JP2016147688A - Gripper device and bag filling packer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simple gripper device capable of stably receiving a supplied bag.SOLUTION: A gripper device 40 comprises: a first gripper 41 and a second gripper 42 arranged in one direction; and a center gripper 50 disposed between the first and second grippers in one direction. The center gripper comprises a first holding member and a second holding member which can move relative to the first holding member along an axial line which is not parallel to one direction, and which can rotate to the first holding member with the axial line as a rotation center. By rotation of the second holding member around the axial line, a width along one direction of the second holding member is narrower on a release position than that on a holding position.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a gripper device used for a bagging and packaging machine to hold a bag filled with contents, and a bagging and packaging machine having the gripper device.

  For example, as disclosed in Patent Document 1, a bag packaging machine having a gripper device that moves along an annular path is known. In this bagging and packaging machine, steps such as bag supply to the gripper device, opening of the bag, filling of the contents into the bag, and bag sealing are performed at each position along the annular path. In Patent Document 1, a plurality of gripper devices are provided on the periphery of the rotary table, and different processes proceed in parallel at different positions. In addition, each gripper device has two pairs of grippers, and each step is performed simultaneously on two bags.

  In the bag filling and packaging machine disclosed in Patent Document 2, each gripper device has three grippers arranged along an annular path. The middle gripper holds the right bag with the right gripper and holds the left bag with the left gripper. The central gripper has a main arm 22 and a tip part 21 provided at the tip of the main arm. The tip part is movable relative to the main arm in a direction perpendicular to the annular path. Between the main arm 22 and the tip part 21, the left edge of the right bag and the right edge of the left bag are sandwiched simultaneously.

  According to the bagging and packaging machine of Patent Document 2, the space required for the arrangement of the gripper device can be reduced, and as a result, the bagging and packaging machine can be reduced in size. Alternatively, more gripper devices can be placed in the same space, thereby improving the processing capacity of the bagging and packaging machine and increasing the number of steps.

  In particular, in the bag filling and packaging machine disclosed in Patent Document 1 and Patent Document 2, gripper devices are arranged on the periphery of the rotary table. In such a bag filling and packaging machine, it is possible to reduce the diameter of the rotary table by reducing the arrangement space of the gripper device. The moving speed of the gripper device is proportional to the diameter when the angular speed of the rotary table is the same. Therefore, if the diameter of the rotary table can be reduced, the centrifugal force acting on the bag held by the gripper device can be reduced. This effectively suppresses the shaking of the bag that is held and conveyed by the gripper device, and can be packed efficiently and stably.

JP 2000-272607 A Korean Publication 10-2004-27735

  By the way, a bag is normally supplied from the front of a gripper apparatus with respect to the gripper apparatus which clamps the both-sides edge part of a bag. In the example disclosed in Patent Document 1, each gripper includes a fixed clamping member and a movable clamping member that can swing with respect to the fixed clamping member. The movable clamping member can be exposed in the front direction by swinging away from the fixed clamping member. Therefore, in the bag filling and packaging machine disclosed in Patent Document 1, it is possible to transport the bag to a position facing the fixed holding member of the gripper without contacting the movable holding member. After the bag is supplied, the movable holding member swings and approaches the fixed holding member, whereby the supplied bag can be held between the movable holding member and the fixed holding member.

  On the other hand, in the bag filling and packaging machine disclosed in Patent Document 2, the bag is supplied in a state where the tip part 21 is separated from the main arm 22. At this time, the tip component 21 that holds the bag with the tip surface of the main arm 22 is positioned so as to overlap the tip surface of the main arm 22 from the front. That is, the tip part 21 is located in the supply path of the bag supplied to the position facing the tip surface of the main arm 22 that functions as a fixed clamping member. Therefore, the bag supplied to the gripper device is conveyed to a position facing the front end surface of the main arm 22 by rubbing the edge of the bag against the front end component 21. In Patent Document 2, the tip part 21 is formed in a tapered shape.

  However, even if the tapered tip part 21 is used, the friction between the bag and the tip part 21 can only be slightly reduced, and the bag may be damaged or the gripper device may not hold the bag in the correct posture. Arise. When the gripper device cannot hold the bag in the correct posture, the bag is wrinkled, the bag cannot be filled with a predetermined amount of contents, or the bag filled with contents cannot be sufficiently sealed, etc. A malfunction occurs. In particular, it is not preferable to perform a subsequent process on a damaged bag or a bag held in an inappropriate posture, and in this respect, a defect in the bag supply process becomes a serious problem in a bag-packing and packaging machine.

  The present invention has been made in consideration of the above points, and an object of the present invention is to provide a gripper device having a simple configuration capable of stably receiving a supplied bag.

The gripper device according to the present invention comprises:
A gripper device for holding a bag filled with contents in a bagging and packaging machine,
A first gripper and a second gripper arranged in one direction;
A central gripper disposed between the first gripper and the second gripper in the one direction and holding the first bag together with the first gripper and holding the second bag together with the second gripper. ,
The central gripper is relatively movable with respect to the first clamping member and the first clamping member along an axis that is not parallel to the one direction, and is rotatable with respect to the first clamping member about the axis. A second clamping member,
The second clamping member is located between the release position separated from the first clamping member along the axis and between the first clamping member and the first clamping member approaching the first clamping member along the axis. A holding position for holding the bag and the second bag is movable between,
Due to the rotation of the second clamping member about the axis, the width of the second clamping member along the one direction is narrower at the release position than at the clamping position.

  In the gripper device according to the present invention, the second clamping member moves along the axis for at least a part of a period when the second clamping member moves relative to the first clamping member between the clamping position and the release position. You may make it rotate centering | focusing on the said axis line while moving relatively with respect to a 1st clamping member.

  In the gripper device according to the present invention, the second clamping member reaches the clamping position by moving relative to the first clamping member when starting the relative movement with respect to the first clamping member from the clamping position. In doing so, the rotation about the axis may be stopped and the axis may be moved relative to the first clamping member along the axis.

In the gripper device according to the present invention,
The central gripper further includes a central gripper arm that holds the first clamping member at the tip, and a shaft member that holds the second clamping member at the tip,
The shaft member is held by the central gripper arm so as to be movable relative to the central gripper arm along the axis and rotatable relative to the central gripper arm around the axis.
One of the central gripper arm and the shaft member is formed with a guide groove extending at an incline with respect to the axis at least in part.
An engagement shaft portion at least a part of which is located in the guide groove may be provided on the other of the central gripper arm and the shaft member.

  In the gripper device according to the present invention, the shaft member extends through the first gripping member and extends into the central gripper arm, and the guide groove is formed in the shaft member through the shaft member. The shaft portion may penetrate the shaft member and be connected to the central gripper arm at both ends thereof.

  In the gripper device according to the present invention, the guide groove may extend in parallel with the axis at one end portion along the longitudinal direction thereof.

  In the gripper device according to the present invention, the second holding member may have a rectangular shape when observed from a direction parallel to the axis.

