技术领域Technical Field
本发明涉及中药煎煮技术领域，具体涉及一种中药饮片自动煎煮系统及方法。The invention relates to the technical field of Chinese medicine decoction, and in particular to an automatic decoction system and method for Chinese medicine slices.
背景技术Background Art
中医是中国的传统医学，它是中国人民在同疾病抗争上千年沉积下来的理论和经验的总结，不仅是中国人民的知识财富，也是世界医学界的瑰宝。但随着我国经济的发展及人口数量的增加，中医越来越难以跟上社会发展的需要。例如中药饮片的煎煮越来越多的采用代煎中心煎煮后把包装好的汤剂交付患者的方式。Traditional Chinese medicine is a traditional Chinese medicine. It is a summary of the theories and experiences accumulated by the Chinese people in their fight against diseases for thousands of years. It is not only the knowledge wealth of the Chinese people, but also a treasure of the world medical community. However, with the development of my country's economy and the increase in population, it is increasingly difficult for traditional Chinese medicine to keep up with the needs of social development. For example, the decoction of Chinese herbal medicine pieces is increasingly being delivered to patients after being decocted in a decoction center.
目前市场上的煎煮设备多为半自动化设备，可自动控制煎煮过程，但是对中药饮片投放到煎药锅内、煎煮工作完成后的药渣去除等步骤好需要由人工完成。半自动煎药机在煎煮完成后，煎药机锅腔内部余温偏高，人工取药渣容易接触锅体，操作过程中存在安全风险。At present, most of the decoction equipment on the market is semi-automatic equipment, which can automatically control the decoction process, but the steps of putting the Chinese medicine pieces into the decoction pot and removing the medicine residue after the decoction work are completed need to be completed manually. After the semi-automatic decoction machine is finished, the residual temperature inside the decoction machine pot is relatively high, and the manual removal of the medicine residue is easy to contact the pot body, which poses a safety risk during the operation.
目前市场上也有一些全自动的煎煮系统，相对半自动化的煎煮设备，可以减少烫伤误操作，且提高煎煮效率，例如专利CN108524269A公开的煎煮系统需要预先把待煎煮的饮片用无纺布包装袋预先包装(药桶倾倒的方式)，由机械手进行药袋入锅和药袋出锅的操作。但是存在系统动作非常复杂，并存在药袋破裂造成饮片遗撒的风险，导致容易出现煎煮系统的交叉污染问题，降低煎煮系统的药性安全。At present, there are some fully automatic decoction systems on the market, which can reduce scalding and misoperation compared to semi-automatic decoction equipment, and improve decoction efficiency. For example, the decoction system disclosed in patent CN108524269A requires the decoction pieces to be pre-packaged in non-woven packaging bags (in the form of pouring medicine barrels), and the manipulator performs the operation of putting the medicine bags into the pot and taking the medicine bags out of the pot. However, the system operation is very complicated, and there is a risk of spilling the decoction pieces due to the rupture of the medicine bag, which leads to the problem of cross contamination of the decoction system and reduces the safety of the medicine of the decoction system.
发明内容Summary of the invention
本发明的目的在于提供一种中药饮片自动煎煮系统及方法，以解决现有技术中存在药袋破裂造成饮片遗撒的风险，导致容易出现煎煮系统的交叉污染问题，降低煎煮系统的药性安全的技术问题。The purpose of the present invention is to provide a system and method for automatically decocting Chinese herbal medicines, so as to solve the technical problems in the prior art of risk of spillage of herbal medicines due to rupture of medicine bags, easy cross contamination of the decoction system, and reduced medicinal safety of the decoction system.
为解决上述技术问题，本发明具体提供下述技术方案：In order to solve the above technical problems, the present invention specifically provides the following technical solutions:
一种中药饮片自动煎煮系统，包括：An automatic decoction system for Chinese herbal medicine pieces, comprising:
输送系统，用于输送盛放未煎煮中药饮片的载药网桶、输送盛有煎煮后的中药饮片药渣的载药网桶以及输送煎煮后包装的药液；The conveying system is used to convey the net barrels containing undecocted Chinese herbal medicines, convey the net barrels containing the residues of decocted Chinese herbal medicines, and convey the packaged liquid medicine after decocting;
煎煮系统，设置在所述输送系统的两侧并设有多个煎煮点位，用于对盛有所述中药饮片的所述载药网桶按照煎煮参数进行自动化煎煮操作；A decoction system is arranged on both sides of the conveying system and is provided with a plurality of decoction points, and is used to automatically decoct the medicine-carrying net barrel containing the Chinese herbal medicine pieces according to decoction parameters;
自动投取药系统，平行设置在所述煎煮系统的上方，用于将盛有所述中药饮片的所述载药网桶分配至所述煎煮点位，并在煎煮操作完成后将所述载药网桶重新抓取至所述输送系统，且在所述载药网桶的抓取下料和取渣过程中实现防交叉污染；An automatic medicine feeding and taking system is arranged in parallel above the decoction system, and is used to distribute the medicine-carrying net barrel containing the Chinese herbal medicine pieces to the decoction point, and re-grab the medicine-carrying net barrel to the conveying system after the decoction operation is completed, and prevent cross contamination during the grabbing, unloading and slag removal process of the medicine-carrying net barrel;
包装系统，设置在所述煎煮系统的下方且与所述煎煮系统的煎煮点位一一对应设置，用于自动实现对煎煮出的药液的定量包装工序，且包装完成的定量药液经过所述包装输送带传输至外包装区打包；A packaging system is arranged below the decoction system and corresponds to the decoction points of the decoction system, and is used to automatically implement the quantitative packaging process of the decoction liquid, and the packaged quantitative liquid medicine is transported to the outer packaging area for packaging through the packaging conveyor belt;
总控制系统，分别与所述输送系统、煎煮系统、自动投取药系统和所述包装系统通讯连接，所述输送系统识别所述载药网桶内的中药饮片信息后，所述总控制系统确定分配的所述煎煮系统的煎煮点位和煎煮参数，所述总控制系统调控输送系统、煎煮系统、自动投取药系统和所述包装系统依次工作完成对所述中药饮片的煎煮工作。The general control system is respectively connected to the conveying system, the decoction system, the automatic drug dispensing system and the packaging system for communication. After the conveying system identifies the information of the Chinese herbal medicine pieces in the medicine-carrying net barrel, the general control system determines the decoction points and decoction parameters of the allocated decoction system. The general control system regulates the conveying system, the decoction system, the automatic drug dispensing system and the packaging system to work in sequence to complete the decoction of the Chinese herbal medicine pieces.
