The automatic filling scale adopts the PID filtering algorithm to eliminate interference signals. It is composed of S7-200PLC, weighing instrument ICS241 and filling solenoid valve. It adjusts the weight of the target set value according to different filling ranges to complete the filling. The Filling machine adopts a two-stage automatic filling method for both large and small materials. It has the function of automatically identifying empty barrels and not filling when the scale is empty. It is equipped with manual buttons for all actions for manual operation in case of emergencies. It is also equipped with a dedicated filling control instrument with a dual-window display, which can show information such as target quantity, filling volume, number of barrels, time and date.

The Filling system uses PLC signals to drive the motor and other transmission mechanisms to move the mechanical hand. At the same time, the encoder built into the drive motor feeds back the pulse number to the driver. The driver compares the two pulses and determines the deviation. The correction signal obtained after calculation according to certain control rules is used as the given signal for the speed controller in the servo driver, and then undergoes current regulation and power amplification. Make the grasping manipulator move in the direction that eliminates deviation, thereby achieving the stacking positioning of the manipulator.