Capsule filling apparatus

Abstract

The application discloses a capsule filling equipment and belongs to the technical field of capsule preparation. The capsule filling equipment comprises an equipment rack, a multi-axis driving assembly, a filling consumable assembly and a quantitative driving assembly, the multi-axis driving assembly is installed on the equipment rack, the filling consumable assembly is detachably installed on the multi-axis driving assembly, the filling consumable assembly comprises a storage barrel, a constant-volume element and a filling head which are sequentially communicated, the quantitative driving assembly is installed on the multi-axis driving assembly and is connected with the constant-volume element, and the multi-axis driving assembly is used for synchronously driving the filling head to move along a preset linkage filling path when the quantitative driving assembly drives the constant-volume element to discharge materials to a capsule shell through the filling head. In this way, by adopting the disposable filling consumable assembly which can be integrally detached, cross contamination can be avoided when a material batch is replaced. Meanwhile, by realizing the linkage filling function of the quantitative driving assembly and the constant-volume element, the adaptability of the capsule filling equipment to materials to be filled and the filling precision can be improved.

Description

Technical Field

[0001] This application relates to the field of capsule preparation technology, and in particular to a capsule filling device. Background Technology

[0002] Capsule filling equipment is a type of production equipment used in the pharmaceutical, health product, and food industries to fill powders, granules, or semi-fluid materials (such as bacterial sludge) into capsule shells.

[0003] Currently, most capsule filling equipment operates in a semi-automatic mode. During the filling process, the injection structure typically remains fixed, while the dot matrix disk carrying the capsules moves in multiple directions to ensure accurate filling of each capsule. Injection volume control during filling relies on manual operation, achieving precise metering through manual adjustment of the injection structure.

[0004] However, the capsule filling equipment mentioned above relies on manual control of dosage, which makes it easy for inconsistent filling volume to occur. Furthermore, when filling viscous or easily accumulating materials, the material is difficult to spread evenly inside the capsule, which can easily lead to incomplete filling or overflow, resulting in low filling accuracy of the capsule filling equipment. Summary of the Invention

[0005] This application provides a capsule filling device. The technical solution is as follows:

[0006] The capsule filling equipment includes: an equipment frame, a multi-axis drive assembly, a filling consumable assembly, and a quantitative drive assembly;

[0007] The equipment frame is equipped with a capsule positioning mechanism for placing and positioning capsule shells;

[0008] The multi-axis drive assembly is mounted on the equipment frame;

[0009] The filling consumable assembly is detachably mounted on the multi-axis drive assembly for containing and conveying the material to be filled. The filling consumable assembly includes a storage tank, a volume-fixing component, and a filling head connected in sequence.

[0010] The quantitative drive component is mounted on the multi-axis drive component and connected to the volume-fixing component, and is used to drive the volume-fixing component to quantitatively suck or discharge materials.

[0011] The multi-axis drive assembly is configured to: simultaneously drive the filling head along a preset linkage filling path when the quantitative drive assembly drives the volume-fixing component to discharge material into the capsule shell through the filling head, so that the filling head moves and fills within the capsule shell.

[0012] Optionally, the volume-regulating component includes a first piston and a first cylinder, and the metering drive assembly includes a first linear drive mechanism;

[0013] The first piston is movably installed in the first cylinder, and the first cylinder is connected to the storage tank and the filling head respectively;

[0014] The first linear drive mechanism is connected to one end of the first piston.

[0015] Optionally, the multi-axis drive assembly includes: a first horizontal drive mechanism, a second horizontal drive mechanism, and a vertical drive mechanism;

[0016] The first horizontal drive mechanism is mounted on the equipment frame;

[0017] The second horizontal drive mechanism is mounted on the first horizontal drive mechanism. The first horizontal drive mechanism and the second horizontal drive mechanism are used to drive the filling head to perform matrix-like point-to-point movement in the horizontal plane.

[0018] The vertical drive mechanism is mounted on the second horizontal drive mechanism and is used to drive the filling head to move vertically.

[0019] Optionally, the capsule filling equipment further includes a control component, which is electrically connected to the metering drive component and the multi-axis drive component;

[0020] The control component is used to simultaneously activate the first linear drive mechanism in the quantitative drive component and the vertical drive mechanism in the multi-axis drive component when the filling head moves to a preset starting position inside the capsule shell.

[0021] The vertical drive mechanism is controlled to drive the filling head to move away from the bottom of the capsule shell at a first preset speed, while the first linear drive mechanism is controlled to drive the volume-fixing component to discharge material into the filling head at a second preset speed.

[0022] Wherein, the first preset speed is matched with the second preset speed, such that when the filling head moves to the opening position of the capsule shell, the volume of material discharged by the volume-fixing member is equal to the volume of the cavity formed by the capsule shell from the starting position to the opening position.

[0023] Optionally, both the first linear drive mechanism in the quantitative drive assembly and the vertical drive mechanism in the multi-axis drive assembly include electric cylinders.

[0024] Optionally, the filling consumable assembly further includes a feed valve and a discharge valve, and the metering drive assembly further includes a second linear drive mechanism and a third linear drive mechanism;

[0025] The feed valve is assembled between the storage tank and the volume-regulating component, and is connected to both the storage tank and the volume-regulating component.

[0026] The discharge valve is assembled between the volume-regulating component and the filling head, and is connected to both the volume-regulating component and the filling head respectively;

[0027] The second linear drive mechanism and the third linear drive mechanism are respectively connected to the feed valve and the discharge valve.

[0028] Optionally, the storage hopper includes a second piston and a second cylinder, and the capsule filling equipment further includes a gas compression mechanism and a hopper mounting bracket;

[0029] The second piston is movably assembled in the second cylinder, and the second cylinder is mounted on the hopper mounting bracket;

[0030] The hopper mounting bracket is mounted on the multi-axis drive assembly. The hopper mounting bracket has an air inlet, which is connected to the second cylinder and the gas compression mechanism to drive the second piston to move by gas.

[0031] Optionally, the filling consumable assembly further includes a connecting pipe, the two ends of which are respectively connected to the bottom of the second cylinder and the feed valve;

[0032] At least one of the first cylinder and the second cylinder is a light-transmitting structure.

[0033] Optionally, the equipment frame further includes a first mating bracket, a second mating bracket, and a locking element;

[0034] The first mating bracket is fixedly connected to the multi-axis drive assembly, and the first mating bracket has a receiving groove for accommodating the volume-fixing component and the filling head;

[0035] The second mating bracket is closable with the first mating bracket and can cover the outside of the receiving groove;

[0036] The locking element is used to lock the first mating bracket and the second mating bracket.

