JP2014198571A - Article gripping device and bottling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article gripping device and a bottling device by which various types of articles on a table, a work table, a tray or the like can be held (gripped) without deformation and breakage.SOLUTION: In a device according to the present invention, a main body, a pair of holding bodies provided to the main body, and a driving means for driving the holding bodies are provided. The pair of holding bodies are so disposed to face each other at a space therebetween in which an article can be received. In the pair of holding bodies, a sheet-like belt surrounds a circumference of slide plates which can perform a forward movement and a retreat movement so as to project forwards the main body, and the belt is fixed to the main body and held in a ring-shape of a predetermined length. When both the slide plates are moved forward by the driving means until the slide plates project forwards the main body, the article is held between the pair of projected holding bodies. When both the slide plates are retreated, gripping of the article held between the pair of holding bodies is released.

Description

  The present invention relates to an article gripping apparatus that can be used to store various articles in various containers such as bags and boxes, to deliver or move them to other devices, and to pack containers for storing the gripped articles in containers. With regard to the device, in particular, when sandwiching foods such as sandwiches, confectionery, bread, rice balls sold at convenience stores and supermarkets, gripping them, moving food materials between equipment in the food manufacturing process, It is suitable for delivery.

  In convenience stores and supermarkets, foods such as sandwiches, confectionery, bread, and rice balls are sold in film bags. As a device for packaging (packing) food in a film bag, a bagging device for sandwiches has been proposed (Patent Documents 1 to 3).

JP-A-11-301615 JP 2000-128120 A JP-A-7-172407

  A typical sandwich has a triangular shape, and the ingredients are exposed on the three surrounding surfaces. Each of the bagging devices described in Patent Documents 1 to 3 pushes any one of the three surfaces of the sandwich on the table or workbench where the tool is exposed, and slides the sandwich in the film bag. The sandwich may be deformed, or the shape may collapse and the tool may protrude from between the breads. Further, since the pressing tool comes into contact with the sandwich tool and becomes dirty, if it is used while it is dirty, the sandwich to be packaged next may become dirty with the dirt. In order to prevent dirt, it is necessary to wipe off dirt on the pressing tool or replace the pressing tool every time it is packaged. If it is the same kind of sandwich, it is possible to use it continuously, but the ingredients are attached to the bread portion and the bag, which makes the appearance worse.

  An object of the present invention is to provide an article gripping apparatus and a container filling apparatus that can hold (hold) various articles on a table, work table, tray, etc. without losing their shape. is there.

  The article gripping apparatus according to the present invention is an article gripping apparatus that can grip an article, and includes a main body, a pair of grip bodies provided on the main body, and a driving unit that moves the grip bodies forward and backward. The gripping bodies are arranged opposite to each other at an interval with which an article can be sandwiched, and each gripping body includes a slide plate and a belt, and the slide plates are slidable on the main body so that they can move forward and backward. Provided, the belt is circulated in a ring shape on the working surface side and the non-working surface side of the slide plate, and one or more places in the circumferential direction are fixed to the main body, and when the slide plate inside the belt is moved forward, When the front side of the belt moves from the non-working surface side of the slide plate to the working surface side of the slide plate, when the slide plate moves backward, the belt front side moves from the working surface side of the slide plate to the non-working surface side of the slide plate. When the slide plate of the pair of gripping bodies is moved forward and the outer peripheral belt rotates the outer periphery of the slide plate, the article can be gripped between the belts of both gripping bodies. When the belt is moved backward, the belt on the outer periphery reversely rotates on the outer periphery of the slide plate so that the gripping of the article by the belt can be released.

  The article gripping device may be capable of advancing / retreating a pair of opposing gripping bodies simultaneously or separately.

  The gripping body of the article gripping device has a shape suitable for gripping an article, and preferably has a shape and size that does not protrude outside the article when gripping.

  The tip of the gripping body of the article gripping device can be stepped differently stepwise in the width direction.

  The main body may be provided with a mounting portion for a robot arm.

