JP2017030834A - Article gripping device and article container packing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adjust an interval between gripping pieces according to the thickness of an article.SOLUTION: An article gripping device grips an article by a pair of gripping pieces 1a, 1b, and the article gripping device comprises: a pair of substrates 2a, 2b; an interval adjustment mechanism 3 for adjusting an interval between both substrates; and a drive source M for driving the interval adjustment mechanism 3. One gripping piece 1a out of the pair of gripping pieces 1a, 1b, is provided on one substrate 2a, and the other gripping piece 1b is provided on the other substrate 2b. When the interval adjustment mechanism 3 is driven by the drive source M, one or both of the pair of substrates 2a, 2b move toward a direction of coming close to the other substrate, or toward a direction of separating from the other substrate, for adjusting the interval between the gripping pieces 1a, 1b provided on both substrates.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an article gripping device 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 an article container that stores the gripped articles in a container. 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.

  The present inventor, as an apparatus that can be used for bagging of various foods such as sandwiches and hamburgers, is an article gripping apparatus that can grip and sandwich a sandwich with a pair of gripping pieces that are arranged to face each other at a predetermined interval ( Patent Document 1) was proposed. This article gripping apparatus can be gripped without breaking the shape of the article, and is used by being installed in a sandwich bagging line, for example.

JP 2014-198571 A

  However, the thickness of sandwiches to be packed varies depending on the type of ingredients and the number of sandwiches to be stacked, and may not be gripped by the article gripping device in which the spacing between gripping pieces is constant. For example, if the entire sandwich is thicker than the gap between the gripping pieces, it will not fit between the gripping pieces, and if it is thinner than the gap between the gripping pieces, there will be a gap between the gripping piece and the sandwich. In either case, the sandwich cannot be reliably gripped.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an article gripping apparatus capable of adjusting the interval between gripping pieces according to the thickness of various articles including a sandwich, and the article gripping apparatus. It is an object to provide an article container stuffing apparatus that grips an article using a container and accommodates the article in various containers such as a bag.

[Article gripping device]
An article gripping apparatus according to the present invention includes a pair of bases, an interval adjusting mechanism for adjusting an interval between both bases, and a drive source for driving the interval adjusting mechanism in an article gripping apparatus that holds an article with a pair of gripping pieces. When one grip piece of the pair of grip pieces is provided on one base and the other grip piece is provided on the other base, and the distance adjusting mechanism is driven by the driving source, both or any of the pair of base bodies One of them moves in a direction approaching the other substrate or away from the other substrate so that the interval between the grip pieces provided on the two substrates is adjusted.

  In the article gripping apparatus, it is preferable that each base is provided with driving means so that each gripping piece can be individually slid by the driving means.

  In the article gripping apparatus, one base is attached to a fixed body, the other base is attached to a movable body, gripping pieces provided on the respective bases are arranged to face each other at intervals, and the fixed body is a screw shaft. The movable body includes a nut that is screwed to the screw shaft, the screw shaft is rotated by power of a drive source, and the nut is moved in a longitudinal direction of the screw shaft by rotation of the screw shaft, and the drive When the screw shaft is rotated by the source, the movable body provided with the nut is moved in the longitudinal direction of the screw shaft by the rotation of the screw shaft, and the grip piece on the movable body side approaches the grip piece on the fixed body side with this movement. You may make it move to a direction or the direction which leaves | separates from the holding piece by the side of the said fixed body.

  In the article gripping apparatus, a belt-circular gripping piece in which a belt is looped around the outer periphery of a flat slide plate can be used as both or one of the pair of gripping pieces. In this case, when a part of the belt circulated around the outer periphery of the slide plate is fixed to the base and the slide plate is moved forward, one surface of the slide plate of the belt (for example, the outer surface of the vertical slide plate or the horizontal direction) When the portion located on the lower surface of the slide plate is fed to the other surface of the slide plate (for example, the inner surface of the vertical slide plate or the upper surface of the horizontal slide plate) and the slide plate is moved backward, the belt The belt located on the other surface side of the slide plate can be pulled back to the one surface side of the slide plate.

