CN111407652A

CN111407652A - Control method of medicine decocting machine

Info

Publication number: CN111407652A
Application number: CN201910015147.0A
Authority: CN
Inventors: 南龙; 邵忠武; 喻国辉; 王庆真; 陈素伟
Original assignee: Beijing Donghuayuan Medical Equipment Co Ltd
Current assignee: Beijing Donghuayuan Medical Equipment Co Ltd
Priority date: 2019-01-08
Filing date: 2019-01-08
Publication date: 2020-07-14

Abstract

The invention discloses a control method of a medicine decocting machine, which comprises a pot body, a pot cover opening and closing mechanism and an action detection assembly, wherein the action detection assembly is used for detecting in-place signals of a plurality of actions of the pot cover in the opening/closing process, and the medicine decocting machine controls the pot cover opening and closing mechanism to sequentially execute each action of opening/closing the pot cover according to each in-place signal in the opening/closing process of the pot cover.

Description

Control method of medicine decocting machine

Technical Field

The invention relates to the field of decoction of traditional Chinese medicine, in particular to a control method of a decoction machine.

Background

In the current decocting industry, during the decocting of traditional Chinese medicines, the decocting pot cover is usually opened manually or by means of a specific mechanical structure. In the process of realizing automatic medicine decocting, the manual opening of the medicine decocting pot cover is not suitable for an automatic medicine decocting system. In addition, if the cover of the decocting pot is opened by using the multi-axis robot arm, the occupied space is large, the automatic upgrade of the decocting system causes the change of the layout of the robot, and the robot cost is high. If the pot cover is opened by utilizing the linear motion screw rod assembly and the rotary motion mechanism, the pot cover is complex in action, low in efficiency, complex in mechanism and high in cost. In addition, after the decoction is completed, if the medicine bag (the dregs bag after the decoction is completed) is manually extracted from the pot body, the personnel can be easily scalded and the efficiency is low. In addition, the efficiency of the whole decocting process can be influenced by manually opening the liquid medicine discharging valve. In the process of realizing automatic medicine decocting, the development of a full-automatic medicine decocting machine is expected, so that the manual operation is reduced to the greatest extent, and the efficiency is improved.

Moreover, in the process of automatically opening and closing the pot cover, a plurality of actions for opening and closing the pot cover are included, each action has the existing sequence, and the next action can be executed only after the previous action is finished, otherwise, each action such as automatic opening, closing, locking, unlocking and the like of the pot cover cannot be realized.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the defects of the prior art, provide a control method of a decocting machine, realize the automatic opening, closing, locking and unlocking of a pot cover, change the current situations that the decocting process needs manual operation, has potential safety hazards and is low in efficiency in the current decocting industry, and realize a plurality of complicated processes in decocting by adopting an automatic mechanism and an automatic control method, thereby meeting the full-automatic requirement of a decocting system.

In order to solve the technical problems, the invention adopts the technical scheme that the basic concept is as follows:

the control method of the drug decocting machine comprises a pot body, a pot cover opening and closing mechanism and an action detection assembly, wherein the action detection assembly is used for detecting in-place signals of a plurality of actions of the pot cover in the opening/closing process, and the drug decocting machine controls the pot cover opening and closing mechanism to sequentially execute each action of opening/closing the pot cover according to each in-place signal in the opening/closing process of the pot cover.

In the above scheme, the action detection assembly respectively detects in-place signals of a plurality of actions of the pot cover in the opening/closing process, so that the pot cover opening and closing mechanism can accurately execute the action of opening/closing the pot cover.

Preferably, the closing mechanism comprises a first actuator for driving the pot cover to ascend to be separated from the pot body or descend to be closed on the pot body and a second actuator for driving the pot cover to rotate relative to the pot body, and the action detection assembly comprises a first proximity switch for detecting whether the pot cover ascends to a set position separated from the pot body; after receiving an instruction of opening the pot cover, the drug decocting machine controls the first actuator to drive the pot cover to ascend, and controls the second actuator to drive the pot cover to rotate towards the direction far away from the pot body so as to open the pot cover after detecting the in-place signal of the first proximity switch.

Preferably, the drug decocting machine comprises a rotating beam hinged on the pot body, the rotating beam is provided with the first actuator, the driving end of the first actuator is connected with the pot cover, and the action detection assembly comprises a second proximity switch for detecting whether the rotating beam rotates to the opening position of the pot cover; in the process of opening the pot cover, after the medicine decocting machine detects the in-place signal of the first proximity switch, the second actuator is controlled to drive the rotating beam to rotate towards the direction far away from the pot body until the in-place signal of the second proximity switch is detected.

Preferably, the first proximity switch is arranged on the rotating beam, and the pot cover is correspondingly provided with a first touch plate; the medicine decocting machine senses whether the pot cover rises to the right position or not through the first proximity switch.

The second actuator comprises a body and a telescopic rod part arranged on the body, the telescopic rod part is connected with the rotating beam, the second proximity switch is arranged on the body and faces the telescopic rod part, and a second touch plate is arranged at one end of the telescopic rod part, which is connected with the rotating beam; the medicine decocting machine senses whether the rotating beam is turned in place or not through the second proximity switch and the second touch plate.

Preferably, the action detection assembly comprises a third proximity switch for detecting whether the rotating beam rotates to a set position, so that the pot cover is positioned at the top of the pot body; after an instruction of closing the pot cover is received, the drug decocting machine controls the second actuator to drive the rotating beam to rotate towards the pot body, and controls the first actuator to drive the pot cover to descend and close on the pot body after an in-place signal of the third proximity switch is detected.

Preferably, the machine for decocting medicinal herbs includes the support, and the rotatory roof beam articulates on the support, third proximity switch sets up on the support, the rotatory roof beam one end relative with the pot cover be provided with the third touch panel, the machine for decocting medicinal herbs opens the light-sensitive through the third proximity whether the third touch panel detect the rotatory roof beam and rotate and target in place.

In the above scheme, the third touch panel is located the other end that articulated department and pot cover are relative on the rotatory roof beam, and the pot cover is rotating the in-process to the pot body, and the third touch panel moves towards third proximity switch, and when both contact distance reached detection distance, third proximity switch can sense the third touch panel and generate corresponding signal that targets in place.

