Intelligent packaging equipment for lactulose oral solution processing
By linking the robotic arm with the automatic sealing mechanism, the problems of large space occupation and low efficiency of the sealing station in the traditional production of lactulose oral solution have been solved, realizing efficient automated packaging of bottled oral solutions.
Patent Information
- Application Number
- CN202511245515.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-02
- Publication Date
- 2025-11-07
AI Technical Summary
In the traditional production of lactulose oral solutions, separate sealing stations and sealing mechanisms occupy a large space, increase equipment costs, and affect packaging efficiency.
The system combines a robotic arm with an automatic sealing mechanism and an intelligent control system. Through the linkage of linkage components, it realizes the grasping, placement, and deflection and closing actions of bottled oral solutions, simplifying the equipment structure and eliminating the time spent on transfer between workstations and sealing actions.
It significantly reduced equipment costs, shortened packaging cycles, improved overall packaging efficiency, and achieved highly efficient automated packaging of bottled oral solutions.
Smart Images
Figure CN120903065A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of intelligent packaging in the pharmaceutical industry, and particularly relates to an intelligent packaging equipment for lactulose oral solution processing. BACKGROUND
[0002] In the field of pharmaceutical production, especially in the production of bottled liquid medicines such as lactulose oral solution, automated packaging is a key link to improve efficiency and ensure hygiene and safety. The traditional intelligent packaging process usually involves multiple independent workstations, such as a bottle taking workstation, a box loading workstation, and a subsequent box sealing workstation. In these processes, a mechanical arm or a grabbing mechanism is responsible for grabbing the medicine from a conveying line or a stock bin and accurately placing it into a packaging box. Then, the medicine packaging box is conveyed to a separate box sealing workstation, where a special box sealing mechanism (such as a folding machine, a cover fastening machine, etc.) completes the folding, pressing, locking, and other sealing actions of the box cover.
[0003] However, as mentioned above, setting up a separate box sealing workstation and its supporting sealing mechanism necessarily occupies more production line space, increasing equipment cost and complexity. After the packaging box is filled, it needs to be moved (conveyed) to the box sealing workstation, which has a long travel distance. For intelligent packaging equipment, this still affects packaging efficiency. SUMMARY
[0004] To solve the above problems, the present application provides the following technical solutions:
[0005] An intelligent packaging equipment for lactulose oral solution processing, comprising a mechanical arm, an automatic sealing mechanism, and an intelligent control system, the mechanical arm is provided with a grabbing assembly, the automatic sealing mechanism comprises a first linkage assembly hinged on both sides of the mechanical arm and a second linkage assembly hinged between the first linkage assembly and the grabbing assembly, when the two second linkage assemblies are lifted with the grabbing assembly, the two first linkage assemblies are driven by the two second linkage assemblies to deflect towards each other or in opposite directions within the grabbing range of the grabbing assembly, the grabbing assembly has two travel control points, the intelligent control system comprises a controller and a first electric cylinder, the controller controls the mechanical arm to lower the grabbing assembly to the first travel control point, triggering the action rod of the first electric cylinder to exit the grabbing range of the grabbing assembly, and the controller controls the mechanical arm to raise the grabbing assembly to the second travel control point, triggering the action rod of the first electric cylinder to extend into the grabbing range of the grabbing assembly.
[0006] As a further preferred, the action direction of the grabbing assembly is perpendicular to the action direction of the first electric cylinder.
[0007] As a further preferred, the intelligent control system further comprises a second electric cylinder installed at the end of the mechanical arm, the grabbing assembly comprises a grab seat installed at the bottom end of the second electric cylinder, the bottom of the grab seat is provided with a guide rod, a plurality of grab plates are slidingly installed on the guide rod, a plurality of springs are sleeved on the guide rod, and air seats are installed at both ends of the guide rod, the air seats are supported on the two outermost grab plates, and the intelligent control system further comprises a gas cylinder installed on the grab seat, the output end of the gas cylinder is connected with the air seats through a hose, and one spring is arranged between each adjacent two grab plates, and the grab plates form a grab area with the same spacing through the supporting action of the springs.
