Clamping-jaw-changeover system
Patent Information
- Application Number
- EP2023782136
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-04-26
- Filing Date
- 2023-04-05
- Publication Date
- 2025-03-05
AI Technical Summary
The existing clamping jaw changing systems for gripping heads require manual intervention and are time-consuming, as they necessitate manual loosening, removal, and replacement of clamping jaws when adapting to different objects or during production changes.
A clamping jaw changing system with a magazine that allows for automated adjustment and exchange of clamping jaws, featuring a locking unit with adjustable locking elements and an actuating unit, enabling the gripping head to change clamping jaws without human intervention by altering the distance between clamping jaw carriers and grippers.
Enables quick and automated replacement of clamping jaws, reducing manual labor and increasing efficiency in adapting to different objects and production changes, ensuring reliable clamping and alignment of jaws.
Smart Images
Figure 1.1
Abstract
Description
[0001] Clamp jaw changing system
[0002] The invention relates to a clamping jaw changing system for a gripping head for transferring objects, in particular grouped beverage containers, packaging units, crates or cartons, with two grippers which are adjustable in distance from one another and each have a clamping jaw carrier for releasably receiving a clamping jaw of a pair of clamping jaws which can be brought into operative connection with the objects, wherein the clamping jaw carriers each have a locking unit which can be adjusted between a locking position which fixes the clamping jaws to the clamping jaw carrier and a release position which releases the clamping jaws, and a clamping jaw magazine with at least two pairs of clamping jaws which preferably have different clamping properties from one another.
[0003] The invention further relates to a gripping head and a clamping jaw magazine for a clamping jaw changing system.
[0004] Gripping heads of the type mentioned above are known in a wide variety of designs from the prior art. They are used, for example, in transport systems in the beverage industry to pick up grouped objects, such as containers of bottles, cans, or the like, at a pick-up position and transfer them to a delivery position or station, possibly also placing them in waiting cardboard boxes, crates, or the like. The gripping head is typically positioned via a drive unit connectable to the gripping heads, in particular a robot unit, which can be used to fully automatically control the movement of the gripping head.
[0005] To grip the objects, the gripping head has at least two grippers, the distance between which can be adjusted via a drive unit that can be connected to the gripping head or via a separate actuator, so that the clamping jaws arranged on the clamping jaw carriers of the grippers can be brought into contact with the objects to be gripped, which are then held clamped in the gripping head. The selection of the clamping jaws arranged on the clamping jaw carriers depends on the required clamping properties, e.g. their length, height, surface quality or the like, which in turn depend on the objects to be handled with the gripping head. In the case of a production changeover, i.e.When changing the objects to be handled by the gripping heads or when replacing the clamping jaws due to wear and tear, it is currently necessary to change the clamping jaws by hand in order to adapt the grippers. To do this, the existing clamping jaws, which are usually attached to the clamping jaw carriers using star grips, are first loosened and removed from the clamping jaw carriers. A pair of clamping jaws adapted to the objects to be handled or corresponding to the worn pair of clamping jaws is taken from the clamping jaw magazine and then attached to the clamping jaw carriers using, for example, the star grips. The removed pair of clamping jaws is placed manually in the clamping jaw magazine or, in the case of a worn pair of clamping jaws, removed. Changing the clamping jaws is therefore very time-consuming and requires the intervention of an operator.
[0006] Based on this, the invention is based on the object of providing a clamping jaw changing system for a gripping head for handling objects, which enables simple and quick changing of the clamping jaws. Furthermore, the invention is based on the object of providing a gripping head and a clamping jaw magazine for such a clamping jaw changing system.
[0007] The invention solves the problem by a clamping jaw changing system having the features of claim 1, a gripping head having the features of claim 11 and a clamping jaw magazine having the features of claim 12. Advantageous developments of the clamping jaw changing system are specified in the dependent claims 2 to 10.
[0008] A characteristic of the clamping jaw changing system according to the invention is that the clamping jaw magazine is designed to receive the pairs of clamping jaws in a receiving position in which the clamping jaw carriers are adjustable relative to the clamping jaws by changing the distance between them between an assembly position in engagement with the clamping jaws and a disengaged position releasing the clamping jaws, and has an actuating unit which is designed to adjust the locking unit between the locking position and the release position in the assembly position of the clamping jaw carriers.
