Gripper

Abstract

To provide a gripper which can enhance dust-proof and drip-proof performance with a simple configuration.SOLUTION: A gripper includes: a frame; a screw shaft installed in the frame; and a pair of fingers which is made to perform an opening / closing operation by being screwed into the screw shaft and rotating the screw shaft. The frame has a finger opening for projecting the finger to the outside of the frame and a side face side opening opened on a side face on an axial direction side of the screw shaft. The finger opening side of the frame is covered with a finger cover member, and the side face side opening of the frame is closed by a side face side opening cover. A side face side seal member is interposed between the frame and the side face side opening cover. A part of the side face side seal member is projected to the inside of the finger cover member and is closely adhered to the finger cover member.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a gripper that grips an object to be gripped, for example, with a pair of fingers, and in particular to a gripper that is devised to have improved dust-proof and drip-proof performance with a simple configuration. [Background technology]

[0002] Conventional grippers are disclosed in, for example, Patent Document 1 and Patent Document 2. The electric gripper described in Patent Document 1 has a rail base installed on the upper end surface of a main body, and a pair of slide parts are installed on the rail base so as to be slidable along the rail base. A claw mounting block serving as a gripping member is detachably attached to each of the slide parts. The electric gripper is fitted with a boot for preventing foreign matter from entering the main body. An insertion hole is provided in the boot, and the jaw mounting block protrudes from the insertion hole to the outside. The boot is held to the main body by a retaining metal fitting attached to the main body, with the inner surface of the insertion hole in close contact with the jaw mounting block and the bottom part in close contact with the main body.

[0003] The robot device module described in Patent Document 2 has a feed screw shaft installed in a frame, and a pair of grippers are screwed onto the feed screw shaft. A forward / reverse feed screw portion into which the grippers are screwed is formed on the feed screw shaft, and the grippers are moved closer to or farther away from each other by rotating the feed screw shaft forward or backward. A pulley and a belt that transmit power to the feed screw shaft are arranged on the side of the frame, and a cover that covers the pulley and belt is installed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2015-85489 A [Patent Document 2] Japanese Patent Application Publication No. 06-114760 Summary of the Invention [Problem to be solved by the invention]

[0005] The above conventional configuration has the following problems. If one wishes to provide dust-proofing and water-proofing to the robotic device module of Patent Document 2, applying something like the boot of the electric gripper of Patent Document 1 would create a gap between the cover installed on the side of the frame and the frame, allowing foreign matter to enter through this gap.

[0006] The present invention has been made based on the above points, and an object of the present invention is to provide a gripper that can improve dust-proof and drip-proof performance with a simple configuration. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the gripper according to claim 1 of the present invention comprises a frame, a screw shaft installed in the frame, and a pair of fingers that are screwed onto the screw shaft and opened and closed when the screw shaft is rotated, the frame is provided with finger openings that allow the fingers to protrude outside the frame, and a side opening is provided on a side surface on the axial side of the screw shaft, the finger opening side of the frame is covered with a finger cover member, and the side opening of the frame is closed by a side opening cover, a side seal member is interposed between the frame and the side opening cover, and a portion of the side seal member protrudes inside the finger cover member and is in close contact with the finger cover member. In addition, the gripper according to claim 2 is characterized in that, in the gripper described in claim 1, an intermediate seal member that is in close contact with a part of the side seal member and the finger cover member is installed on the inside of the finger cover member. In addition, the gripper according to claim 3 is characterized in that, in the gripper described in claim 1, the frame is provided with side openings on both axial sides of the screw shaft, both of the side openings are closed by the side opening covers, and the side sealing members are interposed between the frame and the side opening covers. In addition, the gripper according to claim 4 is characterized in that, in the gripper described in claim 1, a cover pressing member is provided on the outside of the finger cover member, and the finger cover member is pressed against the side seal member by the cover pressing member. The gripper according to claim 5 is the gripper according to claim 1, characterized in that the side opening cover is provided with a through hole for a cable. In addition, the gripper according to claim 6 is characterized in that, in the gripper described in claim 1, the side opening cover is provided with a through hole for an operating jig that is penetrated by a screw shaft operating jig that rotates the screw shaft. A gripper according to claim 7 is the gripper according to claim 6, characterized in that the through hole for the operating jig is closed by a removable cover. Effect of the Invention

