Weighing apparatus, control method therefor, and program

Abstract

To measure powder with high accuracy by an inexpensive constitution.SOLUTION: A weighing device that accommodates a target weight of a sample in a subdivision container from a raw material container includes a movable arm to which a scoop is attached, a leveling plate, a subdivision scale that measures a weight of the sample in the subdivision container, and a control unit, in which the control unit controls the movable arm so as to scoop up the sample from the raw material container by the scoop, level the sample in the scoop using the leveling plate, and accommodate the sample in the scoop in the subdivision container based on the weight of the sample in the subdivision container measured by the subdivision scale.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a weighing device, a control method thereof, and a program. [Background technology]

[0002] Patent Documents 1 and 2 describe devices for measuring powder using an arm robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-39034 [Patent Document 2] Japanese Patent Application Laid-Open No. 1991-202720 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional devices have room for improvement in terms of measuring powder with high accuracy using an inexpensive configuration.

[0005] An object of the present disclosure is to enable powder to be measured with high precision using an inexpensive configuration. [Means for solving the problem]

[0006] In some embodiments, the metering device comprises: (1) A weighing device that dispenses a target weight of sample from a raw material container into a small container, A movable arm with a shovel attached, A scraping board and a portioning scale for measuring the weight of the sample in the portioning container; A control unit; Equipped with The control unit controls the movable arm to scoop up the sample from the raw material container using the scoop, flatten the sample in the scoop using the scraping plate, and place the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device.

[0007] In this way, the weighing device scoops up the sample from the raw material container with the scoop, flattens the sample in the scoop using the leveling plate, and then places the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device. Therefore, it is possible to measure the sample with high accuracy using an inexpensive configuration with only one movable arm.

[0008] In one embodiment, (2) In the measuring device of (1), The scraping plate includes a first scraping plate provided above the raw material container and a second scraping plate provided above the portioned container, The control unit Using the first scraping plate, the sample is flattened within the scoop that scooped up the sample from the raw material container; Using the second scraping plate, the sample in the scoop is placed in the subdivision container based on the weight of the sample in the subdivision container measured by the subdivision weighing device. The movable arm may be controlled in this manner.

[0009] In this way, by using the first leveling plate provided above the raw material container to level the sample inside the scoop that scoops up the sample from the raw material container, the sample is prevented from falling during transport and the amount of sample transported by the scoop can be stabilized. Also, by using the second leveling plate provided above the dispensing container, the sample in the scoop is placed into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device, so it is possible to measure the powder with high precision.

[0010] In one embodiment, (3) In the measuring device of (2), The first scraping plate may have a shape that is wider than the scoop.

[0011] With this configuration, when the first scraping plate is used to flatten the sample in the scoop used to scoop up the sample from the raw material container, it is possible to stabilize the amount of sample remaining in the scoop.

[0012] In one embodiment, (4) In the measuring device of (2) or (3), The second scraping plate may have a shape that matches the scoop.

[0013] With this configuration, it is possible to transfer a desired amount of sample from the scoop loaded with the sample to a small container with high precision.

[0014] In one embodiment, (5) In any of the measuring devices described in (1) to (4), Further provided is a raw material weighing device for measuring the weight of the sample in the raw material container, The control unit Calculating the weight of the sample in the scoop based on the weight of the sample in the raw material container measured by the raw material weighing device before and after scooping the sample from the raw material container with the scoop; The movable arm may be controlled based on the calculated weight of the sample in the scoop so as to deposit the sample in the scoop into the small container.

[0015] In this way, the sample in the scoop is placed in the container based on the weight of the sample in the scoop, so the sample can be measured with high accuracy.

[0016] In one embodiment, (6) In any of the measuring devices described in (1) to (5), The control unit obtaining a height distribution of the sample remaining in the source container; Based on the acquired distribution of the heights of the samples, a position in the source container where the scoop is to scoop up the samples may be determined.

[0017] With this configuration, the sample can be uniformly scooped up from the source container, and the scoop can be prevented from being positioned in a location where no sample is present to scoop up the sample.

