Multi-size adjustable automatic butt-joint filling equipment

Abstract

The invention discloses multi-size adjustable automatic butt-joint filling equipment, which belongs to the technical field of automatic butt-joint filling and comprises a product supporting and adjusting mechanism, a storage container supporting and adjusting mechanism, a propelling mechanism and a measuring and centering mechanism, the product supporting and adjusting mechanism and the storage container supporting and adjusting mechanism are respectively used for supporting and adjusting postures of a product and a storage container, the product is of a cylindrical structure, and the storage container is of a sleeve structure with a circular-ring-shaped section; through the adjusting mechanism, the inner side maximum cylindrical surface formed by the multiple adjusted limiting arcs is in clearance fit with the outer surface of the product, then the variable-diameter guide ring is made to meet the filling requirements of products of multiple sizes, and the coaxiality of the storage container and the inner side maximum cylindrical surface is guaranteed through the laser three-dimensional scanning measurement system; key parameters such as the step amount and the clearance amount are detected, the coaxiality between the outer diameter of a product and a storage container is guaranteed in the filling process, the center height of automatic butt-joint filling equipment is reduced, and operation is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic docking and filling, in particular to a multi-size adjustable automatic docking and filling device. Background Art

[0002] The gap and step amount between the inner diameter of the storage container and the automatic docking equipment are key indicators. If the gap and step amount after docking exceed the indicator requirements, it will directly damage the loaded product. Existing automatic docking and filling equipment mostly uses a visual measurement system to ensure the coaxiality of the storage container and the product, and cannot automatically detect the important indicators of the gap and step amount between the inner diameter of the storage container and the automatic docking and filling equipment. At the same time, the visual measurement system requires a visual camera to capture the target posture to complete automatic docking. However, since many storage containers and products have no features to hang targets, automatic docking is difficult to achieve. The center height of the automatic docking and filling equipment directly affects the difficulty of operation for the auxiliary operator. The lower the center height, the easier it is for the auxiliary operator to operate. When it is necessary to dock products of different sizes, the existing automatic docking and filling equipment mostly replaces accessories that match the product to adapt to the loading of products of different diameters, affecting the docking efficiency. Therefore, it is very necessary to design an automatic docking and filling equipment with multi-size adjustment. Summary of the Invention

[0003] The object of the present invention is to provide an automatic docking and filling device with multi-size adjustment to solve the problems raised in the above background technology.

[0004] To solve the above technical problems, the present invention provides the following technical solutions: a multi-size adjustable automatic docking and filling device, comprising a product support and adjustment mechanism, a storage container support and adjustment mechanism, a propulsion mechanism, and a measurement and centering mechanism. The product support and adjustment mechanism and the storage container support and adjustment mechanism are respectively used to support and adjust the product and storage container. The product has a cylindrical structure, and the storage container has a sleeve structure with a circular cross-section. The propulsion mechanism is located at the end of the product support and adjustment mechanism away from the storage container and is used to propel the product toward the storage container. The product support and adjustment mechanism includes a support chassis 1 and a product posture adjustment mechanism provided on the support chassis 1 and slidingly matched with the support chassis 1; The storage container support and adjustment mechanism includes a second support chassis and a storage container posture adjustment mechanism provided on the second support chassis and slidably engaged with the second support chassis; The measuring and centering mechanism includes a variable diameter guide ring installed on one end of the supporting chassis one or the supporting chassis two and a laser three-dimensional scanning measurement system installed on one side of the variable diameter guide ring, the variable diameter guide ring includes an inner ring, an outer ring sleeved on the outer side of the inner ring and an adjustment mechanism provided between the inner ring and the outer ring, the inner ring includes a plurality of limit arcs spaced along the circumferential direction, the adjustment mechanism is used to synchronously drive the plurality of limit arcs to move radially, and the inner maximum cylindrical surface formed by the plurality of limit arcs after adjustment is in clearance fit with the outer surface of the product, the product posture adjustment mechanism drives the product along the supporting chassis one to approach or move away from the variable diameter guide ring, and the storage container posture adjustment mechanism drives the storage container along the supporting chassis two to approach or move away from the variable diameter guide ring; The laser three-dimensional scanning and measurement system is used to measure the geometric features of the storage container and the inner maximum cylindrical surface and calculate the gap, step amount and coaxiality between the two. The storage container posture adjustment mechanism performs centering adjustment on the storage container and the inner maximum cylindrical surface according to the gap, step amount and coaxiality. After completing the centering adjustment of the storage container, the laser three-dimensional scanning and measurement system measures the geometric features of the product and calculates the coaxiality deviation value between the product and the inner maximum cylindrical surface. The product posture adjustment mechanism performs centering adjustment on the product and the inner maximum cylindrical surface according to the coaxiality deviation value. After completing the centering adjustment of the product, the propulsion mechanism pushes the product into the storage container.