作为本发明的一种优选方案，所述总控制系统根据所述中药饮片的处方信息和所述煎煮系统的匹配信息后调控所述输送系统和所述自动投取药系统根据煎煮点位指令自动将所述载药网桶输送投放至所述煎煮系统的煮药点位内，且所述自动投取药系统在将所述载药网桶输送投放至所述煎煮系统的煮药点位内的过程中通过防交叉污染操作避免所述中药饮片洒落，所述煎煮系统根据所述总控制系统分配的当前中药饮片处方信息自动化设定煎煮操作参数；As a preferred solution of the present invention, the overall control system regulates the conveying system and the automatic drug dispensing system according to the prescription information of the Chinese herbal medicine pieces and the matching information of the decoction system, and automatically conveys the drug-carrying net barrel to the drug-boiling point of the decoction system according to the decoction point instruction, and the automatic drug dispensing system prevents the Chinese herbal medicine pieces from being spilled through cross-contamination prevention operations during the process of conveying the drug-carrying net barrel to the drug-boiling point of the decoction system, and the decoction system automatically sets the decoction operation parameters according to the current Chinese herbal medicine piece prescription information assigned by the overall control system;
所述总控制系统在所述煎煮系统完成煎煮操作后自动先调控所述自动投取药系统取出所述载药网桶，且所述自动投取药系统在将所述载药网桶输送投放至所述煎煮系统的煮药点位内的过程中通过防交叉污染操作避免所述中药饮片洒落，后调控所述包装系统将包装分袋的药液经转移至所述输送系统分类输送至所述外包装区的对应的打包位置以完成中药饮片处方的自动化煎煮操作。The general control system automatically controls the automatic medicine dispensing system to take out the medicine-carrying net barrel after the decoction system completes the decoction operation. The automatic medicine dispensing system prevents the Chinese herbal medicines from spilling through cross-contamination prevention operations during the process of transporting the medicine-carrying net barrel to the medicine-boiling point of the decoction system. The packaging system is then controlled to transfer the packaged medicine liquid to the conveying system for classification and transportation to the corresponding packaging position of the outer packaging area to complete the automated decoction operation of the Chinese herbal medicine prescription.
作为本发明的一种优选方案，所述自动投取药系统包括设置在所述煮药点位上方的投料行走轨道以及设置在所述投料行走轨道上左右移动的集成座，所述集成座上设有用于上下移动投料和取料的投料机械手和取渣机械手，且在所述集成座的底部设有用于防止所述中药饮片掉落交叉污染的防漏组件，其中，As a preferred solution of the present invention, the automatic medicine feeding and taking system comprises a feeding walking track arranged above the medicine boiling point and an integrated seat arranged on the feeding walking track and moving left and right, the integrated seat is provided with a feeding manipulator and a slag taking manipulator for moving up and down feeding and taking, and a leak-proof component for preventing the Chinese medicine pieces from falling and cross-contamination is provided at the bottom of the integrated seat, wherein,
所述投料机械手通过内撑方式抓取相应的所述载药网桶，所述投料行走轨道根据所述总控制系统发送的煎煮点位指令将所述集成座转移到相应的所述煎煮点位且所述投料机械手将载药网桶释放到对应的所述煎煮点位内，所述取渣机械手用于将煎煮完成后的所述载药网桶通过内撑方式从所述煎煮点位内取出，所述投料行走轨道将煎煮完成后的所述载药网桶转移到所述输送系统内集中收渣。The feeding robot grabs the corresponding medicine-carrying net barrel by means of internal support, and the feeding walking track transfers the integrated seat to the corresponding decoction point according to the decoction point instruction sent by the general control system, and the feeding robot releases the medicine-carrying net barrel to the corresponding decoction point. The slag removal robot is used to take the medicine-carrying net barrel after decoction from the decoction point by means of internal support, and the feeding walking track transfers the medicine-carrying net barrel after decoction to the conveying system for centralized slag collection.
作为本发明的一种优选方案，所述集成座包括通过悬吊机械臂安装在所述投料行走轨道的中空盒，所述中空盒在所述悬吊机械臂的作用实现竖向上下线性移动，所述投料机械手和取渣机械手分别竖向平行安装在所述悬吊机械臂末端；As a preferred solution of the present invention, the integrated seat comprises a hollow box installed on the feeding walking track through a suspension mechanical arm, the hollow box realizes vertical upward and downward linear movement under the action of the suspension mechanical arm, and the feeding manipulator and the slag removal manipulator are respectively installed vertically and parallelly at the end of the suspension mechanical arm;
所述投料机械手和所述取渣机械手分别均包括与所述悬吊机械臂连接的驱动气缸，以及与所述驱动气缸连接的抓药执行机构，所述投料行走轨道带动悬吊机械臂下移至最低高度后，所述驱动气缸带动所述抓药执行机构穿过所述中空盒夹取所述载药网桶；The feeding manipulator and the slag removal manipulator each include a driving cylinder connected to the suspension manipulator arm, and a medicine grabbing actuator connected to the driving cylinder. After the feeding walking track drives the suspension manipulator arm to move down to the lowest height, the driving cylinder drives the medicine grabbing actuator to pass through the hollow box to clamp the medicine-carrying net barrel.
所述抓药执行机构包括与所述驱动气缸的输出轴连接的承接架，以及与所述承接架的下端安装的双层中空板，所述承接架与所述双层中空板的交界位置设有将所述双层中空板面积均分的三爪气缸，且所述三爪气缸的两个气缸的夹角中心位置设有用于连接所述双层中空板的固定岛块，所述三爪气缸的外侧活动设有与所述三爪气缸的伸缩轴固定连接的梭形滑块，所述三爪气缸推动所述梭形滑块在所述双层中空板的夹缝中内外移动以夹持和释放所述载药网桶。The medicine grabbing actuator includes a receiving frame connected to the output shaft of the driving cylinder, and a double-layer hollow plate installed on the lower end of the receiving frame, a three-claw cylinder that divides the area of the double-layer hollow plate equally is provided at the junction of the receiving frame and the double-layer hollow plate, and a fixed island block for connecting the double-layer hollow plate is provided at the center position of the angle between the two cylinders of the three-claw cylinder, a shuttle-shaped slider fixedly connected to the telescopic shaft of the three-claw cylinder is movably provided on the outer side of the three-claw cylinder, and the three-claw cylinder pushes the shuttle-shaped slider to move in and out in the gap of the double-layer hollow plate to clamp and release the medicine-carrying net barrel.
作为本发明的一种优选方案，所述双层中空板上设有用于固定所述三爪气缸的安装底座，且所述安装底座和所述梭形滑块之间设有导向块，所述三爪气缸的伸缩轴穿过所述导向块与所述梭形滑块固定连接；As a preferred solution of the present invention, a mounting base for fixing the three-claw cylinder is provided on the double-layer hollow plate, and a guide block is provided between the mounting base and the shuttle-shaped slider, and the telescopic shaft of the three-claw cylinder passes through the guide block and is fixedly connected to the shuttle-shaped slider;
所述梭形滑块的两侧边分别贴合在两个所述固定岛块的侧边，所述梭形滑块通过所述导向块和所述固定岛块的限位作用以实现稳定线性伸缩工作。The two side edges of the shuttle-shaped slider are respectively attached to the side edges of the two fixed island blocks, and the shuttle-shaped slider realizes stable linear telescopic operation through the limiting effect of the guide block and the fixed island block.
