JP4744978B2 - Heavy-weight filling device - Google Patents

Description

  The present invention relates to a weight-type filling device, and in particular, for example, to realize so-called quantitative filling, in which filling of an object to be weighed such as a liquid or a granular material so as to obtain a constant weight while weighing by a weighing means. The invention relates to a weight-type filling device.

  In this type of weight-type filling device, there is one that performs filling while changing the supply amount of the object to be weighed per unit time step by step in order to realize high-speed and high-precision quantitative filling. That is, in the initial stage immediately after the start of filling, filling is performed with a relatively large supply amount, thereby shortening the filling time (the time required from the start of filling to the end of filling). Then, when a certain amount of time has elapsed from the start of filling, for example, when the weighing value by the weighing means (the weight value of the filled object to be weighed) reaches a predetermined switching weight value, the supply amount becomes relatively small. Switch. As a result, the weighing accuracy by the weighing means is improved, and as a result, the filling accuracy (the accuracy of the actual filling weight value with respect to the target filling weight value) is improved.

  Here, for example, it is assumed that a temperature change occurs in the object to be weighed. Then, along with this temperature change, the density of the object to be weighed changes, thereby changing the supply amount of the object to be weighed per unit time. When the supply amount per unit time changes in this way, particularly when the supply amount changes in a decreasing direction, the filling time becomes longer and the filling processing capacity decreases (can be executed within a certain time). Inconvenience that the number of times of filling decreases) occurs.

  Therefore, in order to eliminate such inconvenience, there is a technique disclosed in Patent Document 1, for example. According to this prior art, an object to be weighed is put into the weighing hopper via the open / close gate. Then, the weight of the object to be weighed in the weighing hopper is measured by the weight measuring means. Furthermore, every time the weight measured by the weight measuring means reaches a preset weight for changing the supply amount, the supply amount of the object to be weighed per unit time is decreased from large to small. When the measured weight reaches a preset set weight for stopping supply, the supply of the object to be weighed is stopped. At this time, the measuring time To from the start of supply of the object to be weighed to the measuring hopper to the stop of supply is measured by the measuring time measuring means. When the measurement time To is longer than the preset target time Ts, that is, when the measurement is not completed within the target time Ts, the set weight for changing the supply amount is increased. As a result, the time during which the supply amount per unit time is increased is lengthened, and accordingly, the measurement time To is shortened and approaches the target time Ts.

  More specifically, for example, it is assumed that a value W1 is set as the set weight for changing the supply amount and a value W2 is set as the set weight for stopping supply. Until the measured weight by the weight measuring means reaches the set weight W1 for changing the supply amount, the supply amount per unit time of the object to be weighed is set to a relatively large value of Q1, and the measured weight is It is assumed that when the set weight W1 is reached, the supply amount per unit time is changed to a value Q2, which is smaller than the value Q1. Under such a premise, according to the prior art, the deviation Ti between the actually measured measuring time To and the target time Ts is obtained. Then, based on this deviation Ti, a correction time ΔT is obtained by PID (Proportional / Integral / Derivative) control. Further, based on the sign (positive / negative) of this correction time ΔT, the measurement time To is less than the target time Ts. Whether it is long or not is determined. When the weighing time To is longer than the target time Ts, a correction weight ΔWt corresponding to the correction time ΔT (to compensate for the correction time ΔT) is obtained based on the following equation 1.

<< Equation 1 >>
ΔWt = ΔT · Q2

  Here, when the correction weight ΔWt obtained by this equation 1 is smaller than the value obtained by subtracting the set weight W1 for changing the supply amount from the set weight W2 for stopping supply (ΔWt <W2−W1), the supply amount is changed. It is determined that the correction weight ΔWt can be supplemented by changing the set weight W1 for use. In order to compensate for the corrected weight Wt, first, a correction rate ΔW1 is obtained based on the following equation 2.

<< Equation 2 >>
ΔW1 = (W1 + ΔWt) / W1

Furthermore, the set weight W1 for changing the supply amount is changed based on the following equation 3 including the correction factor ΔW1, and is corrected.

<< Equation 3 >>
W1 ′ = W1 · ΔW1 = W1 + ΔWt

  That is, the value W1 'obtained by this equation 3 is set as a new set weight W1.

JP 63-279120 A

  The effectiveness of this prior art will be verified by applying more specific values. For example, the set weight W1 for changing the supply amount is W1 = 100 [g], and the set weight W2 for stopping supply is W2 = 125 [g]. The period until the weight measured by the weight measuring means reaches the set weight W1 for changing the supply amount is a large input stage, and the supply amount Q1 of the object to be weighed per unit time in this large input stage is Q1 = 50. It is assumed that [g / s] is adjusted. Also, the period from when the measured weight reaches the set weight W1 until it reaches the set weight W2 for stopping the supply is set as the small input stage, and the supply amount Q2 per unit time in the small input stage is the supply at the large input stage. It is assumed that the amount is adjusted to a quarter of the amount Q1, that is, Q2 = 12.5 [g / s].

  By making such adjustment, the period of the large charging stage, that is, the large charging time T1, becomes T1 = W1 / Q1 = 100/50 = 2 [s]. On the other hand, the small charging time period, that is, the small charging time T2, is T2 = (W2-W1) / Q2 = (125-100) /12.5=2 [s]. A time (T1 + T2) obtained by adding the large charging time T1 and the small charging time T2 becomes a target weighing time To, that is, a target time Ts. That is, the target time Ts is Ts = 4 [s].

  Here, for example, it is assumed that a temperature change occurs in the object to be weighed, and the density of the object to be weighed decreases by 10 [%] due to this temperature change. Then, the supply amount Q1 in the large input stage is reduced by 10 [%], that is, Q1 = 45 [g / s]. Similarly, the supply amount Q2 in the small input stage is also reduced by 10 [%], that is, Q2 = 11.25 [g / s]. As the supply amounts Q1 and Q2 change, the large charging time T1 becomes T1 = 100/45 = 2.222 ... [s], and the small charging time T2 is T2 = (125-100) / 11.25 = 2.222 ... [s]. Therefore, the measuring time To becomes To = 4.444 ... [s], which exceeds the target time Ts by 0.444 ... [s]. Then, this excess (deviation Ti = 0.444... [S]) becomes the correction time ΔT, and the correction weight ΔWt is obtained based on the above equation 1 in order to compensate for the correction time ΔT. That is, the corrected weight ΔWt is ΔWt = 0.444... × 11.25 = 5 [g].

  The corrected weight ΔWt of 5 [g] is smaller than the value (= 25 [g]) obtained by subtracting the set weight W1 for changing the supply amount from the set weight W2 for stopping supply (ΔWt <W2−W1). Therefore, it is determined that the correction weight ΔWt can be supplemented by changing the set weight W1 for changing the supply amount. Then, the set weight W1 (W1 ′) is changed to W1 = 100 + 5 = 105 [g] to compensate for the correction weight ΔWt from the above equation (3).

  Thus, by changing the set weight W1 for changing the supply amount, the large charging time T1 becomes T1 = 105/45 = 2.333... [S]. The small injection time T2 is T2 = (125−105) /11.25=1.777 (s). Therefore, the measuring time To becomes To = 2.333... +1.777... = 4.111... [S], which is certainly shorter than the original value (4.444... [S]). However, the measurement time To of 4.111... [S] is still longer than the target time Ts (= 4 [s]).

  That is, according to the prior art, when the measurement time To is longer than the target time Ts, the measurement time is certainly shortened by correcting the set weight W1 for changing the supply amount. There is a problem that it is not equivalent to Ts, in other words, the measurement time To cannot be accurately corrected. As is clear from the above formula 1, this is because the supply amounts Q1 and Q2 per unit time are changed in both the large input stage and the small input stage, but in the small input stage. This is because the corrected weight ΔWt is obtained based only on the supply amount Q2, and as a result, the set weight W1 is corrected based on the above equation 3 including the corrected weight ΔWt. That is, the set weight W1 is corrected in a state where the change in the supply amount Q1 in the large charging stage is completely ignored.

  Further, in the prior art, only when the measurement time To is longer than the target time Ts (when the supply amounts Q1 and Q2 per unit time change in a decreasing direction), the measurement time To (set weight W1) is concerned. The correction is made, but in the opposite case, that is, when the measuring time To is shorter than the target time Ts (when the supply amounts Q1 and Q2 per unit time increase), the same applies. It is desirable to make corrections. This is because when the measuring time To is shortened, the large throwing time T1 and the small throwing time T2 are naturally shortened. In particular, when the small charging time T2 is shortened, vibration (flow rate disturbance) generated when the supply amount is switched from Q1 to Q2 is liable to affect the measurement accuracy by the measurement means, and the filling accuracy is lowered. This is because inconvenience arises. Therefore, it is desirable that the measuring time To is always constant with the target time Ts as a reference.

  Therefore, the present invention provides a weight-type filling device that can more accurately correct the supply time (measurement time To in the prior art) from the supply start time to the supply stop time of the object to be weighed than before. And aim.

  In order to achieve this object, the weight-type filling device according to the first aspect of the present invention includes a weighing means for weighing a supplied object to be weighed, and a weighing object to the weighing means according to a supply control signal. The supply means is supplied to the weighing means divided into a plurality of supply stages having different supply amounts per unit time, and the measured value by the weighing means is a predetermined supply stop weight value. Supply control means for generating a supply control signal so that the supply operation of the supply means is stopped when they match. Then, the measurement means for measuring the actual supply amount per unit time in each supply stage, and the supply time from the supply start time to the supply stop time of the measurement object by the supply means is equal to the target time. The apparatus further comprises changing means for changing the switching timing for switching each supply stage based on the measured values in all the supply stages by the measuring means.

