Crank connecting rod type servo automatic machine

Abstract

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

Description

Technical Field

[0001] This utility model relates to capsule machines, and more specifically to a crank-connecting rod type servo automatic machine. Background Technology

[0002] A capsule is a pharmaceutical packaging shell, consisting of a capsule body and a capsule cap that fit together. Its surface must be kept clean and free of oil, strictly conforming to pharmaceutical-grade standards. The needle molds used in capsule production are the molds that shape the capsules. A needle mold assembly is a collection of multiple needle molds riveted together on a rectangular strip, designed to improve production efficiency and facilitate continuous operation on the production line. A capsule machine is specialized equipment for producing empty hard capsules, and the automatic machine is the core component in the capsule machine production process. The automatic machine can complete the processes of demolding, cutting, fitting, and ejecting a layer of capsules from the needle mold surface at a single station, achieving continuous production through reciprocating cycles. The performance of the automatic machine directly determines the capsule production efficiency and quality.

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

[0004] Mechanical cam-type automatic machines use a main motor to drive various cams to complete processes such as demolding, cutting, fitting, and ejection. However, mechanical cam-type automatic machines have many drawbacks. For example, they require continuous lubrication of the cams during operation, necessitating an internal oil tank for continuous oil supply via an oil pump, which can lead to capsule contamination. Furthermore, the mechanical cam-type automatic machine generates its pushing stroke through cam groove curved surface extrusion bearings, resulting in significant extrusion force and rolling friction, which can easily cause mechanical damage. During high-speed operation, the damage force increases exponentially, making it impossible to achieve high-speed production beyond limits, resulting in low production efficiency. In addition, the cam stroke of the mechanical cam-type automatic machine is fixed, preventing flexible adjustments to meet specific user needs, and its high operating noise severely impacts the working environment.

[0005] Screw-type servo automatic machines use multiple servo motors to drive corresponding lead screws (each servo motor drives one lead screw) to complete processes such as demolding, cutting, fitting, and ejection. It should be understood that a servo system is an electromechanical system that allows the output quantities such as target displacement, direction, and state to change arbitrarily with the input quantity, and the servo motor is the core component of the servo system, capable of precisely controlling speed and direction. Although screw-type servo automatic machines offer performance improvements over mechanical cam-type automatic machines, some problems still exist, such as the need for regular grease lubrication of the lead screws, increasing the risk of capsule contamination. Figure 8As shown, the sleeve of the lead screw servo automatic machine requires two sets of lead screws (sleeve lead screw 1 and sleeve lead screw 2) and two sets of servo motors (sleeve servo motor 1 and sleeve servo motor 2). The push rod requires two sets of lead screws (push rod lead screw 1 and push rod lead screw 2) and two sets of servo motors (push rod servo motor 1 and push rod servo motor 2). Sleeve lead screw 1 and sleeve lead screw 2 are controlled by sleeve servo motor 1 and sleeve servo motor 2 respectively, and push rod lead screw 1 and push rod lead screw 2 are controlled by push rod servo motor 1 and push rod servo motor 2 respectively. That is, each servo motor corresponds to one lead screw. The large number of servo motors increases costs; the single-rod drive of the lead screw requires a large number of servo motors and lead screws, resulting in cramped installation space and inconvenient maintenance; precise synchronization between sleeve lead screw 1 and sleeve lead screw 2 is difficult, causing inconsistent pushing displacements between the left and right sleeves, affecting the demolding process of the automatic machine and the quality of the final capsule; precise synchronization between ejector lead screw 1 and ejector lead screw 2 is also difficult, causing inconsistent pushing displacements between the left and right ejector rods, affecting the fitting and ejection processes of the automatic machine, ultimately impacting the quality of the final capsule. Furthermore, the automatic head lifting and demolding parts of the lead screw-type servo automatic machine still use traditional gear and rack structures, and after long-term operation, wear on the gears and racks leads to a decrease in the machine's accuracy. Utility Model Content

[0006] To address the problems of synchronization difficulties in the prior art, this invention provides a crank-connecting rod type servo automatic machine.

