Filling equipment and filling method

Abstract

The embodiment of the invention relates to the technical field of automation, and discloses filling equipment and a filling method.The filling equipment comprises a conveying device, a filling device, a weighing device and a picking device, the filling device is used for filling a container to be filled with materials, the weighing device is used for weighing at least part of the container at a weighing station, and the picking device is used for picking the container to be filled with the materials; the picking device is used for picking the containers and driving the containers to be switched between the filling station and the weighing station. And the filling device is configured to move to the weighing station to fill the container when the weighing device detects that the weight of the container filled with the materials does not reach the preset range. By using the filling equipment provided by the invention, the material loss can be reduced, and the production efficiency can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automation technology, and in particular to a filling device and a filling method. Background Art

[0002] Automatic filling equipment in the fields of food, medicine, etc. can realize automatic filling of liquids or particles and realize the automated production of related products. During the production process, it is necessary to weigh the filled containers to ensure that the automatically produced products meet the preset specifications. Currently, the products that have been filled at the filling station are usually moved to the weighing station for weighing. If the product meets the requirements, the material is unloaded. If the product weight is less than the specified value, the weighed container needs to be moved back to the filling station for refilling. After the refilling is completed, it is weighed again until the weighing result meets the requirements before unloading. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a filling device and a filling method, which can reduce material loss and improve production efficiency.

[0004] In order to solve the above technical problems, the first aspect of the present invention provides a filling device, comprising:

[0005] A conveying device, the conveying device having a filling station, a weighing station and a material unloading station, the conveying device is used to transport containers to be filled and containers that have completed filling;

[0006] A filling device, arranged at one side of the conveying device, and used for filling materials into the container to be filled;

[0007] A weighing device is spaced apart from the conveying device, the weighing device is spaced apart from the filling device, and the weighing device is used to weigh at least part of the container at the weighing station;

[0008] A picking device is arranged at one side of the conveying device, and is used to pick up a container and drive the container to switch between the filling station and the weighing station;

[0009] The filling device is configured such that when the weighing device measures that the weight of the container filled with the material does not reach a preset range, the filling device moves to the weighing station to refill the container.

[0010] In the filling equipment of the embodiment of the present invention, when the weight of the container filled with materials measured by the weighing device does not reach the preset range, the filling device can be moved to the weighing station to directly refill the container located at the weighing station, without the need to repeatedly move the container between the filling station and the weighing station, which can save a lot of time and improve production efficiency. In addition, the filling device is directly used for refilling, and there is no need to separately set up a refilling station and a refilling device. Compared with setting up an independent refilling device, it can reduce the waste caused by residual materials on the filling needle of the refilling device, thereby reducing material loss.

[0011] Optionally, the perfusion device includes a first supporting frame, a first driving assembly, a perfusion assembly and a first position detection unit, the first driving assembly and the first position detection unit are arranged on the first supporting frame, the first driving assembly is connected to the perfusion assembly, the first driving assembly is used to drive the perfusion assembly to switch positions between the perfusion station and the weighing station, and the first position detection unit is used to detect whether the perfusion station is provided with a container.

[0012] By setting up a first position detection unit, it is possible to use the first position detection unit to detect whether the container has been moved into place. When it is detected that the container is placed at the filling station, the filling device will fill the container again, preventing the filling device from working when the container is not in place, thereby avoiding material waste and equipment pollution and corrosion.

[0013] Optionally, the first driving assembly includes a first driving mechanism and a second driving mechanism, the first driving mechanism is arranged on the first supporting frame, the first driving mechanism is connected to the second driving mechanism, the second driving mechanism is connected to the perfusion assembly, the first driving mechanism is used to drive the second driving mechanism to drive the perfusion assembly to move along the first direction, and the second driving mechanism is used to drive the perfusion assembly to move along the second direction; one of the first direction and the second direction is the conveying direction, and the other is the height direction of the first supporting frame.

[0014] By setting the first driving mechanism to drive the second driving mechanism and the filling assembly to move in the first direction, and the second driving mechanism to drive the filling assembly to move in the second direction, the filling assembly can move to any position in the plane where the first direction and the second direction are located within the travel range of the first driving mechanism and the second driving mechanism. After adjusting the filling equipment according to the actual scene requirements, even if the relative positions of the filling station and the weighing station change within a certain range, the filling assembly can move to the corresponding position for filling.

[0015] Optionally, the first driving mechanism includes a first linear guide, a first slider and a first driving source, the first linear guide extends along the first direction and is fixed to the first support frame, the first slider is movably disposed on the first linear guide, the first driving source is fixed relative to the first linear guide, the first driving source is connected to the first slider, and the first driving source is used to drive the first slider to move along the first direction;

[0016] The second driving mechanism includes a second linear guide, a second slider and a second driving source. The second linear guide extends along the second direction and is fixed to the first slider. The second slider is movably arranged on the second linear guide. The second driving source is fixed relative to the second linear guide. The second driving source is connected to the perfusion assembly. The second driving source is used to drive the second slider to drive the perfusion assembly to move along the second direction.

[0017] The use of linear guides in conjunction with sliders for driving can improve the stability and accuracy of the movement of the perfusion components and reduce vibration.

[0018] Optionally, the perfusion assembly includes a mounting bracket and a plurality of injection heads, the mounting bracket is connected to the first drive assembly, the plurality of injection heads are spaced apart on the mounting bracket, the first drive assembly drives the mounting bracket to drive the plurality of injection heads to move, and the injection heads are used to perfuse materials into the container.

[0019] The filling assembly includes multiple injection heads, which can fill multiple containers at one time, and can effectively improve production efficiency.

[0020] Optionally, the weighing device includes a carrying platform, a plurality of placing seats and a plurality of weighing units, the plurality of placing seats are arranged on the carrying platform, the plurality of weighing units are arranged on the placing seats in a one-to-one correspondence, the plurality of placing seats are used to place a plurality of containers in a one-to-one correspondence, and the plurality of weighing units are used to weigh the weight of the plurality of containers in a one-to-one correspondence.

[0021] The weighing device has multiple weighing units, which can measure the weight of multiple containers separately each time, so as to analyze the weight of different containers, accurately detect containers that do not meet the requirements, and then carry out targeted refilling, thereby reducing erroneous refilling.

[0022] Optionally, the placement seat has a limiting groove, the weighing unit is arranged in the limiting groove, and the limiting groove is used to accommodate and fix the container.