[0005] In a further embodiment, the laser three-dimensional scanning measurement system is provided on the variable diameter guide ring, and the laser three-dimensional scanning measurement system is arranged at the upper part and the lower part of the variable diameter guide ring.

[0006] In a further embodiment, the adjustment mechanism includes a fixed ring arranged between the inner ring and the outer ring, the fixed ring divides the cavity into a driving cavity and an adjustment cavity, a plurality of adjustment motors are provided in the driving cavity, the output end of the adjustment motor is connected to the adjustment screw, a threaded barrel is threadedly connected to the adjustment screw, a mounting seat is fixed on the end of the threaded barrel facing the inner ring, the limit arc is detachably mounted on the mounting seat, a limit column is fixed on the fixed ring, and a limit groove that slides with the limit column is provided on the mounting seat and the limit arc.

[0007] In a further embodiment, the support chassis one and the support chassis two have the same structure and both include a support frame. Electric legs connected to the support frame are provided on both sides of the support frame. Inclination sensors are also provided on both sides of the support frame. Guide rails are symmetrically arranged on the inner side of the support frame. The guide rails are a concave upper and convex lower structure. A rack is provided on the inner side of the support frame on one side of the guide rail. A grating scale is provided on the inner side of the support frame on one side of the rack. The variable diameter guide ring is located near the front end of the product.

[0008] In a further embodiment, the support frame is a circular arc segment structure, and the centers of the two support frames and the center of the inner largest cylindrical surface are located on the same horizontal axis.

[0009] In a further embodiment, the storage container posture adjustment mechanism and the product posture adjustment mechanism have the same structure, both including a posture adjustment chassis, the posture adjustment chassis is also a circular arc segment structure, the center of the posture adjustment chassis and the center of the inner largest cylindrical surface are located on the same horizontal axis, the posture adjustment chassis is provided with a driving mechanism for driving the posture adjustment chassis to move on the support chassis one or the support chassis two respectively, and axial guide mechanisms are provided at both ends of the posture adjustment chassis, and a bracket support seat is installed on the top of the posture adjustment chassis through a lifting mechanism, and an upper replaceable bracket is detachably installed on the top of the bracket support seat, and a grating scale reader that cooperates with the grating scale is also provided on the posture adjustment chassis.

[0010] In a further embodiment, the drive mechanism includes a dual-output shaft motor connected to the posture adjustment chassis, the dual output shafts of the dual-output shaft motor are connected to a coupling, the coupling is connected to a universal joint through a first transmission shaft, the universal joint is provided with a second transmission shaft connected to the posture adjustment chassis, the second transmission shaft is provided with a gear, and the gear is meshed with the rack.

[0011] In a further embodiment, the lifting mechanism includes a hollow motor connected to the posture adjustment chassis, the output end of the hollow motor is connected to the drive nut, and a self-locking screw is connected to the bottom of the bracket support seat, and the outer diameter of the self-locking screw matches the drive nut.

[0012] In a further embodiment, the axial guide mechanism includes a connecting block connected to the posture adjustment chassis, a concave guide wheel is provided below the connecting block, and a convex guide wheel is provided above the connecting block, and the concave guide wheel and the convex guide wheel are both matched with the guide rail.

