CN111487915A - Medicine decocting system based on truss robot and control method thereof - Google Patents

Abstract

The invention discloses a decoction system based on a truss robot and a control method thereof, wherein the decoction system comprises a master control end, a decoction packaging system, the truss robot system and an optical fiber ring network, the master control end, the decoction packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the master control end is communicated with the systems through the optical fiber ring network; according to the decoction system provided by the invention, medicinal materials are put into the corresponding decoction machines according to the decoction task requirements, and the truss robot system automatically takes out the decoction dregs in the decoction machines when the decoction machines finish decoction, so that the automation of the decoction process is realized, the production efficiency is improved, and the labor intensive industry is converted into the mechanical intelligent intensive industry.

Description

Medicine decocting system based on truss robot and control method thereof

Technical Field

The invention relates to the field of decoction of traditional Chinese medicines, in particular to a decoction system based on a truss robot and a control method thereof.

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 economic development of China and the increase of population, the traditional Chinese medicine is more and more difficult to keep up with the requirements of social development, and especially the decoction process of the traditional Chinese medicine is complex, so that patients are forbidden, thereby seriously restricting the development of the traditional Chinese medicine.

Various decocting and packaging devices appear in the market at present, partial automation in the decocting and packaging process is realized, the labor cost is obviously reduced, and the production efficiency is improved.

But present equipment for packing of decocting medicinal herbs can not realize the complete automation of the packing in-process of decocting medicinal herbs, consequently present equipment for packing of decocting medicinal herbs still remains technical improvement, current equipment is single control mostly, realize the automation of part structure, but still need the staff to participate in part process, consequently present decocting medicinal industry equipment does not liberate the labour to the utmost and improves production efficiency, moreover, each module of overall system adopts industrial bus to connect in the present decocting medicinal industry, but overall system has a plurality of functional module, if all adopt industrial bus's mode to connect, each module equipment all need with the switch line, cause the complicated redundancy of entire system line structure.

Among the prior art, because traditional chinese medicine decocte in-process needs a large amount of manual work to participate in, if need the manual work of operator will treat the traditional chinese medicine of decocte to put in to decocting medicinal herbs in, and after decocting medicinal herbs, still need manual control decocting medicinal herbs machine to uncap to the manual work takes out the dregs of a decoction, these steps are except complicated, have the potential safety hazard in its operation process, and the back is accomplished in the decocting medicinal herbs machine decocte, and the decocting medicinal herbs machine is decocted medicinal herbs the indoor residual heat of cavity higher, and there is the risk of scalding in the in-process of artifical getting it filled.

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

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a decoction system based on a truss robot, and puts medicinal materials into corresponding decoction machines according to decoction task requirements, and the truss robot system automatically takes out dregs of a decoction in the decoction machines when the decoction machines finish decoction, so that the automation of the decoction process is realized, the production efficiency is improved, and the labor intensive industry is converted into mechanical intelligent intensive industry.

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

the medicine decocting system based on the truss robot comprises a master control end, a medicine decocting and packaging system, a truss robot system and an optical fiber ring network, wherein the master control end, the medicine decocting and packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the master control end is communicated with the systems through the optical fiber ring network.

The invention provides a structure of a decocting system, and a master control end controls and coordinates all the systems to work to jointly complete the decocting and packaging tasks. In addition, the control layer of the decoction system adopts optical fiber ring network connection, and the systems are connected in sequence to form an annular communication channel, and the wiring structure is simple and convenient.

Preferably, the truss robot system comprises a small robot master control and a plurality of truss robots, wherein the small robot master control is connected with the optical fiber looped network and used for controlling the truss robots to grab and put the decoction pieces into corresponding decoction pieces or take out the decocted decoction pieces from the corresponding decoction pieces when ready information and/or station information sent by the master control end/decoction piece packaging system is received.

In the scheme, after the decoction packaging system waits for decoction or the decoction is finished, the pot cover is opened, a ready signal and/or station information is sent to the small master control of the robot, or the ready signal and/or station information is directly sent to the master control end, the master control end forwards the information to the small master control of the robot, and the small master control of the robot receives the information and then controls the truss robot to execute decoction piece taking/placing operation.

Preferably, the robot small master controller is connected with each truss robot through an industrial bus.

Preferably, the truss robot system further comprises a plurality of code spraying machines, and each code spraying machine is used for spraying codes to the packaged medicine packages and/or the packaging boxes loaded with the medicine packages to print medicine information.

Preferably, each code spraying machine is connected with the small master controller of the robot through an industrial bus.

Preferably, the truss robot system further comprises a pre-decoction weighing sensor, a pre-decoction medicine storage barrel and a manipulator, the pre-decoction weighing sensor and the manipulator are connected with the small general robot controller through an industrial bus, and the small general robot controller can control the manipulator to dump the pre-decoction medicine in the medicine storage barrel into the medicine decocting machine.

The scheme supports the corresponding processing of the prescription with special processing requirements, and the system can execute various decocting tasks.

The truss robot comprises a guide rail and a gripping device capable of moving along the guide rail, the gripping device moves to a corresponding decocting machine along the guide rail according to the decocting machine station sent by the robot master control to grip the decoction pieces and then puts the decoction pieces into the decocting machine, or the gripping device moves to a set position along the guide rail to put the decoction pieces after gripping the decoction pieces in the decocting machine according to the decocting machine station sent by the robot master control;

preferably, the guide rail is located at the top of each medicine decocting machine and extends along the arrangement direction of each medicine decocting machine, and the gripping device is installed on the guide rail.

The gripping device comprises a machine body moving along the guide rail and a gripping mechanism arranged on the machine body, the gripping mechanism is used for gripping the decoction pieces, and the machine body is used for carrying the gripping mechanism to move to a corresponding decocting machine or the set position;

preferably, the grabbing mechanism comprises a telescopic part and a grabbing part arranged on the end part of the telescopic part, the telescopic part moves in a telescopic mode, and the position of the grabbing part is adjusted in the height direction.

The invention also aims to provide a control method of a medicine decocting system based on a truss robot, the medicine decocting system comprises a master control end, a medicine decocting and packaging system, the truss robot system and an optical fiber ring network, the master control end, the medicine decocting and packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the control method comprises the following steps: the truss robot system receives ready information and/or station information sent by the main control end/decoction packaging system through the optical fiber ring network, and grabs the decoction pieces to the corresponding decoction machine or takes out the decocted decoction pieces from the decoction machine when receiving the ready information and/or station information.

Preferably, after a cover of a decocting machine of the decocting and packaging system is opened, ready information and station signals are sent to the master control end and/or the truss robot system, and after the truss robot system receives the ready information and the station signals, the truss robot is controlled to grab decoction pieces to be decocted and put the decoction pieces into the corresponding decocting machine.

Preferably, the body of the truss robot carries the grabbing mechanism to move to the position where the decoction pieces are located, and after the decoction pieces are grabbed, the body of the truss robot moves to the corresponding decocting machine and puts the decoction pieces in the decocting machine.

