CN108620365B - Control system and control method of high-viscosity pharmaceutical capsule blowing-off self-discharging equipment - Google Patents
Control system and control method of high-viscosity pharmaceutical capsule blowing-off self-discharging equipment Download PDFInfo
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- CN108620365B CN108620365B CN201810409445.3A CN201810409445A CN108620365B CN 108620365 B CN108620365 B CN 108620365B CN 201810409445 A CN201810409445 A CN 201810409445A CN 108620365 B CN108620365 B CN 108620365B
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- 239000002775 capsule Substances 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000007599 discharging Methods 0.000 title claims abstract description 35
- 238000004140 cleaning Methods 0.000 claims abstract description 94
- 238000007664 blowing Methods 0.000 claims abstract description 82
- 238000001514 detection method Methods 0.000 claims abstract description 55
- 230000009471 action Effects 0.000 claims description 36
- 238000010408 sweeping Methods 0.000 claims description 8
- 239000003814 drug Substances 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 abstract description 21
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- 238000012545 processing Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 238000004886 process control Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000007902 hard capsule Substances 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
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- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 235000013402 health food Nutrition 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 108010010803 Gelatin Proteins 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 229920000159 gelatin Polymers 0.000 description 1
- 239000008273 gelatin Substances 0.000 description 1
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- 235000011852 gelatine desserts Nutrition 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
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- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses a control system and a control method of high-viscosity pharmaceutical capsule blowing-off self-unloading equipment, wherein the control system comprises a controller, a signal trigger and a capsule position detection device; the controller is fixedly connected to the bottom position of the upper supporting seat and is arranged between the operation platform device and a first connecting rod in the trigger driving assembly structure; the capsule position detection device is used for detecting the capsule position of the operation platform device and obtaining capsule position detection information; the capsule position detection device is fixedly connected to the bottom of the rotary brush component; the signal trigger is used for sending a position signal to the controller; the signal trigger is fixedly connected with one end of the third connecting rod of the trigger driving component, which is close to the zipper. The control system and the control method for the high-viscosity pharmaceutical capsule blowing-off self-discharging equipment provided by the invention can complete the control design of a series of procedures such as capsule position detection, cleaning, air suction, air blowing triggering and the like of equipment products.
Description
Technical Field
The invention relates to the technical field of capsule pharmaceutical cleaning auxiliary equipment, in particular to a control system and a control method of high-viscosity pharmaceutical capsule blowing self-unloading equipment.
Background
The hard capsule health food has a large share in the market and has good market development prospect. The hard capsule is a health food prepared by directly filling a certain amount of raw material extract or raw material powder into an empty capsule, or uniformly mixing and subpackaging several raw material powders into the empty capsule. The main molding material is gelatin. The surface of the filled hard capsule is often adhered with a small amount of medicine or auxiliary material powder, and the hard capsule needs to be cleaned. However, it is clear that the error rate in the manual cleaning process is large and time consuming.
Aiming at the problems, various capsule cleaning tools or cleaning devices appear in the market; however, it is obvious that all products in the prior art have too single function, simple structure and very low automation control degree;
subsequently, researchers designed a blowing-cleaning self-discharging device for high-viscosity pharmaceutical capsules, which mainly comprises a lower support seat 10, an upper support seat 20, a vertical column 30, a cleaning device 40, a base side plate 50, an operation table device 60, a suction base buffer device 70, a trigger driving assembly 80 and the like (see fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6);
wherein, the cleaning device 40 is connected (i.e. hoisted) to the upper supporting base 20; the sweeping device 40 comprises a hydraulic telescopic system 41, a bracket 42, a first driving motor 43 and a rotating brush assembly 44 (shown in figure 10); the top of the hydraulic telescopic system 41 is connected with the upper support base 20, the bottom of the hydraulic telescopic system 41 is connected with the support 42, and the hydraulic telescopic system 41 is used for driving the support 42 to reciprocate along the vertical direction; the bracket 42 is also provided with a first driving motor 43, the bracket 42 is used for supporting and connecting the first driving motor 43, and the first driving motor 43 is in running fit with the rotating brush assembly 44;
the worktable device 60 includes a suction concave body 61, and further includes a suction groove 62 and a capsule support frame 63 provided on the surface thereof, a blower 65, and a cylindrical blowing duct 66 (see fig. 7, 8, 9); a concave air cavity 64 is arranged in the air suction concave body 61, an air suction groove 62 penetrates through the upper surface and the lower surface of the air suction concave body 61 to be communicated with the concave air cavity 64, and a capsule support frame 63 is connected to the top of the edge of the air suction concave body 61; a capsule placing hole 632 (for placing a capsule a) and a vent hole 633 (see fig. 8) provided on the surface of the capsule support frame 63; the blower 65 is arranged inside the concave air cavity 64; the bottom of the cylindrical air blowing pipeline 66 is communicated with an air outlet of the blower 65, and the top of the cylindrical air blowing pipeline 66 protrudes out of the upper surface of the air suction concave body 61 and is positioned at the bottom of the capsule support frame 63; the base side plate 50 is vertically arranged on the lower support base 10 and positioned at the side of the operation table device 60; the base side plate 50 is in free rotation hinged fit with the operation table device 60;
the air suction base buffer device 70 is fixedly connected on the surface of the lower support base 10; the air suction base buffer device 70 comprises a base 71, an upper cover body 72 and a pressure spring 73 (see fig. 6); an air suction opening 721 is also arranged on the surface of the upper cover body 72; a cavity 74 is arranged between the upper cover body 72 and the base 71; an air suction processing cavity 711 is arranged in the base 71, the top of the cavity 74 is communicated with the air suction opening 721, and the bottom of the cavity 74 is communicated with the air suction processing cavity 711; an air suction device is arranged in the air suction processing cavity 711; the position of the air suction opening 721 on the surface of the upper cover body corresponds to the position of the bottom of the air suction groove 62 on the workbench device (namely, the position corresponds to ensure that the air suction opening and the concave air cavity can form an air suction channel when the workbench device is in a horizontal stable position);
the trigger driving assembly 80 includes a second driving motor 81, a motor mounting seat 82, and a first connecting rod 83 (see fig. 3 and 4); the motor mounting seat 82 is used for fixedly connecting the second driving motor 81 to the upper supporting seat 20; the second driving motor 81 is used for driving the first connecting rod 83 to do reciprocating swing motion along the connecting position; a push-pull shaft 831 (i.e., a structural shaft of which the push-pull shaft slides along the guide hole) is arranged on the side wall of the first connecting rod 83; the trigger driving assembly 80 further comprises a lower hinge seat 84, a second connecting rod 85, a third connecting rod 86, a rotating shaft 87 and a zipper 88; the lower hinge seat 84 is fixedly connected to the surface of the lower support seat 10, and the lower hinge seat 84 is used for supporting the second connecting rod 85 and is in hinge rotation fit with the second connecting rod 85; a guide hole 861 is formed in the third connecting rod 86, a zipper 88 is arranged at one end of the third connecting rod 86 and is connected with one end, far away from the base side plate 50, of the workbench device through the zipper 88, and the other end of the third connecting rod 86 is rotatably hinged with one end, far away from the lower hinge base, of the second connecting rod 85 through a rotating shaft 87; the push-pull shaft 831 on the side wall of the first connecting rod 83 is inserted into and matched with the guide hole 861 on the third connecting rod 86 (namely, the shape of the guide hole is designed according to actual requirements); in summary, after the structural basis of the above products is completed, it is a technical problem to be solved by those skilled in the art how to implement a highly automated design of blowing and cleaning the high-viscosity pharmaceutical capsules from the unloading device, and to complete a series of process control designs such as capsule position detection, cleaning, air suction, and triggered air blowing.
