Automatic loading device

Abstract

The application discloses an automatic loading equipment, comprising: a clamping device comprising a moving device, a mechanical arm connected with the moving device at one end, and a clamping jaw and a suction cup arranged at the other end, the moving device driving the mechanical arm to move along a first direction, a second direction and a third direction respectively, the first direction, the second direction and the third direction intersecting with each other; a rack connected with the moving device on the side close to the ground; a weighing device arranged on one side of the rack; and a pouring device arranged on the side of the weighing device away from the rack. The mechanical arm clamps a material tank and places the material tank on the side of the weighing device away from the ground, a material loading groove is loaded with a material of a required counterweight, a first rotating shaft is rotated to drive the material loading groove to rotate by a certain angle, the material is poured into the material tank, the pouring is stopped when the weight of the material added in the material tank approaches the required weight, and a standard gram weight material block is further sucked by the suction cup and added into the material tank, so that the total weight of the material in the material tank is the required weight, and the weight accuracy of the material in the assembled material tank is ensured.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and more specifically, to an automatic feeding device. Background Technology

[0002] With the rapid development of solar photovoltaic utilization, the development technology of solar cells has received increasing attention. Master alloys are needed in the process of making solar cells.

[0003] In existing technologies, the master alloy needs to be manually selected to ensure the accuracy of the weight of the master alloy in assembly. Some master alloys are toxic, so the working environment for operators is dangerous.

[0004] Therefore, there is an urgent need for an automatic loading device that can accurately balance the weight during the loading process. Summary of the Invention

[0005] In view of this, the present invention provides an automatic feeding device, comprising:

[0006] A gripping device includes a moving device and a robotic arm extending along a first direction. One end of the robotic arm is connected to the moving device, and the other end is provided with a gripper and a suction cup. The first direction is perpendicular to the ground. The moving device drives the robotic arm to move along the first direction, the second direction, and the third direction respectively. The first direction, the second direction, and the third direction intersect each other.

[0007] The frame, connecting the side of the mobile device closest to the ground, includes a first pillar and a second pillar arranged opposite to each other along the second direction;

[0008] A weighing device, extending upwards along the third direction, is located on one side of the frame;

[0009] A tilting device, located on the side of the weighing device away from the frame, includes a fixed plate and a first rotating shaft extending along the second direction. The first rotating shaft passes through the fixed plate, with a first pulley connected to one end and a storage trough connected to the other end. Along the third direction, the storage trough and the weighing device are on the same straight line. Along the first direction, the minimum distance from the storage trough to the ground is greater than the maximum distance from the weighing device to the ground.

[0010] Compared with the prior art, the automatic loading equipment provided by the present invention achieves at least the following beneficial effects:

[0011] In the automatic loading equipment provided by the present invention, the gripping device includes a moving device and a robotic arm extending along a first direction. One end of the robotic arm is connected to the moving device, and the other end is provided with a gripper and a suction cup. The first direction is perpendicular to the ground. The moving device drives the robotic arm to move along the first direction, the second direction, and the third direction respectively, and the first direction, the second direction, and the third direction intersect each other. The frame is connected to the side of the moving device near the ground and includes a first support column and a second support column arranged opposite to each other along the second direction. The weighing device is located on one side of the frame along the third direction. The tilting device is located on the side of the weighing device away from the frame and includes a fixed plate and a first rotating shaft extending along the second direction. The first rotating shaft passes through the fixed plate, and one end is connected to a first pulley, and the other end is connected to a storage trough. Along the third direction, the storage trough and the weighing device are on the same straight line. Along the first direction, the minimum distance from the storage trough to the ground is greater than the maximum distance from the weighing device to the ground. The robotic arm grips the material canister and places it on the side of the weighing device away from the ground. The material trough is loaded with the material to be counterweighted. The first rotating shaft rotates, causing the material trough to rotate at a certain angle, and the material in the trough is poured into the material canister. When the weight of the material added to the material canister is close to the required weight, the pouring stops. Then, the standard weight material blocks are repeatedly picked up by the suction cup and added to the material canister to make the total weight of the material in the material canister the required weight. This ensures the accuracy of the weight of the material in the assembled material canister, avoids direct contact between the manual and the material, ensures the safety of the operator's working environment, and avoids the waste of time, labor and materials caused by the many manual assembly steps.