[0018] In one embodiment, (7) In the measuring device of (1), The apparatus may further include a moving device that moves the scraping plate between above the ingredient container and above the portioning container.

[0019] With this configuration, it is possible to use one scraping plate to perform the operation of leveling the sample in the scoop and the operation of cutting out a portion of the sample in the scoop and storing it in a subdivision container.

[0020] In one embodiment, (8) In the measuring device of (1), The apparatus may further include a conveying device for moving the ingredient container and the portioned container, and for positioning the ingredient container or the portioned container below the scraping plate.

[0021] With this configuration, it is possible to use one scraping plate to perform the operation of leveling the sample in the scoop and the operation of cutting out a portion of the sample in the scoop and storing it in a subdivision container.

[0022] In one embodiment, (9) In any of the measuring devices described in (1) to (8), The sample may be powder contained in the small container.

[0023] With this configuration, it is possible to measure powder samples with high accuracy using an inexpensive configuration.

[0024] A method for controlling a weighing device according to some embodiments includes: (10) A method for controlling a weighing device that places a target weight of sample from a raw material container into a subdivision container, comprising: The metering device is A movable arm with a shovel attached, A scraping board and a portioning scale for measuring the weight of the sample in the portioning container; A control unit; Equipped with The control unit includes a step of controlling the movable arm to scoop up the sample from the raw material container with the scoop, flatten the sample in the scoop using the scraping plate, and place the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device.

[0025] In this way, the control method of the weighing device scoops up the sample from the raw material container with the scoop, flattens the sample in the scoop using a leveling plate, and then places the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device. Therefore, it is possible to measure the sample with high accuracy using an inexpensive configuration with only one movable arm.

[0026] In some embodiments, the program (11) A program for controlling the operation of a weighing device that places a target weight of sample from a raw material container into a subdivision container, The metering device is A movable arm with a shovel attached, A scraping board and a portioning scale for measuring the weight of the sample in the portioning container; A control unit; Equipped with The control unit executes a procedure of controlling the movable arm to scoop up the sample from the raw material container with the scoop, flatten the sample in the scoop using the scraping plate, and place the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device.

[0027] In this way, the weighing device, which operates based on a program, scoops up the sample from the raw material container with the scoop, flattens the sample in the scoop using the leveling plate, and then places the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device. Therefore, it is possible to measure the sample with high accuracy using an inexpensive configuration with only one movable arm. [Effects of the Invention]

[0028] According to one embodiment of the present disclosure, powder can be measured with high accuracy using an inexpensive configuration. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a weighing device according to an embodiment. [Figure 2A] 2 is a flowchart showing an example of the operation of the weighing device of FIG. 1. [Figure 2B] 2 is a flowchart showing an example of the operation of the weighing device of FIG. 1. [Figure 3] FIG. 1 is a diagram illustrating an example of the configuration of a weighing device according to an embodiment. [Figure 4] FIG. 1 is a diagram illustrating an example of the configuration of a weighing device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] <Comparative Example> The first comparative example (claims 1 and 8 of patent document 1) is "an automatic weighing device that transfers a desired amount of powder or granular material from a powder or granular material container into a measuring container, comprising: a first robot arm; a measuring scoop held at the tip of the first robot arm; a second robot arm; a leveling plate held at the tip of the second robot arm; a first control means that controls the first robot arm so that the measuring scoop removes the powder or granular material from the powder or granular material container; and a second control means that controls the second robot arm so that the leveling plate cuts out the powder or granular material on the measuring scoop at a predetermined position and pushes it toward the open end of the measuring scoop, thereby depositing the powder or granular material into the measuring container." In the above-mentioned automatic weighing device, "if the measurement value of the weight sensor is greater than the target amount, the second control means controls the second robot arm to switch the scraper plate to an adjustment spoon and remove powder or granular material from the measuring container using the adjustment spoon so that the measurement value of the weight sensor becomes the target amount."

[0031] The first comparative example uses a dual-arm robot, which results in a complex configuration and high equipment costs. In the first comparative example, if the weight of the powder or granular material in the measuring container is greater than the target amount, the scraping plate must be replaced with a spoon to remove the excess amount, which takes time to measure.

