Jaw adapter system, jaw changing system, handling device

Abstract

The invention relates to a jaw changing system (10), in particular for the detachable arrangement of base jaws (20) on handling devices, comprising an adapter (12) which can be fastened to a base jaw (20) of a gripper (22) and comprising a magazine (14) for receiving (32) the adapter (12), wherein the adapter (12) has at least one locking bolt (34) which is displaceable along an x-axis between an inner release position and an outer locking position, wherein the base jaw (20) is detachable from the adapter (12) in the release position and can be locked to the adapter (12) in the locking position by means of the at least one locking bolt (34), wherein the adapter (12) has at least one spring means (44) which urges the at least one locking bolt (34) into the locking position,wherein at least one storage sensor (82) is provided in or on the magazine (14) for detecting the presence and / or position and / or location of the adapter (12) in the magazine (14).

Description

[0001] The invention relates to a jaw adapter system for storing an adapter system in a magazine and / or for the detachable arrangement of gripper fingers on handling devices. The jaw adapter system comprises a base jaw of a gripper and an adapter attachable to the base jaw. The adapter has at least one locking bolt, which is displaceable along an x-axis between an inner release position and an outer locking position. In the release position, the base jaw is detachable from the adapter, and in the locking position, the adapter can be locked by means of the at least one locking bolt. The adapter has at least one spring means, which urges the at least one locking bolt into the locking position.

[0002] JP 2011 189 415 A discloses a jaw adapter system that is mounted on a gripping device with a jaw changing system. A particular disadvantage is that the adapters, designed as base jaws, fall into the magazine due to gravity when being inserted into the magazine and released from the change head. No information about the stored adapters is recorded. Therefore, reproducible placement and retrieval of the adapters is not possible.

[0003] The invention is therefore based on the object of providing a jaw adapter system which ensures reproducible depositing and picking up of the adapters.

[0004] The problem underlying the invention is solved by a jaw adapter system with the features of claim 1. An RFID transponder can be arranged or is arranged in a recess in a circumferential surface of the adapter. The RFID transponder can interact with an RFID antenna in the magazine and transmit information about the adapter, such as ID, type, size, operating time, etc., to the magazine. This ensures that the adapters can be deposited and picked up reproducibly. Furthermore, the RFID transponder can be easily and quickly mounted on the adapter and, thanks to its proximity to the magazine, can ensure reliable transmission.

[0005] An advantageous development provides that the locking bolt has an actuating bevel facing away from the spring means for inserting the adapter into the magazine in the correct position and orientation. If there is a preferred insertion direction of the adapter into the magazine, the actuating bevel is preferably tapered towards the magazine. This ensures that the adapter can only be inserted into the magazine along the preferred insertion direction. The preferred insertion direction is particularly relevant if a storage sensor arranged on the magazine is located in a rear region of the magazine and, for repeatable and precise detection of the position and / or orientation of the adapter, the storage sensor must assume a precise position in the magazine. If the actuating bevel is incorrectly oriented, this can, in particular, cause mechanical resistance.

[0006] An advantageous embodiment of the jaw adapter system provides that the adapter has a receptacle, and the base jaw of the gripper has at least one insertion section. The insertion section extends along a z-axis perpendicular to the x-axis and the y-axis and can be inserted into the receptacle. The insertion section enables relative positioning between the adapter and the base jaw along the x-axis and the y-axis, allowing the adapter to be precisely inserted into the magazine.

[0007] It is conceivable that a gripper finger can be arranged or is arranged on the adapter. This allows existing base jaws, especially gripper fingers, to be used with the jaw change system.

[0008] Advantageously, the at least one locking bolt and / or the at least one insertion section is designed such that the at least one insertion section can be removed from the adapter, in particular from the at least one receptacle, in the release position and can be locked in the adapter, in particular in the at least one receptacle, by means of the at least one locking bolt in the locking position.

[0009] It is advantageous if the at least one insertion section comprises at least one first insertion bolt and at least one second insertion bolt. The insertion bolts each have a clamping section, which cooperates with the at least one locking bolt for release and locking. In the locking position, the at least one locking bolt is arranged along the y-axis between the at least one first insertion bolt and the at least one second insertion bolt. Accordingly, at least two insertion bolts can be actuated simultaneously by means of one locking bolt, allowing for even force distribution.

