Automatic weighing system and filling and sealing packaging production line

Abstract

The embodiment of the utility model 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 utility model 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] This application relates to the field of food and pharmaceutical filling and packaging technology, and in particular to an automatic weighing system and a filling and packaging production line. Background Technology

[0002] Food and pharmaceutical filling and packaging production typically involves transferring a pallet containing filling containers, removing the filling containers for initial filling, placing the filled containers back onto the pallet, removing the filled containers from the pallet for weighing, and if the weight is within acceptable limits, the packaging process can proceed without refilling; otherwise, refilling is required before proceeding to the packaging process.

[0003] Currently, when weighing the filled containers after they have been removed from the filling area, the method disclosed in Chinese patent documents CN211544099U, CN219792445U, and CN112498767B is to "take a designated sample from the nest plate in the filling area using a four-axis robot, then transport it to the weighing station for weighing, and after weighing, return the container to the nest plate along the original route." In this process, since the weighing station is outside the filling area, the robot's tooling needs to achieve large angles and large positional changes when holding the container during the weighing process, which leads to a long time consumed for each weighing operation and a slow production cycle. Furthermore, due to the large number of degrees of freedom of the four-axis robot, precision control is difficult. Utility Model Content

[0004] The purpose of this application is to provide an automatic weighing system and a filling and packaging production line, so as to improve production efficiency and reduce mechanical equipment costs when weighing the filled containers after they have been removed from the packaging.

[0005] To address the aforementioned problems, this application provides an automatic weighing system, comprising: a robotic arm 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 in position, 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 relative to the fixed end of the first module in a first direction, and the movable end of the second module can reciprocate relative to the fixed end of the second module in a second direction; a mobile platform for carrying a tray on which the object to be weighed is placed, and configured to reciprocate in a third direction; and a weighing device for weighing the object; wherein, one of the first direction and the second direction is a vertical direction, and the other is a weighing pickup direction; the weighing pickup direction intersects with the third direction, and both the weighing pickup direction and the third direction are perpendicular to the vertical direction; the mobile platform is configured to move in the third direction to a preset position so that the first driving mechanism, the mobile platform, and the weighing device are arranged in the weighing pickup direction.

[0006] This application provides an automatic weighing system. Through the arrangement of a first module and a second module of a first drive mechanism, a mobile platform capable of reciprocating in a third-party direction, and the relative relationships between the first direction, the second direction, and the third-party direction, the movement required for weighing the refilled container after removal from the container can be disassembled. Specifically, when weighing the refilled container, the mobile platform is first moved in the third-party direction to a preset position. Then, the mobile platform is configured to move to the preset position in the third-party direction, allowing the first drive mechanism, the mobile platform, and the weighing device to move together in the third-party direction. The weighing and picking direction arrangement allows the operation of removing the filled container and weighing it on the weighing device to be achieved by the movement of the first module and the second module along two degrees of freedom in the first and second directions. In other words, since part of the movement path is completed in advance based on the movement of the mobile platform in the third direction, each weighing operation only requires two degrees of freedom of movement. Therefore, compared with the prior art, the range of movement required by the robot arm and the number of degrees of freedom are reduced when removing the filled container for weighing, thereby improving production efficiency. Moreover, since the first drive mechanism in this embodiment requires fewer degrees of freedom, accuracy control is easier.

[0007] In some embodiments, the height of the weighing device in the vertical direction is lower than the height of the moving platform in the vertical direction; when the moving platform is in the preset position, the weighing device is located between the first drive mechanism and the moving platform in the weighing pickup direction. Thus, after the moving platform moves to the preset position in a third direction, the first drive mechanism controls the robotic arm to move in both the vertical and weighing pickup directions and pick up the object to be weighed. Then, by moving in the weighing pickup direction until the robotic arm moves above the weighing device, and then by moving in the vertical direction, the robotic arm can place the object to be weighed onto the weighing device. This allows the center of gravity of the weighing device to be in a lower position, facilitating stable fixation of the weighing device. Furthermore, by positioning the weighing device between the first drive mechanism and the moving platform, the first drive mechanism can avoid having to cross the moving platform to drive the robotic arm during the aforementioned vertical movement to place the object to be weighed onto the weighing device, thereby reducing the probability of interference between the first drive mechanism and the moving platform.