[0032] The second comparative example (claim (1) of Patent Document 2) is "a powder and granular material weighing device that takes out a set amount of powder and granular material from a powder and granular material container having an opening at the top, characterized in that it comprises: a multi-joint arm robot that is close to the powder and granular material container; a shovel that is arranged at the tip of the multi-joint arm robot; a weight sensor that detects the weight of the powder and granular material scooped up by the shovel; a comparison means that compares the weight of the powder and granular material already weighed by the shovel with the set amount; a vibration means that vibrates the shovel at a predetermined position based on the detection result by the weight sensor and the comparison result by the comparison means; and a drive control means that controls the drive of the multi-joint arm robot based on the detection result by the weight sensor and the comparison result by the comparison means."

[0033] In the second comparative example, the shovel is vibrated to drop the powder into a container. Some types of powder are difficult to drop with vibration. For example, granulated sugar, which has low viscosity (stickiness), drops easily with vibration, but highly viscous powder such as flour does not move with even slight vibration. Therefore, in the second comparative example, even with the same level of vibration, the amount that falls varies depending on the type of powder, making it difficult to fine-tune the amount dropped and resulting in low measurement accuracy. Additionally, the second comparative example takes a long time to measure.

[0034] As such, the comparative example has room for improvement in terms of measuring powder with high precision and speed using an inexpensive configuration.

[0035] <Embodiment> Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, parts having the same configuration or function are denoted by the same reference numerals. In the description of this embodiment, duplicated descriptions of the same parts may be omitted or simplified as appropriate.

[0036] The weighing device 1 according to this embodiment quickly and accurately weighs and portions a sample P containing various powders with different properties such as particle size and viscosity. The weighing device 1 can be used to weigh powders in the food industry, such as sugar, salt, flour, and flavorings.

[0037] 1 is a diagram showing an example of the configuration of a weighing device 1 according to one embodiment. The weighing device 1 includes a control device 10, a movable arm 20, a scoop 25, measuring devices 31 and 32, a raw material container 41, a dispensing container 42, and scraping plates 51 and 52.

[0038] The control device 10 controls the operation of the weighing device 1. Specifically, the control device 10 receives operations from the user to control the operation of the movable arm 20, and receives weight measurement values ​​from the weighing scales 31 and 32.

[0039] The control device 10 is one or more computer devices that can communicate with each other. For example, the control device 10 may be any general-purpose electronic device such as a PC (Personal Computer) or a tablet terminal, or may be another dedicated electronic device. The control device 10 includes a control unit 11, a storage unit 12, a communication unit 13, an input unit 14, and an output unit 15.

[0040] The control unit 11 includes one or more processors. In one embodiment, the "processor" may be, but is not limited to, a general-purpose or dedicated processor. The control unit 11 is communicatively connected to each component of the control device 10 and controls the operation of the entire control device 10.

[0041] The storage unit 12 includes any storage module, such as a solid state drive (SSD), a read-only memory (ROM), a random access memory (RAM), etc. The storage unit 12 stores any information used in the operation of the control device 10.

[0042] The communication unit 13 includes any communication module that can communicate with other devices such as the movable arm 20 using any communication technology. The communication unit 13 may further include a communication control module for controlling communication with other devices, a storage module for storing communication data, etc.

[0043] The input unit 14 includes one or more input interfaces that accept a user's input operation and acquire input information based on the user's operation. For example, the input unit 14 may be, but is not limited to, a physical key, a capacitive key, a pointing device, or a touch screen that is integrated with the display of the output unit 15.

[0044] The output unit 15 includes one or more output interfaces that output information to the user and notify the user. For example, the output unit 15 is a display that outputs information as an image, or a speaker that outputs information as sound, but is not limited to these. At least one of the input unit 14 and the output unit 15 may be configured integrally with the control device 10 or may be provided separately.

[0045] The functions of the control device 10 can be realized by executing a computer program (program) according to this embodiment on a processor included in the control unit 11. That is, the functions of the control device 10 can be realized by software. The computer program causes a computer to execute processing of steps included in the operation of the control device 10, thereby causing the computer to realize functions corresponding to the processing of each step. That is, the computer program is a program that causes a computer to function as the control device 10 according to this embodiment.