作为本发明的一种优选方案，所述防漏组件设置在所述中空盒的下表面，所述防漏组件包括设置在所述中空盒的底面前后两边且相互平行的动力驱动轴和导向轴，所述动力驱动轴和所述导向轴之间安装有防漏托盘，且所述防漏托盘在所述动力驱动轴的带动下分别在所述投料机械手和所述取渣机械手的正下方左右线性移动。As a preferred solution of the present invention, the leakage-proof component is arranged on the lower surface of the hollow box, and the leakage-proof component includes a power drive shaft and a guide shaft which are arranged on the front and rear sides of the bottom of the hollow box and are parallel to each other. A leakage-proof tray is installed between the power drive shaft and the guide shaft, and the leakage-proof tray is driven by the power drive shaft to move linearly left and right directly below the feeding robot and the slag removal robot respectively.
作为本发明的一种优选方案，所述防漏托盘的面积与所述载药网桶的底面面积相同，且防漏托盘的面积小于所述中空盒的下表面的一半面积，所述防漏托盘在所述投料机械手通过内撑方式抓取所述载药网桶后从所述取渣机械手的正下方转移到所述投料机械手抓取的所述载药网桶正下方，且所述防漏托盘在所述取渣机械手通过内撑方式抓取所述载药网桶后从所述投料机械手的正下方转移到所述取渣机械手抓取的所述载药网桶正下方。As a preferred embodiment of the present invention, the area of the leak-proof tray is the same as the bottom area of the medicine-loaded net barrel, and the area of the leak-proof tray is smaller than half the area of the lower surface of the hollow box, and the leak-proof tray is transferred from directly below the feeding robot to directly below the medicine-loaded net barrel grasped by the slag removing robot after the feeding robot grasps the medicine-loaded net barrel by means of internal support, and the leak-proof tray is transferred from directly below the feeding robot to directly below the medicine-loaded net barrel grasped by the slag removing robot after the slag removing robot grasps the medicine-loaded net barrel by means of internal support.
作为本发明的一种优选方案，所述输送系统包括入药输送线、药渣输送线和包装输送线，所述入药输送线和药渣输送线的输送方向始终相反，且所述入药输送线和药渣输送线并列分布，或者所述入药输送线和药渣输送线上下层叠分布，所述包装系统包装分袋的药液经过所述包装输送线输送至外包装区；As a preferred embodiment of the present invention, the conveying system includes a medicine conveying line, a medicine residue conveying line and a packaging conveying line. The conveying directions of the medicine conveying line and the medicine residue conveying line are always opposite, and the medicine conveying line and the medicine residue conveying line are arranged in parallel, or the medicine conveying line and the medicine residue conveying line are arranged in layers up and down. The medicine liquid packaged in the packaging system is transported to the outer packaging area through the packaging conveying line.
所述入药输送线和药渣输送线正对所述煎煮系统的位置分别设有下料分支输送线和集渣分支输送线，所述入药输送线上的盛放中药饮片的所述载药网桶转移至所述下料分支输送线上，且所述投料机械手将所述下料分支输送线上盛有未煎煮中药饮片的所述载药网桶转移至对应的所述煎煮点位，完成煎煮的所述载药网桶经过所述取渣机械手转移至所述集渣分支输送线，所述集渣分支输送线上的所述载药网桶通过所述药渣输送线将药渣送至药渣存放区。The positions of the medicine conveying line and the medicine residue conveying line facing the decoction system are respectively provided with a unloading branch conveying line and a slag collecting branch conveying line. The medicine-carrying net barrel containing Chinese herbal medicines on the medicine conveying line is transferred to the unloading branch conveying line, and the feeding robot transfers the medicine-carrying net barrel containing uncooked Chinese herbal medicines on the unloading branch conveying line to the corresponding decoction point. The medicine-carrying net barrel that has completed decoction is transferred to the slag collecting branch conveying line by the slag removing robot, and the medicine-carrying net barrel on the slag collecting branch conveying line delivers the slag to the slag storage area via the slag conveying line.
作为本发明的一种优选方案，所述载药网桶内设有包含所述中药饮片信息的第一RFID芯片，所述投料机械手和取渣机械手内分别均设置有RFID识别组件，所述RFID识别组件识别所述载药网桶并根据所述总控制系统发送的煎煮点位指令识别分拣所述载药网桶；As a preferred solution of the present invention, a first RFID chip containing the information of the Chinese herbal medicine pieces is provided in the medicine-carrying net barrel, and an RFID identification component is provided in each of the feeding manipulator and the slag-taking manipulator, and the RFID identification component identifies the medicine-carrying net barrel and identifies and sorts the medicine-carrying net barrel according to the decoction point instruction sent by the general control system;
所述盛药筐内设有包含所述中药饮片信息的第二RFID芯片，所述包装输送线利用识别单元读取所述第二RFID芯片的信息与所述总控制系统发送的打包点位指令进行信息匹配，所述包装输送线将所述盛药筐输送到所述外包装区的指定的打包点位。A second RFID chip containing the information of the Chinese herbal medicines is provided in the medicine basket. The packaging conveyor line uses an identification unit to read the information of the second RFID chip and matches the information with the packaging point instructions sent by the general control system. The packaging conveyor line transports the medicine basket to the designated packaging point in the outer packaging area.
为解决上述技术问题，本发明还进一步提供下述技术方案：一种中药饮片自动煎煮系统的煎煮方法，包括以下步骤：In order to solve the above technical problems, the present invention further provides the following technical solutions: a decoction method of an automatic decoction system for Chinese herbal medicine slices, comprising the following steps:
步骤100、将配制调剂的中药饮片装入载药网桶内，总控制系统将当前的中药饮片的处方信息、煎煮点位和分袋打包点位与所述载药网桶内的芯片进行信息关联，并分别向输送系统和自动投取药系统发送煎煮输送指令、向煎煮系统发送所述中药饮片的处方信息，且向包装系统和包装输送带发送分袋打包指令；Step 100: The prepared and adjusted Chinese herbal pieces are loaded into the medicine-carrying net barrel, and the general control system associates the current prescription information, decoction points and bagging and packaging points of the Chinese herbal pieces with the chip in the medicine-carrying net barrel, and sends decoction and transportation instructions to the transportation system and the automatic drug dispensing system, sends the prescription information of the Chinese herbal pieces to the decoction system, and sends bagging and packaging instructions to the packaging system and the packaging conveyor belt;
步骤200、输送系统根据所述煎煮输送指令将所述载药网桶转移至对应的分支口，自动投料系统的投料机械手通过内撑方式分拣抓取匹配的所述载药网桶内壁并投放至对应煎煮点位的煎煮设备；Step 200: The conveying system transfers the medicine-carrying net barrel to the corresponding branch port according to the decoction conveying instruction, and the feeding manipulator of the automatic feeding system sorts and grabs the matching inner wall of the medicine-carrying net barrel through the inner support method and delivers it to the decoction equipment at the corresponding decoction point;
步骤300、所述煎煮设备按照所述总控制系统发送的所述中药饮片的处方信息确定煎煮操作参数对所述中药饮片进行煎煮工作；Step 300, the decoction device determines decoction operation parameters according to the prescription information of the Chinese herbal medicine pieces sent by the general control system to decoct the Chinese herbal medicine pieces;
步骤400、所述包装系统利用所述总控制系统发送的分袋打包指令将药液定量打包成袋，并将打包成袋的药袋放入对应的盛药框内，所述包装输送带识别所述盛药框后根据对应的分袋打包指令将所述盛药框输送到对应的包装点位；Step 400: The packaging system uses the bagging and packaging instructions sent by the general control system to quantitatively package the liquid medicine into bags, and puts the packaged medicine bags into corresponding medicine holding frames. After the packaging conveyor belt identifies the medicine holding frames, it transports the medicine holding frames to corresponding packaging locations according to the corresponding bagging and packaging instructions.
