Crank connecting rod type servo automatic machine

Abstract

The invention relates to a crank connecting rod type servo automatic machine. An ejector rod is located in a sleeve; the sleeve servo motor and the ejector rod servo motor are respectively used for driving the sleeve and the ejector rod to act; the sleeve servo motor is connected with the two sleeve connecting rods, and the ejector rod servo motor is connected with the two ejector rod connecting rods; the sleeve short arm connecting rod is connected with the sleeve servo motor and the sleeve connecting rod, and the ejector rod short arm connecting rod is connected with the ejector rod servo motor and the ejector rod connecting rod; the sleeve fixing plate is connected with the sleeve connecting rod and the sleeve, and the ejector rod fixing plate is connected with the ejector rod connecting rod and the ejector rod. According to the crank connecting rod type servo automatic machine, the working procedures of demolding, cutting, sleeving, ejection and the like are completed by driving the double connecting rods through the servo motor, operation is more stable, precision is higher, noise is lower under the condition of the same speed, the space structure is simple, and maintenance is convenient.

Description

Technical Field

[0001] The present invention relates to a capsule machine, and more particularly to a crank - connecting rod type servo automatic machine. Background Art

[0002] A capsule is a medicine packaging shell, which is composed of a nested capsule body and a capsule cap. Its surface must be kept clean and free of oil stains, and strictly comply with the medical and hygienic standards. The needle die used in the capsule production process is a mold for forming capsules, and the needle die group is an aggregate formed by riveting multiple needle dies on a rectangular strip, aiming to improve production efficiency and facilitate circular operation on the production line. A capsule machine is a special device for producing hollow hard capsules, and the automatic machine is the most core component in the capsule production process. The automatic machine can complete processes such as demolding, cutting, nesting, and ejecting a layer of capsules on the surface of the needle die at one station, and realizes continuous production through reciprocating circular operation. The performance of the automatic machine directly determines the production efficiency and quality of the capsules.

[0003] Currently, the common automatic machines are mechanical cam - type automatic machines and screw - type servo automatic machines.

[0004] The mechanical cam - type automatic machine drives various cams through a main motor to complete processes such as demolding, cutting, nesting, and ejecting. However, the mechanical cam - type automatic machine has many disadvantages. For example, it needs to continuously lubricate the cams during operation, and an oil sump must be equipped inside the automatic machine to continuously supply oil through an oil pump, which may cause capsule contamination. Moreover, the mechanical cam - type automatic machine generates a pushing stroke by squeezing the bearing through the cam groove surface, with a large extrusion force and rolling friction, which is prone to mechanical damage. When running at high speed, the damage force will increase exponentially, so it cannot achieve fast production operation beyond the limit, and the production efficiency is low. In addition, the cam stroke of the mechanical cam - type automatic machine is fixed, unable to be flexibly adjusted according to the special needs of users, and the running noise is large, seriously affecting the working environment.

[0005] The screw - type servo automatic machine drives the corresponding screws through multiple servo motors (each servo motor drives one screw) to complete processes such as demolding, cutting, nesting, and ejecting. It should be understood that the servo system is an electromechanical system that can make output quantities such as target displacement, direction, and state change arbitrarily with the input quantity, and the servo motor is the core component of the servo system, which can accurately control the rotation speed and direction. Although the screw - type servo automatic machine has improved performance compared with the mechanical cam - type automatic machine, there are still some problems, such as the need to regularly add grease to lubricate the screws, increasing the risk of capsule contamination. Figure 8As shown in the figure, the sleeve of the screw - type servo automatic machine requires two sets of screws (sleeve screw 1, sleeve screw 2) and two sets of servo motors (sleeve servo motor 1, sleeve servo motor 2), and the ejector rod requires two sets of screws (ejector rod screw 1, ejector rod screw 2) and two sets of servo motors (ejector rod servo motor 1, ejector rod servo motor 2). Among them, sleeve screw 1 and sleeve screw 2 are respectively controlled by sleeve servo motor 1 and sleeve servo motor 2, and ejector rod screw 1 and ejector rod screw 2 are respectively controlled by ejector rod servo motor 1 and ejector rod servo motor 2. That is, each servo motor corresponds to one screw. The large number of servo motors leads to an increase in cost. Since the screw is driven by a single rod, the required number of servo motors and screws is large, and the installation space is crowded, which is not convenient for maintenance. It is very difficult for sleeve screw 1 and sleeve screw 2 to be precisely synchronized, which will cause the propulsion displacements of the left - hand sleeve and the right - hand sleeve to be inconsistent, affecting the demolding process of the automatic machine and the quality of the final capsule product. It is very difficult for ejector rod screw 1 and ejector rod screw 2 to be precisely synchronized, which will cause the propulsion displacements of the left - hand ejector rod and the right - hand ejector rod to be inconsistent, affecting the fitting process and the ejecting process of the automatic machine, and ultimately affecting the quality of the capsule product. In addition, the automatic head lifting and demolding parts of the screw - type servo automatic machine still use the traditional gear - rack structure. After long - term operation, the wear of the gears and racks will cause the accuracy of the automatic machine to decline. Summary of the Invention