  In the article gripping device, when the article is a sandwich, it is preferable that at least a grip piece addressed to the lower side of the sandwich sandwiched between the pair of grip pieces is a belt-circular type. In this case, when the distance adjusting mechanism is driven, it is preferable that only the grip piece gripping the upper side of the horizontally placed sandwich moves in a direction approaching the other grip piece or in a direction away from the other grip piece. . In the present application, “flat placement” means a state in which sandwich bread is placed on the upper side and the lower side as shown in FIG.

[Goods container packing equipment]
The article container stuffing device of the present invention is an apparatus that holds an article conveyed by a carrier and stores it in a container, and includes an article gripping device attached to a carrier, a container preparation unit, and a robot arm, Any one of the article gripping devices described above is used as the article gripping device.

  Since the article gripping apparatus of the present invention can adjust the interval between the gripping pieces, the article can be securely gripped even if the thickness of the article changes. When the article is a sandwich, the sandwich can be securely gripped not only when the thickness of the sandwich changes depending on the amount of ingredients and the thickness of the bread, but also when the overall thickness changes depending on the number of sandwiches stacked. . Further, when a belt-circular gripping piece is used, the sandwich can be gripped without losing its shape. The same applies to the case of gripping an article other than a sandwich.

  Since the article container stuffing apparatus of the present invention uses the article gripping apparatus of the present invention as the article gripping apparatus, the same effect as the article gripping apparatus is achieved.

(A) is a perspective view which shows an example of the article | item holding apparatus of this invention, (b) is a cross-sectional view of both the base | substrates of the article | item holding apparatus of this invention. The perspective explanatory drawing of the base | substrate provided with the belt periphery-type holding body. (A)-(c) is explanatory drawing of the principle of operation of the belt circulated by the slide board. Explanatory drawing of the fixed body and movable body in the article | item holding | grip apparatus of this invention. (A) is front explanatory drawing which shows the state from which the space | interval of both the gripping pieces in the article | item gripping apparatus of this invention left | separated (wide), (b) is the space | interval of both gripping pieces closer (narrow) than (a). Front side explanatory drawing which shows a state. The perspective view which shows an example of the goods container packing apparatus of this invention. (A)-(e) is explanatory drawing which shows the usage example of the article | item holding | grip apparatus and article container stuffing apparatus of this invention.

(Embodiment of article gripping device)
An example of the article gripping apparatus 30 of the present invention will be described with reference to the drawings. The article gripping device 30 of the present invention can be used for gripping various articles, but here, the case where the article is a sandwich S will be described as an example.

  The article gripping apparatus 30 of the present invention grips the sandwich S by placing (supporting) a pair of gripping pieces 1a and 1b on the outside of the sandwich S. As an example, the article gripping apparatus 30 shown in FIG. 1A includes a pair of base bodies 2a and 2b arranged in parallel at an interval, an interval adjusting mechanism 3 that adjusts an interval between both the base bodies 2a and 2b, and the interval. A drive motor (drive source) M for driving the adjusting mechanism 3 is provided. Of the pair of gripping pieces 1a and 1b, one gripping piece 1a is provided on one base 2a, and the other gripping piece 1b is provided on the other base 2a. When the interval adjusting mechanism 3 is operated by the drive motor M, both or one of the bases 2a and 2b moves in a direction approaching the other bases 2a and 2b or away from the other bases 2a and 2b. The distance between the gripping pieces 1a and 1b provided on both the bases 2a and 2b is adjusted.

  As shown in FIGS. 1 (a) and 2, each base 2a, 2b has an elongated upper material 4 and a lower material 5 arranged at intervals in the front-rear direction, the front end side of which is a front material 6, and the rear The end side is connected by the rear member 7. A single partition 8 is provided near the center of the front member 6 and the rear member 7, and the moving block 9 moves to the front side of the partitioning member 8, and the air block moves the moving block 9 to the rear side in the front-rear direction. (Drive means) 10 is provided. The piston rod 10 a of the air cylinder 10 is connected to the moving block 9 through an insertion hole 8 a provided in the partition body 8. When the piston rod 10 a extends, the moving block 9 is connected to the upper member 4 and the lower member 5. The moving block 9 moves back along the slide groove 11 when the piston rod 10a contracts when the piston rod 10a contracts.

