Full-automatic filling system and its filling method

Abstract

The present invention provides a fully automatic filling system, which includes a conveying device on which multiple columns of filling barrels are placed; a filling system support is arranged on the side of the conveying device or the filling system straddles above the conveying device; at least two multi-axis rotating beam devices are installed on the filling system support and are located above the filling barrels; at least one first camera is arranged above the working area of the filling barrels; at least one second camera is arranged above the movement coverage area of the multi-axis rotating beam devices; a control system is respectively connected to the conveying device, the multi-axis rotating beam devices, the first camera and the second camera; a visual recognition system is connected to the first camera and the second camera and is used for processing image information. The present invention realizes that within the same time, there are multiple independent filling tools capable of multi-degree-of-freedom movement working together in the working area of a single station, improving the filling efficiency. It can achieve anti-collision of the filling tools and the motion mechanism during joint cooperation, and realizes simple array expansion of multiple stations for the same kind of work.

Description

Technical Field

[0001] The present invention relates to the field of fully automatic packaging of liquid materials in industries such as chemical engineering, food, and medicine, and particularly relates to a fully automatic filling system and a filling method thereof, which are used for the occasion of simultaneously filling multiple barrels of liquid materials. Background Art

[0002] In the field of fully automatic packaging of liquid materials, the existing fully automatic filling equipment for simultaneously filling multiple barrels of liquid materials adopts a Cartesian coordinate slide table structure. This structure must use a gantry frame to span the working area, use a linear guiding mechanism as the guiding of the coordinate axis, and the main dimensions of the guiding mechanism must cover the entire working area, resulting in a bulky structure, a large floor area, and a tight working and maintenance space inside the equipment. At the same time, with the main dimensions of the guiding mechanism and the frame dimensions unchanged, only a single Cartesian coordinate slide table structure with the same moving range can be arranged within the same working area.

[0003] All existing fully automatic filling equipment has only a single multi-degree-of-freedom filling tool working within the working area of a single station at the same time. Even if multiple filling tools can be switched at a single station, the current work must be stopped, and the work can continue only after the filling tool is switched.

[0004] The existing fully automatic filling equipment has poor scalability for multiple stations. When expanding the stations, the gantry frame of the Cartesian coordinate slide table structure cannot be expanded through simple array.

[0005] In view of this, those skilled in the art have developed a fully automatic filling system and a filling method thereof in order to overcome the above technical problems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the defects of low working efficiency of single-tool serial work at a single station of the existing fully automatic filling equipment and poor scalability of the bulky equipment, and to provide a fully automatic filling system and a filling method thereof.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] The present invention provides a fully automatic filling system, which is characterized in that the fully automatic filling system includes: a conveying device, on which multiple columns of filling barrels are placed;

[0009] a filling system bracket, which is arranged on the side of the conveying device or the filling system spans above the conveying device;

[0010] at least two multi-axis rotating beam devices, which are installed on the filling system bracket, are located above the filling barrels, and move left and right relative to the filling system bracket;

[0011] At least one first camera, the first camera being arranged above the working area of the filling barrel;

[0012] At least one second camera, the second camera being arranged above the movement coverage area of the multi-axis rotating beam device;

[0013] A control system, the control system being respectively connected to the conveying device, the multi-axis rotating beam device, the first camera and the second camera;

[0014] A visual recognition system, the visual recognition system being connected to the first camera and the second camera for processing image information;

[0015] The information of the filling barrel and the multi-axis rotating beam device is processed by the visual recognition system, and the control system is used to drive the conveying device to move the filling barrel and drive the multi-axis rotating beam device to fill the filling barrel.

[0016] According to an embodiment of the present invention, the multi-axis rotating beam device includes a multi-axis rotating beam assembly, a linear guiding mechanism, a transmission mechanism and an execution mechanism;

[0017] The linear guiding mechanism is fixed on the filling system bracket, one end of the multi-axis rotating beam assembly is connected to the transmission mechanism, and the transmission mechanism is slidably arranged on the linear guiding mechanism to realize the up and down movement of the multi-axis rotating beam assembly along the linear guiding mechanism;

[0018] The execution mechanism is installed at one end of the linear guiding mechanism and is connected to the control system for driving the linear guiding mechanism to move up and down.

[0019] According to an embodiment of the present invention, the multi-axis rotating beam assembly includes:

[0020] A first rotating beam and a second rotating beam, one end of the first rotating beam and one end of the second rotating beam are connected by a first hinge joint;

[0021] A second hinge joint, which is fixed at the other end of the first rotating beam and hinges the other end of the first rotating beam and the transmission mechanism;

[0022] A first rotating beam driving mechanism, which is connected to the second hinge joint for driving the second hinge joint and further driving the first rotating beam to rotate;

[0023] A second rotating beam driving mechanism, connected between the first hinge joint and the second hinge joint, for driving the first hinge joint to achieve rotation between the second rotating beam and the first rotating beam;

[0024] At least one filling tool, installed at the other end of the second rotating beam.

[0025] According to an embodiment of the present invention, the multi-axis rotating beam assembly includes:

[0026] A first rotating beam, a second rotating beam, and a third rotating beam assembly composed of at least one third rotating beam. The third rotating beams are sequentially connected through third hinge joints, and the third rotating beam assembly is connected between one end of the first rotating beam and one end of the second rotating beam through corresponding third hinge joints;

[0027] A second hinge joint, fixed at the other end of the first rotating beam, for hinging the other end of the first rotating beam and the transmission mechanism;

[0028] A first rotating beam driving mechanism, connected to the second hinge joint, for driving the second hinge joint and then driving the first rotating beam to rotate;

[0029] A second rotating beam driving mechanism, connected between the second hinge joint and the adjacent third hinge joint, for driving the corresponding third hinge joint to achieve rotation between the first rotating beam and the adjacent third rotating beam;

[0030] A plurality of third rotating beam driving mechanisms, respectively installed between adjacent two of the third hinge joints, for driving the corresponding third hinge joints to achieve rotation between adjacent two of the third rotating beams, and rotation between the second rotating beam and the adjacent third rotating beam;

[0031] At least one filling tool, installed at the other end of the second rotating beam.

[0032] According to an embodiment of the present invention, the first rotating beam driving mechanism includes a first rotating beam transmission mechanism and a first rotating beam closed-loop control motor. The first rotating beam transmission mechanism is installed inside the second hinge joint, and the first rotating beam closed-loop control motor is installed at one end of the second hinge joint to drive the second hinge joint through the first rotating beam closed-loop control motor and the first rotating beam transmission mechanism;

[0033] The second rotating beam driving mechanism includes a second rotating beam transmission mechanism and a second rotating beam closed-loop control motor. The second rotating beam closed-loop control motor is installed at one end of the second hinge joint. One end of the second rotating beam transmission mechanism is connected to the second rotating beam closed-loop control motor, and the other end is connected to the first hinge joint;

[0034] Alternatively, the second rotating beam closed-loop control motor is installed on the first hinge joint, and the second rotating beam transmission mechanism is installed inside the first hinge joint;

[0035] The first hinge joint is driven by the second rotating beam closed-loop control motor and the second rotating beam transmission mechanism.

[0036] According to an embodiment of the present invention, the multi-axis rotating beam assembly further includes an attitude maintaining mechanism and a terminal mounting seat. The terminal mounting seat is arranged at the other end of the second rotating beam, and the filling tool is installed on the terminal mounting seat. One end of the part of the attitude maintaining mechanism close to the second rotating beam is connected to the terminal mounting seat, and the other end is connected to the first hinge joint; One end of the other part of the attitude maintaining mechanism close to the first rotating beam is connected to the first hinge joint, and the other end is connected to the second hinge joint.

[0037] According to an embodiment of the present invention, the attitude maintaining mechanism is composed of two articulated planar or spatial parallel link mechanisms.

[0038] According to an embodiment of the present invention, the terminal mounting seat and the filling tool are fixed by fasteners, or connected by welding, or the terminal mounting seat is a part of the filling tool.

[0039] According to an embodiment of the present invention, the first rotating beam transmission mechanism and the second rotating beam transmission mechanism are link transmission, chain transmission, belt transmission, gear pair transmission, flexible transmission or screw pair transmission.

[0040] The present invention also provides a full-automatic filling method, which is characterized in that the full-automatic filling method uses the full-automatic filling system as described above, and the full-automatic filling method includes the following steps:

[0041] S 1 : Driving the conveyor by the control system to convey multiple columns of filling barrels to the working area;

[0042] S 2 : Driving the first camera by the control system to take pictures of the upper surfaces of the multiple columns of filling barrels;

[0043] S 3: The visual recognition system identifies the positions of the mouths of the multiple columns of filling barrels through image processing;

[0044] S 4 : By solving the equations obtained by the D-H method, the deflection positions of the mouths of each filling barrel corresponding to the relative zero positions of each multi-axis rotating beam device are obtained;

[0045] S 5 : Determine the usage order of each filling tool for each filling barrel, and each filling tool fills each filling barrel in the usage order, and at the same time perform step S 6 ;

[0046] S 6 : The control system and the visual recognition system perform anti-collision process processing on each multi-axis rotating beam.