[0037] Optionally, the capsule positioning mechanism includes a capsule placement plate;

[0038] The capsule placement plate is detachably mounted on the equipment frame and has at least two working surfaces. Each working surface is provided with a set of receiving slots for accommodating capsule shells of different models and an identification mark for identifying the capsule model.

[0039] The control component pre-stores a filling parameter group corresponding to each of the identification marks. Each filling parameter group includes at least a first preset speed for controlling the vertical drive mechanism and a second preset speed for controlling the first linear drive mechanism.

[0040] The control component is used to invoke the corresponding filling parameter group to perform a filling operation in response to the identification identifier input by the user or automatically identified.

[0041] The beneficial effects of the technical solutions provided in this application include at least the following:

[0042] A capsule filling device is provided, including a frame, a multi-axis drive assembly, a filling consumable assembly, and a metering drive assembly. The frame is equipped with a capsule positioning mechanism, and the multi-axis drive assembly is mounted on the frame. The filling consumable assembly is detachably mounted on the multi-axis drive assembly and is used to hold and transport the material to be filled. The filling consumable assembly includes a storage tank, a volume-fixing component, and a filling head connected in sequence. The metering drive assembly is mounted on the multi-axis drive assembly and connected to the volume-fixing component, and is used to drive the volume-fixing component to meterly draw in or discharge material. The multi-axis drive assembly simultaneously drives the filling head along a preset linkage filling path while the metering drive assembly drives the volume-fixing component to discharge material through the filling head into the capsule shell, allowing the filling head to move and fill within the capsule shell. Thus, by using a detachable disposable filling consumable assembly, cross-contamination can be avoided when changing material batches, simplifying cleaning and maintenance processes and contributing to the long-term stability of the metering mechanism. Meanwhile, the automated metering mechanism, composed of a metering drive component and a volume-fixing component, eliminates the interference of human operation on the filling volume and has a linked filling function. It can preset the movement path and metering parameters according to the capsule model and material characteristics, achieving synchronous and precise control of discharge and filling. This improves the adaptability and filling accuracy of the capsule filling equipment, while also reducing material waste caused by filling volume deviations, thus solving the problem of low filling accuracy in related capsule filling equipment. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of a capsule filling device provided in an embodiment of this application;

[0045] Figure 2 yes Figure 1 The diagram shows another view of the capsule filling equipment.

[0046] Figure 3 yes Figure 1 The diagram shows another view of the capsule filling equipment.

[0047] Figure 4 This is a partial structural schematic diagram of a quantitative driving component and a filling consumable component provided in an embodiment of this application;

[0048] Figure 5 This is a schematic diagram of the installation structure of a storage bin provided in an embodiment of this application;

[0049] Figure 6 yes Figure 4 The exploded structural diagram of the metering drive assembly and the filling consumable assembly is shown.

[0050] Figure 7 This is a partial structural schematic diagram of a filling consumable assembly provided in an embodiment of this application;

[0051] Figure 8 This is a schematic diagram of the structure of a device frame and a multi-axis drive assembly provided in an embodiment of this application;

[0052] Figure 9 yes Figure 7 The diagram shows another structural view of the filling consumable assembly;

[0053] Figure 10 yes Figure 9 A schematic diagram of a cross-sectional structure of the filling consumable assembly along position A1-A2;

[0054] Figure 11 yes Figure 5 The diagram shows an exploded view of the installation structure of the storage tank.

[0055] Explanation of reference numerals in the attached figures:

[0056] Equipment frame 11, capsule positioning mechanism 111, first mating bracket 112, receiving groove 1121, second mating bracket 113, locking element 114; multi-axis drive assembly 12, first horizontal drive mechanism 121, second horizontal drive mechanism 122, vertical drive mechanism 123; filling consumable assembly 13, storage tank 131, second cylinder 1311, volume fixing element 132, first piston 1321, first cylinder 1322, filling head 13 3. Feed valve 134, valve body 1341, valve core 1342, valve stem 1343, discharge valve 135, connecting pipe 136; hopper mounting bracket 16, air inlet 164, fixed bracket 161, movable bracket 162, snap-fit ​​mechanism 163, pressure regulating valve 165, quantitative drive assembly 14, first linear drive mechanism 141, second linear drive mechanism 142, cylinder 1421, connecting piece 1422, third linear drive mechanism 143. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0058] Although this application can readily be embodied in various forms, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is understood that this specification should be regarded as an exemplary illustration of the principles of this application and is not intended to limit the application to what is described herein.

[0059] Therefore, a feature pointed out in this specification is used to describe one feature of one embodiment of this application, and does not imply that every embodiment of this application must have the described feature. Furthermore, it should be noted that this specification describes many features. While certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0060] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various elements of this application are relative rather than absolute. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the descriptions of the positions of these elements change, these directional indications also change accordingly.

[0061] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 1 This is a schematic diagram of the structure of a capsule filling device provided in an embodiment of this application. Figure 2 yes Figure 1 The diagram shown is a structural schematic of the capsule filling equipment from another perspective. Figure 3 yes Figure 1 The diagram shown is a structural schematic of the capsule filling equipment from another perspective. Figure 4 This is a partial structural schematic diagram of a quantitative driving component 14 and a filling consumable component 13 provided in an embodiment of this application. Figure 5 This is a schematic diagram of the installation structure of a storage bin 131 provided in an embodiment of this application, wherein, Figure 2 This can be a front view of the capsule filling equipment. Figure 3This can be a side view of the capsule filling equipment. The capsule filling equipment may include: an equipment frame 11, a multi-axis drive assembly 12, a filling consumable assembly 13, and a metering drive assembly 14. This capsule filling equipment can be used to fill microbial sludge, which refers to a viscous or semi-solid mixture obtained during bio-fermentation, microbial culture, or biopharmaceutical processes, containing a large number of microbial cells and their metabolites. Its properties are similar to mud, with high viscosity and a certain degree of fluidity.

[0062] The equipment frame 11 is equipped with a capsule positioning mechanism 111 for placing and positioning capsule shells. The equipment frame 11 can be placed on the ground or a table to provide support and operating platform for the entire capsule filling equipment. The capsule positioning mechanism 111 can be used to place multiple capsule shells at the same time, and the multiple capsule shells can be arranged in a matrix in the capsule positioning mechanism 111.