[0008] As described above, the gripper according to claim 1 of the present invention comprises a frame, a screw shaft installed in the frame, and a pair of fingers that are screwed onto the screw shaft and opened and closed as the screw shaft is rotated, the frame is provided with finger openings that allow the fingers to protrude outside the frame, and a side opening is provided on a side surface on the axial side of the screw shaft, the finger opening side of the frame is covered with a finger cover member, the side opening of the frame is closed by a side opening cover, a side seal member is interposed between the frame and the side opening cover, and a portion of the side seal member protrudes inside the finger cover member and is in close contact with the finger cover member, thereby improving dust and water proofing performance with a simple configuration. In addition, according to the gripper of claim 2, in the gripper described in claim 1, a part of the side seal member and an intermediate seal member that is in close contact with the finger cover member are provided on the inside of the finger cover member, thereby further improving the dust-proof and drip-proof performance. Furthermore, according to the gripper of claim 3, in the gripper described in claim 1, the frame is provided with side openings on both axial sides of the screw shaft, both of the side openings are closed by the side opening covers, and the side sealing members are interposed between the frame and the side opening covers, thereby further improving the dust-proof and drip-proof performance. In addition, according to the gripper of claim 4, in the gripper described in claim 1, a cover pressing member is provided on the outside of the finger cover member, and the finger cover member is pressed against the side seal member by the cover pressing member, thereby further improving the dust-proof and drip-proof performance. According to a gripper according to claim 5, in the gripper according to claim 1, a through hole for a cable is provided in the cover for the side opening, so that a cable can be drawn out from the inside. In addition, according to the gripper of claim 6, in the gripper described in claim 1, the side opening cover is provided with a through hole for an operating jig that is penetrated by a screw shaft operating jig that rotates the screw shaft, so that the gripper can be manually operated by the screw shaft operating jig. In addition, according to the gripper of claim 7, in the gripper described in claim 6, the through hole for the operating jig is blocked by a removable cover, thereby improving the dust-proof and drip-proof performance in a configuration in which the gripper can be manually operated. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a first embodiment of the present invention, in which FIG. 1(a) is a perspective view of a gripper, and FIG. 1(b) is a perspective view of the gripper as viewed from the opposite side to FIG. 1(a). [Diagram 2] FIG. 1 is an exploded perspective view of a gripper according to a first embodiment of the present invention. [Diagram 3] 3A and 3B are views showing a first embodiment of the present invention, in which FIG. 3A is a side view of a gripper, and FIG. 3B is a cross-sectional view taken along line IIIb-IIIb of FIG. 3A. [Figure 4] 4(a) is a perspective view of a cover for a side opening, FIG. 4(b) is a view taken along the arrow IVb-IVb in FIG. 4(a), and FIG. 4(c) is a view of the cover for a side opening as seen from the back side. [Diagram 5] 5A and 5B are diagrams showing a first embodiment of the present invention, in which FIG. 5A is a front view of a gripper, and FIG. 5B is a cross-sectional view taken along line Vb-Vb of FIG. 5A. [Figure 6] FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. 5(a), showing the first embodiment of the present invention. [Figure 7] 7(a) is an enlarged view of a portion VIIa in FIG. 3(b), FIG. 7(b) is an enlarged view of a portion VIIb in FIG. 5(b), and FIG. 7(c) is an enlarged view of a portion VIIc in FIG. 6, showing a first embodiment of the present invention. [Figure 8] FIG. 2 is an exploded perspective view of a gripper according to a second embodiment of the present invention. [Figure 9]9A and 9B are views showing a second embodiment of the present invention, in which FIG. 9A is a front view of a gripper, and FIG. 9B is a sectional view taken along line IXb-IXb of FIG. 9A. [Figure 10] FIG. 9(a) is a cross-sectional view taken along line XX in FIG. 9(a), showing a second embodiment of the present invention. [Figure 11] 11A and 11B are views showing a second embodiment of the present invention, in which FIG. 11A is an enlarged view of a portion XIa in FIG. 9B, and FIG. 11B is an enlarged view of a portion XIb in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A first embodiment of the present invention will be described below with reference to FIGS. For example, as shown in Figures 1 to 3, the gripper 1 according to the first embodiment has a frame 3. As shown in Figure 2, the frame 3 is open at the top in Figure 2 to allow fingers 31 and 33, which will be described later, to protrude to the outside, and is provided with finger openings 5, and is also open on both sides in the axial direction (direction from the lower left to the upper right in Figure 2) of a finger drive screw shaft 13, which will be described later, and is provided with side openings 7 and 9. As shown in FIG. 3(b), a motor 11 is provided in the frame 3 on the lower side in FIG.