[0047] According to an embodiment of the present invention, the step S 5 specifically includes: If each filling tool only needs to perform a positioning movement in the direction of the mouth of each filling barrel once, then enter the following step S 51 ;

[0048] S 51 : Determine the overall filling path of each filling tool for the filling barrel, and each filling tool fills each filling barrel along its respective overall filling path in the usage order and finally returns to the starting position; and, each positioning movement of the previous filling tool must precede the positioning movement of the subsequent filling tool to the mouth position of their common target filling barrel.

[0049] According to an embodiment of the present invention, the step S 5 specifically includes: If at least one filling tool needs to perform multiple positioning movements in the direction of the mouth of each filling barrel, then enter the following step S 52 ;

[0050] S 52 : Determine the overall filling path of each filling tool for the filling barrel, and each filling tool fills each filling barrel along its respective overall filling path in the usage order and finally returns to the starting position;

[0051] And, during the first positioning movement of the filling tool towards one of the barrel mouths, each positioning movement of the previous filling tool must precede the positioning movement of the subsequent filling tool to the mouth position of their common target filling barrel;

[0052] During the second to the Nth positioning movements of the filling tool towards one of the barrel openings, the (N-1)th positioning movement of the subsequent filling tool must precede the Nth positioning movement of the previous filling tool to the position of the barrel opening of their common target filling barrel.

[0053] According to an embodiment of the present invention, the fully automatic filling system includes a first multi-axis rotating beam device, a second multi-axis rotating beam device, and two rows and two columns of filling barrels. The first multi-axis rotating beam device includes a first filling tool, and the second multi-axis rotating beam device includes a second filling tool. The filling barrels are placed in a single layer of 2x2, and when viewed from above and arranged clockwise from the upper right corner, they are filling barrel C, filling barrel D, filling barrel E, and filling barrel F respectively;

[0054] The step S 5 specifically includes: if each filling tool only needs to perform one positioning movement towards the barrel opening of each filling barrel, then proceed to the following step S 511 ;

[0055] S 511 : If the working process of each filling barrel is first the first filling tool and then the second filling tool, then proceed to the following step S 512 ; if the working process of each filling barrel is first the second filling tool and then the first filling tool, then proceed to the following step S 513 ;

[0056] S 512 : The first filling tool works in the order of first the position of the barrel opening of filling barrel C, then the position of the barrel opening of filling barrel D, then the position of the barrel opening of filling barrel E, then the position of the barrel opening of filling barrel F, and finally returning to the starting position;

[0057] The second filling tool works in the order of first the position of the barrel opening of filling barrel C, then the position of the barrel opening of filling barrel D, then the position of the barrel opening of filling barrel E, then the position of the barrel opening of filling barrel F, and finally returning to the starting position; and each time the first filling tool is moved, it must precede the second filling tool to move to the common target barrel opening position of the two;

[0058] S 513 : The second filling tool works in the order of first the position of the barrel opening of filling barrel F, then the position of the barrel opening of filling barrel E, then the position of the barrel opening of filling barrel D, then the position of the barrel opening of filling barrel C, and finally returning to the starting position;

[0059] The second filling tool works in the order of first the mouth position of the filling barrel F, then the mouth position of the filling barrel E, then the mouth position of the filling barrel D, then the mouth position of the filling barrel C, and finally returning to the starting position; and each time the first filling tool moves, it must move to the common target mouth position of the two before the second filling tool.

[0060] According to an embodiment of the present invention, the fully automatic filling system includes a first multi-axis rotating beam device, a second multi-axis rotating beam device, and two rows and two columns of filling barrels. The first multi-axis rotating beam device includes a first filling tool, the second multi-axis rotating beam device includes a second filling tool, and the filling barrels are placed in a single layer of 2x2. When viewed from above, they are arranged clockwise from the upper right corner as filling barrel C, filling barrel D, filling barrel E, and filling barrel F;

[0061] The step S 5 specifically includes: If at least one of the filling tools needs to perform multiple positioning movements in the direction of the mouth of each filling barrel, then enter the following step S 521 ;

[0062] S 521 : If the working process of each filling barrel is first the first filling tool, then the second filling tool, and then the first filling tool, then the process enters step S 522 ; If the working process of each filling barrel is first the second filling tool, then the first filling tool, and then the second filling tool, then the process enters step S 523 ;

[0063] S 522 : The first filling tool works in the order of first the mouth position of the filling barrel C, then the mouth position of the filling barrel D, then the mouth position of the filling barrel E, then the mouth position of the filling barrel F, then the mouth position of the filling barrel E, then the mouth position of the filling barrel F, then the mouth position of the filling barrel C, then the mouth position of the filling barrel D, and finally returning to the starting position;

[0064] The second filling tool works in the order of first the mouth position of the filling barrel C, then the mouth position of the filling barrel E, then the mouth position of the filling barrel F, then the mouth position of the filling barrel D, and finally returning to the starting position;

[0065] Among them, the first filling tool must first move to the position of the mouth of the filling barrel C before the second filling tool can be started; the first filling tool must first complete its work at the position of the mouth of the filling barrel E before the second filling tool can move to the position of the mouth of the filling barrel E; the first filling tool must first complete its work at the position of the mouth of the filling barrel F before the second filling tool can move to the position of the mouth of the filling barrel F; the second filling tool B must first complete its work at the position of the mouth of the filling barrel E before the first filling tool can move to the position of the mouth of the filling barrel E for the second time, and the second filling tool must first complete its work at the position of the mouth of the filling barrel F before the first filling tool can move to the position of the mouth of the filling barrel F for the second time;

[0066] S 523 : The second filling tool works in the order of first the position of the mouth of the filling barrel F, then the position of the mouth of the filling barrel E, then the position of the mouth of the filling barrel D, then the position of the mouth of the filling barrel C, then the position of the mouth of the filling barrel D, then the position of the mouth of the filling barrel C, then the position of the mouth of the filling barrel F, then the position of the mouth of the filling barrel E, and finally back to the starting position;

[0067] The first filling tool works in the order of first the position of the mouth of the filling barrel F, then the position of the mouth of the filling barrel D, then the position of the mouth of the filling barrel C, then the position of the mouth of the filling barrel E, and finally back to the starting position;

[0068] Among them, the second filling tool must first move to the position of the mouth of the filling barrel F before the first filling tool can be started; the second filling tool must first complete its work at the position of the mouth of the filling barrel D before the first filling tool can move to the position of the mouth of the filling barrel D; the second filling tool must first complete its work at the position of the mouth of the filling barrel C before the first filling tool can move to the position of the mouth of the filling barrel C; the first filling tool must first complete its work at the position of the mouth of the filling barrel D before the second filling tool can move to the position of the mouth of the filling barrel D for the second time; the first filling tool must first complete its work at the position of the mouth of the filling barrel C before the second filling tool can move to the position of the mouth of the filling barrel C for the second time.

[0069] According to an embodiment of the present invention, the step S 6 Specifically includes the following steps:

[0070] S 61 : Drive the second camera to take pictures of all the multi-axis rotating beams through the control system;

[0071] S62 : The visual recognition system identifies the feature marks on the multi-axis rotating beam through image processing;

[0072] S 63 : Calculate the minimum distance L between the feature marks using the minimum distance method;

[0073] S 64 : Compare the minimum distance L with the preset threshold L0 to determine whether the minimum distance L is greater than the preset threshold L0;

[0074] If the minimum distance L is greater than the preset threshold L0, return to the step S 61 ;

[0075] If the minimum distance L is less than the preset threshold L0, enter step S 65 ;

[0076] S 65 : Stop the rotation of one of the multi-axis rotating beams;

[0077] S 66 : Generate the boundary of the dangerous area based on the feature marks of the stopped multi-axis rotating beam;

[0078] S 67 : Generate a coordinate sequence along the boundary of the dangerous area pointing to the current moving target point;

[0079] S 68 : Insert the coordinate sequence in front of the current moving target point as the new target point sequence for the moving multi-axis rotating beam;

[0080] S 69 : After the moving multi-axis rotating beam leaves the dangerous area, start the other multi-axis rotating beam that was stopped before and return to the step S 61 。

[0081] According to an embodiment of the present invention, the feature marks are color blocks, feature patterns, and modes of the multi-axis rotating beam that can be recognized by an image.

