Ball receiving and filling device

Abstract

The application discloses a kind of receiving and sending ball filling devices, including moving trolley, being configured as can move walking;Lifting platform is provided with the chute for the sliding of being grabbed, and lifting platform can be vertically moved relative to moving trolley;Fill subassembly, including driving part and grab hook structure, wherein driving part is arranged in chute, and the telescopic end of driving part is connected with grab hook structure, grab hook structure includes driving mechanism and multiple hook claws, multiple hook claws are rotatably connected on driving mechanism, and multiple hook claws are respectively connected with the driving end of driving mechanism;Grab hook structure includes unfolded state and folding state. Thus, the dependence on manual operation is greatly reduced, and the efficiency is significantly improved. In addition, it can be flexibly adapted to various specifications of receiving and sending ball barrels and different types and sizes of grabbed objects. It can also adapt to multi-site operation scenarios, without the need to repeatedly deploy equipment at each site, effectively reducing the use cost.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, and more particularly to a ball launching and receiving filling device. Background Technology

[0002] In oil and gas pipeline transportation systems, in order to ensure the cleanliness of the pipeline inner wall and reduce the resistance of medium transportation, it is necessary to carry out pipeline cleaning operations periodically through a pig launcher and receiver. The pig / pig is filled into the pipeline from the launcher and receiver and removed from the launcher and receiver after the cleaning is completed.

[0003] The current ball receiving and launching operations mainly rely on manual operation, which has the following disadvantages: Firstly, the operation efficiency is low. The weight of the pig / pig tool is usually 5-50kg, which needs to be carried and aligned with the ball receiving and launching tube interface by hand. A single operation takes 30-60 minutes and requires 2-3 people to work together. In addition, some fixed launch and receiver equipment is only compatible with specific launch and receiver tubes and cannot be moved. For multi-site, distributed pipeline networks, the equipment needs to be deployed repeatedly, which is costly. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, one objective of this invention is to provide a ball-receiving and filling device that significantly reduces reliance on manual operation. In terms of operational efficiency, the time required for a single operation is drastically reduced to 5-15 minutes, and only one person is needed to complete the operation, resulting in a significant improvement in efficiency. Furthermore, it can flexibly adapt to various specifications of ball-receiving and filling tubes, as well as different types and sizes of objects to be grasped. Moreover, due to its excellent mobility, it can also adapt to multi-site operation scenarios, eliminating the need to repeatedly deploy equipment at each site, effectively reducing operating costs.

[0006] To achieve the above objectives, the present invention provides a ball receiving and filling device, comprising: The mobile vehicle is configured to move and travel. The lifting platform is provided with a sliding groove for the object to be grasped to slide, and the lifting platform can move vertically relative to the moving trolley. A filling assembly includes a driving component and a hook structure. The driving component is disposed in the chute, and the telescopic end of the driving component is connected to the hook structure. The hook structure includes a driving mechanism and multiple hooks. The multiple hooks are rotatably connected to the driving mechanism, and the multiple hooks are respectively connected to the driving end of the driving mechanism. The grabbing hook structure includes an extended state and a retracted state. In the extended state, multiple hooks are opened to form a grabbing angle adapted to the object being grabbed. In the retracted state, multiple hooks are retracted together to grab the tail end of the object being grabbed or to form a receiving area adapted to the tail end of the object being grabbed. The driving component is configured to drive the hook structure to move axially along the slide groove; The drive mechanism is configured to synchronously drive multiple hooks to rotate, thereby switching the gripping hook structure between the extended state and the retracted state.

[0007] The receiving and launching filling device of the present invention is used to grasp a pig or a pig. For ease of explanation, the following description will be based on the example of a pig.