  In the gripper device according to the present invention, the second clamping member may be rotated by 90 ° with respect to the first clamping member between the release position and the clamping position.

Another gripper device according to the invention is:
A gripper device for holding a bag filled with contents in a bagging and packaging machine,
A first gripper and a second gripper arranged in one direction;
At least one of the first gripper and the second gripper is movable relative to the first clamping member along an axis that is not parallel to the first clamping member and the one direction, and the axis is A second clamping member that is rotatable relative to the first clamping member as a center;
The second clamping member clamps the bag between the release position spaced from the first clamping member along the axis and the first clamping member approaching the first clamping member along the axis. And can be moved between
Due to the rotation of the second clamping member about the axis, the width of the second clamping member along the one direction is narrower at the release position than at the clamping position.

A bagging and packaging machine according to the present invention comprises:
Any of the gripper devices according to the invention described above;
A holding member for holding the gripper device.

  In the bag filling and packaging machine according to the present invention, the holding member may drive the gripper device so that the gripper device repeatedly moves and stops along an annular path.

  According to the present invention, the supplied bag can be stably received by the gripper device.

FIG. 1 is a perspective view schematically illustrating an entire configuration of a bag-packing and packaging machine for explaining an embodiment of the present invention. FIG. 2 is a perspective view showing a gripper device of the bagging and packaging machine of FIG. FIG. 3 is a perspective view showing a central gripper of the gripper device of FIG. FIG. 4 is a perspective view corresponding to FIG. 3 and showing the central gripper in a state different from that in FIG. 3. FIG. 5 is a cross-sectional view taken along line VV in FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. FIG. 7 is a perspective view showing the central gripper of FIG. 3 with the central gripper arm removed. FIG. 8 is a perspective view showing the central gripper of FIG. 4 with the central gripper arm removed. FIG. 9 is a view for explaining the relationship between the relative positions of the first clamping member and the second clamping member of the gripper in FIG. 2. FIG. 10 is a plan view showing a modification of the clamping member. FIG. 11 is a perspective view showing a modification of the gripper device. FIG. 12 is a perspective view showing another modification of the gripper device.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 12 are diagrams for explaining an embodiment of the present invention and a modification thereof. Among these, FIG. 1 is a figure which shows typically the whole structure of a bagging and packaging machine, FIG. 2 is a perspective view which shows a gripper apparatus, and FIGS. 3-9 shows the center gripper of a gripper apparatus. FIG.

  As shown in FIG. 1, the bag filling and packaging machine 10 is an apparatus for producing a bag-filled product P filled with the contents by filling the bag C with the contents and sealing the bag C. . In this bagging and packaging machine 10, not only filling of the contents and sealing of the bags C but also supply of the bags C filled with the contents and discharge of the bagging products P filled with the contents are performed automatically. It has become. The bag filling and packaging machine 10 shown in FIG. 1 has a holding member 30 formed as a rotary table and a gripper device 40 held by the holding member 30. The gripper device 40 is a device that holds the bag C. In the illustrated example, the gripper device 40 can hold two bags C (the first bag C1 and the second bag C2).

  The gripper device 40 is held at the peripheral edge of the disc-shaped holding member 30. When the holding member 30 rotates about its central axis Ar, the gripper device 40 moves along the circumferential movement path mr. A plurality of processing stations are provided along the movement path mr of the gripper device 40. In the illustrated example, a total of ten stations, the first to tenth stations S1 to S10, are provided. The bag supply device 11 is installed in the first station S1 of the bag filling and packaging machine 10, and two bags C are supplied from the bag supply device 11 to the gripper device 40. In the second station S2, a printing device 12 is provided, and character information, marks, and the like are printed on the bag C held by the gripper device 40. In the third station S3, a bag opening device 13 is provided, and the opening Co of the bag C is widened. In the fourth station S4, a solid filling device 14 is provided, and the solid contents are filled into the bag C through the widened opening Co. In the fifth station S5, a liquid filling device 15 is provided, and the liquid contents are filled in the bag C. The sixth station S6 is an empty station. In the seventh station S7, the first sealing device 17 is provided, and the opening Co of the bag C is heat-welded. In the eighth station S8, the second sealing device 18 is provided, and the opening Co of the bag C is sufficiently heat-welded. The cooling device 19 is provided with a cooling device 19 for cooling the opening Co of the bag C heated in the seventh and eighth stations S7 and S8. In the tenth station S10, the bag-packed product P whose contents are sealed is discharged from the gripper device 40 and collected by the bag-packing and packaging discharge device 20.

  In the bag filling and packaging machine 10 shown in FIG. 1, ten gripper devices 40 are provided on the peripheral edge of the disc-shaped holding member 30. For the bags C held in each of the ten gripper devices 40, processing at ten different stations S1 to S10 is performed in parallel. In the bag filling and packaging machine 10, the holding member 30 formed as a rotary table is intermittently driven. That is, the holding member 30 repeats rotation and stop. Along with this, the gripper device 40 and the bag C held by the gripper device 40 move intermittently along the movement path mr. The gripper device 40 and the bag C held by the gripper device 40 are repeatedly moved and stopped, and the processes in the stations S1 to S10 are performed while the gripper device 40 is stopped.

  A bag to be processed by the bagging and packaging machine 10 is a bag C having a pair of main surfaces. Typically, it is a bag formed of a flexible material such as a resin film, and can be folded so that a pair of main surfaces overlap each other. In the illustrated example, a bag C formed by heat-sealing three sides of a pair of resin films is supplied to the bag filling and packaging machine 10. A gusset is formed between the lower sides of the pair of resin films. In the bag filling and packaging machine 10, the bag C is filled with contents through the opening Co on the upper side of the bag C. Thereafter, the opening Co is sealed, and a bag-packed product P in which the contents are sealed is obtained. Therefore, as shown in FIG. 1, the gripper device 40 holds the bag C so that the opening Co faces upward.

  Next, the gripper device 40 will be described. As shown in FIG. 2, the gripper device 40 includes a first gripper 41, a central gripper 50, and a second gripper 42 in this order along the arrangement direction (one direction) dr. That is, the center gripper 50 is located between the first gripper 41 and the second gripper 42 along the arrangement direction dr. Here, the arrangement direction dr is parallel or substantially parallel to the movement path mr of the gripper device 40. The gripper device 40 holds the first bag C1 with the first gripper 41 and the center gripper 50, and holds the second bag C2 with the center gripper 50 and the second gripper 42. The first gripper 41 located on one side in the arrangement direction dr grips one side edge of the first bag C1 located on one side. The second gripper 42 located on the other side in the arrangement direction dr grips the other side edge of the second bag C2 located on the other side. The central gripper 50 holds the other side edge of the first bag C1 and the one side edge of the second bag C2.

