A filling system and filling method with a feedback compensation method

Abstract

The present invention relates to a filling system with a feedback compensation method, comprising: a filling station and a conveying pipe. The filling station includes a high-speed filling head with a pressure device, a compensation filling head and a weighing device. One end of the conveying pipe is connected to the main pipe, and the other end is respectively connected to the high-speed filling head and the compensation filling head. The weighing device is arranged below the high-speed filling head and the compensation filling head, and the material bucket is arranged on the weighing device. The weighing device is used to detect the weight of the material bucket and the filling material and feedback the weight to an external control system. The high-speed filling head completes the rapid pressure filling of the material bucket based on the filling instruction of the external control system, and the compensation filling head corrects the filling amount of the material bucket based on the correction instruction of the external control system. The present invention effectively solves the technical problem that high-speed and high-precision filling of materials can be achieved even under conditions such as large pipeline pressure fluctuations and viscous materials.

Description

Technical Field

[0001] The present invention belongs to the technical field of liquid filling equipment in industries such as chemical engineering, food, and medicine, and particularly relates to a filling system and a filling method with a feedback compensation method. Background Art

[0002] At present, most liquid filling equipment is designed with a feed bin at the top. The material first enters the feed bin through the main pipeline and then is distributed to each filling head for filling. This method can reduce the influence on filling accuracy caused by pipeline pressure fluctuations. Especially for high-viscosity materials, since diaphragm pumps are mostly used for feeding, relatively large pipeline pressure fluctuations will occur and it is difficult to completely eliminate them. If directly filling, the filling error will be very large. However, using a feed bin will bring the following problems:

[0003] First of all, after the filling machine is used for a period of time, the material will adhere to the inner wall of the feed bin, and the material is also prone to precipitation when stored in the feed bin for a long time. These will all affect the quality of the filled product. In reality, the filling machine reduces the degree of adhesion and the amount of precipitation of the material by adding a stirring device in the feed bin. And, the filling device realizes the cleaning of the feed bin by designing a cleaning device in the feed bin. The above technologies have a certain effect on specific materials, but for easily oxidized and easily adhered materials, the stirring and cleaning effects are not good, and the structure of the feed bin is complex, the processing and manufacturing cost is high, and the maintenance is relatively difficult;

[0004] In addition, for high-viscosity materials, in order to improve the filling speed, currently two common treatment methods are adopted: one is the constant-volume filling method, that is, a certain amount of material is extracted through devices such as cylinders and hydraulic cylinders and then injected into the container. This method has a simple structure and reliable operation, but because its filling principle is to convert the filling weight into volume using density, for materials with easily variable density, the filling accuracy is relatively poor;

[0005] The other is to pressurize the material before filling to ensure that the material has a sufficient flow rate, and then complete the filling by weighing. This method can achieve higher accuracy, but it is necessary to add a complex pressure boosting and stabilizing structure. In reality, two processes of pressure filling and gravity filling are designed to ensure the filling speed and accuracy, and the designed storage cylinder can also achieve pressure-stabilized filling through an industrial instrument air supply;

[0006] Although this method has great innovation, it has certain limitations in improving the filling accuracy. There are two reasons. First, the closing of the filling head is controlled by a cylinder, and the action time of the cylinder has a delay and poor accuracy. To increase the filling speed, the discharge port is generally designed to be large, and the error in the action time of the cylinder will greatly affect the filling accuracy. Second, the storage cylinder is essentially a bin for small flow rates and only serves as a feeding device. The accuracy of small flow rates depends on the accuracy of the closing timing of the filling head. Due to the randomness of the error in the action time of the cylinder, it is very difficult to make further effective adjustments through programs or algorithms. Summary of the Invention

[0007] In order to solve the problem of how to achieve high-speed and high-precision filling of materials in the case of large pipeline pressure fluctuations and viscous materials in the prior art, the present invention provides a filling system with a feedback compensation method, including: a filling station and a conveying pipe;

[0008] The filling station includes a high-speed filling head (3) with a pressure device, a compensation filling head (4), and a weighing device;

[0009] One end of the conveying pipe is connected to the main pipeline, and the other end is respectively connected to the high-speed filling head (3) and the compensation filling head (4); the weighing device is arranged below the high-speed filling head (3) and the compensation filling head (4); a material bucket (5) is arranged on the weighing device;

[0010] The weighing device is used to detect the weight of the material bucket (5) and the filling material, and feed back the weight to an external control system;

[0011] Based on the filling instruction of the external control system, the high-speed filling head (3) completes the rapid pressurized filling of the material bucket (5); based on the correction instruction of the external control system, the compensation filling head (4) corrects the filling amount of the material bucket (5).