[0008] As a further preferred, the end of the mechanical arm is provided with a first hinge seat on both sides, the hinge ends of the two first link assemblies are connected to the first hinge seat, the free ends of the two first link assemblies are provided with lateral push rods which are curved towards the grabbing range of the grabbing assembly, the top of the grab seat is provided with telescopic rods on both sides, second hinge seats are installed on the outer walls of the two telescopic rods, one end of the two second link assemblies is connected to the second hinge seat, and the other end of the two second link assemblies is hinged to the first link assemblies.
[0009] As a further preferred, the first electric cylinder is arranged between the two first link assemblies, a forward push rod is installed on the action rod of the first electric cylinder, and the action rod of the first electric cylinder pushes the forward push rod into the lateral push rods of the two first link assemblies when working.
[0010] As a further preferred, the lateral push rod and the forward push rod are both rubber rods.
[0011] As a further preferred, the lateral push rod is movably connected to the free end of the first link assembly.
[0012] As a further preferred, the bottom ends of all the grab plates are on the same horizontal plane, the guide rods are at least two symmetrical rods, the grab plates slide on the two guide rods, a plurality of springs are sleeved on the two guide rods respectively, and the two ends of each spring are elastically supported between the two grab plates.
[0013] The beneficial effects of the present application compared with the prior art are:
[0014] 1. The automatic sealing mechanism, composed of the second and first linkage assemblies, is cleverly positioned on both sides of the gripping assembly. Combined with precise control of the robotic arm's lifting stroke by an intelligent control system, this packaging equipment can not only complete the gripping and placement of bottled oral solutions at the same packaging station, but also, during the placement and repositioning process of the gripping assembly, simultaneously engage the first linkage assemblies on both sides to deflect and close the two side covers of the packaging box relative to the box opening. At the same time, the first electric cylinder at this station pushes the front cover plate to cooperate with the preceding actions to complete the final pressing. This packaging equipment utilizes only the interlocking of linkages, significantly simplifying the overall equipment structure, reducing manufacturing costs, shortening the stroke, and improving efficiency.
[0015] 2. This invention creatively couples the side cover closing action of the packaging box with the upward reset stroke of the gripping assembly. When the gripping assembly releases the medicine bottle and rises to the second stroke control point, this upward movement naturally drives the free ends of the two first linkage assemblies to deflect towards each other through the second linkage assembly, thereby completing the bending and closing action of the two side covers. The sealing action, which originally required additional time and stroke, is seamlessly embedded into the essential reset action of the gripping mechanism, eliminating the time consumed by inter-station transfers and independent sealing mechanism actions, greatly shortening the packaging cycle, and further significantly improving overall packaging efficiency. Attached Figure Description
[0016] Figure 1 A front plan view of an intelligent packaging equipment for processing lactulose oral solution provided for an embodiment of the present invention;
[0017] Figure 2 A schematic diagram of a three-dimensional, partially upward-looking intelligent packaging equipment for processing lactulose oral solution, provided for an embodiment of the present invention;
[0018] Figure 3 An intelligent packaging equipment for processing lactulose oral solution provided by an embodiment of the present invention comprises... Figure 1 The resulting 3D schematic diagram;
[0019] Figure 4 An intelligent packaging equipment for processing lactulose oral solution provided by an embodiment of the present invention comprises... Figure 3 Enlarged schematic diagram of part A;
[0020] Figure 5 A partial structural schematic diagram of a three-dimensional top-view view of an intelligent packaging equipment for processing lactulose oral solution, provided for an embodiment of the present invention;
[0021] Figure 6 This is a schematic diagram illustrating the working principle of an intelligent packaging equipment for processing lactulose oral solution, provided as an embodiment of the present invention.
[0022] In the figure: 1, mechanical arm; 2, automatic closing mechanism; 201, first linkage assembly; 202, second linkage assembly; 3, grabbing assembly; 302, grabbing seat; 303, guide rod; 304, grabbing plate; 305, spring; 306, air seat; 4, intelligent control system; 401, first electric cylinder; 4011, forward pushing rod; 402, second electric cylinder; 403, air cylinder; 2011, lateral pushing rod; 5, first hinged seat; 6, second hinged seat; 7, telescopic rod. DETAILED DESCRIPTION
[0023] The above and other embodiments and advantages of the present application are described in detail by referring to the attached drawings. It is obvious that the described embodiments are only part of the embodiments of the present application, not all the embodiments.