[0082] The positive and progressive effects of the present invention are as follows:

[0083] The full-automatic filling system and its filling method of the present invention achieve the lightweight of the moving mechanism and the frame structure with a spatial motion mechanism in a non-Cartesian coordinate system, saving the floor area of the equipment. It realizes that within the same time, there are multiple mutually independent filling tools capable of multi-degree-of-freedom movement working together in the working area of a single station, improving the filling efficiency. It can achieve anti-collision when the filling tools and the moving mechanism work together, and realizes the simple array expansion of multiple workstations for the same kind of work. Brief Description of the Drawings

[0084] The above and other features, properties, and advantages of the present invention will become more apparent from the following description in conjunction with the drawings and embodiments, in which like reference numerals always denote like features, where:

[0085] Figure 1 It is a schematic structural diagram of a fully automatic filling system of the present invention.

[0086] Figure 2 It is a schematic structural diagram of a multi-axis rotating beam assembly in the fully automatic filling system of the present invention.

[0087] Figure 3 It is a schematic structural diagram of another multi-axis rotating beam assembly in the fully automatic filling system of the present invention.

[0088] Figure 4 It is a schematic structural diagram of yet another multi-axis rotating beam assembly in the fully automatic filling system of the present invention.

[0089] Figure 5 It is a schematic diagram of a multi-column barrel and its barrel mouth numbers in the fully automatic filling system of the present invention.

[0090] Figure 6 It is a flowchart of the fully automatic filling method of the present invention.

[0091] Figure 7 It is a flowchart of the anti-collision process in the fully automatic filling method of the present invention.

[0092]

Reference Numerals

[0093] Conveyor device 10

[0094] Filling system support 20

[0095] Multi-axis rotating beam device 30

[0096] First camera 40

[0097] Second camera 50

[0098] Filling barrel 11

[0099] Multi-axis rotating beam assembly 31

[0100] Linear guiding mechanism 32

[0101] Transmission mechanism 33

[0102] Actuator 34

[0103] First rotating beam 311

[0104] Second rotating beam 312

[0105] First hinge joint 313

[0106] Second hinge joint 314

[0107] Filling tool 315

[0108] First rotating beam closed-loop control motor 316

[0109] Second rotating beam transmission mechanism 317

[0110] Second rotating beam closed-loop control motor 318

[0111] Attitude holding mechanism 35

[0112] End mounting seat 36 Detailed implementation manners

[0113] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention is provided in conjunction with the accompanying drawings.

[0114] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the present invention will now be described in detail, and examples thereof are shown in the drawings. Whenever possible, the same reference numerals will be used throughout the drawings to refer to the same or like parts.

[0115] In addition, although the terms used in the present invention are selected from well-known and commonly used terms, some of the terms mentioned in the specification of the present invention may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of the present description.

[0116] In addition, it is required to understand the present invention not only by the actual terms used, but also by the meaning implied by each term.

[0117] Figure 1 It is a schematic structural diagram of a fully automatic filling system of the present invention.

[0118] As Figure 1As shown in the figure, the present invention provides a full-automatic filling system, which includes a conveying device 10, a filling system support 20, at least two multi-axis rotating beam devices 30, at least one first camera 40, at least one second camera 50, a control system (not shown in the figure), and a visual recognition system (not shown in the figure). Multiple columns of filling barrels 11 are placed on the conveying device 10. The multiple columns of filling barrels 11 can be directly placed on the conveying device 10 or placed on the conveying device 10 through pallets. The filling system support 20 is arranged on the side of the conveying device 10 or the filling system straddles above the conveying device. The multi-axis rotating beam device 30 is installed on the filling system support 20, above the filling barrel 11, and moves left and right relative to the filling system support 20. Here, the multi-axis rotating beam device 30 can be directly fixed to the filling system frame 20 or installed on the filling system frame 20 through other external structures.

[0119] The first camera 40 is arranged above the working area of the filling barrel 11, and the second camera 50 is arranged above the movement coverage area of the multi-axis rotating beam device 30. Preferably, a second camera 50 is fixed above the movement coverage area of every two multi-axis rotating beam devices.

[0120] Here, the control system is respectively connected to the conveying device 10, the multi-axis rotating beam device 30, the first camera 40, and the second camera 50. The visual recognition system is connected to the first camera 40 and the second camera 50 for processing image information. The information of the filling barrel 11 and the multi-axis rotating beam device 30 is processed by the visual recognition system, and the control system drives the conveying device 10 to move the filling barrel 11 and drives the multi-axis rotating beam device 30 to fill the filling barrel 11.

[0121] Preferably, the multi-axis rotating beam device 30 includes a multi-axis rotating beam assembly 31, a linear guiding mechanism 32, a transmission mechanism 33, and an actuator 34. The linear guiding mechanism 32 is fixed on the filling system support 20. One end of the multi-axis rotating beam assembly 31 is connected to the transmission mechanism 33. The transmission mechanism 33 slides on the linear guiding mechanism 32, so as to realize the up and down movement of the multi-axis rotating beam assembly 31 along the linear guiding mechanism 32. The actuator 34 is installed at one end of the linear guiding mechanism 32 (for example Figure 1 shown as installed at the lower end of the actuating guiding mechanism. Of course, this is only an example here and is not a limitation. It can also be installed at other places on the actuating guiding mechanism), and is connected to the control system for driving the linear guiding mechanism 32 to move up and down, that is, the up and down movement of the multi-axis rotating beam assembly 31 is executed by the actuator 34 through the transmission mechanism 33.

[0122] Figure 2 It is a schematic structural diagram of a multi-axis rotating beam assembly in the full-automatic filling system of the present invention. Figure 3This is a schematic structural diagram of another multi-axis rotating beam assembly in the fully automatic filling system of the present invention.

[0123] As Figures 1 to 3 shown, in this embodiment of the present invention, the fully automatic filling system includes two multi-axis rotating beam devices 30, and each multi-axis rotating beam device 30 includes two rotating beams. Taking the example that one filling tool is provided on each multi-axis rotating device 30, the technical solution of the present invention will be explained in detail. Of course, this is only an example here and can be analogized equally. It does not limit the number of multi-axis rotating beam devices, the number of rotating beams, and the number of filling tools. It should be considered that these components in multiple numbers are all within the protection scope of the present invention.

[0124] Specifically, the multi-axis rotating beam assembly 31 includes a first rotating beam 311, a second rotating beam 312, a first hinge joint 313, a second hinge joint 314, a first rotating beam driving mechanism, a second rotating beam driving mechanism, and a filling tool 315. Among them, one end of the first rotating beam 311 and one end of the second rotating beam 312 are connected through the first hinge joint 313. For example, the first hinge joint 313 is connected to the first rotating beam 311 and the second rotating beam 312 through fasteners or welding. The second hinge joint 314 is fixed at the other end of the first rotating beam 311. For example, through fasteners or welding, the other end of the first rotating beam 311 is hinged to the transmission mechanism 33.

[0125] The first rotating beam driving mechanism is connected to the second hinge joint 314 and is used to drive the second hinge joint 314, thereby driving the first rotating beam 311 to rotate. The second rotating beam driving mechanism is connected between the first hinge joint 313 and the second hinge joint 314 and is used to drive the first hinge joint 313 to realize the rotation between the second rotating beam 312 and the first rotating beam 311. The filling tool 315 is installed at the other end of the second rotating beam 312.

[0126] As Figure 2 and Figure 3 shown, preferably, in this embodiment, the first rotating beam driving mechanism includes a first rotating beam transmission mechanism (not shown in the figure) and a first rotating beam closed-loop control motor 316. Here, the first rotating beam transmission mechanism can be optionally installed inside the second hinge joint 314, or can also be connected to the outside of the second hinge joint 314, or other structural ways of connecting to the second hinge joint 314 are also acceptable. The first rotating beam closed-loop control motor 316 is installed at one end (such as the upper end) of the second hinge joint 314, and the second hinge joint 314 is driven through the first rotating beam closed-loop control motor 316 and the first rotating beam transmission mechanism.

[0127] As Figure 2 and Figure 3As shown, preferably, in this embodiment, the second rotating beam driving mechanism includes a second rotating beam transmission mechanism 317 and a second rotating beam closed-loop control motor 318. Here, the second rotating beam closed-loop control motor 318 is installed at one end (such as the bottom end) of the second hinge joint 314. One end of the second rotating beam transmission mechanism 317 is connected to the second rotating beam closed-loop control motor 318, and the other end is connected to the first hinge joint 313. The first hinge joint 313 is driven by the second rotating beam closed-loop control motor 318 and the second rotating beam transmission mechanism 317.

[0128] Alternatively, as Figure 4 shown, here the second rotating beam closed-loop control motor 318 can also be installed on the first hinge joint 313, and the second rotating beam transmission mechanism is installed inside the first hinge joint 313 (not shown in the figure). The first hinge joint 313 is driven by the second rotating beam closed-loop control motor 318 and the second rotating beam transmission mechanism.

