Powder medicine weighing method and weighing device

Abstract

The present invention discloses a powder medicine weighing method and weighing equipment. The method includes: providing a medicine cup and a displacement component, wherein the displacement component drives the medicine cup in and out of an explosion-proof cover; providing a medicine weighing mechanism, a displacement platform, and a medicine replenishing mechanism located within the explosion-proof cover, wherein the displacement platform drives the medicine weighing mechanism to automatically transfer to the bottom of the medicine replenishing mechanism for replenishing medicine; after replenishing medicine, the displacement platform is driven to drive the medicine weighing mechanism to automatically transfer on the platform to weigh the medicine cup; when the number of weighing times of the medicine weighing mechanism reaches a preset number, medicine replenishment is performed, and the medicine weighing process is repeated. The equipment includes an explosion-proof cover, a lifting door, a medicine weighing mechanism, and a tray mechanism 110. The displacement component drives the medicine cup in and out of the lifting door, and the medicine weighing mechanism is displaced to the top of the medicine cup for weighing medicine. The present invention arranges the medicine weighing mechanism in a sealed space by providing an explosion-proof cover on the frame that is sealed with the cover, so that the medicine weighing process is completed in the sealed space, forming a human-machine isolation during the weighing process.

Description

Technical Field

[0001] The present invention relates to the technical field of weighing, and in particular to a powder medicine weighing method and weighing equipment. Background Art

[0002] The level of weighing technology is an important indicator of a country's productivity level, an important means to ensure product consistency, and a bottleneck restricting production automation. Therefore, it is particularly necessary to improve weighing technology.

[0003] Currently, pyrotechnic powders are mostly weighed using a constant volume weighing method. This method does not isolate the operator from the machine. Due to the risk of ignition or explosion during the weighing process, the consequences of an accident are disastrous. Furthermore, after weighing, the weighing equipment must be transported to the storage area for replenishment. This process is interrupted, the transport is cumbersome, and the repetitive operation can easily lead to fatigue, potentially leading to safety accidents. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing powder medicine weighing process has significant safety risks. In addition, the weighing process is intermittent, the transportation is cumbersome, and the repeated operation of personnel easily fatigues and poses safety risks. The purpose is to provide a powder medicine weighing method and weighing equipment to solve the above problems.

[0005] The present invention is achieved through the following technical solutions:

[0006] A first object of the present invention is to provide a powder medicine weighing method, comprising:

[0007] Provide medicine cup and displacement assembly, the displacement assembly drives the medicine cup in and out of the explosion-proof cover;

[0008] Provide a medicine weighing mechanism, a displacement platform, and a medicine replenishing mechanism located in the explosion-proof cover. The displacement platform drives the medicine weighing mechanism to automatically move to the bottom of the medicine replenishing mechanism for medicine replenishment;

[0009] After the medicine filling is completed, the displacement platform is driven to drive the medicine weighing mechanism to automatically transfer on the displacement platform to weigh the medicine cup;

[0010] When the weighing times of the medicine weighing mechanism reach the preset times, the medicine is replenished and the weighing process is repeated.

[0011] A second object of the present invention is to provide a powder medicine weighing device, comprising a frame and further comprising:

[0012] An explosion-proof cover is installed on the frame and forms a sealing structure with the workbench of the frame, and a lifting door is provided on the explosion-proof cover;

[0013] A charge weighing mechanism is located in the explosion-proof cover and is driven by the displacement platform to move in the explosion-proof cover;

[0014] A tray mechanism is mounted on the workbench of the frame and is located below the medicine weighing mechanism and the displacement platform, wherein the tray mechanism includes a displacement assembly on which a plurality of medicine cups are provided;

[0015] The displacement component drives the medicine cup to enter and exit the lifting door, and the medicine weighing mechanism is displaced to the top of the medicine cup to weigh the medicine.

[0016] In an optional embodiment, a medicine replenishing mechanism is further included, which is located above the medicine weighing mechanism, and the medicine weighing mechanism is moved to the bottom of the medicine replenishing mechanism for replenishing materials.

[0017] In an optional embodiment, the displacement assembly includes a pull rod cylinder and a guide rail, the pull rod cylinder is provided with a movable rod, the guide rail is provided with a slider, the tray mechanism further includes a bracket, the pull rod cylinder and the guide rail are both mounted on a workbench of the frame, the bracket is fixedly connected to the slider of the guide rail, one end of the movable rod is fixedly connected to the bracket, forming a structure in which the movement of the movable rod drives the bracket to move along the guide rail, and the medicine cup is located on the bracket;

[0018] Two guide rails are provided, and the pull rod cylinder is located between the two guide rails.

[0019] In an optional embodiment, the explosion-proof cover is further provided with a lifting cylinder, and the lifting cylinder is connected to the lifting door; the explosion-proof cover is further provided with an explosion-proof steel plate, and the explosion-proof steel plate is provided on one side of the explosion-proof cover;

[0020] The explosion-proof cover is also provided with a manual door, a dosing funnel, an observation window and an exhaust hood. The manual door is located on one side of the explosion-proof cover, and the dosing funnel, the observation window and the exhaust hood are all located on the top of the explosion-proof cover.

[0021] In an optional embodiment, the medicine weighing mechanism includes a small hopper, a third mounting plate, a fourth mounting plate, a column, a medicine weighing and metering component, a medicine weighing and reciprocating component, a sliding plate, a sliding plate reciprocating component, and a limit component;

[0022] The third mounting plate and the fourth mounting plate are connected by a plurality of columns. The third mounting plate is connected to the Y-axis linear module of the displacement platform. The columns are located on both sides of the Y-axis linear module.

[0023] The medicine weighing and metering assembly is located between the small hopper and the sliding plate, and the medicine weighing and metering assembly includes a medicine weighing and metering plate, a medicine weighing and metering top plate, and a medicine weighing and metering bottom plate. The medicine weighing and metering bottom plate is fixedly connected to the sliding plate, and the medicine weighing and metering top plate is fixedly connected to the medicine weighing and metering bottom plate. The medicine weighing and reciprocating assembly is connected to the medicine weighing and metering plate to drive the medicine weighing and metering plate to reciprocate between the medicine weighing and metering top plate and the medicine weighing and metering bottom plate to perform constant volume metering. The small hopper is fixedly mounted on the medicine weighing and metering top plate.

