Powder introduction system and powder introduction method

Abstract

The present invention provides a powder introduction system and method that are advantageous for improving the accuracy of powder introduction into each container while minimizing the reduction in processing capacity for introducing powder into multiple containers. [Solution] The introduction processing station T4 is equipped with a powder introduction device 24 for introducing powder into container B and a real-time measuring device 25 for measuring the amount of powder actually introduced into container B. Immediately after the powder introduction device 24 starts operating, the control device controls the powder introduction device 24 so that the amount of powder actually introduced into container B, as measured by the real-time measuring device 25, becomes a set amount. Furthermore, after the powder introduction device 24 starts operating, if the first stability index, which indicates the stability of powder introduction into container B by the powder introduction device 24, satisfies the first determination condition, the control device can control the powder introduction device 24 based on driving conditions determined according to the set amount.

Description

Technical Field

[0001] The present disclosure relates to a powder introduction system and a powder introduction method for introducing powder into a container.

Background Art

[0002] Patent Document 1 discloses a packaging machine that measures the weight of the contents in a bag while putting a powdery material into the bag.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a powder introduction process of continuously introducing a desired amount of powder into a plurality of bags, it is not always easy to stabilize the amount of powder introduced into the bags. For example, for the bags handled immediately after the start of the powder introduction process or the bags handled immediately before the end, the amount of powder introduced tends to vary. In particular, when controlling the amount of powder introduced based on the drive pulses of the powder introduction device without measuring the actual amount of powder introduced, variations in the amount of powder introduced between bags may easily occur, and bags that should be treated as defective products may occur due to insufficient or excessive amounts of powder introduced.

[0005] On the other hand, when controlling the amount of powder introduced into the bag while measuring the actual amount of powder in the bag, variations in the amount of powder introduced between bags can be suppressed, but the time required to introduce a desired amount of powder into each bag becomes longer, and it is difficult to ensure a high processing capacity (especially the processing speed).

[0006] The present disclosure provides a technique that is advantageous for improving the accuracy of the amount of powder introduced into each container while suppressing a reduction in the processing capacity of powder introduction into a plurality of containers. [Means for solving the problem]

[0007] One aspect of the present disclosure relates to a powder introduction system comprising: a conveying device that conveys a plurality of containers along a conveying path including an introduction processing station; a powder introduction device that introduces powder into the containers at the introduction processing station; a real-time measuring device that measures the amount of powder actually introduced into the containers at the introduction processing station; and a control device that controls the powder introduction device, wherein the control device can, immediately after the start of operation of the powder introduction device, control the powder introduction device in a real-time weighing control mode so that the amount of powder actually introduced into the containers measured by the real-time measuring device becomes a set amount; and after the start of operation of the powder introduction device, if a first stability index indicating the stability of powder introduction into the containers by the powder introduction device satisfies a first determination condition, control the powder introduction device in a drive condition control mode that controls the powder introduction device based on drive conditions determined according to a set amount.

[0008] If, while control is being performed in the drive condition control mode, the control device does not meet the second determination condition, the second stability index, which indicates the stability of powder introduction into the container by the powder introduction device, may perform control in the real-time weighing control mode.

[0009] The powder introduction device has a motor driven under the control of a control device, and the amount of powder introduced into the container changes according to the amount of motor drive, and the drive conditions include the amount of motor drive, and the control device may control the powder introduction device in a drive condition control mode so that the motor is driven by an amount determined according to the set amount.

[0010] The control device may determine that the first stability index satisfies the first determination condition if, among the group of determination containers consisting of two or more containers that are continuously supplied one after another to the introduction processing station, the number of containers in which the time required to introduce a set amount of powder into the container is shorter than the set introduction time is greater than the set stability number.

[0011] The powder introduction device has a powder discharge section that discharges powder toward a container at the introduction processing station, and a powder storage section that stores the powder supplied to the powder discharge section. The control device may determine that the second stability index does not meet the second judgment condition if the amount of powder stored in the powder storage section is less than the set amount of powder.

[0012] The powder introduction system includes an introduction completion measuring device that measures the amount of powder introduced into the container after the introduction of the powder is complete, and the control device may decide whether or not to continue the drive condition control mode based on the measurement result of the introduction completion measuring device acquired while control is being performed in the drive condition control mode.

[0013] The measurement device for the completion of introduction may be installed at a weighing station located downstream of the introduction processing station in the transport route.

[0014] The measurement device for the completion of installation may be installed downstream of the transport path.

[0015] The drive condition control mode includes a first drive condition control mode and a second drive condition control mode. In the first drive condition control mode, it is determined whether a third stability index, which indicates the stability of powder introduction into the container by the powder introduction device, satisfies a third judgment condition. In the second drive condition control mode, it is not determined whether the third stability index satisfies the third judgment condition. The control device may switch from the first drive condition control mode to the second drive condition control mode if the third stability index satisfies the third judgment condition in the first drive condition control mode.

[0016] Another aspect of this disclosure relates to a powder introduction method comprising the steps of: transporting a plurality of containers along a transport path including an introduction processing station using a transport device; introducing powder into the containers at the introduction processing station using a powder introduction device; and measuring the amount of powder actually introduced into the containers at the introduction processing station using a real-time measuring device, wherein immediately after the start of operation of the powder introduction device, the powder introduction device is controlled in a real-time weighing control mode, which controls the powder introduction device so that the amount of powder actually introduced into the container measured by the real-time measuring device becomes a set amount; and after the start of operation of the powder introduction device, if a first stability index indicating the stability of powder introduction into the container by the powder introduction device satisfies a first determination condition, the powder introduction device is controlled in a drive condition control mode, which controls the powder introduction device based on drive conditions determined according to a set amount. [Effects of the Invention]

[0017] According to this disclosure, it is advantageous to improve the accuracy of the amount of powder introduced into each container while suppressing a reduction in the processing capacity for introducing powder into multiple containers. [Brief explanation of the drawing]

[0018] [Figure 1] Figure 1 is a perspective view showing an example of a packaging machine (powder introduction system). [Figure 2] Figure 2 is a side view showing the overall configuration of an example of a powder filling apparatus. [Figure 3] Figure 3 is a magnified view of a part of the powder filling apparatus shown in Figure 2. [Figure 4] Figure 4 is a functional block diagram showing an example of the control configuration of a packaging machine. [Figure 5] Figure 5 is a flowchart showing the overall flow of one example of a powder introduction method. [Figure 6] Figure 6 is a flowchart showing an example of the first gross filling method. [Figure 7] Figure 7 is a flowchart showing an example of the first pulse filling method. [Figure 8]FIG. 8 is a flowchart showing an example of the first pulse filling method. [Figure 9] FIG. 9 is a flowchart showing an example of the second pulse filling method. [Figure 10] FIG. 10 is a flowchart showing an example of the second gross filling method. [Figure 11] FIG. 11 is a flowchart showing an example of the pulse filling method according to the first modification.

BEST MODE FOR CARRYING OUT THE INVENTION

[0019] FIG. 1 is a perspective view showing an example of a packaging machine (powder introduction system) 10.

[0020] The packaging machine 10 includes a conveying device 11 that conveys a plurality of bags (containers) B along a conveying path, and processing devices 21 to 31 arranged along the conveying path.

[0021] The conveying device 11 shown in FIG. 1 has a disk-shaped conveying table 11a having a circular planar shape, and a plurality of bag holders 11b attached to the periphery of the conveying table 11a. The conveying table 11a intermittently rotates (revolves) about a central axis, and moves the plurality of bag holders 11b intermittently along a circular path. The bag holder 11b can releasably hold the bag B, and circulates along a circular path (including the first station T1 to the tenth station T10) in accordance with the rotation of the conveying table 11a. The bag holder 11b in this example is configured as a gripper, and two bag holders 11b form a pair to grip one bag B (particularly both side portions). A plurality (10 pairs) of pairs of bag holders 11b are installed at equal intervals (equal angular intervals) on the outer peripheral portion of the conveying table 11a. Each pair of bag holders 11b intermittently stops sequentially at the first station T1 to the tenth station T10, and the conveying table 11a intermittently stops rotating so that each of the 10 pairs of conveying devices 11 is simultaneously arranged at the first station T1 to the tenth station T10.