[0012] Of course, any product implementing this invention does not necessarily need to achieve all of the technical effects described above at the same time.

[0013] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0015] Figure 1 This is a schematic diagram of an automatic loading device provided by the present invention;

[0016] Figure 2 This is another structural schematic diagram of the automatic loading equipment provided by the present invention;

[0017] Figure 3 yes Figure 1 Enlarged view of point A in the middle;

[0018] Figure 4 This is another structural schematic diagram of the automatic loading equipment provided by the present invention. Detailed Implementation

[0019] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0020] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0021] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0022] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0024] Reference Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the automatic loading equipment provided by the present invention. Figure 2 This is another structural schematic diagram of the automatic loading device provided by the present invention, illustrating a specific embodiment of the automatic loading device provided in this embodiment, including:

[0025] The gripping device 1 includes a moving device 2 and a robotic arm 3 extending along a first direction X. One end of the robotic arm 3 is connected to the moving device 2, and the other end is provided with a gripper 4 and a suction cup 5. The first direction X is perpendicular to the ground. The moving device 2 drives the robotic arm 3 to move along the first direction X, the second direction Y and the third direction Z respectively. The first direction X, the second direction Y and the third direction Z intersect each other.

[0026] The frame 6 connects to the side of the mobile device 2 closest to the ground, including a first support column 7 and a second support column 8 arranged opposite to each other along the second direction Y;

[0027] Weighing device 9 is located on one side of frame 6 along the third direction Z.

[0028] The tilting device 10 is located on the side of the weighing device 9 away from the frame 6. It includes a fixed plate 11 and a first rotating shaft 12 extending along the second direction Y. The first rotating shaft 12 passes through the fixed plate 11, with a first pulley 13 connected to one end and a storage trough 14 connected to the other end. It extends along the third direction Z. The storage trough 14 is located on the same straight line as the weighing device 9. It extends along the first direction X. The minimum distance from the storage trough 14 to the ground is greater than the maximum distance from the weighing device 9 to the ground.

[0029] Understandably, the moving device 2 drives the robotic arm 3 to move along the first direction X, the second direction Y, or the third direction Z, thereby controlling the suction cup 5 and the gripper 4 to move along the first direction X, the second direction Y, or the third direction Z. This allows the gripper 4 to pick up the material container 15 and place it on the side of the weighing device 9 away from the ground, or allows the suction cup 5 to pick up a standard weight of master alloy block and add it to the material container 15. The material container 15 is usually a silicon material container. Specifically, the standard weight of master alloy block can be a master alloy block weighing 0.1 grams. The composition of the master alloy is usually gallium alloy or phosphorus alloy. The frame 6 connects to the side of the moving device 2 closest to the ground and includes a first support column 7 and a second support column 8 arranged opposite each other along the second direction Y. The frame 6 supports the moving device 2, giving the moving device 2 a certain height and reserving space for the robotic arm 3 to extend along the first direction X. As the robotic arm 3 moves along the first direction X... The robotic arm 3 and the frame 6 do not overlap in the first direction X, so as to avoid the frame 6 from obstructing the extension of the robotic arm 3 in the first direction X. The robotic arm 3 descends in the first direction X, so that the material tank 15 held by the gripper 4 is placed on the side of the weighing device 9 away from the ground. Therefore, the weighing device 9 and the frame 6 do not overlap in the first direction X, so that the robotic arm 3 can move above the weighing device 9. It also avoids the frame 6 from blocking the material poured into the weighing device 9 by the tilting device 10. Therefore, the weighing device 9 is located on one side of the frame 6 in the third direction Z. In the first direction X, the minimum distance from the storage trough 14 to the ground is greater than the maximum distance from the weighing device 9 to the ground. That is, the weighing device 9 is located on the side of the storage trough 14 closer to the ground. The rotation of the first rotating shaft 12 drives the storage trough 14 to rotate. The material loaded in the storage trough 14 can fall into the material tank 15 carried by the weighing device 9 due to gravity.

