Automatic canning device and canning method

Abstract

The invention discloses an automatic canning device and a canning method.The automatic canning device is applied to insertion and extraction of a hose on a canning container and comprises an insertion and extraction mechanism used for clamping a sliding sleeve and a connector body and driving the sliding sleeve to move in the axial direction of the connector body; and the shifting mechanism is used for driving the plugging and unplugging mechanism to move so as to drive the self-sealing female head to be plugged to move to the corresponding self-sealing male head, or driving the self-sealing female head to be unplugged to be far away from the corresponding self-sealing male head. Unlocking and locking operation of the self-sealing female head of the hose is achieved through the inserting and pulling mechanism, the shifting mechanism drives the inserting and pulling mechanism to move, the hose is driven to be inserted into or pulled out of the self-sealing male head of the canning container, automatic canning operation is achieved, the canning efficiency is effectively improved, the problems caused by manual canning are avoided, and the canning efficiency is improved. And large-scale industrial quantitative canning is facilitated.

Description

Technical Field

[0001] The present application belongs to the technical field of material canning, and specifically relates to an automatic canning device and a canning method. Background Art

[0002] At present, in the industrial field, pressure vessels equipped with self-sealing joints are generally used for quantitative canning of electrolyte products. Due to the chemical characteristics of the electrolyte, air needs to be isolated during canning and turnover. Therefore, the pressure vessel uses a sealed container such as a steel cylinder, and multiple male heads equipped with self-sealing joints are connected to the sealed container. The canned hose is connected to the female head equipped with a self-sealing joint. The hose is divided into a material pipe and a gas pipe. The material pipe is used to transport the electrolyte, and the gas pipe is used to replace the gas in the sealed container to ensure that the steel cylinder is filled with inert gas.

[0003] The prior art generally adopts a manual quantitative canning method. When canning is required, the cylinder is manually placed on the scale, the female end of the hose and the male end of the sealed container are manually connected, and then the ball valve is opened to start canning. When the female end is inserted or pulled out before or after canning, a small amount of residual fluid will be sprayed out due to the pressure in the tube, which is easy to spray on the operator. Some corrosive fluids will cause certain harm to the operator. At the same time, manual connection of the hose is time-consuming and laborious, which is not conducive to large-scale industrial quantitative canning. Summary of the invention

[0004] The purpose of the present application is to provide an automatic canning device and a canning method to solve the technical problem that in the prior art, a small amount of residual fluid is easily sprayed on the operator when plugging and unplugging the female plug, which is time-consuming and labor-intensive and is not conducive to large-scale industrial quantitative canning.

[0005] To achieve the above purpose, a technical solution adopted in this application is:

[0006] Provided is an automatic canning device, which is used for plugging and unplugging a hose on a canning container, wherein the canning container is provided with a self-sealing male connector, and the end of the hose is provided with a self-sealing female connector that matches the self-sealing male connector, wherein the self-sealing female connector comprises a joint body and a sliding sleeve sleeved on the end of the joint body, and the sliding sleeve can move along the axial direction of the joint body to unlock or lock the self-sealing female connector; the automatic canning device comprises:

[0007] A plug-in and pull-out mechanism, used for clamping the sliding sleeve and the joint body, and driving the sliding sleeve to move along the axial direction of the joint body;

[0008] The displacement mechanism is used to drive the plugging and pulling mechanism to move, so as to drive the self-sealing female head to be inserted to move to the corresponding self-sealing male head, or to drive the self-sealing female head to be pulled away from the corresponding self-sealing male head.

[0009] In one or more embodiments, the plugging and unplugging mechanism includes:

[0010] A first clamping assembly, used for clamping the joint body;

[0011] A second clamping assembly, used for clamping the sliding sleeve;

[0012] A first driving assembly, used for driving the first clamping assembly and the second clamping assembly to perform relative movement, so as to drive the sliding sleeve to move along the axial direction of the joint body;

[0013] Wherein, the first clamping assembly and / or the second clamping assembly are connected to the displacement mechanism.

[0014] In one or more embodiments, the plugging and unplugging mechanism further includes:

[0015] A third clamping assembly, used for clamping the self-sealing male head;

[0016] A second driving assembly is used to drive the first clamping assembly and the second clamping assembly to synchronously move toward or away from the third clamping assembly, so as to drive the self-sealing female head to be inserted into the self-sealing male head or to be pulled out from the self-sealing female head;

[0017] Among them, the clamping end of the first clamping assembly, the clamping end of the second clamping assembly and the clamping end of the third clamping assembly are coaxially arranged along the first direction; at least one of the first clamping assembly, the second clamping assembly and the third clamping assembly is connected to the shifting mechanism.

[0018] In one or more embodiments, the plug-in mechanism further includes a main rod, which extends along the first direction and sequentially passes through the first clamping assembly, the second clamping assembly, and the third clamping assembly.

[0019] In one or more embodiments, the first drive assembly includes:

[0020] A first driving cylinder is arranged on a side of the first clamping assembly facing away from the second clamping assembly, and the side of the first driving cylinder facing away from the first clamping assembly is provided with an output end extending along the first direction;

[0021] A first connecting rod, one end of which is connected to the output end of the first driving cylinder, and the other end of which extends along the first direction to penetrate the first clamping assembly and connect to the second clamping assembly;

[0022] Wherein, the first driving cylinder can drive the output end to extend and retract along the first direction, so as to drive the second clamping assembly to move closer to or away from the first clamping assembly;

[0023] The second driving assembly comprises:

[0024] A second driving cylinder is arranged on a side of the third clamping assembly facing away from the second clamping assembly, and the side of the second driving cylinder facing away from the third clamping assembly is provided with an output end extending along the first direction;

[0025] A second connecting rod, one end of which is connected to the output end of the second driving cylinder, and the other end of which extends along the first direction to sequentially penetrate the third clamping assembly, the second clamping assembly and the first clamping assembly;

[0026] The second driving cylinder can drive the output end to extend and retract along the first direction, so as to drive the first clamping assembly and the second clamping assembly to move synchronously toward or away from the third clamping assembly.

[0027] In one or more embodiments, the plug-in mechanism also includes a correction component, which includes a fixed backplate and a cross slide unit arranged on the fixed backplate, and the cross slide unit is provided with a mounting end for connecting to one or more of the first clamping assembly, the second clamping assembly and the third clamping assembly.

[0028] In one or more embodiments, the correction assembly also includes a rotation unit, which is arranged on the mounting end and includes a rotatable rotating end, which is connected to one or more of the first clamping assembly, the second clamping assembly and the third clamping assembly.

