CN112807226A - Automatic decocting system and method for traditional Chinese medicine decoction pieces - Google Patents
Automatic decocting system and method for traditional Chinese medicine decoction pieces Download PDFInfo
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- CN112807226A CN112807226A CN202110156008.7A CN202110156008A CN112807226A CN 112807226 A CN112807226 A CN 112807226A CN 202110156008 A CN202110156008 A CN 202110156008A CN 112807226 A CN112807226 A CN 112807226A
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- 239000003814 drug Substances 0.000 title claims abstract description 310
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004806 packaging method and process Methods 0.000 claims abstract description 86
- 239000007788 liquid Substances 0.000 claims abstract description 21
- 238000012864 cross contamination Methods 0.000 claims abstract description 17
- 238000012546 transfer Methods 0.000 claims description 38
- 239000002893 slag Substances 0.000 claims description 25
- 239000013049 sediment Substances 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 18
- 239000000725 suspension Substances 0.000 claims description 18
- 238000009835 boiling Methods 0.000 claims description 17
- 230000002265 prevention Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 238000012856 packing Methods 0.000 claims description 5
- 235000008216 herbs Nutrition 0.000 claims description 4
- 230000000670 limiting effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000012858 packaging process Methods 0.000 claims description 3
- 239000012141 concentrate Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000035240 Disease Resistance Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000004745 nonwoven fabric Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J3/00—Devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B3/04—Methods of, or means for, filling the material into the containers or receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B3/26—Methods or devices for controlling the quantity of the material fed or filled
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Abstract
The invention discloses an automatic decoction system and method of traditional Chinese medicine decoction pieces, which comprises a conveying system, a decoction system, an automatic medicine feeding and taking system, a packaging system and a master control system, wherein the traditional Chinese medicine decoction pieces for preparing a preparation are loaded into a medicine-carrying mesh barrel, and the master control system carries out information association on the prescription information, the decoction point position and the bag dividing and packaging point position of the current traditional Chinese medicine decoction pieces and a chip in the medicine-carrying mesh barrel; the medicine-carrying net barrels are transferred to the corresponding branch openings by the conveying system root, and the feeding mechanical arm of the automatic feeding system sorts, grabs and picks the matched inner walls of the medicine-carrying net barrels in an internal supporting mode and feeds the medicine-carrying net barrels to the decocting equipment corresponding to the decocting point; the decoction equipment determines decoction operation parameters to carry out decoction work on the traditional Chinese medicine decoction pieces; the packaging system quantitatively packs the liquid medicine into bags, and the medicine bags packed into the bags are placed into corresponding medicine containing frames and conveyed to corresponding packaging point positions by a packaging conveying belt; the invention can effectively avoid cross contamination of the medicine-carrying net barrel.
Description
Technical Field
The invention relates to the technical field of traditional Chinese medicine decoction, in particular to an automatic decoction system and method for traditional Chinese medicine decoction pieces.
Background
Traditional Chinese medicine is the traditional medicine of China, is the summary of the theory and experience deposited by Chinese people for thousands of years in struggling with disease resistance, and is not only the knowledge and wealth of Chinese people, but also the treasure in the world medical field. However, with the development of economy and the increase of population, the traditional Chinese medicine is more and more difficult to keep up with the needs of social development. For example, decoction of herbal pieces is increasingly carried out by using a decoction center to deliver packaged decoction to patients after decoction.
Most of decocting equipment in the current market is semi-automatic equipment, can automatically control the decocting process, but the steps of putting traditional Chinese medicine decoction pieces into a decocting pot, removing dregs of a decoction after the decocting work and the like need to be finished manually. After the semi-automatic medicine decocting machine completes decoction, the residual temperature inside a pot cavity of the medicine decocting machine is higher, dregs easily contact with a pot body after manual medicine taking, and safety risks exist in the operation process.
At present, some full-automatic decocting systems are available in the market, and compared with semi-automatic decocting equipment, scalding misoperation can be reduced, and decocting efficiency is improved, for example, the decocting system disclosed in patent CN108524269A needs to pre-pack decoction pieces to be decocted in a non-woven fabric packaging bag (in a medicine barrel tilting mode), and a manipulator carries out operations of putting a medicine bag into a pot and taking the medicine bag out of the pot. But the system action is very complicated, and the risk that decoction pieces are scattered due to breakage of the medicine bag exists, so that the cross contamination problem of the decocting system is easy to occur, and the medicine property safety of the decocting system is reduced.
Disclosure of Invention
The invention aims to provide an automatic decoction system and method for traditional Chinese medicine decoction pieces, and aims to solve the technical problems that in the prior art, a medicine bag is broken to cause decoction piece scattering, so that cross contamination of a decoction system is easy to occur, and the medicine property safety of the decoction system is reduced.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an automatic decocting system for herbal pieces, comprising:
the conveying system is used for conveying a medicine-carrying net barrel for containing the un-decocted traditional Chinese medicine decoction pieces, conveying a medicine-carrying net barrel for containing decoction pieces of the decocted traditional Chinese medicine decoction pieces and conveying the decocted and packaged liquid medicine;
the decoction system is arranged on two sides of the conveying system, is provided with a plurality of decoction point positions and is used for carrying out automatic decoction operation on the medicine carrying mesh barrel containing the traditional Chinese medicine decoction pieces according to decoction parameters;
the automatic medicine feeding and taking system is arranged above the decoction system in parallel and used for distributing the medicine carrying net barrels containing the traditional Chinese medicine decoction pieces to the decoction point positions, grabbing the medicine carrying net barrels to the conveying system again after decoction operation is finished, and preventing cross contamination in the grabbing, feeding and residue taking processes of the medicine carrying net barrels;
the packaging system is arranged below the decocting system and is in one-to-one correspondence with the decocting points of the decocting system, the quantitative packaging process of the decocted liquid medicine is automatically realized, and the packaged quantitative liquid medicine is transmitted to an outer packaging area through the packaging conveyer belt and is packaged;
total control system, respectively with conveying system, decocte system, automatic throw get the medicine system and the packaging system communication is connected, conveying system discerns behind the herbal pieces information in the medicine carrying net bucket, total control system confirms the distribution the decocte position and the decocte parameter of decocte system, total control system regulation and control conveying system, decocte system, automatic throw get the medicine system and the packaging system work in proper order is accomplished right herbal pieces's decocte work.