Snatch the mechanism include pars contractilis and set up the portion of snatching on pars contractilis end, the pars contractilis stretches out to make the portion of snatching contact and snatch the sliced medicinal herbs, the pars contractilis contract and move to corresponding machine top of decocting medicinal herbs, the control portion of snatching releases the sliced medicinal herbs, the sliced medicinal herbs is put in the machine of decocting medicinal herbs.

Preferably, the decocting system comprises a decocting system, the decocting system comprises a decocting weighing sensor, a decocting storage barrel and a manipulator, when the prescription comprises decocting, the master control end sends decocting information to the robot master control of the truss robot system, and the robot master control controls the manipulator to grab the decocting storage barrel to pour the corresponding amount of decocting in the corresponding decocting machine.

In the scheme, the decoction is firstly carried out to obtain the liquid medicine, and then other components are decocted.

Preferably, after the truss robot finishes the feeding task, the robot master control sends a feeding completion signal to the master control end/decocting packaging system through the optical fiber ring network, and after the decocting packaging system receives the feeding completion signal, the decocting machine is controlled to close the pot cover to execute the decocting task.

Preferably, after the decocting machine finishes decocting the medicines and discharges the liquid, the pot cover is controlled to be opened, the decocting packaging system sends ready information to the master control end and/or the robot master control, and the robot master control controls the truss robot to take out the decocted decoction pieces from the corresponding decocting machine after receiving the ready information.

The invention has the following beneficial effects after adopting the scheme:

the decocting system comprises a master control end, a decocting and packaging system, a truss robot system and an optical fiber ring network, wherein the master control end, the decocting and packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the master control end is communicated with the systems through the optical fiber ring network; according to the decoction system provided by the invention, medicinal materials are put into the corresponding decoction machines according to the decoction task requirements, and the truss robot system automatically takes out the decoction dregs in the decoction machines when the decoction machines finish decoction, so that the automation of the decoction process is realized, the production efficiency is improved, and the labor intensive industry is converted into the mechanical intelligent intensive industry.

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

Drawings

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

FIG. 1 is a network structure diagram of the decoction system of the present invention.

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

Detailed Description

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

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

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

The invention provides a medicine decocting system based on a truss robot, which comprises a master control end, a medicine decocting and packaging system, a truss robot system and an optical fiber ring network, wherein the master control end, the medicine decocting and packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the master control end is communicated with the systems through the optical fiber ring network; according to the medicine decocting system, the medicinal materials are put into the corresponding medicine decocting machines according to the requirement of the decocting task, and the truss robot system automatically takes out medicine residues in the medicine decocting machines when the medicine decocting machines finish decocting, so that the automation of the medicine decocting process is realized.

Example one

Example a brief description of the truss robot system structure and workflow is provided: the truss robot system comprises a small robot master control and a plurality of truss robots, wherein the small robot master control is connected with the optical fiber looped network and used for controlling the truss robots to grab and put decoction pieces into corresponding decoction pieces or take out the decocted decoction pieces from corresponding decoction pieces in the decoction pieces when ready information and/or station information sent by the master control end/decoction packaging system is received.

After the decoction packaging system waits for decoction or the decoction is finished, the pot cover is controlled to be opened, a ready signal and/or station information is sent to the small master control robot, or the ready signal and/or station information is directly sent to the master control end, the master control end forwards the information to the small master control robot, and the small master control robot receives the information and then controls the truss robot to execute decoction piece taking/placing operation.

The robot small master controller is connected with each truss robot through an industrial bus.

Preferably, the truss robot system further comprises a plurality of code spraying machines, and each code spraying machine is used for spraying codes to the packaged medicine packages and/or the packaging boxes loaded with the medicine packages to print medicine information. Preferably, an ink jet printer in the truss robot system is used for carrying out ink jet printing on the packaged medicine package to print medicine information.

Preferably, each code spraying machine is connected with the small master controller of the robot through an industrial bus.

After the truss robot finishes a putting task, the small master control of the robot sends a putting completion signal to the master control end/decocting packaging system through the optical fiber ring network, and after the decocting packaging system receives the putting completion signal, the decocting machine is controlled to close the pot cover to execute the decocting task.

After the decocting machine finishes decocting and discharges liquid, the pot cover is controlled to be opened, the decocting packaging system sends ready information to the master control end and/or the robot master control, and after the robot master control receives the ready information, the truss robot is controlled to take out decocted decoction pieces from the corresponding decocting machine.

Example two

The structure and operation of the truss robot are described as follows:

the truss robot comprises a guide rail and a gripping device capable of moving along the guide rail, the gripping device moves to a corresponding medicine decocting machine along the guide rail after gripping decoction pieces according to decoction task requirements (control of a robot master controller), and the decoction pieces are put into the medicine decocting machine, or the decoction pieces in the medicine decocting machine are taken out and put into a set position after decoction is finished.

In the above scheme, grabbing device can be through each machine of decocting medicinal herbs along the guide rail motion to realized putting into different sliced medicinal herbs to different machines of decocting medicinal herbs, grabbing device is different sliced medicinal herbs with different sliced medicinal herbs and is grabbed the machine of decocting medicinal herbs respectively, and each machine of decocting medicinal herbs all independently carries out the operation of decocting medicinal herbs, thereby has improved work efficiency.

Preferably, the package system of decocting medicinal herbs includes a plurality of units of decocting medicinal herbs, and same unit of decocting medicinal herbs includes a plurality of machines of decocting medicinal herbs, and each machine of decocting medicinal herbs arranges the setting in proper order along setting for the orbit, the truss robot corresponds each unit of decocting medicinal herbs and sets up a guide rail, the guide rail is located each machine of decocting medicinal herbs top, extends the setting along the direction of arranging of each machine of decocting medicinal herbs in the unit of decocting medicinal herbs, installs on the guide rail grabbing device, grabbing device grab get the sliced medicinal herbs after, move to corresponding machine of decocting medicinal herbs and put in the sliced medicinal herbs along the guide rail.

Preferably, the gripping device comprises a machine body moving along the guide rail and a gripping mechanism arranged on the machine body, the gripping mechanism is used for gripping the decoction pieces, and the machine body is used for carrying the gripping mechanism to move to a corresponding decocting machine;

preferably, the grabbing mechanism comprises a telescopic part and a grabbing part arranged on the end part of the telescopic part, the telescopic part moves in a telescopic mode, and the position of the grabbing part is adjusted in the height direction.

In the above scheme, snatch the mechanism and include the downward vertical extension portion that extends, the extension portion tip is provided with the portion of snatching, and the portion of snatching height position is snatched in the extension portion concertina movement, the organism along the guide rail motion, drive the sliced medicinal herbs that the portion of snatching snatched to corresponding machine of decocting medicinal herbs on the horizontal direction.

Preferably, the decoction pieces are loaded in the medicine package, and the grabbing part comprises a clamping part and/or a pin inserting part and/or an adsorbing part;

the grabbing part clamps and grabs the medicine bag (the decoction pieces are loaded in the medicine bag) through the clamping part; or the grasping part grasps the medicine bag through needling of the pin inserting part; or the grabbing part adsorbs and grabs the medicine bag through the adsorption part;

preferably, the medicine bag is a cloth medicine bag, and the grabbing part is a pin inserting part.