[0006] In order to solve the problems such as difficult synchronization in the above - mentioned prior art, the present invention provides a crank - connecting - rod - type servo automatic machine.

[0007] The crank - connecting - rod - type servo automatic machine according to the present invention includes: a plurality of sleeves for forming capsules and a plurality of ejector rods for pushing out the formed capsules, and the ejector rods are located inside the sleeves; a sleeve servo motor and an ejector rod servo motor, which are respectively used to drive the actions of the sleeves and the ejector rods; two sleeve connecting rods and two ejector rod connecting rods, the sleeve servo motor is connected to the two sleeve connecting rods, and the ejector rod servo motor is connected to the two ejector rod connecting rods; a sleeve short - arm connecting rod and an ejector rod short - arm connecting rod, the sleeve short - arm connecting rod connects the sleeve servo motor and the sleeve connecting rod, and the ejector rod short - arm connecting rod connects the ejector rod servo motor and the ejector rod connecting rod; a sleeve fixing plate and an ejector rod fixing plate, the sleeve fixing plate connects the sleeve connecting rod and the sleeve, and the ejector rod fixing plate connects the ejector rod connecting rod and the ejector rod.

[0008] In a preferred embodiment, the crank - connecting - rod - type servo automatic machine further includes a first sleeve shaft and a first ejector rod shaft. The first sleeve shaft is connected to the sleeve servo motor, and the sleeve short - arm connecting rod is fixed to the first sleeve shaft through a tensioning sleeve; the first ejector rod shaft is connected to the ejector rod servo motor, and the ejector rod short - arm connecting rod is fixed to the first ejector rod shaft through a tensioning sleeve.

[0009] In a preferred embodiment, the crank - connecting rod type servo automatic machine further includes a second sleeve shaft and a second ejector rod shaft. The sleeve fixing plate is fixedly connected to the second sleeve shaft, and the sleeve connecting rod is connected to the second sleeve shaft through a self - lubricating structure; the ejector rod fixing plate is fixedly connected to the second ejector rod shaft, and the ejector rod connecting rod is connected to the second ejector rod shaft through a self - lubricating structure.

[0010] In a preferred embodiment, the self - lubricating structure is a graphite - copper bushing.

[0011] In a preferred embodiment, the sleeve connecting rod includes a first sleeve connecting rod and a second sleeve connecting rod, and the ejector rod connecting rod includes a first ejector rod connecting rod and a second ejector rod connecting rod; the sleeve servo - motor drives the first sleeve connecting rod and the second sleeve connecting rod to form a capsule body and a capsule cap respectively; the ejector rod servo - motor drives the first ejector rod connecting rod and the second ejector rod connecting rod to push out the capsule body and the capsule cap respectively.

[0012] In a preferred embodiment, the crank - connecting rod type servo automatic machine further includes a stripper. The stripper includes a slider, a lower part of the stripper, an upper part of the stripper and upper and lower stripping plates. The lower part of the stripper and the upper part of the stripper are respectively installed on the slider, and the upper and lower stripping plates are respectively installed on the lower part of the stripper and the upper part of the stripper.

[0013] In a preferred embodiment, the crank - connecting rod type servo automatic machine further includes a front - and - rear push servo - motor for the stripper, a front - and - rear push connecting rod for the stripper, a lifting servo - motor for the stripper and a lifting connecting rod for the stripper. The front - and - rear push servo - motor for the stripper drives the front - and - rear push connecting rod for the stripper, and the lifting servo - motor for the stripper drives the lifting connecting rod for the stripper.