[0129] As Figure 3 shown, further, the multi-axis rotating beam assembly 31 can more optimally include an attitude maintaining mechanism 35 and a terminal mounting seat 36. The terminal mounting seat 36 is arranged at the other end of the second rotating beam 312, and the filling tool 315 is installed on the terminal mounting seat 36. One end of the part of the attitude maintaining mechanism 35 close to the second rotating beam 313 is connected to the terminal mounting seat 36, and the other end is connected to the first hinge joint 313. One end of the other part (not shown in the figure) of the attitude maintaining mechanism 35 close to the first rotating beam 311 is connected to the first hinge joint 313, and the other end is connected to the second hinge joint 314.

[0130] Particularly, here the attitude maintaining mechanism 35 can preferably be composed of two hinged planar or spatial parallel link mechanisms, which can keep the attitude of the terminal mounting seat 36 at the end of the second rotating beam 312 unchanged in space. The terminal mounting seat 36 and the filling tool 315 are fixedly connected to each other. For example, they can be fixedly connected by fasteners, or welded, or the terminal mounting seat 36 can also be machined into a part of the filling tool 315.

[0131] Of course, in addition to the embodiment in which each multi-axis rotating beam assembly 31 as exemplified above includes two rotating beams (i.e., the first rotating beam 311 and the second rotating beam 312), in fact, the multi-axis rotating beam assembly can also be extended to include multiple rotating beams, such as a first rotating beam, a second rotating beam, and at least one third rotating beam (not shown in the figure). The at least one third rotating beam forms a three-rotating beam assembly. The third rotating beams are sequentially connected by third hinge joints, and the third rotating beam assembly is connected between one end of the first rotating beam and one end of the second rotating beam through the corresponding third hinge joints. A second hinge joint is fixed to the other end of the first rotating beam, and the other end of the first rotating beam is hinged to the transmission mechanism.

[0132] In addition, in this technical solution, each multi-axis rotating beam assembly further includes a first rotating beam driving mechanism, a second rotating beam driving mechanism, and a plurality of third rotating beam driving mechanisms. The first rotating beam driving mechanism is connected to the second hinge joint and is used to drive the second hinge joint, thereby driving the first rotating beam to rotate. The second rotating beam driving mechanism is connected between the second hinge joint and the adjacent third hinge joint and is used to drive the corresponding third hinge joint to realize the rotation between the first rotating beam and the adjacent third rotating beam. The plurality of third rotating beam driving mechanisms are respectively installed between two adjacent third hinge joints and are used to drive the corresponding third hinge joints to realize the rotation between two adjacent third rotating beams and the rotation between the second rotating beam and the adjacent third rotating beam. At the same time, at least one filling tool is installed at the other end of the second rotating beam.

[0133] More specifically, the structural settings of the first rotating beam driving mechanism and the second rotating beam driving mechanism here are the same as or similar to the structures shown in the above Figure 3 and the third rotating beam driving mechanism is the same as or similar to the second rotating beam driving mechanism.

[0134] According to the above structural description, the first rotating beam, the second rotating beam, and the third rotating beam are all preferably made of metal materials and are formed, welded, or connected by fasteners. The two ends of the first rotating beam, the second rotating beam, and the third rotating beam can also be respectively used as part of the first hinge joint, the second hinge joint, and the third hinge joint at the corresponding positions.

[0135] In addition, the first rotating beam transmission mechanism, the second rotating beam transmission mechanism, and the third rotating beam transmission mechanism can be link transmission, chain transmission, belt transmission, gear pair transmission, flexible transmission, or screw pair transmission. Figures 2 to 4The second rotary beam transmission mechanism shown is a linkage mechanism, which is only for better understanding and is not a limitation of this patent.

[0136] The fully automatic filling system of the present invention can employ multiple multi-axis rotary beam assemblies. Each multi-axis rotary beam assembly can include multiple rotary beams, not limited to only two. The multi-axis rotary beam assembly can be directly installed on the filling system rack, not limited to being indirectly connected through a guiding mechanism.

[0137] The driving of the up-and-down movement mechanism of the multi-axis rotary beam assembly can be linearly driven by a cylinder or a hydraulic cylinder, or can be driven by a rotary actuator such as a motor. The driving mode of the actuator can be open-loop control driving or closed-loop control driving. The transmission mechanism for the up-and-down movement of the multi-axis rotary beam assembly can be link transmission, chain transmission, belt transmission, gear pair transmission, flexible transmission, and screw pair transmission.

[0138] In the fully automatic filling system of the present invention, the filling tool is a tool that needs to move to a specific position and then perform functions during the fully automatic filling process. It can be multiple different tools or the same tool. More than one filling tool can be installed at the end of each multi-axis rotary beam assembly. Figure 2 and Figure 3 The first filling tool and the second filling tool shown are only for better understanding and are not a limitation of the present invention.

[0139] In the fully automatic filling system of the present invention, multiple multi-axis rotary beam devices cooperate with the filling system and are relatively independent. They can be extended along the conveying line direction to achieve multi-station layout for the same kind of work. The movement range of the filling tool set at the end of the multi-axis rotary beam device can reach any position on the barrel surfaces of multiple columns of barrels.

[0140] Figure 6 is a flowchart of the fully automatic filling method of the present invention.

[0141] As Figure 6 shown, the present invention also provides a fully automatic filling method, which employs the fully automatic filling system as described above. The fully automatic filling method includes the following steps:

[0142] S 1 : Drive the conveyor through the control system to convey multiple columns of filling barrels to the working area.

[0143] S 2 : Drive the first camera through the control system to take pictures of the upper surfaces of the multiple columns of filling barrels.

[0144] S 3 : The vision recognition system identifies the positions of the barrel openings of the multiple columns of filling barrels through image processing.

[0145] To better explain step S3, as Figure 5 shown, in combination with Figures 1 to 4 the fully automatic filling system shown, an embodiment of the fully automatic filling method of the present invention selects a specific structural example to explain the technical solution of the present invention, specifically; the fully automatic filling system includes two multi-axis rotating beam devices and two columns and two rows of single-layer placed filling barrels, one of the multi-axis rotating beam devices includes a first filling tool, and the other multi-axis rotating beam device includes a second filling tool. As Figure 5 shown, the filling barrels are arranged clockwise from the upper right corner as filling barrel C, filling barrel D, filling barrel E, and filling barrel F.

[0146] Based on this, the vision recognition system identifies the mouth positions of the multi-column filling barrels (i.e., Figure 5 the mouth positions of the four filling barrels in

[0147] C1(X C1 ,Y C1 ),D1(X D1 ,Y D1 ),E1(X E1 ,Y E1 ),F1(X F1 ,Y F1 ) through image processing;

[0148] It should be understood that this is only an example here, and step S 3 is not limited by this. For other numbers of filling barrels or other numbers of multi-axis rotating beam devices, it can be analogized in the same way and should also be applicable to the steps of the present invention and fall within the protection scope of the present invention.

[0149] S 4 : By solving the equations obtained by the D-H method, the deflection position of the mouth position of each filling barrel corresponding to the relative zero position of each multi-axis rotating beam device is obtained.

[0150] Based on the above example of step S 3 , the equations obtained by the D-H method are:

[0151]

[0152] By solving, the deflection position of the mouth position of each filling barrel corresponding to the relative starting position (θ A1N ,θ A2N ) of one of the multi-axis rotating beam devices is:

[0153] C1’(θ A1C1 ,θ A2C1 ),D1’(θA1D1 , θ A2D1 ), E1'(θ A1E1 , θ A2E1 ), F1'((θ A1F1 , θ A2F1 );

[0154] The barrel mouth position of each of the filling barrels is solved to correspond to the deflection position of the other multi-axis rotating beam device relative to the starting position (θ B1N , θ B2N ) as follows:

[0155] C1'(θ B1C1 , θ B2C1 ), D1'(θ B1D1 , θ B2D1 ), E1'(θ B1E1 , θ B2E1 ), F1'(θ B1F1 , θ B2F1 ).

[0156] It should be understood that this is only an example here, and the step S 4 is not limited by this. For other numbers of filling barrels or other numbers of multi-axis rotating beam devices, the same can be deduced by analogy, and it should equally apply to the steps of the present invention and fall within the protection scope of the present invention.

[0157] S 5 : Determine the usage order of each filling tool for each filling barrel, and each filling tool fills each filling barrel according to the usage order, and at the same time perform step S 6 .

[0158] S 6 : Perform an anti-collision process on each multi-axis rotating beam through the control system and the visual recognition system.

