Automatic filling machine and filling method thereof

Abstract

The invention discloses an automatic filling machine and a filling method thereof, and aims to provide an automatic steel cylinder filling machine and a filling method which can automatically and accurately position the orientation of a valve nozzle of a steel cylinder angle valve and a gun nozzle of a filling gun and can realize automatic gun feeding. Comprising a rack, an executing mechanism, a freely rotating steel cylinder tray mounted on a base, a first cylinder clamping device for fixing a steel cylinder, a second cylinder clamping device for aligning the position of the steel cylinder and assisting in adjusting the direction of a valve nozzle of an angle valve, and a control system, the executing mechanism comprises a buffering air cylinder, a lifting air cylinder, an angle valve automatic opening and closing unit, a guiding pressing head, a guiding pressing head driving air cylinder, a filling gun and a filling gun driving air cylinder. The buffering air cylinder is connected with the angle valve automatic opening and closing unit, and the control system controls the executing mechanism, the first bottle clamping device and the second bottle clamping device to act cooperatively. According to the filling machine and the filling method, the orientation of the valve nozzle of the steel cylinder angle valve and the gun nozzle of the filling gun can be automatically and accurately positioned, filling automation is achieved, the labor intensity is reduced, and the filling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel cylinder filling equipment, and more particularly to an automatic steel cylinder filling machine and a filling method thereof. Background Art

[0002] During the filling process of the cylinder, the nozzle of the filling gun needs to be aligned and connected with the nozzle of the cylinder angle valve, and then liquefied gas, etc. can be injected into the cylinder through the filling gun.

[0003] In order to improve the filling efficiency, automated filling has become the main research direction at present. However, due to the inconsistent height and valve nozzle orientation of each cylinder angle valve, the automated operation of aligning the filling gun with the valve nozzle is somewhat difficult. For this reason, there are only some semi-automatic filling equipment on the market. After the cylinder is transported to the filling station by a conveying device (including a conveyor belt, conveyor roller or robot, etc.), the filling gun nozzle is manually inserted into the valve nozzle of the cylinder angle valve, and the angle valve is opened by the automatic opening and closing unit of the angle valve for filling. After the filling is completed, the angle valve is closed by the automatic opening and closing unit of the angle valve. Therefore, before the valve nozzle of the cylinder angle valve is connected to the filling gun, the operator can only rotate the cylinder with one hand to align the valve nozzle of the cylinder angle valve with the filling gun nozzle in the other hand, and then fill it. The filling efficiency is low, the operation is unsafe, and it cannot meet the needs of modern production. Therefore, in order to realize fully automated gun filling, the automatic and accurate positioning of the valve nozzle orientation of the cylinder angle valve is a problem that needs to be solved urgently. 。 Summary of the invention

[0004] The purpose of the present invention is to address the technical defects in the prior art and to provide an automatic filling machine and filling method for steel cylinders which can automatically and accurately position the valve nozzle of a steel cylinder angle valve and the nozzle of a filling gun to achieve automatic gun loading.

[0005] The technical solution adopted to achieve the purpose of the present invention is: An automatic filling machine, comprising a frame, an actuator, a freely rotatable steel cylinder tray mounted on a base, a first bottle clamping device for fixing the steel cylinder, a second bottle clamping device for aligning the position of the steel cylinder and assisting in adjusting the direction of the valve nozzle of an angle valve, and a control system; the actuator comprises a buffer cylinder, a lifting cylinder, an automatic opening and closing unit of an angle valve, a guide pressure head, a guide pressure head driving cylinder, a filling gun, and a filling gun driving cylinder; the lifting cylinder is mounted on the frame, and the buffer cylinder, the guide pressure head driving cylinder, and the filling gun driving cylinder are connected to the lifting cylinder through a connecting frame to form an integral whole. The buffer cylinder is connected with the angle valve automatic opening and closing unit, and the buffer cylinder flexibly adjusts the force of the angle valve sleeve in the angle valve automatic opening and closing unit and the hand wheel of the cylinder angle valve; the descending action of the lifting cylinder is a free fall, thereby driving the overall actuator to fall freely; the descending position of the filling gun corresponds to the valve mouth of the cylinder angle valve; the guide pressure head driving cylinder drives the guide pressure head to rise and fall; the filling gun driving cylinder drives the filling gun to shift, and the control system controls the actuator and the first bottle clamping device and the second bottle clamping device to act in coordination.