[0008] When retrieving the pig from the receiving / launching tube, operators first move the trolley to the receiving / launching tube's operating area, precisely adjusting the height of the lifting platform to ensure axial alignment between the chute and the receiving / launching tube. Then, the drive mechanism is operated to rotate multiple claws, deploying the grabbing structure. At this point, the claws open and close, forming a gripping angle suitable for the pig. Next, the drive unit moves the grabbing structure axially along the chute until it reaches the appropriate position within the receiving / launching tube. Then, the drive mechanism is controlled again to rotate the claws, switching the grabbing structure from the deployed to the retracted state, where the claws close together to grab the tail end of the pig. Finally, the drive unit is controlled to smoothly pull the pig out of the receiving / launching tube using the grabbing structure. The diameter of the pig's tail end is smaller than the diameter of the pig body. To fill the receiving / launching tube with the pig, the same procedure is followed, first ensuring axial alignment between the chute and the receiving / launching tube. Then, based on the size of the pig's tail end, the drive mechanism is controlled to rotate multiple hooks to a retracted state, causing the hooks to close together to form a receiving area adapted to the pig's tail end. Next, the pig's tail end is manually placed against this receiving area. Finally, by controlling the drive components, the hook structure pushes the pig into and fills the pig launcher / receiver tank. Based on this, this pig launcher / receiver filling device exhibits a high degree of mechanization, greatly reducing reliance on manual operation. In terms of operational efficiency, the time for a single operation is significantly reduced to 5-15 minutes, and only one person is needed to complete the operation, resulting in a significant improvement in efficiency. Furthermore, it can flexibly adapt to various specifications of launcher / receiver tanks and different types and sizes of objects to be grabbed. Moreover, due to its excellent mobility, it can also adapt to multi-site operation scenarios, eliminating the need for repeated deployment of equipment at each site, effectively reducing operating costs.

[0009] In addition, the ball receiving and launching filling device proposed in the application may also have the following additional technical features: Specifically, the hooks are hook-shaped. In the retracted state, the inner sides of the multiple hooks form a grasping area for accommodating the tail end of the grasped object, and the outer sides of the multiple hooks form a bowl-shaped accommodating area for accommodating the tail end of the grasped object.

[0010] Specifically, the hook tip of the pawl extends in the opposite direction from the end away from the drive component, forming a support section.

[0011] Specifically, the drive mechanism includes a U-shaped support frame, a support plate, and a drive end, wherein the drive end includes a cylinder, a connecting plate, and multiple double-link mechanisms; The support frame is connected to the telescopic end of the drive component; The support plate is mounted on the support frame, and the support plate has multiple sliding holes. The plurality of the hooks are rotatably connected to the support plate; Multiple double-link mechanisms are arranged in a one-to-one correspondence with multiple hooks, and one end of each double-link mechanism is hinged to the hook, while the other end of each double-link mechanism passes through the corresponding sliding hole and is fixedly connected to the connecting plate. The cylinder is disposed in the support frame and is connected to the connecting plate.

[0012] Specifically, the multiple hooks are arranged in an equiangular array.

[0013] Specifically, the mobile trolley is equipped with a lifting component, which is connected to the lifting platform. The lifting component is configured to drive the lifting platform to move vertically relative to the mobile trolley.

[0014] Specifically, it also includes an electrical control box, infrared positioning sensors, and cameras; The infrared positioning sensor and the camera are respectively installed on the lifting platform; The electrical control box is mounted on the mobile trolley, and the electrical control box contains a controller. The controller is connected to the lifting component, the infrared positioning sensor, the mobile trolley, and the drive component.

[0015] Specifically, a pressure sensor is provided on the inner side of the hook, and the controller is connected to the pressure sensor and the cylinder.

[0016] Specifically, the mobile trolley is equipped with multiple retractable legs, and the legs are movable relative to the mobile trolley.

[0017] Specifically, it also includes a remote controller, which is connected to the controller and is used to remotely send control commands to the controller. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a top view of a ball receiving and launching filling device according to an embodiment of the present invention; Figure 2 This is a front view of a ball receiving and filling device according to an embodiment of the present invention; Figure 3 In accordance with the present invention Figure 1 An enlarged structural diagram of region A in the middle.

[0021] As shown in the figure: 1. Mobile cart; 2. Lifting platform; 20. Slide rail; 3. Filling assembly; 30. Drive component; 31. Gripping hook structure; 310. Hook; 311. Drive end; 312. Support frame; 313. Support plate; 3100. Gripping area; 3101. Support section; 3102. Receiving area; 3110. Cylinder; 3111. Connecting plate; 3112. Double linkage mechanism; 4. Electrical control box; 5. Infrared positioning sensor; 6. Camera; 7. Lifting component; 8. Support leg; 9. Remote control. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0024] The ball receiving and filling device according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown, the ball receiving and filling device of this embodiment of the invention may include a mobile trolley 1, a lifting platform 2, and a filling component 3.

[0026] Among them, the mobile vehicle 1 is configured to be able to move and walk.