[0023] The placement seat is provided with a limiting groove for accommodating and fixing the container, so that the container on the weighing device can be kept stable, thereby improving the precision of the weighing test and the accuracy of the operation of the picking device.

[0024] Optionally, the picking device includes a second supporting frame, a second driving assembly, a second picking arm and an adsorption assembly, the second driving assembly is arranged on the second supporting frame, the second picking arm is connected to the second driving assembly, the second driving assembly is used to drive the second picking arm to switch positions between the filling station, the weighing station and the unloading station; the adsorption assembly is arranged on the second picking arm, and the adsorption assembly is used to adsorb the container so that the adsorbed container is fixed to the second picking arm.

[0025] Adopting an adsorption component to pick up and fix the container by adsorption fixation can avoid scratches and damages to the appearance of the container.

[0026] Optionally, the second driving assembly includes a third driving mechanism and a fourth driving mechanism, the third driving mechanism is arranged on the second supporting frame, the third driving mechanism is connected to the fourth driving mechanism, the fourth driving mechanism is connected to the second picking arm, the third driving mechanism is used to drive the fourth driving mechanism to drive the second picking arm to move along the first direction, and the fourth driving mechanism is used to drive the second picking arm to move along the second direction; one of the first direction and the second direction is the conveying direction, and the other is the height direction of the second supporting frame.

[0027] By setting the third drive mechanism to drive the fourth drive mechanism and the second pick-up arm to move in the first direction, and the fourth drive mechanism to drive the second pick-up arm to move in the second direction, the second pick-up arm can move to any position in the plane where the first direction and the second direction are located within the travel range of the third drive mechanism and the fourth drive mechanism. After adjusting the filling equipment according to the actual scene requirements, even if the relative positions of the filling station, weighing station and unloading station change within a certain range, the second pick-up arm can move to the corresponding position for picking up.

[0028] Optionally, the third driving mechanism includes a third linear guide, a third slider and a third driving source, the third linear guide extends along the first direction and is fixed to the second support frame, the third slider is movably arranged on the third linear guide, the third driving source is fixed relative to the third linear guide, the third driving source is connected to the third slider, and the third driving source is used to drive the third slider to move along the first direction;

[0029] The fourth driving mechanism includes a fourth linear guide, a fourth slider and a fourth driving source. The fourth linear guide extends along the second direction and is fixed to the third slider. The fourth slider is movably arranged on the fourth linear guide. The fourth driving source is fixed relative to the fourth linear guide. The fourth driving source is connected to the fourth slider. The fourth driving source is used to drive the fourth slider to drive the second pickup arm to move along the second direction.

[0030] The use of a linear guide rail in conjunction with a slider for driving can improve the stability and accuracy of the movement of the second pick-up arm, reduce vibration, and ensure accurate and stable picking of the container to avoid damaging the container or causing material spillage.

[0031] In a second aspect, a filling method is also provided, which is applied to any of the filling devices mentioned above, comprising:

[0032] Obtaining a first weight of a container filled with a material, and determining whether the first weight is within a preset range;

[0033] If the first weight is within a preset range, controlling a picking device of the filling equipment to move to the weighing station, and moving the container filled with the material to a material unloading position;

[0034] If the first weight is less than a lower limit of a preset range, the filling device of the filling equipment is controlled to move to a weighing station to replenish the material into the container until the first weight is within a first preset range.

[0035] The above filling method, by applying the above filling equipment, can reduce material loss and improve production efficiency.

[0036] The filling device provided by the present invention has at least the following beneficial effects:

[0037] When the weight of the container filled with materials measured by the weighing device does not reach the preset range, the filling device can be moved to the weighing station to directly refill the container at the weighing station, without the need to repeatedly move the container between the filling station and the weighing station, which can save a lot of time and improve production efficiency. In addition, the filling device is directly used for refilling, and there is no need to set up a refilling station and a refilling device separately. Compared with setting up an independent refilling device, it can reduce the waste caused by residual materials on the filling needle of the refilling device, thereby reducing material loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0039] Figure 1 is a schematic diagram of a state of a filling device of a filling equipment according to an embodiment of the present application when the filling device is in a filling station;

[0040] Figure 2 yes Figure 1 A schematic top view of the filling equipment shown;

[0041] Figure 3 is a schematic diagram of a state when a filling device of a filling equipment according to an embodiment of the present application is at a weighing station;

[0042] Figure 4 yes Figure 3 A schematic top view of the filling equipment shown;

[0043] Figure 5 is a schematic diagram of the three-dimensional structure of the perfusion device in the embodiment of the present application;

[0044] Figure 6 yes Figure 5 A schematic diagram of the three-dimensional structure of the perfusion assembly of the perfusion device shown;

[0045] Figure 7 yes Figure 1 A magnified schematic diagram of the middle A area;

[0046] Figure 8 It is a schematic diagram of the coordination of the pouring device, the weighing device and the picking device in the embodiment of the present application;

[0047] Fig. 9 It is a schematic diagram of the three-dimensional structure of the plug delivery assembly of the filling device in the embodiment of the present application;

[0048] Fig.10 It is a schematic diagram of the three-dimensional structure of the plugging assembly of the filling equipment in the embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are provided to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can be implemented.

[0050] In the embodiments of the present invention, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0051] In addition, some of the above terms may be used to express other meanings in addition to indicating a direction or position relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0052] In addition, the terms "installed", "set", "provided with", "opened", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0054] At present, automatic filling equipment usually moves the product that has been filled at the filling station to the weighing station for weighing. If the product meets the requirements, the material is discharged. If the product weight is less than the specified value, the weighed container needs to be moved back to the filling station for refilling. After the refilling is completed, it is weighed again until the weighing result meets the requirements before discharging. This wastes a lot of time and leads to a significant decrease in production efficiency.

[0055] In addition, in some filling equipment, a refilling device is set up separately to refill containers that have not reached the preset weight value. However, in the actual production process, not all filled containers must be weight tested. Generally speaking, the detection rate is 10%, that is, one tenth of all products will be sampled. When the production volume is large enough, the detection rate may also be 8%, 5%, etc. In other words, the refilling action occurs less frequently in the entire production process and the interval time is long. This results in a certain amount of material remaining in the filling needle and infusion tube of the refilling device after each refilling, which leads to material waste and the risk of residual material being contaminated. In addition, setting up a refilling device separately will directly increase the floor space of the production line and increase costs. Moreover, setting up an independent refilling device increases the number of devices that need to cooperate with each other, and it is necessary to consider the synergy between more devices and the connection between the actions of different devices, etc., which makes the filling equipment more complicated as a whole and more prone to unexpected risks.