[0029] In one or more embodiments, the shifting mechanism includes a truss manipulator, which is arranged next to the plug-in and pull-out station for placing the canned container, and the truss manipulator includes a manipulation end for connecting to the plug-in and pull-out mechanism, and the truss manipulator can control the plug-in and pull-out mechanism to move along the X-axis direction, the Y-axis direction and the Z-axis direction.

[0030] In one or more embodiments, a camera positioning mechanism is further included, wherein the camera positioning mechanism includes:

[0031] A first camera is arranged above the operating end in the Z-axis direction, the shooting end of the first camera is arranged along the Z-axis direction toward the plugging and unplugging station, and the first camera is used to locate the Y-axis coordinate of the self-sealing male plug;

[0032] A second camera is arranged on the side of the manipulation end away from the plugging and unplugging station in the Y-axis direction, and the shooting end of the second camera is arranged along the Y-axis direction toward the plugging and unplugging station, and the second camera is used to locate the X-axis coordinate and the Z-axis coordinate of the self-sealing male plug;

[0033] Wherein, the camera positioning mechanism is communicatively connected with the shifting mechanism.

[0034] In one or more embodiments, a conveyor belt is further included, which is arranged next to the shifting mechanism and is provided with an insertion and extraction station for placing the canned containers. The conveyor belt is used to move the canned containers to be canned to the insertion and extraction station, and to move the canned containers that have been canned out of the insertion and extraction station.

[0035] In one or more embodiments, a plurality of plugging and unplugging stations are provided on the conveyor belt, and the conveyor belt is divided into a loading section, a plurality of working sections and a unloading section which are arranged in sequence along the conveying direction. The plurality of working sections are arranged in one-to-one correspondence with the plurality of plugging and unplugging stations, and each of the working sections, the loading section and the unloading section is provided with a conveying drive element so that each of the working sections, the loading section and the unloading section can work independently.

[0036] To achieve the above purpose, another technical solution adopted by this application is:

[0037] A canning method using the automatic canning device described in any of the above embodiments is provided, comprising:

[0038] Controlling the conveyor belt to work so as to transfer the plurality of canned containers to corresponding plugging and unplugging stations;

[0039] Control the shift mechanism to work, move the plug-in mechanism to the hose corresponding to the canned container at the tail end, control the plug-in mechanism to clamp the self-sealing female head of the hose, and drive the sliding sleeve of the self-sealing female head to slide toward the joint body to unlock the self-sealing female head;

[0040] Control the shift mechanism to work, move the self-sealing female head to the self-sealing male head of the canning container at the tail end, control the plug-in mechanism to drive the sliding sleeve to reset and lock the self-sealing female head, and open the canning container at the tail end;

[0041] Repeat the above two steps, complete the connection between each canned container and the hose one by one in the direction opposite to the conveying direction, and open the cans of each canned container one by one;

[0042] After the canning of the canned container at the tail end is completed, the shifting mechanism is controlled to work, the plugging and pulling mechanism is moved to the self-sealing male head of the canned container at the tail end, the plugging and pulling mechanism is controlled to clamp the self-sealing female head of the hose, and the sliding sleeve of the self-sealing female head is driven to slide toward the joint body to unlock the self-sealing female head;

[0043] Control the shifting mechanism to work, pull the hose out of the canned container at the tail end, control the working section and the unloading section at the tail end to work, and move the canned container out after canning;

[0044] Repeat the above two steps, complete the pulling-out operation of the hose of each canned container one by one in the direction opposite to the conveying direction, and move each canned container out one by one.

[0045] Different from the prior art, the beneficial effects of this application are:

[0046] The present application realizes the unlocking and locking operations of the self-sealing female head of the hose through a plug-in mechanism, and drives the plug-in mechanism to move through a shift mechanism, thereby driving the hose to be inserted into or pulled out of the self-sealing male head of the canning container, thereby realizing automated canning operations, effectively improving canning efficiency, avoiding problems associated with manual canning, and facilitating large-scale industrial quantitative canning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of an application scenario of the automatic canning device of the present application;

[0048] Figure 2 It is a structural schematic diagram of an embodiment of the automatic canning device of the present application;

[0049] Figure 3 It is a structural schematic diagram of an implementation method of the plug-in mechanism of the present application;

[0050] Figure 4 It is a structural schematic diagram of another embodiment of the plug-in mechanism of the present application;

[0051] Figure 5 This is a structural schematic diagram of an implementation method of the correction component of the present application;

[0052] Figure 6 It is a structural schematic diagram of an implementation method of the shifting mechanism of the present application;

[0053] Figure 7 yes Figure 2 A is a partial enlarged schematic diagram;

[0054] Figure 8 It is a structural schematic diagram of an embodiment of a conveyor belt of the present application;

[0055] Fig. 9 It is a flow chart of an implementation method of a canning method of the automatic canning device of the present application.

[0056] Reference numerals:

[0057] Cylinder 1; Self-sealing male connector 11;

[0058] Hose 2; self-sealing female connector 21; connector body 211; sleeve 212;

[0059] Insertion and extraction mechanism 3; first clamping assembly 31; first clamping cylinder 311; first clamping block 312; first output end 313; first semicircular slot 314; second clamping assembly 32; second clamping cylinder 321; second clamping block 322; V-shaped notch 323; second output end 324; third clamping assembly 33; third clamping cylinder 331; third clamping block 332; third output end 333; second semicircular slot 334; first driving assembly 34; first driving cylinder 341; first connecting rod 342; first cross bar 343; second driving assembly 35; second driving cylinder 351; second connecting rod 352; second cross bar 353;

[0060] Correction assembly 36; fixed back plate 361; cross slide unit 362; lifting guide rail 3621; lifting slide plate 3622; translation guide rail 3623; translation slide plate 3624; mounting plate 3625; rotation unit 363; U-shaped frame 3631; top plate 36311; support arm 36312; rotary shaft 3632; rotary shaft 3633; rotary rod 3634; rotary end 3635; support spring 364; main guide rod 37;

[0061] Shifting mechanism 4: X-axis assembly 41; gantry 411; X-axis guide rail 412; X-axis slide 413; X-axis driving element 414; Y-axis assembly 42; Y-axis guide rail 421; Y-axis slide 422; Y-axis driving element 423; Z-axis assembly 43; Z-axis frame 431; Z-axis guide rail 432; Z-axis slide 433; Z-axis driving element 434;

[0062] Camera positioning mechanism 5; first camera 51; second camera 52;

[0063] Conveyor belt 6; loading section 61; working section 62; unloading section 63;

[0064] Hose rack 7; Placement sleeve 71;

[0065] Plugging station 8. DETAILED DESCRIPTION

[0066] The present application will be described in detail below in conjunction with the various embodiments shown in the accompanying drawings. However, these embodiments do not limit the present application, and any structural, methodological, or functional changes made by a person of ordinary skill in the art based on these embodiments are all within the scope of protection of the present application.