[0008] In some embodiments, the automatic weighing system further includes: a lifting mechanism; the moving platform has a lifting through hole at the position where the object to be weighed is located on the nest plate; the lifting mechanism includes a third module and a lifting fixture fixed to the moving end of the third module; the moving end of the third module can reciprocate relative to the fixed end of the third module in the vertical direction; when the moving platform is in the preset position, the lifting mechanism is located below the moving platform, and the lifting fixture and the lifting through hole are arranged in the vertical direction. Thus, when the moving platform is in the preset position and a robotic arm needs to pick up the object to be weighed, the lifting mechanism can be used for lifting to facilitate the robotic arm's pickup.

[0009] In some embodiments, the automatic weighing system further includes: a second drive mechanism; the mobile platform is provided with multiple sets of lifting through holes arranged sequentially along the weighing pickup direction; the mobile platform is fixed to the second drive mechanism via a connector, and the second drive mechanism is configured to drive the mobile platform to move along the weighing pickup direction and the third direction. Thus, when the mobile platform is in the preset position, the second drive mechanism drives the mobile platform to make minor adjustments along the weighing pickup direction, so that each set of lifting through holes can sequentially correspond to the lifting mechanism, achieving the sequential weighing effect of each set of objects to be weighed corresponding to each set of lifting through holes.

[0010] In some embodiments, each group of lifting through holes has multiple lifting through holes arranged sequentially along the third direction; the weighing device has multiple weighing scales arranged sequentially along the third direction; and the robotic arm has multiple picking ends arranged sequentially along the third direction. Thus, when weighing the objects corresponding to each group of lifting through holes, the weight of multiple objects can be accurately measured at once, improving weighing efficiency.

[0011] In some embodiments, the robotic arm has a vacuum adsorption end for picking up and releasing the object to be weighed via vacuum. Picking up and releasing the object via vacuum and vacuum breaking reduces mechanical movement, as is common with conventional mechanical grippers, and avoids the problem of decreased accuracy caused by excessive mechanical movement.

[0012] In some embodiments, the adsorption surface of the vacuum adsorption end is parallel to the vertical direction. Thus, when cooperating with the lifting mechanism to lift the object to be weighed, the vacuum adsorption end can adsorb the side of the object, allowing the robot arm to pick up the object only by moving along the weighing pick-up direction; unlike adsorbing the top surface of the object, which requires moving the robot arm above the object along the weighing pick-up direction and then moving along the direction of gravity to adsorb the object. This reduces the robot arm's movement path and improves production efficiency.

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

[0014] In some embodiments, the first module moving end includes a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are arranged sequentially along the weighing and picking direction; the fixed ends of the first driving mechanism and the second driving mechanism are fixed in position, and the moving ends of the first driving mechanism and the second driving mechanism are both fixed to the fixed end of the second module.

[0015] This application also provides a filling and packaging production line, including the automatic weighing system of any of the foregoing embodiments. Since the filling and packaging production line includes the automatic weighing system of any of the foregoing embodiments, it has the same beneficial effects as the automatic weighing system of any of the foregoing embodiments, and will not be repeated here. Attached Figure Description

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

[0017] Figure 2 This is a schematic diagram of the structure of the automatic weighing system provided in this application, showing the robotic arm placing the object to be weighed on the weighing device.

[0018] In the attached figure, the reference numerals are as follows:

[0019] Robotic arm 110, pickup end 111;

[0020] First drive mechanism 120, first module 121, second module 122, first drive mechanism 123, second drive mechanism 124;

[0021] Mobile platform 130, connector 131;

[0022] Weighing device 140;

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

[0024] Item to be weighed: 210;

[0025] Nest board 220;

[0026] The weighing pickup direction is X, the third direction is Y, and the vertical direction is Z. Detailed Implementation

[0027] The inventors of this application have discovered that in the prior art, when weighing the filled containers after they have been removed from the filling area, the process is mostly as disclosed in Chinese patent documents CN211544099U, CN219792445U, and CN112498767B: "A designated sample is taken out from the nest plate in the filling area by a four-axis robot, and then transported 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 robot needs to achieve large angles and large positional changes when holding the container during the weighing process. This results in a long time consumed for each weighing operation, a slow production cycle, and difficulty in precision control due to the large number of degrees of freedom of the four-axis robot.