步骤500、自动投料系统的取渣机械手通过内撑方式抓取所述载药网桶投放至输送系统反向输送至药渣区集中收渣。Step 500: The slag-taking robot of the automatic feeding system grabs the drug-carrying net barrel through an internal support method and puts it into the conveying system, which conveys it in reverse to the drug slag area for centralized slag collection.
本发明与现有技术相比较具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明将载药网桶通过内撑方式转移的过程中，通过两种机械手完成投药和取药操作，从而可以有效的避免载药网桶受到交叉污染，且设置防漏组件配合机械手工作，以避免载药网桶出现漏药漏液的问题，进一步的减少煎煮系统的污染，提高安全性。In the process of transferring the medicine-carrying net barrel by the internal support method of the present invention, two types of manipulators are used to complete the drug administration and drug removal operations, thereby effectively preventing the medicine-carrying net barrel from being cross-contaminated. A leak-proof component is provided to cooperate with the manipulator to prevent the medicine-carrying net barrel from leaking medicine or liquid, further reducing the pollution of the decoction system and improving safety.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明的实施方式或现有技术中的技术方案，下面将对实施方式或现有技术描述中所需要使用的附图作简单地介绍。显而易见地，下面描述中的附图仅仅是示例性的，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图引伸获得其它的实施附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.
图1为本发明实施例提供的自动煎煮设备的俯视结构示意图；FIG1 is a schematic diagram of a top view of the structure of an automatic decoction device provided by an embodiment of the present invention;
图2为本发明实施例提供的自动煎煮设备的操作流程示意图；FIG2 is a schematic diagram of the operation flow of the automatic decoction device provided by an embodiment of the present invention;
图3为本发明实施例提供的自动煎煮系统的结构框图；FIG3 is a structural block diagram of an automatic decoction system provided by an embodiment of the present invention;
图4为本发明实施例提供的自动投取药操作的结构示意图；FIG4 is a schematic diagram of the structure of the automatic medication administration operation provided by an embodiment of the present invention;
图5为本发明实施例提供的集成座的结构示意图；FIG5 is a schematic diagram of the structure of an integrated seat provided in an embodiment of the present invention;
图6为本发明实施例提供的抓药执行机构的立体结构示意图；FIG6 is a schematic diagram of the three-dimensional structure of a medicine dispensing actuator provided in an embodiment of the present invention;
图7为本发明实施例提供的抓药执行机构的仰视结构示意图；FIG7 is a bottom view of the structure of the medicine picking actuator provided by an embodiment of the present invention;
图8为本发明实施例提供的防漏组件的结构示意图。FIG. 8 is a schematic diagram of the structure of a leak-proof component provided in an embodiment of the present invention.
图中的标号分别表示如下：The numbers in the figure represent the following:
1-输送系统；2-煎煮系统；3-自动投取药系统；4-包装系统；5-总控制系统；6-驱动气缸；7-抓药执行机构；1-transportation system; 2-decoction system; 3-automatic drug dispensing system; 4-packaging system; 5-general control system; 6-driving cylinder; 7-drug dispensing actuator;
31-投料行走轨道；32-集成座；33-投料机械手；34-取渣机械手；35-防漏组件；31-feeding walking track; 32-integrated seat; 33-feeding manipulator; 34-slag removal manipulator; 35-leakage prevention component;
321-中空盒；322-悬吊机械臂；321-hollow box; 322-suspension mechanical arm;
71-承接架；72-双层中空板；73-三爪气缸；74-固定岛块；75-梭形滑块；76-安装底座；77-导向块；71-support frame; 72-double-layer hollow plate; 73-three-claw cylinder; 74-fixed island block; 75-shuttle slider; 76-mounting base; 77-guide block;
351-动力驱动轴；352-导向轴；353-防漏托盘。351-power drive shaft; 352-guide shaft; 353-leakage-proof tray.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
如图1至图3所示，本发明提供了一种中药饮片自动煎煮系统，包括输送系统1、煎煮系统2、自动投取药系统3、包装系统4和总控制系统5。As shown in FIGS. 1 to 3 , the present invention provides an automatic decoction system for Chinese herbal medicine slices, comprising a conveying system 1 , a decoction system 2 , an automatic medicine dispensing system 3 , a packaging system 4 and a general control system 5 .
本实施方式通过自动投取药系统3将输送系统1上盛有未煎煮中药饮片的载药网桶通过内撑方式转移到煎煮系统2进行煎煮操作，待煎煮完成后，自动投取药系统3再将煎煮系统2内已经完成煎煮操作的载药网桶通过内撑方式转移到输送系统1并输送至集渣区。且本实施方式在将载药网桶通过内撑方式转移的过程中，通过两种机械手完成投药和取药操作，从而可以有效的避免载药网桶受到交叉污染。In this embodiment, the automatic drug dispensing and taking system 3 transfers the drug-carrying net barrel containing undecocted Chinese medicine pieces on the conveying system 1 to the decoction system 2 for decoction operation through the internal support method. After the decoction is completed, the automatic drug dispensing and taking system 3 transfers the drug-carrying net barrel that has completed the decoction operation in the decoction system 2 through the internal support method to the conveying system 1 and transports it to the slag collection area. In addition, in the process of transferring the drug-carrying net barrel through the internal support method, the drug dispensing and taking operations are completed by two manipulators, thereby effectively preventing the drug-carrying net barrel from being cross-contaminated.
具体的，输送系统1用于输送盛放未煎煮中药饮片的载药网桶、输送盛有煎煮后的中药饮片药渣的载药网桶以及输送煎煮后包装的药液。Specifically, the conveying system 1 is used to convey the net medicine barrels containing undecocted Chinese herbal medicines, convey the net medicine barrels containing the residues of decocted Chinese herbal medicines, and convey the packaged liquid medicine after decocting.