  The gripping pieces 1a and 1b are fixed to the moving blocks 9a and 9b, respectively, and the gripping pieces 1a and 1b move in the moving direction of the moving blocks 9a and 9b as the moving blocks 9a and 9b move. . As an example, one gripping piece 1a shown in FIGS. 1 (a) and 1 (b) is a belt-circulating type in which a belt 13 is wound around the outer periphery of a flat slide plate 12a, and the other gripping piece 1b is a flat slide plate 12b. This is a flat plate type in which the belt 13 is not circulated around the outer periphery of the belt. The belt-circular gripping piece 1a is suitable for scooping up the lower side of the sandwich S conveyed by the conveying body 29 as shown in FIG.

  The slide plate 12a of the belt-circular gripping piece 1a is provided with three steps on the front side. As an example, the belt 13 shown in FIG. 2 has a sheet shape having two slits, and the portions divided by the slits are circulated around the respective step portions. The belt 13 is folded at both ends of the slide plate 12a so that the end portions 13a overlap each other, and is held by a pressing plate 14 and a stopper 15 that are addressed to the outside of the overlapped portion. The holding plate 14 holding both end portions 13a of the belt 13 is accommodated in the support grooves 16 provided in the upper material 4 and the lower material 5 of the base 2a, and is fixed so as not to move in the front-rear direction. The belt 13 is preferably made of a material having a low sliding resistance. For example, a flat belt made of synthetic resin can be used.

  Here, the operation principle of the belt 13 circulated around the slide plate 12a will be described with reference to FIGS. FIG. 3A shows a state in which the slide plate 12a is located at the rearmost position. When the slide plate 12a is moved forward (in the direction of the arrow in FIGS. 3B and 3C) as shown in FIGS. 3B and 3C from this state, the belt 13 circulated around the outer periphery of the slide plate 12a. Among them, a portion (lower surface side 13x) located on the lower surface side 12x of the slide plate 12a is sent to the upper surface side 12y of the slide plate 12, and is to be transferred to the upper surface side 13y of the belt 13 on the outer periphery of the slide plate 12. Sandwich S can be scooped up. On the contrary, when the slide plate 12a is moved rearward as shown in FIGS. 3B and 3A from the state where the slide plate 12a is positioned at the forefront as shown in FIG. 3C, the slide plate 12a is moved. Of the belt 13 that circulates around the outer periphery, the portion (upper surface side 13y) located on the upper surface side 12y of the slide plate 12a is pulled back to the lower surface side 12x of the slide plate 12, and the scooped sandwich S is moved to another place. Can be taken down.

  In the description of the operation principle, the case where the sandwich S is placed on the upper side of the slide plate 12a is taken as an example. However, when the slide plate 12a is in the vertical direction as shown in FIG. 13x is on the inner surface side, and the lower surface sides 12y and 13y are on the outer surface side. Note that the lower surface side (outer surface side) 13x and the upper surface side (inner surface side) 13y of the belt 13 are relative concepts, and when the portion of the lower surface side 13x is drawn out to the upper surface side 12y of the slide plate 12, the portion becomes the upper surface side. On the contrary, when the portion on the upper surface side 13y is pulled back to the lower surface side 12x of the slide plate 12, the portion becomes the lower surface side 13x.

  The slide plate 12b of the flat gripping piece 1b has an inclined portion on the front side. This inclined portion has an inclination similar to the inclination of the film bag 32 containing the sandwich S. On the lower end side of the slide plate 12b, a fall prevention piece 17 is provided inwardly to prevent the sandwich S held between the holding pieces 1a and 1b from dropping. The slide plate 12b is fixed to a moving block 9b provided on the base 2b, and is slid in the front-rear direction by an air cylinder 10 connected to the moving block 9b.

  As shown in FIG. 4, the base 2 a provided with the belt-circulating slide plate 12 a is attached to the fixed body 19, and the base 2 b provided with the flat slide plate 12 b is attached to the movable body 18. As an example, the fixed body 19 shown in FIG. 4 is a downward substantially U-shaped member provided with two opposing downward pieces 19a and 19b, and the movable body 18 is substantially downward L-shaped provided with one downward piece 18a. Shaped member.

