Automatic weighing system and filling and sealing packaging production line

Abstract

The embodiment of the invention relates to the technical field of food and medicine filling and sealing packaging, in particular to an automatic weighing system. The first driving mechanism is provided with a first module and a second module and is used for driving the manipulator to reciprocate in the first direction and the second direction; a moving platform configured to be reciprocatable in a third direction; the weighing device is used for weighing the to-be-weighed object; one of the first direction and the second direction is a vertical direction, and the other one is a weighing and picking direction; the weighing and picking direction intersects with the third direction, and the weighing and picking direction and the third direction are both perpendicular to the vertical direction. The embodiment of the invention further provides a filling and sealing packaging production line. According to the automatic weighing system and the potting packaging production line provided by the embodiment of the invention, the production efficiency can be improved and the cost of mechanical equipment can be reduced when the potting container after being taken out for weighing.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of food and medicine filling and packaging, and in particular to an automatic weighing system and a filling and packaging production line. Background Art

[0002] The production of food and drug filling and packaging usually includes transferring nest plates with filling containers, taking out the filling containers for the first filling, placing the filled containers back on the nest plates, taking out the filled filling containers from the nest plates for weighing. If the weighing is qualified, the packaging process can be entered without refilling. If the weighing is unqualified, refilling is required before entering the packaging process.

[0003] At present, when taking out the sealed containers for weighing, most of them are as disclosed in Chinese patent documents CN211544099U, CN219792445U, and CN112498767B: "A four-axis manipulator is used to take out the specified sample from the nest plate in the filling area, and then transport it to the weighing station for weighing. After weighing, the container needs to be returned to the nest plate along the original route." In this process, since the weighing station is outside the filling area, the tooling of the manipulator needs to achieve a large angle and a large position span when sucking the container during the weighing process, which will result in a long time consumed for each weighing operation, a slow production cycle, and difficulty in precision control due to the large degree of freedom of the four-axis manipulator. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an automatic weighing system and a filling and packaging production line, which are used to improve production efficiency and reduce mechanical equipment costs when weighing the filling containers after taking out the filling.

[0005] To solve the above problems, an embodiment of the present application provides an automatic weighing system, including: a manipulator for picking up an object to be weighed; a first driving mechanism, having a first module and a second module; the fixed end of the first module is fixed, the fixed end of the second module is fixed to the movable end of the first module, the movable end of the first module can reciprocate in a first direction relative to the fixed end of the first module, and the movable end of the second module can reciprocate in a second direction relative to the fixed end of the second module; a mobile platform, for carrying a nest plate on which the object to be weighed is placed, and is configured to reciprocate in a third direction; a weighing device, for weighing the object to be weighed; wherein, one of the first direction and the second direction is a vertical direction, and the other is a weighing and picking direction; the weighing and picking direction intersects with the third direction, and the weighing and picking direction and the third direction are both perpendicular to the vertical direction; the mobile platform is configured to be movable to a preset position in the third direction so that the first driving mechanism, the mobile platform, and the weighing device are arranged in the weighing and picking direction.

[0006] An automatic weighing system provided by an embodiment of the present application, through the arrangement of the first module and the second module of the first driving mechanism, a mobile platform that can reciprocate in the third direction, and the relative relationship between the first direction, the second direction and the third direction can disassemble the movement required for weighing the potting container after taking out the potting; that is, when weighing the potting container after taking out the potting, the mobile platform is first moved in the third direction to place the mobile platform in a preset position, and then the mobile platform is configured to be movable to the preset position in the third direction so that the first driving mechanism, the mobile platform, and the weighing device are in the third direction. The weighing and picking direction is arranged so that the operation of taking out the sealed container and weighing it on the weighing device can be achieved by moving the first module and the second module in two degrees of freedom along the first direction and the second direction; in other words, part of the movement route has been completed in advance based on the movement of the mobile platform in the third direction, and each weighing operation only requires movement in two degrees of freedom. Therefore, compared with the prior art, the amplitude of movement required by the manipulator when taking out the sealed container for weighing is reduced and the number of degrees of freedom is reduced, thereby improving production efficiency; and since the first driving mechanism of this embodiment requires fewer degrees of freedom, precision control is easier.