[0067] At present, the quantitative filling of electrolyte in the industrial field is realized by using a sealed container equipped with a male self-sealing joint and a hose equipped with a female self-sealing joint. Since the plugging and unplugging of the self-sealing joint is designed for manual operation, it is difficult to achieve fully automated plugging and unplugging, so semi-automatic manual quantitative filling is usually used at present.

[0068] During canning, it is necessary to manually connect the female end of the hose and the male end of the sealed container, and then open the ball valve to start canning. When inserting or pulling out the female end before and after canning, a small amount of residual fluid will be sprayed out due to the pressure in the tube, which may easily spray onto the operator. Some corrosive fluids may cause certain harm to the operator. At the same time, manual connection of the hose is time-consuming and laborious, which is not conducive to large-scale industrial quantitative canning.

[0069] In order to solve the above problems, the applicant has developed an automatic canning device that can realize automatic plugging and unplugging of hoses, automatic unlocking and pulling out of self-sealing joints, automatic insertion and locking, and automatic quantitative canning, greatly improving the automation level and efficiency of quantitative canning.

[0070] Specifically, see Figure 1 , Figure 1 It is a schematic diagram of an application scenario of the automatic canning device of the present application, and the application scenario includes a cylinder 1 and a hose 2.

[0071] The top surface of the steel cylinder 1 is provided with a self-sealing male connector 11 extending in a horizontal direction; the end of the hose 2 is provided with a self-sealing female connector 21 matching with the self-sealing male connector 11 .

[0072] Specifically, the hose 2 may include two hoses, namely a material hose and an air hose. Accordingly, the top surface of the cylinder 1 may be provided with two self-sealing male connectors 11 that match the self-sealing female connectors 21 of the material hose and the air hose, respectively.

[0073] The self-sealing female connector 21 includes a connector body 211 and a sliding sleeve 212 located at the end of the connector body 211 . The sliding sleeve 212 can move along the axial direction of the connector body 211 to unlock or lock the self-sealing female connector 21 .

[0074] The automatic canning device of the present application is used to insert the self-sealing female head 21 of the hose 2 into the self-sealing male head 11 of the cylinder 1 to start canning, and after the canning is completed, the self-sealing female head 21 is pulled out of the self-sealing male head 11 and inserted into the self-sealing male head 11 of the next cylinder 1, thereby realizing automatic canning.

[0075] The following is a detailed description of the structure of the automatic canning device of this application. Figure 2 , Figure 2 It is a structural schematic diagram of an embodiment of the automatic canning device of the present application.

[0076] like Figure 2As shown, the automatic canning device comprises an inserting and removing mechanism 3 and a shifting mechanism 4 .

[0077] The plug-in mechanism 3 is used to clamp the sliding sleeve 212 and the connector body 211 of the self-sealing female connector 21 , and drive the sliding sleeve 212 to move axially along the connector body 211 , thereby unlocking or locking the self-sealing female connector 21 .

[0078] The displacement mechanism 4 is used to drive the plugging and unplugging mechanism 3 to move, so as to drive the self-sealing female connector 21 to be plugged in to move to the corresponding self-sealing male connector 11 , or to drive the self-sealing female connector 21 to be unplugged away from the corresponding self-sealing male connector 11 .

[0079] See also Figure 3 , Figure 3 It is a structural schematic diagram of an implementation method of the plug-in mechanism of the present application.

[0080] like Figure 3 As shown, the plug-in mechanism 3 includes a first clamping assembly 31, a second clamping assembly 32 and a third clamping assembly 33 which are arranged in sequence and spaced apart, wherein the first clamping assembly 31 is used to clamp the connector body 211; the second clamping assembly 32 is used to clamp the sleeve 212; and the third clamping assembly 33 is used to clamp the self-sealing male head 11.

[0081] In order to achieve synchronous clamping of the joint body 211, the sleeve 212 and the self-sealing male connector 11 of the self-sealing female connector 21, the clamping ends of the first clamping assembly 31, the second clamping assembly 32 and the third clamping assembly 33 are coaxially arranged along the first direction x.

[0082] A first driving assembly 34 is arranged between the first clamping assembly 31 and the second clamping assembly 32 . The first driving assembly 34 is used to drive the first clamping assembly 31 and the second clamping assembly 32 to move relative to each other, so as to drive the sliding sleeve 212 to move axially along the joint body 211 .

[0083] It can be understood that when the first clamping assembly 31 and the second clamping assembly 32 respectively clamp the joint body 211 and the sliding sleeve 212 of the self-sealing female head 21, the first driving assembly 34 can drive the first clamping assembly 31 and the second clamping assembly 32 to move relative to each other, thereby driving the sliding sleeve 212 to slide axially along the joint body 211, thereby realizing the unlocking and locking operations of the self-sealing female head 21.

[0084] Illustratively, when the self-sealing female connector 21 needs to be unplugged, the sleeve 212 can be controlled to slide toward the connector body 211, thereby unlocking the self-sealing female connector 21; when the self-sealing female connector 21 needs to be inserted, the sleeve 212 can be controlled to remain in the unlocked state, and after the self-sealing female connector 21 is inserted into the self-sealing male connector 11, the sleeve 212 can be controlled to slide in the direction away from the connector body 211, thereby locking the self-sealing female connector 21.

[0085] Since the clamping ends of the first clamping component 31, the second clamping component 32 and the third clamping component 33 are coaxially arranged along the first direction x, and the third clamping component 33 clamps the self-sealing female head 21, and the first clamping component 31 and the second clamping component 32 clamp the self-sealing female head 21, when the third clamping component 33 clamps the self-sealing male head 11 in turn, the alignment and positioning of the self-sealing male head 11 and the self-sealing female head 21 can be automatically achieved, thereby effectively reducing the operating accuracy of the manipulator operating the automatic plug-in and pull-out mechanism 3 and greatly improving the efficiency of automatic plug-in and pull-out.

[0086] Furthermore, in order to facilitate the insertion and extraction of the self-sealing female head 21 when the third clamping assembly 33 clamps the self-sealing male head 11, the present embodiment further includes a second driving assembly 35. The second driving assembly 35 is arranged between the third clamping assembly 33 and the first clamping assembly 31, and is used to drive the first clamping assembly 31 and the second clamping assembly 32 to move synchronously toward or away from the third clamping assembly 33, so as to drive the self-sealing female head 21 to be inserted into or extracted from the self-sealing male head 11.