[0063] A multi-axis drive assembly 12 is mounted on the equipment frame 11. A filling consumable assembly 13 is detachably mounted on the multi-axis drive assembly 12 and is used to contain and transport the material to be filled. The filling consumable assembly 13 includes a storage tank 131, a volume-fixing component 132, and a filling head 133 connected in sequence. The filling consumable assembly 13 can be a disposable filling consumable assembly 13. Due to the differences in the characteristics of different models or batches of bacterial sludge materials, and the small production volume of a single batch (approximately 100g to 500g), the use of disposable components can avoid cross-contamination between batches, ensure the purity and consistency of the material filled each time, and meet the filling needs of multiple varieties. Among them, the storage tank 131 can be used to temporarily store the material to be filled and can serve as the initial container for the material; the volume-fixing component 132 is used to accurately control and divide the volume of material for each filling to ensure that the dosage of each filling is consistent. The volume-fixing component 132 may include a piston cylinder; the filling head 133 is used to introduce the volume-fixed material into the capsule shell and can serve as the filling execution component.

[0064] The quantitative driving component 14 is mounted on the multi-axis driving component 12 and connected to the volume-fixing component 132, used to drive the volume-fixing component 132 to quantitatively suck or discharge material. The capsule filling equipment may also include a control component, which can be electrically connected to the quantitative driving component 14. The control component can have a pre-stored control program for driving the quantitative driving component 14. Under the control of the control component, the quantitative driving component 14 can drive the volume-fixing component 132 to perform quantitative sucking or discharging of material, ensuring the consistency of the filling volume each time. Compared with the problem of inconsistent filling volume caused by manual control in related technologies, the present application embodiment uses an automated quantitative mechanism composed of the quantitative driving component 14 and the volume-fixing component 132, which can eliminate the influence of human factors on the filling volume.

[0065] The multi-axis drive assembly 12 is configured to: when the quantitative drive assembly 14 drives the volume-fixing component 132 to discharge material into the capsule shell through the filling head 133, it synchronously drives the filling head 133 to move along a preset linkage filling path, so that the filling head 133 can move and fill inside the capsule shell.

[0066] Through the collaborative working mode between the multi-axis drive assembly 12 and the quantitative drive assembly 14, the filling head 133 is simultaneously driven to move along a preset path inside the capsule shell while material is being filled into the capsule shell. This allows the material discharge point to not be a fixed position, but to move along an optimized path (such as uniformly lifting from the bottom). This enables the material to be directly conveyed to different positions within the capsule shell's inner cavity as the filling head 133 moves, forming a dynamic filling from bottom to top, following the shape of the cavity. This avoids bottom voids caused by material accumulation due to its own weight or insufficient flowability, and also prevents material overflow that may be caused by concentrated filling at a single point, thus ensuring uniform and dense filling within the capsule shell. Compared to the passive filling methods in related technologies that rely on material flowability, the linkage filling method actively controlled by the motion trajectory and discharge rate in this embodiment solves the problem of uneven material distribution (such as bottom voids or overflow from the opening) in related technologies.

[0067] This application embodiment uses a detachable disposable filling consumable component 13 in the capsule filling equipment to avoid cross-contamination when changing material batches, simplify equipment cleaning and maintenance processes, and help maintain the long-term stability of the quantitative mechanism. Simultaneously, the capsule filling equipment has an automated linkage filling function, which can preset the movement path and quantitative parameters according to the capsule model and material characteristics, achieving synchronous control of the discharge and filling processes. This improves the adaptability and filling accuracy of the capsule filling equipment for high-viscosity, easily accumulated materials (such as bacterial sludge and pastes), and also reduces material waste caused by filling volume deviations.

[0068] In one exemplary embodiment, the multi-axis drive assembly 12 may include a robotic arm or an XYZ three-axis module, and the quantitative drive assembly 14 may include a linear motor. A replaceable disposable filling consumable assembly 13 can be installed as an integral module at the end of the multi-axis drive assembly 12, and the quantitative drive assembly 14 is also installed on the multi-axis drive assembly 12 and connected to the volume-fixing component 132. When using this capsule filling device for filling, the capsule shell is fixed by the capsule positioning mechanism 111. The multi-axis drive assembly 12 first precisely moves the filling head 133 to a preset starting position inside the capsule shell (e.g., close to the bottom). Then, while the quantitative drive assembly 14 pushes the volume-fixing component 132 to discharge the material, the multi-axis drive assembly 12 synchronously drives the filling head 133 to move along a path matching the shape of the capsule's inner cavity, achieving simultaneous movement and filling.

[0069] In summary, this application provides a capsule filling device, including a frame 11, a multi-axis drive assembly 12, a filling consumable assembly 13, and a quantitative drive assembly 14. The frame 11 is equipped with a capsule positioning mechanism 111, and the multi-axis drive assembly 12 is mounted on the frame 11. The filling consumable assembly 13 is detachably mounted on the multi-axis drive assembly 12 and is used to contain and transport the material to be filled. The filling consumable assembly 13 includes a storage tank 131, a volume-fixing component 132, and a filling head 133 connected in sequence. The quantitative drive assembly 14 is mounted on the multi-axis drive assembly 12 and connected to the volume-fixing component 132, and is used to drive the volume-fixing component 132 to quantitatively suck or discharge material. The multi-axis drive assembly 12 is used to synchronously drive the filling head 133 to move along a preset linkage filling path when the quantitative drive assembly 14 drives the volume-fixing component 132 to discharge material into the capsule shell through the filling head 133, so that the filling head 133 moves and fills within the capsule shell. Thus, by employing a fully detachable disposable filling consumable component 13, cross-contamination can be avoided when changing material batches, simplifying cleaning and maintenance processes and contributing to the long-term stability of the metering mechanism. Simultaneously, the automated metering mechanism, composed of the metering drive component 14 and the volume-fixing component 132, eliminates human interference with the filling volume and features a linked filling function. It can preset the movement path and metering parameters based on the capsule model and material characteristics, achieving synchronized and precise control of discharge and filling. This improves the adaptability and filling accuracy of the capsule filling equipment, while also reducing material waste caused by filling volume deviations, thus solving the problem of low filling accuracy in related technologies.