[0024] In an embodiment, as shown in Figures 1-6 :
[0025] The embodiment provides an intelligent packaging equipment for lactulose oral solution processing, which comprises a mechanical arm 1, an automatic closing mechanism 2 and an intelligent control system 4. The mechanical arm 1 is provided with a grabbing assembly 3. In the embodiment, the grabbing assembly 3 can be understood as all mechanical hands with a grabbing function. The automatic closing mechanism 2 comprises first linkage assemblies 201 hinged on both sides of the mechanical arm 1 and second linkage assemblies 202 hinged between the first linkage assemblies 201 and the grabbing assembly 3. When the grabbing assembly 3 is raised and lowered, the two first linkage assemblies 201 are driven by the two second linkage assemblies 202 to be deflected in opposite directions within the grabbing range of the grabbing assembly 3. The grabbing assembly 3 has two stroke control points. The intelligent control system 4 comprises a controller and a first electric cylinder 401. The first electric cylinder 401 is between the two first linkage assemblies 201. When the controller controls the mechanical arm 1 to lower the grabbing assembly 3 to the first stroke control point, the action rod of the first electric cylinder 401 is triggered to exit the grabbing range of the grabbing assembly 3. When the controller controls the mechanical arm 1 to raise the grabbing assembly 3 to the second stroke control point, the action rod of the first electric cylinder 401 is triggered to extend into the grabbing range of the grabbing assembly 3. The grabbing assembly 3 is perpendicular to the action rod of the first electric cylinder 401.
[0026] When the packaging equipment is in the taking-out station: the grabbing assembly 3 is lowered (to the first stroke control point of the intelligent control system 4), the grabbing assembly 3 deflects to the left and right sides of the grabbing range of the grabbing assembly 3 to empty the grabbing range of the grabbing assembly 3 for grabbing the bottled oral solution, after the bottled oral solution is grabbed, the grabbing assembly 3 is raised (to the second stroke control point of the intelligent control system 4), the bottled oral solution is raised to a safe distance by the grabbing assembly 3, at this time, the two second link assemblies 202 are driven by the grabbing assembly 3, and the two first link assemblies 201 are deflected to the left and right sides of the bottled oral solution.
[0027] When the packaging equipment is in the packaging station: under the control of the intelligent control system 4, the servo motor drives the mechanical arm 1 to rotate, and the grabbing assembly 3 is rotated to the upper side of the packaging station by the mechanical arm 1, the position sensor in the intelligent control system 4 senses that the packaging box reaches the packaging station, and drives the grabbing assembly 3 to descend (to the first stroke control point of the intelligent control system 4), and the bottled oral solution is lowered to the packaging station by the grabbing assembly 3 and released to the packaging station, at the same time, the two second link assemblies 202 drive the two first link assemblies 201 to deflect to the left and right sides of the grabbing range of the grabbing assembly 3, at this time, the left first link assembly 201 reaches the left side of the left cover plate of the packaging box, and the right first link assembly 201 reaches the right side of the right cover plate of the packaging box, then the grabbing assembly 3 is raised, the bottled oral solution is raised and reset by the grabbing assembly 3 (to the second stroke control point of the intelligent control system 4), the two second link assemblies 202 drive the two first link assemblies 201 to deflect downward, the free ends of the two first link assemblies 201 are deflected to each other, and the two cover plates are deflected to the direction of the packaging box by the deflection movement of the free ends of the two first link assemblies 201, at the same time, the controller in the intelligent control system 4 sends an instruction to the first electric cylinder 401, and the action rod of the first electric cylinder 401 pushes the cover plate (front cover plate) on the front of the packaging box to the two cover plates, the front cover plate is deflected downward relative to the direction of the box opening, and since the two cover plates are deflected to the direction of the box opening in advance, when the front cover plate is pushed forward by the first electric cylinder 401, the front cover plate will push the two cover plates, even if the two cover plates are inside the front cover plate, the two cover plates will also be inclined in advance and follow the front cover plate to cover the box opening, according to the stacking order, the front cover plate is pressed on the two cover plates, and the cover tongue part of the front cover plate is inserted into the box, and finally the pre-packaging of the bottled oral solution is completed.