[0087] It can be understood that when the second driving component 35 drives the first clamping component 31 and the second clamping component 32 to synchronously move away from the third clamping component 33, it can drive the self-sealing female head 21 in the unlocked state to pull out the self-sealing male head 11; when the second driving component 35 drives the first clamping component 31 and the second clamping component 32 to synchronously move closer to the third clamping component 33, it can drive the self-sealing female head 21 in the unlocked state to be inserted into the self-sealing female head 21.

[0088] Therefore, through the cooperation of the first drive assembly 34, the second drive assembly 35, the first clamping assembly 31, the second clamping assembly 32 and the third clamping assembly 33, the purpose of transferring and plugging the self-sealing female connector 21 between the hose rack 7 and the cylinder 1 in the above-mentioned application scenario can be achieved.

[0089] Specifically, see Figure 3 The first clamping assembly 31 includes a first clamping cylinder 311 and a pair of first clamping blocks 312 ; the second clamping assembly 32 includes a second clamping cylinder 321 and a pair of second clamping blocks 322 ; the third clamping assembly 33 includes a third clamping cylinder 331 and a pair of third clamping blocks 332 .

[0090] The first clamping cylinder 311 has two first output ends 313 arranged opposite to each other on one side, and the first clamping cylinder 311 can drive the two first output ends 313 to move relative to or away from each other, and a pair of first clamping blocks 312 are respectively arranged on the two first output ends 313 .

[0091] The clamping surface of the first clamping block 312 may be provided with a first semicircular groove 314 matching the joint body 211 of the self-sealing female connector 21 , so that a pair of first clamping blocks 312 cooperate to clamp the joint body 211 of the self-sealing female connector 21 .

[0092] The second clamping cylinder 321 is arranged on one side of the first clamping cylinder 311. Two second output ends 324 arranged opposite to each other are arranged on one side of the second clamping cylinder 321. The second clamping cylinder 321 can drive the two second output ends 324 to move relative to or away from each other. A pair of second clamping blocks 322 are respectively arranged on the two second output ends 324.

[0093] In order to achieve automatic centering when the second clamping block 322 clamps the sleeve 212 and make the second clamping block 322 compatible with self-sealing joints of multiple specifications, the clamping surface of the second clamping block 322 is also provided with a V-shaped groove 323 so that a pair of V-shaped grooves 323 of the second clamping block 322 can cooperate to clamp the sleeve 212.

[0094] It can be understood that the design of the V-shaped groove 323 can automatically adjust the position of the sliding sleeve 212 to the center of the V-shaped groove 323 when clamping, thereby achieving a certain degree of automatic centering. When the self-sealing female head 21 is inserted, it can ensure that the self-sealing female head 21 is in the center position corresponding to the self-sealing male head 11 when the third clamping block 332 clamps the self-sealing male head 11, thereby facilitating the insertion of the self-sealing female head 21.

[0095] Furthermore, in order to prevent the second clamping block 322 from slipping when clamping the sliding sleeve 212, the second clamping assembly 32 also includes a scraper (not shown in the figure), which is respectively arranged on a side of the second clamping block 322 facing the first clamping block 312 and a side of the second clamping block 322 away from the first clamping block 312, and each scraper includes a clamping end close to the second clamping block 322 on the other side, the clamping end of the scraper extends along the clamping direction to the corresponding clamping surface of the second clamping block 322, and the clamping end of the scraper is provided with a V-shaped notch matching the V-shaped groove 323.

[0096] Since the V-shaped notch at the clamping end of the scraper blade extends beyond the clamping surface of the second clamping block 322 , the scraper blade can clamp the end surface of the sliding sleeve 212 during clamping, thereby preventing the sliding sleeve 212 from slipping during the process of pushing and pulling the sliding sleeve 212 .

[0097] The third clamping cylinder 331 is arranged on the side of the second clamping cylinder 321 away from the first clamping cylinder 311. Two third output ends 333 arranged opposite to each other are arranged on one side of the third clamping cylinder 331, and the third clamping cylinder 331 can drive the two third output ends 333 to move relative to or away from each other; a pair of third clamping blocks 332 are respectively arranged on the two third output ends 333.

[0098] The clamping surface of the third clamping block 332 is provided with a second semicircular groove 334 that can match the self-sealing male head 11 , so that a pair of third clamping blocks 332 cooperate to clamp the self-sealing male head 11 .

[0099] In order to ensure synchronous clamping of the self-sealing male connector 11 and the self-sealing female connector 21 , the first output end 313 , the second output end 324 and the third output end 333 are located on the same side.

[0100] In order to ensure the coaxial arrangement of the first clamping cylinder 311, the second clamping cylinder 321 and the third clamping cylinder 331, two symmetrically arranged main rods 37 are also included. The main rods 37 extend along the first direction and pass through the first clamping cylinder 311, the second clamping cylinder 321 and the third clamping cylinder 331 in sequence.

[0101] It should be noted that in the above-mentioned embodiment, the clamping surface of the first clamping block 312 is arranged with a first semicircular groove 314, the clamping surface of the second clamping block 322 is arranged with a V-shaped groove 323, and the clamping surface of the third clamping block 332 is arranged with a second semicircular groove 334. In other embodiments, the clamping surfaces of the first clamping block 312, the second clamping block 322 and the third clamping block 332 can also be arranged with V-shaped grooves 323, which can also achieve the effect of this embodiment.

[0102] The first driving assembly 34 includes a first driving cylinder 341 arranged on a side of the first clamping cylinder 311 away from the second clamping cylinder 321 , and an output end extending along a first direction is provided on a side of the first driving cylinder 341 away from the first clamping cylinder 311 .

[0103] The output end of the first driving cylinder 341 is connected to the first cross bar 343 , and both ends of the first cross bar 343 are respectively connected to a first connecting rod 342 . One end of the first connecting rod 342 is connected to the first cross bar 343 , and the other end extends along the first direction through the first clamping cylinder 311 and is connected to the second clamping cylinder 321 .

[0104] The first driving cylinder 341 can drive the output end to extend and retract along the first direction, thereby driving the second clamping cylinder 321 to move closer to or away from the first clamping cylinder 311 .

[0105] The second driving assembly 35 includes a second driving cylinder 351 arranged on a side of the third clamping cylinder 331 away from the second clamping cylinder 321 , and an output end extending along the first direction is provided on a side of the second driving cylinder 351 away from the third clamping cylinder 331 .

