A stock solution dispensing device and a dispensing method

Abstract

The present invention provides a raw liquid packaging device and a packaging method. The raw liquid packaging device includes a packaging bracket, a plurality of trays symmetrically arranged on both sides of the packaging bracket, a main pipeline arranged on the packaging bracket, and weighing sensors arranged on both sides of the bottom of the packaging bracket. The tray is used to carry a liquid separation bag to be filled with liquid. Branch pipelines connected to the liquid separation bag are symmetrically arranged on both sides of the main pipeline. The main pipeline is connected to a raw liquid storage device. Bubble sensors are provided at both ends of the main pipeline. The bubble sensors are used to detect bubbles in the main pipeline. The raw liquid to be packaged in the raw liquid storage device passes through the main pipeline and the branch pipeline in sequence and is then loaded into the liquid separation bag. The weighing sensor is used to obtain the force changes at the bottom of both sides of the packaging bracket. The position of the tray relative to the packaging bracket is fixed, and the position of the liquid separation bag relative to the tray is fixed, so that the amount of raw liquid packaged into the liquid separation bag is calculated according to the force changes. The raw liquid packaging device provided by the present invention has high efficiency and good packaging accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of biological liquid packaging, and in particular to a stock liquid packaging device and a packaging method. Background Art

[0002] In the downstream of the biopharmaceutical production system, the raw liquid needs to be collected, packaged, frozen and stored. The packaging of the raw liquid is mainly done by manual or system measurement, and the raw liquid is packaged into the corresponding container according to the set dosage, which is convenient for subsequent selection according to needs.

[0003] Currently, most companies rely on traditional manual dispensing, with a smaller number employing dispensing devices. Manual dispensing presents the following challenges: low efficiency, poor dispensing accuracy, waste of human resources, and a high risk of contamination. The dispensing devices used in some existing dispensing devices typically can only dispense one bulk liquid bag at a time, resulting in slow dispensing speeds and limited accuracy. The amount of liquid in the bulk liquid bag is primarily assessed through visual inspection. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a raw liquid packaging device and a packaging method to solve the technical problems existing in the prior art.

[0005] On the one hand, the present invention provides a raw liquid packaging device, comprising a packaging bracket, a plurality of trays symmetrically arranged on both sides of the packaging bracket, a main pipeline arranged on the packaging bracket, and weighing sensors arranged on both sides of the bottom of the packaging bracket, the tray is used to carry a liquid separation bag to be filled with liquid, and branch pipelines connected to the liquid separation bag are symmetrically arranged on both sides of the main pipeline, the main pipeline is connected to the raw liquid storage device, and bubble sensors are provided at both ends of the main pipeline, the bubble sensors are used to detect bubbles in the main pipeline, the raw liquid to be packaged in the raw liquid storage device is sequentially passed through the main pipeline and the branch pipeline and then loaded into the liquid separation bag, the weighing sensor is used to obtain the force changes at the bottom of both sides of the packaging bracket, the relative position of the tray and the packaging bracket is fixed, and the relative position of the liquid separation bag and the tray is fixed, so as to calculate the amount of raw liquid packaged into the liquid separation bag through the force change.

[0006] The beneficial effects of the present invention are as follows: the raw liquid filling device provided by the present invention includes a filling bracket, a plurality of trays symmetrically arranged on both sides of the filling bracket, a main pipeline arranged on the filling bracket, and weighing sensors arranged on both sides of the bottom of the filling bracket. The tray is used to carry the liquid separation bag to be filled, and branch pipelines connected to the liquid separation bag are symmetrically arranged on both sides of the main pipeline; the raw liquid to be filled passes through the main pipeline and the branch pipeline in turn and is then filled into the liquid separation bags on both sides, that is, the left and right liquid separation bags can be filled at the same time, which is highly efficient; further, the weighing sensor is used to obtain the force changes at the bottom of both sides of the filling bracket, the position of the tray relative to the filling bracket is fixed, and the position of the liquid separation bag relative to the tray is fixed, so that the center of mass of each part remains unchanged, and the weight of the liquid filled into the bags on the left and right sides is calculated by the force change, the liquid separation accuracy is high, and it is suitable for large-scale promotion.