Preferably, a fourth proximity switch is arranged on the upper surface of the pot body, a fourth touch plate is correspondingly arranged on the pot cover, and the medicine decocting machine senses the fourth touch plate through the fourth proximity switch to detect whether the pot cover is closed in place.

Preferably, the medicine decocting machine comprises a locking mechanism for locking the pot cover when the pot cover is closed to prevent the pot cover from being separated from the pot body;

when an instruction of closing the pot cover is received, the medicine decocting machine firstly controls the second actuator to drive the rotating beam to rotate towards the pot body, controls the first actuator to drive the pot cover to descend after an in-place signal of the third proximity switch is detected, and controls the locking mechanism to lock the pot cover after an in-place signal of the fourth proximity switch is detected.

When an instruction for opening the pot cover is received, the medicine decocting machine firstly controls the locking mechanism to unlock, then controls the first actuator to drive the pot cover to ascend, and controls the second actuator to drive the pot cover to rotate away from the pot body after an in-place signal of the first proximity switch is detected until an in-place signal of the second proximity switch is detected.

Preferably, locking mechanical system including set up the locking ring that sets up around pot body opening periphery on the pot body, the locking ring rotatable setting has locking position and unblock position, the locking ring rotates to locking position, with the pot cover position locking, the locking ring rotates to unblock position, the pot cover with the pot body unblock.

The action detection assembly comprises a fifth proximity switch for detecting whether the locking ring rotates to an unlocking position, and after receiving an instruction for opening the pot cover, the medicine decocting machine controls the locking ring to rotate and controls the first actuator and the second actuator to execute the action for opening the pot cover after detecting an in-place signal of the fifth proximity switch.

Preferably, the motion detection assembly further comprises a sixth proximity switch for detecting whether the lock ring rotates to the locking position;

after an instruction of closing the pot cover is received, the medicine decocting machine sequentially controls the second actuator and the first actuator to act, and in the process that the first actuator drives the pot cover to descend, after an in-place signal of the fourth proximity switch is detected, the lock ring is driven to rotate until an in-place signal of the sixth proximity switch is detected.

Preferably, the fifth proximity switch and the sixth proximity switch are both fixedly arranged on the pot body, a fifth touch panel is arranged on the lock ring, and the drug decocting machine senses whether the lock ring is unlocked/locked in place through the fifth proximity switch/the sixth proximity switch.

By adopting the technical scheme, the invention has the following beneficial effects:

according to the invention, the medicine decocting machine comprises a pot body, a pot cover opening and closing mechanism and an action detection assembly, wherein the action detection assembly is used for detecting in-place signals of a plurality of actions of the pot cover in the opening/closing process, and the medicine decocting machine controls the pot cover opening and closing mechanism to sequentially execute each action of opening/closing the pot cover according to each in-place signal in the opening/closing process of the pot cover.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 shows a schematic front view of a machine for decocting medicinal herbs according to an embodiment of the present invention, wherein a pot cover is snapped on a pot body;

FIG. 2 shows a schematic front view of a decocting machine according to an embodiment of the present invention, wherein the lid is separated from the pan body;

FIG. 3 shows a schematic front view of a decocting machine according to an embodiment of the present invention, wherein the lid is opened and the drug pack is ejected;

FIG. 4 shows a schematic view of a lock collar in a decocting machine according to an embodiment of the present invention;

figure 5 shows a schematic view of a lid in a decocting machine according to an embodiment of the invention;

FIG. 6 shows a schematic top view of a decocting machine according to an embodiment of the present invention, wherein the lid is in a locked state with the pot body;

fig. 7 shows a schematic top view of a decocting machine according to an embodiment of the present invention, wherein the lid and the pan body are in an unlocked state;

FIG. 8 shows a schematic top view of a decocting machine according to an embodiment of the present invention;

FIG. 9 shows a cross-sectional view of a charge ejection assembly of a decocting machine according to an embodiment of the present invention;

FIG. 10 shows a schematic view of a drug pack push-off assembly of a drug-decocting machine according to an embodiment of the present invention, with the toggle lever in an initial position;

FIG. 11 shows a schematic view of a drug pack push-off assembly of a drug-decocting machine according to an embodiment of the present invention, wherein the lever is in a position rotated 90 degrees from the initial position;

FIG. 12 shows a schematic view of a drug package ejection assembly and drug solution discharge system of a decocting machine according to an embodiment of the present invention;

FIG. 13 illustrates another schematic view of the charge ejection assembly and the drug discharge system of the decocting machine according to an embodiment of the present invention;

FIG. 14 is a schematic view showing the structure of a gas-liquid separating apparatus;

fig. 15 shows a setting position diagram of the motion detecting assembly;

fig. 16 shows another perspective view of fig. 15.

The reference numbers illustrate:

1000-medicine decocting machine; 10-pot cover; 20-pot body; 30-a locking ring; 40-a support disk; 50-a box body; 60-medicine package; 44-a groove; 11-a tooth engagement; 31-locking teeth; 33-locking ring push rod; 100-a pot cover opening and closing mechanism; 110-a first actuator; 120-a second actuator; 130-a rotating beam; 111-a first telescoping rod section; 121-a second telescopic stem; 131-a first portion; 132-a second portion; 140-a scaffold; 150-a scaffold; 200-a cartridge removal mechanism; 210-a cartridge ejection assembly; 220-pack pushing off the assembly; 211-hollow rod; 212-a lead screw; 213-a pole wall; 214-a protrusion; 215-a seal; 218-a motor; 221-a rotary cylinder; 222-rotating disk; 223-a deflector rod; 300-a locking ring pushing mechanism; 301-a third actuator; 302-a third telescoping rod section; 400-a medical fluid discharge system; 401-an electrically controlled valve; 402-a utility pipe; 403-a condenser; 404-a water inlet pipe; 405-an upper circulation conduit; 406-a water vapor discharge conduit; 407-two decocting barrels; 408-a vent conduit; 409-liquid medicine discharge pipeline; 410-a waste liquid discharge conduit; 411-cleaning the pipeline; 412-a gas-liquid separation device; 413 — a first opening; 414-a second opening; 415-a third opening; 416-a flow meter; 417 — lower circulation line; 501. a first proximity switch; 502. a second proximity switch; 503. a third proximity switch; 504. a fourth proximity switch; 505. a fifth proximity switch; 506. and a sixth proximity switch.