[0106] The output end of the second driving cylinder 351 is connected to a second cross bar 353, and both ends of the second cross bar 353 are respectively connected to a second connecting rod 352. One end of the second connecting rod 352 is connected to the output end of the second driving cylinder 351, and the other end extends along the first direction and sequentially passes through the third clamping cylinder 331, the second clamping cylinder 321 and the first clamping cylinder 311 to connect.

[0107] The second driving cylinder 351 can drive the output end to extend and retract along the first direction, so as to drive the first clamping cylinder 311 and the second clamping cylinder 321 to move toward or away from the third clamping cylinder 331 synchronously.

[0108] It should be noted that the above embodiment only exemplarily describes the technical solution of connecting the end of the second connecting rod 352 to the first clamping cylinder 311. In other embodiments, the end of the second connecting rod 352 can also be connected to the second clamping cylinder 321, which can also achieve the effect of the above embodiment.

[0109] In the above embodiment, when the self-sealing male head 11 needs to be plugged in or out, the self-sealing male head 11 and the self-sealing female head 21 need to be aligned first, and the third clamping assembly 33 needs to be accurately moved to the position of the self-sealing female head 21. This operation often has a large deviation, thereby affecting the subsequent insertion operation.

[0110] In order to solve this problem, in one embodiment, the plugging and unplugging mechanism 3 may further include a deviation correction component 36. For details, see Figure 4 , Figure 4 It is a structural schematic diagram of another implementation of the plug-in mechanism of the present application.

[0111] like Figure 4 As shown, the plug-in structure composed of the first clamping assembly 31 , the second clamping assembly 32 , the third clamping assembly 33 , the first driving assembly 34 , and the second driving assembly 35 can be arranged on the correcting assembly 36 and connected to the shifting mechanism 4 through the correcting assembly 36 .

[0112] The deviation correction component 36 can realize automatic position adjustment of the entire plug-in structure within a certain range when the third clamping component 33 clamps the self-sealing male connector 11, thereby aligning the axes of the self-sealing male connector 11 and the self-sealing female connector 21.

[0113] For details, please refer to Figure 5 , Figure 5 It is a structural schematic diagram of an implementation method of the correction component of the present application.

[0114] like Figure 5 As shown, the deviation-correcting component 36 includes a fixed back plate 361 , which can be fixed on a robot and moved by the robot.

[0115] A cross slide unit 362 is provided on one side of the fixed back plate 361 . The cross slide unit 362 is used to connect with the first clamping assembly 31 , the second clamping assembly 32 and the third clamping assembly 33 .

[0116] Specifically, the cross slide unit 362 includes a vertically arranged lifting rail 3621, which is arranged on the surface of the fixed back plate 361, and a lifting slide 3622 is slidably arranged on the lifting rail 3621. A horizontally arranged translation rail 3623 is provided on one side of the lifting slide 3622, and a translation slide 3624 is slidably arranged on the translation rail 3623, and a mounting plate 3625 is fixed on the translation slide 3624, so that the mounting plate 3625 is connected to the plug-in structure composed of the first clamping assembly 31, the second clamping assembly 32, the third clamping assembly 33, the first drive assembly 34, and the second drive assembly 35, so as to realize the adaptive adjustment of the vertical position and the horizontal position of the plug-in structure.

[0117] Furthermore, in order to achieve adaptive adjustment of the rotation angle of the plug-in structure, the correction component 36 also includes a rotation unit 363, which is disposed on the mounting plate 3625 and connected to the first clamping component 31, the second clamping component 32 and the third clamping component 33.

[0118] Specifically, the rotating unit 363 includes a U-shaped frame 3631 installed on the mounting plate 3625. Specifically, the U-shaped frame 3631 includes a top plate 36311 and support arms 36312 symmetrically arranged on the bottom surfaces of both ends of the top plate 36311, the top plate 36311 is installed on the mounting plate 3625 through a rotating shaft 3632, and the U-shaped frame 3631 can be rotatably arranged around the rotating shaft 3632.

[0119] A rotating rod 3634 is installed at the bottom end of the support arm 36312 through the rotating shaft 3633 , and the rotating rod 3634 can be rotatably arranged around the rotating shaft 3633 .

[0120] The rotating rod 3634 is provided with a rotating end 3635 for connecting with the first clamping cylinder 311 , the second clamping cylinder 321 and the third clamping cylinder 331 , so as to realize the installation of the plug-in structure.

[0121] The cross slide unit 362 composed of the lifting guide rail 3621 and the translation guide rail 3623 can realize the adaptive adjustment of the vertical and horizontal positions of the plug-in structure. At the same time, the rotating shaft 3633 and the swivel shaft 3632 can realize the adaptive adjustment of the angle of the plug-in structure, thereby realizing automatic deviation correction operation.

[0122] Specifically, when the third clamp 332 is moved to the side of the self-sealing male head 11 and a pair of third clamps 332 are controlled to move toward each other to clamp the self-sealing male head 11, the third clamp 332 will move a small distance or angle under the action of the clamping force, thereby maintaining coaxiality with the self-sealing male head 11. Synchronously, under the action of the reaction force, the third clamp 332 will drag the entire plug-in structure to follow the movement or deflection, driving the lifting slide 3622, the translation slide 3623, the U-shaped frame 3631 and the rotating rod 3634 to perform corresponding actions, thereby ensuring the alignment of the self-sealing male head 11 and the self-sealing female head 21 and realizing automatic deviation correction.

[0123] It can be understood that by arranging the above-mentioned deviation correction component 36, the efficiency of automatic plugging and unplugging can be significantly improved, while the accuracy requirements for the manipulator operating the automatic plugging and unplugging mechanism 3 are reduced, and the occurrence of joint jamming can be avoided.

[0124] See also Figure 5 In order to realize the automatic resetting of the lifting slide 3622 and balance the weight of the lifting slide 3623, the mounting plate 3625 and the plug-in structure, a support spring 364 is arranged between the fixed back plate 361 and the lifting slide 3623.