[0011] A finger drive screw shaft 13 is rotatably installed on the upper side in Fig. 3(b) within the frame 3. A timing pulley 17 is fixed to the output shaft 15 of the motor 11, and a timing pulley 19 is fixed to the left end in Fig. 3(b) of the finger drive screw shaft 13. A timing belt 21 is wound around the timing pulley 17 and the timing pulley 19. In addition, a first male threaded portion 23 is formed on the left side of the finger drive screw shaft 13 in Figure 3 (b), and a second male threaded portion 25 is formed in the opposite direction to the first male threaded portion 23 on the right side of the finger drive screw shaft 13 in Figure 3 (b). Within the frame 3, finger guide rails 27, 27 are provided on both sides in the width direction (direction toward the page surface of FIG. 3(b)) above the finger drive screw shaft 13 in FIG.

[0012] A pair of fingers 31, 33 are mounted on the frame 3 so as to be movable in a direction approaching or separating from each other (left and right direction in FIG. 3(b)). The finger 31 has an internally threaded member 35. The internally threaded member 35 has an internally threaded portion 37 formed therein, which is screwed into the first externally threaded portion 23 of the finger drive screw shaft 13. Similarly, the finger 33 has an internally threaded member 34, which has an internally threaded portion 36 formed therein, which is screwed into the second externally threaded portion 25 of the finger drive screw shaft 13. With this configuration, when the finger drive screw shaft 13 is rotated by the motor 11, the fingers 31, 33 are moved in directions approaching or separating from each other. 3(b), an operating jig recess 38 for engaging with a screw shaft operating jig (not shown) is provided at the end of the finger drive screw shaft 13. The finger drive screw shaft 13 is rotated not only by the motor 11 but also by the screw shaft operating jig (not shown), so that the fingers 31, 33 can be moved manually.

[0013] The finger 31 has a finger guide member 39. The finger guide member 39 is fixed to the upper side of the female screw member 35 in FIG. 3(b). The finger guide member 39 has a guide member body 41 and end plates 43, 43 installed on both ends in the moving direction (left-right direction in FIG. 3(b)) of the guide member body 41. The guide member body 41 has recesses (not shown) on both sides in the width direction (direction of the paper surface in FIG. 3(b)). A steel ball (not shown) is held in a rollable manner in a space surrounded by a recess 45 formed by extending the finger guide rail 27 in the left-right direction in FIG. 3(b), a recess (not shown) of the guide member body 41, and the end plates 43, 43. The finger 33 also has a finger guide member 47 similar to the finger guide member 39. With this configuration, the fingers 31, 33 are guided by the finger guide rails 27, 27.

[0014] The finger 31 has a gripping portion 49. The gripping portion 49 is fixed to the upper side of the finger guide member 39 in Fig. 3(b). An annular seal mounting recess 51 is formed on the outer circumferential surface of the gripping portion 49 near the center in the up-down direction in Fig. 3(b). An annular seal member 52 is engaged with the seal mounting recess 51. The finger 33 also has a gripping portion 53 similar to the gripping portion 49 .

[0015] The frame 3 is provided with side opening covers 61, 63 for closing the side openings 7, 9. As shown in Fig. 4(a), the side opening cover 61 is provided with a recess 65 for an intermediate seal member on the upper side in Fig. 4(a) of the front side (lower left side in Fig. 4(a)). Further, the side opening cover 61 is provided with an operating jig through hole 67 for inserting the screw shaft operating jig (not shown) to rotate the finger drive screw shaft 13. The operating jig through hole 67 is expanded in diameter in two stages so that the portion on the outside of the frame 3 becomes larger, as shown in Fig. 3(b), for example, and is provided with a large diameter portion 69 and a small diameter portion 70. The through hole 67 for the operating jig is closed by a lid 71 when not in use. The lid 71 is also expanded in diameter in two stages to provide a large diameter portion 73 and a small diameter portion 75. The small diameter portion 75 is provided with annular protrusions 77, 79. The lid 71 is detachably attached to the through hole 67 for the operating jig by press-fitting the small diameter portion 75 into the small diameter portion 70 of the through hole 67 for the operating jig and engaging the large diameter portion 73 with the large diameter portion 69 of the through hole 67 for the operating jig.