[0010] In a further advantageous embodiment, the at least one locking bolt has an inner first section, a middle second section, and an outer third section. The first section is arranged internally, i.e. within the adapter, and has a spring receptacle in the form of a hollow cylinder for receiving the spring means. In the assembled state, the spring means is arranged between the bottom of the blind hole and the spring receptacle. Neither the first section nor the spring means are visible in the assembled state. Furthermore, the first section has a locking bevel for locking the insertion section. The locking bevel of the at least one locking bolt and the clamping section of the at least one insertion section interact in such a way that in the locking position, the locking bevel secures the clamping section.The at least one insertion section preferably engages behind the at least one locking bolt in the locked position. The second section of the locking bolt has a bolt recess for releasing the insertion section. To release the insertion section, the locking bolt is displaced translationally along the x-axis so that the second section of the locking bolt is arranged in the region of the insertion section. The insertion section can then be guided through the bolt recess and the adapter can be released from the base jaw. The third section of the locking bolt is arranged on the outside, i.e., visible from the outside, and serves to absorb the actuating force introduced by the at least one displacement element of the magazine or by a user.The locking bolt, in particular the third section referred to as the actuating element, is contacted by the displacement slope and the inner wall of the magazine. The third section is preferably designed such that, when inserting the adapter into the magazine, the actuating element of the locking bolt preferably slides with little to no resistance along the displacement slope and the inner wall of the magazine. The third section thus preferably interacts with the magazine, in particular with the displacement slope and the inner wall. The third section is preferably designed such that the adapter can only be inserted into the magazine in one direction with little to no resistance.For this purpose, the actuating element of the locking bolt is provided with a bolt-side actuating bevel, which is designed to provide, on the one hand, less mechanical resistance when inserting the adapter and thus contact of the third section with the magazine in the correct insertion position, and, on the other hand, greater mechanical resistance when inserting the adapter and thus contact of the third section with the magazine in the wrong insertion position. This allows the adapter to always be inserted into the magazine in the correct position and position, following the poka-yoke principle, which, in particular, enables the reading of the RFID transponder using an RFID antenna.

[0011] A further advantageous embodiment provides: The jaw adapter system according to one of claims 1 to 5, wherein the adapter has at least one holding device for fixing the adapter in the magazine, wherein preferably the at least one holding device is designed as at least one ball pressure pin arranged in the adapter.

[0012] The object underlying the invention is also achieved by a jaw changing system for the detachable arrangement of gripper fingers on handling devices with the features of claim 6. The jaw changing system has an adapter attachable to a base jaw of a gripper and a magazine for receiving at least one adapter. The adapter has at least one locking bolt, which is displaceable along an x-axis between an inner release position and an outer locking position. In the release position, the adapter is detachable from the base jaw, and in the locking position, the adapter can be locked to the base jaw by means of the at least one locking bolt. The adapter has at least one spring means, which urges the at least one locking bolt into the locking position. At least one storage sensor for detecting the presence and / or position and / or orientation of the adapter is provided in or on the magazine.

[0013] This has the advantage of ensuring precise, safe, and reproducible placement of the detected adapter in an assigned placement location in the magazine and picking up of the detected adapter from a location in the magazine known to the jaw changing system or the handling device. Accordingly, it can be ensured that the adapter is placed in the magazine and / or that the base jaw is released from the adapter when the adapter has assumed a suitable position and / or a suitable orientation in the magazine. Accordingly, it can furthermore be additionally or alternatively ensured that the adapter is picked up from the magazine when the adapter has a suitable position and / or a suitable orientation in the magazine. Accordingly, it can furthermore be additionally or alternatively ensured that the base jaw can be released from the adapter when the locking bolt is in the release position.Accordingly, it can also be ensured, additionally or alternatively, that the adapter can be picked up by the base jaw when the locking bolt is arranged in the locked position. If the adapter is not arranged in the suitable position and / or in the suitable orientation, in particular in the event of an adapter being lost or the adapter being inserted into the magazine in the wrong position, an error message can be issued by the jaw changing system and / or the handling device, in particular by a clamping and / or gripping device, which can cause the jaw changing system and / or the handling device to alternatively move to another similar adapter located at a different storage location in the magazine or make additional external intervention necessary, e.g. manually by an operator.

[0014] It is advantageous if the RFID transponder is designed as an RFID tablet. This represents a simple, cost-effective, and compact design for a data storage device located directly on the adapter. The RFID transponder can store data about the adapter and the gripper fingers located on the adapter, which can be read by an RFID antenna located on the magazine or near the jaw adapter system. This allows the adapter to have a unique identifier and transmit it, and the storage location of the adapter in the magazine can be detected and logged.