[0012] Preferably, the high-speed filling head (3) includes a high-speed filling head cylinder (31), a high-speed filling head fixing frame (32), a high-speed filling head material cavity (34), and a high-speed sealing device;

[0013] The high-speed filling head cylinder (31) and the high-speed filling head material cavity (34) are respectively arranged at both ends of the high-speed filling head fixing frame (32); the high-speed filling head material cavity (34) is connected to the high-speed sealing device;

[0014] Among them, based on the driving force provided by the instruction of the external control system, the high-speed filling head cylinder (31) opens or closes the high-speed sealing device.

[0015] Preferably, the high-speed sealing device includes a high-speed filling head valve stem (33), a high-speed filling head sealing sleeve (35), and a high-speed filling head valve head (36);

[0016] The high-speed filling head cylinder (31) includes a cylinder rod;

[0017] The high-speed filling head valve stem (33) passes through the high-speed filling head fixing bracket (32) and the high-speed filling head material chamber (34) and is connected to the cylinder rod and the high-speed filling head valve head (36);

[0018] The high-speed filling head valve head (36) is located at the upper end of the high-speed filling head sealing sleeve (35); the high-speed filling head sealing sleeve (35) is located at the lower end of the high-speed filling head material chamber (34).

[0019] Preferably, the compensation filling head (4) includes a compensation filling head cylinder (41), a compensation filling head fixing bracket (42), a compensation filling head material chamber (44), and a compensation sealing device;

[0020] The compensation filling head cylinder (41) and the compensation filling head material chamber (44) are respectively arranged at two ends of the compensation filling head fixing bracket (42); the compensation filling head material chamber (44) is connected to the compensation sealing device;

[0021] Wherein, the compensation filling head cylinder (41) provides a driving force based on an instruction of an external control system, and opens or closes the compensation sealing device.

[0022] Preferably, the compensation sealing device includes a compensation filling head valve stem (43), a compensation filling head sealing sleeve (45), and a compensation filling head valve head (46);

[0023] The compensation filling head cylinder (41) includes a cylinder rod;

[0024] The compensation filling head valve stem (43) passes through the compensation filling head fixing bracket (42) and the compensation filling head material chamber (44) and is connected to the cylinder rod and the compensation filling head valve head (46);

[0025] The compensation filling head valve head (46) is located at the upper end of the compensation filling head sealing sleeve (45); the compensation filling head sealing sleeve (45) is located at the lower end of the compensation filling head material chamber (44).

[0026] Preferably, the compensation filling head (4) further includes a one-way valve (47), a volume chamber (48), a piston (49), and a servo motor (410);

[0027] A through hole is provided horizontally between the one-way valve (47) and the vertical pipe of the material chamber (44) of the compensation filling head. The through hole is hermetically connected to one end of the volume chamber (48), and the other end of the volume chamber (48) is connected to a piston (49); the piston (49) is connected to the servo motor (410).

[0028] Preferably, the lower end surfaces of the valve head (36) of the high-speed filling head and the valve head (46) of the compensation filling head, and the upper end surfaces of the sealing sleeve (35) of the high-speed filling head and the sealing sleeve (45) of the compensation filling head are all conical structures for realizing conical sealing.

[0029] Preferably, both the material chamber (34) of the high-speed filling head and the material chamber (44) of the compensation filling head are three-way pipes rotated 90° in a T shape.

[0030] Preferably, the weighing device includes a weighing tray assembly (6);

[0031] The heavy tray assembly (6) includes a tray (61) and a weighing sensor (62); the weighing sensor (62) is located below the tray (61) and is used for measuring the weight of the filling container during loading and the filling process.