As a preferred scheme of the invention, the main control system regulates and controls the conveying system and the automatic medicine feeding and taking system to automatically convey and feed the medicine carrying mesh barrels into the medicine boiling points of the decocting system according to the prescription information of the traditional Chinese medicine decoction pieces and the matching information of the decocting system according to the decoction point instructions, the automatic medicine feeding and taking system avoids the traditional Chinese medicine decoction pieces from being scattered through cross contamination prevention operation in the process of conveying and feeding the medicine carrying mesh barrels into the medicine boiling points of the decocting system, and the decocting system automatically sets decoction operation parameters according to the current traditional Chinese medicine decoction piece prescription information distributed by the main control system;
total control system is in automatic regulation and control earlier after the decocte system accomplishes the decocte operation automatic throw the system of getting it filled takes out medicine carrying net bucket, just automatic throw the system of getting it filled with medicine carrying net bucket carry put in to the in-process in the boiling medicine position of decocte system avoids through preventing cross contamination operation traditional chinese medicine sliced medicinal herbs is unrestrained, the back regulation and control packaging system divides the liquid medicine of bag to transfer to conveying system classification carries extremely the automatic decocte operation in order to accomplish traditional chinese medicine sliced medicinal herbs prescription in the packing position of the correspondence in extranal packing district.
As a preferable scheme of the invention, the automatic medicine feeding and taking system comprises a feeding travelling rail arranged above the medicine boiling point and an integrated base arranged on the feeding travelling rail and moving left and right, a feeding manipulator and a slag taking manipulator for moving up and down for feeding and taking materials are arranged on the integrated base, a leakage-proof component for preventing the Chinese herbal pieces from falling and cross-polluting is arranged at the bottom of the integrated base, wherein,
throw the material manipulator and snatch correspondingly through the internal stay mode medicine carrying net bucket, it will to throw material walking track according the decocte position instruction that total control system sent integrated seat shifts to corresponding the decocte position just throw material manipulator releases medicine carrying net bucket corresponding in the decocte position, it is used for accomplishing the decocte to get the sediment manipulator medicine carrying net bucket follow through the internal stay mode take out in the decocte position, throw material walking track will decoct after accomplishing medicine carrying net bucket shifts to concentrate in the conveying system and receive the sediment.
As a preferred scheme of the invention, the integrated base comprises a hollow box which is arranged on the feeding walking track through a suspension mechanical arm, the hollow box realizes vertical up-and-down linear movement under the action of the suspension mechanical arm, and the feeding mechanical arm and the slag-taking mechanical arm are respectively arranged at the tail end of the suspension mechanical arm in a vertical parallel manner;
the feeding manipulator and the slag taking manipulator respectively comprise a driving cylinder connected with the suspension mechanical arm and a medicine grabbing actuating mechanism connected with the driving cylinder, and after the feeding walking track drives the suspension mechanical arm to move downwards to the lowest height, the driving cylinder drives the medicine grabbing actuating mechanism to penetrate through the hollow box to clamp the medicine carrying net barrel;
grab medicine actuating mechanism include with drive actuating cylinder's output shaft accept the frame, and with accept the double-deck well hollow plate of the lower extreme installation of frame, accept the frame with the boundary position of double-deck well hollow plate is equipped with the three-jaw cylinder that the hollow plate area was equallyd divide in the double-deck, just the contained angle central point of two cylinders of three-jaw cylinder puts and is equipped with and is used for connecting the fixed island piece of double-deck well hollow plate, the outside activity of three-jaw cylinder be equipped with the telescopic shaft fixed connection's of three-jaw cylinder fusiformis slider, the three-jaw cylinder promotes the fusiformis slider is in inside and outside removal is with centre gripping and release in the crack of double-deck well hollow plate medicine carrying net bucket.
As a preferred scheme of the invention, an installation base used for fixing the three-jaw cylinder is arranged on the double-layer hollow plate, a guide block is arranged between the installation base and the shuttle-shaped sliding block, and a telescopic shaft of the three-jaw cylinder penetrates through the guide block and is fixedly connected with the shuttle-shaped sliding block;
two side edges of the shuttle-shaped sliding block are respectively attached to the side edges of the two fixed island blocks, and the shuttle-shaped sliding block realizes stable linear telescopic work through the limiting action of the guide block and the fixed island blocks.
