A capsule packaging system and method

Abstract

The application discloses a kind of capsule packaging systems, including feeding mechanism, mould moving platform, mold opening and closing mechanism, filling device, take capsule mechanism, transfer manipulator, bottle body packaging mechanism and defect detection mechanism, mould moving platform is equipped with mould positioning part, filling part mounting and medicine container, and mold opening and closing mechanism is equipped with capsule combination mechanism.Its packaging method includes steps S1, feeding;S2, filling;S3, capsule combination;S4, defect detection;S5, activity detection;S6, bottle body packaging.The application can automatically complete feeding, filling, capsule combination, capsule taking and defect detection and other processes, with high degree of automation, high efficiency, which is conducive to reducing pollution risk;Mould positioning part can be used for placing capsule mould, and filling part mounting and medicine container are also integrated, filling part mounting and medicine container can be moved by mould moving platform, which facilitates filling device to replace filling part and complete filling, and filling device, mold opening and closing mechanism and capsule combination mechanism only need to lift, without translation, which is conducive to simplifying structure and reducing cost.

Description

Technical Field

[0001] This invention relates to equipment and methods for food and pharmaceutical production, and more particularly to a capsule encapsulation system and method. Background Technology

[0002] Capsules offer numerous advantages and are widely used in the pharmaceutical industry. They contain a precise dosage of medication, and are particularly useful for powders or granules that irritate the esophagus and stomach lining, or medications that have an unpleasant taste, are volatile, easily broken down by saliva in the mouth, or are easily inhaled into the trachea. Encapsulation protects the medication's efficacy, as well as the digestive and respiratory tracts, ensuring its effectiveness while preventing waste.

[0003] Currently, in the capsule manufacturing process, a semi-automatic mechanism is typically used to first load the upper and lower capsule portions into the upper and lower plates of the capsule, respectively. After manual filling with the drug, the capsules are then manually closed, and finally, the finished capsules are dispensed. This manual operation is inefficient, labor-intensive, and carries a high risk of contamination, especially for some radioactive drugs, posing significant safety risks to workers. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a capsule packaging system with a high degree of automation, high efficiency and low risk of pollution.

[0005] The present invention further provides a packaging method for the above-mentioned capsule packaging system.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A capsule packaging system includes a feeding mechanism, a mold moving platform, a mold opening and closing mechanism, a filling device, a capsule removal mechanism, a transfer robot, a bottle packaging mechanism, and a defect detection mechanism. The mold moving platform is provided with a mold positioning part, a filling part mounting part, and a drug container. The mold opening and closing mechanism is equipped with a capsule closing mechanism.

[0008] As a further improvement to the above technical solution, it also includes a shielded chamber, in which the feeding mechanism, the mold moving platform, the mold opening and closing mechanism, the filling device, the capsule removal mechanism, the transfer robot, the bottle sealing mechanism and the defect detection mechanism are all located. The shielded chamber is also equipped with an activity detection mechanism.

[0009] As a further improvement to the above technical solution: the mold opening and closing mechanism, the filling device, the defect detection mechanism, the capsule removal mechanism, the activity detection mechanism, the transfer robot and the bottle sealing mechanism are arranged in sequence.

[0010] As a further improvement to the above technical solution: the filling part mounting component is arranged opposite to the drug container on both sides of the mold positioning part.

[0011] As a further improvement to the above technical solution: the mold opening and closing mechanism includes a first lifting drive component and a mold upper plate gripper and a mold middle plate gripper provided on the first lifting drive component. The mold upper plate is provided with a clearance portion for the mold middle plate gripper to pass through.

[0012] As a further improvement to the above technical solution: both the upper plate gripper and the middle plate gripper of the mold are suction cups.

[0013] As a further improvement to the above technical solution: the lower plate of the mold is provided with sliding grooves on both sides, and the mold moving platform is provided with a limiting guide part that cooperates with the sliding grooves.

[0014] As a further improvement to the above technical solution: the capsule retrieval mechanism includes a capsule gripper, a first rotating shaft for driving the capsule gripper to rotate, a second rotating shaft for driving the capsule gripper to revolve, a second lifting drive for driving the capsule gripper to rise and fall, at least one capsule retrieval top rod, and a fourth lifting drive for driving the capsule retrieval top rod to rise and fall, wherein the height of the capsule retrieval top rod is less than the height of the capsule gripper.