[0016] 4(b) and 4(c), a recess 81 for a side seal member is provided on the back side (lower left side in FIG. 4(b) and front side in the direction of the page in FIG. 4(c)) of the side opening cover 61. The recess 81 for a side seal member has a shape that conforms to the shape of the end face of the frame 3, and is open on both the left and right sides in FIG. 4(c) of the upper side of the side opening cover 61 in FIG. 4(c). The side opening cover 63 has the same configuration as the side opening cover 61, but for example, as shown in FIG. 3(b), a cable-passing convex portion 83 is provided, and a cable through hole 85 is formed in the cable-passing convex portion 83. A sealing member recess 87 is formed in the end face of the cable-passing convex portion 83 on the right side in FIG. 3(b). A cable clamp mounting plate 89 is installed in the end face of the cable-passing convex portion 83 on the right side in FIG. 3(b). A sealing member 91 is interposed between the end face of the cable-passing convex portion 83 on the right side in FIG. 3(b) and the cable clamp mounting plate 89. The sealing member 91 is accommodated in the sealing member recess 87. A cable clamp mounting through hole 93 is formed in the cable clamp mounting plate 89. A cylindrical cable clamp 95 is installed in the cable clamp mounting through hole 93 of the cable clamp mounting plate 89. A cable (not shown) drawn from inside the frame 3 passes through the cable clamp 95.

[0017] As shown in FIG. 5, a side seal member 101 is provided in the recess 81 for the side seal member. 5(b), the side seal member 101 has a shape that conforms to the shape of the end face of the frame 3, and both left and right sides of the upper end in FIG. 5(b) protrude outward to form protrusions 103, 103. The side seal member 101 is in close contact with the end face of the frame 3 and the side opening cover 61 or the side opening cover 63. The side seal member 101 is made of, for example, rubber and is interposed between the end face of the frame 3 and the side opening cover 61, with the protrusions 103, 103 exposed to the outside of the frame 3.

[0018] An annular intermediate seal member 111 is provided on the upper side of the frame 3 and the side opening covers 61, 63 in Fig. 2. Intermediate seal member recesses 115, 115 are formed on both outer surfaces of the frame 3 in a direction perpendicular to the finger opening 5 (direction from the upper left to the lower right in Fig. 2). The intermediate seal member recesses 115, 115 are continuous with the intermediate seal member recesses 65, 65 of the side opening covers 61, 63 to form a single annular recess, and the intermediate seal member 111 is engaged with and provided in the single annular recess. The intermediate seal member 111 is made of, for example, rubber. As shown in FIG.

[0019] As shown in Figures 1 to 3, a finger cover member 121 is provided on the upper side of the frame 3 in Figure 1. The finger cover member 121 is made of, for example, rubber, and is provided so as to cover the upper end side of the frame 3 (upper side in Figure 2) and the base sides of the fingers 31, 33, as shown in Figures 1 and 2. In addition, the base end side of the finger cover member 121 (lower side in Figure 7) is provided against the intermediate seal member 111, as shown in Figures 3, 5, 6, and 7.

[0020] As shown in Figures 1 and 3, the base end side (the lower end side in Figure 1) of the finger cover member 121 is fixed to the frame 3, the side opening cover 61, and the side opening cover 63 by cover pressing members 123, 123 and cover pressing members 125, 125. The cover retainer member 123 has a shape curved into a substantially U-shape, and is engaged with the side opening cover 61 or the side opening cover 63 from the lower left side or the upper right side in Fig. 2 of the frame 3. The cover retainer member 123 is fixed by passing fixing screws 127, 127 through the cover retainer member 123 and the finger cover member 121 and screwing them into female threaded portions 129, 129 provided on the side opening cover 61 or the side opening cover 63. The side opening covers 61, 63 are formed with a convex portion 128 penetrating the finger cover member 121 and the cover pressing member 123, and the female thread portions 129, 129 are formed on the convex portion 128. The outer peripheral surface of the convex portion 128 is in close contact with the finger cover member 121. The cover pressing member 123 presses the lower end side of the finger cover member 121 and the intermediate seal member 111 against the side opening cover 61 side or the side opening cover 63 side, so that the lower end side of the finger cover member 121 and the intermediate seal member 111, and the intermediate seal member 111 and the side opening cover 61 side or the side opening cover 63 are tightly attached to each other.

