| 摘要 |
PROBLEM TO BE SOLVED: To expedite the grasping and rotating operation and improve the productivity by inclining the grasping surface of a grasping part to the opening and closing direction of the grasping part. SOLUTION: In a grasping device 10, the grasping surface 12A of a grasping part 12 for grasping the upper edge 2 of a self-standing flexible bag 1 is inclined to the opening and closing direction of the grasping part 12 (an inclinationθto the orthogonal direction). At the same time the upper edge 2 of the self- standing flexible bag 1 is grasped by the grasping part 12 of the grasping device 10, the upper edge 2 is rotated (rotating angleθ) in the direction along the grasping surface 12A according to the grasping surface 12A of the grasping part 12. Namely, the grasping device 10 can rotate and grasp the upper edge 2 of the self-standing flexible bag 1 without using a rotary actuator, so that the structure of the grasping device 10 can be simplified, and the grasping and rotating operation can be expedited to improve the productivity.
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