[0056] In order to solve one or more of the above technical problems, the present invention provides a filling device, which is used for automatic filling. When the weight of the container filled with materials measured by the weighing device does not reach the preset range, the filling device can be moved to the weighing station to directly refill the container at the weighing station, without the need to repeatedly move the container between the filling station and the weighing station, which can save a lot of time and improve production efficiency. In addition, the filling device is directly used for refilling, and there is no need to set up a refilling station and a refilling device separately. Compared with setting up an independent refilling device, it can reduce the waste caused by residual materials on the filling needle of the refilling device, thereby reducing material loss.

[0057] It should be noted that the filling equipment of the present invention can be used for automatic filling and packaging of liquid or granular medicines, foods or chemical products. The following description will be made using the automatic filling of liquid medicines as an example, but it does not mean that the following related settings are only applicable to this example.

[0058] The following is a detailed description of the implementation details of the filling equipment. The following content is only for the convenience of understanding the implementation details and is not necessary for the implementation of this solution.

[0059] See also Figures 1 to 4 , Figure 1 is a schematic diagram of the state of the filling device of the filling equipment according to the embodiment of the present application when it is in the filling station, Figure 2 yes Figure 1 A schematic top view of the filling equipment shown, Figure 3 is a schematic diagram of the state of the filling device of the filling equipment of the embodiment of the present application when it is at the weighing station, Figure 4 yes Figure 3 A schematic top view of the filling equipment is shown.

[0060] The filling device 1 provided in the present application comprises: a conveying device 11 , a filling device 12 , a weighing device 13 and a picking device 14 .

[0061] The conveyor 11 can be used to convey containers 2, which can be empty containers that have not yet been filled with materials, or containers that have been filled. The conveyor 11 has a filling station, a weighing station and a material unloading station, and different production actions can be performed at different stations.

[0062] The filling device 12 is disposed on one side of the conveying device 11 and is used to fill the empty container to be filled.

[0063] The weighing device 13 is spaced apart from the conveying device 11 , and is also spaced apart from the filling device 12 . The weighing device 13 can weigh at least part of the containers 2 at the weighing station.

[0064] The picking device 14 is arranged on one side of the conveying device 11, and is used to pick up the container 2 and drive the container 2 to switch positions between the filling station and the weighing station. When the weighing device 13 detects that the container 2 filled with materials does not reach the preset range, the filling device 12 moves to the weighing station to refill the corresponding container 2.

[0065] With such a configuration, when the weighing device 13 measures the weight of the container 2 filled with materials and the weight does not reach the preset range, the filling device 12 can be moved to the weighing station to directly refill the container 2 located at the weighing station. After the refilling is completed, the container 2 is directly weighed at the weighing station, and there is no need to repeatedly move the container 2 between the filling station and the weighing station, which can save a lot of time and improve production efficiency. In addition, the filling device 12 is directly used for refilling, and there is no need to set up a refilling station and a refilling device separately. Compared with setting up an independent refilling device, it can reduce the waste caused by residual materials on the filling needle of the refilling device, thereby reducing material loss.

[0066] It is understandable that when the weight of the refilled container 2 reaches a preset range, the picking device 14 can pick up the refilled container 2 at the weighing station and move the container 2 to the unloading station.

[0067] In some embodiments, the picking device 14 can also be configured such that when the weighing device 13 measures that the weight of the container 2 filled with material is within a preset range, the picking device 14 picks up the corresponding container 2 at the weighing station and moves these containers 2 to the unloading station.

[0068] In this embodiment, the container 2 may be a pre-filled container such as a ready-to-use vial, a cartridge, etc., which is not specifically limited in this embodiment.

[0069] It is understandable that the conveying device 11 can be a conventional assembly line, such as a conveying belt, a conveying roller, etc. In the actual production process, in order to improve production efficiency, a plurality of containers 2 can usually be placed on a nesting plate 3, and the conveying device 11 places a plurality of nesting plates 3 at intervals along the conveying direction, and each nesting plate 3 can hold a plurality of containers 2. The conveying device 11 moves the nesting plates 3 along the conveying direction, thereby allowing the containers 2 to flow on specific stations and complete different process steps in sequence.

[0070] In some embodiments, the conveying device 11 can be configured as two parts, namely, a loading part 111 and a unloading part 112, the loading part 111 and the unloading part 112 are spaced apart, the conveying directions of the two parts can be the same or different, the two parts can be arranged along the same straight line or along different straight lines (intersecting straight lines or parallel straight lines). In the following, the example in which the loading part 111 and the unloading part 112 have the same conveying direction and are spaced apart along the same straight line is used for explanation, but it is not indicated that the following related settings are only applicable to this example.

[0071] In some embodiments, the pouring device 12 is disposed on one side of the feeding part 111, that is, it can be on the left side of the feeding part 111 along the conveying direction, or it can be on the right side of the feeding part 111 along the conveying direction. The following description takes the pouring device 12 disposed on the left side of the feeding part 111 along the conveying direction as an example, but it does not mean that the following related settings are only applicable to this example.

[0072] In some embodiments, the pouring station and the weighing station are located between the loading part 111 and the unloading part 112 and are arranged in sequence along the conveying direction. The unloading station can be arranged at the end of the unloading part 112 close to the loading part 111.

[0073] Normally, the nesting plate 3 can be placed in the loading box 4, and the loading box 4 is located at the loading part 111, and the loading part 111 drives the loading box 4 to move the nesting plate 3. When the loading box 4 moves to the end of the loading part 111 close to the pouring station, the nesting plate 3 in the loading box 4 can be taken out by the first manipulator 5 and moved to the pouring station. A platform 6 can be provided at the corresponding pouring station to carry the nesting plate 3. After the nesting plate 3 is taken out, the loading box 4 can be moved to the unloading station for standby by the moving module (not shown).

[0074] Before the nesting plate 3 is placed on the pouring station, the pouring device 12 is located above the platform 6 and is on standby. When the nesting plate 3 is placed on the platform 6, the pouring device 12 moves downward to the platform 6 and aligns with the container 2 placed on the nesting plate 3, and then pours the container 2. After the pouring is completed, the second manipulator 7 moves the nesting plate 3 to the loading box 4 at the unloading station, and then the unloading part 112 drives the loading box 4 to drive the nesting plate 3 to enter the next step.