  As shown in FIG. 1, the gripper device 40 holds the bag C so that the opening Co faces upward. Moreover, the bag supply apparatus 11 installed in 1st station S1 supplies the bag C to the gripper apparatus 40 from the direction which faces the gripper apparatus 40 so that opening Co may face upwards. In the gripper device 40 described in the present embodiment, as will be described in detail later, there is a device that enables the bag C supplied from the directly facing direction df to be stably held in a correct state without being damaged. The center gripper 50 is provided. The facing direction df is a direction facing the gripper that holds the bag C. For example, the bag C may be supplied to the gripper device 40 from a direction perpendicular to or substantially perpendicular to the arrangement direction dr, or from a direction parallel or substantially parallel to an axis Am of the center gripper 50 described later.

  In the example shown in FIG. 2, the 1st holding arm 31, the center holding arm 33, and the 2nd holding arm 32 are provided in this order in the periphery of the holding member 30 which makes | forms a rotary table. The first gripper 41 is fixed to the first holding arm 31. The center gripper 50 is fixed to the center holding arm 33. The second gripper 42 is fixed to the second holding arm 32. The second holding arm 32 is fixed to the holding member 30. The first holding arm 31 and the central holding arm 33 are attached to the holding member 30 so as to be swingable. The first holding arm 31 and the second holding arm 32 are connected to each other. The center holding arm 33 is positioned substantially at the center of the first gripper 41 and the second gripper 42 along the arrangement direction dr without depending on the swing position of the first holding arm 31.

  In the bagging and packaging machine 10 shown in FIG. 1, the first holding arm 31 swings with respect to the holding member 30 in the second to sixth stations S3 to S6, and the second holding arm 30 swings. The holding arm 32 is approached. In this state, the pair of side edges of the first bag C1 clamped by the first holding arm 31 and the center gripper 50 approach each other, and the opening Co of the first bag C1 can be widened. Similarly, the pair of side edges of the second bag C2 held by the central gripper 50 and the second holding arm 32 can approach each other, and the opening Co of the second bag C2 can be widened.

  On the other hand, the first holding arm 31 is separated from the second holding arm 32 in the gripper device 40 located at the first, second, seventh to tenth stations S1, S2, S7 to S10 shown in FIG. ing. In this state, the pair of side edges of the first bag C1 sandwiched by the first holding arm 31 and the central gripper 50 are separated from each other, and the opening Co of the first bag C1 can be closed. Similarly, the pair of side edges of the second bag C2 sandwiched by the central gripper 50 and the second holding arm 32 can be separated from each other, and the opening Co of the second bag C2 can be closed.

  In the example shown in FIG. 2, a holding arm biasing member 38 is provided between the first holding arm 31 and the second holding arm 32. The holding arm urging member 38 is made of, for example, a compression spring and urges the first holding arm 31 and the second holding arm 32 to approach each other. Further, the bag filling and packaging machine 10 has a holding arm driving device (not shown), and this holding arm driving device resists the urging force of the holding arm urging member 38, so that the first, second, seventh to seventh. The first holding arm 31 and the second holding arm 32 of the gripper device 40 located at the tenth stations S1, S2, S7 to S10 are swung.

  Next, the first gripper 41 and the second gripper 42 will be described. The first and second grippers 41 and 42 are configured symmetrically and have the same components. The first and second grippers 41, 42 are gripper arms 43 fixed to the corresponding holding arms 31, 32, and fixed side clamping fixed to the tip of the gripper arm 43 (end on the side away from the holding member 30). A movable side clamping member 45 that clamps the bag C between the member 44 and the fixed side clamping member 44 is provided.

  As shown in FIG. 2, in the first gripper 41 arranged on one side in the arrangement direction dr, the movable side holding member 45 is connected to the fixed side holding member 44 in a region which is an end portion on one side in the arrangement direction dr. Has been. On the other hand, in the second gripper 42 disposed on the other side in the arrangement direction dr, the movable-side clamping member 45 is connected to the fixed-side clamping member 44 in a region serving as an end on the other side in the arrangement direction dr. The swing axis As of the movable side holding member 45 with respect to the fixed side holding member 44 is parallel to the central axis Ar of the holding member 30 and orthogonal to the arrangement direction dr. The fixed gripping member 44 of the first gripper 41 has a covering material 44 a at a position on the other side in the arrangement direction dr with respect to the swing axis As with the movable gripping member 45. The fixed gripping member 44 of the second gripper 42 has a covering material 44a at a position on one side in the arrangement direction dr with respect to the swing axis As with the movable gripping member 45. The movable side holding member 45 of the first and second grippers 41 and 42 has a covering material 45 a at a position facing the covering material 44 a of the fixed side holding member 44.

  The movable holding member 45 is separated from the fixed holding member 44 in the facing direction df by swinging. At this time, the movable clamping member 45 is displaced outward in the arrangement direction dr. Therefore, when the movable side clamping member 45 is swung, the covering material 44 a of the fixed side clamping member 44 is exposed in the facing direction df between the pair of movable side clamping members 45. In the state shown in FIG. 2, the bag C supplied from the bag feeding device 11 can be disposed at a position in contact with the fixed-side holding member 44 without interfering with the movable-side holding member 45. When the movable holding member 45 swings and approaches the fixed holding member 44 from the state shown in FIG. 2, the bag C can be held between the covering material 44a and the covering material 45a. . The covering material 44a and the covering material 45a have a suitable friction resistance with respect to the bag C and can be deformed following the shape of the bag C, for example, rubber, so that the bag C can be stably held. Formed from.

  In the example shown in FIG. 2, the first and second grippers 41, 42 are connected to the connecting link member 46 pivotally attached to the movable side holding member 45, connected to the connecting link member 46, and held by the gripper arm 43. And a working member 47. The connecting link member 46 is pivotally attached to the movable side holding member 45 and the action member 47. The connecting link member 46 penetrates through the fixed-side clamping member 44 and enters the hollow interior of the gripper arm 43. The action member 47 is connected to the connecting link member 46 inside the hollow of the gripper arm 43. The action member 47 is movable relative to the gripper arm 43 along the longitudinal direction of the gripper arm 43. The action member 47 is exposed downward from the gripper arm 43, and a roller portion 47a is rotatably provided on the exposed portion.

  A biasing member (not shown) is built in the gripper arm 43. The urging member (not shown) urges the action member 47 from the distal end (the end on the side away from the holding member 30) side of the gripper arm 43 to the proximal end (the end on the side close to the holding member 30) side. doing. In addition, as shown in FIG. 2, the bag filling and packaging machine 10 further includes a clamping operation device 35 provided below the holding member 30. The clamping operation device 35 can contact and press the roller portion 47 a to drive the action member 47 from the proximal end side to the distal end side of the gripper arm 43. When the operation member 36 of the clamping operation device 35 resists the urging force of the urging member (not shown) and presses the action member 47, the movable side clamping member 45 is separated from the fixed side clamping member 44 via the connecting link member 46. It can be operated to the state of FIG. On the other hand, when the operation member 36 of the clamping operation device 35 is retracted toward the central axis Ar, the action member 47 is moved together with the connecting link member 46 toward the proximal end side of the gripper arm 43 by a biasing force of a biasing member (not shown). Moving. With this operation, the movable holding member 45 swings and approaches the fixed holding member 44, and the bag C can be held between the fixed holding member 44 and the movable holding member 45. Become.