[0006] The actuator also includes an elastic fine-tuning mechanism for adaptively and softly adjusting the positions of the filling gun and the valve nozzle of the cylinder angle valve.

[0007] The first bottle clamping device comprises two first clamping jaws and a first bottle clamping driving cylinder driving the two first clamping jaws, each of the first clamping jaws is provided with a friction pad, or each of the first clamping jaws is provided with a friction pad and a first guide wheel capable of freely rotating; the second bottle clamping device comprises two second clamping jaws and a second bottle clamping driving cylinder driving the two second clamping jaws, each of the second clamping jaws is provided with a second guide wheel capable of freely rotating.

[0008] An adjusting spring and a stopper for adjusting the rotation resistance of the steel cylinder tray are arranged on the side of the steel cylinder tray.

[0009] The guide pressure head includes a pressure head body, and the cross-section of the pressure head body is an arc shape corresponding to the angle valve handwheel; a guide opening facing downward is provided on the pressure head body, and the guide opening has an inclination that is larger at the lower end and smaller at the upper end, and the top of the upper end of the guide opening is semicircular, and the semicircular shape of the top of the upper end of the guide opening fits and presses on the outer cylinder of the valve mouth of the cylinder angle valve.

[0010] The elastic fine-tuning mechanism comprises an upper connecting plate fixedly connected to the connecting frame, a plurality of springs are installed between the upper connecting plate and the lower connecting plate, and the filling gun driving cylinder is fixedly installed on the lower connecting plate.

[0011] A filling method using the automatic filling machine comprises the following steps: (1) Setting the initial state; (2) Loading the cylinder: Place the cylinder on the freely rotating cylinder tray, and the first and second bottle clamping devices will work to align the cylinder position and fix the cylinder; (3) Automatic gun loading: The buffer cylinder extends, and the guide pressure head drives the cylinder to move and drive the guide pressure head to descend; then, the first bottle clamping device is released, and the second bottle clamping device continues to maintain the clamping state, so that the cylinder can rotate concentrically with the cylinder tray; then, the lifting cylinder performs a free-falling action from the lifting state, driving the actuator to freely fall as a whole, and the angle valve sleeve of the angle valve automatic opening and closing unit in the actuator drops to the angle valve position. The guide pressure head in the actuator drives the cylinder to rotate as the actuator as a whole drops, and adjusts the angle valve nozzle angle so that the center line of the nozzle and the center line of the filling gun muzzle are basically in a straight line; then, the guide pressure head drives the cylinder to reset and rise, and the filling gun drives the cylinder to drive the filling gun to extend, and the filling gun and the cylinder angle valve nozzle position are adaptively adjusted through the elastic fine-tuning mechanism. The filling gun gun head extends into the cylinder valve nozzle, and the gun head clamps and docks with the cylinder valve nozzle. At the same time, the first bottle clamping device is actuated to fix the cylinder; (4) The angle valve automatic opening and closing unit is activated, and the angle valve is automatically opened under the action of the buffer cylinder; (5) After the angle valve is opened successfully, the angle valve automatic opening and closing unit stops, and the first bottle clamping device is released so that the cylinder can rotate and enter the filling process; (6) After filling is completed, the first bottle clamping device is activated to clamp the cylinder, and the angle valve automatic opening and closing unit is activated, and the angle valve is automatically closed under the action of the buffer cylinder; (7) After the angle valve is closed successfully, the filling gun is disengaged and the filling is completed.

[0012] A weighing sensor is arranged at the position corresponding to the steel cylinder tray, and the output end of the weighing sensor is connected to the control system; and the signal of the weighing sensor is used to judge whether to put a bottle on or put a bottle off.

[0013] It also includes a cylinder verification process, which includes: judging whether to load the cylinder; after judging whether the cylinder is loaded, waiting for the cylinder code information transmitted by the host computer, and after obtaining the cylinder code, transmitting the current weight and the cylinder code to the host computer, requesting the host computer to verify the validity of the cylinder; when the host computer verifies that the cylinder is qualified, entering the automatic gun loading process; when the cylinder verification is invalid, the equipment gives an alarm signal and waits for the cylinder to be unloaded.