In the above scheme, the medicine package adopts non-woven fabrics to make, and the contact pin of contact pin part inserts the non-woven fabrics medicine package, guarantees to insert the medicine package but does not destroy the medicine package.

Preferably, the contact pin part includes that the both sides that are relative at pars contractilis tip are provided with first contact pin portion and second contact pin portion respectively, first contact pin portion includes a plurality of first contact pins, second contact pin portion includes a plurality of second contact pins, each first contact pin extends the setting towards second contact pin portion one side below, each second contact pin extends the setting towards first contact pin portion one side below, and each first contact pin and second contact pin stagger each other, first contact pin portion and second contact pin portion stretch out, each contact pin can insert the cartridge bag in order to snatch corresponding cartridge bag, first contact pin portion and second contact pin portion retract, can release the cartridge bag.

EXAMPLE III

In the third embodiment, the decoction system includes a transportation system, and the matching process of the transportation system and the truss robot system is described in this embodiment.

The transportation system comprises raw material transportation line equipment passing through a truss robot, the raw material transportation line equipment transports the decoction pieces to a set position and then generates in-place signals/ready signals, the truss robot controls the machine body to move to the position corresponding to the raw material transportation line equipment, the telescopic portion stretches out to enable the grabbing portion to grab the medicine bags filled with the decoction pieces, then the machine body moves to the corresponding medicine decocting machine, and the medicine bags are put into the medicine decocting machine to be subjected to decocting operation.

The medicine decocting system is provided with a plurality of stations on the route of raw material conveying line equipment, a recognition device is correspondingly arranged on each station, the decoction pieces are loaded in the medicine frame, recognition marks corresponding to the decoction pieces are arranged on the medicine frame, when the raw material conveying line equipment carries the medicine frame to reach each station, the recognition device on the station recognizes whether the decoction pieces are the required decoction pieces, and if yes, the truss robot executes a grabbing and throwing task. The identification mark may be a two-dimensional code, an electronic tag, or the like, which is not limited herein.

After the decocting machine finishes decocting the medicines, a deslagging instruction is generated, the truss robot controls the body to move to the decocting machine, the telescopic part is controlled to extend out, so that the grabbing part grabs and retracts the medicine bag filled with the decocted decoction pieces, and then the machine body moves to a set position to put in the medicine bag. The medicine decocting system comprises medicine residue conveying line equipment, and the truss robot can put decocted medicine packages in the medicine residue conveying line equipment and output the medicine packages.

In a preferred scheme, the raw material conveying line equipment and the decoction dreg conveying line equipment are one conveying line equipment: the raw material conveying line equipment is a circulating conveying line, the decoction pieces to be decocted are placed in the medicine frame, the medicine frame is conveyed by the raw material conveying line equipment to return to the initial position after passing through the decoction station, and in the process, the decoction pieces in the medicine frame are automatically grabbed by the truss robot and put in the decoction machine. The decoction pieces are packed in cloth bag for convenient taking and placing. After the decoction packaging system finishes decocting the medicine, the decocted decoction pieces are grabbed by the truss robot and put on the raw material conveying line equipment, a waste material unloading mechanism is arranged on the raw material conveying line, and when the decocted decoction pieces on the raw material conveying line pass through the waste material unloading mechanism, the decocted decoction pieces are separated from the raw material conveying line under the action of the waste material unloading mechanism, wherein the waste material unloading mechanism can be a push plate which pushes the decoction pieces away from the raw material conveying line. Or putting the decocted decoction pieces into a waste bag box on the raw material conveying line equipment. The waste bag box is transported to a waste material throwing-in position, the waste material unloading mechanism overturns for unloading, and the waste material box is transported back for next use after unloading is completed.

The transport system is described in detail below:

the transportation system comprises a transportation line P L C small general control, a plurality of electric control boxes and transportation line equipment, wherein the transportation line P L C small general control is connected with the optical fiber ring network and used for controlling the electric control boxes according to the decocting and packaging tasks sent by the general control end, and the electric control boxes respectively control the transportation line equipment to execute corresponding logistics conveying tasks;

preferably, the transport line P L C is a small general control and also serves as an electric control box.

The small general control of the conveying line P L C controls the raw material conveying line equipment to convey the decoction pieces to be decocted to the corresponding decocting machines by controlling the corresponding electric control boxes so as to put the decoction pieces to be decocted to the decocting machines through the truss robots, the small general control of the conveying line P L C receives the decoction machine station information (pre-distribution of the general control end) sent by the general control end and distributes the decoction piece information to the corresponding electric control boxes, and the electric control boxes control the corresponding conveying line equipment to convey the decoction pieces to be decocted to the corresponding stations.

When a packaging task is executed, the decocting and packaging system sends a signal to a small general control/general control end of a conveying line P L C, the small general control of the conveying line P L C sends a control instruction to a corresponding electric cabinet, the electric cabinet controls conveying line equipment to carry the packaging box to move to a corresponding packaging machine station to load a packaged medicine package, then a truss machine is triggered to execute a throwing operation, the truss robot grabs the medicine package on the station and throws the medicine package in the decocting machine, and the small general control of the conveying line P L C controls the raw material conveying line equipment to output decocted medicine dregs by controlling the corresponding electric cabinet.

And the small general control of the transport line P L C controls the finished product transport line equipment to output the finished product medicine packages packaged by the packaging machine by controlling a corresponding electric cabinet.

The transportation system also comprises a packaging box forming machine, a packaging box sealing machine and a finished product inspection system, wherein the packaging box forming machine, the packaging box sealing machine and the finished product inspection system are all connected with a small general control of a transportation line P L C through an industrial bus.

The packaging machine directly puts the packaged medicine package into the packaging box, the packaging machine does not seal the box, the finished product conveying line conveys the packaged medicine package to a finished product inspection system for inspection and then sealing the box, and the packaging box is conveyed to a stacking area for stacking.

Preferably, the station of the packaging machine is provided with a recognition device, the packaging box is provided with a recognition mark, the recognition device judges whether the packaging box is the required packaging box or not by recognizing the recognition mark, when the current packaging box is the required packaging box, the small general control/corresponding electric cabinet of the transport line P L C controls the transport line equipment to stop so that the packaging box is stabilized at the current station, and the packaging machine controls to put the packaged medicine bag into the current packaging box.

The conveying system further comprises a box opening code spraying system and finished product conveying line equipment, the box opening code spraying system comprises a packaging box forming machine and a code spraying machine, the packaging box forming machine and the code spraying machine are both connected with the small general control of the conveying line P L C, the small general control of the conveying line P L C receives packaging station information sent by the general control end/medicine decocting packaging system and sends signals to the packaging box forming machine and a corresponding electric control box, the packaging box forming machine supports the opened packaging box, and the electric control box controls the finished product conveying line equipment to carry the packaging box to move to a corresponding packaging machine station and load the packaged medicine bag.