[0032] Based on the same invention company, the present invention also provides a filling method with a feedback compensation method, including: based on the filling instruction of an external control system, controlling the high-speed filling head (3) at the filling station to perform rapid pressure-assisted filling on the material bucket (5) arranged on the weighing device at the filling station;

[0033] Real-time feedback the weight measured by the weighing device to the external control system;

[0034] Based on the correction instruction of the external control system, controlling the compensation filling head (4) at the filling station to perform compensation filling on the material bucket (5);

[0035] Wherein, the correction instruction is determined by the weight fed back to the external control system.

[0036] Preferably, the step of, based on the filling instruction of the external control system, controlling the high-speed filling head (3) at the filling station to perform rapid pressure-assisted filling on the material bucket (5) arranged on the weighing device at the filling station includes:

[0037] Based on the filling instruction of the external control system, the valve head (36) of the high-speed filling head (3) is opened under the drive of the cylinder (31) to perform rapid pressure-assisted filling, and it can be filled to more than 95% of the target filling amount in a short time. The weighing sensor (62) detects the filling amount of the material bucket (5), and at the same time, the valve head (36) of the high-speed filling head (3) is closed.

[0038] Preferably, the control of the compensation filling head (4) in the filling station to perform compensation filling on the material barrel (5) based on the correction instruction from the external control system includes:

[0039] The valve head (46) of the compensation filling head (4) is opened under the drive of the air cylinder (41);

[0040] The piston (49) drives the material from the volume chamber (48) into the compensation filling head material chamber (44) below the sealing sleeve (45) according to a preset stroke under the drive of the servo motor (410).

[0041] Preferably, the stroke that the piston (49) needs to move is calculated according to the following formula:

[0042]

[0043] In the formula: is the target filling volume, is the detected filling volume, is the inner diameter of the volume chamber (48), is the stroke of the piston (49) movement, is the first material density.

[0044] Preferably, the correction instruction determined by the weight fed back to the external control system includes:

[0045] S001 The valve head (46) of the compensation filling head (4) is closed, the piston (49) extracts the material into the volume chamber (48), and the filling volume detected by the weighing sensor (62) is Y1;

[0046] S002 Calculate the stroke of the piston (49) according to the filling volume and the material density, and perform compensation and correction filling;

[0047] S003 After the filling is completed, the material barrel (5) is output, and at the same time, a new material barrel (5) reaches the filling position, and step S001 is executed again.

[0048] Preferably, the calculation formula of the second material density is as follows:

[0049]

[0050] In the formula: is the actual filling volume, is the detected filling volume, is the inner diameter of the volume chamber (48), is the stroke of the piston (49) movement, is the second material density.

[0051] Compared with the prior art, the beneficial effects of the present invention are:

[0052] 1. A filling system with a feedback compensation method provided by the present invention includes a filling station and a conveying pipe. The filling station includes a high-speed filling head (3) with a pressure device, a compensation filling head (4), and a weighing device. One end of the conveying pipe is connected to the main pipeline, and the other end is respectively connected to the high-speed filling head (3) and the compensation filling head (4). The weighing device is arranged below the high-speed filling head (3) and the compensation filling head (4), and a material bucket (5) is arranged on the weighing device. The weighing device is used to detect the weight of the material bucket (5) and the filling material, and feedback the weight to an external control system. The high-speed filling head (3) completes the rapid pressure filling of the material bucket (5) based on the filling instruction of the external control system, and the compensation filling head (4) corrects the filling amount of the material bucket (5) based on the correction instruction of the external control system. The present invention effectively solves the technical problem of realizing high-speed and high-precision filling of materials under conditions such as large pipeline pressure fluctuations and viscous materials.

[0053] 2. A filling system with a feedback compensation method provided by the present invention cancels the common silo structure and solves the problems of material residue and precipitation caused thereby.