  Next, the center gripper 50 will be described. As shown in FIG. 2, the center gripper 50 is held by the center gripper arm 51 fixed to the center holding arm 33, the shaft member 53 held by the center gripper arm 51 so as to be relatively movable, and the center gripper arm 51. The first clamping member 61 and the second clamping member 65 held by the shaft member 53 are provided. As well shown in FIGS. 5 and 6, the central gripper arm 51 is formed in a hollow elongated cylindrical shape. As shown in FIG. 2, the central gripper arm 51 defines the longitudinal direction of the central gripper 50. The shaft member 53 is movable relative to the central gripper arm 51 along an axis Am that is parallel to the longitudinal direction of the central gripper arm 51. In the illustrated example, the axis Am is orthogonal to or approximately orthogonal to the arrangement direction dr of the grippers 41, 42, and 50, and is orthogonal to or approximately orthogonal to the central axis Ar of the holding member 30.

  As shown in FIGS. 5 and 6, the first clamping member 61 is fixed to the tip of the central gripper arm 51 (the end that is separated from the holding member 30). The shaft member 53 is disposed in the internal space 52 of the central gripper arm 51 formed in a cylindrical shape. The second clamping member 65 is fixed to the tip of the shaft member 53. As the shaft member 53 moves relative to the central gripper arm 51, the first portion 62 moves relative to the second portion 63.

  The shaft member 53 is movable relative to the center gripper arm 51 along the axis Am in the internal space 52 of the center gripper arm 51. The shaft member 53 extends through the first clamping member 61 fixed to the tip of the first clamping member 61. Further, the central gripper arm 51 has a reduced diameter portion 51 a that protrudes toward the internal space 52. The shaft member 53 passes through the reduced diameter portion 51a toward the proximal end of the central gripper arm 51 (the end adjacent to the holding member 30). The shaft member 53 has an enlarged diameter portion 53a at a position between the reduced diameter portion 51a and the first clamping member 61. The enlarged diameter portion 53a is thicker than other portions of the shaft member 53 adjacent to the enlarged diameter portion 53a. The shaft member 53 is prevented from coming off from the central gripper arm 51 due to interference between the enlarged diameter portion 53a, the reduced diameter portion 51a, and the first clamping member 61.

  The shaft member 53 is rotatable with respect to the central gripper arm 51 about the axis Am. In the illustrated example, the internal space 52 of the central gripper arm 51 has a circular shape in a cross section orthogonal to the axis Am, and the shaft member 53 also has a circular shape in a cross section orthogonal to the axis Am. With this configuration, the shaft member 53 can rotate with respect to the central gripper arm 51 about the axis Am.

  In the present embodiment, the shaft member 53 rotates relative to the central gripper arm 51 about the axis Am in conjunction with the movement of the shaft member 53 relative to the central gripper arm 51 along the axis Am. For example, a guide groove is formed in one of the central gripper arm 51 and the shaft member 53, and an engaging shaft portion extending into the guide groove is provided in the other of the central gripper arm 51 and the shaft member 53. And a guide groove inclines with respect to the axis line Am in at least one part of the longitudinal direction. Due to the engagement between the guide groove and the engagement shaft portion, the shaft member 53 is centered on the axis Am with respect to the central gripper arm 51 in conjunction with the movement of the shaft member 53 along the axis Am relative to the central gripper arm 51. Can rotate.

  In the illustrated example, as shown in FIGS. 5 and 6, a guide groove 68 is formed in the shaft member 53, and an engagement shaft portion 69 is provided in the central gripper arm 51. As shown in FIG. 9, the guide groove 68 passes through the shaft member 53. The guide groove 68 is formed in the enlarged diameter portion 53 a of the shaft member 53. On the other hand, as shown in FIGS. 5 and 6, the engagement shaft portion 69 passes through the guide groove 68 and penetrates the shaft member 53. The engaging shaft portion 69 is fixed to the central gripper arm 51 at both ends thereof. According to such a configuration, the engagement between the guide groove 68 and the engagement shaft portion 69 can be secured more stably. As a result, it is possible to stably ensure the linkage between the movement of the shaft member 53 along the axis Am and the rotation of the shaft member 53 around the axis Am.

  Further, as well shown in FIG. 9B, the guide groove 68 extends in parallel to the axis Am at both ends along the longitudinal direction. The guide groove 68 is positioned on the first linear portion 68a located on the distal end (end spaced from the holding member 30) side of the shaft member 53 and on the proximal end (end adjacent to the holding member 30) side of the shaft member 53. And a twisted portion 68c positioned between the first straight portion 68a and the second straight portion 68b. The guide groove 68 extends in parallel with the axis Am at the first straight portion 68a and the second straight portion 68b. When the engaging shaft portion 69 is engaged with the first straight portion 68a or the second straight portion 68b of the guide groove 68, the shaft member 53 moves along the axis Am without rotating about the axis Am. To do. On the other hand, the guide groove 68 extends spirally at the twisted portion 68c, and is thus inclined with respect to the axis Am. When the engagement shaft portion 69 is engaged with the twisted portion 68c of the guide groove 68, the shaft member 53 moves along the axis Am while rotating about the axis Am.

  The engagement of the guide groove 68 and the engagement shaft portion 69 defines a movable range of the shaft member 53 with respect to the central gripper arm 51, that is, a movable range of the second clamping member 65 with respect to the first clamping member 61. The second clamping member 65 is shown in FIGS. 4, 6, and 9A with respect to the first clamping member 61 and in the clamping position shown in FIGS. 3, 5, and 9C. It moves with respect to the 1st clamping member 61 between release positions. In the clamping position, the second clamping member 65 can approach the first clamping member 61 and clamp the bag C between the first clamping member 61. On the other hand, in the release position, the second holding member 65 is separated from the first holding member 61 and releases the bag C held between the first holding member 61.

  As shown in FIGS. 3 and 4, the second clamping member 65 rotates about the axis Am with respect to the first clamping member 61 between the clamping position and the release position. As shown in FIGS. 5 and 6, the width of the second clamping member 65 along the arrangement direction dr of the grippers 41, 42, and 50 by the rotation of the second clamping member 65 about the axis Am. Changes between the clamping position and the release position. Specifically, the width Wa (see FIG. 5) along the arrangement direction dr of the second clamping members 65 at the clamping position is the width Wb along the arrangement direction dr of the second clamping members 65 at the release position (see FIG. 6). ) Will be wider.