Specifically, the decocting machine sends a signal to the general control end after decocting, the general control end receives the signal and sends control information to the transport line P L C general control, the transport line P L C general control executes corresponding control after receiving the control information, a packing box forming machine of the unpacking and code spraying system is controlled to support a packing box, code spraying is carried out on the packing box (namely identification information and printed medicine information), and then the electric cabinet controls a finished product transport line to transport the empty packing box to a packing machine to load the packed medicine bag.

Preferably, the finished product conveying line equipment is a one-way line and extends to the stacking area, the decoction system is provided with a pressure detection machine, a weighing machine and a case sealer along the extending direction of the finished product conveying line equipment, the finished product conveying line equipment carries the packaging case to move from an initial position to a tail end, the pressure detection machine carries out pressure detection leakage on the packaging case, the weighing machine carries out automatic weighing on the packaging case, and the case sealer carries out case sealing treatment on the packaging case.

Example four

In the fourth embodiment, in the process of the truss robot performing the deslagging operation, the telescopic part needs to be controlled to extend into the cavity inside the decoction machine so as to grab the medicine bag loaded with the decoction pieces, so that the implementation difficulty is increased, and therefore the decoction machine is improved in the fourth embodiment, so that the deslagging process is completed together by the cooperation of the truss robot:

in order to facilitate grabbing of decoction pieces by the truss robot, the decoction pieces are loaded in the medicine bag, the medicine decocting machine further comprises an ejection assembly, the ejection assembly comprises a supporting disc arranged in the medicine decocting cavity, the supporting disc can move up and down along the medicine decocting cavity to eject the medicine bag in the medicine decocting cavity, and the truss robot is convenient to grab the medicine bag. The truss robot picks the explosive package and puts the explosive package on raw material conveying line equipment, and preferably puts the explosive package in a waste ladle box on the raw material conveying line equipment. The waste bag box is transported to a waste material throwing-in position, the waste material unloading mechanism overturns for unloading, and the waste material box is transported back for next use after unloading is completed.

The ejection assembly comprises a transmission part contacted with the supporting disc and a driving part for driving the transmission part to move up and down, the driving part drives the transmission part to ascend so as to eject the supporting disc and the medicine package, the driving part drives the transmission part to descend, and the supporting disc descends to the interior of the medicine decocting cavity.

The driving part is arranged outside the pot body, one end of the transmission part is in driving connection with the driving part, and the other end of the transmission part extends into the pot body from the bottom of the pot body to be in contact fit with the supporting disc;

the pot body is characterized in that a mounting hole is formed in the center of the bottom of the pot body, and the transmission component penetrates through the mounting hole and is in sealing fit with the mounting hole of the pot body through a sealing piece.

The transmission component comprises a hollow rod, the top end of the transmission component is in contact with the supporting disk, the driving mechanism comprises a lead screw and a motor, the lead screw is arranged in the hollow rod and forms a spiral transmission pair with the rod wall of the hollow rod, the motor drives the lead screw to rotate, the lead screw drives the hollow rod to move upwards in a rotating mode, and the supporting disk and the medicine package are ejected out.

The top of cavity pole is provided with first block structure, the bottom of supporting disk is provided with the second block structure, and when the cavity pole rose, its first block structure cooperateed with the second block structure.

The first clamping part is a groove or a protruding part arranged at the top of the hollow rod, and the second clamping part is a protruding part or a groove arranged at the center of the bottom of the supporting plate.

The top of the hollow rod is provided with a protruding part which seals the top of the hollow tube.

The ejection assembly is also used for extruding the medicine package to extrude liquid medicine when discharging liquid; the medicine decocting machine also comprises a pot cover, wherein an extrusion disc is convexly arranged on the pot cover corresponding to the supporting disc, the supporting disc moves towards the extrusion disc, and the medicine bag is extruded between the extrusion disc and the supporting disc;

a plurality of holes are formed in the supporting plate.

Before the truss robot receives a deslagging instruction, the ejection assembly of the decocting machine ejects the medicine bag in advance, so that the truss robot can conveniently grab the medicine bag, and after the truss robot grabs the medicine bag, the ejection assembly of the decocting machine descends.

EXAMPLE five

In this embodiment, the truss robot system further includes a decocting weighing sensor, a decocting storage barrel and a manipulator, the decocting weighing sensor and the manipulator are connected to the robot master controller through an industrial bus, and the robot master controller can control the manipulator to dump the decocting in the storage barrel into the decocting machine.

The scheme supports the corresponding processing of the prescription with special processing requirements, and the system can execute various decocting tasks.

When the prescription comprises the first decoction, the master control end sends the first decoction information to the robot master control of the truss robot system, and the robot master control controls the mechanical arm to grab the medicine storage barrel to pour the corresponding amount of first decoction into the corresponding decoction machine.

In the scheme, the first decoction is firstly carried out to obtain the liquid medicine, and then the first decoction and other components are decocted.

For example: each decocting machine comprises a plurality of decocting machines, 12 medicine storage barrels are arranged in the row corresponding to the decocting machine, the medicine storage barrels are grabbed by a manipulator and are quantitatively dispensed by installing a mechanical switch which is touched for a certain time after being conveyed to a specified position. Or the manipulator weighs the medicine storage barrel, and when the weight of the medicine storage barrel reaches a set value, the medicine is stopped to be discharged, so that quantitative medicine discharging is realized.

The special prescription (decoction prescription) is virtualized in the tablet drinking factory, and the prescription number can be taken as the raw material batch number when the medicines are taken, so that the tracking can be carried out in the information system. The preparation method comprises the steps of firstly, preparing the raw materials of the decocted medicines by an automatic medicine preparation system or manually, preparing type marks on a medicine pot, such as first-decocting preprocessing, a conventional prescription and later prescription, wherein the processes of soaking, decocting and packaging of the first-decocting medicines are identical to those of the conventional prescription and are different from the conventional prescription.

EXAMPLE six

The sixth embodiment describes the decocting packaging system in detail.

The decocting and packaging system comprises a plurality of machine set controls P L C, each machine set control P L C is connected with a plurality of decocting machines and a packaging machine, each machine set control P L C is connected with the optical fiber ring network, the master control end is communicated with each machine set control P L C through the optical fiber ring network, preferably, the optical fiber ring network comprises an optical fiber and a plurality of photoelectric conversion parts, each photoelectric conversion part comprises two optical interfaces and an electrical interface, the two optical interfaces are connected with the optical fiber to form a closed-loop signal channel, and each machine set control P L C is connected to the electrical interface.

When the master control end and/or the machine set control P L C detects the decoction piece in-place information (or called ready signal), the machine set control P L C controls the corresponding decocting machine to start the pot cover to receive the raw materials (or called decoction pieces to be decocted), and then the truss robot executes corresponding putting operation.

Preferably, the decocting machine/unit control P L C/master controller automatically determines the water inflow according to the water absorption and the prescription information, the total water demand is obtained by multiplying the weight of various medicinal materials in the prescription by the water demand in consideration of different water absorption of the different medicinal materials and corresponding different water demands of different types of unit medicinal materials, and then the corresponding amount of water is controlled to be added into the decocting machine, so that the automatic and accurate water adding of the decocting machine is realized.