[0159] Among them, preferably, the step S 5 specifically includes: If each filling tool only needs to perform a positioning movement in the direction of the barrel mouth of each filling barrel, then enter the following step S 51 .

[0160] Step S 51 : Determine the overall filling path of each filling tool for the filling barrel, and each filling tool fills each filling barrel along its respective overall filling path according to the usage order and finally returns to the starting position; and, each positioning movement of the previous filling tool must precede the positioning movement of the subsequent filling tool to the barrel mouth position of their common target filling barrel.

[0161] Or, the step S5 Specifically included therein are: if at least one of the filling tools needs to perform multiple positioning movements in the direction of the mouth of each filling barrel, the following step S is entered 52 .

[0162] Step S 52 : Determine the overall filling path of each filling tool for the filling barrel. Each filling tool fills each filling barrel along its respective overall filling path in the order of use, and finally returns to the starting position.

[0163] Moreover, during the first positioning movement of the filling tool towards the mouth of one of the barrels, the positioning movement of each previous filling tool must precede the positioning movement of the subsequent filling tool to the position of the mouth of the common target filling barrel of the two.

[0164] During the second to the Nth positioning movements of the filling tool towards the mouth of one of the barrels, the (N - 1)th positioning movement of the subsequent filling tool must precede the Nth positioning movement of the previous filling tool to the position of the mouth of the common target filling barrel of the two.

[0165] Figure 5 It is a schematic diagram of a multi-column barrel and its barrel mouth numbers in the fully automatic filling system of the present invention.

[0166] As Figure 5 shown, in combination with Figures 1 to 4 the fully automatic filling system shown, an embodiment of the fully automatic filling method of the present invention selects a specific structural example to explain the technical solution of the present invention. Specifically, the fully automatic filling system includes two multi-axis rotating beam devices and two columns of two rows of filling barrels. One of the multi-axis rotating beam devices includes a first filling tool, and the other multi-axis rotating beam device includes a second filling tool. As Figure 5 shown, the filling barrels are arranged clockwise from the upper right corner as filling barrel C, filling barrel D, filling barrel E, and filling barrel F.

[0167] Of course, only an example is given here, and it can be analogized equivalently. It does not limit the number of multi-axis rotating beam devices, the number of rotating beams, the number of filling tools, and the number of filling barrels. It should be considered that these components in multiple numbers are all within the protection scope of the present invention.

[0168] According to Figure 6 , and in combination with Figures 1 to 5 the fully automatic filling system shown, the step S 5 Specifically includes: if each filling tool only needs to perform one positioning movement in the direction of the mouth of each filling barrel, the following step S is entered 511 .

[0169] The step S 511 There are many situations, and only a few situations are exemplified here to illustrate in detail the step S in the full-automatic filling system of the present invention 511 , but it is not used as a limitation to the step S 511 . It should be considered that other non-exhaustive equivalent or similar solutions are also within the protection scope of the present invention.

[0170] The first situation:

[0171] The step S 511 : If the working process of each filling barrel is to use the first filling tool first and then the second filling tool, then enter the following step S 512 ;

[0172] The step S 512 : The first filling tool works in the order of first the mouth position C1 of the filling barrel C, then the mouth position D1 of the filling barrel D, then the mouth position E1 of the filling barrel E, then the mouth position F1 of the filling barrel F, and finally returning to the starting position.

[0173] The second filling tool works in the order of first the mouth position C1 of the filling barrel C, then the mouth position D1 of the filling barrel D, then the mouth position E1 of the filling barrel E, then the mouth position F1 of the filling barrel F, and finally returning to the starting position. And each time the first filling tool is moved, it must move to the common target mouth position of the two before the second filling tool.

[0174] The second situation:

[0175] The step S 511 : If the working process of each filling barrel is to use the second filling tool first and then the first filling tool, then enter the following step S 513 ;

[0176] The step S 513 : The second filling tool works in the order of first the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, and finally returning to the starting position.

[0177] The second filling tool works in the order of first the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, and finally returning to the starting position.

[0178] Meanwhile, each time the first filling tool is moved, it must move to the common target mouth position of the two before the second filling tool.

[0179] The third case:

[0180] Step S 511 : If the working process of each filling barrel is the first filling tool described above, and then the second filling tool, then proceed to the following Step S 512 ;

[0181] Step S 512 : The first filling tool works in the order of first the mouth position D1 of the filling barrel D, then the mouth position E1 of the filling barrel E, then the mouth position F1 of the filling barrel F, then the mouth position C1 of the filling barrel C, and finally returning to the starting position.

[0182] The second filling tool works in the order of first the mouth position D1 of the filling barrel D, then the mouth position E1 of the filling barrel E, then the mouth position F1 of the filling barrel F, then the mouth position C1 of the filling barrel C, and finally returning to the starting position.

[0183] At the same time, each time the first filling tool is moved, it must move to the common target mouth position of the two before the second filling tool.

[0184] The fourth case:

[0185] Step S 511 : If the working process of each filling barrel is the second filling tool described above, and then the first filling tool, then proceed to the following Step S 513 ;

[0186] Step S 513 : The second filling tool works in the order of first the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, and finally returning to the starting position.

[0187] The first filling tool works in the order of first the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, and finally returning to the starting position.

[0188] At the same time, each time the second filling tool is moved, it must move to the common target mouth position of the two before the first filling tool.

[0189] The fifth case:

[0190] Step S 511 : If the working process of each filling barrel is the first filling tool described above, and then the second filling tool, then proceed to the following Step S 512 ;

[0191] Step S512 : The first filling tool operates in the order of first at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0192] The second filling tool operates in the order of first at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0193] Meanwhile, each time the first filling tool moves, it must move to the common target mouth position of the two before the second filling tool.

[0194] The sixth case:

[0195] Step S 511 : If the working process of each filling barrel is first the second filling tool and then the first filling tool, then enter the following step S 513 ;

[0196] Step S 513 : The second filling tool operates in the order of first at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position C1 of the filling barrel C, then at the mouth position F1 of the filling barrel F, and finally returning to the starting position.

[0197] The first filling tool operates in the order of first at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position C1 of the filling barrel C, then at the mouth position F1 of the filling barrel F, and finally returning to the starting position.

[0198] Meanwhile, each time the second filling tool moves, it must move to the common target mouth position of the two before the first filling tool.

[0199] The seventh case:

[0200] Step S 511 : If the working process of each filling barrel is first the first filling tool and then the second filling tool, then enter the following step S 512 ;

[0201] Step S 512 : The first filling tool operates in the order of first at the mouth position E1 of the filling barrel E, then at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, and finally returning to the starting point.

[0202] The second filling tool works in the order of first the mouth position E1 of the filling barrel E, then the mouth position F1 of the filling barrel F, then the mouth position C1 of the filling barrel C, then the mouth position D1 of the filling barrel D, and finally returning to the starting position.

[0203] Meanwhile, each time the first filling tool moves, it must move to the common target mouth position of the two before the second filling tool.

[0204] The eighth case:

[0205] Step S 511 : If the working process of each filling barrel is first the second filling tool and then the first filling tool, then enter the following step S 513 ;

[0206] Step S 513 : The second filling tool works in the order of first the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0207] The first filling tool works in the order of first the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0208] Meanwhile, each time the second filling tool moves, it must move to the common target mouth position of the two before the first filling tool.

[0209] According to Figure 6 , and in combination with Figures 1 to 5 the shown fully automatic filling system, the specific content of the step S 5 specifically includes: the specific content of the step S 5 specifically includes: If at least one of the filling tools needs to perform multiple positioning movements in the direction of the mouth of each filling barrel, then enter the following step S 521 .

[0210] The step S 521 has many cases. Here, only several cases are exemplified to illustrate the step S 521 in the fully automatic filling system of the present invention in detail, 521 but it does not serve as a limitation to the step S

[0211] The first case:

[0212] Step S 521: If the working process of each filling barrel is the first filling tool as described above, then the second filling tool, and then the first filling tool, the process enters the following step S 522 .

[0213] Step S 522 : The first filling tool works in the order of first at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, then at the mouth position F1 of the filling barrel F, then at the mouth position E1 of the filling barrel E, then at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, and finally back to the starting position.

[0214] The second filling tool works in the order of first at the mouth position C1 of the filling barrel C, then at the mouth position E1 of the filling barrel E, then at the mouth position F1 of the filling barrel F, then at the mouth position D1 of the filling barrel D, and finally back to the starting position.

[0215] Among them, the first filling tool must first move to the mouth position C1 of the filling barrel C before the second filling tool can be started. The first filling tool must first complete the work at the mouth position E1 of the filling barrel E before the second filling tool can move to the mouth position E1 of the filling barrel E. The first filling tool must first complete the work at the mouth position F1 of the filling barrel F before the second filling tool can move to the mouth position F1 of the filling barrel F. The second filling tool B must first complete the work at the mouth position E1 of the filling barrel E before the first filling tool can move to the mouth position E1 of the filling barrel E for the second time. The second filling tool must first complete the work at the mouth position F1 of the filling barrel F before the first filling tool can move to the mouth position F1 of the filling barrel F for the second time.