[0007] Preferably, the subpackaging support comprises a symmetrically arranged frame, the frame is provided with a plurality of carrying plates spaced apart from top to bottom, and the tray is placed on the carrying plates.

[0008] Preferably, a positioning shaft is provided on the end face of the supporting plate close to the tray, and a positioning hole adapted to the positioning shaft is provided on the end face of the tray close to the supporting plate. The tray is positioned on the supporting plate through the positioning hole and the positioning shaft so that the relative position of the tray and the sub-packaging bracket is fixed.

[0009] Preferably, main line valves for controlling the switch of the main line are provided at both ends of the main line, and branch line valves for controlling the switch of the branch line are provided at one end of the branch line close to the main line.

[0010] Preferably, a positioning opening is provided on one side of the tray, and the liquid separation bag is positioned in the tray through the positioning opening, so that the relative positions of the liquid separation bag and the tray are fixed.

[0011] Preferably, recessed handles are provided on both sides of the tray, handles are symmetrically provided on both sides of the packaging bracket, and locking wheels are provided at the bottom of the raw liquid packaging device.

[0012] A second aspect of the present invention provides a packaging method based on the above-mentioned stock solution packaging device, the packaging method comprising:

[0013] Assembling the main pipeline and the branch pipeline to form a pipeline assembly, installing the pipeline assembly on a sub-assembly bracket, and symmetrically placing a plurality of trays on the sub-assembly bracket;

[0014] Place a liquid separation bag in each tray and connect the end of the branch line to the corresponding liquid separation bag;

[0015] Open the main line, close the branch line, and introduce the raw liquid into the main line to discharge the gas in the main line; wherein the bubble sensor is used to detect the discharge of bubbles in the main line;

[0016] Read the initial force of the device through the weighing sensor;

[0017] The original liquid is loaded into the liquid separation bags on both sides of the sub-packaging bracket through the main line and the branch line, the force change is determined according to the real-time force and initial force of the weighing sensor, and the amount of original liquid divided into the liquid separation bags on both sides is calculated according to the force change.

[0018] Preferably, the step of calculating the amount of the original liquid to be dispensed into the liquid separation bags on both sides according to the force change of the weighing sensor includes:

[0019] Read the first force and the second force of the left load cell and the right load cell in real time;

[0020] Obtain a first distance from the left load cell to the center of mass of the left liquid dispensing bag, a second distance from the left load cell to the center of mass of the stock solution dispensing device, a third distance from the left load cell to the center of mass of the right liquid dispensing bag, and a fourth distance from the left load cell to the right load cell;

[0021] Establish a torque balance equation with the weighing sensor as the center, substitute the initial force, the first force, the second force, the first distance, the second distance, the third distance, and the fourth distance into the torque balance equation, and calculate the amount of the original liquid dispensed into the liquid separation bags on both sides.

[0022] Preferably, the expression for the amount of the original solution dispensed into the liquid separation bags on both sides is:

[0023] T 左袋 =(T 右 ×D4-T 左 ×D3-T 右 ×D3+T 初 D3-T 初 × D2) / (D1-D3)

[0024] T 右袋 = T 左 +T 右 -T 左袋 -T 初

[0025] Where, T 左袋 Indicates the force corresponding to the total amount of original liquid loaded into the left liquid bag, T 右袋 Indicates the force corresponding to the total amount of original liquid loaded into the right side of the liquid bag, T 左 Indicates the first force, T 右 Indicates the second force, T 初represents the initial force, and D1, D2, D3, and D4 represent the first distance, the second distance, the third distance, and the fourth distance, respectively.

