the medicinal materials in the prescription, the medicinal materials meeting the requirements are sent to a destination, and the medicinal materials not meeting the requirements are sent to an abnormal area.

3. In the abnormal region: the material taking disc with the dosage exceeding the range in the dispensing process is manually processed.

4. In the charging region: the logistics device (3) can be automatically charged according to the condition of the battery thereof.

5. In the supply area: the material flow device 3 can obtain a clean material taking disc.

6. In the closing area: recycling the used material taking disc: the cleaning machine 4 adopts industrial ultrasonic cleaning and air blowing complete equipment, and the recovery, cleaning, drying and redistribution of the material taking plate 6 are completed through the cleaning machine 4.

The operation flow of the disk collecting area comprises the following steps: firstly, the recovered material taking disc 6 is subjected to high-pressure air purging, and medicine fine scraps on the surface of the material taking disc 6 are blown off; washing with clear water to remove bonded medicinal materials, blowing off surface water with compressed air, and drying with hot air. The cleaned take-up tray 6 is sent to the supply tray for reuse.

7. In the decocting zone: the decoction of the Chinese herbal pieces is finished, and the Chinese herbal decoction is provided. When the system is used for compatibility of a decoction room, the material taking disc 6 is provided with the identification chip and can exchange data with the RFID identifiers 11 of the logistics device 3, the medicine decocting machine and the feeding device 1.

8. In the packaging area: packaging the decoction pieces according to the label, and printing the Chinese medicinal information on the packaging box.

Aiming at different purposes of automatic compatibility of the traditional Chinese medicine decoction pieces and an intelligent conveying system, the material taking disc (6) is divided into two types. The container is a stainless steel container with a single-lattice structure for decoction, and can be recycled. The taking tray (6) is a disposable packaging box made of materials, and can be made of food-grade plastics and paper boxes. As shown in the attached figure 3, the compound decoction piece packaging box is of a multi-grid structure, the grid number is 7-14, and the preferred specification is 7 or 14.

The steps 1-8 are all completed under the unified command of a control computer.

In the step (1), the combined feeding device 1 is used for quantitatively supplying the Chinese herbal pieces according to the prescription data, the dosage range is 2-100 g, and 2-8 kinds of Chinese herbal pieces can be supplied by a single feeding device. In consideration of dosage difference of the herbal pieces, different dosage ranges can be set for different feeding devices, such as 2 g-10 g, 5 g-50 g, and 10 g-100 g. The structure and configuration of the feeding device are specifically designed in order to achieve its automation. As shown in the attached figure 2, the device consists of a temporary storage tank, a screw rod, a weighing sensor, a stepping motor, a weighing hopper and an RFID (radio frequency identification) recognizer.

The combined feeding device can simultaneously realize quantitative feeding of 2-8 decoction pieces, and the number of feeding points is greatly reduced; the material is put in a way of firstly carrying out rough feeding and then carrying out accurate metering; after the traditional Chinese medicine decoction pieces are automatically prepared and matched, the traditional Chinese medicine decoction pieces are sent to a decocting machine or a packaging machine for centralized decoction or distribution in a pharmacy.

The logistics device (3) of the automatic compatibility and intelligent conveying system of the traditional Chinese medicine decoction pieces adopts a specially designed indoor AGC (automatic Guided Cars, products developed by Haikangweiwei). The number of AGC is 50-300 according to the processing load of the system.

The navigation means of the AGC comprises: (1) and the electromagnetic induction guide is used for guiding the AGC to run by utilizing an electromagnetic field formed by a low-frequency guide cable and an electromagnetic sensing device. (2) And the laser guide is used for identifying a plurality of positioning marks arranged in the moving range of the laser scanner to determine the coordinate position of the positioning marks so as to guide the AGC to run. (3) And (3) guiding by a magnet gyroscope, detecting a small magnet arranged on the ground by using a special magnetic position sensor, and continuously controlling the running direction of the AGC by using a gyroscope technology.

The positioning system of the logistics device AGC can be a bar code positioning system, and can also be a wireless positioning system, preferably a bar code positioning system.

The tray frame 5 on the logistics device 3 can automatically lift the material taking tray 6 to enable the material taking tray 6 to leave the material supplying device or the recovery device, and meanwhile, the material taking tray 6 can be driven to accurately move in the horizontal plane.

The working process of the external control computer connected into the complete equipment is as follows:

generating a work task according to the traditional Chinese medicine prescription information, and selecting a medicine decocting machine or a packaging machine in an idle state as a destination; searching the specific positions of the medicinal materials in the prescription in a database; obtaining the current position of the logistics device 3; controlling the logistics device 3 to receive a clean material taking disc 6; the number of the material taking disc 6 corresponds to the number of the prescription; controlling the logistics device 3 and the material taking disc 6 to weigh together; determining an optimal running route according to the specific positions of the Chinese medicinal materials and the position of the trolley; rechecking the serial number of the material taking plate 6 according to the RFID system 11; controlling the logistics device 3 to complete accurate displacement; the combined feeding device 1 is controlled to complete the feeding of all the Chinese medicinal materials; controlling the logistics device 3 to convey the Chinese herbal pieces to the rechecking device 2 for rechecking the weight, and conveying the qualified Chinese herbal pieces to a destination and conveying the unqualified Chinese herbal pieces to an abnormal area; and (5) driving according to the optimal path, and transporting the traditional Chinese medicinal materials to a destination.