  That is, in this first aspect, the object to be weighed is supplied from the supply means to the weighing means in accordance with the supply control signal generated by the supply control means. At this time, the objects to be weighed are supplied in a plurality of supply stages having different supply amounts per unit time. That is, the filling is performed while changing the supply amount of the object to be weighed per unit time. Then, when the measured value by the measuring means coincides with a predetermined supply stop weight value, the supply operation of the supplying means is stopped. Here, for example, it is assumed that a temperature change occurs in the object to be weighed, and the supply amount per unit time of the object to be weighed changes due to this temperature change. Under such circumstances, if no measures are taken, for example, the supply time from the supply start time of the object to be measured to the supply stop time changes, and various disadvantages occur as described above. Therefore, in the first invention, the actual supply amount per unit time in each of the supply stages is measured by the measuring means. Then, based on the measured value by this measuring means, that is, the measured value (actually measured value) of the supply amount per unit time in all the supply stages, each supply means The switching timing for switching the stage is changed, that is, corrected.

  The plurality of supply stages referred to here are a first stage that is executed first, a second stage that is executed following the first stage and has a smaller supply amount per unit time than the first stage, and It may be composed of the following two stages. In this case, the changing means can change the switching timing based on the characteristic chart showing the relationship between the elapsed time from the supply start time of the object to be weighed and the measured value by the measuring means. Specifically, for example, in the characteristic chart, a coordinate point indicating the relationship between the actual elapsed time and the measured value at an arbitrary time point in the first stage is specified, and this is set as the first coordinate point. A first straight line passing through the first coordinate point and following the measured value by the measuring means in the first stage, that is, the measured value of the supply amount per unit time in the first stage is assumed. Furthermore, when the elapsed time from the supply start time reaches the target time, a coordinate point indicating that the measured value by the weighing means matches the supply stop weight value is specified, and this is set as the second coordinate point. Then, a second straight line passing through the second coordinate point and following the measured value by the measuring means in the second stage, that is, the measured value of the supply amount per unit time in the second stage is assumed. And the intersection of these 1st straight lines and a 2nd straight line is calculated | required, and switching timing is changed based on the coordinate of this intersection. That is, when the actual elapsed time from the start of supply of the object to be measured reaches the elapsed time represented by the coordinates of this intersection, or the actual measurement value by the weighing means is changed to the measurement value represented by the coordinates of the intersection. The time to reach is the switching timing for switching from the first stage to the second stage.

  According to a second aspect of the present invention, there is provided a gravimetric filling device comprising: weighing means for weighing the supplied object to be weighed; supply means for supplying the object to be weighed to the weighing means in accordance with a supply control signal; Suppose that the object to be weighed is supplied from the supply means to the weighing means divided into a plurality of supply stages whose supply amounts per unit time are different from each other, and the supply when the measurement value by the measurement means coincides with the predetermined supply stop weight value. Supply control means for generating a supply control signal so that the supply operation of the means is stopped. And the measuring means for measuring the actual supply amount per unit time in the first stage executed first among the respective supply stages, and all subsequent stages other than the first stage based on the measurement value by this measuring means And estimating means for estimating an actual supply amount per unit time. Furthermore, based on the measured value by the measuring means and the estimated values in all subsequent stages by the estimating means, so that the supply time from the supply start time to the supply stop time by the supplying means is equal to the target time, The change means which changes the switching timing which switches each supply stage is provided.

  That is, also in the second invention, as in the first invention, the object to be weighed is supplied from the supply means to the weighing means in accordance with the supply control signal generated by the supply control means. At this time, the objects to be weighed are supplied in a plurality of supply stages having different supply amounts per unit time. Furthermore, the supply operation of the supply means is stopped when the measured value by the measurement means matches the predetermined supply stop weight value. In the second aspect of the invention, the actual supply amount per unit time is measured by the measuring means only in the first stage executed first among the respective supply stages. Based on the measured value by the measuring means, that is, the measured value of the supply amount per unit time in the first stage, the supply amount per unit time in each of all subsequent stages other than the first stage is estimated means. Guessed by. Then, based on the measured value by these measuring means and the estimated value by the estimating means, that is, based on the value measured or estimated the supply amount per unit time in all the supply stages, the supply time becomes equal to the target time. In addition, the switching timing for switching each supply stage is changed by the changing means, which is corrected.

In the first invention described above, after the actual supply amount per unit time is measured (actually measured) in all supply stages, the switching timing for the next opportunity is corrected based on the measurement result. Are corrected by a so-called feedback control method. On the other hand, in the second invention, the actual supply amount per unit time is measured only in the first stage that is executed first, and the supply per unit time in the remaining subsequent stages based on the measurement result. The amount is guessed. Then, the switching timing is corrected based on the measurement result in the first stage and the estimation results in all subsequent stages other than the first stage. Thus, for example, before the first phase is complete, i.e. during which the first stage is being executed, the supply amount per unit time in the first stage is measured, the unit in all subsequent stages time If the winning supply amount is estimated, it is possible to correct a so-called feed-forward control method in which all switching timings are corrected in advance before arrival.

  In order to realize the correction by the feedforward control method, the measuring means measures the supply amount per unit time in the first stage before the first stage is completed. Then, the estimation means estimates the supply amount per unit time in each of all subsequent stages, for example, immediately after the measurement result by the measurement means is obtained before the first stage is completed. Further, the changing means changes the switching timing for switching from the arbitrary supply stage to another subsequent supply stage before the completion of the arbitrary supply stage, and in an extreme case, before the completion of the first stage. It is assumed that all switching timings are changed. In this way, correction of the feedforward control method can be realized.

  In the second aspect of the invention, the plurality of supply stages are the first stage and the second stage as a subsequent stage that is executed following the first stage and has a smaller supply amount per unit time than the first stage. In the case of the two stages, the changing means can change the switching timing in the same manner as in the case of the first invention described above. That is, in the characteristic chart showing the relationship between the elapsed time from the supply start time of the object to be measured and the measured value by the measuring means, the coordinates indicating the relationship between the actual elapsed time and the measured value at an arbitrary point in the first stage A point is specified, and this is set as the first coordinate point. A first straight line passing through the first coordinate point and following the measured value by the measuring means in the first stage, that is, the measured value of the supply amount per unit time in the first stage is assumed. Furthermore, when the elapsed time from the supply start time reaches the target time, a coordinate point indicating that the measured value by the weighing means matches the supply stop weight value is specified, and this is set as the second coordinate point. Then, a second straight line passing through the second coordinate point and following the estimated value by the estimating means in the second stage, that is, the estimated value of the supply amount per unit time in the second stage is assumed. And the intersection of these 1st straight lines and a 2nd straight line is calculated | required, and switching timing is changed based on the coordinate of this intersection. Specifically, when the actual elapsed time from the start of supply of the object to be measured reaches the elapsed time represented by the coordinates of this intersection, or the actual measurement value by the weighing means is the measurement value represented by the coordinates of the intersection The time when the value reaches is set as the switching timing for switching from the first stage to the second stage.

  Next, a gravimetric filling device according to a third aspect of the present invention includes a weighing means for weighing the supplied weighing object, a supplying means for supplying the weighing object to the weighing means in accordance with a supply control signal, and a unit time. When the object to be weighed is supplied from the supply means to the weighing means divided into a plurality of supply stages having different supply amounts, the supply operation of the supply means when the measurement value by the measurement means matches the predetermined supply stop weight value And a supply control means for generating a supply control signal so as to be stopped. The first measurement means for measuring the actual supply amount per unit time in the first stage executed first among the supply stages, and the actual unit time in each of all subsequent stages other than the first stage. Second measurement means for measuring the amount of supply per unit, and measurement values by the first measurement means and second measurement means so that the supply time from the supply start time to the supply stop time is equal to the target time. First changing means for changing a switching timing for switching each supply stage based on measured values in all subsequent stages. Further, an estimation means for estimating an actual supply amount in each of all subsequent stages based on a measurement value by the first measurement means, and a measurement value by the first measurement means so that the supply time is equal to the target time. And a second changing means for changing the switching timing based on the estimated values in all subsequent stages by the estimating means. Furthermore, an enabling means for enabling only one of the first changing means and the second changing means is provided.

  In other words, the third invention combines both the first and second inventions, that is, combines both the feedback control system and the feedforward control system as a control system for correcting the switching timing. It is a thing. Which control method is adopted is selected by the validation means.

  Specifically, the validation means performs the selection based on the measurement value obtained by the first measurement means, that is, the supply amount per unit time in the first stage. For example, when the supply amount in the first stage is relatively stable, the validation means validates the first change means. As a result, the feedback control method is selected, and control (correction of the switching timing) that is not easily affected by disturbance or the like that is a feature of the feedback control method is realized. On the other hand, when the supply amount in the first stage changes relatively greatly, the validation means validates the second change means. As a result, the feedforward control method is selected, and control with high responsiveness, which is a feature of the feedforward control method, is realized.

  Further, when there is a physical quantity that correlates with the supply amount per unit time in the first stage, the control method may be selected based on this physical quantity. For example, when the object to be weighed is a liquid, the temperature of the object to be weighed corresponds to the physical quantity here. In this case, a detection means for detecting the temperature as the physical quantity is further provided. Then, the validation means may select the control method based on the detection result by the detection means.

  When the feedback control method is selected by the enabling means, that is, when the first changing means is enabled, the estimating means is useless. Accordingly, when the first changing means is validated, the estimating means may be invalidated together. On the other hand, when the feedforward control method is selected by the enabling means, that is, when the second changing means is enabled, the second measuring means becomes useless. Therefore, when the second changing means is validated, the second measuring means may be invalidated at the same time.

  According to the present invention, based on the actual supply amount per unit time in all supply stages, the supply time from the supply start time to the supply stop time is equal to the target time. The switching timing for switching the stage is corrected. Accordingly, the supply time can be corrected more accurately as compared with the above-described conventional technique in which the correction is performed based only on the supply amount in some supply stages, that is, the supply time can always be kept constant. it can.

  A first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the weight-type filling device 10 according to the first embodiment performs so-called quantitative filling in which a container 12 such as a bottle is filled with a liquid, for example, a beverage as an object to be weighed at a constant weight. In order to realize this, N filling units 14, 14,... Of the same type are provided in order to cope with mass production.