  The container stuffing device of the present invention is a container stuffing device capable of gripping and stuffing (accommodating) an article into a container, and a carrier for conveying the article and an article gripping part for gripping the article conveyed by the carrier. And a stuffing unit that accommodates an article gripped by the article gripping device of the article gripping part in a container, the transport body is a conveyor, and the article gripping device is any one of the article gripping devices of the present invention. The stuffing unit includes at least a stocker capable of storing a large number of containers, a container take-out unit for taking out a container in the stocker, and a container opening mechanism for opening an inlet of the container taken out by the container take-out unit The article gripping device can enter the container while the gripping part grips the article, and when the slide plate of the article gripping device moves backward in the container, the gripping of the article in the container is released. Article is placed in a container Te, in which the article gripper is to exit from the vessel.

  The said container filling apparatus can make a container taking-out part a suction type, and can take out the container in a stocker one by one by the taking-out part.

  In the container filling device, the container opening mechanism is a suction type, and the container opening mechanism can open the inlet of the container taken out by the container taking-out unit.

  In the article gripping device of the container stuffing device, the main body and the gripper can rotate around their axes, and the orientation of the article gripped by the gripper can be changed.

  Two or more of the article gripping devices may be arranged on one transport conveyor, and the articles transported by the transport conveyor can be gripped by each gripping device and packed into a container.

The article gripping device of the present invention has the following effects.
(1) Since an article can be gripped by rotating around the outer periphery of the slide plate by the belt that circulates around the slide plate, the article can be gripped without being deformed or out of shape.
(2) Even if the article is a food that is exposed to the outside of the bread, such as a sandwich or a hot dock, the gripping body is soiled because only the portion of the bread can be gripped without touching the tool. It is hygienic.
(3) Since a pair of opposing gripping bodies can be moved forward and backward simultaneously or separately, the article can be slid simultaneously or separately according to the shape of the article, the size of the surrounding space of the article, etc. Can be gripped.
(4) If the shape of the gripping body is suitable for gripping an article, and the shape and size do not protrude outside the article during gripping, the moving body does not get in the way, and the gripped article is packed in a container. , Easy to transfer or move.
(5) When the gripping body is separated into two or more in its width direction, the slide plate of the separated gripping body can be individually slid to grip several parts of the article separately, and the article is complicated Even a simple shape can be gripped stably.
(6) When the tip of the gripping body is stepped in the width direction and the width on the tip side is narrowed stepwise, the tip of the gripping body is placed in the container when packing the gripped article into the container. It becomes easy to insert and it becomes easy to pack the container.

The container filling device of the present invention has the following effects.
(1) Since the gripped article can be released by moving the slide plate of the gripping body backward, the article can be placed in the container simply by pulling back the slide plate of the gripping body inserted into the container. Container filling work becomes easy.
(2) Since the apparatus includes a conveyance body that conveys an article, an article gripping apparatus that grips an article that is conveyed by the conveyance body, and a stuffing unit that accommodates the article gripped by the article gripping apparatus in a container, , Gripping, container packing, can be flow work.
(3) Since the article gripping device can rotate around its axis, it can be easily changed to a direction in which the gripped article can be easily packed.
(4) Since the containers in the stocker can be sucked and taken out one by one by the suction-type container take-out section, each container can be reliably packed.
(5) Since the inlet of the container can be opened (expanded) by the suction-type container opening mechanism, the container can be easily packed.
(6) Since the pair of gripping bodies can be moved forward and backward simultaneously or separately, it can be used according to the application.
(7) If the pair of gripping bodies are moved forward / backward separately, it is possible to grip the article with the other gripping body while holding the article with one gripping body, so that the article is easily gripped.

(A)-(e) is operation | movement explanatory drawing of the article | item holding | grip apparatus of this invention. (A) is a perspective view which shows an example of the article | item holding | grip apparatus of this invention, (b) is a top view of (a), (c) is a side view of (a). (A)-(c) is explanatory drawing of the structure and effect | action of a holding body. (A)-(h) is operation | movement explanatory drawing of the container packing apparatus of this invention. (A) is a perspective view which shows an example of the container packing apparatus of this invention, (b) is the top view. Operation | movement explanatory drawing of the said article | item holding apparatus at the time of using the article | item holding apparatus of this invention for the container stuffing apparatus of this invention. The top view which shows the other examples of the container filling apparatus of this invention.