[0030] Specifically, taking the assembly of 100 grams of master alloy as an example, the moving device 2 controls the gripper 4 to move to the position of the material tank 15. After the gripper 4 picks up the material tank 15, the moving device 2 controls the gripper 4 to place the material tank 15 on the side of the weighing device 9 away from the ground. The weighing device 9 then zeros the weight, that is, the weight displayed by the weighing device 9 is 0. The first rotating shaft 12 of the tilting device 10 rotates, causing the storage trough 14 to tilt. The material loaded in the storage trough 14 is poured into the material tank 15 placed on the surface of the weighing device 9 due to gravity. As the material is continuously poured into the material tank 15, the weight displayed by the weighing device 9 increases from 0. When it increases to 99.7 grams, the first rotating shaft 12 rotates back to its original state, causing the storage trough 14 to no longer tilt, that is, the material loaded in the storage trough 14 will not pour out. The displayed weight is 99.7 grams. At this time, the suction cup 5 is moved to the standard master alloy block by the moving device 2. One standard master alloy block is picked up and added to the material tank 15 each time. This is repeated 3 times until the weight displayed by the weighing device 9 is 100 grams, thus completing the automatic assembly of the master alloy material. Of course, when the first rotating shaft 12 is rotated to the original state, the weight displayed by the weighing device 9 may be 99.8 grams. In this case, the suction cup 5 can be adjusted to pick up the standard master alloy block twice. This embodiment does not impose specific limitations on this and can be adjusted according to actual needs. The automatic loading equipment provided by this embodiment can accurately control the weight of the material added to the material tank 15 during the loading process. It can also avoid direct contact between the operator and the material, ensuring the safety of the operator's working environment. Moreover, the loading process is reduced, saving time, manpower and materials.

[0031] Compared with the prior art, the automatic loading equipment provided by the present invention has at least the following advantages:

[0032] In the automatic feeding equipment provided by the present invention, the gripping device 1 includes a moving device 2 and a robotic arm 3 extending along a first direction X. One end of the robotic arm 3 is connected to the moving device 2, and the other end is provided with a gripper 4 and a suction cup 5. The first direction X is perpendicular to the ground. The moving device 2 drives the robotic arm 3 to move along the first direction X, the second direction Y, and the third direction Z respectively. The first direction X, the second direction Y, and the third direction Z intersect each other. The frame 6 is connected to the side of the moving device 2 near the ground and includes a first support column 7 and a second support column 8 arranged opposite each other along the second direction Y. Two support pillars 8; a weighing device 9 is located on one side of the frame 6 along the third direction Z; a tilting device 10 is located on the side of the weighing device 9 away from the frame 6, including a fixed plate 11 and a first rotating shaft 12 extending along the second direction Y. The first rotating shaft 12 passes through the fixed plate 11, with a first pulley 13 connected to one end and a storage trough 14 connected to the other end. The storage trough 14 is located on the same straight line as the weighing device 9 along the third direction Z. The minimum distance from the storage trough 14 to the ground is greater than the maximum distance from the weighing device 9 to the ground along the first direction X. The robotic arm 3 grips the material tank 15 and places it on the side of the weighing device 9 away from the ground. The storage trough 14 is loaded with the material to be counterweighted. The first rotating shaft 12 rotates, causing the storage trough 14 to rotate at a certain angle, and the material in the storage trough 14 is poured into the material tank 15. When the weight of the material added to the material tank 15 is close to the required weight, the pouring stops. Then, the suction cup 5 is used to repeatedly pick up standard weight material blocks and add them to the material tank 15, so that the total weight of the material in the material tank 15 is the required weight. This ensures the accuracy of the weight of the material in the material tank 15 during the assembly process, avoids direct contact between the manual and the material, ensures the safety of the operator's working environment, and avoids the waste of time, labor and materials caused by the many manual assembly steps.