[0009] The clamping jaw magazine according to the invention is designed such that the clamping jaws of the individual clamping jaw pairs, wherein preferably at least two clamping jaw pairs are arranged in a clamping jaw magazine, wherein the clamping jaws have differing clamping properties, e.g., different lengths, can be deposited in the clamping jaw magazine or removed therefrom by changing the distance of the clamping jaw carriers of a gripping head positioned correspondingly relative to the clamping jaw pairs. With appropriate positioning of the clamping jaw carriers, the clamping jaw carriers can be adjusted between an assembly position in engagement with the clamping jaws and a disengaged position releasing the clamping jaws by changing the distance of the grippers connected to the clamping jaw carrier.
[0010] In the disengaged position, the clamping jaw carriers are thus arranged relative to the clamping jaws of a clamping jaw pair in such a way that the gripping head can be adjusted relative to the clamping magazine, for example, by a movement parallel to the clamping jaws, so that it can be freely moved out of the magazine. In the assembly position, however, the clamping jaw carriers are engaged with the clamping jaws due to a change in distance, in particular a reduction in distance compared to the position of the clamping jaw carriers in the disengaged position, in such a way that a displacement of the gripping head leads to a displacement of the clamping jaws, so that a displacement of the gripping head causes the clamping jaws to be removed from the clamping jaw magazine.
[0011] To secure the position of the clamping jaws of a pair of clamping jaws on the clamping jaw carriers, according to the invention an actuating unit is arranged on the clamping jaw magazine, which actuating unit adjusts the locking unit between the locking position and the release position when the clamping jaw carriers are in the assembled position. In the locking position, the clamping jaws are connected to the clamping jaw carriers in such a way that their position on the clamping jaw carrier is fixed. In the locking position, therefore, a change in the distance between the clamping jaw carriers does not cause a displacement of the clamping jaw carriers relative to the clamping jaws between the disengaged position and the assembled position. In the release position of the locking unit, however, it is possible to adjust the clamping jaw carriers relative to the clamping jaws by changing the distance between the disengaged position and the assembled position.
[0012] The clamping jaw changing system according to the invention thus makes it possible to adjust the gripping head into an assembly position relative to the clamping jaws by appropriately positioning the gripping head relative to the pairs of clamping jaws arranged in the receiving position on the clamping jaw magazine and by changing the distance between the clamping jaw carriers. In the assembly position, an actuating unit of the clamping jaw magazine adjusts the locking unit of the clamping jaw carriers from the release position, in which the clamping jaws are releasably arranged on the clamping jaw carriers, to the locking position, in which the clamping jaws are secured to the clamping jaw carriers via the locking unit. After adjusting the locking unit to the locking position, the gripping head can be moved out of the clamping jaw magazine and has a reliable connection to the clamping jaws.
[0013] To deposit or change the clamping jaws, the gripper head will move the clamping jaw magazine back to a position on the clamping jaw magazine in which the clamping jaw pairs to be deposited are in the receiving position on the clamping jaw magazine. Following a subsequent adjustment of the locking unit from the locked position to the release position using the actuating unit, the clamping jaw carriers can then be disengaged from the clamping jaws to be deposited by changing the distance, in which the clamping jaw carriers are moved from the assembled position to the disengaged position. For a change, the free clamping jaw carriers can then move to another clamping jaw pair by a corresponding adjustment of the gripper head, for example by a movement aligned parallel to the clamping jaws, and pick this up in the manner described above.
[0014] The clamping jaw changing system according to the invention thus makes it possible to exchange the clamping jaws on the clamping jaw carrier without operator intervention, utilizing an adjustment option required for the operation of the gripping head—namely, changing the distance between the grippers. For this purpose, the clamping jaw magazine has at least two pairs of clamping jaws, which preferably have different clamping properties.
[0015] The design of the locking unit on the clamping jaw supports, by means of which the clamping jaws can be secured to the clamping jaw supports in the locking position so that they can be used by the gripping head to transfer objects, is fundamentally freely selectable. However, according to an advantageous embodiment of the invention, the locking unit comprises one, preferably two spaced-apart locking elements that can be moved between a closed position associated with the locking position and an open position associated with the release position.