  The base 2 a can be attached to and detached from the fixed body 19 and the base 2 b can be attached to and detached from the movable body 18 by using the locking clip 20 fixed to the fixed body 19 and the movable body 18 with one touch. As an example, the locking clip 20 shown in FIGS. 1 and 4 includes a fixed piece 20a that is fixed to the fixed body 19 or the movable body 18, and a locking piece 20b that is locked to the lower side of the base 2a or the base 2b. .

  In this embodiment, two locking clips 20 are provided on each of the downward pieces 19 a of the fixed body 19 and the downward pieces 18 a of the movable body 18. Each of the locking clips 20 is fixed to the downward piece 19a of the fixed body 19 or the downward piece 18a of the movable body 18, and the locking piece 20b protrudes inward from the downward piece 19a or the downward piece 18a. It is. With this protruding portion, the lower end of the base 2a or the base 2b can be locked. When the base body 2a is attached to the fixed body 19, the locking piece 20b of the locking clip 20 is extended to the outside from the inner surface of the downward facing piece 19a, and the base body 2a is disposed at a predetermined position of the fixed body 19 before the locking piece. 20b is released and the original state is restored. Thereby, the lower end of the base 2 a is locked by the locking piece 20 b, and the base 2 a is attached to the fixed body 19. The base 2b can be attached to the movable body 18 in the same manner.

  Between the two downward pieces 19 a and 19 b of the fixed body 19, two guide bars 21 are installed at intervals in the longitudinal direction, and the two guide bars 21 are inserted into the insertion holes 18 b of the movable body 18. The movable body 18 is disposed between the two downward pieces 19 a and 19 b of the fixed body 19. A space adjusting mechanism 3 is provided between the two guide bars 21 and is supported by the space between the base body 2a attached to the fixed body 19 side and the base body 2b attached to the movable body 18 side, that is, the base body 2a. The distance between the gripping piece 1a and the gripping piece 1b supported by the base 2b can be adjusted.

  As an example, the distance adjusting mechanism 3 shown in FIGS. 4 and 5 adjusts the distance between the gripping pieces 1a and 1b by using the rotational force of the drive motor M arranged outside the fixed body 19 (upper side in the drawing). A screw shaft 22 installed between the two downwardly facing pieces 19a and 19b of the fixed body 19, a nut 23 that is screwed to the screw shaft 22 and moves in the axial direction of the screw shaft 22, A screw shaft side pulley 24 attached to the screw shaft 22 and a transmission belt 25 circulated around the screw shaft side pulley 24 are provided. The transmission belt 25 is drawn out from a drawing hole 26 opened in the upper surface of the fixed body 19 and is circulated around a motor-side pulley 27 attached to the drive motor M.

  Both ends of the screw shaft 22 are supported by bearings 28 (FIG. 5) embedded in the downward pieces 19 a and 19 b of the fixed body 19. The nut 23 screwed to the screw shaft 22 is embedded in the movable body 18, and when the nut 23 moves in the screw shaft direction by the rotation of the screw shaft 22, the movable body 18 in which the nut 23 is embedded is screwed. It is configured to move in the axial direction.

  When the drive motor M is operated, the rotational force of the drive motor M is transmitted in the order of the motor side pulley 27 -the transmission belt 25 -the screw shaft side pulley 24 -the screw shaft 22 -the nut 23, and the nut 23 is embedded. The body 18 moves in the direction approaching the fixed body 19 or in the direction away from the fixed body 19, and the flat gripping piece 1 b on the base 2 b side attached to the movable body 18 approaches the other gripping piece 1 a or the other It moves to the direction which leaves | separates from the holding piece 1a, and the space | interval of both the holding pieces 1a and 1b is adjusted.

  An arm attachment portion 33 (FIG. 1A) is provided on the upper surface side of the fixed body 19, and the article gripping device 30 is attached to the robot arm R as shown in FIG. The article gripping device 30 attached to the robot arm R can move in various ways depending on the setting of the robot arm R, such as vertical and horizontal movements, as well as vertical and horizontal movements.

(Other embodiments of article gripping device)
In the above-described embodiment, one is the belt-circular gripping piece 1a and the other is the flat gripping piece 1b. However, both gripping pieces 1a, 1b are belt-circulating or flat-plate. You can also.