It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

A fully automatic medicine decocting machine according to the present invention will be described below with reference to fig. 1 to 14. The medicine decocting machine provided by the invention mainly comprises a pot cover opening and closing mechanism for executing the actions of opening (opening) and closing (closing) a pot cover, a mechanism for executing the actions of interlocking and unlocking the pot cover and the pot body, a medicine bag removing mechanism for executing the actions of removing medicine bags (comprising the actions of ejecting the medicine bags and pushing the medicine bags away), and a medicine liquid discharge system capable of automatically discharging medicine liquid.

Specifically, referring to FIGS. 1-3, herbal medicine decocting machine 1000 includes lid 10 and pan body 20, and pan body 20 may be received in and supported by tank 50 or pan body support, although the term "tank" is referred to herein, the structure that receives and supports pan body 20 is not limited to a tank structure, but may be any other suitable support.

As shown in fig. 1 to 3, the drug decocting machine 1000 includes a lid opening and closing mechanism 100 for performing lid opening and closing actions, and the lid opening and closing mechanism 100 mainly includes two actuators that respectively perform two different actions. Specifically, the lid opening and closing mechanism 100 mainly includes a first actuator 110, a second actuator 120, and a rotation beam 130, and one end of the rotation beam 130 is hingedly mounted to a bracket 150, as shown in fig. 1, and the bracket 150 is a support fixedly added to the cabinet 50, but the present invention is not limited thereto, and the one end of the rotation beam 130 may also be hingedly mounted to the cabinet 50 or any other suitable bracket as long as the rotation beam 130 can pivot at the one end.

The first actuator 110 is disposed substantially vertically above the pot cover 10 and attached to the pot cover 10, and the first actuator 110 may be fixed and supported by the other end of the rotation beam 130, the first actuator 110 being configured to raise or lower the pot cover 10 with respect to the pot body 20.

A second actuator 120 is hingedly mounted at one end to bracket 140 and hingedly connected at the other end to rotation beam 130, second actuator 120 being configured to pivot rotation beam 130 to pivot first actuator 110 and lid 10 away from or towards pot body 20. As shown in fig. 1, the bracket 140 is a support fixedly added to the case 50, but the present invention is not limited thereto, and the one end of the second actuator 120 may be hingedly mounted on the case 50 or any other suitable bracket as long as the second actuator 120 can pivot at the one end.

As shown in fig. 1 to 2, the first actuator 110 may have a first retractable lever part 111, an extended end (i.e., a lower end in fig. 1) of the first retractable lever part 111 may be attached to the lid 10, and the first actuator 110 may be actuated to extend or retract the first retractable lever part 111, thereby lifting or lowering the lid 10. The second actuator 120 may have a second telescopic rod portion 121, an extended end (i.e., the left end in fig. 1) of the second telescopic rod portion 121 may be hingedly connected to the rotating beam 130, and the second actuator 120 may be actuated to extend or retract the second telescopic rod portion 121, thereby pivoting the rotating beam 130 about its hinged end, and thus pivoting the lid 10 and the first actuator 110. By causing the lid 10 to be lifted and then pivoted, it is possible to prevent the lid 10 from interfering with or interfering with other components (e.g., the lock ring pushing mechanism 300 and the medicine ejection assembly 220 to be described later) fixed to the case 50 after being lifted.

One end of the rotating beam 130 is hingedly mounted to the bracket 150, and the other end of the rotating beam 130 extends above the pot lid 10 and is fixedly connected to the first actuator 110 such that the first actuator 110 is disposed substantially vertically above the pot lid 10. The rotation beam 130 may fix and support the first actuator 110, and the first actuator 110 may pivot together with the rotation beam 130.

The rotation beam 130 may include a first portion 131 and a second portion 132 disposed at an angle to the first portion 131, the first actuator 110 may be fixed to the first portion 131, and the second actuator 120 may be hingedly connected to the second portion 132.

As shown in fig. 1, when the lid 10 and the pot body 20 are coupled, the first telescopic rod part 111 of the first actuator 110 is in an extended state, and the second telescopic rod part 121 of the second actuator 120 is also in an extended state, whereby the second telescopic rod part 121 of the second actuator 120 can keep the rotation beam 130 stationary without moving, and thus the rotation beam 130 can stably support the first actuator 110.

When it is required to open the lid 10, as shown in fig. 2, the first actuator 110 may be actuated to retract the first telescopic rod part 111 in the vertical direction while the second telescopic rod part 121 of the second actuator 120 remains stationary (i.e., the first actuator 110 is kept stationary as a whole and only the first telescopic rod part 111 is retracted), thereby vertically lifting the lid 10 so that the lid 10 is separated from the body 20 by a distance in the vertical direction. Thereafter, the second actuator 120 may be actuated to retract the second telescopic rod portion 121, thereby pulling the rotating beam 130 to pivot, and thereby bringing the first actuator 110 fixedly supported by the rotating beam 130 and the lid 10 attached to the first actuator 110 to pivot away from the pot body 20, as shown in fig. 3, thereby achieving the lid opening action.

When it is desired to close the lid 10, the second actuator 120 can be actuated to extend the second telescopic rod portion 121, so as to push the rotating beam 130 to pivot, and further to drive the first actuator 110 and the lid 10 to pivot, and thus to pivot the first actuator 110 and the lid 10 into position, i.e. to make the first telescopic rod portion 111 of the first actuator 110 substantially vertical and to make the lid 10 be located directly above the pot body 20, as shown in fig. 2. When the lid 10 is pivoted to be directly above the pot body 20, the first actuator 110 may be actuated to extend the first telescopic rod portion 111, thereby lowering the lid 10 to engage the pot body 20, as shown in fig. 1, thereby achieving the action of snapping the lid 10 on the pot body 20. Preferably, in order to ensure that lid 10 moves directly above pot body 20 after second telescopic rod portion 121 is extended, the longest length that second telescopic rod portion 121 can be extended may be set to satisfy the requirement of pivoting lid 10 directly above pot body 20.