[0007] In some embodiments, the height of the weighing device in the vertical direction is lower than the height of the mobile platform in the vertical direction; when the mobile platform is in the preset position, the weighing device is located between the first drive mechanism and the mobile platform in the weighing and picking direction. In this way, after the mobile platform moves to the preset position along the third direction, the first drive mechanism controls the manipulator to move along the vertical direction and the weighing and picking direction and picks up the object to be weighed, and then moves in the weighing and picking direction until the manipulator moves above the weighing device, and then moves in the vertical direction so that the manipulator can place the object to be weighed on the weighing device; in this way, the center of gravity of the weighing device can be placed in a lower position to facilitate a stable fixed weighing device; and by the aforementioned weighing device being located between the first drive mechanism and the mobile platform, it can be achieved that in the aforementioned process of moving in the vertical direction so that the manipulator can place the object to be weighed on the weighing device, the first drive mechanism is avoided from having to drive the manipulator to move across the mobile platform, so as to reduce the probability of interference between the first drive mechanism and the mobile platform.

[0008] In some embodiments, the automatic weighing system further includes: a lifting mechanism; a lifting hole is provided at the position of the mobile platform corresponding to the nest plate where the object to be weighed is provided; the lifting mechanism includes a third module and a lifting fixture fixed to the mobile end of the third module; the mobile end of the third module can reciprocate in the vertical direction relative to the fixed end of the third module; when the mobile platform is in the preset position, the lifting mechanism is located below the mobile platform, and the lifting fixture and the lifting hole are arranged in the vertical direction. In this way, when the mobile platform is in the preset position and a robot is required to pick up the object to be weighed, the lifting operation can be performed through the lifting mechanism to facilitate the picking up by the robot.

[0009] In some embodiments, the automatic weighing system further includes: a second driving mechanism; the mobile platform is provided with a plurality of groups of lifting through holes arranged sequentially along the weighing and picking direction; the mobile platform is fixed to the second driving mechanism via a connecting piece, and the second driving mechanism is configured to drive the mobile platform to move along the weighing and picking direction and the third direction. In this way, when the mobile platform is in the preset position, the second driving mechanism drives the mobile platform to make fine adjustments along the weighing and picking direction, so that each group of lifting through holes can correspond to the lifting mechanism in sequence, and the weighing effect of each group of objects to be weighed corresponding to each group of lifting through holes is achieved in sequence.

[0010] In some embodiments, each group of the lifting through holes has a plurality of the lifting through holes arranged in sequence along the third direction; the weighing device has a plurality of weighing scales arranged in sequence along the third direction; and the manipulator has a plurality of picking ends arranged in sequence along the third direction. In this way, when weighing the objects to be weighed corresponding to each group of the lifting through holes, the weights of the plurality of objects to be weighed can be accurately weighed at one time, thereby improving the weighing efficiency.

[0011] In some embodiments, the manipulator has a vacuum suction end for vacuum suction of the object to be weighed. Picking up and releasing the object to be weighed by vacuum and breaking the vacuum can reduce mechanical movement like conventional mechanical grippers and avoid the problem of reduced accuracy caused by excessive mechanical movement.

[0012] In some embodiments, the suction surface of the vacuum suction end is parallel to the vertical direction. In this way, when the lifting mechanism is used to lift the object to be weighed, the vacuum suction end can suck the side of the object to be weighed, so that when the manipulator picks up the object to be weighed, it only needs to move along the weighing and picking direction; it is not necessary to move the manipulator to the top of the object to be weighed along the weighing and picking direction, and then move along the gravity direction to suck the object to be weighed, as in sucking the top surface of the object to be weighed; thereby achieving the effect of reducing the moving path of the manipulator and improving production efficiency.

