Retaining device

Abstract

The invention relates to a retaining device consisting at least of a base unit (36) and a changing unit (38), said base unit and changing unit being longitudinally movable relative to each other in a guided manner from a locking position, in which the base unit and the changing unit are connected together, into a release position, in which the two units (36, 38) are separated, and vice versa.

Description

[0001] Holding device

[0002] The invention relates to a holding device.

[0003] DE 10 2019 104 484 B3 discloses a holding device in the form of a gripping or clamping device, comprising a housing body and at least one jaw guide provided in the housing body, which has two side walls with at least one jaw movable in the jaw guide along a travel direction, wherein guide surfaces are provided on the side walls and wherein the jaw has sliding surfaces that interact with the guide surfaces to form a sliding guide. In such holding devices, it is necessary to guide the jaws with high precision in the jaw guides while simultaneously ensuring smooth guidance. With the known holding device, jaws arranged opposite one another in the guide can be moved towards one another for holding, gripping, or clamping from an initial position into a corresponding functional position.EP 3 927 504 B1 discloses a holding device in the form of a clamping or gripping device, comprising a base body, guide sections provided on the base body, and jaws movable along the guide sections in the travel direction, which jaws can be moved between an inner stroke end position and an outer stroke end position. The jaws each have a tooth row section, each with a length extending in the travel direction. Several pinions are provided, the axes of rotation of which lie in a plane parallel to the respective tooth row sections, and the pinions interact with the respective tooth row section to drive the jaws. Furthermore, angular attachment jaws are provided as grippers, which can be attached to the drivable jaws and can grip or clamp individual third-party components between them and thus hold them.

[0004] Depending on the holding, gripping or clamping task, a separate jaw or gripper solution must be provided for each individual case, which is correspondingly material-intensive and therefore cost-intensive.

[0005] Based on this prior art, the invention is based on the object of improving the known holding devices.

[0006] A holding device having the features of patent claim 1 in its entirety solves this problem.

[0007] An essential aspect of the invention is that the holding device consists of at least a base unit and an interchangeable unit, which are guided longitudinally movable relative to one another from a locking position, in which they are connected to one another, into a release position, and vice versa, in which the two units are separated from one another. Thus, it is not necessary to provide separate holding jaws or grippers for each task; rather, it is sufficient to design a base unit of the holding device as a standardized component for most, preferably all, applications and to structurally adapt only one interchangeable unit, which can be coupled to the base unit, to the actual task of "holding," "gripping," or "clamping."In this way, a wide variety of holding, gripping, and clamping tasks can be solved in a modular system with just a few components: the standardized base unit and the individual interchangeable unit that can be adapted to the respective task. This interchangeable and exchangeable concept offers enormous savings potential due to the reduction in parts and allows for increased flexibility in the practical execution of assembly and machining tasks. Furthermore, the modular concept also allows for the solution of innovative holding tasks that were previously impossible with conventional jaw or gripper systems.

[0008] In a preferred embodiment of the holding device according to the invention, it is provided that, by means of a fixing device acting between the base and exchange units, in one movement position of the units relative to one another, the units are coupled to one another in the locking position, and in a further movement position, which corresponds to the release position, the two units are decoupled from one another. In this way, only small masses need to be moved for the insertion and removal processes, which proves to be advantageous in terms of energy consumption, and the guiding reliability of the base and exchange units is ensured at all times. In this interaction, the base and exchange units form a jaw that serves to grip or clamp third-party components, such as metal plates and the like.

[0009] In a preferred embodiment of the holding device according to the invention, the securing device comprises individual securing means and associated gripping means which, when moved towards or away from one another, engage or disengage with one another to maintain the locking position or the release position. Preferably, the securing means are formed from individual bolts arranged in pairs on the two opposite longitudinal sides of the interchangeable unit, and the gripping means consist of individual hook elements on the base unit which, via their hook opening, receive the associated bolts for a locking process in one longitudinal direction or release them in the opposite direction. In this way, a particularly functionally reliable structure for coupling and uncoupling the two units is achieved.The bolt-hook design also allows high forces to be achieved when the base and interchangeable unit are locked.

[0010] In another particularly preferred embodiment of the holding device according to the invention, at least some of the bolts are held in the locking position within the associated hook elements by means of a releasable locking device. This ensures that the bolts cannot accidentally disengage from the hook elements, thus preventing the exchange unit from detaching from the base unit.

[0011] In a further preferred embodiment of the holding device according to the invention, the hook elements arranged in a row, one behind the other, with their openings facing in one direction, define at least one longitudinal guide into which the respective associated bolt can be placed and moved from the release position along one longitudinal travel direction into the locking position. This enables secure placement of the base unit on the interchangeable unit, and the longitudinal guide ensures a secure locking process between the respective bolt and the associated hook element.

[0012] In a further preferred embodiment of the holding device according to the invention, the base unit comprises a plate-shaped base body from which the respective hook element protrudes in one direction and at least one coupling element protrudes in the opposite direction. The coupling element cooperates with an actuating device that moves the base unit in opposite directions parallel to the respective longitudinal travel direction for feed movements. In this way, the respective base unit can be easily coupled to the actuating device, as already shown for controlling and displacing jaws in DE 10 2019 104 484 B3 and EP 3 927 504 B1.