  Each unit 14 is provided with a mounting table 16 on which the container 12 is mounted, a weighing machine 18 as a weighing unit to which the mounting table 16 is coupled, and a distance above the weighing machine 18. And a valve 20 as a supply means for supplying the beverage to the container 12. In addition, a stand 22 for supporting the container 12 placed on the placement table 16 is provided in the vicinity of the placement table 16. In the first embodiment, N = 36, that is, 36 units 14, 14,... Are provided. In addition, each unit 14, 14,... Is assigned an individual identification number “n” of “1” to “N”.

  As shown in FIG. 2, each unit 14, 14,... Is disposed at a portion near the periphery of the disc-shaped turntable 24 at equal intervals along the periphery, that is, every 10 degrees (= 360 degrees / N). Have been placed. The turntable 24 rotates around the rotation shaft 26 together with the rotation shaft 26 in the direction indicated by the arrow 100 in FIG. 2 (the clockwise direction in FIG. 2). As the turntable 24 rotates, the units 14, 14,. The above-mentioned identification number “n” is assigned to each unit 14, 14,... So that its value sequentially increases in the counterclockwise direction in FIG.

  Returning to FIG. 1, the upper end of the rotating shaft 26 is at a higher position than each unit 14, 14,... (Each valve 20, 20,...), And the upper end has a cylindrical shape as storage means. A storage tank 28 is fixed. This storage tank 28 is for temporarily storing beverages, and N pipes 30, 30,... Are radially coupled to the lower part of the peripheral wall. Are individually coupled to the ends of the pipes 30, 30,... Therefore, the beverage in the storage tank 28 flows through the pipes 30, 30,... To the valves 20, 20,. And it supplies to each container 12, 12, ... via these valves 20,20, .... In addition, when the storage amount of the beverage in the storage tank 28 becomes a certain amount or less, the beverage is automatically replenished into the storage tank 28 from a replenishment tank (not shown).

  On the other hand, the lower end of the rotary shaft 26 is positioned below the turntable 24 in a state of passing through the center of the turntable 24. A motor 34 as a driving means is coupled to the lower end of the rotating shaft 26 via a gear mechanism 32. The motor 34 is controlled by a controller (not shown), and the rotating shaft 26 rotates via the gear mechanism 32 when the motor 34 is driven. The gear mechanism 32 is coupled to a rotary encoder (not shown) for detecting the rotation angle (rotation position) of the rotary shaft 26, and a pulse signal output from the rotary encoder is input to the controller. The controller recognizes the current position of each unit 14, 14,... Based on the pulse signal input from the rotary encoder, and based on the recognition result, obtains position data representing the current position of each unit 14. Generate. The generated position data is transmitted to the corresponding unit 14, specifically the weighing machine 14.

  Each weighing machine 18 has a CPU (Central Processing Unit) 180 as shown in FIG. The position data transmitted from the controller is input to the CPU 180 via a communication circuit 182 as an interface circuit with the controller. Thereby, the CPU 180 recognizes the current position of itself (unit 14).

  The weighing machine 18 also has a strain gauge type load cell 184, and the mounting table 16 is coupled to the load cell 184. The load cell 184 generates a measurement signal of a voltage corresponding to a load Wx (t) (t; an index representing time) applied to itself including a load (so-called initial load) of the mounting table 16. The generated measurement signal is amplified by the amplification circuit 186 and then input to the A / D conversion circuit 188. The A / D conversion circuit 188 converts the input weighing signal into load data that is a digital signal, and the converted load data is input to the CPU 180.

  The CPU 180 performs predetermined filtering processing such as moving average processing on the input load data. Then, based on the weight data after the filtering process (hereinafter, this is represented by a symbol Wx (t) ′), the weight W (t) of only the beverage supplied (already supplied) to the container 12 is calculated. As a result, the final filling weight value Wm (after completion of filling) of the beverage is calculated. The calculated filling weight value Wm is transmitted to the controller via the communication circuit 182 described above. The controller determines the quality of the filling result based on the filling weight value Wm.

  Furthermore, the CPU 180 is connected to the valve 20 corresponding to itself through a valve control circuit 190 as an interface circuit. Then, the CPU 180 controls the valve 20 according to the position data and the load data Wx (t) ′ (W (t)). A series of operations of the CPU 180 including the control of the valve 20 and the calculation of the above-described filling weight value Wm and the like will be described in detail later. The operations of the CPU 180 are stored in the memory 192 as a storage unit. It is executed according to the control program.

  Now, the weight type filling device 10 configured as described above performs quantitative filling in the following manner.

  That is, when an operation to start operation is performed by the controller, the motor 34 is activated. As a result, the turntable 24 rotates around the rotating shaft 26 in the direction indicated by the arrow 100 in FIG. As the turntable 24 rotates, the units 14, 14,..., The storage tank 28 and the pipes 30, 30,. Further, in accordance with the activation of the motor 34, external devices such as the carry-in conveyor 50, the carry-in star wheel 52, the carry-out star wheel 54, and the carry-out conveyor 56 shown in FIG. A sorter (not shown) is provided at the subsequent stage of the carry-out conveyor 56, and this sorter is also activated in accordance with the motor 34.

  Then, as shown by an arrow 102 in FIG. 2, empty containers 12, 12,... Are first transported to the loading star wheel 52 by the loading conveyor 50. The carry-in star wheel 52 rotates in the direction indicated by the arrow 104 in FIG. 2 (counterclockwise direction), and the containers 12, 12,... Each is conveyed to the turntable 24. The containers 12, 12,... Are thus placed one by one on the placement tables 16, 16,... Of the units 14, 14,. The containers 12 set in the respective units 14 in this way naturally rotate in the direction indicated by the arrow 100 together with the units 14. During this rotation, the container 12 is filled with a beverage.

  Specifically, each unit 14 (CPU 180) starts tare measurement when it reaches a predetermined tare measurement start position Pr after the container 12 is set in itself. This tare measurement is performed by multiplying a predetermined tare measurement time Tr. Specifically, the value of the load data Wx (t) ′ described above when the tare measurement time Tr elapses is set as the tare measurement value Wr. The Whether the unit n has reached the tare measurement start position Pr is recognized based on the position data. Further, the tare measurement time Tz is set to a length necessary and sufficient for performing the tare measurement, for example, about 0.1 to 0.3 seconds.

  At the same time that the tare measurement is completed, the unit 14 opens its own valve 20. Thereby, supply of the beverage to the container 12 is started. At this time, the valve 20 is opened with a relatively large aperture. Thereby, the beverage is supplied to the container 12 at a relatively large flow rate of Q1 (a supply amount per unit time; unit [g / s]). Further, the unit 14 opens the valve 20 and simultaneously opens the valve 20, in other words, once the beverage supply is started, the timer for measuring the elapsed time t is reset once and immediately. Start it.

  Thus, by supplying a drink at a relatively large flow rate of Q1, the weight W (t) of the supplied drink in the container 12 increases at a relatively high speed. Here, the unit 14 calculates the weight Wz (t) of the supplied beverage by subtracting the above-described tare measurement value Wr from the value of the load data Wx (t) ′. When the weight W (t) of the supplied beverage reaches a predetermined switching weight value W1, the unit 14 narrows the diameter of the valve 20. Thereby, the flow rate of the beverage is reduced to a value of Q2, which is smaller than Q1, for example, about 1/5 to 1/2 of Q1. Then, the weight W (t) of the supplied beverage in the container 12 increases at a relatively slow speed according to the flow rate of Q2.

  Further, when the weight W (t) of the supplied beverage reaches a predetermined supply stop weight value W2, the unit 14 closes the valve 20. Thereby, the supply of the beverage from the valve 20 to the container 12 is stopped. However, the supply of the beverage to the container 12 is not stopped immediately after the valve 20 is closed, and the beverage continues to be supplied for a while. This is mainly because there is a distance (head) between the valve 20 and the container 12, and the valve 20 is actually closed after the weight W (t) of the supplied beverage reaches the supply stop weight value W2. This is due to the occurrence of a time delay (valve responsiveness). Accordingly, the unit 14 is able to completely stop the supply of the beverage to the container 12 and further sufficiently reduce the influence of vibration on the load data Wx (t) ′ due to the supply of the beverage being stopped. More specifically, the standby state is set until the predetermined stable waiting time Tw elapses after the weight W (t) of the supplied beverage reaches the supply stop weight value W2. The stable waiting time Tw is, for example, about 0.3 to 0.5 seconds, although it depends on the target filling weight value Ws and the required filling accuracy.

  When the above-described stabilization waiting time Tw elapses, the unit 14 starts final measurement in order to calculate the above-described filling weight value Wm. This final measurement is performed by multiplying a predetermined final measurement time Tm. Specifically, the value of the weight W (t) of the supplied beverage at the time when the final measurement time Tm has elapsed is the filling weight value Wm. The The final measurement time Tm is, for example, about 0.3 seconds to 0.5 seconds, although it varies depending on the target filling weight value Ws, the required filling accuracy, and the like, similar to the stable waiting time Tw.

  After the end of the final measurement, when the unit 14 reaches the predetermined end position Pe, the unit 14 transmits the filling weight value Wm obtained by the final measurement to the controller. Whether the unit 14 has reached the end position Pe is recognized based on the position data described above. Then, the controller determines the quality of the filling result by the unit 14 based on the filling weight value Wm sent from the unit 14, and the container 12 corresponding to it is excluded from the production line only when it is determined to be defective. As described above, an instruction is given to the above-described sorter.

  When the unit 14 that has passed the end position Pe reaches the position of the unloading star wheel 54, the container 12 is removed by the unloading star wheel 54. Thus, a series (one time) of filling operations by the unit 14 is completed.

  The container 12 removed from the unit 14 is sent to the carry-out conveyor 56 as indicated by an arrow 106 in FIG. The unloading conveyor 56 transports the sheet in the direction indicated by the arrow 108 in FIG. The sorter sorts the containers 12 sent from the carry-out conveyor 56 in accordance with instructions given from the controller.