[0014] In a preferred embodiment, the crank - connecting rod type servo automatic machine further includes a short - arm connecting rod for the front - and - rear push of the stripper and a short - arm connecting rod for the lifting of the stripper. The short - arm connecting rod for the front - and - rear push of the stripper connects the front - and - rear push servo - motor for the stripper and the front - and - rear push connecting rod for the stripper, and the short - arm connecting rod for the lifting of the stripper connects the lifting servo - motor for the stripper and the lifting connecting rod for the stripper.

[0015] In a preferred embodiment, the crank - connecting rod type servo automatic machine further includes a lifting shaft for the stripper connected to the lifting servo - motor for the stripper. The short - arm connecting rod for the lifting of the stripper includes a first short - arm connecting rod for the lifting of the stripper and a second short - arm connecting rod for the lifting of the stripper. The lifting servo - motor for the stripper drives the lifting shaft for the stripper to rotate, and drives the upper part of the stripper to move up and down through the swing of the first short - arm connecting rod for the lifting of the stripper, and drives the lower part of the stripper to move up and down through the swing of the second short - arm connecting rod for the lifting of the stripper, so that the lower part of the stripper and the upper part of the stripper make an opening and closing movement.

[0016] In a preferred embodiment, the crank - connecting - rod type servo automatic machine further includes a head lifting servo motor, a head lifting short - arm connecting rod, a head lifting connecting rod, and an automatic head mounted through an automatic head fixing plate. The head lifting short - arm connecting rod connects the head lifting servo motor and the head lifting connecting rod, and the head lifting connecting rod is connected to the automatic head fixing plate to drive the automatic head fixing plate to lift and lower.

[0017] For the crank - connecting - rod type servo automatic machine according to the present invention, the double - connecting - rod is driven by a servo motor to complete processes such as demoulding, cutting, sleeving, and ejecting. It runs more smoothly, has higher precision, lower noise under the same speed condition, and has a simple spatial structure, which is convenient for maintenance. Compared with the prior art, the present invention has significant advantages. The flexible adjustment of the stroke can be achieved by adjusting the rotation angle parameters of the servo motor. At the same time, the double - connecting - rod design reduces the number of servo motors used, lowers the cost, simplifies the equipment structure, and improves the running smoothness and precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of a crank - connecting - rod type servo automatic machine according to a preferred embodiment of the present invention.

[0019] Figure 2 is Figure 1 the top view of...

[0020] Figure 3 is Figure 1 the rear - side view of...

[0021] Figure 4 is Figure 3 the partial - structure schematic diagram of...

[0022] Figure 5 is Figure 4 the side view of...

[0023] Figure 6 is Figure 4 the partial - structure schematic diagram of...

[0024] Figure 7 is Figure 1 the structure schematic diagram of the demoulding device of...

[0025] Figure 8 is the structure schematic diagram of a screw - type servo automatic machine of the prior art. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following provides the preferred embodiments of the present invention in conjunction with the drawings and describes them in detail.

[0027] As Figures 1 - 2As shown in the figure, a crank - connecting - rod type servo automatic machine according to a preferred embodiment of the present invention includes a plurality of sleeves 1 and ejector rods 2. Among them, the sleeves 1 are used for forming capsules, and the ejector rods 2 are used for ejecting the formed capsules inside the sleeves 1. In this embodiment, the crank - connecting - rod type servo automatic machine includes 30 sleeves 1 and 30 ejector rods 2. It should be understood that 30 is only an example rather than a limitation.

[0028] As Figure 3 shown in the figure, a crank - connecting - rod type servo automatic machine according to a preferred embodiment of the present invention further includes a sleeve servo motor 11, two sleeve connecting rods 13, an ejector rod servo motor 21 and two ejector rod connecting rods 23. Among them, the sleeve servo motor 11 is connected to the two sleeve connecting rods 13. The two sleeve connecting rods 13 are a first sleeve connecting rod 131 and a second sleeve connecting rod 132 connected to the sleeve 1. The ejector rod servo motor 21 is connected to the two ejector rod connecting rods 23. The two ejector rod connecting rods 23 are a first ejector rod connecting rod 231 and a second ejector rod connecting rod 232 connected to the ejector rod 2. The sleeve servo motor 11 drives the first sleeve connecting rod 131 and the second sleeve connecting rod 132 to form a capsule body and a capsule cap respectively, and the ejector rod servo motor 21 drives the first ejector rod connecting rod 231 and the second ejector rod connecting rod 232 to eject the capsule body and the capsule cap respectively.