Disclosure of Invention
The invention aims to provide a control system and a control method for blowing off high-viscosity pharmaceutical capsules from a discharging device, so as to solve the problems.
The invention provides a control system of high-viscosity medicine capsule blowing-off self-discharging equipment, which comprises a controller, a signal trigger and a capsule position detection device, wherein the controller is connected with the signal trigger;
the controller comprises a parameter presetting module, a hydraulic cylinder control module, a first driving motor control module, an air suction device control module, a second driving motor control module and an air blower control module; the controller is fixedly connected to the bottom position of the upper supporting seat and is arranged between the operation platform device and the first connecting rod in the trigger driving assembly structure;
the parameter presetting module is used for receiving a preset sweeping time parameter, a sweeping rotating speed parameter, an air suction time parameter, an air suction output power parameter, a preset triggering condition, an air blowing time parameter, an air blowing output power parameter and an air blowing rotating speed parameter which are set manually, and storing the information;
the capsule position detection device is used for detecting the capsule position of the workbench device and obtaining capsule position detection information; the capsule position detection device is fixedly connected to the bottom of the rotary brush component;
the signal trigger is used for sending a position signal to the controller; the signal trigger is fixedly connected to one end, close to the zipper, of a third connecting rod of the trigger driving assembly;
the hydraulic cylinder control module is used for controlling a hydraulic telescopic system on the cleaning device structure to move downwards after receiving a starting control instruction, and receiving capsule position detection information sent by the capsule position detection device in real time; when the current capsule position distance in the real-time capsule position detection information is judged to be smaller than the preset distance, the hydraulic telescopic system is controlled to stop moving downwards; the first driving motor control module is used for controlling a first driving motor connected with a rotary brush assembly on the starting cleaning device structure to clean and start the capsule on the workbench device; when the first driving motor is started, calling an instruction of a parameter presetting module, receiving a cleaning time parameter and a cleaning rotating speed parameter sent by the parameter presetting module, and carrying out parameter control on the first driving motor connected with a rotating brush assembly on the cleaning device structure according to the cleaning time parameter and the cleaning rotating speed parameter; the air suction equipment control module is used for controlling the execution of the rotary cleaning action and simultaneously controlling the starting of the air suction equipment on the structure of the air suction base buffer device so as to further realize the removal treatment of residues in an air suction concave surface body in the indirectly communicated structure of the operation table device; when the air suction equipment is started, an instruction of the parameter presetting module is called, an air suction time parameter and an air suction output power parameter sent by the parameter presetting module are received, and the air suction equipment on the structure of the air suction base buffer device is controlled according to the air suction time parameter and the air suction output power parameter; the hydraulic cylinder control module is also used for controlling the hydraulic telescopic system to move upwards to enable the cleaning device to be separated from the capsule on the operation platform device after the rotary cleaning action and the air suction action are detected; the second driving motor control module is used for controlling a second driving motor on the trigger driving assembly structure to drive the first connecting rod to swing back and forth along the connecting position, further finally driving the operation platform device to rotate and incline relative to the base side plate, and receiving trigger position information sent by a moving signal trigger in real time; acquiring and analyzing trigger position information, and controlling a second driving motor on the trigger driving assembly structure to execute a shutdown action after judging that the trigger position information meets a preset trigger condition; the blower control module is used for sending and executing a blower starting operation to a blower in the operation table device; when the blower is started, an instruction of the parameter presetting module is called, the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter sent by the parameter presetting module are received, and the blower in the operation table device is controlled according to the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter.
Preferably, the capsule position detection means is embodied as a distance sensor. The signal trigger is specifically an infrared distance sensor or a horizontal offset angle measuring sensor.