As a preferable scheme of the present invention, the leakage prevention assembly is disposed on a lower surface of the hollow box, the leakage prevention assembly includes a power driving shaft and a guide shaft disposed on front and rear sides of a bottom surface of the hollow box and parallel to each other, a leakage prevention tray is mounted between the power driving shaft and the guide shaft, and the leakage prevention tray is driven by the power driving shaft to linearly move left and right under the feeding manipulator and the slag removal manipulator, respectively.
As a preferable scheme of the invention, the area of the leakage-proof tray is the same as the area of the bottom surface of the drug-carrying mesh bucket, the area of the leakage-proof tray is smaller than half of the area of the lower surface of the hollow box, the leakage-proof tray is transferred from the position right below the residue taking manipulator to the position right below the drug-carrying mesh bucket grabbed by the feeding manipulator after the drug-carrying mesh bucket is grabbed by the feeding manipulator in an internal bracing manner, and the leakage-proof tray is transferred from the position right below the residue taking manipulator to the position right below the drug-carrying mesh bucket grabbed by the residue taking manipulator after the drug-carrying mesh bucket is grabbed by the residue taking manipulator in an internal bracing manner.
As a preferred scheme of the invention, the conveying system comprises a medicine inlet conveying line, a medicine residue conveying line and a packaging conveying line, the conveying directions of the medicine inlet conveying line and the medicine residue conveying line are always opposite, the medicine inlet conveying line and the medicine residue conveying line are distributed in parallel, or the medicine inlet conveying line and the medicine residue conveying line are distributed in a vertically stacked manner, and the medicine liquid packaged and separated by the packaging system is conveyed to an outer packaging area through the packaging conveying line;
go into medicine transfer chain and dregs of a decoction transfer chain just right the position of decocte system is equipped with unloading branch transfer chain and collection sediment branch transfer chain respectively, go into and hold on the medicine transfer chain herbal pieces-medicine carrying net bucket shift to on the unloading branch transfer chain, just feeding manipulator will fill on the unloading branch transfer chain and not decocte herbal pieces-medicine carrying net bucket shifts to corresponding the decocte position accomplishes the decocte medicine carrying net bucket process get the sediment manipulator and shift to collection sediment branch transfer chain, on the collection sediment branch transfer chain medicine carrying net bucket passes through the dregs of a decoction transfer chain is delivered the dregs of a decoction to dregs of a decoction parking area.
As a preferred scheme of the invention, a first RFID chip containing the information of the traditional Chinese medicine decoction pieces is arranged in the medicine carrying net barrel, RFID identification components are respectively arranged in the feeding manipulator and the slag taking manipulator, and the RFID identification components identify the medicine carrying net barrel and identify and sort the medicine carrying net barrel according to a decoction point position instruction sent by the master control system;
the medicine containing basket is internally provided with a second RFID chip containing the information of the Chinese herbal pieces, the packaging conveying line utilizes an identification unit to read the information of the second RFID chip and the packaging point position instruction sent by the master control system for information matching, and the packaging conveying line conveys the medicine containing basket to the specified packaging point position of the outer packaging area.
In order to solve the above technical problems, the present invention further provides the following technical solutions: a decocting method of an automatic decocting system for traditional Chinese medicine decoction pieces comprises the following steps:
100, filling traditional Chinese medicine decoction pieces for preparing and dispensing into a medicine carrying mesh barrel, wherein a master control system associates information of prescription information, decoction point positions and bag dividing and packaging point positions of the traditional Chinese medicine decoction pieces with chips in the medicine carrying mesh barrel, and respectively sends decoction conveying instructions to a conveying system and an automatic medicine feeding and taking system, prescription information of the traditional Chinese medicine decoction pieces to a decoction system, and bag dividing and packaging instructions to a packaging system and a packaging conveying belt;
200, transferring the medicine-carrying net barrels to corresponding branch ports by a conveying system according to the decoction conveying instructions, sorting and grabbing matched inner walls of the medicine-carrying net barrels by a feeding manipulator of an automatic feeding system in an internal supporting mode, and feeding the medicine-carrying net barrels to decoction equipment corresponding to decoction points;
step 300, the decocting equipment determines decocting operation parameters according to the prescription information of the traditional Chinese medicine decoction pieces sent by the master control system to carry out decocting work on the traditional Chinese medicine decoction pieces;
400, quantitatively packaging the liquid medicine into bags by the packaging system by utilizing bag dividing and packaging instructions sent by the master control system, putting the bag-packaged medicine bags into corresponding medicine containing frames, and conveying the medicine containing frames to corresponding packaging point positions according to the corresponding bag dividing and packaging instructions after the medicine containing frames are identified by the packaging conveying belt;
500, grabbing the medicine carrying mesh barrel by a slag taking manipulator of the automatic feeding system in an internal supporting mode, and reversely conveying the medicine carrying mesh barrel to a conveying system to a medicine slag area for centralized slag collection.