[0022] A bag supply device 21 is provided at the first station T1. The bag supply device 21 supplies bags B to the conveying device 11 such that a pair of bag holding units 11b, which are intermittently stopped at the first station T1, holds one bag B (an empty flat bag Bf in this example). The bag supply device 21 shown in Figure 1 has a bag storage unit 21a that accommodates a large number of bags B (flat bags Bf), and a bag removal unit (a pair of suction cup devices) 21b that takes bags B one by one from the bag storage unit 21a and passes them to a pair of bag holding units 11b.

[0023] A printing device 22 is provided at the second station T2. ​​The printing device 22 prints information (text, etc.) on the side of the bag B, which is intermittently stopped at the second station T2 together with the bag holding unit 11b pair. The content and form of the information printed by the printing device 22 are not limited, nor is the printing method used by the printing device 22 limited.

[0024] An opening device 23 is provided at the third station T3. The opening device 23 opens the mouth of the bag B, which is intermittently stopped at the third station T3 together with the pair of bag holding parts 11b. The opening device 23 in this example has a pair of opening suction cups 23a that open the mouth of the bag B by moving away from each other while adsorbing to the front and back sides of the bag B, and an opening guide 23b that supports the bag B from the inside to maintain the state of the mouth opened by the pair of opening suction cups 23a. Prior to or simultaneously with opening the mouth of the bag B by the opening suction cups 23a, the two bag holding parts 11b that hold the bag B are brought closer to each other, and the front and back sides of the bag B are bent. The opening guide 23b moves from the third station T3 to the fourth station T4 to follow the bag B that it is supporting and maintain the open state of the bag B, and then detaches from the bag B and returns from the fourth station T4 to the third station T3.

[0025] The fourth station (introduction processing station) T4 is equipped with a powder filling device (powder introduction device) 24 and a first weighing device 25. The powder filling device 24 and the first weighing device 25, as will be described in detail later (see Figures 2 and 3), put a desired amount of powder into bag B. That is, the powder filling device 24 supplies (introduces) powder into the inside of bag B through an open opening at the fourth station T4, and the first weighing device 25 can directly or indirectly measure the weight of the powder introduced into bag B from the powder filling device 24.

[0026] The powder filling device 24 in this example has a powder discharge section (a hopper, described later (see reference numeral "43" in Figures 2 and 3)) that is movable vertically. Prior to supplying powder from the powder filling device 24 into bag B, the powder discharge section descends so that its tip enters bag B through the opening, and the supply of powder from the powder filling device 24 into bag B begins with the tip of the powder discharge section positioned inside bag B. After the supply of powder into bag B is complete, the powder discharge section rises so that the entire powder discharge section is positioned outside (especially above) bag B. The opening guide 23b detaches from bag B and returns from the fourth station T4 to the third station T3 when the tip of the powder discharge section is positioned inside bag B.

[0027] The first weighing device 25 is provided as a real-time measuring device that can measure the amount (weight) of powder actually introduced into bag B at the fourth station T4 under the control of the control device (see Figure 4) described later. By controlling the amount of powder introduced into bag B by the powder filling device 24 based on the measurement result of the weight of the powder in bag B by the first weighing device 25, it is possible to perform so-called gross weighing (the first gross filling method and the second gross filling method described later). However, the first weighing device 25 does not have to measure the weight of the powder in bag B under the control of the control device. The amount of powder introduced into bag B by the powder filling device 24 may be controlled without using the measurement result of the first weighing device 25 (for example, without measurement by the first weighing device 25), as in so-called pulse weighing (the first pulse filling method and the second pulse filling method described later).

[0028] In this specification, the term "filling" does not necessarily mean completely filling bag (container) B without any gaps; as a result of filling bag B with powder, only a portion of the inner space of bag B may be filled with powder.

[0029] A second weighing device 26 is provided at the fifth station T5. The second weighing device 26 can directly or indirectly measure the weight of the powder in bag B, which is intermittently stopped at the fifth station T5. That is, the second weighing device 26 is provided as an introduction completion measuring device (checker) that measures the amount (weight) of powder introduced into bag B after the powder filling device 24 has finished introducing the powder into bag B. In this example, the second weighing device 26 has the same configuration as the first weighing device 25 described later, but it may have a different configuration and a different measurement method than the first weighing device 25. In this example, the measurement results from the first weighing device 25 and the second weighing device 26 reflect not only the weight of the powder introduced into bag B but also the weight of bag B itself. However, the first weighing device 25 and the second weighing device 26 can obtain the weight of the powder introduced into each bag B by subtracting the weight of bag B itself (for example, the weight of bag B that has been measured and obtained in advance) from the measurement result.

[0030] A gas introduction device 27 is provided at the sixth station T6. The gas introduction device 27 has a gas injection nozzle and injects a desired gas (inert gas in this example) into bag B, which is intermittently stopped at the sixth station T6, through the gas injection nozzle. As a result, the air originally present in bag B is pushed out of bag B through the opening by the desired gas, and bag B is filled with the desired gas. The type of gas injected into bag B by the gas introduction device 27 is not limited. Prior to the injection of gas into bag B by the gas introduction device 27, or while the injection of gas into bag B by the gas introduction device 27 is being carried out, the opening area of ​​the opening of bag B is reduced, effectively suppressing leakage of the desired gas from the inside to the outside of bag B. Specifically, the opening area of ​​the opening of bag B can be reduced by the relative movement of the two bag holding parts 11b that hold each side of bag B so as to move away from each other.

[0031] A first heat sealing device 28 is provided at the 7th station T7, a second heat sealing device 29 is provided at the 8th station T8, and a cooling sealing device 30 is provided at the 9th station T9. The first heat sealing device 28 performs a first heat seal by sandwiching the opening of bag B, which is intermittently stopped at the 7th station T7, between a pair of hot plates. The second heat sealing device 29 performs a second heat seal by sandwiching the opening of bag B, which is intermittently stopped at the 8th station T8, between a pair of hot plates. The cooling sealing device 30 then performs a cooling seal by sandwiching the opening of bag B, which is intermittently stopped at the 9th station T9, between a pair of cooling plates to cool the opening (especially the heat-sealed portion). Through this series of sealing processes (i.e., the first heat seal, the second heat seal, and the cooling seal), the opening of bag B is sealed, and a bag B (product bag Bp) that seals the powder and the desired gas (inert gas in this example) is created.

[0032] A discharge chute 31 is further provided at the 9th station T9. After the sealing process described above, bag B is released from the cooling sealing device 30 and bag holding section 11b at the 9th station T9, falls, and is guided by the discharge chute 31 to the next stage as product bag Bp.

[0033] In this example, station 10 T10 is an empty station, but it is possible to install any device at station 10 T10.

[0034] Next, a specific example of the powder filling apparatus 24 will be described. Figure 2 is a side view showing the overall configuration of an example of the powder filling apparatus 24. Figure 3 is an enlarged view showing a part of the powder filling apparatus 24 shown in Figure 2.

[0035] The powder filling device 24 of this embodiment includes a powder storage section 41 for storing powder, a powder dispensing section 42 for dispensing a desired amount of powder from the powder storage section 41, and a powder guiding section 43 for guiding the powder from the powder dispensing section 42.