[0015] As a further improvement to the above technical solution: the bladder closing mechanism is located below the mold opening and closing mechanism, and the bladder closing mechanism includes at least one bladder closing top rod and a third lifting drive component for driving the bladder closing top rod to rise and fall.

[0016] A capsule encapsulation method includes the following steps:

[0017] S1. Feeding: Bottle and capsule molds are fed through the feeding mechanism. The transfer robot transfers the bottle to the bottle sealing mechanism. After the bottle sealing mechanism opens the bottle, the transfer robot places the bottle on the activity detection mechanism. The transfer robot transfers the capsule mold to the mold positioning part on the mold moving platform.

[0018] S2, Filling: The mold opening and closing mechanism descends to grab the upper plate and middle plate of the mold and then rises to separate the upper bladder from the lower bladder. The mold moving platform moves to move the drug container to below the filling device. The filling part of the filling device descends to pick up the drug from the drug container and then rises. The mold moving platform moves to move the lower plate of the mold to below the filling device. The filling part of the filling device descends to fill the drug into the lower bladder.

[0019] S3, Closing the bladder: The mold moving platform drives the lower mold plate back to the mold opening and closing mechanism. The mold opening and closing mechanism drives the upper mold plate and the middle mold plate to descend. The bladder closing mechanism closes the upper bladder and the lower bladder. The mold opening and closing mechanism descends again to grab the upper mold plate and then rises.

[0020] S4. Defect Detection: The mold moving platform moves the mold middle plate and mold lower plate to the bag removal mechanism, which removes the bag and transfers it to the defect detection mechanism for defect detection.

[0021] S5. Activity test: The capsule removal mechanism transfers the capsule into the bottle for activity test;

[0022] S6. The transfer robot arm transfers the bottle to the bottle sealing mechanism to complete the bottle sealing.

[0023] Compared with the prior art, the advantages of the present invention are as follows:

[0024] The capsule packaging system disclosed in this invention can automatically complete processes such as feeding, filling, capsule closing, capsule removal, and defect detection. It has a high degree of automation and high efficiency, which helps to reduce the risk of contamination. The mold moving platform is equipped with a mold positioning part for placing the capsule mold. It also integrates the filling part mounting part and the drug container. The filling part mounting part and the drug container can be moved by the mold moving platform, which facilitates the replacement of the filling part and the completion of filling. At the same time, the filling device, the mold opening and closing mechanism, and the capsule closing mechanism only need to move up and down, without the need for translation, which helps to simplify the structure and reduce costs.

[0025] The capsule packaging method disclosed in this invention can automatically complete processes such as feeding, filling, capsule closing, capsule removal, defect detection, and activity detection. It has a high degree of automation and high efficiency, which helps to reduce the risk of contamination. The filling device, mold opening and closing mechanism, and capsule closing mechanism only need to move up and down, without the need for translation, which helps to simplify the operation and further improve production efficiency. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the capsule packaging system of the present invention.

[0027] Figure 2 This is a top view of the capsule packaging system of the present invention.

[0028] Figure 3 This is a partial three-dimensional structural diagram of the capsule packaging system of the present invention.

[0029] Figure 4 This is a three-dimensional structural diagram of the mold opening and closing mechanism in this invention when preparing to remove the mold.

[0030] Figure 5 This is a three-dimensional structural diagram of the mold opening and closing mechanism after the mold is removed in this invention.

[0031] Figure 6 This is a three-dimensional structural diagram of the capsule retrieval mechanism in this invention.

[0032] Figure 7This is a schematic diagram of the capsule encapsulation method of the present invention, wherein (a) is a schematic diagram of the initial state of the capsule mold; (b) is a schematic diagram of the capsule mold opening process; (c) is a schematic diagram of the filling process; (d) is a schematic diagram of the capsule mold closing process; (e) is a schematic diagram of the capsule closing process; (f) is a schematic diagram of the capsule before removal; (g) is a schematic diagram of the capsule removal process; and (h) is a schematic diagram of the activity detection process.

