Magazine for the provision of interchangeable objects with optimized arrangement

Abstract

Magazine (122) for "interchangeable objects", which comprise as one type "magazine objects" (1), which are characterized in that they can be provided in the magazine and the magazine objects (1) have at least one "connection area" (4) which forms a "magazine object interface" (5) with at least part of its outer surface, and which comprise as at least a second type "magazine object receptacles" (10), (22), (29), (37), (44), (53) which can receive and hold magazine objects (1) at a "receiver-magazine object interface" (13), (55), - wherein magazine object receptacles (10), (22), (29), (37), (44), (53) are characterized in that they have a "receptacle-magazine wall interface" (12), (32), (40), (47), (58) on their "rear side" facing away from the magazine object (1), which is characterized in that it can be brought into contact in at least one direction with at least one contour referred to as "magazine wall interface" (21), (27), (35), (42) on or in the magazine wall (20), (26), (34), (41), (102) such that the position of the receptacle-magazine object interface (13), (55) relative to the magazine wall interface (21), (27), (35), (42) is fixed in at least two rotational degrees of freedom and at least one translational degree of freedom, wherein such a connection of these two interfaces is referred to as a "receptacle-wall coupling" and wherein interfaces, which can be linked in such a way,are referred to as "compatible interfaces" and as "coupling interfaces", and wherein the positions of the magazine object holder interfaces (13), (55) of the magazine object holders (10), (22), (29), (37), (44), (53) in the holder-wall coupling are referred to as "holder-wall positions", and wherein the magazine object holders (10), (22), (29), (37), (44), (53) belong to a type of interchangeable object referred to as "wall interchangeable object" (10), (22), (29), (37), (44), (53), and , - wherein the magazine (122) is characterized in that distances between receiving wall positions in the "X direction" perpendicular to the gravitational force and tangential to the magazine wall can either be set arbitrarily or in discrete increments that are significantly smaller than the smallest width determined in the X direction of all magazine object interfaces (5) or the smallest diameter of all connecting areas (4) of magazine objects (1) to be handled in the magazine and / or that distances between receiving wall positions in the "Z direction" parallel to the gravitational force tangential to the magazine wall (20), (26), (34), (41), (102) can either be set arbitrarily or in discrete increments that are smaller than the smallest width determined in the X direction of all magazine object interfaces (5) or the smallest diameter of all connecting areas of magazine objects (1) to be handled in the magazine.

Description

Prior ArtTools for machining machines are generally fixed in "tool holders", which can be detachably connected in "holder receptacles", and which are arranged in tool magazines for the provision of a large number of tools. These use either an arrangement fixed for all holder receptacles, as in rack magazines (DE10020801A1, DE10334346B4, DE2020104783 U1), or a fixed arrangement for a group of holder receptacles which can be moved as a subsystem, such as a disk (DE1552324A, DE10228651A, EP0406781A2), a cylinder segment (DE102013013978B4) or a chain (DE102011006384A1). In tool magazines with moving subsystems, in many embodiments the tool holders can be received directly by a processing machine. If this is not possible, the tool holders are exchanged with the processing machine by a handling system in the tool magazine or an interposed "transition change device".Lengths and shapes of tools generally vary very greatly. Accordingly, a great variety of variants can be found in the "tool holders" in which the tools are fixed. To achieve simplification for tool changes, the tool holders are provided with regions called "connecting regions" with standardized shapes and discrete sizes of limited number (e.g. HSK 40, HSK 50 or HSK 65). As a rule, tool magazines are designed for a size of a connection area.In tool magazines, tool holders with tong-shaped holder receptacles are releasably fixed (example of a chain in DE102011006384A1), which partially encompass connecting regions of tool holders in the region of a centring groove and generate forces by elastic deformation, which hold the connecting regions in the receptacles. The smallest distance between holder receptacles in such systems is given by the size of the connecting regions plus the installation space required for gripping the tool holders with the pliers plus the opening travel of the pliers plus a safety distance to avoid collisions due to inaccuracies in the positioning of the handling system.The same conditions for the minimum spacing of tool holders in tool magazines result if tong-shaped holder receptacles are used in grippers with which the tool holders are exchanged (DE1552324A, DE102011006384A1, FIG. 2A ). The smallest spacing of tool holders in such systems is likewise given by the size of the connecting region of the tool holder plus the installation space required for gripping the tool holders with the pliers plus the opening path of the pliers plus a safety spacing to avoid collisions due to inaccuracies in the positioning of the handling system.As alternatives to tong-shaped holder receptacles, for example in rack systems, holder receptacles are known with contours for the positioning of the connecting regions and holding forces, which are generated either solely by the action of gravity or by elastic deformation or a combination of them. In such systems, smaller distances of connection areas are theoretically possible. This is generally not achieved in practice because tongs are used again during the handling of the tool holders (DE10334346B4, FIG. 2, DE102011006384A1, FIG. 2A ), so that the minimum distance between holder receptacles in the tool magazine is given again as described above, wherein instead of the tongs in the holder receptacle, the tongs in the gripper act in a limiting manner.As an alternative to tong-shaped holder receptacles, designs are known in a disk magazine in which magnets are used in combination with holding contours for holding holder receptacles on the disk (EP0406781A2, patent claims 1 and 8 and FIGS. 2 and 3 ). However, the gripper is again described as pliers (FIG. 1 ).As an alternative to tong-shaped holder receptacles in grippers, designs are known in which magnets are used in combination with holding contours for coupling tool holders to the gripper (DE202020104783 U1, FIG. 2 ). Magnets combined with holding contours are also used in the holder receptacles (DE202020104783 U1, FIG. 4 ). In both assemblies, holding contours define the position of the tool holder in the vertical direction together with the force of gravity. The position in the horizontal direction is determined in one degree of freedom, referred to as the Y direction, solely by holding contours, and in the second degree of freedom by holding contours together with magnetic attractive forces which ensure that the tool holder remains in contact with the holding contours. The magnets are not used, however, in order to keep the distances between tool holders particularly small in the horizontal direction.The distances of the holder receptacles in the vertical direction are firmly defined in magazines according to the prior art and can be changed at best in a few discrete steps before the tool magazine is put into operation, for which assembly work in the interior of the magazine is required. In magazines with subsystems arranged one above the other, such as rack planes, disks, cylinder segments or chains, the vertical distances of the subsystems are each matched to the longest tool holder with the longest tool which is planned for storage in a subsystem. As a result, in all shorter combinations of tool holders and tools in the subsystem unused spatial areas are produced in the magazine.Problem SettingIn the case of very large quantities of tools or small workpieces, the space requirement of a magazine according to the prior art suitable for these can reach a considerable proportion of that of the processing machine without a tool magazine. This is also attributable to unused volume areas in the magazine, which are caused by the magazine design and lead to unnecessary occupation of expensive base area in the manufacturing shop. Magazine systems can be found in which unused volume areas are avoided as far as possible.Proposed SolutionThe problem is solved with particularly narrow grippers and individual particularly narrow receptacles for magazine objects, which do not limit the minimum possible distances of magazine objects. Patterns of arrangements of very different magazine objects can be produced with individually adapted magazine object receptacles and replaceable gripper heads, which can handle both magazine objects and magazine object receptacles and can deposit them at individually selectable positions on a magazine wall. This makes it possible to avoid unused volume regions caused by defined distances between groups of images.Advantages of the InventionThe volume of the magazine required for storing a given quantity of magazine objects is reduced as much as possible and thus the required footprint. Different size and different connection areas of different magazine objects can be held in the magazine by using individual different magazine object receptacles and can be handled by using replaceable adapters or heads of a gripper. The arrangement of magazine objects can be flexibly adapted to a plurality of different geometries of magazine objects, and specifically also automatically during machining processes of the machining machine.The solutions initially developed for tool magazines of machining machines can be applied to all magazine objects having a connection area that can be attracted by magnets, such as small workpieces. Because of the good scalability of the size of the magazine system according to the invention, it is also well suited for providing magazine objects independently of a processing machine.Detailed DescriptionThe basic ideas are illustrated below using the example of a tool magazine for a processing machine. In order to accommodate large quantities of tool holders in a volume that is as small as possible, it is important to be able to arrange them as freely as possible, so that, when optimizing an arrangement pattern, different types of receptacles, tool holders and tools with different lengths and diameters can be placed individually at favorable positions without empty space being produced at other placement locations. In order to achieve this, a planar basic shape for the arrangement of interchangeable objects in the tool magazine is selected in the form of a magazine wall which can be planar or slightly curved. On this, possibilities are created for mounting holders for tool holders in the vertical and horizontal direction in such a way that their positions can be selected as freely as possible. This is possible with continuous linear fastening grooves into which contours of holder receptacles are introduced (FIGS. 4 to 6 ). Thus, any desired position within the width of a usable area of a magazine wall can be selected in the horizontal direction. The distances of the grooves in the vertical direction should be significantly smaller than the height of a connecting region. The remaining disadvantages of a grid in the vertical direction can be achieved with magnetizable magazine walls and holder receptacles which are held on the magazine wall by adhesion magnets integrated therein and which can be connected at any desired position within a working region of the magazine wall. Examples of the systems recited in this section are described in detail below, starting with the characteristics of the tool holders and their receptacles.In order to accommodate large quantities of tool holders in the smallest possible volume, it is first of all important that neither the holder receptacles nor the gripper heads used for handling protrude beyond the tool holders in the region of interaction with the latter. Embodiments thereof are shown in FIGS. 2, 3, 7 and most of the remaining figures.FIG. 1 shows a tool holder 1 as a possible type of magazine object. It consists of a centering cone 2, a "connecting region" 4 which forms with a part of its lateral surface a standardized "tool holder interface" 5 and a standardized centering groove 6, which serve as interfaces for systems for tool handling, a "tool holder" 8 in which tools 9 can be fastened and a linked tool. The tool holder 1 is connected in the machining machine via the centering cone 2 and, depending on the system, via a planar contact 3 on the upper end face of the connecting region. The tool holder 1 is also referred to more generally below as "magazine object" 1 and the tool holder interface 5 as "magazine object interface" 5.The largest dimensions of the magazine object 1 in the horizontal direction perpendicular to the axis A of the tool holder interface 5 are generally determined by the diameter or the width of the connecting region 4. "magazine object receptacles" 10, 22, 29, 37, 44, 53 according to the invention can be made narrower than the connecting regions 4 and thus the tool holder interfaces, since the holding forces are generated by magnets and no mechanical elements are required to be enclosed around the connecting regions. The smallest possible spacings of the tool holders perpendicular to the axis A of the connecting regions 4 in the tool magazine can thus be achieved, since these are only given by their own dimensions plus unavoidable small safety spacings for avoiding collisions because of limited precision of gripper movements.Favorable embodiments of the magazine object receptacles 10, 22, 29, 37, 44, 53 have, on the front side of their base body 11, 23, 30, 38, 45, 54 facing the magazine objects 1, one or more "receptacle object magnet systems" 14, 56 and a "receptacle magazine object interface" 13, 55, which determines the position of the tool holder interface 5 of the magazine object in the magazine object receptacle at least in one degree of translation and one degree of rotational freedom (FIGS. 2 and 7 ). This state of relative positioning of the interfaces in contact is referred to as "receptacle magazine object coupling closure". For more precise alignment of magazine objects in receptacles, a further degree of rotational freedom and a further degree of translational freedom of the magazine object can be defined by the receptacle-tool holder interface. Such embodiments are illustrated in the figures.The position of a magazine object 1 in a magazine object receptacle 10, 53 in the direction parallel to the axis A of its standardized tool holder interface 5, which for the sake of simplicity is assumed to be parallel to the gravitational forces and is denoted by Z, is held in a stable manner in the simplest case by the combination of two forces, one of which arises on account of the non-uniformity of the magnetic field of the receptacle object magnet system 14, 56. As a result, there is a neutral position of the connection portion in which the attractive force of the recording object magnetic system acts only in the Y direction and does not have a component in the Z direction. If the connecting region 4 is displaced downwards, an upward-directed force component of the attractive force arises. If it is displaced upward, a downward force component of the attractive force arises. As the gravitational forces pull the tool holder downwards, the connecting region will assume a position below the neutral position in which the attractive force has an upwards directed force component which compensates for a part of the gravitational force acting on the tool holder. In advantageous embodiments, the design of the recording object magnet system 14, 56 is selected such that the non-homogeneity in the Z direction is as large as possible and thus the upward-directed force component is as large as possible given a given offset of the connecting region relative to the neutral position. The non-uniformity of the magnet system is substantially related to the extent of the magnet system in the Z direction. Therefore, favorable embodiments have recording object magnet systems with dimensions in the Z direction which are significantly lower than the heights of the connecting regions 4 at least in the region of the coupling interface.The second force is contributed by the static friction between the receptacle magazine object interface 13, 55 and the tool holder interface 5, which is proportional to the attractive force between the magazine object receptacle 10, 53 and the connecting region 4 and depends on the surface properties of the coupled interfaces. This force can be optimized with respect to its size by using contact surfaces with special materials which have a large coefficient of static friction in contact. In addition, the surface nature of the surfaces to be coupled can be modified to increase the coefficient of static friction.In order to absorb the action of gravitational forces, mechanical supporting contours 16, 24, 33, 48 can also be formed on the magazine object receptacle 10, 22, 29, 44, which either engage on an annular surface 7 under the connecting region 4 or engage in the standardized centering groove 6 in the connecting region (FIGS. 1, 3 and 4 ). It is likewise possible to form additional "retaining contours" 25 on these support contours, which make it difficult for the magazine objects 1 to slide out of the magazine object receptacle, as is shown in the example of the support contour 24 in FIG. 3.The magazine object receptacles 10, 22, 29, 37, 44, 53 are designed such that the magazine objects 1 are held on them with a force, the "receptacle object holding force", which can consist of a combination of portions of supporting forces of mechanical structures and forces of magnetic systems and which ensures the receptacle magazine object coupling connection of the interfaces with the magazine object interface 5 of the magazine object 1 with compatible magazine object interface provided most difficult for the magazine object receptacle, and fixes non-fixed degrees of freedom of the relative movement of the interfaces by the shaping of the interfaces. Magazine objects linked to a magazine object receptacle in this way are referred to as "coupled" and "deposited".Magazine object receptacles 10, 22, 29, 37, 44, 53 have on their rear side facing away from the magazine object 1 a "receptacle magazine wall interface" 12, 32, 40, 47, 58, which is characterized in that it can be brought into contact with at least one so-called "magazine wall interface" 21, 27, 35, 42 of the magazine wall 20, 26, 34, 41, 101 in such a way that the position of the magazine object receptacle relative to the magazine wall is defined in at least two rotational degrees of freedom and at least one translational degree of freedom, wherein the position of the magazine object receptacle defined in this way is referred to as a "receptacle wall position" and such a connection of these two interfaces is referred to as a "receptacle wall coupling connection".The magazine object receptacles 10, 22, 29, 37, 44, 53 can be fixed to a magazine wall 20, 26, 34, 41, 101 solely by means of magnets, as shown in the examples of the magazine object receptacles 10, 22, 53. For this purpose, a "receiving wall magnet system" 15, 57 is integrated into the rear side of the body 11, 23, 54 of the magazine object receptacle 10, 22, 53 (FIGS. 2, 7, 9 ), which generates an attractive force between the magazine object receptacle and the magazine wall 20, 26, 101, the "receiving wall holding force". The receiving wall magnet system 15, 57 is designed such that, in the case of a receiving wall coupling closure, the receiving wall holding force is significantly greater than the receiving object holding force. In such a configuration, the connecting region 4 can be pulled away from the magazine object receptacle 10, 22, 53 in the direction Y perpendicular to the magazine wall 20, 26, 101 without the magazine object receptacle coming loose from the magazine wall. In case of a skillful design, this can also be achieved by a single central magnet system which on the one hand generates a sufficiently large attractive force to a connecting region 4 and on the other hand generates a significantly larger attractive force to the magazine wall 20, 26, 101. Magazine object receptacles 10, 22, 29, 37, 44, 53 connected by a receptacle wall holding force to a magazine wall in receptacle-wall coupling closure are referred to as "coupled" and "deposited".If the magazine object receptacles 10, 22, 29, 37, 44, 53 are to be automatically arranged by a gripper 97, it is advantageous to configure the receptacle wall magnet system 15, 57 or the central magnet system as an "permanent electric magnet", in which a permanent magnet de-energizes the force for reliably holding the magazine object receptacle on the magazine wall 20, 26, 101 and, for releasing the magazine object receptacle from the magazine wall, the magnetic field of the permanent magnet is approximately cancelled by means of a current in a coil surrounding it. The flow can be provided by a suitable gripper head base 60 by means of the connection systems 65 contained therein (FIGS. 8, 14 ).If an active change in the force of the receiving wall magnet system 15, 57 is dispensed with, the requirement for its size can be reduced by preventing the magazine object receptacle from sliding down on the magazine wall 20, 101 by means of an additional support part which is fitted under the magazine object receptacle in contact therewith and has its own wall magnet system. This is shown in FIG. 1 with the magazine object receptacle 10 and the support part 17 with body 18 and support part-wall interface 19. In such embodiments, the holding forces counteracting the gravitational forces are applied by two parts, each of which can individually have a lower force of its receiving wall magnet system 15, 57, so that the forces to be applied by a handling system 112 are smaller for releasing the parts from the magazine wall. This reduces the requirements for the stability of the handling system and the drives used therein.In order to reduce the attractive forces to be applied by the receiving wall magnet systems 15, 57 in the magazine object receptacles, horizontally running grooves 28 can also be introduced into the magazine wall 26, on which grooves magazine object receptacles 29 are placed via supporting contours 31 and "receiving magazine wall coupling surfaces" 32, which are integrally formed on the body 30 of the magazine object receptacle 29 (FIG. 4 ). In such embodiments, at least a portion of the gravitational forces can be directed from the supporting contours directly into the magazine wall. However, this produces a grid in the vertical direction. Its disadvantage becomes smaller as the distance between the grooves becomes smaller. The basic principle can be scaled to very small dimensions up to microstructures which have scanning spacings which are so small that they are virtually no longer disadvantageous for producing a very dense arrangement of magazine objects.By using grooves with undercuts 36 in the magazine wall 34, in which mating contours 39 can engage (FIG. 5 ), which grooves are formed on the body 38 of the magazine object receptacle 37, the required forces of the receptacle wall magnet systems 15, 57 can be further reduced, since forces perpendicular to the magazine wall 34 can also be absorbed. If such fastening systems are used in two different grooves, magnet systems are not absolutely necessary for sufficient retention of the magazine object receptacles 37 on the magazine wall. Because of the greater complexity of the shape of the grooves, it is more difficult in such embodiments to implement very small pitch spacings. The advantage of such a system is that the magazine object receptacles 37 can be released from the magazine wall with relatively low forces from the gripper system after they have been raised to such an extent that the mating contours 39 of the magazine object receptacle no longer engage in the undercuts in the magazine wall 34. Such handling can be performed with the pick gripper head 98 described below.By means of an embodiment with grooves 43 which have undercuts on the bottom and / or the top side, into which elastically deformable counter-contours 46 can be clipped, which are integrally formed on the body 45 of the magazine object receptacle 44 (FIG. 6 ), the required forces of the receptacle wall magnet systems 15, 57 can likewise be reduced. If such fastening systems are used in two different grooves, embodiments without magnetic systems can likewise be realized. Holder receptacles can be released from the magazine wall 41 directly by tensile forces perpendicular to the latter. The forces to be applied by the handling system 112 are comparable in this case to those of an embodiment with magnetic systems.Magnetizable magnetic walls 20, 26, 34, 41, 101 can be used for the attachment of magazine object receptacles 10, 22, 29, 37, 44, 53. If higher holding forces are to be generated, additional permanent magnets can be placed on the magazine wall 20, 26, 34, 41, 101 or integrated into it. This can also be achieved by a layer of the magazine wall in which small suitably oriented magnets are embedded.FIG. 7 shows a gripper 49 for magazine objects 1, which is realized according to the invention with a "gripper magazine object magnet system" 52 in the gripper base body 50. Grippers in this embodiment do not require moving mechanical parts and can be designed to be particularly narrow and simple. The connecting regions 4 are placed on coupling contours 51 which together form a "gripper-magazine object interface" 51. This is characterized in that the magazine object interface 5 