[0016] The locking elements are components of the locking unit that, in the closed position, interact with the clamping jaw such that the jaw is reliably secured to the clamping jaw carrier. In the release position, however, the connection between the clamping jaw carrier and the clamping jaw is reliably removed, so that the clamping jaw carrier can be reliably adjusted to a disengaged position relative to the clamping jaws by changing the distance between the clamping jaw carriers, in particular by increasing the distance. The movable design of the locking elements ensures reliable adjustment of the locking unit between the locking position and the release position.
[0017] In principle, the use of a locking unit with a locking element already ensures reliable locking and release of the clamping jaws relative to the clamping jaw carrier. The advantageous use of two locking elements arranged at a distance from one another, in conjunction with corresponding connecting sections on the clamping jaws, also ensures reliable alignment of the clamping jaws to the clamping jaw carriers. This reliably prevents incorrect alignment of the clamping jaws to the clamping jaw carriers.
[0018] The design of the connection between the locking unit and the clamping jaws is fundamentally freely selectable. However, according to an advantageous embodiment of the invention, the locking unit has a holding opening for receiving a coupling element arranged on the clamping jaw, in particular a holding bolt, which is fixed to the clamping jaw carrier in the locking position. According to this embodiment of the invention, coupling elements, in particular holding bolts, preferably two spaced-apart holding bolts are arranged on the clamping jaws, which, when the clamping jaw carrier is adjusted from the disengaged position into the assembled position, engage in holding openings adapted to the coupling elements, in particular holding bolts. In the assembled position, the holding bolts are then positioned relative to the clamping jaw carriers orThe locking units arranged on the clamping jaw supports are designed so that they can be adjusted from the release position to the locking position, in which the coupling elements, in particular retaining bolts, are then fixedly secured to the clamping jaw support, thereby reliably connecting the clamping jaws to the clamping jaw support. The use of retaining bolts, in particular two retaining bolts arranged at a distance from one another, ensures reliable positioning of the clamping jaws on the clamping jaw supports.
[0019] When changing the clamping jaws, the locking unit is unlocked after the clamping jaw pairs have been arranged in the receiving position on the clamping jaw magazine by appropriately positioning the gripping head. For example, the locking elements, preferably provided, are moved from the closed position to the open position. The clamping jaw carriers can then be moved into the disengaged position by changing the distance between the grippers and the clamping jaws, causing the retaining pins to move out of the holding openings.
[0020] According to a particularly advantageous embodiment of the invention, the locking elements are pretensioned in the open position toward the open position and / or in the closed position toward the closed position. According to this embodiment, the pretension of the locking elements ensures that they reliably remain in the set position. Thus, if the locking elements are arranged in the open position, the clamping jaw supports can be reliably adjusted relative to the clamping jaws between the disengaged position and the assembled position. With the advantageous use of retaining bolts, this ensures that the holding openings preferably provided for receiving the retaining bolts are not partially blocked by the locking elements.After the locking elements have been adjusted from the open position to the closed position, the pre-tension directed towards the closed position ensures that the locking elements are reliably positioned.
[0021] The design of the clamping jaw changing system for moving the locking unit between the locking position and the release position, in particular the adjustment of the locking elements between the closed position and the open position by means of the actuating unit provided according to an advantageous development, is fundamentally freely selectable. However, according to a further development of the invention, the actuating unit comprises a drive unit for adjusting the locking unit between the locking position and the release position. The drive unit, e.g., an electric motor-driven actuator, enables particularly reliable adjustment of the locking unit, e.g., the advantageously provided locking elements, independent of any interaction with the clamping jaw carrier.
[0022] According to a further embodiment of the invention, it is provided that the locking elements in the area between the disengaged position and the mounting position of the clamping jaw carrier can be brought into engagement with an adjusting element on the clamping jaw carrier which adjusts the locking elements between the open position and the closed position.
[0023] According to this embodiment of the invention, the actuating unit on the clamping jaw magazine has an adjusting element which can be brought into engagement with the locking element in the region between the disengaged position and the mounted position of the clamping jaw carrier, at least in the region of the mounted position, so that the locking element can be adjusted between the closed position and the open position by means of the adjusting element, whereby the clamping jaws are secured to the clamping jaw carriers for use by the grippers or unlocked from the clamping jaw carriers for replacing the clamping jaws. The adjusting element interacts with the locking element in such a way that it can be adjusted between the closed position and the open position in the mounted position.
