CN113493112B

CN113493112B - Full-automatic dispensing system for traditional Chinese medicine decoction pieces

Info

Publication number: CN113493112B
Application number: CN202110820844.0A
Authority: CN
Inventors: 颜志红; 杨会强
Original assignee: Shanghai Guandao Bio Tech Co Ltd
Current assignee: Shanghai Guandao Bio Tech Co Ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2022-11-25
Anticipated expiration: 2041-07-20
Also published as: CN113493112A

Abstract

The invention provides a full-automatic dispensing system for traditional Chinese medicine decoction pieces, wherein the front end and the rear end of an automatic dispensing module are respectively connected with a dispensing container cleaning module and a traditional Chinese medicine decoction module to realize continuous production, the quick connection of dispensing containers is realized by a dispensing container transfer module between the conveying front end of the automatic dispensing module and the dispensing container cleaning module, a manual dispensing module is arranged at the output end of the automatic dispensing module to independently dispense special medicinal materials, a feeding module is arranged in cooperation with the automatic dispensing module, and the accurate and efficient feeding operation is realized by low-position medicine supply and top feeding.

Description

Full-automatic dispensing system for traditional Chinese medicine decoction pieces

Technical Field

The invention relates to the technical field of automatic dispensing of traditional Chinese medicine decoction pieces, in particular to a full-automatic dispensing system of traditional Chinese medicine decoction pieces.

Background

The preparation of the traditional Chinese medicine prescription requires that different medicinal materials are mixed together according to the set measurement. In the automatic traditional Chinese medicine dispensing system, a plurality of unit machines are controlled by a program to automatically weigh and mix various medicinal materials according to a preset prescription, and then dispensing decoction pieces are automatically transferred and output for decoction.

Chinese patent CN202011603340.5 discloses an automatic dispensing system for traditional Chinese medicine, comprising: the automatic dispensing cabinets are arranged side by side and comprise a spiral type discharging mechanism set and a belt type discharging mechanism set; the output mechanism is arranged below the spiral type discharging mechanism group and the belt type discharging mechanism group and is used for receiving the medicinal materials which are weighed and then output from the spiral type discharging mechanism group and the belt type discharging mechanism group; and the feeding mechanism comprises a feeding car which is arranged at the top of the automatic dispensing cabinet and can move along the arrangement direction of the automatic dispensing cabinet and along the direction perpendicular to the arrangement direction, and the feeding car is configured to feed the spiral type discharging mechanism group and the belt type discharging mechanism group. The automatic traditional Chinese medicine dispensing system can automatically discharge and supplement medicinal materials; in addition, the automatic dispensing cabinet carries out the unloading to the medicinal material through adopting the mode that spiral and belt formula feed mechanism group combine.

However, in the prior art, the distribution and layout of each functional block of the module are unreasonable, the space utilization rate is poor, the production flow is long in time consumption, and the manual operation is inconvenient; the automatic dispensing module is poor in matching degree with the front dispensing container cleaning module and the rear important decocting module, so that a production line is discontinuous and cannot meet the requirement of automatic production; some medicinal materials with special properties cannot be added through the automatic dispensing unit; in addition, the fixed medicine operation and the medicinal material kind that cause the feeding funnel of setting up at the dispensing cabinet top of feeding funnel are checked inconvenient, and each medicinal material mixes uses the feeding funnel, easily cause medicinal material cross contamination.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a full-automatic dispensing system for traditional Chinese medicine decoction pieces, wherein the front end and the rear end of an automatic dispensing module are respectively connected with a dispensing container cleaning module and a traditional Chinese medicine decoction module to realize continuous production, the dispensing container is quickly connected between the conveying front end of the automatic dispensing module and the dispensing container cleaning module through a dispensing container transfer module, an artificial dispensing module is arranged at the output end of the automatic dispensing module to independently dispense special medicinal materials, a feeding module is arranged in cooperation with the automatic dispensing module, and accurate and efficient feeding operation is realized in a low-position medicine supply and top feeding mode.

In order to achieve the above object, the present invention provides a full-automatic dispensing system for herbal pieces, comprising:

a full-automatic dispensing system for Chinese herbal pieces comprises: the automatic dispensing module to and carry the module, carry the module from the automatic dispensing module below transmission and receive the dispensing sliced medicinal herbs that are disposed by this automatic dispensing module, still include: the medicine hopper module comprises a plurality of medicine hopper units, and the medicine hopper units containing the medicinal slices to be supplemented are transferred to the top of the automatic dispensing module by the feeding execution module for fixed-point feeding.

Preferably, the medicine hopper module controls the loading execution module to load the traditional Chinese medicine tablets in the medicine hopper unit into the unit machine which needs to be loaded in the automatic dispensing module in a code scanning recognition mode in a matching mode.

Preferably, the input end of the conveying module is butted with the output end a of the dispensing container cleaning production line and receives the dispensing container cleaned by the dispensing container cleaning production line, and the output end b of the conveying module is butted with the input end of the traditional Chinese medicine decoction production line so as to convey the dispensing decoction pieces to be decocted.

Preferably, the output end a and the output end b are arranged in a high-low distribution manner.

Preferably, the output end a is located above the output end b.

Preferably, the method further comprises the following steps: the dispensing container transfer module is arranged between the output end a and the input end to transfer the dispensing container.

Preferably, the method further comprises the following steps: and the manual dispensing module is used for manually adding the medicinal materials into the dispensing decoction pieces which are transmitted and output by the conveying module.

Preferably, the manual regulation module is positioned at the output end b of the conveying module.