of a connecting region 4 of at least one magazine object 1 can be brought into contact with it in at least one direction in such a way that the relative position of the two interfaces is defined in at least one degree of translation and one degree of rotational freedom. This state of relative positioning of the interfaces in contact is referred to as "gripper-magazine object coupling closure".Sufficiently large "gripper-magazine object holding forces" can be achieved with gripper-magazine object magnet systems 52, 73, the width of which is significantly smaller than the diameter or the width of the smallest connecting region 4, which is to be handled with the gripper 49, and which can therefore be easily integrated in the gripper base body 50. The gripper-magazine object holding force fixes the degrees of freedom not defined by the gripper-magazine object coupling closure. Gripper-magazine object magnet systems 52, 73 with permanent electric magnets are particularly advantageous. The attractive forces between the gripper magazine object magnet system 52, 73 and the receiving object magnet systems 14, 56 and receiving wall magnet systems 15, 57 of the magazine object receptacles 10, 22, 29, 37, 44, 53 can be kept so small because of the large distance that the connecting region 4 can be removed from the magazine object receptacle without detaching the latter from the magazine wall 20, 26, 34, 41, 101.The gripper-magazine object holding force acts at least on a connecting region 4 of at least one magazine object 1 and can be set to at least two values, of which one, the "gripper-magazine object coupling force", is sufficiently large to ensure the fixing of the gripper-magazine object interface 13, 51, 77, 86, 95 to the magazine object interface 5 of the most difficult magazine object with compatible magazine object interface when performing all the handling processes planned therewith, and of which the other, the "gripper-magazine object separating force", is significantly less than the lowest receiving object holding force for magazine objects 1 with compatible magazine object interface 5 and wherein a magazine object is referred to as being "coupled" to the gripper 49, when the magazine object interface 5 is linked to the gripper magazine object interface 51, 77, 86, 95 in gripper magazine object coupling engagement by the gripper magazine object coupling force.If sizes of magazine objects 1 that are clearly different from one another are to be provided in the same magazine, a plurality of different grippers 49 can be used. However, this leads to a greater complexity of the handling system 112. According to the invention, a more favorable solution results from a "assembled gripper" 59, 69, 60 with 81, 60 with 90 with 82, consisting of a "gripper base" 60, 70 and 60 with 90 and an exchangeable "tool gripper head" 66, 75, 81, 82, wherein the geometry of a respective tool gripper head can be adapted for a respective connection region 4. FIGS. 8 and 9 show an embodiment of such a two-part gripper system 59 with a gripper base 60 which has a "gripper base-base change object interface" 62, to which a tool gripper head 66, also referred to as "object gripper head" 66, or in some contexts generally as "base change object" 66, can be detachably connected via an interface to the base change object. Fig. 10 shows another example of the composite gripper 69, the gripper base 70 and the tool gripper head 75; Figs. 11-13 show another example of a composite gripper 60 of 81, in which case the gripper base may consist solely of the gripper base 60 which is then combined with the tool gripper head 81, or a "gripper adapter base" 60 of 90 which is formed from a combination of these two parts and is combined with the "gripper head adapter" 82. In the first case, the tool gripper head 81 is designed as a base change object. In the second case, the gripper head adapter 82 is designed as a base change object. Interfaces formed on the basic change objects 81, 82 are referred to as "basic change object basic interface" and are provided with reference numerals 84, 85, 92 in FIG. 11. They are designed such that when the interfaces are placed against one another, their relative position is fixed in at least one degree of translation and at least one degree of rotational freedom. This state of relative positioning of these interfaces placed against each other is referred to as "base-object coupling closure.".For the connection of basic change objects 66, 75, 81, 82, 90 to the gripper base 60, 70 and 60 with 90, at least one "basic magnet system" 63, 64, 73, 74, 96, which can generate a "basic object attractive force", is integrated into the gripper base body 61, 71, 61 with 91 thereof, which is characterized in that it arises in interaction with at least one basic change object 66, 75, 81, 82, 90 and it can be set to at least two values, of which the one, the "basic object coupling force", is sufficiently large to ensure the fixing of the basic change object basic interface on the gripper base-basic change object interface 62, 72, 93 when all planned handling processes are carried out with the most difficult combination of basic change object with compatible basic change object basic interface 84, 85, 92 and change object coupled thereto, and of which the other, the "base object separating force", is sufficiently small to enable a separation of the gripper base-base change object interface 62, 72, 93 from all compatible base change objects 66, 75, 81, 82, 90 linked to the magazine wall 20, 26, 34, 41, 101 or a base change object receptacle in a depositing position by means of a "depositing attachment contour" 67, 78, 87, 95, 100 without changing their positions. Two objects connected in base-object coupling closure by a base-object coupling force are referred to as "coupled.". In this state, all degrees of freedom of the position of a base change object relative to the gripper base 60, 70 and 60 are fixed at 90 by the action of the base-object coupling force.If basic change objects 66, 75, 81, 82, 90, 98 are to be changed automatically, they must also be able to be stored. For this purpose, they are linked in "depositing positions" on the magazine wall 20, 26, 34, 41, 101 or on a base change object receptacle fixed thereto in such a way that they have an orientation and position in which they can be coupled to a gripper base 60, 70 and 60 at 90 by a handling system 112. This can be achieved, for example, by combinations of "storage wall contours" 67, 78, 87, 95, 100 with which base change objects are positioned in a storage position in a suitable orientation on the magazine wall, with "storage magnet systems" 68, 79, 88, 94, 101 which provide sufficiently high attractive forces between the base change objects and the magazine wall (FIGS. 9-11 ). In such embodiments, basic change objects 66, 75, 81, 82, 90, 98 can be deposited at any desired locations within a "usable area" on the magazine wall 20, 26, 34, 41, 101 by means of a gripper 59, 69 and coupled again. In alternative embodiments, basic change objects can be bound to the magazine wall solely by suitable tray attachment contours or by these in combination with tray magnet systems 68, 79, 88, 94, 101. The storage wall contours 67, 78, 87, 95, 100 can be formed by surfaces of the storage magnet systems.The coupling of basic change objects 66, 75, 81, 82, 90, 98 to grippers 59, 69, 60 at 81, 97 takes place as follows: First, the gripper-base-base change object interface 62, 72, 93 of a gripper base 60, 70 and 60 at 90 without a basic change object are brought into a basic object coupling connection with a basic change object base interface 84, 85, 92 of a basic change object. It is expedient to set the attractive force of the base magnet systems 63, 64, 73, 74, 96 in the gripper base 60, 70 and 60 at 90 first to a low value. The attractive force of the base magnet systems is then increased at least to the base object coupling force, so that the gripper can release the base change object coupled to it from the magazine wall 20, 26, 34, 41, 101.The deposition of basic change objects 66, 75, 81, 82, 90, 98 on the magazine wall 20, 26, 34, 41, 101 takes place, for example, in the case of only fixing by deposition magnet systems 68, 79, 88, 94, 101 as follows: First, a gripper base 60, 70 and 60 with 90 coupled on the basic change object is moved to a position in which the deposition wall contour 67, 78, 87, 95, 100 of the basic change object is brought into contact with the magazine wall 20, 26, 34, 41, 101 and this is linked to the magazine wall or a basic change object receptacle in a deposition position by the attractive forces of the deposition magnet systems 68, 79, 88, 94, 101 which automatically act in this situation. Subsequently, the attractive force of the base magnet systems 63, 64, 73, 74, 96 is set to the base object separating force which is sufficiently small to enable the gripper base-base change object interface 62, 72, 93 to be separated from the base change object 66, 75, 81, 82, 98 without detaching it from the magazine wall or a base change object receptacle.Many basic change objects 66, 75, 81, 82, 90, 98 can be equipped with sensors, actuators or mechanical or electrical functional systems. Electrical signals, electrical power supply or media may be required for their operation. In order to provide these, connection systems 65 are provided in the gripper base-base change object interface 62. Power transmission can also be effected wirelessly, for example using inductive transmission systems. Signals can also be transmitted wirelessly.FIG. 10 shows an object gripper head 75 as a simple embodiment of a basic change object. It is connected to the gripper base body 71 of the gripper base 70 via magnet systems 74 with attractive forces which are generated in interaction with the material of the object gripper head or with additional magnetizable materials or magnets 80 introduced into it. The attractive force between a connecting portion 4 and the gripper base 70 is generated by a base magnet system 73 in the gripper base body 71. The magazine object interface 5 is brought into positive engagement with an "adapter coupling contour" of the object gripper head 75, which is either formed only by "coupling contours" 77 in the object gripper head or by a combination of these coupling contours with a coupling contour on the surface of the base magnet system 73 or with a contour of the gripper base-base change object interface 72. In an advanced version of the object gripper head 75, the field of the base magnet system 73 is conducted through a body of magnetizable material to the interaction zone with the connecting region 4. For this purpose, either the body 76 of the object gripper head itself can be produced from a suitable material or such a body can be integrated into it. This results in increased possibilities for shaping the geometry of the gripper base 70 and of the object gripper head 75.Even more extensive design possibilities are offered by embodiments of object gripper heads 81 which themselves contain "active gripper-magazine object magnet systems" 94. FIGS. 11, 12, 13 show the construction of such a gripper head.In a first embodiment, it consists of a "gripper head base" 90, which may be fixedly attached to or part of the gripper base 60.Replaceable "gripper head adapters" 82 may be placed against a gripper base-base replaceable object interface (FIG. 11 ), which is formed either solely by "contours" 93 of the gripper head base 90 against which the "gripper head adapter coupling contour" 85 is placed, or by the contours 93 in combination with contours 62 of the gripper base interface (FIG. 8 ) when the gripper head adapter is coupled at its "coupling surfaces" 84 (FIG. 11 ) to the gripper base interface 62.The attachment of the gripper head adapters 82 takes place via attractive forces which are generated either with magnet systems 64 in the gripper base 60 or with magnet systems 96 in the body 91 of the gripper head base 90, wherein the attractive forces are adjustable and are generated in interaction with the material of the gripper head adapter 82 or with additionally introduced magnetizable materials or magnets 89 in the gripper head adapter (FIG. 12 ). FIG. 13 shows an exploded drawing of an object gripper head 81 designed in this way.The "body" 83 of the gripper head adapter 82 has "wall depositing contours" 87 and depositing magnet systems 88, with which it can be placed on the magazine wall 20, 26, 34, 41, 101 and connected.The depositing of gripper head adapters 82 takes place as follows: a gripper base 60 with gripper head base 90 and coupled gripper head adapter 82 is moved to a depositing position in which the gripper head adapter is automatically linked to the magazine wall 20, 26, 34, 41, 101 by the magnet systems 88. Subsequently, the attractive forces of the magnet systems 64 in the gripper base 60 or of the magnet systems 96 in the gripper head base 90 are attenuated to such an extent that the gripper base and the gripper head base can be released from the gripper head adapter 82 without the latter coming loose from the magazine wall.The coupling of gripper head adapters 82 takes place as follows: The gripper base-base change object interface 93 of a gripper base 60 with gripper head base 90 without coupled gripper head adapter 82 is moved to a position in which an available and compatible gripper head adapter 82 is coupled to the magazine wall 20, 26, 34, 41, 101 by magnetic systems 88. In this case, the gripper-base-base change object interfaces 93, 62 are brought into a base-object coupling connection with the base change object-base interfaces 84, 85 of the gripper head adapter. Subsequently, the attractive force between gripper head adapter and gripper base or the attractive force between gripper head adapter and gripper head base is set to a force which is at least as great as the base-object coupling force, and thus greater than the attractive force between gripper head adapter and magazine wall, so that the gripper head adapter can be detached from the magazine wall.The gripper head base 90 binds connection areas 4 of magazine objects 1 by attractive forces generated therein by an active magnet system 94 which is supplied with electrical signals via contact systems in the gripper head base 90 and corresponding contact systems 65 in the gripper base 60 and whose force is adjustable and which can be designed as an electro-permanent magnetic adhesive.Magazine object interfaces 5 are positioned on the gripper head base 90 via contact with a gripper magazine object interface 51, 77, 86, 95, which is either formed only by "coupling contours" 86 in the gripper head adapter 82, or by a combination of these coupling contours with a "coupling contour on the surface of the gripper head base", which can be formed by a "coupling contour" 95 on the surface of the base magnet system 94 integrated in the gripper head base (FIG. 11 ).A gripper head base 90 firmly connected to a gripper base 60 reduces the design freedom for the interface 62 of the gripper base and thus the possibilities of coupling different base change objects 75 In order to avoid this, in a second embodiment the gripper head base 90 itself can be designed as a base change object (FIG. 11 ) and form an object gripper head 81 alone or in combination with at least one gripper head adapter 82. This is done as follows:The gripper head base 90 is brought with its "base change object base interface" 92 at the gripper base-base change object interface 62 into base-object coupling connection and is detachably connected thereto via the base magnet system 63 in the gripper base 60 (FIGS. 8, 11 ). This generates attractive forces in interaction with a gripper magazine object magnet system 94 in the gripper head base. In addition, attractive forces can arise in interaction with the material of the body 91 of the gripper head base or with additionally introduced magnetizable materials or magnets in the body of the gripper head base.The gripper head base 90 has "contact systems" which can be connected to corresponding contact systems 65 in the gripper base 60 (FIG. 8 ) so that the gripper head base can be supplied with electrical power.The object gripper head 81 has replaceable gripper head adapters 82, which can be connected to an interface, which is either formed solely by contours 93 of the gripper head base 90 or by these in combination with contours 62 of the gripper base interface (FIG. 8 ) when the gripper head adapter is coupled at its coupling surface 84 (FIG. 11 ) to the gripper base interface 62.The object gripper head 81 binds interchangeable gripper head adapters 82 via attractive forces generated with either magnet systems 64 in the gripper base 60 or with magnet systems 96 in the body 91 of the gripper head base 90, wherein the attractive forces are adjustable and generated in interaction with the material of the body 83 of the gripper head adapter 82 or with additional inserted magnetizable materials or magnets 89 in the gripper head adapter (FIGS. 10, 11, 12, 13). FIG. 13 shows an exploded drawing of an object gripper head 81 designed in this way.The object gripper head 81 binds magazine objects 1 by attractive forces to connecting regions 4 which are generated by a gripper magazine object magnet system 94 in the body 91 of the gripper head base 90 which is supplied with electrical signals via contact systems in the gripper head base 90 and corresponding contact systems 65 in the gripper base 60 and the force of which is adjustable and which can be designed as an electro-permanent adhesion magnet.The object gripper head 81 binds magazine objects 1 via a gripper-magazine object interface which is either formed only by coupling contours 86 in the gripper head adapter 82 or by a combination of these coupling contours with a coupling contour on the surface of the gripper head base 90 or a coupling contour 95 on the surface of the base magnet system 94 integrated in the gripper head base.The gripper head base 90 must be able to be placed in a placement position on the magazine wall 20, 26, 34, 41, 101 or a special receptacle. Therefore, it is provided with contours defining its position relative to the magazine wall 20, 26, 34, 41, 101 and, if applicable, equipped with additional magnet systems which generate a suitable attractive force between it and the magazine wall. In advantageous embodiments, the base magnet system 94 in the gripper head base 90 can provide both the contour 95 for depositing the gripper head base on the magazine wall and the required attractive force (FIG. 11 ). The gripper with gripper base 60 can thus couple the gripper head base 90 desired for a changing operation from the magazine wall and deposit it again on it.For a flexible arrangement of magazine objects 1 on the magazine wall 20, 26, 34, 41, 101, the magazine object receptacles 10, 22, 29, 37, 44, 53 provided for them must be able to be received by the magazine wall 20, 26, 34, 41, 101 from any desired position within a useful range and deposited at another position. This can be done with a special "pick gripper head" 98 (FIG. 14 ), the "pick gripper head base" 99 of which has an "outer pick head coupling interface" 100 in the front region, which can be brought into a "pick head coupling closure" with the pick-up magazine object interface 13, 55 of the magazine object pick-up to be transferred. In addition, it has in its "pick-up gripper head base body" 99 a "pick-up head magnet system" 101 with adjustable force, which can be set to at least two values, of which, when the interfaces are connected by the pick-up head, one of which, the "pick-up head connecting force", is sufficiently large to be able to release from the magazine wall each magazine object receptacle 10, 22, 29, 37, 44, 53 coupled thereto, which is coupled to the magazine wall, or each support part 17 coupled thereto, which is coupled to the magazine wall, and of which the other, the "pick-up head separating force", is sufficiently small, This is to enable any magazine object receptacle placed on the magazine wall brought into receptacle head coupling closure with it or any support part 17 placed on the magazine wall brought into receptacle head coupling closure with it, to be separated without changing the position of the magazine object receptacle or of the support part. In addition, the recording head magnetic system 101 can function as a deposition magnetic system.In embodiments of the tool magazine in which the forces to be applied by the handling system 112 become too great for releasing magazine object receptacles 10, 22, 29, 37, 44, 53 from the magazine wall 20, 26, 34, 41, 101, receptacle wall magnet systems 15, 57 can be inserted into the magazine object receptacles, the magnetic forces of which can be adjusted, for example permanent electric magnets. A receiving gripper head 98 can then be coupled to a magazine object receptacle, then the attractive force between the magazine object receptacle and the magazine wall can be reduced by reducing the magnetic field of the receiving wall magnet system 15, 57 (FIG. 2 ) and then the magazine object receptacle can be released from the magazine wall. The supply of power to the magazine object receptacle can be effected via contacts in the receptacle head coupling interface 100 and corresponding contacts in the magazine object receptacle.For the placement, in the case of a magazine object receptacle 10, 22, 29, 53 which is only linked to the magazine wall 20, 26, 101 by magnetic forces, the receptacle is moved into a "receptacle wall position" and is there automatically linked by its receptacle wall magnetic system 15, 57. Then, by reducing the field of the magnetic system 101 in the pickup gripper head to a value equal to or less than the pickup head separating force, the connection thereto is released so that it can be separated from the magazine object pickup without changing its position on the magazine wall.For the placement, in the case of a magazine object receptacle 10, 22, 29, 37, 44, 53 with an active receptacle wall magnet system 15, 57 that is bound to the magazine wall 20, 26, 101 only by magnetic forces, the magnetic field of the receptacle wall magnet system is greatly attenuated, the magazine object receptacle is then moved into a receptacle wall position, the magnetic field of the active receptacle wall magnet system 15, 57 is subsequently increased to a value greater than or equal to the receptacle wall holding force and the magazine object receptacle is thus bound to the magazine wall. Subsequently, by reducing the field of the magnetic system 101 in the pickup gripper head to a value equal to or less than the pickup head separating force, the connection to it is released so that it can be separated from the magazine object pickup without changing its position on the magazine wall.If the magazine object receptacle 37 is connected to a magazine wall 34 by a fastening contour 39, the magazine object receptacle is brought up to the magazine wall for placement in such a Z position that insertion of the fastening contour into a groove is possible until a receptacle-wall coupling connection is produced. A downward movement is then carried out until the fastening contour is brought into contact with at least one contact surface of at least one of the grooves in such a way that a further downward movement is no longer possible. Then, by reducing the field of the magnetic system 101 in the pickup gripper head, the connection thereto is released so that it can be separated from the magazine object pickup without changing the position of the magazine object pickup on the magazine wall.If the magazine object receptacle 44 is connected to a magazine wall 41 by a clamping element 46, the magazine object receptacle is brought to the magazine wall for placement in such a Z position that insertion of the clamping element into a groove is possible until a receptacle-wall coupling closure is produced. In this case, an insertion force required for the deformation of the clamping element is overcome. Then, by reducing the field of the magnetic system 101 in the pickup gripper head, the connection thereto is released so that it can be separated from the magazine object pickup without changing the position of the magazine object pickup on the magazine wall.The picking up of magazine object receptacles 10, 22, 29, 37, 44, 53 from a magazine wall 20, 26, 34, 41, 101 is effected as follows: The pick-up head coupling interface 100 of a pick-up gripper head 98 without a coupled magazine object receptacle is moved to a position in which an available and compatible magazine object receptacle is coupled to the magazine wall 20, 26, 34, 41, 101 in a wall position. In this case, the outer receiving head coupling interface is brought into a receiving head coupling connection with the receiving magazine object interface 13, 55 of the magazine object receiving means. Subsequently, the attractive force between the pick gripper head and the magazine object pick-up is set to a force which is at least as great as the pick-up head coupling force. If the magazine object receptacle is anchored by a fastening contour 39 on the magazine wall in a groove with an undercut, then it must first be moved upwards a path until the fastening contour is freed from the undercut. In all cases of the connection of magazine object receptacles to the magazine wall, the magazine object receptacle can be released from the magazine wall by the force of at least one drive of the handling system for the gripper 49, 59, 69, 60 at 81, 97 perpendicular to the magazine wall.Magnetic systems have in principle the property that attracting objects are accelerated towards each other with a strongly increasing relative speed when coupled, since the forces of attraction of the magnetic systems increase strongly with decreasing distance of the coupling interfaces. If these then come into contact, force peaks are produced during braking, which can lead to chipping of magnetic material due to the brittleness of permanent magnetic materials. In order