[0046] Some or all of the functions of the control device 10 may be realized by a dedicated circuit included in the control unit 11. That is, some or all of the functions of the control device 10 may be realized by hardware. Furthermore, the control device 10 may be realized by a single computer or by multiple computers working together.

[0047] The movable arm 20 is a robot equipped with one articulated arm. The movable arm 20 can change the angle between the arm components that are connected to each other at each of a plurality of joints. The movable arm 20 may be configured so that the entire movable arm 20 can rotate by rotating a rotating part provided at the bottom. A shovel 25 is attached to the tip of the movable arm 20, and the position and posture of the shovel 25 can be changed by operating the movable arm 20.

[0048] The scoop 25 is attached to the top of the movable arm 20 and scoops up and loads the sample P. The scoop 25 has a shape that ensures that the amount of sample P remaining after the sample P is scooped up and then leveled by the leveling plate 51 is constant. For example, the scoop 25 may have side walls that face each other. The shape, material, etc. of the scoop 25 may be selected depending on the type of sample P.

[0049] Weighing devices 31 and 32 measure the weight of the loaded objects. Weighing device 31, which serves as a raw material weighing device, measures the weight of sample P contained in raw material container 41. Weighing device 32, which serves as a portioning weighing device, measures the weight of sample P contained in portioning container 42. Weighing device 31 may be calibrated to measure the total weight of raw material container 41 containing sample P and then subtract the weight of empty raw material container 41. Weighing device 32 may be calibrated to measure the total weight of portioning container 42 containing sample P and then subtract the weight of empty portioning container 42. These calibrations may be performed in weighing devices 31 and 32, or in control device 10.

[0050] The raw material container 41 contains the sample P, which is the raw material. In this embodiment, the sample P is, for example, a powder such as sugar, salt, flour, or flavoring, but is not limited to this. For example, the sample P may be any solid, liquid, or the like, regardless of whether it is edible. A separate raw material container 41 is provided for each type of sample P, but the sample P may contain a mixture of various powders with different properties such as particle size and viscosity.

[0051] The dispensing container 42 contains the sample P dispensed by the scoop 25 .

[0052] The first scraping plate 51 is used to flatten the sample P inside the scoop 25 immediately after it has been scooped up by the scoop 25. The scraping plate 51 may have a shape that is wider than the scoop 25. For example, the scraping plate 51 may have a shape that is wider than the distance between the opposing side walls of the scoop 25. In this embodiment, the scraping plate 51 is fixed at a predetermined position above the raw material container 41.

[0053] The scraping plate 52 as the second scraping plate is used to cut out the sample P loaded on the scoop 25 and store it in the dispensing container 42. The scraping plate 52 may have a shape that fits with the scoop 25. For example, the scraping plate 52 may have a shape that fits with the opposing side walls of the scoop 25. In this embodiment, the scraping plate 52 is fixed at a predetermined position above the dispensing container 42.

[0054] In the above configuration, the weighing device 1 realizes a low-cost weighing robot by using the movable arm 20, which is a single-arm robot, and two scrapers 51 and 52. That is, the weighing device 1 uses the scraper 51 to level the pile of sample P in the scoop 25 scooped up from the raw material container 41, thereby stabilizing the amount of sample P contained in the scoop 25, even if the sample P is a highly viscous powder such as wheat flour. Therefore, when fine-tuning the amount of sample P contained in the weighing device 1 using the scraper 52, the weighing device 1 facilitates the operation of cutting out the desired amount of sample P, and can transfer the desired amount of sample P to the dispensing container 42 with high accuracy. Furthermore, by using the scraper 51 to level the pile of sample P in the scoop 25, the weighing device 1 can prevent the sample P from falling during transport from the raw material container 41 to the dispensing container 42. Furthermore, the weighing device 1 uses the scraping plate 52 to cut out an appropriate amount of the sample P from the scoop 25 and repeatedly finely adjusts the amount of sample P, thereby achieving highly accurate weighing.