[0024] The sliding plate reciprocating movement assembly is connected to the sliding plate to drive the sliding plate to reciprocate to drop the medicine, the sliding plate reciprocating movement assembly is fixed to the fourth mounting plate, and the limit assembly is located on the fourth mounting plate to limit the movement of the sliding plate in the vertical direction;

[0025] The medicine weighing plate and the sliding plate are both provided with through-channels for the powder medicine to pass through, so that an intermittent communication structure is formed between the small hopper and the reciprocating medicine weighing plate and the sliding plate;

[0026] The fourth mounting plate is also fixed with a through funnel A and a funnel B. Funnel A and funnel B are both located below the through channel of the sliding plate so that the medicine can enter the funnel A and funnel B. The funnel B can be raised and lowered.

[0027] In an optional embodiment, the medicine weighing reciprocating movement assembly includes a cylinder B and a floating joint B. The tail end of the medicine weighing metering plate is connected to the cylinder B through the floating joint B, and the reciprocating movement of the medicine weighing metering plate is controlled by the extension and retraction of the cylinder B.

[0028] The sliding plate reciprocating movement assembly includes a diaphragm cylinder, a diaphragm cylinder mounting plate, a compression spring B, a guide column, and a limit block;

[0029] The airbag of the diaphragm cylinder contacts the sliding plate, the diaphragm cylinder is connected to the diaphragm cylinder mounting plate, the diaphragm cylinder mounting plate and the limit block are both connected to the fourth mounting plate, the guide post is connected to the limit block and the guide post is retractable, the compression spring B is sleeved on the outside of the guide post and is clamped between the limit block and the guide post, the guide post is located at the front end of the sliding plate, when the diaphragm cylinder is inflated, the sliding plate is driven to move and the guide post is contracted to squeeze the compression spring B, and when the diaphragm cylinder is deflated, the compression spring B pushes the guide post to extend and the sliding plate is reset;

[0030] The limiting assembly includes a linear slide, a side block, and a limiting cover plate. The two linear slides are located below the sliding plate and fixedly mounted on the fourth mounting plate. The two side blocks are fixedly mounted on the fourth mounting plate and located on both sides of the sliding plate. The limiting cover plate is fixedly mounted on the upper part of the side block and contacts the sliding plate.

[0031] In an optional embodiment, the medicine weighing mechanism further includes a square cylinder and a funnel B mounting plate, wherein the square cylinder is fixedly mounted on the fourth mounting plate, the square cylinder is fixedly connected to the funnel B mounting plate, the funnel B mounting plate is fixedly connected to the funnel B, and the funnel B is retractable;

[0032] The square cylinder drives the funnel B mounting plate to rise and fall, so as to extend and retract the funnel B so that it forms a sealed fit with the medicine cup below.

[0033] In an optional embodiment, the medicine replenishing mechanism includes: a first mounting plate, a connecting shaft, a second mounting plate, a medicine replenishing metering component, a medicine replenishing reciprocating power component, a medicine replenishing hopper, and a medicine dispensing pipe;

[0034] The first mounting plate is fixedly connected to the top surface of the explosion-proof cover, and the first mounting plate and the second mounting plate are connected via the connecting shaft. The tonic metering assembly is located between the tonic hopper and the second mounting plate. The medicine feed pipe is connected to a side of the second mounting plate away from the tonic metering assembly. The tonic metering assembly and the second mounting plate are both provided with a through-channel for passage of powdered medicine.

[0035] The tonic metering assembly includes a tonic metering plate with a tonic metering hole formed therein. The tonic reciprocating power assembly is connected to one end of the tonic metering plate to drive the tonic metering plate to reciprocate along a plane perpendicular to the tonic hopper, thereby intermittently connecting the tonic hopper with the tonic metering hole and the lower medicine pipe.

[0036] In an optional embodiment, the tonic metering assembly further includes a tonic metering top plate, a tonic metering bottom plate, and a spacer block, wherein the spacer block is connected between the tonic metering top plate and the tonic metering bottom plate, the tonic metering top plate is connected to the tonic hopper, and the tonic metering bottom plate is connected to the second mounting plate, the tonic metering top plate, the tonic metering bottom plate, and the plurality of spacers forming a plurality of spaced chambers for the tonic metering plate to move, and the tonic metering plate is located in the chambers;

[0037] The medicine replenishing mechanism also includes two clamps for pressing the medicine replenishing metering top plate;

[0038] The outer sliding sleeve of the medicine discharge tube is connected with a dust cover, the end of the dust cover cooperates with the small hopper of the medicine weighing mechanism, the outer sleeve of the dust cover is connected with a dust cover mounting plate, the dust cover mounting plate is connected with a cylinder connecting head, the cylinder connecting head is connected to cylinder A, and the end of the cylinder A is connected to the second mounting plate.

[0039] In an optional embodiment,

[0040] The displacement platform comprises:

[0041] Two X-axis linear modules;

[0042] A Y-axis linear module, both ends of which are connected to the mounting plate of the X-axis linear module, and the medicine weighing mechanism is connected to the Y-axis linear module;

[0043] A first power drive assembly is connected to the X-axis linear module to enable the sliding member on the X-axis linear module to move back and forth;

[0044] A second power drive assembly is connected to the Y-axis linear module to enable the sliding member on the Y-axis linear module to move back and forth;

[0045] The two X-axis linear modules are connected via a coupling and a rotating shaft to form power transmission between the X-axis linear modules.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0047] The powder medicine weighing equipment and weighing method provided by the embodiments of the present invention utilizes an explosion-proof cover provided on a frame that seals against the cover, locating the weighing mechanism, the replenishing mechanism, and the like within a sealed space. This allows both the weighing and replenishing processes to be completed within the sealed space, creating a human-machine isolation during the weighing process and providing safety protection in the event of an accident. The provision of a displacement platform enables automatic transfer between the weighing and replenishing processes, replacing manual transfer. Furthermore, since the replenishing and weighing processes are integrated within the sealed space, transfer efficiency is greatly improved, the entire weighing process is continuous, and safety accidents that could occur during manual operation can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings:

[0049] Figure 1 FIG. 1 is a schematic diagram of a three-dimensional structure of an embodiment of the present invention.