[0021] The cover retainer member 125 is a plate-like member, and is attached to the base end side (lower end side in FIG. 3) of the finger cover member 121 on both sides of the frame 3 in a direction perpendicular to the moving direction of the fingers 31, 33 (direction from upper left to lower right in FIG. 2). The cover retainer member 125 is fixed by passing a fixing screw 131 through a cylindrical packing 132 that is passed through the cover retainer member 125 and the finger cover member 121 and screwing it into a female threaded portion 133 provided on the frame 3. As a result, the base end side (lower end side in FIG. 3) of the finger cover member 121 is inserted between the frame 3 and the cover retainer member 125 and fixed. The cover pressing member 125 presses the lower end side of the finger cover member 121 and the intermediate seal member 111 toward the frame 3, so that the lower end side of the finger cover member 121 and the intermediate seal member 111, and the intermediate seal member 111 and the frame 3 are closely attached to each other. In addition, both end sides of the cover pressing member 125 overlap the ends of the cover pressing member 123, and the ends of the cover pressing member 125 press the base end side of the finger cover member 121 inward via the ends of the cover pressing member 123, thereby bringing the finger cover member 121 and the intermediate seal member 111, and the intermediate seal member 111 and the protrusions 103, 103 of the side side seal member 101 into tight contact with each other.

[0022] Next, the operation of the first embodiment will be described. When the output shaft 15 of the motor 11 is rotated, the finger drive screw shaft 13 is rotated by the timing pulley 17, the timing pulley 19, and the timing belt 21. When the finger drive screw shaft 13 is rotated in one direction, the fingers 31, 33 move in a direction approaching each other, and an object (not shown) is sandwiched between the gripping portions 49, 53 and gripped. When the finger drive screw shaft 13 is rotated in the other direction, the fingers 31, 33 move in a direction away from each other, and the gripping of the object (not shown) by the gripping portions 49, 53 is released. When the fingers 31, 33 are moved, the finger cover member 121 is deformed.

[0023] The cover pressing member 123 presses the lower end side of the finger cover member 121 and the intermediate seal member 111 toward the side opening cover 61 or the side opening cover 63, so that the lower end side of the finger cover member 121 is tightly attached to the intermediate seal member 111, and the intermediate seal member 111 is tightly attached to the side opening cover 61 or the side opening cover 63. The cover pressing member 125 presses the lower end side of the finger cover member 121 and the intermediate seal member 111 toward the frame 3, so that the lower end side of the finger cover member 121 and the intermediate seal member 111, and the intermediate seal member 111 and the frame 3 are tightly attached to each other. Both end sides of the cover pressing member 125 overlap the ends of the cover pressing member 123, and the ends of the cover pressing member 125 press the base end side of the finger cover member 121 inward via the ends of the cover pressing member 123, thereby tightly adhering the finger cover member 121, the intermediate seal member 111, and the protrusions 103, 103 of the side seal member 101. In this manner, the finger cover member 121, the side seal member 101, and the intermediate seal member 111 exert their dust-proof and drip-proof effects.

