Automatic butt-joint filling equipment based on laser three-dimensional scanning

Abstract

The invention discloses automatic butt-joint filling equipment based on laser three-dimensional scanning, 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; the laser three-dimensional scanning measurement system is used for detecting the inner diameter of the storage container and the geometrical characteristics, the step quantity and the clearance quantity of the guide ring, the coaxiality of the storage container and the guide ring can be guaranteed, meanwhile, key parameters such as the step quantity and the clearance quantity can be detected, and the outer diameter of a product and the geometrical characteristics of the guide ring are detected in real time in the filling process; the coaxiality between the outer diameter of a product and a storage container can be guaranteed, 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, and in particular to an automatic docking and filling device based on laser three-dimensional scanning. 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 filled 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 for hanging 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. Therefore, it is necessary to design an automatic docking and filling equipment based on laser three-dimensional scanning. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic docking and filling device based on laser three-dimensional scanning 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: an automatic docking and filling device based on three-dimensional laser scanning, 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.

[0005] 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;

[0006] 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 matched with the second support chassis;

[0007] The measurement and centering mechanism includes a guide ring detachably mounted on one end of the first support chassis adjacent to the storage container support and adjustment mechanism, and a laser three-dimensional scanning measurement system mounted on one side of the guide ring. A circular hole is provided in the middle of the guide ring to fit the gap with the product. The product posture adjustment mechanism drives the product along the first support chassis toward or away from the guide ring, and the storage container posture adjustment mechanism drives the storage container along the second support chassis toward or away from the guide ring.

[0008] The laser three-dimensional scanning measurement system is used to measure the geometric characteristics of the inner diameter of the storage container and the guide ring 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 guide ring according to the gap, step amount and coaxiality. After the storage container centering adjustment is completed, the laser three-dimensional scanning measurement system measures the geometric characteristics of the outer diameter of the product and calculates the coaxiality deviation value between the product and the guide ring. The product posture adjustment mechanism performs centering adjustment on the product and the guide ring according to the coaxiality deviation value. After the product centering adjustment is completed, the propulsion mechanism pushes the product into the storage container.

[0009] In a further embodiment, the three-dimensional laser scanning measurement system is provided on the guide ring, and the three-dimensional laser scanning measurement system is arranged at the upper part and the lower part of the guide ring.

[0010] 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 guide ring is provided on the support frame of the support chassis two near the front end of the product.

[0011] 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 circular hole in the middle of the guide ring are located on the same horizontal axis.

[0012] In further embodiments, the storage container posture adjusting mechanism and the product posture adjusting mechanism are identical in structure, both comprising a posture adjusting disc, which is also in the structure of an arc segment, the center of the posture adjusting disc and the center of the middle circular hole of the guide ring are located on the same horizontal axis, a driving mechanism is arranged on the posture adjusting disc for driving the posture adjusting disc to move on the support disc one or the support disc two respectively, axial guide mechanisms are arranged at both ends of the posture adjusting disc, a bracket support seat is installed on the top of the posture adjusting disc through a lifting mechanism, an upper replaceable bracket is detachably installed on the top of the bracket support seat, and a grating ruler reading head matched with the grating ruler is further arranged on the posture adjusting disc.

[0013] In further embodiments, the driving mechanism comprises a double-output shaft motor connected with the posture adjusting disc, the double-output shaft of the double-output shaft motor is connected with a shaft coupling, the shaft coupling is connected with a transmission shaft two through a universal coupling, the universal coupling is provided with a transmission shaft two connected with the posture adjusting disc, the transmission shaft two is provided with a gear, and the gear is engaged with the rack.

[0014] In further embodiments, the lifting mechanism comprises a hollow motor connected with the posture adjusting disc, the output end of the hollow motor is connected with a driving nut, and the bottom of the bracket support seat is connected with a self-locking lead screw, the outer diameter of the self-locking lead screw is matched with the driving nut.