[0050] Figure 2 The figure is a schematic diagram of the three-dimensional structure of the explosion-proof cover according to an embodiment of the present invention.

[0051] Figure 3 This is a schematic diagram of the three-dimensional structure after removing the explosion-proof cover in one embodiment of the present invention.

[0052] Figure 4 Schematic diagram of the three-dimensional structure of a tray mechanism according to an embodiment of the present invention.

[0053] Figure 5Schematic diagram of the three-dimensional structure of a medicine weighing mechanism according to an embodiment of the present invention.

[0054] Figure 6 It is a right side view of the medicine weighing mechanism according to one embodiment of the present invention.

[0055] Figure 7 It is a front view of a medicine weighing mechanism according to an embodiment of the present invention.

[0056] Figure 8 FIG. 1 is a schematic diagram of the three-dimensional structure of a medicine replenishing mechanism according to an embodiment of the present invention.

[0057] Figure 9 A right side view of a medicine replenishing mechanism according to an embodiment of the present invention.

[0058] Figure 10 This is a rear view of a medicine replenishing mechanism according to an embodiment of the present invention.

[0059] Figure 11 FIG. 4 is a schematic diagram of the three-dimensional structure of an XY displacement platform according to an embodiment of the present invention.

[0060] Among them, the components and marks in the accompanying drawings are:

[0061] 1- workbench, 2- XY displacement platform, 201- X-axis linear module, 202- Y-axis linear module, 203- coupling, 204- rotating shaft, 205- right-angle reducer, 206- servo motor, 3- medicine replenishment mechanism, 301- first mounting plate, 302- second mounting plate, 303- connecting shaft, 304- medicine replenishment hopper, 305- lower medicine pipe, 3061- medicine replenishment metering top plate, 3062- medicine replenishment metering bottom plate, 3063- pad, 3064-drug replenishment metering plate, 3065-clamp, 3066-clamp mounting base, 3067-floating joint A, 3068-round cylinder, 3069-cylinder mounting bracket, 307-dust cover, 309-dust cover mounting plate, 3010-cylinder connector, 3011-cylinder, 3012-compression spring A, 4-drug weighing mechanism, 401-small hopper, 402-third mounting plate, 403-fourth mounting plate, 404-column, 4051-Weighing and metering plate, 4052-Weighing and metering top plate, 4053-Weighing and metering bottom plate, 4062-Diaphragm cylinder, 4063-Diaphragm cylinder mounting plate, 4064-Compression spring B, 4065-Guide column, 4066-Limit block, 407-Sliding plate, 4091-Funnel A, 4092-Funnel B, 4010-Square cylinder, 4011-Funnel B mounting plate, 4012-Linear slide, 4013-Side block , 4014-limit cover, 5-gantry, 6-beam, 7-frame, 8-medicine cup, 9-explosion-proof cover, 10-lifting door, 110-tray mechanism, 1101-pull rod cylinder, 1102-guide rail, 1103-bracket, 1201-cylinder B, 1202-floating joint B, 12-lifting cylinder, 13-explosion venting steel plate, 14-manual door, 15-dosing funnel, 16-observation window, 17-exhaust hood, 18-weighing mechanism mounting plate. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples. The illustrative embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0063] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that these specific details are not necessarily employed to practice the present invention. In other embodiments, well-known structures, materials, or methods are not specifically described to avoid obscuring the present invention.

[0064] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "one embodiment," "an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, particular features or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or subcombination. Furthermore, it will be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0065] In the description of the present invention, the terms "front", "rear", "up", "down", "inside", "outside", etc. are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0066] Example 1:

[0067] like Figure 1-4 As shown, a weighing device includes a frame 7, and the top of the frame 7 is a workbench 1. An explosion-proof cover 9 is fixedly installed on the workbench 1, and the explosion-proof cover 9 and the workbench 1 form a sealed structure. A medicine weighing mechanism 4 and a medicine replenishing mechanism 3 are provided in the sealed space formed by the explosion-proof cover 9 and the workbench 1. A displacement platform 2 is provided below the medicine weighing mechanism 4, and the displacement platform 2 can be driven to move within the explosion-proof cover 9; the medicine replenishing mechanism 3 is fixedly installed on the top surface inside the explosion-proof cover 9, and the medicine replenishing mechanism 3 is located above the medicine weighing mechanism 4. It also includes a tray mechanism 110, which is fixedly installed on the workbench 1 of the frame 7 and is located below the medicine weighing mechanism 4. The tray mechanism 110 includes a displacement component, and a plurality of medicine cups 8 are provided on the displacement component. The movable parts of the displacement component can carry the medicine cups 8 in and out of the lifting door 10 of the explosion-proof cover 9.

[0068] During use, the lifting door 10 is opened, the movable parts of the displacement assembly are extended, and each medicine cup 8 is moved out of the explosion-proof cover 9. The empty medicine cup 8 is manually replaced. After the replacement is completed, the movable parts are retracted into place and the lifting door 10 is closed. The displacement platform 2 works to automatically transport the medicine weighing mechanism 4 to the bottom of the medicine replenishing mechanism 3. The medicine replenishing mechanism 3 acts to replenish the small hopper of the medicine weighing mechanism 4. After the replenishing is completed, the displacement platform 2 continues to drive the medicine weighing mechanism 4 to move above the corresponding medicine cup 8, and weighs each medicine cup 8 in turn. When the weighing times of the medicine weighing mechanism 4 reaches the preset number, the displacement platform 2 transports the medicine weighing mechanism 4 to the bottom of the medicine replenishing mechanism 3 for replenishing. After the replenishing is completed, the displacement platform 2 continues to drive the medicine weighing mechanism 4 back to the position where it was weighed last time to continue weighing. The whole process is repeated until all medicine cups 8 have been weighed.