[0026] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic structural diagram of a stock solution packaging device provided in Example 1 of the present invention;

[0028] Figure 2 for Figure 1 Schematic diagram of the structure of the original liquid filling device without pipelines and trays;

[0029] Figure 3 for Figure 1 Schematic diagram of the structure after the middle separation liquid bag is connected to the pipeline assembly

[0030] Figure 4 for Figure 1 Schematic diagram of the structure of the middle liquid bag arranged in the tray;

[0031] Figure 5 for Figure 1 Schematic diagram of the structure of the pallet;

[0032] Figure 6 for Figure 5 A schematic diagram of the structure of the pallet from another perspective;

[0033] Figure 7 This is a schematic diagram of the force analysis of the stock liquid packaging device provided by the present invention.

[0034] Description of main component symbols:

[0035] 10. Packaging bracket; 11. Tray; 111. Positioning hole; 112. Positioning port; 113. Recessed handle; 12. Main line; 121. Main line valve; 13. Weighing sensor; 14. Liquid separation bag; 15. Branch line; 151. Branch line valve; 16. Bubble sensor; 17. Frame; 18. Loading plate; 181. Positioning shaft; 19. Handle; 20. Locking wheel.

[0036] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0037] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] Example 1

[0041] like Figures 1 to 6 As shown, the first embodiment of the present invention provides a raw liquid filling device, which includes a filling bracket 10, a plurality of trays 11 symmetrically arranged on both sides of the filling bracket 10, a main line 12 arranged on the filling bracket 10, and weighing sensors 13 arranged on both sides of the bottom of the filling bracket 10. The tray 11 is used to carry a liquid separation bag 14 to be filled with liquid. Branch lines 15 connected to the liquid separation bags are symmetrically arranged on both sides of the main line 12. The main line 12 is connected to a raw liquid storage device (not shown in the figure). Bubble sensors 16 are provided at both ends of the main line 12. The bubble sensors 16 are used to detect bubbles in the main line 12. The raw liquid to be filled in the raw liquid storage device passes through the main line 12 and the branch line 15 in turn and is then filled into the liquid separation bag 14. The weighing sensor 13 is used to obtain the force changes at the bottom of both sides of the filling bracket. The position of the tray 11 relative to the filling bracket 10 is fixed, and the position of the liquid separation bag 14 relative to the tray 11 is fixed, so as to calculate the amount of raw liquid filled into the liquid separation bag by the force change.

[0042] Optionally, in this embodiment, five trays 11 are arranged on the left and right sides of the raw liquid filling device, for a total of ten trays, and the main line 12 is arranged in the middle position in the front of the raw liquid filling device. Five branch lines 15 extend from the left and right sides of the main line 12 and are connected to the liquid separation bag 14. The bottom port of the main line 12 is connected to the raw liquid storage, and the raw liquid is loaded into the liquid separation bag 14 from bottom to top. Furthermore, the top port of the main line 12 is connected to an exhaust receiving device for receiving the internal gas of the pipeline when the main line is exhausted; bubble sensors 16 are provided at the upper and lower ends of the main line 12, and there can be four weighing sensors 13, which are respectively arranged at the bottom of the filling bracket for obtaining the force changes at the bottom of both sides of the filling bracket. In this embodiment, after the tray is placed on the filling bracket, its position relative to the filling bracket is fixed. After the liquid separation bag is placed on the tray, its position relative to the tray is fixed, so that the center of mass of the liquid separation bag, the center of mass of the device, etc. will not change, and then the amount of raw liquid filled into the liquid separation bag is calculated by the force change.

[0043] In some optional embodiments, such as Figure 1 As shown, the sub-packaging bracket includes a symmetrically arranged frame 17, and the frame 17 is provided with a plurality of supporting plates 18 spaced apart from top to bottom, and the tray 11 is placed on the supporting plate 18; a positioning shaft 181 is provided on the end face of the supporting plate close to the tray 11, and a positioning hole 111 is provided on the end face of the tray 11 close to the supporting plate, which is compatible with the positioning shaft 181, that is, a positioning shaft is provided on the upper surface of the supporting plate, and a positioning hole is provided on the bottom surface of the tray. After the tray 11 is placed on the supporting plate 18, the tray is positioned on the supporting plate through the positioning hole and the positioning shaft, so that the position of the tray relative to the sub-packaging bracket is fixed.