[0028] In response to this, the inventors of this application, after in-depth research, designed an automatic weighing system. The automatic weighing system includes: a robotic arm for picking up the object to be weighed; a first drive mechanism having a first module and a second module; the fixed end of the first module is fixed in position, 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 relative to the fixed end of the first module in a first direction, and the movable end of the second module can reciprocate relative to the fixed end of the second module in a second direction; a moving platform for carrying a tray on which the object to be weighed is placed, and it is configured to reciprocate in a third direction; and 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 pickup direction; the weighing pickup direction intersects with the third direction, and both the weighing pickup direction and the third direction are perpendicular to the vertical direction; the moving platform is configured to move in the third direction to a preset position so that the first drive mechanism, the moving platform, and the weighing device are arranged in the weighing pickup direction.

[0029] The automatic weighing system designed by the inventor of this application, through the arrangement of a first module and a second module of a first drive mechanism, a movable platform capable of reciprocating in a third-party direction, and the relative relationships between the first direction, the second direction, and the third-party direction, can disassemble the movements required for weighing the refilled containers after removal from the refilling process. That is, when weighing the refilled containers after removal from the refilling process, the movable platform is first moved in a third-party direction to place it in a preset position. Then, the movable platform is configured to move to the preset position in the third-party direction so that the first drive mechanism, the movable platform, and the weighing device are in the weighing process. With the pickup direction arrangement, the operation of removing the filled container and weighing it on the weighing device can be achieved by the movement of the first module and the second module along the first and second directions with two degrees of freedom. In other words, since part of the movement path has been completed in advance by the movement of the mobile platform in the third direction, each weighing operation only requires two degrees of freedom of movement. Therefore, compared with the prior art, the range of movement required by the robot arm and the number of degrees of freedom are reduced when removing the filled container for weighing, thereby improving production efficiency. Moreover, since the first drive mechanism in this embodiment requires fewer degrees of freedom, precision control is easier.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of this application to enable readers to better understand this application. However, the technical solutions claimed in this application can also be implemented based on various changes and modifications to the following embodiments.

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

[0032] The embodiments of this application do not limit the specific form of the first module 121 and the second module 122; as long as they can realize that the moving end of the first module 121 can reciprocate relative to the fixed end of the first module 121 in a first direction, and the moving end of the second module 122 can reciprocate relative to the fixed end of the second module 122 in a second direction, it is acceptable. In one embodiment, the first module 121 and the second module 122 are sliding modules formed by the cooperation of slide rails and sliders. In this case, the fixed end of each of the first module 121 and the second module 122 is its respective slide rail, and the moving end of each of the first module 121 and the second module 122 is its respective slider. In another embodiment, the first module 121 and the second module 122 are cylinders. In this case, the fixed end of each of the first module 121 and the second module 122 is its respective cylinder body, and the moving end of each of the first module 121 and the second module 122 is its respective piston rod.

[0033] It should be noted that the arrangement of the first drive mechanism 120, the mobile platform 130, and the weighing device 140 in the weighing pickup direction X means that the first drive mechanism 120, the mobile platform 130, and the weighing device 140 are set in the weighing pickup direction X, but there is no limitation on the specific arrangement order of the first drive mechanism 120, the mobile platform 130, and the weighing device 140, nor is there any limitation on the vertical height of the first drive mechanism 120, the mobile platform 130, and the weighing device 140.