  In the above embodiment, the upper gripping piece 1a in FIG. 1 (b) is a belt-circulating type and the lower gripping piece 1b is a flat plate type, but the upper gripping piece 1a is a flat plate type and the lower gripping piece 1b is a flat type. A belt-circulating type can also be used. Also in this case, when the sandwich S is gripped, the upper side of the sandwich S is pressed with the flat plate-shaped gripping piece 1a, and the sandwich S is gripped by scooping up the lower side of the sandwich with the belt-circular gripping piece 1b.

  In the embodiment, the case where the distance between the gripping pieces 1a and 1b is adjusted by the movement of one gripping piece 1b is taken as an example. However, the gripping pieces 1a and 1b can be moved by moving both gripping pieces 1a and 1b. It is also possible to adjust the interval.

  In the embodiment, the case where the distance between the gripping pieces 1a and 1b is adjusted by using a ball screw including the screw shaft 22 and the nut 23 is taken as an example, but the distance between the gripping pieces 1a and 1b is adjusted by other means. You can also

(Embodiment of article container stuffing device)
An example of the article container stuffing apparatus of the present invention will be described with reference to FIGS. 6 and 7A to 7E. Here, the case where the article is a sandwich S will be described as an example. 6 and FIGS. 7A to 7E, 29 is a transport body for transporting the sandwich S, 31 is a film bag 32 stocked in a stacked state, one by one, and an opening of the film bag 32 , A bag preparation unit (container preparation unit) 30, an article gripping device 30 attached to the robot arm R, and R a robot arm holding the article gripping device 30. In this embodiment, a belt conveyor is used as the carrier 29, and the article gripping device 30 shown in FIG. The bag preparation unit 31 only needs to be able to take out the film bags 32 stocked in a stacked state one by one and sequentially open the openings, and Japanese Patent Application Laid-Open No. 2014-198571 and Japanese Patent Application No. 2014-262802. The thing etc. which were indicated by etc. can be used.

(Example of use)
The usage example of the article | item holding | grip apparatus 30 and the article container stuffing apparatus of this invention is demonstrated with reference to drawings. This use example is an example in which the article gripping device 30 of the present invention is attached to the robot arm R, the sandwich S is gripped by the article gripping device 30, and the film bag 32 is packed. The article gripping device 30 of the present invention detects the thickness of the sandwich S with a sensor or the like when gripping the sandwich S, and automatically adjusts the distance between the gripping pieces 1a and 1b based on the detection signal. In this embodiment, the distance between the gripping pieces 1a and 1b is adjusted in advance according to the thickness of the sandwich S.

(1) The manufactured sandwich S is conveyed at intervals as shown in FIGS. 6 and 7A.
(2) When the sandwich S transported by the transport body 29 reaches a predetermined position, the article gripping device 30 is turned sideways and the upper gripping piece 1b is advanced as shown in FIG. Hold down.
(3) In the state of (2), the slide plate 12a of the gripping piece 1a located on the lower side of the sandwich S is advanced as shown in FIG. 7C, and the belt 13a circulated around the outer periphery of the slide plate 12a. Then, roll up sandwich S.
(4) After the sandwich S is gripped by the gripping pieces 1a and 1b according to the above (2) and (3), the article gripping device 30 is rotated 90 degrees as shown in FIG. The sandwich S gripped is turned vertically.
(5) After the sandwich S is vertically oriented according to the above (4), the article gripping device 30 is rotated toward the bag preparation unit 31 (a part of which is shown in FIG. 7 (e)), and the gripping pieces 1a, The sandwich S gripped by 1b is moved to the front side of the film bag 32 whose opening is opened by the bag preparation unit 31.
(6) After the sandwich S is moved to the front side of the film bag 32 by (5), the article gripping device 30 is placed in the film bag 32 by the robot arm R, and the sandwich S gripped by the article gripping device 30 is filmed. Housed in a bag 32.
(7) With the sandwich S accommodated in the film bag 32 according to (6) above, the slide plates 12a, 12b of both gripping pieces 1a, 1b are retracted, and both the gripping pieces 1a, 1b are removed from the film bag 32. The gripping pieces 1a and 1b can be extracted after the article gripping device 30 is returned above the transport body 29 by the robot arm R. In this case, since the sandwich S accommodated in the film bag 32 can be sent out to the next process as it is, workability is good.