[Embodiment of article gripping apparatus]
The article gripping device 31 of the present invention can be used for gripping various articles, but in the following description, a case where a sandwich is gripped will be described as an example. The container stuffing apparatus of the present invention can also be used to pack (contain) various articles in various containers such as bags, boxes, and packages. In the following description, sandwiches are made into film bags (hereinafter referred to as “film bags”). An example will be described below. Although the article gripping device 31 of the present invention can be used by manually operating it, the following description will be given of a case where the article gripping device 31 is mounted on the robot arm B and automatically used.

(Operation of article gripping device)
The operation of the article gripping apparatus 31 of the present invention will be described prior to the description of the configuration. The article gripping device 31 of the present invention can grip an article as follows.
As shown in FIG. 1, the abutting portion 2 at the tip of the main body 1 is pressed against the back surface of the sandwich S (FIG. 1 (a)) on the work table, machine, etc. (FIG. 1 (b)), and in this state The main body 1 is held in its position without moving forward, and one of the two grip bodies 3a and 3b provided at the tip of the main body 1 (upper in FIG. 1) It is moved forward to reach the upper surface of the sandwich S (FIG. 1 (b)), and in this state, the other gripping body 3b (downward in FIG. 1) is moved forward to the front of the main body 1 to hold the gripping body 3b. The lower surface of the sandwich S is scooped up by the belt 5b, so that the sandwich S can be gripped between the grippers 3a and 3b (FIG. 1C). Further, the orientation of the gripped sandwich S can be changed by rotating the main body 1 around its axis.

(Specific example of article gripping device)
As an example of the article gripping device 31 according to the present invention, the one shown in FIGS. 2A to 2C is one in which gripping bodies 3 a and 3 b are attached to both side surfaces of the distal end portion of the elongated hollow frame-shaped main body 1.

  The gripping bodies 3a and 3b are arranged in a pair so as to face each other at the same or narrower distance as the thickness of the sandwich S, and can move forward so as to protrude toward the front of the main body 1, and move backward (return movement). I can do it. Each of the grip bodies 3a and 3b can be moved forward and backward separately, but may be moved simultaneously.

(Configuration of article gripping device)
2 (a) to 2 (c), the main body 1 has an elongated cubic hollow frame shape. A plate-like abutting portion 2 is attached to the front end of the main body 1, and gripping bodies 3a are provided on both sides of the front end portion of the main body 1. 3b are attached facing each other. The distance between the gripping bodies 3a and 3b is substantially the same as or slightly narrower than the thickness of the sandwich S, so that the sandwich S can be sandwiched between the gripping bodies 3a and 3b.

  As shown in FIGS. 3A to 3C, each gripping body 3a, 3b includes slide plates 4a, 4b and belts 5a, 5b. The slide plates 4a and 4b are moved forward so as to protrude toward the front of the main body 1 by driving means 6a and 6b (for example, air cylinders, motors, etc.) connected to the back of the slide plates 4a and 4b, and return to their original positions. Can be moved backward (returned). The belts 5 a and 5 b are circulated from either one of the front and back surfaces of the slide plates 4 a and 4 b to the opposite surface, and one or more places in the circumferential direction are fixed to the fixing portion 7 of the main body 1.

  As shown in FIGS. 3 (a) to 3 (c), when the belts 5a and 5b move the inner slide plates 4a and 4b forward, the belts 5a and 5b rotate around the outer periphery of the slide plates 4a and 4b. From the outer surface (non-working surface) side of the slide plates 4a and 4b, the belt 5a and the rear side of the belt 5a and 5b are moved from the working surface of the slide plates 4a and 4b to the slide plate 4a, 4b is sent to the non-working surface side. When the slide plates 4a and 4b are moved backward, the belts 5a and 5b are rotated in the reverse direction, and the front side of the belts 5a and 5b is fed from the working surface side of the slide plates 4a and 4b to the non-working surface side. The plates 4a and 4b are wound from the non-working surface side to the working surface side.

  Each of the slide plates 4a and 4b is attached to the moving blocks 8a and 8b (FIG. 2B). The moving blocks 8a and 8b are formed by two upper guide grooves 9a (FIG. 2 (c)) formed in a downward U-shape on the upper plate 9 (FIG. 2 (a)) of the main body 1 and the bottom of the main body 1. The plate 10 is fitted into each of the two lower guide grooves 10a that are open upwardly in a U-shape. Both guide grooves 9 a and 10 a are elongated in the longitudinal direction of the main body 1. The moving blocks 8a and 8b are slidable in the forward and backward directions by driving means 6a and 6b connected to the rear portions thereof.