The invention provides a control method of high-viscosity pharmaceutical capsule blowing-off self-discharging equipment, which is implemented by using a control system of the high-viscosity pharmaceutical capsule blowing-off self-discharging equipment to perform control and comprises the following operation steps:
step S100: after receiving a starting control instruction, the controller controls a hydraulic telescopic system on the cleaning device structure to move downwards through a hydraulic cylinder control module, and receives capsule position detection information sent by a capsule position detection device in real time; when the controller judges that the distance of the current capsule position in the real-time capsule position detection information is smaller than the preset distance, the hydraulic cylinder control module is used for controlling the hydraulic telescopic system to stop moving downwards;
step S200: the controller controls a first driving motor connected with a rotary brush assembly on the starting cleaning device structure by using a first driving motor control module to clean and start the capsule on the workbench device; when the first driving motor is started, the controller calls an instruction of the parameter presetting module, receives the cleaning time parameter and the cleaning rotating speed parameter sent by the parameter presetting module, and performs parameter control on the first driving motor connected with the rotary brush component on the cleaning device structure by using the first driving motor control module according to the cleaning time parameter and the cleaning rotating speed parameter;
step S300: the controller controls the execution of the rotary cleaning action and simultaneously utilizes the air suction equipment control module to start and control the air suction equipment on the air suction base buffer device structure, thereby realizing the removal treatment of residues in an air suction concave surface body in the indirectly communicated operation table device structure; when the air suction equipment is started, the controller calls an instruction of the parameter presetting module, receives an air suction time parameter and an air suction output power parameter sent by the parameter presetting module, and controls the air suction equipment on the structure of the air suction base buffer device by using the air suction equipment control module according to the air suction time parameter and the air suction output power parameter;
step S400: after the controller detects the rotary cleaning action and the air suction action, the controller controls the hydraulic telescopic system to move upwards by utilizing the hydraulic cylinder control module so as to separate the cleaning device from the capsule on the operation table device;
step S500: the controller controls a second driving motor on the trigger driving assembly structure to drive the first connecting rod to swing back and forth along the connecting position by using a second driving motor control module, so that the workbench device is finally driven to rotate and incline relative to the base side plate, and trigger position information sent by a moving signal trigger in real time is received in real time; acquiring and analyzing trigger position information, and controlling a second driving motor on the trigger driving assembly structure to execute a shutdown action after judging that the trigger position information meets a preset trigger condition;
step S600: the controller sends and executes blowing starting operation to a blower in the operation table device by using the blower control module; when the blower is started, the controller calls an instruction of the parameter presetting module, receives the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter which are sent by the parameter presetting module, and controls the blower in the operation table device by utilizing the blower control module according to the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter.
Preferably, the distance of the current capsule position is the distance between the top of the current capsule at the central position of the capsule support frame and the capsule position detection device. The preset distance is 3-50 mm. Preferably, in the specific step of step S500: the trigger position information is the distance between a signal trigger (namely an infrared distance sensor) and the controller; the preset triggering condition is a triggering distance standard threshold, namely the current distance between the detected signal trigger and the controller is smaller than the distance standard threshold. In the specific step of step S500: the trigger position information is included angle information between a signal trigger (namely a horizontal offset angle measuring sensor) and a horizontal plane; the preset triggering condition is triggering an included angle standard threshold, namely, the detected included angle between the signal trigger and the horizontal plane is greater than the included angle standard threshold.
Compared with the prior art, the embodiment of the invention has the advantages that:
the invention provides a control system and a control method of high-viscosity pharmaceutical capsule blowing-off self-unloading equipment, and the main structure of the control system is analyzed to know that: the invention provides a control system and a control method of the high-viscosity pharmaceutical capsule blowing-off self-discharging device, which have strict control logic and reasonable process design and integrate a control system of a mechanical manufacturing technology, a sensing technology and an electric control technology; meanwhile, the control method perfectly meets the technical requirements of the design of high-viscosity medicine capsule blowing and discharging equipment.
The invention provides a control system and a control method of the high-viscosity medicine capsule blowing-off self-discharging device, which can be researched by integrating various technical means, find related technical problems and related defects from technical problem schemes existing in products in the production process, and develop and research and demonstrate the defects. The invention provides a control system and a control method of the high-viscosity pharmaceutical capsule blowing-off self-unloading device, wherein a controller of the control system cooperates with a capsule position detection device and a signal trigger to carry out information interaction so as to provide an information technology basis for subsequent accurate process control; meanwhile, the controller comprises a parameter presetting module and control submodules (such as a hydraulic cylinder control module, a first driving motor control module, an air suction device control module, a second driving motor control module and an air blower control module) aiming at each execution device; the parameter presetting module can further set programs and program parameters in the controller in a manual mode (for example, a touch screen man-machine interaction mode); meanwhile, each control submodule (namely, for example, a hydraulic cylinder control module, a first driving motor control module, an air suction device control module, a second driving motor control module and an air blower control module) of the controller is used for carrying out start-stop control and coordination process control on the hydraulic telescopic system, the first driving motor, the air suction device, the second driving motor, the air blower and the like;
the controller (comprising all control sub-modules of the controller (such as a hydraulic cylinder control module, a first driving motor control module, an air suction device control module, a second driving motor control module and an air blower control module)), the capsule position detection device and a signal trigger are used for completing start-stop control and coordination process control of the hydraulic telescopic system, the first driving motor, the air suction device, the second driving motor, the air blower and the like, and are of great importance; the invention provides a control method of the high-viscosity pharmaceutical capsule blowing-off self-discharging device, which has a rigorous and reasonable design concept, is closely attached to the structural design of each device of the high-viscosity pharmaceutical capsule blowing-off self-discharging device, and completes the design scheme of a highly automated control system on the basis.