[0054] 3. A filling system with a feedback compensation method provided by the present invention has a simple structure, is convenient for installation and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0056] Figure 1 is the overall installation schematic diagram of the present invention;

[0057] Figure 2 and Figure 3 is the structural diagram of the high-speed filling head of the present invention;

[0058] Figure 4 and Figure 5 is the structural diagram of the compensation filling head of the present invention;

[0059] Figure 6 is the present invention Figure 4 cross-sectional view in the A-A direction;

[0060] Figure 7 is the present invention Figure 5 cross-sectional view in the A-A direction;

[0061] In the figure: 1 - main pipeline; 2 - flexible hose; 3 - high - speed filling head; 31 - high - speed filling head cylinder; 32 - high - speed filling head fixing bracket; 33 - high - speed filling head valve stem; 34 - high - speed filling head material cavity; 35 - high - speed filling head sealing sleeve; 36 - high - speed filling head valve head; 4 - compensation filling head; 41 - compensation filling head cylinder; 42 - compensation filling head fixing bracket; 43 - compensation filling head valve stem; 44 - compensation filling head material cavity; 45 - compensation filling head sealing sleeve; 46 - compensation filling head valve head; 47 - one - way valve; 48 - volume cavity; 49 - piston; 410 - servo motor; 5 - material bucket; 6 - weighing pallet assembly; 61 - pallet; 62 - weighing sensor. Detailed implementation mode

[0062] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0063] Embodiment 1

[0064] As Figure 1 shown, the present invention provides a filling system with a feedback compensation method, including: a filling station and a conveying pipe;

[0065] The filling station includes a high - speed filling head 3 with a pressure device, a compensation filling head 4 and a weighing device;

[0066] One end of the conveying pipe is connected to the main pipeline, and the other end is respectively connected to the high - speed filling head 3 and the compensation filling head 4; the weighing device is arranged below the high - speed filling head 3 and the compensation filling head 4; the material bucket 5 is arranged on the weighing device;

[0067] The weighing device is used to detect the weight of the material bucket 5 and the filling material, and feed back the weight to an external control system;

[0068] The high - speed filling head 3 completes the rapid pressurized filling of the material bucket 5 based on the filling instruction of the external control system; the compensation filling head 4 corrects the filling amount of the material bucket 5 based on the correction instruction of the external control system. The present invention effectively solves the technical problem of realizing high - speed and high - precision filling of materials under conditions such as large pipeline pressure fluctuations and viscous materials.

[0069] Moreover, this system cancels the common silo structure, solves the problems of material residue and precipitation caused thereby. In addition, this system has a simple structure, is convenient for installation and operation.

[0070] AsFigure 2 and Figure 3 As shown in Figure 3 , the structure diagram of the high-speed filling head 3 is shown. The high-speed filling head 3 includes a high-speed filling head cylinder 31, a high-speed filling head fixing frame 32, a high-speed filling head material chamber 34, and a high-speed sealing device;

[0071] The high-speed filling head cylinder 31 and the high-speed filling head material chamber 34 are respectively arranged at both ends of the high-speed filling head fixing frame 32; the high-speed filling head material chamber 34 is connected to the high-speed sealing device;

[0072] Wherein, the high-speed filling head cylinder 31 provides a driving force based on an external control system instruction to open or close the high-speed sealing device;

[0073] The high-speed sealing device includes a high-speed filling head valve rod 33, a high-speed filling head sealing sleeve 35, and a high-speed filling head valve head 36;

[0074] The high-speed filling head cylinder 31 includes a cylinder rod;

[0075] The high-speed filling head valve rod 33 passes through the high-speed filling head fixing frame 32 and the high-speed filling head material chamber 34 and is connected to the cylinder rod and the high-speed filling head valve head 36;

[0076] The high-speed filling head valve head 36 is located at the upper end of the high-speed filling head sealing sleeve 35; the high-speed filling head sealing sleeve 35 is located at the lower end of the high-speed filling head material chamber 34;

[0077] As Figure 4 and Figure 5 shown, the structure diagram of the compensation filling head 4 is shown,

[0078] In addition, Figure 6 and Figure 7 are respectively Figure 4 a sectional view in the A-A direction and Figure 5 a sectional view in the A-A direction; the compensation filling head 4 includes a compensation filling head cylinder 41, a compensation filling head fixing frame 42, a compensation filling head material chamber 44, and a compensation sealing device;

[0079] The compensation filling head cylinder 41 and the compensation filling head material chamber 44 are respectively arranged at both ends of the compensation filling head fixing frame 42; the compensation filling head material chamber 44 is connected to the compensation sealing device;