  As described above, in the weight-type filling device 10 of the first embodiment, the so-called large charging stage with a relatively large flow rate of Q1, and the so-called small charging stage with a flow rate Q2 smaller than the flow rate Q1 in this large charging stage. The beverage is filled in two stages. Then, the large charging stage is executed as the first first stage, so that so-called rapid filling is performed, and thereby, from the supply start time of the beverage to the supply stop time (from the opening start time of the valve 20 to the closing time). The supply time To can be shortened. Then, the small charging stage is executed as the second stage following the large charging stage, so that the low-speed filling is performed, so that the weighing accuracy by the weighing machine 18 is improved, and as a result, the filling accuracy (target filling) is increased. Improvement in the accuracy of the actual filling weight value Wm with respect to the weight value Ws is achieved.

  Note that the switching weight value W1, the supply stop weight value W2, and the flow rates Q1 and Q2 in the large and small charging stages are the target time Ts that is the target value of the supply time To in the adjustment mode in advance (before actual operation). , And is set in accordance with the target filling weight value Ws. Of these, the flow rates Q1 and Q2 are basically determined by the degree of opening (opening area) of the valve 20.

  However, even after the setting is made in such an adjustment mode, the flow rate at each charging stage does not change even when the opening degree of the valve 20 at each charging stage does not change when the actual operation state (operating mode) is entered. Q1 and Q2 may change. For example, when the temperature of a beverage changes, the density and viscosity of the beverage change, thereby changing the flow rates Q1 and Q2. Moreover, the change of this flow volume Q1 and Q2 changes also with the liquid level height (remaining quantity) of the drink in the storage tank 28. FIG. That is, when the liquid level in the storage tank 28 changes, the pressure (water pressure) of the beverage applied to each valve 20 changes accordingly. And according to the change of this pressure, the flow rate of the said drink when a drink is supplied to the container 12 from the valve | bulb 20 changes, and also flow volume Q1 and Q2 change. When the flow rates Q1 and Q2 change in this way, the following inconvenience occurs.

  For example, when the flow rates Q1 and Q2 change in a decreasing direction, both the large charging stage (large charging time) T1 and the small charging stage (small charging time) T1 become longer, that is, the above-described supply time. To becomes longer. If the supply time To becomes extremely long, the above-described final measurement is not completed until the unit 14 reaches the end position Pe (the filling weight value Wm cannot be obtained). In order to avoid such an inconvenience, for example, the rotational speed of the motor (the moving speed of the unit 14) may be reduced. However, this reduces the number of fillings that can be performed within a certain time, that is, the filling processing capacity is reduced. End up.

  On the other hand, when the flow rates Q1 and Q2 change in the increasing direction, the supply time To is shortened accordingly. However, when the supply time To is shortened, especially when the small charging time T2 is extremely shortened, the vibration generated when switching from the large charging stage to the small charging stage affects the measuring accuracy of the weighing machine 18, thereby increasing the filling accuracy. Inconvenience that it decreases.

  Therefore, it is desirable that the supply time To is always constant with the predetermined target time Ts as a reference. Therefore, the weight-type filling device 10 of the first embodiment uses the switching timing for switching from the large charging stage to the small charging stage, specifically the switching weight value W1 described above, based on the actual flow rates Q1 and Q2. By changing, a switching timing correction function of keeping the supply time To constant is provided.

  Moreover, the weight type filling apparatus 10 of the first embodiment also has another function called a drop change correction function. That is, as described above, the beverage continues to be supplied to the container 12 for a while after the valve 20 is closed. The weight of the beverage supplied to the container 12 after the valve 20 is closed, that is, the so-called drop amount Wd (= Wm−W2) depends (proportional) on the flow rate Q2 in the small charging stage. That is, when the flow rate Q2 in the small charging stage changes, the drop amount Wd also changes. When the drop amount Wd changes, the final filling weight value Wm deviates from the target filling weight value Ws, and the filling accuracy decreases. In order to prevent a decrease in filling accuracy due to the change in the head amount Wd, the weight type filling device 10 of the first embodiment changes the supply stop weight value W2 described above according to the change in the head amount Wd. It has a head change correction function.

  Hereinafter, the switching timing correction function and the head change correction function will be described in detail.

  That is, it is assumed that the weight-type filling device 10 is now operating as expected (adjusted). In this case, the weight W (t) of the supplied beverage of the arbitrary unit 14 changes as indicated by the solid line 200 in FIG. 4, for example, with the progress of the measurement time t by the timer described above.

  Specifically, in FIG. 4, the valve 20 is opened when the elapsed time t is t = 0. As a result, the large charging stage is executed, and the weight W (t) of the supplied beverage increases at a relatively fast speed (slope) according to the flow rate Q1 in the large charging stage. However, the weight W (t) of the supplied beverage does not increase immediately after the valve 20 is opened, and the weight W (t) starts to increase from the time point t0 after a short time. This is due to the drop from the valve 20 to the container 12 and the responsiveness of the valve 20 as in the above-described drop amount Wd.

  Then, at the time t1 when the weight W (t) of the supplied beverage reaches the switching weight value W1, the large charging stage is switched to the small charging stage. Thereby, the weight W (t) of the supplied beverage increases at a relatively slow rate according to the flow rate Q2 in the small charging stage. Then, the valve 20 is closed at the time t2 when the weight W (t) of the supplied beverage reaches the supply stop weight value W2. However, even after the valve 20 is closed, the weight W (t) of the supplied beverage continues to increase by an amount corresponding to the drop amount Wd. As a result, the final value of the weight W (t), that is, the filling weight value Wm is substantially equal to the target filling weight value Ws. In addition, the supply time To from the beverage supply start time (time t = 0) to the supply stop time t2 is substantially equal to the target time Ts (To≈Ts).

  Here, for example, it is assumed that the flow rate Q1 in the large charging stage changes to a value Q1 '(<Q1) smaller than this due to a change in the temperature of the beverage or a change in the liquid level in the storage tank 28. The flow rate Q2 in the small charging stage also changes to a value Q2 '(<Q2) smaller than this. Then, the weight W (t) of the supplied beverage changes as indicated by a dotted line 210 in FIG.

  That is, when the flow rate Q1 at the large charging stage is changed to Q1 'smaller than this, the weight W (t) of the supplied beverage starts to increase from the time point t0' later than the time point t0. The weight W (t) increases at a speed according to the changed flow rate Q1 ', that is, at a speed slower than the original speed (at the time of adjustment). For this reason, the large charging time T1 becomes longer, and the timing at which the weight W (t) reaches the switching weight value W1 is a time point t1 'that is later than the time point t1.

  Similarly, in the small charging stage, the flow rate Q2 is changed to Q2 'smaller than this, so that the increasing speed of the weight W (t) is decreased. As a result, the small charging time T2 becomes longer, and the timing at which the weight W (t) reaches the supply stop weight value W2 is a time point t2 'that is later than the time point t2. That is, the supply time To extends to the time t2 '.

  Further, as the flow rate Q2 changes to Q2 ', the drop amount Wd also changes to a smaller Wd'. Accordingly, the final filling weight value Wm is Wm ′ (= W2 + Wd ′), which is smaller than the target filling weight value Ws.

  Therefore, first, the unit 14 (CPU 180) changes the supply stop weight value W2 in order to compensate for the change ΔWd of the drop amount Wd. Specifically, the change ΔWd is calculated based on the following equation (4).

<< Equation 4 >>
ΔWd = Wd′−Wd = (Wm′−W2) − (Wm−W2) = Wm′−Wm

  As can be seen from Equation 4, when Wm ′ is smaller than Wm (Wm ′ <Wm), the change ΔWd becomes a negative value (ΔWd <0). The unit 14 changes the supply stop weight value W2 by subtracting the change ΔWd from the current supply stop weight value W2, and corrects it. That is, the value W2 ′ calculated by the following equation 5 is set as a new supply stop weight value W2.

<< Equation 5 >>
W2 ′ = W2−ΔWd

  Subsequently, the unit 14 measures the actual flow rate Q1 'at the large charging stage. Specifically, the time point t11 'at which the weight W (t) of the supplied beverage has reached a predetermined intermediate weight value W11 smaller than the switching weight value W1 in the large charging stage is captured. Then, the flow rate Q1 'is calculated based on the following equation (6).

<< Equation 6 >>
Q1 '= (W1-W11) / (t1'-t11')

  The intermediate weight value W11 is set in advance in the adjustment mode, for example, similarly to the opening degree of the valve 20 described above. More specifically, the influence of vibration (flow rate disturbance) generated at the start of beverage supply is small, and is set to a value sufficiently smaller than the switching weight value W1, and more specifically, 1 of the switching weight value W1. The value is set to about / 3 to 1/2.

  Similarly, unit 14 also measures the actual flow rate Q2 'at the small input stage. That is, the time point t21 'at which the weight W (t) of the supplied beverage has reached a predetermined intermediate weight value W21 that is smaller than the supply stop weight value W2 is captured in the small charging stage. Then, the flow rate Q2 'is calculated based on the following equation (7).

<< Equation 7 >>
Q2 '= (W2-W21) / (t2'-t21')

  The intermediate weight value W21 in the small charging stage is also set at the time of adjustment in the same manner as the intermediate weight value W11 in the large charging stage. As a specific value, for example, the influence of vibration (flow rate disturbance) generated when switching from the large charging stage to the small charging stage is small, and is set to a value sufficiently smaller than the supply stop weight value W2. Specifically, it is set to a value slightly larger than an upper limit value W1max of a switching weight value W1 to be described later.

  Further, the unit 14 changes the switching weight value W1 based on the calculated flow rates Q1 'and Q2' so that the supply time To matches the target time Ts. Specifically, in the characteristic chart of FIG. 4, at the time t2 when the elapsed time t from the start of beverage supply reaches the target time Ts, the weight W (t) of the supplied beverage is the corrected supply stop weight. The switching weight value W1 is changed so as to reach the value W2 ′. For this purpose, first, an arbitrary coordinate point, for example, [t1 ′, W1] (or [t11 ′, W11]) in the large input stage is specified and set as the first coordinate point. Then, as shown by a one-dot chain line 220 in FIG. 4, a first straight line that passes through the first coordinate point [t1 ′, W1] and follows the actual flow rate Q1 ′ at the large charging stage is assumed. The first straight line 220 is expressed by the following equation (8).