[0013] In some embodiments, the first module movable end can reciprocate in the vertical direction relative to the first module fixed end, and the second module movable end can reciprocate in the weighing and picking direction relative to the second module fixed end.

[0014] In some embodiments, the first module mobile end includes a first drive mechanism and a second drive mechanism; the first drive mechanism and the second drive mechanism are arranged in sequence along the weighing and picking direction; the first drive mechanism fixed end and the second drive mechanism fixed end are fixed in position, and the first drive mechanism mobile end and the second drive mechanism mobile end are both fixed to the second module fixed end.

[0015] The embodiment of the present application also provides a filling and packaging production line, including the automatic weighing system of any of the aforementioned embodiments. Since the filling and packaging production line includes the automatic weighing system of any of the aforementioned embodiments, it has the same beneficial effects as the automatic weighing system of any of the aforementioned embodiments, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of the automatic weighing system provided in an embodiment of the present application when the manipulator picks up an object to be weighed from a mobile platform;

[0017] Figure 2 A schematic structural diagram of the automatic weighing system provided in an embodiment of the present application when the manipulator places an object to be weighed on a weighing device.

[0018] In the accompanying drawings, the reference numerals are as follows:

[0019] Manipulator 110, picking end 111;

[0020] A first driving mechanism 120, a first module 121, a second module 122, a first driving mechanism 123, and a second driving mechanism 124;

[0021] Mobile platform 130, connecting member 131;

[0022] Weighing device 140;

[0023] Lifting mechanism 150, third module 151, lifting fixture 152;

[0024] Object to be weighed 210;

[0025] Nest board 220;

[0026] Weighing and picking direction X, third direction Y, vertical direction Z. DETAILED DESCRIPTION

[0027] The inventors of the present application have found that in the prior art, when taking out the sealed containers for weighing, most of them are as disclosed in Chinese patent documents CN211544099U, CN219792445U, and CN112498767B: "A four-axis manipulator is used to take out the specified sample from the nest plate in the filling area, and then transport it to the weighing station for weighing. After weighing, the container needs to be returned to the nest plate along the original route." In this process, since the weighing station is outside the filling area, the tooling of the manipulator needs to achieve a large angle and a large position span when sucking the container during the weighing process, which will result in a long time consumed for each weighing operation, a slow production cycle, and difficulty in precision control due to the large degree of freedom of the four-axis manipulator.

[0028] In this regard, the inventors of the present application have designed an automatic weighing system after in-depth research; the automatic weighing system includes: a manipulator for picking up an object to be weighed; a first driving mechanism, having a first module and a second module; the fixed end of the first module is fixed, the fixed end of the second module is fixed to the movable end of the first module, the movable end of the first module can reciprocate in a first direction relative to the fixed end of the first module, and the movable end of the second module can reciprocate in a second direction relative to the fixed end of the second module; a mobile platform for carrying a nest plate on which the object to be weighed is placed, and it is configured to reciprocate in a third direction; a weighing device for weighing the object to be weighed; wherein, one of the first direction and the second direction is a vertical direction, and the other is a weighing and picking direction; the weighing and picking direction intersects with the third direction, and the weighing and picking direction and the third direction are both perpendicular to the vertical direction; the mobile platform is configured to be movable to a preset position in the third direction so that the first driving mechanism, the mobile platform, and the weighing device are arranged in the weighing and picking direction.