[0033] In some alternative embodiments, reference continues to be made to... Figure 1 The mobile device 2 includes a first guide rail 16 extending along the second direction Y, with the side of the first guide rail 16 near the ground connected to the frame 6; a second guide rail 17 extending along the third direction Z, with one end of the second guide rail 17 slidably connected to the first guide rail 16; and a third guide rail 18 extending along the first direction X, with one end slidably connected to the second guide rail 17, and the end of the robotic arm 3 away from the gripper 4 slidably connected to the third guide rail 18.

[0034] It is understandable that when one end of the second guide rail 17 moves along the second direction Y on the first guide rail 16, it simultaneously drives the third guide rail 18 and the robotic arm 3 to move along the second direction Y; when the third guide rail 18 moves along the third direction Z on the second guide rail 17, it simultaneously drives the robotic arm 3 to move along the third direction Z; the robotic arm 3 can move along the first direction X on the third guide rail 18, thereby realizing the robotic arm 3 moving along the first direction X, the second direction Y, and the third direction Z respectively.

[0035] In some alternative embodiments, reference continues to be made to... Figure 1 The weighing device 9 includes a first support 19, a pressure sensor 20 is provided on the side of the first support 19 away from the ground, and a platform 21 is provided on the side of the pressure sensor 20 away from the first support 19.

[0036] It is understandable that when material is added to the material tank 15 placed on the side of the storage platform 21 away from the pressure sensor 20, the pressure sensor 20 can sense the weight change and thus display the weight of the material in the material tank 15, which makes it easier to control the weight of the material in the material tank 15.

[0037] In some alternative embodiments, reference continues to be made to... Figure 1 and Figure 2 The tilting device 10 includes a second support 22. A carrying plate 23 is provided on the side of the second support 22 away from the ground. A slide rail 24 extending in the third direction Z is provided on the side of the carrying plate 23 away from the second support 22. One end of the fixed plate 11 is slidably connected to the slide rail 24. A motor 25 is provided on the side of the fixed plate 11 near the storage slot 14. A second rotating shaft (not shown in the figure) passes through the fixed plate 11, with one end connected to the motor 25 and the other end connected to a second pulley 26. The first pulley 13 and the second pulley 26 are both fitted inside the belt 27.

[0038] It is understandable that the motor 25 drives the second pulley 26 to rotate through the second shaft. The second pulley 26 and the first pulley 13 are connected by the belt 27. Therefore, the rotation of the second pulley 26 will also drive the first pulley 13 to rotate. The rotation of the first pulley 13 drives the storage trough 14 to rotate through the first shaft 12, so as to realize the pouring of the material loaded in the storage trough 14. The second support 22 is provided with a loading plate 23 on the side away from the ground. The loading plate 23 is provided with a slide rail 24 extending along the third direction Z on the side away from the second support 22. One end of the fixing plate 11 is slidably connected to the slide rail 24. The fixing plate 11 moves along the slide rail 24, which can adjust the relative position of the storage trough 14 and the weighing device 9 along the third direction Z, so that the material in the storage trough 14 can be accurately poured into the material tank 15 placed on the surface of the weighing device 9.

[0039] In some alternative embodiments, refer to Figure 1 and Figure 3 , Figure 3 yes Figure 1 The enlarged view at point A shows that the automatic loading device provided in this embodiment also includes a support rod 28. One end of the support rod 28 is connected to the carrying plate 23, and the other end is hinged to a guide funnel 29. The support rod 28 is located on the side of the carrying plate 23 near the weighing device 9, along the third direction Z upward. The weighing device 9, the guide funnel 29 and the storage trough 14 are located on the same straight line.