[0125] The following specifically introduces the plugging and unplugging method of the plugging and unplugging mechanism 3 of the above embodiment, and the plugging and unplugging method includes:

[0126] The first clamping cylinder 311, the second clamping cylinder 321 and the third clamping cylinder 331 are controlled to be in an open state, the first driving cylinder 341 and the second driving cylinder 351 are controlled to be in a retracted state, and the first clamping cylinder 311 is moved to the side of the self-sealing female connector 21 of the hose 2, so that the sliding sleeve 212 of the self-sealing female connector 21 is located between the pair of second clamping blocks 322, and the connector body 211 of the self-sealing female connector 21 is located between the pair of first clamping blocks 312;

[0127] The first clamping cylinder 311 and the second clamping cylinder 321 are controlled to work, so that a pair of first clamping blocks 312 clamp the joint body 211 of the self-sealing female connector 21, and a pair of second clamping blocks 322 clamp the sliding sleeve 212 of the self-sealing female connector 21;

[0128] The first driving cylinder 341 is controlled to extend, and the second clamping cylinder 321 is driven to move toward the first clamping cylinder 311, so as to drive the sliding sleeve 212 to move toward the joint body 211, unlock the self-sealing female connector 21, and move the automatic plugging and unplugging mechanism 3 to complete the unplugging of the self-sealing female connector 21;

[0129] Move the first clamping cylinder 311, the second clamping cylinder 321 and the third clamping cylinder 331 to the self-sealing male head 11 of the cylinder 1, so that the self-sealing male head 11 is located between a pair of third clamping blocks 332;

[0130] The third clamping cylinder 331 is controlled to work, and a pair of third clamping blocks 332 clamp the self-sealing male head 11. The third clamping block 332 automatically adjusts its position during the clamping process, and synchronously drives the first clamping block 312 and the second clamping block 322 to fine-tune their positions, so that the axes of the self-sealing female head 21 and the self-sealing male head 11 are aligned;

[0131] The second driving cylinder 351 is controlled to extend, and the first clamping cylinder 311 and the second clamping cylinder 321 are driven to move toward the third clamping cylinder 331, so as to drive the self-sealing female head 21 to be inserted into the self-sealing male head 11;

[0132] The second clamping cylinder 321 is controlled to release the sliding sleeve 212 of the self-sealing female connector 21, so that the sliding sleeve 212 is reset and the self-sealing female connector 21 is locked;

[0133] The third clamping cylinder 331 and the first clamping cylinder 311 are controlled to be loosened, and the automatic plugging and pulling mechanism 3 is moved to complete the insertion of the self-sealing female connector 21 .

[0134] See also Figure 2 In one embodiment, the shifting mechanism 4 may include a truss manipulator, which may be arranged next to the plug-in and pull-out station 8 for placing the cylinder 1, so as to manipulate the plug-in and pull-out mechanism 3 to move along the X-axis direction, the Y-axis direction and the Z-axis direction.

[0135] Specifically, see Figure 6 , Figure 6 Schematic diagram of the structure of one embodiment of the displacement mechanism of the present application. Figure 6 As shown, the shifting mechanism 4 includes an X-axis assembly 41 , a Y-axis assembly 42 and a Z-axis assembly 43 .

[0136] The X-axis assembly 41 includes a gantry 411, which includes a pair of columns and a crossbeam arranged between the pair of columns. An X-axis guide rail 412 is arranged on the crossbeam, an X-axis slide plate 413 is slidably arranged on the X-axis guide rail 412, and an X-axis driving element 414 for driving the X-axis guide rail 412 to slide is also provided on the crossbeam.

[0137] The Y-axis assembly 42 includes a Y-axis guide rail 421 arranged on the X-axis slide 413, a Y-axis slide 422 is slidably arranged on the Y-axis guide rail 421, and the Y-axis assembly 42 also includes a Y-axis driving element 423 for driving the Y-axis slide 422 to slide.

[0138] The Z-axis assembly 43 includes a Z-axis frame 431 connected to the Y-axis slide 422, a Z-axis guide rail 432 is arranged on the Z-axis frame 431, a Z-axis slide 433 is slidably arranged on the Z-axis guide rail 432, and a manipulation end 435 for connecting with the plug-in mechanism 3 is arranged on the surface of the Z-axis slide 433, thereby driving the plug-in mechanism 3 to move. The Z-axis assembly 43 also includes a Z-axis driving element 434 for driving the Z-axis slide 433 to slide.

[0139] It can be understood that the above embodiment only exemplarily introduces one possible implementation method of the shifting mechanism 4 of the present application. In other embodiments, the shifting mechanism 4 can also be replaced by other structures in the prior art that can drive the plug-in mechanism 3 to move, and the effects of the present embodiment can be achieved.

[0140] For automatic positioning during the shifting process, see Figure 2 and Figure 7 , Figure 7 yes Figure 2 The automatic canning device further comprises a camera positioning mechanism 5. The camera positioning mechanism 5 comprises a first camera 51 and a second camera 52.

[0141] The first camera 51 is arranged on the Z-axis slide plate 433 , and the shooting end of the first camera 51 is set along the Z-axis direction toward the plugging and unplugging station 8 . The first camera 51 is used to locate the Y-axis coordinate of the self-sealing male connector 11 .

[0142] The second camera 52 is arranged on the side of the Y-axis slide 422 away from the plugging and unplugging station 8 , and the shooting end of the second camera 52 is set along the Y-axis direction toward the plugging and unplugging station 8 . The second camera 52 is used to locate the X-axis coordinate and the Z-axis coordinate of the self-sealing male connector 11 .

[0143] It can be understood that when the shifting mechanism 4 drives the plugging mechanism 3 to move to the side of the self-sealing male head 11 to be plugged in, the camera positioning mechanism 5 will follow the movement, and the first camera 51 and the second camera 52 can cooperate to automatically locate the three-dimensional coordinates of the self-sealing male head 11 when plugging in and out the self-sealing female head 21. By connecting the camera positioning mechanism 5 and the shifting mechanism 4 in communication, the three-dimensional coordinates of the self-sealing male head 11 can be sent to the shifting mechanism 4, so that the shifting mechanism 4 can accurately shift the self-sealing female head 21 to the corresponding position, thereby realizing the automatic positioning function during the shifting process.

[0144] In the above embodiment, the first camera 51 is arranged on the Z-axis slide 433, and the second camera 52 is arranged on the side of the Y-axis slide 422 away from the plug-in station 8; in other embodiments, the first camera 51 and the second camera 52 can also be arranged at other positions to ensure that the first camera 51 and the second camera 52 can move with the plug-in mechanism 3, and the first camera 51 is in a position capable of locating the Y-axis coordinate of the self-sealing male head 11, and the second camera 52 is in a position capable of locating the X-axis coordinate and the Z-axis coordinate of the self-sealing male head 11. For example, the first camera 51 can also be installed on the fixed back plate 361, and the second camera 52 can also be installed at other positions of the Y-axis slide 422, both of which can achieve the effect of this embodiment.