[0216] The second case:

[0217] Step S 521 : If the working process of each filling barrel is the second filling tool first, then the first filling tool, and then the second filling tool, the process enters the following step S 523 .

[0218] Step S 523: The second filling tool works in the order of first at the mouth position F1 of the filling barrel F, then at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, then at the mouth position C1 of the filling barrel C, then at the mouth position F1 of the filling barrel F, then at the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0219] The first filling tool works in the order of first at the mouth position F1 of the filling barrel F, then at the mouth position D1 of the filling barrel D, then at the mouth position C1 of the filling barrel C, then at the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0220] Among them, the second filling tool must first move to the mouth position F1 of the filling barrel F before the first filling tool can be started. The second filling tool must first complete the work at the mouth position D1 of the filling barrel D before the first filling tool can move to the mouth position D1 of the filling barrel D. The second filling tool must first complete the work at the mouth position C1 of the filling barrel C before the first filling tool can move to the mouth position C1 of the filling barrel C. The first filling tool must first complete the work at the mouth position D1 of the filling barrel D before the second filling tool can move to the mouth position D1 of the filling barrel D for the second time. The first filling tool must first complete the work at the mouth position C1 of the filling barrel C before the second filling tool can move to the mouth position C1 of the filling barrel C for the second time.

[0221] The third case:

[0222] Step S 521 : If the working process of each filling barrel is first the first filling tool, then the second filling tool, and then the first filling tool, then the process enters the following step S 522 .

[0223] Step S 522 : The first filling tool works in the order of first at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, then at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0224] The second filling tool works in the order of first at the mouth position D1 of the filling barrel D, then at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position E1 of the filling barrel E, and finally returning to the starting position.

[0225] Meanwhile, the first filling tool must first move to the mouth position D1 of the filling barrel D before the second filling tool can be started. The first filling tool must first complete its work at the mouth position F1 of the filling barrel F before the second filling tool can move to the mouth position F1 of the filling barrel F. The first filling tool must first complete its work at the mouth position C1 of the filling barrel C before the second filling tool can move to the mouth position C1 of the filling barrel C. The second filling tool must first complete its work at the mouth position F1 of the filling barrel F before the first filling tool can move to the mouth position F1 of the filling barrel F for the second time. The second filling tool must first complete its work at the mouth position C1 of the filling barrel C before the first filling tool can move to the mouth position C1 of the filling barrel C for the second time.

[0226] The fourth case:

[0227] Step S 521 : If the working process of each filling barrel is first the second filling tool, then the first filling tool, and then the second filling tool, then the process enters the following Step S 523 .

[0228] Step S 523 : The second filling tool works in the order of first at the mouth position C1 of the filling barrel C, then at the mouth position F1 of the filling barrel F, then at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position C1 of the filling barrel C, then at the mouth position F1 of the filling barrel F, and finally returning to the starting position.

[0229] The first filling tool works in the order of first at the mouth position C1 of the filling barrel C, then at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position F1 of the filling barrel F, and finally returning to the starting position. The second filling tool must first move to the mouth position C1 of the filling barrel C before the first filling tool can be started. The second filling tool must first complete its work at the mouth position E1 of the filling barrel E before the first filling tool can move to the mouth position E1 of the filling barrel E. The second filling tool must first complete its work at the mouth position D1 of the filling barrel D before the first filling tool can move to the mouth position D1 of the filling barrel D. The first filling tool must first complete its work at the mouth position E1 of the filling barrel E before the second filling tool can move to the mouth position E1 of the filling barrel E for the second time. The first filling tool must first complete its work at the mouth position D1 of the filling barrel D before the second filling tool can move to the mouth position D1 of the filling barrel D for the second time.

[0230] The fifth case:

[0231] Step S 521 : If the working process of each filling barrel is first the first filling tool, then the second filling tool, and then the first filling tool, then the process proceeds to the following Step S 522 .

[0232] Step S 522 : The first filling tool works in the order of first at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, then at the mouth position F1 of the filling barrel F, then at the mouth position C1 of the filling barrel C, and finally returning to the starting position.

[0233] The second filling tool works in the order of first at the mouth position F1 of the filling barrel F, then at the mouth position D1 of the filling barrel D, then at the mouth position E1 of the filling barrel E, then at the mouth position C1 of the filling barrel C, and finally returning to the starting position.

[0234] Meanwhile, the first filling tool must first move to the mouth position F1 of the filling barrel F before the second filling tool can be started. The first filling tool must first complete its work at the mouth position D1 of the filling barrel D before the second filling tool can move to the mouth position D1 of the filling barrel D. The first filling tool must first complete its work at the mouth position E1 of the filling barrel E before the second filling tool can move to the mouth position E1 of the filling barrel E. The second filling tool must first complete its work at the mouth position D1 of the filling barrel D before the first filling tool can move to the mouth position D1 of the filling barrel D for the second time. The second filling tool must first complete its work at the mouth position E1 of the filling barrel E before the first filling tool can move to the mouth position E1 of the filling barrel E for the second time.

[0235] The sixth case:

[0236] Step S 521 : If the working process of each filling barrel is first the second filling tool, then the first filling tool, and then the second filling tool, then the process enters the following Step S 523 .

[0237] Step S 523 : The second filling tool works in the order of first the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, and finally returns to the starting position.

[0238] The first filling tool works in the order of first the mouth position E1 of the filling barrel E, then the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position D1 of the filling barrel D, and finally returns to the starting position.

[0239] Meanwhile, the second filling tool must first move to the position E1 at the mouth of the filling barrel E before the first filling tool can be started. The second filling tool must first complete its work at the position C1 at the mouth of the filling barrel C before the first filling tool can move to the position C1 at the mouth of the filling barrel C. The second filling tool must first complete its work at the position F1 at the mouth of the filling barrel F before the first filling tool can move to the position F1 at the mouth of the filling barrel F. The first filling tool must first complete its work at the position C1 at the mouth of the filling barrel C before the second filling tool can move to the position C1 at the mouth of the filling barrel C for the second time. The first filling tool must first complete its work at the position F1 at the mouth of the filling barrel F before the second filling tool can move to the position F1 at the mouth of the filling barrel F for the second time.

[0240] The seventh case:

[0241] Step S 521 : If the working process of each filling barrel is first the first filling tool, then the second filling tool, and then the first filling tool, then the process proceeds to the following Step S 522 .

[0242] Step S 522 : The first filling tool works in the order of first the position E1 at the mouth of the filling barrel E, then the position F1 at the mouth of the filling barrel F, then the position C1 at the mouth of the filling barrel C, then the position D1 at the mouth of the filling barrel D, then the position C1 at the mouth of the filling barrel C, then the position D1 at the mouth of the filling barrel D, then the position E1 at the mouth of the filling barrel E, then the position F1 at the mouth of the filling barrel F, and finally back to the starting position.

[0243] The second filling tool works in the order of first the position E1 at the mouth of the filling barrel E, then the position C1 at the mouth of the filling barrel C, then the position D1 at the mouth of the filling barrel D, then the position F1 at the mouth of the filling barrel F, and finally back to the starting position.

[0244] Meanwhile, the first filling tool must first move to the mouth position E1 of the filling barrel E before the second filling tool can be started. The first filling tool must first complete its work at the mouth position C1 of the filling barrel C before the second filling tool can move to the mouth position C1 of the filling barrel C. The first filling tool must first complete its work at the mouth position D1 of the filling barrel D before the second filling tool can move to the mouth position D1 of the filling barrel D. The second filling tool must first complete its work at the mouth position C1 of the filling barrel C before the first filling tool can move to the mouth position C1 of the filling barrel C for the second time. The second filling tool must first complete its work at the mouth position D1 of the filling barrel D before the first filling tool can move to the mouth position D1 of the filling barrel D for the second time.

[0245] The eighth case:

[0246] Step S 521 : If the working process of each filling barrel is first the second filling tool, then the first filling tool, and then the second filling tool, then the process enters the following Step S 523 .

[0247] Step S 523 : The second filling tool works in the order of first the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position D1 of the filling barrel D, then the mouth position C1 of the filling barrel C, and finally returns to the starting position.

[0248] The first filling tool works in the order of first the mouth position D1 of the filling barrel D, then the mouth position F1 of the filling barrel F, then the mouth position E1 of the filling barrel E, then the mouth position C1 of the filling barrel C, and finally returns to the starting position.

