The invention discloses an automatic paper-cup ice cream filling machine belonging to food filling machinery. The automatic paper-cup ice cream filling machine comprises a rack, a power mechanism, a filling mechanism and a caterpillar mechanism, wherein the rack consists of a cross beam support, a first cross beam, a second cross beam and a group of cross beam supports; the power mechanism is arranged at one end of the rack; the filling mechanism is arranged at the other end of the rack; the caterpillar mechanism is arranged between the first cross beam and the second cross beam; a first horizontal folding edge is formed at the upper part of the first cross beam, a first vertical folding edge is formed on the first horizontal flange, a second horizontal folding edge is formed at the lower part of the first cross beam, a third horizontal folding edge is formed at the upper part of the second cross beam, a second vertical folding edge is formed on the third horizontal folding edge, and a fourth horizontal folding edge is formed at the lower part of the second cross beam; fixed flange seats are respectively fixed at the two ends of the group of cross beam supports; and the power mechanism comprises a motor, a reduction gearbox, a main transmission wheel, a cam, a pawl, a large sprocket shaft, a ratchet wheel disc, a first large sprocket, a second large sprocket and an inertia elimination device. The intensity of the cross beams is ensured, the safety is ensured, and the reliability of movement and pause of paper cups carried by the caterpillar mechanism is ensured.