[0024] Particularly advantageously, the adjusting element has a receiving opening extending in the adjustment direction of the clamping jaw carrier between the disengaged position and the mounted position for receiving an actuating section of the locking element, which also extends in the adjustment direction of the clamping jaw carrier between the disengaged position and the mounted position. According to this embodiment of the invention, the adjusting element has a receiving opening, for example a groove, extending in the direction of movement of the clamping jaw carrier between the disengaged position and the mounted position, which cooperates with an actuating section adapted to the receiving opening, which also extends in the adjustment direction of the clamping jaw carrier between the disengaged position and the mounted position.
[0025] An axially parallel alignment of the receiving opening and the actuating section corresponding to the adjustment direction of the clamping jaw carrier ensures that the locking element already engages with the actuating element when arranged in the disengaged position, starting from a position remote from the clamping jaw magazine. The axially parallel alignment of the receiving opening and actuating section to the adjustment direction of the clamping jaw carrier ensures that the connection between the actuating section of the locking element and the actuating element is maintained during adjustment of the clamping jaw carrier between the disengaged position and the assembly position. Furthermore, this embodiment of the invention ensures that an adjustment of the actuating element transverse to the adjustment direction is reliably transmitted to the locking element, whereby the latter can be reliably adjusted between the closed position and the open position.The clamping jaws can be arranged in any desired manner in the receiving position on the clamping jaw magazine. In the receiving position, the gripper can remove the clamping jaws from the clamping jaw magazine and place them back in the magazine.
[0026] However, according to a particularly advantageous embodiment of the invention, it is provided that the clamping jaw magazine for arranging the clamping jaws in the receiving position has a clamping jaw holder which has an alignment element which can be brought into engagement with an opening on the clamping jaw and a coding element which can be brought into engagement with a coding opening on the clamping jaw, in particular a coding bolt, wherein the coding opening is arranged on the clamping jaw in such a way as to depend on the clamping properties that clamping jaws which differ from one another have coding openings which are positioned differently from one another.
[0027] According to this embodiment of the invention, the clamping jaw magazine has at least two clamping jaw holders, each of which is only suitable for receiving one type of clamping jaw pair, wherein the individual types of clamping jaw pairs differ from one another in their clamping properties, for example the length of the clamping jaws.
[0028] In order to ensure that each clamping jaw holder is only suitable for receiving one type of clamping jaw pair, the clamping jaw holder has, in addition to an alignment element, for example a bolt, which serves to align the clamping jaw on the clamping jaw holder and can be brought into engagement with a corresponding opening arranged on the clamping jaw, a coding element, in particular a coding bolt, which can be brought into engagement with a coding opening on the clamping jaw.
[0029] Depending on the properties of the clamping jaws of the clamping jaw pairs, the clamping jaws have differently positioned coding openings on the clamping jaws if their clamping properties differ. For example, clamping jaw pairs with different clamping jaw lengths can have coding openings arranged in different positions depending on the length, so that only the clamping jaw holder can be used to accommodate the clamping jaw pair in which the coding bolt is arranged corresponding to the position of the coding opening on the clamping jaw holder. Particularly advantageously, the clamping jaw holder has positioning openings arranged in different positions for a preferably provided coding bolt, so that the clamping jaw holder can be adapted to the clamping jaw pair to be accommodated.
[0030] To provide a clamping jaw magazine with at least two different pairs of clamping jaws, i.e., pairs of clamping jaws with jaws of different lengths, it is necessary to provide two clamping jaw holders that differ in the positioning of the coding pin on the clamping jaw holder. Only if the position of the coding pin and the coding opening match can the pair of clamping jaws be arranged in the receiving position on the clamping jaw holder.
[0031] According to a further embodiment of the invention, the clamping jaw holder comprises a sensor for detecting the occupancy of a clamping jaw. According to this embodiment of the invention, a contact sensor is attached to the clamping jaw holder, for example, which detects whether a pair of clamping jaws is arranged on the clamping jaw holder or whether the clamping jaw holder can be used to accommodate a pair of clamping jaws. In conjunction with a central control system, the sensor thus allows the gripper to be controlled accordingly.