[0027] It should be noted that the overall structure of the mobile vehicle 1 includes a chassis frame, a walking mechanism, a drive motor, a transmission mechanism, a positioning sensor, a lidar, and a battery module. Specifically, the walking mechanism, drive motor, transmission mechanism, positioning sensor, and lidar are all systematically mounted in corresponding positions on the chassis frame. The drive motor is connected to the walking mechanism via the transmission mechanism, thereby driving the walking mechanism; the battery module is interconnected with the drive motor, positioning sensor, and lidar, providing them with the necessary power.

[0028] Regarding the specifics of each component, the walking mechanism has various options, including wheels, tracks, or Mecanum wheels; the transmission mechanism can also be selected according to actual needs, such as gear transmission or belt transmission. The main function of the positioning sensor is to perform accurate detection and positioning, while the lidar is used to obtain distance information between the mobile vehicle 1 and surrounding objects.

[0029] In addition, the mobile vehicle 1 also exists in another structural form, consisting only of a chassis frame and a vehicle, relying on manual pushing or towing to move. However, considering practical application effectiveness and convenience, the aforementioned electric drive solution is the preferred choice for the mobile vehicle 1.

[0030] The lifting platform 2 is equipped with a sliding groove 20 for the object to be grasped to slide along, and the lifting platform 2 can move vertically relative to the moving trolley 1. The lifting platform 2 can be a flat plate structure or an arc-shaped plate structure. When the lifting platform 2 is a flat plate structure, the sliding groove 20 is arc-shaped and opened on the flat plate structure. When the lifting platform 2 adopts a flat plate structure, the sliding groove 20 is opened on the flat plate in an arc shape. When the lifting platform 2 adopts an arc-shaped plate structure, the sliding groove 20 can be an arc groove formed by the bending of the arc plate itself. The sliding groove 20 can effectively limit the axial movement of the object to be grasped, ensuring that the object to be grasped can move strictly along the preset axial trajectory set by the sliding groove 20 during the movement process. The object to be grasped is a pig or a pig.

[0031] Furthermore, the vertical movement of the lifting platform 2 relative to the mobile trolley 1 allows for adjustable height of the lifting platform 2. This feature enables flexible adjustment of the height of the slide 20, allowing it to connect with the ball receiving / launching tube, thus meeting the usage requirements under different working conditions.

[0032] The filling assembly 3 includes a drive component 30 and a hook structure 31. The drive component 30 is disposed in the slide 20, and the telescopic end of the drive component 30 is connected to the hook structure 31. The hook structure 31 includes a drive mechanism and multiple hooks 310. The multiple hooks 310 are rotatably connected to the drive mechanism, and the multiple hooks 310 are respectively connected to the drive end 311 of the drive mechanism.

[0033] The grabbing hook structure 31 includes an unfolded state and a retracted state. In the unfolded state, multiple hooks 310 are opened and closed to form a grabbing angle adapted to the object being grabbed. In the retracted state, multiple hooks 310 are retracted together to grab the tail end of the object being grabbed or to form a receiving area 3102 adapted to the tail end of the object being grabbed. The number of hooks 310 can be 2, 3, 4, etc., which can be selected according to the actual situation. The drive component 30 is configured to drive the hook structure 31 to move axially along the slide 20. The drive component 30 can be a hydraulic telescopic cylinder, an electric telescopic cylinder, a screw jack, etc., which can be selected according to the actual situation. The telescopic length of the drive component 30 can be 500-1500mm.

[0034] The drive mechanism is configured to synchronously drive multiple claws 310 to rotate, so that the claw structure 31 switches between an extended state and a retracted state.

[0035] Specifically, the object being grabbed is a pig or a pigging device. For ease of explanation, the following will use a pigging device as an example.

[0036] When the pig needs to be removed from the pig receiving and launching tube, the operators first control the moving trolley 1 to move to the pig receiving and launching tube operating area, and simultaneously adjust the height of the lifting platform 2 precisely to ensure that the chute 20 is axially connected to the pig receiving and launching tube. Then, the drive mechanism is operated to rotate multiple claws 310, allowing the grabbing hook structure 31 to be in the unfolded state. At this time, the multiple claws 310 are open and closed, forming a grabbing angle adapted to the pig. Next, the drive component 30 drives the grabbing hook structure 31 to move axially along the chute 20 until it extends into the appropriate position inside the pig receiving and launching tube. Afterwards, the drive mechanism is controlled again to rotate the multiple claws 310, allowing the grabbing hook structure 31 to switch from the unfolded state to the retracted state, with the multiple claws 310 retracting together to grab the tail end of the pig. Finally, by controlling the drive component 30, the pig is smoothly pulled out of the pig receiving and launching tube using the grabbing hook structure 31, wherein the diameter of the tail end of the pig is smaller than the diameter of the pig body.