[0007] According to the present invention, a crank-connecting rod type servo automatic machine includes: a plurality of sleeves for forming capsules and a plurality of push rods for pushing out the formed capsules, wherein the push rods are located inside the sleeves; a sleeve servo motor and a push rod servo motor, respectively used to drive the movement of the sleeves and the push rods; two sleeve connecting rods and two push rod connecting rods, wherein the sleeve servo motors are connected to the two sleeve connecting rods, and the push rod servo motors are connected to the two push rod connecting rods; a sleeve short arm connecting rod and a push rod short arm connecting rod, wherein the sleeve short arm connecting rods connect the sleeve servo motors and the sleeve connecting rods, and the push rod short arm connecting rods connect the push rod servo motors and the push rod connecting rods; a sleeve fixing plate and a push rod fixing plate, wherein the sleeve fixing plate connects the sleeve connecting rods and the sleeves, and the push rod fixing plate connects the push rod connecting rods and the push rods.

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

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

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

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

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

[0013] In a preferred embodiment, the crank-connecting rod type servo automatic machine further includes a demolding device forward and backward push servo motor, a demolding device forward and backward push linkage, a demolding device lifting servo motor, and a demolding device lifting linkage. The demolding device forward and backward push servo motor drives the demolding device forward and backward push linkage, and the demolding device lifting servo motor drives the demolding device lifting linkage.

[0014] In a preferred embodiment, the crank-connecting rod type servo automatic machine further includes a front and rear push short arm connecting rod of the demolding device and a lifting short arm connecting rod of the demolding device. The front and rear push short arm connecting rod of the demolding device is connected to the front and rear push servo motor of the demolding device and the front and rear push connecting rod of the demolding device. The lifting short arm connecting rod of the demolding device is connected to the lifting servo motor of the demolding device and the lifting connecting rod of the demolding device.

[0015] In a preferred embodiment, the crank-connecting rod type servo automatic machine further includes a demolding device lifting shaft connected to a demolding device lifting servo motor. The demolding device lifting short arm linkage includes a demolding device lifting short arm linkage and a demolding device lifting short arm linkage. The demolding device lifting servo motor drives the demolding device lifting shaft to rotate, and the upper part of the demolding device moves up and down by swinging the demolding device lifting short arm linkage. The lower part of the demolding device moves up and down by swinging the demolding device lifting short arm linkage, so that the lower part and the upper part of the demolding device perform opening and closing movements.

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

[0017] The crank-connecting rod type servo automatic machine of this utility model uses a servo motor to drive a double connecting rod to complete processes such as demolding, cutting, fitting, and ejection. It offers smoother operation, higher precision, lower noise at the same speed, a simpler spatial structure, and easier maintenance. Compared with existing technologies, this utility model has significant advantages: the stroke can be flexibly adjusted by regulating the rotation angle parameter of the servo motor; simultaneously, the double connecting rod design reduces the number of servo motors used, lowers costs, simplifies the equipment structure, and improves operational stability and precision. Attached Figure Description

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

[0019] Figure 2 yes Figure 1 Top view.

[0020] Figure 3 yes Figure 1 Rear view.

[0021] Figure 4 yes Figure 3 A partial structural diagram.

[0022] Figure 5 yes Figure 4 Side view.

[0023] Figure 6 yes Figure 4 A partial structural diagram.

[0024] Figure 7 yes Figure 1 A schematic diagram of the demolding device.

[0025] Figure 8 This is a structural diagram of a lead screw servo automaton in the existing technology. Detailed Implementation

[0026] The preferred embodiments of this utility model are given below with reference to the accompanying drawings and described in detail.

[0027] like Figures 1-2As shown, a crank-connecting rod type servo automatic machine according to a preferred embodiment of the present invention includes a plurality of sleeves 1 and push rods 2, wherein the sleeves 1 are used to form capsules, and the push rods 2 are inside the sleeves 1 for ejecting the formed capsules. In this embodiment, the crank-connecting rod type servo automatic machine includes 30 sleeves 1 and 30 push rods 2. It should be understood that 30 is merely an example and not a limitation.

[0028] like Figure 3 As shown, a preferred embodiment of the crank-connecting rod type servo automatic machine according to this utility model further includes a sleeve servo motor 11, two sleeve connecting rods 13, a push rod servo motor 21, and two push rod connecting rods 23. The sleeve servo motor 11 is connected to the two sleeve connecting rods 13, which are a first sleeve connecting rod 131 and a second sleeve connecting rod 132 connected to the sleeve 1. The push rod servo motor 21 is connected to the two push rod connecting rods 23, which are a first push rod connecting rod 231 and a second push rod connecting rod 232 connected to the push rod 2. The sleeve servo motor 11 drives the first sleeve connecting rod 131 and the second sleeve connecting rod 132 to form the capsule body and the capsule cap, respectively. The push rod servo motor 21 drives the first push rod connecting rod 231 and the second push rod connecting rod 232 to push out the capsule body and the capsule cap, respectively.