Preferably, the medicine hopper module is arranged below the side part of the automatic dispensing module in a low position.

Preferably, the medicine hopper module and the feeding execution module are respectively arranged on two adjacent side parts of the automatic dispensing module.

Preferably, the automatic dispensing module comprises: a plurality of dispensing units which are arranged in an array way,

the feeding execution module is movably arranged along the arrangement direction of the dispensing units.

Preferably, the automatic dispensing modules are at least provided with two groups, and the feeding execution module is arranged between the two groups of automatic dispensing modules and is used for feeding the two groups of automatic dispensing modules.

Preferably, the conveying section of the conveying module between the input end and the output end b is connected between the two groups of automatic dispensing modules in a U shape.

Preferably, the medicine hopper module is arranged on the side part of at least one group of automatic dispensing modules.

Preferably, the medicine hopper module is arranged on one side far away from the output end b of the conveying module.

Preferably, the medicine hopper module is arranged on the side of the group of automatic dispensing modules far away from the manual dispensing module.

Preferably, the output end a is perpendicular to the conveying direction of the input end, and the dispensing container transferring module includes: a rotating mechanism; and a gripping mechanism for gripping the dispensing container; the grabbing mechanism is indirectly connected with the rotating mechanism through a rotating frame ', and under the driving action of the rotating mechanism, the rotating frame' and the grabbing mechanism are overturned to change the placing state and shift the position of the dispensing container which is inverted on the output end a, so that the dispensing container is placed on the input end.

Preferably, an included angle between a center line perpendicular to the clamping direction of the grabbing mechanism and the axis of the rotating mechanism is alpha, and alpha =45 degrees; the rotation angle of the rotating mechanism is 180 degrees; after the grabbing mechanism grabs the dispensing container from the output end a, the rotating mechanism drives the grabbing mechanism and the dispensing container to turn over 180 degrees so as to transfer the dispensing container to the position right above the input end.

Preferably, the output end a and the input end are arranged in a high-low distribution manner.

Preferably, the dispensing container transfer module further comprises: and the lifting mechanism is fixedly connected with the rotating mechanism and drives the rotating mechanism to vertically lift.

Preferably, the automatic dispensing module further comprises: the dispensing unit is composed of a plurality of unit machines which are arranged, and the caching unit is arranged below the unit machines to receive and collect medicinal materials output by the unit machines and transfer the medicinal materials to the dispensing container at the corresponding position on the conveying module in a centralized manner.

Preferably, a dust removal device is further arranged between the discharge end at the bottom of the buffer unit and the top of the dispensing container below the buffer unit.

Preferably, the medicine hopper module further comprises: the temporary storage table is provided with a plurality of medicine hopper units for containing different types of traditional Chinese medicine decoction pieces, a zero position is arranged on the temporary storage table, and the loading execution module transfers the medicine hopper units from the zero position.

Preferably, the top of unit machine is provided with the feed supplement mouth, the bottom of medicine fill unit can match the seat and place in on the feed supplement mouth.

Preferably, the material supplementing opening is provided with a dustproof assembly for preventing dust on the material supplementing opening, the dustproof assembly is pushed by the medicine hopper unit to be opened, and the dustproof assembly is automatically closed after the medicine hopper unit is removed.

Preferably, a discharge end is arranged at the bottom of the medicine hopper unit, the loading execution module can perform opening and closing movement, and the loading execution module acts on the medicine hopper unit through top contact so as to control the discharge end to be opened; the top touch effect is relieved, and the discharge end is automatically closed.

Preferably, the medicine bucket unit includes: the hopper body is provided with a discharging end at the bottom, and two hopper covers are symmetrically arranged on the discharging end to seal the discharging end.

Preferably, the loading execution module includes: a jaw unit, the jaw unit comprising: a feeding control group and a medicine bucket clamping group which can respectively perform opening and closing movement; the feeding control group is used for oppositely jacking and touching the two bucket covers so as to separate the two bucket covers from each other; the medicine bucket clamping group positions and holds the medicine bucket unit.

Preferably, the feeding execution module further comprises: the stroke covers the track of automatic dispensing module total length to and slide set up in robotic arm on the track, clamping jaw unit install in robotic arm's free end.

Preferably, the feeding control group comprises: the opening and closing mechanism comprises two opening and closing arms which are arranged in bilateral symmetry and can move relatively, and first top contact parts which are correspondingly arranged on the opposite inner sides of the two opening and closing arms.

Preferably, the outer side end of the bucket cover is provided with a first ejecting part; the two opening and closing arms move oppositely to enable the first jacking portion to correspondingly jack the first jacking portion.

Preferably, the medicine bucket unit further comprises: and the self-locking mechanism is correspondingly arranged on the outer side of the bucket cover and used for rotating and limiting the bucket cover.

Preferably, the feeding control group further comprises: the second top contact parts are correspondingly arranged on the opposite inner sides of the two opening and closing arms; the two opening and closing arms move oppositely to enable the second jacking part to correspondingly jack on the self-locking mechanism, so that the rotation limit of the bucket cover is relieved.

Preferably, the second top contact part is of a telescopic structure, and the extension length of the second top contact part in the reset state is greater than that of the first top contact part, so that the second top contact part and the first top contact part successively perform top contact action.