<< Equation 8 >>
W (t) = Q1 ′ (t−t1 ′) + W1

  In addition, when the elapsed time t from the start of the beverage supply reaches the target time Ts, it represents that the weight W (t) of the supplied beverage reaches the corrected supply stop weight value W2 ′. A coordinate point, that is, [t2, W2 ′] is specified, and this is set as the second coordinate point. Then, as shown by a two-dot chain line 230 in FIG. 4, a second straight line passing through the second coordinate point [t2, W2 '] and having an inclination according to the actual flow rate Q2' at the small charging stage is assumed. The second straight line 230 is expressed by the following equation (9).

<< Equation 9 >>
W (t) = Q2 ′ (t−t2) + W2 ′

  Then, by solving simultaneous equations composed of combinations of these equations 8 and 9, the coordinates [tx, W1 '] of the intersection point P between the first straight line 220 and the second straight line 230 are obtained. Then, based on the coordinates [tx, W1 '] of the intersection point P, the switching weight value W1 is changed, that is, corrected. That is, the weight value W1 'represented by the coordinates [tx, W1'] of the intersection point P is set as a new switching weight value W1.

  By thus correcting the switching weight value W1 and the supply stop weight value W2, the weight W (t) of the supplied beverage changes as indicated by a dotted line 240 in FIG. That is, the supply time To substantially matches the target time Ts, and the final filling weight value Wm substantially matches the target filling weight value Ws. This is the same when the flow rates Q1 and Q2 change in the increasing direction.

  In order to realize the switching timing correction function and the head change correction function, the CPU 180 in the unit 14 executes a feedback (FB) correction task shown in the flowchart of FIG. 6 according to the control program described above.

  That is, when the above-described tare measurement is completed and the beverage supply start timing comes, the CPU 180 proceeds to step S1, resets the measurement time t by the above-described timer, and starts immediately. At this time, the large charging stage is executed as the filling operation.

  Then, the CPU 180 proceeds to step S3 and waits for the weight W (t) of the supplied beverage to reach the intermediate weight value W11 in the large charging stage. When the intermediate weight value W11 is reached, the process proceeds to step S5, and the measurement time t by the timer when the intermediate weight value W11 is reached is stored as t11 '.

  After storing time t11 ', the CPU 180 proceeds to step S7 and waits for the weight W (t) of the supplied beverage to reach the switching weight value W1. When the switching weight value W1 is reached, the process proceeds to step S9, and the time t measured by the timer when the switching weight value W1 is reached is stored as t1 '. Then, the process proceeds to step S11, and the flow rate Q1 'at the large charging stage is calculated based on the above-described equation 6. At this time, the filling operation is switched from the large charging stage to the small charging stage.

  Then, the CPU 180 proceeds to step S13 and waits for the weight W (t) of the supplied beverage to reach the intermediate weight value W21 in the small charging stage. When the intermediate weight value W21 is reached, the process proceeds to step S15, and the measurement time t by the timer when the intermediate weight value W21 is reached is stored as t21 '.

  After storing the time t21 ', the CPU 180 proceeds to step S17 and waits for the weight W (t) of the supplied beverage to reach the supply stop weight value W2. When the supply stop weight value W2 is reached, the process proceeds to step S19, and the time t measured by the timer when the supply stop weight value W2 is reached is stored as t2 '. At this time, the valve 20 is closed as a filling operation. Then, the CPU 180 proceeds to step S21, and calculates the flow rate Q2 'at the small charging stage based on the above-described formula 7.

  Further, the CPU 180 proceeds to step S23 and waits for reaching the end position Pe based on the position data described above. When the end position Pe is reached, the CPU 180 proceeds to step S25 to calculate the change amount ΔWd of the drop amount Wd based on the above-described equation 4, and in step S27, based on the above-described equation 5, the new supply A stop weight value W2 ′ is calculated. In step S29, a new switching weight value W1 'is obtained from the equations (8) and (9).

  Then, the CPU 180 proceeds to step S31, and corrects the supply stop weight value W2 and the switching weight value W1 based on the calculation result W2 'in step S27 and the calculation result W1' in step S29. That is, the calculation result W2 'in step S27 is set as a new supply stop weight value W2, and the calculation result W1' in step S29 is set as a new switching weight value W1. Then, the execution of this step S31 ends the series of feedback correction tasks. This feedback correction task is completed before the next filling operation starts.

  The switching weight value W1 and the supply stop weight value W2 corrected by the feedback correction task are used for the next filling operation. That is, the CPU 180 uses the corrected switching weight value W1 and the supply stop weight value W2 to execute the filling task shown in the flowchart of FIG. 7, thereby realizing quantitative filling.

  In this filling task, when the beverage supply start timing comes, the CPU 180 proceeds to step S51 and opens the valve 20. The opening degree of the valve 20 at this time follows the flow rate Q1 in the large charging stage. As a result, a large charging phase is executed, and the weight W (t) of the supplied beverage increases at a relatively fast rate according to the flow rate Q1 (Q1 ') in the large charging phase. Then, the CPU 180 proceeds to step S53 and waits for the weight W (t) to reach the switching weight value W1.

  When the weight W (t) of the supplied beverage reaches the switching weight value W1, the CPU 180 proceeds to step S55 and changes the opening degree of the valve 20. The opening degree after the change follows the flow rate Q2 in the small charging stage. As a result, the large charging stage is switched to the small charging stage, and the weight W (t) of the supplied beverage increases at a relatively slow speed according to the flow rate Q2 (Q2 ') in the small charging stage. Then, the CPU 180 proceeds to step S57 and waits for the weight W (t) to reach the supply stop weight value W2.

  When the weight W (t) of the supplied beverage reaches the supply stop weight value W2, the CPU 180 proceeds to step S59 and closes the valve 20. In step S61, the process waits until the above-described stable waiting time Tw elapses. When the stable waiting time Tw elapses, the process proceeds to step S63 to perform final measurement and obtain a final filling weight value Wm.

  Further, the CPU 180 proceeds to step S65 and waits for an instruction from the controller to transmit the above-described filling weight value Wm. When this transmission command is received, the process proceeds to step S67, where the filling weight value Wm is transmitted to the controller, and this series of filling tasks is completed.

As described above, according to the first embodiment, the actual flow rates Q1 ′ and Q2 ′ in each charging stage are measured, and the switching timing of each charging stage is determined based on the measured values Q1 ′ and Q2 ′ . The reference switching weight value W1 is corrected. Accordingly, the supply time To can be corrected more accurately as compared with the above-described conventional technique in which the correction is performed based only on the supply amount in a part of the supply stage. In addition, since the supply stop weight value W2 is also corrected to compensate for the change ΔWd of the drop amount Wd, a high filling accuracy can always be obtained.

  In the first embodiment, the so-called rotary weight-type filling device 10 in which each unit 14 performs the filling operation while rotating is taken as an example. However, the present invention is not limited to this. For example, the present invention may be applied to a filling device having a structure in which the position of the unit is fixed. The number N of units 14 is not limited to N = 36, and may be 1 or more (N ≧ 1).

  And the to-be-measured object used as filling object is not restricted to a drink, Other liquids, such as alcohol and oil, may be sufficient. In addition, the present invention can be applied not only to liquids but also to filling devices that use fluid solids such as granular materials as objects to be weighed.

  Further, instead of supplying the objects to be weighed to the container 12, it may be configured to supply the objects to be weighed directly to the respective weighing machines 18 (or the mounting table 16). Such a configuration can be realized, for example, by providing a hopper instead of the mounting table 16.

  And each value may be calculated | required by different numerical formulas demonstrated here. For example, the flow rate Q2 'at the small charging stage may be calculated by the following equation 10 instead of the equation 7.

<< Equation 10 >>
Q2 '= (W2-W1) / (t2'-t1')

  Further, when the switching weight value W1 is corrected, the switching weight value W1 is not corrected based on the flow rates Q1 ′ and Q2 ′ in one filling operation, but, for example, the flow rate Q1 ′ in a plurality of filling operations and An average value (or integral value) of Q2 ′ may be obtained, and the switching weight value W1 may be corrected based on the average value (or integral value). Similarly, when the supply stop weight value W2 is corrected, the supply stop weight value W2 is not corrected based on the change ΔWd of the drop amount Wd in one filling operation, but a plurality of filling operations are performed. It is also possible to obtain an average value of the change ΔWd of the drop amount Wd at and to correct the supply stop weight value W2 based on the average value.

  Furthermore, the switching weight value W1 and the supply stop weight value W2 are corrected in each unit 14, but the present invention is not limited to this. For example, on the controller side, correction of the switching weight value W1 and the supply stop weight value W2 for all the units 14, 14,...

  Further, for each of the switching weight value W1 and the supply stop weight value W2, for example, if it can be changed without limitation, there is a possibility that the filling operation may be hindered. Therefore, a certain limit (changeable range) is provided. desirable. That is, for the switching weight value W1, the lower limit value W1min and the above-described upper limit value W1max are provided, so that the changeable range of the switching weight value W1 is limited to W1min ≦ W1 ≦ W1max. The lower limit value W1min is at least a value (W1min> W11) greater than the intermediate weight value W11 in the large charging stage described above, and the upper limit value W1max is a value (W1max << at least) smaller than the intermediate weight value W21 in the small charging stage. W21). Similarly, by providing the lower limit value W2min and the upper limit value W2max for the supply stop weight value W2m, the changeable range of the supply stop weight value W2 is limited to W2min ≦ W2 ≦ W2max. However, the lower limit value W2min is at least a value (W2min> W1max) greater than the upper limit value W1max of the switching weight value W1, and the upper limit value W2max is at least a value smaller than the target filling weight value Ws (W2max <Ws). .