[0015] An advantageous development provides that the locking bolt has a head section facing away from the spring means, wherein the head section has an actuating bevel for correctly inserting the adapter into the magazine. In a preferred direction of insertion of the adapter into the magazine, the actuating bevel drops towards the rear area of the magazine, i.e. it tapers. This ensures that the adapter can only be inserted into the magazine along the preferred insertion direction. The preferred insertion direction is particularly relevant when the storage sensor is arranged in the rear area of the magazine with an orientation towards a screw head located on the adapter and for the repeatable and precise detection of the position and / or orientation of the adapter, the adapter with the screw head located on it can assume a defined position and orientation in the rear area of the magazine.The screw head is used to query the storage sensor.

[0016] If the actuating bevel is incorrectly oriented when inserting the adapter into the magazine, i.e. does not taper towards the rear area of the magazine, this can cause greater mechanical resistance when inserting the adapter, which can cause the jaw changing system or the handling device to abort the insertion process and, if necessary, to repeat it in a different insertion direction.

[0017] It is advantageous if the adapter can be inserted into the magazine perpendicular to the x-axis along a y-axis into a magazine position. Preferably, the magazine has at least one displacement element extending along the y-axis, which, in the magazine position, contacts the at least one locking bolt and / or pushes it from the locking position into the release position against the spring force of the spring means.

[0018] It is further advantageous if the at least one storage sensor is directed toward the adapter in the magazine position located in the rear area of the magazine. This ensures accurate and precise detection of the adapter. Advantageously, the at least one

[0019] The displacement element has at least one displacement slope for uniform actuation of the locking bolt. For this purpose, the displacement slope forms an angle with the adapter in the magazine position that is preferably greater than 5°, in particular greater than 10°, and preferably greater than 15°, and / or less than 35°, in particular less than 30°, and preferably less than 25°. The displacement slope can preferably be provided relative to the y-axis and / or the z-axis, so that the adapter can be inserted into the magazine along the y-axis and / or along the z-axis.

[0020] An advantageous development of the invention provides that the at least one storage sensor is designed and / or configured to detect the storage location of the adapters and / or gripping fingers arranged on the adapter, the number of changes of an adapter and / or gripping fingers and / or the adapter type of the adapter and / or finger type of the gripping fingers.

[0021] It is advantageous if at least one RFID antenna that interacts with the RFID transponder arranged in or on the adapter is arranged in the magazine or in the immediate vicinity of the magazine in the jaw changing system.

[0022] The jaw changing system preferably has a data processing unit and / or a memory which are configured to process, store and provide the data acquired by the at least one storage sensor and / or by an RFID transponder by means of at least one RFID antenna. This means that, for example, a higher-level ERP system can log how many and which adapters and gripper fingers are present in the area of the jaw changing system or a handling device, where the adapters and gripper fingers are positioned in the magazine, which gripper fingers are arranged on which adapter, and how often adapters or the gripper fingers located thereon are picked up by a gripper, which can enable conclusions to be drawn about the condition of the adapters or gripper fingers. From the read data, the following statuses, for example "change frequency", "use", "operating time", "storage location", "error frequency", and "errors" can be calculated and displayed.

[0023] It is advantageous if the RFID transponder is located on the adapter and at least one RFID antenna corresponding to the RFID transponder is located in the magazine or in the immediate vicinity of the magazine in the jaw changing system. A recess for accommodating the RFID transponder is provided in the adapter's outer surface. Using the data read from the RFID transponder, an ERP system can obtain information regarding the adapter, the gripper fingers located on the adapter, and the gripper on which the adapter is located, as well as the presence or storage location of the adapter in the magazine.

[0024] The jaw changing system according to claims 6 to 14 can further be supplemented by the features of claims 1 to 5 of the jaw adapter system.

[0025] Further advantageous developments of the invention provide: The jaw changing system according to one of claims 6 to 14, wherein the magazine has a magazine plate and preferably a receiving plate for the magazine plate, wherein the magazine plate can preferably be mounted on the receiving plate in a floating manner, in particular by means of elastomer receiving bushings. By means of the floating mounting, forces and moments can be absorbed and compensated by both the magazine plate and the receiving plate, which forces and moments are caused in particular by improper, incorrectly positioned or non-orthogonal insertion of the adapter into the magazine and can cause damage to both the magazine and the adapter. Such damage can occur more frequently, in particular with high insertion speeds of the adapter and the high impulses caused thereby.