[0014] After the angle valve is closed successfully, the residual gas is recovered and the filling data is saved, and then the filling gun is removed from the gun.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The automatic filling machine of the present invention can automatically and accurately position the valve nozzle of the cylinder angle valve and the nozzle of the filling gun through the coordinated action of the actuator and the first bottle clamping device and the second bottle clamping device, thereby realizing fully automatic gun loading, realizing filling automation, reducing labor intensity, improving filling efficiency, and making production safer.

[0016] 2. The automatic filling machine of the present invention is provided with a buffer cylinder. When the angle valve sleeve cannot fit tightly with the cylinder angle valve handwheel, the positions of the angle valve sleeve and the cylinder angle valve handwheel can be flexibly adjusted to smoothly open or close the angle valve, thereby ensuring smooth operation, improving the reliability of automatic filling, and improving production efficiency.

[0017] 3. The automatic filling machine of the present invention has an elastic fine-tuning mechanism with an adaptive soft adjustment function, which can adaptively adjust the docking between the filling gun and the angle valve nozzle, ensuring the accuracy and reliability of automatic gun loading, making production safer and improving production efficiency.

[0018] 4. The automatic filling machine of the present invention can accurately locate the direction of the angle valve nozzle through the guide pressure head, thereby improving the accuracy of automatic gun loading and improving the filling efficiency. Moreover, the cross section of the guide pressure head is arc-shaped, which can adapt to the angle valve handwheel, avoiding interference with the handwheel and ensuring smooth operation.

[0019] 5. In the filling method of the present invention, the descending action of the lifting cylinder is a free fall, thereby driving the overall actuator to fall freely, ensuring the accurate positioning of the filling gun and the angle valve nozzle, improving the accuracy and reliability of automatic gun loading, and improving the filling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Shown is a schematic diagram of the automatic filling machine of the present invention; Figure 2 Shown Figure 1 A-direction view; Figure 3 Shown Figure 1 Remove the B view of the cylinder; Figure 4 Shown Figure 1 Remove the K-direction view of the cylinder; Figure 5 Shown is a schematic diagram of the guide pressure head; Figure 6 The figure shows the schematic diagram of the guide pressure head, angle valve hand wheel and valve nozzle; Figure 7 Shown is a flow chart of the filling method of the present invention. DETAILED DESCRIPTION

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The schematic diagram of the automatic filling machine of the present invention is as follows Figure 1-6 As shown, it includes a frame 3, an actuator, a freely rotating cylinder tray 1 installed on a base 10, a first bottle clamping device 4 for fixing the cylinder, a second bottle clamping device 5 for aligning the position of the cylinder 20 and assisting in adjusting the direction of the angle valve nozzle 23, and a control system. The actuator includes a buffer cylinder 6, a lifting cylinder 2, an automatic opening and closing unit 7 for the angle valve, a guide pressure head 9, a guide pressure head driving cylinder 21, a filling gun 19, and a filling gun driving cylinder 17. The lifting cylinder 2 is installed on the frame 3, and the buffer cylinder 6, the guide pressure head driving cylinder 21, and the filling gun driving cylinder 17 are connected to the lifting cylinder 2 through a connecting frame 12. The buffer cylinder 6 is connected to the automatic opening and closing unit 7 of the angle valve, and the force of the angle valve sleeve 7-2 in the automatic opening and closing unit of the angle valve and the cylinder angle valve handwheel 22 is flexibly adjusted by the buffer cylinder 6. The descending action of the lifting cylinder 2 is a free fall, thereby driving the entire actuator to fall freely. The lowered position of the filling gun 19 corresponds to the valve nozzle 23 of the cylinder angle valve. The guide pressure head driving cylinder 21 drives the guide pressure head 9 to rise and fall; the filling gun driving cylinder 17 drives the filling gun 19 to shift, and the control system controls the actuator and the first bottle clamping device 4 and the second bottle clamping device 5 to work in coordination. The angle valve automatic opening and closing unit 7 adopts the solution of the existing technology.