[0033] The labels in the diagram represent:

[0034] 1. Feeding mechanism; 2. Mold moving platform; 21. Mold positioning part; 22. Filling part mounting part; 23. Drug container; 24. Limiting guide part; 3. Mold opening and closing mechanism; 31. Capsule closing mechanism; 311. Capsule closing ejector rod; 312. Third lifting drive component; 32. First lifting drive component; 33. Mold upper plate gripper; 34. Mold middle plate gripper; 4. Filling device; 41. Filling part; 5. Capsule removal mechanism; 51. Capsule removal ejector rod; 52. Capsule gripper Components; 53. First rotating shaft; 54. Second rotating shaft; 55. Second lifting drive component; 56. Fourth lifting drive component; 6. Transfer robot; 7. Bottle sealing mechanism; 8. Shielding chamber; 81. Defect detection mechanism; 82. Activity detection mechanism; 83. Discharge structure; 9. Capsule mold; 91. Mold upper plate; 911. Clearance part; 92. Mold middle plate; 93. Mold lower plate; 931. Slide groove; 94. Guide post; 95. Guide hole; 10. Bottle body. Detailed Implementation

[0035] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Example 1

[0040] Figures 1 to 6 An embodiment of the capsule packaging system of the present invention is shown. The capsule packaging system of this embodiment includes a feeding mechanism 1, a mold moving platform 2, a mold opening and closing mechanism 3, a filling device 4, a capsule taking mechanism 5, a transfer robot 6, a bottle packaging mechanism 7, and a defect detection mechanism 81. The mold moving platform 2 is provided with a mold positioning part 21, a filling part mounting part 22, and a drug container 23. The mold opening and closing mechanism 3 is equipped with a capsule closing mechanism 31.

[0041] The capsule packaging system of this embodiment can automatically complete processes such as feeding, filling, capsule closing, capsule removal, and defect detection. It boasts a high degree of automation and efficiency, which helps reduce the risk of contamination. The mold moving platform 2 is equipped with a mold positioning part 21 for placing the capsule mold 9, and also integrates a filling part mounting part 22 and a drug container 23. The filling part mounting part 22 and the drug container 23 can be moved by the mold moving platform 2, facilitating the replacement of the filling part 41 by the filling device 4 (the filling device 4 can be, for example, a commonly used pipette or filling needle, and the filling part 41 corresponding to the pipette is the filling part 41). The pipette tip needs to be replaced after a certain number of uses. Unused pipette tips can be placed on the filling part mounting part 22 and moved into position with the mold moving platform 2. The filling part mounting part 22 is preferably a perforated plate, with each pipette tip inserted into its corresponding hole. The structure is simple and facilitates automatic pipette replacement. The drug container 23 is preferably a cylindrical body, which is simple in structure and convenient for placing medicine bottles. The filling device 4, the mold opening and closing mechanism 3, and the capsule closing mechanism 31 only need to move up and down, without the need for translation, which helps to simplify the structure and reduce costs.

[0042] Furthermore, in this embodiment, the capsule packaging system also includes a shielded chamber 8. The feeding mechanism 1, mold moving platform 2, mold opening and closing mechanism 3, filling device 4, capsule removal mechanism 5, transfer robot 6, bottle packaging mechanism 7, and defect detection mechanism 81 are all located within the shielded chamber 8. An activity detection mechanism 82 is also provided within the shielded chamber 8. The components of the capsule packaging system are arranged within the shielded chamber 8, which provides radiation isolation, thus enabling the packaging of radiopharmaceuticals. The activity detection mechanism 82 is used to detect the activity of the radiopharmaceuticals. Preferably, the defect detection mechanism 81 is a light inspection mechanism, which can effectively detect defects during the packaging process. Preferably, the activity detection mechanism 82 is an activity well, which can effectively detect the activity of the radiopharmaceuticals.

[0043] Furthermore, in this embodiment, the mold opening and closing mechanism 3, filling device 4, defect detection mechanism 81, capsule removal mechanism 5, activity detection mechanism 82, transfer robot 6, and bottle packaging mechanism 7 are arranged sequentially. The overall layout is reasonable, the structure is compact, and it occupies little space. During the process of the mold moving platform 2 driving the capsule mold 9, etc., the processes of feeding, filling, capsule closing, capsule removal, defect detection, and activity detection are completed sequentially. This helps to shorten the movement path of the mold moving platform 2 and the transfer robot 6, and further improves the packaging efficiency.

[0044] In a preferred embodiment, the filling part mounting part 22 and the drug container 23 are arranged opposite to each other on both sides of the mold positioning part 21, which helps to make full use of the space of the mold moving platform 2, while avoiding mutual interference between the filling part 41 replacement process and the drug absorption process. The structure is simple and reasonable.