[0044] In some optional embodiments, such as Figure 2 As shown, main line valves 121 for controlling the main line switch are provided at both ends of the main line 12, and branch line valves 151 for controlling the branch line switch are provided at one end of the branch line 15 close to the main line. Optionally, the main line valve 121 and the branch line valve 151 are fixedly arranged on the front end face of the raw liquid filling device; further, a positioning port 112 is provided on one side of the tray 11, and the liquid separation bag 14 is positioned in the tray through the positioning port 112 to fix the position of the liquid separation bag relative to the tray; further, recessed handles 113 are provided on both sides of the tray 11, and handles 19 are symmetrically provided on both sides of the filling bracket 10, and a locking wheel 20 is provided at the bottom of the raw liquid filling device.

[0045] When the raw liquid packaging device provided in this application is used for raw liquid packaging, the pipeline, tray, and packaging bag are first installed. After the installation and positioning are completed, the exhaust process begins. During exhaust, all branch pipe valves are closed, the main pipe valve is opened, the liquid enters from the bottom of the main pipe, and the gas is discharged through the main pipe. After the exhaust is completed, the main pipe valve is closed, and the total weight of the device at this moment is read by four weighing sensors and recorded as T 初At this time, the main pipeline of the device is full of liquid, and the sub-packaging bag has no liquid. The device is simplified into a static rigid body. When the liquid is sub-packaging, the liquid enters the sub-packaging bag through the branch pipeline, and the amount of liquid in the main pipeline does not change. In other words, except for the liquid in the sub-packaging bag, the T of the entire device is 初 There is no change. The liquid entering the packaging bag exerts dynamic pressure on both sides of the packaging rack. The force analysis of the device is as follows: Figure 7 As shown; by obtaining the forces acting on the left and right weighing sensors, the amount of stock liquid dispensed into the liquid separation bag can be calculated in real time based on the moment balance equation. The stock liquid dispensing device provided in this application can dispense liquids into two left and right liquid separation bags at the same time, with high efficiency; by arranging weighing sensors on both sides of the bottom of the dispensing bracket, the weight of the dispensed liquids in the left and right bags can be calculated; the liquid dispensing accuracy is high, and it is suitable for large-scale promotion.

[0046] Example 2

[0047] This embodiment provides a packaging method using the stock solution packaging device of the above embodiment 1, comprising the following steps:

[0048] Assembling the main pipeline and the branch pipeline to form a pipeline assembly, installing the pipeline assembly on a sub-assembly bracket, and symmetrically placing a plurality of trays on the sub-assembly bracket;

[0049] Place a liquid separation bag in each tray and connect the end of the branch line to the corresponding liquid separation bag;

[0050] Open the main line, close the branch line, and introduce the raw liquid into the main line to discharge the gas in the main line; wherein the bubble sensor is used to detect the discharge of bubbles in the main line;

[0051] Read the initial force of the device through the weighing sensor;

[0052] The original liquid is loaded into the liquid separation bags on both sides of the sub-packaging bracket through the main line and the branch line, the force change is determined according to the real-time force and initial force of the weighing sensor, and the amount of original liquid divided into the liquid separation bags on both sides is calculated according to the force change.

[0053] Optionally, the step of calculating the amount of the original liquid to be dispensed into the liquid separation bags on both sides according to the force change of the weighing sensor includes:

[0054] Read the first force and the second force of the left load cell and the right load cell in real time;

[0055] Obtain a first distance from the left load cell to the center of mass of the left liquid dispensing bag, a second distance from the left load cell to the center of mass of the stock solution dispensing device, a third distance from the left load cell to the center of mass of the right liquid dispensing bag, and a fourth distance from the left load cell to the right load cell;

[0056] Establish a torque balance equation with the weighing sensor as the center, substitute the initial force, the first force, the second force, the first distance, the second distance, the third distance, and the fourth distance into the torque balance equation, and calculate the amount of the original liquid dispensed into the liquid separation bags on both sides.