  Therefore, in the release position shown in FIGS. 4 and 6, a part of the first clamping member 61 is exposed in the facing direction df without being covered by the second clamping member 65. More specifically, the first clamping member 61 is arranged more than the first part 62 that is one side in the arrangement direction dr than the part that is penetrated by the shaft member 53 and the part that is penetrated by the shaft member 53. The second portion 63 which is the other side in the direction dr is exposed. Therefore, as shown in FIG. 2, the first bag C <b> 1 supplied from the bag supply device 11 does not interfere with the second holding member 65 and comes into contact with the first portion 62 of the first holding member 61. Can be placed. Further, the second bag C <b> 2 supplied from the bag supply device 11 can be disposed at a position where the second bag C <b> 2 contacts the second portion 63 of the first holding member 61 without interfering with the second holding member 65.

  On the other hand, in the clamping position shown in FIG. 5, the second clamping member 65 covers the first clamping member 61 from the facing direction df in the entire region along the arrangement direction dr of the grippers 41, 42, 50. Therefore, both the first bag C1 disposed on the first portion 62 of the first sandwiching member 61 and the second bag C2 disposed on the second portion 63 are connected to the first sandwiching member 61 and the second sandwiching member 61. It can be clamped between the members 65.

  As shown in FIG. 2, the first clamping member 61 has a first covering material 62 a that forms the surface of the first portion 62, and a second covering material 63 a that forms the surface of the second portion 63. Yes. The second clamping member 65 includes a first portion 66 that faces the first portion 62 of the first clamping member 61 and a second portion 67 that faces the second portion 63 of the first clamping member 61 in the clamping position. Contains. As shown in FIG. 2, the second clamping member 65 has a first covering material 66 a that forms the surface of the first portion 66, and a second covering material 67 a that forms the surface of the second portion 67. The first bag C1 is sandwiched between the first covering member 62a and the first covering member 66a, and the second bag C2 is sandwiched between the second covering member 63a and the second covering member 67a. The covering materials 62a, 63a, 66a, and 67a are materials that have an appropriate frictional resistance against the bag C and can be deformed following the shape of the bag C so that the bag C can be stably held. For example, it is formed from rubber.

  In the illustrated example, the second clamping member 65 has a rectangular shape when observed from a direction parallel to the axis Am. The second clamping member 65 is arranged so that the long side of the rectangle is parallel to the arrangement direction dr of the grippers 41, 42, 50 in the clamping position of FIG. The second clamping member 65 is disposed such that the long side of the rectangle is orthogonal to the arrangement direction dr of the grippers 41, 42, and 50 in the release position of FIG. That is, the second clamping member 65 rotates with respect to the first clamping member 61 by 90 ° about the axis Am between the release position and the clamping position. According to such a configuration, by setting the second clamping member 65 to the release position, the first portion 62 and the second portion 63 of the first clamping member 61 are largely exposed in the facing direction df, and the second By setting the clamping member 65 to the clamping position, it is possible to achieve both the stable holding of the bag C between the first portion 62 and the second portion 63 of the first clamping member 61.

  In the illustrated example, the first clamping member 61 has the same rectangular shape as the second clamping member 65 when observed from a direction parallel to the axis Am. The first clamping member 61 is fixed to the central gripper arm 51 so that the long side of the rectangle is parallel to the arrangement direction dr of the grippers 41, 42, and 50.

  Next, a configuration for operating the second clamping member 65 and the shaft member 53 with respect to the first clamping member 61 and the central gripper arm 51 will be described. As shown in FIGS. 5 and 6 and FIGS. 7 and 8 in which the central gripper arm 51 is omitted, the central gripper 50 is held by the central action member 55 connected to the shaft member 53 and the central action member 55. And a roller portion 55a. As shown in FIGS. 5 and 6, the central action member 55 is connected to the proximal end of the shaft member 53.

  The central action member 55 is held by the central gripper arm 51 so as to be movable relative to the central gripper arm 51 along the axis Am. However, the central action member 55 is restricted from rotating with respect to the central gripper arm 51 about the axis Am. Further, the movement of the central action member 55 relative to the shaft member 53 along the axis Am is restricted. However, the central action member 55 is connected to the shaft member 53 so as to be rotatable with respect to the shaft member 53 about the axis Am. In the example shown in FIGS. 5 and 6, a bearing member 57 is provided between the central action member 55 and the shaft member 53. For example, a ball bearing can be used as the bearing member 57. As shown in FIGS. 3 and 4, the central action member 55 is exposed downward from the central gripper arm 51, and the roller portion 55 a is rotatable in this exposed portion. The rotation axis of the roller portion 55a is orthogonal or substantially orthogonal to the axis Am.

  Further, as shown in FIGS. 5 and 6, the central gripper 50 further includes a biasing member 59 provided in the central gripper arm 51. The urging member 59 urges the second clamping member 65, the shaft member 53, and the central action member 55 along the axis Am. In the illustrated example, the urging member 59 acts on the reduced diameter portion 51 a and the central action member 55 of the central gripper arm 51. The biasing member 59 is made of, for example, a compression spring, and presses the central action member 55 toward the holding member 30 along the axis Am. That is, the second clamping member 65 is urged by the urging member 59 from the release position side toward the clamping position. In the illustrated example, a receiving member 58 is provided between the biasing member 59 and the central action member 55. The receiving member 58 protects the bearing member 57 from the urging member 59, thereby preventing the function of the bearing member 57 from being hindered by the urging member 59.

  Next, the operation of the gripper device 40 will be described.

  The central gripper 50 having the above configuration is operated by the clamping operation device 35 together with the first gripper 41 and the second gripper 42 described above. As shown in FIG. 2, the operation member 36 of the clamping operation device 35 can abut on the central operation member 55 of the central gripper 50 together with the operation members 47 of the first and second grippers 41 and 42. Then, when the operation member 36 is driven to advance toward the side away from the holding member 30, the action member 47 of the first and second grippers 41, 42 is connected to the base end of the gripper arm 43 together with the connecting link member 46. Move from side to tip. The movable side clamping members 45 of the first and second grippers 41, 42 swing and are separated from the fixed side clamping member 44. As a result, the fixed-side clamping member 44 is exposed in the facing direction df.

  In parallel with the movement of the action member 47 of the first and second grippers 41, 42, the center action member 55 of the center gripper 50 also resists the biasing force of the biasing member 59, and is on the proximal end side of the center gripper arm 51. Move toward the tip side. At this time, the shaft member 53 and the second clamping member 65 also move with respect to the central gripper arm 51 along the axis Am together with the central action member 55. Further, in the central gripper arm 51, the guide groove 68 and the engagement shaft portion 69 are engaged. While the engagement shaft portion 69 passes through the twisted portion 68c of the guide groove 68, the second sandwiching member 65 and the shaft member 53 move relative to the first sandwiching member 61 along the axis Am and the axis Am About the first clamping member 61 and the central action member 55. Finally, when the second clamping member 65 reaches the release position, the second clamping member 65 is sufficiently separated from the first clamping member 61 along the axis Am and is 90 ° with respect to the first clamping member 61. It is rotating. As a result, the first portion 62 and the second portion 63 of the first clamping member 61 of the center gripper 50 are exposed in the facing direction df.