After closing the lid 10, the first and second

retractable lever parts

111 and 121 can be kept stationary, so that the lid opening and closing mechanism 100 can firmly press the lid 10 against the pot body 20, thereby preventing the lid 10 from moving relative to the pot body 20 during the medicine decocting process. It is also contemplated that first rod 111 may be pushed to retract if the pressure of the air within body 20 is very high, in which case a safety mechanism may be provided to prevent lid 10 from being lifted during the decocting process, as will be described in more detail below.

The various parts of the lid opening and closing mechanism 100 can support and restrict each other, and the first actuator 110, the second actuator 120, the rotating beam 130, the bracket 140, and the bracket 150 can support or restrict each other, so that the movement of the lid 10 can be more robust, and the problem of the lid 10 moving out of place or shaking can be avoided.

The first actuator 110 and the second actuator 120 disclosed herein may be a hydraulic cylinder assembly, a cylinder assembly, or an electromagnetic actuating assembly, but are not limited thereto and may be other suitable power driven assemblies. The first actuator 110 and the second actuator 120 may be respectively connected to associated power sources and controlled to operate by a controller. For example, the first actuator 110 and the second actuator 120 may be air cylinders, the first and second

telescopic rods

111 and 121 may be piston rods that may be housed in the air cylinders and driven by air in the air cylinders, the air cylinders may be connected to an external air source, and the operation of the air cylinders may be controlled by an associated controller.

With the lid opening and closing mechanism 100 described above, the operation of the first and second

retractable lever parts

111 and 121 can be controlled by the controller controlling the power flow in the first and

second actuators

110 and 120, thereby achieving the actions of automatically raising and lowering the lid 10 and pivoting the lid 10 with respect to the pot body 20, and achieving the automatic opening and closing of the lid 10.

In addition, in order to ensure that the lid 10 and the pot body 20 are always fastened in the process of decocting the medicine, and the lid 10 is not separated from the pot body 20 due to the air pressure or the water vapor in the pot body 20, a safety mechanism for interlocking the lid 10 and the pot body 20 when the lid 10 and the pot body 20 are fastened can be provided. When it is desired to open the lid 10, the safety mechanism is first opened so that the lid 10 and the body 20 can be separated from each other.

For example, as shown in FIGS. 1-3, a locking collar 30 may be provided on pan body 20 to act as a safety mechanism. Lock ring 30 may be disposed around an outer circumferential wall of an upper portion of pot body 20, where the upper portion of pot body 20 may be a portion of pot body 20 not received in tank (or bracket) 50 or a portion higher than tank (or bracket) 50. Locking ring 30 may be disposed around the outer circumferential wall of pot body 20 and may be supported by a structure disposed on pot body 20 or tank 50, and locking ring 30 may rotate on the outer circumferential wall of pot body 20. When the lid 10 is fastened to the pot body 20, the lid 10 may contact the locking ring 30. Lock ring 30 may be configured to be rotated to transition between a locked position, in which lid 10 may be interlocked with pot 20, and an unlocked position, in which lid 10 may be unlocked from pot 20. Structural features for interlocking and unlocking may be provided on the lid 10 and the locking collar 30.

For example, as shown in fig. 4 to 5, a plurality of locking teeth 31 (shown in fig. 4) may be provided on the circumference of the locking ring 30, and a plurality of tooth engaging portions 11 (shown in fig. 5) corresponding to the plurality of locking teeth 31 may be provided on the circumference of the lid 10, and when the locking ring 30 is located at the locking position, the plurality of locking teeth 31 may engage with the plurality of tooth engaging portions 11, thereby interlocking the lid 10 with the body 20; when the locking ring 30 is in the unlocking position, the plurality of locking teeth 31 and the plurality of tooth engaging portions 11 may be staggered from each other, that is, each locking tooth 31 of the plurality of locking teeth 31 on the locking ring 30 may be rotated to a position corresponding to a position between adjacent tooth engaging portions 11 on the lid 10, thereby unlocking the lid 10 from the pot 20. In the unlocked state, the above-described action of lifting the lid 10 from the pot body 20 can then be performed by the lid opening and closing mechanism 100.

Although the structure of the locking ring 30 is used as a safety mechanism for interlocking and unlocking the lid 10 and the body 20, other suitable structures for interlocking and unlocking the lid 10 and the body 20 by a rotating action may be used.

As shown in fig. 4, a lock ring push rod 33 may be disposed on an outer wall of the lock ring 30, and the lock ring push rod 33 may be disposed between adjacent two of the locking teeth 31. As shown in fig. 6-7, the machine 1000 may be provided with a power assembly for automatically opening or closing a safety mechanism between lid 10 and pan body 20 (e.g., rotating the safety mechanism (i.e., lock collar 30) between a locked position and an unlocked position). For example, the medicine decocting machine 1000 according to the present invention may include a lock collar pushing mechanism 300, and the lock collar pushing mechanism 300 may be attached to the lock collar push rod 33 and push the lock collar push rod 33 to rotate the lock collar 30 between the locked position and the unlocked position.

The lock collar pushing mechanism 300 may include a third actuator 301 hingedly mounted parallel to a horizontal plane and having a third telescopic lever portion 302, an extended end of the third telescopic lever portion 302 may be hingedly connected to the lock collar push rod 33, and an end of the third actuator 301 may be hingedly mounted to the case (or bracket) 50. Third actuator 301 may be configured to urge collar pusher 33 to rotate between a locked position (OFF position as shown in fig. 6) in which lid 10 may be interlocked with pot body 20, and an unlocked position (ON position as shown in fig. 7) in which lid 10 and pot body 20 can be separated from each other.

As shown in fig. 6 to 7, third actuator 301 may be provided on tank 50 or on another bracket near the upper portion of pan body 20, although only schematically shown in the drawings that third actuator 301 is hingedly mounted to tank (or bracket) 50, the present invention is not limited thereto, and third actuator 301 may be provided at other locations where third actuator 301 may be mounted.