[0034] The automatic weighing system provided in this application embodiment, through the arrangement of the first module 121 and the second module 122 of the first drive mechanism 120, the mobile platform 130 which can reciprocate in the third direction Y, and the relative relationship between the first direction, the second direction and the third direction Y (that is, the relative relationship between the weighing pickup direction X, the third direction Y, and the vertical direction Z), can disassemble the movement required for weighing the potted container (i.e., the object to be weighed 210) after removing the potted container; that is, when weighing the potted container after removing the potted container, 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 move upward in the third direction to the preset position so that the first drive mechanism 120, the mobile platform 130 and the weighing device 140 are arranged in the weighing pickup direction X. The operation of removing the potted container and weighing it on the weighing device 140 can be realized by the movement of the first module 121 and the second module 122 along the two degrees of freedom of the first direction and the second direction.

[0035] In other words, with this setup, the movement path is partially completed in advance by the movement of the mobile platform 130 in the third direction Y. Each weighing operation only requires two degrees of freedom of movement. Therefore, compared with the prior art, when weighing the filled container after it has been removed, the range of movement required by the robot arm 110 is reduced and the number of degrees of freedom is reduced, thereby improving production efficiency. Moreover, since the first drive mechanism 120 in this embodiment requires fewer degrees of freedom, it is easier to control the accuracy.

[0036] It should be further noted that the weighing pickup direction X intersects with the third direction Y, and the angle between the weighing pickup direction X and the third direction Y is greater than 0° and less than or equal to 90°. In a preferred embodiment, the angle between the weighing pickup direction X and the third direction Y is 90°.

[0037] This application does not limit the specific type of the object 210, which may be a vial, cartridge bottle, pre-filled and sealed product, etc.

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

[0039] It should be noted again that the weighing device 140 is located between the first drive mechanism 120 and the moving platform 130, and no limit is made on the vertical height of the first drive mechanism 120, the moving platform 130, and the weighing device 140.

[0040] Thus, after the mobile platform 130 moves to the preset position along the third direction Y, the first drive mechanism 120 controls the robot arm 110 to move along the vertical direction Z and the weighing pickup direction X and pick up the object to be weighed 210. Then, by moving in the weighing pickup direction X until the robot arm 110 moves above the weighing device 140, and then by moving in the vertical direction Z, the robot arm 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 low position to facilitate stable fixation of the weighing device 140; and since the weighing device 140 is located between the first drive mechanism 120 and the moving platform 130, during the aforementioned vertical Z-direction movement so that the robot arm 110 can place the object to be weighed 210 on the weighing device 140, the first drive mechanism 120 needs to cross the moving platform 130 to drive the robot arm 110 to move, thereby reducing the probability of interference between the first drive mechanism 120 and the moving platform 130.

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

[0043] In some embodiments, the automatic weighing system further includes: a second drive mechanism (not shown in the figure); a mobile platform 130 having multiple sets of lifting through holes arranged sequentially along the weighing pickup direction X; the mobile platform 130 being fixed to the second drive mechanism via a connector 131, the second drive mechanism being configured to drive the mobile platform 130 to move along the weighing pickup direction X and a third direction Y. Thus, when the mobile platform 130 is in a preset position, the second drive mechanism drives the mobile platform 130 to make minor adjustments along the weighing pickup direction X, so that each set of lifting through holes can sequentially correspond to the lifting fixture 152 of the lifting mechanism 150, achieving the effect of sequentially weighing each set of objects 210 corresponding to each set of lifting through holes.

[0044] In some embodiments, each set of lifting through holes has multiple lifting through holes arranged sequentially along a third direction Y; the weighing device 140 has multiple weighing scales (not shown in the figure) arranged sequentially along a third direction; and the robotic arm 110 has multiple picking ends 111 arranged sequentially along a third direction. Thus, when weighing the object 210 corresponding to each set of lifting through holes, the weight of multiple objects 210 can be accurately measured at once, improving weighing efficiency.

[0045] In some embodiments, the robotic arm 110 has a vacuum adsorption end for adsorbing the object to be weighed 210 by vacuum. Picking up and releasing the object to be weighed 210 by vacuum and vacuum breaking can reduce mechanical movement like conventional mechanical grippers, avoiding the problem of decreased accuracy caused by excessive mechanical movement.