When the raw material transportation line equipment transports the raw materials to a decoction station (or called a truss robot station), a decoction piece ready signal is sent to a master control end and/or a machine set control P L C, after the decoction machine is opened, a throwing instruction is sent to a small master control of the robot, after the truss robot throws a medicine package, a raw material throwing signal is generated, and after the master control end and/or the machine set control P L C detects the raw material throwing signal, the corresponding decoction machine is controlled to close a pot cover and execute a decoction task.

Preferably, the decocting machine is connected with the packaging machine through an intermediate pipeline, after the decocting machine finishes decocting, liquid drainage request information is sent to the master control end and/or the machine set control P L C, after the master control end and/or the machine set control P L C receives the request information, whether a liquid drainage condition is met is judged, when the liquid drainage condition is met, a liquid drainage instruction is sent to the decocting machine, and after the decocting machine receives the liquid drainage instruction, liquid drainage is controlled.

Preferably, the liquid discharge condition comprises detecting whether the packaging machine is cleaned, and if the packaging machine is not cleaned, judging that the liquid discharge condition is not met;

preferably, the liquid discharge condition further includes judging whether an unpacked liquid medicine is in the current packaging machine, and if so, judging that the liquid discharge condition is not reached.

Preferably, after the packaging machine receives the liquid medicine discharged by the decocting machine, the packaging machine controls to execute the packaging operation, and the liquid medicine is subpackaged in a plurality of medicine packages. The scheme ensures the sanitation and quality of the product.

Preferably, after liquid drainage and slag discharge of the medicine decocting machine are finished, the cover of the pot is controlled to be closed, and water is controlled to clean the medicine decocting pot of the medicine decocting machine, after a packaging task of the packaging machine is finished, the master control end and/or the machine set control P L C controls cleaning of an intermediate pipeline between the medicine decocting machine and the packaging machine, and after cleaning of the intermediate pipeline is finished, water is controlled to enter the packaging machine to clean the packaging machine.

The structure of the medicine decocting machine is explained in detail as follows:

the medicine decocting machine comprises a pot cover, a pot body and a pot cover switching mechanism, wherein the pot cover switching mechanism is in driving connection with the pot cover and drives the pot cover to move away from or towards the pot body so as to open/close the pot cover.

Preferably, the pot cover opening and closing mechanism comprises a first actuator, the first actuator is vertically arranged above the pot cover and connected with the pot cover, and the first actuator drives the pot cover to move upwards or downwards relative to the pot body so as to open/close the pot cover.

Preferably, the first actuator has a first telescopic rod part, and an extending end of the first telescopic rod part is connected with the pot cover.

Preferably, the medicine decocting machine comprises a rotating beam, the first actuator is mounted on the rotating beam, the pot cover opening and closing mechanism further comprises a second actuator, the second actuator is connected with the rotating beam and moves in a telescopic mode to drive the rotating beam to rotate to drive the first actuator and the pot cover to move away from or towards the pot body;

preferably, the second actuator has a second telescopic rod, the extended end of which is hingedly connected to the swivel beam.

Preferably, the medicine decocting machine comprises a support, one end of the rotating beam is hinged to the support, the first actuator is mounted at the other end of the rotating beam, one end of the second actuator is hinged to the support, the other end of the second actuator is hinged to the rotating beam, and the second actuator moves in a telescopic mode to drive the rotating beam to pivot so as to drive the first actuator and the pot cover to move away from or towards the pot body.

Preferably, the rotating beam comprises a first part and a second part arranged at an angle with the first part, the first part is positioned at the top of the pan body, the second part is hinged with the bracket, the first actuator is fixed on the first part, and the second actuator is hinged with the second part;

preferably, when the pot cover is closed, the first part is horizontally positioned at the top of the pot body, and the second part and the first part form an included angle of 180-270 degrees.

Preferably, the medicine decocting machine comprises a locking mechanism for locking the closed state of the pot cover when the pot cover is closed and preventing the pot cover from being separated from the pot body.

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

Preferably, the outer wall of the lock ring is provided with a lock ring push rod, the locking mechanism further comprises a lock ring pushing mechanism, and the lock ring pushing mechanism is connected with the lock ring push rod and pushes the lock ring push rod to enable the lock ring to rotate between a locking position and an unlocking position.

Preferably, the lock ring pushing mechanism is horizontally arranged, one end of the lock ring pushing mechanism is hinged to the lock ring push rod, the other end of the lock ring pushing mechanism is hinged to the bracket, and the lock ring pushing mechanism moves in a telescopic mode to drive the lock ring to rotate between a locking position and an unlocking position;

preferably, the lock collar pushing mechanism comprises a third actuator having a third telescopic rod part, the protruding end of which is hingedly connected to the lock collar pusher.

Preferably, be provided with a plurality of locking teeth on the circumference of lock circle, be provided with on the circumference of pot cover with a plurality of tooth meshing portions that a plurality of locking teeth correspond, work as when the lock circle is located latched position, a plurality of locking teeth with a plurality of tooth meshing portion meshing, thereby make the pot cover with the pot body interlocking, work as when the lock circle is in the unblock position, a plurality of locking teeth with a plurality of tooth meshing portion stagger each other, thereby make the pot cover with the pot body unblock.

The structure between the packaging machine and the machine for decocting medicinal herbs is described below:

the medicine decocting machine and the packaging machine are connected through an intermediate pipeline and comprise a first cleaning pipeline communicated to the medicine decocting machine, the first cleaning pipeline is connected with a water source, and the medicine decocting packaging system supplies water to the medicine decocting machine through the first cleaning pipeline to clean the medicine decocting machine.

In the scheme, the automatic cleaning of the medicine decocting machine part in the medicine decocting and packaging system is realized.

Preferably, the machine of decocting medicinal herbs includes the pot body, first washing pipeline delivery port intercommunication pot body, the packing system of decocting medicinal herbs pours water washing pot body into to the pot body through first washing pipeline.

Preferably, the first cleaning pipeline is connected to the top position of the pot body.

In the above scheme, the first cleaning pipeline is connected to the top of the pot body, and the inlet water can have a good washing effect on the inner wall of the pot body from top to bottom.

More preferably, the first cleaning pipeline comprises a plurality of water outlets, and each water outlet is arranged around the opening of the pot body.

In the above scheme, the first cleaning pipeline comprises a plurality of water outlets, and the water outlets clean the inner wall of the pot body at different positions of the pot body, so that the inner wall of the pot body is cleaned comprehensively.

Most preferably, the first cleaning pipeline is a water inlet pipeline of the decocting machine.

In the scheme, a cleaning pipeline is not required to be specially designed, but a water inlet pipeline of the decocting machine is used, so that the pipeline redundancy is prevented, and a pipeline system is simplified.

Preferably, the pot body is communicated with a first waste liquid discharge pipeline and a liquid medicine discharge pipeline, the liquid medicine discharge pipeline is connected with the middle pipeline, and the first waste liquid discharge pipeline and the liquid medicine discharge pipeline are respectively provided with an electric valve; the decocting and packaging system is used for cleaning the decocting machine by controlling the water inlet of the first cleaning pipeline and the opening of the electric valve on the first waste liquid discharge pipeline and closing the electric valve on the liquid medicine discharge pipeline.