In the case where the locking ring 30 is provided on the pot body 20, the locking ring 30 should be first rotated to the unlocking position before the pot lid 10 is opened. As shown in fig. 6, the locking ring 30 is in the locking position (OFF position) and the third telescopic rod portion 302 of the third actuator 301 is extended, and the lid 10 and the body 20 are interlocked. When it is desired to open the lid 10, it is first necessary to rotate the lock ring 30 to the unlocking position, in which case the third actuator 301 may be actuated to retract the third telescopic rod portion 302, and the third telescopic rod portion 302 pulls the lock ring push rod 33 (the main portion of the lock ring 30 is not visible, only the lock ring push rod 33 is shown) to rotate, thereby rotating the lock ring push rod 33 or the lock ring 30 to the unlocking position (the ON position shown in fig. 7), whereby the lid 10 and the body 20 can be separated from each other.

Further, after the lid 10 is snapped onto the pot body 20 (for example, the lid 10 is automatically snapped onto the pot body 20 by the lid opening and closing mechanism 100 described above), the third actuator 301 may be actuated to extend the third telescopic rod portion 302, thereby rotating the lock ring push rod 33 or the lock ring 30 to the lock position (for example, returning to the state as shown in fig. 6), thereby interlocking the lid 10 and the pot body 20.

As described above with reference to fig. 6 to 7, when the third telescopic lever portion 302 is retracted, the lock ring 30 is in the unlocked position, and when the third telescopic lever portion 302 is extended, the lock ring 30 is in the locked position. However, the present invention is not limited thereto, and the unlocking position of the lock ring 30 may also correspond to a state when the third telescopic lever portion 302 is extended, and the locking position of the lock ring 30 may also correspond to a state when the third telescopic lever portion 302 is retracted. In other words, when the third actuator 301 is actuated to extend the third retractable lever portion 302, the lock collar 30 or the lock collar push rod 33 may be rotated to one of the locked position and the unlocked position, and when the third actuator 301 is actuated to retract the third retractable lever portion 302, the lock collar 30 or the lock collar push rod 33 may be rotated to the other of the locked position and the unlocked position.

The third actuator 301 disclosed in the present invention may be a hydraulic cylinder assembly, a cylinder assembly, or an electromagnetic actuating assembly, but is not limited thereto, and may also be other suitable power driving assemblies. The third actuator 301 may be connected to an associated power source and controlled to operate by the controller. For example, the third actuator 301 may be a gas cylinder, the third telescopic rod portion 302 may be a piston rod receivable in the gas cylinder and driven by gas in the gas cylinder, the gas cylinder may be connected to an external gas source, and operation of the gas cylinder may be controlled by an associated controller.

By having the third actuator 301 of the lock ring pushing mechanism 300 hingedly mounted and the third telescopic lever portion 302 hingedly connected to the lock ring 30 (preferably, the lock ring push rod 33), the rotation of the lock ring 30 can be achieved by the linear telescopic motion of the third telescopic lever portion 302, thereby achieving the automatic interlocking and unlocking of the lid 10 and the pot body 20.

In order to fully automate the medicine decocting machine, a medicine package removing mechanism 200 may be further provided on the medicine decocting machine 1000. As shown in fig. 1-3, drug package removing mechanism 200 can mainly comprise a drug package ejecting assembly 210 and a drug package pushing-off assembly 220, drug package ejecting assembly 210 can be disposed below pan body 20 and configured to eject drug package (drug slag package) 60 (drug slag package after drug decocting is completed) located in pan body 20 to above pan body 20, and drug package pushing-off assembly 220 can be disposed near the upper portion of pan body 20 and configured to push drug package 60 ejected above pan body 20 by drug package ejecting assembly 210 away from pan body 20.

To facilitate ejection of the charge 60 located within pan 20 by charge ejection assembly 210, a support plate 40 for supporting charge 60 may be provided within pan 20, as shown in figure 9. Supporting plate 40 can be a perforated plate with a plurality of holes, supporting plate 40 can be located at the bottom of pan body 20 during the process of decocting the medicine, medicine package 60 can be placed on supporting plate 40, after the medicine is decocted, supporting plate 40 and medicine package 60 can be taken out of pan body 20 together, and the liquid medicine in pan body 20 can be left in pan body 20 through the holes on supporting plate 40.

Figure 9 shows a cross-sectional view of the charge ejection assembly 210. the charge ejection assembly 210 may include a hollow shaft 211, a lead screw 212 disposed within the hollow shaft 211, and a motor 218 that drives the lead screw 212 to rotate. The top end of the hollow rod 211 may contact the support plate 40, and the lead screw 212 may be disposed inside the hollow rod 211 and form a screw transmission pair with the rod wall 213 of the hollow rod 211 (for example, as shown in fig. 9, a nut engaged with the lead screw 212 is fixed to the lower end of the hollow rod 211). Screw 212 can be rotated by motor 218, which in turn can move rod wall 213 up or down to eject support plate 40 and cartridge 60 above the upper edge of pan body 20 (as shown in figure 3) or bring support plate 40 back into pan body 20.

The top end of the hollow rod 211 may be provided with a protrusion 214, and the protrusion 214 may be integrally formed with the rod wall 213 of the hollow rod 211, or the protrusion 214 may be a portion added to the top end of the hollow rod 211 for covering the hollow rod 211. The bottom of the support tray 40 may be provided with a groove 44 corresponding to the protrusion 214, thereby allowing the hollow rod 211 and the support tray 40 to be firmly engaged when the hollow rod 211 and the support tray 40 are engaged to eject the support tray 40 and the medicine package 60 using the hollow rod 211, and keeping the support tray 40 smoothly ejected upward, preventing the support tray 40 from being tilted or toppled. Alternatively, the top end of the hollow rod 211 may be provided with a recess, and the bottom of the support plate 40 may be provided with a protrusion corresponding to the recess, and it should be understood herein that the structures provided on the hollow rod 211 and the support plate 40 for firmly engaging the hollow rod 211 and the support plate 40 are not limited to the described structures, but may be any other suitable snap-fit structures. Shaft wall 213 of hollow shaft 211 is sealed against the bottom of pan body 20 by seal 215 so that the contents of pan body 20 do not leak out as shaft wall 213 of hollow shaft 211 moves upward and into pan body 20.