[0145] In one embodiment, in order to realize automatic loading and unloading of the steel cylinder 1 and realize multi-station synchronous filling at the same time, and improve the filling efficiency, please refer to Figure 2The automatic canning device also includes a conveyor belt 6.

[0146] The conveyor belt 6 is arranged beside the shifting mechanism 4 , and an insertion and extraction station 8 for placing the steel cylinder 1 is provided on the conveyor belt 6 . The conveyor belt 6 is used to move the steel cylinder 1 to be filled to the insertion and extraction station 8 , and to move the filled steel cylinder 1 out of the insertion and extraction station 8 .

[0147] Specifically, see Figure 2 and Figure 8 , Figure 8 It is a structural schematic diagram of an embodiment of the conveyor belt of the present application. Four plugging and unplugging stations 8 are arranged in sequence on the conveyor belt 6. The conveyor belt 6 is divided into a loading section 61, four working sections 62 and a unloading section 63 arranged in sequence along the conveying direction. The four working sections 62 are arranged in a one-to-one correspondence with the four plugging and unplugging stations 8. Each working section 62, loading section 61 and unloading section 63 is provided with a transmission drive element so that each working section 62, loading section 61 and unloading section 63 can work independently.

[0148] It can be understood that, through the independently working working section 62, the loading section 61 and the unloading section 63, the filled cylinder 1 can be first transferred out of the plugging and unplugging station 8, thereby improving the efficiency of the downstream process.

[0149] In one embodiment, see Figure 2 In order to facilitate the placement of the hose 2 on the plugging and unplugging station 8 when the canning is idle, a hose rack 7 is provided on each plugging and unplugging station 8. When the filling is idle, the self-sealing female connector 21 of the hose 2 can be placed on the hose rack 7; when quantitative filling is required, the self-sealing female connector 21 of the hose 2 needs to be removed from the hose rack 7 and inserted into the corresponding self-sealing male connector 11.

[0150] The present application also provides a canning method using the automatic canning device of the above embodiment, see Fig. 9 , Fig. 9 It is a flow chart of an implementation method of a canning method of the automatic canning device of the present application.

[0151] The canning method includes:

[0152] S100, controlling the conveyor belt to operate so as to transfer a plurality of canned containers to corresponding plugging and unplugging stations.

[0153] First, the canned containers can be placed in sequence on the loading section 61 of the conveyor belt 6 , and the canned containers can be transferred to the plugging and unplugging stations 8 in sequence via the conveyor belt 6 .

[0154] S200, control the shifting mechanism to work, move the plugging mechanism to the hose corresponding to the canned container at the tail end, control the plugging mechanism to clamp the self-sealing female head of the hose, and drive the sliding sleeve of the self-sealing female head to slide toward the connector body to unlock the self-sealing female head.

[0155] After loading is completed, the shift mechanism 4 can be controlled to work, and the plug-in mechanism 3 can be moved to the hose 2 of the can container at the tail end, and the hose 2 can be clamped and unlocked by the plug-in mechanism 3; wherein the tail end is close to the end of the unloading section 63.

[0156] S300, controlling the shifting mechanism to work, moving the self-sealing female head to the self-sealing male head of the canned container at the tail end, controlling the plugging mechanism to drive the sliding sleeve to reset and lock the self-sealing female head, and opening the canned container at the tail end.

[0157] Then, the plug-in mechanism 3 holding the hose 2 is shifted to the corresponding self-sealing male head 11 through the shifting mechanism 4, and the hose 2 is inserted into the self-sealing male head 11. At this time, the plug-in mechanism 3 can be controlled to lock the self-sealing female head 21, completing the insertion and locking operation of the hose 2, and opening the canning of the canning container at the tail end.

[0158] S400, repeating steps S200 and S300, completing the connection between each canned container and the hose one by one in the direction opposite to the conveying direction, and opening each canned container one by one.

[0159] The conveying direction is the direction from the feeding section 61 to the unloading section 63. Furthermore, the hose 2 of each canned container is inserted and locked one by one in the direction opposite to the conveying direction, and the canning of each canned container is opened one by one.

[0160] S500, after the canned container at the tail end is canned, the shifting mechanism is controlled to work, the plugging mechanism is moved to the self-sealing male head of the canned container at the tail end, the plugging mechanism is controlled to clamp the self-sealing female head of the hose, and the sliding sleeve of the self-sealing female head is driven to slide toward the connector body to unlock the self-sealing female head.

[0161] S600, control the shift mechanism to work, pull out the hose from the canned container at the tail end, control the working section and the unloading section at the tail end to work, and move out the canned container after canning.

[0162] S700, repeating steps S500 and S600, completing the operation of pulling out the hose of each canned container one by one in the direction opposite to the conveying direction, and moving each canned container out one by one.

[0163] It is understandable that since the canning container at the rear end starts canning first, it is canned first, and the hose 2 of the canning container at the rear end can be pulled out by the shifting mechanism 4 and independently transferred to the unloading section 63 for unloading through the conveyor belt 6 for subsequent processes.

[0164] Since multiple canned containers are inserted into the hose one by one in the direction opposite to the conveying direction to start canning, multiple canned containers are also canned one by one in the direction opposite to the conveying direction. After the canned container at the tail end is unloaded, the insertion and extraction mechanism 3 can be moved to the adjacent canned container in the direction opposite to the conveying direction by the shifting mechanism 4. After the canning is completed, the hose is pulled out and the conveyor belt is controlled to independently transport it to the unloading section 63 for unloading. Each canned container that has been canned is independently transported and unloaded in the direction opposite to the conveying direction until all the canned containers in the batch are canned, and then the next batch of canning can be started.

[0165] Since each canned container is discharged immediately after canning, the material incoming speed and processing efficiency of the subsequent processes can be effectively improved.

[0166] The above description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles corresponding to the present disclosure may be applied to other variations without departing from the scope of protection of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the widest range of principles and novel features disclosed herein.

Claims

1. An automatic canning device, characterized in that: Applicable to plugging and unplugging a hose on a canned container, the canned container is provided with a self-sealing male head, the end of the hose is provided with a self-sealing female head that matches the self-sealing male head, the self-sealing female head comprises a joint body and a sliding sleeve sleeved on the end of the joint body, the sliding sleeve can move along the axial direction of the joint body to unlock or lock the self-sealing female head; the automatic canning device comprises: A plug-in and pull-out mechanism, used for clamping the sliding sleeve and the joint body, and driving the sliding sleeve to move along the axial direction of the joint body; The displacement mechanism is used to drive the plugging and pulling mechanism to move, so as to drive the self-sealing female head to be inserted to move to the corresponding self-sealing male head, or to drive the self-sealing female head to be pulled away from the corresponding self-sealing male head.