[0045] Furthermore, in this embodiment, the mold opening and closing mechanism 3 includes a first lifting drive 32 and a mold upper plate gripper 33 and a mold middle plate gripper 34 disposed on the first lifting drive 32. The mold upper plate 91 is provided with a clearance portion 911 for the mold middle plate gripper 34 to pass through. After the capsule mold 9 is moved into place, the first lifting drive 32 simultaneously drives the mold upper plate gripper 33 and the mold middle plate gripper 34 to descend. The mold upper plate gripper 33 directly grips the mold upper plate 91, and the mold middle plate gripper 34 passes through the clearance portion 911 to grip the mold middle plate 92. Then, the first lifting drive 32 drives the mold upper plate gripper 33 and the mold middle plate gripper 34 to rise. The mold upper plate 91 and the mold middle plate 92 rise and separate from the mold lower plate 93, while the upper capsule separates from the lower capsule, that is, the capsule is opened, and the lower capsule can be filled subsequently. Preferably, guide posts 94 can be provided on the lower plate 93 of the mold, and guide holes 95 can be provided on the middle plate 92 and the upper plate 91 of the mold. The guide posts 94 extend into the guide holes 95, which helps to align the middle plate 92, the upper plate 91 and the lower plate 93 of the mold vertically. At the same time, it provides guidance during the lifting and lowering of the middle plate 92 and the upper plate 91 of the mold, and avoids deviation.

[0046] In a preferred embodiment, both the upper mold plate gripper 33 and the middle mold plate gripper 34 are suction cups, which have a simple structure and are convenient for picking up and placing. Of course, in other embodiments, the upper mold plate gripper 33 and the middle mold plate gripper 34 can also be various grippers, etc.

[0047] Furthermore, in this embodiment, the lower mold plate 93 is provided with sliding grooves 931 on both sides, and the mold moving platform 2 is provided with limiting guide parts 24 that cooperate with the sliding grooves 931. Through the cooperation of the sliding grooves 931 and the limiting guide parts 24, the capsule mold 9 can be accurately inserted into the mold positioning part 21, and the lower mold plate 93 can be prevented from being lifted upward during the processes of opening and closing the capsule. The structure is simple and effective.

[0048] Further, in this embodiment, the bag retrieval mechanism 5 includes a bag gripper 52, a first rotating shaft 53 for driving the bag gripper 52 to rotate, a second rotating shaft 54 ​​for driving the bag gripper 52 to revolve, a second lifting drive 55 for driving the bag gripper 52 to rise and fall, at least one bag retrieval top rod 51, and a fourth lifting drive 56 for driving the bag retrieval top rod 51 to rise and fall. The height of the bag retrieval top rod 51 is less than the height of the bag gripper 52. The specific connection relationship between the first rotating shaft 53, the second rotating shaft 54, and the second lifting drive 55 can be varied. In this embodiment, the first rotating shaft 53 is connected to the bag gripper 52, the second lifting drive 55 is connected to the first rotating shaft 53, and the second rotating shaft 54 ​​is connected to the second lifting drive 55. During operation, the capsule, after being closed, moves into position along with the lower mold plate 93, the middle mold plate 92, and the mold moving platform 2. The second lifting drive 55 drives the capsule gripper 52 to descend to the set height. The fourth lifting drive 56 drives the capsule ejector rod 51 to rise, pushing the capsule out of the lower mold plate 93 and being gripped by the capsule gripper 52. The second lifting drive 55 drives the capsule gripper 52 and the capsule to rise until the capsule reaches the height required for defect detection. Then, the first rotating shaft 53 drives the capsule gripper 52 to rotate, cooperating with the defect detection mechanism 81 to complete the defect detection. Finally, the second rotating shaft 54 ​​drives the second lifting drive 55, the first rotating shaft 53, and the capsule gripper 52 to rotate as a whole. After being in position, the capsule descends, and the capsule gripper 52 releases the capsule, thus transferring the capsule into the bottle 10. The structure is reasonable, effective, and has high operating efficiency.

[0049] Furthermore, in this embodiment, the bladder-closing mechanism 31 is located below the mold-opening and closing mechanism 3. The bladder-closing mechanism 31 includes at least one bladder-closing push rod 311 and a third lifting drive component 312 for driving the bladder-closing push rod 311 to rise and fall. After filling is completed, the mold moving platform 2 drives the lower mold plate 93 back to the mold-opening and closing mechanism 3. The mold-opening and closing mechanism 3 drives the upper mold plate 91 and the middle mold plate 92 to fall into place. Then, the third lifting drive component 312 drives the bladder-closing push rod 311 to rise, lifting the lower bladder upward and combining it with the upper bladder as one unit. The structure is simple, effective, and has high operating efficiency. The lifting drive components can be, for example, cylinders, electric cylinders, lifting slides, or lead screw and nut mechanisms.