For the concentrated decoction operation of the traditional Chinese medicines, the material taking disc is placed on the disc collecting frame of the decoction machine by the logistics device, and the RFID identifier 11 on the disc collecting frame identifies the specific information of the user so as to facilitate rechecking of workers in the decoction center.

For the distribution operation of pharmacists in a traditional Chinese medicine pharmacy, the traditional Chinese medicinal materials are conveyed to a specified packaging machine by the logistics device, the traditional Chinese medicinal materials in the multi-grid material taking disc are independently sealed and packaged according to grids by the packaging machine, a prescription, a user name, a using method and the like are printed on packaging paper according to electronic information, and the used material taking disc is conveyed to the recovery device.

In a word, the system can complete the steps of taking a plate, taking materials, rechecking, conveying, blanking, returning the plate and the like, wherein the frequency range of the material taking operation is 2-40, the preferred range is 3-20, and the traditional Chinese medicine decoction pieces in each sticking place comprise 2-40 traditional Chinese medicines.

After the control computer receives the prescription data, the cleaning program is started first. Cleaning machine 4 carries out high-pressure air to fetch tray 6 and blasts the medicinal material fines that blows off the surface, then carries out high-pressure water and washes and get rid of the medicinal material that bonds, carries out high-pressure air again and blasts and gets rid of unnecessary moisture, later sends to the hot-blast drying chamber and gets rid of remaining moisture, and fetch tray 6 is sent to the cooling chamber and is cooled off to the room temperature, and fetch tray 6 is sent to on the confession plate rail at last.

The system has the functions of multipoint random material taking, multi-task cooperative operation, centralized material feeding, intelligent delivery and the like, and can meet different requirements of centralized decoction or pharmacy separate packaging. The novel intelligent equipment for the traditional Chinese medicine pharmacy has the advantages that the intelligent equipment can be used for automatically mixing and dispensing the prepared traditional Chinese medicine decoction pieces and conveying the prepared traditional Chinese medicine decoction pieces to a specified destination, so that heavy labor of a traditional Chinese medicine dispensing engineer is liberated, the medicine taking waiting time of a patient is reduced, the working efficiency and the intelligent level of the traditional Chinese medicine pharmacy are improved, and full-automatic dispensing and distribution of the traditional Chinese medicine decoction pieces are realized.

The traditional Chinese medicine decoction pieces are automatically prepared and mixed and are conveyed to a decocting machine or a packaging machine, so that the manual preparation method adopted in the prior art is changed. The invention has the advantages of realizing automatic compatibility of the traditional Chinese medicine decoction pieces, rechecking the weight, tracing the quality, automatically transporting the decoction pieces, avoiding cross contamination, improving the compatibility precision, improving the efficiency and reducing the labor.

The system has multiple purposes, can convey the traditional Chinese medicine decoction pieces to a decoction center, and can also package the traditional Chinese medicine decoction pieces according to a patch, so that the purposes of small manual dosage, high compatibility efficiency, high precision, rechecking and tracing are achieved.

Drawings

Fig. 1 is a schematic view of a herbal compatibility delivery system.

Fig. 2 is a side view of the combined feeder (twin type).

Fig. 3 is a plan view of a multi-format take tray.

Fig. 4 is a system operation flow diagram.

Detailed Description

In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.

Example 1:

the design of a traditional Chinese medicine feeding tank. According to the use frequency, the traditional Chinese medicine decoction pieces are classified into high-frequency, common and rare. The volume ratio of the components is 10:5:3: 1. For a medium-sized TM300 system, the volume of a feed tank for high-frequency Chinese herbal pieces is 1000L, the volume of common Chinese herbal pieces is 250L, the volume of common Chinese herbal pieces is 150L, and the volume of rare Chinese herbal pieces is 50L. The test result shows that the designed tank body can store about 200kg of high-frequency Chinese herbal pieces, which is equivalent to the dosage of 1000 prescriptions and is about the required dosage of 2-5 days; the size of the can for rare Chinese herbal pieces can be enlarged by about 20kg, which is equivalent to the dosage of 100 prescriptions and is about 10-30 days in demand.

In the system, the combined feeding device 1 consists of 4 tank bodies, wherein the number of the traditional Chinese medicine decoction pieces used at high frequency is not more than 1, and the number of the common traditional Chinese medicine decoction pieces is not more than 2. 125 combined feeding devices 1 are arranged in the system and can accommodate 500 kinds of Chinese herbal pieces. Wherein, the variety of the traditional Chinese medicine decoction pieces used in high frequency accounts for about 10 percent.