[0013] In a further embodiment, the propulsion mechanism includes a propulsion bracket arranged above the support chassis, and a propulsion bracket posture adjustment mechanism is provided at the bottom of the propulsion bracket, which is slidably matched with the support chassis. The propulsion bracket posture adjustment mechanism has the same structure as the product posture adjustment mechanism. The propulsion bracket is provided with a propulsion motor on the side facing the product, and a pressure sensor is provided on the propulsion motor.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The adjustment mechanism synchronously drives several limiting arcs to move radially, so that there is a clearance fit between the inner largest cylindrical surface formed by the several adjusted limiting arcs and the outer surface of the product, thereby allowing the variable diameter guide ring to adapt to the loading requirements of products of various sizes; 2. Scan the inner diameter features of the product and storage container through the laser 3D scanning measurement system to achieve coaxial alignment of the product and storage container inner diameter, solving the problem of not being able to hang targets on the product and storage container; 3. A laser 3D scanning measurement system detects the geometric features, step amount, and gap amount between the inner diameter of the storage container and the inner maximum cylindrical surface formed by several limiting arcs within the variable diameter guide ring. This not only ensures the coaxiality of the storage container and the inner maximum cylindrical surface, but also detects key parameters such as step amount and gap amount. During the filling process, the geometric features of the product outer diameter and the inner maximum cylindrical surface formed by several limiting arcs within the variable diameter guide ring are detected in real time to ensure the coaxiality between the product outer diameter and the storage container. 4. The lifting mechanism adopts a hollow motor direct drive structure, which effectively reduces the center height of the existing posture adjustment mechanism; 5. The arc centering structure design makes it easier for the product and storage container to automatically adjust their center during the filling process, while reducing the center height of the automatic docking filling equipment, making operation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of the variable diameter guide ring of the present invention; Figure 2 This is a schematic diagram of the structure of the variable diameter guide ring after diameter change of the present invention; Figure 3 This is a schematic diagram of the overall structure of the laser three-dimensional scanning measurement system of the present invention when it is installed on one side of a variable-diameter guide ring; Figure 4 It is a structural schematic diagram of the product support and adjustment mechanism of the present invention; Figure 5 It is a schematic structural diagram of the axial guide mechanism of the present invention; Figure 6 It is a schematic structural diagram of the driving mechanism of the present invention; Figure 7 It is a schematic structural diagram of the vertical guide mechanism and lifting mechanism of the present invention; Figure 8 This is a structural diagram of a supporting chassis of the present invention; Figure 9 This is a schematic diagram of the rack, guide rail and grating scale installation structure of the present invention; Figure 10 It is a structural schematic diagram of the propulsion mechanism of the present invention; Figure 11This is a schematic diagram of the overall structure of the laser three-dimensional scanning measurement system of the present invention when it is installed on a variable-diameter guide ring; The accompanying drawings are marked as follows: product 1, storage container 2, product support and adjustment mechanism 3, product posture adjustment mechanism 4, support chassis 1 5, storage container support and adjustment mechanism 6, storage container posture adjustment mechanism 7, support chassis 2 8, propulsion mechanism 9, laser three-dimensional scanning measurement system 10, posture adjustment chassis 11, axial guide mechanism 12, drive mechanism 13, vertical guide mechanism 14, lifting mechanism 15, grating scale reader 16, upper interchangeable bracket 17, bracket support seat 18, connecting block 19, concave guide wheel 20, convex guide wheel 21, dual output shaft motor 22, coupling 23, universal coupling 2 4. Transmission shaft 1 25, transmission shaft 2 26, gear 27, outer support tube 28, inner guide column 29, self-locking screw 30, drive nut 31, hollow motor 32, electric support leg 33, inclination sensor 34, support frame 35, rack 36, guide rail 37, grating scale 38, variable diameter guide ring 39, propulsion bracket 40, pressure sensor 41, propulsion motor 42, inner ring 43, fixing ring 44, outer ring 45, drive cavity 46, adjustment cavity 47, fixing column 48, adjustment motor 49, adjusting screw 50, threaded tube 51, mounting seat 52, limit arc 53, limit column 54. DETAILED DESCRIPTION

[0016] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0017] Example 1: See also Figure 1 、 Figure 2 and Figure 3 The present invention provides a technical solution: an automatic docking and filling device with multiple size adjustments, comprising a product support and adjustment mechanism 3, a storage container support and adjustment mechanism 6, a propulsion mechanism 9, and a measurement and centering mechanism. The product support and adjustment mechanism 3 and the storage container support and adjustment mechanism 6 are respectively used to support and adjust the posture of a product 1 and a storage container 2. The product 1 has a cylindrical structure, and the storage container 2 has a sleeve structure with a circular cross-section. The propulsion mechanism 9 is provided at the end of the product support and adjustment mechanism 3 away from the storage container 2 and is used to propel the product 1 toward the storage container 2. The product support and adjustment mechanism 3 includes a support chassis 1 5 and a product posture adjustment mechanism 4 provided on the support chassis 1 5 and slidingly cooperating with the support chassis 1 5; The storage container support and adjustment mechanism 6 includes a support chassis 2 8 and a storage container posture adjustment mechanism 7 provided on the support chassis 2 8 and slidingly engaged with the support chassis 2 8; The measurement and centering mechanism includes a variable diameter guide ring 39 mounted on one end of the support chassis 1 5 or the support chassis 2 8 and a laser three-dimensional scanning measurement system 10 mounted on one side of the variable diameter guide ring 39. The variable diameter guide ring 39 includes an inner ring 43, an outer ring 45 sleeved on the outside of the inner ring 43, and an adjustment mechanism provided between the inner ring 43 and the outer ring 45. The inner ring 43 includes a plurality of limit arcs 53 spaced apart along the circumferential direction. The adjustment mechanism is used to synchronously drive the plurality of limit arcs 53 to move radially. The maximum inner cylindrical surface formed by the plurality of limit arcs 53 after adjustment is in clearance fit with the outer surface of the product 1. The product posture adjustment mechanism 4 drives the product 1 along the support chassis 1 5 toward or away from the variable diameter guide ring 39. The storage container posture adjustment mechanism 7 drives the storage container 2 along the support chassis 2 8 toward or away from the variable diameter guide ring 39. The laser three-dimensional scanning measurement system 10 is used to measure the geometric features of the storage container 2 and the inner maximum cylindrical surface and calculate the gap, step amount and coaxiality between the two. The storage container posture adjustment mechanism 7 aligns the storage container 2 and the inner maximum cylindrical surface according to the gap, step amount and coaxiality. After completing the centering adjustment of the storage container 2, the laser three-dimensional scanning measurement system 10 measures the geometric features of the product 1 and calculates the coaxiality deviation value between the product 1 and the inner maximum cylindrical surface. The product posture adjustment mechanism 4 aligns the product 1 and the inner maximum cylindrical surface according to the coaxiality deviation value. After completing the centering adjustment of the product 1, the pushing mechanism 9 pushes the product 1 into the storage container 2.