[0070] Please refer to Figure 1 , Figure 4 , Figure 6 and Figure 7 , Figure 6 yes Figure 4 The exploded view of the metering drive assembly 14 and the filling consumable assembly 13 is shown. Figure 7 This is a partial structural schematic diagram of a filling consumable assembly provided in an embodiment of this application. In an optional embodiment, the volume-regulating component 132 may include a first piston 1321 and a first cylinder 1322, and the quantitative driving component 14 may include a first linear driving mechanism 141. The first piston 1321 is movably installed in the first cylinder 1322, and the first cylinder 1322 is connected to the storage tank 131 and the filling head 133 respectively. The first linear driving mechanism 141 is connected to one end of the first piston 1321.

[0071] The volume-fixing component 132 can be a precision metering cavity composed of a first piston 1321 and a first cylinder 1322. The push rod of the first linear drive mechanism 141 is connected to the end of the first piston 1321. By precisely controlling the displacement of the first linear drive mechanism 141, the stroke of the first piston 1321 within the first cylinder 1322 can be directly and accurately limited, thereby realizing the extraction and discharge of a fixed volume of material. The piston-cylinder structure has the characteristics of high precision and high repeatability, which allows the filling volume of the material to be determined by the precisely programmable and controllable parameter of the mechanical displacement of the first linear drive mechanism 141. This avoids the filling volume depending on the physical properties of the material or the operator's experience, thus ensuring the reliability of the quantitative process and the consistency of the filling volume.

[0072] Please refer to Figure 1 and Figure 8 , Figure 8 This is a schematic diagram of the structure of a device frame 11 and a multi-axis drive assembly 12 provided in an embodiment of this application. In an optional embodiment, the multi-axis drive assembly 12 may include: a first horizontal drive mechanism 121, a second horizontal drive mechanism 122, and a vertical drive mechanism 123; the first horizontal drive mechanism 121 is mounted on the device frame 11; the second horizontal drive mechanism 122 is mounted on the first horizontal drive mechanism 121, and the first horizontal drive mechanism 121 and the second horizontal drive mechanism 122 are used to drive the filling head 133 to perform matrix-style point-to-point movement in the horizontal plane; the vertical drive mechanism 123 is mounted on the second horizontal drive mechanism 122, and is used to drive the filling head 133 to perform vertical movement.

[0073] The multi-axis drive assembly 12 can be a three-axis Cartesian coordinate robot, wherein the first horizontal drive mechanism 121 is fixed to the frame as the X-axis; the second horizontal drive mechanism 122 is installed on the slide of the X-axis as the Y-axis; the vertical drive mechanism 123 is installed on the slide of the Y-axis as the Z-axis; and the filling consumable assembly 13 is mounted on the end of the Z-axis. Through the coordinated movement of the three axes, the linkage filling path and the automated continuous filling of the matrix-arranged capsule shells can be realized.

[0074] During the operation of the multi-axis drive assembly 12, the X-axis and Y-axis are linked to precisely position the filling head 133 directly above any capsule shell in the matrix; the Z-axis is used to perform the vertical movement of the filling head 133 inserting into the capsule and lifting it along a preset path. The multi-axis drive assembly 12 has the characteristics of high structural rigidity and reliable positioning accuracy, and can stably reproduce complex spatial trajectories.

[0075] In one exemplary embodiment, both the first horizontal drive mechanism 121 and the second horizontal drive mechanism 122 can be servo linear modules. The first horizontal drive mechanism 121 may include a servo motor, a ball screw, a linear guide rail, and a slide table. The servo motor drives the ball screw through a coupling, causing the slide table to move on the linear guide rail. The first horizontal drive mechanism 121 may also have a built-in high-resolution grating ruler to provide real-time feedback on the actual position of the slide table to the control components. The structure of the second horizontal drive mechanism 122 may be the same as or similar to that of the first horizontal drive mechanism 121. The second horizontal drive mechanism 122 can be vertically mounted on the slide table of the first horizontal drive mechanism 121 via a rigid connecting plate.

[0076] Please refer to Figure 1 , Figure 4 and Figure 8 In an optional embodiment, the capsule filling equipment may further include a control component electrically connected to the quantitative drive component 14 and the multi-axis drive component 12. The control component is used to simultaneously activate the first linear drive mechanism 141 in the quantitative drive component 14 and the vertical drive mechanism 123 in the multi-axis drive component 12 when the filling head 133 moves to a preset starting position inside the capsule shell. The control component controls the vertical drive mechanism 123 to drive the filling head 133 to move away from the bottom of the capsule shell at a first preset speed, while controlling the first linear drive mechanism 141 to drive the volume-fixing member 132 to discharge material to the filling head 133 at a second preset speed. The first preset speed and the second preset speed are matched such that when the filling head 133 moves to the opening position of the capsule shell, the volume of material discharged by the volume-fixing member 132 is equal to the cavity volume formed by the capsule shell from the starting position to the opening position.

[0077] The control component may include a Programmable Logic Controller (PLC). The control component can achieve capacity matching during the filling process through pre-stored synchronization algorithms. Specifically, when the filling head 133 moves to the starting position at the bottom of the capsule shell, the control component can synchronously trigger the vertical (Z-axis) lifting motion and the quantitative piston advancing motion. By setting the speeds of both, the product of the piston advancing speed and the piston cross-sectional area is always equal to the product of the Z-axis lifting speed and the cross-sectional area of ​​the capsule shell cavity. Thus, through dual-axis linkage, the volume of material discharged from the filling head 133 during the entire process of the filling head 133 rising at a constant speed from the bottom to the opening of the capsule shell is always exactly equal to the volume of the capsule shell cavity from the bottom to the opening. When the filling head 133 reaches the opening of the capsule shell, the two-axis motion stops synchronously, and the material filling is completed synchronously, avoiding empty capsule bottom cavities or material overflow caused by inaccurate dosage.

[0078] In an optional embodiment, both the first linear drive mechanism 141 in the quantitative drive assembly 14 and the vertical drive mechanism 123 in the multi-axis drive assembly 12 include electric cylinders. Both the first linear drive mechanism 141 and the vertical drive mechanism 123 (Z-axis) for driving the piston can be electric cylinders, which may include servo electric cylinders or stepper electric cylinders. Because electric cylinders have characteristics such as high control precision, fast response speed, smooth movement, and ease of programming to achieve complex motion curves, they can ensure the accuracy of synchronous drive injection.