煎煮系统2设置在输送系统1的两侧并设有多个煎煮点位，用于对盛有中药饮片的载药网桶按照煎煮参数进行自动化煎煮操作。The decoction system 2 is arranged on both sides of the conveying system 1 and is provided with a plurality of decoction points, which are used to automatically decoct the medicine-carrying net barrel containing Chinese herbal medicine pieces according to decoction parameters.
自动投取药系统3平行设置在煎煮系统2的上方，用于将盛有中药饮片的载药网桶分配至煎煮点位，并在煎煮操作完成后将载药网桶重新抓取至输送系统1，且在载药网桶的抓取下料和取渣过程中实现防交叉污染。The automatic medicine feeding and dispensing system 3 is arranged in parallel above the decoction system 2, and is used to distribute the medicine-carrying net barrels containing Chinese herbal medicines to the decoction points, and re-grab the medicine-carrying net barrels to the conveying system 1 after the decoction operation is completed, and prevent cross contamination during the process of grabbing, unloading and removing residues from the medicine-carrying net barrels.
包装系统4设置在煎煮系统2的下方且与煎煮系统2的煎煮点位一一对应设置，用于自动实现对煎煮出的药液的定量包装工序，且包装完成的定量药液经过包装输送带传输至外包装区打包。The packaging system 4 is arranged below the decoction system 2 and corresponds to the decoction points of the decoction system 2 one by one, and is used to automatically realize the quantitative packaging process of the decocted medicinal liquid, and the packaged quantitative medicinal liquid is transmitted to the outer packaging area for packaging through the packaging conveyor belt.
总控制系统5分别与输送系统1、煎煮系统2、自动投取药系统3和包装系统4通讯连接，输送系统1识别载药网桶内的中药饮片信息后，总控制系统5确定分配的煎煮系统2的煎煮点位和煎煮参数，总控制系统5调控输送系统1、煎煮系统2、自动投取药系统3和包装系统4依次工作完成对中药饮片的煎煮工作。The overall control system 5 is respectively connected to the conveying system 1, the decoction system 2, the automatic drug dispensing system 3 and the packaging system 4 for communication. After the conveying system 1 identifies the information of the Chinese herbal medicines in the medicine-carrying net barrel, the overall control system 5 determines the decoction point and decoction parameters of the assigned decoction system 2. The overall control system 5 regulates the conveying system 1, the decoction system 2, the automatic drug dispensing system 3 and the packaging system 4 to work in sequence to complete the decoction of the Chinese herbal medicines.
总控制系统5根据中药饮片的处方信息和煎煮系统2的匹配信息后调控输送系统1和自动投取药系统3根据煎煮点位指令自动将载药网桶输送投放至煎煮系统2的煮药点位内，且自动投取药系统3在将载药网桶输送投放至煎煮系统2的煮药点位内的过程中通过防交叉污染操作避免中药饮片洒落，煎煮系统2根据总控制系统5分配的当前中药饮片处方信息自动化设定煎煮操作参数。The general control system 5 regulates the conveying system 1 and the automatic drug dispensing system 3 according to the prescription information of the Chinese herbal medicines and the matching information of the decoction system 2, and automatically conveys the medicine-carrying net barrel to the medicine-boiling point of the decoction system 2 according to the decoction point instruction. The automatic drug dispensing system 3 avoids the spillage of the Chinese herbal medicines through cross-contamination prevention operations during the process of conveying the medicine-carrying net barrel to the medicine-boiling point of the decoction system 2. The decoction system 2 automatically sets the decoction operation parameters according to the current Chinese herbal medicine prescription information assigned by the general control system 5.
总控制系统5在煎煮系统2完成煎煮操作后自动先调控自动投取药系统3取出载药网桶，且自动投取药系统3在将载药网桶输送投放至煎煮系统2的煮药点位内的过程中通过防交叉污染操作避免中药饮片洒落，后调控包装系统4将包装分袋的药液经转移至输送系统1分类输送至外包装区的对应的打包位置以完成中药饮片处方的自动化煎煮操作。After the decoction system 2 completes the decoction operation, the general control system 5 automatically controls the automatic medicine feeding and taking system 3 to take out the medicine-carrying net barrel, and the automatic medicine feeding and taking system 3 prevents the Chinese medicine slices from being spilled through cross-contamination prevention operations during the process of transporting the medicine-carrying net barrel to the decoction point of the decoction system 2. Then, the packaging system 4 is controlled to transfer the packaged and bagged medicine liquid to the conveying system 1 for classification and transportation to the corresponding packaging position in the outer packaging area to complete the automated decoction operation of the Chinese medicine slice prescription.
具体的，输送系统1包括入药输送线、药渣输送线和包装输送线，入药输送线和药渣输送线的输送方向始终相反，且入药输送线和药渣输送线并列分布，或者入药输送线和药渣输送线上下层叠分布，包装系统4包装分袋的药液经过包装输送线输送至外包装区；Specifically, the conveying system 1 includes a medicine conveying line, a medicine residue conveying line and a packaging conveying line. The conveying directions of the medicine conveying line and the medicine residue conveying line are always opposite, and the medicine conveying line and the medicine residue conveying line are arranged in parallel, or the medicine conveying line and the medicine residue conveying line are arranged in layers up and down. The medicine liquid packaged in the packaging system 4 is transported to the outer packaging area through the packaging conveying line;
入药输送线和药渣输送线正对煎煮系统2的位置分别设有下料分支输送线和集渣分支输送线，入药输送线上的盛放中药饮片的载药网桶转移至下料分支输送线上，且投料机械手33将下料分支输送线上盛有未煎煮中药饮片的载药网桶转移至对应的煎煮点位，完成煎煮的载药网桶经过取渣机械手34转移至集渣分支输送线，集渣分支输送线上的载药网桶通过药渣输送线将药渣送至药渣存放区。A feeding branch conveyor line and a slag collecting branch conveyor line are respectively arranged opposite the decoction system 2, the medicine conveyor line and the medicine residue conveyor line are respectively opposite the decoction system 2, the medicine net barrel containing Chinese herbal medicines on the medicine conveyor line are transferred to the feeding branch conveyor line, and the feeding robot 33 transfers the medicine net barrel containing uncooked Chinese herbal medicines on the feeding branch conveyor line to the corresponding decoction point, the medicine net barrel that has completed decoction is transferred to the slag collecting branch conveyor line by the slag removing robot 34, and the medicine net barrel on the slag collecting branch conveyor line delivers the slag to the slag storage area via the slag conveyor line.