to avoid this, measures are useful which ensure that no direct contact of attracting objects can take place in the region of magnetic material. For this purpose, for example, the shape of the contact contours 13 of the magazine object receptacles 10, 22, 29 (FIG. 2 ) can be designed such that a gap is always obtained between the magazine object interface 5 and the magnet system 14, 56. A further possibility is to coat permanent magnetic material on the contact surface or to protect it from damage by applying a suitable intermediate part. Impact loads can likewise be reduced if permanent magnets are bound elastically in their carrier body, for example by means of elastomer material, so that during the process of coupling two objects they cover a path relative to the carrier body in which increasing elastic forces are built up and in addition the movement is damped.Elastic elements can also be integrated directly into coupling interfaces in such a way that, as the distance between the coupling interfaces increases, forces have to be applied for their deformation and the speed of the relative movement of the objects to be coupled is thereby reduced. When suitable elastomer materials are used, a damping effect can also be achieved. It is also possible to use elastomer materials in interchangeable objects in such a way that at least one of the two interfaces to be coupled is formed by the surface of a body made of elastomer material.A further possibility of avoiding force peaks when attracting objects strike during a coupling process is to control the speed of the gripper movement with the drives of the handling system 112 such that the relative speed of the coupling interfaces is sufficiently low when they come into contact. For this purpose, the gripper movement is controlled with a suitable speed profile as a function of the distance between the coupling points. Signals from force sensors may be helpful here, which may be integrated in a gripper carriage or a "gripper actuator", which may be a gripper 49, a gripper base 60, 70 and 60 with 90 or a gripper head 66, 75, 81, 82, 98 as base change object. Since the attractive forces may become large enough to cause appreciable elastic deformations of the handling system 112 that are incorporated into the force-travel characteristic of the gripper movement, it may be necessary to take these into account in the setting of the speed profile. Since these elastic deformations may be different for different carriage positions in the handling system depending on the embodiment, it may be necessary to adapt the speed profile by portions depending on the carriage positions.In order to be able to describe comprehensive basic functions of the magazine in a simpler manner in the following, the term "interchangeable object" is used. A replaceable object can be a magazine object 1, a basic replaceable object 66, 75, 81, 82, 90, 98, a magazine object receptacle 10, 22, 29, 37, 44, 53, a support part 17 or optionally a further receptacle, which can be handled by a gripper 49, 59, 69, 60 at 81, 97 in a similar manner to a magazine object receptacle.The properties of all interchangeable objects can be stored in an electronic magazine memory to which the control system of the magazine has access. Additionally, the properties of a removable object may be included in an "object identification system" that is fixedly connected to the removable object. This can be connected to a read or write-read system which can read out or read in and overwrite the information. The read or write-read system can be installed fixedly in the magazine, so that a gripper 49 or a composite gripper 59, 69, 60 with 81, 97 interchangeable objects must be brought into an interaction region in order that properties can be read out and / or changed. The movements of the handling system 112 required in this solution can be reduced if a read or write read system can be moved with the gripper. For this purpose, it can be connected directly to a gripper actuator.If a camera system is integrated into a carriage of a handling system 112 or a gripper actuator, changes can be followed visually and, when using image recognition methods, changes can be recognized, characterized or even measured. With it, for example, broken or damaged tools, adhering contaminants, etc. can be detected.The control of the gripper movement via values of position coordinates of interchangeable objects stored in a magazine memory does not work if the position of the interchangeable object is not known or is not known exactly enough. Such cases occur, for example, when interchangeable objects are introduced into the magazine manually or by a handling system not belonging to the magazine. In such cases, it is expedient to equip slides of the handling system 112 or gripper actuators with cameras and / or measuring systems which allow interchangeable objects to be identified, they to be measured and positions of interchangeable objects to be determined which are read into the magazine store as precisely current actual positions. In such cases, the coordinates of the coupling positions are determined by combinations of measured values of the systems connected to the carriage or to the gripper actuator with those which determine the positions of carriages of the handling system. Problems in the coupling of interchangeable objects to a gripper 49, 59, 69, 60 with 81, 97 due to missing or inaccurate position values stored in the magazine memory can likewise be avoided if the positioning process of the gripper 49, 57, 69, 60 with 81, 97 is controlled with the aid of current relative distances of coupling interfaces determined by measurement systems. For this purpose, it is appropriate to move the gripper into the vicinity of the interchangeable object of interest until a predefined minimum distance is reached and then to use the distance signal for the regulation of the gripper movement for the remaining distance until the coupling points contact.The use of magnets for the handling of magazine objects 1 can result in the connecting regions 4 having a level of residual magnetization which can become disruptive in certain working processes of a processing machine, for example because chips settle on tool holders. In order to avoid this, a demagnetization device can be provided in the magazine. This can be installed permanently in the vicinity of a "changing device", which can exchange magazine objects, for example, with the processing unit of a processing machine and which has at least one changing position into which magazine objects can be inserted by the gripper of the handling system 112 or removed from the magazine objects. Tool change objects can be demagnetized in the vicinity of the change position before being loaded or after being removed, and at the same time, adhering magnetic particles can be removed. For this purpose, the demagnetization device can be combined with a cleaning device and a camera.A demagnetization or a cleaning device or a device combining these two can also be coupled to a gripper base 60, 70 designed as a base change object 75 and moved in a targeted manner to magazine objects. Simple embodiments of such devices can be directly connected to the magazine wall 20, 26, 34, 41, 101 like other basic change objects. Since particles are generally picked up by the demagnetization or cleaning device and media are used, it is advantageous to use special pick-ups for the deposition of these devices, with which it is possible to exchange media or particles. In addition, when coupled to such a receptacle, the device can be supplied with electrical power or a data exchange can be carried out with the controller.The better the utilization of the available volume of the magazine, the worse the condition in the interior can be seen from the outside. This disadvantage can be alleviated with cameras or measuring systems which are permanently installed. Particularly in the case of magazine walls lying closely next to one another, the options for visual analysis can be extended substantially beyond the range of performance achievable with cameras installed in fixed fashion by using an analysis unit which is moved with the gripper 49, 59, 69, 60 by 81, 97. This can be integrated directly into a carriage of the handling system or a gripper actuator, coupled as a base change object 75 to a gripper base 60, 70 and 60 with 90, or coupled as a magazine object 1 to a gripper actuator. In the latter case, it can even be inserted into a changing device and can be changed by the latter, for example, into the processing unit of a processing machine. In this case, in addition to the interior of the magazine, a considerable part of the interior of the processing machine can also be analyzed.In certain cases, it is advantageous if a functional unit can be operated independently of a power supply for a certain duration. This applies in particular to functional units which, like a magazine object, are coupled to a gripper actuator and can then also be changed, for example, into a processing machine. In such cases, it is difficult to provide a permanent power supply. Advantageous solutions result from the integration of an energy storage device into a replaceable object, with the aid of which the energy of mechanical, electromechanical or electronic systems contained in the replaceable object can be operated for a specific duration. In this case, transmission or connection systems are provided in the interchangeable object and in a special receptacle for the interchangeable object, which are connected to one another when the interchangeable object is stored on the receptacle and which then enable the transmission of energy into the memory.With the described receptacles of magazine objects and grippers 59, 69, as well as 60 with 81, 97, very flexible patterns of arrangements of interchangeable objects on a magazine wall 20, 26, 34, 41, 101 can be produced. Since the interchangeable objects which can be coupled directly to the magazine wall play a preferred role in this case, they are summarized under the term "wall interchangeable objects". For the following description, a distinction is made between "one-piece wall interchangeable objects", which include magazine object receptacles 10, 22, 29, 37, 44, 53, support parts 17 and basic interchangeable objects such as gripper heads 66, 75, 81, 82, 90, 98 and functional units, for example, and "composite wall interchangeable objects", which consist of a combination of a one-piece wall interchangeable object with a magazine object coupled thereto.In the generation of patterns of arrangements of wall-change objects, in magazines without grooves in the magazine walls 20, 26, 34, 41, 101, the distances of wall-change objects depend exclusively on distances of their outer surfaces from those of wall-change objects at adjacent positions. Considering the fact that interchangeable objects are deposited onto the magazine wall in the direction perpendicular to the latter and therefore must not lie in front of or behind one another when they are to be handled independently of one another, it is not necessary to take into account the entire outer surfaces, but only the outer contours of their projections onto the magazine wall. These are referred to as "object contours". For the distances of object contours, a minimum value is expediently defined which depends primarily on the accuracy of the positioning of the interchangeable objects by the gripper 49, 59, 69, 60 at 81, 97. The dimensions of the receptacles of magazine objects or dimensions of the grippers used for handling magazine objects have no influence on the distances of wall interchangeable objects in arrangement patterns, since they do not project beyond the wall interchangeable objects in the decisive regions of their outer surfaces. For illustration, FIG. 15 schematically shows an example of a regular arrangement of a type of assembled wall interchangeable objects, which consists of magazine object receptacles 53 and tool holders 1 deposited on them. FIG. 16 shows an example of an arrangement with two different sizes of magazine object receptacles and tool holders with tools of different dimensions (103 and 104 and 105, 106 and 107) on a segment 102 of a magazine wall. Since the wall change objects can be arranged at any desired positions within a usable area of a magazine wall, the best possible starting position results for the accommodation of the largest possible number of wall change objects on an available usable area. Because of the wide variety of possible combinations of wall-change object positions, it is advantageous to employ an optimization program for the calculation of array patterns.In the case of magazine walls with groove systems, the possible spacings of wall interchangeable objects in the Z direction are whole multiples of the grid spacings, as a result of which unused wall regions are produced. The smaller the grid spacing is implemented, the smaller the deviation of the achievable number of wall change objects per available useful area from the ideal situation illustrated above becomes.Wall change objects can be arranged on planar or curved magazine walls. For this purpose, FIGS. 17 and 18 show an example of an arrangement of three nested cylindrical magazine walls 108, 109 and 110, which can be rotated relative to one another and have apertures, so that the concealed wall interchangeable objects can be reached by a gripper 49, 59, 69 and 60 with 81, 97. Cylinder surfaces are likewise suitable for modified embodiments of disk magazines in which a cylinder surface with an axis collinear to the disk axis is attached to the circumference of the disks for depositing wall changing objects. When curved magazine walls are used, it is advantageous to adapt the interfaces of wall change objects with the magazine wall 108, 109, 110 to their geometry.Magazines 111, 122 according to the invention with very large quantities of stored wall interchangeable objects per available magazine volume can be realized in a particularly favorable manner by two mutually opposite planar magazine walls 116, 117, between which a gripper system 115 is moved by means of two linear axes 113, 114 (FIGS. 19, 21 ). Since the two magazine walls 116 and 117 are closely spaced, it is advantageous to improve access to the interior for assembly, operation and service. This can be done by integrating a magazine wall 117 completely or partially into a door 125 or 126 (FIGS. 20, 21 ) of a magazine housing 123, which can be displaced parallel to the magazine wall 117 or can be rotated outward from its working position via hinges, for example.In largely closed designs of magazines, it is advantageous to design segments of the magazine wall 20, 26, 34, 41, 101, 116, 117 to be replaceable for the introduction and removal of wall interchangeable objects, so that the latter can be removed from the magazine together with the wall interchangeable objects deposited on them and reintegrated provided with another set of wall interchangeable objects. This also allows a more efficient sequence of the removal and insertion of wall interchangeable objects into the magazine in comparison to a sequential exchange of individual wall interchangeable objects directly on the magazine. FIGS. 19 to 24 show replaceable wall segments 119, 120 and 121 which are connected to the end face 124 of the magazine on the inside of an end-face door 128 and which are referred to below as "replaceable segments". When the door is closed and locked, referred to as the "door operating position", these change segments are likewise locked in a so-called "change segment operating position". Its wall, designated as the "change segment wall" 118, forms part of a magazine wall in this situation. Advantageously, the locking of the interchangeable segments is also released when the position of the door is unlocked. The door can then be moved into a position referred to as a "door lock position", which is expediently fixed either by a further locking or more simply by frictional engagement. In this position of the door, the interchangeable segment walls are accessible from the outside and wall interchangeable objects can be placed on them or removed from them. With the same basic principle, smaller "locks" can also be realized for individual or very small groups of wall change objects, in which regions of a magazine wall, referred to as "lock wall", are made accessible in a similar manner to the change segment walls.If the door is in the door lock position, the change segments are in a position referred to as the "change segment lock position" and their change segment walls are in a position referred to as the "change segment wall lock position". In the case of lock walls integrated into the door, these are in a position referred to as a "lock wall lock position". In it, the wall interchangeable objects placed on the interchangeable segment walls or lock walls are accessible from the outside and can be exchanged.If the door is in the door lock position, removable segments can be moved after unlocking into a so-called "removable segment replacement position". For this purpose, they can be rotated out of the plane of the magazine wall 118 about a vertically standing axis (changing segment 121, FIG. 19, FIG. 20, FIG. 24 ), tilted out about a horizontally lying axis (changing segment 119, FIG. 19, FIG. 20, FIG. 22 ) or pulled out parallel to the surface of the segment of the magazine wall (changing segment 120, FIG. 19, FIG. 20, FIG. 23 ). For handling, it is advantageous to position a replaceable segment in a defined manner in the replaceable segment replacement position. For this purpose, stops are useful against which it is placed. In addition, the handling is significantly simplified if the replaceable segment is fixed in the replacement position either by a force with which it is pressed against the stops and which can be overcome when the replaceable segment is removed and inserted, or by an additional locking mechanism.Alternatively to the introduction of replaceable replacement segments 119, 120 and 121 into a front-side door 128, wall segments of the large magazine walls can also be made accessible for replacement processes by inserting an additional door into one of the doors of the magazine, as is shown in FIGS. 19, 20, 21 using the example of the magazine wall 117 by inserting an additional door 127 into the door 125 of the magazine. The change segments 119, 120 and 121 together form part of the magazine wall.Systems according to the invention differ from those according to the prior art in particular also in that, in addition to magazine objects 1, magazine object receptacles 10, 22, 29, 37, 44, 53, basic change objects 75 and other receptacles can also be introduced into the magazine and removed therefrom and handled by the handling system 112 of the magazine. For example, one-piece wall interchangeable objects 10, 17, 22, 29, 37, 44, 53, 66, 75, 81, 82, 90, 98 can be deposited on an interchangeable segment wall for insertion into the magazine in order to prepare it for receiving magazine objects. Such a case does not exist in magazines according to the prior art.No magazine objects can be coupled to empty interchangeable segment walls. For this purpose, it is only necessary to deposit one-piece wall interchangeable objects at suitable positions with suitable coupling interfaces. This can be done manually when the change segment is in a change segment lock or change segment replacement position or when it is outside the magazine. In the latter case, the entire interchangeable segment can also be brought to a store with interchangeable objects and can be fitted there manually or automatically with the desired wall interchangeable objects.In particular for the pick-up of wall interchangeable objects coupled to interchangeable segment walls or lock walls by the gripper system of the magazine, the possibility, already described above, of determining positions of wall interchangeable objects by measuring systems or cameras in gripper actuators is advantageous. This makes it possible, for example, to compensate for inaccuracies in the positioning of wall interchangeable objects caused by manual processes or handling systems which do not belong to the magazine system. It is even possible to dispense with a preparatory storage of approximate position coordinates of wall change objects in an electronic magazine store if the position coordinates are determined by a suitable system in the lock position or working position of a lock wall or change segment wall and are subsequently read into the magazine store.For the first setting up of the magazine, the important data of the magazine objects planned in the magazine are read into an electronic magazine memory which is accessible to the control system of the magazine. This may be integrated into the control system of the magazine or an external device such as the processing machine, or it may be located in an environment accessible through a network connection. The data must contain at least the geometric properties of these planned wall change objects, including the magazine objects contained therein, required for the calculation of an arrangement pattern of wall change objects on the magazine wall. Since the distances of wall interchangeable objects depend on distances of their own object contours to those of adjacent wall interchangeable objects, at least the object contours of the wall interchangeable objects should ideally be stored in the magazine memory. Under favourable boundary conditions, these object contours can be replaced by simplified forms of the object contours or sets of essential geometry parameters which they characterize.On the basis of the stored data, the required types of basic change objects 66, 75, 81, 82, 90, 98 and magazine object receptacles 10, 22, 29, 37, 44, 53 and the amounts required by each type can be determined. Subsequently, a pattern of an arrangement can then be calculated according to criteria which are stored in an optimization program or are transferred to an optimization program via an interface. This program can be executed either by a processor in the control system of the magazine or by an external computing unit which can be at least partially controlled by the control system of the magazine. Advantageously, the minimization of the area of the "enveloping object contour" is selected as an optimization criterion, which is characterized in that it is the contour of the projection of the outer surface of a contiguous volume onto the magazine wall 20, 26, 34, 41, 101, 116, 117, 118 which is formed by fusing all individual volumes, enclosed by outer surfaces, of the wall interchangeable objects planned in the arrangement pattern and filling up cavities lying between the volumes.Subsequently, wall change objects are coupled to lock positions or to change segment walls in lock positions or first to change segments located outside the magazine, which are then inserted into change segment change positions in the magazine and transferred into lock positions in the magazine. In this case, care must be taken to ensure that one-piece wall change objects, which are required for the storage of magazine objects, are made available earlier than the corresponding magazine objects. It is also possible to prepare interchangeable segments having an arrangement of magazine object receptacles 10, 22, 29, 37, 44, 53 to which magazine objects are deposited for insertion, which can then be deposited on magazine object receptacles already prepared on the magazine wall 20, 26, 34, 41, 101, 116, 117, 118, wherein the arrangement of magazine object receptacles is adopted for the next process of inserting a group of magazine objects.Subsequently, locks and interchangeable segments are brought into working positions in which their coupling walls are integrated and locked as part of the entire magazine wall surface. The "interchangeable object wall positions" resulting in this case are measured, if not known, by cameras or measuring systems which are permanently installed in the lock region of the magazine or are integrated in a gripper actuator or a basic interchangeable object 66, 75, 81, 82, 90, 98, and are then stored, if appropriate together with further information, in the magazine memory. Subsequently, all wall interchangeable objects present on lock or interchangeable segment walls are successively picked up by the gripper 49, 59, 69, 60 with 81, 97 of the magazine and automatically deposited at a planned position on the magazine wall 20, 26, 34, 41, 101, 116, 117, 118. For this purpose, the required basic interchangeable objects, i.e. the required object gripper heads 75 or gripper head adapters 82, are automatically coupled to the gripper bases 60, 70 and 60 at 90 before the handling of an individual or a group of wall interchangeable objects. In this way, the arrangement of interchangeable objects in the magazine can be automatically adapted within wide limits to a large range of desired magazine objects, which is not possible in magazines according to the prior art.In the last part of the claims of the present application, methods are compiled which are essential for the operation of a magazine according to the invention. Since the method steps are described in detail in the method claims and are largely self-explanatory, they are no longer shown in detail here, but are only cited and explained by supplementary descriptions where considered expedient.Claim 60 includes the description of a method for determining the change object wall position of a wall change object in the magazine. Working steps and backgrounds have already been described above in several places.Claim 61 includes the description of a method for positioning a gripper 49, 59, 69, 60 at 81, 97. When it is performed, the current position of an "object coupling interface" 13, 55, 84, 85, 92 of a selected wall change object can be determined according to the method in claim 60 and stored as the current storage object coupling position in the electronic magazine memory. The gripper 49, 59, 69, 60 with 