[0036] The powder storage section 41 has a tank section 41a capable of storing a large amount of powder and a storage connection section 41b that constitutes the connection portion with the powder delivery section 42 (particularly the delivery connection section 42a). The powder in the tank section 41a is sent to the powder delivery section 42 (delivery connection section 42a) via the storage connection section 41b. In this example, the storage connection section 41b is located below the tank section 41a and forms the lower end of the powder storage section 41, opening downward (diagonally downward in the example of Figure 2), and gravity is used to facilitate the supply of powder from the powder storage section 41 to the powder delivery section 42. The supply of powder from the powder storage section 41 to the powder delivery section 42 may utilize only the natural fall of the powder, or a delivery device not shown may be used.

[0037] The amount of powder in the powder storage section 41 is detected by a powder storage amount sensor 50 (level meter; see Figure 2), and the detection result of the powder storage amount sensor 50 is sent to a control device (see Figure 4, described later). The powder storage amount sensor 50 can have any device configuration and can detect the amount of powder in the powder storage section 41 based on any detection method. In the example shown in Figure 2, the powder storage amount sensor 50 is configured as a non-contact type proximity switch (proximity sensor). This powder storage amount sensor 50 can be provided as, for example, a laser type, capacitive type, light reflection type, or ultrasonic type proximity switch, but it may also be configured as a contact type sensor (for example, a load cell type sensor).

[0038] The powder dispensing unit 42 includes a dispensing connection unit 42a, a dispensing storage unit 42b located below the dispensing connection unit 42a, and a dispensing adjustment unit 42c located below the dispensing storage unit 42b. The dispensing storage unit 42b stores the powder sent from the powder storage unit 41 via the dispensing connection unit 42a, while gravity is used to gradually supply the powder from the dispensing storage unit 42b to the dispensing adjustment unit 42c.

[0039] The dispensing adjustment unit 42c dispenses a desired amount of powder supplied from the dispensing and storage unit 42b. The specific configuration of the dispensing adjustment unit 42c is not limited, but in this example, the dispensing adjustment unit 42c is configured by a so-called auger-type filling machine. That is, the dispensing adjustment unit 42c has an auger-type screw that changes the amount of powder dispensed according to the amount of rotation, and the amount of powder dispensed (discharge amount) is adjusted by controlling the amount of rotation of the auger-type screw. The dispensing adjustment unit 42c has a motor (e.g., a servo motor) driven under the control of a control device, and is configured so that the amount of rotation of the auger-type screw changes according to the amount of drive of the motor (e.g., the number of drive pulses), and consequently, the amount of powder introduced into bag B changes according to the amount of drive of the motor.

[0040] The powder dispensing section 42 is supported by the powder storage support section 46, and the powder storage section 41 is supported by the powder storage support section 46 via the powder dispensing section 42.

[0041] The powder guide section 43 has an upper opening and a lower opening having a smaller horizontal diameter than the upper opening. The powder discharge port of the powder delivery section 42 (the lower end of the delivery adjustment section 42c in this example) is located inside the powder guide section 43 via the upper opening. The powder guide section 43 is supported by a guide support section 47 and is provided so as to be able to move up and down in the vertical direction by the guide support section 47. When bags B are intermittently placed in the fourth station T4, the powder guide section 43 descends and enters the inside of bags B via the opening B0. With the lower opening of the powder guide section 43 positioned inside bags B, powder is supplied from the powder delivery section 42 (delivery adjustment section 42c) to the powder guide section 43, and the powder is discharged from the lower opening of the powder guide section 43, thereby introducing powder into bags B.

[0042] After the desired amount of powder has been added to bag B, the powder guide section 43 rises and moves from the inside to the outside of bag B through the opening B0. With the entire powder guide section 43 positioned outside bag B, the conveying table 11a rotates intermittently, causing the bag B with the powder already added to move from the fourth station T4 towards the fifth station T5, while a new bag B to be added moves from the third station T3 to the fourth station T4.

[0043] As described above, in the powder filling apparatus 24 shown in Figures 2 and 3, at least the powder delivery section 42 and the powder guide section 43 constitute a powder discharge section that discharges powder toward bag B at the fourth station T4, and the powder storage section 41 stores the powder supplied to the powder discharge section.

[0044] The first weighing device 25 is provided as a grip-change weighing device and has a first weighing and holding section 25a that holds the bag B and a first weighing main body section 25b that measures the weight of the bag B (including its contents) held by the first weighing and holding section 25a. In this example, two paired first weighing and holding sections 25a can grip both sides of the bag B in a release manner. When gross weighing, as described later, is performed, the first weighing device 25 continues to measure the weight of the bag B even while the powder is being introduced into the bag B by the powder filling device 24, and sends the measurement result to the control device (see Figure 4).

[0045] Gross weighing can be performed in any manner, but as an example, it can be performed in the following manner. That is, with the target bag B placed at the fourth station T4, the powder guide unit 43 descends and is positioned at the powder discharge position. At the same time, the bag B is held by the pair of first weighing and holding units 25a, and then the pair of bag holding units 11b releases their hold on the bag B. While the pair of first weighing and holding units 25a is holding the bag B, the weight is measured by the first weighing device 25 and the powder is discharged by the powder filling device 24, and the desired amount of powder is put into the bag B. After the powder has been put into the bag B, the powder guide unit 43 rises and is positioned at the standby position, while the bag B is held again by the pair of bag holding units 11b, and then the pair of first weighing and holding units 25a releases their hold on the bag B.

[0046] On the other hand, when pulse weighing is performed, the first weighing device 25 does not need to operate because it does not need to measure the weight of bag B, and the first weighing and holding unit 25a does not need to hold bag B. Even when pulse weighing is performed, the first weighing device 25 may operate to hold bag B and measure its weight, but the result of this measurement by the first weighing device 25 is not basically used to control the introduction of powder into bag B by the powder filling device 24.

[0047] Figure 4 is a functional block diagram showing an example of the control configuration of the packaging machine 10.

[0048] The control device 15 is connected to various devices and sensors of the packaging machine 10, for example, to the various devices 21-30 and the powder storage amount sensor 50 mentioned above. The control device 15 controls the various devices and sensors of the packaging machine 10, and in this embodiment in particular, it controls the powder filling device 24 according to various control modes.

[0049] As an example, immediately after the start of operation of the powder filling device 24, the control device 15 can perform control in a real-time weighing control mode, which controls the powder filling device 24 so that the amount of powder actually introduced into bag B, as measured by the first weighing device 25 (weight in this example), becomes a predetermined set amount. On the other hand, after the start of operation of the powder filling device 24, if the first stability index, which indicates the stability of powder introduction into bag B by the powder filling device 24, satisfies the first judgment condition and the powder introduction process is considered to be in a stable state, the control device 15 can perform control in a drive condition control mode, which controls the powder filling device 24 based on drive conditions determined according to the set amount, without relying on the measurement results of the first weighing device 25. The "drive conditions determined according to the set amount" here may include, for example, the drive amount of the motor of the drive source of the delivery adjustment unit 42c (auger-type screw), and in the drive condition control mode, the control device 15 may control the powder filling device 24 so that the motor is driven by a drive amount (for example, the number of drive pulses) determined according to the set amount.

[0050] In this case, immediately after the start of operation of the powder filling device 24, powder is introduced into bag B using a real-time weighing control mode that is excellent in accuracy of the amount of powder introduced into bag B, thereby effectively reducing the impact of instability in the amount of powder introduced by the powder filling device 24 immediately after the start of operation. On the other hand, once the amount of powder introduced by the powder filling device 24 has stabilized after the start of operation, powder is introduced into bag B using a drive condition control mode that is excellent in speed of powder introduction into bag B, thereby effectively improving the processing capacity (especially processing speed) of the powder filling device 24.

[0051] Next, an example of a powder introduction method performed by the packaging machine 10 described above will be explained. The powder introduction method described below is performed by the control device 15 appropriately controlling each part of the packaging machine 10.

[0052] First, we will explain an example of the overall processing flow for a powder introduction method. Figure 5 is a flowchart showing the overall flow of an example of a powder introduction method.