[0029] like Figure 4 and Figure 5 As shown, according to a preferred embodiment of the present invention, the crank-connecting rod type servo automatic machine further includes two sleeve short arm connecting rods 12 and two push rod short arm connecting rods 22, wherein the sleeve short arm connecting rods 12 are connected to the sleeve servo motor 11 and the sleeve connecting rod 13, and the push rod short arm connecting rods 22 are connected to the push rod servo motor 21 and the push rod connecting rod 23.

[0030] like Figure 4 and Figure 5 As shown, a preferred embodiment of the crank-connecting rod type servo automatic machine according to this utility model further includes a sleeve fixing plate 14 and a push rod fixing plate 24, wherein the sleeve fixing plate 14 connects the sleeve connecting rod 13 and the sleeve 1 (see...). Figure 1 and Figure 2 The top rod fixing plate 24 connects the top rod connecting rod 23 and the top rod 2 (see...). Figure 1 and Figure 2 ).

[0031] like Figure 6As shown, a preferred embodiment of the crank-connecting rod servo automatic machine according to this utility model further includes a first sleeve shaft 15 and a first push rod shaft 25. The first sleeve shaft 15 is connected to a sleeve servo motor 11. The sleeve short arm connecting rod 12 is fixed to the first sleeve shaft 15 via a tensioning sleeve. The first push rod shaft 25 is connected to a push rod servo motor 21. The push rod short arm connecting rod 22 is fixed to the first push rod shaft 25 via a tensioning sleeve. Additionally, the crank-connecting rod servo automatic machine also includes a second sleeve shaft and a second push rod shaft. The sleeve fixing plate 14 is fixed to the second sleeve shaft via screws. The sleeve connecting rod 13 is connected to the second sleeve shaft via a self-lubricating structure (e.g., a graphite copper sleeve, with a solid lubricant embedded inside, providing lubrication and wear resistance, eliminating the need for manual lubrication at rotating joints). The push rod fixing plate 24 is fixed to the second push rod shaft via screws. The push rod connecting rod 23 is connected to the second push rod shaft via a self-lubricating structure (e.g., a graphite copper sleeve).

[0032] The following is a brief description of the fitting and ejection processes of the crank-connecting rod type servo automatic machine according to this utility model. The sleeve servo motor 11 rotates forward and backward, driving the sleeve short arm connecting rod 12 to swing forward and backward, causing the sleeve connecting rod 13 to reciprocate, and the sleeve fixing plate 14 to move back and forth (driving the corresponding sleeve 1 to move back and forth to achieve capsule forming). The ejector servo motor 21 rotates forward and backward, driving the ejector short arm connecting rod 22 to swing forward and backward, causing the ejector connecting rod 23 to move back and forth, and the ejector fixing plate 24 to move back and forth (driving the corresponding ejector 2 to move back and forth to achieve capsule ejection).

[0033] This invention's crank-connecting rod servo automatic machine overcomes all the shortcomings of mechanical cam-type automatic machines. Compared with screw-type servo automatic machines, this invention's crank-connecting rod servo automatic machine adopts a double-connecting rod design, with one servo motor driving two connecting rods, halving the number of servo motors and significantly reducing costs. Specifically, the first sleeve connecting rod 131 and the second sleeve connecting rod 132 are controlled by a sleeve servo motor 11, ensuring precise synchronization of the running angle and displacement of the two sleeve connecting rods 13; the first push rod connecting rod 231 and the second push rod connecting rod 232 are controlled by a push rod servo motor 21, ensuring precise synchronization of the running angle and displacement of the two push rod connecting rods 23. Due to the precise synchronization of the sleeve connecting rod 13 and the push rod connecting rod 23, the automatic machine operates with higher precision and smoother operation, effectively improving the quality of the finished capsules. Moreover, the crank-connecting rod servo automatic machine of this invention uses a self-lubricating crank connection for the transmission structure, eliminating the need for a special lubrication system or grease lubrication, significantly reducing the chance of capsule contamination.

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

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

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

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

[0038] The following is a brief description of the demolding process of the crank-connecting rod type servo automatic machine according to this utility model. The demolding device lifting servo motor 41 rotates forward and reverse, driving the demolding device lifting short arm connecting rod 42 to swing forward and reverse, causing the demolding device lifting connecting rod 43 to move up and down (driving the upper and lower demolding plates 47 to open and close, the upper and lower demolding plates 47 closing to enclose the capsule). The demolding device forward and backward pushing servo motor 31 rotates forward and reverse, driving the demolding device forward and backward pushing short arm connecting rod 32 to swing forward and reverse, causing the demolding device forward and backward pushing connecting rod 33 to move back and forth (the demolding device forward and backward pushing connecting rod 33 pulls out the capsule, completing the demolding process of one capsule).

[0039] Compared to screw-type servo automatic machines, the transmission structure of the demolding device 3 in this invention's crank-connecting rod servo automatic machine uses a self-lubricating crank connection, eliminating the need for a dedicated lubrication system or grease lubrication. This effectively overcomes the wear of gear and rack transmissions, greatly ensuring the machine's accuracy. In screw-type servo automatic machines, the gear and rack transmission of the demolding device 3 operates at maximum torque with each reciprocating motion, resulting in relatively large impacts, which are detrimental to the machine's operational stability and lifespan. The crank-connecting rod structure of this invention's crank-connecting rod servo automatic machine ensures minimal torque is required when the motor starts and automatic deceleration when the motor stops, significantly improving the machine's operational stability, extending the lifespan of mechanical components, and reducing energy consumption.

[0040] like Figure 5 As shown, a preferred embodiment of the crank-connecting rod type servo automatic machine according to this utility model further includes an automatic machine head 4 mounted via an automatic machine head fixing plate 54. In this embodiment, the sleeve connecting rod 13 and the push rod connecting rod 23 are located above the automatic machine head fixing plate 54, and are top-mounted. In another embodiment, the sleeve connecting rod 13 and the push rod connecting rod 23 are located below the automatic machine head fixing plate 54, and are bottom-mounted.

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

[0042] The following is a brief description of the cutting process of the crank-connecting rod type servo automatic machine according to this utility model. The head lifting servo motor 51 rotates forward and backward, which drives the head lifting short arm connecting rod 52 to swing forward and backward, which drives the head lifting connecting rod 53 to move up and down, thereby lifting the automatic head fixing plate 54 (completing the cutting).

[0043] Compared to screw-type servo automatic machines, the crank-connecting rod type servo automatic machine of this invention uses a self-lubricating crank connection in the transmission structure of the automatic head 4, eliminating the need for a dedicated lubrication system or grease lubrication. This effectively overcomes the wear of gear and rack transmissions, greatly ensuring the accuracy of the automatic machine. In screw-type servo automatic machines, the gear and rack transmission of the automatic head 4 operates at maximum torque for each reciprocating motion, resulting in relatively large impacts, which are detrimental to the machine's operational stability and service life. The crank-connecting rod structure of this invention ensures minimal torque is required when the motor starts and automatic deceleration when the motor stops, greatly improving the machine's operational stability, extending the service life of mechanical components, and reducing energy consumption.

[0044] In summary, the opening and closing and movement of the sleeve 1, top rod 2, and demolding device 3, as well as the lifting and lowering of the automatic head 4, of this invention's crank-connecting rod type servo automatic machine all adopt a crank-connecting rod transmission method, replacing the traditional mechanical cam transmission and screw transmission. This method results in low rolling friction, a large speed-up potential, and high production efficiency. Driven by a servo motor, it achieves a stable, high-speed, and pollution-free production environment. Only the rotation angle parameter of the servo motor needs to be adjusted (the angle parameter is set through the electrical control box). The servo motor rotates back and forth; increasing the rotation angle increases the swing amplitude of the connecting rod, thereby increasing the displacement stroke and enabling flexible adjustment.

[0045] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various variations can be made to the above embodiments of this utility model. That is, all simple and equivalent changes and modifications made based on the claims and description of this utility model application fall within the protection scope of the claims of this utility model patent. Any aspects of this utility model not described in detail are conventional technical content.

Claims

1. A crank-and-rod type servo actuator characterized by comprising: The crank rod type servo automatic machine comprises: a plurality of sleeves for forming capsules and a plurality of ejecting rods for pushing out the formed capsules, the ejecting rods being located inside the sleeves; a sleeve servo motor and an ejecting rod servo motor for driving the sleeves and the ejecting rods respectively; two sleeve connecting rods and two ejecting rod connecting rods, the sleeve servo motor being connected with the two sleeve connecting rods, and the ejecting rod servo motor being connected with the two ejecting rod connecting rods; a sleeve short arm connecting rod and an ejecting rod short arm connecting rod, the sleeve short arm connecting rod connecting the sleeve servo motor and the sleeve connecting rods, and the ejecting rod short arm connecting rod connecting the ejecting rod servo motor and the ejecting rod connecting rods; a sleeve fixing plate and an ejecting rod fixing plate, the sleeve fixing plate connecting the sleeve connecting rods and the sleeves, and the ejecting rod fixing plate connecting the ejecting rod connecting rods and the ejecting rods.