Drawings
FIG. 1 is a schematic structural view of a high-viscosity pharmaceutical capsule in a cleaning state after being blown clear from a cleaning device of a discharging device;
FIG. 2 is a schematic structural view of a cleaning device of a high-viscosity pharmaceutical capsule blowing-off self-discharging device in a cleaning completion state after moving upwards;
FIG. 3 is a partially enlarged schematic view of FIG. 2;
FIG. 4 is a schematic structural diagram of a high-viscosity pharmaceutical capsule blowing-off self-dumping device with a trigger driving assembly driving a workbench device to implement dumping;
FIG. 5 is a schematic diagram showing a comparison of the partial structures of a high-viscosity pharmaceutical capsule before and after being blown off from the trigger driving assembly in the unloading device to drive the worktable device to dump;
FIG. 6 is a schematic view of a three-dimensional perspective assembly structure between a base side plate and an air suction base buffer device in the high viscosity pharmaceutical capsule blowing and removing self-discharging apparatus;
FIG. 7 is a perspective view of a high viscosity pharmaceutical capsule being blown clear from a work table device in the unloading apparatus;
FIG. 8 is a schematic perspective view of a high viscosity pharmaceutical capsule being blown clear from the table means in the unloading apparatus from another perspective;
FIG. 9 is a schematic top view of a suction concave surface of a high viscosity pharmaceutical capsule blowing from a discharge apparatus;
FIG. 10 is a schematic front view of a cleaning device for cleaning the high viscosity pharmaceutical capsule from the discharging device;
FIG. 11 is a schematic diagram of a control system for a high viscosity pharmaceutical capsule purge and dump device according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a controller in a control system of a high viscosity pharmaceutical capsule purge self-dumping apparatus provided in accordance with an embodiment of the present invention;
fig. 13 is a flowchart of a control method for blowing off the high viscosity pharmaceutical capsule from the unloading device according to an embodiment of the present invention.
Reference numbers: a lower support base 10; an upper support base 20; a column 30; a cleaning device 40; a hydraulic telescopic system 41; a bracket 42; a first drive motor 43; a rotating brush assembly 44; a base side plate 50; a work table device 60; a suction concave body 61; an air suction groove 62; a capsule support frame 63; a concave air cavity 64; a blower 65; a cylindrical air blowing duct 66; an air suction base buffering device 70; a base 71; an upper cover body 72; a pressure spring 73; a cavity 74; a suction device 75; an air suction processing chamber 711; an air suction opening 721; triggering the drive assembly 80; a second drive motor 81; a motor mount 82; a first link 83; a lower hinge mount 84; a second link 85; a third link 86; a rotating shaft 87; a zipper 88; a push-pull shaft 831; a guide hole 861; a capsule A;
a controller 90; a parameter presetting module 901; a cylinder control module 902; a first drive motor control module 903; an air suction device control module 904; a second drive motor control module 905; a blower control module 906; capsule position detection means 91; a signal trigger 92.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
The first embodiment is as follows: referring to fig. 11 and 12, a control system for a high viscosity pharmaceutical capsule blowing-off and discharging device according to an embodiment of the present invention includes a controller 90, a capsule position detection device 91, and a signal trigger 92 (in addition, referring to fig. 1 to 10 for mechanical structure parts of the high viscosity pharmaceutical capsule blowing-off and discharging device);
the controller 90 comprises a parameter presetting module 901, a hydraulic cylinder control module 902, a first driving motor control module 903, an air suction device control module 904, a second driving motor control module 905 and an air blower control module 906; the controller 90 is fixedly connected to the bottom position of the upper supporting seat 20, and the controller 90 is installed between the workbench device 60 and the first connecting rod 83 in the structure of the trigger driving assembly 80; it should be noted that the controller 90 includes a parameter presetting module 901 and control submodules for each executing device (i.e., for example, a hydraulic cylinder control module 902, a first driving motor control module 903, a suction device control module 904, a second driving motor control module 905 and a blower control module 906);
a parameter presetting module 901, configured to receive a preset sweeping time parameter, a sweeping rotation speed parameter, an air suction time parameter, an air suction output power parameter, a preset trigger condition, an air blowing time parameter, an air blowing output power parameter, and an air blowing rotation speed parameter, which are set manually, and store the above information;
a capsule position detection device 91 for detecting the capsule position of the table device and obtaining capsule position detection information; the capsule position detection device 91 is fixedly connected to the bottom position of the rotating brush assembly 44;
a signal trigger 92 for sending a position signal to the controller 90; the signal trigger 92 is fixedly connected to the third link 86 of the trigger driving assembly 80 at an end thereof near the zipper (i.e., for example, the left end of the third link 86 illustrated in FIG. 1 in the above-described embodiment);
the hydraulic cylinder control module 902 is used for controlling the hydraulic telescopic system 41 on the cleaning device structure to move downwards after receiving a starting control instruction, and receiving capsule position detection information sent by the capsule position detection device 91 in real time; when the current capsule position distance in the real-time capsule position detection information is judged to be smaller than the preset distance, the hydraulic telescoping system 41 is controlled to stop moving downwards;
a first driving motor control module 903 for controlling the first driving motor 43 connected to the rotary brush assembly 44 of the cleaning device 40 to perform cleaning and starting actions on the capsule a (shown in fig. 1) on the worktable device 60; (that is, the first driving motor control module 903 is further configured to) call an instruction of the parameter presetting module when the first driving motor 43 is started, receive the cleaning time parameter and the cleaning rotation speed parameter sent by the parameter presetting module, and perform parameter control on the first driving motor 43 connected to the rotating brush assembly 44 on the cleaning device structure according to the cleaning time parameter and the cleaning rotation speed parameter;
an air suction device control module 904, configured to control to perform a rotating cleaning action, and at the same time, start and control an air suction device (not shown in fig. 1-11, but the air suction device 75 is shown in fig. 11) on the structure of the air suction base buffering device 70, so as to further perform a cleaning treatment on residues in an air suction concave surface in the structure of the indirectly-communicated workbench device 60 (that is, at this time, the air suction base buffering device 70 is indirectly communicated with the workbench device 60); when the air suction equipment is started, calling an instruction of a parameter presetting module, receiving an air suction time parameter and an air suction output power parameter sent by the parameter presetting module, and controlling the air suction equipment on the structure of the air suction base buffer device 70 according to the air suction time parameter and the air suction output power parameter;
the hydraulic cylinder control module 902 is further configured to control the hydraulic telescopic system 41 to move upward to separate the cleaning device 40 from the capsule a on the workbench device 60 after detecting the end of the rotary cleaning action and the air suction action;
the second driving motor control module 905 is used for controlling the second driving motor 81 on the trigger driving assembly 80 to drive the first connecting rod to swing back and forth along the connecting position, so as to finally drive the workbench device 60 to rotate and incline relative to the base side plate 50, and receive trigger position information sent by the moving signal trigger 92 in real time; acquiring and analyzing trigger position information, and controlling a second driving motor 81 on the trigger driving assembly 80 structure to execute a shutdown action after judging that the trigger position information meets a preset trigger condition;
a blower control module 906 for sending a blower start operation to the blower 65 in the work table device 60; (i.e., the blower control module 906 is further configured to) call the instruction of the parameter presetting module when the blower 65 is started, receive the blowing time parameter, the blowing output power parameter, and the blowing rotation speed parameter sent by the parameter presetting module, and control the blower 65 in the workbench apparatus 60 according to the blowing time parameter, the blowing output power parameter, and the blowing rotation speed parameter.