2. The automatic canning device according to claim 1, characterized in that: The plug-in mechanism comprises: A first clamping assembly, used for clamping the joint body; A second clamping assembly, used for clamping the sliding sleeve; A first driving assembly, used for driving the first clamping assembly and the second clamping assembly to make relative motion, so as to drive the sliding sleeve to move along the axial direction of the joint body; Wherein, the first clamping assembly and / or the second clamping assembly are connected to the displacement mechanism.

3. The automatic canning device according to claim 2, characterized in that: The plug-in mechanism also includes: A third clamping assembly, used for clamping the self-sealing male head; A second driving assembly is used to drive the first clamping assembly and the second clamping assembly to synchronously move toward or away from the third clamping assembly, so as to drive the self-sealing female head to be inserted into the self-sealing male head or to be pulled out from the self-sealing female head; Among them, the clamping end of the first clamping assembly, the clamping end of the second clamping assembly and the clamping end of the third clamping assembly are coaxially arranged along the first direction; at least one of the first clamping assembly, the second clamping assembly and the third clamping assembly is connected to the shifting mechanism.

4. The automatic canning device according to claim 3, characterized in that: The plug-in mechanism further includes a main rod, which extends along the first direction and sequentially passes through the first clamping assembly, the second clamping assembly and the third clamping assembly.

5. The automatic canning device according to claim 3, characterized in that: The first driving assembly comprises: A first driving cylinder is arranged on a side of the first clamping assembly facing away from the second clamping assembly, and the side of the first driving cylinder facing away from the first clamping assembly is provided with an output end extending along the first direction; A first connecting rod, one end of which is connected to the output end of the first driving cylinder, and the other end of which extends along the first direction to penetrate the first clamping assembly and connect to the second clamping assembly; Wherein, the first driving cylinder can drive the output end to extend and retract along the first direction, so as to drive the second clamping assembly to move closer to or away from the first clamping assembly; The second driving assembly comprises: A second driving cylinder is arranged on a side of the third clamping assembly facing away from the second clamping assembly, and the side of the second driving cylinder facing away from the third clamping assembly is provided with an output end extending along the first direction; A second connecting rod, one end of which is connected to the output end of the second driving cylinder, and the other end of which extends along the first direction to sequentially penetrate the third clamping assembly, the second clamping assembly and the first clamping assembly; The second driving cylinder can drive the output end to extend and retract along the first direction, so as to drive the first clamping assembly and the second clamping assembly to move synchronously toward or away from the third clamping assembly.

6. The automatic canning device according to claim 3, characterized in that: The plug-in mechanism also includes a correction component, which includes a fixed backplate and a cross slide unit arranged on the fixed backplate, and the cross slide unit is provided with a mounting end for connecting to one or more of the first clamping assembly, the second clamping assembly and the third clamping assembly.

7. The automatic canning device according to claim 6, characterized in that: The deviation-correcting assembly further includes a rotating unit, which is arranged on the mounting end and includes a rotatably arranged rotating end connected to one or more of the first clamping assembly, the second clamping assembly and the third clamping assembly.

8. The automatic canning device according to claim 1, characterized in that: The shifting mechanism includes a truss manipulator, which is arranged next to the plugging and unplugging station for placing the canned container, and the truss manipulator includes a manipulation end for connecting to the plugging and unplugging mechanism. The truss manipulator can control the plugging and unplugging mechanism to move along the X-axis direction, the Y-axis direction and the Z-axis direction.

9. The automatic canning device according to claim 8, characterized in that: Also included is a camera positioning mechanism, the camera positioning mechanism comprising: A first camera is arranged above the operating end in the Z-axis direction, the shooting end of the first camera is arranged along the Z-axis direction toward the plugging and unplugging station, and the first camera is used to locate the Y-axis coordinate of the self-sealing male plug; A second camera is arranged on the side of the manipulation end away from the plugging and unplugging station in the Y-axis direction, and the shooting end of the second camera is arranged along the Y-axis direction toward the plugging and unplugging station, and the second camera is used to locate the X-axis coordinate and the Z-axis coordinate of the self-sealing male plug; Wherein, the camera positioning mechanism is communicatively connected with the shifting mechanism.

10. The automatic canning device according to claim 1, characterized in that: It also includes a conveyor belt, which is arranged next to the shifting mechanism and is provided with an insertion and extraction station for placing the canned containers. The conveyor belt is used to move the canned containers to be canned to the insertion and extraction station, and to move the canned containers that have been canned out of the insertion and extraction station.

11. The automatic canning device according to claim 10, characterized in that: The conveyor belt is provided with a plurality of sequentially arranged plugging and unplugging stations, and the conveyor belt is divided into a sequentially arranged loading section, a plurality of working sections and a unloading section along the conveying direction, and the plurality of working sections are arranged in one-to-one correspondence with the plurality of plugging and unplugging stations, and each of the working sections, the loading section and the unloading section is provided with a conveying drive element so that each of the working sections, the loading section and the unloading section can work independently.

12. A canning method using the automatic canning device according to claim 11, characterized in that: include: Controlling the conveyor belt to work so as to transfer the plurality of canned containers to corresponding plugging and unplugging stations; Control the shift mechanism to work, move the plug-in mechanism to the hose corresponding to the canned container at the tail end, control the plug-in mechanism to clamp the self-sealing female head of the hose, and drive the sliding sleeve of the self-sealing female head to slide toward the joint body to unlock the self-sealing female head; Control the shift mechanism to work, move the self-sealing female head to the self-sealing male head of the canning container at the tail end, control the plug-in mechanism to drive the sliding sleeve to reset and lock the self-sealing female head, and open the canning container at the tail end; Repeat the above two steps, complete the connection between each canned container and the hose one by one in the direction opposite to the conveying direction, and open the cans of each canned container one by one; After the canning of the canned container at the tail end is completed, the shifting mechanism is controlled to work, the plugging and pulling mechanism is moved to the self-sealing male head of the canned container at the tail end, the plugging and pulling mechanism is controlled to clamp the self-sealing female head of the hose, and the sliding sleeve of the self-sealing female head is driven to slide toward the joint body to unlock the self-sealing female head; Control the shifting mechanism to work, pull the hose out of the canned container at the tail end, control the working section and the unloading section at the tail end to work, and move the canned container out after canning; Repeat the above two steps, complete the pulling-out operation of the hose of each canned container one by one in the direction opposite to the conveying direction, and move each canned container out one by one.

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