[0029] The automatic weighing system designed by the inventor of the present application can disassemble the movement required for weighing the sealed container after taking out the filling by setting the first module and the second module of the first driving mechanism, and the movement required for weighing the sealed container after taking out the filling by the relative relationship among the first direction, the second direction and the third direction; that is, when weighing the sealed container after taking out the filling, the mobile platform is first moved in the third direction to place the mobile platform in a preset position, and then the mobile platform is configured to be movable to the preset position in the third direction so that the first driving mechanism, the mobile platform and the weighing device are moved in the preset position in the weighing direction. The picking direction is arranged so that the operation of taking out the sealed container and weighing it on the weighing device can be achieved by moving the first module and the second module in two degrees of freedom along the first direction and the second direction; in other words, part of the movement route has been completed in advance based on the movement of the mobile platform in the third direction, and each weighing operation only requires movement in two degrees of freedom. Therefore, compared with the prior art, when taking out the sealed container for weighing, the amplitude of movement of the robot arm is reduced and the number of degrees of freedom is reduced, thereby improving production efficiency; and since the first driving mechanism of this embodiment requires fewer degrees of freedom, precision control is easier.

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, the technical scheme claimed in the present application can also be realized by various changes and modifications based on the following embodiments.

[0031] See also Figure 1 and Figure 2The embodiment of the present application provides an automatic weighing system, including: a manipulator 110, for picking up an object 200 to be weighed; a first driving mechanism 120, having a first module 121 and a second module 122; the fixed end of the first module 121 is fixed, the fixed end of the second module 122 is fixed to the movable end of the first module 121, the movable end of the first module 121 can reciprocate in a first direction relative to the fixed end of the first module 121, and the movable end of the second module 122 can reciprocate in a second direction relative to the fixed end of the second module 122; a mobile platform 130, for carrying and placing A nest plate 220 with an object 210 to be weighed is configured to reciprocate in a third direction Y; a weighing device 140 is used to weigh the object 210 to be weighed; wherein, one of the first direction and the second direction is a vertical direction Z, and the other is a weighing and picking direction X; the weighing and picking direction X intersects with the third direction Y, and the weighing and picking direction X and the third direction Y are both perpendicular to the vertical direction Z; the mobile platform 130 is configured to be movable in the third direction Y to a preset position so that the first drive mechanism 120, the mobile platform 130, and the weighing device 140 are arranged in the weighing and picking direction X.

[0032] The embodiment of the present application does not limit the specific form of the first module 121 and the second module 122; as long as it can realize that the movable end of the first module 121 can reciprocate in the first direction relative to the fixed end of the first module 121, and the movable end of the second module 122 can reciprocate in the second direction relative to the fixed end of the second module 122. In one embodiment, the first module 121 and the second module 122 are sliding modules formed by the cooperation of a slide rail and a slider. In this case, the fixed ends of the first module 121 and the second module 122 are their respective slide rails, and the movable ends of the first module 121 and the second module 122 are their respective sliders. In one embodiment, the first module 121 and the second module 122 are cylinders. In this case, the fixed ends of the first module 121 and the second module 122 are their respective cylinder bodies, and the movable ends of the first module 121 and the second module 122 are their respective piston rods.

[0033] It should be noted that the first drive mechanism 120, the mobile platform 130, and the weighing device 140 are arranged in the weighing and picking direction X, which means that the first drive mechanism 120, the mobile platform 130, and the weighing device 140 are arranged in the weighing and picking direction X, but the specific arrangement order of the first drive mechanism 120, the mobile platform 130, and the weighing device 140 is not limited, and the height of the first drive mechanism 120, the mobile platform 130, and the weighing device 140 in the vertical direction is not limited.

[0034] An automatic weighing system provided in an embodiment of the present application can disassemble the movement required for weighing the potting container (i.e., the object to be weighed 210) after taking out the potting container for weighing by disposing the first module 121 and the second module 122 of the first driving mechanism 120, and the mobile platform 130 that can reciprocate in the third direction Y, and the relative relationship between the first direction, the second direction and the third direction Y (i.e., the relative relationship between the weighing and picking direction X, the third direction Y, and the vertical direction Z); that is, when weighing the potting container after taking out the potting, the mobile platform 130 is first moved in the third direction Y to place the mobile platform 130 in a preset position, and then the mobile platform 130 is configured to be movable in the third direction to the preset position so that the first driving mechanism 120, the mobile platform 130, and the weighing device 140 are arranged in the weighing and picking direction X, and the operation of taking out the potting container after the potting and weighing it on the weighing device 140 can be realized by moving the first module 121 and the second module 122 in two degrees of freedom along the first direction and the second direction.