Regarding the control and execution action design of the operation platform device, the air suction function and the air blowing function of the operation platform device are mutually independent, so that particle pollution confusion caused by air duct sharing is avoided; the air suction concave body, the air cavity of the concave body, the air suction groove and the capsule support frame are arranged on the air suction concave body; it is actually the main structural design that constitutes the function of air suction; meanwhile, the blower and the cylindrical blowing pipeline are main structural design schemes for forming the blowing function. Regarding the control and the execution action design of the air suction base buffering device, the air suction base buffering device is a device closely connected with the workbench device, the air suction base buffering device can assist the workbench device in air suction assisting operation through a self structure, the residue operation of the gap air suction is guaranteed to be realized by the air suction base buffering device, and even the residue mixture can be discharged to external equipment through the air suction base buffering device for subsequent purification treatment. The workbench device is actually in clearance communication with the air suction base buffer device, namely a clearance exists between the workbench device and the air suction base buffer device, but the clearance can be very small to ensure mutual ventilation. It should be noted that, the above-mentioned operation table device and the air suction base buffer device are mutually ventilated, there is a gap between them, and when cleaning operation is carried out, it is required to simultaneously and synchronously execute air suction operation, so that its capsule supporting frame is practically horizontal, and its one end is formed with a base side plate through a hinge structure to support, at this moment, the air suction concave surface body of its operation table device is in a state of practically freely falling, at this moment, the concave surface body air cavity should be closely communicated with the air suction opening on the air suction base buffer device (namely, the gap is very small, namely, the operation table device is pressed on the surface of the air suction base buffer device). After cleaning and the operation that induced drafts, trigger drive assembly and can drive the operation platform device and rotate, induced draft this moment and also ended, the bottom of operation platform device has broken away from the base buffer that induced drafts (clearance grow this moment). The control and execution action design of the trigger driving component is a device closely connected with the workbench device and a blower structure in the workbench device, the trigger driving component has the operation of driving the workbench device to rotate and incline, and simultaneously can drive the signal trigger to be reflected to the controller, and finally the controller carries out the control stop of the rotation angle of the workbench device and the subsequent trigger air blowing action, so the continuous action of adjusting the inclination angle to the right position and starting and outputting reasonable air blowing is one of the important operation steps for cleaning the high-viscosity capsule and then discharging the self-unloading material. The signal trigger may be selected from a distance sensor, an infrared signal sensor, and the like, and the controller has a capability of receiving and processing the signal.
Note that, in the above-mentioned technique, the cleaning operation is performed, and at the same time, the suction device control module is utilized to clean and process the residues in the suction concave surface body (i.e., the suction concave surface body indirectly communicated with the suction base buffer device) through the suction base buffer device. Working according to manually set or preset cleaning time and cleaning rotating speed, after the cleaning time is over, the controller utilizes the hydraulic cylinder control module to move upwards to enable the cleaning module to be separated from the capsule, and then utilizes the second driving motor control module to control the second driving motor to swing along the connecting part, so that the operation table device generates certain rotation inclination relative to the base side plate, and receives trigger position information sent by a moving signal trigger in real time; the trigger position information may be represented by an inclination angle detected by the trigger, or may be represented by information such as a distance; take one example to explain: when the trigger information is represented by the inclination angle, the position change of the trigger can be converted into the change of the inclination angle, the controller acquires and analyzes that the feedback control is realized when the trigger position information meets the trigger condition, the second driving motor is used for controlling the module to stop, and meanwhile, a blower in the operation table device is triggered to execute the blowing starting operation. It should be noted that, in the above technical solution, the concave air cavity 64 of the workbench device and the air suction processing cavity 711 of the air suction base buffer device which are indirectly communicated form an air suction processing channel; meanwhile, the blower 65 and the cylindrical air blowing pipeline 66 in the structure of the workbench device form an air blowing processing channel, the two channels are not communicated (in addition, the execution process is also sequential), and the residue in the air suction processing channel cannot be blown out when the air blowing operation is performed, so that the scheme of the embodiment has strong practicability.