[0040] Understandably, when the material is poured out of the storage trough 14, the material falls into the guide funnel 29, which guides the material into the material tank 15 placed on the surface of the weighing device 9. The material enters the material tank 15 accurately, avoiding material waste.

[0041] In some alternative embodiments, reference continues to be made to... Figure 1 and Figure 3 The guide funnel 29 has a protrusion 30 on the side away from the weighing device 9. The protrusion 30 has a hollow area 31 that runs through the protrusion 30 along the second direction Y. The hollow area 31 extends along the first direction X.

[0042] The connector 32 includes a first plate 33 and a second plate 34 arranged opposite each other along the second direction Y. The side of the first plate 33 and the second plate 34 closest to the carrier plate 23 is connected to a third plate 35. A first connecting rod 36 passes through the hollow area 31, with one end connected to the first plate 33 and the other end connected to the second plate 34. The side of the third plate 35 away from the first connecting rod 36 is connected to one end of a telescopic rod 37. The end of the telescopic rod 37 away from the third plate 35 is connected to the carrier plate 23.

[0043] Understandably, as the length of the telescopic rod 37 changes, the first connecting rod 36 slides accordingly within the hollow area 31, thereby adjusting the angle of the guide funnel 29 to ensure that the material flowing out of the guide funnel 29 can be accurately introduced into the material tank 15 placed on the surface of the weighing device 9, thus avoiding material waste.

[0044] In some alternative embodiments, refer to Figure 4 , Figure 4 This is another structural schematic diagram of the automatic feeding device provided by the present invention. The automatic feeding device provided in this embodiment also includes:

[0045] The buffer platform 38, along the second direction Y, is located on one side of the weighing device 9 and includes a third support 39, on the side of the third support 39 away from the ground, a tray 40 is provided.

[0046] It is understood that the tray 40 is used to provide a placement position for the standard master alloy block. Along the second direction Y, the buffer platform 38 is located on one side of the weighing device 9, which facilitates the suction cup 5 to pick up the standard master alloy block. Specifically, the suction cup 5 is connected to the electrical control box (not shown in the figure) through a pipe (not shown in the figure). The solenoid valve (not shown in the figure) and vacuum generator (not shown in the figure) in the electrical control box provide suction power to enable the suction cup 5 to pick up the standard master alloy block. The electrical control box can use existing technology, and this implementation does not impose any specific restrictions on it.

[0047] In some alternative embodiments, reference continues to be made to... Figure 4 The automatic loading device provided in this embodiment also includes: a first conveyor belt 41 and a second conveyor belt 42 arranged in parallel along the second direction Y.

[0048] It is understandable that the first conveyor belt 41 can be used to convey the material tank 15, and the second conveyor belt 42 can be used to convey the cover that is detachably connected to the material tank 15, or to convey the material tank 15 which contains the master alloy material and is sealed with the cover. This embodiment does not impose any restrictions on this. The entire process is reasonably arranged, and the conveying of the cover, material tank 15, etc. can be carried out simultaneously with the loading, saving time and improving efficiency.

[0049] In some alternative embodiments, reference continues to be made to... Figure 4 The number of tilting devices 10 is two, and the two tilting devices 10 are arranged side by side along the second direction Y;

[0050] There are two weighing devices 9, and each weighing device 9 is set up in a one-to-one correspondence with the storage trough 14 of the tilting device 10.

[0051] Understandably, in Figure 4 The illustration only shows two symmetrically arranged tilting devices 10. Of course, it is not limited to this. Setting two tilting devices 10 and two weighing devices 9 can simultaneously assemble materials in two material tanks 15, improving efficiency and saving time. Alternatively, the number of first conveyor belts 41 can be two, and the number of second conveyor belts 42 can also be two. The weighing devices 9, first conveyor belts 41 and second conveyor belts 42 are arranged in a one-to-one correspondence. This embodiment does not impose specific limitations on this.