[0053] The powder introduction method in this example includes the steps of: transporting multiple bags B along a transport path using a transport device 11; introducing powder into the bags B using a powder filling device 24 at the fourth station T4; and measuring the amount of powder actually introduced into the bags B using a first weighing device 25 at the fourth station T4.

[0054] More specifically, immediately after the packaging machine 10 (including the powder filling device 24) is put into operation, the powder filling device 24 is first controlled in real-time weighing control mode, and the introduction (filling) of powder into bag B at the fourth station T4 is performed using the first gross filling method (S1 in Figure 5).

[0055] After the powder introduction process into each bag B using the first gross filling method has started, the control device 15 continuously monitors the amount of powder stored in the powder storage section 41 based on the detection results of the powder storage amount sensor 50 (S2). If the detection result of the powder storage amount sensor 50 indicates that the amount of powder stored in the powder storage section 41 is less than the set amount of powder (N in S2), the control device 15 determines that the second stability index does not meet the second judgment condition and switches the method of introducing (filling) powder into bags B at the fourth station T4 from the first gross filling method to the second gross filling method (S7).

[0056] The "set powder quantity" referred to here is determined based on the "amount of powder stored in the powder storage section 41," which may make it difficult to perform stable powder filling processing by the powder filling device 24. The set powder quantity can be variably determined and set by the operator (user), taking into account various factors (for example, the characteristics of the powder, the characteristics of the constituent materials of the powder filling device 24 (for example, the characteristics of the surface in contact with the powder), the ambient temperature and / or ambient humidity, etc.).

[0057] On the other hand, if the detection result of the powder storage amount sensor 50 indicates that the amount of powder stored in the powder storage unit 41 is equal to or greater than the set amount of powder (Y in S2), the control device 15 determines whether or not the filling stability conditions are met (S3). Here, "whether or not the filling stability conditions are met" means "whether or not the first stability index meets the first determination condition" as described above. In this embodiment, the control device 15 determines that the first stability index meets the first determination condition (and thus the filling stability conditions are met) if the number of bags B in which the time required to introduce the set amount of powder into the bags B is shorter than the set introduction time (for example, the number of consecutive bags B) among the determination container group composed of two or more bags B that are continuously supplied one after another to the fourth station T4 is greater than the set number of stable containers. On the other hand, if the number of bags B in the group of judgment containers in which the time required to introduce the set amount of powder into bag B is shorter than the set introduction time (for example, the number of consecutive bags B) is less than or equal to the set number of stable containers, then the first stability index is judged not to satisfy the first judgment condition (and consequently, the filling stability condition is not satisfied). Note that the number of bags B constituting the "group of judgment containers" here may be the same as or different from the "set number of stable containers".

[0058] As long as the filling stability conditions are not met (i.e., as long as the first stability index does not meet the first judgment condition; N in S3), the control device 15 continues the powder introduction process into each bag B using the first gross filling method, and the above processing steps (see S1 to S3) are repeated. On the other hand, when the filling stability conditions are met (i.e., when the first stability index meets the first judgment condition; Y in S3), the control device 15 changes the method of introducing (filling) powder into the bags B at the fourth station T4 from the first gross filling method to the pulse filling method, and controls the powder filling device 24 in drive condition control mode (S4).

[0059] Even after the process of introducing powder into each bag B using the pulse filling method has started, the control device 15 continuously monitors the amount of powder stored in the powder storage section 41 based on the detection result of the powder storage amount sensor 50 (S5). If the detection result of the powder storage amount sensor 50 indicates that the amount of powder stored in the powder storage section 41 is less than the set amount of powder (N in S5), the control device 15 determines that the second stability index does not satisfy the second judgment condition and switches the method of introducing (filling) powder into bag B at the fourth station T4 to the second gross filling method (S7). In this way, while the control device 15 is being controlled in the drive condition control mode by the pulse filling method, if the second stability index, which indicates the stability of powder introduction into bag B by the powder filling device 24, does not satisfy the second judgment condition (i.e., the amount of powder stored in the powder storage section 41 is less than the set amount of powder), the control device 15 controls in the real-time weighing control mode using the second gross filling method.

[0060] On the other hand, after the start of the powder introduction process into each bag B using the pulse filling method, even if the detection result of the powder storage amount sensor 50 indicates that the amount of powder stored in the powder storage section 41 is equal to or greater than the set amount of powder (Y in S5), the control device 15 continues to determine whether or not the above-mentioned filling stability conditions are met (i.e., whether or not the first stability index meets the first determination condition) (S6). As long as the filling stability conditions are met (Y in S6), the control device 15 continues the powder introduction process into each bag B using the pulse filling method.

[0061] On the other hand, when the filling stability conditions are no longer met (i.e., when the first stability index no longer meets the first judgment condition; N in S6), the control device 15 switches the method of introducing (filling) powder into bag B at the fourth station T4 from the pulse filling method to the first gross filling method, and controls the powder filling device 24 in real-time weighing control mode.

[0062] Next, specific examples of the gross filling method and the pulse filling method will be explained. In the following example, a first gross filling method and a second gross filling method are provided as gross filling methods.

[0063] Figure 6 is a flowchart showing an example of the first gross filling method.

[0064] In the first gross filling method shown in Figure 6, when bags B to be filled with powder are intermittently placed at the fourth station T4 (introduction processing station) (S11 in Figure 6), the powder filling device 24 is used to fill the bags B and the weight of the bags B is measured by the first weighing device 25 (S12).

[0065] Furthermore, a timer device provided by the packaging machine 10 (for example, a timer device built into the control device 15) measures the filling time required from the start to the end of powder introduction into bag B by the powder filling device 24 (S12). The control device 15 then determines whether the filling time was shorter than the set introduction time (S13). The "set introduction time" here is an indicator for determining whether the powder introduction process for each bag B is being carried out stably, and can be variably determined and set as appropriate by the operator (user). If it is determined that the filling time is longer than or equal to the set introduction time and the stability of the powder introduction process is deemed insufficient (N in S13), the stability number is reset and updated to "stability number = 0" (S14), and the above processing steps (see S11 to S14) are repeated.

[0066] On the other hand, if the filling time is determined to be shorter than the set introduction time and the powder introduction process is judged to be sufficiently stable (Y in S13), the control device 15 increments the stability number to update it to "stability number = stability number + 1" (S15) and determines whether the updated stability number is greater than the set stability number (S16). The "set stability number" here is an indicator for determining whether the powder introduction process for each bag B is being performed stably, and can be variably determined and set as appropriate by the operator (user). If the stability number is determined to be less than or equal to the set stability number and the stability of the powder introduction process is judged to be insufficient (N in S16), the above processing steps (see S11 to S16) are repeated and the powder introduction process using the first gross filling method continues.

[0067] On the other hand, if the stability number is determined to be greater than the set stability number and the powder introduction process is judged to be sufficiently stable (Y in S16), the control device 15 issues a filling stability notification to the operator (user) (S17). The filling stability notification indicates that the powder introduction process for each bag B by the powder filling device 24 is in a stable state and prompts the operator to input a command to change the filling method. The filling stability notification is typically made visually via a display (not shown) (e.g., by a ticker), but may be made in any other way (e.g., by an audio notification from a speaker).

[0068] After a filling stability notification is issued, the control device 15 determines whether or not a command to change the filling method has been input by the operator via the interface (not shown) (S18). If it is determined that no command to change the filling method has been input and the operator's approval has not been obtained (N in S18), the above processing steps (see S11 to S18) are repeated, and the control device 15 continues the powder filling process using the first gross filling method. On the other hand, if it is determined that a command to change the filling method has been input and the operator's approval has been obtained (Y in S18), the control device 15 temporarily stops the powder filling process by the powder filling device 24 and prepares for the gross filling method (in this embodiment, the first gross filling method described later (see Figure 7)) (S19).