Compared with the prior art, the invention has the following beneficial effects:
in the process of transferring the medicine-carrying net barrel in the internal supporting mode, the medicine feeding and medicine taking operations are completed through the two manipulators, so that the medicine-carrying net barrel can be effectively prevented from being subjected to cross contamination, the leakage-proof assembly is arranged to work in cooperation with the manipulators, the problem of medicine leakage and liquid leakage of the medicine-carrying net barrel is avoided, the pollution of a decocting system is further reduced, and the safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic top view of an automatic decocting apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of the operation of the automatic decocting apparatus according to the embodiment of the present invention;
FIG. 3 is a block diagram of an automatic decocting system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an automatic administration operation according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an integrated socket according to an embodiment of the present invention;
fig. 6 is a schematic perspective view of a medicine taking actuator according to an embodiment of the present invention;
FIG. 7 is a schematic bottom view of a medicine filling actuator according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a leakage preventing assembly according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-a delivery system; 2-a decoction system; 3-automatic medicine feeding and taking system; 4-a packaging system; 5, a master control system; 6-driving the cylinder; 7-a medicine taking executing mechanism;
31-feeding traveling track; 32-an integrated seat; 33-a feeding manipulator; 34-a slag-taking manipulator; 35-a leak-proof assembly;
321-a hollow box; 322-a suspension arm;
71-a carrying frame; 72-double layer hollow plate; 73-three-jaw cylinder; 74-fixed island block; 75-shuttle shaped slide block; 76-mounting a base; 77-a guide block;
351-power drive shaft; 352-a guide shaft; 353-leak-proof tray.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to fig. 3, the present invention provides an automatic decocting system for herbal pieces, which comprises a conveying system 1, a decocting system 2, an automatic feeding and taking system 3, a packaging system 4 and a general control system 5.
According to the embodiment, the medicine carrying net barrel filled with the un-decocted traditional Chinese medicine decoction pieces on the conveying system 1 is transferred to the decocting system 2 through the automatic medicine feeding and taking system 3 to carry out decocting operation, and after the decoction is finished, the automatic medicine feeding and taking system 3 transfers the medicine carrying net barrel which is already finished with the decocting operation in the decocting system 2 to the conveying system 1 through the internal supporting mode and conveys the medicine carrying net barrel to the residue collecting area. And this embodiment is in the in-process that shifts medicine carrying net bucket through the internal stay mode, accomplishes the operation of offeing medicine and getting it filled through two kinds of manipulators to can effectually avoid medicine carrying net bucket to receive cross contamination.
Specifically, the conveying system 1 is used for conveying a medicine-carrying mesh barrel for containing un-decocted traditional Chinese medicine decoction pieces, conveying a medicine-carrying mesh barrel for containing decocted traditional Chinese medicine decoction piece dregs and conveying a liquid medicine packaged after decoction.
The decocting system 2 is arranged at two sides of the conveying system 1 and is provided with a plurality of decocting points for carrying out automatic decocting operation on the medicine carrying mesh barrel containing the traditional Chinese medicine decoction pieces according to decocting parameters.
Automatic throw medicine system 3 parallel arrangement in the top of decocte system 2 for distribute the medicine carrying net bucket that contains herbal pieces-to the boiling point position, and snatch the medicine carrying net bucket again to conveying system 1 after the decocte operation is accomplished, and the medicine carrying net bucket snatch the unloading and get the sediment in-process and realize preventing cross contamination.
The packaging system 4 is arranged below the decocting system 2 and is in one-to-one correspondence with the decocting points of the decocting system 2, so that the quantitative packaging process of the decocted liquid medicine is automatically realized, and the packaged quantitative liquid medicine is transmitted to an outer packaging area through a packaging conveying belt and is packaged.
The main control system 5 is respectively in communication connection with the conveying system 1, the decocting system 2, the automatic medicine feeding and taking system 3 and the packaging system 4, after the conveying system 1 identifies the information of the traditional Chinese medicine decoction pieces in the medicine carrying net barrel, the main control system 5 determines the decoction point positions and the decoction parameters of the distributed decocting system 2, and the main control system 5 regulates and controls the conveying system 1, the decocting system 2, the automatic medicine feeding and taking system 3 and the packaging system 4 to work in sequence to complete the decoction work of the traditional Chinese medicine decoction pieces.
The main control system 5 regulates and controls the conveying system 1 and the automatic medicine feeding and taking system 3 to automatically convey and feed the medicine carrying net barrels into the medicine boiling points of the decocting system 2 according to the prescription information of the traditional Chinese medicine decoction pieces and the matching information of the decocting system 2 according to the decoction point instructions, the automatic medicine feeding and taking system 3 avoids the traditional Chinese medicine decoction pieces from spilling through cross contamination prevention operation in the process of conveying and feeding the medicine carrying net barrels into the medicine boiling points of the decocting system 2, and the decocting system 2 automatically sets decoction operation parameters according to the current traditional Chinese medicine decoction piece prescription information distributed by the main control system 5.
The main control system 5 automatically regulates and controls the automatic medicine feeding and taking system 3 to take out the medicine carrying net barrel after the decoction system 2 finishes decoction operation, the automatic medicine feeding and taking system 3 avoids Chinese herbal pieces from scattering through cross contamination prevention operation in the process of conveying and feeding the medicine carrying net barrel into the medicine boiling point position of the decoction system 2, and the rear regulation and control packaging system 4 conveys medicine liquid packaged in bags to the corresponding packaging position of the outer packaging area by transferring the medicine liquid to the conveying system 1 in a classified manner so as to finish automatic decoction operation of the Chinese herbal piece prescription.