[0057] Optional, for the convenience of description, some parameters are defined as follows; T 左 Indicates the sum of the values of the weighing sensors on the left, which is the first force, T 右 It represents the sum of the values of the weighing sensors on the right side, which is the second force; T 左袋 Indicates the force corresponding to the total amount of original liquid loaded into the left liquid bag, T 右袋 It represents the force corresponding to the total amount of raw liquid loaded into the right liquid-filling bag. D1 represents the distance from the left load cell to the center of mass of the left liquid-filling bag. The liquid-filling bag is fixed relative to the tray, and the center of mass does not change. D2 represents the distance from the left load cell to the center of mass of the raw liquid-filling device. The device is fixed, and the center of mass does not change. D3 represents the distance from the left load cell to the center of mass of the right liquid-filling bag. D4 represents the distance from the left load cell to the right load cell.

[0058] The torque balance equation is established with the left load cell as the core:

[0059] T 左 +T 右 =T 左袋 +T 右袋 +T 初 (1)

[0060] T 右袋 =T 左 +T 右 -T 左袋 -T 初 (2)

[0061] According to the moment balance equation, the formula can be established:

[0062] T 右 ×D4=T 右袋 ×D3+T 初 ×D2+T 左袋 ×D1 (3)

[0063] T 左袋 =(T 右 ×D4-T 右袋 ×D3-T 初 × D2) / D1(4)

[0064] Substituting equation (2) into equation (4) and simplifying it, we get:

[0065] T 左袋 =(T右 ×D4-T 左 ×D3-T 右 ×D3+T 初 D3-T 初 × D2) / (D1-D3) (5)

[0066] According to equation (5), T 左袋 , and then substitute it into equation (1) to obtain T 右袋 .

[0067] Furthermore, according to the order in which different liquid separation bags are filled, the first liquid separation bag on the left can be recorded as T 左袋1 , the first liquid separation bag on the right can be recorded as T 右袋1 ; When starting to pack the second bag on the left and the second bag on the right:

[0068] T 左袋2 =T 左袋 -T 左袋1 (6)

[0069] Substituting equation (5) into equation (6), we get:

[0070] T 左袋 =(T 右 ×D4-T 左 ×D3-T 右 ×D3+T 初 D3-T 初 × D2) / (D1-D3) (7)

[0071] T 右袋2 =T 右袋 -T 右袋1 (8)

[0072] Similarly, the amount of liquid in other dispensing bags can be calculated.

[0073] It should be noted that the above implementation process is only for the purpose of illustrating the feasibility of the present application. However, this does not mean that the present application's stock liquid packaging device and packaging method are limited to the above-mentioned implementation processes. On the contrary, as long as the present application's stock liquid packaging device and packaging method can be implemented, they can be included in the feasible implementation plan of the present application. In addition, the structural portion of the stock liquid packaging device in the embodiment of the present invention corresponds to the method for preparing the stock liquid packaging device in the present invention, and their specific implementation details are also the same, which will not be repeated here.