[0032] The invention further achieves the object by a gripping head for a clamping jaw changing system, in particular for a clamping jaw changing system according to one or more of claims 1 to 10, with two grippers which are adjustable in distance from one another and each have a clamping jaw carrier for releasably receiving a clamping jaw of a pair of clamping jaws which can be brought into operative connection with the objects, wherein the clamping jaw carriers each have a locking unit which can be adjusted between a locking position which fixes the clamping jaws to the clamping jaw carrier and a release position which releases the clamping jaws, wherein the locking unit is designed such that it can be brought into engagement with an actuating unit on the clamping jaw magazine for adjustment between the locking position and the release position in the assembly position of the clamping jaws.
[0033] The locking unit of such a gripping head allows for the automated storage of pairs of clamping jaws in the clamping jaw magazine or the removal of the pairs of clamping jaws required for the intended purpose from the clamping jaw magazine. For the automated exchange of the pairs of clamping jaws, the locking unit on the clamping jaw carrier can be engaged with an actuating unit on the clamping jaw magazine, so that the actuating unit can be used to adjust the locking unit between the locking position, in which the pairs of clamping jaws are secured to the gripping head, and the release position, which allows the pairs of clamping jaws to be deposited in the clamping jaw magazine. The inventive design of the gripping head thus enables the exchange of pairs of clamping jaws without the intervention of operating personnel.
[0034] Furthermore, the invention solves the problem by a clamping jaw magazine for a clamping jaw changing system according to one of claims 1 to 10, which is characterized in that the clamping jaw magazine is designed to receive the clamping jaw pairs in a receiving position, in which the clamping jaw carriers are adjustable relative to the clamping jaws by changing the distance from one another between an assembly position in engagement with the clamping jaws and a disengaged position releasing the clamping jaws and has an actuating unit which is designed to adjust the locking unit between the locking position and the release position in the assembly position of the clamping jaws.
[0035] The clamping jaw magazine according to the invention enables automated interaction with a correspondingly positioned gripping head. The clamping jaw magazine is designed according to the invention to arrange the clamping jaw pairs in a receiving position, in which they are provided in such a way that the clamping jaws can be positioned on the clamping jaw supports of the grippers by changing the distance between the grippers. In the assembly position, the actuating unit of the clamping jaw magazine then serves to adjust the locking unit arranged on the clamping jaw supports between the locking position and the release position, wherein in the locking position the clamping jaws are fixed to the clamping jaw supports. The clamping jaw magazine according to the invention thus enables automated interaction with a gripping head and thus the automated depositing and picking up of the clamping jaws.
[0036] An embodiment of the invention is explained below with reference to the drawings. In the drawings:
[0037] Fig. 1 is a perspective view of a clamping jaw magazine with a gripping head arranged opposite it;
[0038] Fig. 2 is a side view of the clamping jaw magazine and the gripping head of Fig. 1;
[0039] Fig. 3 is a perspective view of a gripping head opposite the clamping jaw magazine in a first position;
[0040] Fig. 4 is a perspective view of a gripping head opposite the clamping jaw magazine in a second position;
[0041] Fig. 5 is a perspective view of a gripping head opposite the clamping jaw magazine in a third position;
[0042] Fig. 6 is a perspective view of a gripping head opposite the clamping jaw magazine in a fourth position;
[0043] Fig. 7 is a perspective view of a gripping head opposite the clamping jaw magazine in a fifth position;
[0044] Fig. 8 is a perspective view of a clamping jaw and
[0045] Fig. 9 is an enlarged view of a clamping jaw
[0046] locking element.
[0047] Figure 1 shows a perspective view of a clamping jaw magazine 6 with a plurality of clamping jaw pairs arranged thereon, each consisting of two clamping jaws 4, 4', 4", 4'", 4"", which - with respect to the illustrated position of use - are arranged upright in a receiving position on the clamping jaw magazine 6. The clamping jaws 4, 4', 4", 4'", 4"" of the individual clamping jaw pairs arranged parallel to one another differ from one another in that they have different lengths, which results in differing clamping properties of the clamping jaw pairs (see Figure 2).
[0048] The clamping jaw magazine 6 provides the pairs of clamping jaws in the receiving position, in which they can be automatically arranged on and separated from the clamping jaw carriers 2 of a gripper 2 of a gripper head 1 that is adjustable relative to the clamping jaw magazine 6. The gripper head 1, which can be connected to a robot unit (not shown here), has a base support 19 on which two rails 20 are arranged at a distance from one another. The rails 20 serve to slidably receive the grippers 2, the distance from which can be adjusted via an actuator 21. The two grippers 2 each have a clamping jaw carrier 3, which is designed for the detachable arrangement of the pairs of clamping jaws provided in the clamping jaw magazine 6.