[0069] By installing an explosion-proof cover 9 on the frame 7 and sealing it, the weighing mechanism 4 and the replenishing mechanism 3 are all located within a sealed space. Thus, both the weighing and replenishing processes are completed within the sealed space, isolating the operator from the machine during the weighing process and providing safety protection in the event of an accident. The displacement platform 2 enables automatic transfer between the weighing and replenishing processes, replacing manual transfer. Furthermore, since the replenishing and weighing processes are integrated within this sealed space, transfer efficiency is greatly improved, the entire weighing process is continuous, and safety accidents that could occur during manual operation are avoided.

[0070] Furthermore, the displacement assembly includes a pull rod cylinder 1101 and a guide rail 1102. Two guide rails 1102 are provided, and the pull rod cylinder 1101 is located between the two guide rails 1102. A movable rod is provided on the pull rod cylinder 1101, and two sliders are provided on each guide rail 1102, and the sliders can slide along the guide rails 1102. The guide rails 1102 are fixedly installed on the workbench 1 in parallel with each other, and the pull rod cylinder 1101 is fixedly installed on the workbench 1. The tray mechanism 110 also includes a bracket 1103, which is fixedly connected to the four sliders of the guide rails 1102. One end of the movable rod is fixedly connected to the bracket 1103, and each medicine cup 8 is located at the upper end of the bracket 1103. When the pull rod cylinder 1101 is in operation, the movable rod can be moved, thereby driving the bracket 1103 to move in and out of the explosion-proof cover 9 along the guide rails 1102.

[0071] Furthermore, the explosion-proof cover 9 is provided with a lifting cylinder 12, which is fixedly connected to the lifting door 10, so that the lifting door 10 can be automatically opened and closed. The explosion-proof cover 9 is also provided with an explosion-proof steel plate 13, which is provided on one side of the explosion-proof cover 9 and opposite to the lifting door 10. In the event of an accident, the explosion-proof steel plate 13 is used to instantly relieve the explosion pressure in the event of a combustion or explosion accident.

[0072] Furthermore, the explosion-proof cover 9 is equipped with a manual door 14, a dosing hopper 15, an observation window 16, and an exhaust hood 17. The manual door 14 is located on one side of the explosion-proof cover 9 and can be opened manually as needed. The dosing hopper 15, observation window 16, and exhaust hood 17 are all located at the top of the explosion-proof cover 9. The dosing hopper 15 allows for manual loading of explosives into the replenishing hopper of the replenishing mechanism 3, making it more suitable for actual weighing scenarios. The observation window 16 allows operators to quickly monitor internal conditions.

[0073] Example 2:

[0074] On the basis of Example 1, Figures 5-7 As shown, the medicine weighing mechanism 4 includes a third mounting plate 402, a fourth mounting plate 403, a column 404, a medicine weighing and metering assembly, a medicine weighing and reciprocating assembly, a sliding plate 407, and a sliding plate reciprocating assembly; the third mounting plate 402 and the fourth mounting plate 403 are connected by four columns 404 and connected by screws. The third mounting plate 402 is mounted on the mounting plate of the Y-axis linear module by screws, and the four columns 404 are located on both sides of the Y-axis linear module. The medicine weighing and metering assembly is located between the small hopper 401 and the sliding plate 407. The medicine weighing and metering assembly includes a medicine weighing and metering plate 4051, a medicine weighing and metering top plate 4052, and a medicine weighing and metering bottom plate 4053, which are used to measure the medicine passing through the medicine weighing and metering hole. The medicine weighing and metering base plate 4053 is connected to the sliding plate 407 through a positioning pin, and the medicine weighing and metering top plate 4052 is connected to the medicine weighing and metering base plate 4053 through a positioning pin. The upper and lower surfaces of the medicine weighing and metering plate 4051 are in contact with the lower surface of the medicine weighing and metering top plate 4052 and the upper surface of the medicine weighing and metering base plate 4053, so that the medicine weighing and metering plate 4051 can move back and forth between the medicine weighing and metering top plate 4052 and the medicine weighing and metering base plate 4053.

[0075] The medicine weighing reciprocating moving assembly includes a cylinder B 1201 and a floating joint B 1202. The tail end of the medicine weighing metering plate 4051 is connected to the cylinder B 1201 through the floating joint B 1202. The movement of the medicine weighing metering plate 4051 is controlled by the extension and retraction of the cylinder B 1201, thereby realizing constant volume metering.

[0076] The sliding plate reciprocating movement assembly includes a diaphragm cylinder 4062, a diaphragm cylinder mounting plate 4063, a compression spring B4064, and a guide column 4065; the diaphragm cylinder 4062 is located below the sliding plate 407 and above the fourth mounting plate 403, and the airbag of the diaphragm cylinder 4062 is in contact with the sliding plate 407, and the inflated airbag can drive the movement of the sliding plate 407 through friction; the diaphragm cylinder 4062 is mounted on the diaphragm cylinder mounting plate 4063 by screws, and the diaphragm cylinder mounting plate 4063 is mounted on the fourth mounting plate 403 by screws; the guide column 4065 is a T-shaped shaft with a large end and a small end, and the guide column can be retracted and connected to the limit block 4066 mounted on the fourth mounting plate 403 by cooperating with the guide column. Compression spring B4064 is sleeved around the outside of guide post 4065. One end of compression spring B4064 contacts and is retained by stopper 4066, while the other end is connected to the larger end of guide post 4065, constraining compression spring B4064 between stopper 4066 and guide post 4065. When the airbag in diaphragm cylinder 4062 is inflated, it drives sliding plate 407 forward horizontally, pushing guide post 4065 to contract, thereby squeezing compression spring B4064. When the airbag in diaphragm cylinder 4062 is deflated, compression spring B4064 extends along with guide post 4065, pushing sliding plate 407 back to its original position. Once fully reset, the end of sliding plate 407, away from compression spring B4064, abuts against diaphragm cylinder 4062. This reciprocating horizontal motion of the sliding plate facilitates the drop of the medicine, ensuring accurate metering. The medicine weighing plate 4051 and the sliding plate 407 are both provided with through-channels for the passage of powdered medicine. A through-channel hopper A 4091 and a through-channel hopper B 4092 are also fixedly provided on the fourth mounting plate 403. Funnel A 4091 and funnel B 4092 are both located directly below the through-channel hoppers of the sliding plate 407. Funnel A 4091 is a fixed funnel, while funnel B 4092 is a movable funnel that can be raised and lowered. During use, as the medicine weighing plate 4051 and the sliding plate 407 reciprocate, the small hopper 401 forms an intermittently connected structure with the reciprocating medicine weighing plate 4051 and the sliding plate 407. The powdered medicine falls through the through-channel hoppers A 4091 and B 4092, respectively, and then falls into the medicine cup 8.