[0023] When opening and closing the cylinder angle valve, sometimes the angle valve sleeve 7-2 cannot fit tightly with the cylinder angle valve handwheel 22. In order to avoid damage to the cylinder angle valve or the angle valve sleeve due to hard connection, a buffer cylinder 6 is provided in the present application. The connection of the buffer cylinder 6 will not cause shaking back and forth or left and right, and can also have a certain amount of up and down floating clearance to prevent the angle valve sleeve and the angle valve from being misaligned and damaged. When the opening and closing angle valve motor 7-1 in the angle valve automatic opening and closing unit rotates, the buffer cylinder 6 can flexibly adjust the position of the angle valve sleeve and the cylinder angle valve handwheel to ensure the normal opening and closing of the cylinder angle valve.

[0024] In order to enhance the accuracy of the filling gun alignment, the actuator also includes an elastic fine-tuning mechanism for adaptively and softly fine-tuning the filling gun 19 and the valve nozzle of the cylinder angle valve. In this embodiment, the preferred scheme is: the elastic fine-tuning mechanism includes an upper connecting plate 13 fixedly connected to the connecting frame 12, a plurality of springs 15 are installed between the upper connecting plate 13 and the lower connecting plate 16 through a spring positioning member 14, and the filling gun driving cylinder 17 is fixedly installed on the lower connecting plate 16. The filling gun 19 is connected to the filling gun driving cylinder 17 through a filling gun connector 18.

[0025] In this embodiment, the preferred solution is: the first bottle clamping device 4 includes two first clamping jaws 4-1 and a first bottle clamping driving cylinder 4-2 driving the two first clamping jaws. According to the use requirements, each of the first clamping jaws 4-1 is respectively provided with a friction pad 4-3, or each of the first clamping jaws 4-1 is respectively provided with a friction pad 4-3 and a first guide wheel 4-4 that can rotate freely. Preferably, a rotatable first guide wheel 4-4 is provided at the inner front end of the first clamping jaw 4-1, and a friction pad 4-3 is provided at the rear end. The first guide wheel 4-4 can reduce the resistance when the cylinder is centered and positioned.

[0026] The second bottle clamping device 5 includes two second clamping jaws 5-1 and a second bottle clamping driving cylinder 5-2 driving the two second clamping jaws. Each of the second clamping jaws is provided with a freely rotating second guide wheel 5-3. The second guide wheel 5-3 can reduce the resistance when the steel cylinder is centered and positioned, and prevent the friction between the steel cylinder 20 and the second clamping jaw 5-1, so that during the downward pressing process of the guide pressure head 9, the steel cylinder 20 rotates concentrically with the force of the guide pressure head 9, which is used to assist in adjusting the angle of the steel cylinder. The preferred solution is: there are two sets of freely rotating second guide wheels 5-3 on each of the second clamping jaws.

[0027] In order to prevent the cylinder pallet 1 from being too flexible and causing the cylinder to rotate too much and exceed the adjustable angle range of the guide pressure head when the conveying device places the cylinder on the cylinder pallet, an adjusting spring 8 and a stopper 24 for adjusting the rotation resistance of the cylinder pallet are provided on the side of the cylinder pallet 1. Since the adjusting spring and the stopper increase the resistance of the cylinder pallet when rotating, the flexibility of the cylinder pallet can be adjusted to meet the needs of production operations.

[0028] A roller 11 is provided at the front end of the cylinder tray 1 to reduce the resistance from the cylinder conveying mechanism when conveying the cylinder.

[0029] In this embodiment, the schematic diagram of the guide pressure head 9 is shown in FIG. Figure 6 As shown, the preferred solution is: the guide pressure head 9 includes a pressure head body 9-1, and the cross section of the pressure head body 9-1 is an arc shape corresponding to the angle valve hand wheel 22 to avoid interference with the angle valve hand wheel 22. The pressure head body 9-1 is provided with a guide opening 9-2 opening downward, and the guide opening 9-2 has an inclination with a larger lower end and a smaller upper end. The top of the upper end of the guide opening 9-2 is a semicircular arc shape, and the semicircular arc shape of the top of the upper end of the guide opening can fit and press on the outer cylinder of the valve nozzle 23 of the cylinder angle valve.

[0030] In this preferred embodiment, a weighing sensor is provided at a position corresponding to the cylinder tray 1, and an output end of the weighing sensor is connected to the control system, and a signal from the weighing sensor is used to determine whether a bottle is being loaded or unloaded.