[0075] When weighing detection is required, the loading part 111 moves the loading box 4. When the loading box 4 moves to a position close to the filling station, the loading part 111 stops moving. The picking device 14 picks up part of the containers 2 in the nest plate 3 at this position and moves them to the weighing device 13 located at the weighing station for weighing. It should be noted that the container 2 has not been filled at this time and is an empty container.

[0076] After weighing, the picking device 14 moves the container 2 to the filling station for filling. After filling, the container 2 is moved to the weighing station for weighing to determine whether the weight of the filled container 2 reaches the preset range. If it reaches the preset range, the container 2 on the weighing station is moved back to the nest plate 3 on the platform 6, and the filling of other containers 2 on the nest plate 3 is completed. After the container 2 is sealed, the material is unloaded. If it does not reach the preset range, the filling device 12 is moved to the weighing station to refill the container 2 until the weight of the container 2 reaches the preset range.

[0077] Alternatively, after the empty container is weighed, the filling device 12 is moved to the weighing station to fill the empty container, and the weighing device 13 performs weighing detection simultaneously. If the weight of the filled container 2 reaches the preset range, the picking device 14 moves the container 2 back to the nest plate 3 on the platform 6, and the filling device 12 moves to the filling station to continue to fill other containers 2. After the filling is completed, the container 2 is sealed and unloading is carried out.

[0078] Please also see Figure 5 , Figure 5 It is a schematic diagram of the three-dimensional structure of the perfusion device in the embodiment of the present application.

[0079] In some embodiments, the perfusion device 12 includes a first support frame 121, a first drive assembly 122, a perfusion assembly 123 and a first position detection unit (not shown). The first drive assembly 122 and the first position detection unit are arranged on the first support frame 121. The first drive assembly 122 is connected to the perfusion assembly 123. The first drive assembly 122 is used to drive the perfusion assembly 123 to switch positions between a perfusion station and a weighing station. The first position detection unit is used to detect whether a container 2 is provided at the perfusion station.

[0080] The first support frame 121 is disposed at one side of the feeding part 111 for supporting the first driving assembly 122 and the pouring assembly 123 . The first driving assembly 122 is fixed on the first support frame 121 for driving the pouring assembly 123 to move.

[0081] It is understandable that when the device is on standby, the filling assembly 123 is usually located above the platform 6. After the device is started, when the container 2 is to be filled, the first drive assembly 122 can drive the filling assembly 123 to move downward to fill the container 2 on the platform 6. After the filling is completed, the first drive assembly 122 can drive the filling assembly 123 to move upward away from the platform 6 and standby. After the weighing test is required, if refilling is required, the first drive assembly 122 can also drive the filling assembly 123 to move to the weighing station for refilling.

[0082] The first position detection unit can detect whether the nest board 3 reaches the pouring station, more specifically, whether the nest board 3 reaches the platform 6. When it is detected that the nest board 3 reaches the platform 6, the first driving component 122 drives the pouring component 123 to pour into the pouring station.

[0083] Optionally, the first position detection unit may be an optical sensor or a visual sensor, etc. Exemplarily, when the first position detection unit is an optical sensor, the nesting plate 3 may block or reflect the light emitted by the optical sensor, thereby determining that the nesting plate 3 is in place. When the first position detection unit is a visual sensor, such as a CCD camera, an AI camera, etc., the first position detection unit can directly detect the position of the container 2, and the detection result is more accurate.

[0084] By setting up a first position detection unit, it is possible to use the first position detection unit to detect whether the container 2 has moved into place. When it is detected that the container 2 is placed at the filling station, the filling component 123 will fill the container 2 again, preventing the filling component 123 from performing the filling work when the container 2 is not in place, thereby avoiding material waste and equipment pollution and corrosion.

[0085] In some embodiments, the first driving assembly 122 includes a first driving mechanism (not shown) and a second driving mechanism (not shown), the first driving mechanism is disposed on the first support frame 121, the first driving mechanism is connected to the second driving mechanism, the second driving mechanism is connected to the perfusion assembly 123, the first driving mechanism is used to drive the second driving mechanism to drive the perfusion assembly 123 to move along the first direction P1, and the second driving mechanism is used to drive the perfusion assembly 123 to move along the second direction P2. One of the first direction P1 and the second direction P2 is the conveying direction, and the other is the height direction of the first support frame 121. In the following examples, the first direction P1 is the conveying direction, and the second direction P2 is the height direction.

[0086] By setting the first driving mechanism to drive the second driving mechanism and the filling assembly 123 to move along the first direction P1, and the second driving mechanism to drive the filling assembly 123 to move along the second direction P2, within the travel range of the first driving mechanism and the second driving mechanism, the filling assembly 123 can move to any position within the plane where the first direction P1 and the second direction P2 are located. After adjusting the filling equipment 1 according to the actual scene requirements, even if the relative positions of the filling station and the weighing station change within a certain range, the filling assembly 123 can also move to the corresponding position for filling.

[0087] In some embodiments, the first driving mechanism and the second driving mechanism can be configured as a linear module or a telescopic module. The linear module or the telescopic module can use standard parts, thereby reducing the manufacturing difficulty and manufacturing cost of the filling device 1.

[0088] The first driving mechanism includes a first linear guide (not shown), a first slider (not shown) and a first driving source (not shown). The first linear guide extends along the first direction P1 and is fixed to the first supporting frame 121. The first slider is movably disposed on the first linear guide. The first driving source is fixed relative to the first linear guide. The first driving source is connected to the first slider and is used to drive the first slider to move along the first direction P1.

[0089] The first linear guide may have a slide groove or a protrusion extending in the first direction P1, and the first slider has a structure that cooperates with the slide groove or the protrusion, so that the first slider can move relative to the first linear guide along the first direction P. The first driving source can be fixed to the first support frame 121 or the first linear guide, and the first driving source is connected to the first slider. When the first driving source is working, the first slider can move along the first direction P on the first linear guide.

[0090] Optionally, the first driving source may be a pneumatic cylinder, an electric cylinder or a motor, wherein the use of the electric cylinder or the motor can improve the accuracy and stability of the control of the first slider.