Based on the above embodiment, further, the capsule position detection device 91 is embodied as a distance sensor. The signal trigger 92 is embodied as an infrared distance sensor or a horizontal offset angle measuring sensor. Researchers, considering the capsule position detection device, may choose various types of detection devices, such as a sensor; the capsule position detection device can be a sensor for directly sensing the position of the capsule, or can be an inductive distance sensor (such as a high-frequency laser ranging sensor); meanwhile, the embodiment of the invention can also be designed into an inductive proximity sensor (experiments prove that the application effect is better); the capsule position detection device can sense the capsule position on the workbench device and feed back the capsule position to the controller; the controller analyzes and calculates the telescopic distance (such as the distance of downward movement) for controlling the hydraulic telescopic system;
the signal trigger 92 is specifically an infrared distance sensor or a horizontal offset angle measuring sensor; the above-mentioned signal trigger is significant, and is designed to be installed at one end (i.e. the zipper connection end) of the third link 86 of the trigger driving assembly, and during the movement process of the third link 86, the movement track (movement position) of the third link 86 is also changed, and at the same time, the inclination angle of the workbench device pulled by the third link 86 is also continuously changed; (after the third connecting rod 86 moves upwards leftwards, the inclination angle of the workbench device is continuously increased, and when the third connecting rod inclines to a preset angle), the inclination angle threshold value of the workbench device is finally triggered (the signal trigger on the driving assembly is triggered to realize signal triggering at the moment), then the controller receives the trigger signal and immediately sends an instruction to control the blowing equipment to realize blowing and discharging (in the process, the powerful blowing and discharging is combined with the inclined discharging, so that the control operation of easy automatic discharging is facilitated), and the control process is complex in design and has a good capsule discharging effect after cleaning. It should be noted that the controller 90 cooperates with the capsule position detection device 91 and the signal trigger 92 to perform information interaction to provide an information technology basis for subsequent precise process control; meanwhile, the controller 90 comprises a parameter presetting module 901 and control submodules (such as a hydraulic cylinder control module 902, a first driving motor control module 903, a suction device control module 904, a second driving motor control module 905 and a blower control module 906) aiming at each execution device; the parameter presetting module 901 can further set a program and program parameters in the controller 90 in a manual mode (for example, a touch screen human-computer interaction mode); meanwhile, each control sub-module (i.e., for example, the hydraulic cylinder control module 902, the first driving motor control module 903, the air suction device control module 904, the second driving motor control module 905 and the blower control module 906) of the controller 90 is used for performing start-stop control and coordination process control on the hydraulic telescopic system 41, the first driving motor 43, the air suction device, the second driving motor 81, the blower 65 and the like; moreover, the parameter presetting module 901 only performs parameter design on part of functions, for example: the rotation speed, rotation time (converted from the cleaning time parameter and the cleaning rotation speed parameter), air suction time parameter of the air suction device, etc. of the first driving motor 43, the air blowing time parameter and air blowing power parameter of the air blower 65, etc. for the telescopic distance of the hydraulic telescopic system 41, the controller 90 is required to receive the capsule position detection device 91 and perform feedback adjustment of the telescopic distance; meanwhile, the second driving motor 81 also needs to perform feedback regulation control such as rotation angle and rotation start/stop according to the signal trigger 92.
According to the control method for the high-viscosity pharmaceutical capsule blowing-off self-unloading device, provided by the embodiment of the invention, from the aspect of operation procedures, the procedure operation steps and the control theoretical design are carried out;
from the process point of view, the blowing-off self-unloading equipment for the high-viscosity pharmaceutical capsules needs to perform the following main steps: the cleaning device extends up and down to a preset position, performs rotary cleaning action, and performs corresponding cleaning action according to set cleaning time; and simultaneously, performing air suction operation on the concave air cavity by utilizing air suction equipment in the air suction base buffering device and the operation table device, and performing air suction processing by using the air suction base buffering device. The upward disengagement action is then performed using the hydraulic telescoping system. Starting the trigger driving component, executing rotation driving action, and driving the operation platform device to rotate along the hinge; then the capsule supporting frame can be driven to incline, meanwhile, a trigger position signal sent by the signal trigger in real time is received, whether triggering is carried out or not is judged according to the trigger position signal, a triggering unloading instruction is sent after a preset triggering condition is reached, and then the blower is controlled to carry out blowing action (in the process, a large amount of wind power is output by the cylindrical blowing pipeline, so that the capsule is separated from a capsule placing hole in the capsule supporting frame, and is separated from unloading, and the situation that unloading cannot be realized without blowing because the surface of the capsule is thick is noticed). Obviously, how to utilize the capsule position detection device and the capsule position detection device, the controller (including all control sub-modules of the controller (such as a hydraulic cylinder control module, a first driving motor control module, an air suction device control module, a second driving motor control module and an air blower control module)), the capsule position detection device and a signal trigger are of great importance for completing start-stop control and coordination process control of a hydraulic telescopic system, a first driving motor, air suction devices, a second driving motor, an air blower and the like; the invention provides a control method of a high-viscosity pharmaceutical capsule blowing-off self-discharging device, which has a strict and reasonable design concept, is closely attached to the structural design of each device of the high-viscosity pharmaceutical capsule blowing-off self-discharging device, and completes the design scheme of a highly automated control system on the basis (see the contents of the following embodiment II for details).
Example two: referring to fig. 13, a second embodiment of the present invention provides a control method for high-viscosity pharmaceutical capsule blowing-off self-discharging equipment, where the control system of the high-viscosity pharmaceutical capsule blowing-off self-discharging equipment is used to implement control, and the following operation steps are executed:
step S100: after receiving the start control instruction, the controller 90 controls the hydraulic telescopic system 41 on the cleaning device structure to move downward through the hydraulic cylinder control module 902, and receives capsule position detection information sent by the capsule position detection device 91 in real time; when the controller 90 determines that the distance of the current capsule position in the real-time capsule position detection information is smaller than the preset distance, the hydraulic cylinder control module 902 is used for controlling the hydraulic telescopic system 41 to stop moving downwards;
step S200: the controller 90 uses the first driving motor control module 903 to control the first driving motor 43 connected to the rotating brush assembly on the cleaning device structure to perform cleaning and starting actions on the capsule on the operation table device 60; when the first driving motor 43 is started, the controller 90 calls an instruction of the parameter presetting module 901, receives the cleaning time parameter and the cleaning rotating speed parameter sent by the parameter presetting module, and performs parameter control on the first driving motor 43 connected with the rotating brush assembly on the cleaning device structure by using the first driving motor control module 903 according to the cleaning time parameter and the cleaning rotating speed parameter;
step S300: the controller 90 controls the rotary sweeping action to be executed, and simultaneously, the air suction equipment control module 904 is used for controlling the starting of the air suction equipment on the structure of the air suction base buffer device 70, so that the residues in the air suction concave surface body 61 in the indirectly communicated structure of the operation table device 60 are removed; when the air suction device is started, the controller calls an instruction of the parameter presetting module 901, receives an air suction time parameter and an air suction output power parameter sent by the parameter presetting module, and controls the air suction device on the structure of the air suction base buffering device 70 by using the air suction device control module 904 according to the air suction time parameter and the air suction output power parameter;
step S400: after the controller 90 detects the end of the rotary cleaning action and the air suction action, the controller controls the hydraulic telescoping system 41 to move upwards by using the hydraulic cylinder control module 902 so as to separate the cleaning device from the capsule on the operation table device 60;
step S500: the controller 90 controls the second driving motor 81 on the structure of the trigger driving assembly 80 to drive the first link 83 to swing back and forth along the connection point by using the second driving motor control module 905, so as to finally drive the workbench device 60 to rotate and incline relative to the base side plate 50, and receive trigger position information sent by the moving signal trigger 92 in real time; acquiring and analyzing trigger position information, and controlling a second driving motor 81 on the trigger driving assembly 80 structure to execute a shutdown action after judging that the trigger position information meets a preset trigger condition;
step S600: the controller 90 sends a blow start operation to the blower 65 in the work table device 60 by using the blower control module 906; when the blower 65 is started, the controller 90 calls the instruction of the parameter presetting module 901, receives the blowing time parameter, the blowing output power parameter and the blowing rotation speed parameter sent by the parameter presetting module, and controls the blower 65 in the workbench device 60 by using the blower control module 906 according to the blowing time parameter, the blowing output power parameter and the blowing rotation speed parameter.