[0026] The jaw changing system according to one of claims 6 to 14, wherein the adapter has at least one slotted guide recess which is designed such that when the adapter is inserted into the magazine, the at least one guide recess engages in the insertion bevel, the insertion slope and the inner wall of the magazine plate.

[0027] The jaw changing system according to one of claims 6 to 14, wherein the magazine has an insertion chamfer and an insertion bevel as well as an inner wall, and wherein the adapter can be inserted into the magazine such that either the insertion chamfer and the insertion bevel and the inner wall of the magazine cooperate with the actuating bevel of the locking bolt.

[0028] Furthermore, the object underlying the invention is also achieved by a handling device having the features of claim 14. The handling device preferably comprises a gripper housing, at least one base jaw arranged in the gripper housing, and at least one adapter arranged on the base jaw, and in particular at least one gripper finger arranged on the adapter, wherein the adapter has at least one locking bolt which is displaceable along an x-axis between an inner release position and an outer locking position, and in particular at least one insertion section arranged on the at least one base jaw and detachable from the adapter, wherein the insertion section is detachable from the adapter in the release position and lockable on the adapter in the locking position by means of the at least one locking bolt, wherein the adapter has at least one spring means,which urges the at least one locking bolt into the locking position, and wherein the locking bolt is designed such that it can be displaced from the locking position into the release position by means of an insertion bevel, an insertion slope and / or an inner wall of a magazine plate or by a user.

[0029] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are further described and explained.

[0030] They show: Fig. 1A perspective view of a jaw changing system with an adapter located in front of a magazine; Fig. 1B perspective view of the jaw changing system, according to Fig. 1A, with the adapter in the magazine position; Fig. 1C perspective view of the jaw changing system, according to Fig. 1A, wherein the adapter is detached from a base jaw of a gripper with a gripper finger; Fig. 1D exploded view of the adapter of the jaw changing system according to Fig. 1A; Fig. 2A Sectional view along the x-axis and y-axis through adapter and magazine according to Fig. 1A (locking bolt in locking position); Fig. 2B Sectional view along the x-axis and y-axis through adapter and magazine according to Fig. 1B (locking bolt in release position); Fig. 3A Sectional view along the x-axis and z-axis through the adapter according to Fig. 1A (locking bolt in locking position); Fig. 3B Sectional view along the x-axis and y-axis through the adapter according to Fig. 1A (locking bolt in locking position); Fig. 3C Sectional view along the x-axis and z-axis through the adapter according to Fig. 1B (locking bolt in release position); Fig. 3D sectional view along the x-axis and y-axis through the adapter according to Fig. 1B (locking bolt in release position); Fig. 4A perspective view of a locking bolt; Fig. 4B Front view of a locking bolt according to Fig. 4A; Fig. 5A is a perspective view of another embodiment of a jaw changing system, wherein an adapter is located in front of a magazine; and Fig. 5B perspective view of the jaw changing system according to Fig. 5A, with the adapter in the magazine position.

[0031] A jaw changing system 10 for storing an adapter 12 in a magazine 14 has, according to Fig. 1A-1D, a jaw adapter system 16 and the magazine 14. The adapter 12 serves to receive and hold a gripper finger 18. The adapter 12 can be detachably arranged on a base jaw 20 of a handling device, in particular a gripper 22. The gripper 22 can be designed as a parallel, centric, or four-jaw gripper and can be driven pneumatically, electrically, and / or mechatronically. The gripper 22 can be arranged on a robot arm (not shown). The jaw changing system 10 comprises the magazine 14 for equipping the gripper 22 with different adapters 12 and different gripper fingers 18 that can be arranged on the adapter 12. The adapter 12 is connected to the base jaw 20 in a movement-rigid manner, so that a displacement of the base jaw 20 along a gripping direction 24 by the gripper 22 also leads to a displacement of the adapter 12.

[0032] The jaw adapter system 16 represents a subsystem of the jaw changing system 10, wherein the jaw adapter system 16 comprises, among other things, the base jaw 20 and the adapter 12.