[0046] When the robotic arm 110 has multiple pickup ends 111 arranged sequentially along a third direction, each pickup end 111 is provided with a vacuum adsorption end.

[0047] In some embodiments, the adsorption surface of the vacuum adsorption end is parallel to the vertical direction Z. Thus, when the lifting mechanism 150 lifts the object to be weighed 210, the vacuum adsorption end can adsorb the side of the object 210. Therefore, when the robot arm 110 picks up the object, it only needs to move along the weighing pick-up direction X; unlike when adsorbing the top surface of the object 210, which requires moving the robot arm 110 above the object 210 along the weighing pick-up direction X and then moving it along the direction of gravity (i.e., the downward direction of the vertical) to adsorb the object 210. This reduces the movement path of the robot arm 110 and improves 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 statement that 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, rather than implying that the adsorption surface of the vacuum adsorption end is 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. Thus, when moving the robot arm 110 along the weighing and picking direction X, it is unnecessary to move the module that also needs to drive the robot arm 110 in the vertical direction Z, reducing the probability of interference with other mechanisms when moving the robot arm 110 along the weighing and picking direction X.

[0050] In some embodiments, the moving end of the first module 121 includes a first drive mechanism 123 and a second drive mechanism 124; the first drive mechanism 123 and the second drive mechanism 124 are arranged sequentially along the weighing and picking direction X; the fixed ends of the first drive mechanism 123 and the second drive mechanism 124 are fixed in position, and the moving ends of the first drive mechanism 123 and the second drive mechanism 124 are both fixed to the fixed end of the second module 122. This improves the stability of driving the second module 122 to reciprocate in the vertical direction, while also increasing the strength of the structure fixing the second module 122.

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

[0052] Those skilled in the art will understand that the above-described embodiments are specific examples of implementing this application, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of this application. Any person skilled in the art can make their own modifications and alterations without departing from the spirit and scope of this application; therefore, the scope of protection of this application should be determined by the scope defined in the claims.

Claims

1. An automatic weighing system, characterized in that, include: A robotic arm is used to pick up objects to be weighed. The first drive mechanism has a first module and a second module; The first module fixed end is fixed in position, the second module fixed end is fixed to the first module moving end, the first module moving end can reciprocate relative to the first module fixed end in a first direction, and the second module moving end can reciprocate relative to the second module fixed end in a second direction. A mobile platform for carrying a nesting board on which the object to be weighed is placed, and is configured to reciprocate upwards in a third direction; A weighing device is used to weigh an object. Wherein, one of the first direction and the second direction is a vertical direction, and the other is a weighing pickup direction; the weighing pickup direction intersects with the third direction, and both the weighing pickup direction and the third direction are perpendicular to the vertical direction; the mobile platform is configured to move upward to a preset position on the third direction so that the first drive mechanism, the mobile platform, and the weighing device are arranged in the weighing pickup 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, the weighing device is located between the first drive mechanism and the mobile platform in the weighing pickup direction.

3. The automatic weighing system according to claim 1, characterized in that, Also includes: Lifting mechanism; The mobile platform has a lifting through hole at the position of the object to be weighed on the corresponding nest plate. 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 in 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: Second drive mechanism; The mobile platform is provided with a plurality of lifting through holes arranged sequentially along the weighing and picking direction; the mobile platform is fixed to the second drive mechanism via a connector, and the second drive 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 set of lifting through holes has multiple lifting through holes arranged sequentially along the third direction; the weighing device has multiple weighing scales arranged sequentially along the third direction; the robotic arm has multiple picking ends arranged sequentially along the third direction.

6. The automatic weighing system according to claim 3, characterized in that, The robotic arm 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 1-5, characterized in that, The first module moving end can reciprocate in the vertical direction relative to the first module fixed end, and the second module moving 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 moving end includes a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are arranged sequentially along the weighing and picking direction; the fixed ends of the first driving mechanism and the second driving mechanism are fixed in position, and the moving ends of the first driving mechanism and the second driving mechanism are both fixed to the fixed end of the second module.

10. A potting package production line characterized by, include: The automatic weighing system as described in any one of claims 1-9.

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