[0029] As Figure 4 and Figure 5 shown in the figure, a crank - connecting - rod type servo automatic machine according to a preferred embodiment of the present invention further includes two sleeve short - arm connecting rods 12 and two ejector rod short - arm connecting rods 22. Among them, the sleeve short - arm connecting rods 12 connect the sleeve servo motor 11 and the sleeve connecting rods 13, and the ejector rod short - arm connecting rods 22 connect the ejector rod servo motor 21 and the ejector rod connecting rods 23.

[0030] As Figure 4 and Figure 5 shown in the figure, a crank - connecting - rod type servo automatic machine according to a preferred embodiment of the present invention further includes a sleeve fixing plate 14 and an ejector rod fixing plate 24. Among them, the sleeve fixing plate 14 connects the sleeve connecting rods 13 and the sleeve 1 (see Figure 1 and Figure 2 ), and the ejector rod fixing plate 24 connects the ejector rod connecting rods 23 and the ejector rod 2 (see Figure 1 and Figure 2 ).

[0031] As Figure 6As shown, the crank - connecting - rod type servo automaton according to a preferred embodiment of the present invention further includes a first sleeve shaft 15 and a first ejector rod shaft 25. Among them, the first sleeve shaft 15 is connected to the sleeve servo motor 11, the sleeve short - arm connecting rod 12 is fixed to the first sleeve shaft 15 through a tension sleeve, the first ejector rod shaft 25 is connected to the ejector rod servo motor 21, and the ejector rod short - arm connecting rod 22 is fixed to the first ejector rod shaft 25 through a tension sleeve. In addition, the crank - connecting - rod type servo automaton further includes a second sleeve shaft and a second ejector rod shaft. The sleeve fixing plate 14 is fixedly connected to the second sleeve shaft through screws, the sleeve connecting rod 13 is connected to the second sleeve shaft through a self - lubricating structure (such as a graphite - copper sleeve, with solid lubricant embedded inside the copper sleeve, having lubrication and wear - resistant properties, and no need for manual lubrication at the rotating joint points), the ejector rod fixing plate 24 is fixedly connected to the second ejector rod shaft through screws, and the ejector rod connecting rod 23 is connected to the second ejector rod shaft through a self - lubricating structure (such as a graphite - copper sleeve).

[0032] Next, the fitting and ejection processes of the crank - connecting - rod type servo automaton according to the present invention will be briefly described. The sleeve servo motor 11 rotates forward and backward → drives the sleeve short - arm connecting rod 12 to swing forward and backward → the sleeve connecting rod 13 makes a reciprocating motion → the sleeve fixing plate 14 makes a forward - and - backward motion (driving the corresponding sleeve 1 to make a forward - and - backward displacement to realize capsule forming). The ejector rod servo motor 21 rotates forward and backward → drives the ejector rod short - arm connecting rod 22 to swing forward and backward → the ejector rod connecting rod 23 makes a reciprocating motion → the ejector rod fixing plate 24 makes a forward - and - backward motion (driving the corresponding ejector rod 2 to make a forward - and - backward displacement to realize capsule ejection).

[0033] The crank - connecting - rod type servo automaton of the present invention overcomes all the disadvantages of the mechanical cam - type automaton. Compared with the screw - type servo automaton, the crank - connecting - rod type servo automaton of the present invention adopts a double - connecting - rod design, with one servo motor driving two connecting rods, and the number of servo motors is halved, greatly reducing the cost. Specifically, the first sleeve connecting rod 131 and the second sleeve connecting rod 132 are controlled by one sleeve servo motor 11 to ensure that the running angles and displacements of the two sleeve connecting rods 13 are accurately synchronized; the first ejector rod connecting rod 231 and the second ejector rod connecting rod 232 are controlled by one ejector rod servo motor 21 to ensure that the running angles and displacements of the two ejector rod connecting rods 23 are accurately synchronized; due to the accurate synchronization of the sleeve connecting rods 13 and the accurate synchronization of the ejector rod connecting rods 23, the running accuracy of the automaton is higher and more stable, effectively improving the quality of the capsule products. Moreover, for the crank - connecting - rod type servo automaton of the present invention, the transmission structure parts adopt self - lubricating crank connections, without the need for a dedicated lubrication system or grease lubrication, greatly reducing the probability of capsule contamination.