[0055] Specifically, the weighing device 1 holds a scoop 25 at the tip of the movable arm 20 and uses the scoop 25 to scoop up a certain amount of sample P contained in a raw material container 41 for sample P. The weighing device 1 transports the scoop 25 loaded with sample P to a dispensing container 42 and places the sample P in the dispensing container 42. If the weight of the sample P contained in the dispensing container 42 does not reach the target value, the weighing device 1 again scoops up sample P from the raw material container 41 and adds it to the dispensing container 42. This process is repeated until the weight of the contained sample P reaches the target value.

[0056] Here, the weighing device 1 measures the weight of the sample P in the raw material container 41 using the weighing device 31. The weighing device 1 determines the weight of the sample P in the raw material container 41 from the measurement value of the weighing device 31, and calculates the weight of the sample P scooped up by the scoop 25. The weighing device 1 calculates the weight of the sample P in the scoop 25 from the difference between the weight measurements taken by the weighing device 31 before and after the sample P in the raw material container 41 is scooped up. The weighing device 1 measures the weight of the sample P contained in the subdivision container 42 using the second weighing device 32.

[0057] When transporting the sample P from the raw material container 41 to above the subdivision container 42, in order to prevent the sample P from falling from the scoop 25, the weighing device 1 performs a leveling operation using the leveling plate 51 to level the pile of sample P to a certain extent before transporting. The leveled sample P falls into the raw material container 41 and is stored as is.

[0058] The leveling operation is performed by moving the scoop 25 attached to the movable arm 20 back and forth in front of the leveling plate 51. Here, the weighing device 1 appropriately adjusts the position of the scoop 25 containing the sample P according to the position of the leveling plate 51, and moves the scoop 25 back and forth. After the leveling operation, the weighing device 1 transports the scoop 25 above the dispensing container 42.

[0059] After transport, the weighing device 1 pours the entire amount of sample P in the scoop 25 into the dispensing container 42. Specifically, the weighing device 1 moves the movable arm 20 to tilt the scoop 25 and drop the sample P into the dispensing container 42.

[0060] Here, if the target weight value is exceeded when the entire amount of sample P in scoop 25 is placed in dispensing container 42, weighing device 1 places a portion of sample P in scoop 25 in dispensing container 42. When pouring a portion of sample P in scoop 25 into dispensing container 42, weighing device 1 uses scraping plate 52 installed on top of dispensing container 42. That is, weighing device 1 uses movable arm 20 to insert scraping plate 52 into sample P in scoop 25, cut sample P out of scoop 25, and drop it into dispensing container 42 for collection.

[0061] The control of the movable arm 20 and the calculation of the weight as described above are performed under the control of the control device 10.

[0062] The operation of placing a desired target weight A of sample P from a raw material container 41 into a dispensing container 42 will be described with reference to Figures 2A and 2B. Figures 2A and 2B are flowcharts showing an example of the operation of the weighing device 1 of Figure 1. The operation of the weighing device 1 described with reference to Figures 2A and 2B may correspond to one method of controlling the weighing device 1. The operation of each step in Figures 2A and 2B may be performed based on control by the control unit 11 of the control device 10.

[0063] In step S1 of Fig. 2A, the control unit 11 receives settings of a target weight A and an error tolerance E from the user. The target weight A is a target value for the weight of the sample P to be contained in the dispensing container 42. The tolerance E is a value indicating the allowable range of the difference D between the weight of the sample P contained in the dispensing container 42 and the target weight A.

[0064] In step S2, the control unit 11 measures the weight of the sample P in the raw material container 41 using the weighing device 31. The control unit 11 stores the measured value of the weight of the sample P in the raw material container 41 in the memory unit 12.

[0065] In step S3, the control unit 11 controls the movable arm 20 to transport the scoop 25 to above the raw material container 41.

[0066] In step S4, the control unit 11 controls the movable arm 20 to lower the scoop 25 to a predetermined height and scoop up the sample P from the raw material container 41. Here, the sample P has a heaped shape inside the scoop 25.

[0067] In step S5, the control unit 11 controls the movable arm 20 to raise the scoop 25 to a predetermined height where the scraping plate 51 is provided.