After the medicine is decocted and the lid 10 is opened by the lid opening and closing mechanism 100, the controllable motor 218 drives the screw 212 to rotate, the screw 212 forms a screw transmission pair with the rod wall 213 of the hollow rod 211, the rotation of the screw 212 can move the rod wall 213 upwards, the protrusion 214 at the top end of the rod wall 213 can be engaged with the groove 44 at the bottom of the supporting disk 40, the rod wall 213 moves upwards into the interior of the pot body 20, and the supporting disk 40 and the medicine package 60 are ejected to the upper edge of the pot body 20 (as shown in fig. 3), thereby realizing the medicine package ejection action.

Figures 10 to 11 show a schematic view of the pack pushing off mechanism 220. The medicine bag pushing-off mechanism 220 may be disposed near the upper portion of the pot body 20 and may include a rotating cylinder 221 disposed at the outer side of the pot body 20 and a driving lever 223 disposed on a rotating disk 222 of the rotating cylinder 221 and rotating together with the rotating disk 222.

In figure 10, the drug package push-off assembly 220 is shown with the toggle 223 in an initial position (where the drug package 60 is not toggled), where the toggle 223 and the rotary cylinder 221 can both be positioned beside the pan body 20 in the initial position (e.g., with the toggle 223 at 0 degrees). After the drug package 60 is ejected above the upper edge of the pot body 20 by the drug package ejection assembly 210, the rotating cylinder 221 can be actuated to rotate the rotating disc 222 of the rotating cylinder 221, so that the driving lever 223 rotates towards the position of the drug package 60, and the driving lever 223 rotates through the drug package 60 and pushes the drug package 60 away from the pot body 20. Fig. 11 shows the position of the shift lever 223 rotated 90 degrees relative to the initial position. The lever 223 can be rotated 90 to 180 degrees from the initial position to push the drug package 60 away from the pan 20. After pushing drug package 60 away from pan body 20, rotating cylinder 221 can be actuated to rotate lever 223 back to the initial position.

As shown in figure 3, the deflector 223 may be an elongated plate or rod, and preferably the length of the deflector 223 may be at least greater than the radius of the pan 20, so as to effectively contact the charge 60 and push the charge 60 away. The rotary cylinder 221 may be a 180 degree rotary cylinder or other rotary drive means.

Decocting machine 1000 may also include a medical fluid discharge system 400 coupled to pan body 20, as shown in FIG. 12. In the conventional manually operated medical fluid discharge system, a manually controlled drain valve is generally provided. The chemical liquid discharge system 400 of the present invention may be provided with an electronic control valve 401 for controlling the flow of the chemical liquid, and the electronic control valve 401 may be controlled by a controller to be opened or closed as needed, thereby automatically managing the discharge of the chemical liquid.

Specifically, referring to fig. 12 and 13, the decocting machine comprises a common pipeline 402 and a condenser 403, the common pipeline 402 is connected with a water source through an electric control valve, the pot body is connected with the common pipeline 402 through a water inlet pipeline 404, the inlet of the condenser 403 is connected with the common pipeline 402 through an upper circulating pipeline 405, and the outlet of the condenser 403 is connected with a water vapor discharge pipeline 406.

In the scheme, the water inlet pipeline 404 and the upper circulating pipeline 405 share the common pipeline 402, so that the design of the pipelines is reduced, and the internal redundancy of the decocting machine is prevented. When water is fed, the fed water enters the water inlet pipeline 404 through the common pipeline 402 and then enters the pot body of the drug decocting machine through the water inlet pipeline 404. During the decoction process, the steam inside the pan body enters the common pipeline 402 through the water inlet pipeline 404, then enters the upper circulating pipeline 405 through the common pipeline 402, then enters the condenser 403 through the upper circulating pipeline 405, and is discharged by the condensate of the condenser 403 through the steam discharge pipeline 406.

Preferably, an electrically controlled valve is arranged on the upper circulation pipeline 405.

In the above scheme, the internal cavity of the pot body can be communicated with the outside by controlling the opening of the electric control valve of the upper circulation pipeline 405.

Or, the common pipe 402 is provided with two connecting ports, the upstream connecting port is used for connecting the upper circulation pipe 405, the downstream connecting port is used for connecting the water inlet pipe 404, and an electric control valve is arranged between the two connecting ports on the common pipe 402.

In the scheme, when water is fed, the electric control valve is controlled to be closed, the fed water enters the pot body through the water inlet pipeline, the electric control valve can be opened in the decoction process, and steam in the pot body enters the common pipeline through the water inlet pipeline and then enters the upper circulating pipeline through the common pipeline to further enter the condenser, and is discharged through the discharge pipeline 406 after being condensed.

Preferably, the medicine decocting machine further comprises two decocting barrels 407, the mounting positions of which are lower than the pot body, the bottom of the pot body is connected with the two decocting barrels 407 through an electric control valve, and the two decocting barrels 407 are provided with ventilating structures.

In the above scheme, the two decocting barrels 407 are provided with the ventilating structure, so that the air pressure can be balanced, and the liquid medicine can be discharged conveniently.

Preferably, the aeration structure comprises an aeration pipeline 408 connected with the two frying barrels 407, and the tail end of the aeration pipeline 408 is connected to the outlet of the condenser 403.

In the above solution, the second frying barrel 407 is connected to the outlet of the condenser 403 through the ventilating duct 408, and the design of the duct is simple and reasonable, thereby preventing the structure from being easy.

Preferably, the vent pipe is provided with a check valve which is opened in the forward direction and closed in the reverse direction, and the forward direction is towards the direction of the second decoction barrel 407.

In the above scheme, the check valve is arranged on the vent pipe to prevent the liquid medicine from being guided.

Preferably, the two frying drums 407 are connected to the common pipe 402 through a lower circulation pipe 417, and an electric control valve is disposed on the lower circulation pipe 417.

In the above scheme, the lower circulation pipeline 417 may be used to clean the two frying drums 407, and the inlet water enters the lower circulation pipeline 417 through the common pipeline 402, and then enters the two frying drums 407 through the lower circulation pipeline 417 to clean the two frying drums 407.

In the above embodiment, the two frying barrels 407 are horizontally arranged barrel-shaped bodies, and a door is disposed at one end of the barrel-shaped body, and after the door is opened, the interior of the two frying barrels 407 can be deeply cleaned.

Preferably, the bottom of the second decoction barrel 407 is connected with a liquid medicine discharge pipeline 409 and a waste liquid discharge pipeline 410 through a three-way pipe, and the liquid medicine discharge pipeline 409 and the waste liquid discharge pipeline 410 are respectively provided with an electric control valve.