[0031] The filling method flow chart of the present invention is as follows Figure 7 As shown, filling using the above automatic filling machine includes the following steps: (1) Setting the initial state: Setting the initial state is the preparation for the start of a new bottle filling, mainly resetting the actuator and the bottle clamping device. In this embodiment, it includes: the first bottle clamping device 4 is loosened, the second bottle clamping device 5 is loosened, the motor 7-1 in the angle valve automatic opening and closing unit 7 is turned off, the lifting cylinder 2 is in the lifting state, the guide pressure head driving cylinder 21 is closed and recovered, the buffer cylinder 6 is closed, the filling gun driving cylinder 17 is closed, the filling gun 19 is loosened, the filling valve in the filling pipeline is closed, and the recovery pump in the residual gas recovery pipeline is closed; the weight data cache and the code scanning data cache used in the subsequent process are cleared.

[0032] (2) Loading the cylinder: The cylinder 20 is placed on the freely rotating cylinder tray 1, and the first bottle clamping device 4 and the second bottle clamping device 5 are operated to align the position of the cylinder and fix the cylinder.

[0033] (3) Automatic gun loading: The buffer cylinder 6 extends, and the guide pressure head driving cylinder 21 moves to drive the guide pressure head down; then, the first bottle clamping device 4 is released, and the second bottle clamping device 5 continues to maintain the clamping state, so that the cylinder 20 can rotate concentrically with the cylinder tray 1; then, the lifting cylinder 2 performs a free fall action from the lifting state, driving the actuator to freely fall as a whole, and the angle valve sleeve 7-2 of the angle valve automatic opening and closing unit in the actuator drops to the angle valve position. The guide pressure head 9 in the actuator drives the cylinder to rotate as the actuator drops as a whole, and adjusts the angle of the angle valve nozzle 23 so that the center line of the valve nozzle is basically in a straight line with the center line of the filling gun muzzle. Then, the guide pressure head drives the cylinder 21 to reset and rise, and the filling gun driving cylinder 17 is actuated to drive the filling gun 19 to extend, and the position of the filling gun and the valve mouth of the cylinder angle valve is adaptively and softly adjusted through the elastic fine-tuning mechanism, and the filling gun head is extended into the valve mouth of the cylinder, and the gun head is clamped and docked with the valve mouth of the cylinder. At the same time, the first bottle clamping device 4 is actuated to fix the cylinder to prevent the cylinder and the angle valve automatic opening and closing unit from rotating together when the angle valve is opened.

[0034] (4) The angle valve automatic opening and closing unit is activated. Under the action of the buffer cylinder 6, the angle valve hand wheel 22 is turned to automatically open the angle valve.

[0035] Whether the angle valve is fully opened is determined by the torque sensor in the angle valve automatic opening and closing unit 7. Since the initial torque of the motor 7-1 is large when it is started (counterclockwise rotation), a torque signal shielding delay will be set in the device. The torque signal will not be detected during this time. After the motor starts to rotate and the torque stabilizes, the torque in place signal will be monitored; if the motor rotates for more than the set maximum angle valve opening time and no torque signal is detected, it means that the angle valve is damaged or the equipment fails to open the angle valve. At this time, the equipment alarms and waits for manual processing. The weighing sensor is used to detect whether the bottle has been placed. If the bottle has been placed, it returns to the initial startup process and sets the initial state to start again; if the torque signal is detected within the longest angle valve opening time, it means that the angle valve is opened successfully.

[0036] (5) After the angle valve is opened successfully, the motor 7-1 of the angle valve automatic opening and closing unit stops, and the first bottle clamping device 4 is released so that the cylinder can rotate. The angle can be fine-tuned by the force of the filling gun driving the cylinder to extend, and the filling process begins.

[0037] (6) After filling is completed, the first bottle clamping device 4 is actuated to clamp the steel cylinder to prevent the steel cylinder and the angle valve automatic opening and closing unit from rotating together when the angle valve is closed. The angle valve automatic opening and closing unit is actuated to rotate the angle valve hand wheel 22 under the action of the buffer cylinder 6 to automatically close the angle valve.