[0079] In one exemplary embodiment, the equipment frame 11 can integrate a control panel that is electrically connected to the control components. The control panel can be equipped with a human-machine interface combining a touchscreen and physical buttons. The touchscreen provides a parameterized setting interface, allowing users to directly perform quantitative adjustments and switch operating modes with a single button, eliminating the need for manual adjustments to the mechanical or electrical structure. For example, by setting the electric cylinder stroke through the interface, a micro-adjustment of 0.02 mm can be achieved, corresponding to a volume change of approximately 0.13 mm³, thereby improving operational convenience and process adaptability while ensuring filling accuracy. Furthermore, the control panel also includes a USB interface for easy export of filling data and program management.

[0080] Please refer to Figure 1 , Figure 4 , Figure 7 , Figure 9 and Figure 10 , Figure 9 yes Figure 7 The diagram shown is a structural schematic of the filling consumable assembly from another perspective. Figure 10 yes Figure 9 The diagram shows a cross-sectional structure of the filling consumable assembly along position A1-A2. In an optional embodiment, the filling consumable assembly 13 may further include an inlet valve 134 and an outlet valve 135, and the metering drive assembly 14 may further include a second linear drive mechanism 142 and a third linear drive mechanism 143. The inlet valve 134 is assembled between the storage tank 131 and the volume-regulating component 132, and is connected to both the storage tank 131 and the volume-regulating component 132. The outlet valve 135 is assembled between the volume-regulating component 132 and the filling head 133, and is connected to both the volume-regulating component 132 and the filling head 133. The second linear drive mechanism 142 and the third linear drive mechanism 143 are connected to the inlet valve 134 and the outlet valve 135, respectively.

[0081] By providing an inlet valve 134 between the storage tank 131 and the volume-regulating component 132, and an outlet valve 135 between the volume-regulating component 132 and the filling head 133, and by having both the inlet valve 134 and outlet valve 135 driven by independent linear drive mechanisms (e.g., electric cylinders or pneumatic cylinders 1421), the material flow path can be physically isolated and controlled in one direction through dual-valve control. This avoids problems such as material backflow, cross-contamination, and pressure interference between the volume-regulating component 132 and the storage tank 131.

[0082] During the material suction stage of the volume-fixing component 132, the feed valve 134 is open and the discharge valve 135 is closed. The first linear drive mechanism 141 drives the first piston 1321 to retract, drawing material from the storage tank 131 into the volume-fixing component 132. During the material filling stage of the volume-fixing component 132, the feed valve 134 is closed and the discharge valve 135 is open. The first linear drive mechanism 141 drives the first piston 1321 to advance, pressing the metered material in the volume-fixing component 132 out through the filling head 133. In this way, the metering chamber of the volume-fixing component 132 can become an independent closed system during the filling stage. This not only ensures the accuracy of the material volume inside the volume-fixing component 132, but also isolates the upstream supply pressure fluctuations from interfering with the metering process, thereby further improving the accuracy and operational reliability of the capsule filling equipment at the mechanical level.

[0083] In one exemplary embodiment, the feed valve 134 may be a two-position, two-way valve, driven by a second linear drive mechanism 142 (such as a cylinder 1421). The second linear drive mechanism 142 includes a cylinder 1421 and a connector 1422, the connector 1422 being mounted on the piston rod end of the cylinder 1421. The feed valve 134 includes a valve body 1341, a valve core 1342, and a valve stem 1343. The valve core 1342 is movably disposed within the valve body 1341. One end of the valve stem 1343 is fixedly connected to the valve core 1342, and the other end is detachably rigidly connected to the piston rod of the cylinder 1421 via the connector 1422. The structures of the discharge valve 135 and the third linear drive mechanism 143 may be the same as or similar to the structures of the feed valve 134 and the second linear drive mechanism. Thus, the reciprocating motion of cylinder 1421 directly drives valve stem 1343, causing valve core 1342 to press down or lift up, thereby realizing the opening and closing of valve port in valve body 1341. This pneumatic drive method can accurately control the flow path switching of materials from storage tank 131 to volumetric container 132.

[0084] In one exemplary embodiment, both the valve body 1341 and the valve core 1342 can be made of polypropylene (PP), and the valve stem 1343 can be made of metal, such as stainless steel, which may include 304 stainless steel or 316 stainless steel.

[0085] For example, connector 1422 may include a first connecting portion, a second connecting portion, and a locking portion. The first connecting portion and the second connecting portion are rotatably connected by a pivot, forming an openable and closable structure; when the first connecting portion and the second connecting portion are closed, the valve stem 1343 can be clamped and fixed between the first connecting portion and the second connecting portion. The locking portion is used to lock the first connecting portion and the second connecting portion in the closed state, thereby ensuring a stable and reliable transmission connection between the valve stem 1343 and the cylinder 1421. The locking portion may include a wing bolt, which can be threadedly connected to the first connecting portion and the second connecting portion to lock the first connecting portion and the second connecting portion.

[0086] Please refer to Figure 1 , Figure 2 , Figure 5 and Figure 11 , Figure 11 yes Figure 5 The exploded view of the installation structure of the storage tank 131 shown indicates that, in an optional embodiment, the storage tank 131 may include a second piston (not shown) and a second cylinder 1311. The capsule filling equipment may also include a gas compression mechanism (not shown) and a tank mounting bracket 16. The second piston is movably assembled in the second cylinder 1311, which is mounted on the tank mounting bracket 16. The tank mounting bracket 16 is mounted on the multi-axis drive assembly 12 and has an air inlet 164, which is connected to the second cylinder 1311 and the gas compression mechanism to drive the second piston to move by gas.

[0087] The gas compression mechanism may include an air pump, an intake solenoid valve, or an air compressor. Through the interface on the hopper mounting bracket 16, it injects and maintains a constant air pressure into the chamber behind the second piston, thereby pushing the piston forward and applying a stable and gentle compressive force to the material inside the hopper.

[0088] Compared to related technologies that use gravity or mechanical screw feeding methods, which suffer from unstable feeding pressure, poor conveying of highly viscous materials, or shear damage, this embodiment uses an air compressor as the air source, ensuring a more abundant and stable supply of pressurized gas to the storage tank 131. The continuous, stable, and adjustable back pressure generated by the gas-driven second piston ensures that various high-viscosity materials, including bacterial sludge, are smoothly and continuously conveyed to the volumetric container 132. This pneumatically assisted feeding method avoids metering errors caused by feeding interruptions or pressure fluctuations, thus ensuring the stability and consistency of the filling process.

[0089] In one exemplary embodiment, the material bucket mounting bracket 16 may include a fixed bracket 161, a movable bracket 162, and a snap-fit ​​mechanism 163. The fixed bracket 161 is fixedly connected to the vertical drive mechanism 123. The movable bracket 162 is connected to the fixed bracket 161 by an opening and closing mechanism, and when closed, it can clamp and seal the opening edge of the second cylinder 1311. The snap-fit ​​mechanism 163 is used to lock the closed state. An air inlet 164 is provided on the movable bracket 162, and a pressure regulating valve 165 can be installed at the air inlet 164. A sealing ring is provided at the contact surface between the movable bracket 162 and the fixed bracket 161 to ensure the airtightness of the gas chamber.

[0090] Please refer to Figure 10 and Figure 11 In an optional embodiment, the filling consumable assembly 13 may further include a connecting pipe 136, with both ends of the connecting pipe 136 connected to the bottom of the second cylinder 1311 and the feed valve 134, respectively; at least one of the first cylinder 1322 and the second cylinder 1311 is a light-transmitting structure. The connecting pipe 136 may include a flexible connecting pipe, such as a silicone tube. The connection between the outlet of the storage tank 131 and the inlet of the feed valve 134 via the flexible connecting pipe 136 simplifies the pipeline layout, isolates equipment vibration, absorbs installation stress, and improves system reliability.

[0091] Meanwhile, the first cylinder 1322 in the volume-regulating component 132 and the second cylinder 1311 in the storage tank 131 can both be made of transparent or semi-transparent materials. For example, the materials of the first cylinder 1322 and the second cylinder 1311 can include glass, polypropylene (PP), or polycarbonate (PC), so that the operator can directly observe the remaining amount and properties of the material in the storage tank 131, the position of the piston in the volume-regulating component 132, and whether there are air bubbles in the material, thereby facilitating equipment debugging, operation status monitoring, and fault diagnosis.

[0092] In one exemplary embodiment, the first cylinder 1322 and the second cylinder 1311 may also have capacity markings. The first piston 1321 may include a piston rod and a piston head, and the second piston may include a piston head. The piston rod may be made of polyethylene (PE) or polypropylene, and the piston head may be made of rubber or silicone.

[0093] In one exemplary embodiment, the storage tank 131, the feed valve 134, and the connecting pipe 136 can be quickly and sealed together using Luer connectors. Specifically, both ends of the flexible silicone tube can be equipped with Luer connectors, which are matched and locked to the Luer interfaces of the outlet of the storage tank 131 and the inlet of the feed valve 134, respectively, forming a reliable passage. These components together constitute a complete disposable filling consumable unit, which can be disassembled and discarded as a whole after a single batch of filling, thereby eliminating the risk of cross-contamination between batches and simplifying the cleaning and maintenance process.

[0094] Please refer to Figure 6 In an optional embodiment, the equipment frame 11 may further include a first mating bracket 112, a second mating bracket 113, and a locking member 114; the first mating bracket 112 is fixedly connected to the multi-axis drive assembly 12, and has a receiving groove 1121 for accommodating the volume-regulating member 132 and the filling head 133; the second mating bracket 113 is closably connected to the first mating bracket 112 and can cover the outside of the receiving groove 1121; the locking member 114 is used to lock the first mating bracket 112 and the second mating bracket 113. The first mating bracket 112 may also have a receiving groove 1121 for accommodating the discharge valve 135 and the feed valve 134.

[0095] The locking element 114 may include bolts or pins. When installing the filling consumable assembly 13, the volume-regulating element 132, the feed valve 134, the discharge valve 135, and the filling head 133 can be assembled into a single consumable assembly. This consumable assembly is then placed into the receiving groove 1121 of the first mating bracket 112 for positioning. Subsequently, the second mating bracket 113 is closed and secured with the locking element 114, thus integrating the consumable assembly into a stable single module and allowing it to be fixed at the Z-axis drive end. In this way, when it is necessary to change materials, clean, or maintain, the operator can quickly remove the entire consumable assembly from the equipment frame 11, reducing maintenance time and operational difficulty.

[0096] The equipment frame 11 may also include a decorative cover that can cover the outside of the second mating bracket 113 to enhance the overall aesthetics of the capsule infusion equipment.

[0097] Please refer to Figure 1In one optional embodiment, the capsule positioning mechanism 111 may include a capsule placement plate. The capsule placement plate is detachably mounted on the equipment frame 11 and has at least two working surfaces. Each working surface is provided with a set of receiving slots for accommodating capsule shells of different models and an identification mark for identifying the capsule model. The operating platform of the equipment frame 11 may have a positioning part, which may include multiple positioning posts. The capsule placement plate can be placed between multiple positioning posts to achieve precise positioning and quick replacement, thereby adapting to the efficient filling needs of multi-specification capsules.

[0098] The control component has pre-stored filling parameter sets corresponding to each identification mark. Each filling parameter set includes at least a first preset speed for controlling the vertical drive mechanism 123 and a second preset speed for controlling the first linear drive mechanism 141. The control component is used to call the corresponding filling parameter set to perform the filling operation in response to the identification mark input by the user or automatically identified.

[0099] The capsule placement plate can have a double-sided or multi-sided structure, with different surfaces having positioning slots and unique identifiers corresponding to specific capsule models. For example, the capsule models can be size 0 and size 1 capsules, with size 0 capsules having a single filling weight of 0.75g–0.85g and size 1 capsules having a single filling weight of 0.5g–0.6g. The unique identifier can include a numerical mark or a QR code. The control component can have a camera component that can be used to acquire the identification marks on the capsule placement plate.

[0100] The control unit has a pre-stored parameter database, with each identifier associated with a complete set of filling parameters, including calculated parameters such as Z-axis speed and piston speed matched to the corresponding capsule capacity. During operation, the capsule filling equipment automatically calls and applies the corresponding filling parameter set by recognizing the identifier on the current working surface, executing the filling process. This achieves automatic adjustment of the filling volume, ensuring that the weight of a single capsule and the entire batch remains stable within the acceptable range. For example, it can ensure that the weight of 5 size 0 capsules is 3.75g to 4.25g, and the weight of 5 size 0 capsules is 2.5g to 3g. This allows the capsule filling equipment to adapt to the needs of small-batch, multi-variety precision filling production.

[0101] In one exemplary embodiment, the capsule filling equipment can control the filling speed of a single capsule to within 3 seconds. In the filling process, a staged release method can be adopted (such as after filling 5 or 10 capsules), briefly releasing the capsule fixing plate, which allows the operator to quickly complete the capsule capping operation within about 3 seconds, thereby maintaining an efficient and continuous human-machine collaborative production rhythm while ensuring accuracy.

[0102] The capsule filling equipment can also integrate a safety module, which may include an emergency stop button, a one-button venting valve connected to the material tank's air circuit, and a status indicator buzzer, thus forming a safety barrier that combines active and passive measures. The electrical box in the equipment frame 11 can adopt a layout principle of strong protection on top and weak protection on the bottom.

[0103] Please refer to Figures 1 to 11 In an optional embodiment, this application also provides a capsule filling method, which can be used in any of the capsule filling devices described above. The method includes the following steps:

[0104] Step 201: Parameter call. The capsule filling equipment identifies the identification mark of the current capsule placement plate and calls the filling parameter group pre-stored in the control component that corresponds to the identification mark; wherein, the filling parameter group includes at least a first preset speed and a second preset speed.

[0105] Step 202: Initial positioning. Based on the filling parameter set, drive the multi-axis drive assembly 12 to move and insert the filling head 133 into the preset starting position inside the current target capsule shell.

[0106] Step 203: Synchronous filling. After the filling head 133 reaches the starting position, the capsule shell is filled synchronously.

[0107] Step 203 may include the following sub-steps:

[0108] Sub-step 2031: Drive the filling head 133 to rise uniformly in the vertical direction at a first preset speed through the vertical drive mechanism 123 in the multi-axis drive assembly 12.

[0109] Sub-step 2032: The first linear drive mechanism 141 in the quantitative drive assembly 14 drives the volume-fixing component 132 at a second preset speed to continuously discharge the material into the capsule shell through the filling head 133.

[0110] The first preset speed and the second preset speed are matched and set so that when the filling head 133 moves to the opening position of the capsule shell, the total volume of material discharged from the volume-fixing member 132 is equal to the volume of the capsule cavity from the starting position to the opening position.

[0111] Step 204: Filling head 133 resets. When filling head 133 reaches the opening position, the movement of vertical drive mechanism 123 and first linear drive mechanism 141 is stopped, and filling head 133 is removed from the current capsule shell.

[0112] Step 205: Traverse the filling process, drive the multi-axis drive assembly 12 to position the filling head 133 to the next target capsule shell, and return to execute steps 202 to 204 until all capsules in the set batch are filled.

[0113] Please refer to Figures 1 to 11 In one exemplary embodiment, this application also provides another capsule filling method, which can be used in any of the capsule filling devices described above. The method includes the following two stages:

[0114] Phase 1, Equipment and Consumables Preparation Phase, may include the following steps:

[0115] Step 301: System Initialization and Safety Preparation. The operator first switches the equipment to manual mode via the human-machine interface and triggers the one-button gas release command. The control component then controls the gas compression mechanism to close the inlet valve and release the gas pressure in the storage tank 131 (second cylinder 1311) to ensure operational safety when replacing consumables later.

[0116] Step 302: Installation of filling consumable component 13.

[0117] Step 3321: Consumable assembly. Loosen the locking piece 114, open the second mating bracket 113, and remove the replacement filling consumable assembly 13 from the receiving groove 1121 of the first mating bracket 112. Place the new consumable assembly into the receiving groove 1121, close the second mating bracket 113, and lock it with the locking piece 114 to complete the modular quick clamping. The filling consumable assembly 13 may include a volume-regulating member 132, a feed valve 134, a discharge valve 135, and a connecting pipe 136.

[0118] Step 3322: Connecting the storage tank 131. The storage tank 131, which is pre-filled with the material to be filled (such as bacterial sludge), is installed on the tank mounting frame 16, and its outlet is reliably connected to the inlet end of the feed valve 134 through the connecting pipe 136. The storage tank 131 includes a second cylinder 1311 and a second piston.

[0119] Step 3323, Status Confirmation: Since the first cylinder 1322 in the volume-fixing component 132 and the second cylinder 1311 in the storage tank 131 can be light-transmitting structures, the operator can visually check whether the internal material filling is complete and whether there are any residual air bubbles.

[0120] Step 303: Pressurize the feeding system by triggering a one-button gas supply command on the human-machine interface. The control component activates the gas compression mechanism, injecting gas at a constant pressure into the rear chamber of the second piston of the storage tank 131, pushing the piston forward, thereby establishing a stable and gentle continuous conveying pressure for the material in the tank, ensuring quantitative suction.

[0121] Step 304: Capsule positioning and model setting. According to the production plan, select the corresponding model (e.g., #0 or #1) capsule placement plate. The placement plate has a matching receiving slot and identification mark on a specific working surface.

[0122] Step 305: Manually place the empty capsule shells into the respective receiving slots.

[0123] Step 306: Place the loaded capsule placement plate onto the capsule positioning mechanism 111 of the equipment frame 11.

[0124] Step 307: The operator enters the identifier corresponding to the current working surface on the control interface.

[0125] Phase Two, Automatic Linked Filling Cycle Phase: The operator switches the equipment to automatic mode. The control component then calls up the pre-stored corresponding filling parameter group based on the identified identifier and executes the following steps in sequence:

[0126] Step 401: Identification and parameter matching. The control component retrieves the uniquely corresponding filling parameter group from its memory based on the acquired identification identifier to complete the intelligent parameter configuration before production.

[0127] Step 402, Positioning and Insertion: First, horizontal positioning is performed. Based on the coordinate data in the parameter group, the control component drives the first horizontal drive mechanism 121 (X-axis) and the second horizontal drive mechanism 122 (Y-axis) to precisely move the filling head 133 directly above the first target capsule. Then, vertical insertion is performed: the vertical drive mechanism 123 (Z-axis) is driven to move the filling head 133 vertically downwards and insert it into the capsule shell until it reaches the preset starting position (usually close to the bottom).

[0128] Step 403: Synchronous and coordinated filling. After the filling head 133 reaches its position, the control component synchronously issues commands, simultaneously activating the vertical drive mechanism 123 and the first linear drive mechanism 141. During this process, the vertical drive mechanism 123 drives the filling head 133 upward at a first preset speed. The first linear drive mechanism 141 synchronously and uniformly pushes the first piston 1321 in the volume-fixing component 132 at a second preset speed, continuously discharging the material through the filling head 133. When the filling head 133 moves to the opening position of the capsule shell, both drive mechanisms stop synchronously.