[0052] In some alternative embodiments, reference continues to be made to... Figure 4 The robotic arm 3 includes a main body 43 extending along the first direction X, and a gripper 4 is connected to one end of the main body 43 away from the third guide rail 18.

[0053] The second connecting rod 44 includes a first rod 45 and a second rod 46 connected to each other. The first rod 45 extends along the second direction Y, and the second rod 46 extends along the first direction X. The side of the first rod 45 away from the second rod 46 is connected to the side wall of the main body 43, and the end of the second rod 46 away from the first rod 45 is connected to a suction cup 5.

[0054] Along the first direction X, the distance from suction cup 5 to the ground is less than the distance from gripper 4 to the ground.

[0055] It is understood that the second connecting rod 44 includes a first rod 45 and a second rod 46 connected together. The first rod 45 extends along the second direction Y, and the second rod 46 extends along the first direction X. That is, the second connecting rod 44 is an L-shaped connecting rod or a T-shaped connecting rod. The end of the main body 43 away from the third guide rail 18 is connected to a gripper 4. The side of the first rod 45 away from the second rod 46 is connected to the side wall of the main body 43. The end of the second rod 46 away from the first rod 45 is connected to a suction cup 5. The presence of the first rod 45 ensures that there is a gap between the suction cup 5 and the gripper 4 along the second direction Y, so as to avoid the suction cup 5 affecting the gripper 4 in gripping the material tank 15. Along the first direction X, the distance from the suction cup 5 to the ground is less than the distance from the gripper 4 to the ground, which can prevent the gripper 4 from touching the standard master alloy block or other structures and causing damage to the gripper 4 when the suction cup 5 picks up the standard master alloy block. The overall structure is reasonable and the use effect is good.

[0056] As can be seen from the above embodiments, the automatic loading equipment provided by the present invention achieves at least the following beneficial effects:

[0057] In the automatic loading equipment provided by the present invention, the gripping device includes a moving device and a robotic arm extending along a first direction. One end of the robotic arm is connected to the moving device, and the other end is provided with a gripper and a suction cup. The first direction is perpendicular to the ground. The moving device drives the robotic arm to move along the first direction, the second direction, and the third direction respectively, and the first direction, the second direction, and the third direction intersect each other. The frame is connected to the side of the moving device near the ground and includes a first support column and a second support column arranged opposite to each other along the second direction. The weighing device is located on one side of the frame along the third direction. The tilting device is located on the side of the weighing device away from the frame and includes a fixed plate and a first rotating shaft extending along the second direction. The first rotating shaft passes through the fixed plate, and one end is connected to a first pulley, and the other end is connected to a storage trough. Along the third direction, the storage trough and the weighing device are on the same straight line. Along the first direction, the minimum distance from the storage trough to the ground is greater than the maximum distance from the weighing device to the ground. The robotic arm grips the material canister and places it on the side of the weighing device away from the ground. The material trough is loaded with the material to be counterweighted. The first rotating shaft rotates, causing the material trough to rotate at a certain angle, and the material in the trough is poured into the material canister. When the weight of the material added to the material canister is close to the required weight, the pouring stops. Then, the standard weight material blocks are repeatedly picked up by the suction cup and added to the material canister to make the total weight of the material in the material canister the required weight. This ensures the accuracy of the weight of the material in the assembled material canister, avoids direct contact between the manual and the material, ensures the safety of the operator's working environment, and avoids the waste of time, labor and materials caused by the many manual assembly steps.