[0018] In a further embodiment, the laser three-dimensional scanning measurement system 10 is arranged on one side of the variable diameter guide ring 39. The laser three-dimensional scanning measurement system 10 simultaneously projects multiple laser lines parallel to the inner diameter of the storage container 2 and the inner maximum cylindrical surface. The inner diameter of the storage container 2 and the generatrix characteristics of the inner maximum cylindrical surface are measured through the laser lines, and the inner diameter of the storage container 2 and the axis characteristics of the inner maximum cylindrical surface are fitted, thereby measuring the coaxiality of the inner diameter of the storage container 2 and the inner maximum cylindrical surface. At the same time, the gap and step amount between the end faces of the storage container 2 and the inner maximum cylindrical surface can be measured through the laser lines. The laser three-dimensional scanning measurement system 10 records the fitted inner diameter of the storage container 2 and the axis characteristics of the inner maximum cylindrical surface.

[0019] In a further embodiment, when the left and right arranged laser three-dimensional scanning measurement systems 10 measure the inner diameter and the inner maximum cylindrical surface diameter of the storage container 2, the laser projector on the left laser three-dimensional scanning measurement system 10 can measure the right side features of the inner diameter and the inner maximum cylindrical surface diameter of the storage container 2, and the laser projector on the right laser three-dimensional scanning measurement system 10 can measure the left side features of the inner diameter and the inner maximum cylindrical surface diameter of the storage container 2; when measuring the outer diameter of the product 1, the laser projector on the left laser three-dimensional scanning measurement system 10 measures the left side features of the product 1, and the laser projector on the right laser three-dimensional scanning measurement system 10 measures the right side features of the product 1.

[0020] Example 2: See also Figure 1 and Figure 11 The laser three-dimensional scanning measurement system 10 is provided on the variable diameter guide ring 39 , and the laser three-dimensional scanning measurement system 10 is arranged at the upper and lower parts of the variable diameter guide ring 39 .

[0021] In a further embodiment, when the product 1 approaches the variable diameter guide ring 39, the laser three-dimensional scanning measurement system 10 simultaneously projects multiple laser lines parallel to the outer diameter of the product 1, measures the generatrix characteristics of the outer diameter of the product 1 through the laser lines, and fits the axis characteristics of the outer diameter of the product 1. The laser three-dimensional scanning measurement system 10 compares the fitted outer axis of the product 1 with the recorded inner diameter and the axis of the inner maximum cylindrical surface of the storage container 2, thereby measuring the coaxiality of the outer diameter of the product 1 and the inner maximum cylindrical surface. When the product 1 is loaded into the storage container 2, the laser three-dimensional scanning measurement system 10 detects the coaxiality of the outer diameter of the product 1 and the inner maximum cylindrical surface in real time.