[0035] In other words, after such configuration, part of the movement route has been completed in advance based on the movement of the mobile platform 130 in the third direction Y, and each weighing operation only requires movement of two degrees of freedom to be realized. Therefore, compared with the prior art, when taking out the sealed container after filling for weighing, the amplitude of movement required by the manipulator 110 is reduced and the number of degrees of freedom is reduced, thereby improving production efficiency; and since the first drive mechanism 120 of this embodiment requires fewer degrees of freedom, precision control is easier.

[0036] It should be noted that the weighing and picking direction X intersects with the third direction Y, which means that the weighing and picking direction X and the third direction Y are arranged at an angle greater than 0° and less than or equal to 90°. In a preferred embodiment, the weighing and picking direction X and the third direction Y are arranged at an angle of 90°.

[0037] The present application does not limit the specific type of the object 210 to be weighed, which may be a vial, a cartridge, a prefilled product, and the like.

[0038] In some embodiments, the height of the weighing device 140 in the vertical direction Z is lower than the height of the mobile platform 130 in the vertical direction Z; when the mobile platform 130 is in a preset position, in the weighing and picking direction X, the weighing device 140 is located between the first driving mechanism 120 and the mobile platform 130.

[0039] It should be noted again that the weighing device 140 is located between the first driving mechanism 120 and the mobile platform 130 , and no limitation is imposed on the vertical heights of the first driving mechanism 120 , the mobile platform 130 , and the weighing device 140 .

[0040] In this way, after the mobile platform 130 moves to the preset position along the third direction Y, the first driving mechanism 120 controls the manipulator 110 to move along the vertical direction Z and the weighing and picking direction X and picks up the object to be weighed 210, and then moves in the weighing and picking direction X until the manipulator 110 moves above the weighing device 140, and then moves in the vertical direction Z so that the manipulator 110 can place the object to be weighed 210 on the weighing device 140.

[0041] In this way, the center of gravity of the weighing device 140 can be placed at a lower position to facilitate the stable fixing of the weighing device 140; and by virtue of the aforementioned weighing device 140 being located between the first driving mechanism 120 and the mobile platform 130, it is possible to achieve the aforementioned movement in the vertical direction Z so that the manipulator 110 can place the object 210 to be weighed on the weighing device 140, thereby avoiding the first driving mechanism 120 from having to cross the mobile platform 130 to drive the manipulator 110 to move, thereby reducing the probability of interference between the first driving mechanism 120 and the mobile platform 130.

[0042] In some embodiments, the automatic weighing system also includes: a lifting mechanism 150; a lifting through hole (not shown in the figure) is provided at the position of the mobile platform 130 corresponding to the nest plate 220 where the object 210 to be weighed is provided; the lifting mechanism 150 includes a third module 151 and a lifting fixture 152 fixed to the mobile end of the third module 151; the mobile end of the third module 151 can reciprocate in the vertical direction Z relative to the fixed end of the third module 151; when the mobile platform 130 is in a preset position, the lifting mechanism 150 is located below the mobile platform 130, and the lifting fixture 152 and the lifting through hole are arranged in the vertical direction Z. In this way, when the mobile platform 130 is in the preset position and the robot 110 is required to pick up the object 210 to be weighed, the third module 151 of the lifting mechanism 150 can drive the lifting fixture 152 to move, so that the lifting fixture 152 can lift the object 210 to be weighed set on the nest plate 220 through the lifting through hole, so as to facilitate the picking up by the robot 110.