  In the above-described embodiment, the case of holding a sandwich is taken as an example, but the article gripping device 30 and the article container stuffing device of the present invention can be used for gripping various articles such as a hamburger and a rice burger.

DESCRIPTION OF SYMBOLS 1a, 1b Holding piece 2a, 2b Base | substrate 3 Space | interval adjustment mechanism 4 Upper material 5 Lower material 6 Front material 7 Rear material 8 Partition body 8a (Partition body) insertion hole 9, 9a, 9b Moving block 10 Air cylinder (drive means)
10a Piston rod 11 Slide groove 12a, 12b Slide plate 12x (Slide plate) lower surface side 12y (Slide plate) upper surface side 13 Belt 13a (Belt) end portion 13x (Belt) lower surface side 13y (Belt) upper surface side 14 Holding plate 15 Stopper 16 Support groove 17 Fall prevention piece 18 Movable body 18a Downward piece 18b Insertion hole 19 Fixed body 19a, 19b Downward piece 20 Locking clip 20a (Locking clip) Fixing piece 20b (Locking clip) Locking piece 21 Guide bar 22 Screw shaft 23 Nut 24 Screw shaft side pulley 25 Transmission belt 26 Pull-out hole 27 Motor side pulley 28 Bearing 29 Transporter 30 Article gripping device 31 Bag preparation portion 32 Film bag 33 Arm attachment portion M Drive motor R Robot Arm S Sandwich

Claims (8)

In an article gripping apparatus that grips an article with a pair of gripping pieces,
A pair of substrates, an interval adjusting mechanism for adjusting the interval between the two substrates, and a drive source for driving the interval adjusting mechanism,
Of the pair of gripping pieces, one gripping piece is provided on one base, and the other gripping piece is provided on the other base.
When the distance adjusting mechanism is driven by the drive source, both or one of the pair of bases move in a direction approaching the other base or in a direction away from the other base, and the grip pieces provided on the both bases The interval of is adjusted,
An article gripping device characterized by the above. The article gripping device according to claim 1, wherein
Each substrate is provided with driving means,
Each gripping piece can be individually slid by the driving means,
An article gripping device characterized by the above. The article gripping device according to claim 1 or 2,
One base is attached to the fixed body,
The other base is attached to the movable body,
The grip pieces provided on the respective substrates are arranged to face each other with an interval between them,
The fixed body includes a screw shaft,
The movable body includes a nut that is screwed onto the screw shaft,
The screw shaft is rotated by the power of the drive source,
The nut moves in the longitudinal direction of the screw shaft by the rotation of the screw shaft,
When the screw shaft is rotated by the drive source, the movable body provided with the nut moves in the longitudinal direction of the screw shaft by the rotation of the screw shaft, and the grip piece on the movable body side moves along with this movement. Moving in a direction approaching or a direction away from the gripping piece on the fixed body side,
An article gripping device characterized by the above. The article gripping device according to any one of claims 1 to 3,
Both or one of the pair of gripping pieces is a belt-circular gripping piece in which a belt is looped around the outer periphery of a flat slide plate.
An article gripping device characterized by the above. The article gripping device according to claim 4, wherein
A part of the belt that circulates around the outer periphery of the slide plate is fixed to the base,
When the slide plate is moved forward, a portion of the belt located on one surface side of the slide plate is drawn out to the other surface side of the slide plate,
When the slide plate is moved backward, a belt located on the other surface side of the slide plate among the belts is pulled back to the one surface side of the slide plate.
An article gripping device characterized by the above. The article gripping device according to any one of claims 1 to 5,
The article is a sandwich,
Of the pair of gripping pieces, at least the gripping piece addressed to the lower side of the horizontally placed sandwich is a belt-circular gripping piece.
An article gripping device characterized by the above. The article gripping device according to claim 6, wherein
When the distance adjusting mechanism is driven by the driving source, only the grip piece gripping the upper side of the sandwich placed flat moves in a direction approaching the other grip piece or in a direction away from the other grip piece.
An article gripping device characterized by the above. In an apparatus for gripping an article to be transported by a transport body and storing it in a container,
A carrier, a container preparation unit, and an article gripping device attached to a robot arm,
The article gripping apparatus is the article gripping apparatus according to any one of claims 1 to 7.
An article container stuffing device.

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