  The ends of the slide plates 4a and 4b are stepped so that the sandwich S does not protrude outside the sandwich S even when the sandwich S having a triangular side surface is gripped. The gripping bodies 3a and 3b can smoothly enter the inside of the film bag A without being caught by the film bag A when being accommodated. Drop prevention pieces 11 (FIG. 2B) are provided laterally (L-shaped) on the bottom surfaces of the slide plates 4a and 4b. The fall prevention piece 11 supports the sandwich S held between the gripping bodies 3a and 3b from below to prevent the sandwich S from falling. The shape of the slide plates 4a and 4b may be other shapes as long as the sandwich S can be easily gripped and the sandwich S gripped can be easily accommodated in the film bag A. It can be shaped.

  The main body 1 and the slide plates 4a and 4b are preferably made of metal or hard resin, the moving blocks 8a and 8b are preferably made of hard resin, and the belts 5a and 5b are preferably made of resin having low slip resistance. The main body 1 can be moved by the robot arm B by connecting the connecting portion 1a to the robot arm B (FIG. 2B).

(Example of sandwich sandwich by gripper)
The grip bodies 3a and 3b can grip the sandwich S as follows.
(1) The front end portions of the belts 5a and 5b are arranged in front of the sandwich S, and the abutting portion 2 at the front end of the main body 1 is pressed against the back surface of the sandwich S (FIG. 1 (b)).
(2) While the main body 1 is held in that position, if the slide plate 4a of the upper gripping body 3a is moved forward by the driving means 6a and protrudes beyond the front end surface of the main body 1, the belt 5a rotates. The front side of the belt 5a is applied to the upper surface of the sandwich S while turning from the non-operating surface side of the slide plate 4a to the operating surface side (FIG. 1 (b)). The belt 5a at this time has almost no frictional resistance with the upper surface of the sandwich due to the above-mentioned turning.
(3) In the state of (2), when the slide plate 4b of the lower gripping body 3b is moved forward by the driving means 6b and protrudes beyond the front end surface of the main body 1, the belt 5b rotates and the belt 5b The front side of the slide plate 4b moves from the non-working surface side of the slide plate 4b to the working surface side, and the sandwich S is crawled up to the top surface of the front end side of the belt 5b. As a result, the sandwich S is held between the holding bodies 3a and 3b (FIG. 1 (c)).

(Example of releasing a sandwich from a gripping body)
If the slide plates 4a and 4b of the gripping bodies 3a and 3b are simultaneously pulled back by the driving means 6a and 6b in the gripping state and are retracted to the inner side of the longitudinal end of the main body 1, the belts 5a and 5b are reversely rotated. Then, the front side of each belt 5a, 5b is fed from the working surface side of the slide plates 4a, 4b to the non-working surface side, and the sandwich S is fed (lowered) from the tip of the belt 5a, 5b, and the gripping is performed. To be released.

[Embodiment of container filling device]
An example of the container filling device of the present invention will be described with reference to the drawings. The illustrated container stuffing apparatus can pack various articles gripped by the article gripping apparatus 31 into various containers. Here, the case where the sandwich S is packed into the film bag A will be described as an example.