Preferably, the decocting machine further comprises two decocting barrels, the bottom of the pot body is connected with the two decocting barrels through two decocting pipelines, an electric valve is arranged on the two decocting pipelines, and the bottom of the two decocting barrels is connected with the first waste liquid discharge pipeline and the liquid medicine discharge pipeline; the electric valve on the liquid medicine discharge pipeline is closed, and the machine for decocting medicinal herbs and the two decocting barrels are cleaned.

Preferably, the middle pipeline or the liquid medicine discharge pipeline is communicated with a second cleaning pipeline, the second cleaning pipeline is connected with a water source, an electric valve is arranged on the second cleaning pipeline, and the decoction packaging system is opened by controlling the electric valve on the second cleaning pipeline to clean the middle pipeline.

In the scheme, the middle pipeline can be cleaned, and the path through which the liquid medicine flows in the medicine decocting and packaging system is ensured to be cleaned.

Preferably, the packaging machine comprises a liquid storage tank, the liquid storage tank is communicated with a second waste liquid discharge pipeline, the middle pipeline is connected with the liquid storage tank, and cleaning water flows through the middle pipeline, the liquid storage tank and the second waste liquid discharge pipeline in sequence and then is discharged.

Preferably, the liquid storage tank is connected with a third cleaning pipeline, the third cleaning pipeline is connected with a water source, the third cleaning pipeline is provided with an electric valve, and the decoction packaging system realizes water spraying into the liquid storage tank to clean the inner wall of the liquid storage tank by controlling the electric valve on the third cleaning pipeline to be opened.

In the above scheme, the liquid storage tank is cleaned independently through the third cleaning pipeline, the control is simple, and the cleaning effect is good.

Preferably, the bottom of the liquid storage tank is respectively connected with a packaging pipeline and a second waste liquid discharge pipeline through a three-way pipe, the packaging pipeline is connected to a packaging mechanism of a packaging machine, electric valves are respectively arranged on the packaging pipeline and the second waste liquid discharge pipeline, the electric valves on the third cleaning pipeline and the second waste liquid discharge pipeline are controlled to be opened, and the electric valves on the packaging pipeline are closed to clean the liquid storage tank.

In another scheme, the decocting and packaging system controls the introduction of cleaning water into the first cleaning pipeline, the cleaning water flows through the decocting machine, the medicine discharging middle pipeline and the packaging machine in sequence, and all parts through which liquid medicine flows in the decocting and packaging system are cleaned.

In the scheme, cleaning pipelines are not required to be designed, water is directly fed into the decocting machine during cleaning, and the fed water is finally discharged by a second waste liquid discharge pipeline of the packaging machine, so that all parts through which liquid medicine flows in the decocting packaging system are cleaned.

Furthermore, at the in-process of packagine machine packing cartridge bag, need be discharged first package cartridge bag (for health safety) this moment, if need artifical the participation, then waste time, and be unfavorable for improving production efficiency, so this embodiment improves packagine machine's structure for it can realize automatically that "first package throws away" the function: the packaging machine comprises a packaging mechanism and a medicine package guiding mechanism, the medicine package guiding mechanism comprises a turnover device which is arranged right opposite to a medicine package outlet of the packaging mechanism, the turnover device is structured to incline to different positions to lead out the medicine package to different positions, so that the first medicine package can be guided into other positions, and the later medicine package is guided into the packaging box.

In the above scheme, the packaging mechanism is configured to perform an operation of packaging the liquid medicine in the packaging bag, the packaging mechanism puts the packaged medicine bag on the turning device of the medicine bag guiding mechanism, and the turning device guides the medicine bag to a set position.

Preferably, the overturning device comprises a guide groove and a driving part for driving the guide groove to overturn, and the driving part drives the guide groove to overturn towards different directions so as to lead the medicine package out towards different positions.

In the scheme, the automatic overturning of the overturning device is realized by arranging the driving part, a plurality of initially packaged medicine packages can be guided out to a set position (non-finished product conveying line equipment) according to requirements, and the later medicine packages are guided into the packaging boxes on the finished product conveying line equipment.

The guide groove is rotatably arranged, the driving part is in driving connection with the guide groove, and the driving part moves in a telescopic mode to drive the guide groove to swing so as to selectively guide the medicine bag to two opposite sides of the guide groove. Wherein one side is the finished product conveying line side, and the other side is opposite to the finished product conveying line.

In the above-mentioned scheme, the drive part simple structure only adopts telescopic motion to realize the selective guiding package to opposite both sides.

Preferably, packagine machine includes the box, and the protrusion is provided with the major axis on the box, the guide slot is the platelike body, and platelike body middle part is provided with bushing portion, and the rotatable cover of bushing portion is established the major axis on, the flexible end of drive division is connected the one end of the platelike body, flexible end stretches out, and the drive guide slot inclines to one side, and flexible end shrink then drives the guide slot and inclines to the opposite side.

In the above scheme, the guide groove is rotatably arranged on the long shaft to form a seesaw structure.

Preferably, one end of the plate-shaped body is convexly provided with a connecting shaft, the telescopic end of the driving part is hinged on the connecting shaft, and the other end of the driving part is hinged on the box body.

Preferably, the driving part is an air cylinder and comprises a cylinder barrel and a telescopic rod arranged on the cylinder barrel, the cylinder barrel is provided with a first air hole and a second air hole which are respectively connected with an air source, the free end of the telescopic rod is hinged on the connecting shaft, and the cylinder barrel is hinged on the box body.

In the above scheme, the driving part adopts a commonly used air cylinder structure, so that the control is facilitated, and the structure is simple and practical.

Preferably, the medicine package guiding mechanism further comprises a first guiding groove and a second guiding groove which are respectively arranged at two sides of the turnover device, one end of each of the two guiding grooves close to the turnover device is higher than one end of each of the two guiding grooves far away from the turnover device, and the turnover device is selectively turned over and inclined towards the first guiding groove or the second guiding groove to guide the medicine package into the corresponding guiding groove.

In above-mentioned scheme, through setting up this first guiding groove and second guiding groove, do benefit to and set up the guiding groove between first guiding groove and second guiding groove, need not do the guiding groove greatly, the guiding groove can less design, and the guiding groove realizes guiding the cartridge bag to first guiding groove or second guiding groove through the upset, derives by first guiding groove or second guiding groove again.

Preferably, the packaging machine further comprises a first limit supporting part and a second limit supporting part which are respectively used for limiting the turning positions of the guide groove towards two sides.

In the above scheme, first spacing supporting part and second spacing supporting part are used for spacing to the guide slot respectively, still have the effect of supporting to the guide slot simultaneously, prevent that the guide slot is impaired, have prolonged turning device's life-span.

Preferably, packagine machine includes the box and the mount pad of assembly on the box, packagine machine constructs to be installed on the box, the mount pad assembly lie in packagine machine structure's bottom on the box, drive division, first guide slot, second guide slot, first spacing supporting part, second spacing supporting part all install the mount pad on.