[0028] In this embodiment, a second action mechanism composed of the second link assembly 202 and the first link assembly 201 is arranged on each side of the grabbing assembly 3, so that the grabbing assembly 3 can automatically close the package box cover after the product is loaded into the package box at the same packaging station, thereby saving components or mechanisms for the subsequent packaging station. The closing action of the box cover is derived from the linkage reaction of the grabbing assembly 3 after the upward retreat, thereby saving the stroke and significantly simplifying the overall equipment structure, reducing the manufacturing cost and improving the efficiency. The closing action originally requiring additional time and stroke is seamlessly embedded into the reset action of the grabbing mechanism, eliminating the time consumed by the transfer between stations and the independent closing mechanism action, greatly shortening the packaging cycle and further significantly improving the overall packaging efficiency.
[0029] In another embodiment, the intelligent control system 4 further comprises a second electric cylinder 402 installed at the end of the mechanical arm 1, and the grabbing assembly 3 comprises a grabbing seat 302 installed at the bottom end of the second electric cylinder 402. The bottom of the grabbing seat 302 is provided with a guide rod 303, a plurality of grabbing plates 304 are slidably installed on the guide rod 303, a plurality of springs 305 are sleeved on the guide rod 303, and air seats 306 are installed at both ends of the guide rod 303. The air seats 306 are supported on the two outermost grabbing plates 304. The intelligent control system 4 further comprises an air cylinder 403 installed on the grabbing seat 302. The output end of the air cylinder 403 is connected to the air seats 306 through a hose. There is one spring 305 between each adjacent two grabbing plates 304. The grabbing plates 304 are spaced apart from each other by the supporting action of the springs 305.
[0030] The second electric cylinder 402 serves as the power of the grabbing assembly 3 and is controlled by the controller in the intelligent control system 4. The second electric cylinder 402 drives the grabbing assembly 3 to switch back and forth between two strokes. For example, when the second electric cylinder 402 drives the grabbing assembly 3 to rise to the first stroke control point, the action rod of the first electric cylinder 401 is controlled by the controller to push into the space between the two second link assemblies 202 (i.e., the grabbing range of the grabbing assembly 3), and the three cover plates of the package box are pressed and combined when the two second link assemblies 202 deflect towards each other.
[0031] In this embodiment, the grabbing action of the grabbing assembly 3 is driven by the air cylinder 403. For example, when the air cylinder 403 supplies air to the air seats 306 at both ends of the guide rod 303, the air seats 306 expand, the two air seats 306 respectively push the two outermost grabbing plates 304 to move inward, the spring 305 is compressed by the two outermost grabbing plates 304, all the grabbing plates 304 move inward, the grabbing area between the grabbing plates 304 narrows, a clamping force is formed on the bottled oral solution, and the clamping and grabbing action is completed. Conversely, when the air cylinder 403 sucks air out of the air seats 306 at both ends of the guide rod 303, the length of each spring 305 is restored, and the grabbing area between the adjacent two grabbing plates 304 is widened, thereby releasing the bottled oral solution.
[0032] The grabbing assembly 3 is used in combination with the intelligent control system 4, for example, under the control of the intelligent control system 4, when the grabbing assembly 3 reaches the material taking station, the intelligent control cylinder 403 blows air to the air seat 306, the grabbing area between the grabbing plates 304 narrows, so as to clamp and grab the bottled oral solution to the grabbing seat 302. Moreover, under the control of the intelligent control system 4, when the grabbing assembly 3 reaches the packaging station, and the grabbing assembly 3 descends to the first stroke control point, the intelligent control cylinder 403 sucks air outward to the air seat 306, the grabbing area between the grabbing plates 304 widens, so as to put the bottled oral solution grabbed to the grabbing seat 302 into the packaging box. The multiple grabbing areas composed of multiple grabbing plates 304 arranged together can complete the one-time grabbing of multiple bottled oral solutions through intelligent control, which provides a fast condition for one-time packaging into the packaging box, improves the packaging efficiency, and the grabbing area is formed between the straight plate-shaped grabbing plates 304, and the spring 305 is embedded between the grabbing plates 304 as a power transmission and reset, which reduces the bottom occupied area, and leaves enough space for the opposite deflection movement of the two second connecting rod assemblies 202.