The invention has the beneficial effects that:

(1) The front end and the rear end of the automatic dispensing module are respectively connected with the dispensing container cleaning module and the traditional Chinese medicine decocting module to realize continuous production, the delivery front end of the automatic dispensing module is quickly connected with the dispensing container cleaning module through the dispensing container transfer module, the manual dispensing module is arranged at the output end of the automatic dispensing module to independently dispense special medicinal materials, the automatic dispensing module is matched with the feeding module to arrange the feeding module, and accurate and efficient feeding operation is realized in a low-position medicine supply and top feeding mode;

(2) According to the automatic dispensing device, the two groups of automatic dispensing modules are arranged side by side and are connected through the U-shaped conveying module, the feeding execution module is arranged between the two groups of automatic dispensing modules for feeding, the input end and the output end of the conveying module are arranged on the same side, the input end is vertically butted with the output end of the dispensing container cleaning module, and the output end is distributed below the output end of the dispensing container cleaning module; in addition, the manual dispensing module is arranged at the outer side of the group of automatic dispensing modules close to the output end of the conveying module, and the feeding module is arranged at one corner far away from the output end of the dispensing container cleaning module and the manual dispensing module, so that the overall layout is optimized and compact, independent operation of each functional block is not interfered, manual operation areas are concentrated, personnel configuration requirements are few, and the operation is convenient and efficient;

(3) In order to adapt to narrow corner space to complete vertical transfer and turnover of the dispensing container, a rotating mechanism of a dispensing container transfer module is arranged opposite to two mutually perpendicular conveying lines at an angle of 45 degrees, and a grabbing mechanism is further connected with the rotating mechanism in an inclined manner at an angle of 45 degrees, so that the rotating mechanism drives the grabbing mechanism to turn over for 180 degrees, and then the dispensing container can be transferred between the two perpendicular conveying lines and turned over up and down, and the dispensing container is ingenious in structural arrangement, high in transfer efficiency, compact in arrangement and low in space occupancy rate;

(4) According to the automatic feeding device, the medicine hopper module is arranged below the side of the automatic dispensing module, and the feeding execution module is arranged along the length direction of the automatic dispensing module, so that a top medicine feeding mode of side low-position material supplement and manipulator transfer is formed, the medicine hopper unit is convenient to feed and check, and in addition, a clamping jaw unit of the feeding execution module has the double functions of accurate holding of the medicine hopper and automatic control of blanking, so that efficient and stable automatic feeding operation is realized;

(5) According to the automatic dispensing device, the feeding execution module and the medicine hopper module are arranged on two adjacent sides of the automatic dispensing module through optimized layout, and two groups of automatic dispensing modules are distributed on two sides of the stroke range of the feeding execution module to form a one-to-two feeding mode, so that the dispensing efficiency is improved, the overall layout is compact, and the feeding and supplying are convenient;

(6) The automatic medicine bucket holding device is provided with the medicine bucket unit with the self-locking function, and is matched with the clamping jaw unit consisting of the medicine bucket clamping group and the feeding control group which can respectively move in an opening and closing manner, wherein the medicine bucket clamping group can position and hold the medicine bucket unit for directional transfer, the feeding control group unlocks the medicine bucket unit through the top contact effect and then jacks the bucket cover of the medicine bucket unit for blanking after the medicine bucket unit is transferred in place, so that the accurate holding and automatic blanking control of the medicine bucket can be realized, the structure is ingenious, and the holding and blanking actions are stable and controllable.

In conclusion, the automatic dispensing system has the advantages of compact layout, high coordination degree among modules, good automation degree and the like, and is particularly suitable for the technical field of automatic dispensing of traditional Chinese medicine decoction pieces.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a top view of the overall structure of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

FIG. 4 is a first schematic view of a dispensing container transferred by the dispensing container transfer module according to the present invention;

FIG. 5 is a top view of the connecting structure of the grabbing mechanism and the rotating mechanism according to the present invention;

FIG. 6 is a second schematic view of the dispensing container transfer module of the present invention;

FIG. 7 is a schematic view of the overall structure of the dispensing unit of the present invention;

FIG. 8 is a schematic diagram showing the distribution of the automatic dispensing module, the hopper module, and the loading execution module according to the present invention;

FIG. 9 is an enlarged view of FIG. 8 at B;

FIG. 10 is a schematic view of the connection structure of the medicine hopper unit and the clamping jaw unit according to the present invention;

FIG. 11 is a side view of the connecting structure of the hopper unit and the clamping jaw unit according to the present invention;

FIG. 12 is a cross-sectional view taken at D of FIG. 11;

FIG. 13 is an enlarged view of a portion of FIG. 12;

FIG. 14 is a schematic view of the overall structure of the jaw unit of the present invention;

FIG. 15 is an enlarged view at C of FIG. 10;

FIG. 16 is a schematic structural view of the self-locking mechanism of the present invention;

FIG. 17 is a schematic view showing a state where the medicine bucket unit is gripped and opened by the gripper unit according to the present invention;

FIG. 18 is a schematic structural view of a dust guard assembly of the present invention;

FIG. 19 is a schematic view of the arrangement structure of the dust removing device of the present invention.

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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Example one

A full-automatic dispensing system for Chinese medicinal decoction pieces is shown in FIGS. 1-2 and 8, and comprises: the automatic dispensing module 100, and the conveying module 400, the conveying module 400 transmits and receives the dispensing decoction pieces configured by the automatic dispensing module 100 from below the automatic dispensing module 100, and further comprises: the automatic dispensing device comprises a medicine hopper module 200 and a feeding execution module 300, wherein the medicine hopper module 200 comprises a plurality of medicine hopper units 20', and the feeding execution module 300 transfers the medicine hopper units 20' containing the decoction pieces to be supplemented to the top of the automatic dispensing module 100 for fixed-point feeding.