[0091] In some embodiments, when a motor is used as the first driving source, a coupling can be used to set a screw on the rotating shaft of the motor, and a screw hole can be set on the first slider. The screw hole is provided with an internal thread that matches the screw, and the screw and the first slider are connected by threaded matching. At the same time, the first slider can only move along the first direction P1 relative to the first linear guide, and cannot rotate relative to the first linear guide. In this way, the first linear guide, the first slider, the motor and the screw can form a screw-slider mechanism. When the motor is working, the motor drives the screw to rotate. Under the action of the screw, the first slider moves along the first direction P1 on the first linear guide. The use of the screw-slider mechanism can further improve the control accuracy of the first slider, thereby improving the accuracy and stability of the position of the moving perfusion component 123.

[0092] It is understandable that the second drive mechanism may have a similar configuration to the first drive mechanism. Specifically, the second drive mechanism includes a second linear guide (not shown), a second slider (not shown) and a second drive source (not shown), the second linear guide extends along the second direction P2 and is fixed to the first slider, the second slider is movably disposed on the second linear guide, the second drive source is fixed relative to the second linear guide, the second drive source is connected to the perfusion assembly 123, and the second drive source is used to drive the second slider to drive the perfusion assembly 123 to move along the second direction. It can be seen that the main difference between the second drive mechanism and the first drive mechanism is that the second slider in the second drive mechanism moves along the second direction P2.

[0093] Please also see Figure 6 , Figure 6 yes Figure 5 The three-dimensional structural schematic diagram of the perfusion component of the perfusion device shown.

[0094] In some embodiments, the filling assembly 123 includes a mounting bracket 123a and a plurality of injection heads 123b, the mounting bracket 123a is connected to the first driving assembly 122, and the plurality of injection heads 123b are arranged at intervals on the mounting bracket 123a, and the first driving assembly drives the mounting bracket 123a to drive the plurality of injection heads 123b to move, and the injection heads 123b are used to fill materials into the container 2. By arranging a plurality of injection heads 123b on the filling assembly 123, a plurality of containers 2 can be filled at one time, which can effectively improve production efficiency.

[0095] It is understandable that each injection head 123b is connected to a liquid pump (not shown) through a liquid infusion tube (not shown), and is connected to a liquid storage structure (not shown) through the liquid pump, and the liquid storage structure stores materials. During perfusion, the liquid pump extracts the materials in the liquid storage structure and perfuses them into the container 2 through the liquid infusion tube and the injection head 123b.

[0096] Please also see Figure 7 , Figure 7 yes Figure 1 A magnified schematic diagram of area A in the middle.

[0097] In some embodiments, the weighing device 13 includes a supporting platform 131, multiple placement seats 132 and multiple weighing units (not shown), the multiple placement seats 132 are arranged on the supporting platform 131, and the multiple weighing units are arranged on the placement seats 132 one by one. The multiple placement seats 132 are used to place multiple containers 2 one by one, and the multiple weighing units are used to weigh the weight of multiple containers 2 one by one.

[0098] The weighing device 13 is located at the weighing station, and the carrying platform 131 is spaced apart from the platform 6. When the weight of the container 2 needs to be detected, the picking device 14 picks up the container 2 on the nest plate 3 at the position before the filling station, and moves the container 2 to the placement seat 132 for weighing to obtain the weight of the empty container 2. After the empty container 2 is filled with material, if it is necessary to detect whether the amount of material filled meets the standard, the picking device 14 moves the container 2 filled with material to the placement seat 132, and continues to be weighed by the weighing unit.

[0099] In this embodiment, the weighing device 13 has multiple weighing units, which can measure the weight of multiple containers 2 that have completed filling each time, so that the weight of different containers 2 can be analyzed, and the containers 2 that do not meet the requirements can be accurately detected, and then targeted refilling can be performed, thereby reducing erroneous filling.

[0100] In some embodiments, the placement seat 132 has a limiting groove 132a, the weighing unit is disposed in the limiting groove 132a, and the limiting groove 132a is used to accommodate and fix the container 2. By providing the limiting groove 132a for accommodating and fixing the container 2 on the placement seat 132, the container 2 on the weighing device 13 can be kept stable, thereby improving the accuracy of the weighing test and the accuracy of the operation of the picking device 14.

[0101] Please also see Figure 8 , Figure 8 It is a schematic diagram of the coordination of the pouring device, the weighing device and the picking device in the embodiment of the present application.

[0102] In some embodiments, the picking device 14 includes a second support frame 141, a second driving assembly 142, a second picking arm 143 and an adsorption assembly (not shown), wherein the second driving assembly 142 is disposed on the second support frame 141, and the second picking arm 143 is connected to the second driving assembly 142, and the second driving assembly 142 is used to drive the second picking arm 143 to switch positions between the pouring station, the weighing station and the unloading station. The adsorption assembly is disposed on the second picking arm 143, and the adsorption assembly is used to adsorb the container 2 so that the adsorbed container 2 is fixed to the second picking arm 143.

[0103] The picking device 14 picks up the container 2 by adsorption and fixation, which can cause scratches on the surface of the container 2 and cause the container 2 to be damaged.

[0104] It is understandable that when it is necessary to detect whether the container 2 filled with materials meets the requirements, it is necessary to first detect the weight of the empty container 2. Before the nest plate 3 reaches the filling station, the feeding part 111 is suspended to stop the nest plate 3 from moving. A lifting mechanism (not shown) can be provided below the nest plate 3. The lifting mechanism can be used to lift a plurality of empty containers 2 to a certain height so that the adsorption component can smoothly adsorb the surface of the container 2.

[0105] Optionally, the adsorption component may adopt a suction cup, and a negative pressure is generated inside the suction cup by an air pump, so that the container 2 is adsorbed and fixed.

[0106] In some embodiments, when the weight detection of the container 2 is not required, the second driving assembly 142 can drive the second picking arm 143 to move to the bottom of the platform 6 to avoid the action of the second manipulator 7 and the nesting plate 3 picked up by the second manipulator 7. When the weight detection of the container 2 is required, the second driving assembly 142 drives the second picking arm 143 to move to the top of the platform 6, and the second picking arm 143 picks up the container 2 on the nesting plate 3 above the platform 6, and then moves the picked container 2 to the weighing device 13.