Specifically, the conveying system 1 comprises a medicine feeding conveying line, a medicine residue conveying line and a packaging conveying line, the conveying directions of the medicine feeding conveying line and the medicine residue conveying line are always opposite, the medicine feeding conveying line and the medicine residue conveying line are distributed in parallel, or the medicine feeding conveying line and the medicine residue conveying line are distributed in an up-down stacked manner, and the medicine liquid packaged and bagged by the packaging system 4 is conveyed to an outer packaging area through the packaging conveying line;
go into medicine transfer chain and dregs of a decoction transfer chain and be equipped with unloading branch transfer chain and collection sediment branch transfer chain respectively just to the position of decocte system 2, the medicine carrying net bucket that holds herbal pieces-for-medicine on going into the medicine transfer chain shifts to on the unloading branch transfer chain, and throw material manipulator 33 and shift the medicine carrying net bucket that holds herbal pieces-for-medicine on the unloading branch transfer chain to the decocting position that corresponds, the medicine carrying net bucket that accomplishes the decocte shifts to collection sediment branch transfer chain through getting manipulator 34, the medicine carrying net bucket on the collection sediment branch transfer chain passes through the dregs of a decoction transfer chain and sends the dregs of a decoction to dregs of a decoction parking.
A first RFID chip containing traditional Chinese medicine decoction piece information is arranged in the medicine carrying net barrel, RFID identification components are respectively arranged in the feeding manipulator 33 and the slag taking manipulator 34, and the RFID identification components identify the medicine carrying net barrel and identify and sort the medicine carrying net barrel according to a decoction point position instruction sent by the master control system 5;
the medicine containing basket is internally provided with a second RFID chip containing Chinese medicine decoction piece information, the packaging conveying line utilizes the identification unit to read the information of the second RFID chip and carries out information matching with the packaging point position instruction sent by the master control system 5, and the packaging conveying line conveys the medicine containing basket to the specified packaging point position of the outer packaging area.
As shown in fig. 4 and 5, the automatic medicine feeding and taking system 3 comprises a feeding walking rail 31 arranged above the medicine boiling point and an integrated base 32 arranged on the feeding walking rail 31 and moving left and right, a feeding manipulator 33 and a slag taking manipulator 34 for moving up and down for feeding and taking materials are arranged on the integrated base 32, and the bottom of the integrated seat 32 is provided with a leakage-proof component 35 for preventing the Chinese herbal pieces from falling and cross contamination, wherein, throw material manipulator 33 and snatch corresponding medicine carrying net bucket through the internal stay mode, throw material walking track 31 and shift integrated seat 32 to corresponding decocte position and throw material manipulator 33 and release medicine carrying net bucket to corresponding decocte position in according to the decocte position instruction that total control system 5 sent, get sediment manipulator 34 and be used for taking out the medicine carrying net bucket after the completion of decocte from the decocte position through the internal stay mode, throw material walking track 31 and shift the medicine carrying net bucket after the completion of decocte to the interior sediment of receiving of concentrating of conveying system 1.
The integration seat 32 comprises a hollow box 321 installed on the feeding walking track 31 through a suspension mechanical arm 322, the hollow box 321 achieves vertical up-and-down linear movement under the action of the suspension mechanical arm 322, a feeding mechanical arm 33 and a slag taking mechanical arm 34 are respectively installed at the tail end of the suspension mechanical arm 322 in a vertical parallel mode, a base used for limiting movement on the feeding walking track 31 is installed on the feeding walking track 31, a power set used for driving the integration seat 32 to move along the suspension mechanical arm 322 is arranged on the base, and after the hollow box 321 is driven to move downwards to the lowest position by the power set, the feeding mechanical arm 33 and the slag taking mechanical arm 34 continue to complete feeding and slag taking operations.
The feeding manipulator 33 and the slag taking manipulator 34 respectively comprise a driving cylinder 6 connected with the suspension manipulator 322 and a medicine grabbing actuating mechanism 7 connected with the driving cylinder 6, and after the feeding walking track 31 drives the suspension manipulator 322 to move downwards to the lowest height, the driving cylinder 6 drives the medicine grabbing actuating mechanism 7 to pass through the hollow box 321 to grab the medicine carrying net barrel.
As shown in fig. 6 and 7, the medicine taking actuator 7 includes a receiving frame 71 connected to the output shaft of the driving cylinder 6, and a double-layer hollow plate 72 mounted at the lower end of the receiving frame 71, a three-jaw cylinder 73 for equally dividing the area of the double-layer hollow plate 72 is disposed at the boundary position of the receiving frame 71 and the double-layer hollow plate 72, a fixed island block 74 for connecting the double-layer hollow plate 72 is disposed at the center position of an included angle between two cylinders of the three-jaw cylinder 73, a shuttle-shaped slider 75 fixedly connected to a telescopic shaft of the three-jaw cylinder 73 is movably disposed at the outer side of the three-jaw cylinder 73, and the three-jaw cylinder 73 pushes the shuttle-shaped slider 75 to move inside and outside in a gap of the double-layer hollow plate 72 to clamp and release the drug loading.
The double-layer hollow plate 72 is provided with an installation base 76 for fixing the three-jaw cylinder 73, a guide block 77 is arranged between the installation base 76 and the shuttle-shaped slide block 75, a telescopic shaft of the three-jaw cylinder 73 penetrates through the guide block 77 to be fixedly connected with the shuttle-shaped slide block 75, two side edges of the shuttle-shaped slide block 75 are respectively attached to the side edges of the two fixed island blocks 74, and the shuttle-shaped slide block 75 realizes stable linear telescopic work through the limiting action of the guide block 77 and the fixed island blocks 74.
When the three-jaw cylinder 73 pushes the shuttle-shaped sliding block 75 to extend outwards, the shuttle-shaped sliding block 75 abuts against the inner wall of the medicine carrying net barrel, so that the medicine carrying net barrel is clamped and is transferred to the decocting system 2 from the conveying belt along the feeding walking track 31, or the medicine carrying net barrel is transferred to the conveying belt from the decocting system 2 along the feeding walking track 31. When the transfer is completed, the three-jaw air cylinder 73 is contracted to withdraw the shuttle-shaped slide block 75 inwards so as to release the medicine carrying net barrel to complete the transfer operation.
As shown in fig. 8, the leakage preventing unit 35 is disposed on the lower surface of the hollow box 321, the leakage preventing unit 35 includes a power driving shaft 351 and a guide shaft 352 disposed on the front and rear sides of the bottom surface of the hollow box 321 in parallel with each other, a leakage preventing tray 353 is installed between the power driving shaft 351 and the guide shaft 352, and the leakage preventing tray 353 is driven by the power driving shaft 351 to linearly move right and left right under the feeding manipulator 33 and the slag removing manipulator 34, respectively.
The area of the leakage-proof tray 353 is the same as the area of the bottom surface of the medicine carrying net barrel, the area of the leakage-proof tray 353 is smaller than the half area of the lower surface of the hollow box 321, the leakage-proof tray 353 transfers the medicine carrying net barrel to the position under the medicine carrying net barrel grabbed by the feeding manipulator 33 from the position under the medicine taking manipulator 34 after the three-jaw cylinder 73 of the feeding manipulator 33 grabs the medicine carrying net barrel in an internal bracing mode, and the leakage-proof tray 353 transfers the medicine carrying net barrel to the position under the medicine carrying net barrel grabbed by the medicine taking manipulator 34 from the position under the feeding manipulator 33 after the three-jaw cylinder 73 of the medicine taking manipulator 34 grabs the medicine carrying net barrel in an internal bracing mode.
This embodiment not only utilizes to throw material manipulator 33 and get sediment manipulator 34 and distinguish and throw material boiling medicine operation and get sediment recovery operation, avoids traditional chinese medicine raffinate to omit in the transfer process simultaneously, and this embodiment still utilizes the cooperation of leak protection subassembly 35 to throw material operation and get the sediment operation, further realizes preventing cross contamination's problem.
In addition, the invention also provides a decoction method of the automatic decoction system for the traditional Chinese medicine decoction pieces, which comprises the following steps:
100, filling traditional Chinese medicine decoction pieces for preparing and dispensing into a medicine carrying mesh barrel, wherein a master control system associates information of prescription information, decoction point positions and bag dividing and packaging point positions of the traditional Chinese medicine decoction pieces with chips in the medicine carrying mesh barrel, and respectively sends decoction conveying instructions to a conveying system and an automatic medicine feeding and taking system, prescription information of the traditional Chinese medicine decoction pieces to a decoction system, and bag dividing and packaging instructions to a packaging system and a packaging conveying belt;
200, transferring the medicine-carrying net barrels to corresponding branch ports by a conveying system according to the decoction conveying instructions, sorting and grabbing matched inner walls of the medicine-carrying net barrels by a feeding manipulator of an automatic feeding system in an internal supporting mode, and feeding the medicine-carrying net barrels to decoction equipment corresponding to decoction points;
step 300, the decocting equipment determines decocting operation parameters according to the prescription information of the traditional Chinese medicine decoction pieces sent by the master control system to carry out decocting work on the traditional Chinese medicine decoction pieces;
400, quantitatively packaging the liquid medicine into bags by the packaging system by utilizing bag dividing and packaging instructions sent by the master control system, putting the bag-packaged medicine bags into corresponding medicine containing frames, and conveying the medicine containing frames to corresponding packaging point positions according to the corresponding bag dividing and packaging instructions after the medicine containing frames are identified by the packaging conveying belt;
500, grabbing the medicine carrying mesh barrel by a slag taking manipulator of the automatic feeding system in an internal supporting mode, and reversely conveying the medicine carrying mesh barrel to a conveying system to a medicine slag area for centralized slag collection.
According to the decoction system and the decoction method, decoction pieces do not need to be packaged in advance, the traditional Chinese medicine decoction pieces are automatically put into the decoction machine, and the decoction system and the decoction method are capable of automatically decocting, automatically packaging and automatically taking decoction dregs.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
Claims (10)
1. An automatic decocting system of traditional Chinese medicine decoction pieces is characterized by comprising:
the conveying system (1) is used for conveying a medicine-carrying net barrel for containing un-decocted traditional Chinese medicine decoction pieces, conveying a medicine-carrying net barrel for containing decocted traditional Chinese medicine decoction piece dregs and conveying liquid medicine packaged after decoction;
the decocting system (2) is arranged on two sides of the conveying system (1), is provided with a plurality of decocting points and is used for carrying out automatic decocting operation on the medicine carrying mesh barrel containing the traditional Chinese medicine decoction pieces according to decocting parameters;
the automatic medicine feeding and taking system (3) is arranged above the decoction system (2) in parallel and used for distributing the medicine carrying net barrels containing the traditional Chinese medicine decoction pieces to the decoction point positions, grabbing the medicine carrying net barrels to the conveying system (1) again after decoction operation is finished, and realizing cross contamination prevention in the grabbing, blanking and slag taking processes of the medicine carrying net barrels;
the packaging system (4) is arranged below the decocting system (2) and is in one-to-one correspondence with the decocting points of the decocting system (2), the quantitative packaging process of the decocted liquid medicine is automatically realized, and the packaged quantitative liquid medicine is transmitted to an outer packaging area through the packaging conveyer belt to be packaged;
total control system (5), respectively with conveying system (1), decocte system (2), automatic throw get it filled system (3) and packaging system (4) communication is connected, conveying system (1) discernment behind the herbal pieces information in the medicine carrying net bucket, distribution is confirmed in total control system (5) the decocte position and the decocte parameter of decocte system (2), total control system (5) regulation and control conveying system (1), decocte system (2), automatic throw get it filled system (3) and packaging system (4) work in proper order accomplish right the decocte work of herbal pieces.