Preferably, the hopper module 200 is disposed at a lower position below the side of the automatic dispensing module 100.

Preferably, the hopper module 200 and the feeding execution module 300 are respectively disposed at two adjacent sides of the automatic dispensing module 100.

Preferably, the automatic dispensing module 100 includes: and the feeding execution module 300 is movably arranged along the arrangement direction of the dispensing units 101'.

In this embodiment, through setting up medicine fill module 200 in automatic dispensing module 100 side below, with medicine fill unit 20 'low level setting, it is more convenient to make to carry out the operation of checking of material loading and medicinal material kind to it, and the cooperation sets up the material loading execution module 300 that can move along the direction of arranging of dispensing unit 101', can shift medicine fill unit 20 'accuracy to each unit machine 10' top that needs the material loading, material loading execution module 300 has the dual function of accurate holding of medicine fill and automated control medicine fill blanking concurrently, thereby realize high-efficient stable automatic material loading operation.

Preferably, as shown in fig. 8, the loading execution module 300 includes: a track 301 with a stroke covering the total length of the automatic dispensing module 100, a robot arm 302 slidably disposed on the track 301, and a gripper unit 30' mounted on the free end of the robot arm 302.

In the present embodiment, the robot arm 302 can carry the gripper unit 30 'to perform multi-axis movement, and accurately transfer the gripper unit to a position right above each unit machine 10' for loading.

Preferably, as shown in fig. 2-3, the input end 401 of the conveying module 400 is connected with the output end a402 of the dispensing container cleaning production line and receives the dispensing container 40 cleaned by the dispensing container cleaning production line, and the output end b403 of the conveying module 400 is connected with the input end of the traditional Chinese medicine decoction production line to convey the dispensing decoction pieces to be decocted.

In the full-automatic dispensing system for herbal pieces prepared in this embodiment, the front and rear ends of the conveying module 400 are respectively connected with the dispensing container cleaning module and the herbal decoction module, the herbal materials dispensed by the full-automatic dispensing system for herbal pieces prepared in traditional Chinese medicine are decocted and transferred to the herbal decoction module together, the dispensing container used up by the herbal decoction module is transferred to the dispensing container cleaning production line for cleaning, and the cleaned dispensing container is transferred back to the full-automatic dispensing system for herbal pieces prepared in traditional Chinese medicine, so that the self-rotation continuous herbal preparation and decoction production is realized.

Preferably, the output end a402 and the output end b403 are arranged in a high-low distribution manner.

Preferably, the output end a402 is located above the output end b403.

Preferably, as shown in fig. 1, the method further includes: the dispensing container transfer module 500 is arranged between the output end a402 and the input end 401 to transfer the dispensing container 40.

Preferably, the output end a402 is perpendicular to the conveying direction of the input end 401, and the dispensing container transferring module 500 includes: a rotating mechanism 71; and a gripping mechanism 72 for gripping the dispensing container 40; the grabbing mechanism 72 is indirectly connected with the rotating mechanism 71 through a rotating frame 70', and under the driving action of the rotating mechanism 71, the rotating frame 70' and the grabbing mechanism 72 are overturned to change the placing state and shift the position of the dispensing container 40 which is inverted on the output end a402, so that the dispensing container is placed on the input end 401.

Preferably, the rotating frame 70 'includes a mounting member 701' disposed perpendicular to the axis of the rotating mechanism 71, a mounting plate 702 'disposed at one end of the mounting member 701' for mounting the grasping mechanism 72, and a weight 703 'disposed at the other end of the mounting member 701'.

Preferably, the gripping mechanism 72 comprises two sets of jaws 721; and a drive assembly a722; the driving assembly a722 drives the two sets of clamping jaws 721 to rotate so as to clamp the object, and when clamping is performed, the two sets of clamping jaws 721 keep a clamping state on the object all the time.

Preferably, the method further comprises the following steps: the manual dispensing module 600 is used for manually adding the medicinal materials into the dispensing decoction pieces conveyed and output by the conveying module 400 through the manual dispensing module 600.

Preferably, the manual adjustment module 600 is located at the output end b403 of the delivery module 400.

In this embodiment, the manual dispensing module 600 is disposed at the output end b403 of the conveying module 400, and during the process that the dispensing container 4 carries the dispensing decoction pieces to be transmitted to the traditional Chinese medicine decocting module, the toxic materials and other medicinal materials unsuitable for being placed in the dispensing unit 101' for automatic dispensing are supplemented and added through manual dispensing, so that the setting is reasonable.

Preferably, as shown in fig. 8, the medicine hopper module 200 further includes: the temporary storage table 61 is provided with a plurality of the medicine bucket units 20 'for containing different types of traditional Chinese medicine decoction pieces, the temporary storage table 61 is provided with a zero point position 60, and the loading execution module 300 transfers the medicine bucket units 20' from the zero point position 60.

In this embodiment, the dispensing container may preferably be a drug-decocting pot.

Preferably, the medicine hopper module 200 controls the loading execution module 300 to load the traditional Chinese medicine tablets in the medicine hopper unit 20' into the unit machine needing to be loaded in the automatic dispensing module 100 in a code scanning recognition mode.