  The operating member abuts on the rotatable roller portion 47a of the action member 47 for the first and second grippers 41 and 42, and the rotatable roller portion 55a of the center action member 55 for the center gripper 50. Abut. Therefore, regardless of the position of the holding arms 31, 32, 33, the pressing force from the operation member 36 is smoothly transmitted to the action members 47, 55 of the grippers 41, 42, 50.

  On the other hand, when the operation member 36 of the clamping operation device 35 is retracted so as to approach the holding member 30, in the first and second grippers 41 and 42, the action member 47 is connected to the connecting link member 46 by the urging force of the urging member (not shown). At the same time, the gripper arm 43 moves toward the base end side. In parallel with the movement of the action member 47 of the first and second grippers 41, 42, the center action member 55 of the center gripper 50 is also applied to the proximal end of the center gripper arm 51 by the biasing force from the biasing member 59. Move to the side. With these operations, in the first and second grippers 41, 42, the movable side clamping member 45 swings and comes into contact with the fixed side clamping member 44, and in the central gripper 50, the second clamping member 65 is It rotates and moves to contact the first clamping member 61.

  In the bag filling and packaging machine 10 shown in FIG. 1, the operation member 36 of the clamping operation device 35 pushes the action member 47 and the center action member 55 of the gripper device 40 at the first station S1 of the bag filling and packaging machine 10. . At this time, the fixed-side holding members 44 of the first and second grippers 41 and 42 are exposed in the facing direction df, and the first portion 62 and the second portion 63 of the first holding member 61 of the center gripper 50 are Exposed in the opposite direction df.

  In this state, the first bag C1 is supplied to the first gripper 41 and the central gripper 50 by using the bag feeder 11 installed in the first station S1, and at the same time, the first gripper 50 and the second gripper 42 are supplied with the first bag C1. 2 bags C2 are supplied. The first bag C1 is configured such that the fixed gripping member 44 of the first gripper 41 and the central gripper are exposed without contacting the movable gripping member 45 of the first gripper 41 or the second gripping member 65 of the central gripper 50. It is carried to the position which contacts the exposed 1st part 62 of 50 1st clamping members 61. FIG. At the same time, the second bag C2 is exposed to the exposed second portion of the first clamping member 61 of the central gripper 50 without contacting the second clamping member 65 of the central gripper 50 or the movable side clamping member 45 of the second gripper 42. 63 and the second gripper 41 are carried to a position in contact with the exposed portion of the fixed-side clamping member 44.

  Next, in a state where the bags C1 and C2 are brought in, the operation member 36 of the holding operation device 35 is moved backward toward the holding member 30 side. In the first and second grippers 41, 42, the movable side clamping member 45 swings and approaches the fixed side clamping member 44 by a biasing force from a biasing member (not shown) built in the gripper arm 43. To do. In the first gripper 41, the one side edge of the first bag C <b> 1 is clamped between the fixed-side clamping member 44 and the movable-side clamping member 45. In the second gripper 42, the other side edge portion of the second bag C2 is clamped between the fixed side clamping member 44 and the movable side clamping member 45. On the other hand, in the central gripper 50, the second clamping member 65 is moved along the axis Am and rotated around the axis Am by the biasing force from the biasing member 59 built in the central gripper arm 51, so that the first clamping is performed. The member 61 is approached. As a result of this operation, the other side edge of the first bag C1 is clamped between the first portion 62 of the first clamping member 61 and the first portion 66 of the second clamping member 65, and the first clamping member Between the second portion 63 of 61 and the second portion 67 of the second holding member 65, the one side edge portion of the second bag C2 is held. As described above, the bag supply at the first station S1 is performed.

  In the bag filling and packaging machine 10 shown in FIG. 1, the gripper device 40 is operated by the clamping operation device 35 at the tenth station S10, and the movable side clamping member 45 is moved by the first and second grippers 41 and 42. The second clamping member 65 is separated from the first clamping member 61 at the central gripper 50. As a result, the bag-packed product P is released from the gripper device 40.

  According to the present embodiment as described above, the center gripper 50 moves relative to the first clamping member 61 along the first clamping member 61 and the axis Am that is not parallel to the arrangement direction (one direction) dr. And a second clamping member 65 that is rotatable with respect to the first clamping member 61 about the axis Am. The second clamping member 65 is a first bag between the release position separated from the first clamping member 61 along the axis Am and the first clamping member 61 approaching the first clamping member 61 along the axis Am. It can move relative to the first holding member 61 between the holding position for holding C1 and the second bag C2. Then, due to the rotation of the second clamping member 65 about the axis Am, the width along the one direction of the second clamping member 65 becomes narrower at the release position than at the clamping position. Therefore, both end portions 62 and 63 along the arrangement direction dr of the first clamping member 61 are exposed without overlapping the second clamping member 65 in a direction parallel to the axis Am. Here, when the bag C is supplied to the gripper device 40 from the directly facing direction df, the bag C can reach the first clamping member 61 without contacting the second clamping member 65.

  As a result, the first and second bags C1, C2 are stably held by the central gripper 50 while avoiding damage due to interference between the first and second bags C1, C2 and the central gripper 50. be able to. Further, the gripper device 40 can stably hold the bags C1 and C2 in a correct posture. That is, it is possible to effectively prevent the pinched portions of the bags C1 and C2 from being bent or wrinkles. Thereby, the two bags C1 and C2 can be held in a correct posture. As a result, it becomes possible to stably fill the bags C1 and C2 with a predetermined amount of contents and to stably and reliably seal the bags C1 and C2. Furthermore, since the bag feeding process that is the most upstream in bagging and packaging can be carried out stably, the subsequent process may be carried out on damaged bags or bags held in an inappropriate posture. It can be effectively avoided.

  In the present embodiment, the central gripper 50 includes a central gripper arm 51 that holds the first clamping member 61 at the tip, and a shaft member 53 that holds the second clamping member 63 at the tip. The shaft member 53 is held by the gripper arm 51 so as to be movable relative to the center gripper arm 51 along the axis Am and to be rotatable with respect to the center gripper arm 51 around the axis Am. One of the central gripper arm 51 and the shaft member 53 is formed with a guide groove 68 extending at an angle with respect to the axis Am at least at a part along the longitudinal direction thereof. On the other of the central gripper arm 51 and the shaft member 53, an engagement shaft portion 69 at least a part of which is located in the guide groove 68 is provided. When the center gripper arm 51 and the shaft member 53 move relative to each other along the axis Am, the shaft member 53 holding the second clamping member 65 is engaged with the center gripper arm 51 by the engagement of the guide groove 68 and the engagement shaft portion 69. It will automatically rotate. That is, not only the first holding member 61 is pulled away from the second holding member 65 but also the second holding member 65 is moved by a very simple operation of moving the shaft member 53 along the axis Am with respect to the central gripper arm 51. It is possible to expose the first holding member 61 in a direction parallel to the axis Am by rotating the held shaft member 53.