81, 97 is then positioned in such a way that its "gripper coupling interface" is brought into coupling closure with the object coupling interface of the selected wall change object. This procedure is particularly useful when the position of the object coupling interface of the selected wall change object is not known or when their coordinates are stored as provisional values in the magazine memory, but the exact values are not known, as occurs, for example, when manually depositing wall change objects or when depositing with a handling system 112 which does not belong to the tool magazine and whose position coordinates do not correspond exactly enough to those of the magazine.In addition, an alternative with a method is described in which the distance of coupling interfaces is measured directly and used for controlling a gripper movement. In this way, many inaccuracies can be avoided, which can also include those caused by the handling system 112 of the magazine and the measurement systems inserted therein. This is advantageous in particular in handling systems with large travel distances, in which elastic deformations of axle systems occur to an increased extent, so that the actual gripper positions can only be determined with greater inaccuracies by the integrated measurement systems.Claim 62 contains the description of a method for positioning a gripper 49, 59, 69, 60 with 81, in which the gripper movement is guided with a speed profile dependent on its distance until the coupling interfaces provided for coupling are connected by coupling. In this case, accelerations of the gripper movement due to attractive forces between objects to be coupled can be suppressed by generating opposing braking forces with at least one drive of the system for the gripper movement. In this way, the effect of the attractive forces of the magnet systems, which is disadvantageous for the positioning, can be compensated. Since these increase sharply with decreasing distance of the coupling interfaces, they lead to an acceleration of the gripper, which increases as the coupling interfaces approach one another. If the coupling interfaces meet upon contact, undesired force peaks are produced due to the abrupt braking.Depending on the embodiment of the handling system 112, it is advantageous to take deformations of the handling system into account for such a guidance of the speed profile. The stiffness of handling systems is generally designed to be relatively low for cost reasons and it varies depending on the positions of the carriages which move the gripper 49, 59, 69, 60 at 81, 97. Attractive forces of the magnet systems can lead to practically relevant deformations of the handling system, which influence the speed profile of the gripper movement via distance changes. In this case, it is advantageous to configure the speed profile differently depending on deformations of the handling system depending on carriage positions.Claim 63 includes the description of a method for coupling a base change object 66, 75, 81, 82, 90, 98 to a gripper base 60, 70 or a gripper adapter base 60 having 90 of a composite gripper 59, 69, 60 having 81, 97. Here, the operation of gripping without moving mechanical parts by varying the attractive force of the base magnet system 63, 64, 73, 74, 94, 96 is particularly essential.Claim 64 includes the description of a method for coupling a magazine object 1 to a gripper. Here, the operation of gripping without moving mechanical parts by means of the variation of the attraction force of the gripper-magazine-object magnet system 52, 94 is particularly essential.Claim 65 includes the description of a method of coupling a magazine object receptacle 10, 22, 29 to a composite gripper 97 having a receptacle gripper head 98, particularly the operation of gripping without moving mechanical parts by varying the attractive force of the receptacle head magnet system 101 is essential.Claim 66 includes the description of a method of coupling a magazine object receptacle 10, 22, 29 having active receptacle wall magnet systems 15, 57 to a composite gripper 97 having a receptacle gripper head 98.Claim 67 contains the description of a method for depositing a basic change object 66, 75, 81, 82, 90, 98. If the holding forces are generated only by depositing magnet systems 68, 79, 88, 94, 101, the necessary wall attractive forces arise by themselves with simple positioning of the basic interchangeable objects on the magazine wall. The process of releasing the gripper base 60, 70 and 60 at 90 from the base change object takes place without moving mechanical parts by reducing the attraction force of the base magnet system 63, 64, 73, 74, 94, 96 to values less than or equal to the base object separation force.Claim 68 contains the description of a method for depositing a magazine object 1. Here, the possibility of simple deposition on magazine object receptacles 10, 22, 29, 37, 44, 53 is particularly essential, which can be achieved by simple positioning on account of the receptacle object magnet systems 14, 56 used, and the process of releasing the gripper 49, 57, 69, 60 with 81 without movement of mechanical parts by reducing the attractive force of the gripper magazine object magnet system 52, 73, 94 to values less than or equal to the gripper magazine object separating force.Claim 69 contains the description of a method for depositing a magazine object receptacle 10, 22, 29. Here, the possibility of simple deposition on coupling walls is particularly important, which can be achieved by simple positioning when only the holding forces are generated by means of a receptacle wall magnet system 15, 57, and the process of releasing the pick gripper head 98 from the magazine object receptacle without moving mechanical parts by reducing the attractive force of the pick head magnet system 101 to values less than or equal to the pick head separating force is essential. In the case of pickup gripper heads and magazine object pickups 10, 22, 29, 37, 44, 53 with an active pickup wall magnet system 15, 57, the process of reducing its force by imposing an electrical variable is added.Claim 70 includes the description of a method for inserting wall change items into the magazine. Many different working sequences are possible here. On the one hand, wall change objects can be introduced individually or in small groups into the magazine via at least one lock. On the other hand, wall change objects can be introduced individually or in small groups on change segments into change segment lock positions. In addition, it is possible to deposit wall interchangeable objects on interchangeable segments which are located outside the magazine and which are subsequently introduced with deposited wall interchangeable objects into an interchangeable segment lock position in the magazine and from there are transferred into an interchangeable segment working position in the magazine wall. In addition to these possibilities, one-piece wall change objects, composite wall change objects or magazine objects can be handled with each of them, with dependencies between these variants.The transfer of interchangeable objects from lock walls or segment walls to a position on a magazine wall likewise has a number of possibilities:One-piece wall change objects 10, 17, 22, 29, 37, 44, 53, 66, 75, 81, 82, 90, 98 can be coupled directly to a gripper 49, 59, 69, 60 having 81, 97 and deposited by it on the magazine wall in a desired free direct target coupling position. If necessary, a suitable gripper head must be exchanged into the gripper for this purpose. This can either be present in the magazine or be made available together with the one-piece direct wall change object on a lock wall or a segment wall.The displacement of magazine objects has a greater variety of variants, since it presupposes a suitable magazine object receptacle 10, 22, 29, 37, 44, 53 at the target position, which, if appropriate, must be deposited only there, for which purpose a suitable gripper head 75 must be replaced if appropriate. A suitable magazine object receptacle and the required gripper head can either already be present on the magazine wall or they can be deposited together with the magazine object on a lock wall or segment wall for insertion.Claim 71 includes the description of a method for removing wall change objects from the magazine. Similar to claim 72, many different sequences of operations are possible here,depending on whether a one-piece or a composite wall change object is to be removed from the magazine,depending on whether a magazine object receptacle 10, 22, 29, 37, 44, 53 is present for a magazine object or first has to be fetched and deposited,depending on whether a magazine object is to be deposited on a lock wall or a segment wall, anddepending on which gripper head has to be changed for which handling operation.Claim 72 includes the description of a method for calculating an arrangement pattern of wall change objects. This is characterized in that each selected wall interchangeable object can be placed in an individual object coupling position on a partial surface of a coupling wall which depends only on distances of its object contour from those of adjacent wall interchangeable objects and from the edges of the partial surface which, because of limited accuracy of the gripper positioning by the handling system 112, must not fall below a minimum value. Only when using groove systems in the magazine wall does the groove spacing of the groove grid in the Z direction enter into a limiting factor for the positioning of wall interchangeable objects, wherein this is no longer significantly important at sufficiently small spacings.The determination of distances of object contours requires, on the one hand, a certain storage space for the storage of the two-dimensional object contours and, on the other hand, a process for determining the distances. In a simplified method, the object contours can be replaced by a set of geometry parameters which require less storage space and allow simpler determination of the relevant distances.Since the possibilities of generating an arrangement pattern, apart from the minimum distance, which depends substantially on the accuracy of the positioning of the handling system 112, depend only on the size of the wall interchangeable objects themselves and, in the case of a magnetic system for the coupling of magazine object receptacles 10, 22, 29, 37, 44, 53, any desired position within a usable area on the magazine wall 20, 26, 34, 41, 101, 116, 117, 118 can be used for depositing, the theoretically largest possible number of interchangeable objects can be deposited on a given usable area of the magazine wall and thus the theoretically largest possible density of interchangeable objects can be achieved.In addition, the arrangement can be adapted flexibly to changing requirements, since both the types of recordings and their positions can be individually selected. The optimization of such an arrangement can become expensive when it is highly sensitive to its quality, which is why the use of optimization programs is expedient. These may include very complex methods from the artificial intelligence field.Claim 73 includes the description of a method for generating a physical arrangement of removable objects having a scheduled arrangement pattern. If both the present arrangement pattern and the planned arrangement pattern calculated with the method 72 are known, a sequence of method steps for removing interchangeable objects from the magazine, transferring remaining interchangeable objects and introducing new interchangeable objects can be carried out, in which method described above can be used in accordance with the respective case. When removing or inserting interchangeable objects, method steps are necessary which cannot be carried out by the handling system 112 of the magazine. Correspondingly, method steps to be performed manually or by an external handling system 112 are to be scheduled here and their execution monitored. In addition, the resulting method steps are dependent on the properties of lock systems or replaceable segments. Even when generating a physical arrangement of interchangeable objects with a planned arrangement pattern, a considerable complexity of the working steps can arise, so that the use of a program for its calculation and execution is expedient.Claim 74 includes the description of a method for generating a swap buffer. This is useful if, for example, in a machining process, different tools are required one behind the other at such short time intervals that they can no longer be reached with long travel paths of the handling system at storage positions that are too far away. In this case, the required interchangeable objects can be held in a region of the magazine wall which lies close to the position in which they are placed in an interchangeable position in a transition interchange device or from which they are removed.Removable objects can be combined into object groups, such as:process groups containing objects required for certain processing processes,reject groups containing objects which are defective,spare groups containing objects that can be substituted for defective objects,type groups containing objects of a certain type, etc.Object groups can be arranged in contiguous surface areas reserved for them, which can be continuously adapted to the requirements of planned processes with regard to their shape, size and position in the magazine. Object groups can, however, also be distributed individually or as groups within the magazine over many different positions and be depicted as a related set of objects and positions only in the software.Within an object group, an order can be generated which depends on the temporal sequence of the use of the objects contained therein. For example, a first process group may contain the tools for a first process and form a removable buffer with them. Tools that are already used in the process and are no longer required in the future can be integrated into another object group, so that the area required for the first process group becomes increasingly smaller. The space left free can be used, for example, for the formation of a second process group for the subsequent second process.Overall, there is an extremely great versatility in the provision of magazine objects with a density of the arrangement lying at the limit of the physical possibility.

Claims

Magazine (122) for "interchangeable objects" comprising as one type "magazine objects" (1) characterized in that they can be provided in the magazine and the magazine objects (1) have at least one "connection area" (4) forming with at least part of its outer surface a "magazine object interface" (5) and comprising as at least a second type "magazine object receptacles" (10), (22), (29), (37), (44), (53) which can receive and hold magazine objects (1) at a "receptacle magazine object interface" (13), (55), - wherein magazine object receptacles (10), (22), (29), (37), (44), (53) are characterized in that, having on their "rear side" facing away from the magazine object (1) a "receiving magazine wall interface" (12), (32), (40), (47), (58), which is characterized in that it can be brought (on its "rear side" facing away from the magazine object (1) in at least one direction in contact with at least one contour designated as a "magazine wall interface" (21), (27), (35), (42) on or in the magazine wall (20), (26), (34), (41), (102) in such a way that the position of the receiving magazine object interface (13), (55) relative to the magazine wall interface (21), (27), (35), (42) is defined in at least two rotational degrees of freedom and at least one translational degree of freedom, wherein such a connection of these two interfaces is designated as a "receiving wall coupling connection", and wherein interfaces, which can be brought into coupling connection in this way are referred to as "compatible interfaces" and as "coupling interfaces", and wherein the positions of receptacle-magazine object interfaces (13), (55) of magazine object receptacles (10), (22), (29), (37), (44), (53) in receptacle-wall coupling connection are referred to as "receptacle-wall positions", and wherein magazine object receptacles (10), (22), (29), (37), (44), (53) belong to a type of interchangeable objects referred to as "wall interchangeable object" (10), (22), (29), (37), (44), (53), and - wherein the magazine (122) is characterized in that, that distances between receiving wall positions in the "X direction" perpendicular to the force of gravity and tangential to the magazine wall can be set either arbitrarily or in discrete increments which are significantly smaller than the smallest width determined in the X direction of all magazine object interfaces (5) or the smallest diameter of all connecting regions (4) of magazine objects (1) to be handled in the magazine and / or that distances between receiving wall positions in the "Z direction" parallel to the force of gravity tangential to the magazine wall (20), (26), (34), (41), (102) can be set either arbitrarily or in discrete increments which are smaller than the smallest width determined in the X direction of all magazine object interfaces (5) or the smallest diameter of all connecting regions of magazine objects (1) to be handled in the magazine.Magazine according to claim 1, characterised in that the width of at least one magazine object receptacle (10), (22), (29), (37), (44), (53) in the X direction at least in the region of contact with magazine object interfaces (5) is smaller than the smallest width of the magazine object interface determined in the X direction or the smallest diameter of the connecting region (4) of all magazine objects (1) to be received by the magazine object receptacle.Magazine according to claim 2, characterised in that the "receptacle magazine object interface" (13), (55) is characterised in that the magazine object interface (5) of a connection region (4) of at least one magazine object (1) can be brought into contact with it in such a way that the relative position of the two interfaces is determined in at least one degree of translation and at least one degree of rotational freedom, wherein such a connection of these two interfaces is referred to as a "receptacle magazine object coupling closure" and wherein interfaces which can be brought into coupling closure in such a way are referred to as "compatible interfaces" and as "coupling interfaces".Magazine according to Claim 3, characterized in that at least one magazine object receptacle (10), (22), (29), (37), (44), (53) has, on its "front side" facing the magazine object (1), at least one "receptacle object magnet system" (14), (56) which can generate an attractive force between it and at least the connecting region (4) of at least one magazine object (1), the "receptacle object holding force", which is characterized in that it is at least so large that, when the receptacle magazine object interface (13), (55) is coupled to the magazine object interface (5) of the hardest magazine object with compatible magazine object interface, it ensures the coupling connection of the interfaces and fixes degrees of freedom of the relative position of the interfaces which are not fixed by said coupling connection, wherein magazine objects (1) linked to a magazine object receptacle (10), (22), (29), (37), (44), (53) in this way are referred to as "coupled" and "deposited".Magazine according to at least one of the preceding claims, characterized - in that the magazine wall (26) has grooves (28) running horizontally in the X direction, the distance between which grooves in the vertical direction is less than the smallest width, determined in the X direction, of the magazine object interface (5) or the smallest diameter of the connecting region (4) of all magazine objects (1) to be handled in the magazine, and - in that at least one magazine object receptacle (29) has at least one "wall retaining contour" (31) which, when the receptacle wall interface (32) of the magazine object receptacle is coupled to the receptacle wall, can be brought into contact with at least one contact surface of at least one of the grooves in this way, the movements of the receptacle magazine wall interface (32) of the magazine object receptacle (29) parallel to the magazine wall in the direction of gravitational forces are not possible, and the magazine object receptacle can be released from the magazine wall by tensile forces perpendicular to the magazine wall without having to execute a movement parallel thereto.Magazine according to at least one of Claims 1 to 4, characterized - in that the magazine wall (34) has grooves running horizontally in the X direction with undercuts (36), the spacing of which in the vertical direction is less than the smallest width, determined in the X direction, of the magazine object interface (5) or the smallest diameter of the connecting region (4) of all magazine objects (1) to be handled in the magazine, and - in that at least one magazine object receptacle (37) has at least one "fastening contour" (39), which can be brought into contact with at least one contact surface of at least one of the grooves in this way when the receptacle wall interface (40) of the magazine object receptacle is coupled to the receptacle wall, that movements of the receptacle-magazine wall interface (40) of the magazine object receptacle (37) parallel to the magazine wall in the direction of gravitational forces are not possible and the magazine object receptacle cannot be pulled away from the groove by forces perpendicular to the magazine wall (34) in the region of the fastening contour (39) if it has contact with all provided contact surfaces without a movement of the magazine object receptacle parallel to the magazine wall taking place, and that - the magazine object receptacle can be brought into a position by a movement parallel to the magazine wall counter to the direction of gravitational forces, in which position it can be released from it by tensile forces perpendicular to the magazine wall.Magazine according to at least one of Claims 1 to 4, characterized - in that the magazine wall (41) has grooves running horizontally in the X direction with undercuts (43), the spacing of which in the vertical direction is less than the smallest width, determined in the X direction, of the magazine object interface (5) or than the smallest diameter of the connecting region (4) of all magazine objects (1) to be handled in the magazine, and - in that at least one magazine object receptacle (44) has at least one "clamping element" (46) having a contour which, when the receptacle wall interface (47) of the magazine object receptacle is coupled to the magazine wall, can be brought into contact with at least two surfaces of at least one of the grooves in this way, that movements of the receiving magazine wall interface (47) of the magazine object receiving means (44) parallel to the magazine wall in the direction of gravitational forces are not possible or are only insignificantly possible, and the magazine object receiving means can be pulled away from the groove by tensile forces perpendicular to the magazine wall in the region of the clamping elements (46) only by overcoming a holding force when the provided clamping elements have contact with all provided contact surfaces, - wherein the holding force is generated by the clamping element by its own deformation or by deformation of at least one elastic element connected to the clamping element.Magazine according to at least one of the preceding claims, characterized in that at least one magazine object receptacle (10), (22), (29), (37), (44), (53) has on its rear side at least one "receptacle wall magnet system" (15), (57) which can generate an attractive force between itself and at least one region of a magazine wall (20), (26), (34), (41), (102), the "receptacle wall holding force", which is characterized in that - it is the sum of all forces of mechanical fastening contours and magnet systems which hold the magazine object receptacle on the magazine wall and - it is significantly greater than the receptacle object holding force according to Claim 4 and - it is at least so great that it is at least so great that it is upon receptacle wall coupling closure of the magazine wall interface (21), (27), (35), (42) with the receptacle magazine wall interface (12), (32), (40), (47), (58) according to claim 1 of the magazine object receptacle to which the most difficult magazine object (1) is coupled with a magazine object interface (5) compatible with its receptacle magazine object interface (13), (55), and, when wall holding contours (31), fastening contours (39) or clamping elements (46), if these are present, contact all provided contact surfaces in grooves ensures the receptacle wall coupling connection of the interfaces and fixes non-defined degrees of freedom of the relative position of the interfaces, wherein magazine object receptacles (10), (22), (29), (37), (44), (53) which are connected in this way to a magazine wall are referred to as "coupled" and "deposited".Magazine according to claim 8, characterised in that, in the case of at least one magazine object receptacle (10), (22), (29), (37), (44), (53), the shape thereof and the receptacle wall magnet system (15), (57) thereof having properties according to claim 8 are designed such that said receptacle wall magnet system also attracts at least the connecting region (4) of at least one magazine object (1) such that the receptacle wall magnet system (15), (57) forms a receptacle object magnet system (14), (56) alone or in combination with at least one additional magnet system in the front side of the magazine object receptacle and generates a receptacle object holding force according to claim 4.Magazine according to at least one of claims 8 or 9, characterised in that the position of at least one magazine object receptacle (10) on the magazine wall (20) is secured against movements of gravitational forces acting parallel to it by combination of the magazine