[0022] In a further embodiment, Figure 1 and Figure 2 As shown, the adjustment mechanism includes a fixed ring 44 arranged between the inner ring 43 and the outer ring 45. The fixed ring 44 divides the cavity into a driving cavity 46 and an adjustment cavity 47. A plurality of adjustment motors 49 are provided in the driving cavity 46. The output end of the adjustment motor 49 is connected to the adjustment screw 50. A threaded barrel 51 is threadedly connected to the adjustment screw 50. A mounting seat 52 is fixed to the end of the threaded barrel 51 facing the inner ring 43. The limit arc 53 is detachably mounted on the mounting seat 52. A limit column 54 is fixed on the fixed ring 44. A limit groove that slides with the limit column 54 is provided on the mounting seat 52 and the limit arc 53.

[0023] Through the above technical solution, by synchronously driving the adjusting motor 49, the adjusting screw 50 is driven to rotate, so that the threaded barrel 51 moves on the adjusting screw 50, and then the limiting arc 53 is pushed to move radially through the mounting seat 52, so that the inner maximum cylindrical surface formed by the adjusted several limiting arcs 53 and the outer surface of the product 1 are clearance-matched, and the limiting column 54 slides with the limiting groove to make the mounting seat 52 move stably, wherein several fixing columns 48 are fixed on the fixing ring 44 at intervals along the circumference, one end of the fixing column 48 is fixedly connected to the outer ring 45, and the other end of the fixing column 48 is fixed with a guide arc, and both ends of the guide arc are in contact with adjacent limiting arcs 53, and a circular ring is formed between the several guide arcs and the several limiting arcs 53, and the center of the limiting arc 53 and the center of the inner maximum cylindrical surface are located on the same horizontal axis.

[0024] In a further embodiment, Figure 8 and Figure 9 As shown, support chassis 1 5 and support chassis 2 8 have the same structure and both include a support frame 35. Electric legs 33 connected to the support frame 35 are provided on both sides of the support frame 35. Inclination sensors 34 are also provided on both sides of the support frame 35. Guide rails 37 are symmetrically arranged on the inner side of the support frame 35. The guide rails 37 are a concave upper and convex lower structure. The guide rails 37 are V-shaped and installed on both sides of the support frame 35. A rack 36 is provided on the inner side of the support frame 35 on one side of the guide rail 37. A grating scale 38 is provided on the inner side of the support frame 35 on one side of the rack 36. A variable diameter guide ring 39 is located near the front end of the product 1.

[0025] Through the above technical solution, the axial and radial inclination angles of the support frame 35 are automatically detected by the inclination sensor 34, and the inclination of the support frame 35 is adjusted by the electric support legs 33 to make the support frame 35 horizontal. The grating scale 38 cooperates with the grating scale reader 16 to facilitate the detection of the forward distance of the product 1.

[0026] In a further embodiment, Figure 3 and Figure 8 As shown, the support frame 35 is a circular arc segment structure, and the centers of the two support frames 35 and the center of the inner largest cylindrical surface are located on the same horizontal axis.

[0027] Through the above technical solution, by setting the center of the two support frames 35 and the center of the inner largest cylindrical surface on the same horizontal axis, the center height of the support frame 35 is lowered, which is convenient for the operator's operation, and also convenient for the centering adjustment of the product 1 and the storage container 2 with the inner largest cylindrical surface, and convenient for the subsequent filling operation of the product 1 and the storage container 2.

[0028] In a further embodiment, Figure 3 and Figure 4As shown, the storage container posture adjustment mechanism 7 and the product posture adjustment mechanism 4 have the same structure and both include a posture adjustment chassis 11. The posture adjustment chassis 11 is also an arc segment structure. The center of the posture adjustment chassis 11 and the center of the inner largest cylindrical surface are located on the same horizontal axis. The posture adjustment chassis 11 is provided with a driving mechanism 13 for driving the posture adjustment chassis 11 to move on the supporting chassis 1 5 or the supporting chassis 2 8 respectively. Axial guide mechanisms 12 are provided at both ends of the posture adjustment chassis 11. A bracket support seat 18 is installed on the top of the posture adjustment chassis 11 through a lifting mechanism 15. An upper replaceable bracket 17 is detachably installed on the top of the bracket support seat 18. The posture adjustment chassis 11 is also provided with a grating scale reader 16 that cooperates with the grating scale 38.

[0029] Through the above technical solution, the driving mechanism 13 drives the posture adjustment chassis 11 to move on the supporting chassis 1 5 or the supporting chassis 2 8 respectively, and the axial guide mechanism 12 and the posture adjustment chassis 11 form an arc centripetal structure to realize centering guidance on the supporting chassis 1 5 or the supporting chassis 2 8. The height of the bracket support seat 18 is adjusted by the lifting mechanism 15, and the detachable upper replaceable bracket 17 is used to facilitate the loading operation of products 1 of different diameters.