[0068] In step S6, the control unit 11 uses the leveling plate 51 to level the heaped sample P in the scoop 25. As a result, the leveled sample P falls into the raw material container 41.

[0069] In step S7, the control unit 11 measures the weight of the sample P in the raw material container 41 using the scale 31, and calculates the weight B of the sample P in the scoop 25. Specifically, the control unit 11 calculates the weight B of the sample P in the scoop 25 from the difference between the weight of the sample P measured by the scale 31 and the weight of the sample P measured in step S2. The control unit 11 stores the measured value of the weight B of the sample P in the scoop 25 in the memory unit 12.

[0070] In step S8, the control unit 11 controls the movable arm 20 to transport the scoop 25 above the dispensing container .

[0071] In step S9, the control unit 11 measures the weight C of the sample P in the dispensing container 42 using the scale 32. The control unit 11 stores the measured value of the weight C of the sample P in the dispensing container 42 in the memory unit 12.

[0072] In step S10, the control unit 11 calculates the difference D (=AC) between the target weight A input in step S1 and the weight C of the sample P in the dispensing container 42 measured in step S9. The control unit 11 stores the calculated difference D in the memory unit 12.

[0073] In step S11, the control unit 11 determines whether the difference D calculated in step S10 is greater than the weight B. If the difference D is greater than the weight B (YES in step S11), the control unit 11 proceeds to step S12, and if not (NO in step S11), the control unit 11 proceeds to step S21 in Fig. 2B. In other words, if the target weight A is not exceeded even when all of the sample P equivalent to one scoop is placed in the dispensing container 42, the control unit 11 proceeds to step S12, and if not, the control unit 11 proceeds to step S21 in Fig. 2B.

[0074] In step S12, the control unit 11 controls the movable arm 20 to place all of the sample P in the scoop 25 into the dispensing container 42. In this way, if the weight C of the sample P in the dispensing container 42 is less than the target weight A even after all of the sample P in the scoop 25 has been placed into the dispensing container 42, the control unit 11 drops all of the sample P in the scoop 25 into the dispensing container 42. When dropping all of the sample P in the scoop 25 into the dispensing container 42, the control unit 11 does not use the scraping plate 52, but simply tilts the scoop 25 toward the dispensing container 42.

[0075] After completing the process of step S12, the control unit 11 returns to step S2. In this manner, the weighing device 1 repeats the operation of placing the sample P into the dispensing container 42 by the amount of the scoop 25 that is leveled off, within the range that does not exceed the target weight A.

[0076] 2B and thereafter, the weighing device 1 uses the scraping plate 52 to carry out an operation to store the sample P that does not fully fill the scoop 25 into the dispensing container 42. Specifically, the weighing device 1 uses the movable arm 20 to insert the scraping plate 52 into the sample P in the scoop 25, cut the sample P out of the scoop 25, and drop it into the dispensing container 42 for storage.

[0077] In step S21, the control unit 11 determines the operating position of the scraping plate 52 based on the value of the difference D calculated in step S10. Specifically, for example, a correspondence between the weight of the sample P to be dropped from the scoop 25 into the dispensing container 42 and the operating position of the scraping plate 52 may be stored in advance in the memory unit 12, and the control unit 11 may determine the operating position of the scraping plate 52 based on this correspondence. Alternatively, for example, the weighing device 1 may store in advance in the memory unit 12 information such as the density and weight of the sample P and the capacity and shape of the scoop 25. Based on this information, the control unit 11 may calculate how many grams of sample P will be dropped into the dispensing container 42 for each centimeter of cutting, and then determine and adjust the operating position of the scraping plate 52 in more detail.

[0078] In step S22, the control unit 11 controls the movable arm 20 to cut out the sample P from the scraping plate 52 within the scoop 25, and drop it into the subdivision container 42 for storage.

[0079] In step S23, the control unit 11 measures the weight C of the sample P in the dispensing container 42 using the scale 32. The control unit 11 stores the measured value of the weight C of the sample P in the dispensing container 42 in the memory unit 12.

[0080] In step S24, the control unit 11 calculates the difference D (=AC) between the target weight A input in step S1 and the weight C of the sample P in the dispensing container 42 measured in step S23. The control unit 11 stores the calculated difference D in the memory unit 12.