object receptacle with a support part (17), - which is a wall change object which is at most as wide as the magazine object receptacle and - the rear side thereof facing the magazine wall has a "support part-magazine wall interface" (19), which is characterised in that it can be applied to a magazine wall interface (21) in such a way that the relative position of the two interfaces is determined in at least one degree of translation and at least two degrees of rotational freedom, wherein such a connection of these two interfaces is referred to as a "support part-wall coupling closure", and - the interface on its front side, which interface is referred to as "support part object interface", with which it can be brought into contact with an interface of a "gripper" (49) in such a way that the relative position of the two interfaces is fixed in at least one degree of translation and at least two degrees of rotational freedom, wherein such a connection of these two interfaces is referred to as "gripper support part coupling closure" and the position of the support part object interface thus determined is referred to as "support part wall position", and wherein interfaces which can be brought into coupling closure in such a way are referred to as "compatible interfaces" and as "coupling interfaces", - wherein the support part can be brought into contact with the magazine object receptacle counter to the direction of gravitational forces, and - wherein the support part is provided with a "support part-wall magnet system" that, in support part-wall coupling closure of the support part, can generate an attractive force, called "support part-wall holding force", between itself and at least one region of a magazine wall (20) which is at least as great that at least one magazine object receptacle (10), in combination with the support part (17) brought into contact therewith, can exert a force on at least one connection region (4) of at least one magazine object (1) which is at least as great as that of a receptacle-wall holding force having properties according to claim 8, - wherein a support part in support part-wall coupling closure having such an acting support part-wall holding force is referred to as "coupled" and "deposited".Magazine according to at least one of the preceding claims, characterized in that the attractive force between at least one receiving wall magnet system (15), (57) of a magazine object receptacle (10), (22), (53) and at least one region of the magazine wall (20), (26), (34), (41), (102) is increased by magnets attached to the magazine wall or integrated therein, wherein this includes magazine walls which have a layer, at least in a partial region, into which magnets having dimensions significantly smaller than the layer thickness are integrated.Magazine according to at least one of the preceding claims, characterized in that it has at least one gripper (49), (59), (69), (60) with (81) having a "gripper-magazine object interface" (51), (77), (86), (95), characterized in that the magazine object interface (5) of a connecting region (4) of at least one magazine object (1) can be brought into contact with it in such a way that the relative position of the two interfaces is fixed in at least one degree of freedom in translation and at least one degree of freedom in rotation, wherein such a connection of these two interfaces is referred to as a "gripper-magazine object coupling connection", and wherein interfaces which can be brought into coupling connection in this way are referred to as "compatible interfaces" and as "coupling interfaces".Magazine according to claim 12, characterised in that it has a "handling system" (112) which can move at least one gripper-magazine object interface (51), (77), (86), (95) of a gripper (49), (59), (69), (60) with (81) to at least one position which is referred to as a "gripper-magazine object coupling position", characterised in that the gripper-magazine object interface is brought into gripper-magazine object coupling connection with a magazine object interface (5) of a magazine object (1) which is coupled to a magazine object receptacle (10), (22), (29), (37), (44), (53) in a receptacle wall position, and - can move to at least one "change position" in a "change device", in which the magazine object is linked to the changing device, wherein the changing device can replace the magazine object with an external device.Magazine according to claim 13, characterised in that at least one gripper (49), (59), (69), (60) with (81) has a "gripper magazine object magnet system" (52), (63), (73), (94) which can generate an attractive force between itself and at least one magazine object (1), characterised in that it acts at least on a connecting region (4) of at least one magazine object and - in that it can be set to at least two values, - of which the one, the "gripper magazine object coupling force", is sufficiently large, in order to ensure the gripper-magazine object coupling closure and the fixing of the degrees of freedom of the position of the magazine object interface (5) relative to the gripper-magazine object interface (51), (77), (86), (95), which degrees of freedom are not defined by said coupling closure and the fixing of the degrees of freedom of the position of the magazine object interface (5) relative to the gripper-magazine object interface (51), (77), (86), (95), and - of which the other, the "gripper-magazine object separating force", is significantly smaller than the lowest holding force of the receptacle object according to claim 4 for all magazine objects (1) with a compatible magazine object interface (5) and - in that a magazine object (1) is referred to as being "coupled" to the gripper (49), (59), (69), (60) with (81), when the magazine object interface (5) is linked to the gripper magazine object interface (51), (77), (86), (95) in gripper magazine object coupling engagement according to claim 12 by the gripper magazine object coupling force.Magazine according to claim 14 characterised in that, when at least one gripper (49), (59), (69), (60) with (81) approaches at least one connecting region (4) of a magazine object (1) which is coupled to a magazine object receptacle (10), (22), (29), (37), (44), (53) with a receptacle object holding force with properties according to claim 4, the gripper magazine object magnet system (52), (63), (73), (94) generates a temporary magnetic field at least in the connecting region (4) of the magazine object (1), which magnetic field leads to a reduction in the attractive force between the connecting region and the magazine object receptacle, and in that, when the spacing of the gripper from the connecting region is sufficiently great, the receptacle object holding force is present again.Magazine according to at least one of Claims 12 to 15, characterized in that at least one gripper (49), (59), (69), (60) with (81), (97) is a "composite gripper" (59), (69), (60) with (81), (97) with at least two subsystems, of which one is firmly connected to the handling system (112), is designated as a "gripper base" (60), (70), (60) with (90) and has a "gripper base-base change object interface" (62), (72), (93), to which objects designated as a "base change object" (66), (75), (81), (82), (90), (98) can be detachably connected, which objects belong to the wall change objects according to Claim 1 and which have a "base change object base interface" (84), (85), (92), wherein the gripper base-base change object interface is adapted to be brought into contact with at least one base change object base interface such that its relative position is fixed in at least one degree of translation and at least two degrees of rotational freedom, and wherein such a connection of these two interfaces is referred to as a "base object coupling closure", and wherein interfaces which can be brought into coupling closure in such a way are referred to as "compatible interfaces" and as "coupling interfaces".Magazine according to claim 16, characterised in that - at least one basic change object (66), (75), (81), (82), (90), (98) is provided with at least one "storage attachment contour" (67), (78), (87), (95), (100), with which it can be detachably connected to a corresponding magazine wall interface (21), (27), (35), (42) according to claim 1 or to at least one "basic change object receptacle" connected to the magazine wall (20), (26), (34), (41), (102) in such a way that the position of the storage attachment contour of the basic change object relative to the magazine wall interface or to the basic change object receptacle upon contact in at least one degree of translation and at least two degrees of rotational freedom is defined in such a way that its basic change object base interface (84), (85), (92) by the movement of the gripper base (60), (70), (60) with (90) at least one assembled gripper (59), (69), (60) with (81), (97) can be brought into a base-object coupling closure with its gripper base-base change object interface (62), (72), (93), - wherein the connection of the tray attachment contour (67), (78), (87), (95), (100) thus determined with the magazine wall interface (21), (27), (35), (42) or the interface of the base change object receptacle is referred to as a "base change object-wall coupling closure", and - that the base change object (66), (75), (81), (82), (90), (98) is held securely in the basic change object-wall coupling closure by an "object wall holding force", and - that non-defined degrees of freedom of the relative position of the interfaces are fixed by the object wall holding force, - wherein the object wall holding force is generated either solely by interaction of the tray attachment contour with contours in the magazine wall or - by combination of such interaction with the attraction force of a "tray magnet system" (68), (79), (88), (94), (101) in the basic change object, which can generate a "wall attraction force" between itself and the magazine wall (20), (26), (34), (41), (102) or the basic change object receptacle, and - wherein the position of the basic change object base interface (84), (85) thus defined and fixed in this situation, (92) of the basic change object (66), (75), (81), (82), (90), (98) is referred to as "basic change object wall position" and the position of a gripper-based-based change object interface (62), (72), (93) coupled to it is referred to as "gripper-based coupling position", and a basic change object fixed to the magazine wall or a basic change object receptacle by an object wall holding force is referred to as "coupled" and "deposited".Magazine according to claim 16, characterised in that - at least one basic change object (66), (75), (81), (82), (90), (98) is provided with at least one "deposit wall contour" (67), (78), (87), (95), (100), with which it can be placed on a corresponding magazine wall interface (21), (27), (35), (42) according to claim 1 or on at least one basic change object receptacle connected to the magazine wall (20), (26), (34), (41), (102) in such a way that the position of the deposit wall contour of the basic change object relative to the magazine wall interface or to the basic change object receptacle upon contact in at least one translation degree of freedom and at least two rotational degrees of freedom is defined in such a way that its basic change object basic interface (84), (85), (92) by the movement of the gripper base (60), (70), (60) with (90) at least one assembled gripper (59), (69), (60) with (81), (97) can be brought into a basic object coupling closure with its gripper base-base change object interface (62), (72), (93), - wherein the connection of the deposit wall contour thus determined with the magazine wall interface or the interface of the base change object receptacle is referred to as "basic change object-wall coupling closure", and - that the basic change object (66), (75), (81) (82), (90), (98) has at least one "deposit magnet system" (68), (79), (88), (94), (101), which can generate a "magnetic object wall holding force" between itself and the magazine wall (20), (26), (34), (41), (102) or the base change object receptacle, which holds the base change object securely in base change object wall coupling closure and fixes by this non-fixed degrees of freedom of the relative position of the interfaces, - wherein the position of the base change object base interface (84), (85), (92) thus fixed and fixed in this situation is referred to as the "base change object wall position" and the position of a gripper base-base change object interface (62), (72) coupled thereto, (93) is referred to as "gripper base coupling position", and a base change object fixed to the magazine wall or a base change object receptacle by a magnetic object wall holding force in the base change object wall position is referred to as "coupled" and "laid down".Magazine according to claim 16 and one of claims 17 or 18, characterised in that at least one basic change object (66), (75), (81), (82), (90), (98) has at least one connection system in its basic change object interface (84), (85), (92) or at least one wireless transmission system via which it can be supplied with electrical power, signals or media.Magazine according to Claim 16 and 17 or 18 and optionally 19, characterized in that at least one gripper base (60), (70), (60) with (90) has a "gripper base body" (61), (71) and (61) with (91) and at least one "base magnet system" (63), (64), (73), (74), (96) which is linked therein and can generate a "base object attraction force", which is characterized - in that it acts between it and at least one base change object (66), (75), (81), (82), (90), (98) according to Claim 16, which satisfies at least the properties according to Claim 17 or 18, and - in that the base object attraction force can be set to at least two values, - of which the one, the "base object coupling force", is sufficiently large, in order to ensure the basic object coupling closure and the fixing of the degrees of freedom of the position of the basic interchangeable object base interface relative to the gripper-base-interchangeable object interface (62), (72), (93) that are not defined by said basic interchangeable object when performing all planned handling processes with the most difficult combination of basic interchangeable object with compatible basic interchangeable object base interface (84), (85), (93), and of which the other, the "basic object separating force", is sufficiently small to enable the gripper-base-basic interchangeable object interface (62), (72), (93) to be separated from each basic interchangeable object (66), (75), (81), (82), (90), (98) coupled in the basic interchangeable object wall position, The object is not to be changed in position, wherein a basic change object linked to (90) by the basic object coupling force to a gripper base (60), (70), (60) is referred to as "coupled" with interfaces in basic object coupling closure.Magazine according to Claim 16, 19, and 20 and also 17 or 18, characterized in that at least one gripper base (60), (70), (60) having (90) has at least one connection system (65) in its gripper base-base change object interface (62), (72), (93) or at least one wireless transmission system, with which at least one base change object (66), (75), (81), (82), (90), (98) according to Claims 16 and 19 and 17 or 18 can be supplied with electrical power, signals or media via at least one corresponding connection system integrated in its base change object base interface (84), (85), (92) or a corresponding transmission system connected therein.Magazine according to at least one of claims 12 to 21, characterised in that at least one basic change object (66), (75), (81) according to claim 16, 19 and 17 or 18 is an "object gripper head" (66), (75), (81), which is characterised in that - it has a gripper-magazine object interface (77), (86), (95) with properties according to claim 12 - or that it forms a gripper-magazine object interface with properties according to claim 12 by combination of at least one separate "outer coupling contour" (77), (86) with at least one "outer basic coupling contour" (62), (72), (95) of the gripper base (60), (70), (60) with (90) - and that it has a gripper magazine object magnet system (94) with properties according to claim 14 or 15 - or that it generates in combination with a gripper base (60), (70), (60) with (90) the function of a gripper magazine object magnet system with properties according to claim 14 or 15 either by the sole action of a base magnet system (63), (73) in the gripper base (60), (70) or by a combination of such a magnet system with at least one gripper magazine object magnet system (94) in the object gripper head (81).Magazine according to claim 22, characterised in that at least one object gripper head (81) is designed in at least two parts and - has as one part at least one "gripper head base" (90), which is a base change object (66), (75), (81) according to claims 16 and 19 and 17 or 18 and which together with the gripper base (60) forms a "gripper adapter base" (60) with (90), which is a gripper base with properties according to claims 16, 20 and 21, and - has as at least one further part at least one "gripper head adapter" (82), which is a base change object with properties according to claim 16 and at least 17 or 18.Magazine according to claim 23 characterised in that the gripper head adapter (82) can be attracted to the gripper head base (60) by (90) in a basic object coupling connection with the latter either by a basic magnet system (64) in the gripper base (60) or a basic magnet system (96) in the gripper head base (90) or a combination thereof, - wherein the basic magnet systems (64), (96) have properties according to claim 20 and act on the body (83) of the gripper head adapter (82) or on at least one part (89) integrated therein which consists of magnetizable or magnetic material or contains such material and - wherein a gripper head adapter fixed to the gripper adapter base in the basic object coupling connection by the basic object coupling force is referred to as "coupled".Magazine according to claim 24 characterised in that the gripper head base (90) together with at least one outer adapter coupling contour (86) of at least one coupled gripper head adapter (82) forms an object gripper head (81) with properties according to claim 22.Magazine according to claim 24, characterised in - that at least one gripper head adapter (82) is in itself an object gripper head (82) with properties according to claim 22, or - that at least one gripper head adapter (82) in combination with at least one outer "gripper head base coupling contour" (95) forms an object gripper head (82) with properties according to claim 22, or - that at least one gripper head adapter (82) in combination with at least one base magnet system (94) in the gripper head base (90) forms an object gripper head (82) with properties according to claim 22, or - that at least one gripper head adapter (82) in combination with at least one outer gripper head base coupling contour (95) and with at least one base magnet system (94) in the gripper head base (90) forms an object gripper head (82) with properties according to claim 22.Magazine according to at least one of Claims 12 to 26, characterized in that at least one gripper (49), (59), (69), (60) with (81), object gripper head (66), (75), (81), (82) or gripper head adapter (82), at least in the region of the gripper-magazine object interface (51), (77), (86), (95) with properties according to Claim 12, has a width in the X direction which is smaller than the smallest width of all magazine object interfaces (5) compatible with its gripper-magazine object interface or which is smaller than the smallest diameter of all connection regions (4) with magazine object interfaces (5) compatible with its gripper-magazine object interface.Magazine according to at least one of the preceding claims, characterized in that it has a "pick gripper head" (98), - which is a basic interchangeable object with properties according to Claims 16 and 19 and 17 or 18 and belongs as such to the wall interchangeable objects, and - which has an "outer pick head coupling interface" (100), which is characterized in that it is at most as wide in the X direction as the narrowest pick magazine object interface (13), (55) of magazine object mounts (10), (22), (29), (37), (44), (53) which it is intended to handle, and in that it has a pick magazine object interface (13), (55) with properties according to Claim 3 of at least one on the magazine wall (20), (26), (34), (41), (102) coupled magazine object receptacle or with the support part object interface according to claim 10 of at least one support part (17) deposited on the magazine wall can be brought into contact in such a way that the relative position of the two interfaces is fixed in at least one degree of translation and at least two degrees of rotational freedom, wherein such a relative positioning of these interfaces is referred to as "receptacle head coupling closure", and - which contains a "receptacle head magnet system" (101) which can generate an attractive force between it and at least one magazine object receptacle (10), (22), (29), (37), (44), (53) or at least one support part (17) which can be set to at least two values, of which, upon receptacle head coupling closure of the interfaces, the one, the "receptacle head coupling force", is sufficiently large, in order to be able to release each magazine object receptacle (10), (22), (29), (37), (44), (53) which is coupled to the magazine wall (20), (26), (34), (41), (102), or each support part (17) which is coupled to it and is coupled to the magazine wall, from the magazine wall, and of which the other, the "receptacle head separating force", is sufficiently small to allow a separation of each magazine object receptacle which is placed on the magazine wall and brought into receptacle head coupling engagement therewith or of each support part which is placed on the magazine wall and brought into receptacle head coupling engagement therewith, without changing the position of the magazine object receptacle or of the support part, and - the position of which is fixed relative to the magazine object receptacle (10), (22), (29), (37), (44), (53) or the support part (17) in three degrees of translational and three rotational degrees of freedom in the case of a receptacle head coupling closure of the interfaces and acting receptacle head coupling force, and - the position of which is referred to as "coupled" in the case of a receptacle head coupling closure with a magazine object receptacle or a support part and acting receptacle head coupling force, and - the outer receptacle head coupling interface (100) of which is located in a position referred to as "receptacle head coupling position" in the coupled state with a magazine object receptacle in the receptacle wall position or a support part in the support part wall position.Magazine according to at least one of the preceding claims, characterized in that at least one magazine object receptacle (10), (22), (29), (37), (44), (53) has an "active receptacle wall magnet system", which is characterized in that it is a receptacle wall magnet system (15), (57) having properties according to Claim 8, - the attraction force thereof with respect to the magazine wall (20), (26), (34), (41), (102) without external supply of current or voltage is at least so great that, alone or together with forces of mechanical fastening contours, it has the magnitude of a receptacle wall holding force according to Claim 8, - and the attraction force thereof with respect to the magazine wall can be reduced by imposing an electrical variable to a "receptacle separating force" which is substantially smaller than the receptacle wall holding force, and in that the magazine object receptacle (10), (22), (29), (37), (44), (53) has a connecting system for the transmission of this electrical variable, and in that the receptacle gripper head (98) has a corresponding connecting system, and in that, when the receptacle head is coupled to the receptacle gripper head, the connecting systems are connected in such a way that the electrical variable can be transmitted in order to change the force of the active receptacle wall magnet system.Magazine according to at least one of the preceding claims, characterized in that at least one gripper (49), (59), (69), (60) with (81), (97) or at least one replaceable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) is designed such that permanent magnetic material contained therein cannot be directly contacted by any object coupled to it.Magazine according to claim 30 characterised in that permanent magnetic material contained in at least one gripper (49), (59), (69), (60) with (81), (97) or at least one replaceable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) is provided with at least one protective layer or at least one protective body in such a way that it cannot be directly contacted by any object coupled to it.Magazine according to at least one of the preceding claims, characterized in that, for at least one combination of coupled objects, at least one of the coupling surfaces coming into contact during coupling is specially designed with regard to its material composition and / or surface structure, so that the force for a displacement of the coupling surfaces held in contact by a pressing force relative to one another parallel to their contact surface is particularly great at least in the direction of the gravitational force acting on the objects.Magazine according to at least one of Claims 4 to 32, characterized in that at least one magnet system is connected to its carrier body in such an elastic manner that, when an object to be coupled approaches, it can move relative to its carrier body in the event of attractive forces which arise, and this movement is damped.Magazine according to at least one of Claims 4 to 33, characterized in that at least one elastic element is integrated in at least one gripper (49), (59), (69), (60) having (81), (97) or a