[0034] As Figure 1 shown, the crank - connecting - rod type servo automaton according to a preferred embodiment of the present invention further includes a stripper 3 installed through the stripper side fixing plate 48, as Figure 7As shown, the demolding device 3 includes a slider 46 movably mounted on the demolding device side fixed plate 48 through a track. The lower part 44 of the demolding device and the upper part 45 of the demolding device are respectively mounted on the slider 46, and the upper and lower demolding sheets 47 are mounted on the lower part 44 and the upper part 45 of the demolding device.

[0035] As Figure 3 shown, the crank - connecting rod type servo automatic machine according to a preferred embodiment of the present invention further includes a front - and - rear push servo motor 31 for the demolding device, a front - and - rear push connecting rod 33 for the demolding device, a lifting servo motor 41 for the demolding device, and a lifting connecting rod 43 for the demolding device. Among them, the front - and - rear push servo motor 31 for the demolding device drives the front - and - rear push connecting rod 33 for the demolding device, and the lifting servo motor 41 for the demolding device drives the lifting connecting rod 43 for the demolding device.

[0036] As Figure 4 and Figure 5 shown, the crank - connecting rod type servo automatic machine according to a preferred embodiment of the present invention further includes a short - arm connecting rod 32 for the front - and - rear push of the demolding device and a short - arm connecting rod 42 for the lifting of the demolding device. Among them, the short - arm connecting rod 32 for the front - and - rear push of the demolding device connects the front - and - rear push servo motor 31 for the demolding device and the front - and - rear push connecting rod 33 for the demolding device, and the short - arm connecting rod 42 for the lifting of the demolding device connects the lifting servo motor 41 for the demolding device to drive the lifting connecting rod 43 for the demolding device.

[0037] As Figure 7 shown, the crank - connecting rod type servo automatic machine according to a preferred embodiment of the present invention further includes a lifting shaft 49 for the demolding device connected to the lifting servo motor 41 for the demolding device. The short - arm connecting rod 42 for the lifting of the demolding device includes a short - arm connecting rod 42A for the lifting of the demolding device and a short - arm connecting rod 42B for the lifting of the demolding device connected to the lifting shaft 49 for the demolding device. The lifting servo motor 41 for the demolding device drives the lifting shaft 49 for the demolding device to rotate. By the swing of the short - arm connecting rod 42A for the lifting of the demolding device, the upper part 45 of the demolding device is driven to move up and down, and by the swing of the short - arm connecting rod 42B for the lifting of the demolding device, the lower part 44 of the demolding device is driven to move up and down, so that the lower part 44 and the upper part 45 of the demolding device perform an opening - closing movement.

[0038] Next, briefly describe the demolding process of the crank - connecting rod type servo automatic machine according to the present invention. The lifting servo motor 41 for the demolding device rotates forward and backward → drives the short - arm connecting rod 42 for the lifting of the demolding device to swing forward and backward → the lifting connecting rod 43 for the demolding device makes an up - and - down displacement movement (driving the upper and lower demolding sheets 47 to perform an opening - closing action, and the upper and lower demolding sheets 47 close to wrap the capsule). The front - and - rear push servo motor 31 for the demolding device rotates forward and backward → drives the short - arm connecting rod 32 for the front - and - rear push of the demolding device to swing forward and backward → the front - and - rear push connecting rod 33 for the demolding device makes a reciprocating forward - and - backward displacement movement (the front - and - rear push connecting rod 33 for the demolding device pulls out the capsule, completing the process of demolding one capsule).

[0039] Compared with the screw - type servo automatic machine, the transmission structural components of the ejector 3 of the crank - connecting - rod - type servo automatic machine of the present invention adopt a self - lubricating crank connection, eliminating the need for a dedicated lubrication system or grease lubrication, effectively overcoming the wear of the gear - rack transmission, and greatly ensuring the accuracy of the automatic machine. For the gear - rack transmission of the ejector 3 of the screw - type servo automatic machine, each reciprocating motion is operated under the maximum torque state, with relatively large impacts, which is adverse to the running stability, service life, etc. of the automatic machine. The crank - connecting - rod structure of the crank - connecting - rod - type servo automatic machine of the present invention can ensure that when the motor starts, the required torque is the smallest, and the motor will automatically decelerate when it stops, greatly improving the running stability of the automatic machine, increasing the service life of mechanical parts, and reducing energy consumption.