[0043] In some embodiments, the automatic weighing system further includes: a second driving mechanism (not shown in the figure); the mobile platform 130 is provided with a plurality of groups of lifting through holes arranged in sequence along the weighing and picking direction X; the mobile platform 130 is fixed to the second driving mechanism via a connecting member 131, and the second driving mechanism is configured to drive the mobile platform 130 to move along the weighing and picking direction X and the third direction Y. In this way, when the mobile platform 130 is in a preset position, the second driving mechanism drives the mobile platform 130 to make a fine adjustment along the weighing and picking direction X, so that each group of lifting through holes can correspond to the lifting fixture 152 of the lifting mechanism 150 in sequence, so as to achieve the effect of weighing each group of objects 210 to be weighed corresponding to each group of lifting through holes in sequence.

[0044] In some embodiments, each group of lifting through holes has a plurality of lifting through holes sequentially arranged along the third direction Y; the weighing device 140 has a plurality of weighing scales (not shown in the figure) sequentially arranged along the third direction; and the manipulator 110 has a plurality of picking ends 111 sequentially arranged along the third direction. In this way, when weighing the objects 210 to be weighed corresponding to each group of lifting through holes, the weights of the plurality of objects 210 to be weighed can be accurately weighed at one time, thereby improving the weighing efficiency.

[0045] In some embodiments, the manipulator 110 has a vacuum suction end for vacuum suction of the object 210. Picking up and releasing the object 210 by vacuum and breaking the vacuum can reduce mechanical movements like conventional mechanical grippers and avoid the problem of reduced accuracy caused by excessive mechanical movements.

[0046] When the robot arm 110 has a plurality of picking ends 111 sequentially arranged along the third direction, each picking end 111 is provided with a vacuum adsorption end.

[0047] In some embodiments, the suction surface of the vacuum suction end is parallel to the vertical direction Z. In this way, when the lifting mechanism 150 lifts the object 210 to be weighed, the vacuum suction end can suck the side of the object 210 to be weighed, so that when the manipulator 110 picks up the object to be weighed, it only needs to move along the weighing and picking direction X; it is not necessary to move the manipulator 110 to the top of the object 210 along the weighing and picking direction X, as in sucking the top surface of the object 210, and then move along the gravity direction (i.e., the downward direction of the vertical direction) to suck the object 210 to be weighed; thereby achieving the effect of reducing the moving path of the manipulator 110 and improving production efficiency.

[0048] It should be noted that, since the adsorption surface of the vacuum adsorption end may be a non-planar structure such as a curved surface, the adsorption surface of the vacuum adsorption end is parallel to the vertical direction Z means that the adsorption surface of the vacuum adsorption end is roughly parallel to the vertical direction Z, and does not implicitly limit the adsorption surface of the vacuum adsorption end to a planar structure.

[0049] In some embodiments, the movable end of the first module 121 can reciprocate in the vertical direction Z relative to the fixed end of the first module 121, and the movable end of the second module 122 can reciprocate in the weighing and picking direction X relative to the fixed end of the second module 122. In this way, when the manipulator 110 is driven to move along the weighing and picking direction X, it is not necessary to drive the module that also needs to drive the manipulator 110 to move along the vertical direction Z, thereby reducing the probability of interference with other mechanisms when the manipulator 110 is driven to move along the weighing and picking direction X.

[0050] In some embodiments, the moving end of the first module 121 includes a first driving mechanism 123 and a second driving mechanism 124; the first driving mechanism 123 and the second driving mechanism 124 are arranged in sequence along the weighing and picking direction X; the fixed end of the first driving mechanism 123 and the fixed end of the second driving mechanism 124 are fixed in position, and the moving end of the first driving mechanism 123 and the moving end of the second driving mechanism 124 are both fixed to the fixed end of the second module 122. In this way, the stability of the second module 122 when it is driven to reciprocate in the vertical direction can be improved, and the strength of the structure of the fixed second module 122 can be improved.