[0080] Wherein, the compensation filling head cylinder 41 provides a driving force based on an external control system instruction to open or close the compensation sealing device;

[0081] The compensation sealing device includes a compensation filling head valve rod 43, a compensation filling head sealing sleeve 45, and a compensation filling head valve head 46;

[0082] The compensation filling head cylinder 41 includes a cylinder rod;

[0083] The compensation filling head valve rod 43 passes through the compensation filling head fixing bracket 42 and the compensation filling head material chamber 44 and is connected to the cylinder rod and the compensation filling head valve head 46;

[0084] The compensation filling head valve head 46 is located at the upper end of the compensation filling head sealing sleeve 45; the compensation filling head sealing sleeve 45 is located at the lower end of the compensation filling head material chamber 44;

[0085] The compensation filling head 4 further includes a one-way valve 47, a volume chamber 48, a piston 49 and a servo motor 410;

[0086] A through hole is provided in the horizontal direction between the one-way valve 47 and the vertical pipe of the compensation filling head material chamber 44. The through hole is hermetically connected to one end of the volume chamber 48, and the other end of the volume chamber 48 is connected to the piston 49; the piston 49 is connected to the servo motor 410;

[0087] The lower end face of the high-speed filling head valve head 36 and the upper end face of the high-speed filling head sealing sleeve 35 and the upper end face of the compensation filling head sealing sleeve 45 are all conical structures for realizing conical sealing;

[0088] Both the high-speed filling head material chamber 34 and the compensation filling head material chamber 44 are three-way pipes with a 90° rotation T-shape;

[0089] The weighing device includes a weighing tray assembly 6;

[0090] The heavy tray assembly 6 includes a tray 61 and a weighing sensor 62; the weighing sensor 62 is located below the tray 61 and is used for carrying the filling container and measuring the weight during the filling process.

[0091] In addition, the compensation filling head 4 can also be another structure. The positions of the one-way valve 47 and the volume chamber 48 are swapped, that is, the original inlet is connected to the volume chamber 48, and the originally processed through hole is connected to the one-way valve 47 as the feed port. The structure at the rear end of the compensation filling head material chamber 44 of the compensation filling head 4 is the same as that of the high-speed filling head 3.

[0092] All the connection relationships between the components of the present invention are clamp joints, and can also be other common forms such as quick joints and flanges.

[0093] Embodiment 2

[0094] Based on the same inventive concept, the present invention also provides a filling method with a feedback compensation method, including: controlling a high-speed filling head 3 in a filling station to perform rapid pressure filling on a material bucket 5 disposed on a weighing device in the filling station based on a filling instruction of an external control system;

[0095] Real-time feedback the weight measured by the weighing device to the external control system;

[0096] Based on a correction instruction of the external control system, controlling a compensation filling head 4 in the filling station to perform compensation filling on the material bucket 5;

[0097] Wherein, the correction instruction is determined by the weight fed back to the external control system.

[0098] The controlling the high-speed filling head 3 in the filling station to perform rapid pressure filling on the material bucket 5 disposed on the weighing device in the filling station based on the filling instruction of the external control system includes:

[0099] Before filling, an operator inputs a target filling amount X and a first material density a0 into the system in advance. A plurality of material buckets 5 reach their respective filling stations, and a weighing sensor 62 weighs them and uploads the weight to the system to complete the tare operation of the weight of the material bucket 5, waiting for filling; at this time, the valve head 36 of the high-speed filling head 3 is sealed with the sealing sleeve 35, the valve head 46 of the compensation filling head 4 is sealed with the sealing sleeve 45, and the piston 49 extracts the material into the volume chamber 48 under the drive of the servo motor 410;

[0100] Based on the filling instruction of the external control system, the valve head 36 of the high-speed filling head 3 is opened under the drive of the cylinder 31 to perform rapid pressure filling, and it can be filled to more than 95% of the target filling amount in a short time. At this time, the weighing sensor 62 detects the filling amount of the material bucket 5, and at the same time, the valve head 36 of the high-speed filling head 3 is closed, and at this time, the system completes the rapid pressure filling.