[0037] To fill the pig into the receiving / launching tube, follow the steps described above: First, align the chute 20 with the receiving / launching tube. Then, based on the size of the pig's tail end, control the drive mechanism to rotate multiple claws 310 to a retracted state, causing the claws 310 to retract together to form a receiving area 3102 that fits the pig's tail end. Next, manually place the pig's tail end against the receiving area 3102. Finally, control the drive component 30 to push the pig into the receiving / launching tube using the grabbing hook structure 31.

[0038] Based on this, the ball launching and filling device exhibits a high degree of mechanization, greatly reducing reliance on manual operation. In terms of operational efficiency, the time for a single operation is significantly reduced to 5-15 minutes, and only one person is required to complete the operation, resulting in a significant improvement in efficiency. Furthermore, it can flexibly adapt to various specifications of launching and receiving tubes, as well as different types and sizes of objects to be grasped. Moreover, due to its excellent mobility, it can also adapt to multi-site operation scenarios, eliminating the need to repeatedly deploy equipment at each site, effectively reducing operating costs.

[0039] In one embodiment of the present invention, such as Figure 3 As shown, the hook 310 is hook-shaped. In the retracted state, the inner side of the multiple hooks 310 forms a grasping area 3100 for accommodating the tail end of the grasped object, and the outer side of the multiple hooks 310 forms a bowl-shaped accommodating area 3102 for accommodating the tail end of the grasped object.

[0040] It can be understood that the inner side of hook 310 refers to the opposite side of hook 310, and the outer side of hook 310 refers to the opposite side of hook 310.

[0041] In the above design, the hook 310 has a hook-like shape and a dual practical function: when the hook 310 is in the retracted state, on the one hand, during the process of pulling the object being grabbed, a gripping area 3100 is naturally formed on the inner side of the hook 310. This area can perfectly accommodate the tail end of the object being grabbed, making it easy to hook the tail end of the object and pull it out smoothly, ensuring the reliability of the object being pulled out and moved.

[0042] On the other hand, in the scenario of filling the object being grasped, by adjusting the size of the retracted state of the hook 310, the outer side of the hook 310 will form a bowl-shaped receiving area 3102 that is adapted to the height of the tail end of the object being grasped, thus forming a positioning area. This not only effectively accommodates the tail end of the object but also limits its movement. In this way, the stability of the object during its movement can be significantly improved when pushing it, and the insertion accuracy of the receiving / receiving ball can also be greatly improved, ensuring the accuracy of the entire operation.

[0043] In one embodiment of the present invention, such as Figure 3 As shown, the hook tip of the hook 310 extends in the opposite direction from the end away from the drive component 30 to form a support section 3101, wherein the support section 3101 can be integrally formed with the body of the hook 310 to improve the firmness.

[0044] It is understandable that by setting the support section 3101, the support points for the grasped object located in the receiving area 3102 can be further increased, thereby improving the stability when the grasped object is moved.

[0045] In one embodiment of the present invention, such as Figure 3 As shown, the drive mechanism includes a U-shaped support frame 312, a support plate 313, and a drive end 311. The drive end 311 includes a cylinder 3110, a connecting plate 3111, and multiple double-link mechanisms 3112. The support frame 312 is connected to the telescopic end of the drive component 30. The support plate 313 is mounted on the support frame 312 and has multiple sliding holes. Multiple hooks 310 are rotatably connected to the support plate 313. The multiple double-link mechanisms 3112 are arranged in correspondence with the multiple hooks 310. One end of the double-link mechanism 3112 is hinged to the hook 310, and the other end of the double-link mechanism 3112 passes through the corresponding sliding hole and is fixedly connected to the connecting plate 3111. The cylinder 3110 is mounted in the support frame 312 and is connected to the connecting plate 3111.

[0046] The double-bar linkage 3112 consists of two bars that are hinged together.

[0047] Specifically, relevant personnel can control the extension and retraction end of the cylinder 3110 to move. The extension and retraction end of the cylinder 3110 can drive multiple double linkage mechanisms 3112 to move synchronously via the connecting plate 3111 by extending or retracting, thereby driving the hook 310 to rotate relative to the connecting plate 3111, so that the grab hook structure 31 switches between the extended state and the retracted state.

[0048] In one embodiment of the present invention, such as Figure 1 As shown, multiple claws 310 are arranged in an equiangular array, ensuring that each claw 310 applies the same gripping angle and force to the object being gripped, guaranteeing a uniform and stable gripping action. Simultaneously, when the claws 310 are in the retracted state, the resulting support points remain consistent, providing stable support for the gripped object. This design significantly enhances stability during pushing, gripping, and pulling of the object, effectively preventing swaying or shifting caused by uneven force. For example, when the number of claws 310 is set to three, a perfect 120° angular interval is formed between the three claws 310.

[0049] In one embodiment of the present invention, such as Figure 2 As shown, the mobile trolley 1 is equipped with a lifting component 7, which is connected to the lifting platform 2. The lifting component 7 is configured to drive the lifting platform 2 to move vertically relative to the mobile trolley 1.

[0050] The lifting component 7 can be a lift or a hydraulic lever, or any device that can lift the lifting platform 2. There is no limitation here. Specifically, the lifting platform 2 can be driven to move vertically relative to the moving trolley 1 by controlling the lifting component 7, so as to increase the height of the lifting component 7 and make the slide 20 communicate with the ball receiving and launching tube.

[0051] In one embodiment of the present invention, such as Figure 2 As shown, it also includes an electrical control box 4, an infrared positioning sensor 5, and a camera 6. The infrared positioning sensor 5 and camera 6 are respectively installed on the lifting platform 2, and the electrical control box 4 is installed on the mobile trolley 1. The electrical control box 4 contains a controller (not shown in the figure), which is connected to the lifting component 7, the infrared positioning sensor 5, the mobile trolley 1, and the drive component 30. Specifically, the controller is connected to the drive motor, positioning sensor, and lidar included in the mobile trolley 1.

[0052] Specifically, during the initial positioning phase, the controllable mobile trolley 1, carrying the electrical control box 4, moves to the launching and receiving tube operating area. At this time, the infrared positioning sensor 5 on the lifting platform 2 emits infrared signals to detect the axial position of the launching and receiving tubes, and the camera 6 simultaneously acquires real-time images for visual verification. The controller determines the precise spatial coordinates of the launching and receiving tubes by analyzing the infrared signal reflection intensity and image recognition results.

[0053] The controller drives the lifting component 7 based on the positioning data, controlling the lifting platform 2 to move vertically up and down. The infrared positioning sensor 5 continuously feeds back height data, forming a closed-loop control—when the vertical deviation between the axis of the slide 20 and the axis of the launch and receiver tube is less than a preset threshold, the controller determines that vertical alignment is complete.

[0054] Horizontal calibration and axial alignment: The drive motor of the mobile trolley 1 adjusts the travel direction through the transmission mechanism, and combined with the visual tracking function of the camera 6, precise horizontal positioning is achieved. When the infrared positioning sensor 5 detects that the axis of the launcher / receiver tube coincides with the axis of the slide 20 on the horizontal plane, the axial connection is completed.

[0055] Operation execution phase: After axial alignment, the controller instructs the telescopic end of component 30 to extend to a preset length, and the hook structure 31 moves axially along the slide 20. The entire alignment process is more automated. Through infrared-vision fusion positioning, closed-loop motion control, and collaborative design of mechanical structures, the entire process from movement positioning to axial alignment is automated, further improving operational efficiency and reliability.

[0056] In one embodiment of the present invention, a pressure sensor (not shown in the figure) is provided on the inner side of the hook 310, and the controller is connected to the pressure sensor and the cylinder 3110.

[0057] Specifically, the clamping force data can be collected in real time by the pressure sensor inside the hook 310. When the hook 310 contacts the pig, the pressure sensor triggers the initial pressure signal. When the pressure reaches the preset pressure value, the control cylinder 3110 stops running, ensuring that the pig is gripped with appropriate force, avoiding insufficient gripping force due to human operation, thereby improving the stability during gripping.

[0058] In one embodiment of the present invention, such as Figure 2 As shown, the mobile trolley 1 is equipped with multiple retractable legs 8, and the legs 8 are movable relative to the mobile trolley 1.

[0059] Among them, the retractable outrigger 8 is a hydraulically driven outrigger with a retraction stroke of 300-800mm. When in operation, it extends and adheres to the ground through the bottom anti-slip pad to lift the mobile trolley 1 off the ground, preventing the device from shifting during operation; when not in operation, it retracts without affecting movement.

[0060] In addition, the outrigger 8 can move relative to the mobile trolley 1. A telescopic arm can be installed between the outrigger 8 and the mobile trolley 1 to change the position of the outrigger 8 relative to the mobile trolley 1 by extending and retracting the telescopic arm, so as to ensure the horizontality of the mobile trolley 1 when it is raised.

[0061] In one embodiment of the present invention, such as Figure 1 As shown, it also includes a remote controller 9, which is connected to the controller and is used to remotely send control commands to the controller.

[0062] The remote control 9 can be connected to the controller via wired or wireless means. Wired connection uses a communication cable, while wireless connection is achieved through a built-in communication module.

[0063] Specifically, the remote controller 9 is configured to remotely send control commands to the controller to operate the electrical equipment connected to the controller. For example, the control commands can be for moving the mobile trolley 1, adjusting the height of the lifting component 7, starting and stopping the drive component 30, etc. The control commands can be intuitively operated through the interface of the remote controller 9 (such as touch screen, physical buttons, voice control). Combined with the intelligent algorithm of the controller, it realizes complete functional coverage from simple manual control to fully automatic operation, ensuring efficient, safe and reliable completion of the pig grabbing and filling task of the pig launcher in complex industrial scenarios.

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0065] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A ball receiving and filling device, characterized in that, include: The mobile vehicle is configured to move and travel; The lifting platform is provided with a sliding groove for the object to be grasped to slide, and the lifting platform can move vertically relative to the moving trolley; A filling assembly includes a driving component and a hook structure. The driving component is disposed in the chute, and the telescopic end of the driving component is connected to the hook structure. The hook structure includes a driving mechanism and multiple hooks. The multiple hooks are rotatably connected to the driving mechanism, and the multiple hooks are respectively connected to the driving end of the driving mechanism. The grabbing hook structure includes an extended state and a retracted state. In the extended state, multiple hooks are opened to form a grabbing angle adapted to the object being grabbed. In the retracted state, multiple hooks are retracted together to grab the tail end of the object being grabbed or to form a receiving area adapted to the tail end of the object being grabbed. The driving component is configured to drive the hook structure to move axially along the slide groove; The drive mechanism is configured to synchronously drive the multiple hooks to rotate, so that the gripping hook structure switches between the extended state and the retracted state. The hooks are hook-shaped. In the retracted state, the inner sides of the multiple hooks form a grasping area for accommodating the tail end of the grasped object, and the outer sides of the multiple hooks form a bowl-shaped accommodating area for accommodating the tail end of the grasped object. The drive mechanism includes a U-shaped support frame, a support plate, and a drive end. The drive end includes a cylinder, a connecting plate, and multiple double-link mechanisms. The support frame is connected to the telescopic end of the drive component; The support plate is mounted on the support frame, and the support plate has multiple sliding holes. The plurality of the hooks are rotatably connected to the support plate; Multiple double-link mechanisms are arranged in a one-to-one correspondence with multiple hooks, and one end of each double-link mechanism is hinged to the hook, while the other end of each double-link mechanism passes through the corresponding sliding hole and is fixedly connected to the connecting plate. The cylinder is disposed in the support frame and is connected to the connecting plate.

2. The ball receiving and filling device according to claim 1, characterized in that, The hook tip of the pawl extends in the opposite direction from the end away from the drive component, forming a support section.

3. The ball receiving and filling device according to claim 1, characterized in that, The multiple hooks are arranged in an equiangular array.

4. The ball receiving and filling device according to claim 1, characterized in that, The mobile trolley is equipped with a lifting component, which is connected to the lifting platform. The lifting component is configured to drive the lifting platform to move vertically relative to the mobile trolley.

5. The ball receiving and filling device according to claim 4, characterized in that, It also includes an electrical control box, infrared positioning sensors, and cameras; The infrared positioning sensor and the camera are respectively installed on the lifting platform; The electrical control box is mounted on the mobile trolley, and the electrical control box contains a controller. The controller is connected to the lifting component, the infrared positioning sensor, the mobile trolley, and the drive component.

6. The ball receiving and filling device according to claim 5, characterized in that, A pressure sensor is provided on the inner side of the hook, and the controller is connected to the pressure sensor and the cylinder.

7. The ball receiving and filling device according to claim 1, characterized in that, The mobile trolley is equipped with multiple retractable legs, and the legs are movable relative to the mobile trolley.

8. The ball receiving and filling device according to claim 5, characterized in that, It also includes a remote controller, which is connected to the controller and is used to remotely send control commands to the controller.

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