  When the changeable range of the switching weight value W1 and the supply stop weight value W2 is limited as described above, when either the corrected switching weight value W1 ′ or the supply stop weight value W2 ′ is out of the range. In addition, an alarm may be issued. In this way, it is quickly and easily recognized that the corrected switching weight value W1 ′ or the supply stop weight value W2 ′ is out of the limit range, and that some abnormality has occurred in the filling processing apparatus 10. be able to.

  Furthermore, although the time when the weight W (t) of the supplied beverage has reached the switching weight value W1 is set as the switching timing, it is not limited to this. For example, the time when the measurement time t by the timer reaches the time point t1 may be set as the switching timing. In this case, the time t1 is corrected by the switching timing correction function.

  In the first embodiment, the case where the filling is performed in two stages of the large charging stage and the small charging stage has been described. However, the same correction is performed when the filling is performed in three or more stages. Can be applied.

  Next, a second embodiment of the present invention will be described with reference to FIGS.

  This second embodiment is exactly the same as the first embodiment described above in hardware, and differs from the first embodiment only in the control method for correcting the switching weight value W1 and the supply stop weight value W2. Specifically, in the first embodiment, after the actual flow rates Q1 ′ and Q2 ′ at the large and small charging stages are measured (actually measured), the next filling operation is performed based on the measurement results Q1 ′ and Q2 ′. Therefore, correction by a so-called feedback control system is performed in which the switching weight value W1 and the supply stop weight value W2 are corrected. On the other hand, in the second embodiment, the flow rate Q1 ′ at the large input stage is measured before the large input stage is completed, and the flow rate Q2 ′ at the incoming small input stage is based on the measurement result Q1 ′. As a result, correction by the feedforward control system is performed in which the switching weight value W1 and the supply stop weight value W2 are corrected.

  In order to realize the correction by the feedforward control method, in the second embodiment, even if the flow rates Q1 and Q2 in the large and small charging stages change, the ratio of these flow rates Q1 and Q2, that is, the flow rate ratio r (= Note that Q2 / Q1) is constant. The reason why the flow rate ratio r is constant in this way is that the opening degree of the valve 20 at each charging stage that determines the flow rate ratio r is constant. Note also that the drop amount Wd is proportional to the flow rate Q2 in the small charging stage as described above.

  That is, since the flow rate ratio r is constant, if the actual flow rate Q1 ′ at the large charging stage is known, the expected flow rate Q2 ′ at the small charging stage can be estimated based on the following equation (11). it can.

<< Equation 11 >>
Q2 ′ = r · Q1 ′ ∵r = Q2 / Q1 = const

  In view of the fact that the drop amount Wd is proportional to the flow rate Q2 in the small charging stage, the expected drop amount Wd 'can be estimated based on the flow rate Q2' estimated by the equation (11). That is, assuming that the proportional coefficient between the drop amount Wd and the flow rate Q2 in the small charging stage is k, the expected drop amount Wd 'is expressed by the following equation (12).

<< Equation 12 >>
Wd ′ = k · Q2 ′ where k = Wd / Q2 = const

  Furthermore, if the change amount ΔQ2 of the flow rate Q2 in the small charging stage is defined as the following equation 13, the above-described change ΔWd of the drop amount Wd can be estimated from the equation 14.

<< Equation 13 >>
ΔQ2 = Q2′−Q2

<< Equation 14 >>
ΔWd = Wd′−Wd = k · Q2′−k · Q2 = k · ΔQ2

  If the change amount ΔWd of the head drop Wd can be estimated in this way, the supply stop weight value W2 ′ suitable for the current state (the current flow rate Q1 ′ and the expected flow rate Q2 ′) can be obtained from the above-described Expression 5. it can. The above-described simultaneous equations of Equations 8 and 9 including the supply stop weight value W2 ′, the actually measured flow rate Q1 ′ at the large charging stage, and the flow rate Q2 ′ at the small charging stage estimated from Equation 11 above. From the equation, the switching weight value W1 ′ suitable for the current situation can be obtained. That is, the switching weight value W1 and the supply stop weight value W2 can be predicted and corrected.

  In order to perform correction by such a procedure, the flow rate ratio r and the proportional coefficient k need to be known. Therefore, in the second embodiment, the flow rate ratio r and the proportional coefficient k are obtained in advance in the adjustment mode described above.

  Specifically, first, similarly to the first embodiment, for each unit 14, the switching weight value W1, the supply stop weight value W2, the flow rates Q1 and Q2 at each charging stage (strictly, the opening degree of the valve). In other words, the initial value is set. And after this setting, it is operated on a trial basis.

  Here, for example, it is assumed that the supplied weight W (t) of an arbitrary unit 14 changes as shown by a solid line 200 (similar to the solid line 200 in FIG. 4) in FIG. In this case, the flow rates Q1 and Q2 at the large and small charging stages are obtained by the following formulas 15 and 16 similar to the above formulas 6 and 7.

<< Equation 15 >>
Q1 = (W1-W11) / (t1-t11)

<< Equation 16 >>
Q2 = (W2-W21) / (t2-t21)

  Then, the flow rate ratio r is obtained by substituting the flow rates Q1 and Q2 obtained by the equations 15 and 16 into the above-described equation 11 (r = Q2 / Q1). Further, the proportional coefficient k is obtained by substituting the flow rate Q2 obtained by the equation 16 into the above equation 12 (k = Wd / Q2). Then, the obtained flow rate ratio r and proportional coefficient k are stored in the above-described memory 192, and are preset.

  When presetting the flow rate ratio r and the proportionality coefficient k, the filling operation is performed a plurality of times, and the average values of the flow rate ratio r and the proportionality coefficient k obtained by the plurality of filling operations are obtained. You may make it preset an average value. Further, for example, by intentionally changing the temperature of the beverage or the liquid level (pressure) in the storage tank 28, the flow rates Q1 and Q2 are changed intentionally, and the flow rate ratio r and the proportionality coefficient obtained under such circumstances are obtained. Each average value of k may be preset. Then, after this preset, the actual operation mode is entered.

  In the operation mode, the supplied weight W (t) of any unit 14 changes as indicated by the solid line 200 in FIG. However, when the beverage temperature changes or the liquid level in the storage tank 28 changes, the flow rates Q1 and Q2 at each charging stage change accordingly. And according to the change of the flow rates Q1 and Q2, the transition form of the supplied weight value W (t) also changes.

  For example, now the flow rates Q1 and Q2 at each supply stage change to smaller Q1 ′ and Q2 ′, respectively, so that the weight W (t) of the supplied beverage is shown in FIG. It is assumed that the transition is expected as shown by the dotted line 210). Then, the unit 14 (CPU 180) corrects the switching weight value W1 and the supply stop weight value W2 in the following manner.

  That is, first, the unit 14 actually measures the flow rate Q1 'at the large charging stage before the large charging stage is completed, that is, while the large charging stage is being executed. Specifically, the time point t11 'at which the weight W (t) of the supplied beverage has reached a predetermined intermediate weight value W11 similar to that described in the first embodiment is captured. Then, the time point t12 'at which the weight W (t) of the supplied beverage has reached another intermediate weight value W12 that is larger than the intermediate weight value W11 and smaller than the switching weight value W1 is also captured. The other intermediate weight value W12 is also set in advance in the adjustment mode, like the intermediate weight value W11. Specifically, it is set to a value (W11 <W12 <W1max) that is sufficiently larger than the intermediate weight value W11 and smaller than the above-described lower limit value W1min of the switching weight value W1, and more specifically, the switching weight value. It is set to a value of about 1/2 to 3/4 of W1. Then, the unit 14 calculates the flow rate Q1 ′ based on the following equation 18.

<< Equation 18 >>
Q1 ′ = (W12−W11) / (t12′−t11 ′)

  After measuring the actual flow rate Q1 ′ at the large charging stage in this way, the unit 14 immediately substitutes the measured value (actually measured value) Q1 ′ into the above-described formula 11 to thereby predict the small flow rate. Estimate the step flow rate Q2 '. Furthermore, the unit 14 estimates the amount of change ΔQ2 of the flow rate Q2 by substituting the estimated value Q2 ′ into the above-described equation 13. In the estimation of the change amount ΔQ2, the actual flow rate Q2 ′ in the previous filling operation is applied as Q2 in the equation 13 (however, in the first filling operation, the initial value Q2 set in the adjustment mode). Apply). Then, the unit 14 substitutes the estimated change amount ΔQ2 into Equation 14, thereby estimating the change amount ΔWd of the drop amount Wd.

  After estimating the change ΔWd, the unit 14 substitutes the estimated change ΔWd into Equation 5 to obtain the supply stop weight value W2 ′ suitable for the current situation. Further, the unit 14 substitutes the supply stop weight value W2 ′ and the estimated value of the flow rate Q2 ′ at the small charging stage into the above-described equation 9, and also substitutes the measured value of the flow rate Q1 ′ at the large charging phase into the equation 8. Then, the switching weight value W1 ′ suitable for the current situation is obtained by solving the simultaneous equations consisting of these equations (8) and (9). That is, as in the first embodiment, in the characteristic chart of FIG. 8, the coordinates [tx, W1 ′] of the intersection P of the two straight lines represented by the one-dot chain line 220 and the two-dot chain line 230 are specified. The weight value W1 ′ represented by the coordinates [tx, W1 ′] is set as the switching weight value W1 ′. The switching weight value W1 'and the supply stop weight value W2' are set as a new switching weight value W1 and a supply stop weight value W2. A series of processes from the actual flow rate Q1 ′ at the large charging stage measured by the unit 14 to the setting of the switching weight value W1 and the supply stop weight value W2 suitable for the current situation are as follows. This is done until the input phase is completed.

  Even when the switching weight value W1 and the supply stop weight value W2 are corrected by the feedforward control method, the supply time To is set to the target time Ts as in the case of correction by the feedback control method as in the first embodiment. At the same time, the final filling weight value Wm can be adjusted to the target filling weight value Ws. The same applies to the case where the flow rates Q1 and Q2 change in the increasing direction. And according to this feedforward control system, correction with high responsiveness can be realized, and for example, even when the flow rates Q1 and Q2 are relatively intense, it is possible to cope with this accurately.