Example 2:

the TM300 system described in example 1 was used in a chinese herbal decoction center. The system is divided into a dispensing area, a rechecking area, an abnormal area, a charging area, a disc supplying area, a disc collecting area and a decoction area. Wherein, the material taking plate 6 is of a single-lattice structure. The material taking mode is that after the dosage of the prescription is finished, the Chinese medicines are taken each time and then reach the front of the decocting equipment in the decocting area.

The logistics device 3 is divided into a working state, a charging state and a maintenance state. Only the logistics device 3 in the working state works, the logistics device 3 in the working state sends the position to the control computer in real time through the communication system, the control computer automatically selects an optimal running route according to a prescription sent by upper computer software, the logistics device 3 is guided to drive the material taking disc 6 to move to the rechecking device 2 according to the designed optimal route, the logistics device 3 and the material taking disc 6 are weighed together by the rechecking device 2, and the weight is associated with the material taking disc 6 in number. After weighing, the logistics device 3 moves to the position below the first Chinese medicinal decoction pieces according to a route designed by a control computer, the RFID identifier 11 is installed at the lower part of the combined feeding device 1, the serial number of the material taking disc 6 is automatically identified, and accurate positioning is started after the serial number is correct. The logistics device 3 is provided with an original point device which is used for accurately positioning the position of the logistics device 3 and feeding materials after accurate positioning.

Example 3:

the TM300 system of example 1 is used in an automated dispensing center for chinese medicine. The system is divided into a dispensing area, a rechecking area, an abnormal area, a charging area, a disc supply area and a packaging area. Wherein, the material taking plate 6 is of a 14-grid structure, and the material taking mode is that a plurality of materials are taken at one position. If the prescription is 7 Chinese medicines, the operation is performed 7 times in parallel. If the prescription is 14 patches, the operation is performed 14 times in parallel. And then sent to a packaging area.

The Chinese herbal pieces sent to the packing area are placed on a tray frame of a packing machine, the packing machine independently seals and packs the multi-grid material taking tray 6 according to grids, and information such as prescriptions, user names, using methods and the like is printed on packing paper according to the information of the material taking tray 6.

The logistics device 3 is divided into a working state, a charging state and a maintenance state. Only the logistics device 3 in the working state works, the logistics device (3) in the working state sends the position to the control computer in real time through the communication system, the control computer automatically selects an optimal running route according to a prescription sent by upper computer software, the logistics device 3 is guided to drive the material taking disc 6 to move to the rechecking device 2 according to the designed optimal route, the rechecking device 2 weighs the weight of the logistics device 3 and the weight of the material taking disc 6 together, and the weighed weight is related to the number of the material taking disc 6. After weighing, the logistics device 3 moves to the position below the first Chinese herbal pieces according to a route designed by a control computer, the RFID recognizer 11 is installed on the lower portion of the combined feeding device 1, the serial number of the material taking disc 6 is automatically recognized, accurate positioning is started after the serial number is correct, the logistics device 3 is provided with an original point device, the device is used for accurately positioning the position of the logistics device 3, and feeding is started after the accurate positioning.

The system uses granular Chinese herbal pieces with the diameter of 3mm, the combined type feeding device 1(ZMk-4-1000s) consists of 4 tank bodies, the 4 Chinese herbal medicine feeding tanks are divided into high-frequency, common and rare traditional Chinese medicine feeding tanks according to the using frequency, and the volume range of the feeding tanks of the sub-devices of the combined type feeding device is 50L-1000L. Wherein the volume of the tank body of the high-frequency variety is 1000L, and the tank body can be stored for 1-3 days; the volume of the common and common tank body is 150-300L, and the tank body can be stored for 3-10 days; the amount of the rare-seeded tank body is 50L, and the rare-seeded tank body can be stored for 10-30 days.

The function of the cleaning machine 4 comprises the recovery, cleaning, blow-drying and redistribution of the material tray.

The taking tray for packing the decoction pieces is of a multi-lattice structure and is disposable, the multi-lattice structure is preferably 14 lattices, the middle part of the 14 lattices can be broken, and the taking tray is divided into two 7 lattices.

The logistics apparatus 3 is divided into an operating state, a charging state and a maintenance state. Only the logistics devices in working state undertake the logistics task. The logistics device sends the position to the control computer in real time through the communication system. The control computer automatically selects an optimal running route according to the prescription sent by the upper computer software, guides the logistics device 3 to drive the material taking disc 6 to move to the rechecking device 2 according to the designed optimal route, and the rechecking device 2 weighs the weight of the logistics device and the weight of the material taking disc together and associates the weighed weight with the material taking disc number. After weighing, the logistics device moves to the position below the first Chinese herbal pieces according to a route designed by a control computer, the RFID recognizer 11 is installed on the lower portion of the combined feeding device, the serial number of the material taking disc is automatically recognized, accurate positioning is started after the serial number is correct, the logistics device is provided with an original point device, the device is used for accurately positioning the position of the logistics device, and feeding is started after the accurate positioning.