[0081] In step S25, the control unit 11 determines whether the difference D calculated in step S24 is smaller than the tolerance value E. If the difference D is smaller than the tolerance value E (YES in step S25), the control unit 11 proceeds to step S26, and if not (NO in step S25), the control unit 11 returns to step S21. In this way, the control unit 11 determines the operating position of the scraping plate 52 depending on the difference between the actual amount C of sample P present in the dispensing container 42 and the target weight A, and uses the scraping plate 52 to repeatedly cut out sample P from the scoop 25 and store it in the dispensing container 42.

[0082] In step S26, the control unit 11 controls the movable arm 20 to return the scoop 25 to a predetermined position. After completing the operation of step S26, the control unit 11 ends the processing of the flowchart.

[0083] As described above, the weighing device 1 adjusts the leveling position and optimizes the leveling amount so that the weight of the sample P to be dispensed does not exceed the target value, eliminating the need to return the sample P when the weight exceeds the target value. Therefore, the weighing device 1 enables faster weighing.

[0084] The weighing device 1 uses the scraping plate 51 to level the pile of sample P in the scoop 25. Therefore, the weighing device 1 can prevent the sample P from falling during transport and prevent waste of the sample P. By using the second scraping plate, the weighing device 1 can cut out the sample P little by little and store it, thereby improving the accuracy of weighing.

[0085] The weighing device 1 adjusts the cutting position of the scraping plate 52 depending on the difference between the weight and the target value, and cuts out the sample P in the scoop 25. The weighing device 1 determines the cutting position so as not to exceed the target value. In this way, the weighing device 1 eliminates the process of returning the sample P due to excess weight, and can achieve faster weighing.

[0086] It is also possible to acquire the distribution of the heights of the samples P remaining in the raw material container 41, and determine the position in the raw material container 41 where the scoop 25 scoops up the samples P based on the acquired distribution of the heights of the samples P. Specifically, the weighing device 1 may take images of the samples P in the raw material container 41 with multiple cameras, analyze the images, and calculate the distribution of the remaining heights of the samples P. The weighing device 1 may scoop up the samples P from the raw material container 41 in descending order of the remaining height. This configuration makes it possible to scoop up the samples P uniformly from the raw material container 41, and to prevent the scoop 25 from being positioned at a location where no sample P is present and scooping up the samples P.

[0087] As described above, the weighing device 1 calculates the cutting position of the leveling plate 52 depending on the difference between the target weight of the sample P to be dispensed and the weight of the sample P in the scoop 25, and adjusts the leveling amount of the sample P in the scoop 25. The weighing device 1 determines and stores the leveling position so as not to exceed the target value. Therefore, the weighing device 1 can quickly and accurately weigh the sample P.

[0088] Furthermore, the weighing device 1 may use a sample P weighing robot to photograph the samples P in the raw material containers 41 with multiple cameras, calculate the distribution of the remaining heights of the samples P from the images, and scoop up the samples P from the raw material containers 41 in descending order of the remaining height. This allows the weighing device 1 to uniformly scoop up the samples P from the raw material containers 41. Note that by using images photographed by multiple cameras, the weighing device 1 can calculate the distribution of the remaining heights of the samples P with a simple configuration without affecting the surrounding environment, but the configuration for acquiring the distribution of the remaining heights of the samples P is not limited to cameras. For example, the weighing device 1 may acquire the distribution of the remaining heights of the samples P in the raw material containers 41 using a laser.

[0089] Although the weighing device 1 in Fig. 1 includes multiple scraping plates 51 and 52, the number of scraping plates may be one. Fig. 3 is a diagram showing an example of the configuration of the weighing device 1 according to one embodiment. The weighing device 1 in Fig. 3 includes one scraping plate 53 and a moving device 60 that moves the scraping plate 53 between above the raw material container 41 and above the dispensing container 42. With this configuration, the single scraping plate 53 can be used to flatten the sample P in the scoop 25 and to cut out a portion of the sample P in the scoop 25 and place it in the dispensing container 42.