[0058] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. An automatic loading apparatus, characterized by, The utility model relates to a kind of picking device, including moving device and mechanical arm extending along first direction, one end of the mechanical arm is connected with the moving device, the other end is equipped with gripper and suction cup, the first direction is the direction perpendicular to ground;The moving device drives the mechanical arm respectively along the first direction, second direction and third direction, the first direction, the second direction and the third direction two two intersect; The moving device includes a first guide rail extending along the second direction, and the first guide rail is connected with a rack near the ground; A second guide rail extends along the third direction, and one end of the second guide rail is slidingly connected with the first guide rail. A third guide rail extends along the first direction, and one end of the third guide rail is slidingly connected with the second guide rail. The other end of the mechanical arm, away from the gripper, is slidingly connected with the third guide rail. The mechanical arm includes a main body extending along the first direction, and the main body is connected with a side wall of the main body away from the third guide rail. A second connecting rod includes a first rod and a second rod connected with each other. The first rod extends along the second direction, and the second rod extends along the first direction. The side wall of the main body is connected with the first rod away from the second rod. The second rod is connected with a suction cup at an end away from the first rod. Along the first direction, the distance from the suction cup to the ground is less than the distance from the gripper to the ground. A rack is connected with the side of the moving device near the ground, and includes a first support and a second support oppositely arranged along the second direction. A weighing device is located at one side of the rack along the third direction. A pouring device is located at the side of the weighing device away from the rack, and includes a fixed plate and a first rotating shaft extending along the second direction. The first rotating shaft penetrates through the fixed plate, and one end of the first rotating shaft is connected with a first pulley, and the other end of the first rotating shaft is connected with a placing groove. Along the third direction, the placing groove is located on the same straight line with the weighing device. Along the first direction, the minimum distance from the placing groove to the ground is greater than the maximum distance from the weighing device to the ground. The weighing device includes a first support, and the first support is provided with a pressure sensor away from the ground. The pressure sensor is provided with a placing platform away from the first support.

2. The automatic filling apparatus according to claim 1, characterized in that, The pouring device includes a second support, and the second support is provided with a carrying plate away from the ground. The carrying plate is provided with a sliding rail extending along the third direction away from the second support. One end of the fixed plate is slidingly connected with the sliding rail. The fixed plate is provided with a motor near the placing groove. A second rotating shaft penetrates through the fixed plate, and one end of the second rotating shaft is connected with the motor, and the other end of the second rotating shaft is connected with a second pulley. The first pulley and the second pulley are sleeved in a belt.

3. The automatic filling apparatus according to claim 1, wherein The utility model further includes a support rod, one end of the support rod is connected with the carrying plate, and the other end of the support rod is hingedly connected with a guide funnel. The support rod is located at the side of the carrying plate near the weighing device. Along the third direction, the weighing device, the guide funnel and the placing groove are located on the same straight line.

4. The automatic filling apparatus according to claim 3, wherein ​ 5. The automatic filling apparatus according to claim 4, wherein The guide funnel is provided with a protrusion away from one side of the weighing device, the protrusion is provided with an open area penetrating through the protrusion along the second direction, and the open area extends along the first direction; The connecting head comprises a first plate and a second plate oppositely arranged along the second direction, the first plate and the second plate are connected to a third plate near one side of the object plate, a first connecting rod penetrates through the open area, one end of the first connecting rod is connected to the first plate, and the other end of the first connecting rod is connected to the second plate, one end of an extension rod is connected to the third plate away from the first connecting rod, and the other end of the extension rod is connected to the object plate away from the third plate.

6. The automatic filling apparatus according to claim 1, wherein Further comprising: The buffer platform is located on one side of the weighing device along the second direction and comprises a third support, and the third support is provided with a tray away from the ground.

7. The automatic filling apparatus according to claim 1, wherein Further comprising: The first conveying belt and the second conveying belt are arranged side by side along the second direction.

8. The automatic filling apparatus according to claim 1, wherein The number of the pouring devices is two, and the two pouring devices are arranged side by side along the second direction. The number of the weighing devices is two, and the weighing devices are arranged one by one corresponding to the storage slots of the pouring devices.

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