Based on the above embodiments; the distance of the current capsule position is the distance between the top of the current capsule at the center of the capsule support frame and the capsule position detection device. The distance sensor can be used for directly or indirectly measuring and detecting the actual displacement of the capsule, then feeding the actual displacement back to the controller, comparing the actual displacement with the preset distance, and finally feeding the controller back to control the hydraulic telescopic system to move up and down. The preset distance is 3-50 mm. In the embodiment of the invention, a large amount of experimental data is applied, and a certain fixed value with the preset distance within 3-50mm is proved to be ideal finally; because the size of the capsule is different, but the preset distance which is in accordance with the size and is selected by most capsule size products is met, so that the application is wider, and the induction control precision is more accurate.
Based on the above embodiments; in the specific step of step S500: the trigger position information is the distance between a signal trigger (namely an infrared distance sensor) and the controller; the preset triggering condition is a triggering distance standard threshold, namely the current distance between the detected signal trigger and the controller is smaller than the distance standard threshold. The trigger position information is included angle information between a signal trigger (namely a horizontal offset angle measuring sensor) and a horizontal plane; the preset triggering condition is triggering an included angle standard threshold, namely, the detected included angle between the signal trigger and the horizontal plane is greater than the included angle standard threshold. In summary, the embodiment of the invention provides a control system and a control method for a high-viscosity pharmaceutical capsule blowing-off self-discharging device, which have strict control logic and reasonable process design, and integrate a control system of a mechanical manufacturing technology, a sensing technology and an electric control technology; meanwhile, the control method perfectly meets the technical requirements of the design of high-viscosity medicine capsule blowing and discharging equipment. Therefore, the control system and the control method for the high-viscosity pharmaceutical capsule blowing-off self-discharging device provided by the embodiment of the invention certainly bring good market prospect and economic benefit.
Claims (8)
1. A control system of high-viscosity medicine capsule blowing-off and self-discharging equipment is characterized by comprising a controller, a signal trigger and a capsule position detection device;
the controller comprises a parameter presetting module, a hydraulic cylinder control module, a first driving motor control module, an air suction device control module, a second driving motor control module and an air blower control module; the controller is fixedly connected to the bottom of the upper supporting seat and is arranged between the operation platform device and a first connecting rod in the trigger driving assembly structure;
the parameter presetting module is used for receiving a preset sweeping time parameter, a sweeping rotating speed parameter, an air suction time parameter, an air suction output power parameter, a preset triggering condition, an air blowing time parameter, an air blowing output power parameter and an air blowing rotating speed parameter which are set manually, and storing the information;
the capsule position detection device is used for detecting the capsule position of the workbench device and obtaining capsule position detection information; the capsule position detection device is fixedly connected to the bottom of the rotary brush component;
the signal trigger is used for sending a position signal to the controller; the signal trigger is fixedly connected to one end, close to the zipper, of a third connecting rod of the trigger driving assembly;
the hydraulic cylinder control module is used for controlling a hydraulic telescopic system on the cleaning device structure to move downwards after receiving a starting control instruction, and receiving capsule position detection information sent by the capsule position detection device in real time; when the current capsule position distance in the real-time capsule position detection information is judged to be smaller than the preset distance, the hydraulic telescopic system is controlled to stop moving downwards;
the first driving motor control module is used for controlling a first driving motor connected with a rotary brush assembly on the starting cleaning device structure to clean and start the capsule on the workbench device; when the first driving motor is started, calling an instruction of a parameter presetting module, receiving a cleaning time parameter and a cleaning rotating speed parameter sent by the parameter presetting module, and carrying out parameter control on the first driving motor connected with a rotating brush assembly on the cleaning device structure according to the cleaning time parameter and the cleaning rotating speed parameter;
the air suction equipment control module is used for controlling the execution of the rotary cleaning action and simultaneously controlling the starting of the air suction equipment on the structure of the air suction base buffer device so as to further realize the removal treatment of residues in an air suction concave surface body in the indirectly communicated structure of the operation table device; when the air suction equipment is started, an instruction of the parameter presetting module is called, an air suction time parameter and an air suction output power parameter sent by the parameter presetting module are received, and the air suction equipment on the structure of the air suction base buffer device is controlled according to the air suction time parameter and the air suction output power parameter;
the hydraulic cylinder control module is also used for controlling the hydraulic telescopic system to move upwards to enable the cleaning device to be separated from the capsule on the operation platform device after the rotary cleaning action and the air suction action are detected;
the second driving motor control module is used for controlling a second driving motor on the trigger driving assembly structure to drive the first connecting rod to swing back and forth along the connecting position, further finally driving the operation platform device to rotate and incline relative to the base side plate, and receiving trigger position information sent by a moving signal trigger in real time; acquiring and analyzing trigger position information, and controlling a second driving motor on the trigger driving assembly structure to execute a shutdown action after judging that the trigger position information meets a preset trigger condition;
the blower control module is used for sending and executing a blower starting operation to a blower in the operation table device; when the blower is started, an instruction of the parameter presetting module is called, the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter sent by the parameter presetting module are received, and the blower in the operation table device is controlled according to the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter.