2. The automatic decoction piece decocting system of Chinese herbal pieces as claimed in claim 1, wherein: the general control system (5) regulates and controls the conveying system (1) and the automatic medicine feeding and taking system (3) to automatically convey and feed the medicine carrying net barrels into the medicine boiling points of the decoction system (2) according to decoction point instructions after the prescription information of the traditional Chinese medicine decoction pieces and the matching information of the decoction system (2), the automatic medicine feeding and taking system (3) avoids the traditional Chinese medicine decoction pieces from falling through cross contamination prevention operation in the process of conveying and feeding the medicine carrying net barrels into the medicine boiling points of the decoction system (2), and the decoction system (2) automatically sets decoction operation parameters according to the current traditional Chinese medicine decoction piece prescription information distributed by the general control system (5);
total control system (5) is in automatic regulation and control earlier after decocte system (2) accomplished the decocte operation automatic throw system (3) of getting it filled take out medicine carrying net bucket, just automatic throw system (3) of getting it filled will medicine carrying net bucket carry put in extremely the in-process in the boiling medicine position of decocte system (2) is avoided through preventing cross contamination operation traditional chinese medicine sliced medicinal herbs is unrestrained, the back regulation and control packaging system (4) with the packing divide the liquid medicine of bag to shift to conveying system (1) categorised transport extremely the automatic decocte operation of the packing position of the correspondence of extranal packing district in order to accomplish traditional chinese medicine sliced medicinal herbs prescription.
3. The automatic decoction piece decocting system of Chinese herbal pieces as claimed in claim 2, wherein: the automatic medicine feeding and taking system (3) comprises a feeding walking track (31) arranged above the medicine boiling point positions and an integrated base (32) arranged on the feeding walking track (31) through a suspension mechanical arm (322), a feeding mechanical arm (33) and a medicine taking mechanical arm (34) used for moving up and down for feeding and taking the medicine are arranged on the integrated base (32), a leakage-proof component (35) used for preventing the Chinese medicine decoction pieces from falling and cross contamination is arranged at the bottom of the integrated base (32), the feeding mechanical arm (33) grabs the corresponding medicine carrying net barrels in an internal supporting mode, the feeding walking track (31) transfers the integrated base (32) to the corresponding medicine boiling point positions according to the medicine boiling point position instructions sent by the master control system (5) and the medicine carrying net barrels are released into the corresponding medicine carrying point positions by the feeding mechanical arm (33), get sediment manipulator (34) and be used for will decocte after accomplishing medicine carrying net bucket is followed through the internal stay mode take out in the boiling point position, throw material walking track (31) and will decoct after accomplishing medicine carrying net bucket shifts to concentrate in conveying system (1) and receive the sediment.
4. The automatic decoction piece decocting system of traditional Chinese medicine according to claim 3, wherein: the feeding walking track (31) is provided with a power set for driving the integrated base (32) to move along the suspension mechanical arm (322), the integrated base (32) comprises a hollow box (321), the hollow box (321) realizes vertical up-and-down linear movement under the action of the suspension mechanical arm (322), and the feeding mechanical arm (33) and the slag taking mechanical arm (34) are respectively vertically and parallelly installed at the tail end of the suspension mechanical arm (322);
the feeding manipulator (33) and the slag taking manipulator (34) respectively comprise a driving cylinder (6) connected with the suspension mechanical arm (322) and a medicine grabbing actuating mechanism (7) connected with the driving cylinder (6), and after the hollow box (321) moves downwards to the lowest height along the suspension mechanical arm (322), the driving cylinder (6) drives the medicine grabbing actuating mechanism (7) to pass through the hollow box (321) to clamp the medicine carrying net barrel;
grab medicine actuating mechanism (7) including with drive the output shaft of actuating cylinder (6) accept frame (71), and with accept double-deck well hollow plate (72) of the lower extreme installation of frame (71), accept frame (71) with the boundary position of double-deck well hollow plate (72) is equipped with three-jaw cylinder (73) that double-deck well hollow plate (72) area was equallyd divide, just the contained angle central point of two cylinders of three-jaw cylinder (73) puts and is equipped with and is used for connecting fixed island (74) of double-deck well hollow plate (72), the outside activity of three-jaw cylinder (73) be equipped with the telescopic shaft fixed connection's of three-jaw cylinder (73) fusiformis slider (75), three-jaw cylinder (73) promote fusiformis slider (75) are in the crack of double-deck well hollow plate (72) inside and outside removal with centre gripping and release the medicine carrying net bucket.
5. The automatic decoction piece decocting system of Chinese herbal pieces as claimed in claim 4, wherein: an installation base (76) used for fixing the three-jaw air cylinder (73) is arranged on the double-layer hollow plate (72), a guide block (77) is arranged between the installation base (76) and the shuttle-shaped sliding block (75), and a telescopic shaft of the three-jaw air cylinder (73) penetrates through the guide block (77) to be fixedly connected with the shuttle-shaped sliding block (75);
two side edges of the shuttle-shaped sliding block (75) are respectively attached to the side edges of the two fixed island blocks (74), and the shuttle-shaped sliding block (75) realizes stable linear telescopic work through the limiting action of the guide block (77) and the fixed island blocks (74).