[0033] According to Fig. 1C, the base jaw 20 has an insertion section 26 with two insertion bolts 28 extending parallel to the z-axis. The adapter 12 has an adapter housing 30 with two receptacles 32 into which the two insertion bolts 28 can be inserted. To fix the adapter 12 to the base jaw 20, the adapter 12 comprises a Fig. 1D, which is arranged in a blind hole 36 extending parallel to the x-axis. The blind hole 36 is arranged along the y-axis between the two receptacles 32, which intersect within the adapter housing 30. Thus, the locking bolt 34 and the insertion bolts 28 can interact there. The locking bolt 34 is displaceable parallel to the x-axis between a locking position and a release position.

[0034] According to Fig. 2A and Fig. 2B, the locking bolt 34 has an inner first section 38, which has a spring receptacle 42 in the form of a hollow cylinder for receiving a spring 44. The spring 44 is supported on the bottom of the blind hole 36 and urges the locking bolt 34 into the locking position, wherein the locking bolt 34 in the locking position, which in Fig. 2A, protrudes from the adapter housing 30. In the locking position, the insertion pins 28 engage behind the locking pin 34, wherein a locking bevel 40 arranged on the first section 38 cooperates with a clamping section 48 arranged on the insertion pins 28. In the locking position, the insertion pins 28 are fixed in the receptacles 32 by the locking pin 34. In Fig. 1A, the locking bolt 34 is in the locking position so that the adapter 12 is firmly connected to the base jaw 20.

[0035] In Fig. 1A, the gripper 22 is positioned directly in front of the magazine 14. This position serves for pre-positioning, from which the adapter 12 can be inserted into the magazine 14. For this purpose, the adapter 12 is inserted parallel to the y-axis into the magazine 14 until it comes to rest against a defined magazine stop 50. In Fig. 1B, as well as in the Fig. 2B, the adapter 12 is shown in the magazine position. By inserting the adapter 12 into the magazine 14, the adapter 12 is unlocked so that Fig. 1C the base jaw 20 can be released from the adapter 12 and the adapter 12 remains in the magazine 14.

[0036] When the adapter 12 is inserted into the magazine 14, the locking bolt 34 is unlocked. For this purpose, the magazine 14 points Fig. 1B and Fig. 2B has two webs 52 with an insertion bevel 54 and a displacement bevel 56. The webs 52 engage according to Fig. 1B and Fig. 2B into a slotted guide recess 58 in the form of two grooves extending parallel to the y-axis, each with a groove bottom 60 of the adapter 12, wherein the insertion bevel 54 is provided for simplified positioning of the adapter 12 on the magazine 14. In this case, the displacement bevel 56 comes into contact with the locking bolt 34 and, by movement parallel to the y-axis, displaces it uniformly parallel to the x-axis against the spring force of the spring 44 into the release position, wherein the locking bolt 34 is positioned flush with the adapter housing 30, in particular with respect to the groove and preferably with respect to the groove bottom 60. The displacement bevel 56 closes according to Fig. 2B with the adapter housing 30 an angle α, which is preferably greater than 5°, in particular greater than 10° and preferably greater than 15° and / or less than 35°, in particular less than 30° and preferably less than 25°. In this case, the locking bevel 40 of the locking bolt 34 is disengaged from the insertion bolt 28. To release the adapter 12, the locking bolt 34 is provided according to Fig. 2A and Fig. 2B shows a central second section 62 with a bolt recess 64. In the release position, the insertion bolts 28 can be guided out of the receptacles 32 through the bolt recess 64, so that the adapter 12 can be released from the base jaw 20.

[0037] In the Fig. 1B, Fig. 1C and Fig. 2B, the locking bolt 34 is in the release position. The relative movement of the base jaw 20 parallel to the z-axis releases the base jaw 20 from the adapter 12. The engagement of the webs 52 in the guide recesses 58 ensures that the adapter 12 remains in the magazine 14. Furthermore, the locking bolt 34 has an outer third section 66, which interacts with the web 52 and is designed such that the adapter 12 is securely held in its position in the magazine 14 even without the base jaw 20. The first section 38 and / or the second section 62 and / or the third section 66 of the locking bolt 34 can be formed as a single piece.

[0038] In the Fig. 3A and Fig. 3B, the locking bolt 34 is in the locking position and in the Fig. 3C and Fig. Shown in 3D in the release position.