In this embodiment, a zero point position 60 of the temporary storage table 61 is provided with a code scanning recognition device, two opposite side surfaces of the medicine bucket unit 20 'are respectively provided with recognizable digital marks, for example, two-dimensional codes are uniformly distributed, the number marks on the code scanning recognition medicine bucket unit 20' are scanned by the code scanning recognition device to determine what kind of Chinese herbal pieces are contained in the medicine bucket unit 20', the Chinese herbal pieces are fed back to the central control system, and the central control system controls the feeding execution module 300 to correspondingly transfer the medicine bucket unit 20' clamped by the feeding execution module to the upper part of the unit machine containing the corresponding Chinese herbal pieces, so as to perform feeding operation.

Example two

The same or corresponding components in this embodiment as those in the above embodiment are given the same reference numerals as those in the above embodiment, and only the points different from the above embodiment will be described below for the sake of convenience. This embodiment differs from the above embodiment in that:

preferably, as shown in fig. 8, the automatic dispensing modules 100 are arranged in two groups side by side, and the loading execution module 300 is arranged between the two groups of automatic dispensing modules 100 and loads the two groups of automatic dispensing modules 100.

Preferably, the conveying section 404 of the delivery module 400 between the input end 401 and the output end b403 thereof is connected between two groups of automatic dispensing modules 100 in a U shape.

Preferably, the medicine hopper module 200 is disposed at a side portion of at least one set of the automatic dispensing module 100.

Preferably, the hopper module 200 is disposed at a side away from the output end b403 of the delivery module 400.

Preferably, the hopper module 200 is disposed on a side of the set of automated dispensing modules 100 remote from the manual dispensing module 600.

In this embodiment, the feeding execution module 300 and the medicine hopper module 200 are disposed on two adjacent sides of the automatic dispensing module by optimizing the layout, and two sets of automatic dispensing modules 100 are distributed on two sides of the stroke range of the feeding execution module 300, so as to form a one-to-two feeding mode, thereby improving dispensing efficiency, achieving compact overall layout and facilitating feeding and supplying.

In this embodiment, two groups of automatic dispensing modules 100 are arranged side by side and connected through a U-shaped transmission section 404, the feeding execution module 300 is arranged between the two groups of automatic dispensing modules 100, the input end 401 and the output end b403 are arranged on the same side, the input end 401 is vertically butted with the output end a402, and the output end b403 is distributed below the output end a402, so that the structure is compact, and the space is saved; in addition, the manual dispensing module 600 is arranged outside the group of automatic dispensing modules 100 close to the output end b403, and the medicine hopper module 200 is arranged at one corner far away from the output end a402 and the manual dispensing module 600, so that the whole layout is optimized and compact, independent operations of all functional blocks are not interfered, and manual operation areas are concentrated outside the group of automatic dispensing modules 100 far away from the output end b403, so that the number of required configured personnel is reduced, and the operation is convenient and efficient.

EXAMPLE III

preferably, as shown in fig. 4, an angle α between a center line perpendicular to the clamping direction of the gripping mechanism 72 and the axis of the rotating mechanism 71 is α, α =45 °; the rotation angle of the rotating mechanism 71 is 180 degrees; after the grabbing mechanism 72 grabs the dispensing container 40 from the output end a402, the rotating mechanism 71 drives the grabbing mechanism 72 and the dispensing container 40 to turn over 180 degrees so as to transfer to the position right above the input end 401.

Preferably, as shown in fig. 4, the output end a402 and the input end 401 are arranged in a high-low distribution manner; the dispensing container transfer module 500 further comprises: and the lifting mechanism 73 is fixedly connected with the rotating mechanism 71 and drives the rotating mechanism 71 to vertically lift.

In this embodiment, the output end a402 of the dispensing container cleaning production line and the input end 401 of the conveying module 400 are perpendicular to each other, the space at the joint between the two is narrow, and the dispensing container cleaning production line outputs the dispensing container 40 in an inverted state and needs to be turned over before transferring to the dispensing module, and the rotating mechanism 71 of the dispensing container transferring module 500 and the two mutually perpendicular conveying lines are oppositely arranged at 45 degrees, and further the grabbing mechanism 72 and the rotating mechanism 71 are obliquely connected at 45 degrees, so that the rotating mechanism 71 drives the grabbing mechanism 72 to turn over 180 degrees, and not only can the dispensing container 40 on the output end a402 be exactly transferred to the position right above the input end 401, but also the dispensing container can be turned over up and down to be converted into an upright state, and then the lifting mechanism 73 is arranged in a matching manner to stably place the dispensing container 40 on the conveying module 400.

Example four

preferably, as shown in fig. 7, the automatic dispensing module 100 further includes: the buffer unit 102' is composed of a plurality of unit machines 10' arranged in an array, and the buffer unit 102' is arranged below the unit machines 10' to receive and collect the medicinal materials output by the unit machines 10' and transfer the medicinal materials to the dispensing container 40 at the corresponding position on the conveying module 400.

In the embodiment, the buffer unit 102' is arranged, so that the dispensing decoction pieces can be intensively mixed and temporarily stored; in addition, the buffer unit 102' includes a buffer bucket and an opening and closing control mechanism disposed at a lower portion of the buffer bucket for controlling the buffer bucket to discharge.

Preferably, as shown in fig. 7 and 19, a dust removing device 103 'is further disposed between the bottom discharge end of the buffer unit 102' and the top of the dispensing container 40 below the buffer unit.

In this embodiment, dust collector 103 'including set up in the dust absorption portion of the bottom discharge end both sides of buffer memory unit 102' and with the dust absorption pipeline that dust absorption portion communicates, the dust absorption pipeline is connected with updraft ventilator, adsorbs the raise dust of discharge end through the negative pressure convulsions effect, keeps the workshop cleanliness factor.