[0015] In further embodiments, the axial guide mechanism comprises a connecting block connected with the posture adjusting disc, an inner recessed guide wheel is arranged below the connecting block, and an outer convex guide wheel is arranged above the connecting block, both the inner recessed guide wheel and the outer convex guide wheel are matched with the guide rail.

[0016] In further embodiments, a vertical guide mechanism is further arranged on the posture adjusting disc, the vertical guide mechanism comprises an outer support cylinder arranged on the posture adjusting disc, and an inner guide column fixed at the bottom of the bracket support seat, the inner guide column extends into the outer support cylinder and is in sliding fit with the outer support cylinder.

[0017] In further embodiments, the advancing mechanism comprises an advancing support arranged above the support disc one, the advancing support is provided at the bottom with an advancing support posture adjusting mechanism in sliding fit with the support disc one, the advancing support posture adjusting mechanism is identical in structure with the product posture adjusting mechanism, the advancing support is provided at the side facing the product with an advancing motor, and the advancing motor is provided with a pressure sensor.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1. 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;

[0020] 2. The laser 3D scanning measurement system detects the geometric features, step amount, and gap amount of the storage container inner diameter and the guide ring. This not only ensures the coaxiality of the storage container and the guide ring, 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 guide ring are detected in real time to ensure the coaxiality between the product outer diameter and the storage container.

[0021] 3. The lifting mechanism adopts a hollow motor direct drive structure, which effectively reduces the center height of the existing posture adjustment mechanism;

[0022] 4. 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 easier;

[0023] 5. By replacing the upper interchangeable bracket and guide ring structure, it can adapt to the loading of products of different diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 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 guide ring;

[0025] Figure 2 It is a structural schematic diagram of the product support and adjustment mechanism of the present invention;

[0026] Figure 3 It is a schematic structural diagram of the axial guide mechanism of the present invention;

[0027] Figure 4 It is a schematic structural diagram of the driving mechanism of the present invention;

[0028] Figure 5 It is a schematic structural diagram of the vertical guide mechanism and lifting mechanism of the present invention;

[0029] Figure 6 This is a structural diagram of a supporting chassis of the present invention;

[0030] Figure 7 This is a schematic diagram of the rack, guide rail and grating scale installation structure of the present invention;

[0031] Figure 8 It is a structural schematic diagram of the propulsion mechanism of the present invention;

[0032] Figure 9 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 a guide ring;

[0033] 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 24, drive shaft 1 25, drive 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, guide ring 39, propulsion bracket 40, pressure sensor 41, propulsion motor 42. DETAILED DESCRIPTION

[0034] 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.

[0035] Example 1:

[0036] See also Figure 1 and Figure 6 The present invention provides a technical solution: an automatic docking and filling device based on laser three-dimensional scanning, 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 push the product 1 toward the storage container 2.

[0037] 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;

[0038] 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;

[0039] The measurement and centering mechanism includes a guide ring 39 detachably mounted on one end of the support chassis 1 5 adjacent to the storage container support and adjustment mechanism 6, and a laser three-dimensional scanning measurement system 10 mounted on one side of the guide ring 39. A circular hole is provided in the middle of the guide ring 39 to provide clearance for the product 1. The product posture adjustment mechanism 4 drives the product 1 toward or away from the guide ring 39 along the support chassis 1 5, while the storage container posture adjustment mechanism 7 drives the storage container 2 toward or away from the guide ring 39 along the support chassis 2 8.

[0040] The laser three-dimensional scanning measurement system 10 is used to measure the geometric characteristics of the inner diameter of the storage container 2 and the guide ring 39 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 guide ring 39 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 characteristics of the outer diameter of the product 1 and calculates the coaxiality deviation value between the product 1 and the guide ring 39. The product posture adjustment mechanism 4 aligns the product 1 and the guide ring 39 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.