[0050] Example 2

[0051] Figure 7 An embodiment of the capsule encapsulation method of the present invention is shown. The capsule encapsulation method of this embodiment includes the following steps:

[0052] S1. Feeding: Bottle body 10 and capsule mold 9 are fed through feeding mechanism 1. Transfer robot 6 transfers bottle body 10 to bottle sealing mechanism 7. After bottle sealing mechanism 7 opens bottle body 10 (for radiopharmaceuticals, it is usually necessary to complete the cap removal and stopper removal of vials), transfer robot 6 places bottle body 10 on activity detection mechanism 82; transfer robot 6 transfers capsule mold 9 to mold positioning part 21 on mold moving platform 2.

[0053] S2, Filling: The mold opening and closing mechanism 3 descends to grab the upper mold plate 91 and the middle mold plate 92, and then rises to separate the upper bladder from the lower bladder. The lower bladder can be used for subsequent filling. The mold moving platform 2 moves to move the drug container 23 to below the filling device 4. The filling part 41 of the filling device 4 descends to draw the drug from the drug container 23 and then rises. The mold moving platform 2 moves to move the lower mold plate 93 to below the filling device 4. The filling part 41 of the filling device 4 descends to fill the drug into the lower bladder.

[0054] S3, Closing the capsule: The mold moving platform 2 drives the lower mold plate 93 back to the mold opening and closing mechanism 3. The mold opening and closing mechanism 3 drives the upper mold plate 91 and the middle mold plate 92 to descend. The capsule closing mechanism 31 closes the upper capsule and the lower capsule. The mold opening and closing mechanism 3 descends again to grab the upper mold plate 91 and then rises. At this time, the upper end of the capsule is exposed, making it convenient for the capsule removal mechanism 5 to remove the capsule.

[0055] S4. Defect detection: The mold moving platform 2 moves the mold middle plate 92 and the mold lower plate 93 to the bag removal mechanism 5. The bag removal mechanism 5 removes the bag and transfers it to the defect detection mechanism 81 for defect detection.

[0056] S5, Activity Detection: The capsule removal mechanism 5 transfers the capsule into the bottle 10 for activity detection;

[0057] S6. The transfer robot 6 transfers the bottle 10 to the bottle sealing mechanism 7 to complete the sealing of the bottle 10 (for radiopharmaceuticals, it is usually necessary to complete the actions of stoppering, capping and crimping the vial). Finally, the unsealed bottle 10 is discharged by the discharge structure 83 to complete the subsequent labeling, lead drum and other processes.

[0058] The capsule packaging method of this embodiment can automatically complete processes such as feeding, filling, capsule closing, capsule removal, defect detection and activity detection. It has a high degree of automation and high efficiency, which helps to reduce the risk of contamination. The filling device 4, the mold opening and closing mechanism 3 and the capsule closing mechanism 31 only need to move up and down, without the need for translation, which helps to simplify the operation and further improve production efficiency.

[0059] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A capsule encapsulation system, characterized in that: It includes a feeding mechanism (1), a mold moving platform (2), a mold opening and closing mechanism (3), a filling device (4), a capsule removal mechanism (5), a transfer robot (6), a bottle sealing mechanism (7), and a defect detection mechanism (81). The mold moving platform (2) is provided with a mold positioning part (21), a filling part mounting part (22), and a drug container (23). The mold opening and closing mechanism (3) is equipped with a capsule closing mechanism (31). The mold opening and closing mechanism (3) includes a first lifting drive (32) and a mold upper plate gripper (33) and a mold middle plate gripper (34) disposed on the first lifting drive (32). A guide post (94) is provided on the mold lower plate (93), and guide holes (95) are provided on the mold middle plate (92) and the mold upper plate (91). The guide post (94) extends into the guide hole (95), so that the mold middle plate (33) 92) The upper mold plate (91) and the lower mold plate (93) are aligned vertically and provide guidance during the lifting and lowering of the middle mold plate (92) and the upper mold plate (91). The upper mold plate (91) is provided with a clearance part (911) for the middle mold plate gripper (34) to pass through. The first lifting drive (32) simultaneously drives the upper mold plate gripper (33) and the middle mold plate gripper (34) to descend. The upper mold plate gripper (33) grips the upper mold plate (91), and the middle mold plate gripper (34) passes through the clearance part (911) to grip the middle mold plate (92). Then the first lifting drive (32) drives the upper mold plate gripper (33) and the middle mold plate gripper (34) to rise, so that the upper mold plate (91) and the middle mold plate (92) rise together to separate from the lower mold plate (93). The bladder closing mechanism (31) is located below the mold opening and closing mechanism (3). The bladder closing mechanism (31) includes at least one bladder closing top rod (311) and a third lifting drive member (312) for driving the bladder closing top rod (311) to rise and fall.