  In the present embodiment, the shaft member 53 extends through the first clamping member 61 and into the hollow central gripper arm 51. The guide groove 68 is formed in the shaft member 53 so as to penetrate the shaft member 53. The engagement shaft portion 69 penetrates the shaft member 53 and is connected to the central gripper arm 51 at both ends thereof. According to such an embodiment, the engagement shaft portion 69 can be stably fixed to the central gripper arm 51. Further, the engagement shaft portion 69 and the guide groove 68 can be stably maintained in an engaged state. As a result, it is possible to stably ensure the rotation of the second clamping member 65 with respect to the first clamping member 61 accompanying the relative movement of the first clamping member 61 and the second clamping member 65 with respect to the axis Am.

  In the present embodiment, the guide groove 68 extends in parallel with the axis Am at the end portions (the first straight portion 68a and the second straight portion 68b) along the longitudinal direction. Therefore, when the second clamping member 65 starts to move from the release position to the clamping position and when the second clamping member 65 starts to move from the clamping position to the release position, the second clamping member 65 is Without rotating with respect to the first clamping member 61, the first clamping member 61 linearly moves relative to the first clamping member 61 along the axis Am. Therefore, the second holding member 65 can smoothly start relative movement with respect to the first holding member 61 by a relatively small pressing force along the axis Am. Thereby, the predetermined relative movement with respect to the 1st clamping member 61 of the 2nd clamping member 65 can be ensured stably.

  In particular, in the present embodiment, the second clamping member 65 starts to move relative to the first clamping member 61 from the clamping position, and moves relative to the first clamping member 61 to reach the clamping position. Then, the rotation about the axis Am is stopped and the linear movement relative to the first clamping member 61 is performed along the axis Am. According to this embodiment, when the bag C is sandwiched between the first sandwiching member 61 and the second sandwiching member 65, or between the first sandwiching member 61 and the second sandwiching member 65. When releasing the sandwiched bag C, the first sandwiching member 61 and the second sandwiching member 65 linearly approach or linearly separate from the bag C. That is, when the first clamping member 61 and the second clamping member 62 are in contact with the bag C and when they are separated from the bag C, more specifically, between the (b) and (c) of FIG. C is not twisted, thereby effectively preventing the bag C from forming a bag.

  In particular, in the present embodiment, the second clamping member 65 has a rectangular shape when observed from a direction parallel to the axis Am. Therefore, by disposing the second clamping member 65 at the release position, both end portions of the first clamping member 61 can be largely exposed in the direction parallel to the axis Am. Thereby, a bag supply process can be implemented more stably.

  In particular, in the present embodiment, the second clamping member 65 rotates 90 ° with respect to the first clamping member 61 between the release position and the clamping position. According to the present embodiment, by disposing the second clamping member 65 at the release position, both ends of the first clamping member 61 can be largely exposed in the direction parallel to the axis Am, and the first By disposing the two clamping members 65 at the clamping position, the bag C can be stably clamped with a sufficient area between the first clamping member 61 and the second clamping member 65.

  Further, in the bag filling and packaging machine 10 of the present embodiment, a plurality of gripper devices 40 are arranged around the holding member 30 formed as a rotary table. The gripper device 40 is sufficiently miniaturized in order to hold the two bags C1 and C2 with the three grippers 41, 42, and 50. Therefore, the holding member 30 as the rotary table can have a sufficiently small diameter. The moving speed of the gripper device 40 is proportional to the diameter when the angular speed of the rotary table is the same. Therefore, by reducing the diameter of the holding member 30, the centrifugal force applied to the bags C1 and C2 held by the gripper device 40 can be reduced. In particular, in the bagging and packaging machine 10 in which the holding member 30 moves intermittently, the gripper device 40 is driven so as to repeatedly move and stop along the movement path, and the gripper device 40 is stopped when the gripper device 40 is stopped. The bag filling process is performed on the two bags C1 and C2 held in the bag. In such a bag filling and packaging machine 10, the shaking of the bags C <b> 1 and C <b> 2 held by the gripper device 40 becomes more remarkable. Therefore, the gripper device 40 in the present embodiment is particularly suitable for the bagging and packaging machine 10 in which the holding member 30 moves intermittently.

  As described above, the present invention has been described based on the illustrated embodiment. However, various modifications can be made to the above-described embodiment. Hereinafter, an example of modification will be described with reference to the drawings as appropriate. In the following description and the drawings referred to in the following description, the same reference numerals as those used for the corresponding parts in the above embodiment are used for the parts that can be configured in the same manner as in the above embodiment, A duplicate description is omitted.

  In the embodiment described above, an example in which the guide groove 68 is formed in the shaft member 53 of the center gripper 50 and the engagement shaft portion 69 is provided in the center gripper arm 51 is shown, but the present invention is not limited to this example. An engagement shaft portion 69 may be provided on the member 53, and a guide groove 68 may be formed on the inner peripheral surface of the central gripper arm 51.

  In the above-described embodiment, the example in which the guide groove 68 of the central gripper 50 is formed as a through hole is shown. However, the present invention is not limited to this example, and the guide groove 68 may be formed as a bottomed groove. Good. Furthermore, in the embodiment described above, an example in which only one engagement shaft portion 69 is provided has been described. However, the present invention is not limited to this example, and a plurality of engagement shaft portions 69 extend into one guide groove 68. May be in. Further, a plurality of guide grooves 68 may be formed, and different engaging shafts 69 may extend into the respective guide grooves 68.

  Furthermore, in the above-described embodiment, the example in which the guide groove 68 of the central gripper 50 has the first straight line portion 68a and the second straight line portion 68b at a position adjacent to the twisted portion 68c is shown, but the present invention is not limited to this example. One or both of the first straight line portion 68a and the second straight line portion 68b may be omitted.

  Furthermore, in the above-described embodiment, the first clamping member 61 of the center gripper 50 includes the main body portion and the first covering material 62a and the second covering material 63a separately from the main body portion. Although the 2nd clamping member 65 showed the example which has the 1st coating | covering material 66a and the 2nd coating | coated material 67a separately from the main-body part and the main-body part, it is not restricted to this example. One or both of the first clamping member 61 and the second clamping member 65 may be formed as a member made of a single material. Similarly, the fixed-side clamping members 44 of the first and second grippers 41 and 42 have a main body portion and a covering material 44a separately from the main body portion, and the first and second grippers 41 and 42 are movable. Although the example in which the side clamping member 45 has the main body part and the covering material 45a separately from the main body part is shown, the present invention is not limited to this example. One or both of the fixed side holding member 44 and the movable side holding member 45 may be formed as a member made of a single material.

  Further, in the above-described embodiment, the example in which the second clamping member 65 rotates 90 ° about the axis Am between the clamping position and the release position is shown, but the present invention is not limited to this example. In the example illustrated in FIG. 10, the first portion 66 and the second portion 67 of the second holding member 65 each have a right-angled isosceles triangle shape when viewed from a direction parallel to the axis Am. And it rotates 45 degrees between the clamping position shown by the two-dot chain line and the release position shown by the solid line.