[0051] The embodiment of the present application also provides a filling and packaging production line, including the automatic weighing system of any of the aforementioned embodiments. Since the filling and packaging production line includes the automatic weighing system of any of the aforementioned embodiments, it has the same beneficial effects as the automatic weighing system of any of the aforementioned embodiments, which will not be repeated here.

[0052] Those skilled in the art can understand that the above-mentioned embodiments are specific examples for implementing the present application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present application. Any person skilled in the art can make their own changes and modifications without departing from the spirit and scope of the present application, so the scope of protection of the present application shall be based on the scope defined in the claims.

Claims

1. An automatic weighing system, characterized in that: include: A manipulator, used to pick up the object to be weighed; A first driving mechanism comprises a first module and a second module; The first module fixed end is fixed, the second module fixed end is fixed to the first module movable end, the first module movable end can reciprocate in a first direction relative to the first module fixed end, and the second module movable end can reciprocate in a second direction relative to the second module fixed end; A mobile platform, used for carrying a nest plate on which objects to be weighed are placed, and configured to reciprocate in a third direction; A weighing device, used for weighing the object to be weighed; Among them, one of the first direction and the second direction is a vertical direction, and the other is a weighing and picking direction; the weighing and picking direction intersects with the third direction, and the weighing and picking direction and the third direction are both perpendicular to the vertical direction; the mobile platform is configured to be movable to a preset position in the third direction so that the first driving mechanism, the mobile platform, and the weighing device are arranged in the weighing and picking direction.

2. The automatic weighing system according to claim 1, characterized in that: The height of the weighing device in the vertical direction is lower than the height of the mobile platform in the vertical direction; when the mobile platform is in the preset position, in the weighing and picking direction, the weighing device is located between the first driving mechanism and the mobile platform.

3. The automatic weighing system according to claim 1, characterized in that: Also includes: Lifting mechanism; The mobile platform is provided with a lifting through hole at a position corresponding to the nest plate where the object to be weighed is provided; The lifting mechanism includes a third module and a lifting fixture fixed to the movable end of the third module; the movable end of the third module can reciprocate in the vertical direction relative to the fixed end of the third module; When the mobile platform is at the preset position, the lifting mechanism is located below the mobile platform, and the lifting fixture and the lifting through hole are arranged in the vertical direction.

4. The automatic weighing system according to claim 3, characterized in that: Also includes: a second driving mechanism; The mobile platform is provided with a plurality of groups of lifting through holes arranged in sequence along the weighing and picking direction; the mobile platform is fixed to the second driving mechanism via a connecting piece, and the second driving mechanism is configured to drive the mobile platform to move along the weighing and picking direction and the third direction.

5. The automatic weighing system according to claim 4, characterized in that: Each group of the lifting through holes has a plurality of the lifting through holes arranged in sequence along the third direction; the weighing device has a plurality of weighing scales arranged in sequence along the third direction; and the manipulator has a plurality of picking ends arranged in sequence along the third direction.

6. The automatic weighing system according to any one of claims 3, characterized in that: The manipulator has a vacuum adsorption end for adsorbing the object to be weighed by vacuum.

7. The automatic weighing system according to claim 6, characterized in that: The adsorption surface of the vacuum adsorption end is parallel to the vertical direction.

8. The automatic weighing system according to any one of claims 1 to 5, characterized in that: The first module movable end can reciprocate in the vertical direction relative to the first module fixed end, and the second module movable end can reciprocate in the weighing and picking direction relative to the second module fixed end.

9. The automatic weighing system according to claim 8, characterized in that: The first module movable end includes a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are arranged in sequence along the weighing and picking direction; the first driving mechanism fixed end and the second driving mechanism fixed end are fixed in position, and the first driving mechanism movable end and the second driving mechanism movable end are both fixed to the second module fixed end.

10. A filling and packaging production line, characterized in that: include: An automatic weighing system as claimed in any one of claims 1 to 9.

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