  Note that the flow rate ratio r described above is a constant value determined by the opening degree of the valve 20, but strictly speaking, the opening degree of the valve 20 changes slightly with time, and accordingly, the flow rate is changed. The ratio r also changes slightly. Therefore, in the second embodiment, the flow rate ratio r is updated every time the filling operation is repeated α times (α ≧ 1). Specifically, every time the filling operation is performed, the actual flow rate ratio r ′ is obtained based on the following equation (19).

<Equation 19>
r ′ = Q2 ′ / Q1 ′

  Then, when α flow rate ratios r ′ obtained by the equation 19 are obtained, an average value r′ave of the α flow rate ratios r ′ is obtained, and this average value r′ave becomes a new flow rate. Used as the ratio r. The update period of the flow rate ratio r, that is, the value of α can be arbitrarily changed within a predetermined range.

  Now, in order to implement | achieve correction | amendment by a feedforward control system as mentioned above, CPU180 in the unit 14 in this 2nd Embodiment performs the feedforward (FF) correction | amendment task shown by the flowchart of FIG. 9 and FIG. .

  That is, when the above-described tare measurement is completed and the beverage supply start timing comes, the CPU 180 proceeds to step S101 in FIG. 9 to once reset the measurement time t by the timer and start it immediately. At this time, a large charging phase is started as the filling operation.

  Then, the CPU 180 proceeds to step S103 and waits for the weight W (t) of the supplied beverage to reach the first intermediate weight value W11 in the large charging stage. When the intermediate weight value W11 is reached, the process proceeds to step S105, and the measurement time t by the timer when the intermediate weight value W11 is reached is stored as t11 '.

  After storing time t11 ', the CPU 180 proceeds to step S107 and waits for the weight W (t) of the supplied beverage to reach the next intermediate weight value W12. When the intermediate weight value W12 is reached, the process proceeds to step S109, and the measurement time t by the timer when the intermediate weight value W12 is reached is stored as t12 '.

  Further, the CPU 180 proceeds to step S111, and calculates the flow rate Q1 'at the large charging stage based on the above equation 18. Then, in step S113, the flow rate Q2 'in the small charging stage is estimated based on Equation 11, and then the process proceeds to Step S115, and the change amount ΔQ2 from the previous flow rate Q2 is estimated based on Equation 13. Further, the process proceeds to step S117, and a change amount ΔWd of the drop amount Wd is estimated based on the equation (14).

  After estimating the change amount ΔWd, the CPU 180 proceeds to step S119, and calculates a supply stop weight value W2 'suitable for the current situation based on the above-described equation 5. Further, in step S121, a switching weight value W1 'suitable for the current situation is calculated from the simultaneous equations of Equations 8 and 9. In step S123, the switching weight value W1 'calculated in step S121 and the supply stop weight value W2' calculated in step S119 are set as a new switching weight value W1 and supply stop weight value W2. That is, the switching weight value W1 and the supply stop weight value W2 are corrected. After this correction, when the weight W (t) of the supplied beverage reaches the corrected switching weight value W1, the large input stage is switched to the small input stage.

  Then, the CPU 180 proceeds to step S125 in FIG. 10 and waits for the weight W (t) of the supplied beverage to reach the intermediate weight value W21 in the small charging stage. When the intermediate weight value W21 is reached, the process proceeds to step S127, and the measurement time t by the timer when the intermediate weight value W21 is reached is stored as t21 '.

  Further, the CPU 180 proceeds to step S129 and waits for the weight W (t) of the supplied beverage to reach the supply stop weight value W2 corrected in step S123 described above. Then, when the supply stop weight value W2 is reached, the process proceeds to step S131, and the measurement time t by the timer when the supply stop weight value W2 is reached is stored as t2 '. At this time, the valve 20 is closed.

  Then, the CPU 180 proceeds to step S133, and calculates the flow rate Q2 'at the small charging stage based on the above-described formula 7. In other words, the actual flow rate Q2 'is measured. Then, the process proceeds to step S135, and the flow rate Q1 ′ at the large charging stage calculated at step S111 and the flow rate Q2 ′ at the small charging stage calculated at step S133 are assigned to the mathematical formula 19 based on the formula 19. The current flow rate ratio r ′ is calculated. In step S137, the flow rate ratio r ′ calculated in step S135 is stored in the memory 192. Then, the process proceeds to step S139, and the flow rate Q2 ′ calculated in step S133 in the small charging stage is set as Q2 in the memory 192. Remember. The flow rate Q2 stored in step S139 is used when step S133 is executed at the next opportunity (when calculating the flow rate Q2 ').

  Then, after storing the flow rate Q2, the CPU 180 proceeds to step S141, and increments the value of the counter A for counting the number of stored flow rate ratios r by “1”. In step S143, the value of the counter A after the increment is compared with a predetermined value α set in advance.

  In this step S143, if the value of the counter A is equal to or larger than the predetermined value α (A ≧ α), that is, if the number of flow rate ratios r ′ stored in the memory 192 has reached α, the CPU 180 proceeds to step S145. . In step S145, after calculating the average value r'ave of the flow rate ratio r 'stored in the memory 192, the process proceeds to step S147, and this average value r'ave is set as a new flow rate ratio r. That is, the flow rate ratio r is updated.

  After updating the flow rate ratio r, the CPU 180 proceeds to step S149 and clears all the values of the flow rate ratio r ′ stored in the memory 192. In step S151, the value of the above-described counter A is reset (A = 0). With this, the series of feedforward tasks is completed. If the value of the counter A is less than the predetermined value α (A <α) in step S143 described above, the CPU 180 passes steps S45 to S51 and ends this feedforward correction task.

  Thus, according to the second embodiment, the switching weight value W1 and the supply stop weight value W2 are predicted and corrected by the feedforward control method. Therefore, correction with high responsiveness, which is a feature of the feedforward control method, can be realized. For example, it is suitable for an environment where the flow rates Q1 and Q2 change relatively violently.

  In the second embodiment, both the switching weight value W1 and the supply stop weight value W2 are corrected before the large charging stage is completed, but the present invention is not limited to this. That is, the supply stop weight value W2 may be corrected at least until the small charging stage is completed.

  Further, when the proportional coefficient r is obtained in the adjustment mode, the proportional coefficient r may be obtained based on the following equation 20 which is a modified expression of the equation 14, instead of the above equation 12.

<< Equation 20 >>
k = ΔWd / ΔQ2

  Further, when obtaining the flow rate Q1 in the large charging stage in the adjustment mode, the following equation 21 may be used instead of the above equation 15.

<< Equation 21 >>
Q1 = (W12−W11) / (t12−t11)

  Next, a third embodiment of the present invention will be described with reference to FIG.

  This third embodiment is completely the same as the above-described first embodiment in terms of hardware. As a control method for correcting the switching weight value W1 and the supply stop weight value W2, the feedback control of the first embodiment is used. Both the method and the feedforward control method of the second embodiment are adopted.

  That is, according to the feedforward control method as described above, correction with high responsiveness can be realized. Therefore, the correction by this feedforward control method is suitable when the flow rates Q1 and Q2 change relatively violently. On the other hand, according to the feedback control method, it is possible to realize a stable correction that is hardly affected by disturbances such as vibration and noise. Therefore, the correction by this feedback control method is suitable when the flow rates Q1 and Q2 are relatively stable (not changing so much).

  Therefore, in the third embodiment, the control method is switched based on the degree of change in the flow rates Q1 and Q2. Specifically, the amount of change ΔQ1 of the flow rate Q1 at the large charging stage is obtained in each filling operation. When the amount of change ΔQ1 is relatively large, for example, when the absolute value | ΔQ1 | of the amount of change ΔQ1 is equal to or greater than a predetermined reference value γ (| ΔQ1 | ≧ γ), a feedforward control method is adopted. Thus, a highly responsive correction is realized. On the other hand, when the absolute value | ΔQ1 | is smaller than the reference value γ (| ΔQ1 | <γ), a more stable and accurate correction is realized by adopting a feedback control method.

  More specifically, first, in the adjustment mode, the switching weight value W1, the supply stop weight value W2, and the flow rates Q1 and Q2 at each charging stage are set for each unit 14. And the flow rate ratio r and the proportionality coefficient k are calculated | required similarly to 2nd Embodiment. Further, the above-described reference value γ is also set. After this setting, the operation mode is entered.

  In the operation mode, as in the second embodiment, before the large charging stage is completed, the actual flow rate Q1 ′ at the large charging stage is measured, and in detail, the flow rate Q1 ′ is calculated based on the above equation 18. Is done. Then, a change amount ΔQ1 is obtained based on the following equation (22).

<< Equation 22 >>
ΔQ1 = Q1′−Q1

  It should be noted that the actual flow rate Q1 'in the previous filling operation is applied to Q1 in this equation 22. When the absolute value | ΔQ1 | of the change amount ΔQ1 obtained by the equation 22 is equal to or larger than a predetermined reference value γ, the feedforward control method is adopted, that is, the switching weight value in the same manner as in the second embodiment. W1 and the supply stop weight value W2 are predicted and corrected. On the other hand, when the absolute value | ΔQ1 | is smaller than the reference value γ, strictly speaking, when this condition is continuously satisfied for a predetermined number of times β or more, the feedback control method is adopted, that is, as in the first embodiment. In the same manner, the switching weight value W1 and the supply stop weight value W2 for the next filling operation are corrected.

  In order to correct the switching weight value W1 and the supply stop weight value W2 while appropriately switching the control method in this way, the CPU 180 in the unit 14 in the third embodiment executes the switching correction task shown in the flowchart of FIG. To do.

  That is, when the above-described tare measurement is completed and the beverage supply start timing comes, the CPU 180 proceeds to step S201, resets the measurement time t by the timer, and starts immediately. At this time, a large charging stage is started as the filling operation.