[0049] To arrange the individual pairs of clamping jaws on the clamping jaw magazine 6, clamping jaw holders 22 assigned to the individual pairs of clamping jaws are arranged on the clamping jaw magazine 6. The clamping jaw holders 22 have a carrier 23 connected to the clamping jaw magazine 6. Two alignment elements 15 designed as stud bolts are arranged at a distance from one another on the carrier 23 and extend perpendicular to the carrier 23 - in the vertical direction with respect to the position of use. The alignment elements 15 have, in addition to a receiving section, a hexagonal section 27 resting on the carrier 23, via which the alignment element 15 can be screwed into the carrier 23 and which also forms a contact surface for the clamping jaws 4, 4', 4", 4'", 4"" of the clamping jaw pairs in the receiving position.
[0050] The alignment elements 15 serve to accommodate openings 14 arranged at a corresponding distance from one another on a base flange 26 of the clamping jaws 4, 4', 4", 4'", 4"", so that a reliable alignment of the clamping jaws 4, 4', 4", 4'", 4"" of the clamping jaw pairs on the clamping jaw magazine 6 in the receiving position can take place. In the receiving position, the clamping jaws 4, 4', 4", 4'", 4"" rest against the hexagonal sections 27 in the area of the openings 14 of the base flange 26 (see Figure 8). Furthermore, a coding bolt 17 is fastened to the carrier 23 of the clamping jaw holder 22, parallel to the alignment elements 15, in one of several positioning openings 31 provided for this purpose on the carrier 23.The coding bolt 17 extends in the receiving position of the clamping jaws 4, 4', 4", 4'", 4"" through a coding opening 16 on a flange 25 of the individual clamping jaws 4, 4', 4", 4'", 4"", whereby an arrangement of the corresponding clamping jaws 4, 4', 4", 4'", 4"" of the clamping jaw pairs in the receiving position on the corresponding clamping jaw holder 22 can only take place if the position of the coding bolt 17 corresponds to the coding opening 16 (cf. Figures 3 to 7).
[0051] To distinguish between the individual clamping jaws 4, 4', 4", 4'", 4"" of the various clamping jaw pairs, which differ from one another in the length of the clamping jaws 4, 4', 4", 4'", 4"", the coding opening 16 is arranged at a different position on the flange 25. To adapt the individual clamping jaw holders 22 to the different clamping jaw pairs in order to be able to arrange them on the clamping jaw holders 22, the coding bolts 17 are fastened to the individual clamping jaw holders 22 in different positioning openings 31 on the carrier 23. Thus, each clamping jaw holder 22 with a coding bolt 17 arranged in a different positioning opening 31 serves only to accommodate one clamping jaw pair with defined clamping properties.
[0052] For the releasable fastening of the clamping jaws 4, 4', 4", 4'", 4"" to the clamping jaw carriers 3, the latter have a locking unit 5 which has two locking elements 8 arranged at a distance from one another and displaceably mounted on the clamping jaw carrier 3. The locking elements 8 are adjustable between an open position and a closed position relative to a holding opening 9. In the open position of the locking elements 8 shown in Figures 2, 3, 4, 5 and 9, the locking elements 8 release the holding opening 9, which is designed to receive retaining bolts 10 arranged on the rear sides of the clamping jaws 4, 4', 4", 4'", 4"".For the releasable fixing of the clamping jaws 4, 4', 4", 4'", 4"" to the clamping jaw supports 3, the locking element 8 can be adjusted into a closed position shown in Figures 6 and 7, in which a locking portion 32 of the locking elements 8 engages in an annular groove 30 of the retaining bolts 10 arranged in the retaining openings 9 and thereby releasably locks the clamping jaws 4, 4', 4", 4'", 4"" to the clamping jaw supports 3. The adjusting movement of the locking elements 8 is limited by a pin 34 which extends vertically through an elongated hole 33 in a locking portion 24 of the locking element 8.
[0053] To adjust the locking elements 8 of the locking unit 5 between the open position and the closed position, the clamping jaw magazine 6 has an actuating unit 7 having a plurality of actuating elements 11. The actuating elements 11 have a groove-shaped receiving opening 12, which can be brought into engagement with an actuating section 13 on the locking element 8 adjoining the locking section 24, so that a shift in the distance between the actuating elements 11 from one another causes a shift in the locking elements 8.
[0054] The sequence of an automated arrangement of the clamping jaws 4 on the clamping jaw carriers 3 is shown in different positions in Figures 3 to 7. The gripping head 1 is aligned relative to the clamping jaw magazine 6 by a robot unit (not shown here) and displaced from the position shown in Figure 3 to the position shown in Figure 4, in which the clamping jaw carriers 3 are arranged in a disengaged position relative to the clamping jaws 4, in which the retaining bolts 10 are aligned relative to the retaining openings 9.
[0055] By actuating the actuator 21, the grippers 2 and thus the clamping jaw carriers 3 arranged on the grippers 2 are moved towards one another, whereby the clamping jaw carriers 3 move from the disengaged position shown in Figure 4 into the assembly position shown in Figure 5, in which the retaining bolts 10 are arranged completely in the holding openings 9. In order to ensure a displacement of the clamping jaws 3 from the disengaged position into the assembly position, recesses 28 and a cutout 29 are arranged on the clamping jaw carriers 3 in such a way that during the displacement from the disengaged position into the assembly position, the alignment elements 15 and the coding bolt 17 are moved through the cutout 28 and the cutout 29, respectively.
[0056] Starting from the disengaged position up to the assembly position, the locking element 8 is in engagement with the adjusting element 11 via the actuating section 13, wherein the actuating section 13 is arranged within the receiving opening 12. After a displacement of the clamping jaws 3 into the assembly position shown in Figure 5, a change in the distance of the adjusting elements 11 causes the locking elements 8 to be displaced from the open position of the locking elements 8 shown in Figure 5 into the closed position of the locking elements 8 shown in Figure 6, in which the locking elements 8 fix the clamping jaws 4 to the clamping jaw carrier 3 via the retaining bolt 10.
[0057] After the clamping jaws 4 have been locked to the clamping jaw carriers 3, the gripping head 1 is vertically adjusted relative to the clamping jaw magazine 6, whereby the clamping jaws 4 are lifted from the clamping jaw holder 22 and the alignment elements 15 extending vertically from the clamping jaw holders 22 as well as the coding bolt 17 (see Figure 7).
[0058] Changing the clamping jaws 4 occurs in the reverse order of the movement, whereby after the clamping jaws 4 are set down, the free clamping jaw carriers 3 then move to another pair of clamping jaws for insertion. A sensor 18, which is connected to a central control unit, indicates the occupancy of a clamping jaw holder 22.
[0059] List of reference symbols
[0060] gripping head
[0061] gripper
[0062] Clamping jaw carrier, 4', 4", 4'", 4"" clamping jaw
[0063] Locking unit
[0064] clamping jaw magazine
[0065] Actuating unit
[0066] locking element
[0067] Holding opening (locking unit) 0 Coupling element / holding bolt (clamping jaw)1 Actuating element 2 Receiving opening 3 Actuating section 4 Opening 5 Alignment element 6 Coding opening 7 Coding bolt 8 Sensor 9 Base support 0 Rail 1 Actuator 2 Clamping jaw holder 3 Support 4 Locking section (locking element)5 Flange (coding opening) 6 Base flange 7 Hexagonal section 8 Recess 9 Cutout 0 Annular groove 1 Positioning openings 2 Locking section 3 Elongated hole
Claims
Claims: Jaw exchange system for a gripper head (1) for handling objects, in particular grouped beverage containers, packaging units, crates or cartons, with two grippers (2) adjustable at a distance from each other, each with a jaw carrier (3) for releasably receiving one jaw (4, 4', 4", 4'", 4"") of a pair of jaws that can be brought into operative contact with the objects, wherein the jaw carriers (3) each have a locking unit (5) that is adjustable between a locking position securing the jaws (4, 4', 4", 4'", 4"") to the jaw carrier (3) and a release position releasing the jaws (4, 4', 4", 4'", 4""), and a jaw magazine (6) with at least two pairs of jaws that preferably have different clamping properties, characterized in that the jaw magazine (6) is designed to receive the jaw pairs in a trained in the recording positionin which the clamping jaw carriers (3) are adjustable relative to the clamping jaws (4, 4', 4", 4'", 4"") by changing the distance between a mounting position engaged with the clamping jaws (4, 4', 4", 4'", 4"") and a disengaged position releasing the clamping jaws (4, 4', 4", 4'", 4""), and which has an actuating unit (7) that, in the mounting position of the clamping jaw carriers (3), is designed to adjust the locking unit (5) between the locking position and the release position. Clamping jaw exchange system according to claim 1, characterized in that the locking unit (5) has one, preferably two, spaced-apart locking elements (8) that are displaceable between a closed position associated with the locking position and an open position associated with the release position. A jaw-changing system according to claim 1 or 2, characterized in that the locking unit (5) has a retaining opening (9) for receiving a coupling element, in particular a retaining bolt (10), arranged on the jaw (4, 4', 4", 4'", 4""), which is fixed to the jaw carrier (3) in the locking position. A jaw-changing system according to one or more of the preceding claims, characterized in that the locking elements (8) are biased in the open position towards the opening position and / or in the closed position towards the closed position. A jaw-changing system according to one or more of the preceding claims, characterized in that the actuating unit (7) has a drive unit for adjusting the locking unit (5) between the locking position and the release position.A clamping jaw exchange system according to one or more of the preceding claims, characterized in that the locking elements (8) can be engaged in the area between the out-of-engage position and the mounting position of the clamping jaw carrier (3) with an actuating element (11) of the actuating unit (7) which adjusts the locking element (8) between the open position and the closed position. A clamping jaw exchange system according to one or more of the preceding claims, characterized in that the actuating element (11) has a receiving opening (12) extending in the adjustment direction of the clamping jaw carrier (3) between the out-of-engage position and the mounting position for receiving an actuating section (13) of the locking element (8) extending in the adjustment direction of the clamping jaw carrier (3) between the out-of-engage position and the mounting position.Jaw changing system according to one or more of the preceding claims, characterized in that the jaw magazine (6) is used for. The arrangement of the clamping jaws (4, 4', 4", 4'", 4"") in the receiving position comprises a clamping jaw holder (22) which has an alignment element (15) that can be engaged with an opening (14) on the clamping jaw (4, 4', 4", 4'", 4"") and a coding element, in particular a coding bolt (17), that can be engaged with a coding opening (16) on the clamping jaw (4, 4', 4", 4'", 4""), wherein the coding opening (16) is arranged on the clamping jaw (4, 4', 4", 4'", 4"") in such a way that clamping jaws (4, 4', 4", 4'", 4"") that differ from each other have coding openings (16) positioned differently from each other. Jaw change system according to one or more of the preceding claims, characterized in that the coding bolt (17) can be arranged at different positions of the jaw holder (22).Jaw changing system according to one or more of the preceding claims, characterized in that the jaw holder (22) has a sensor (18) for detecting the occupancy by a jaw (4, 4', 4“, 4'“, 4““).Gripping head for a jaw exchange system, in particular according to one or more of claims 1 to 10, with two grippers (2) adjustable at a distance from each other, each with a jaw carrier (3) for releasably receiving one jaw (4, 4', 4", 4'", 4"") of a pair of jaws that can be brought into operative contact with the objects, wherein the jaw carriers (3) each have a locking unit (5) that is adjustable between a locking position that secures the jaws (4, 4', 4", 4'", 4"") to the jaw carrier (3) and a release position that releases the jaws (4, 4', 4", 4'", 4""), characterized in that the locking unit (5) is designed such that it can be adjusted between the locking position and the release position in the mounting position of the jaws (4, 4', 4", 4'", 4""). Actuating unit (7) on the jaw magazine (6) can be engaged. Jaw magazine for a jaw exchange system according to one of several claims 1 to 10, characterized in that the jaw magazine (6) is designed to receive the jaw pairs in a receiving position in which the jaw carriers (3) are adjustable relative to the jaws (4, 4', 4", 4'", 4"") by changing the distance between a mounting position engaged with the jaws (4, 4', 4", 4'", 4"") and a disengaged position releasing the jaws (4, 4', 4", 4'", 4""), and has an actuating unit (7) which, in the mounting position of the jaws (4, 4', 4", 4'", 4""), is designed to adjust the locking unit (5) between the locking position and the release position.