[0069] As described above, according to the first gross filling method shown in Figure 6, if the number of containers in the group of judgment containers, which consists of two or more containers that are successively supplied to the fourth station T4, in which the filling time required to introduce a set amount of powder into the container is shorter than the set introduction time is greater than the set stable number, the control device 15 determines that the first stability index satisfies the first judgment condition, and in response to the operator's approval (i.e., input of a command to change the filling method), it can control the powder filling device 24 in a drive condition control mode (pulse filling method) that controls the powder filling device 24 based on drive conditions determined according to the set amount, without relying on the measurement results of the first weighing device 25.

[0070] Next, we will explain specific examples of pulse filling methods. Below, we will explain the case where the pulse filling method (drive condition control mode) includes a first pulse filling method (first drive condition control mode) and a second pulse filling method (second drive condition control mode). First, we will explain an example of the first pulse filling method, and then we will explain an example of the second pulse filling method.

[0071] Figures 7 and 8 are flowcharts showing an example of the first pulse filling method.

[0072] In this embodiment, when the operator gives their consent to switch the powder introduction process by the powder filling device 24 from the first gross filling method to the pulse filling method (i.e., inputs a command to change the filling method) (see S18 and S19 in Figure 6), the control device 15 performs the powder filling process for each bag B by the powder filling device 24 according to the first pulse filling method (S21).

[0073] Even after the powder filling process using the first pulse filling method has started, the control device 15 monitors the amount of powder stored in the powder storage unit 41 (tank level) based on the detection result of the powder storage amount sensor 50 (S22).

[0074] If the detection result of the powder storage amount sensor 50 indicates that the amount of powder stored in the powder storage unit 41 is less than a threshold (set powder amount) (Y in S22), the control device 15 prepares to switch the method of introducing (filling) powder into the bag B at the fourth station T4 to the second gross filling method, as shown in Figure 8. That is, the control device 15 stops supplying new bags B from the bag supply device 21 to the bag holding unit 11b (conveying device 11) (S41) and issues a tank level drop notification to the operator (user) (S42). The tank level drop notification indicates to the operator that the amount of powder stored in the powder filling device 24 (in this embodiment, the powder storage unit 41 (see Figure 2)) is low, and prompts the operator to input a command to change the filling method. The tank level drop notification can be implemented in any other way, for example, visually and / or audibly via a display or speaker.

[0075] After a tank level drop notification is issued, the control device 15 determines whether or not a command to change the filling method has been input by the operator via the interface (not shown) (S43). If it is determined that no command to change the filling method has been input (N in S43), the control device 15 continues to issue tank level drop notifications (S42). On the other hand, if it is determined that a command to change the filling method has been input (Y in S43), the control device 15 temporarily stops the powder filling process by the powder filling device 24 and prepares for the second gross filling method (S44).

[0076] On the other hand, if the detection result of the powder storage amount sensor 50 does not indicate that the amount of powder stored in the powder storage unit 41 is less than the threshold (set powder amount) (N in S22 of Figure 7), the weight of each bag B (each bag B into which powder has been introduced) that has finished the powder introduction process is measured by the second weighing device 26 at the fifth station (weighing station) T5 (S23). The control device 15 then determines whether the weight of the bags B measured by the second weighing device 26 is within the set stable amount range (S24). The "set stable amount range" here is an indicator for determining whether the powder introduction process for each bag B is being carried out stably, and can be variably determined and set as appropriate by the operator (user).

[0077] If the weight of bag B exceeds the set stable amount range (N in S24), the control device 15 increments the unstable number to update it to "unstable number = unstable number + 1" (S31), while resetting the stable number to update it to "stable number = 0" (S32). At the beginning of the powder filling process using the first pulse filling method (S21), both the stable number and the unstable number are reset to "0". The control device 15 then determines whether the updated unstable number is greater than or equal to the set unstable number (S33), and if it is determined that the unstable number is less than or equal to the set unstable number (N in S33), the above processing steps (see S22, etc.) are repeated and the first pulse filling method continues. The "set unstable number" here is an indicator for determining whether the powder introduction process for each bag B is unstable or not, and can be variably determined and set as appropriate by the operator (user).

[0078] On the other hand, if the number of instabilities is determined to be greater than the set number of instabilities (Y in S33), the control device 15 issues a filling instability notification to the operator (user) (S34). The filling instability notification issued here indicates that the powder introduction process for each bag B by the powder filling device 24 is in an unstable state, and prompts the operator to input a command to change the filling method.

[0079] After a filling instability notification is issued, the control device 15 determines whether or not a command to change the filling method has been input by the operator via the interface (not shown) (S35). If it is determined that no command to change the filling method has been input (N in S35), the above processing steps (see S22, etc.) are repeated, and the control device 15 continues the powder filling process using the first pulse filling method. On the other hand, if it is determined that a command to change the filling method has been input (Y in S35), the control device 15 temporarily stops the powder filling process by the powder filling device 24 and prepares for the first gross filling method (S36).

[0080] The control device 15 performs powder filling using the first gross filling method after the preparation for the first gross filling method is complete. The execution of the powder filling method after switching from the first pulse filling method to the first gross filling method may require approval (input) by an operator (user) via an interface, or it may be performed automatically without requiring such approval by the operator.

[0081] On the other hand, if the weight of bag B is within the set stable amount range (Y in S24), the control device 15 increments the stable number to update it to "stable number = stable number + 1" (S25), while resetting the unstable number to update it to "unstable number = 0" (S26). The control device 15 then determines whether the updated stable number is greater than or equal to the set stable number (S27), and if it is determined that the stable number is less than or equal to the set stable number (N in S27), the above processing steps (see S22, etc.) are repeated and the first pulse filling method continues. The "set stable number" here is an indicator for determining whether the powder introduction process for each bag B is stable or not, and can be variably determined and set as appropriate by the operator (user).

[0082] On the other hand, if the stable number is determined to be greater than the set stable number (Y in S27), the control device 15 issues a filling stability notification to the operator (user) (S27). The filling stability notification issued here indicates that the powder introduction process for each bag B by the powder filling device 24 has been brought into a more reliable and stable state, and also prompts the operator to input a command to change the filling method.

[0083] After a filling stability notification is issued, the control device 15 determines whether or not a command to change the filling method has been input by the operator via the interface (not shown) (S29). If it is determined that no command to change the filling method has been input (N in S29), the above processing steps (see S22, etc.) are repeated, and the control device 15 continues the powder filling process using the first pulse filling method. On the other hand, if it is determined that a command to change the filling method has been input (Y in S29), the control device 15 temporarily stops the powder filling process by the powder filling device 24 and prepares for the second pulse filling method (S30).

[0084] After the second pulse filling method is ready, the control device 15 performs the powder filling process using the second pulse filling method (see Figure 9), which will be described later. The execution of the powder filling process after switching from the first pulse filling method to the second pulse filling method may require approval (input) by an operator (user) via an interface, or it may be performed automatically without requiring such approval by the operator.

[0085] As described above, the control device 15 decides whether to continue the drive condition control mode using the first pulse filling method, switch to the drive condition control mode using the second pulse filling method, or switch to the drive condition control mode using the first gross filling method, based on the measurement results of the second metering device 26 acquired while control is being performed in the drive condition control mode using the first pulse filling method.

[0086] Figure 9 is a flowchart showing an example of a second-pulse filling method.

[0087] In this embodiment, when the operator gives their consent to switch the powder introduction process by the powder filling device 24 from the first pulse filling method to the second pulse filling method (i.e., inputs a command to change the filling method) (see S29 and S30 in Figure 7), the control device 15 performs the powder filling process by the powder filling device 24 according to the second pulse filling method (S51 in Figure 9).