6. The automatic decoction piece decocting system of traditional Chinese medicine according to claim 3, wherein: the leakage-proof assembly (35) is arranged on the lower surface of the hollow box (321), the leakage-proof assembly (35) comprises a power driving shaft (351) and a guide shaft (352) which are arranged on the front side and the rear side of the bottom surface of the hollow box (321) and are parallel to each other, a leakage-proof tray (353) is installed between the power driving shaft (351) and the guide shaft (352), and the leakage-proof tray (353) is driven by the power driving shaft (351) to respectively move left and right linearly under the feeding manipulator (33) and the slag taking manipulator (34).
7. The automatic decoction piece decocting system of Chinese herbal pieces as claimed in claim 6, wherein: the area of leak protection tray (353) with the bottom surface area of medicine carrying net bucket is the same, and the area of leak protection tray (353) is less than half area of the lower surface of hollow box (321), leak protection tray (353) is in it snatchs to throw material manipulator (33) through the internal stay mode follow behind the medicine carrying net bucket get and shift to under sediment manipulator (34) throw material manipulator (33) and snatch under the medicine carrying net bucket, just leak protection tray (353) is in it snatchs to get sediment manipulator (34) through the internal stay mode follow behind the medicine carrying net bucket it shifts to under the medicine carrying net bucket get and shift to get sediment manipulator (34) snatch under the medicine carrying net bucket.
8. The automatic decoction piece decocting system of Chinese herbal pieces as claimed in claim 2, wherein: the conveying system (1) comprises a medicine entering conveying line, a medicine residue conveying line and a packaging conveying line, the conveying directions of the medicine entering conveying line and the medicine residue conveying line are opposite all the time, the medicine entering conveying line and the medicine residue conveying line are distributed in parallel, or the medicine entering conveying line and the medicine residue conveying line are distributed in an up-down stacked mode, and the medicine liquid packaged and bagged by the packaging system (4) is conveyed to an outer packaging area through the packaging conveying line;
go into medicine transfer chain and dregs of a decoction transfer chain just right the position of decocte system (2) is equipped with unloading branch transfer chain and collection sediment branch transfer chain respectively, go into the medicine that holds on the transfer chain medicine-carrying net bucket shift to on the unloading branch transfer chain, just throw material manipulator (33) will fill on the unloading branch transfer chain not decocte the medicine-carrying net bucket shifts to corresponding the decocte position accomplishes the decocte medicine-carrying net bucket process get sediment manipulator (34) and shift to collection sediment branch transfer chain, on the collection sediment branch transfer chain medicine-carrying net bucket passes through the dregs of a decoction transfer chain is delivered to dregs of a decoction district.
9. The automatic decoction piece decocting system of Chinese herbal pieces as claimed in claim 6, wherein: a first RFID chip containing the information of the Chinese herbal pieces is arranged in the medicine carrying net barrel, RFID identification components are respectively arranged in the feeding manipulator (33) and the slag taking manipulator (34), and the RFID identification components identify the medicine carrying net barrel and identify and sort the medicine carrying net barrel according to a decoction point position instruction sent by the master control system (5);
the medicine containing basket is internally provided with a second RFID chip containing the information of the Chinese herbal pieces, the packaging conveying line utilizes an identification unit to read the information of the second RFID chip and a packaging point location instruction sent by the master control system (5) for information matching, and the packaging conveying line conveys the medicine containing basket to a specified packaging point location of the outer packaging area.
10. A decoction method applied to the automatic decoction piece decoction system of traditional Chinese medicine as claimed in any one of claims 1 to 9, which is characterized by comprising the following steps:
100, filling traditional Chinese medicine decoction pieces for preparing and dispensing into a medicine carrying mesh barrel, wherein a master control system associates information of prescription information, decoction point positions and bag dividing and packaging point positions of the traditional Chinese medicine decoction pieces with chips in the medicine carrying mesh barrel, and respectively sends decoction conveying instructions to a conveying system and an automatic medicine feeding and taking system, prescription information of the traditional Chinese medicine decoction pieces to a decoction system, and bag dividing and packaging instructions to a packaging system and a packaging conveying belt;
200, transferring the medicine-carrying net barrels to corresponding branch ports by a conveying system according to the decoction conveying instructions, sorting and grabbing matched inner walls of the medicine-carrying net barrels by a feeding manipulator of an automatic feeding system in an internal supporting mode, and feeding the medicine-carrying net barrels to decoction equipment corresponding to decoction points;
step 300, the decocting equipment determines decocting operation parameters according to the prescription information of the traditional Chinese medicine decoction pieces sent by the master control system to carry out decocting work on the traditional Chinese medicine decoction pieces;
400, quantitatively packaging the liquid medicine into bags by the packaging system by utilizing bag dividing and packaging instructions sent by the master control system, putting the bag-packaged medicine bags into corresponding medicine containing frames, and conveying the medicine containing frames to corresponding packaging point positions according to the corresponding bag dividing and packaging instructions after the medicine containing frames are identified by the packaging conveying belt;
500, grabbing the medicine carrying mesh barrel by a slag taking manipulator of the automatic feeding system in an internal supporting mode, and reversely conveying the medicine carrying mesh barrel to a conveying system to a medicine slag area for centralized slag collection.
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