2. The control system for high viscosity pharmaceutical capsule blow-down self-dumping apparatus of claim 1,
the capsule position detection device is specifically a distance sensor.
3. The control system for high viscosity pharmaceutical capsule blow-down self-dumping apparatus of claim 2,
the signal trigger is specifically an infrared distance sensor or a horizontal offset angle measuring sensor.
4. A method for controlling a high viscosity pharmaceutical capsule blowing-off self-discharging device, characterized in that the control system of the high viscosity pharmaceutical capsule blowing-off self-discharging device according to claim 3 is used for implementing the control, and the following operation steps are executed:
step S100: after receiving a starting control instruction, the controller controls a hydraulic telescopic system on the cleaning device structure to move downwards through a hydraulic cylinder control module, and receives capsule position detection information sent by a capsule position detection device in real time; when the controller judges that the distance of the current capsule position in the real-time capsule position detection information is smaller than the preset distance, the hydraulic cylinder control module is used for controlling the hydraulic telescopic system to stop moving downwards;
step S200: the controller controls a first driving motor connected with a rotary brush assembly on the starting cleaning device structure by using a first driving motor control module to clean and start the capsule on the workbench device; when the first driving motor is started, the controller calls an instruction of the parameter presetting module, receives the cleaning time parameter and the cleaning rotating speed parameter sent by the parameter presetting module, and performs parameter control on the first driving motor connected with the rotary brush component on the cleaning device structure by using the first driving motor control module according to the cleaning time parameter and the cleaning rotating speed parameter;
step S300: the controller controls the execution of the rotary cleaning action and simultaneously utilizes the air suction equipment control module to start and control the air suction equipment on the air suction base buffer device structure, thereby realizing the removal treatment of residues in an air suction concave surface body in the indirectly communicated operation table device structure; when the air suction equipment is started, the controller calls an instruction of the parameter presetting module, receives an air suction time parameter and an air suction output power parameter sent by the parameter presetting module, and controls the air suction equipment on the structure of the air suction base buffer device by using the air suction equipment control module according to the air suction time parameter and the air suction output power parameter;
step S400: after the controller detects the rotary cleaning action and the air suction action, the controller controls the hydraulic telescopic system to move upwards by utilizing the hydraulic cylinder control module so as to separate the cleaning device from the capsule on the operation table device;
step S500: the controller controls a second driving motor on the trigger driving assembly structure to drive the first connecting rod to swing back and forth along the connecting position by using a second driving motor control module, so that the workbench device is finally driven to rotate and incline relative to the base side plate, and trigger position information sent by a moving signal trigger in real time is received in real time; acquiring and analyzing trigger position information, and controlling a second driving motor on the trigger driving assembly structure to execute a shutdown action after judging that the trigger position information meets a preset trigger condition;
step S600: the controller sends and executes blowing starting operation to a blower in the operation table device by using the blower control module; when the blower is started, the controller calls an instruction of the parameter presetting module, receives the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter which are sent by the parameter presetting module, and controls the blower in the operation table device by utilizing the blower control module according to the blowing time parameter, the blowing output power parameter and the blowing rotating speed parameter.
5. The method of controlling the blowing of a high viscosity pharmaceutical capsule off of a discharge apparatus as set forth in claim 4,
the distance between the current capsule position and the capsule position detection device is the distance between the top of the current capsule at the central position of the capsule support frame and the capsule position detection device.
6. The method of controlling the blowing of a high viscosity pharmaceutical capsule off of a discharge apparatus as set forth in claim 5,
the preset distance is 3-50 mm.
7. The method of controlling the blowing of a high viscosity pharmaceutical capsule off of a discharge apparatus as set forth in claim 6,
in the specific step of step S500: the trigger position information is the distance between the signal trigger and the controller; the preset triggering condition is a triggering distance standard threshold value, namely the current distance between the detected signal trigger and the controller is smaller than the distance standard threshold value.
8. The method of controlling the blowing of a high viscosity pharmaceutical capsule off of a discharge apparatus as set forth in claim 6,
in the specific step of step S500: the trigger position information is included angle information between the signal trigger and a horizontal plane; the preset triggering condition is that a standard threshold of the included angle is triggered, namely the included angle between the signal trigger and the horizontal plane is larger than the standard threshold of the included angle.
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| CN201810409445.3A CN108620365B (en) | 2018-05-02 | 2018-05-02 | Control system and control method of high-viscosity pharmaceutical capsule blowing-off self-discharging equipment |
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| CN201810409445.3A CN108620365B (en) | 2018-05-02 | 2018-05-02 | Control system and control method of high-viscosity pharmaceutical capsule blowing-off self-discharging equipment |
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| CN108620365B true CN108620365B (en) | 2020-03-24 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5498272A (en) * | 1994-05-06 | 1996-03-12 | Leon; Marty G. | Capsule vacuum cleaner assembly |
| CN2543614Y (en) * | 2002-04-30 | 2003-04-09 | 北京鑫航成科技发展有限公司 | Ultrasonic wave soft capsule cleaner |
| DE102007038393A1 (en) * | 2007-08-14 | 2009-02-19 | Robert Bosch Gmbh | Cleaning device for a capsule filling machine |
| CN206262892U (en) * | 2016-05-16 | 2017-06-20 | 新昌县汇力进出口有限公司 | Wriggling cleaning device is used before a kind of capsule packaging |
| CN206153211U (en) * | 2016-08-17 | 2017-05-10 | 浙江亚利大胶丸有限公司 | Softgel cleaning machine of even blanking |
| CN206500375U (en) * | 2016-10-17 | 2017-09-19 | 江苏飞马药业有限公司 | A kind of capsule filler multi-functional clamp cleaning device |
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