[0088] In the second pulse filling method, the tank level is monitored in the same way as in the first pulse filling method described above, but no decision is made to change the filling method based on the measurement results of the second weighing device (introduction completion measuring device) 26. In other words, even after the powder filling process using the second pulse filling method has started, the control device 15 monitors the amount of powder stored in the powder storage section 41 (tank level) based on the detection results of the powder storage amount sensor 50 (S52).

[0089] If the detection result of the powder storage amount sensor 50 indicates that the amount of powder stored in the powder storage unit 41 is less than a threshold (set powder amount) (Y in S52), the control device 15 prepares to switch the method of introducing (filling) powder into the bag B at the fourth station T4 to the second gross filling method. That is, the control device 15 stops supplying new bags B from the bag feeding device 21 to the bag holding unit 11b (conveying device 11) (S53) and issues a tank level drop notification to the operator (user) (S54). The tank level drop notification indicates to the operator that the amount of powder stored in the powder filling device 24 (in this embodiment, the powder storage unit 41 (see Figure 2)) is low, and prompts the operator to input a command to change the filling method. The tank level drop notification can be implemented in any other way, for example, visually and / or audibly via a display or speaker.

[0090] After a tank level drop notification is issued, the control device 15 determines whether or not a command to change the filling method has been input by the operator via the interface (not shown) (S55). If it is determined that no command to change the filling method has been input (N in S55), the control device 15 continues to issue tank level drop notifications (S54). On the other hand, if it is determined that a command to change the filling method has been input (Y in S55), the control device 15 temporarily stops the powder filling process by the powder filling device 24 and prepares for the second gross filling method (S56).

[0091] As described above, in the first pulse filling method (first drive condition control mode) shown in Figures 7 and 8, the device determines whether the measured filling amount of bag B is within the set stable amount range (whether the third stability index satisfies the third judgment condition), which indicates the stability of powder introduction into bag B by the powder filling device 24. On the other hand, in the second pulse filling method (second drive condition control mode) shown in Figure 9, the device does not determine whether the measured filling amount of bag B is within the set stable amount range (whether the third stability index satisfies the third judgment condition). The control device 15 can then switch from the first pulse filling method (first drive condition control mode) to the second pulse filling method (second drive condition control mode) if the measured filling amount of bag B is within the set stable amount range (the third stability index satisfies the third judgment condition).

[0092] Figure 10 is a flowchart showing an example of the second gross filling method.

[0093] In the second gross filling method shown in Figure 10, when bags B to be filled with powder are intermittently placed at the fourth station T4 (introduction processing station) (S61 in Figure 6), the powder filling device 24 is used to fill the bags B and the weight of the bags B is measured by the first weighing device 25 (S62).

[0094] Meanwhile, the control device 15 determines whether or not a bag B to be filled with powder is located at the third station T3, which is a preceding station to the fourth station T4 (S63). The determination of whether or not a bag B is located at the third station T3 can be made using any method, for example, based on the measurement value of a pressure sensor (not shown) that directly or indirectly measures the suction pressure of the opening suction cup 23a, or based on the detection result of a dedicated sensor (not shown) capable of detecting the presence or absence of bag B at the third station T3.

[0095] If it is determined that bag B is located at the third station T3 (Y in S63), the above processing steps (see S61-S62) are repeated, bag B is moved from the third station T3 to the fourth station T4, and the second gross filling process is performed on the bag B newly located at the fourth station T4.

[0096] On the other hand, if it is determined that bag B is not placed at the third station T3 (N in S63), the control device 15 stops the powder filling process by the powder filling device 24 (S64).

[0097] As described above, the packaging machine (powder introduction system) 10 of this embodiment includes a conveying device 11 that conveys a plurality of bags (containers) B along a conveying path including a fourth station (introduction processing station) T4, a powder filling device (powder introduction device) 24 that introduces powder into the bags B at the fourth station T4, a first weighing device (real-time measuring device) 25 that measures the amount of powder actually introduced into the bags B at the fourth station T4, and a control device 15 that controls the powder filling device 24. The control device 15, immediately after the start of operation of the powder filling device 24, measures the actual amount of powder in the bags B as measured by the first weighing device 25. In a real-time weighing control mode (gross filling method), the powder filling device 24 is controlled so that the amount of powder introduced into the bag B becomes the set amount. After the powder filling device 24 starts operating, if the first stability index, which indicates the stability of powder introduction into bag B by the powder filling device 24, satisfies the first judgment condition (when the filling stability condition is met; Y in S3 of Figure 5), the powder filling device 24 can be controlled in a drive condition control mode (pulse filling method) based on the drive amount (drive condition) of the motor, which is the drive source of the powder delivery unit 42, determined according to the set amount, regardless of the measurement result of the first weighing device 25.

[0098] The powder introduction method includes the steps of: transporting multiple bags B along a transport path including the fourth station T4 using a transport device 11; introducing powder into bags B at the fourth station T4 using a powder filling device 24; and measuring the amount of powder actually introduced into bags B at the fourth station T4 using a first weighing device 25. Immediately after the start of operation of the powder filling device 24, the powder filling device 24 is controlled in real time so that the amount of powder actually introduced into bags B measured by the first weighing device 25 becomes a set amount. In the gross filling mode, the powder filling device 24 is controlled. After the powder filling device 24 starts operating, if the first stability index, which indicates the stability of powder introduction into bag B by the powder filling device 24, satisfies the first judgment condition (when the filling stability condition is met; Y in S3 of Figure 5), the powder filling device 24 is controlled in a drive condition control mode, which controls the powder filling device 24 based on the drive amount (drive condition) of the motor, which is the drive source of the powder delivery unit 42, determined according to the set amount, regardless of the measurement result of the first weighing device 25.

[0099] With this packaging machine 10 and powder introduction method, immediately after the start of operation of the powder filling device 24, the powder filling device 24 is controlled by a gross filling method based on a real-time weighing control mode that is excellent in the accuracy of introducing powder into the bag B (S1 in Figure 5). On the other hand, after the start of operation of the powder filling device 24, if the filling stability conditions are met (Y in S3 in Figure 5), the control device 15 controls the powder filling device 24 by a pulse filling method based on a drive condition control mode that is excellent in the processing speed of introducing powder into the bag B (S4 in Figure 5). As a result, the reduction in the processing capacity of introducing powder into multiple bags B is suppressed, the accuracy of the amount of powder introduced into each bag B is improved, and consequently, the above-described packaging machine 10 and powder introduction method are useful from the perspective of SDGs (Sustainable Development Goals).

[0100] Furthermore, while control is being performed in the drive condition control mode (pulse filling method), if the second stability index, which indicates the stability of powder introduction into bag B by the powder filling device 24, does not satisfy the second judgment condition (if the filling stability condition is not met; N in S6 of Figure 5), the control device 15 can control the powder filling device 24 in real-time weighing control mode (gross filling method).

[0101] As a result, even when powder introduction processing is performed using the pulse filling method, if the introduction of powder into bag B by the powder filling device 24 becomes unstable, the filling method of bag B by the powder filling device 24 is switched from the pulse filling method to the gross filling method. In this way, switching between the real-time weighing control mode (gross filling method) and the drive condition control mode (pulse filling method) according to the stability of the powder introduction processing by the powder filling device 24 is advantageous in improving the accuracy of the amount of powder introduced into each bag B while suppressing a reduction in the processing capacity for introducing powder into multiple bags B.

[0102] Furthermore, the powder filling device 24 has a motor (powder delivery unit 42) that is driven under the control of the control device 15, and the amount of powder introduced into bag B changes according to the amount of drive of the motor (powder delivery unit 42). The driving conditions include the amount of drive of the motor (powder delivery unit 42), and in the driving condition control mode, the control device 15 controls the powder filling device 24 so that the motor (powder delivery unit 42) is driven by an amount of drive determined according to the set amount.

[0103] As a result, in the drive condition control mode (pulse filling method), it is possible to introduce the desired amount of powder into each bag B in a short time using a simple control method.