(Outline of bagging)
In order to accommodate the sandwich S in the film bag A by the bagging apparatus of the present invention, the following is performed.
(1) A large number of film bags A are stacked and accommodated in the stocker 20 (FIG. 4A). The film bag A has the same shape as the sandwich S and is larger in size.
(2) The upper plate 27 provided above the stocker 20 is brought close to the stocker 20 side, and the uppermost film bag A in the stocker 20 is adsorbed by the upper suction cup 21 provided on the upper plate 27.
(3) When one film bag A is adsorbed, the upper plate 27 is returned to its original position (FIG. 4C), and the adsorbed film bag A is provided on the side of the stocker 20 from above the stocker 20. It is moved above the lower plate 29 (FIG. 4D).
(4) The lower suction cup 22 provided on the lower plate 29 is placed under the film bag A adsorbed by the upper suction cup 21, and the lower surface of the film bag A is adsorbed by the lower suction cup 22 (FIG. 4E). ).
(5) With the film bag A adsorbed by the upper suction cup 21 and the lower suction cup 22, one or both of the upper plate 27 and the lower plate 29 are moved away from each other to open the film bag A (FIG. 4 (f )).
(6) Insert both the gripping bodies 3a and 3b of the article gripping device 31 from the entrance of the film bag A, and put the sandwich S gripped by the gripping bodies 3a and 3b into the film bag A (FIG. 4 (g)). . This insertion can be performed by the robot arm B, for example.
(7) With the gripping bodies 3a and 3b in the film bag A, for example, the article gripping device 31 is rotated horizontally by the robot arm B, and the sandwich S accommodated in the film bag A is used for sandwich conveyance. In this state, both the gripping bodies 3a and 3b of the article gripping device 31 are returned backward to release the sandwich S into the film bag A and the film. Pull out from the bag A (FIG. 4H). The gripping bodies 3a and 3b may be pulled back from the film bag A by returning them back to the place where the sandwich S is put in the bag without being moved onto the conveyor 23.
(8) The above operations (1) to (7) are repeated to pack the sandwiches S one by one.

(Container)
As an example, the container filling device shown in FIGS. 5A and 5B includes a transport conveyor 23 that transports the sandwich S, an article gripping section 24 that grips the sandwich S transported by the transport conveyor 23, and a gripped sandwich S. The bag packing part 25 accommodated in the film bag A is provided.

  The conveyor 23 is endlessly rotated and can transport the sandwich S placed on the upper surface (mounting surface) thereof. Two or more sandwiches S can be placed on the mounting surface at intervals. The conveyor 23 shown in FIG. 5A is a belt conveyor, but may be a conveyor other than the belt conveyor, for example, a roller conveyor or other conveyors, as long as the sandwich S can be loaded and conveyed.

  The article gripping unit 24 includes an article gripping device capable of gripping the sandwich S transported by the transport conveyor 23. The above-described article gripping device 31 can be used as the article gripping apparatus. The article gripping device 31 is attached to the robot arm B, and can rotate in the rotation direction as the robot arm B rotates.

  The robot arm B operates according to a preset program. Specifically, it is convenient to rotate the article gripping device 31 in the horizontal direction from the conveying conveyor 23 side (gripping position) to change the direction to the bagging unit 25 or to grip the sandwich S with the article gripping device 31. The head is swung vertically. The robot arm B may perform other operations.

  The bag filling unit 25 includes a stocker 20 that can store a large number of film bags A, a take-out means that sucks and takes out the film bags A in the stocker 20 one by one, and a film bag taken out by the take-out means An opening means for opening the inlet of A is provided.

  As shown in FIG. 4 (a), the stocker 20 has a box shape with an upper opening, and an accommodation space for accommodating the film bag A is provided inside the peripheral wall 26 (FIG. 5 (b)). The film bag A can be stacked and stored in the storage space. An elevating cylinder 30 is provided under the stocker 20. When the film bag A is taken out by the container take-out means and the film bag A in the stocker 20 decreases, the film bag A stacked and accommodated in the stocker 20. Is pushed up so that the uppermost film bag A in the stocker 20 has a certain height. This rise can be done only for one film bag A, and can be pushed up every time one sheet is taken out, or it can be pushed up every time several sheets are taken out.

  In the film bag A of this embodiment, two substantially trapezoidal films were overlapped, and the three sides (upper side of the trapezoid and both oblique sides) were welded, and the remaining one side (lower side of the trapezoid) was opened. Is. The opening portion that is not welded serves as an inlet when the sandwich S is accommodated. The film bag A may have other shapes and structures.

  The container take-out means includes an upper plate 27 disposed above the film bag A, a plurality of upper suction cups 21 provided on the upper plate 27, and a lateral movement for sliding the upper plate 27 in the lateral direction. An actuator (not shown), a horizontal guide 28 (FIG. 5B) for guiding the horizontal movement of the upper plate 27, and a vertical movement actuator (not shown) for rotating the upper plate 27 in the vertical direction are provided. ing.