[0041] In a further embodiment, the laser three-dimensional scanning measurement system 10 is arranged on one side of the 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 diameter of the guide ring 39. The generatrix characteristics of the inner diameter of the storage container 2 and the inner diameter of the guide ring 39 are measured through the laser lines, and the axis characteristics of the inner diameter of the storage container 2 and the inner diameter of the guide ring 39 are fitted, thereby measuring the coaxiality of the inner diameter of the storage container 2 and the inner diameter of the guide ring 39. At the same time, the gap and step amount between the end faces of the storage container 2 and the guide ring 39 can be measured through the laser lines. The laser three-dimensional scanning measurement system 10 records the fitted axis characteristics of the inner diameter of the storage container 2 and the inner diameter of the guide ring 39.

[0042] In a further embodiment, when the left and right arranged laser three-dimensional scanning measurement systems 10 measure the inner diameter of the storage container 2 and the inner diameter of the guide ring 39, the laser projector on the left laser three-dimensional scanning measurement system 10 can measure the right side features of the inner diameter of the storage container 2 and the inner diameter of the guide ring 39, and the laser projector on the right laser three-dimensional scanning measurement system 10 can measure the left side features of the inner diameter of the storage container 2 and the inner diameter of the guide ring 39. 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.

[0043] Example 2:

[0044] See also Figure 6 and Figure 9The laser three-dimensional scanning measurement system 10 is provided on the guide ring 39 , and the laser three-dimensional scanning measurement system 10 is arranged at the upper and lower parts of the guide ring 39 .

[0045] In a further embodiment, when the product 1 approaches the 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 of the storage container 2 and the axis of the guide ring 39, thereby measuring the coaxiality of the outer diameter of the product 1 and the inner diameter of the guide ring 39. 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 guide ring 39 in real time.

[0046] In a further embodiment, Figure 6 and Figure 7 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 guide ring 39 is provided on the support frame 35 on the support chassis 2 8 near the front end of the product 1.

[0047] 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.

[0048] In a further embodiment, Figure 1 and Figure 6 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 circular hole in the middle of the guide ring 39 are located on the same horizontal axis.

[0049] Through the above technical solution, by setting the center of the two support frames 35 and the center of the circular hole in the middle of the guide ring 39 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 guide ring 39, and convenient for the subsequent filling operation of the product 1 and the storage container 2.

[0050] In a further embodiment, Figure 1 and Figure 2As 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 circular hole in the middle of the guide ring 39 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 support chassis 1 5 or the support 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.

[0051] 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.

[0052] In a further embodiment, Figure 4 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.

[0053] 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.

[0054] In a further embodiment, Figure 5 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.

[0055] 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.

[0056] In a further embodiment, Figure 3 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.

[0057] 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.

[0058] In a further embodiment, Figure 5 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.

[0059] 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.

[0060] In a further embodiment, Figure 1 and Figure 8 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.

[0061] 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.

[0062] In a further embodiment, a method for operating an automatic docking and filling device comprises the following steps:

[0063] S1. The guide ring 39 and the laser 3D scanning measurement system 10 are detachably mounted on the product support adjustment mechanism 3. 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 performs leveling via the electric legs 33.

[0064] S2. Product 1 and storage container 2 are hoisted onto product support and adjustment mechanism 4 and storage container support and adjustment mechanism 5, respectively. A 3D laser scanning measurement system 10 measures the geometric characteristics of the inner diameter of storage container 2 and the inner diameter of guide ring 39. This system then calculates the clearance, step, and coaxiality between the inner diameters of storage container 2 and guide ring 39. The coaxiality, clearance, and step between the inner diameters of storage container 2 and guide ring 39 are then adjusted using storage container posture adjustment mechanism 7.

[0065] S3. The product support and adjustment mechanism 4 moves the product 1 close to the guide ring 39. The laser 3D scanning measurement system 10 measures the geometric characteristics of the product 1's outer diameter and fits the product axis. The coaxiality deviation between the product 1 and the guide ring 39 is measured and automatically adjusted to within the required range.