[0249] Meanwhile, the second filling tool must first move to the position D1 at the mouth of the filling barrel D before the first filling tool can be started. The second filling tool must first complete its work at the position F1 at the mouth of the filling barrel F before the first filling tool can move to the position F1 at the mouth of the filling barrel F. The second filling tool must first complete its work at the position E1 at the mouth of the filling barrel E before the first filling tool can move to the position E1 at the mouth of the filling barrel E. The first filling tool must first complete its work at the position F1 at the mouth of the filling barrel F before the second filling tool can move to the position F1 at the mouth of the filling barrel F for the second time. The first filling tool must first complete its work at the position E1 at the mouth of the filling barrel E before the second filling tool can move to the position E1 at the mouth of the filling barrel E for the second time.

[0250] Figure 7 It is a flowchart of the anti-collision process in the fully automatic filling method of the present invention.

[0251] As Figure 6 and Figure 7 shown, in the fully automatic filling method of the present invention, while step S 5 is being executed, step S 6 is executed in a loop.

[0252] Preferably, step S 6 specifically includes the following steps:

[0253] S 61 : Drive the second camera to take pictures of all the multi-axis rotating beams through the control system;

[0254] S 62 : The vision recognition system identifies the feature marks on the multi-axis rotating beam through image processing;

[0255] S 63 : Calculate the minimum distance L between the feature marks using the minimum distance method;

[0256] S 64 : Compare the minimum distance L with the preset threshold L0 to determine whether the minimum distance L is greater than the preset threshold L0;

[0257] If the minimum distance L is greater than the preset threshold L0, return to step S 61 ;

[0258] If the minimum distance L is less than the preset threshold L0, enter step S 65 ;

[0259] S 65: Stop the rotation of one of the multi-axis rotating beams;

[0260] S 66 : Generate the boundary of the dangerous area based on the characteristic identification of the stopped multi-axis rotating beam;

[0261] S 67 : Generate a coordinate sequence along the boundary of the dangerous area pointing to the current moving target point;

[0262] S 68 : Insert the coordinate sequence in front of the current moving target point as the new target point sequence for the moving multi-axis rotating beam;

[0263] S 69 : After the moving multi-axis rotating beam leaves the dangerous area, start the other multi-axis rotating beam that was stopped before, and return to the step S 61 .

[0264] In particular, the filling tool involved in the present invention is not limited to a filling tool that can achieve a single function, but can also be a set of filling tools that sequentially complete multiple functions. The characteristic identification is a color block, a characteristic pattern, and a mode of the multi-axis rotating beam that can be recognized by an image.

[0265] In summary, the full-automatic filling system and its filling method of the present invention realize the lightweight of the moving mechanism and the frame structure with a spatial motion mechanism in a non-Cartesian coordinate system, saving the floor area of the equipment. It realizes that within the same time, there are multiple mutually independent filling tools that can perform multi-degree-of-freedom movement working together in the working area of a single station, improving the filling efficiency. It can realize the anti-collision of the filling tools and the moving mechanism during their cooperation, and realizes the simple array expansion of multiple stations for the same kind of work.

[0266] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A fully automatic filling system, It is characterized in that The fully automatic filling system includes: A conveying device, on which a plurality of rows of filling barrels are placed; A filling system support, wherein the filling system support is arranged on the side of the conveying device or the filling system spans over the top of the conveying device; At least two multi-axis rotating beam devices are installed on the filling system support, located above the filling barrel, and can move left and right relative to the filling system support; at least one first camera, the first camera being arranged above a working area of ​​the filling barrel; at least one second camera, the second camera being arranged above a motion coverage area of ​​the multi-axis rotating beam device; A control system, wherein the control system is connected to the conveying device, the multi-axis rotating beam device, the first camera and the second camera respectively; The control system solves the equation obtained by the DH method to obtain the deflection position of each of the multi-axis rotating beam devices relative to the zero position corresponding to the barrel mouth position of each of the filling barrels; the control system determines the order in which each filling tool of the multi-axis rotating beam device uses each filling barrel, and each of the filling tools fills each of the filling barrels according to the order in which they are used; a visual recognition system, the visual recognition system being connected to the first camera and the second camera and being used for processing image information; The information of the filling barrel and the multi-axis rotating beam device is processed by the visual recognition system, and the control system drives the conveying device to move the filling barrel and drives the multi-axis rotating beam device to fill the filling barrel.

2. The fully automatic filling system as claimed in claim 1, It is characterized in that The multi-axis rotating beam device comprises a multi-axis rotating beam assembly, a linear guide mechanism, a transmission mechanism and an actuator; The linear guide mechanism is fixed on the filling system bracket, one end of the multi-axis rotating beam assembly is connected to the transmission mechanism, and the transmission mechanism is slidably arranged on the linear guide mechanism to realize the up and down movement of the multi-axis rotating beam assembly along the linear guide mechanism; The actuator is installed at one end of the linear guide mechanism, connected to the control system, and is used to drive the linear guide mechanism to move up and down.

3. The fully automatic filling system as claimed in claim 2, It is characterized in that The multi-axis rotating beam assembly comprises: a first rotating beam and a second rotating beam, wherein one end of the first rotating beam and one end of the second rotating beam are connected via a first hinge joint; A second hinge joint is fixed to the other end of the first rotating beam, and hinges the other end of the first rotating beam and the transmission mechanism; a first rotating beam driving mechanism connected to the second articulated joint, and configured to drive the second articulated joint, thereby driving the first rotating beam to rotate; a second rotating beam driving mechanism, connected between the first articulated joint and the second articulated joint, and used to drive the first articulated joint to realize the rotation between the second rotating beam and the first rotating beam; At least one filling tool is mounted on the other end of the second rotating beam.

4. The full-automatic filling system according to claim 2, characterized in that the multi-axis rotating beam assembly includes: a first rotating beam, a second rotating beam, and a third rotating beam assembly composed of at least one third rotating beam. The third rotating beams are sequentially connected through third hinge joints, and the third rotating beam assembly is connected between one end of the first rotating beam and one end of the second rotating beam through the corresponding third hinge joints; a second hinge joint, fixed at the other end of the first rotating beam, for hinging the other end of the first rotating beam and the transmission mechanism; a first rotating beam driving mechanism, connected to the second hinge joint, for driving the second hinge joint, and further driving the first rotating beam to rotate; a second rotating beam driving mechanism, connected between the second hinge joint and the adjacent third hinge joint, for driving the corresponding third hinge joint to realize the rotation between the first rotating beam and the adjacent third rotating beam; a plurality of third rotating beam driving mechanisms, respectively installed between two adjacent third hinge joints, for driving the corresponding third hinge joints to realize the rotation between two adjacent third rotating beams, and the rotation between the second rotating beam and the adjacent third rotating beam; at least one filling tool, installed at the other end of the second rotating beam.

5. The full-automatic filling system according to claim 3, characterized in that the first rotating beam driving mechanism includes a first rotating beam transmission mechanism and a first rotating beam closed-loop control motor. The first rotating beam transmission mechanism is installed in the second hinge joint, and the first rotating beam closed-loop control motor is installed at one end of the second hinge joint to drive the second hinge joint through the first rotating beam closed-loop control motor and the first rotating beam transmission mechanism; the second rotating beam driving mechanism includes a second rotating beam transmission mechanism and a second rotating beam closed-loop control motor. The second rotating beam closed-loop control motor is installed at one end of the second hinge joint. One end of the second rotating beam transmission mechanism is connected to the second rotating beam closed-loop control motor, and the other end is connected to the first hinge joint; alternatively, the second rotating beam closed-loop control motor is installed on the first hinge joint, and the second rotating beam transmission mechanism is installed in the first hinge joint; the first hinge joint is driven through the second rotating beam closed-loop control motor and the second rotating beam transmission mechanism.

6. The full-automatic filling system according to claim 5, characterized in that the multi-axis rotating beam assembly further includes an attitude maintaining mechanism and a terminal mounting seat. The terminal mounting seat is arranged at the other end of the second rotating beam, and the filling tool is installed on the terminal mounting seat. One end of the part of the attitude maintaining mechanism close to the second rotating beam is connected to the terminal mounting seat, and the other end is connected to the first hinge joint; One end of the other part of the attitude maintaining mechanism close to the first rotating beam is connected to the first hinge joint, and the other end is connected to the second hinge joint.

7. The full-automatic filling system according to claim 6, characterized in that The posture maintaining mechanism is composed of two planar or spatial parallel link mechanisms connected by hinges.

8. The full-automatic filling system according to claim 6, wherein, the end mounting seat and the filling tool are fixed by fasteners, or connected by welding, or the end mounting seat is a part of the filling tool.

9. The full-automatic filling system according to claim 5, wherein, the first rotating beam transmission mechanism and the second rotating beam transmission mechanism are link transmission, chain transmission, belt transmission, gear pair transmission, flexible transmission or screw pair transmission.