The combined feeding device 1 firstly detects the material level of traditional Chinese medicine particles in the temporary storage tank, and then adopts a fast feeding mode and a slow feeding mode, wherein the fast feeding mode adopts a volume metering mode to fast feed 80% of the weight of single traditional Chinese medicine decoction pieces, and the slow feeding mode adopts a slow feeding mode according to the data of the weighing sensor 10 to ensure that the traditional Chinese medicine decoction pieces are not excessive, and the error is less than plus or minus 5%.

After the feeding is finished, the stepping motor 7 of the combined feeding device 1 drives the weighing sensor 10 and the weighing hopper 9 to turn over 180 degrees, the traditional Chinese medicine decoction piece particles are poured into the material taking plate 6 on the material circulation device 3, and the feeding of the traditional Chinese medicine decoction pieces is finished.

The material flow device 3 runs to the position of the second traditional Chinese medicine given by the system according to the optimal route to the position under the feeding branch device of the second traditional Chinese medicine, and the second traditional Chinese medicine is dispensed according to the compatibility steps.

The sub-devices of the combined feeding device 1 can feed materials in advance to wait for the logistics device 3 to arrive, the weighing hopper 9 turns 180 degrees after the logistics device 3 arrives, the waiting time is reduced, and the compatibility efficiency is improved.

The logistics device 3 completes the dispensing of all the Chinese herbal medicine decoction piece particles according to a given route of the system.

After the logistics device 3 using the multi-grid material taking disc 6 accurately positions the trolley by using the original point device, the tray frame 5 accurately moves the material taking disc 6 in the horizontal plane to enable the weighing hopper 9 to face to the first grid of the multi-grid material taking disc 6 for feeding. And after the feeding is finished, the material taking plate 6 is accurately moved, so that the weighing hopper 9 faces to the second grid and then the third grid of the material taking plate 6, and all unqualified dispensing is finished.

After the dispensing is finished, the logistics device 3 carries the traditional Chinese medicine decoction piece particles to move to the rechecking device 2 for weighing, the weight when the traditional Chinese medicine decoction pieces are not loaded is subtracted from the weighed weight to obtain the weight of the medicinal materials, whether the error of the total weight of the decoction pieces is less than 5% is detected, the material taking plate 6 which does not meet the requirement is conveyed to an abnormal area by the logistics device 3 to be manually processed, and the material taking plate 6 which meets the requirement is conveyed to an appointed decocting machine or a plate frame of a packaging machine.

The material flow device 3 conveys the material taking tray 6 which is used nearby to the cleaning machine 4 for cleaning, and then moves to the panel area to take a clean material taking tray 6 to start the next task.

TABLE 2 System operating efficiency

Example 4:

the use method of the automatic compatibility and intelligent conveying system for the traditional Chinese medicine decoction pieces provided by the invention comprises the following steps:

the system automatically mixes the Chinese herbal pieces, and then automatically conveys the mixed Chinese herbal pieces to a decocting machine of a decocting center for concentrated decoction; or packaging with a packaging machine to obtain Chinese medicinal decoction pieces.

The working flow chart of the control computer is shown in figure 4, and the control computer receives the prescription of the upper computer software after being started. Generally, the upper computer from the doctor's office sends the prescription every 5 minutes, and the prescription issued by the doctor is transmitted to the host computer of the system in time.

After the control computer receives the prescription, the control computer gives operation instructions in a unified way, and carries out dispensing compatibility and logistics operation tasks according to the schedule.

Firstly, a cleaning program is started, specifically, the cleaning machine 4 carries out high-pressure air purging on the material taking disc 6 to remove medicinal material fines on the surface, then carries out high-pressure water washing to remove bonded medicinal materials, carries out high-pressure air purging to remove redundant moisture, then sends the material taking disc to a hot air drying chamber to remove the residual moisture, sends the material taking disc 6 to a cooling chamber to be cooled to room temperature, and finally sends the material taking disc 6 to a disc supply frame.

Secondly, a material taking program is started, specifically, the material flow device 3 in the working state sends the position to a control computer, and the control computer distributes corresponding tasks to the material flow device 3. And the control computer selects an optimal running route according to the task of each logistics device 3, guides the logistics devices 3 to run to the lower part of the tray supply device according to the optimal route, raises the bracket to jack the material taking tray 6, and drives the material taking tray 6 to move to the rechecking device for weighing. The logistics device (3) and the material taking disc 6 are weighed together, and the weighed weight is related to the number of the material taking disc 6. After weighing, the logistics device 3 moves to the lower part of the first traditional Chinese medicine decoction piece weighing hopper 9 according to a route designed by a control computer, the RFID identifier 11 is installed on the lower part of the combined type feeding device 1, the serial number of the material taking disc 6 is automatically identified, accurate positioning is started after the serial number is correct, the logistics device 3 is provided with an original point device, the device is used for accurately positioning the position of the logistics device 3, and feeding is started after the accurate positioning.

The combined feeding device 1 firstly detects the material level of the traditional Chinese medicine particles, adopts a fast feeding mode and a slow feeding mode, starts to quickly add 80 percent of weight of single traditional Chinese medicine decoction pieces in a volume metering mode, slowly feeds according to the data of the weighing sensor 10, and the weight error is less than 5 percent.

And then starting a material taking program, namely after the material feeding is finished, driving a weighing sensor 10 and a weighing hopper 9 to turn over 180 degrees by a stepping motor 7 of the combined feeding device 1, pouring the traditional Chinese medicine decoction piece particles into a material taking plate 6 of the material circulation device 3, and finishing the material feeding of the traditional Chinese medicine decoction pieces.

Aiming at that a material taking tray 6 of a packaging machine has 14 grids, after a material flow device 3 runs to the lower part of a weighing hopper 9, a certain amount of traditional Chinese medicine decoction piece particles are placed into the 14 grids through a precise moving bracket.

The material flow device 3 runs to the position of the second traditional Chinese medicine given by the system according to the optimal route to the position under the second traditional Chinese medicine combined type feeding device 1, and the feeding of the second traditional Chinese medicine is completed according to the compatibility requirement.

The material flow device 3 completes the feeding of all the Chinese herbal pieces according to the given route of the system.

And then, starting a rechecking program, specifically, carrying the Chinese medicinal decoction pieces to a rechecking system by the logistics device 3, weighing the whole, calculating the weight of the obtained material, and checking that the error is smaller than the required value. If the error is more than 5%, the material taking plate 6 is moved to an abnormal area and is manually processed. And if the error is less than 5%, the material taking disc goes to the destination.

Then, the delivery procedure is started. The material taking disc is destined to a packaging area or a decocting area.

The Chinese medicinal decoction pieces sent to the packaging area are placed on a tray frame of a packaging machine, the packaging machine is used for carrying out independent sealing packaging on the Chinese medicinal decoction pieces according to grids, and information such as prescriptions, user names, using methods and the like is printed on packaging paper.

The material taking tray 6 sent to the decocting area is conveyed to a tray frame of a designated medicine decocting machine. An RFID recognizer 11 is installed on the tray frame, and information such as user names, prescriptions and the like is displayed on an LED display screen of the medicine decocting machine after recognition.

The material flow device 3 conveys the used material taking disc 6 to the cleaning machine 4 for cleaning, and then moves to the disc area to take a clean material taking disc 6 to start the next task.

Example 5:

the embodiment of the invention takes the example that the traditional famous prescription is sent to a decocting machine, and the technical scheme of the invention is illustrated as follows:

the medicinal material amount of the Wuyao decoction for one week is as follows: 175g of angelica, 175g of liquorice, 175g of costustoot, 350g of combined spicebush root and 700g of cyperus rotundus (fried).

According to the prescription data sent by the upper computer, the system searches the specific positions of the Chinese medicine varieties in the prescription in the database.

The control computer selects the drug-decocting machine in an idle state as a destination.

The cleaning machine 4 starts to work, the material taking disc 6 is subjected to high-pressure air purging to blow off medicine fine scraps on the surface, then the material taking disc is washed by high-pressure water to remove bonded medicinal materials, then the high-pressure air purging is performed to remove redundant moisture, then the material taking disc is sent to a hot air drying chamber to remove the residual moisture, the material taking disc 6 is sent to a cooling chamber to be cooled to the room temperature, and finally the material taking disc 6 is sent to a disc supply device.

The control computer obtains the current position of the logistics device 3;

the control computer determines the optimal running path according to the specific positions of the Chinese medicinal decoction piece granules.

The control computer controls the logistics device 3 to receive the clean material taking disc 6 and identify the number of the material taking disc.

The material flow device 3 carries the material taking disc 6 to the rechecking device 2 for weighing, and data are fed back to the control computer.

The logistics device 3 runs according to the optimal path, runs to the position below the weighing hopper 9 of the angelica feeding branch device, automatically adjusts the position, simultaneously identifies the number of the material taking plate through the RFID identifier 11, and starts to feed materials after the number is correct.

The material level meter 8 on the upper part of the angelica feeding and subpackaging device detects the material level of the Chinese herbal piece granules, and the control computer is sent out an alarm when the Chinese herbal pieces are insufficient.

The feeding and distributing device quickly feeds about 140g according to the volume metering mode of a screw, slowly feeds 174g according to data transmitted back by the weighing sensor 10, the compatibility error is less than 5%, and the weighing hopper 9 turns over 180 degrees to pour decoction piece particles into the material taking tray 6.

And controlling the logistics device 3 to run to the position under the liquorice feeding sub-device according to the optimal path, automatically adjusting the position, and identifying the number of the material taking plate 6 through an RFID identifier.

The licorice root feeding divides the material level of device automated inspection licorice root.

The feeding branch device firstly feeds about 140g quickly, then feeds 173g slowly, and then the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece particles into the material taking tray 6.

The system completes the charging of the 5 traditional Chinese medicine decoction pieces according to the working steps.

The material taking disc 6 is conveyed to the rechecking device by the material circulation device 3 to be weighed, and the weight error is detected.

After the error detection of the rechecking device 2 is qualified, the material taking disc 6 is conveyed to a given bracket of the decocting machine by the logistics device, and the information of a prescription, a user and the like can be displayed by the RFID identifier 11 and the LED display screen of the decocting machine. At the same time, the used material taking tray 6 is sent to a recovery device.

As mentioned above, the system completes the tasks of automatic compatibility and delivery of the decoction pieces of the combined spicebush root and Chinese herbal medicine to a given medicine decocting machine.

Example 6:

the embodiment of the invention takes the classic famous prescription of Jinshuihualiujun decoction and abalone shell powder as examples, and illustrates the technical scheme of the invention:

the dosage of the Jinshuihujun medicine is 7 days, and the dosage of the traditional Chinese medicinal materials is 70g of angelica, 175g of prepared rhizome of rehmannia, 52.5g of dried orange peel, 70g of pinellia tuber, 70g of tuckahoe and 35g of honey-fried licorice root.

The abalone shell powder is used for 7 days, and the traditional Chinese medicinal materials comprise 350g of abalone shell, 350g of notopterygium root, 350g of cassia occidentalis, 350g of chrysanthemum and 175g of liquorice (roasted and water).

And the control computer selects 2 idle decocting machines as the destination of the traditional Chinese medicine decoction pieces of the corresponding prescription according to the transmitted prescription and controls the computer to generate the compatibility task of the Jinshuijiuliujun decoction and the abalone shell powder.

The control computer searches the concrete positions of the prescription traditional Chinese medicine decoction pieces in the database according to the prescriptions of the Jinshui Liujun decoction and the abalone shell powder distributed by the upper computer system.

The cleaning machine 4 starts to work and blasts the medicine fines that blow off the fetching disk 6 surface with fetching disk 6, then carries out high-pressure water and washes and get rid of the medicinal material that bonds, carries out high-pressure air again and blasts and get rid of unnecessary moisture, later sends to the hot-air drying room and gets rid of remaining moisture, and fetching disk 6 is sent to the cooling chamber indoor temperature of cooling, and fetching disk 6 is sent to the confession dish device at last.

The control computer obtains the current positions of the two logistics devices 3.

The control computer determines the respective optimal running route of the two logistics devices 3 according to the specific positions of the traditional Chinese medicines.

And the control computer controls the material taking discs 6 which are taken by the disc area of the two material circulation devices 3 and identifies the numbers of the material taking discs 6 at the same time.

The control computer respectively controls the two logistics devices 3 to drive the material taking disc 6 to the rechecking device 2 for weighing, and the weight data of the empty material taking disc 6 and the logistics devices 3 are fed back to the control computer in real time.

And controlling the first logistics device 3 to run according to the optimal path, running to the lower part of the weighing hopper 9 of the Chinese angelica feeding and separating device, automatically adjusting the position, and simultaneously identifying the number of the material taking plate 6 through the RFID for rechecking.

The Chinese angelica feeding and sub-packaging device is provided with a material level meter 8 which can detect the stock of the herbal pieces-particles, and when the stock is not enough, an alarm is sent to the system.

The angelica feeding sub-device quickly feeds 56g according to the volume measurement of the screw, then slowly feeds 72g according to the data transmitted back by the weighing sensor 10, the compatibility error is less than 5 percent, and the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece particles into the material taking tray 6.

And controlling the first logistics device 3 to run to the lower part of the prepared rehmannia root weighing hopper 9 according to the optimal path, automatically adjusting the position, and identifying the number of the material taking disc 6 through the RFID.

The radix rehmanniae Preparata feeding and subpackaging device detects the material level of the radix rehmanniae Preparata Chinese medicinal decoction pieces. The feeding sub-device is used for rapidly and roughly feeding materials to 140g according to the volume of a screw, slowly feeding materials to 173g according to data transmitted back by a weighing sensor 10, wherein the feeding error is less than 5%, and a weighing hopper 9 turns over for 180 degrees to pour traditional Chinese medicine decoction piece particles into a material taking tray 6.

And controlling the first logistics device 3 to run to the lower part of the dried orange peel weighing hopper 9 according to the optimal path, automatically adjusting the position, and identifying the number of the material taking disc 6 through the RFID.

The tangerine peel feeding and distributing device automatically detects the material level of tangerine peel Chinese herbal medicine decoction piece particles.

The dried orange peel feeding sub-device is quickly added to 42g according to the volume measurement of the screw, then slowly added to 51g according to the data transmitted back by the weighing sensor 10, the compatibility error is less than 5 percent, and the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece particles into the material taking tray 6.

And controlling the first logistics device 3 to run to the lower part of the pinellia ternate weighing hopper 9 according to the optimal path, automatically adjusting the position, and identifying the number of the material taking disc 6 through the RFID.

The pinellia ternata feeding and distributing device automatically detects the material level.

The feeding device is quickly added to 56g according to the measurement, then slowly added to 72g according to the data transmitted back by the weighing sensor 10, the compatibility error is less than 5 percent, and the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece particles into the material taking tray 6.

And controlling the first logistics device 3 to run to the lower part of the poria cocos weighing hopper 9 according to the optimal path, automatically adjusting the position, and identifying the number of the material taking disc through the RFID.

The poria cocos feeding and distributing device automatically detects the material level.

The poria cocos feeding device is used for rapidly adding 56g of poria cocos according to the measurement, slowly adding 68g of poria cocos according to data sent back by the weighing sensor 10, enabling the compatibility error to be less than 5%, and pouring traditional Chinese medicine decoction piece particles into the material taking tray 6 by turning the weighing hopper 9 for 180 degrees.

And controlling the first logistics device 3 to run to the position under the honey-fried licorice root weighing hopper 9 according to the optimal path, automatically adjusting the position, and identifying the number of the material taking plate through the RFID.

The device is used for quickly feeding 21g according to the measurement, slowly feeding 33g according to the data transmitted back by the weighing sensor 10, wherein the compatibility error is less than 5%, and pouring the traditional Chinese medicine decoction piece particles into the material taking tray 6 by turning over the weighing hopper 9 for 180 degrees.

And controlling the second logistics device 3 and the first logistics device 3 to start working simultaneously, driving according to the optimal path of the abalone shell powder, driving to the position under the abalone shell weighing hopper 9, automatically adjusting the position, and identifying the number of the material taking disc 6 through the RFID.

The abalone shell feeding device is provided with the material level meter 8 which can detect the stock of the medicinal materials, and the alarm is sent to the system when the stock is not enough.

The feeding device feeds 280g of the traditional Chinese medicine decoction pieces rapidly according to the measurement, then slowly feeds 355g of the traditional Chinese medicine decoction piece granules according to the data transmitted back by the weighing sensor 10, the compatibility error is less than 5 percent, and the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece granules into the material taking tray 6.

And the second logistics device 3 runs to the lower part of the notopterygium root weighing hopper 9 according to the optimal path, automatically adjusts the position, and simultaneously identifies the number of the material taking disc 6 through the RFID.

The feeding device quickly feeds 280g of the traditional Chinese medicine decoction pieces according to the measurement, then slowly feeds 345g of the traditional Chinese medicine decoction piece according to the data transmitted back by the weighing sensor 10, the compatibility error is less than 5 percent, and the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece particles into the material taking tray 6.

And the second logistics device 3 runs to the lower part of the cassia seed weighing hopper 9 according to the optimal path, automatically adjusts the position, and simultaneously identifies the number of the material taking disc 6 through the RFID.

The feeding and distributing device is used for rapidly feeding 280g of the traditional Chinese medicine decoction piece granules according to the volume measurement of a screw, slowly feeding the traditional Chinese medicine decoction piece granules till 352g of the traditional Chinese medicine decoction piece granules according to the data transmitted back by the weighing sensor 10, wherein the feeding error is less than 5%, and the weighing hopper 9 turns over for 180 degrees to pour the traditional Chinese medicine decoction piece granules into the material taking tray 6.

And the second logistics device 3 runs to the position under the chrysanthemum weighing hopper 9 according to the optimal path, automatically adjusts the position, and simultaneously identifies the serial number of the material taking plate 6 through the RFID.

The feeding device feeds materials to 280g quickly, then slowly feeds materials according to the data transmitted back by the weighing sensor 10 until the weight is 353g, the error of the feeding is less than 5 percent, and the weighing hopper 9 turns over 180 degrees to pour the traditional Chinese medicine decoction piece particles into the material taking tray 6.

And controlling the second logistics device 3 to run to the position under the honey-fried licorice root weighing hopper 9 according to the optimal path, automatically adjusting the position, and identifying the number of the material taking plate 6 through the RFID.

The feeding and distributing device firstly feeds 140g of the Chinese herbal medicine decoction pieces quickly, then slowly feeds 177g of the Chinese herbal medicine decoction pieces according to data transmitted back by the weighing sensor 10, and the weighing hopper 9 turns over 180 degrees to pour the Chinese herbal medicine decoction piece particles into the material taking tray 6.

The two logistics devices respectively carry the material taking disc to the rechecking device 2 for weight rechecking.

If the detection is qualified, the material taking disc 6 is sent to the bracket of the given medicine decocting machine by the logistics device. There, the material is manually received, and the material taking disc which is used up is conveyed to a cleaning area by the material flow device.

Therefore, the whole system completes the task of the combined dispensing and compatibility of the six monarch drugs of the Jinshui and the abalone shell powder.

Example 7:

the embodiment of the invention takes the classic name angelica sinensis blood-enriching soup as an example, and illustrates the technical scheme of the invention:

the Chinese medicinal materials of the angelica blood-enriching decoction with the dosage of seven days are 350g of astragalus and 70g of angelica.

The control computer takes the packaging machine as a final destination according to the prescription transmitted by the decoction center.

The control computer searches the specific positions of the Chinese medicinal decoction pieces in the prescription in the database according to the prescription of the Chinese angelica blood-enriching decoction distributed by the upper computer. Meanwhile, an optimal running path is determined according to the specific position of the Chinese herbal piece particles.

And the logistics device 3 runs according to the optimal path, runs to the position right below the Chinese angelica weighing hopper 9, and simultaneously identifies the number of the material taking plate 6 through the RFID.

The material level meter 8 of the astragalus membranaceus feeding and distributing device can detect the material level, and an alarm is sent to the control computer when the decoction pieces are insufficient.

The feeding sub-device quickly feeds about 40g, and then slowly feeds 52g, wherein the feeding error is less than 5%. The weighing hopper 9 overturns 180 degrees of the traditional Chinese medicine decoction pieces and pours the traditional Chinese medicine decoction pieces into the first grid of the taking tray 6, the tray frame 5 drives the taking tray 6 to move, so that the discharge port is aligned with the second grid, the materials are quickly fed to about 80g of astragalus mongholicus, the materials are slowly fed to 103g, and the feeding of the astragalus mongholicus decoction piece particles with 7 grids is repeatedly finished.

And controlling the logistics device 3 to run to the position under the Chinese angelica weighing hopper 9 according to the optimal path, identifying the number of the material taking plate 6 through the RFID, accurately adjusting the position, and starting the feeding operation.

The feeding device feeds about 8g of materials firstly, and then slowly and accurately feeds the materials till 10 g. The weighing hopper 9 overturns 180 degrees to pour the Chinese herbal pieces into the first grid of the taking tray 6, the tray drives the taking tray 6 to move, so that the discharge port is aligned with the second grid, 10g of materials are repeatedly fed, and feeding of 7 grids of Chinese angelica pieces is sequentially completed.

The logistics device 3 moves to a rechecking area, the rechecking device 2 detects that the weight error of the medicinal materials is less than 5%, the material taking disc (6) is conveyed to a support of a packaging machine given by the system, an RFID recognizer (11) is arranged on the support of the packaging machine, information such as prescriptions, users, usage and the like can be displayed and printed on packaging paper, and the packaging machine separately seals and packages the material taking disc (6) according to grids to form a sticker.

Therefore, the whole system completes the compatibility, logistics and packaging of the Chinese angelica blood-enriching decoction Chinese medicine prescription.

The present invention and the manner of using it have been described in the above examples without limitation, and what is shown in the drawings is only one embodiment of the invention, and the actual structure is not limited thereto. In summary, it should be understood by those skilled in the art that the similar structural modes and examples without creative design without departing from the spirit of the present invention shall fall within the protection scope of the present invention.

Claims

1. An automatic compatibility and intelligent conveying system for traditional Chinese medicine decoction pieces is characterized in that the system is divided into a dispensing area, a rechecking area, an abnormal area, a charging area, a supply area, a collecting area and a decocting and packaging area according to blocks, and the system consists of a combined type feeding device (1), a rechecking device (2), a logistics device (3), a cleaning machine (4), a tray rack (5), a material taking plate (6) and a control computer, wherein the combined type feeding device is provided with a plurality of single combined type feeding devices, 2-8 decoction pieces can be quantitatively fed simultaneously, the combination of the decoction pieces adopts a mixing mode with different use frequencies, and the number of feeding points is greatly reduced; the material is put in a way of firstly carrying out rough feeding and then carrying out accurate metering; after automatic blending and matching, the traditional Chinese medicine decoction pieces are sent to a decocting machine or a packaging machine for centralized decoction or distribution in a pharmacy;

the combined feeding device (1) consists of a stepping motor (7), a material level meter (8), a weighing hopper (9), a weighing sensor (10), an identifier (11), a temporary storage tank (12) and a screw (13);

the material taking disc for decoction is of a single-lattice structure; the material taking plate for the pharmacy is of a multi-grid structure, and the grid number is 7-14;

the weighing hopper (9) is arranged on a weighing sensor (10), and the weighing sensor (10) is arranged on the stepping motor (7).

2. The automatic blending and intelligent conveying system for herbal pieces-prepared for decoction as claimed in claim 1, wherein the volume of the feeding device of the raw material tank of the combined feeding device (1) is 50L-1500L, and the volume is divided according to the frequency of use: high-frequency, common, general and rare four types, and the volume ratio of the high-frequency, common, general and rare four types is 10:5:3: 1.

3. The system of claim 1, wherein the herbal pieces are packaged separately and hermetically in a post for pharmacy and the prescription, name, and usage information is printed on the package.