In the above scheme, during liquid discharge, the electromagnetic valve on the liquid medicine discharge pipeline 409 is controlled to be opened, the electromagnetic valve on the waste liquid discharge pipeline 410 is controlled to be closed, and then the liquid medicine flows through the two decocting barrels 407 and the liquid medicine discharge pipeline 409 in sequence and flows out of the decocting machine; when the decocting machine is cleaned, the electromagnetic valve on the waste liquid discharge pipeline 410 is controlled to be opened, the electromagnetic valve on the liquid medicine discharge pipeline 409 is controlled to be closed, and then the liquid medicine flows through the two decocting barrels 407 and the waste liquid discharge pipeline 410 in sequence and flows out of the decocting machine.

Preferably, the drug solution discharge pipe 409 is connected to the packing machine, the decocting machine further comprises a cleaning pipe 411, an inlet of the cleaning pipe 411 is connected to a water source through an electric control valve, and an outlet of the cleaning pipe is connected to a pipe on the drug solution discharge pipe 409 and located at the downstream of the electric control valve.

In the above solution, the cleaning pipe 411 is used for cleaning an intermediate pipe between the decocting machine and the packing machine.

Preferably, the end of the moisture discharge pipe 406 is provided with a gas-liquid separation device 412.

In the scheme, the gas and the liquid at the tail end of the water vapor discharge pipeline 406 are separated, so that the water vapor discharge pipeline 406 is prevented from sucking back the internal organ water of the sewer to cause liquid medicine pollution.

Preferably, referring to fig. 14, the gas-liquid separation device 412 includes a housing having three openings, a first opening 413 connected to the end of the chemical liquid discharge pipe 409, a second opening 414 for leading out the condensate, and a third opening 415 for leading out the vapor; wherein the third opening 415 is higher than the second opening 414.

The design of the proposal ensures the sanitation and completeness of the decoction.

The fully automatic medicine decocting machine including the pot cover opening and closing mechanism for performing the opening (opening) and closing (closing) actions of the pot cover, the mechanism for performing the interlocking and unlocking actions of the pot cover and the pot body, the medicine package removing mechanism for performing the medicine package removing actions (which may include the medicine package ejecting action and the medicine package pushing-off action), and the medicine liquid discharging system capable of automatically discharging the medicine liquid is described above, and the medicine decocting machine can minimize the manual intervention, maximize the degree of automation of the medicine decocting machine, greatly improve the efficiency, and reduce the labor cost. Although a decocting machine including multiple actuators is described above, the decocting machine may include one or more of the multiple actuators described above, and each actuator may be individually applied to other decocting devices.

Example two

Referring to fig. 1 to 16, in the second embodiment, a control method of a decocting machine is further provided based on the first embodiment, the decocting machine includes a pot body, a pot cover opening and closing mechanism, and an action detection component, the action detection component is configured to detect in-place signals of a plurality of actions of the pot cover in an opening/closing process, and in the opening/closing process of the pot cover, the decocting machine controls the pot cover opening and closing mechanism to sequentially execute each action of opening/closing the pot cover according to each in-place signal.

Preferably, the closing mechanism comprises a first actuator for driving the pot cover to ascend to be separated from the pot body or descend to be closed on the pot body and a second actuator for driving the pot cover to rotate relative to the pot body, and the action detection assembly comprises a first proximity switch 501 for detecting whether the pot cover ascends to a set position separated from the pot body; after receiving the instruction of opening the pot cover, the drug-decocting machine controls the first actuator to drive the pot cover to ascend, and controls the second actuator to drive the pot cover to rotate towards the direction far away from the pot body to open the pot cover after detecting the in-place signal of the first proximity switch 501.

Preferably, the drug decocting machine comprises a rotating beam hinged on the pot body, the rotating beam is provided with the first actuator, the driving end of the first actuator is connected with the pot cover, and the action detection assembly comprises a second proximity switch 502 for detecting whether the rotating beam rotates to the opening position of the pot cover; in the process of opening the pot cover, after the medicine decocting machine detects the in-place signal of the first proximity switch 501, the second actuator is controlled to drive the rotating beam to rotate towards the direction far away from the pot body until the in-place signal of the second proximity switch 502 is detected.

Preferably, the first proximity switch 501 is arranged on the rotating beam, and the pot cover is correspondingly provided with a first touch plate; the drug-decocting machine senses whether the pot cover rises to the right position or not through the first proximity switch 501 and the first touch plate.

The second actuator comprises a body and a telescopic rod part arranged on the body, the telescopic rod part is connected with the rotating beam, the second proximity switch 502 is arranged on the body and faces the telescopic rod part, and a second touch plate is arranged at one end of the telescopic rod part, which is connected with the rotating beam; the drug-decocting machine senses whether the second touch plate detects that the rotating beam is turned in place through the second proximity switch 502. Preferably, when the second actuator is a cylinder, then the body is the bore of the cylinder.

Preferably, the motion detection assembly comprises a third proximity switch 503 for detecting whether the rotating beam rotates to a position that the pot cover is located at the top of the pot body; after receiving the instruction of closing the pot cover, the drug-decocting machine controls the second actuator to drive the rotating beam to rotate towards the pot body, and controls the first actuator to drive the pot cover to descend and close on the pot body after detecting the in-place signal of the third proximity switch 503.

Preferably, the medicine decocting machine comprises a support, the rotating beam is hinged to the support, the third proximity switch 503 is arranged on the support, a third touch panel is arranged at one end, opposite to the pot cover, of the rotating beam, and the medicine decocting machine detects whether the rotating beam rotates in place or not through the third proximity switch light induction.

In the above scheme, the third touch panel on the rotating beam is located at the other end of the hinged position opposite to the pot cover, the third touch panel moves towards the third proximity switch 503 in the process of rotating the pot cover towards the pot body, and when the contact distance between the third touch panel and the pot cover reaches the detection distance, the third proximity switch 503 can sense that the third touch panel generates a corresponding in-place signal.