[0038] Whether the angle valve is fully closed is determined by the torque sensor. Since the torque of the motor is large when it starts (clockwise rotation), a torque signal shielding delay will be set in the equipment. The torque signal will not be detected during this time. When the motor starts to rotate and the torque is stable, the torque in place signal will be monitored. If the torque signal is not detected after the set longest angle valve closing time, it means that the angle valve is damaged or the equipment fails to close the angle valve. At this time, the equipment alarms and waits for manual processing. The weighing sensor is used to detect whether the bottle has been placed. If the bottle has been placed, the filling record will be saved first, and then the initial state will be reset and started again. If the torque signal is detected within the longest angle valve closing time, it means that the angle valve is closed successfully.

[0039] (7) After the angle valve is closed successfully, the filling gun is disengaged and the filling is completed.

[0040] After the gun is removed, the filling gun 19 is released in sequence, the filling gun driving cylinder 17 is closed, the lifting cylinder 2 is raised, the buffer cylinder 6 is closed, the first bottle clamping device 4 is released, and the second bottle clamping device 5 is released. It is determined whether to put the bottle down. After the bottle is put down, wait for the next cylinder filling to start.

[0041] In order to realize residual gas recovery and ensure the safety of operation, residual gas is recovered after the angle valve is closed successfully, and the filling data is saved before the filling gun is removed. The residual gas recovery circuit and process adopt the existing technical solution.

[0042] In order to verify the steel cylinder, a steel cylinder verification process is also included, and the steel cylinder verification process includes: judging whether to load the cylinder; after judging whether the steel cylinder is loaded, waiting for the steel cylinder code information transmitted by the host computer, and after obtaining the cylinder code, transmitting the current weight and the steel cylinder code to the host computer, requesting the host computer to verify the validity of the steel cylinder; when the host computer verifies that the steel cylinder is qualified, entering the automatic gun loading process; when the steel cylinder verification is invalid, the equipment gives an alarm signal and waits for the bottle to be unloaded. After the bottle is unloaded, it enters the set initial state and restarts the filling preparation for a new bottle.

[0043] In the automatic filling machine and filling method of the present invention, through the coordinated action of the actuator and the first bottle clamping device and the second bottle clamping device, and the reasonable structural design, the valve nozzle direction of the cylinder angle valve and the filling gun nozzle can be automatically and accurately positioned, and the fully automatic gun loading is realized, the filling automation is realized, the labor intensity is reduced, the filling efficiency is improved, and the production is safer. The descending action of the cylinder is a free fall, and the buffer cylinder in the actuator ensures the smooth opening and closing of the angle valve, which ensures the reliability of automatic filling and improves the filling efficiency.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic filling machine, characterized in that: It includes a frame, an actuator, a freely rotating cylinder tray installed on a base, a first bottle clamping device for fixing the cylinder, a second bottle clamping device for aligning the cylinder position and assisting in adjusting the direction of the angle valve nozzle, and a control system; the actuator includes a buffer cylinder, a lifting cylinder, an automatic opening and closing unit of the angle valve, a guide pressure head, a guide pressure head driving cylinder, a filling gun and a filling gun driving cylinder; the lifting cylinder is installed on the frame, and the buffer cylinder, the guide pressure head driving cylinder and the filling gun driving cylinder are connected to the lifting cylinder through a connecting frame. The buffer cylinder is connected to the angle valve automatic opening and closing unit, and the buffer cylinder flexibly adjusts the force of the angle valve sleeve in the angle valve automatic opening and closing unit and the handwheel of the cylinder angle valve; the descending action of the lifting cylinder is a free fall, thereby driving the overall actuator to fall freely; the descending position of the filling gun corresponds to the valve mouth of the cylinder angle valve; the guide pressure head driving cylinder drives the guide pressure head to rise and fall; the filling gun driving cylinder drives the filling gun to shift, and the control system controls the actuator and the first bottle clamping device and the second bottle clamping device to act in coordination.

2. The automatic filling machine according to claim 1, characterized in that: The actuator also includes an elastic fine-tuning mechanism for adaptively and softly adjusting the positions of the filling gun and the valve nozzle of the cylinder angle valve.