[0030] In a further embodiment, Figure 6 As shown, the drive mechanism 13 includes a dual-output shaft motor 22 connected to the posture adjustment chassis 11, the dual output shafts of the dual-output shaft motor 22 are connected to the coupling 23, the coupling 23 is connected to the universal coupling 24 through the transmission shaft 1 25, the universal coupling 24 is provided with a transmission shaft 2 26 connected to the posture adjustment chassis 11, the transmission shaft 2 26 is provided with a gear 27, and the gear 27 is meshed with the rack 36.

[0031] Through the above technical solution, the dual-output shaft motor 22 drives the coupling 23 to rotate, and then drives the universal joint 24 to rotate through the transmission shaft 1 25, and then drives the gear 27 to rotate through the transmission shaft 2 26. The gear 27 engages with the rack 36, so that the posture adjustment chassis 11 moves along the guide rail 37.

[0032] In a further embodiment, Figure 7 As shown, the lifting mechanism 15 includes a hollow motor 32 connected to the posture adjustment chassis 11, the output end of the hollow motor 32 is connected to the driving nut 31, and a self-locking screw 30 is connected to the bottom of the bracket support seat 18. The outer diameter of the self-locking screw 30 matches the driving nut 31, and the driving nut 31 is threadedly connected to the self-locking screw 30.

[0033] Through the above technical solution, the hollow motor 32 drives the driving nut 31 to rotate, so that the self-locking screw 30 drives the bracket support seat 18 to move up and down, which facilitates the adjustment of the height of the bracket support seat 18. The setting of the hollow motor 32 effectively reduces the center height of the product posture adjustment mechanism 4.

[0034] In a further embodiment, Figure 5 As shown, the axial guide mechanism 12 includes a connecting block 19 connected to the posture adjustment chassis 11, an inner concave guide wheel 20 is provided below the connecting block 19, and an outer convex guide wheel 21 is provided above the connecting block 19. Both the inner concave guide wheel 20 and the outer convex guide wheel 21 cooperate with the guide rail 37.

[0035] Through the above technical solution, the concave guide wheel 20 and the convex guide wheel 21 cooperate with the guide rail 37 to facilitate the sliding of the posture adjustment chassis 11 on the support frame 35, thereby realizing the centering and guiding operation.

[0036] In a further embodiment, Figure 7 As shown, a vertical guide mechanism 14 is also provided on the posture adjustment chassis 11. The vertical guide mechanism 14 includes an outer support tube 28 provided on the posture adjustment chassis 11. An inner guide column 29 is fixed to the bottom of the bracket support seat 18. The inner guide column 29 extends into the outer support tube 28 and slides with the outer support tube 28.

[0037] Through the above technical solution, the outer support tube 28 cooperates with the inner guide column 29, so that the bracket support seat 18 can move up and down stably.

[0038] In a further embodiment, Figure 3 and Figure 10 As shown, the propulsion mechanism 9 includes a propulsion bracket 40 arranged above the supporting chassis 5, and a propulsion bracket posture adjustment mechanism is provided at the bottom of the propulsion bracket 40, which is slidably matched with the supporting chassis 5. The propulsion bracket posture adjustment mechanism has the same structure as the product posture adjustment mechanism 4. A propulsion motor 42 is provided on the side of the propulsion bracket 40 facing the product 1, and a pressure sensor 41 is provided on the propulsion motor 42.

[0039] Through the above technical solution, the height of the propulsion bracket 40 can be conveniently adjusted through the propulsion bracket posture adjustment mechanism. At the same time, the propulsion bracket 40 is pushed to slide on the supporting chassis 5 through the propulsion bracket posture adjustment mechanism, and the product 1 is pushed by the propulsion motor 42. The propulsion force during the propulsion process is detected by the pressure sensor 41, and whether the filling is in place is judged through the double closed loop of displacement and pressure.