[0107] In some embodiments, the second driving assembly 142 includes a third driving mechanism (not shown) and a fourth driving mechanism (not shown), the third driving mechanism is disposed on the second support frame 141, the third driving mechanism is connected to the fourth driving mechanism, the fourth driving mechanism is connected to the second pick-up arm 143, the third driving mechanism is used to drive the fourth driving mechanism to drive the second pick-up arm 143 to move along the first direction P1, and the fourth driving mechanism is used to drive the second pick-up arm 143 to move along the second direction P2. One of the first direction P1 and the second direction P2 is the conveying direction, and the other is the height direction of the second support frame 141.

[0108] By setting the third driving mechanism to drive the fourth driving mechanism and the second picking arm 143 to move along the first direction P1, and the fourth driving mechanism to drive the second picking arm 143 to move along the second direction P2, within the travel range of the third driving mechanism and the fourth driving mechanism, the second picking arm 143 can move to any position within the plane where the first direction P1 and the second direction P2 are located. After adjusting the filling equipment 1 according to the actual scene requirements, even if the relative positions of the filling station, the weighing station and the unloading station change within a certain range, the second picking arm 143 can also move to the corresponding position for picking.

[0109] For example, the third driving mechanism drives the fourth driving mechanism to drive the second picking arm 143 to move in the height direction, and the fourth driving mechanism drives the second picking arm 143 to move in the conveying direction. When weight detection is not required, the third driving mechanism drives the fourth driving mechanism to drive the second picking arm 143 to move downward, so that the second picking arm 143 is located below the platform 6 in the height direction. After that, the fourth driving mechanism drives the second picking arm 143 to move directly below the platform 6 to avoid the movement of the second manipulator 7 and prevent interference.

[0110] When weight detection is required, the fourth driving mechanism drives the second picking arm 143 to move along the conveying direction to leave the platform 6, and then the third driving mechanism drives the fourth driving mechanism to drive the second picking arm 143 to rise to a certain height. After that, the fourth driving mechanism drives the second picking arm 143 to move to the filling station to pick up the container 2 located at the filling station. Then the fourth driving mechanism drives the second picking arm 143 to move along the conveying direction to leave the filling station and move to the top of the weighing device 13, and the third driving mechanism drives the fourth driving mechanism to drive the second picking arm 143 to move the container 2 to the placement seat 132.

[0111] In some embodiments, the third driving mechanism and the fourth driving mechanism can be configured as a linear module or a telescopic module. The linear module or the telescopic module can use standard parts, thereby reducing the manufacturing difficulty and manufacturing cost of the filling device 1.

[0112] The third driving mechanism includes a third linear guide (not shown), a third slider (not shown) and a third driving source (not shown). The third linear guide extends along the first direction P1 and is fixed to the second support frame 141. The third slider is movably disposed on the third linear guide. The third driving source is fixed relative to the third linear guide. The third driving source is connected to the third slider. The third driving source is used to drive the third slider to move along the first direction P1.

[0113] The third linear guide may have a slide groove or a protrusion extending in the first direction P1, and the third slider has a structure that cooperates with the slide groove or the protrusion, so that the third slider can move relative to the third linear guide along the first direction P. The third driving source can be fixed to the second support frame 141 or the third linear guide, and the third driving source is connected to the third slider. When the third driving source is working, the third slider can move along the first direction P on the third linear guide.

[0114] Optionally, the third driving source may be a pneumatic cylinder, an electric cylinder or a motor, wherein the use of the electric cylinder or the motor can improve the accuracy and stability of the control of the third slider.

[0115] In some embodiments, when the third driving source uses a motor, a coupling can be used to set a screw on the rotating shaft of the motor, and a screw hole can be set on the third slider, the screw hole is provided with an internal thread that cooperates with the screw, and the screw and the third slider are connected by threaded cooperation. At the same time, the third slider can only move along the first direction P1 relative to the third linear guide, and cannot rotate relative to the third linear guide. In this way, the third linear guide, the third slider, the motor and the screw can form a screw-slider mechanism. When the motor is working, the motor drives the screw to rotate, and under the action of the screw, the third slider moves along the first direction P1 on the third linear guide. The use of the screw-slider mechanism can further improve the control accuracy of the third slider, thereby improving the accuracy and stability when moving the position of the second pickup arm 143.

[0116] It is understandable that the fourth drive mechanism can have a similar configuration to the third drive mechanism. Specifically, the fourth drive mechanism includes a fourth linear guide (not shown), a fourth slider (not shown) and a fourth drive source (not shown), the fourth linear guide extends along the second direction P2 and is fixed to the third slider, the fourth slider is movably arranged on the fourth linear guide, the fourth drive source is fixed relative to the fourth linear guide, the fourth drive source is connected to the fourth slider, and the fourth drive source is used to drive the fourth slider to drive the second pickup arm 143 to move along the second direction. It can be seen that the main difference between the fourth drive mechanism and the third drive mechanism is that the fourth slider in the fourth drive mechanism moves along the second direction P2.

[0117] It can be understood that the picking device 14 can be extended and retracted along the conveying direction, so that the second picking arm 143 can switch positions among the pouring station, the weighing station and the unloading station in the conveying direction.

[0118] In some embodiments, the filling device 1 is further provided with a sealing device 8 spaced apart from the filling device 12, and the sealing device 8 is used to seal the container 2 after the filling is completed, for example, to add a sealing plug to the container 2. Generally, the sealing device 8 can be arranged above the platform 6. After the filling is completed, the sealing device 8 moves downward, approaches the platform 6 and aligns with the container 2, and then sets the sealing plug on the container 2 for sealing. Afterwards, the second manipulator 7 moves the nest plate 3 to the loading box 4 at the unloading station.

[0119] When a sealing plug is used as a component for sealing a container, the sealing device 8 includes a plug feeding assembly 81 and a plug pressing assembly 82 which are arranged at intervals. After the container 2 of the nest plate 3 on the platform 6 is filled with materials, the plug feeding assembly 81 is used to pick up the sealing plug and move the sealing plug to the filling station, specifically located above the platform 6, and the plug pressing assembly 82 is moved to above the plug feeding assembly 81. The plug pressing assembly 82 is used to press down the sealing plug picked up by the plug feeding assembly 81 so that the sealing plug is partially embedded in the opening of the container 2, thereby sealing the container 2.

[0120] See also Fig. 9 and Fig.10 , Fig. 9 is a schematic diagram of the three-dimensional structure of the plug delivery assembly of the filling device according to an embodiment of the present application, Fig.10 It is a schematic diagram of the three-dimensional structure of the plugging assembly of the filling equipment according to an embodiment of the present application.