  Then, the CPU 180 proceeds to step S203 and waits for the weight W (t) of the supplied beverage to reach the first intermediate weight value W11 in the large charging stage. When the intermediate weight value W11 is reached, the process proceeds to step S205, and the measurement time t by the timer when the intermediate weight value W11 is reached is stored as t11 '.

  After storing the time t11 ', the CPU 180 proceeds to step S207 and waits for the weight W (t) of the supplied beverage to reach the next intermediate weight value W12. When the intermediate weight value W12 is reached, the process proceeds to step S209, and the measurement time t by the timer when the intermediate weight value W12 is reached is stored as t12 '.

  Further, the CPU 180 proceeds to step S211, and calculates the flow rate Q1 'at the large charging stage based on the above equation 18. Then, the process proceeds to step S213, and the change amount ΔQ1 of the flow rate Q1 is calculated based on the equation (22). After this calculation, the process proceeds to step S215, and the flow rate Q1 'calculated in step S211 is stored in the memory 192 as Q1.

  Then, the CPU 180 proceeds to step S217, and compares the absolute value | ΔQ1 | of the change amount ΔQ1 calculated in step S213 with the above-described reference value γ. Here, when the absolute value | ΔQ1 | is equal to or larger than the reference value γ (| ΔQ1 | ≧ γ), the CPU 180 proceeds to step S219 to count the number of times that the condition of step S217 is continuously satisfied. The value of counter B is reset (B = 0). And it progresses to step S221 and performs the feedforward correction | amendment task shown in FIG. 9 and FIG. 10 mentioned above, Strictly speaking, step S113 and subsequent steps of the feedforward correction task are executed. Then, with the execution of this feedforward correction task, a series of switching correction tasks is completed.

  On the other hand, when the absolute value | ΔQ1 | is smaller than the reference value γ in step S217, the CPU 180 proceeds to step S223 and increments the value of the counter B by “1”. In step S225, the incremented counter B value is compared with the predetermined number β.

  In step S225, when the value of the counter B is equal to or greater than the predetermined number β (B ≧ β), that is, the condition that the absolute value | ΔQ1 | is smaller than the reference value γ is continuously satisfied for the predetermined number β or more. When it is determined, the CPU 180 proceeds to step S227. In step S227, the feedback correction task shown in FIG. 6 is executed, and strictly speaking, step S13 and subsequent steps in the feedback correction task are executed. Then, the execution of this feedback correction task ends the switching correction task.

  In step S225, if the value of the counter B after the increment is smaller than the predetermined number β (B <β), that is, the condition that the absolute value | ΔQ1 | is smaller than the reference value γ is continuously satisfied. If the count B is less than the predetermined count β, the CPU 180 proceeds to step S221. In step S221, the feedforward correction task (after step S113) is executed as described above, and the switching correction task is terminated.

  As described above, according to the third embodiment, when the flow rates Q1 and Q2 change relatively violently, correction with high responsiveness is realized by the feedforward control method. On the other hand, when the flow rates Q1 and Q2 are relatively stable, more stable and accurate correction is realized by the feedback control method. That is, it is possible to realize a suitable correction according to the situation.

  In the third embodiment, the control method is switched based on the change amount ΔQ1 of the flow rate Q1 in the large charging stage, but the present invention is not limited to this. For example, a physical quantity correlated with the amount of change ΔQ1, such as the temperature of the liquid or the surrounding environment, or the liquid level in the storage tank 28, is detected, and the control method is switched based on the detected physical quantity. May be.

  Further, in step S221 of the switching correction task in FIG. 11, only step S113 and subsequent steps in the feedforward correction task shown in FIGS. 9 and 10 described above are executed. However, the present invention is not limited to this. For example, all of the feedforward correction tasks (steps S101 to S151) may be executed. However, since steps S101 to S111 of the feedforward correction task overlap with steps S201 to S211 of the switching correction task, the burden on the CPU 180 can be reduced by omitting these overlapping portions.

  Similarly, in step S227 of the switching correction task, only step S13 and subsequent steps in the feedback correction task in FIG. 6 are realized, but all of the feedback correction tasks (steps S1 to S31) are executed. Also good. However, since steps S1 to S11 of the feedback correction task overlap with steps S201 to S211 of the switching correction task, it is desirable to omit these overlapping portions in order to reduce the burden on the CPU 180.

It is a figure which shows the whole structure of 1st Embodiment of this invention. FIG. 3 is an illustrative view for describing an overall operation of the first embodiment. It is a block diagram which shows the electric constitution of each unit in the said 1st Embodiment. It is an illustration figure for demonstrating operation | movement of the unit. It is an illustration figure for demonstrating the operation | movement after the correction | amendment of the unit. It is a flowchart which shows the content of the feedback correction | amendment task which CPU of the same unit performs. It is a flowchart which shows the content of the filling task which the CPU performs. It is an illustration figure for demonstrating operation | movement of each unit in 2nd Embodiment of this invention. It is a flowchart which shows the content of the feedforward correction | amendment task which CPU of the unit performs. It is a flowchart following FIG. It is a flowchart which shows the content of the switching correction | amendment task which CPU of each unit in 3rd Embodiment of this invention performs.

Explanation of symbols

10 Weight Filling Device 14 Unit 18 Weighing Machine 20 Valve 180 CPU

Claims (8)

Weighing means for weighing the supplied weighing object;
Supply means for supplying the object to be weighed to the weighing means according to a supply control signal;
When the object to be weighed is supplied from the supply means to the weighing means divided into a plurality of supply stages whose supply amounts per unit time are different from each other, and the measurement value by the measurement means coincides with a predetermined supply stop weight value Supply control means for generating the supply control signal such that the supply operation of the supply means is stopped;
Measuring means for measuring the actual supply amount in each of the plurality of supply stages;
And changing means for changing the switching timing for switching over SL plurality of supply stages as supply time to the stop time from the start of the supply operation becomes equal to the target time,
Equipped with,
In the characteristic chart showing the relationship between the elapsed time from the start time of the supply operation and the measured value by the measuring means, the changing means has at least a slope of a straight line according to the measured values at each of the plurality of supply stages by the measuring means. And changing the switching timing based on a specific coordinate point indicating that the measured value matches the supply stop weight value when the elapsed time reaches the target time ,
Heavy duty filling device. The plurality of supply stages includes a first stage that is executed first, and a second stage that is executed following the first stage and has a smaller supply amount than the first stage.
In the characteristic chart showing the relationship between the elapsed time from the start time of the supply operation and the measured value by the measuring unit, the changing unit passes through a first coordinate point indicating the relationship at an arbitrary time point in the first stage and An intersection of a first straight line according to the measured value in the first stage and a second straight line passing through the second coordinate point as the specific coordinate point and having a slope according to the measured value in the second stage is obtained. , Changing the switching timing based on the coordinates of the intersection point,
The weight type filling device according to claim 1. Weighing means for weighing the supplied weighing object;
Supply means for supplying the object to be weighed to the weighing means according to a supply control signal;
When the object to be weighed is supplied from the supply means to the weighing means divided into a plurality of supply stages whose supply amounts per unit time are different from each other, and the measurement value by the measurement means coincides with a predetermined supply stop weight value Supply control means for generating the supply control signal such that the supply operation of the supply means is stopped;
A measuring means for measuring the actual supply amount in a first stage executed first among the plurality of supply stages;
An estimation means for estimating an actual supply amount in each of all subsequent stages other than the first stage among the plurality of supply stages based on a measurement value by the measurement means;
The plurality of supply stages are performed based on the measurement value by the measurement means and the estimation values in all the subsequent stages by the estimation means so that the supply time from the start time to the stop time of the supply operation is equal to the target time. Changing means for changing the switching timing to be switched;
A gravimetric filling device. The measuring means measures the supply amount in the first stage before the first stage is completed,
The estimating means estimates the supply amount in each of all subsequent stages before the first stage is completed;
The changing means changes the switching timing for switching from any supply stage to another supply stage before any supply stage is completed.
The weight measuring device according to claim 3. The plurality of supply stages include the first stage, and a second stage as the subsequent stage that is executed subsequent to the first stage and has a smaller supply amount than the first stage.
In the characteristic chart showing the relationship between the elapsed time from the start time of the supply operation and the measured value by the measuring unit, the changing unit passes through a first coordinate point indicating the relationship at an arbitrary time point in the first stage and Passing through a first straight line according to the measured value in the first stage and a second coordinate point indicating that the measured value coincides with the supply stop weight value when the elapsed time reaches the target time; Obtaining an intersection of the second straight line with the inclination according to the estimated value in the second stage, and changing the switching timing based on the coordinates of the intersection;
The weight type filling device according to claim 3 or 4. Weighing means for weighing the supplied weighing object;
Supply means for supplying the object to be weighed to the weighing means according to a supply control signal;
When the object to be weighed is supplied from the supply means to the weighing means divided into a plurality of supply stages whose supply amounts per unit time are different from each other, and the measurement value by the measurement means coincides with a predetermined supply stop weight value Supply control means for generating the supply control signal such that the supply operation of the supply means is stopped;
First measuring means for measuring the actual supply amount in a first stage executed first among the plurality of supply stages;
A second measuring means for measuring the actual supply amount in each of all subsequent stages other than the first stage among the plurality of supply stages;
Based on the measured values by the first measuring means and the measured values at all subsequent stages by the second measuring means so that the supply time from the start time to the stop time of the supplying operation is equal to the target time. First changing means for changing a switching timing for switching between the supply stages;
Estimating means for estimating the actual supply amount in each of all the subsequent stages based on the measured value by the first measuring means;
Second changing means for changing the switching timing based on the measured value by the first measuring means and the estimated values in all the subsequent stages by the estimating means so that the supply time becomes equal to the target time;
Validation means for validating any one of the first change means and the second change means;
A gravimetric filling device.   The weight-type filling device according to claim 6, wherein the validation means performs validation based on a measurement value obtained by the first measurement means. Detecting means for detecting a predetermined physical quantity correlated with the actual supply amount in the first stage;
The validation means performs validation based on the predetermined physical quantity detected by the detection means.
The weight type filling device according to claim 6.

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