[0040] In a further embodiment, a method for operating an automatic docking and filling device comprises the following steps: S1. The variable-diameter guide ring 39 and the three-dimensional laser scanning measurement system 10 are installed on the product support adjustment mechanism 3 or the storage container support adjustment mechanism 6. When the automatic docking and filling equipment is first deployed, the inclination sensor 34 detects the inclination of the product support adjustment mechanism 3 and the storage container support adjustment mechanism 6, and the electric support legs 33 perform leveling. S2. Product 1 and storage container 2 are hoisted onto product posture adjustment mechanism 4 and storage container posture adjustment mechanism 7, respectively. Based on the product size, the adjustment mechanism synchronously drives multiple limiting arcs 53 to move radially, so that the adjusted inner maximum cylindrical surface formed by the multiple limiting arcs 53 aligns with the outer surface of product 1. After adjustment, the three-dimensional laser scanning measurement system 10 measures the geometric characteristics of the inner diameter and the inner maximum cylindrical surface of storage container 2. The gap, step, and coaxiality between the inner diameter of storage container 2 and the inner maximum cylindrical surface are calculated. The coaxiality, gap, and step between the inner diameter of storage container 2 and the inner maximum cylindrical surface are then adjusted by the storage container posture adjustment mechanism 7. S3. Product alignment mechanism 4 moves product 1 toward variable-diameter guide ring 39. Laser 3D scanning measurement system 10 measures the geometric characteristics of product 1's outer diameter, fits the product axis, and determines the coaxiality deviation between product 1 and the largest inner cylindrical surface. The alignment is then automatically adjusted to within the required range. S4. The propulsion mechanism 9 is connected to the product 1 and pushes the product 1 into the storage container 2. The propulsion force of the equipment is detected by the pressure sensor 41, and the propulsion distance is detected by the grating ruler 38. After the product is pushed into place, the propulsion force will rise, and if the propulsion displacement meets the requirements, it is considered that the product is loaded into place.

[0041] The preferred specific embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above specific embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. An automatic docking and filling device with multi-size adjustment, characterized in that: The invention comprises a product support and adjustment mechanism (3), a storage container support and adjustment mechanism (6), a propulsion mechanism (9) and a measurement and centering mechanism, wherein the product support and adjustment mechanism (3) and the storage container support and adjustment mechanism (6) are used to support and adjust the posture of the product (1) and the storage container (2), respectively; the product (1) is a cylindrical structure, and the storage container (2) is a sleeve structure with a circular cross-section; the propulsion mechanism (9) is arranged at one end of the product support and adjustment mechanism (3) away from the storage container (2) and is used to push the product (1) toward the storage container (2); The product support adjustment mechanism (3) comprises a support chassis (5) and a product posture adjustment mechanism (4) provided on the support chassis (5) and slidably matched with the support chassis (5); The storage container support and adjustment mechanism (6) comprises a second support chassis (8) and a storage container posture adjustment mechanism (7) provided on the second support chassis (8) and slidably engaged with the second support chassis (8); The measuring centering mechanism comprises a variable diameter guide ring (39) mounted on one end of the supporting chassis 1 (5) or the supporting chassis 2 (8) and a laser three-dimensional scanning measurement system (10) mounted on one side of the variable diameter guide ring (39), wherein the variable diameter guide ring (39) comprises an inner ring (43), an outer ring (45) sleeved on the outer side of the inner ring (43), and an adjustment mechanism provided between the inner ring (43) and the outer ring (45), wherein the inner ring (43) comprises a plurality of limit arcs (53) spaced apart along the circumferential direction. The adjustment mechanism is used to synchronously drive a plurality of limit arcs (53) to move radially, and a clearance fit is formed between the inner maximum cylindrical surface formed by the plurality of limit arcs (53) after adjustment and the outer surface of the product (1). The product posture adjustment mechanism (4) drives the product (1) along the support chassis 1 (5) to approach or move away from the variable diameter guide ring (39), and the storage container posture adjustment mechanism (7) drives the storage container (2) along the support chassis 2 (8) to approach or move away from the variable diameter guide ring (39); The laser three-dimensional scanning measurement system (10) is used to measure the geometric features of the storage container (2) and the inner maximum cylindrical surface and calculate the gap, step amount and coaxiality between the two. The storage container posture adjustment mechanism (7) performs centering adjustment on the storage container (2) and the inner maximum cylindrical surface according to the gap, step amount and coaxiality. After completing the centering adjustment of the storage container (2), the laser three-dimensional scanning measurement system (10) measures the geometric features of the product (1) and calculates the coaxiality deviation value between the product (1) and the inner maximum cylindrical surface. The product posture adjustment mechanism (4) performs centering adjustment on the product (1) and the inner maximum cylindrical surface according to the coaxiality deviation value. After completing the centering adjustment of the product (1), the propulsion mechanism (9) pushes the product (1) into the storage container (2).

2. The multi-size adjustable automatic docking and filling device according to claim 1, characterized in that: The three-dimensional laser scanning measurement system (10) is provided on the variable-diameter guide ring (39), and the three-dimensional laser scanning measurement system (10) is arranged at the upper and lower parts of the variable-diameter guide ring (39).