3. The automatic filling machine according to claim 1 or 2, characterized in that: The first bottle clamping device comprises two first clamping jaws and a first bottle clamping driving cylinder driving the two first clamping jaws, each of the first clamping jaws is provided with a friction pad, or each of the first clamping jaws is provided with a friction pad and a first guide wheel capable of freely rotating; the second bottle clamping device comprises two second clamping jaws and a second bottle clamping driving cylinder driving the two second clamping jaws, each of the second clamping jaws is provided with a second guide wheel capable of freely rotating.

4. The automatic filling machine according to claim 1 or 2, characterized in that: An adjusting spring and a stopper for adjusting the rotation resistance of the steel cylinder tray are arranged on the side of the steel cylinder tray.

5. The automatic filling machine according to claim 1 or 2, characterized in that: The guide pressure head includes a pressure head body, and the cross-section of the pressure head body is an arc shape corresponding to the angle valve handwheel; a guide opening facing downward is provided on the pressure head body, and the guide opening has an inclination that is larger at the lower end and smaller at the upper end, and the top of the upper end of the guide opening is semicircular, and the semicircular shape of the top of the upper end of the guide opening fits and presses on the outer cylinder of the valve mouth of the cylinder angle valve.

6. The automatic filling machine according to claim 2, characterized in that: The elastic fine-tuning mechanism comprises an upper connecting plate fixedly connected to the connecting frame, a plurality of springs are installed between the upper connecting plate and the lower connecting plate, and the filling gun driving cylinder is fixedly installed on the lower connecting plate.

7. A filling method using the automatic filling machine according to claim 2, characterized in that: The steps include: (1) Setting the initial state; (2) Loading the cylinder: Place the cylinder on the freely rotating cylinder tray, and the first and second bottle clamping devices will work to align the cylinder position and fix the cylinder; (3) Automatic gun loading: The buffer cylinder extends, and the guide pressure head drives the cylinder to move and drive the guide pressure head to descend; then, the first bottle clamping device is released, and the second bottle clamping device continues to maintain the clamping state, so that the cylinder can rotate concentrically with the cylinder tray; then, the lifting cylinder performs a free-falling action from the lifting state, driving the actuator to freely fall as a whole, and the angle valve sleeve of the angle valve automatic opening and closing unit in the actuator drops to the angle valve position. The guide pressure head in the actuator drives the cylinder to rotate as the actuator as a whole drops, and adjusts the angle valve nozzle angle so that the center line of the nozzle and the center line of the filling gun muzzle are basically in a straight line; then, the guide pressure head drives the cylinder to reset and rise, and the filling gun drives the cylinder to drive the filling gun to extend, and the filling gun and the cylinder angle valve nozzle position are adaptively adjusted through the elastic fine-tuning mechanism. The filling gun gun head extends into the cylinder valve nozzle, and the gun head clamps and docks with the cylinder valve nozzle. At the same time, the first bottle clamping device is actuated to fix the cylinder; (4) The angle valve automatic opening and closing unit is activated, and the angle valve is automatically opened under the action of the buffer cylinder; (5) After the angle valve is opened successfully, the angle valve automatic opening and closing unit stops, and the first bottle clamping device is released so that the cylinder can rotate and enter the filling process; (6) After filling is completed, the first bottle clamping device is activated to clamp the cylinder, and the angle valve automatic opening and closing unit is activated, and the angle valve is automatically closed under the action of the buffer cylinder; (7) After the angle valve is closed successfully, the filling gun is disengaged and the filling is completed.

8. The filling method according to claim 7, characterized in that: A weighing sensor is arranged at the position corresponding to the cylinder tray, and the output end of the weighing sensor is connected to the control system; and the signal of the weighing sensor is used to judge whether to load or unload a bottle.

9. The filling method according to claim 8, characterized in that: It also includes a cylinder verification process, which includes: judging whether to load the cylinder; after judging whether the cylinder is loaded, waiting for the cylinder code information transmitted by the host computer, and after obtaining the cylinder code, transmitting the current weight and the cylinder code to the host computer, requesting the host computer to verify the validity of the cylinder; when the host computer verifies that the cylinder is qualified, entering the automatic gun loading process; when the cylinder verification is invalid, the equipment gives an alarm signal and waits for the cylinder to be unloaded.

10. The filling method according to claim 8 or 9, characterized in that: After the angle valve is closed successfully, the residual gas is recovered and the filling data is saved, and then the filling gun is removed from the gun.

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