[0040] As Figure 5 shown, the crank - connecting - rod - type servo automatic machine according to a preferred embodiment of the present invention further includes an automatic machine head 4 installed through an automatic machine - head fixing plate 54. In this embodiment, the sleeve connecting rod 13 and the ejector rod connecting rod 23 are located above the automatic machine - head fixing plate 54, which is an upper - mounted type. In another embodiment, the sleeve connecting rod 13 and the ejector rod connecting rod 23 are located below the automatic machine - head fixing plate 54, which is a lower - mounted type.

[0041] As Figure 4 shown, the crank - connecting - rod - type servo automatic machine further includes a machine - head lifting servo motor 51, a machine - head lifting short - arm connecting rod 52, and a machine - head lifting connecting rod 53. Among them, the machine - head lifting short - arm connecting rod 52 connects the machine - head lifting servo motor 51 and the machine - head lifting connecting rod 53, and the machine - head lifting connecting rod 53 is connected to the automatic machine - head fixing plate 54 to drive the automatic machine - head fixing plate 54 to lift and lower, so that the entire automatic machine head 4 is lifted and lowered as a whole.

[0042] Next, briefly describe the cutting process of the crank - connecting - rod - type servo automatic machine according to the present invention. The machine - head lifting servo motor 51 rotates forward and backward → drives the machine - head lifting short - arm connecting rod 52 to swing forward and backward → the machine - head lifting connecting rod 53 makes a vertical displacement motion to drive → the automatic machine - head fixing plate 54 is lifted and lowered (cutting is completed).

[0043] Compared with the screw - type servo automatic machine, the transmission structural components of the automatic machine head 4 of the crank - connecting - rod - type servo automatic machine of the present invention adopt a self - lubricating crank connection, eliminating the need for a dedicated lubrication system or grease lubrication, effectively overcoming the wear of the gear - rack transmission, and greatly ensuring the accuracy of the automatic machine. For the gear - rack transmission of the automatic machine head 4 of the screw - type servo automatic machine, each reciprocating motion is operated under the maximum torque state, with relatively large impacts, which is adverse to the running stability, service life, etc. of the automatic machine. The crank - connecting - rod structure of the crank - connecting - rod - type servo automatic machine of the present invention can ensure that when the motor starts, the required torque is the smallest, and the motor will automatically decelerate when it stops, greatly improving the running stability of the automatic machine, increasing the service life of mechanical parts, and reducing energy consumption.

[0044] In summary, for the opening and closing, moving in and out of the sleeve 1, ejector rod 2, and demolding device 3 of the crank - connecting - rod type servo automatic machine of the present invention, as well as the lifting of the automatic head 4, the crank - connecting - rod drive mode is adopted, replacing the traditional mechanical cam drive and screw drive. It has small rolling friction and a large space for speed increase, and can achieve high production efficiency. Driven by a servo motor, a stable, high - speed, and pollution - free production environment can be realized. Only the parameter of the rotation angle of the servo motor needs to be adjusted (the angle parameter is set through the electric control box). The servo motor rotates back and forth. When the rotation angle is adjusted larger, the swing amplitude of the connecting rod increases, thereby increasing the displacement stroke and achieving flexible adjustment.

[0045] The above - mentioned are only the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various changes can be made to the above - mentioned embodiments of the present invention. That is, all simple, equivalent changes and modifications made according to the claims and the content of the specification of the present invention application fall within the scope of the claims of the present invention patent. The content not described in detail in the present invention is all conventional technical content.

Claims

1. A crank-connecting rod type servo automatic machine, characterized in that: The crank-connecting rod servo robot includes: A plurality of sleeves for forming capsules and a plurality of ejector pins for pushing out the formed capsules, wherein the ejector pins are located inside the sleeves; The sleeve servo motor and the ejector rod servo motor are used to drive the movement of the sleeve and the ejector rod respectively; Two sleeve connecting rods and two push rod connecting rods, the sleeve servo motor is connected to the two sleeve connecting rods, and the push rod servo motor is connected to the two push rod connecting rods; A sleeve short arm connecting rod and a push rod short arm connecting rod, wherein the sleeve short arm connecting rod is connected to the sleeve servo motor and the sleeve connecting rod, and the push rod short arm connecting rod is connected to the push rod servo motor and the push rod connecting rod; A sleeve fixing plate and a push rod fixing plate, wherein the sleeve fixing plate connects the sleeve connecting rod and the sleeve, and the push rod fixing plate connects the push rod connecting rod and the push rod.