3. The multi-size adjustable automatic docking and filling equipment according to claim 1 or 2, characterized in that: The adjustment mechanism includes a fixed ring (44) arranged between the inner ring (43) and the outer ring (45), the fixed ring (44) divides the cavity into a driving cavity (46) and an adjusting cavity (47), a plurality of adjusting motors (49) are arranged in the driving cavity (46), the output end of the adjusting motor (49) is connected to the adjusting screw (50), the adjusting screw (50) is threadedly connected with a threaded barrel (51), the threaded barrel (51) is fixed with a mounting seat (52) at one end facing the inner ring (43), the limiting arc (53) is detachably mounted on the mounting seat (52), the limiting column (54) is fixed on the fixed ring (44), and the mounting seat (52) and the limiting arc (53) are provided with a limiting groove that slidably cooperates with the limiting column (54).

4. The multi-size adjustable automatic docking and filling device according to claim 1 or 2, characterized in that: The supporting chassis 1 (5) and the supporting chassis 2 (8) have the same structure and both include a supporting frame (35). Electric legs (33) connected to the supporting frame (35) are provided on both sides of the supporting frame (35). Inclination sensors (34) are also provided on both sides of the supporting frame (35). Guide rails (37) are symmetrically arranged on the inner side of the supporting frame (35). The guide rails (37) are of an upper concave and lower convex structure. A rack (36) is provided on the inner side of the supporting frame (35) on one side of the guide rail (37). A grating scale (38) is provided on the inner side of the supporting frame (35) on one side of the rack (36). The variable diameter guide ring (39) is located near the front end of the product (1).

5. The multi-size adjustable automatic docking and filling equipment according to claim 4, characterized in that: The support frame (35) is an arc segment structure, and the centers of the two support frames (35) and the center of the inner largest cylindrical surface are located on the same horizontal axis.

6. The multi-size adjustable automatic docking and filling device according to claim 5, characterized in that: The storage container posture adjustment mechanism (7) and the product posture adjustment mechanism (4) have the same structure and both include a posture adjustment chassis (11). The posture adjustment chassis (11) is also an arc segment structure. The center of the posture adjustment chassis (11) and the center of the inner largest cylindrical surface are located on the same horizontal axis. The posture adjustment chassis (11) is provided with a driving mechanism (13) for driving the posture adjustment chassis (11) to move on the supporting chassis one (5) or the supporting chassis two (8). Both ends of the posture adjustment chassis (11) are provided with an axial guide mechanism (12). The top of the posture adjustment chassis (11) is installed with a bracket support seat (18) through a lifting mechanism (15). The top of the bracket support seat (18) is detachably installed with an upper replaceable bracket (17). The posture adjustment chassis (11) is also provided with a grating scale reader (16) that matches the grating scale (38).

7. The multi-size adjustable automatic docking and filling device according to claim 6, characterized in that: The driving mechanism (13) includes a dual-output shaft motor (22) connected to the posture adjustment chassis (11), the dual output shafts of the dual-output shaft motor (22) are connected to a coupling (23), the coupling (23) is connected to a universal coupling (24) via a transmission shaft 1 (25), the universal coupling (24) is provided with a transmission shaft 2 (26) connected to the posture adjustment chassis (11), the transmission shaft 2 (26) is provided with a gear (27), and the gear (27) is meshed with the rack (36).

8. The multi-size adjustable automatic docking and filling device according to claim 6, characterized in that: The lifting mechanism (15) includes a hollow motor (32) connected to the posture adjustment chassis (11), the output end of the hollow motor (32) is connected to the driving nut (31), and the bottom of the bracket support seat (18) is connected to a self-locking screw (30), and the outer diameter of the self-locking screw (30) matches the driving nut (31).

9. The multi-size adjustable automatic docking and filling device according to claim 6, characterized in that: The axial guide mechanism (12) includes a connecting block (19) connected to the posture adjustment chassis (11), a concave guide wheel (20) is provided below the connecting block (19), and a convex guide wheel (21) is provided above the connecting block (19), and both the concave guide wheel (20) and the convex guide wheel (21) are matched with the guide rail (37).

10. The multi-size adjustable automatic docking and filling device according to claim 6, characterized in that: The propulsion mechanism (9) includes a propulsion bracket (40) arranged above the supporting chassis (5), a propulsion bracket posture adjustment mechanism that is slidably matched with the supporting chassis (5) is provided at the bottom of the propulsion bracket (40), and the propulsion bracket posture adjustment mechanism has the same structure as the product posture adjustment mechanism (4). A propulsion motor (42) is provided on the side of the propulsion bracket (40) facing the product (1), and a pressure sensor (41) is provided on the propulsion motor (42).

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