[0104] Furthermore, the control device 15 determines that the first stability index satisfies the first determination condition when, among the group of determination bags consisting of two or more bags B that are continuously supplied one after another to the fourth station T4, the number of bags B in which the time required to introduce a set amount of powder into the bag B is shorter than the set introduction time is greater than the set stable number (Y in S13, S15, and S16 in Figure 6).

[0105] This allows for an accurate determination of whether the powder introduction process is being carried out stably or not.

[0106] Furthermore, the powder filling device 24 has powder discharge sections 42 and 43 that discharge powder toward bag B at the fourth station T4, and a powder storage section 41 that stores the powder supplied to the powder discharge sections 42 and 43. The control device 15 determines that the second stability index does not meet the second judgment condition if the amount of powder stored in the powder storage section 41 is less than the set amount of powder (Y in S22 in Figure 7).

[0107] This allows the control mode of the powder filling device 24 to be switched from the drive condition control mode (pulse filling method) to the real-time weighing control mode (gross filling method) before the powder introduction process becomes unstable due to insufficient powder storage volume in the gradually consumed powder storage section 41.

[0108] The packaging machine 10 is also equipped with a second weighing device (introduction completion measuring device) 26 that measures the amount of powder introduced into bag B after the introduction of the powder is complete. The control device 15 decides whether or not to continue the drive condition control mode (second pulse filling method) based on the measurement result of the second weighing device 26 (S23 in Figure 7) acquired while control is being performed in the drive condition control mode (S24 in Figure 7).

[0109] This makes it possible to interrupt the powder introduction process using the drive condition control mode (second pulse filling method) if the powder introduction process becomes unstable while the drive condition control mode is in operation.

[0110] Furthermore, the second weighing device 26 is installed at the fifth station (weighing station) T5, which is located downstream of the fourth station T4 in the transport path.

[0111] This is advantageous for quickly identifying situations where the powder introduction process becomes unstable while the drive condition control mode (second pulse filling method) is in operation.

[0112] Furthermore, the drive condition control mode (pulse filling method) includes a first drive condition control mode (first pulse filling method; Figures 7 and 8) and a second drive condition control mode (second pulse filling method; Figure 9). In the first drive condition control mode (first pulse filling method), the device determines whether the amount of filling measured by the second weighing device 26, which indicates the stability of powder introduction into bag B by the powder filling device 24, is within the set stable amount range (whether the third stability index satisfies the third judgment condition). In the second drive condition control mode (second pulse filling method), the device does not determine whether the amount of filling measured by the second weighing device 26 is within the set stable amount range (whether the third stability index satisfies the third judgment condition). The control device 15 can switch from the first drive condition control mode (first pulse filling method) to the second drive condition control mode (second pulse filling method) if the amount of filling measured by the second weighing device 26 is within the set stable amount range (the third stability index satisfies the third judgment condition).

[0113] By using a first drive condition control mode (first pulse filling method) and a second drive condition control mode (second pulse filling method) in this manner, it is advantageous to suppress the reduction in powder introduction processing capacity and to achieve a higher level of accuracy in the amount of powder introduced.

[0114] [First variation] Figure 11 is a flowchart showing an example of a pulse filling method for the first modified example.

[0115] In the above-described embodiment, powder filling is performed on each bag B by multiple pulse filling methods based on multiple drive condition control modes (first drive condition control mode and second drive condition control mode). However, powder filling may also be performed on each bag B by a single pulse filling method based on a single drive condition control mode.

[0116] In the example shown in Figure 11, when the operator gives their consent to switch the powder introduction process by the powder filling device 24 from the first gross filling method to the pulse filling method (i.e., inputs a command to change the filling method) (see S18 and S19 in Figure 6), the control device 15 performs the powder filling process for each bag B by the powder filling device 24 according to the pulse filling method (S71 in Figure 11).

[0117] Then, similar to the processing steps S22 to S24 shown in Figure 7 above, the tank level is monitored based on the detection result of the powder storage amount sensor 50 (S72), the amount of bag B to be weighed is measured by the first weighing device 25 (S73), and the first weighing device 25 determines whether the measured amount of bag B is within the set stable amount range (S74). If the amount of powder in the powder storage section 41 (tank level) is less than the threshold (set powder amount) (Y in S72), the processing steps S41 to S44 shown in Figure 8 above are performed to prepare for the second gross filling method.

[0118] If the measured filling amount by the first measuring device 25 is determined to be within the set stable amount range (Y in S74), the control device 15 of this modified example continues the pulse filling method drive condition control mode by repeatedly performing the above processing steps (see S72 to S74) without preparing to switch to the second pulse filling method (see S25 to S30 in Figure 7).

[0119] On the other hand, if the measured filling amount by the first weighing device 25 is determined to be outside the set stable amount range (N in S74), the unstable number is incremented (S75), it is determined whether the unstable number is smaller than the set unstable number (S76), a filling instability notification is issued (S77), it is determined whether there is a command to change the filling method (S78), and the filling process is stopped (S79), similar to the processing steps S31 and S33 to S36 shown in Figure 7 above. In this modified example, the "switching from the first pulse filling method to the second pulse filling method" performed in the above embodiment is not performed, so the steps related to the "stable number" used to determine whether or not to switch to the second pulse filling method (see steps S25 to S30 and S32 in Figure 7) are not executed.

[0120] [Other variations] In the above-described embodiment, the second weighing device 26 provided along the transport path (particularly the second weighing device 26 provided at the fifth station T5, which is located immediately downstream of the fourth station T4 in the transport path) is used as an "introduction completion measuring device that measures the amount of powder introduced into the container after the introduction of the powder is complete." However, the introduction completion measuring device may be provided downstream of the transport path. That is, a weighing device (not shown) that measures the weight of bag B (product bag Bp) discharged from the transport path at the ninth station T9 may be provided as an introduction completion measuring device either on the way to or after the bag B is sent to the next stage.

[0121] In the embodiment described above, the "filling time required from the start to the end of powder introduction into bag B" (see S12 in Figure 6) is used to evaluate the stability of the first gross filling method. In addition to this, or instead, drive information of the powder filling device 24, such as "the number of drive pulses of the powder filling device 24 required to introduce a desired amount of powder into bag B," may be used.

[0122] It should be noted that the embodiments and modifications disclosed herein are illustrative in all respects and should not be construed restrictively. The embodiments and modifications described above may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the embodiments and modifications described above may be combined in whole or in part, and other embodiments may be combined with the embodiments or modifications described above. Furthermore, the effects described herein are illustrative, and other effects may result.

[0123] The technical categories that embody the above-described technical concept are not limited. For example, the above-described technical concept may be embodied by a computer program that causes a computer to execute one or more steps included in a method for manufacturing or using the above-described device. Alternatively, the above-described technical concept may be embodied by a computer-readable, non-transitory recording medium on which such a computer program is recorded.

[0124] [Note] The following configurations also fall within the scope of the disclosed technology.

[0125] [Aspect 1] A conveying device that transports multiple containers along a transport route including an introduction processing station, The aforementioned introduction processing station includes a powder introduction device for introducing powder into a container, The aforementioned introduction processing station includes a real-time measuring device for measuring the amount of powder actually introduced into the container, The system includes a control device for controlling the powder introduction device, The control device is Immediately after the start of operation of the powder introduction device, control is performed in a real-time weighing control mode, which controls the powder introduction device so that the amount of powder actually introduced into the container measured by the real-time measuring device becomes a set amount. After the powder introduction device starts operating, if the first stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, satisfies the first determination condition, control can be performed in a drive condition control mode that controls the powder introduction device based on drive conditions determined according to the set amount. Powder introduction system.

[0126] [Aspect 2] The control device is If, while control is being performed in the aforementioned drive condition control mode, the second stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, does not satisfy the second determination condition, then control can be performed in the aforementioned real-time weighing control mode. The powder introduction system described in Embodiment 1.