[0121] In some embodiments, the plug delivery assembly 81 includes a first lifting mechanism 811, a first rotating mechanism 812, and a first picking arm 813. The first lifting mechanism 811 is disposed outside the feeding portion 111. The first rotating mechanism 812 is connected to the first lifting mechanism 811, and the first picking arm 813 is connected to the first rotating mechanism 812. The first lifting mechanism 811 is used to drive the first rotating mechanism 812 to rotate. When the first rotating mechanism 812 rotates, the first picking arm 813 is driven to rotate to the injection station.

[0122] In some embodiments, the first lifting mechanism 811 is a telescopic mechanism (also called a telescopic module), including a first fixed sleeve 811a and a first telescopic rod (not shown), the first telescopic rod and the first fixed sleeve 811a are sleeved and can be axially telescopic relative to the first fixed sleeve 811a. The first rotating mechanism 812 is connected to the first telescopic rod.

[0123] Specifically, a placement table or transportation equipment for storing sealing plugs may be provided on the outside of the loading part 111, and the first rotating mechanism 812 may rotate the first picking arm 813 to the top of the placement table or transportation equipment, and the first lifting mechanism 811 drives the first rotating mechanism 812 to drive the first picking arm 813 to descend to the placement table or transportation equipment to pick up the sealing plug. After the first picking arm 813 picks up the sealing plug, the first lifting mechanism 811 drives the first rotating mechanism 812 to drive the first picking arm 813 to rise, and when the first picking arm 813 rises to a specific position, the first rotating mechanism 812 drives the first picking arm 813 to rotate to the filling station, and is located between the pressing plug assembly 82 and the nest plate 3 of the platform 6, and the pressing plug assembly 82 presses the sealing plug on the first picking arm 813 down to the sealing container 2. It can be understood that in the height direction, the height of the above-mentioned specific position is between the pressing plug assembly 82 and the nest plate 3 of the platform 6.

[0124] The first picking arm 813 can pick up a plurality of sealing plugs at the same time, and the sealing plugs are fixed on the first picking arm 813 at intervals.

[0125] In some embodiments, the pressing plug assembly 82 includes a second lifting mechanism 821 and a lower pressing arm 822. The second lifting mechanism 821 is arranged on the outside of the feeding part 111, and the lower pressing arm 822 is connected to the second lifting mechanism 821. The second lifting mechanism 821 is used to drive the lower pressing arm 822 to move downward to press the sealing plug on the first picking arm 813.

[0126] It can be understood that the pressing arm 822 is provided with a plurality of pressing rods 822 a, and the plurality of pressing rods 822 a are used to press down the plurality of sealing plugs on the first picking arm 813 in a one-to-one correspondence.

[0127] Similarly, the second lifting mechanism 821 can also be a telescopic mechanism, including a second fixed sleeve 821a and a second telescopic rod 821b, the second telescopic rod 821b is sleeved with the second fixed sleeve 821a, and can be axially telescopic relative to the second fixed sleeve 821a. The lower pressing arm 822 is connected to the first telescopic rod 821b.

[0128] In some embodiments, the plug assembly 82 may further include a guide arm 823, which is connected to the second fixed sleeve 821a, and when the first pick-up arm 813 is located at the pouring station, the guide arm 823 is located between the first pick-up arm 813 and the lower pressing arm 822 in the height direction. The guide arm 823 is used to limit the moving path of the lower pressing rod 822a so that the lower pressing rod 822a can accurately face the sealing plug on the first pick-up arm 813.

[0129] Specifically, a plurality of guide holes 823 a are provided on the guide arm 823 , and the plurality of guide holes 823 a are used for allowing the plurality of push-down rods 822 a to pass through in a one-to-one correspondence, so as to limit the displacement of the push-down rods 822 a in the radial direction.

[0130] In some embodiments, the plunger assembly 82 may also include a second rotating mechanism (not shown), which may be disposed on the second fixed sleeve 821a to drive the guide arm 823 to rotate to avoid the movement of the first manipulator 5 and / or the perfusion device 12, thereby preventing interference between different devices.

[0131] In some other embodiments, the second rotating mechanism can serve as the base of the second fixed sleeve 821a, so that the second rotating mechanism can simultaneously rotate the lower pressure arm 822 and the guide arm 823 to avoid the movement of the first manipulator 5 and / or the perfusion device 12, thereby preventing interference between different devices.

[0132] On the other hand, the present application further provides a filling method, which is applied to the above-mentioned filling device 1, and the filling method comprises:

[0133] S100. Obtaining a first weight of the container 2 filled with a material, and determining whether the first weight is within a preset range;

[0134] If the first weight is within the preset range, the picking device 14 of the filling equipment 1 is controlled to move to the weighing station, and the container 2 filled with the material is moved to the unloading position;

[0135] If the first weight is less than the lower limit of the preset range, the filling device 12 of the filling equipment 1 is controlled to move to the weighing station to refill the container 2 with material until the first weight is within the first preset range.

[0136] It is understandable that due to factors such as the viscosity and concentration of the liquid material and the tolerance of different infusion tubes, the amount of material poured into the container 2 each time varies, and after the equipment has been running for a certain period of time, it may be noticed that the amount of material in the container 2 is reduced. Therefore, the amount of material in the container 2 needs to be weight-checked at certain intervals to ensure the consistency of products in the same product batch.

[0137] Since there are many factors in the production process that will affect the consistency of the amount of material poured each time, the amount of material contained in different containers 2 is allowed to have a certain difference. For example, if the target material has two digits of 100mL, when the floating amount of the amount poured into the container 2 does not exceed 5mL (it can also be other values), it is considered to comply with the regulations.

[0138] Before detecting the amount of poured material, it is necessary to first detect the weight of the empty container 2. After pouring, the weight of the container 2 is detected again. The difference in weight obtained at this time is the amount of material poured into the container 2. If the value is within the preset range, it meets the requirements. If it is less than the lower limit of the preset range, it needs to be refilled. If it exceeds the upper limit of the preset range, it does not meet the regulations and needs to be removed from the product.

[0139] In some embodiments, when it is detected that the amount of material poured into the container 2 is less than the lower limit of the preset range, the difference with the target value can be obtained. During refilling, the filling device 1 refills the container 2 based on the difference.