[0074] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0075] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A packaging method using a stock solution packaging device, characterized in that: The liquid dispensing device includes a dispensing bracket, a plurality of trays symmetrically arranged on both sides of the dispensing bracket, a main pipeline arranged on the dispensing bracket, and weighing sensors arranged on both sides of the bottom of the dispensing bracket, the tray being used to carry a liquid dispensing bag to be filled with liquid, branch pipelines connected to the liquid dispensing bag are symmetrically arranged on both sides of the main pipeline, the main pipeline is connected to the liquid reservoir, bubble sensors are provided at both ends of the main pipeline, the bubble sensors are used to detect bubbles in the main pipeline, the liquid to be dispensed in the liquid reservoir passes through the main pipeline and the branch pipeline in turn and is then loaded into the liquid dispensing bag, the weighing sensor is used to obtain the force changes at the bottom of both sides of the dispensing bracket, the relative positions of the tray and the dispensing bracket are fixed, and the relative positions of the liquid dispensing bag and the tray are fixed, so as to calculate the amount of liquid dispensed into the liquid dispensing bag by the force changes; The packaging method comprises the following steps: Assembling the main pipeline and the branch pipeline to form a pipeline assembly, installing the pipeline assembly on a sub-assembly bracket, and symmetrically placing a plurality of trays on the sub-assembly bracket; Place a liquid separation bag in each tray and connect the end of the branch line to the corresponding liquid separation bag; Open the main line, close the branch line, and introduce the raw liquid into the main line to discharge the gas in the main line; wherein the bubble sensor is used to detect the discharge of bubbles in the main line; Read the initial force of the device through the weighing sensor; Fill the liquid bags on both sides of the dispensing bracket with the stock solution through the main pipe and the branch pipe, determine the force change according to the real-time force and the initial force of the weighing sensor, and calculate the amount of stock solution dispensed into the liquid bags on both sides according to the force change; The step of calculating the amount of the original liquid to be dispensed into the liquid separation bags on both sides according to the force change of the weighing sensor comprises: Read the first force and the second force of the left load cell and the right load cell in real time; Obtain a first distance from the left load cell to the center of mass of the left liquid dispensing bag, a second distance from the left load cell to the center of mass of the stock solution dispensing device, a third distance from the left load cell to the center of mass of the right liquid dispensing bag, and a fourth distance from the left load cell to the right load cell; Establish a torque balance equation with the left load cell as the center, substitute the initial force, the first force, the second force, the first distance, the second distance, the third distance, and the fourth distance into the torque balance equation, and calculate the amount of the original liquid dispensed into the liquid bags on both sides; The expression for establishing the moment balance equation with the left load cell as the center is: T 右 ×D4=T 右袋 ×D3+T 初 ×D2+T 左袋 ×D1 Where, T 左袋 Indicates the force corresponding to the total amount of original liquid loaded into the left liquid bag, T 右袋 Indicates the force corresponding to the total amount of original liquid loaded into the right side of the liquid bag, T 右 Indicates the second force, T 初 represents the initial force, and D1, D2, D3, and D4 represent the first distance, the second distance, the third distance, and the fourth distance, respectively.

2. The packaging method according to claim 1, wherein The sub-packaging support comprises a symmetrically arranged frame, wherein the frame is provided with a plurality of carrying plates spaced from top to bottom, and the tray is placed on the carrying plates.

3. The packaging method according to claim 2, wherein A positioning shaft is provided on the end face of the supporting plate close to the tray, and a positioning hole adapted to the positioning shaft is provided on the end face of the tray close to the supporting plate. The tray is positioned on the supporting plate through the positioning hole and the positioning shaft so that the relative position of the tray and the sub-packaging bracket is fixed.

4. The packaging method according to claim 1, wherein Main line valves for controlling the switch of the main line are provided at both ends of the main line, and branch line valves for controlling the switch of the branch line are provided at one end of the branch line close to the main line.

5. The packaging method according to claim 1, wherein A positioning opening is provided on one side of the tray, and the liquid separation bag is positioned in the tray through the positioning opening, so that the relative positions of the liquid separation bag and the tray are fixed.

6. The packaging method according to claim 1, wherein Concave handles are provided on both sides of the tray, handles are symmetrically provided on both sides of the packaging bracket, and a locking wheel is provided at the bottom of the raw liquid packaging device.

7. The packaging method according to claim 1, wherein The expression for the amount of original liquid dispensed into the liquid dispensing bags on both sides is: T 左袋 =(T 右 ×D4-T 左 ×D3-T 右 ×D3+T 初 D3-T 初 ×D2) / (D1-D3) T 右袋 = T 左 +T 右 -T 左袋 -T 初 Where, T 左 Indicates the first force.

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