[0039] Furthermore, it is possible for the adapter 12 to be inserted into the magazine 14 in two orientations. The base jaw 20 can be positioned above or below the magazine 14 when inserting the adapter 12, with only one web 52 interacting with the locking bolt 34. Accordingly, the jaw changing system 10 can be used, among other things, both on the shop floor and on the shop ceiling.

[0040] Furthermore, the adapter 12 has a locking mechanism according to Fig. 3A and Fig. 3C. For this purpose, a stop means 68, in particular in the form of a threaded pin, is provided, wherein the stop means 68 preferably extends parallel to the y-axis or the z-axis. The stop means 68 is arranged with the locking bolt 34 in the adapter 12 and serves to determine the locking position and the release position of the locking bolt 34. For this purpose, the locking bolt 34 comprises on the second section 62 along the circumference next to the bolt recess 64 according to Fig. 4A a stop groove 70. In the assembled state, the stop means 68 engages in the stop groove 70, wherein the stop means 68 is in the locking position according to Fig. 3A with an inner, first groove end 72 and in the release position according to Fig. 3C engages with an outer, second groove end 74.

[0041] To facilitate insertion of the adapter 12 into the magazine 14, the locking bolt 34 on the third section 66 is provided with Fig. 4A and Fig. 4B, a locking head 76. The locking head 76 has a head groove 78 running parallel to the y-axis, wherein the head groove 78 interacts with the magazine 14, in particular with the web 52. In addition to or alternatively to the head groove 78, the locking head 76 has the bolt-side actuating bevel 46, which runs obliquely to the y-axis. Accordingly, a preferred insertion direction of the adapter 12 into the magazine 14 can be defined.

[0042] A preferred insertion direction is particularly relevant when the orientation of the adapter 12 plays a significant role both in achieving a correct and thus safe unlocking position as well as in data acquisition and data transfer. Fig. 1A to 1D, the jaw changing system 10 has a sensor device 80. The sensor device 80 preferably has a storage sensor 82, which is arranged on the magazine 14 and is designed as an induction sensor. A screw head 83 is preferably arranged on the adapter 12, which interacts with the storage sensor 82 in the magazine position. Furthermore, an RFID transponder 84 is provided on the adapter 12. To accommodate the RFID transponder 84, the adapter 12 has a recess 88 in a casing side 86. The recess 88 is preferably directed towards an RFID antenna 90 provided in the magazine 14 in the magazine position. In the magazine position, information, in particular adapter type, size, operating time, finger type, etc., is transmitted from the RFID transponder 84 to the RFID antenna 90.

[0043] In addition, a data processing unit 92 and / or a memory 94 is provided in the jaw changing system or in the vicinity of the jaw changing system on the magazine 14. This data processing unit processes the sensor data acquired by the at least one storage sensor 82 and / or the data provided by the RFID transponder 84, stores it, and provides it, for example, to a higher-level controller of a handling device or an ERP system. Alternatively, the data processing unit 92 and / or the memory 94 can be arranged on the handling device and / or on the gripper 22.

[0044] Due to the orientation of the actuating bevel 46, an assembly aid is preferably provided on the locking bolt 34 and / or in the blind hole 36. According to Fig. 4A, a recessed mounting recess 96 is provided on the locking bolt 34, which, when assembled, interacts with a protruding mounting portion 98 arranged in the blind hole 36. This ensures that the locking bolt 34 can only be inserted into the blind hole 36 with the correct orientation.

[0045] In the Fig. 5A and Fig. 5B, the magazine 14 alternatively comprises a magazine plate 100 and a receiving plate 102 for the magazine plate 100, wherein the magazine plate 100 can preferably be mounted in a floating manner, in particular by means of elastomer receiving bushings 104, on the receiving plate 102. By means of the floating mounting, forces and moments can be absorbed and compensated by both the magazine plate 100 and the receiving plate 102, which forces and moments are caused in particular by improper, incorrectly positioned, or non-orthogonal insertion of the adapter 12 into the magazine 14 and can cause damage to the magazine 14 as well as to the adapter 12. Such damage can occur increasingly, especially at high insertion speeds of the adapter 12 and the high impulses caused thereby. Fig.1A to 2B, the magazine 14 has only one magazine plate 100 and no receiving plate 102. In both cases, the jaw adapter system 16 or the jaw changing system 10, with the exception of the magazine 14, is of identical design. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2011 189 415 A

[0002]