[0129] Step 404: Reset and Traverse. The filling head 133 exits the capsule, and the horizontal drive mechanism moves the filling head 133 above the next capsule. Steps 402 to 403 are repeated until the entire capsule plate is filled. After replacing the capsule plate, the equipment can automatically start a new cycle from step 401 to achieve continuous production.

[0130] This application also provides an electronic device, which may include:

[0131] Memory is used to store computer programs.

[0132] The processor, when executing a program stored in the memory, implements the capsule filling method in any of the above embodiments.

[0133] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the capsule filling method described above.

[0134] It should be noted that the dimensions of the areas may have been exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element is referred to as "on top of" another element, it can be directly on the other element, or there may be intermediate elements. Additionally, it is understood that when an element is referred to as "below" another element, it can be directly below the other element, or there may be more than one intermediate element. Furthermore, it is also understood that when an element is referred to as "between" two elements, it can be the only layer between the two elements, or there may be more than one intermediate element. Similar reference numerals throughout indicate similar elements.

[0135] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0136] The communication interface is used for communication between the aforementioned electronic device and other devices. The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0137] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0138] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0139] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of methods, electronic devices, storage media, and computer program products are basically similar to the system embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0140] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A capsule filling device, characterized in that, include: Equipment frame, multi-axis drive assembly, filling consumables assembly, and metering drive assembly; The equipment frame is equipped with a capsule positioning mechanism for placing and positioning capsule shells; The multi-axis drive assembly is mounted on the equipment frame; The filling consumable assembly is a disposable assembly and is detachably installed on the multi-axis drive assembly. It is used to contain and transport the material to be filled. The filling consumable assembly includes a storage tank, a volume-fixing component and a filling head connected in sequence. The storage tank is used to temporarily store the material to be filled, which is bacterial sludge. The quantitative drive component is mounted on the multi-axis drive component and connected to the volume-regulating component, and is used to drive the volume-regulating component to quantitatively draw material from the storage tank and quantitatively discharge material. The multi-axis drive assembly is configured to: when the quantitative drive assembly drives the volume-fixing component to discharge material into the capsule shell through the filling head, simultaneously drive the filling head to move away from the bottom of the capsule shell, so that the filling head can move and fill within the capsule shell; The storage tank includes a second piston and a second cylinder. The capsule filling equipment also includes a gas compression mechanism and a tank mounting frame. The second piston is movably assembled in the second cylinder, and the second cylinder is mounted on the tank mounting frame. The tank mounting frame is mounted on the multi-axis drive assembly. The tank mounting frame has an air inlet, which is connected to the second cylinder and the gas compression mechanism respectively, so as to drive the second piston to move by gas. The filling consumable assembly also includes a feed valve and a discharge valve; the feed valve is assembled between the storage tank and the volume-regulating component, and is connected to the storage tank and the volume-regulating component respectively; the discharge valve is assembled between the volume-regulating component and the filling head, and is connected to the volume-regulating component and the filling head respectively, and both the feed valve and the discharge valve are two-position two-way valves.

2. The capsule filling equipment according to claim 1, characterized in that, The volume-regulating component includes a first piston and a first cylinder, and the metering drive assembly includes a first linear drive mechanism; The first piston is movably installed in the first cylinder, and the first cylinder is connected to the storage tank and the filling head respectively; The first linear drive mechanism is connected to one end of the first piston.

3. The capsule filling equipment according to claim 1, characterized in that, The multi-axis drive assembly includes: a first horizontal drive mechanism, a second horizontal drive mechanism, and a vertical drive mechanism; The first horizontal drive mechanism is mounted on the equipment frame; The second horizontal drive mechanism is mounted on the first horizontal drive mechanism. The first horizontal drive mechanism and the second horizontal drive mechanism are used to drive the filling head to perform matrix-like point-to-point movement in the horizontal plane. The vertical drive mechanism is mounted on the second horizontal drive mechanism and is used to drive the filling head to move vertically.

4. The capsule filling equipment according to claim 3, characterized in that, The capsule filling equipment also includes a control component, which is electrically connected to the quantitative drive component and the multi-axis drive component. The control component is used to simultaneously activate the first linear drive mechanism in the quantitative drive component and the vertical drive mechanism in the multi-axis drive component when the filling head moves to a preset starting position inside the capsule shell. The vertical drive mechanism is controlled to drive the filling head to move away from the bottom of the capsule shell at a first preset speed, while the first linear drive mechanism is controlled to drive the volume-fixing component to discharge material into the filling head at a second preset speed. Wherein, the first preset speed is matched with the second preset speed, such that when the filling head moves to the opening position of the capsule shell, the volume of material discharged by the volume-fixing member is equal to the volume of the cavity formed by the capsule shell from the starting position to the opening position.

5. The capsule filling equipment according to claim 4, characterized in that, Both the first linear drive mechanism in the quantitative drive assembly and the vertical drive mechanism in the multi-axis drive assembly include electric cylinders.

6. The capsule filling equipment according to claim 2, characterized in that, The quantitative drive assembly further includes a second linear drive mechanism and a third linear drive mechanism; The second linear drive mechanism and the third linear drive mechanism are respectively connected to the feed valve and the discharge valve.

7. The capsule filling equipment according to claim 6, characterized in that, The filling consumable assembly also includes a connecting pipe, the two ends of which are respectively connected to the bottom of the second cylinder and the feed valve; At least one of the first cylinder and the second cylinder is a light-transmitting structure.

8. The capsule filling equipment according to claim 1, characterized in that, The equipment frame also includes a first mating bracket, a second mating bracket, and a locking component; The first mating bracket is fixedly connected to the multi-axis drive assembly, and the first mating bracket has a receiving groove for accommodating the volume-fixing component and the filling head; The second mating bracket is closable with the first mating bracket and can cover the outside of the receiving groove; The locking element is used to lock the first mating bracket and the second mating bracket.

9. The capsule filling equipment according to claim 4, characterized in that, The capsule positioning mechanism includes a capsule placement plate; The capsule placement plate is detachably mounted on the equipment frame and has at least two working surfaces. Each working surface is provided with a set of receiving slots for accommodating capsule shells of different models and an identification mark for identifying the capsule model. The control component pre-stores a filling parameter group corresponding to each of the identification marks. Each filling parameter group includes at least a first preset speed for controlling the vertical drive mechanism and a second preset speed for controlling the first linear drive mechanism. The control component is used to invoke the corresponding filling parameter group to perform a filling operation in response to the identification identifier input by the user or automatically identified.

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