Preferably, the first limiting support part comprises a first support fixed on the mounting seat, the top of the first support is provided with a first support part which is obliquely arranged, the position of the first support part is higher than the highest position of the first guide groove, and the bottom surface of the guide groove abuts against the first support part after inclining towards the first guide groove; the second limiting support part comprises a second support fixed on the mounting seat, the top of the second support is provided with a second support part which is obliquely arranged, the position of the second support part is higher than the highest position of the second guide groove, and the bottom surface of the guide groove is abutted to the second support part after the guide groove is inclined towards the second guide groove.

EXAMPLE seven

The seventh embodiment describes the control of the machine itself of the machine for decocting medicinal herbs:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Example eight

In the eighth embodiment, the decocting system includes a shunting and stacking system, and the shunting and stacking system is described in detail below: the shunting and stacking system is connected with the optical fiber ring network, and the master control end is communicated with each system through the optical fiber ring network and used for controlling each system to work and finishing a stacking task of the packaging box.

The shunting and stacking system comprises a shunting and stacking small master controller and a plurality of stacking mechanisms, wherein the shunting and stacking small master controller is connected with the optical fiber ring network, and each stacking mechanism is connected with the shunting and stacking small master controller through an industrial bus.

Preferably, the shunting and stacking system comprises a main line, a plurality of branch lines and a shunting mechanism, the transportation system is connected with the main line, and the shunting mechanism is connected with the small shunting and stacking general controller through an industrial bus.

The main control end generates distribution information, the distribution information is the corresponding relation between the client category and the branch line or the trunk line, and the small flow distribution and stacking main control receives the distribution information sent by the main control end through the light looped network and then controls the flow distribution mechanism to distribute each packaging box on the trunk line to the corresponding branch line or trunk line.

Preferably, a plurality of branch lines are sequentially connected to the trunk line along the extending direction, and the branching mechanism includes a plurality of pushing members provided corresponding to the respective branch lines, each pushing member being configured to push each packing box flowing along the trunk line onto the corresponding branch line.

Preferably, the packing boxes are provided with identification marks, the flow distribution and stacking system comprises an identification device, the identification device identifies the identification information to obtain corresponding client information, and the small flow distribution and stacking master controller controls the flow distribution mechanism to push the packing boxes on the corresponding trunk lines into the corresponding branch lines according to identification results.

Preferably, the palletizing mechanism comprises a slide rail and a palletizing mechanical arm moving along the slide rail.

Preferably, at least the end of the trunk line is provided with a palletising mechanism. Preferably, the end of each branch line and the trunk line is provided with a stacking mechanism.

The transport system is used for transmitting packing cases loaded with medicine bags, the master control end distributes corresponding branch lines or trunk lines to different clients according to the size of a client order to obtain distribution information, and the small shunting and stacking master control controls a shunting mechanism to shunt the packing cases of the different clients to the corresponding branch lines or trunk lines according to the distribution information;

preferably, the main control end preferentially allocates branch lines for the customers with small orders and allocates trunk lines for the customers with large orders.

The main line of the shunting and stacking system is connected with a plurality of sections of branch conveying lines for shunting smaller end customers, and the finished products of the small customer prescriptions are shunted to the branch passages. For large customers, a stacking robot is arranged on a conveying line of the large customer and is used for stacking finished medicine boxes of different specifications of the large customer onto different pallets.

More preferably, the master control end allocates branch lines to the clients according to the size of the order, and the branch lines allocated to the clients with smaller orders are located at the upstream of the trunk line.

Preferably, at least the tail end of the trunk line is provided with a stacking mechanism, and the small shunting and stacking general control stacking mechanism is used for grabbing the packing boxes to stack on the corresponding pallet or stack on the corresponding positions of the pallet.

In the above scheme, there are a plurality of pallets in trunk end one side, and pile up neatly mechanism is according to the control of always controlling the end, with each packing box pile in the relevant position of pallet. Such as: the packing boxes with different sizes are suitable for being placed on different pallets.

Preferably, the stacking mechanism comprises a slide rail and a stacking mechanical arm moving along the slide rail; the tail ends of the trunk lines and/or the branch lines are provided with a plurality of pallets, the small shunting and stacking control total control stacking mechanical arms move to the corresponding pallets along the slide rails after grabbing the packing boxes, and the packing boxes are placed on the corresponding pallets or placed at the corresponding positions of the pallets.

In the above scheme, because set up a plurality of pallets, design the structure for having the slide rail with pile up neatly mechanism, do benefit to reposition of redundant personnel pile up neatly system and pick placing on different pallets after the packing box, or place on the different positions of same pallet. For example, one pallet mechanism corresponds to 4 pallets, and in order to solve the problem that the pallets are distributed far, the pallet mechanism with ground rails is adopted.

Preferably, the stacking mechanical arm is provided with an adsorption structure, and the packing box is grabbed in an adsorption mode.

Example nine

Referring to fig. 1, on the basis of the above embodiments, the overall structure of the decocting system and the processes of the decocting and packaging tasks performed by the systems are provided.

The decocting system comprises a master control end, a transportation system, a decocting and packaging system, a truss robot system, a shunting and stacking system and an optical fiber ring network, wherein the master control end, the transportation system, the decocting and packaging system, the truss robot system and the shunting and stacking system are respectively connected with the optical fiber ring network, and the master control end and the systems are communicated through the optical fiber ring network to control and coordinate the systems to complete decocting, packaging and stacking tasks.

The general control end controls the transportation system to work in cooperation with the decoction packaging system to execute corresponding logistics conveying tasks, and each system automatically operates according to instructions of the general control end without participation of workers, so that the production efficiency is greatly improved. In addition, the control layer of the decoction system adopts optical fiber ring network connection, all the systems are connected in sequence to form an annular communication channel, the wiring structure is simple and convenient, and large-area network arrangement is facilitated.

The transportation system/the decoction packaging system/the truss robot system/the shunting and stacking system respectively comprise a P L C small general control and a plurality of working devices, and each P L C small general control is connected with the optical fiber looped network.

The P L C small master control of each system is connected with an optical fiber ring network, and each P L C small master control and the master control end are connected and communicated through the optical fiber ring network.

Furthermore, the optical fiber ring network is a double-ring structure, and when a certain node is disconnected and a signal reaches the disconnected node, the signal is reversely transmitted to a target node through another ring line.

The optical ring network comprises optical fibers and a plurality of photoelectric conversion parts, each photoelectric conversion part comprises two optical interfaces and an electrical interface, the two optical interfaces are connected with the optical fibers to form a closed-loop signal channel, and each P L C small master controller is connected to one electrical interface respectively.

The P L C small general control and each working device in the transportation system/the decoction packaging system/the truss robot system/the shunt stacking system are connected through an industrial bus.

In the scheme, the modules in the bottom layer are connected through the industrial bus, so that the stability of the modules is guaranteed.

The master control end comprises a master controller, the master controller is a double-network card controller, the master controller is respectively connected with the light looped network and the decoction task distribution system, the decoction task distribution system is connected with a decoction piece factory database, the decoction task distribution system automatically generates a decoction packaging scheme according to a production task issued by a decoction piece factory, and the master controller is used for controlling and coordinating all systems to work according to the decoction scheme and jointly completing the decoction packaging task. The decocting system directly receives the issued tasks and executes the full-automatic decocting and packaging tasks without the participation of workers, thereby improving the production efficiency.