[0127] [Aspect 3] The powder introduction device has a motor driven under the control of the control device, and the amount of powder introduced into the container changes according to the amount of drive of the motor. The aforementioned driving conditions include the amount of drive of the motor. The control device controls the powder introduction device in the drive condition control mode so that the motor is driven by a drive amount determined according to the set amount. A powder introduction system according to embodiment 1 or 2.

[0128] [Aspect 4] The control device determines that the first stability index satisfies the first determination condition if, among the group of determination containers consisting of two or more containers that are continuously supplied one after another to the introduction processing station, the number of containers in which the time required to introduce the set amount of powder into the container is shorter than the set introduction time is greater than the set stability number. A powder introduction system according to any one of embodiments 1 to 3.

[0129] [Aspect 5] The powder introduction device has a powder discharge section that discharges powder toward a container at the introduction processing station, and a powder storage section that stores the powder supplied to the powder discharge section. The control device determines that the second stability index does not satisfy the second determination condition if the amount of powder stored in the powder storage section is less than the set amount of powder. A powder introduction system according to Embodiment 2 and any of Embodiments 3 and 4 that reference Embodiment 2.

[0130] [Aspect 6] The container is equipped with an introduction completion measuring device that measures the amount of powder introduced into the container after the introduction of the powder has been completed. The control device decides whether or not to continue the drive condition control mode based on the measurement results of the introduction completion measuring device acquired while control is being performed in the drive condition control mode. A powder introduction system according to any one of embodiments 1 to 5.

[0131] [Aspect 7] The aforementioned introduction completion measurement device is installed at a weighing station located downstream of the introduction processing station in the transport path. The powder introduction system described in Embodiment 6.

[0132] [Aspect 8] The aforementioned introduction completion measurement device is installed downstream of the transport path. The powder introduction system described in Embodiment 6.

[0133] [Aspect 9] The aforementioned drive condition control mode includes a first drive condition control mode and a second drive condition control mode. In the first drive condition control mode, it is determined whether the third stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, satisfies the third determination condition. In the second drive condition control mode, it is not determined whether the third stability index satisfies the third determination condition. The control device can transition from the first drive condition control mode to the second drive condition control mode when the third stability index satisfies the third determination condition in the first drive condition control mode. A powder introduction system according to any one of embodiments 1 to 8.

[0134] [Aspect 10] The process involves transporting multiple containers along a transport route, including an introduction processing station, using a transport device. The process involves introducing powder into a container at the introduction processing station using a powder introduction device, The process includes measuring the amount of powder actually introduced into the container at the introduction processing station using a real-time measuring device, Immediately after the start of operation of the powder introduction device, the powder introduction device is controlled in a real-time weighing control mode, in which the powder introduction device is controlled so that the amount of powder actually introduced into the container measured by the real-time measuring device reaches a set amount. After the powder introduction device starts operating, if the first stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, satisfies the first determination condition, the powder introduction device is controlled in a drive condition control mode that controls the powder introduction device based on drive conditions determined according to the set amount. Method for introducing powder. [Explanation of Symbols]

[0135] 10 Packaging machine, 11 Conveying device, 11a Conveying table, 11b Bag holding section, 15 Control device, 21 Bag feeding device, 21a Bag storage section, 21b Bag removal section, 22 Printing device, 23 Opening device, 23a Opening suction cup, 23b Opening guide, 24 Powder filling device, 25 First weighing device, 25a First weighing and holding section, 25b First weighing main body section, 26 Second weighing device, 27 Gas introduction device, 28 First heat sealing device, 29 Second heat sealing device, 30 Cooling seal device, 31 Discharge chute, 41 Powder storage section, 41a Tank section, 41b Storage connection section, 42 Powder delivery section, 42a Delivery connection section, 42b Delivery and storage section, 42c Delivery adjustment section, 43 Powder guide section, 46 Powder storage support section, 47 Guide support section, 50 Powder storage volume sensor, B Bag, B0 Opening, Bf Flat bag, Bp Product bag, T1 1st station, T2 2nd station, T3 3rd station, T4 4th station, T5 5th station, T6 6th station, T7 7th station, T8 8th station, T9 9th station, T10 10th station

Claims

1. A conveying device that transports multiple containers along a transport route including an introduction processing station, The aforementioned introduction processing station includes a powder introduction device for introducing powder into a container, The aforementioned introduction processing station includes a real-time measuring device for measuring the amount of powder actually introduced into the container, The system includes a control device for controlling the powder introduction device, The control device is Immediately after the start of operation of the powder introduction device, control is performed in a real-time weighing control mode, which controls the powder introduction device so that the amount of powder actually introduced into the container measured by the real-time measuring device becomes a set amount. After the powder introduction device starts operating, if the first stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, satisfies the first determination condition, control can be performed in a drive condition control mode that controls the powder introduction device based on drive conditions determined according to the set amount. Powder introduction system.

2. The control device is If, while control is being performed in the aforementioned drive condition control mode, the second stability index indicating the stability of the introduction of the powder into the container by the powder introduction device does not satisfy the second determination condition, then control can be performed in the aforementioned real-time weighing control mode. The powder introduction system according to claim 1.

3. The powder introduction device has a motor driven under the control of the control device, and the amount of powder introduced into the container changes according to the amount of drive of the motor. The aforementioned driving conditions include the amount of drive of the motor. The control device controls the powder introduction device in the drive condition control mode so that the motor is driven by a drive amount determined according to the set amount. The powder introduction system according to claim 1.

4. The control device determines that the first stability index satisfies the first determination condition if, among the group of determination containers consisting of two or more containers that are continuously supplied one after another to the introduction processing station, the number of containers in which the time required to introduce the set amount of powder into the container is shorter than the set introduction time is greater than the set stability number. The powder introduction system according to claim 1.

5. The powder introduction device has a powder discharge section that discharges powder toward a container at the introduction processing station, and a powder storage section that stores the powder supplied to the powder discharge section. The control device determines that the second stability index does not satisfy the second determination condition if the amount of powder stored in the powder storage section is less than the set amount of powder. The powder introduction system according to claim 2.

6. The container is equipped with an introduction completion measuring device that measures the amount of powder introduced into the container after the introduction of the powder has been completed. The control device decides whether or not to continue the drive condition control mode based on the measurement results of the introduction completion measuring device acquired while control is being performed in the drive condition control mode. The powder introduction system according to claim 1.

7. The aforementioned introduction completion measurement device is installed at a weighing station located downstream of the introduction processing station in the transport path. The powder introduction system according to claim 6.

8. The aforementioned introduction completion measurement device is installed downstream of the transport path. The powder introduction system according to claim 6.

9. The aforementioned drive condition control mode includes a first drive condition control mode and a second drive condition control mode. In the first drive condition control mode, it is determined whether the third stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, satisfies the third determination condition. In the second drive condition control mode, it is not determined whether the third stability index satisfies the third determination condition. The control device can transition from the first drive condition control mode to the second drive condition control mode when the third stability index satisfies the third determination condition in the first drive condition control mode. The powder introduction system according to claim 1.

10. The process involves transporting multiple containers along a transport route, including an introduction processing station, using a transport device. The process involves introducing powder into a container at the introduction processing station using a powder introduction device, The process includes measuring the amount of powder actually introduced into the container at the introduction processing station using a real-time measuring device, Immediately after the start of operation of the powder introduction device, the powder introduction device is controlled in a real-time weighing control mode, in which the powder introduction device is controlled so that the amount of powder actually introduced into the container measured by the real-time measuring device reaches a set amount. After the powder introduction device starts operating, if the first stability index, which indicates the stability of the introduction of the powder into the container by the powder introduction device, satisfies the first determination condition, the powder introduction device is controlled in a drive condition control mode that controls the powder introduction device based on drive conditions determined according to the set amount. Method for introducing powder.

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