[0033] In another embodiment, the end of the mechanical arm 1 is provided with a first hinge seat 5 on both sides, the hinge ends of the two first connecting rod assemblies 201 are connected to the first hinge seat 5, the free ends of the two first connecting rod assemblies 201 are provided with lateral pushing rods 2011 curved toward the grabbing range of the grabbing assembly 3, the top of the grabbing seat 302 is provided with telescopic rods 7 on both sides, the outer walls of the two telescopic rods 7 are provided with second hinge seats 6, one end of the two second connecting rod assemblies 202 is connected to the second hinge seat 6, and the other end of the two second connecting rod assemblies 202 is hinged to the first connecting rod assembly 201.
[0034] When the grabbing assembly 3 is lowered, the grabbing seat 302 is lowered, and the left and right two telescopic rods 7 inside the grabbing seat 302 are lowered, at the same time, the left and right two telescopic rods 7 are extended, and the left and right two second hinge seats 6 are lowered, so as to improve the lowering stroke. When the lowering stroke reaches the second stroke control point, the left and right two second connecting rod assemblies 202 are pivoted at the second hinge seat 6 and are upwardly deflected, and the left and right two first connecting rod assemblies 201 are upwardly deflected in a reverse manner, so as to complete the emptying of the grabbing range. Conversely, when the grabbing assembly is raised, the grabbing seat 302 is raised, and the left and right two telescopic rods 7 inside the grabbing seat 302 are raised, at the same time, the left and right two telescopic rods 7 are shortened, and the left and right two second hinge seats 6 are raised to the first stroke control point, and the left and right two second connecting rod assemblies 202 are downwardly deflected, and the left and right two first connecting rod assemblies 201 are deflected in a reverse manner to push the two side cover plates of the packaging box to be deflected to be closed.
[0035] The action rod of the first electric cylinder 401 is provided with a forward pushing rod 4011, and the action rod of the first electric cylinder 401 pushes the forward pushing rod 4011 between the side pushing rods 2011 of the two first connecting rod assemblies 201 when working. The first electric cylinder 401 is controlled by the controller of the intelligent control system 4, and controls the first electric cylinder 401 to make the following actions when the grabbing assembly 3 reaches the first stroke control point and the second stroke control point: when the grabbing assembly 3 is lowered to the first stroke control point, for example, a signal is received by a photoelectric switch, and the signal is fed back to the controller, and the controller controls the action rod of the first electric cylinder 401 to retreat with the forward pushing rod 4011 out of the grabbing range of the grabbing assembly 3 (the front side), at this time, the bottled oral solution is placed into the packaging box without being hindered by the forward pushing rod 4011; conversely, when the grabbing assembly 3 is raised to the second stroke control point, for example, a signal is received by a photoelectric switch, and the signal is fed back to the controller, and the controller controls the action rod of the first electric cylinder 401 to push the forward pushing rod 4011 into the grabbing range of the grabbing assembly 3, at this time, the bottled oral solution has been placed into the packaging box, and the front side plate of the packaging box is opposite to the forward pushing rod 4011, and when the forward pushing rod 4011 is pushed into the grabbing range, the front side plate and the side plate of the packaging box are pressed into the packaging box, and intelligent control is realized.
[0036] It needs to be further explained that the side pushing rod 2011 and the forward pushing rod 4011 are rubber rods, and the side pushing rod 2011 and the forward pushing rod 4011 will not damage the cover plate when pushing the packaging box to close.
[0037] It needs to be further explained that the relative arrangement of the first electric cylinder 401 means that the first electric cylinder 401 is arranged on one worktable of the packaging line, and when the packaging box reaches the packaging work station of the packaging line, the control instruction is sent to the controller through the photoelectric switch or position sensor in the intelligent control system 4, and the second electric cylinder 402 is controlled to complete the lifting action.
[0038] The bottom ends of all the grab plates 304 are on the same horizontal plane, the guide rods 303 are at least two symmetrical ones, the two ends of the grab plate 304 are provided with sliding holes, the grab plate 304 slides on the two guide rods 303 through the sliding holes, a plurality of springs 305 are sleeved on the two guide rods 303 respectively, and the two ends of each spring 305 are elastically supported between the two grab plates 304. The arrangement of the two guide rods 303 ensures the stable movement of the grab plate 304.
[0039] The above orientation reference does not represent the specific orientation of each component in the embodiment, and the embodiment is only for the convenience of the description of the scheme and is described relatively by referring to the orientation in the figure. In essence, the specific orientation of each component is according to its actual installation and actual use and the orientation description habit of the person skilled in the art. Therefore, it is stated.