Moreover, in order to further improve automation, the invention further provides network communication between the hospital and the decoction piece factory, namely, the hospital is provided with a front-end processor which is respectively in communication connection with a HIS (health information system) and a database (or ERP (enterprise resource planning) system of the decoction piece factory of the hospital, the HIS system of the hospital sends the decocting task to the front-end processor which forwards the decocting task to the database of the decoction piece factory, the database of the decoction piece factory is sent to a decocting task distribution system, the decocting task distribution system distributes tasks of various system modules for various parties, and the master controller coordinately controls various system modules to execute corresponding actions according to the tasks distributed by the decocting task distribution system so as to complete the tasks of decocting, packaging and stacking.

The process that all systems work together to finish the decocting and packaging tasks is as follows:

the decocting task distribution system of the master control end distributes the stations of the decocting machine, the P L C total control transport line device of the transport line controls the transport line device to transport decoction pieces to be decocted to the corresponding stations of the decocting machine, sends in-place signals to the P L C total control unit of the machine set through the optical fiber ring network, or sends in-place signals to the master controller through the optical fiber ring network, the master controller sends in-place signals to the P L C total control unit of the machine set, and the P L C total control unit of the machine set controls the corresponding decocting machine to open the pot cover after receiving in-place signals.

After the pot cover of the decocting machine is opened, a ready signal is sent to the truss robot system through the optical fiber ring network, or sent to the master controller, and then sent to the truss robot system by the master controller;

and after the robot small master controller receives the ready signal, the truss robot is controlled to execute automatic medicine feeding operation.

Furthermore, the truss robot master controller detects whether the cover of the decocting machine is in an open state after receiving the ready signal, and controls the truss robot to grab the decoction pieces to be decocted and put into the decocting machine when the cover is in the open state.

After the decoction pieces to be decocted are put into the decoction machine, the truss robot small master controller/master controller sends a putting completion signal to the unit P L C small master controller, and the unit P L C small master controller controls the decoction machine to close the pot cover and execute the decoction process after receiving the putting completion signal.

The medicine decocting machine is connected with the packaging machine through an intermediate pipeline, and liquid medicine is discharged to the packaging machine after the decocting task of the medicine decocting machine is finished.

Preferably, after the liquid discharging of the decocting machine is finished, the pot cover is controlled to be opened, a P L C small master controller/master controller of the machine set sends a residue discharging instruction to the robot small master controller, the robot small master controller receives the instruction, the truss robot is controlled to grab decoction pieces after decoction and place the decoction pieces in raw material conveying line equipment, the decoction pieces are output through the raw material conveying line equipment, when a packaging task is executed by the packaging machine, the conveying line P L C small master controller is informed, the conveying line P L C small master controller controls finished product conveying line equipment to convey packaging boxes to corresponding packaging machine stations to load packaged medicine bags, the packaged medicine bags are conveyed to a shunting and stacking area, and subsequent processing is carried out.

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

Claims (10)

1. The medicine decocting system based on the truss robot is characterized by comprising a master control end, a medicine decocting and packaging system, a truss robot system and an optical fiber ring network, wherein the master control end, the medicine decocting and packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the master control end is communicated with the systems through the optical fiber ring network.

2. The decoction piece system based on the truss robot according to claim 1, wherein the truss robot system comprises a small master robot controller and a plurality of truss robots, the small master robot controller is connected with the optical fiber ring network and is used for controlling the truss robot to grab and place decoction pieces into corresponding decoction pieces or take out the decocted decoction pieces from the corresponding decoction pieces when ready information and/or station information sent by the master controller/decoction packaging system is received.

3. The decoction system based on the truss robot as claimed in claim 1 or 2, wherein the robot master control is connected with each truss robot through an industrial bus.

4. The decoction system based on the truss robot according to claim 3, wherein the truss robot comprises a guide rail and a gripping device capable of moving along the guide rail, the gripping device moves to a corresponding decoction machine along the guide rail after gripping decoction pieces according to decoction machine stations sent by the robot master control, and the decoction pieces are put into the decoction machine, or the gripping device moves to a set position along the guide rail after gripping the decoction pieces by the decoction machine stations sent by the robot master control;

preferably, the guide rail is located at the top of each medicine decocting machine and extends along the arrangement direction of each medicine decocting machine, and the gripping device is installed on the guide rail.

5. The decoction system based on the truss robot as claimed in claim 4, wherein the gripping device comprises a body moving along the guide rail and a gripping mechanism mounted on the body, the gripping mechanism is used for gripping decoction pieces, and the body is used for carrying the gripping mechanism to move to a corresponding decoction machine or the set position;

preferably, the grabbing mechanism comprises a telescopic part and a grabbing part arranged on the end part of the telescopic part, the telescopic part moves in a telescopic mode, and the position of the grabbing part is adjusted in the height direction.

6. A control method of a medicine decocting system based on a truss robot is disclosed, the medicine decocting system comprises a master control end, a medicine decocting and packaging system, the truss robot system and an optical fiber ring network, the master control end, the medicine decocting and packaging system and the truss robot system are respectively connected with the optical fiber ring network, and the control method comprises the following steps: the truss robot system receives ready information and/or station information sent by the main control end/decoction packaging system through the optical fiber ring network, and grabs the decoction pieces to the corresponding decoction machine or takes out the decocted decoction pieces from the decoction machine when receiving the ready information and/or station information.

7. The control method according to claim 6, wherein after a cover of a decocting machine of the decocting packaging system is opened, ready information and station signals are sent to the master control end and/or the truss robot system, and after the truss robot system receives the ready information and the station signals, the truss robot is controlled to grab decoction pieces to be decocted and put the decoction pieces into corresponding decocting machines;

preferably, the body of the truss robot carries the grabbing mechanism to move to the position where the decoction pieces are located, and after the decoction pieces are grabbed, the body of the truss robot moves to the corresponding decocting machine and puts the decoction pieces in the decocting machine.

8. The control method of claim 7, wherein the gripping mechanism comprises an expansion part and a gripping part arranged at the end of the expansion part, the expansion part extends out to enable the gripping part to contact and grip the decoction pieces, the expansion part retracts and moves to the top of the corresponding decocting machine, the gripping part releases the decoction pieces, and the decoction pieces are put into the decocting machine.

9. The control method according to any one of claims 6 to 8, wherein after the truss robot completes the task of putting, the robot master control sends a putting completion signal to the master control end/decocting packaging system through the optical fiber ring network, and after the decocting packaging system receives the putting completion signal, the decocting packaging system controls the decocting machine to close the pot cover to execute the decocting task.

10. The control method according to claim 9, wherein after the decocting machine finishes decocting and discharges liquid, the cover is controlled to open, the decocting packaging system sends ready information to the master control end and/or the robot master control, and the robot master control controls the truss robot to take out the decocted decoction pieces from the corresponding decocting machine after receiving the ready information.

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