  The upper plate 27 is rotated from an obliquely upward state to a state parallel to the film bag A in the stocker 20 by operating the vertical movement actuator. The upper plate 27 may be moved up and down while being parallel to the film bag A. The upper plate 27 slides laterally along the lateral guide 28 in accordance with the operation of the lateral movement actuator. Existing actuators can be used as the lateral movement actuator and the vertical movement actuator.

  The upper suction cup 21 sucks the film bags one by one by turning on the suction disk driving means (not shown), and can release the sucked film bag A by turning it off.

  The container opening means opens the entrance of the film bag A taken out by the container take-out means, and is attached to the lower plate 29 and a lower plate 29 provided on the front side in the lateral movement direction of the upper plate 27. A plurality of lower suction cups 22 and a vertical movement actuator (not shown) for vertically moving the lower plate 29 are provided. As the lower suction cup 22 and the vertical movement actuator, those similar to the upper suction cup 21 and the vertical movement actuator can be used.

  The lower plate 29 is rotated from the horizontal state to the film bag A in the pedestal or the stocker 20 from the horizontal state to the obliquely upward state by operating the vertical movement actuator.

(Operation of container filling device)
The container filling device of the present invention operates as follows, for example.
(1) The article gripping device 31 grips the sandwich S that is laid sideways on the transport conveyor 23 and transported. The gripping is performed as described above.
(2) With the sandwich S gripped, the article gripping device 31 is rotated 90 degrees in the direction of the arrow r in FIG. 6 so that the sandwich S being gripped is oriented vertically.
(3) With the sandwich S in the vertical orientation, the article gripping device 31 is rotated 90 degrees horizontally (in the direction of arrow R in FIG. 6), and the sandwich S waits at a position where the lower plate 29 of the bagging portion 25 is located. Let The rotation in the r direction in (2) can also be performed during the rotation in the R direction.
(4) As shown in FIG. 4B, the upper plate 27 disposed above the stocker 20 of the bagging portion 25 is moved downward, and the stocker is moved by the upper suction cup 21 projecting downward on the upper plate 27. The upper surface of the uppermost film bag A accommodated in 20 is adsorbed.
(5) The upper plate 27 is returned to the original position with the single film bag A adsorbed (FIG. 4C), and the upper plate 27 is moved laterally toward the container opening means, Waiting above the plate 29 (FIG. 4D).
(6) The film adsorbed to the upper plate 27 by the lower suction cup 22 projecting upward on the lower plate 29 by moving the lower plate 29 upward with the upper plate 27 kept waiting above the lower plate 29 The lower surface of the bag A is adsorbed (FIG. 4E).
(7) With the upper suction cup 21 adsorbing the upper surface of the film bag A and the lower suction cup 22 adsorbing the lower surface of the film bag, the lower plate 29 is moved downward to open the food inlet of the film bag A ( FIG. 4 (f)).
(8) The article gripping device 31 that has been put on standby at the position where the lower plate 29 of the bag filling portion 25 is held in the state where the sandwich S is held is inserted (inserted) into the film bag A having an opening at the entrance. Specifically, the moving bodies 3a and 3b that hold both side surfaces of the sandwich S are inserted into the film bag A (FIG. 4G).
(9) With the sandwich S and the moving bodies 3a and 3b inserted in the film bag A, the article gripping device 31 is horizontally rotated about 45 to 90 degrees in the direction of the conveyor 23, and the sandwich S accommodated in the film bag A Is made to stand by above the conveyor 23 (not shown).
(10) With the sandwich S disposed above the conveyor 23, the movable bodies 3a and 3b of the article gripping device 31 are returned to the inside of the abutting portion 2 of the main body 1 and are gripped by the movable bodies 3a and 3b. The sandwich S thus formed is released in the film bag A (FIG. 4 (h)).
(11) The sandwich S is transported to the front side of the transport conveyor 23 in a state of being accommodated in the film bag A, and sealed by manual work or mechanical work.

[Another embodiment of the container filling device]
In the above embodiment, the case where the article gripping portion 24 and the bagging portion 25 are provided only on one side of the transport conveyor 23 has been described as an example. However, as shown in FIG. 7, the article gripping portion 24 and the bagging portion 25 are provided. Can also be provided on both sides of the conveyor 23. By arranging in this way, the rectangular sandwich S is transported while being cut into triangles, and the sandwich S in one row is packed by the article gripping part 24 and the bagging part 25 provided on one side of the conveyor 23. In addition, the sandwich S in the other row can be packed with the article gripping portion 24 and the bagging portion 25 provided on the other side of the transport conveyor 23, and the working efficiency can be improved.