[0066] 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.

[0067] 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 based on laser three-dimensional scanning, 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 slidingly engaged 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 slidingly engaged with the second support chassis (8); The measuring and centering mechanism comprises a guide ring (39) detachably mounted on one end of the support chassis one (5) adjacent to the storage container support adjustment mechanism (6) and a laser three-dimensional scanning measurement system (10) mounted on one side of the guide ring (39); a circular hole is provided in the middle of the guide ring (39) for clearance fit with the product (1); the product posture adjustment mechanism (4) drives the product (1) along the support chassis one (5) to approach or move away from the guide ring (39); and the storage container posture adjustment mechanism (7) drives the storage container (2) along the support chassis two (8) to approach or move away from the guide ring (39); The three-dimensional laser scanning measurement system (10) is used to measure the geometric features of the inner diameters of the storage container (2) and the guide ring (39) 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 guide ring (39) according to the gap, step amount and coaxiality. After the centering adjustment of the storage container (2) is completed, the three-dimensional laser scanning measurement system (10) measures the geometric features of the outer diameter of the product (1) and calculates the coaxiality deviation value between the product (1) and the guide ring (39). The product posture adjustment mechanism (4) performs centering adjustment on the product (1) and the guide ring (39) according to the coaxiality deviation value. After the centering adjustment of the product (1) is completed, the propulsion mechanism (9) pushes the product (1) into the storage container (2).

2. The automatic docking and filling equipment based on laser three-dimensional scanning according to claim 1, characterized in that: The three-dimensional laser scanning measurement system (10) is provided on the guide ring (39), and the three-dimensional laser scanning measurement system (10) is arranged at the upper part and the lower part of the guide ring (39).

3. The automatic docking and filling equipment based on laser three-dimensional scanning 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 guide ring (39) is provided on the supporting frame (35) on the supporting chassis 2 (8) near the front end of the product (1).

4. The automatic docking and filling equipment based on three-dimensional laser scanning according to claim 3, 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 circular hole in the middle of the guide ring (39) are located on the same horizontal axis.

5. The automatic docking and filling equipment based on laser three-dimensional scanning according to claim 4, 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 circular hole in the middle of the guide ring (39) 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). 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 matches the grating scale (38).

6. The automatic docking and filling equipment based on three-dimensional laser scanning according to claim 5, 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 joint (24) via a first transmission shaft (25), the universal joint (24) is provided with a second transmission shaft (26) connected to the posture adjustment chassis (11), the second transmission shaft (26) is provided with a gear (27), and the gear (27) is meshed with the rack (36).

7. The automatic docking and filling equipment based on three-dimensional laser scanning according to claim 5, 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).

8. The automatic docking and filling equipment based on laser three-dimensional scanning according to claim 5, characterized in that: 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), and both the inner concave guide wheel (20) and the outer convex guide wheel (21) are matched with the guide rail (37).

9. The automatic docking and filling equipment based on three-dimensional laser scanning according to claim 5, characterized in that: The posture adjustment chassis (11) is also provided with a vertical guide mechanism (14), and the vertical guide mechanism (14) includes an outer support tube (28) provided on the posture adjustment chassis (11), and an inner guide column (29) is fixed to the bottom of the bracket support seat (18), and the inner guide column (29) extends into the outer support tube (28) and is slidably matched with the outer support tube (28).

10. The automatic docking and filling equipment based on laser three-dimensional scanning according to claim 5, characterized in that: The propulsion mechanism (9) includes a propulsion bracket (40) arranged above the supporting chassis (5), and a propulsion bracket posture adjustment mechanism that slides with the supporting chassis (5) is provided at the bottom of the propulsion bracket (40). The propulsion bracket posture adjustment mechanism has the same structure as the product posture adjustment mechanism (4). The propulsion bracket (40) is provided with a propulsion motor (42) on the side facing the product (1), and a pressure sensor (41) is provided on the propulsion motor (42).

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