Claims

[1] Jaw adapter system (16) for storing an adapter (12) in a magazine (14), with an adapter (12) which can be attached to a base jaw (20) of a gripper (22), wherein the adapter (12) has at least one locking bolt (34) which is displaceable along an x-axis between an inner release position and an outer locking position, wherein the base jaw (20) of the gripper (22) is detachable from the adapter (12) in the release position and is lockable on the adapter (12) by means of the at least one locking bolt (34) in the locking position, wherein the adapter (12) has at least one spring means (44) which urges the at least one locking bolt (34) into the locking position, characterized by , that an RFID transponder (84) can be or is arranged in a recess (88) of a lateral surface of the adapter (12). [2] Jaw adapter system (16) according to claim 1, wherein the locking bolt (34) has an actuating bevel (46) facing away from the spring means (44) for inserting the adapter (12) into the magazine (14) in the correct position and orientation. [3] Jaw adapter system (16) according to claim 1 or 2, wherein the adapter (12) has a receptacle (32) and the base jaw (20) has an insertion section (26) extending along a z-axis perpendicular to an x-axis and a y-axis and insertable into the receptacle (32). [4] Jaw adapter system (16) according to claim 3, wherein the insertion section (26) has at least one first insertion bolt (28) and at least one second insertion bolt (28), each having a clamping section (48), wherein in the locking position along the y-axis the at least one locking bolt (34) is arranged between the first insertion bolt (28) and the second insertion bolt (28). [5] Jaw adapter system (16) according to one of the preceding claims, wherein the at least one locking bolt (34) has an inner first portion (38), a middle second portion (62) and an outer third portion (66), wherein the first section (38) has a spring receptacle (42) for receiving (32) the spring means (44) and a locking bevel (40) for locking the insertion section (26), and / or wherein the second section (62) has a bolt recess (64) for releasing the insertion section (26), and / or wherein the magazine (14) can cooperate with the third section (66). [6] Jaw changing system (10), in particular for the detachable arrangement of base jaws (20) on handling devices, with an adapter (12) that can be fastened to a base jaw (20) of a gripper (22) and with a magazine (14) for receiving (32) the adapter (12), wherein the adapter (12) has at least one locking bolt (34) which is displaceable along an x-axis between an inner release position and an outer locking position, wherein the base jaw (20) is detachable from the adapter (12) in the release position and is lockable to the adapter (12) by means of the at least one locking bolt (34) in the locking position, wherein the adapter (12) has at least one spring means (44) which urges the at least one locking bolt (34) into the locking position, wherein at least one storage sensor (82) is provided in or on the magazine (14) for detecting the presence and / or position and / or location of the adapter (12) in the magazine (14). [7] Jaw adapter system (16) according to claim 6, wherein the storage sensor (82) is designed as a proximity sensor, in particular as an induction sensor. [8] Jaw changing system (10) according to claim 6 or 7, wherein the adapter (12) can be inserted into the magazine (14) into a magazine position perpendicular to an x-axis along a y-axis, wherein the magazine (14) has at least one displacement element extending along the y-axis, which in the magazine position contacts the at least one locking bolt (34) and / or urges it from the locking position into the release position against the spring force of the spring means (44). [9] Jaw changing system (10) according to one of claims 6 to 8, wherein the at least one storage sensor (82) is directed towards the adapter (12) in the magazine position. [10] Jaw changing system (10) according to one of claims 6 to 9, wherein the at least one displacement element has at least one displacement slope for uniformly displacing the locking bolt (34). [11] Jaw changing system (10) according to one of claims 6 to 10, wherein at least one RFID transponder (84) is arranged in the adapter (12), wherein the RFID transponder (84) is configured to detect the storage location of the adapter (12) in the magazine (14) and / or of gripping fingers (18) arranged on the adapter (12), the number of changes of an adapter (12) and / or of the gripping fingers (18) and / or the adapter type of the adapter (12) and / or finger type of the gripping fingers (18). [12] Jaw changing system (10) according to one of claims 6 to 11, wherein an RFID antenna (90) cooperating with the RFID transponder (84) arranged in or on the adapter (12) is arranged in the magazine (14). [13] Jaw changing system (10) according to claim 12, comprising a data processing unit (92) and a memory (94) which are configured to process, store and provide the sensor data acquired by the at least one storage sensor (82) and / or the data acquired by the at least one RFID transponder (84). [14] Handling device with a jaw adapter system (16) according to one of claims 1 to 5 and / or with a jaw changing system (10) according to one of claims 6 to 13.

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