Preferably, as shown in fig. 9, the top of the unit machine 10 'is provided with a material supplement opening 101, and the bottom of the medicine hopper unit 20' can be fittingly seated on the material supplement opening 101.

EXAMPLE five

The same or corresponding parts of this embodiment as those of the above embodiment are designated by the same reference numerals as those of the above embodiment, and only the points different from the above embodiment will be described below for the sake of convenience. This embodiment differs from the above embodiment in that:

preferably, as shown in fig. 10-12, a discharge end 10 is provided at the bottom of the hopper unit 20', the loading execution module 300 can move in an opening and closing manner, and the loading execution module 300 acts on the hopper unit 20' by top contact to control the discharge end 10 to open; the top contact action is released and the discharge end 10 is automatically closed.

Preferably, as shown in fig. 13, the hopper unit 20' includes: the hopper comprises a hopper body 1 with a discharging end 10 at the bottom and two hopper covers 2 symmetrically arranged on the discharging end 10 for sealing the discharging end.

Preferably, as shown in fig. 11, the jaw unit 30' includes: a feeding control group 3 and a medicine bucket clamping group 5 which can be opened and closed respectively; the feeding control group 3 contacts the two bucket covers 2 in an opposite direction to separate the two bucket covers from each other; the medicine bucket clamping group 5 positions and holds the medicine bucket unit 20'.

It should be added that the bucket cover 2 is rotatably installed on the discharging end 10 through a hinge point a20, and the bucket cover 2 is set to be an automatic resetting structure, so that the bucket cover 2 can be automatically and oppositely rotated to cover after the external force applied by the clamping jaw unit 30' is removed, and then a normally closed state is maintained, and material leakage is prevented. The automatic reset structure can be a torsion spring rotating shaft structure, as shown in fig. 13, or an elastic member c26 for driving the two bucket covers 2 to automatically close and reset is connected between the two bucket covers 2.

As shown in fig. 14, the feeding control group 3 and the hopper holding group 5 each include: and the opening and closing mechanism 31, wherein the opening and closing mechanism 31 comprises two opening and closing arms 30 which are arranged in a bilateral symmetry manner and can move relatively so as to perform the opening and closing movement.

In this embodiment, a first ejecting part 21 is disposed on the bucket cover 2 at a position outside the hinge point a20, and a first ejecting part 32 is disposed on the opposite inner side of the two opening and closing arms 30 of the feeding set 3; the two opening and closing arms 30 move towards each other to make the first abutting portion 32 correspondingly abut against the first ejecting portion 21.

EXAMPLE six

preferably, as shown in fig. 13-14, the hopper unit 20' further comprises: and the self-locking mechanism 4 is correspondingly arranged on the outer side of the bucket cover 2 and used for limiting the rotation of the bucket cover 2.

Preferably, the feeding control group 3 further comprises: second top contact portions 33 correspondingly installed on opposite inner sides of the two opening and closing arms 30; the two opening and closing arms 30 move in opposite directions to make the second abutting portion 33 correspondingly abut against the self-locking mechanism 4, so that the rotation limit of the bucket cover 2 is released.

In this embodiment, the setting has self-locking function's medicine fill unit 20' to the cooperation sets up second top on material loading control group 3 and touches portion 33, can carry out the top with medicine fill unit 20' and touch the unblock, and external force removes the back, and self-locking mechanism 4 elasticity resets automatically and locks bucket lid 2 again, and the structure is ingenious and the blanking is stable controllable, can not leak the material.

Preferably, the second top contact portion 33 is of a telescopic structure, and the extension length of the second top contact portion 33 in the reset state is greater than the extension length of the first top contact portion 32, so that the second top contact portion 33 and the first top contact portion 32 perform the top contact action successively.

Further, second top portion 33 sets up to extending structure, the precedence order of two top functions is realized through the extension length of adjusting first top portion 32 and second top portion 33, the in-process that the arm 30 that opens and shuts of material loading control group 3 moved in opposite directions, second top portion 33 offsets with self-locking mechanism 4 earlier in order to relieve fill lid 2 and rotates spacingly, because second top portion 33 is extending structure, it contracts promptly with self-locking mechanism 4 top back and shortens, then first top portion 32 pushes up with opening the discharge end with fill lid 2 mutually, thereby material loading control group 3 can realize relieving earlier the function of 2 auto-locks of fill lid and then opening it with the blanking, and the structure is ingenious, and the operation controllability is good.

Preferably, the second top contact portion 33 is horizontally disposed, and includes: the telescopic rod and the elastic part a are sleeved on the telescopic rod 331 in a limiting manner; the two ends of the elastic part a are respectively limited by the inner wall of the opening-closing arm 2 and the end part of the telescopic rod.

It should be added that, as shown in fig. 16, the self-locking mechanism 4 includes: a mounting seat 41 fixedly mounted on the bucket body 1, a locking member 42 rotatably mounted on the mounting seat 41, a rotating shaft of the locking member 42 being horizontally arranged, and an elastic member b43 connected between the locking member 42 and the mounting seat 41;

as shown in fig. 15, a lock plate 22 is provided at a position of the first ejecting portion 21 on the bucket cover 2, and the lock member 42 is engaged with the lock plate 22 by an elastic force of the elastic member b43 to realize self-locking. When unlocking, the second abutting portion 33 abuts on the lower portion of the locking member 42, so that the elastic member b43 is compressed, and the locking member 42 is rotated to separate the upper portion thereof from the locking plate 22, thereby unlocking.