2. The capsule encapsulation system according to claim 1, characterized in that: It also includes a shielded chamber (8), in which the feeding mechanism (1), the mold moving platform (2), the mold opening and closing mechanism (3), the filling device (4), the capsule taking mechanism (5), the transfer robot (6), the bottle sealing mechanism (7) and the defect detection mechanism (81) are all located. The shielded chamber (8) is also equipped with an activity detection mechanism (82).

3. The capsule encapsulation system according to claim 2, characterized in that: The mold opening and closing mechanism (3), the filling device (4), the defect detection mechanism (81), the capsule removal mechanism (5), the activity detection mechanism (82), the transfer robot (6), and the bottle sealing mechanism (7) are arranged in sequence.

4. The capsule encapsulation system according to claim 1, characterized in that: The filling part mounting part (22) and the drug container (23) are arranged opposite to each other on both sides of the mold positioning part (21).

5. The capsule encapsulation system according to any one of claims 1 to 4, characterized in that: Both the upper plate gripper (33) and the middle plate gripper (34) of the mold are suction cups.

6. The capsule encapsulation system according to claim 5, characterized in that: The mold lower plate (93) is provided with slide grooves (931) on both sides, and the mold moving platform (2) is provided with a limiting guide part (24) that cooperates with the slide grooves (931).

7. The capsule encapsulation system according to any one of claims 1 to 4, characterized in that: The bag retrieval mechanism (5) includes a bag gripper (52), a first rotating shaft (53) for driving the bag gripper (52) to rotate, a second rotating shaft (54) for driving the bag gripper (52) to revolve, a second lifting drive (55) for driving the bag gripper (52) to rise and fall, at least one bag retrieval rod (51), and a fourth lifting drive (56) for driving the bag retrieval rod (51) to rise and fall. The height of the bag retrieval rod (51) is less than the height of the bag gripper (52).

8. A capsule encapsulation method, characterized in that: The capsule encapsulation system applied to any one of claims 1 to 7 includes the following steps: S1. Feeding: The bottle body (10) and the capsule mold (9) are fed through the feeding mechanism (1). The transfer robot (6) transfers the bottle body (10) to the bottle sealing mechanism (7). After the bottle sealing mechanism (7) opens the bottle body (10), the transfer robot (6) places the bottle body (10) on the activity detection mechanism (82). The transfer robot (6) transfers the capsule mold (9) to the mold positioning part (21) on the mold moving platform (2). S2, Filling: The mold opening and closing mechanism (3) descends to grab the upper mold plate (91) and the middle mold plate (92) and then rises to separate the upper bladder from the lower bladder. The mold moving platform (2) moves to move the drug container (23) to below the filling device (4). The filling part (41) of the filling device (4) descends to draw the drug from the drug container (23) and then rises. The mold moving platform (2) moves to move the lower mold plate (93) to below the filling device (4). The filling part (41) of the filling device (4) descends to fill the drug into the lower bladder. S3, Closing the sac: The mold moving platform (2) drives the lower mold plate (93) back to the mold opening and closing mechanism (3). The mold opening and closing mechanism (3) drives the upper mold plate (91) and the middle mold plate (92) to descend. The sac closing mechanism (31) closes the upper sac with the lower sac. The mold opening and closing mechanism (3) descends again to grab the upper mold plate (91) and then rises. S4, Defect detection: The mold moving platform (2) moves the mold middle plate (92) and the mold lower plate (93) to the bag removal mechanism (5), the bag removal mechanism (5) removes the bag and transfers it to the defect detection mechanism (81) for defect detection; S5, Activity test: The capsule removal mechanism (5) transfers the capsule into the bottle (10) for activity test; S6. The transfer robot (6) transfers the bottle (10) to the bottle sealing mechanism (7) to complete the bottle sealing.

Images