[0101] The controlling the compensation filling head 4 in the filling station to perform compensation filling on the material bucket 5 based on the correction instruction of the external control system includes:

[0102] The system performs compensation correction filling, and the valve head 46 of the compensation filling head 4 is opened under the drive of the cylinder 41;

[0103] The piston 49 drives the material from the volume chamber 48 into the compensation filling head material chamber 44 below the sealing sleeve 45 according to a preset stroke under the drive of the servo motor 410.

[0104] The stroke that the piston 49 needs to move is calculated according to the following formula:

[0105]

[0106] In the formula: is the target filling volume, is the detected filling volume, is the inner diameter of the volume chamber 48, is the stroke of the piston 49 moving, is the density of the first material.

[0107] The correction instruction determined by the weight fed back to the external control system includes:

[0108] After the system completes the compensation and correction of filling;

[0109] S001 First, the valve head 46 of the filling head 4 is closed for compensation, and then the piston 49 draws the material into the volume chamber 48. At this time, the filling volume detected by the weighing sensor 62 is Y1;

[0110] S002 Calculates the stroke of the piston 49 according to the filling volume and the material density, and performs compensation and correction of filling;

[0111] S003 Outputs the filled material bucket 5 after canning. At the same time, a new material bucket 5 arrives at the canning position, and step S001 is executed again.

[0112] The calculation formula of the second material density is as follows:

[0113]

[0114] In the formula: is the actual filling volume, is the detected filling volume, is the inner diameter of the volume chamber 48, is the stroke of the piston 49 moving, is the second material density.

[0115] In addition, the above embodiments show that the filling system with a feedback compensation method of the present invention realizes fast pressure filling and precise compensation and correction of filling through the high-speed filling head 3 and the compensation filling head 4 respectively;

[0116] Each time the compensation and correction of the filling volume is dynamically adjusted according to the result of the previous filling, fully ensuring the filling accuracy. The invention does not require a silo and can also achieve high-speed and high-precision filling under conditions such as large fluctuations in pipeline pressure and viscous materials.

[0117] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention pending approval.

Claims

1. A filling method with a feedback compensation method, characterized in that, Comprising: Based on the filling instruction of the external control system, controlling the high-speed filling head (3) in the filling station to perform rapid pressure filling on the material barrel (5) arranged on the weighing device in the filling station; Real-time feedback of the weight measured by the weighing device to the external control system; Based on the correction instruction of the external control system, controlling the compensation filling head (4) in the filling station to perform compensation filling on the material barrel (5); Wherein, the correction instruction is determined by the weight fed back to the external control system; The controlling the compensation filling head (4) in the filling station to perform compensation filling on the material barrel (5) based on the correction instruction of the external control system includes: The valve head (46) of the compensation filling head (4) is opened under the drive of the air cylinder (41); The piston (49) drives the material from the volume chamber (48) into the compensation filling head material chamber (44) below the sealing sleeve (45) according to a preset stroke under the drive of the servo motor (410); The correction instruction being determined by the weight fed back to the external control system includes: S001 The valve head (46) of the compensation filling head (4) is closed, the piston (49) extracts the material into the volume chamber (48), and the filling amount detected by the weighing sensor (62) is Y1; S002 Calculate the stroke of the piston (49) according to the filling amount and the material density, and perform compensation and correction filling; S003 The filled material barrel (5) is output, and at the same time, a new material barrel (5) arrives at the filling position, and step S001 is executed again; The stroke that the piston (49) needs to move is calculated according to the following formula: Wherein: is the target filling volume, is the detected filling volume, is the inner diameter of the volume chamber (48), is the stroke of the piston (49) moving, is the density of the first material; The calculation formula of the second material density is as follows: Wherein: is the actual filling volume, is the detected filling volume, is the inner diameter of the volume chamber (48), is the stroke of the piston (49) moving, is the density of the second material; The filling system includes: a filling station and a conveying pipe; The filling station includes a high-speed filling head (3) with a pressure device, a compensation filling head (4) and a weighing device; One end of the conveying pipe is connected to the main pipe, and the other end is respectively connected to the high-speed filling head (3) and the compensation filling head (4); the weighing device is arranged below the high-speed filling head (3) and the compensation filling head (4); the material barrel (5) is arranged on the weighing device; The weighing device is used to detect the weight of the material barrel (5) and the filling material, and feed back the weight to the external control system; The high-speed filling head (3) completes the rapid pressure filling of the material barrel (5) based on the filling instruction of the external control system; the compensation filling head (4) corrects the filling amount of the material barrel (5) based on the correction instruction of the external control system; The compensation filling head (4) includes a compensation filling head air cylinder (41), a compensation filling head fixing frame (42), a compensation filling head material chamber (44) and a compensation sealing device; The compensation filling head air cylinder (41) and the compensation filling head material chamber (44) are respectively arranged at both ends of the compensation filling head fixing frame (42); the compensation filling head material chamber (44) is connected to the compensation sealing device; Wherein, the compensation filling head air cylinder (41) provides a driving force based on the instruction of the external control system to open or close the compensation sealing device; The compensation sealing device includes a compensation filling head valve rod (43), a compensation filling head sealing sleeve (45) and a compensation filling head valve head (46); The compensation filling head cylinder (41) includes a cylinder rod; The compensation filling head valve rod (43) passes through the compensation filling head fixing bracket (42) and the compensation filling head material chamber (44) and is connected to the cylinder rod and the compensation filling head valve head (46); The compensation filling head valve head (46) is located at the upper end of the compensation filling head sealing sleeve (45); the compensation filling head sealing sleeve (45) is located at the lower end of the compensation filling head material chamber (44); The compensation filling head (4) further includes a one-way valve (47), a volume chamber (48), a piston (49) and a servo motor (410); A through hole is provided in the horizontal direction between the one-way valve (47) and the vertical pipe of the compensation filling head material chamber (44), the through hole is hermetically connected to one end of the volume chamber (48), and the other end of the volume chamber (48) is connected to the piston (49); the piston (49) is connected to the servo motor (410).