载药网桶内设有包含中药饮片信息的第一RFID芯片，投料机械手33和取渣机械手34内分别均设置有RFID识别组件，RFID识别组件识别载药网桶并根据总控制系统5发送的煎煮点位指令识别分拣载药网桶；A first RFID chip containing information of Chinese herbal medicine pieces is arranged in the medicine-carrying net barrel, and an RFID identification component is arranged in each of the feeding manipulator 33 and the slag-taking manipulator 34. The RFID identification component identifies the medicine-carrying net barrel and identifies and sorts the medicine-carrying net barrel according to the decoction point instruction sent by the general control system 5;
盛药筐内设有包含中药饮片信息的第二RFID芯片，包装输送线利用识别单元读取第二RFID芯片的信息与总控制系统5发送的打包点位指令进行信息匹配，包装输送线将盛药筐输送到外包装区的指定的打包点位。A second RFID chip containing information of Chinese herbal medicines is provided in the medicine basket. The packaging conveyor line uses the identification unit to read the information of the second RFID chip and matches the information with the packaging point instruction sent by the general control system 5. The packaging conveyor line transports the medicine basket to the designated packaging point in the outer packaging area.
如图4和图5所示，自动投取药系统3包括设置在煮药点位上方的投料行走轨道31以及设置在投料行走轨道31上左右移动的集成座32，集成座32上设有用于上下移动投料和取料的投料机械手33和取渣机械手34，且在集成座32的底部设有用于防止中药饮片掉落交叉污染的防漏组件35，其中，投料机械手33通过内撑方式抓取相应的载药网桶，投料行走轨道31根据总控制系统5发送的煎煮点位指令将集成座32转移到相应的煎煮点位且投料机械手33将载药网桶释放到对应的煎煮点位内，取渣机械手34用于将煎煮完成后的载药网桶通过内撑方式从煎煮点位内取出，投料行走轨道31将煎煮完成后的载药网桶转移到输送系统1内集中收渣。As shown in Figures 4 and 5, the automatic drug feeding and taking system 3 includes a feeding walking track 31 arranged above the drug boiling point and an integrated seat 32 arranged on the feeding walking track 31 and moving left and right. The integrated seat 32 is provided with a feeding robot 33 and a slag removal robot 34 for moving up and down for feeding and taking materials, and a leak-proof component 35 for preventing the Chinese herbal medicines from falling and cross-contamination is provided at the bottom of the integrated seat 32. Among them, the feeding robot 33 grabs the corresponding drug-carrying net barrel by an internal support method, and the feeding walking track 31 transfers the integrated seat 32 to the corresponding decoction point according to the decoction point instruction sent by the general control system 5, and the feeding robot 33 releases the drug-carrying net barrel into the corresponding decoction point. The slag removal robot 34 is used to take out the drug-carrying net barrel after decoction from the decoction point by an internal support method, and the feeding walking track 31 transfers the drug-carrying net barrel after decoction to the conveying system 1 for centralized slag collection.
集成座32包括通过悬吊机械臂322安装在投料行走轨道31的中空盒321，中空盒321在悬吊机械臂322的作用实现竖向上下线性移动，投料机械手33和取渣机械手34分别竖向平行安装在悬吊机械臂322末端，投料行走轨道31上安装在用于在投料行走轨道31限定移动的底座，且底座上设有用于驱动集成座32沿着悬吊机械臂322移动的动力组，动力组带动中空盒321下移至最低处后，投料机械手33和取渣机械手34继续完成投料和取渣操作。The integrated seat 32 includes a hollow box 321 installed on the feeding walking track 31 through a suspension robot arm 322. The hollow box 321 realizes vertical upward and downward linear movement under the action of the suspension robot arm 322. The feeding robot 33 and the slag removal robot 34 are respectively installed vertically and parallel at the ends of the suspension robot arm 322. A base for limiting movement on the feeding walking track 31 is installed on the feeding walking track 31, and a power group for driving the integrated seat 32 to move along the suspension robot arm 322 is provided on the base. After the power group drives the hollow box 321 to move down to the lowest point, the feeding robot 33 and the slag removal robot 34 continue to complete the feeding and slag removal operations.
投料机械手33和取渣机械手34分别均包括与悬吊机械臂322连接的驱动气缸6，以及与驱动气缸6连接的抓药执行机构7，投料行走轨道31带动悬吊机械臂322下移至最低高度后，驱动气缸6带动抓药执行机构7穿过中空盒321夹取载药网桶。The feeding robot 33 and the slag removing robot 34 respectively include a driving cylinder 6 connected to the suspension robot arm 322, and a medicine grabbing actuator 7 connected to the driving cylinder 6. After the feeding walking track 31 drives the suspension robot arm 322 to move down to the lowest height, the driving cylinder 6 drives the medicine grabbing actuator 7 to pass through the hollow box 321 to clamp the medicine-carrying net barrel.
如图6和图7所示，抓药执行机构7包括与驱动气缸6的输出轴连接的承接架71，以及与承接架71的下端安装的双层中空板72，承接架71与双层中空板72的交界位置设有将双层中空板72面积均分的三爪气缸73，且三爪气缸73的两个气缸的夹角中心位置设有用于连接双层中空板72的固定岛块74，三爪气缸73的外侧活动设有与三爪气缸73的伸缩轴固定连接的梭形滑块75，三爪气缸73推动梭形滑块75在双层中空板72的夹缝中内外移动以夹持和释放载药网桶。As shown in Figures 6 and 7, the medicine grabbing actuator 7 includes a receiving frame 71 connected to the output shaft of the driving cylinder 6, and a double-layer hollow plate 72 installed at the lower end of the receiving frame 71, and a three-claw cylinder 73 is provided at the junction of the receiving frame 71 and the double-layer hollow plate 72 to evenly divide the area of the double-layer hollow plate 72, and a fixed island block 74 for connecting the double-layer hollow plate 72 is provided at the center position of the angle between the two cylinders of the three-claw cylinder 73, and a shuttle slider 75 fixedly connected to the telescopic shaft of the three-claw cylinder 73 is movably provided on the outer side of the three-claw cylinder 73, and the three-claw cylinder 73 pushes the shuttle slider 75 to move in and out in the gap of the double-layer hollow plate 72 to clamp and release the medicine-carrying net barrel.
双层中空板72上设有用于固定三爪气缸73的安装底座76，且安装底座76和梭形滑块75之间设有导向块77，三爪气缸73的伸缩轴穿过导向块77与梭形滑块75固定连接，梭形滑块75的两侧边分别贴合在两个固定岛块74的侧边，梭形滑块75通过导向块77和固定岛块74的限位作用以实现稳定线性伸缩工作。A mounting base 76 for fixing the three-claw cylinder 73 is provided on the double-layer hollow plate 72, and a guide block 77 is provided between the mounting base 76 and the shuttle-shaped slider 75. The telescopic axis of the three-claw cylinder 73 passes through the guide block 77 and is fixedly connected to the shuttle-shaped slider 75. The two side edges of the shuttle-shaped slider 75 are respectively attached to the side edges of the two fixed island blocks 74. The shuttle-shaped slider 75 realizes stable linear telescopic operation through the limiting action of the guide block 77 and the fixed island block 74.