10. A full-automatic filling method, wherein, the full-automatic filling method adopts the full-automatic filling system according to any one of claims 1-9, and the full-automatic filling method includes the following steps: S 1 : Driving the conveying device through the control system to convey multiple columns of filling barrels to the working area; S 2 : Driving the first camera by the control system to take pictures of the upper surfaces of the multi-column filling barrels; S 3 : The visual recognition system identifies the positions of the mouths of the multiple columns of filling barrels through image processing; S 4 : By solving the equations obtained by the D-H method, the deflection position of the mouth position of each filling bucket corresponding to the relative zero position of each multi-axis rotating beam device is obtained; S 5 : Determine the usage order of each filling tool of the multi-axis rotating beam group for each of the filling barrels, and each filling tool fills each filling barrel according to the usage order, while performing step S 6 ; S 6 : The anti-collision process is performed on each of the multi-axis rotating beams through the control system and the vision recognition system.

11. The full-automatic filling method according to claim 10, wherein, The said step S 5 specifically includes: if each of the said filling tools only needs to perform a positioning movement towards the mouth of each of the said filling barrels once, then proceed to the following step S 51 ; S 51 : Determine the overall filling path of each of the filling tools for the filling barrels. Each of the filling tools fills each of the filling barrels along its respective overall filling path in the order of use and finally returns to the starting position. Moreover, the positioning movement of each previous filling tool must precede that of the subsequent filling tool to the mouth position of their common target filling barrel.

12. The full-automatic filling method according to claim 10, wherein, The said step S 5 specifically includes: if at least one of the said filling tools needs to perform multiple positioning movements towards the mouth of each said filling barrel, then proceed to the following step S 52 ; S 52 : Determine the overall filling path of each of the filling tools for the filling barrels. Each of the filling tools fills each of the filling barrels along its respective overall filling path in the order of use, and finally returns to the starting position; moreover, during the first positioning movement of the filling tool towards the mouth of one of the barrels, the positioning movement of each previous filling tool must precede the positioning movement of the subsequent filling tool to the mouth position of their common target filling barrel; during the second to the Nth positioning movement of the filling tool towards the mouth of one of the barrels, the (N-1)th positioning movement of the subsequent filling tool must precede the Nth positioning movement of the previous filling tool to the mouth position of their common target filling barrel.

13. The full-automatic filling method according to claim 10, wherein, the full-automatic filling system includes a first multi-axis rotating beam device, a second multi-axis rotating beam device and two rows and two columns of filling barrels. The first multi-axis rotating beam device includes a first filling tool, and the second multi-axis rotating beam device includes a second filling tool. The filling barrels are arranged clockwise from the upper right corner as filling barrel C, filling barrel D, filling barrel E and filling barrel F; The said step S 5 specifically includes: if each of the said filling tools only needs to perform a positioning movement towards the mouth of each of the said filling barrels once, then proceed to the following step S 511 ; S 511 : If the working process of each filling barrel is the first filling tool as described above, and then the second filling tool, then proceed to the following step S 512 ; If the working process of each filling barrel is the second filling tool as described above, and then the first filling tool, then proceed to the following step S 513 ; S 512 : The first filling tool works in the order of first the mouth position of the filling barrel C, then the mouth position of the filling barrel D, then the mouth position of the filling barrel E, then the mouth position of the filling barrel F, and finally returning to the starting position. the second filling tool works in the order of first the mouth position of filling barrel C, then the mouth position of filling barrel D, then the mouth position of filling barrel E, then the mouth position of filling barrel F, and finally returning to the starting position; and each time the first filling tool is moved, it must precede the second filling tool to move to the common target barrel mouth position; S 513 : The second filling tool works in the order of first the mouth position of the filling barrel F, then the mouth position of the filling barrel E, then the mouth position of the filling barrel D, then the mouth position of the filling barrel C, and finally returning to the starting position. the second filling tool works in the order of first the mouth position of filling barrel F, then the mouth position of filling barrel E, then the mouth position of filling barrel D, then the mouth position of filling barrel C, and finally returning to the starting position; and each time the first filling tool is moved, it must precede the second filling tool to move to the common target barrel mouth position.

14. The full-automatic filling method according to claim 10, wherein, The full-automatic filling system includes a first multi-axis rotating beam device, a second multi-axis rotating beam device, and two columns and two rows of filling barrels. The first multi-axis rotating beam device includes a first filling tool, and the second multi-axis rotating beam device includes a second filling tool. The filling barrels are arranged clockwise from the upper right corner as filling barrel C, filling barrel D, filling barrel E, and filling barrel F; The said step S 5 specifically includes: if at least one of the said filling tools needs to perform multiple positioning movements towards the mouth direction of each said filling barrel, then proceed to the following step S 521 ; S 521 : If the working process of each filling barrel is the first filling tool as described above, then the second filling tool, and then the first filling tool, the process enters step S 522 ; If the working process of each filling barrel is the second filling tool first, then the first filling tool, and then the second filling tool, the process enters step S 523 ; S 522 : The first filling tool works in the order of first the mouth position of the filling barrel C, then the mouth position of the filling barrel D, then the mouth position of the filling barrel E, then the mouth position of the filling barrel F, then the mouth position of the filling barrel E, then the mouth position of the filling barrel F, then the mouth position of the filling barrel C, then the mouth position of the filling barrel D, and finally returning to the starting position; The second filling tool works in the order of first moving to the mouth position of filling barrel C, then to the mouth position of filling barrel E, then to the mouth position of filling barrel F, then to the mouth position of filling barrel D, and finally returning to the starting position; Among them, the first filling tool must first move to the mouth position of filling barrel C before the second filling tool can be started; the first filling tool must first complete the work at the mouth position of filling barrel E before the second filling tool can move to the mouth position of filling barrel E; the first filling tool must first complete the work at the mouth position of filling barrel F before the second filling tool can move to the mouth position of filling barrel F; the second filling tool B must first complete the work at the mouth position of filling barrel E before the first filling tool can move to the mouth position of filling barrel E for the second time; the second filling tool must first complete the work at the mouth position of filling barrel F before the first filling tool can move to the mouth position of filling barrel F for the second time; S 523 : The second filling tool works in the order of first the mouth position of the filling barrel F, then the mouth position of the filling barrel E, then the mouth position of the filling barrel D, then the mouth position of the filling barrel C, then the mouth position of the filling barrel D, then the mouth position of the filling barrel C, then the mouth position of the filling barrel F, then the mouth position of the filling barrel E, and finally returning to the starting position; The first filling tool works in the order of first moving to the mouth position of filling barrel F, then to the mouth position of filling barrel D, then to the mouth position of filling barrel C, then to the mouth position of filling barrel E, and finally returning to the starting position; Among them, the second filling tool must first move to the mouth position of filling barrel F before the first filling tool can be started; the second filling tool must first complete the work at the mouth position of filling barrel D before the first filling tool can move to the mouth position of filling barrel D; the second filling tool must first complete the work at the mouth position of filling barrel C before the first filling tool can move to the mouth position of filling barrel C; the first filling tool must first complete the work at the mouth position of filling barrel D before the second filling tool can move to the mouth position of filling barrel D for the second time; the first filling tool must first complete the work at the mouth position of filling barrel C before the second filling tool can move to the mouth position of filling barrel C for the second time.

15. The full-automatic filling method according to claim 10, characterized in that, The said step S 6 Specifically, it includes the following steps: S 61 : Driving the second camera to take pictures of all the multi-axis rotating beams through the control system; S 62 : The visual recognition system identifies the feature marks on the multi-axis rotating beam through image processing; S 63 : Calculate the minimum distance L between the feature identifiers using the minimum distance method; S 64 : Compare the minimum spacing L with a preset threshold L0 to determine whether the minimum spacing L is greater than the preset threshold L0; If the minimum spacing L is greater than the preset threshold L0, return to the step S 61 ; If the minimum distance L is less than the preset threshold L0, then proceed to step S 65 ; S 65 : Stop the rotation of one of the multi-axis rotating beams; S 66 : Generate the boundary of the danger area based on the characteristic identification of the stopped multi-axis rotating beam; S 67 : Generate a coordinate sequence along the boundary of the dangerous area that points to the current moving target point; S 68 : Insert the coordinate sequence before the current moving target point as the new target point sequence of the multi-axis rotating beam for movement. S 69 : After the multi-axis rotating beam to be moved leaves the dangerous area, start another multi-axis rotating beam that was stopped before, and return to the step S 61 .

16. The full-automatic filling method according to claim 15, characterized in that, The feature identifier is a color block, a feature pattern, or a mode of a multi-axis rotating beam that can be recognized by an image.

Images