  Furthermore, in the above-described embodiment, the example in which the first gripper 41 and the second gripper 42 have a configuration different from that of the central gripper 50 is shown, but the present invention is not limited to this example. As the first gripper located on the most side in the arrangement direction dr of the grippers 41, 42, 50, the configuration of the above-described center gripper 50 can be employed. When the configuration of the central gripper 50 described above is adopted as the first gripper, the first portion 62 of the first clamping member 61 may be removed from the viewpoint of reducing the size along the arrangement direction dr. Further, the first portion 66 of the second holding member 65 may be removed. Similarly, the above-described configuration of the central gripper 50 can be adopted as the second gripper located on the most other side in the arrangement direction dr of the grippers 41, 42, and 50. When the configuration of the central gripper 50 described above is employed as the second gripper, the second portion 63 of the first clamping member 61 may be removed from the viewpoint of reducing the size along the arrangement direction dr. Further, the second portion 67 of the second holding member 65 may be removed. Even with such a configuration, the gripper device 40 that can hold the two bags C1 and C2 with three grippers stably receives the two supplied bags C as in the above-described embodiment. Can do.

  Further, in the above-described embodiment, the example in which the gripper device 40 simultaneously holds the two bags C1 and C2 using three grippers has been described, but the present invention is not limited to this example. 11 and 12, the gripper device 140 includes first and second two grippers 141 and 142 arranged in one direction (arrangement direction). One bag C may be held by the second two grippers 141 and 142. In this modification, one of the first and second grippers 141 and 142 may be configured the same as the central gripper 50 of the above-described embodiment. That is, at least one of the grippers is movable relative to the first clamping member 61 along the axis Am that is not parallel to the first clamping member 61 and in one direction (arrangement direction dr). And a second clamping member 65 that is rotatable with respect to the clamping member 61. The second clamping member 65 clamps the bag C between the release position separated from the first clamping member 61 along the axis Am and the first clamping member 61 approaching the first clamping member 61 along the axis Am. The first holding member 61 can be moved relative to the holding position. Due to the rotation of the second clamping member 65 about the axis Am, the width along one direction (arrangement direction dr) of the second clamping member 65 is narrower at the release position than at the clamping position. 11 and 12, the first gripper 141 is the same as that described above except that the first portion 62 of the first holding member 61 is removed and the first portion 66 of the second holding member 65 is removed. The central gripper 50 has the same configuration. The second gripper 141 has the same configuration as the above-described central gripper 50 except that the second portion 63 of the first clamping member 61 is removed and the second portion 67 of the second clamping member 65 is removed. doing. Also in such a modification, the supplied bag C can be stably received and held by the gripper device 140 having a simple configuration.

  Further, in the above-described embodiment, the holding member 30 drives the gripper device so that the gripper device 40 repeatedly moves and stops along the annular path, and the gripper device 40 is stopped when the gripper device 40 is stopped. Although the example which processes with respect to the bag C hold | maintained at the apparatus 40 was shown, it is not restricted to this. The gripper device 40 may continuously move along the annular path, and the bag C held in the moving gripper device 40 may be processed.

  In addition, although the some modification with respect to embodiment mentioned above was demonstrated above, naturally, it is also possible to apply combining several modifications suitably.

DESCRIPTION OF SYMBOLS 10 Bag filling packaging machine 30 Holding member 40 Gripper apparatus 41 1st gripper 42 2nd gripper 43 Gripper arm 44 Fixed side clamping member 45 Movable side clamping member 50 Central gripper 51 Central gripper arm 53 Shaft member 61 1st clamping member 65 2nd Holding member 68 Guide groove 69 Engagement shaft

Claims (11)

A gripper device for holding a bag filled with contents in a bagging and packaging machine,
A first gripper and a second gripper arranged in one direction;
A central gripper disposed between the first gripper and the second gripper in the one direction and holding the first bag together with the first gripper and holding the second bag together with the second gripper; Prepared,
The central gripper is relatively movable with respect to the first clamping member and the first clamping member along an axis that is not parallel to the one direction, and is rotatable with respect to the first clamping member about the axis. A second clamping member,
The second clamping member is located between the release position separated from the first clamping member along the axis and between the first clamping member and the first clamping member approaching the first clamping member along the axis. A holding position for holding the bag and the second bag is movable between,
A gripper device in which the width of the second clamping member along the one direction is narrower at the release position than at the clamping position due to the rotation of the second clamping member around the axis.   The second clamping member moves relative to the first clamping member along the axis during at least a part of the time when the second clamping member moves relative to the first clamping member between the clamping position and the release position. The gripper device according to claim 1, wherein the gripper device relatively moves and rotates about the axis.   The second clamping member is centered on the axis when starting relative movement with respect to the first clamping member from the clamping position and when reaching relative to the first clamping member to reach the clamping position. The gripper device according to claim 1 or 2, wherein the gripper device is stopped relative to the first clamping member along the axis. The central gripper further includes a central gripper arm that holds the first clamping member at the tip, and a shaft member that holds the second clamping member at the tip,
The shaft member is held by the central gripper arm so as to be movable relative to the central gripper arm along the axis and rotatable relative to the central gripper arm around the axis.
One of the central gripper arm and the shaft member is formed with a guide groove extending at an incline with respect to the axis at least in part.
The gripper device according to any one of claims 1 to 3, wherein an engagement shaft portion at least a part of which is located in the guide groove is provided on the other of the central gripper arm and the shaft member. The shaft member extends through the first clamping member and into the central gripper arm;
The guide groove penetrates the shaft member and is formed in the shaft member.
The gripper device according to claim 4, wherein the engaging shaft portion penetrates the shaft member and is connected to the central gripper arm at both ends thereof.   The gripper device according to claim 4 or 5, wherein the guide groove extends in parallel with the axis at one end portion along a longitudinal direction thereof.   The gripper device according to any one of claims 1 to 6, wherein the second holding member has a rectangular shape when observed from a direction parallel to the axis.   The gripper device according to any one of claims 1 to 7, wherein the second clamping member rotates 90 degrees with respect to the first clamping member between the release position and the clamping position. A gripper device for holding a bag filled with contents in a bagging and packaging machine,
A first gripper and a second gripper arranged in one direction;
At least one of the first gripper and the second gripper is movable relative to the first clamping member along an axis that is not parallel to the first clamping member and the one direction, and the axis is A second clamping member that is rotatable relative to the first clamping member as a center;
The second clamping member clamps the bag between the release position spaced from the first clamping member along the axis and the first clamping member approaching the first clamping member along the axis. And can be moved between
A gripper device in which the width of the second clamping member along the one direction is narrower at the release position than at the clamping position due to the rotation of the second clamping member around the axis. The gripper device according to any one of claims 1 to 9,
And a holding member for holding the gripper device.   The bagging and packaging machine according to claim 10, wherein the holding member drives the gripper device so that the gripper device repeatedly moves and stops along an annular path.

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