Preferably, as shown in fig. 5, the bucket body 1 includes: the bottom of the blanking hopper is provided with a blanking hopper 11 of the discharging end 10, and a cover body 12 fixedly sleeved outside the blanking hopper 11, and the hopper cover 2 and the self-locking mechanism 4 are both positioned in the cover body 12; an installation and action space is arranged between the cover body 12 and the bucket cover 2, and the self-locking mechanism 4 is positioned in the space and fixedly installed on the inner wall of the cover body 12.

As shown in fig. 13, the cover body 12 is provided with a first top hole 13 into which the first top contact portion 32 extends, and the cover body 12 is provided with a second top hole 14 into which the second top contact portion 33 extends.

It should be noted that the bottom of the cover 12 is correspondingly located on the feeding opening 101.

It should be added that, as shown in fig. 15, positioning pins 51 are disposed on opposite inner sides of the two opening and closing arms 30 of the medicine bucket clamping group 5, and positioning holes 15 capable of being inserted into the positioning pins 51 are correspondingly disposed on the outer wall of the bucket body 1. The positioning pin 51 can be inserted into the positioning hole 15, so that positioning during holding and taking can be realized, mistaken holding or loose holding can be effectively prevented from dropping, and accurate holding is realized.

EXAMPLE seven

preferably, the material filling port 101 is provided with a dust-proof member 102 for preventing dust from entering the material filling port 101, the dust-proof member 102 is pushed by the hopper unit 20 'to be opened, and the dust-proof member 102 is automatically closed after the hopper unit 20' is removed.

It should be added that, as shown in fig. 8, the dust-proof assembly 102 includes a guide bucket 103 and two closing plates 104 symmetrically hinged to the top of the guide bucket 103; the sealing plate 104 seals the guide bucket 103, the sealing plate 104 is elastically connected with the guide bucket 103 through a torsion spring 105, the sealing plate 104 is turned over and opened towards the guide bucket 103 under the action of external force, and after the external force is removed, the sealing plate 104 is reset under the action of the elasticity of the torsion spring 105 to close the guide bucket 103.

It should be further noted that the cover 12 can be correspondingly located on the guide bucket 103, and the bottom of the cover 12 can extend downward into the guide bucket 103 and push the closing plate 104 open.

Example eight

The embodiment provides a production process for feeding and blending traditional Chinese medicine tablets, which comprises a blending process, wherein the blending process comprises the following steps:

a, transferring a dispensing container: after the grabbing mechanism 72 grabs the inverted dispensing container 40 from the output end a402, the rotating mechanism 71 drives the grabbing mechanism 72 to overturn by 180 degrees, in the overturning process, the lifting mechanism 73 drives the rotating mechanism 71 to descend so as to transfer the dispensing container 40 to the input end 401 in a positive mode, and the conveying module 400 conveys the dispensing container 40 to the position below the automatic dispensing module 100;

b, preparing a medicinal material: synchronously with the step A, quantitatively transferring the medicinal materials to a cache unit 102 'by each unit machine 10' according to a preset prescription for collecting and caching to obtain dispensing decoction pieces;

c, transferring medicinal materials: after the dispensing container 40 in the step a is transferred to the lower part of the cache unit 102', the cache unit 102' is opened and the dispensing decoction pieces are quantitatively transferred to the dispensing container 40, and the dispensing container 40 containing the dispensing decoction pieces is further conveyed to a traditional Chinese medicine decoction production line for decoction.

Example nine

The same or corresponding parts in this embodiment as those in embodiment eight are given the same reference numerals as those in embodiment six, and only the points different from embodiment eight will be described below for the sake of convenience. This embodiment differs from embodiment eight in that:

the method also comprises a feeding process, wherein the feeding process comprises the following steps:

a. transferring the medicine hopper: after the feeding execution module 300 receives the feeding signal, the mechanical arm 302 drives the clamping jaw unit 30 'to transfer to the medicine hopper unit 20', and after the medicine hopper unit 20 'is positioned and clamped by the medicine hopper clamping group 5, the mechanical arm 302 drives the clamping jaw unit to directionally transfer to the top of the unit machine 10' needing to be supplemented;

b. unlocking the bucket cover: the feeding control group 3 folds and moves, and in the moving process, the second top contact part 33 on the feeding control group is firstly in top contact with the self-locking mechanism 4 so as to relieve the rotation limit of the bucket cover 2;

c. opening a cover and feeding: in the step b, the second pushing and contacting part 33 contracts during pushing and contacting, so that the first pushing and contacting part 32 can be pushed and contacted with the first pushing and opening part 21 after the bucket cover is unlocked, so that the two bucket covers 2 rotate and separate oppositely, as shown in fig. 17, the discharging end 10 is opened to load the unit machine 10';

d. closing the bucket cover: after the feeding is finished, the feeding control group 3 is unfolded and reset, in the moving process, the first jacking part 32 is separated from the first jacking part 21, the two hopper covers 2 automatically rotate oppositely to cover, and the discharging end 10 is sealed;

e. locking the bucket cover: in the step d, the compressed second top contact part 33 is gradually reset and separated from the self-locking mechanism 4 after the two bucket covers 2 are covered, and the self-locking mechanism 4 is automatically reset under the action of elastic force to lock the bucket cover 2.