当三爪气缸73推动梭形滑块75向外伸出时，梭形滑块75抵住载药网桶的内壁，从而夹持住载药网桶并将载药网桶从输送带沿着投料行走轨道31转移到煎煮系统2，或者将载药网桶从煎煮系统2沿着投料行走轨道31转移到输送带。当转移完成后，三爪气缸73收缩将梭形滑块75向内回收，以释放载药网桶完成转移操作。When the three-claw cylinder 73 pushes the shuttle slider 75 outward, the shuttle slider 75 abuts against the inner wall of the medicine-carrying net barrel, thereby clamping the medicine-carrying net barrel and transferring the medicine-carrying net barrel from the conveyor belt along the feeding walking track 31 to the decoction system 2, or transferring the medicine-carrying net barrel from the decoction system 2 along the feeding walking track 31 to the conveyor belt. When the transfer is completed, the three-claw cylinder 73 contracts and retracts the shuttle slider 75 inward to release the medicine-carrying net barrel to complete the transfer operation.
如图8所示，防漏组件35设置在中空盒321的下表面，防漏组件35包括设置在中空盒321的底面前后两边且相互平行的动力驱动轴351和导向轴352，动力驱动轴351和导向轴352之间安装有防漏托盘353，且防漏托盘353在动力驱动轴351的带动下分别在投料机械手33和取渣机械手34的正下方左右线性移动。As shown in Figure 8, the leak-proof component 35 is arranged on the lower surface of the hollow box 321. The leak-proof component 35 includes a power drive shaft 351 and a guide shaft 352 which are arranged on the front and rear sides of the bottom of the hollow box 321 and are parallel to each other. A leak-proof tray 353 is installed between the power drive shaft 351 and the guide shaft 352, and the leak-proof tray 353 is driven by the power drive shaft 351 to move linearly left and right directly below the feeding robot 33 and the slag removal robot 34.
防漏托盘353的面积与载药网桶的底面面积相同，且防漏托盘353的面积小于中空盒321的下表面的一半面积，防漏托盘353在投料机械手33的三爪气缸73通过内撑方式抓取载药网桶后从取渣机械手34的正下方转移到投料机械手33抓取的载药网桶正下方，且防漏托盘353在取渣机械手34的三爪气缸73通过内撑方式抓取载药网桶后从投料机械手33的正下方转移到取渣机械手34抓取的载药网桶正下方。The area of the leak-proof tray 353 is the same as the bottom area of the medicine-carrying net barrel, and the area of the leak-proof tray 353 is smaller than half the area of the lower surface of the hollow box 321. After the three-claw cylinder 73 of the feeding robot 33 grabs the medicine-carrying net barrel by means of internal support, the leak-proof tray 353 is transferred from directly below the feeding robot 33 to directly below the medicine-carrying net barrel grabbed by the slag removing robot 34. After the three-claw cylinder 73 of the slag removing robot 34 grabs the medicine-carrying net barrel by means of internal support, the leak-proof tray 353 is transferred from directly below the feeding robot 33 to directly below the medicine-carrying net barrel grabbed by the slag removing robot 34.
本实施方式不仅仅利用投料机械手33和取渣机械手34区分投料煮药操作和取渣回收操作，同时为了避免中药残液在转移过程中遗漏，本实施方式还利用防漏组件35配合投料操作和取渣操作，进一步实现防止交叉污染的问题。This embodiment not only utilizes the feeding robot 33 and the slag removal robot 34 to distinguish between the feeding and medicine boiling operations and the slag removal and recovery operations, but also utilizes the leak-proof component 35 to cooperate with the feeding operation and the slag removal operation to further prevent the problem of cross contamination in order to avoid leakage of the residual liquid of traditional Chinese medicine during the transfer process.
另外，本发明还提供了一种中药饮片自动煎煮系统的煎煮方法，包括以下步骤：In addition, the present invention also provides a decoction method of the automatic decoction system for Chinese herbal medicine slices, comprising the following steps:
步骤100、将配制调剂的中药饮片装入载药网桶内，总控制系统将当前的中药饮片的处方信息、煎煮点位和分袋打包点位与所述载药网桶内的芯片进行信息关联，并分别向输送系统和自动投取药系统发送煎煮输送指令、向煎煮系统发送所述中药饮片的处方信息，且向包装系统和包装输送带发送分袋打包指令；Step 100: The prepared and adjusted Chinese herbal pieces are loaded into the medicine-carrying net barrel, and the general control system associates the current prescription information, decoction points and bagging and packaging points of the Chinese herbal pieces with the chip in the medicine-carrying net barrel, and sends decoction and transportation instructions to the transportation system and the automatic drug dispensing system, sends the prescription information of the Chinese herbal pieces to the decoction system, and sends bagging and packaging instructions to the packaging system and the packaging conveyor belt;
步骤200、输送系统根据所述煎煮输送指令将所述载药网桶转移至对应的分支口，自动投料系统的投料机械手通过内撑方式分拣抓取匹配的所述载药网桶内壁并投放至对应煎煮点位的煎煮设备；Step 200: The conveying system transfers the medicine-carrying net barrel to the corresponding branch port according to the decoction conveying instruction, and the feeding manipulator of the automatic feeding system sorts and grabs the matching inner wall of the medicine-carrying net barrel through the inner support method and delivers it to the decoction equipment at the corresponding decoction point;
步骤300、所述煎煮设备按照所述总控制系统发送的所述中药饮片的处方信息确定煎煮操作参数对所述中药饮片进行煎煮工作；Step 300, the decoction device determines decoction operation parameters according to the prescription information of the Chinese herbal medicine pieces sent by the general control system to decoct the Chinese herbal medicine pieces;
步骤400、所述包装系统利用所述总控制系统发送的分袋打包指令将药液定量打包成袋，并将打包成袋的药袋放入对应的盛药框内，所述包装输送带识别所述盛药框后根据对应的分袋打包指令将所述盛药框输送到对应的包装点位；Step 400: The packaging system uses the bagging and packaging instructions sent by the general control system to quantitatively package the liquid medicine into bags, and puts the packaged medicine bags into corresponding medicine holding frames. After the packaging conveyor belt identifies the medicine holding frames, it transports the medicine holding frames to corresponding packaging locations according to the corresponding bagging and packaging instructions.
步骤500、自动投料系统的取渣机械手通过内撑方式抓取所述载药网桶投放至输送系统反向输送至药渣区集中收渣。Step 500: The slag-taking robot of the automatic feeding system grabs the drug-carrying net barrel through an internal support method and puts it into the conveying system, which conveys it in reverse to the drug slag area for centralized slag collection.
根据上述，本发明提供了一种不需要预先包装饮片，自动投放中药饮片进入煎药机，自动煎煮、自动包装、自动取药渣的煎煮系统和一种煎药方法，机械手优选采用由内向外撑的方式抓取网桶，结构稳定可靠，对煎煮设备外部结构要求低，且机械转移操作过程中可以防止药渣药液滴落，无需包袋煎煮，因此无破袋风险和无交叉污染的问题。According to the above, the present invention provides a decoction system and a decoction method which do not require pre-packaging of decoction pieces, automatically put Chinese herbal medicine pieces into a decoction machine, automatically decoct, automatically package, and automatically take out the medicine residue. The manipulator preferably adopts a method of supporting from the inside to the outside to grab the net barrel. The structure is stable and reliable, and the requirements for the external structure of the decoction equipment are low. The dripping of medicine residues and liquid can be prevented during the mechanical transfer operation. There is no need for bagging and decocting, so there is no risk of bag breakage and no cross-contamination problems.