2. The filling method according to claim 1, characterized in that, Controlling the high-speed filling head (3) in the filling station to perform rapid pressure filling on the material bucket (5) arranged on the weighing device in the filling station based on the filling instruction of the external control system includes: Based on the filling instruction of the external control system, the valve head (36) of the high-speed filling head (3) is opened under the drive of the cylinder (31) to perform rapid pressure filling; The weighing sensor (62) detects the filling amount of the material bucket (5), and at the same time the valve head (36) of the high-speed filling head (3) is closed; The high-speed filling head (3) includes a high-speed filling head cylinder (31), a high-speed filling head fixing bracket (32), a high-speed filling head material chamber (34) and a high-speed sealing device; The high-speed filling head cylinder (31) and the high-speed filling head material chamber (34) are respectively arranged at both ends of the high-speed filling head fixing bracket (32); the high-speed filling head material chamber (34) is connected to the high-speed sealing device; Wherein, the high-speed filling head cylinder (31) provides a driving force based on the instruction of the external control system to open or close the high-speed sealing device; The high-speed sealing device includes a high-speed filling head valve rod (33), a high-speed filling head sealing sleeve (35) and a high-speed filling head valve head (36); The high-speed filling head cylinder (31) includes a cylinder rod; The high-speed filling head valve rod (33) passes through the high-speed filling head fixing bracket (32) and the high-speed filling head material chamber (34) and is connected to the cylinder rod and the high-speed filling head valve head (36); The high-speed filling head valve head (36) is located at the upper end of the high-speed filling head sealing sleeve (35); the high-speed filling head sealing sleeve (35) is located at the lower end of the high-speed filling head material chamber (34).

3. The filling method according to claim 2, characterized in that, The lower end surface of the high-speed filling head valve head (36) and the compensation filling head valve head (46) and the upper end surface of the high-speed filling head sealing sleeve (35) and the compensation filling head sealing sleeve (45) are both conical structures for realizing conical sealing.

4. The filling method according to claim 2, characterized in that, Both the high-speed filling head material chamber (34) and the compensation filling head material chamber (44) are rotating 90° T-shaped three-way pipes.

5. The filling method according to claim 1, characterized in that, The weighing device includes a weighing tray assembly (6); The weight support plate assembly (6) comprises a support plate (61) and a weighing sensor (62); the weighing sensor (62) is located at the bottom of the support plate (61) and is used to carry the filling container and measure the weight during the filling process.

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