[0077] The medicine weighing mechanism 4 also includes a square cylinder 4010 and a funnel B mounting plate 4011. The square cylinder 4010 is fixedly mounted on the lower surface of the fourth mounting plate 403. The funnel B mounting plate 4011 is fixedly connected to the funnel B 4092. The square cylinder 4010 is fixedly connected to the funnel B mounting plate 4011. The funnel B 4092 is retractable. The square cylinder 4010 drives the funnel B mounting plate 4011 to rise and fall, thereby causing the funnel B 4092 to retract and retract, thereby forming a sealed fit between the funnel B 4092 and the lower medicine cup 8, completing the feeding. The medicine weighing mechanism 4 measures the number of times the medicine is weighed based on the number of times the movable parts on the square cylinder 4010 are retracted and retracted.

[0078] At the same time, the weighing mechanism 4 is also provided with a limit assembly to prevent the sliding plate 407 from moving in the vertical direction, so that the sliding plate 407 can only move in the horizontal direction. The limit assembly includes a linear slide 4012, a side block 4013, and a limit cover 4014. Two linear slides 4012 are fixedly mounted on the fourth mounting plate 403, and both linear slides 4012 are located below the sliding plate 407 and in contact with the sliding plate 407; two side blocks 4013 are also mounted on the fourth mounting plate 403, located on both sides of the sliding plate 407 and in contact with the sliding plate 407; the limit cover 4014 is fixedly mounted above the side blocks 4013 and in contact with the upper surface of the sliding plate 407. The linear slide 4012, the side blocks 4013, and the limit cover 4014 limit the sliding plate 407 so that the sliding plate 407 can only move back and forth in the horizontal direction, facilitating the falling of the medicine, thereby ensuring the accuracy of the measurement.

[0079] In the present invention, the medicine entering the small hopper 401 of the medicine weighing mechanism 4 can enter the retractable funnel thereon through the medicine weighing metering plate 4051 and be added into the medicine cup 8, and the funnel is extended to form a sealed closure with the entrance of the medicine cup 8.

[0080] Example 3:

[0081] On the basis of Example 2, Figures 8-10As shown, the medicine replenishing mechanism 3 includes: a first mounting plate 301, a connecting shaft 303, a second mounting plate 302, a medicine replenishing metering assembly, a medicine replenishing reciprocating power assembly, a medicine replenishing hopper 304, and a medicine dispensing pipe 305; the first mounting plate 301 is fixedly connected to the top surface of the explosion-proof cover 9, the first mounting plate 301 and the second mounting plate 302 are connected by the connecting shaft 303, the medicine replenishing metering assembly is located between the medicine replenishing hopper 304 and the second mounting plate 302, and the medicine dispensing pipe 305 is connected to the second mounting plate 302 away from the medicine dispensing pipe 305. On one side of the tonic metering assembly, both the tonic metering assembly and the second mounting plate 302 are provided with through-channels for passage of powdered medicine. The tonic metering assembly includes a tonic metering plate 3064 having a tonic metering hole formed therein. The tonic reciprocating power assembly is connected to one end of the tonic metering plate 3064 to drive the tonic metering plate 3064 to reciprocate along a plane perpendicular to the tonic hopper 304, thereby intermittently connecting the tonic hopper 304 to the tonic metering hole and the lower medicine pipe 305.

[0082] Specifically, the first mounting plate 301 is located at the top, the second mounting plate 302 is located at the bottom, and four connecting shafts 303 are fixed and locked to the first mounting plate 301 via screws. The first mounting plate 301 is fixedly connected to the external support member, and the specific structure of the explosion-proof cover 9 is not limited, so that the first mounting plate 301 is fixed and immovable. The replenishing medicine hopper 304, replenishing medicine metering assembly, medicine discharge pipe 305, and second mounting plate 302 are arranged in order from top to bottom, with the replenishing medicine hopper 304, replenishing medicine metering assembly, and medicine discharge pipe 305 all located on one side of the connecting shaft 303. The medicine discharge pipe 305 is screwed to the bottom of the second mounting plate 302. The replenishing medicine metering assembly is used to measure the medicine as it falls from the replenishing medicine hopper 304 to the medicine discharge pipe 305, thereby accurately controlling the amount of medicine added to the small hopper 401 each time, ensuring the reliability and accuracy of the medicine weighing process.

[0083] The tonic metering assembly includes a tonic metering plate 3064, which is capable of horizontal reciprocating motion under the control of a tonic reciprocating drive assembly. A tonic metering hole is provided through the tonic metering plate 3064, and corresponding through-channels are provided in other components of the tonic metering assembly to allow the medicine to fall from the tonic hopper 304 to the medicine discharge tube 305. The reciprocating motion of the tonic metering plate 3064 connects the tonic hopper 304 with the tonic metering hole and the medicine discharge tube 305.

[0084] Furthermore, the tonic metering assembly further includes a tonic metering top plate 3061, a tonic metering bottom plate 3062, and a pad 3063. The pad 3063 is connected between the tonic metering top plate 3061 and the tonic metering bottom plate 3062. The tonic metering top plate 3061 is connected to the tonic hopper 304, and the tonic metering bottom plate 3062 is connected to the second mounting plate 302. The tonic metering top plate 3061, the tonic metering bottom plate 3062, and the plurality of pads 3063 are connected to the tonic metering bottom plate 3062. A plurality of spaced chambers are formed for the movement of the tonic metering plate 3064, and the tonic metering plate 3064 is located in the chambers; the medicine weighing device also includes two clamps 3065, each clamp 3065 is located on both sides of the tonic metering top plate 3061, forming a pressing force on the tonic metering top plate 3061 toward the second mounting plate 302, and each clamp 3065 is fixed on a clamp mounting seat 3066, and the clamp mounting seat 3066 is connected to the second mounting plate 302.