f. Resetting the medicine hopper: after the loading is completed, the robot arm 302 drives the hopper unit 20' to transfer and put back to the temporary storage table 61.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. A full-automatic dispensing system for Chinese herbal pieces comprises:

automatic dispensing module (100), and

a conveying module (400), wherein the conveying module (400) is used for conveying the dispensing decoction pieces passing through and receiving the dispensing decoction pieces configured by the automatic dispensing module (100) from the lower part of the automatic dispensing module (100),

it is characterized by also comprising:

a hopper module (200), and

a feeding execution module (300),

the hopper module (200) comprises a plurality of hopper units (20'),

the feeding execution module (300) transfers the medicine hopper unit (20 ') filled with the decoction pieces to be reseeded to the top of the automatic dispensing module (100), and then controls the medicine hopper unit (20') to be opened so as to carry out fixed-point feeding on the automatic dispensing module (100);

the input end (401) of the conveying module (400) is butted with the output end a (402) of the dispensing container cleaning production line and receives the dispensing container (40) cleaned by the dispensing container cleaning production line, and the output end b (403) of the conveying module (400) is butted with the input end of the traditional Chinese medicine decoction production line so as to send the dispensing decoction pieces to be decocted;

further comprising:

a dispensing container transfer module (500),

the dispensing container transfer module (500) is arranged between the output end a (402) and the input end (401) to transfer the dispensing container (40);

the output end a (402) is perpendicular to the conveying direction of the input end (401);

the dispensing container transfer module (500) comprises:

a rotating mechanism (71); and

a gripping mechanism (72) for gripping the dispensing container (40);

the grabbing mechanism (72) is indirectly connected with the rotating mechanism (71) through a rotating frame (70 '), and under the driving action of the rotating mechanism (71), the rotating frame (70') and the grabbing mechanism (72) are overturned to change the placing state and shift the position of the dispensing container (40) which is inverted on the output end a (402), so that the dispensing container is placed on the input end (401);

an included angle alpha between a center line perpendicular to the clamping direction of the grabbing mechanism (72) and the axis of the rotating mechanism (71) is alpha, and alpha =45 degrees;

the rotation angle of the rotation mechanism (71) is 180 degrees;

after the grabbing mechanism (72) grabs the dispensing container (40) from the output end a (402), the rotating mechanism (71) drives the grabbing mechanism (72) and the dispensing container (40) to turn over for 180 degrees so as to transfer to the position right above the input end (401).

2. The system as claimed in claim 1, wherein the output end a (402) and the output end b (403) are disposed in a vertical distribution.

3. The system of claim 1, further comprising:

a manual regulation module (600),

the manual dispensing module (600) is used for manually adding the medicinal materials into the dispensing decoction pieces which are transmitted and output by the conveying module (400).

4. The system for automatically dispensing herbal pieces-prepared for chinese medicine of claim 3, wherein said manual dispensing module (600) is located at the output end b (403) of said transporting module (400).

5. The system of claim 1, wherein the hopper module (200) is disposed at a lower position below the side of the automatic dispensing module (100).

6. The system for automatically dispensing herbal pieces-of-chinese-medicinal according to claim 1, wherein the automatic dispensing module (100) comprises:

a plurality of dispensing units (101') arranged in an array,

the feeding execution module (300) is movably arranged along the arrangement direction of the dispensing unit (101').

7. The full-automatic dispensing system for herbal pieces prepared for decoction of claim 1,

the automatic dispensing module (100) is at least provided with two groups,

the feeding execution module (300) is arranged between the two groups of automatic dispensing modules (100) and is used for feeding the two groups of automatic dispensing modules (100).

8. The system as claimed in claim 7, wherein the transfer section (404) of the transportation module (400) between the input end (401) and the output end b (403) is connected between two sets of automatic dispensing modules (100) in a "U" shape.

9. The system for automatically dispensing herbal pieces-prepared for chinese medicine of claim 7, wherein the hopper module (200) is disposed at a side away from the output end b (403) of the transportation module (400); and the medicine hopper module (200) is arranged at the side part of the group of automatic dispensing modules (100) far away from the manual dispensing module (600).

10. The system of claim 1, wherein the output end a (402) and the input end (401) are arranged in a vertical distribution.

11. The system of claim 1, wherein the dispensing container transfer module (500) further comprises:

a lifting mechanism (73),

the lifting mechanism (73) is fixedly connected with the rotating mechanism (71) and drives the rotating mechanism (71) to vertically lift.

12. The system of claim 6, wherein the automatic dispensing module (100) further comprises:

a buffer unit (102'),

the dispensing unit (101 ') is composed of a plurality of unit machines (10') arranged in an array,

the buffer unit (102 ') is arranged below the unit machines (10 ') to receive and collect the medicinal materials output by the unit machines (10 ') and transfer the medicinal materials to the dispensing container (40) at the corresponding position on the conveying module (400) in a centralized manner.

13. The system of claim 12, wherein a dust removing device (103 ') is further disposed between a bottom discharge end of the buffer unit (102') and a top of the dispensing container (40) therebelow.

14. The system for automatically dispensing herbal pieces-of-chinese-medicinal material according to claim 1, wherein the hopper module (200) further comprises:

a temporary storage table (61),

the temporary storage table (61) is provided with a plurality of medicine bucket units (20') for containing different types of Chinese herbal pieces,

a zero point position (60) is arranged on the temporary storage table (61),

the loading execution module (300) transfers the medicine hopper unit (20') from the zero point position (60).

15. The full-automatic dispensing system for herbal pieces-of-chinese-medicinal according to claim 1,

the bottom of the medicine hopper unit (20') is provided with a discharge end (10),

the feeding execution module (300) can move in an opening and closing way,

the feeding execution module (300) acts on the medicine hopper unit (20') through top contact so as to control the opening of the discharge end (10); the top contact action is released, and the discharge end (10) is automatically closed.