[0090] Fig. 4 is a diagram showing an example of the configuration of a weighing device 1 according to one embodiment. The weighing device 1 in Fig. 4 further includes one scraping plate 54 and a transport device (such as a belt conveyor) 70 for moving the raw material container 41 and the portioning container 42, and for positioning the raw material container 41 or the portioning container 42 below the scraping plate 54. With this configuration, the single scraping plate 54 can be used to perform the operation of flattening the sample P in the scoop 25 and the operation of cutting out a portion of the sample P in the scoop 25 and storing it in the portioning container 42.

[0091] The present disclosure is not limited to the above-described embodiments. For example, multiple blocks shown in the block diagrams may be integrated, or one block may be divided. Multiple steps shown in the flowcharts may be executed in parallel or in a different order depending on the processing capabilities of the device executing each step, or as needed, instead of being executed in chronological order as described. Other modifications are possible without departing from the spirit of the present disclosure. [Explanation of symbols]

[0092] 1 Weighing device 10 Control device 11 Control section 12 Storage section 13 Communications Department 14 Input section 15 Output section 20 Movable Arm 25 Shovel 31, 32 Measuring instrument 41 Raw material container 42 Small containers 51~54 Scraping board 60 Mobile Device 70 Transporting Device P sample

Claims

1. A weighing device that places a target weight of sample from a raw material container into a small container, A movable arm with a shovel attached, A scraping board and a portioning scale for measuring the weight of the sample in the portioning container; A control unit; Equipped with The control unit controls the movable arm to scoop up the sample from the raw material container with the scoop, flatten the sample in the scoop using the scraping plate, and place the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device. Weighing device.

2. The scraping plate includes a first scraping plate provided above the raw material container and a second scraping plate provided above the portioning container, The control unit Using the first scraping plate, the sample is leveled within the scoop that scooped the sample from the raw material container; Using the second scraping plate, the sample in the scoop is placed in the subdivision container based on the weight of the sample in the subdivision container measured by the subdivision weighing device. and controlling the movable arm so that The weighing device according to claim 1 .

3. The weighing device according to claim 2 , wherein the first scraping plate has a shape wider than the scoop.

4. The weighing device of claim 2 , wherein the second scraping plate has a shape that matches the scoop.

5. Further provided is a raw material weighing device for measuring the weight of the sample in the raw material container, The control unit Calculating the weight of the sample in the scoop based on the weight of the sample in the raw material container measured by the raw material weighing device before and after scooping the sample from the raw material container with the scoop; controlling the movable arm so as to deposit the sample in the scoop into the small container based on the calculated weight of the sample in the scoop; The weighing device according to claim 1 .

6. The control unit obtaining a height distribution of the sample remaining in the source container; determining a position in the source container where the sample is to be scooped up by the scoop based on the acquired distribution of heights of the sample; The weighing device according to claim 1 .

7. The weighing device according to claim 1 , further comprising a moving device that moves the scraping plate between above the ingredient container and above the portioning container.

8. The weighing device according to claim 1 , further comprising a conveying device for moving the ingredient container and the portioning container to position the ingredient container or the portioning container below the scraping plate.

9. The measuring device according to claim 1 , wherein the sample is a powder contained in the small container.

10. A method for controlling a weighing device that places a target weight of sample from a raw material container into a subdivision container, comprising: The metering device is A movable arm with a shovel attached, A scraping board and a portioning scale for measuring the weight of the sample in the portioning container; A control unit; Equipped with the control unit controls the movable arm to scoop up the sample from the raw material container with the scoop, flatten the sample in the scoop using the scraping plate, and place the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing weighing device. A method for controlling a weighing device.

11. A program for controlling the operation of a weighing device that places a target weight of sample from a raw material container into a subdivision container, The metering device is A movable arm with a shovel attached, A scraping board and a portioning scale for measuring the weight of the sample in the portioning container; A control unit; Equipped with The control unit controls the movable arm to scoop up the sample from the raw material container with the scoop, flatten the sample in the scoop using the scraping plate, and place the sample in the scoop into the dispensing container based on the weight of the sample in the dispensing container measured by the dispensing scale. program.

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