[0085] Specifically, five spacers 3063 are pinned to the tonic metering top plate 3061 and the tonic metering bottom plate 3062. The tonic metering top plate 3061 is screwed to the lower portion of the tonic hopper 304, while the tonic metering bottom plate 3062 is pinned to the second mounting plate 302. The tonic metering plate 3064 moves only horizontally within the chamber, which is open at both ends. A clamp mounting base 3066 is screwed to the second mounting plate 302. Two clamps 3065 press downward from either side of the tonic metering top plate 3061, thereby enhancing the stability of the connection between the tonic metering top plate 3061 and the spacers 3063. This prevents the tonic metering plate 3064 from moving vertically within the chamber, ensuring that it can only reciprocate horizontally, thus ensuring accurate and reliable metering.

[0086] Furthermore, the reciprocating power assembly includes a floating joint A3067, a circular cylinder 3068, and a cylinder A 3011 mounting bracket 3069. Four floating joints A3067 and four circular cylinders 3068 are provided, corresponding to each tonic metering plate 3064; the floating joint A3067 passes through the cylinder A 3011 mounting bracket 3069, and the two ends of the floating joint A3067 are respectively connected to the tonic metering plate 3064 and the circular cylinder 3068. The cylinder A 3011 mounting bracket 3069 is located on one side of each tonic hopper 304 and is mounted on the second mounting plate 302 by screws.

[0087] Through this embodiment, the amount of medicine replenished each time can be accurately measured, the medicine weighing process can be accurately controlled, and the degree of automation and reliability of the medicine weighing process can be improved.

[0088] Furthermore, a dust cover 307 is slidably sleeved on the exterior of the drug delivery tube 305, and the dust cover 307 is coaxial with the drug delivery tube 305. The end of the dust cover 307 engages with the small hopper 401, and a dust cover mounting plate 309 is fixedly sleeved on the exterior of the dust cover 307. A cylinder connector 3010 extends through the dust cover mounting plate 309 and is fixedly attached thereto. One end of the cylinder connector 3010 is connected to a cylinder A 3011, and the end of the cylinder A 3011 is screwed to the second mounting plate 302. The dust cover 307, dust cover mounting plate 309, and cylinder A 3011 are all located below the second mounting plate 302. The arrangement of the dust cover 307 and cylinder A 3011 prevents drug from floating during the weighing process, thereby reducing the occurrence of floating drug.

[0089] A compression spring A3012 is fixedly provided at one end outside the dust cover 307 . One end of the compression spring A3012 away from the dust cover 307 is fixedly connected to the second mounting plate 302 . The compression spring A3012 protects the dust cover 307 .

[0090] During operation, when the medicine weighing mechanism 4 reaches a preset number of metering times, the medicine weighing mechanism 4 moves until the small hopper 401 and the dust cover 307 are coaxial. The cylinder A 3011 extends, driving the dust cover mounting plate 309 to descend, so that the dust cover 307 contacts the upper end surface of the small hopper 401, forming a sealed cavity. The circular cylinder 3068 then activates, driving the replenishment metering plate 3064 to move back and forth, replenishing the small hopper 401. The circular cylinder 3068 stops operating, the cylinder A 3011 retracts, and the dust cover 307 loses contact with the upper end surface of the small hopper 401, completing the replenishment process.

[0091] The embodiment of the present invention utilizes a fixed medicine replenishing mechanism 3 and a mobile medicine weighing mechanism 4, successfully resolving the problem of powder stratification caused by mechanical movement or vibration during the weighing process, thereby providing a reliable method for online automatic medicine weighing. The medicine replenishing mechanism 3 contains all the medicines to be measured. The replenishing mechanism 3 replenishes the medicine weighing mechanism 4, controls the amount of medicine replenished by the mobile weighing mechanism, and increases the number of replenishments by the fixed medicine replenishing mechanism 3. This ensures that the medicine has been fully measured by the time a small amount of medicine in the small hopper of the medicine weighing mechanism 4 stratifies.

[0092] Example 4:

[0093] On the basis of Example 3, Figure 11As shown, the displacement platform is an XY displacement platform, which is used to drive the medicine weighing mechanism 4 to move back and forth along the X and Y axis directions to the bottom of the medicine replenishing mechanism 3. The medicine weighing mechanism 4 is connected to the XY displacement platform 2. The XY displacement platform 2 includes: an X-axis linear module 201; a Y-axis linear module 202, both ends of which are connected to the mounting plate of the X-axis linear module 201, and the medicine weighing mechanism 4 is connected to the Y-axis linear module 202; a first power drive component connected to the X-axis linear module 201 to move the sliding member on the X-axis linear module 201; a second power drive component connected to the Y-axis linear module 202 to slide the sliding member on the Y-axis linear module 202; the X-axis linear modules 201 are connected by a coupling 203 and a rotating shaft 204 to form a power transmission between each of the X-axis linear modules 201.

[0094] Furthermore, the first power drive assembly and the second power drive assembly both include a right-angle reducer 205 and a servo motor 206 . The right-angle reducer 205 is connected to the corresponding Y-axis linear module 202 and the X-axis linear module 201 , and the servo motor 206 is connected to the corresponding right-angle reducer 205 .

[0095] Specifically, two X-axis linear modules 201 are provided, and one Y-axis linear module 202 is provided, and both ends of the modules are fixed on the mounting plate of the X-axis linear module 201. Two couplings 203 and a rotating shaft 204 are provided between the two X-axis linear modules 201. One end of each coupling 203 is fixedly connected to the end of the X-axis linear module 201, and the other end is fixedly connected to the rotating shaft 204, forming a power transmission mechanism of the two X-axis linear modules 201, so that the two X-axis linear modules 201 are synchronously linked. One end of an X-axis linear module 201 away from the coupling 203 is connected to a right-angle reducer 205 via screws, and the other end of the right-angle reducer 205 is connected to a servo motor 206 via a positioning surface and screws to achieve power output, thereby causing the sliding members on the two X-axis linear modules 201 to move back and forth synchronously, and carrying the two ends of the Y-axis linear module 202 to move synchronously along the X-axis; at the same time, the right-angle reducer 205 and the servo motor 206 are connected and matched with the Y-axis linear module 202 in the same manner, causing the medicine weighing mechanism 4 to move back and forth along the Y-axis direction along the Y-axis linear module 202. A medicine weighing mechanism mounting plate 18 is fixedly connected to the Y-axis linear module 202, and the medicine weighing mechanism mounting plate 18 is fixedly connected to the third mounting plate 402 of the medicine weighing mechanism 4.