replaceable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) in the region of at least one coupling interface, said elastic element being deformed by the action of the coupling force when the coupling interfaces approach a sufficiently small distance.Magazine according to claim 34, characterised in that the coupling closure of the coupling interfaces is not influenced by the deformation of an elastic element integrated therein when the coupling force is exerted.Magazine according to at least one of Claims 1 to 33, characterized in that at least one region of a coupling interface can be elastically deformed in at least one gripper (49), (59), (69), (60) having (81), (97) or a replaceable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98), with the result that, in the event of a coupling connection to another interface and the application of the coupling force, the elastic region of the coupling interface is deformed by the coupling force.Magazine according to at least one of the preceding claims, characterized in that at least one magazine object receptacle (10), (22), (29), (37), (44), (53), gripper head base (90), a gripper body (50), object gripper head (66), (75), (81), (82) or gripper head adapter (82) has at least one "supporting contour" (16), (24), (33), (48) which at least limits such movements of a connecting region (4) of at least one magazine object (1) relative to it or to it which have a movement component in the direction of the gravitational force acting on the magazine object, wherein the supporting contour comes either into contact with at least one surface (7) at the lower end of the connecting region (4) or at least one surface (6) of a depression in the connecting region.Magazine according to at least one of the preceding claims, characterized in that at least one magazine object receptacle (22) has at least one "object holding contour" (25) with which the connecting region (4) of at least one magazine object comes into contact at least when it is displaced such that its distance from the receptacle magazine wall interface increases, and in that the object holding contour is designed such that it does not allow a further increase in the distance without the connecting region having to be raised.Magazine according to at least one of claims 4 to 38, characterised in that at least one object magnet system (14), (56), (94) has an extent in the Z direction in the region of the receiving magazine object interface (13), (55) which is substantially smaller than the smallest height of a connecting region (4) of a magazine object (1) with compatible interface.Magazine according to at least one of the preceding claims, characterized in that at least one magnet system of a gripper (49), (59), (69), (60) having (81), (97), basic change object (66), (75), (81), (82), (90), (98) or a magazine object receptacle (10), (22), (29), (37), (44), (53) is an "permanent electric magnet" which, without external supply by current or voltage, generates an attractive force which reaches at least the magnitude of the required coupling force, and the attractive force of which can be approximately cancelled by the field of a coil integrated therein when a suitable current flows through the coil.Magazine according to at least one of the preceding claims, characterized in that an object identification system is integrated in at least one interchangeable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98), said system containing information which can be read or read and altered and which contains at least one information about at least one property of the interchangeable object, and in that it can be a gripper (49), (59), (69), (60) with (81), (97), a gripper base (60), (70), (60) with (90) or a base interchangeable object (66), (75), (81), (82), (90), (98) in at least one carriage for gripper movement or in at least one "gripper actuator" which is defined in such a way that it can be a gripper (49), (59), (69) with (81), (97), a gripper base (60), (70), (60) with (90), or a base interchangeable object (66), (75), or integrated in a fixed position in the object magazine is a reading system or a read-write system which can read or read and change this information, and that these two types of systems can transmit read information to a control system and that the read-write system can additionally receive commands for changing information from a control system.Magazine according to at least one of claims 12 to 41, characterised in that at least one slide for the gripper movement or a gripper actuator contains at least one measurement system which can be at least one electrical variable proportional to a coordinate of a distance between a "gripper coupling interface" which can be a gripper-magazine object interface (51), (77), (86), (95) according to claim 12, a gripper-base-base-change object interface (62), (72), (93) according to claim 16 or an outer pick-up head coupling interface (100) according to claim 28, and an "object coupling interface" (5), (13), (55), (84), (85), (92) of the change object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) and can transmit these to a control system for controlling the gripper movement, wherein the "object coupling interface" can be a magazine object interface (5) according to claim 1, a receptacle magazine object interface (13), (55) according to claim 3, a support part object interface according to claim 10 or a base change object base interface (84), (85), (92) according to claim 16.Magazine according to at least one of Claims 12 to 42, characterized in that at least one slide for the gripper movement or one gripper actuator according to Claim 41 having a magnet system which can generate an attractive force to at least one interchangeable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98), contains at least one measurement system which can determine at least one component of the attractive force between the magnet system and this interchangeable object and can transmit an electrical variable proportional to this attractive force to an evaluation system or a control system used for controlling the gripper movement.Magazine according to at least one of claims 12 to 43, characterised in that at least one slide for the gripper movement or a gripper actuator according to claim 41 contains at least one measurement system or at least one camera system which can record at least one property or an image of at least one interchangeable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) or at least one region of the magazine and can transmit it to an evaluation system or a control system used for controlling the gripper movement.Magazine according to at least one of the preceding claims, characterized in that at least one interchangeable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) is provided with at least one reference contour or a reference system, - which can be captured by at least one measurement system or at least one camera system which is connected to a slide for the gripper movement or a gripper actuator according to claim 42, and - which can be used to determine the position of the interchangeable object.Magazine according to at least one of the preceding claims, characterized in that it contains at least one cleaning device, - which can have at least one camera system for monitoring and controlling its function, - and which is either connected in a fixed manner in the magazine (122), wherein the object to be cleaned is brought into the range of action of the cleaning device by a gripper (49), (59), (69), (60) with (81), (97), - or which is designed as a base change object (66), (75), (81), (98) with properties according to Claims 16 and 19 and 17 or 18 and can be coupled to at least one gripper base (60), (70) and can be moved by said base to at least one object to be cleaned, and - which is provided with an interface, A cleaning device receptacle for mounting to a "cleaning device receptacle", and comprising at least one wireless transmission system or at least one component of at least one connection system for exchanging electrical power, signals, particles or media with the cleaning device receptacle when coupled thereto.Magazine according to claim 46, characterised in that it has at least one cleaning device receptacle with an interface to which at least one cleaning device designed as a basic change object (66), (75), (81), (98) can be coupled and deposited, and which can have at least one wireless transmission system or a component of at least one connection system which is connected to a corresponding wireless transmission system or a corresponding component of a connection system in the cleaning device when it is coupled thereto, so that an exchange of electrical power, signals, particles or media can take place via the connected transmission systems or the connected components of the connection systems.Magazine according to at least one of the preceding claims, characterized in that it contains at least one demagnetization device for reducing the magnetization in magazine objects (1), - which can have at least one camera system for monitoring and controlling their function - and which can be combined with a cleaning device according to claim 46 - and which is either connected in a fixed manner in the magazine (122), wherein the object to be demagnetization is brought into the range of action of the demagnetization device by a gripper (49), (59), (69), (60) with (81), (97), - or which is designed as a base change object (66), (75), (81), (98) with properties according to claims 16 and 19 and 17 or 18 and can be coupled to at least one gripper base (60), (70) and moved by said base to at least one object to be demagnetization, and - which is provided with an interface, with which it can be coupled to a "demagnetizer receptacle" for storage, and - which can comprise at least one wireless transmission system or at least one component of at least one connection system for exchanging electrical power, signals, particles or media with the demagnetizer receptacle when coupled thereto.Magazine according to claim 48, characterised in that it has at least one demagnetization device receptacle with an interface to which at least one demagnetization device designed as a basic change object (66), (75), (81), (98) can be coupled and deposited, and which can have at least one wireless transmission system or a component of at least one connection system which is connected to a corresponding wireless transmission system or a corresponding component of a connection system in the demagnetization device when it is coupled thereto, so that an exchange of electrical power, signals, particles or media can take place via the connected transmission systems or the connected components of the connection systems.Magazine according to at least one of the preceding claims, characterized in that it has at least one analysis unit which has at least one camera or at least one measurement system and - which is connected to a slide of the handling system (112) or a gripper actuator - or which is designed as a magazine object (1) according to claim 1 and can therefore be coupled to a gripper (49), (59), (69), (60) having (81) or an object gripper head (66), (75), (81), (82) having properties according to claim 22, and - which can be inserted into a changing position of a changing device according to claim 13 and can be changed by said changing device into an external device, and - which can be coupled to a magazine object receptacle (10), (22), (29), (37), (44), (53) or an "analysis unit receptacle" for depositing, or which can be coupled as a base change object (66), (75), (81), (82), (90), (98) with properties according to Claims 16 and 19 and 17 or 18 on one side to a gripper base (60), (70), (60) with (90) and on the other side to a magazine wall (20), (26), (34), (41), (102) or an analysis unit receptacle for storage, - wherein the analysis unit and the analysis unit receptacle can be designed such that they can exchange electrical power, signals or media when they are coupled to one another.Magazine according to at least one of the preceding claims, characterized in that at least one interchangeable object (1), (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) which can be coupled to a gripper actuator according to Claim 41 has at least one energy store, with the energy of which mechanical, electromechanical or electronic systems contained in the interchangeable object can be operated for a specific duration, and has at least one transmission or connection system which can be connected to a transmission or connection system in the slide of the gripper (49), (59), (69), (60) with (81), (97), the gripper base (60), (70), (60) with (90) or the gripper actuator or in a receptacle of the interchangeable object when the interchangeable object is coupled, so that energy can be transferred into the memory via the connected transmission or connection systems.Magazine according to at least one of the preceding claims, characterized in that at least one interchangeable object which can be coupled to a gripper (49), (59), (69), (60) with (81), (97), a gripper base (60), (70), (60) with (90) or a "gripper interchangeable object" (66), (75), (81), (82), (90), (98) can transmit data wirelessly to an evaluation unit.Magazine according to at least one of the preceding claims, having at least one interchangeable object which can be deposited on at least one magazine wall (20), (26), (34), (41), (102), - wherein the interchangeable object is characterised in that - it can be a one-piece interchangeable object which is deposited directly on the magazine wall in a receiving wall position according to Claim 1, a supporting part wall position according to Claim 10 or a basic interchangeable object wall position according to Claim 17 or 18, designated as "one-piece wall interchangeable object" (10), (22), (29), (37), (44), (53) and (17) and (66), (75), (81), (82), (90), (98), or - it can consist of a combination of a one-piece wall change object - with a coupled magazine object (1) or - with a coupled base change object (82), (90) or - with a coupled base change object and a magazine object coupled to it, - and that the combinations of these change objects in coupled state are referred to as "assembled wall change objects", and - in the case of a one-piece wall change object, the object coupling interface (13), (55), (84), (85), (92) according to claim 42 of the change object is located in a "change object wall position", which can be a receiving wall position according to claim 1, a supporting part wall position according to claim 10 or a base change object wall position according to claim 17 or 18, and - in the case of a composite wall change object, the change object wall position is defined as the position of the object coupling interface of the change object contained therein which is furthest away from the magazine wall, - and wherein the magazine wall is characterized - in that it either consists of one part in a cylindrical shape - or in that it consists of at least two nested parts in a cylindrical shape which are arranged substantially concentrically, - and in that all parts of the magazine wall can be rotated individually about their axes by a drive system in each case, and - in that, in the case of magazine walls having a plurality of parts, at least one part of a magazine wall has an opening through which a handling system (112) having a gripper (49), (59), (69), (60) having (81), (97) in conjunction with a rotation of at least one of the parts of the magazine wall can receive integral wall interchangeable objects deposited on one of the parts of the magazine wall in an interchangeable object wall position or can receive interchangeable objects coupled thereto or can deposit these, and - and that at least one integral wall interchangeable object can have a receptacle magazine wall interface (12), (32), (35), (47), (58) and / or a receptacle wall magnet system (15), (57) and / or a receptacle fastening contour (67), (78), (87), (95), (100) and / or a receptacle wall contour (67), (78), (87), (95), (100), the shape of which is matched to the cylinder shape of the magazine wall.Magazine according to at least one of Claims 1 to 53, characterized - in that it contains at least one planar magazine wall (116), (117), on which at least one wall interchangeable object can be deposited in an interchangeable object wall position, - and in that one-piece wall interchangeable objects deposited on the magazine wall or interchangeable objects deposited thereon can be coupled to a gripper system (49), (59), (69), (60) moved by a handling system (112), with (81), (97), and - and in that, in the case of at least two magazine walls, - the handling system has at least one subsystem which can move a gripper system between two magazine walls, - and at least one magazine wall (116), (117) can be fixed completely or partially releasably in a "magazine wall working position" and moved therefrom into a "magazine wall maintenance position" in which the volume lying between it and the opposite magazine wall is made accessible for assembly and maintenance work.Magazine according to claim 54, characterised in that at least one magazine wall (116), (117), (118) - is completely integrated into a door (125), (126) of the magazine housing and is in a magazine wall working position when the door is closed and fixed, or - is divided into at least two parts, at least one of which is integrated into a door (125), (126), (127), (128) and is in a magazine wall working position when the door is closed and fixed.Magazine according to at least one of Claims 53 to 55, characterized in that it has at least one "lock", characterized in that - it has a wall which is referred to as a "lock wall", the properties of which correspond to those of part of a magazine wall (20), (26), (34), (41), (102), (116), (117), (118), and - in that the lock can be closed towards the outside and made accessible by the gripper (49), (59), (69), (60) having (81), (97) of the handling system (112) of the magazine, and in this situation the lock wall forms part of the magazine wall, or - in that the lock can be opened towards the outside and made accessible for manual access or a gripper of a handling system which does not belong to the magazine (122).Magazine according to at least one of Claims 53 to 56, characterized in that it has at least one "interchangeable segment" (119), (120), (121), which is characterized in that - it has a wall which is referred to as "interchangeable segment wall" and whose properties correspond to those of part of a magazine wall (20), (26), (34), (41), (102), (116), (117), (118), and - it can be releasably fixed in the magazine (122) in a "interchangeable segment working position" by means of a locking mechanism, and - its interchangeable segment wall assumes a position which is referred to as "interchangeable segment wall working position" when the interchangeable segment is fixed in the interchangeable segment working position, and - its interchangeable segment wall forms part of the magazine wall when the interchangeable segment is fixed in the interchangeable segment working position, and - the replaceable segment including wall replaceable objects placed thereon can be transferred from its replaceable segment working position into a "replaceable segment replacement position", which is characterized in that, after releasing the locking, the position of the replaceable segment is determined by at least one guide contour in at least four degrees of freedom and that its position in the replaceable segment replacement position is fixed by holding forces or an additional locking mechanism with respect to the degrees of freedom not determined by the guide contour, and that the replaceable segment can be removed from the replaceable segment replacement position by overcoming the holding forces or releasing the additional locking mechanism and utilizing at least one of the degrees of freedom not determined by a guide contour and removed from the magazine (122), and into which it can be placed again by overcoming the holding forces or releasing the additional locking mechanism and utilizing at least one of the degrees of freedom not determined by the guide contour.Magazine according to at least one of claims 53 to 57, characterised in that - at least one lock according to claim 56 or a replacement segment (119), (120), (121) according to claim 57 is integrated into at least one door (125), (126), (127), (128) of the magazine housing (123), - the lock or the replacement segment is in a position or the replacement segment working position designated as "lock working position" when the position of the door fixed by a lock is closed, designated as "door working position", and - the lock or replacement segment wall is accessible to the gripper (49), (59), (69), (60) with (81), (97) of the handling system (112) of the magazine when the lock or the replacement segment is fixed in its lock or replacement segment working position, and - that the fixing of the lock or interchangeable segment working position can be released with the release of the locking of the door (125), (126), (127), (128), and - that the door, after the release of the locking, can be moved into a position referred to as a "door lock position", which is characterized in that its position is determined by at least one guide contour in at least four degrees of freedom, and - that the position of the door in the door lock position is fixed by holding forces or an additional locking with respect to the degrees of freedom not determined by the guide contour, and - that in a door fixed in the door lock position, - the lock wall is in a position referred to as a "lock wall lock position", and - the interchangeable segment (119), (120), (121) is located in a position referred to as "interchangeable segment lock position", and - the interchangeable segment wall is located in a position referred to as "interchangeable segment wall lock position", and - the interlock or interchangeable segment wall is accessible from the outside in its lock positions, and - at least one one single-piece wall interchangeable object (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) or an interchangeable object coupled thereto can be removed, and - at least one interchangeable segment can be moved from an interchangeable segment lock position into an interchangeable segment exchange position according to claim 57 and removed therefrom and inserted into it again, - wherein the magazine (122) can contain a camera system, the at least one wall interchangeable object deposited on a lock wall or interchangeable segment wall can be detected - or wherein the magazine (122) can contain a camera or a measuring system which can determine the object coupling position of at least one wall interchangeable object on at least one lock wall or interchangeable segment wall at least in the working position and can transmit it to a control system.Magazine according to at least one of Claims 53 to 58, characterized in that it contains a "control system", - which can control a handling system (112) and in particular the movement of at least one gripper system (49), (59), (69), (60) with (81), (97), - and which can access an electronic "magazine store", which is characterized in that it can at least store: - information about "coupling walls" which are provided for the storage of wall interchangeable objects, it being possible for a coupling wall to be a magazine wall, lock wall or interchangeable segment wall, and - information about wall interchangeable objects present on the coupling walls and the interchangeable objects contained therein, and - information about wall interchangeable objects planned on the coupling walls and the interchangeable objects contained therein, and - outlines, referred to as "object contours", of the projections of outer surfaces of wall interchangeable objects onto the magazine wall (20), (26), (34), (41), (102), (116), (117), (118) for existing and planned wall interchangeable objects including the interchangeable objects deposited thereon and planned for deposition, - or at least such geometric parameters of these object contours which are required for determining the distance between the object contour of a wall interchangeable object and the object contours of all adjacent wall interchangeable objects on at least one of the coupling walls, and changeable object wall positions according to claim 53 of wall changeable objects present and planned on the coupling walls and the changeable objects contained therein - and at least one "arrangement pattern" of coupled wall changeable objects planned on at least one coupling wall, - and the at least one optimization program for optimizing arrangement patterns of wall changeable objects can control such that it generates at least one working result in the form of at least one optimized arrangement pattern of wall changeable objects and stores it in the magazine memory.Method for determining a replaceable object wall position according to claim 53 of a replaceable object in a magazine which has at least one of the properties described in claims 1 to 59 and wherein the method is characterised in that - it is controlled by a control system according to claim 59 and - a gripper actuator according to claim 41 is moved into a position which is situated opposite the wall region of a coupling wall according to claim 59 in the vicinity of which a replaceable object wall position of a replaceable object is to be determined, and - then at least one replaceable object, whose replaceable object wall position is to be determined, is deposited in the wall region by the control system, optionally with the aid of the gripper actuator and a measurement or camera system linked to it, and - optionally the type of the selected replaceable object and the properties of its object coupling interface (5), is selected by the control system, (13), (55), (84), (85), (92) according to claim 42 are determined by a measuring or camera system connected to the