以上实施例仅为本申请的示例性实施例，不用于限制本申请，本申请的保护范围由权利要求书限定。本领域技术人员可以在本申请的实质和保护范围内，对本申请做出各种修改或等同替换，这种修改或等同替换也应视为落在本申请的保护范围内。The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110156008.7ACN112807226B (en) | 2021-02-04 | 2021-02-04 | Automatic decoction system and method for Chinese herbal medicine slices |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110156008.7ACN112807226B (en) | 2021-02-04 | 2021-02-04 | Automatic decoction system and method for Chinese herbal medicine slices |
| Publication Number | Publication Date |
|---|---|
| CN112807226A CN112807226A (en) | 2021-05-18 |
| CN112807226Btrue CN112807226B (en) | 2024-09-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110156008.7AActiveCN112807226B (en) | 2021-02-04 | 2021-02-04 | Automatic decoction system and method for Chinese herbal medicine slices |
| Country | Link |
|---|---|
| CN (1) | CN112807226B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113397977A (en)* | 2021-07-07 | 2021-09-17 | 南通超科机器人有限公司 | Medicine decocting pot |
| CN114955128B (en)* | 2021-07-16 | 2024-05-03 | 上海重明鸟软件有限公司 | Decoction and filling system for traditional Chinese medicine decoction pieces and use method |
| CN113813181B (en)* | 2021-07-27 | 2024-06-14 | 上海观道生物科技有限公司 | Traditional Chinese medicine decocting machine, decocting and mixing system and module |
| CN113509387B (en)* | 2021-09-10 | 2021-12-07 | 江西中医药大学 | Decision method of technological parameters of traditional Chinese medicine solid preparation, preparation method and system |
| CN117800014B (en)* | 2024-02-27 | 2024-04-30 | 苏州金艾特科技有限公司 | Medicament delivery device, medicament distribution system and working method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208732469U (en)* | 2018-08-16 | 2019-04-12 | 东莞市丰卓自动化科技有限公司 | A kind of travelling overhead crane apparatus with reversed catching robot |
| CN110386274A (en)* | 2019-06-26 | 2019-10-29 | 康美药业股份有限公司 | A kind of intelligent Chinese Traditional Medicine is boiled medicine system |
| CN215274561U (en)* | 2021-02-04 | 2021-12-24 | 北京和利康源医疗科技有限公司 | An automatic decoction system for traditional Chinese medicine pieces |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2826547B2 (en)* | 1989-05-25 | 1998-11-18 | 高園産業株式会社 | Plister package removal device |
| JP4121190B2 (en)* | 1998-07-15 | 2008-07-23 | 株式会社トーショー | Dispensing system |
| WO2006069361A2 (en)* | 2004-12-22 | 2006-06-29 | Intelligent Hospital Systems Ltd. | Automated pharmacy admixture system (apas) |
| CN203696346U (en)* | 2013-12-10 | 2014-07-09 | 宁波铭匠扎啤设备有限公司 | Welding device of beer barrel |
| CN107288076A (en)* | 2017-08-10 | 2017-10-24 | 丁建丽 | Dedicated modified plastics Anti-collision barrel places the machine that adds water at a kind of slip-road |
| CN207771372U (en)* | 2018-01-23 | 2018-08-28 | 西安隆源电器有限公司 | A kind of sleeping carriage drum positioning fixture tooling |
| CN111084720A (en)* | 2018-10-24 | 2020-05-01 | 北京东华原医疗设备有限责任公司 | Automatic medicine decocting system and control method thereof |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208732469U (en)* | 2018-08-16 | 2019-04-12 | 东莞市丰卓自动化科技有限公司 | A kind of travelling overhead crane apparatus with reversed catching robot |
| CN110386274A (en)* | 2019-06-26 | 2019-10-29 | 康美药业股份有限公司 | A kind of intelligent Chinese Traditional Medicine is boiled medicine system |
| CN215274561U (en)* | 2021-02-04 | 2021-12-24 | 北京和利康源医疗科技有限公司 | An automatic decoction system for traditional Chinese medicine pieces |
| Publication number | Publication date |
|---|---|
| CN112807226A (en) | 2021-05-18 |
| Publication | Publication Date | Title |
|---|---|---|
| CN112807226B (en) | Automatic decoction system and method for Chinese herbal medicine slices | |
| CN110680653B (en) | Desktop dispensing robot and dispensing method thereof | |
| CN105058049B (en) | A kind of transfusion device upper end line automatic assembling | |
| CN111658528B (en) | Automatic decoction packaging system | |
| CN110386272B (en) | Intelligent decoction system and method for decocting traditional Chinese medicine first and then decocting | |
| CN112368211B (en) | Device for removing pharmaceutical containers from respective support elements consisting of basin and honeycomb | |
| US11078018B2 (en) | Automatic storage and distribution system, and housing unit and picking unit for products packaged in unit doses | |
| CN215274561U (en) | An automatic decoction system for traditional Chinese medicine pieces | |
| CN108969359A (en) | A kind of Full-automatic medicine dispenser device people and its working method | |
| CN207374730U (en) | A kind of automatic material arranging machine | |
| CN109431807A (en) | A kind of prepared slices of Chinese crude drugs decoction system | |
| CN113219920A (en) | Intelligent medicine dispensing, feeding, supplementing and decocting system for traditional Chinese medicine decoction piece prescription | |
| CN207127894U (en) | One kind takes dispensation apparatus | |
| CN209834999U (en) | Intravenous medicine configuration center | |
| CN112972256B (en) | Intelligent decoction system for Chinese herbal medicines | |
| CN215576265U (en) | Intelligent medicine dispensing, feeding, supplementing and decocting system for traditional Chinese medicine decoction piece prescription | |
| CN209553231U (en) | Intelligent medicine delivering device of medicine delivering vehicle | |
| CN209611756U (en) | A kind of full-automatic dispensing equipment | |
| CN112298681A (en) | A mobile test tube supply and packaging device for throat swab collection | |
| CN214609924U (en) | Automatic production system for decocting traditional Chinese medicine | |
| CN108639436B (en) | Automatic medicine suction and push-out mechanism of small-package traditional Chinese medicine cabinet | |
| CN110481878A (en) | A kind of prepared slices of Chinese crude drugs auto-scheduling system | |
| CN213705961U (en) | A mobile test tube supply and packaging device for throat swab collection | |
| CN211619276U (en) | Intelligent drug delivery vehicle storage tray device | |
| CN214388229U (en) | XiLin bottle dispensing device |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |