AUTOMATICALLY AND MANUALLY OPERATED CHANGE SYSTEM

Description

[0001] The invention relates to an interchangeable system, in particular for the detachable mounting of gripping jaws on handling devices, comprising an interchangeable head arranged on the machine side, an adapter attachable to the interchangeable head, and a magazine for receiving the adapter. The gripping jaw can be formed by the adapter and / or the interchangeable head. Furthermore, a locking mechanism for locking the adapter to the interchangeable head is provided. Suitable handling devices include, in particular, gripping devices, clamping devices, and the like. Such interchangeable systems can also be used in machine tools, in which case the interchangeable head is arranged on the machine side and a tool can be provided on the adapter.

[0002] The interchangeable system therefore ensures quick yet reliable adapter changes on the interchangeable head. The locking mechanism can be operated manually or automatically by machine.

[0003] JP 2011 189 415 A discloses an interchangeable system with a locking bolt arranged in the interchangeable head, which is enclosed in a locking position of the interchangeable head and the adapter, and can be forced into a release position by means of a pin additionally provided on the interchangeable head to release the adapter.

[0004] From DE 92 12 009 U1, a gripper with a jaw and fingers is known, wherein the fingers are arranged on the jaw by means of mounting feet and can be detached from the mounting feet by means of a push button. DE 92 12 009 U1 discloses neither a spring mechanism nor a locking bolt.

[0005] DE 10 2004 029 051 C5 discloses a fastening device for attaching a top jaw, wherein the fastening device has a manually operated and rotatable fastening bolt. EP 3 263 294 B1 and WO 2021 / 081388 A1 disclose connecting pieces for robot arms.

[0006] The invention is based on the objective of further developing a previously described interchangeable system in such a way that changing the adapter is made possible in a simple yet reliable manner.

[0007] This problem is solved by an interchangeable system with the features of claim 1. The interchangeable head and / or 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. Preferably, the interchangeable head and / or the adapter has a bolt receptacle for receiving the at least one locking bolt, wherein the bolt receptacle is preferably formed by a blind hole extending parallel to the x-axis. The interchangeable head is detachable from the adapter in the release position and lockable to the adapter in the locking position by means of the at least one locking bolt. The interchangeable head and / or the adapter has at least one spring element which forces the at least one locking bolt into the locking position, so that the adapter is always connected to the interchangeable head without any external energy input.To attach the adapter to the exchange head and to detach the adapter from the exchange head, the adapter can be inserted into the magazine along a y-axis perpendicular to the x-axis. When inserted into the magazine, the adapter is in the magazine position; preferably, the magazine position is reached when the adapter is positioned against a magazine stop. The magazine also has at least one actuating element extending along the y-axis, which, in the magazine position of the adapter, contacts the at least one locking bolt and, against the spring force of the spring element, pushes it from the locked position into the release position.

[0008] The interchangeable system enables simple and quick automated assembly and disassembly. Due to the adapter's simple design and the translational displacement of at least one locking bolt between the locked and released positions, manual operation is also easily implemented. Furthermore, no electrical or pneumatic energy is required to move the locking bolt within the interchangeable system.

[0009] An advantageous embodiment of the interchangeable system provides that the interchangeable head has at least one receptacle and that the adapter has at least one insertion section, wherein the insertion section extends along a z-axis perpendicular to the x-axis and the y-axis and can be inserted into the receptacle. Alternatively, the interchangeable head has the at least one insertion section and the adapter has the at least one receptacle. Preferably, the at least one insertion section is provided on the adapter and the at least one receptacle on the interchangeable head if the at least one locking bolt is provided on or in the interchangeable head. Preferably, the at least one insertion section is provided on the interchangeable head and the at least one receptacle on the adapter if the at least one locking bolt is provided on or in the adapter.The insertion section allows for relative positioning between the adapter and the interchangeable head along the x-axis and the y-axis, so that the adapter can be inserted precisely into the magazine.

[0010] It is conceivable that the adapter is designed in multiple parts. At least one initial adapter part essentially forms the gripping jaw. At least one second adapter part comprises the at least one insertion section and / or the at least one locking bolt, as well as the at least one receptacle. Thus, existing gripping jaws, especially gripping fingers, can also be used with the interchangeable system.

[0011] 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 interchangeable head or the adapter, in particular from the at least one receptacle, in the release position and can be locked in the interchangeable head or in the adapter, in particular in the at least one receptacle, by means of the at least one locking bolt in the locking position.

[0012] It is advantageous if the at least one insertion section has at least one first insertion bolt and at least one second insertion bolt. Each insertion bolt has a clamping section which interacts with the at least one locking bolt for releasing and locking. In the locked 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. Therefore, at least two insertion bolts can be actuated simultaneously by means of one locking bolt, thus ensuring a uniform force distribution.

[0013] 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 located internally, i.e., within the interchangeable head and / or the adapter, and has a spring receptacle in the form of a hollow cylinder for receiving the spring element. In the assembled state, the spring element is positioned between the bottom of the blind hole and the spring receptacle. Neither the first section nor the spring element is visible in the assembled state. Furthermore, the first section has a locking ramp for locking the insertion section. The locking ramp of the at least one locking bolt and the clamping section of the at least one insertion section interact such that, in the locked position, the locking ramp 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 located in the area of ​​the insertion section. The insertion section can then be guided through the bolt recess, and the adapter can be detached from the interchangeable head. The third section of the locking bolt is located externally, i.e., visible from the outside, and serves to absorb the actuating force applied by the at least one actuating element of the magazine or by a user.The third section is designed in such a way that when inserting the adapter into the magazine, a simple sliding motion along the at least one actuating element is possible.

[0014] Advantageously, the at least one actuating element has at least one actuating ramp for uniform actuation of the locking bolt. For this purpose, the actuating element forms an angle with the exchange head and / or the adapter in the magazine position, which is preferably greater than 5°, particularly greater than 10°, and preferably greater than 15°, and / or less than 35°, particularly less than 30°, and preferably less than 25°. The actuating ramp can preferably be provided opposite 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.

[0015] Advantageously, the magazine comprises at least one first magazine plate and, more preferably, a second magazine plate. The first magazine plate is floatingly mounted on the second magazine plate, in particular by means of an elastomer receiving bushing. This allows the first magazine plate to yield if the adapter is incorrectly inserted into the magazine or if a collision with the magazine occurs in any other way.

[0016] Furthermore, it is advantageous if the magazine has a magazine insert arranged on the first magazine plate. The magazine insert is either detachably or permanently attached to the magazine plate, in particular by means of screws and / or rivets and / or pins. The magazine inserts can be easily replaced, so that a large number of different adapters can be accommodated in the magazine without having to replace the entire magazine.

[0017] The magazine insert preferably comprises at least one rib, wherein the at least one rib forms the actuating element for actuating the locking bolt. Advantageously, the at least one rib has at least one insertion ramp for inserting the adapter into the magazine. The rib preferably has a free end which includes an insertion ramp on the edge extending parallel to the y-axis and / or on the edge extending parallel to the z-axis. Consequently, the relative positioning of the adapter to the magazine is facilitated, thus enabling faster and more reliable insertion.

[0018] Another advantageous embodiment provides that the at least one actuating element is designed as at least one actuating wall projecting from the first magazine plate and extending substantially parallel to the z-axis. The actuating wall can have an actuating side facing the locking bolt, with the actuating chamfer being located on this side. Furthermore, the actuating wall can have a guide side facing away from the locking bolt, with the guide side being substantially parallel to the z-axis. It is conceivable that two guide walls are provided, with the adapter being arranged between the two actuating walls in the inserted state. The guide walls can be arranged to the left and right of the adapter along the y-axis.If at least one locking bolt is designed on one side, it is also conceivable that one actuating wall faces the adapter with its actuating side, and vice versa. Accordingly, the locking bolt can be actuated on the one hand, and the adapter guided on the other.

[0019] Furthermore, it is conceivable that the actuating side provides multiple actuating ramps. The actuating side can have one actuating ramp opposite the y-axis and one opposite the z-axis. Thus, the adapter can be inserted into the magazine along the y-axis and / or the z-axis. Additionally, the actuating side can have two actuating ramps opposite the y-axis, with the actuating ramps along the y-axis converging at the center of the actuating side and preferably forming a point projecting from the actuating wall. The point is preferably designed such that it engages with the locking bolt when the adapter is in the magazine position. Accordingly, the actuating wall can be inserted on either the left or right side and engage with a locking bolt, depending on the direction in which the locking bolt is oriented.

[0020] The actuating wall is preferably designed to be inserted parallel to the z-axis into the first magazine tray and / or the second magazine tray and / or the magazine insert. For this purpose, the actuating wall preferably has an insertion section on its underside facing the first magazine tray, which has a smaller cross-section than the rest of the actuating section. This allows the actuating wall to be installed and removed easily and quickly. It is particularly conceivable that the insertion points of the two actuating walls can be swapped to accommodate wear on one of them.

[0021] An advantageous embodiment provides that the actuating wall has a core and a shell, wherein the core comprises a metal, in particular sheet metal, and the shell a plastic. Accordingly, a dimensionally stable actuating wall can be provided, while at the same time, the shell results in low wear on the locking bolt.

[0022] Another advantageous embodiment provides that the adapter has at least one cam-like guide recess, which is designed such that, when the adapter is inserted into the magazine, the at least one web engages in the at least one guide recess. Accordingly, the adapter is mounted on the magazine parallel to the z-axis. The at least one insertion ramp of the at least one web is specifically adapted to the guide recess.

[0023] Advantageously, at least one guide recess is designed as a groove extending along the y-axis with a groove bottom in the adapter. The groove can also be designed as a frame.

[0024] It is advantageous if the interchangeable head has an interchangeable head housing and / or the adapter has an adapter housing. The locking bolt is preferably arranged in the interchangeable head housing and / or the adapter housing. In the locked position, the third section of the locking bolt projects from the interchangeable head housing and / or the adapter housing, so that it can be easily actuated by at least one actuating element as well as by the operator. In the released position, the third section of the locking bolt is flush with the interchangeable head housing and / or the adapter housing, in particular with the groove and preferably with the bottom of the groove.

[0025] Another advantageous embodiment provides that the magazine has a first actuating element and a second actuating element, wherein, in particular, the magazine insert has a first web and a second web and / or wherein, in particular, the first magazine plate has a first actuating wall and a second actuating wall. The adapter can be inserted into the magazine from below, wherein the magazine, for example, . The adapter is located on a base, with the exchange head positioned above the magazine, specifically above the magazine insert. The adapter can also be inserted into the magazine from the top, with the magazine, for example, .The magazine is mounted on a ceiling, and the changer head is positioned below the magazine, particularly below the magazine insert. In the magazine position, either the first actuating element or the second actuating element, in particular the first web or the second web or the first actuating wall or the second actuating wall, interacts with the at least one locking bolt.

[0026] Furthermore, it is advantageous if the adapter has at least one retaining device for fixing the adapter in the magazine, wherein preferably the at least one retaining device is designed as at least one ball-type detent pin arranged in the adapter. The retaining device preferably extends parallel to the x-axis. In the magazine position, the retaining device engages with a recess in the magazine, in particular in the magazine insert and / or in the first magazine plate. The retaining device can be provided, in particular, when the locking bolt is arranged in the exchange head, so that the adapter is securely fixed in the magazine position.

[0027] Furthermore, the problem underlying the invention is also solved by a magazine for storing an adapter for a handling device, the magazine comprising a first magazine plate, a second magazine plate, a magazine insert, and at least one actuating element, wherein the first magazine plate is floatingly mounted on the second magazine plate by means of elastomer bushings, wherein the magazine insert is detachably or fixedly arranged on the first magazine plate, and wherein the actuating element is designed as at least one web and / or as at least one actuating wall. The web is preferably arranged on the magazine insert. The actuating wall is preferably insertable into the first magazine plate and weldable to it.

[0028] Furthermore, the problem underlying the invention is also solved by a handling device with the features of claim 16.

[0029] Further details and advantageous embodiments of the invention can be found in the following description, which includes several exemplary embodiments described and explained in more detail. The figures show: Fig. 1: Perspective view of a first embodiment of an interchangeable system, wherein an adapter is located in front of a magazine; Fig. 1b: Perspective view of the interchangeable system, according to Fig. 1a , with the adapter in the magazine position; Fig. 1c perspective view of the interchangeable system, according to Fig. 1a , with one interchangeable head detached from the adapter; Fig. 1d Exploded view of the adapter of the interchangeable system according to Fig. 1a ; Fig. 2a Sectional view along the x-axis through adapter and magazine according to Fig. 1a (Locking bolt in locked position); Fig. 2b Sectional view along the x-axis through adapter and magazine according to Fig. 1b (Locking bolt in release position); Fig. 3 perspective view of the magazine insert according to Fig. 1a ; Fig. 3b Perspective view of the magazine insert according to Fig. 3a in section; Fig. 4 perspective view of the magazine according to Fig. 1a with a first magazine plate and a second magazine plate; Fig. 4b perspective view of the magazine according to Fig. 1a with a first magazine plate; Fig. 5 perspective view of a magazine according to Fig. 1a with a first magazine plate and with a disassembled magazine insert; Fig. 6a perspective view of a handling device of a second embodiment of an exchange system, wherein the locking bolt is arranged in the exchange head; Fig. 6b side view of the handling device according to Fig. 6a ; Fig. 6c Perspective view of the handling device according to Fig. 6a , wherein a locking bolt is arranged on the left and a locking bolt on the right; Fig. 7a Top view of a magazine according to the second embodiment, wherein an adapter is located in front of the magazine; Fig. 7b Top view of the magazine according to Fig. 7a , wherein the adapter is engaged with an actuating element; Fig. 7c Top view of the magazine according to Fig. 7a , with the adapter in the magazine position; Fig. 8a Side view of an interchangeable head according to Fig. 6a , wherein the locking bolt is in the release position (corresponding to the state according to Fig. 7c ); Fig. 8b Top view of the interchangeable head according to Fig. 8a ; Fig. 9a Side view of an interchangeable head according to Fig. 6a , wherein the locking bolt is in the locked position (corresponding to the state according to Fig. 7a ); Fig. 9b Top view of the interchangeable head according to Fig. 9a Fig. 10 Exploded view of an interchangeable head with locking bolt; Fig. 11 Perspective view of the interchangeable system, according to the second embodiment, with the interchangeable head detached from the adapter; Fig. 12 Top view of a magazine according to Fig. 7a , with guide walls oriented in the opposite direction, i.e., on the left; Fig. 13a Sectional view through magazine and adapter according to Fig. 7a ; Fig. 13b perspective view of a magazine insert according to Fig. 13a ; Fig. 14a perspective view of a magazine according to the second embodiment; Fig. 14b front view of the magazine according to Fig. 14a ; Fig. 14c Exploded view of the magazine according to Fig. 14a ; Fig. 14d Perspective sectional view of the magazine according to Fig. 14a ; Fig. 14e Sectional view of the first magazine plate and the guide walls according to Fig. 14a ; Fig. 14f Sectional view of an actuating wall according to Fig. 14a ; Fig. 14g further sectional view of an actuating wall according to Fig. 14a ; Fig. 15a Sectional view of an adapter according to the second embodiment; Fig. 15b Exploded view of an adapter according to Fig. 15a ; Fig. 15c Perspective view of an adapter according to Fig. 15a ; and Fig. 15d perspective view of a two-part adapter according to the second embodiment.

[0030] In the Fig. 1a bis 5 A first embodiment of an exchange system according to the invention in the form of a jaw exchange system 10 is shown. In the Fig. 1a-1d A jaw exchange system 10 for the detachable arrangement of gripper jaws 12 on a gripper 14 is shown. The gripper 14 can be configured as a parallel, centric, or four-jaw gripper and can be pneumatically, electrically, and / or mechatronically driven. The gripper 14 can be mounted on a robot arm (not shown). The jaw exchange system 10 includes a magazine 16 for loading the gripper 14 with different adapters 18. The gripper jaw 12 mounted on the gripper 14 is a two-part system comprising an exchange head 20 and the adapter 18, which can be attached to the exchange head 20. The adapter 18 is rigidly connected to the exchange head 20, so that a displacement of the exchange head 20 along the gripping direction 22 by the gripper 14 also results in a displacement of the adapter 18.

[0031] According to Fig. 1c The interchangeable head 20 has an insertion section 24 with two insertion pins 26 extending parallel to the z-axis. The adapter 18 has an adapter housing 19 with two receptacles 28 into which the two insertion pins 26 can be inserted. To secure the adapter 18 to the interchangeable head 20, the adapter 18 includes a Figur 1d The locking bolt 30 shown is arranged in a blind hole 31 extending parallel to the x-axis. The blind hole 31 is arranged along the y-axis between the two receptacles 28, which intersect within the adapter housing 19. Thus, the locking bolt 30 and the insertion bolts 26 can interact there. The locking bolt 30 is displaceable parallel to the x-axis between a locking position and a release position.

[0032] According to Fig. 2a und 2b The locking bolt 30 has an inner first section 32, which has a spring receptacle 34 in the form of a hollow cylinder for receiving a spring 36. The spring 36 is supported against the bottom of the blind bore 31 and forces the locking bolt 30 into the locked position, the locking bolt 30 being in the locked position, which is in Figur 2a As shown, the adapter housing 19 protrudes. In the locked position, the insertion bolts 26 engage behind the locking bolt 30, with a locking chamfer 38 arranged on the first section 32 cooperating with a clamping section 40 arranged on each of the insertion bolts 26. In the locked position, the insertion bolts 26 are secured in the receptacles 28 by the locking bolt 30. Fig. 1a The locking bolt 30 is in the locking position, so that the adapter 18 is firmly connected to the interchangeable head 20.

[0033] In Fig. 1a The gripper 14 is positioned directly in front of the magazine 16. This position is selected to detach the adapter 18 from the exchange head 20 using the magazine 16. For this purpose, the adapter 18 is inserted into the magazine 16 parallel to the y-axis until it comes into contact with the defined magazine stop 42. Fig. 1b , as well as in the Figur 2b Figure 1 shows how the adapter 18 is positioned in the magazine. Inserting the adapter 18 into the magazine 16 unlocks the adapter 18, so that according to... Fig. 1c the interchangeable head 20 can be detached from the adapter 18 and the adapter 18 remains in the magazine 16.

[0034] When the adapter 18 is inserted into the magazine, the locking bolt 30 is unlocked. The magazine 16 has a corresponding Fig. 2b and 3a Two webs 44, each with an insertion ramp 46 and an actuation ramp 48, engage according to Fig. 1b and 2binto a cam-like guide recess 50 in the form of two grooves extending parallel to the y-axis, each with a groove base 51 of the adapter 18, wherein the insertion ramps 46 are provided for simplified positioning of the adapter 18 on the magazine 16. The actuating ramp 48 then comes into contact with the locking bolt 30 and, by moving parallel to the y-axis, displaces it uniformly parallel to the x-axis against the spring force of the spring 36 into the release position, wherein the locking bolt 30 is positioned flush with the adapter housing 19, in particular with the groove and preferably with the groove base 51. The actuating ramp 48 engages according to Fig. 2b The adapter housing 19 forms an angle α, which is preferably greater than 5°, particularly greater than 10°, and preferably greater than 15°, and / or less than 35°, particularly less than 30°, and preferably less than 25°. In this case, the locking chamfer 38 of the locking bolt 30 disengages from the insertion bolts 26. To release the adapter 18, the locking bolt 30 extends as shown. Fig. 2a und 2b A middle second section 52 with a bolt recess 54 is provided. In the release position, the insertion bolts 26 can be guided through the bolt recess 54 out of the receptacles 28, so that the adapter 18 can be detached from the interchangeable head 20.

[0035] In the Fig. 1b , 1c and 2bThe locking bolt 30 is in the release position. The relative movement of the exchange head 20 parallel to the z-axis releases the exchange head 20 from the adapter 18. The engagement of the webs 44 in the guide recesses 50 secures the adapter 18 in the magazine 16. Furthermore, the locking bolt 30 has an outer third section 56, which interacts with the web 44 and is designed to ensure that the adapter 18 is held securely in its position in the magazine 16 even without the exchange head 20. The first section 32 and / or the second section 52 and / or the third section 56 of the locking bolt 30 can be formed as a single piece.

[0036] In the Fig. 3a und 3b Two embodiments of magazine 16 are shown. Fig. 3b The magazine 16 comprises a first magazine plate 58 and a magazine insert 60 arranged on the first magazine plate 58. The magazine insert 60 is firmly mounted on the first magazine plate 58 by means of pins 62. Fig. 3a The magazine 16 additionally features a second magazine plate 64, wherein the first magazine plate 58 is floatingly mounted on the second magazine plate 64 by means of an elastomer receiving bushing 66. Thus, the magazine 16 is designed to be movable or flexible, so that the adapter 18 can be inserted into the magazine 16 even if it is positioned differently, without damaging the magazine 16. Consequently, the adapter 18 can also approach the magazine 16 at an angle, and the angle of insertion clearance is increased by the floating mounting. Furthermore, it is advantageous that the magazine 16 is designed in two or three parts. Therefore, in the event of wear, as in Fig. 5 As indicated, only the magazine insert 60, which engages with the adapter 18, will be replaced.

[0037] In Fig. 3a und 3b A magazine insert 60 is shown, having insertion ramps 46 and / or actuation ramps 48 at its free end 68. Furthermore, the magazine insert 60, particularly at the webs 44, has a U-shaped cross-section parallel to the y-axis, formed by a groove 69, with the opening facing away from the adapter 18 (not shown). This provides a predetermined breaking point 70 in the magazine insert 60, so that in the event of a collision or incorrect positioning of the adapter 18 or the exchange head 20, the robot arm, the gripper 14, the gripper jaw 12, and the magazine plates 58, 64 are not damaged, but only the magazine insert 60 yields or breaks in the area of ​​the predetermined breaking point 70. This compliance is also achieved by making the magazine insert 60 from a suitable plastic.

[0038] Furthermore, the adapter 18 can be inserted into the magazine 16 in two orientations. The changing head 20 can be positioned above or below the magazine insert 60 when the adapter 18 is inserted, with only one web 44 interacting with the locking bolt 30. Therefore, the jaw changing system 10 can be used, among other things, on both the floor and the ceiling of a hall.

[0039] In the Fig. 6a bis 15d A handling device 98 for use in a second embodiment of a jaw changing system 100 according to the invention is shown, wherein the same reference numerals have been chosen for identical components of the jaw changing systems 10 and 100. The handling device 98 comprises, according to Fig. 6a bis 6c a gripper housing 102, two guide jaws 104 guided in the gripper housing, two interchangeable heads 106. An adapter 108 can be arranged on each of the two interchangeable heads 106.

[0040] In the jaw exchange system 100, the locking bolt 30 is located in the exchange head 106 and not in the adapter 108, contrary to the first embodiment. Therefore, a single locking mechanism must be provided in the exchange head 106 to attach a plurality of adapters 108 to the exchange head 106. For this purpose, a slotted bore 31 extending parallel to the x-axis is provided in the exchange head 106 to receive the locking bolt 30. Furthermore, the insertion bolts 26 are located in or on the adapter 108 and not in the exchange head 106, contrary to the first embodiment. The insertion bolts 26 are designed according to Fig. 15a The adapter 108 is screwed to the adapter by means of threaded pins 111. Accordingly, the interchangeable head 106 has an interchangeable head housing 107 with two receptacles 28 provided in the interchangeable head housing 107 for receiving the insertion bolts 26.

[0041] The interchangeable head 106 looks like this Fig. 6b Each interchangeable head 106 is provided with two fastening elements 109 in the form of screws or rivets for attaching the interchangeable head 106 to the guide jaw 104. The guide jaw 104 and the interchangeable head 106 can alternatively be formed as a single unit.

[0042] According to Fig. 6c Is it conceivable to arrange the interchangeable heads 106 oppositely along the x-axis on the gripper housing 102, particularly on the guide jaw 104, such that a first interchangeable head 106a with a first locking bolt 30a is arranged on the left side and a second interchangeable head 106b with a second locking bolt 30b is arranged on the right side? This is also possible for the handling device 14 according to the first embodiment. The interchangeable head 106a with the locking bolt 30a arranged on the left side can be connected to a magazine 110 according to Fig. 7a bis 7c be approached and the exchange head 106b with the locking bolt 30b arranged on the right side to form a magazine 110 according to Fig. 12 be approached.

[0043] In the Fig. 7a bis 7c The second embodiment shows a starting procedure of the handling device 98 at a magazine 110. Fig. 7a The handling device 98 is positioned in front of the magazine 110. The locking bolt 30 is located according to the Fig. 9a und 9b in the locked position, so that the interchangeable head 106 and the adapter 108 cannot be separated from each other. The locking bolt 30 protrudes from the interchangeable head 106 in the locked position.

[0044] In Fig. 7b The handling device 98 moves parallel to the y-axis into the magazine 110. During this movement, the locking bolt 30 engages with an actuating element in the form of an actuating wall 112. The actuating wall 112 has an actuating side 114 facing the locking bolt 30 and a guide side 116 facing away from the locking bolt 30. The actuating wall 112 has a first actuating ramp 118a and a second actuating ramp 118b on the actuating side 114, which form an angle β with respect to the y-axis. Thus, when the adapter 108 is inserted into the magazine 110, the locking bolt 30 is actuated uniformly. The actuating ramps 118a and 118b meet at the center of the actuating wall 112 to form an actuating tip 120. The guide side 116 is designed parallel to the y-axis.The magazine 110 comprises a first actuating wall 112a and a second actuating wall 112b, wherein the actuating side 114 of the first actuating wall 112a and the guide side 116 of the second actuating wall 112b are oriented towards the handling device 98. Accordingly, the guide side 116 serves to improve the guidance of the handling device 98 within the magazine 110 and acts as a counter-element when the locking bolt 30 is actuated by the first actuating wall 112a. It is conceivable that the actuating walls 112 could be rotated 180° around the z-axis with respect to the orientation of the tip 120 and / or that their left and right positions could be swapped.

[0045] The operating walls 112 show according to Fig. 14b Furthermore, a third actuating ramp 118c is provided on the actuating side 114, which forms an angle γ with the z-axis. The actuating ramp 118c also terminates in the tip 120. Accordingly, the handling device 98 can also be inserted into the magazine 110 along the z-axis, thereby actuating the locking bolt 30, in which case a different orientation of the guide recesses 50 on the adapter 108 must be provided.

[0046] In Fig. 14c bis 14g It is evident that the actuating walls 112 are constructed in two parts. The actuating wall 112 comprises a wall core 138 and a wall shell 140 enclosing the wall core 138. The wall core 138 is preferably made of a metal, in particular sheet metal, to give the actuating wall 112 suitable strength, which is required for actuating the locking bolt 30. Furthermore, the wall shell 140 is made of a plastic to counteract wear during the numerous actuating operations. The wall core 138 and the wall shell 140 are connected to each other by means of two wall bolts 142. It is also evident that the wall core 138 projects from the wall shell 140 along the z-axis by means of an insertion section 144 on an underside 146 of the actuating wall 112.The insertion section 144 facilitates the mounting of the actuating wall 112 on the magazine 110 and can be inserted into a receptacle 148 provided on the magazine 110, particularly on the first magazine plate 58. The insertion section 144 and the receptacle 148 are designed such that the actuating wall 112 can also be inserted into the receptacle 148 when rotated 180° about the z-axis. The insertion section 144 and the receptacle 148 are preferably rectangular. After the insertion section 144 is inserted into the receptacle 148, it protrudes beyond the first magazine plate 58, allowing the actuating wall 112 to be easily and securely fixed to the magazine 110 by means of several weld points / seams 150.

[0047] According to Fig. 7c The adapter 108 is in the magazine position, the magazine position preferably being reached by contact with a magazine stop 42 in the magazine 110. The locking bolt 30 is in this position according to... Fig. 8a und 8b fully actuated, so that the insertion bolts 26 can be removed from the receptacle 28 and thus the adapter 108 can be detached from the interchangeable head 106. In Fig. 11 The figure shows how the handling device 98 is moved away from the magazine 110 parallel to the y-axis, with the adapter 108 remaining in the magazine 110.

[0048] Furthermore, the locking mechanism according to Fig. 8a bis 10 At least one stop element 122, in particular in the form of a threaded pin 124, wherein the stop element 122 preferably extends parallel to the y-axis. The stop element 122 is arranged with the locking bolt 30 in the adapter 18 according to the first embodiment or in the interchangeable head 106 according to the second embodiment and serves to define the locking position and the release position of the locking bolt 30. For this purpose, the locking bolt 30 comprises a stop groove 126 on the second section 52 along its circumference next to the bolt recess 54. In the assembled state, the stop element 122 engages in the stop groove 126, wherein the stop element 122 is in the locking position according to Fig. 9a with an inner, first groove end 128 and in the release position according to Fig. 8a with an outer, second groove end 130 engaged.

[0049] In Fig. 11 The adapter 108 is stored in the magazine 110. To insert and hold the adapter, the magazine insert 60 engages the two cam-like guide recesses 50 on the adapter 108 by means of the ribs 44. A holding device 132, in particular in the form of a ball-type pressure bolt 134, is provided according to Fig. 15a bis 15d The retaining device 132 is provided in or on the adapter 108 or in or on the magazine 110, in particular in or on the magazine insert 60, and is provided in particular when the locking bolt 30 is arranged in the interchangeable head 106. The retaining device 132 can be arranged in the guide recess 50, in particular in the groove base 51. In this case, the adapter 108 lacks a fixation in the magazine 110. To fix the adapter 108 in the magazine 110, the retaining device 132 engages according to Fig. 13a und 13b into a recess 136, which is provided on the magazine 110, in particular on the magazine insert 60.

[0050] In Fig. 15dA multi-part adapter 160 is shown, which is used in a jaw changing system 100 according to the second embodiment. The adapter 160 comprises a first adapter section 162 and a second adapter section 164. The first adapter section 162 includes, in particular, the guide recesses 50, the insertion pins 26, and the holding device 132. The second adapter section 164 essentially forms the shape of the gripping finger. The first adapter section 162 and the second adapter section 164 are connected to each other by means of fastening means 166, in particular screws or bolts. Thus, existing gripping fingers can be modified for use in the jaw changing system 100. A multi-part design is also conceivable for the changing head 106, as well as for the adapter 18 and the changing head 20 according to the first embodiment.

Claims

1. Interchangeable system (10, 100), in particular for the detachable arrangement of gripping jaws (12) on handling devices (14, 98), comprising a machine-side interchangeable head (20, 106), comprising an adapter (18, 108, 160) that can be attached to the interchangeable head (20, 106) and comprising a magazine (16, 110) for receiving the adapter (18, 108, 160), the adapter (18, 108, 160) being insertable perpendicularly to the x-axis along a y-axis into the magazine (16, 110) into a magazine position, characterized in that the interchangeable head (20, 106) or the adapter (18, 108, 160) has at least one locking bolt (30) which is displaceable along an x-axis between an inner release position and an outer locking position, in that the interchangeable head (20, 106) is detachable from the adapter (18, 108, 160) in the release position and can be locked to the adapter (18, 108, 160) in the locking position by means of the at least one locking bolt (30), in that the interchangeable head (20, 106) or the adapter (18, 108, 160) has at least one spring means (38) which forces the at least one locking bolt (30) into the locking position, and in that the locking bolt (30) in the magazine position can be contacted or manually actuated by means of at least one actuating element (44, 112) of the magazine (16, 110) extending along the y-axis, in order to be forced from the locking position into the release position against the spring force of the spring means (36).

2. Interchangeable system (10, 100) according to claim 1, wherein the interchangeable head (106) or the adapter (18) has a receptacle (28) and the adapter (108, 160) or the interchangeable head (20) has an insertion portion (24) which extends along a z-axis running perpendicularly to the x-axis and to the y-axis and which can be inserted into the receptacle (28).

3. Interchangeable system (10, 100) according to claim 2, wherein the insertion portion (24) is removable from the interchangeable head (106) or from the adapter (18) in the release position and can be locked in the interchangeable head (106) or in the adapter (18) by means of the at least one locking bolt (30) in the locking position.

4. Interchangeable system (10, 100) according to claim 2 or 3, wherein the insertion portion (24) has at least one first insertion bolt (26) and at least one second insertion bolt (26), each of which has a clamping portion (40), wherein in the locking position the at least one locking bolt (30) is arranged along the y-axis between the first insertion bolt (26) and the second insertion bolt (26).

5. Interchangeable system (10, 100) according to any of claims 2 to 4, wherein the at least one locking bolt (30) has an inner first portion (32), a middle second portion (52) and an outer third portion (56), wherein the first portion (32) has a spring receptacle (34) for receiving the spring means (36) and a locking chamfer (38) for locking the insertion portion (24), wherein the second portion (52) has a bolt recess (54) for releasing the insertion portion (24), and wherein the third portion (56) interacts with the at least one actuating element (44, 112).

6. Interchangeable system (10, 100) according to any of the preceding claims, wherein the at least one actuating element (44, 112) has at least one actuating chamfer (48) for uniform actuation of the locking bolt (30).

7. Interchangeable system (10, 100) according to any of the preceding claims, wherein the magazine (16, 110) has a first magazine plate (58) and preferably a second magazine plate (64), wherein preferably the first magazine plate (58) is mounted floatingly on the second magazine plate (64), in particular by means of elastomer receiving bushings (66).

8. Interchangeable system (10, 100) according to claim 7, wherein the magazine (16, 110) comprises at least one magazine insert (58).

9. Interchangeable system (10) according to claim 8, wherein the magazine insert (58) comprises at least one projection (44), and wherein the at least one projection (44) forms the at least one actuating element (44).

10. Interchangeable system (100) according to claim 7 or 8, wherein the at least one actuating element (112) is designed as at least one actuating wall (112) projecting from the first magazine plate (58) and extending substantially parallel to the z-axis.

11. Interchangeable system (100) according to claim 10, wherein the at least one actuating wall (112) can be inserted into the first magazine plate parallel to the z-axis.

12. Interchangeable system (100) according to claim 10 or 11, wherein the at least one actuating wall (112) has a wall core (138) and a wall shell (140), wherein the wall core (138) comprises a metal, in particular sheet metal, and the wall shell (140) comprises a plastic.

13. Interchangeable system (10, 100) according to any of claims 9 to 12, wherein the adapter (18, 108, 160) has at least one slotted guide recess (50) which is designed such that when the adapter (18, 108, 160) is inserted into the magazine (16, 110) the at least one projection (44) engages in the at least one guide recess (50).

14. Interchangeable system (10, 100) according to any of the preceding claims, wherein the magazine (16, 110) has a first actuating element (44, 112a) and a second actuating element (44, 112b), and wherein the adapter (18, 108, 160) can be inserted into the magazine (16, 110) such that either the first actuating element (44, 112a) or the second actuating element (44, 112b) interacts with the locking bolt (30).

15. Interchangeable system (10, 100) according to any of the preceding claims, wherein the adapter (18, 108, 160) has at least one retaining device (132) for fixing the adapter (18, 108, 160) in the magazine (16, 110), wherein preferably the at least one retaining device (132) is designed as at least one ball-type pressure bolt (134) arranged in the adapter (18, 108, 160).

16. Handling device (14, 98) comprising a gripper housing (102), at least one guide jaw (104) arranged in the gripper housing (102), and an interchangeable system (10, 100) according to claim 1, wherein the at least one interchangeable head (20, 106) of the interchangeable system (10, 100) according to claim 1 is arranged on the guide jaw (104).