Preferably, a fourth proximity switch 504 is arranged on the upper surface of the pot body, a fourth touch panel is correspondingly arranged on the pot cover, and the medicine decocting machine senses the fourth touch panel through the fourth proximity switch 504 to detect whether the pot cover is closed in place.

when an instruction of closing the pot cover is received, the medicine decocting machine firstly controls the second actuator to drive the rotating beam to rotate towards the pot body, controls the first actuator to drive the pot cover to descend after an in-place signal of the third proximity switch 503 is detected, and controls the locking mechanism to lock the pot cover after an in-place signal of the fourth proximity switch 504 is detected.

When an instruction of opening the pot cover is received, the medicine decocting machine firstly controls the locking mechanism to unlock, then controls the first actuator to drive the pot cover to ascend, and controls the second actuator to drive the pot cover to rotate away from the pot body after an in-place signal of the first proximity switch 501 is detected until an in-place signal of the second proximity switch 502 is detected.

The action detection assembly comprises a fifth proximity switch 505 for detecting whether the locking ring rotates to an unlocking position, after receiving a pot cover opening instruction, the medicine decocting machine controls the locking ring to rotate, and after detecting an in-place signal of the fifth proximity switch 505, the medicine decocting machine controls the first actuator and the second actuator to execute a pot cover opening action.

Preferably, the motion detection assembly further comprises a sixth proximity switch 506 for detecting whether the lock ring is rotated to the locking position;

after receiving the instruction of closing the pot cover, the drug-decocting machine sequentially controls the second actuator and the first actuator to act, and in the process that the first actuator drives the pot cover to descend, the locking ring is driven to rotate after the in-place signal of the fourth proximity switch 504 is detected until the in-place signal of the sixth proximity switch 506 is detected.

Preferably, the fifth proximity switch 505 and the sixth proximity switch 506 are both fixedly arranged on the pot body, the lock ring is provided with a fifth touch panel, and the drug-decocting machine senses whether the lock ring is unlocked/locked in place by the fifth touch panel through the fifth proximity switch 505 and the sixth proximity switch 506.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The control method of the drug decocting machine is characterized in that the drug decocting machine comprises a pot body, a pot cover opening and closing mechanism and an action detection assembly, wherein the action detection assembly is used for detecting in-place signals of a plurality of actions of the pot cover in the opening/closing process, and in the opening/closing process of the pot cover, the drug decocting machine controls the pot cover opening and closing mechanism to sequentially execute each action of opening/closing the pot cover according to each in-place signal.

2. The control method of the drug-decocting machine of claim 1, wherein the pot cover opening and closing mechanism comprises a first actuator for driving the pot cover to ascend to be separated from the pot body or descend to be closed on the pot body and a second actuator for driving the pot cover to rotate relative to the pot body, and the action detection assembly comprises a first proximity switch for detecting whether the pot cover ascends to a set position separated from the pot body; after receiving an instruction of opening the pot cover, the drug decocting machine controls the first actuator to drive the pot cover to ascend, and controls the second actuator to drive the pot cover to rotate towards the direction far away from the pot body so as to open the pot cover after detecting the in-place signal of the first proximity switch.

3. The control method of the decocting machine according to claim 2, wherein the decocting machine comprises a rotating beam hinged on the pan body, the rotating beam is provided with the first actuator, the driving end of the first actuator is connected with the pan cover, the action detection assembly comprises a second proximity switch for detecting whether the rotating beam rotates to the open position of the pan cover; in the process of opening the pot cover, after the medicine decocting machine detects the in-place signal of the first proximity switch, the second actuator is controlled to drive the rotating beam to rotate towards the direction far away from the pot body until the in-place signal of the second proximity switch is detected.

4. The control method of the drug-decocting machine of claim 3, wherein the first proximity switch is arranged on the rotating beam, and the pot cover is correspondingly provided with a first touch plate; the drug decocting machine senses whether the pot cover rises to the right position or not through the first proximity switch;

5. The control method of the machine for decocting medicinal herbs of any one of claims 1 to 4, wherein the action detection assembly comprises a third proximity switch for detecting whether the rotary beam rotates to a position that the pot cover is located at the top of the pot body; after an instruction of closing the pot cover is received, the drug decocting machine controls the second actuator to drive the rotating beam to rotate towards the pot body, and controls the first actuator to drive the pot cover to descend and close on the pot body after an in-place signal of the third proximity switch is detected.

6. The control method of the decocting machine according to claim 5, wherein the decocting machine comprises a support, a rotating beam is hinged to the support, the third proximity switch is arranged on the support, a third touch panel is arranged at one end of the rotating beam opposite to the pot cover, and the decocting machine senses whether the rotating beam rotates in place or not through the third proximity switch.

7. The control method of the drug-decocting machine of any one of claims 1-6, wherein a fourth proximity switch is arranged on the upper surface of the pot body, a fourth touch panel is correspondingly arranged on the pot cover, and the drug-decocting machine senses the fourth touch panel through the fourth proximity switch to detect whether the pot cover is closed in place.

8. The control method of the machine according to any one of claims 1 to 7, wherein the machine comprises a locking mechanism for locking the lid when the lid is closed, preventing the lid from being detached from the body;

when an instruction of closing the pot cover is received, the medicine decocting machine firstly controls the second actuator to drive the rotating beam to rotate towards the pot body, controls the first actuator to drive the pot cover to descend after an in-place signal of the third proximity switch is detected, and controls the locking mechanism to lock the pot cover after an in-place signal of the fourth proximity switch is detected;

9. The control method of the drug-decocting machine of claim 8, wherein the locking mechanism comprises a locking ring arranged on the pot body around the periphery of the opening of the pot body, the locking ring is rotatably arranged and has a locking position and an unlocking position, the locking ring rotates to the locking position to lock the position of the pot cover, the locking ring rotates to the unlocking position, and the pot cover is unlocked from the pot body;

10. The control method of the drug-decocting machine of claim 8 or 9, wherein the action detection assembly further comprises a sixth proximity switch for detecting whether the lock ring is rotated to the locking position;

after receiving an instruction of closing the pot cover, the medicine decocting machine sequentially controls the second actuator and the first actuator to act, and drives the locking ring to rotate after detecting an in-place signal of the fourth proximity switch in the process of driving the pot cover to descend by the first actuator until detecting an in-place signal of the sixth proximity switch;