[0140] When the filling device 1 of the present invention is used for automatic filling, when the weighing device 13 measures that the weight of the container filled with materials does not reach the preset range, the filling device 12 can be moved to the weighing station to directly refill the container 2 located at the weighing station, without the need to repeatedly move the container 2 between the filling station and the weighing station, which can save a lot of time and improve production efficiency. In addition, the filling device 12 is directly used for refilling, and there is no need to set up a refilling station and a refilling device separately. Compared with setting up an independent refilling device, it can reduce the waste caused by residual materials on the filling needle of the refilling device, thereby reducing material loss.

[0141] The filling equipment and filling method provided by the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above implementation methods is only used to help understand the ideas of the present invention. There may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A filling device, characterized in that: include: A conveying device, the conveying device having a filling station, a weighing station and a material unloading station, the conveying device is used to transport containers to be filled and containers that have completed filling; A filling device, arranged at one side of the conveying device, and used for filling materials into the container to be filled; A weighing device is spaced apart from the conveying device, the weighing device is spaced apart from the filling device, and the weighing device is used to weigh at least part of the container at the weighing station; A picking device is arranged at one side of the conveying device, and is used to pick up a container and drive the container to switch between the filling station and the weighing station; The filling device is configured such that when the weighing device measures that the weight of the container filled with materials does not reach a preset range, the filling device moves to the weighing station to refill the container.

2. The filling device according to claim 1, characterized in that: The perfusion device includes a first supporting frame, a first driving assembly, a perfusion assembly and a first position detection unit. The first driving assembly and the first position detection unit are arranged on the first supporting frame. The first driving assembly is connected to the perfusion assembly. The first driving assembly is used to drive the perfusion assembly to switch positions between the perfusion station and the weighing station. The first position detection unit is used to detect whether the perfusion station is provided with a container.

3. The filling device according to claim 2, characterized in that: The first driving assembly includes a first driving mechanism and a second driving mechanism, the first driving mechanism is arranged on the first supporting frame, the first driving mechanism is connected to the second driving mechanism, the second driving mechanism is connected to the perfusion assembly, the first driving mechanism is used to drive the second driving mechanism to drive the perfusion assembly to move along the first direction, and the second driving mechanism is used to drive the perfusion assembly to move along the second direction; one of the first direction and the second direction is the conveying direction, and the other is the height direction of the first supporting frame.

4. The filling device according to claim 3, characterized in that: The first driving mechanism includes a first linear guide, a first slider and a first driving source, wherein the first linear guide extends along the first direction and is fixed to the first support frame, the first slider is movably disposed on the first linear guide, the first driving source is fixed relative to the first linear guide, the first driving source is connected to the first slider, and the first driving source is used to drive the first slider to move along the first direction; The second driving mechanism includes a second linear guide, a second slider and a second driving source. The second linear guide extends along the second direction and is fixed to the first slider. The second slider is movably arranged on the second linear guide. The second driving source is fixed relative to the second linear guide. The second driving source is connected to the perfusion assembly. The second driving source is used to drive the second slider to drive the perfusion assembly to move along the second direction.

5. The filling device according to any one of claims 2 to 4, characterized in that: The filling assembly includes a mounting bracket and a plurality of injection heads, wherein the mounting bracket is connected to the first driving assembly, and the plurality of injection heads are spaced apart on the mounting bracket. The first driving assembly drives the mounting bracket to drive the plurality of injection heads to move, and the injection heads are used to fill materials into the container.

6. The filling device according to any one of claims 1 to 4, characterized in that: The weighing device includes a load-bearing platform, a plurality of placement seats and a plurality of weighing units. The plurality of placement seats are arranged on the load-bearing platform, and the plurality of weighing units are arranged on the placement seats in a one-to-one correspondence. The plurality of placement seats are used to place a plurality of containers in a one-to-one correspondence, and the plurality of weighing units are used to weigh the weight of the plurality of containers in a one-to-one correspondence.

7. The filling device according to claim 6, characterized in that: The placement seat has a limiting groove, the weighing unit is arranged in the limiting groove, and the limiting groove is used to accommodate and fix the container.

8. The filling device according to any one of claims 1 to 4, characterized in that: The picking device includes a second supporting frame, a second driving assembly, a second picking arm and an adsorption assembly, wherein the second driving assembly is arranged on the second supporting frame, the second picking arm is connected to the second driving assembly, and the second driving assembly is used to drive the second picking arm to switch positions between the pouring station, the weighing station and the unloading station; the adsorption assembly is arranged on the second picking arm, and the adsorption assembly is used to adsorb the container so that the adsorbed container is fixed to the second picking arm.

9. The filling device according to claim 8, characterized in that The second driving assembly includes a third driving mechanism and a fourth driving mechanism, the third driving mechanism is arranged on the second supporting frame, the third driving mechanism is connected to the fourth driving mechanism, the fourth driving mechanism is connected to the second picking arm, the third driving mechanism is used to drive the fourth driving mechanism to drive the second picking arm to move along the first direction, and the fourth driving mechanism is used to drive the second picking arm to move along the second direction; one of the first direction and the second direction is the conveying direction, and the other is the height direction of the second supporting frame.

10. The filling device according to claim 9, characterized in that The third driving mechanism comprises a third linear guide, a third slider and a third driving source, wherein the third linear guide extends along the first direction and is fixed to the second support frame, the third slider is movably arranged on the third linear guide, the third driving source is fixed relative to the third linear guide, the third driving source is connected to the third slider, and the third driving source is used to drive the third slider to move along the first direction; The fourth driving mechanism includes a fourth linear guide, a fourth slider and a fourth driving source. The fourth linear guide extends along the second direction and is fixed to the third slider. The fourth slider is movably arranged on the fourth linear guide. The fourth driving source is fixed relative to the fourth linear guide. The fourth driving source is connected to the fourth slider. The fourth driving source is used to drive the fourth slider to drive the second pickup arm to move along the second direction.

11. A filling method, characterized in that: The filling device according to any one of claims 1 to 10 comprises: Obtaining a first weight of a container filled with a material, and determining whether the first weight is within a preset range; If the first weight is within a preset range, controlling a picking device of the filling equipment to move to the weighing station, and moving the container filled with the material to a material unloading position; If the first weight is less than a lower limit of a preset range, the filling device of the filling equipment is controlled to move to a weighing station to replenish the material into the container until the first weight is within a first preset range.

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