[0096] Furthermore, the X-axis linear modules 201 are mounted on the portals 5, with crossbeams 6 fixedly connected between each portal 5. Specifically, four portals 5 and four crossbeams 6 are provided, each of which is screwed to the workbench 11. Two sets of crossbeams 6 are screwed to the two sets of portals 5, forming a standard gantry mechanism. The two X-axis linear modules 201 are screwed to the portals 5. The tie rod cylinder 1101, guide rail 1102, and medicine cup 8 are all located below the crossbeams 6, allowing the medicine cup 8 to enter and exit the explosion-proof shield 9 from below the crossbeams 6.

[0097] In addition, the components used in the embodiments of the present invention, such as the linear module, the right-angle reducer 205, the servo motor 206, and various cylinders, are all based on existing technologies and can be obtained commercially, so they will not be described in detail here.

[0098] Furthermore, the equipment also includes a control system, which connects the displacement component, the displacement platform, the medicine weighing mechanism 4, and the medicine replenishing mechanism 3, controls the operation of the pull rod cylinder 1101, the module, the reducer, and the motor in the XY displacement platform, and controls the operation of each cylinder in the medicine weighing mechanism 4 and the medicine replenishing mechanism 3, thereby controlling the medicine weighing, medicine replenishing process, and the opening and closing of the lifting door 10.

[0099] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A powder medicine weighing device, characterized in that: The invention comprises a frame (7), and further comprises: An explosion-proof cover (9) is installed on the frame (7) and forms a sealing structure with the workbench (1) of the frame (7), and a lifting door (10) is provided on the explosion-proof cover (9); A charge weighing mechanism (4) is located in the explosion-proof cover (9) and is driven by the displacement platform (2) to move in the explosion-proof cover (9); a tray mechanism (110) mounted on the workbench (1) of the frame (7) and located below the medicine weighing mechanism (4) and the displacement platform (2); the tray mechanism (110) includes a displacement assembly, and a plurality of medicine cups (8) are provided on the displacement assembly; The displacement component drives the medicine cup (8) in and out of the lifting door (10), and the medicine weighing mechanism (4) is displaced to the top of the medicine cup (8) to weigh the medicine; The medicine weighing mechanism (4) comprises a small hopper (401), a third mounting plate (402), a fourth mounting plate (403), a column (404), a medicine weighing and metering component, a medicine weighing and reciprocating moving component, a sliding plate (407), a sliding plate reciprocating moving component, and a position limiting component; The third mounting plate (402) and the fourth mounting plate (403) are connected via a plurality of columns (404), the third mounting plate (402) is connected to the Y-axis linear module of the displacement platform (2), and the columns (404) are located on both sides of the Y-axis linear module; The medicine weighing and metering assembly is located between the small hopper (401) and the sliding plate (407), and the medicine weighing and metering assembly includes a medicine weighing and metering plate (4051), a medicine weighing and metering top plate (4052), and a medicine weighing and metering bottom plate (4053). The medicine weighing and metering bottom plate (4053) is fixedly connected to the sliding plate (407), and the medicine weighing and metering top plate (4052) is fixedly connected to the medicine weighing and metering bottom plate (4053). A medicine weighing and reciprocating assembly is connected to the medicine weighing and metering plate (4051) to drive the medicine weighing and metering plate (4051) to reciprocate between the medicine weighing and metering top plate (4052) and the medicine weighing and metering bottom plate (4053) to perform constant volume metering. The small hopper (401) is fixedly mounted on the medicine weighing and metering top plate (4052). The sliding plate reciprocating moving assembly is connected to the sliding plate (407) to drive the sliding plate (407) to reciprocate so as to cause the medicine to fall, the sliding plate reciprocating moving assembly is fixed on the fourth mounting plate (403), and the limiting assembly is located on the fourth mounting plate (403) to limit the movement of the sliding plate (407) in the vertical direction; The medicine weighing plate (4051) and the sliding plate (407) are both provided with through-channels for the powder medicine to pass through, so that an intermittent communication structure is formed between the small hopper (401) and the reciprocating medicine weighing plate (4051) and the sliding plate (407); A through-funnel A (4091) and a through-funnel B (4092) are also fixedly provided on the fourth mounting plate (403). Both the through-funnel A (4091) and the through-funnel B (4092) are located below the through-channel of the sliding plate (407) so that the medicine can enter the through-funnel A (4091) and the through-funnel B (4092). The funnel B (4092) can be raised and lowered.

2. A powder medicine weighing device according to claim 1, characterized in that: It also includes a medicine replenishing mechanism (3) located above the medicine weighing mechanism (4), and the medicine weighing mechanism (4) moves to the bottom of the medicine replenishing mechanism (3) to replenish the material.

3. A powder medicine weighing device according to claim 1, characterized in that: The displacement assembly includes a pull rod cylinder (1101) and a guide rail (1102), wherein the pull rod cylinder (1101) is provided with a movable rod, and the guide rail (1102) is provided with a slider. The tray mechanism (110) further includes a bracket (1103), wherein the pull rod cylinder (1101) and the guide rail (1102) are both mounted on the workbench (1) of the frame (7), and the bracket (1103) is fixedly connected to the slider of the guide rail (1102). One end of the movable rod is fixedly connected to the bracket (1103), forming a structure in which the movement of the movable rod drives the bracket (1103) to move along the guide rail (1102), and the medicine cup (8) is located on the bracket (1103); Two guide rails (1102) are provided, and the pull rod cylinder (1101) is located between the two guide rails (1102).

