The present invention discloses a filling device, which belongs to the technical field of food production equipment, and includes a horizontal dragging device and a rod
insertion device. The horizontal dragging device includes a dragging bracket, a dragging motor, a dragging transmission mechanism and a clamping mechanism. The dragging transmission mechanism includes a
cam-connecting rod transmission
assembly, a guide rod, a dragging seat and a dragging rod. The dragging seat is arranged on the guide rod and the dragging seat is connected to the
cam-connecting rod transmission
assembly. The dragging rod is fixed on the dragging seat, and the clamping seat is fixed on the dragging rod. The rod
insertion device includes a rod
insertion bracket, a
material storage component, a material feeding component, a connecting component, a rod insertion component and a guide component. The horizontal dragging device drags the
sheet material to move along the conveying direction, so that the
sheet material to be inserted with the rod enters the rod insertion
station. The rod body is first inserted into the material cavity that has not been filled with the material through the rod
insertion device, and then the material is poured into the material cavity. The material does not need to undergo a handling action during the production process, which effectively eliminates the risk of the material being contaminated during this handling process.