[0040] The above specific embodiments further specifically describe the purposes, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and does not limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims
1. An intelligent packaging equipment for processing of lactulose oral solution, characterized by, The application relates to a mechanical arm (1) provided with a grabbing assembly (3), an automatic closing mechanism (2) and an intelligent control system (4), wherein the automatic closing mechanism (2) comprises first linkage assemblies (201) hinged on both sides of the mechanical arm (1) and second linkage assemblies (202) hinged between the first linkage assemblies (201) and the grabbing assembly (3), when the second linkage assemblies (202) are lifted along with the grabbing assembly (3), the first linkage assemblies (201) are driven to deflect towards or away from each other within the grabbing range of the grabbing assembly (3), the intelligent control system (4) comprises a controller and a first electric cylinder (401), when the controller controls the mechanical arm (1) to drive the grabbing assembly (3) to descend to a first stroke control point, the action rod of the first electric cylinder (401) is triggered to retreat out of the grabbing range of the grabbing assembly (3), and when the controller controls the mechanical arm (1) to drive the grabbing assembly (3) to ascend to a second stroke control point, the action rod of the first electric cylinder (401) is triggered to extend into the grabbing range of the grabbing assembly (3).
2. The smart packaging equipment for lactulose oral solution processing according to claim 1, characterized in that, The action direction of the grabbing assembly (3) is perpendicular to the action direction of the first electric cylinder (401).
3. The smart packaging equipment for lactulose oral solution processing according to claim 2, characterized in that, The intelligent control system (4) further comprises a second electric cylinder (402) installed at the end of the mechanical arm (1), the grabbing assembly (3) comprises a grabbing seat (302) installed at the bottom end of the second electric cylinder (402), the bottom of the grabbing seat (302) is provided with a guide rod (303), a plurality of grabbing plates (304) are slidably installed on the guide rod (303), a plurality of springs (305) are sleeved on the guide rod (303), air seats (306) are installed at the two ends of the guide rod (303), the air seats (306) are supported on the two outermost grabbing plates (304), the intelligent control system (4) further comprises an air cylinder (403) installed on the grabbing seat (302), the output end of the air cylinder (403) is connected with the air seats (306) through a hose, one spring (305) is arranged between every two adjacent grabbing plates (304), and the grabbing plates (304) are supported by the springs (305) to form a grabbing area with the same spacing.
4. The smart packaging equipment for lactulose oral solution processing according to claim 3, characterized in that, First hinge seats (5) are installed at the two sides of the end of the mechanical arm (1), the hinge ends of the two first linkage assemblies (201) are connected to the first hinge seats (5), the free ends of the two first linkage assemblies (201) are provided with lateral pushing rods (2011) curved towards the grabbing range of the grabbing assembly (3), telescopic rods (7) are installed at the top of the grabbing seat (302), second hinge seats (6) are installed on the outer walls of the two telescopic rods (7), one end of the two second linkage assemblies (202) is connected to the second hinge seats (6), and the other end of the two second linkage assemblies (202) is hinged to the first linkage assemblies (201).
5. The smart packaging equipment for lactulose oral solution processing according to claim 4, characterized in that, The action rod of the first electric cylinder (401) is between two first link assemblies (201), and a forward pushing rod (4011) is installed on the action rod of the first electric cylinder (401), and the action rod of the first electric cylinder (401) pushes the forward pushing rod (4011) between the lateral pushing rods (2011) of the two first link assemblies (201) when working.
6. The smart packaging equipment for lactulose oral solution processing according to claim 5, characterized in that, The lateral pushing rod (2011) and the forward pushing rod (4011) are rubber rods.
7. The smart packaging equipment for lactulose oral solution processing according to claim 6, characterized in that, The lateral pushing rod (2011) is movably connected to the free end of the first link assembly (201).
8. The smart packaging equipment for lactulose oral solution processing according to claim 7, characterized in that, The bottom ends of all the grab plates (304) are on the same horizontal plane, the guide rods (303) are at least two symmetrical guide rods, the grab plates (304) slide on the two guide rods (303), a plurality of springs (305) are sleeved on the two guide rods (303) respectively, and the two ends of each spring (305) are elastically supported between the two grab plates (304).