System and method for a substrate filling machine

A bag filling machine, the bag filling machine comprising:

• a frame supporting components of the filling machine;
• a plurality of sensors for monitoring a bag filling process performed by the machine and determining volume, density, weight, and moisture content of a substrate;
• a controller controlling operations of the filling machine, wherein the controller is operatively connected to the plurality of sensors and wherein the controller is configured to determine an amount of substrate for a bag based on the volume, density, weight, and moisture content of the substrate;
• a hopper extending from the frame storing the substrate;
• a fill receptacle extending from below the hopper for dispensing the substrate;
• a bag holder extending from the frame for storing a plurality of bags including the bag;
• a first stop positioned at a top of the fill receptacle to control flow of the substrate from the hopper into the fill receptacle, wherein the first stop is pneumatically controlled;
• a second stop positioned at a bottom of the fill receptacle, wherein the second stop is pneumatically controlled, whereby the controller controls the first stop and the second step to control the amount of the substrate for the bag;
• a first pneumatic arm configured to rotate and extend to independently retrieve and transport the bag from a first side to a filling location;
• one or more first vacuum applicators at a distal end of the first pneumatic arm to secure the bag from the first side;
• a second pneumatic arm configured to extend to abut the bag from a second side after the bag is positioned at the filling location by the first pneumatic arm;
• one or more second vacuum applicators at a distal end of the second pneumatic arm to secure the bag from a second side;
• and
• a conveyor configured to move a filled bag from the filling location to a second location.