  The article gripping device 31 and the container filling device of the present invention can also be used for gripping and bagging of articles other than the sandwich S, and the shape of the food is not limited to the same as that of the sandwich. Can be used for bagging. Further, it can be used for gripping and bagging articles other than food.

DESCRIPTION OF SYMBOLS 1 Main body 1a Connection part 2 Contact part 3a, 3b Grip body 4a, 4b Slide plate 5a, 5b Belt 6a, 6b Driving means 7 Fixing part 8a, 8b Moving block 9 Upper plate 9a Upper guide groove 10 Lower plate 10a Lower guide groove 11 Fall prevention piece 20 Stocker 21 Upper suction cup 22 Lower suction cup 23 Conveyor 24 Article gripping part 25 Bag filling part 26 Peripheral wall 27 Upper plate 28 Horizontal guide 29 Lower plate 30 Lifting cylinder 31 Article gripping device A Film bag B Robot arm S Sandwich

Claims (10)

In a gripping device capable of gripping articles contained in various shaped containers such as bags, boxes, trays,
A main body, a pair of grip bodies provided on the main body, and drive means for driving the grip body;
The pair of gripping bodies are arranged to face each other with an interval in which an article can be accommodated between the gripping bodies,
The pair of gripping bodies have a sheet-like belt circulated around an outer periphery of a slide plate that can be moved forward and backward so as to protrude toward the front of the main body, and the belt is fixed to the main body.
When both the slide plates are moved forward by the driving means until they protrude toward the front of the main body, the article is gripped between the pair of protruding gripping bodies,
When both the slide plates are moved backward, the gripping of the article gripped between the pair of gripping bodies is released.
An article gripping device characterized by the above. The article gripping device according to claim 1, wherein
A pair of grippers can be moved forward and backward simultaneously or separately,
An article gripping device characterized by the above. The article gripping device according to claim 1 or 2,
The tip side of the gripping body has a shape that does not protrude outside the gripped article.
An article gripping device characterized by the above. The article gripping device according to claim 3.
The tip side of the gripping body is a stepped step,
An article gripping device characterized by the above. The article gripping device according to any one of claims 1 to 4,
The main body was equipped with a mounting part to the robot arm,
An article gripping device characterized by the above. In a container stuffing apparatus for storing articles in a container,
A transport body that transports the article, a gripping section that grips the article transported by the transport body from the top or bottom or from both sides, and a stuffing section that houses the article gripped by the gripping section in a container,
The gripping unit includes an article gripping device capable of gripping an article transported by the transport conveyor, and the article gripping device is the article gripping device according to any one of claims 1 to 5.
The stuffing unit includes a stocker that can stack and accommodate containers, a container take-out part that takes out the container in the stocker, and a container opening that opens an inlet of the container taken out by the container take-out part,
The gripper can change the orientation of the article gripped by the gripper to the orientation of insertion into the inlet of the container, and the article gripped by the gripper can be inserted into the container from the container entrance while being gripped. Yes, the gripping of the article can be released in the container and the article can be placed in the container, and then the gripping part can be retracted and removed from the container.
A container filling device characterized by that. The container filling device according to claim 6,
Two or more article gripping devices are arranged on one conveyor,
The articles conveyed by the conveyor can be gripped by each article gripping device and packed into containers.
A container filling device characterized by that. The container filling device according to claim 6 or 7,
The container take-out unit is equipped with suction means, and by operation of the suction means, the containers in the stocker can be sucked and taken out one by one.
A container filling device characterized by that. In the container stuffing device according to any one of claims 6 to 8,
The container opening is provided with suction means, and by operation of the suction means, the container taken out by the container take-out portion can be sucked to open the inlet.
A container filling device characterized by that. The container filling device according to any one of claims 6 to 9,
The article gripping device is capable of changing the orientation of the article gripped by the gripping part by rotating the main body and the gripping body around their axes.
A container filling device characterized by that.

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