2. The crank-and-cam servo motor according to claim 1, characterized by The crank rod type servo automatic machine further comprises a first sleeve shaft and a first ejecting rod shaft, the first sleeve shaft being connected with the sleeve servo motor, and the sleeve short arm connecting rod being fixed with the first sleeve shaft through a tension sleeve; the first ejecting rod shaft being connected with the ejecting rod servo motor, and the ejecting rod short arm connecting rod being fixed with the first ejecting rod shaft through a tension sleeve.

3. The crank-and-cam servo motor according to claim 1, wherein The crank rod type servo automatic machine further comprises a second sleeve shaft and a second ejecting rod shaft, the sleeve fixing plate being connected with the second sleeve shaft, and the sleeve connecting rods being connected with the second sleeve shaft through a self-lubricating structure; the ejecting rod fixing plate being connected with the second ejecting rod shaft, and the ejecting rod connecting rods being connected with the second ejecting rod shaft through a self-lubricating structure.

4. The crank-and-cam servo motor according to claim 3, wherein The self-lubricating structure is a graphite copper sleeve.

5. The crank-and-cam servo motor according to claim 1, wherein The sleeve connecting rods comprise a first sleeve connecting rod and a second sleeve connecting rod, and the ejecting rod connecting rods comprise a first ejecting rod connecting rod and a second ejecting rod connecting rod; the sleeve servo motor drives the first sleeve connecting rod and the second sleeve connecting rod to form a capsule body and a capsule cap respectively; and the ejecting rod servo motor drives the first ejecting rod connecting rod and the second ejecting rod connecting rod to push out the capsule body and the capsule cap respectively.

6. The crank-and-cam servo motor according to claim 1, wherein The crank rod type servo automatic machine further comprises an ejector, the ejector comprising a sliding block, an ejector lower part, an ejector upper part and upper and lower ejector pieces, the ejector lower part and the ejector upper part being respectively installed on the sliding block, and the upper and lower ejector pieces being respectively installed on the ejector lower part and the ejector upper part.

7. The crank-and-rod servomotor according to claim 6, characterized by The crank rod type servo automatic machine further comprises an ejector front and rear pushing servo motor, an ejector front and rear pushing connecting rod, an ejector lifting servo motor and an ejector lifting connecting rod, the ejector front and rear pushing servo motor driving the ejector front and rear pushing connecting rod, and the ejector lifting servo motor driving the ejector lifting connecting rod.

8. The crank-and-rod servomotor of claim 7, wherein The crank rod type servo automatic machine further comprises an ejector front and rear pushing short arm connecting rod and an ejector lifting short arm connecting rod, the ejector front and rear pushing short arm connecting rod connecting the ejector front and rear pushing servo motor and the ejector front and rear pushing connecting rod, and the ejector lifting short arm connecting rod connecting the ejector lifting servo motor and the ejector lifting connecting rod.

9. The crank-and-rod servomotor of claim 8, wherein The crank connecting rod type servo automatic machine further comprises a demolding lifter lifting shaft connected with a demolding lifter lifting servo motor, the demolding lifter lifting short arm connecting rod comprises a demolding lifter lifting short arm connecting rod and a demolding lifter lifting short arm connecting rod, the demolding lifter lifting servo motor drives the demolding lifter lifting shaft to rotate, the demolding lifter upper part is driven to move up and down through the swing of the demolding lifter lifting short arm connecting rod, the demolding lifter lower part is driven to move up and down through the swing of the demolding lifter lifting short arm connecting rod, and the demolding lifter lower part and the demolding lifter upper part are driven to open and close.

10. The crank-and-cam servo motor according to claim 1, wherein The crank connecting rod type servo automatic machine further comprises a head lifting servo motor, a head lifting short arm connecting rod, a head lifting connecting rod and an automatic head installed through an automatic head fixing plate, the head lifting short arm connecting rod is connected with the head lifting servo motor and the head lifting connecting rod, and the head lifting connecting rod is connected with the automatic head fixing plate to drive the automatic head fixing plate to lift.

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