2. The crank-connecting rod servo robot according to claim 1, characterized in that: The crank-connecting rod servo automatic machine also includes a first sleeve shaft and a first push rod shaft, the first sleeve shaft is connected to the sleeve servo motor, and the sleeve short arm connecting rod is fixed to the first sleeve shaft through a tensioning sleeve; the first push rod shaft is connected to the push rod servo motor, and the push rod short arm connecting rod is fixed to the first push rod shaft through a tensioning sleeve.

3. The crank-connecting rod servo robot according to claim 1, characterized in that: The crank-connecting rod servo automatic machine also includes a second sleeve shaft and a second push rod shaft, the sleeve fixing plate is connected and fixed to the second sleeve shaft, and the sleeve connecting rod is connected to the second sleeve shaft through a self-lubricating structure; the push rod fixing plate is connected and fixed to the second push rod shaft, and the push rod connecting rod is connected to the second push rod shaft through a self-lubricating structure.

4. The crank-connecting rod servo robot according to claim 3, characterized in that: The self-lubricating structure is a graphite copper sleeve.

5. The crank-connecting rod servo robot according to claim 1, characterized in that: The sleeve connecting rod includes a first sleeve connecting rod and a second sleeve connecting rod, and the push rod connecting rod includes a first push rod connecting rod and a second push rod connecting rod; the sleeve servo motor drives the first sleeve connecting rod and the second sleeve connecting rod to form the capsule body and the capsule cap respectively; the push rod servo motor drives the first push rod connecting rod and the second push rod connecting rod to push out the capsule body and the capsule cap respectively.

6. The crank-connecting rod servo robot according to claim 1, characterized in that: The crank-connecting rod servo automatic machine also includes a demoulder, which includes a slider, a demoulder lower part, a demoulder upper part and upper and lower demoulder plates. The demoulder lower part and the demoulder upper part are respectively installed on the slider, and the upper and lower demoulder plates are respectively installed on the demoulder lower part and the demoulder upper part.

7. The crank-connecting rod servo robot according to claim 6, characterized in that: The crank-connecting rod servo automatic machine also includes a stripper forward and backward pushing servo motor, a stripper forward and backward pushing connecting rod, a stripper lifting servo motor and a stripper lifting connecting rod. The stripper forward and backward pushing servo motor drives the stripper forward and backward pushing connecting rod, and the stripper lifting servo motor drives the stripper lifting connecting rod.

8. The crank-connecting rod type servo robot according to claim 7, characterized in that: The crank-connecting rod servo automatic machine also includes a demoulder forward and backward pushing short arm connecting rod and a demoulder lifting short arm connecting rod, wherein the demoulder forward and backward pushing short arm connecting rod is connected to the demoulder forward and backward pushing servo motor and the demoulder forward and backward pushing connecting rod, and the demoulder lifting short arm connecting rod is connected to the demoulder lifting servo motor and the demoulder lifting connecting rod.

9. The crank-connecting rod servo robot according to claim 8, characterized in that: The crank-connecting rod servo automatic machine also includes a demoulder lifting shaft connected to the demoulder lifting servo motor, the demoulder lifting short arm connecting rod includes a demoulder lifting short arm connecting rod and a demoulder lifting short arm connecting rod, the demoulder lifting servo motor drives the demoulder lifting shaft to rotate, and the demoulder upper part is driven to move up and down by the swing of the demoulder lifting short arm connecting rod, and the demoulder lower part is driven to move up and down by the swing of the demoulder lifting short arm connecting rod, so that the demoulder lower part and the demoulder upper part perform opening and closing movements.

10. The crank-connecting rod servo robot according to claim 1, characterized in that: The crank-connecting rod servo automatic machine also includes a head lifting servo motor, a head lifting short arm connecting rod, a head lifting connecting rod and an automatic head installed through an automatic head fixing plate. The head lifting short arm connecting rod connects the head lifting servo motor and the head lifting connecting rod, and the head lifting connecting rod is connected to the automatic head fixing plate to drive the automatic head fixing plate to lift and lower.

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