4. A powder medicine weighing device according to claim 1, characterized in that: The explosion-proof cover (9) is further provided with a lifting cylinder (12), and the lifting cylinder (12) is connected to the lifting door (10); the explosion-proof cover (9) is further provided with an explosion-proof steel plate (13), and the explosion-proof steel plate (13) is provided on one side of the explosion-proof cover (9); The explosion-proof cover (9) is further provided with a manual door (14), a dosing funnel (15), an observation window (16), and an exhaust hood (17). The manual door (14) is located on one side of the explosion-proof cover (9), and the dosing funnel (15), the observation window (16), and the exhaust hood (17) are all located on the top of the explosion-proof cover (9).

5. A powder medicine weighing device according to claim 1, characterized in that: The medicine weighing reciprocating motion assembly comprises a cylinder B (1201) and a floating joint B (1202). The tail end of the medicine weighing metering plate (4051) is connected to the cylinder B (1201) via the floating joint B (1202). The reciprocating motion of the medicine weighing metering plate (4051) is controlled by the extension and retraction of the cylinder B (1201). The sliding plate reciprocating movement assembly comprises a diaphragm cylinder (4062), a diaphragm cylinder mounting plate (4063), a compression spring B (4064), a guide column (4065), and a limit block (4066); The airbag of the diaphragm cylinder (4062) contacts the sliding plate (407), the diaphragm cylinder (4062) is connected to the diaphragm cylinder mounting plate (4063), the diaphragm cylinder mounting plate (4063) and the limit block (4066) are both connected to the fourth mounting plate (403), the guide column (4065) is connected to the limit block (4066) and the guide column (4065) is retractable, and the compression spring B (4064) is sleeved on the guide column (406 5) and is clamped between the limit block (4066) and the guide column (4065), the guide column (4065) is located at the front end of the sliding plate (407), the diaphragm cylinder (4062) drives the sliding plate (407) to move when inflating and causes the guide column (4065) to contract and squeeze the compression spring B (4064), and when deflated, the compression spring B (4064) pushes the guide column (4065) to extend and reset the sliding plate (407); The limiting assembly comprises a linear slide (4012), a side block (4013), and a limiting cover plate (4014); the two linear slides (4012) are located below the sliding plate (407) and fixedly mounted on the fourth mounting plate (403); the two side blocks (4013) are fixedly mounted on the fourth mounting plate (403) and located on both sides of the sliding plate (407); and the limiting cover plate (4014) is fixedly mounted on the upper portion of the side blocks (4013) and in contact with the sliding plate (407).

6. A powder medicine weighing device according to claim 5, characterized in that: The medicine weighing mechanism further comprises a square cylinder (4010) and a funnel B mounting plate (4011). The square cylinder (4010) is fixedly mounted on the fourth mounting plate (403). The square cylinder (4010) is fixedly connected to the funnel B mounting plate (4011). The funnel B mounting plate (4011) is fixedly connected to the funnel B (4092). The funnel B (4092) is retractable. The square cylinder (4010) drives the funnel B mounting plate (4011) to move up and down, thereby causing the funnel B (4092) to expand and contract so as to form a sealed fit with the medicine cup (8) below.

7. A powder medicine weighing device according to claim 1, characterized in that: The medicine replenishing mechanism (3) comprises: a first mounting plate (301), a connecting shaft (303), a second mounting plate (302), a medicine replenishing metering component, a medicine replenishing reciprocating power component, a medicine replenishing bucket (304), and a medicine dispensing pipe (305); The first mounting plate (301) is fixedly connected to the top surface of the explosion-proof cover (9), the first mounting plate (301) and the second mounting plate (302) are connected via the connecting shaft (303), the tonic metering assembly is located between the tonic hopper (304) and the second mounting plate (302), the medicine lowering pipe (305) is connected to a side of the second mounting plate (302) away from the tonic metering assembly, and the tonic metering assembly and the second mounting plate (302) are both provided with a through channel for the powder medicine to pass through; The tonic metering assembly comprises a tonic metering plate (3064) having a tonic metering hole formed thereon, and the tonic reciprocating power assembly is connected to one end of the tonic metering plate (3064) to drive the tonic metering plate (3064) to reciprocate along a plane perpendicular to the tonic hopper (304), thereby intermittently communicating the tonic hopper (304) with the tonic metering hole and the lower medicine pipe (305).

8. A powder medicine weighing device according to claim 7, characterized in that: The tonic metering assembly further comprises a tonic metering top plate (3061), a tonic metering bottom plate (3062), and a pad (3063), wherein the pad (3063) is connected between the tonic metering top plate (3061) and the tonic metering bottom plate (3062), the tonic metering top plate (3061) is connected to the tonic hopper (304), and the tonic metering bottom plate (3062) is connected to the second mounting plate (302), and the tonic metering top plate (3061), the tonic metering bottom plate (3062), and the plurality of pads (3063) form a plurality of spaced chambers for the tonic metering plate (3064) to move, and the tonic metering plate (3064) is located in the chambers; The medicine replenishing mechanism further comprises two clamps (3065) for pressing the medicine replenishing metering top plate (3061); The outer sliding sleeve of the medicine dispensing tube (305) is connected to a dust cover (307), the end of the dust cover (307) cooperates with the small hopper (401) of the medicine weighing mechanism (4), the outer sleeve of the dust cover (307) is connected to a dust cover mounting plate (309), the dust cover mounting plate (309) is connected to a cylinder connector (3010), the cylinder connector (3010) is connected to the cylinder A (3011), and the end of the cylinder A (3011) is connected to the second mounting plate (302).

9. The powder medicine weighing device according to claim 1, characterized in that: The displacement platform (2) comprises: Two X-axis linear modules (201); A Y-axis linear module (202), both ends of the Y-axis linear module (202) are connected to the mounting plate of the X-axis linear module (201), and the medicine weighing mechanism (4) is connected to the Y-axis linear module (202); a first power drive assembly connected to the X-axis linear module (201) to enable a sliding member on the X-axis linear module (201) to reciprocate; a second power drive assembly connected to the Y-axis linear module (202) to enable a sliding member on the Y-axis linear module (202) to reciprocate; The two X-axis linear modules (201) are connected via a coupling (203) and a rotating shaft (204) to form power transmission between the X-axis linear modules (201).

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