gripper actuator and stored in the magazine memory and - that a gripper (49), (59), (69), (60) with (81), (97) according to claim 12 is used with the gripper coupling interface according to claim 42 compatible with the object coupling interface of the selected interchangeable object - or that an object gripper head (66), (75), (81), (82), (98) according to claim 22 is used with the gripper coupling interface compatible with the object coupling interface of the selected interchangeable object and is or is coupled to the gripper base (60), (70) or the gripper adapter base (60) with (90) according to claim 23 of a gripper (59), (69), (60) with (81), (97) - and that then the gripper (49), (59), (69), (60) with (81), (97) is moved in a direction in which the coupling closure of its gripper coupling interface according to claim 42 with the object coupling interface of the selected interchangeable object according to claim 42 is expected until a minimum distance of the coupling interfaces provided for coupling is undershot, and - in that the position of the object coupling interface (5), (13), (55), (84), (85), (92) of the selected interchangeable object is determined together with at least one measurement system in the handling system (112) by the measurement or camera system connected to the gripper actuator and is stored in the magazine memory.Method for positioning a gripper (49), (59), (69), (60) with (81), (97) in a "gripper coupling position" in a magazine, - wherein the magazine (122) has at least one of the properties described in claims 1 to 59 - and wherein the "gripper coupling position" is defined such that it can be a gripper-magazine object coupling position according to claim 13, a gripper base coupling position according to claim 17 or 18 or a pick-up head coupling position according to claim 28, - and wherein the method is characterized in that - it is controlled by a control system according to claim 59 and - that for at least one interchangeable object deposited on a coupling wall at least its type, the properties of its object coupling interface (5), (13), (55), (84), (85), (92) according to claim 42 and its interchangeable object wall position according to claim 53 are stored in the magazine memory or are determined and subsequently stored by the method according to claim 60, and - that the properties of the object coupling interface of this interchangeable object stored in the magazine memory and its interchangeable object wall position stored in the magazine memory, referred to as the "memory interchangeable object wall position", are read out from the magazine memory, and - that a gripper (49) according to claim 12, (59), (69), (60) is used with (81), (97) with a gripper coupling interface according to claim 42 compatible with the object coupling interface of the selected interchangeable object, - or that an object gripper head (66), (75), (81), (82) according to claim 22 is used with a gripper coupling interface compatible with the object coupling interface of the selected interchangeable object to the gripper base (60), (70) or the gripper adapter base (60) with (90) according to claim 23 of a gripper (49), (59), (69), (60) with (81), (97), - and that the gripper (49), (59), (69), (60) with (81), (97) is then moved in a direction in which the coupling closure of its gripper coupling interface with the object coupling interface of the selected interchangeable object according to claim 42 is expected until a minimum distance of the coupling interfaces provided for coupling is undershot, and - that, if necessary, the current position of the object coupling interface (5), (13), (55), (84), (85), (92) of the selected interchangeable object is determined according to the method in claim 60 and is stored as a new storage interchangeable object wall position in the magazine store and the gripper is then positioned, that its gripper coupling interface is brought into coupling connection with the object coupling interface of the selected removable object at the new storage removable object wall position, - or that at least one electrical variable proportional to at least one coordinate of the distance of the gripper coupling interface from the selected object coupling interface is then determined with the aid of at least one measuring system or at least one camera system according to claims 42 to 45, transmitted to the control system and used for controlling the movement of the gripper.Method for positioning a gripper (49), (59), (69), (60) with (81), (97) in a gripper coupling position using a special speed profile in a magazine, - wherein the magazine (122) has at least one of the properties described in claims 1 to 59 - and wherein the method is characterised in that - it is controlled by a control system according to claim 59 and - it can have method steps of the method according to claim 61 and - for at least one interchangeable object deposited on a coupling wall, at least its type, the properties of its object coupling interface (5), (13), (55), (84), (85), (92) according to claim 42 and its interchangeable object wall position according to claim 53 are stored in the magazine memory or are determined and subsequently stored by the method according to claim 60, and - that the properties of the object coupling interface of this interchangeable object stored in the magazine memory and its interchangeable object wall position stored in the magazine memory, referred to as the memory interchangeable object wall position, are read out of the magazine memory, and - that a gripper (49) according to claim 12, (59), (69), (60) with (81), (97) is used with a gripper coupling interface compatible with the object coupling interface of the selected interchangeable object - or that an object gripper head (66), (75), (81), (82) according to claim 22 with a gripper coupling interface compatible with the object coupling interface of the selected interchangeable object to the gripper base (60), (70) or the gripper adapter base (60) with (90) according to claim 23 of a gripper (49), (59), (69), (60) with (81), (97), - and that the gripper (49), (59), (69), (60) with (81), (97) is then moved in a direction in which the coupling closure of its gripper coupling interface according to claim 42 with the object coupling interface (5), (13), (55), (84), (85), (92) of the selected interchangeable object (according to claim 42 ) is expected until a minimum distance of the coupling interfaces provided for coupling is undershot, and - that the gripper movement until the coupling closure of the coupling interfaces provided for coupling is then guided with a speed profile dependent on the type of interchangeable object and on the distance of the coupling interfaces, in the accelerations of the gripper movement due to attractive forces between the objects to be coupled are suppressed by generating opposing braking forces with at least one drive of the system for the gripper movement, and in which influences of elastic deformations of the system for the gripper movement caused by attractive forces can be taken into account, and in which the dependence of these influences on the position of at least one slide for the gripper movement can be taken into account.Method for coupling a basic change object (66), (75), (81), (82), (90), (98) to a gripper base (60), (70) or a gripper adapter base (60) with (90) according to Claim 23 of a composite gripper (59), (69), (60) with (81), (97) in a magazine which has at least one of the properties described in Claims 1 to 59, wherein the method is characterized - in that the gripper positioning can be carried out according to one of the methods according to Claims 61 or 62, and - in that a basic change object (66), (75), (81), (82), (90), (98) is selected for coupling, which object is deposited in a basic change object wall position according to Claim 18 on a coupling wall according to Claim 59 or a basic change object receptacle, and - if necessary, the properties of its object coupling interface (84), (85), (92) and its replaceable object wall position are determined with the method according to claim 60 and read into the magazine memory, and - that a gripper (59), (69), (60) with (81), (97) with a suitable free gripper base-base replaceable object interface (62), (72), (93) is moved into the vicinity of the selected base replaceable object, and - that in this case the force of its base magnet system (52), (63), (64), (73), (74) in the gripper base (60), (70) or its base magnet system (96) in the gripper head base (90) is set to a value of less than / equal to the base object separating force according to claim 20 and - that subsequently its gripper base-base change object interface (62), (72), (93) is brought into base object coupling engagement with the base change object base interface (84), (85), (92) in the change object wall position and - that then the force of the base magnet system (52), (63), (64), (73), (74), (96) is increased at least to the base object coupling force according to claim 20 and thus the base change object is coupled to the gripper (59), (69), (60) with (81), (97), and - that finally the base change object (66) is increased, (75), (81), (82), (90), (98), by means of the force of at least one drive of the handling system (112), is released from the coupling wall or the base change object receptacle and removed from it.Method for coupling a magazine object (1) to a simple gripper (49) or a composite gripper (59), (69), (60) with (81), (97) in a magazine which has at least one of the properties described in claims 1 to 59, the method being characterized - in that the gripper positioning can be effected according to one of the methods according to claims 61 or 62, and - in that a magazine object (1) is selected for coupling which is deposited on a magazine object receptacle (10), (22), (29), (37), (44), (53) which is deposited on a coupling wall according to claim 59, and - in that, if necessary, the type is selected, the properties of its object coupling interface (5) and its interchangeable object wall position are determined and read into the magazine store by the method according to claim 60, and - if necessary a basic interchangeable object (66), (75), (81), (82), (90) with a gripper magazine object interface (51), (77), (86), (95) incompatible with the magazine object interface (5) of the selected magazine object is removed from the gripper base (60), (70) or the gripper adapter base (60) with (90) of the assembled gripper (59), (69), (60) with (81), (97), and - if necessary a basic interchangeable object with a gripper magazine object interface (51), (77), (86) compatible with the magazine object interface (5) of the selected magazine object, (95) is coupled to the gripper base (60), (70) or the gripper adapter base (60) with (90) the assembled gripper (59), (69), (60) with (81), (97) with the method according to claim 63, and - the gripper (49), (59), (69), (60) with (81) with compatible unoccupied gripper-magazine object interface is moved into the vicinity of the selected magazine object (1) and - the force of its gripper-magazine object magnet system (52), (73), (94) is set here to a value less than / equal to the gripper-magazine object separating force according to claim 14 and - the gripper-magazine object interface (51), (77), (86) is subsequently moved, (95) is brought into gripper-magazine object coupling engagement with the magazine object interface (5) of the selected magazine object in the interchangeable object wall position and - that the force of the gripper-magazine object magnet system (52), (94), (101) is then increased at least to the gripper-magazine object coupling force according to claim 14 and thus the magazine object (1) is coupled to (81), (97) at the gripper (49), (59), (69), (60) and - that finally the magazine object (1) is released from the magazine object receptacle (10), (22), (29), (37), (44), (53) by means of the force of at least one drive of the handling system (112) and removed therefrom.Method for coupling a magazine object receptacle (10), (22), (29), (37), (44), (53) or a support part (17) to a receptacle gripper head (98) according to Claim 28 in a magazine which has at least one of the properties described in Claims 1 to 59, wherein the method is characterized - in that the gripper positioning can be carried out according to one of the methods according to Claims 61 or 62, and - in that a magazine object receptacle (10), (22), (29), (37), (44), (53) is selected for coupling, which receptacle is deposited on a coupling wall according to Claim 59 and the receptacle magazine object interface (13), (55) of which receptacle magazine object interface is situated in a receptacle wall position according to Claim 1 - or in that a support part (17) is selected for coupling, which is deposited on a coupling wall according to claim 59 and the supporting part object interface of which is located in a supporting part wall position according to claim 10 - and if required the type, the properties of the object coupling interface (13), (55) and the interchangeable object wall position of the magazine object receptacle (10), (22), (29), (37), (44), (53) or of the supporting part (17) are determined with the method according to claim 60 and are read into the magazine store - and if required a pick gripper head (98) with a magazine object receptacle (10), (22), (29), (37), (44) which is selected from the pick magazine object interface (13), (55) is read into the magazine store, (53) or the support part object interface of the selected support part incompatible outer pick head coupling interface (100) is removed from the gripper base (60) of the composite gripper (59), (60) with (81), (97) and - if necessary, a pick gripper head (98) with an outer pick head coupling interface (100) compatible with the pick magazine object interface (13), (55) of the selected magazine object receptacle (10), (22), (29), (37), (44), (53) or the support part object interface of the selected support part is removed to the gripper base (60) of the composite gripper (59), (60) with (81), (97) with the method according to claim 63 and - that the pick gripper head (98) with compatible unoccupied outer pick head coupling interface (100) is moved into the vicinity of the selected magazine object pick-up (10), (22), (29), (37), (44), (53) or the selected support part (17) and - that in this case the force of its pick head magnet system (101) is set to a value less than or equal to the pick head separating force according to claim 28 and - that subsequently the outer pick head coupling interface (100) is in pick head coupling connection with the pick magazine object interface (13), (55) of the selected magazine object pick-up (10), (22), (29), (37), (44), (53) or the support part object interface of the selected support part is brought into the interchangeable object wall position and - that the force of the receiving head magnet system (101) is then increased at least to the receiving head coupling force according to claim 28 and thus the magazine object receptacle (10), (22), (29), (37), (44), (53) or the support part is coupled to the receiving gripper head and - that if necessary the magazine object receptacle (10), (22), (29), (37), (44), (53) is moved upwards until a fastening contour according to claim 6 is freed from the undercut, and - that finally the magazine object receptacle (10), (22), (29), (37), (44) is moved upwards, (53) or the support part (17) is released from the magazine wall (20), (26), (34), (41), (102), (116), (117), (118) and removed therefrom by means of the force of at least one drive of the handling system (112).Method for coupling a magazine object receptacle (10), (22), (29), (37), (44), (53) with an active magazine object wall magnet system (15), (57) according to claim 29 to a receptacle gripper head (98) according to claim 29 in a magazine which has at least one of the properties described in claims 1 to 59, wherein the method is characterized - in that the gripper positioning can be carried out according to one of the methods according to claims 61 or 62, and - in that a magazine object receptacle (10), (22), (29), (37), (44), (53) with an active magazine object wall magnet system (15), (57) is selected for coupling, which receptacle object receptacle is deposited on a coupling wall according to claim 59 and the receptacle magazine object interface (13) thereof, (55) is located in a receiving wall position according to claim 1, and - if required, that its type, the properties of its object coupling interface (13), (55) and its interchangeable object wall position are determined and read into the magazine store with the method according to claim 60, and - if required, a receiving gripper head (98) with an outer receiving head coupling interface (100) which is incompatible with the receiving magazine object interface (13), (55) of the selected magazine object receptacle (10), (22), (29), (37), (44), (53) is removed from the gripper base (60) of the assembled gripper (59), (60) with (81), (97), and - if required, a receiving gripper head (98) with an outer receiving head coupling interface (100) which is incompatible with the receiving magazine object interface (13), (55) of the selected magazine object receptacle (10), (22), (29), (37), (44), (53) compatible outer receptacle head coupling interface (100) and with contact systems for connection to contact systems of the magazine object receptacle (10), (22), (29), (37), (44), (53) is coupled to the gripper base (60) of the assembled gripper (59), (60) with (81), (97) with the method according to claim 63 and - that the receptacle gripper head (98) with compatible unoccupied outer receptacle head coupling interface (100) is coupled to the vicinity of the selected magazine object receptacle (10), (22), (29), (37), (44), (53), and - that in this case the force of its receiving head magnet system (101) is set to a value less than or equal to the receiving head separating force according to Claim 28, and - that subsequently the outer receiving head coupling interface (100) is brought into receiving head coupling engagement with the receiving magazine object interface (13), (55) of the selected magazine object receptacle (10), (22), (29), (37), (44), (53) with active receiving wall magnet system (15), (57) according to Claim 29 in the interchangeable object wall position, and - that in this case the contact systems in the receiving gripper head (98) are brought into the interchangeable object wall position with those in the magazine object receptacle (10), (22), (29), (37), (44), (53) and an electrical connection is produced between the pick gripper head and the active pick-up wall magnet system (15), (57) according to claim 29, and - that the force of the pick-up head magnet system (101) is then increased at least to the pick-up head coupling force according to claim 28 and thus the magazine object pick-up (10), (22), (29), (37), (44), (53) is coupled to the pick-up gripper head, and - that subsequently the force of the active magazine object wall magnet system (15), (57) is set to a force less than or equal to the pick-up head separating force according to claim 29, and - that if necessary the magazine object pick-up (10), (22), (29), (37), (44), (53) is moved upwards until a fastening contour according to claim 6 is freed from the undercut, and finally the magazine object receptacle (10), (22), (29), (37), (44), (53) is detached from the magazine wall (20), (26), (34), (41), (102), (116), (117), (118) and removed therefrom by means of the force of at least one drive of the handling system (112).Method for depositing a basic change object (66), (75), (81), (82), (90), (98) by a composite gripper (59), (69), (60) with (81), (97) on a coupling wall according to claim 59 or a basic change object receptacle in a magazine which has at least one of the properties described in claims 1 to 59, wherein the method is characterized - in that the gripper positioning can be effected according to one of the methods according to claims 61 or 62 and - in that a gripper base (60), (70) or gripper adapter base (60) with (90) according to claim 23 with coupled basic change object (66), (75), (81), (82), (90), (98) is moved into a target position, in which the basic change object is linked to a coupling wall or to a basic change object receptacle either by an object wall holding force according to Claim 17 or a magnetic object wall holding force according to Claim 18 in a basic change object-wall coupling closure, and - in that the force of the basic magnet system (63), (64), (73), (74), (96) is subsequently reduced to a force less than or equal to the basic object separating force according to Claim 20, such that the gripper-based basic change object interface (62), (72), (93) can be released from the basic change object (66), (75), (81), (82), (90), (98) and removed therefrom without releasing its coupling to the coupling wall or the basic change object receptacle and changing its depositing position.Method for depositing a magazine object (1) by a simple gripper (49) or a composite gripper (59), (69), (60) with (81), (97) in a magazine which has at least one of the properties described in claims 1 to 59, wherein the method is characterized - in that the gripper positioning can be carried out according to one of the methods according to claims 61 or 62, and - in that a gripper with coupled magazine object (1) is moved into a target position in which the magazine object is brought into a receiving magazine object coupling closure at a magazine object receptacle (10), (22), (29), (37), (44), (53) with a receiving magazine object interface (13), (55) compatible with the magazine object interface (5) and is linked by the receiving object holding force according to claim 4, and - subsequently reducing the force of the gripper-magazine object magnet system (52), (94), (101) to a value less than / equal to the gripper-magazine object separating force according to claim 14, so that the gripper-magazine object interface (51), (77), (86), (95) can be detached from the magazine object (1) and removed without releasing its coupling to the magazine object receptacle (10), (22), (29), (37), (44), (53) and changing its position.Method for depositing a magazine object receptacle (10), (22), (29), (37), (44), (53) or a support part (17) by a receptacle gripper head (98) on a coupling wall according to claim 59 in a magazine which has at least one of the properties described in claims 1 to 59, wherein the method is characterized - in that the gripper positioning can be carried out according to one of the methods according to claims 61 or 62 and - in that either a receptacle gripper head (98) with a coupled magazine object receptacle (10), (22), (29), (37), (44), (53) or coupled support part (17) is moved into a target position in which - the magazine object receptacle is brought into receptacle wall coupling closure or the support part is brought into support part wall coupling closure with a coupling wall, - or in the case of a magazine object receptacle (29), (37), (44) with a wall holding contour (31) according to claim 5, a fastening contour (39) according to claim 6 or with a clamping element (46) according to claim 7, the latter is moved into such a Z position that the contour or the clamping element can be introduced into a corresponding groove and the magazine object receptacle (29), (37), (44) is brought into receptacle-wall coupling engagement with a coupling wall, - wherein in the case of a magazine object receptacle (29), (37) with wall holding contour according to claim 5 or fastening contour according to claim 6, the latter is lowered until the wall holding contour or the fastening contour has been brought into contact with at least one contact surface of at least one of the grooves in such a way that movements of the magazine object receptacle (29), (37) parallel to the magazine wall (26), (34) are no longer possible in the direction of gravitational forces and the magazine object receptacle is brought into receptacle-wall coupling engagement with a coupling wall, - and that the magazine object receptacle (10), (22), (29), (37), (44), (53) is connected with the receptacle-wall holding force bound according to claim 8, - wherein, in the case of a magazine object receptacle with an active receptacle-wall magnetic system (15), (57), the force thereof is initially set to a value less than or equal to the receptacle separating force according to claim 29 and is increased only after reaching the receptacle wall position to a force such that the magazine object receptacle is held on the coupling wall at least with the receptacle-wall holding force according to claim 8, or that a pick-up gripper head (98) with coupled support part (17) according to claim 10 is moved into a target position in which - the support part object interface is brought into support part-wall coupling engagement with a coupling wall and is linked with the support part wall holding force, or - the support part object interface is brought into support part-wall coupling engagement with a coupling wall and is linked with the support part wall holding force in such a way that the support part is brought into contact with a magazine object pick-up (10), (22), (29), (37), (44), (53) in the Z direction, and subsequently reducing the force of the pick-up head magnet system (101) to a value less than or equal to the pick-up head separating force according to claim 28, so that the outer pick-up head coupling interface (100) can then be separated and removed from the magazine object receptacle or the support part without releasing the coupling of the magazine object receptacle or the support part to the coupling wall and changing its depositing position.Method for inserting interchangeable objects into a magazine which has at least one of the properties described in claims 1 to 59, wherein the method is characterized - in that at least one single-part wall interchangeable object (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) to be inserted is placed on a lock wall in an interchangeable object wall position if the lock is accessible from the outside, - or in that at least one placed magazine object receptacle (10), (22), (29), (37), (44), (53) is present as a single-part wall interchangeable object in an interchangeable object wall position on a lock wall and a compatible magazine object (1) to be inserted is placed on it if the lock is accessible from the outside, - and in that the lock is subsequently made accessible for access by a gripper (49), (59), (69), (60) with (81), (97) of the magazine - or in that at least one single-piece wall interchangeable object to be inserted is deposited in an interchangeable-object wall position on an interchangeable-segment wall of an interchangeable segment (119), (120), (121) when said interchangeable-segment lock position is located in an interchangeable-segment lock position according to claim 58 or an interchangeable-segment exchange position according to claim 57, - or in that at least one deposited magazine-object receptacle (10), (22), (29), (37), (44), (53) is present as a single-piece wall interchangeable object in an interchangeable-object wall position on an interchangeable-segment wall of an interchangeable segment (119), (120), (121) and a compatible magazine object to be inserted is deposited on said interchangeable-segment, when the interchangeable segment is located in an interchangeable segment lock position or an interchangeable segment exchange position, - or that at least one single-piece wall interchangeable object to be inserted is deposited in an interchangeable object wall position on an interchangeable segment wall of an interchangeable segment (119), (120), (121) if the latter is located outside the magazine, - or that at least one deposited magazine object receptacle (10), (22), (29), (37), (44), (53) is present as a single-piece wall interchangeable object in an interchangeable object wall position on an interchangeable segment wall of an interchangeable segment (119), (120), (121) and a compatible magazine object (1) to be inserted is deposited thereon if the interchangeable segment is located outside the magazine, and - that the entire interchangeable segment with deposited wall interchangeable objects is then inserted into an externally accessible interchangeable segment replacement position in the magazine according to claim 57 - and that the interchangeable segment is then transferred into its interchangeable segment working position according to claim 58 in the magazine wall (20), (26), (34), (41), (102), (116), (117), (118), fixed there and made accessible by a gripper (49), (59), (69), (60) with (81), (97) of the magazine, and - that a one-piece wall interchangeable object (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90) to be inserted is then made accessible by means of (81), (69), (98), and - that a replaceable object wall position, referred to as "free direct target coupling position", of the object coupling interface (13), (55), (84), (85), (92) of the selected one-piece wall replaceable object is then selected for its storage in the magazine, which is characterized in that the distances of its object outline from those of adjacent wall replaceable objects or contours of the magazine wall are greater than a lower limit value, and - that, if necessary, a non-suitable base replaceable object (66), (75), (81), (82), (90), (98) coupled to (81), (97) in the gripper (59), (69), (60) is stored therein with a gripper coupling interface not compatible with the object coupling interface of the selected one-piece wall replaceable object, with one of the methods according to claims 67 to 69, and - if required, a suitable basic interchangeable object is then coupled with a gripper coupling interface compatible with the object coupling interface of the selected one-piece wall interchangeable object by one of the methods according to claims 63, 65 or 66, - or a magazine object (1) to be inserted is then selected, and - if possible, an unoccupied magazine object receptacle (10), (22), (29), (37), (44), (53), which is present in the magazine (122) and is deposited on a coupling wall, is selected for coupling with a receptacle magazine object interface (13), (55), which is compatible with the object coupling interface of the selected magazine object to be inserted and is located in such a position that the object coupling interface of the selected magazine object to be inserted is selected for coupling after coupling thereof to the present magazine object receptacle (10), (22), (29), (37), (44), (53) assumes a planned "free indirect target coupling position", which is characterized in that the object contour of the combination of the selected magazine object to be introduced with the selected magazine object receptacle (10), (22), (29), (37), (44), (53) in the coupled state has distances from the object contours of adjacent wall change objects or contours of the magazine wall which are greater than a lower limit value when the magazine object is in the free indirect target coupling position, and - in that, if necessary, a non-suitable base change object (66), (75), (81), (82), (90), (98), which is coupled in the gripper (59), (69) with (81), (97) is deposited with one of the methods according to claims 67 to 69, and - if required, a suitable basic change object is then coupled to the gripper with the method according to claim 63 with a gripper coupling interface compatible with the object coupling interface of the selected magazine object, - or a magazine object to be introduced is then selected, and - a free indirect target coupling position of the object coupling interface (5) of the selected magazine object is then selected for placement in the magazine, and - an unoccupied magazine object receptacle (10), (22), (29), (37), (44), (53) present in the magazine (122) and deposited on a coupling wall is then determined with a receptacle magazine object interface (13), (55) compatible with the object coupling interface of the selected magazine object to be introduced in the magazine, and - a "resulting free direct target coupling position" of the object coupling interface (13), (55) of the determined magazine object receptacle (10), (22), (29), (37), (44), (53) for being placed in the magazine (122) is determined, which is characterized in that the object coupling interface (5) of the selected magazine object (1) assumes its planned free indirect target coupling position when the selected magazine object is coupled to the determined magazine object receptacle and the latter is placed in the resulting free direct target coupling position, and - in that if necessary a non-suitable basic change object (66), (75), (81), (82), (90), (98) coupled to (81), (97) in the gripper (59), (69), (60) is placed using one of the methods according to claims 67 to 69, and - that if necessary a suitable pick-up gripper head (98) as a basic change object is coupled to the gripper with an outer pick-up head coupling interface (100) compatible with the pick-up magazine object interface (13), (55) of the determined magazine object pick-up with the method according to claim 63, and - that then the magazine object pick-up (10), (22), (29), (37), (44), (53) is coupled to the pick-up gripper head with the method according to claims 65 or 66 and is released from the coupling wall, and - that then the magazine object pick-up is deposited with the method according to claim 69 at the resulting free direct target position, and - that then the pick-up gripper head (98) no longer required is deposited with the method according to claim 67, and - that then a suitable basic change object (66), (75) is deposited, (81), (82), (90) with a gripper coupling interface compatible with the object coupling interface of the selected magazine object is coupled to the gripper with the method according to claim 64, - and that the interchangeable object selected for the introduction is then coupled to the gripper (49), (59), (69), (60) with (81), (97) with one of the methods according to claims 63 to 66, and - that it is then moved to the planned free target coupling position in the magazine and deposited there with one of the methods 67 to 69, and - that the gripper is finally decoupled from the interchangeable object and removed, and - that subsequently suitable ones of the above-described method steps for the "displacement" of an interchangeable object are carried out for all interchangeable objects which are deposited on a lock wall or interchangeable segment wall and are to be introduced, and - in that a sequence of the handling of interchangeable objects is selected here which includes as few interchangeable operations as possible of basic interchangeable objects for adapting the gripper geometry.Method for removing interchangeable objects from a magazine, which has at least one of the properties described in claims 1 to 59, wherein the method is characterized - in that a one-piece wall interchangeable object (10), (17), (22), (29), (37), (44), (53), (66), (75), (81), (82), (90), (98) is selected for the removal, and - in that a interchangeable object wall position, referred to as "free direct target coupling position", of the object coupling interface (13), (55), (84), (85), (92) of the selected one-piece wall interchangeable object is then selected for its storage on a lock wall or interchangeable segment wall, which is characterized in that, wherein the distances of its object contour from those of adjacent wall interchangeable objects or contours of the lock wall or interchangeable segment wall are greater than a lower limit value, and - if required, a non-suitable base interchangeable object (66), (75), (81), (82), (90), (98) coupled with (81), (97) in the gripper (59), (69), (60) is deposited with a gripper coupling interface not compatible with the object coupling interface of the selected one-piece wall interchangeable object, with one of the methods according to claims 67 to 69, and - if required, a suitable base interchangeable object is coupled with a gripper coupling interface compatible with the object coupling interface of the selected one-piece wall interchangeable object, with one of the methods according to claims 63, 65 or 66, - or a magazine object (1) being selected for removal, and - if possible a deposited unoccupied magazine object receptacle (10), (22), (29), (37), (44), (53), which is present on a lock or change segment wall, being selected for coupling to a receptacle magazine object interface (13), (55), which is compatible with the object coupling interface of the selected magazine object to be introduced and is located in a position such that the object coupling interface of the selected magazine object to be introduced, after coupling to the present magazine object receptacle (10), (22), (29), (37), (44), (53), assumes a planned "free indirect target coupling position", which is characterized in that, the object contour of the combination of the selected magazine object to be introduced with the selected magazine object receptacle (10), (22), (29) in the coupled state has distances from the object contours of adjacent wall interchangeable objects or contours of the lock or interchangeable segment wall which are greater than a lower limit value when the magazine object is in the free indirect target coupling position, and - if required, a non-suitable base interchangeable object (66), (75), (81), (82), (90), (98) coupled with (81), (97) in the gripper (59), (69), (60) is deposited using one of the methods according to claims 67 to 69, and - if required, a suitable basic change object is then coupled to the gripper by the method according to claim 63 with a gripper coupling interface compatible with the object coupling interface of the selected magazine object, - or a magazine object (1) is then selected for removal, and - a free indirect target coupling position of the object coupling interface (5) of the selected magazine object is then selected for placement on a lock or change segment wall, and - an unoccupied magazine object receptacle (10), (22), (29), (37), (44), (53) present in the magazine (122) on a coupling wall is then selected with a receptacle magazine object interface (13) compatible with the object coupling interface of the selected magazine object to be introduced, (55) is determined in the magazine and - that a "resulting free direct target coupling position" of the object coupling interface (13), (55) of the determined magazine object receptacle (10), (22), (29), (37), (44), (53) is then determined for placement on a lock wall or interchangeable segment wall, which is characterized in that the object coupling interface (5) of the selected magazine object assumes its planned free indirect target coupling position when the selected magazine object is coupled to the determined magazine object receptacle and the latter is placed in the resulting free direct target coupling position, and - that if necessary a non-suitable base interchangeable object (66), (75), (81), (82), (90), (98) coupled in the gripper is placed using one of the methods according to claims 67 to 69, and - that if necessary a suitable pick gripper head (98) as a base change object is then coupled to the gripper with a gripper coupling interface compatible with the pick magazine object interface (13), (55) of the determined magazine object pick up with the method according to claim 63 and - that then the magazine object pick up (10), (22), (29), (37), (44), (53) is coupled to the pick gripper head with the method according to one of claims 65 or 66 and is released from the coupling wall and - that then the magazine object pick up is deposited with the method according to claim 69 at the resulting free direct target position and - that then the pick gripper head (98) no longer required is deposited with the method according to claim 67 and - that then a suitable base change object (66), (75), (81), (82) is deposited, (90) with a gripper coupling interface compatible with the object coupling interface of the selected magazine object (1) is coupled to the gripper with the method according to claim 63, - and that the interchangeable object selected for the removal is then coupled to the gripper (49), (59), (69), (60) with (81), (97) with one of the methods according to claims 63 to 66, and - that it is then moved to the planned free target coupling position on a lock wall or interchangeable segment wall and is deposited there with one of the methods according to claims 67 to 69, and - that the gripper is finally decoupled from the interchangeable object and removed, and - that subsequently suitable ones of the method steps illustrated above for the displacement of an interchangeable object are repeated until all interchangeable objects to be removed from the tool magazine are coupled to interchangeable object wall positions on a lock wall or interchangeable segment wall, or - suitable ones of the above-described method steps for moving a replaceable object are subsequently repeated until all replaceable object wall positions on a lock wall or replaceable segment wall are occupied, and - in this case a sequence of handling replaceable objects is selected which contains as few replacement processes as possible of basic replaceable objects for adapting the gripper geometry, and - in that at least one lock wall is then made accessible from the outside and at least one replaceable object is removed, and - in that the lock wall is then made accessible again for access by the gripper (49), (59), (69), (60) with (81), (97) of the magazine, - or in that at least one replaceable segment (119), (120) is then made accessible, (121) is brought into an externally accessible interchangeable segment lock position according to claim 73 or interchangeable segment replacement position according to claim 57 and at least one interchangeable object is removed - or that at least one interchangeable segment is then brought into an externally accessible interchangeable segment replacement position according to claim 57 and removed - and that at least one interchangeable segment with at least a sufficiently large free region of its interchangeable segment wall is then inserted into the externally accessible interchangeable segment replacement position according to claim 57 - and that the interchangeable segment is then moved into its working position and fixed there and made accessible to the access of the gripper of the magazine according to claim 57 and - that subsequently suitable ones of the above-illustrated method steps are repeated until all interchangeable objects to be removed from the magazine (122) are removed from the magazine.Method for calculating an arrangement pattern of wall-change objects according to claim 53 in a magazine having at least one of the characteristics described in claims 1 to 59, the method being characterised in that - at least for a partial surface of a coupling wall, at least information about the coupling wall required for coupling wall-change objects to it is stored in a magazine memory according to claim 59, and - that information about all wall interchangeable objects planned on this sub-surface and the interchangeable objects contained therein are stored in a magazine memory and - that at least the object contours of these wall interchangeable objects including those of the interchangeable objects contained therein are stored in a magazine memory - or that at least such geometric parameters of object contours of these wall interchangeable objects including those of the interchangeable objects contained therein are stored in a magazine memory that are required for determining the distance between the object contour of a wall interchangeable object and the object contours of all possible wall interchangeable objects couplable in adjacent positions or the edges of the sub-surface, - and that the control system of the magazine controls the optimization program according to claim 59 in such a way, said magazine store calculating an arrangement of interchangeable objects in an "arrangement pattern" according to at least one optimization criterion and reading said arrangement into the magazine store with the aid of the information in the magazine store, and - an optimization criterion being the minimization of the "enveloping object contour", which is characterized in that it is the contour of a projection of the outer surface of a contiguous volume onto the magazine wall (20), (26), (34), (41), (102), (116), (117), (118), which is formed by merging all individual volumes, enclosed by outer surfaces, of the planned wall interchangeable objects arranged in the arrangement pattern and filling cavities lying between the volumes, and - that the optimization program of each wall interchangeable object in the X direction in an individual interchangeable object wall position according to claim 53 can provide on this sub-surface which depends only on geometric properties of the sub-surface and on distances of its object outline from those of adjacent wall interchangeable objects and to the edges of the sub-surface, wherein the distances of the object outlines must not fall below a desired value of a minimum distance, and - that each wall interchangeable object can have an individual value of the X component of its interchangeable object wall position which does not have to match a value of an X component of an interchangeable object wall position of another wall interchangeable object, and - that the optimization program of each wall interchangeable object which is applied in at least one groove to the sub-surface of the coupling wall, The surface in the Z direction in a changeable object wall position according to claim 53 can provide on this surface portion which depends on geometric properties of the surface portion of the coupling wall including groove properties and groove distances as well as distances of its object contour from those of adjacent wall changeable objects and to the edges of the surface portion, wherein the distances of the object contours must not fall below a desired value of a minimum distance and - the optimization program can provide each wall changeable object which is not linked in a groove on the surface in the Z direction in a changeable object wall position according to claim 53 on this surface portion, which depends only on geometric properties of the sub-surface of the coupling wall and on distances of its object contour from those of adjacent wall interchangeable objects and to the edges of the sub-surface, wherein the distances of the object contours must not fall below a desired value of a minimum distance and - that each wall interchangeable object which is not linked in a groove can have an individual value of the Z component of its interchangeable object wall position which does not need to match a value of a Z component of an interchangeable object wall position of another wall interchangeable object.Method for producing a physical arrangement of interchangeable objects having a planned arrangement pattern in a magazine (122) which has at least one of the properties described in Claims 1 to 59, the method being characterized - in that the arrangement pattern of interchangeable wall objects stored in the magazine (122) according to Claim 53 and their object contours including those of the interchangeable objects contained therein are stored in a magazine memory or at least those geometric parameters of object contours of these interchangeable objects which are required for determining the distance between the object contour of a interchangeable wall object and the object contours of all possible interchangeable wall objects couplable in adjacent positions or the edges of the subarea, and - the arrangement pattern of stored wall interchangeable objects according to claim 53 and their object contours including those of the interchangeable objects contained therein, which pattern is planned in the magazine (122) according to the method in claim 72, or at least such geometric parameters of object contours of these interchangeable objects that are required for determining the distance between the object contour of a wall interchangeable object and the object contours of all possible wall interchangeable objects couplable in adjacent positions or the edges of the subarea, and - that firstly the interchangeable objects to be removed from the magazine (122) are determined and an optimized sequence of operating steps according to claim 71 for their removal and - that the interchangeable objects to be introduced into the magazine (122) are determined and an optimized sequence of operating steps according to claim 70 for their introduction, which is matched to the sequence of operating steps for removing interchangeable objects, and - that the interchangeable objects contained in the magazine (122) are determined which have to be moved to a different interchangeable object wall position in order to be able to generate the planned arrangement pattern, and - that the control system of the magazine controls an optimization program according to claim 59 in such a way that it calculates an optimized sequence of operating steps for producing the planned arrangement pattern according to at least one optimization criterion, and - that an optimization criterion is the total time required for generating the arrangement pattern, and - that working steps are then processed according to the optimized sequence according to the methods according to claims 60 to 71, and - that the working steps can comprise the removal of unrequired change objects from lock walls or change segment walls or the removal of change segments (119), (120), (121) with stored unrequired change objects according to claim 71 from exchange positions, and - that the working steps can comprise the introduction of required change objects and their deposition on lock or change segment walls or the introduction of change segments with stored required change objects according to claim 70 into exchange positions, and - that the introduction and removal of change objects or change segments are supported by manual or automatic operations, which are not performed by the handling system (112) of the tool magazine, and - that these required manual or automatic operations can be calculated by the optimization program and information can be transmitted via them to an operator or an external handling system through suitable interfaces, and - that suitable working steps described above are repeated until the planned arrangement pattern is produced.Method for generating a replaceable buffer by modifying the method according to claim 73, wherein the method is characterized in that - the arrangement pattern of replaceable objects is calculated such that at least one composite wall replaceable object with at least one magazine object (1) intended for imminent changeover operations is deposited in a region of the magazine wall (20), (26), (34), (41), (102), (116), (117), (118) which is designated as a "replaceable buffer region", and - the replaceable buffer region can be a non-contiguous surface of the magazine wall, and - the size and position of the subareas on the magazine wall which are to be added to the changeover buffer area, and the number and arrangement pattern of the changeover objects contained therein are determined by an optimization process according to at least one optimization criterion, and - an optimization criterion is the minimization of the sum of the time periods which are required to pick up the magazine objects (1) contained in the changeover buffer from their storage position and to insert them into a changeover position in a changeover device which can change them into an external device, and to remove them from the changeover position of the changeover device and to store them again in a storage position in the changeover buffer or on a coupling wall, and - the changeover buffer and the changeover objects contained therein can be adapted continuously to changing plans for the use of changeover objects in the processing process.

Images