[0024] Next, the effects of the first embodiment will be described. The side seal member 101 is shaped to conform to the shape of the end face of the frame 3 and has protrusions 103, 103 formed thereon, so that the finger cover member 121 and the intermediate seal member 111 are closely attached and the intermediate seal member 111 and the protrusions 103, 103 of the side seal member 101 are also closely attached, thereby improving dust and water proofing performance with a simple configuration. In addition, the finger cover member 121 and the intermediate seal member 111 are pressed against the frame 3, the side opening cover 61, and the side opening cover 63 by the cover pressing members 123, 123 and the cover pressing members 125, 125, thereby further improving the dust-proof and drip-proof performance. In addition, both end sides of the cover pressing member 125 overlap the ends of the cover pressing member 123, and the ends of the cover pressing member 125 press the finger cover member 121 via the ends of the cover pressing member 123, thereby tightly adhering the finger cover member 121 and the intermediate seal member 111, and the intermediate seal member 111 and the protrusions 103, 103 of the side seal member 101, thereby further improving the dust-proof and drip-proof performance. Further, since the side opening cover 63 is provided with a cable through hole 85, a cable (not shown) can be drawn out from inside the frame 3. In addition, the side opening covers 61, 63 are provided with a through hole 67 for an operating tool, through which a screw shaft operating tool (not shown) can be inserted to rotate the finger drive screw shaft 13, so that the gripper 1 can be manually operated by the screw shaft operating tool (not shown). Furthermore, since the through hole 67 for the operating jig is closed by a removable cover 71, the dust-proof and drip-proof performance can be improved in a configuration in which the gripper 1 can be manually operated.

[0025] Next, a second embodiment of the present invention will be described with reference to FIGS. The gripper 201 according to the second embodiment has a configuration substantially similar to that of the gripper 1 in the first embodiment described above, but does not have the intermediate seal member 111 that was provided in the gripper 1 in the first embodiment described above. Also, the intermediate seal member recesses 115, 115 of the frame 3 and the intermediate seal member recesses 65 of the side opening covers 61, 63 are not formed. This allows the finger cover member 121 and the protruding portions 103, 103 of the side seal member 101 to be in close contact with each other. Other configurations are the same as those in the first embodiment, and the same parts in the drawings are given the same reference numerals and their explanation is omitted.

[0026] The second embodiment also provides the same functions and effects as the first embodiment described above.

[0027] It should be noted that the present invention is not limited to the first and second embodiments. It is also conceivable that only one end of the frame is open and a cover for the side opening is provided. In addition, the illustrated configuration is merely an example, and various other cases are possible. [Industrial Applicability]

[0028] The present invention relates to, for example, a gripper that grasps an object to be grasped using a pair of fingers, and in particular to a gripper that is devised to have improved dust-proof and water-proof performance with a simple configuration, and is suitable, for example, for grippers used in industrial robots. [Explanation of symbols]

[0029] 1 Gripper 3 Frame 5 Finger opening 7 Side opening 9 Side opening 13 Finger drive screw shaft (screw shaft) 31 Finger 33 Finger 38 Recess for operating tool 61 Side opening cover 63 Side opening cover 67 Through hole for operation jig 71 Lid 85 Cable Through Hole 101 Side seal member 103 Projection 111 Intermediate seal member 121 Finger cover member 123 Cover retainer 125 Cover retainer 201 Gripper

Claims

1. A frame, A screw shaft installed in the frame; and A pair of fingers that are screwed onto the screw shaft and are opened and closed by rotating the screw shaft; Equipped with The frame is provided with a finger opening for projecting the finger to the outside of the frame, and a side opening is provided on a side surface on the axial side of the screw shaft, a finger cover member is placed on the finger opening side of the frame, and the side opening of the frame is closed by a side opening cover, A side seal member is interposed between the frame and the side opening cover, A gripper, characterized in that a portion of the side seal member protrudes inward of the finger cover member and is in close contact with the finger cover member.

2. 2. The gripper according to claim 1, A gripper characterized in that an intermediate seal member that is in close contact with a part of the side seal member and the finger cover member is installed on the inside of the finger cover member.

3. 2. The gripper according to claim 1, The frame is provided with the side openings on both axial sides of the screw shaft, Both of the side openings are closed by the side opening covers, A gripper characterized in that the side seal members are interposed between the frame and the side opening covers.

4. 2. The gripper according to claim 1, A cover pressing member is provided on the outer side of the finger cover member, A gripper characterized in that the finger cover member is pressed toward the side seal member by the cover pressing member.

5. 2. The gripper according to claim 1, A gripper characterized in that the side opening cover is provided with a through hole for a cable.

6. 2. The gripper according to claim 1, A gripper characterized in that the side opening cover is provided with a through hole for an operating jig through which a screw shaft operating jig that rotates the screw shaft is inserted.

7. 7. The gripper according to claim 6, A gripper characterized in that the through hole for the operating jig is closed by a removable lid.

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