[0013] Preferably, it is provided that the exchange unit for fixing third-party components has individual clamping devices, such as

[0014] - Contact or support surfaces and / or

[0015] - Pendulum supports and / or

[0016] - gripper fingers. This allows several clamping and securing options to be integrated into a single component in a space-saving manner using a type of interchangeable unit.

[0017] In a further preferred embodiment of the holding device according to the invention, the interchangeable unit has individual receiving means on its side facing away from the base unit for depositing the interchangeable unit on a magazine device in the release position, and the respective interchangeable unit can be secured to the associated magazine device, preferably by means of a further releasable locking device. In this way, interchangeable units of the same or different design stored therein can be retrieved in an interchangeable manner by means of the base unit using only one type of magazine device. For this purpose, the actuating device can be moved with the respective base unit by means of a handling system, as shown by way of example in DE 10 2019 128 931 A1.By means of the further releasable locking device, it can preferably be provided that a change unit placed on the magazine device remains securely in its magazine position there until it is picked up again for further handling operations there by means of the associated base unit.

[0018] Particularly preferred is a system comprising at least two holding devices, each as described above, wherein, for applying or releasing a clamping force by means of the clamping means, the interchangeable units locked to the base units can be moved toward or away from each other in pairs by means of the indicated actuating device. In this respect, the holding device consisting of the base unit and, preferably, different interchangeable units can be controlled as a structural unit by means of different actuating devices.

[0019] In the following, the holding device according to the invention is explained in more detail using an exemplary embodiment according to the drawing. In this diagram, not to scale, the

[0020] Fig. 1 shows a highly simplified representation of an actuating device by means of which two attached holding devices can be moved towards or away from each other as a pair;

[0021] Fig. 2 shows the pair of holding devices according to Fig. 1, each consisting of a base unit and a change unit which are coupled to one another;

[0022] Fig. 3 shows a decoupled position of the exchange unit with the base unit according to Fig. 2;

[0023] Fig. 4 shows a view corresponding to Fig. 3 without clamping elements for the respective exchange unit; Fig. 5 shows, in the form of an exploded view, part of a magazine device onto which the exchange units according to Figs. 1 to 4 can be placed;

[0024] Fig. 6 and 7 show the interchangeable units intended for placement on the magazine device in two functional positions; once shortly before locking and once in the locked state with the magazine device.

[0025] The actuating device 10 shown in Fig. 1 comprises a housing body 12 with a jaw guide 16 extending in the longitudinal direction 14 through the housing body 12. The jaw guide 16 is formed from a continuous, profiled longitudinal groove in the housing body 12, viewed in cross-section, which is open at the top when viewed in the direction of Fig. 1 and is otherwise shown in simplified form as rectangular. Two axially displaceably mounted jaws 18 are accommodated in the jaw guide 16 and can be moved toward and away from one another along a longitudinal travel direction running parallel to the longitudinal direction 14. Only the front left jaw of said jaws is shown in Fig. 1. The back-and-forth movement of the jaws 18 is represented in Fig. 1 by a double arrow 20. The jaw guide 16 has two opposing side walls 22 and a base 24 arranged between them.All walls 22, the base 24, and the adjacent wall parts of the respective jaw 18 form sliding surfaces together, so that the respective jaw 18 can be moved back and forth in the jaw guide 16 along the longitudinal direction 14 without hindrance and with low friction. A corresponding structure of an actuating device 10 is shown by way of example in DE 10 2019 104 484 B3.

[0026] It is generally possible to manually fix the jaws 18 in their respective travel positions within the jaw guide 16 using appropriate clamping means (not shown); however, it is also possible, as shown by way of example in EP 3 927 504 B1, to move the jaws 18 within the jaw guide 16 using a pinion drive (not shown) and fix them at predeterminable positions. Other drives are possible here, such as wedge kinematics, a gear, etc.

[0027] As can also be seen from Fig. 1, the jaw guide 16 extends over the entire length of the housing body 12 and the two jaws 18 have a smaller axial extent in order to enable, for example, a stroke of 30 mm per jaw 18, so that both jaws 18 can perform a total stroke of 60 mm towards or away from each other, wherein in Fig. 1 the two jaws 18 are in their initial or home position, as shown for the left jaw 18. Surfaces 26 are formed to the right and left of the channel-like or groove-shaped jaw guide 16. Two holding devices 30, 32 are arranged opposite one another, placed at a predeterminable distance from the horizontally extending surfaces 26 and firmly connected to the respectively assignable jaws 18 in a releasable manner, and are shown in more detail in Figs. 2 to 4. In particular, the holding device 30, 32 as shown in Fig.2 has at least one protruding coupling element 34 on its underside, for example in the form of a screw bolt, with which the respective coupling element 30, 32 can be releasably secured to the jaw 18 assigned to it. In the illustration according to Figs. 6 and 7, for each holding device 30, 32, two fixing screws are provided in a modified version as coupling elements 34 for each jaw 18. Other fixing options are conceivable here.

[0028] The respective holding device 30, 32 consists of at least a base unit 36 ​​and a change unit 38, which are guided so as to be longitudinally movable relative to one another from a locking position according to Fig. 2, in which they are connected to one another, into a release position according to Fig. 3 and vice versa, wherein in the release position according to Fig. 3 the change unit 38 is separated from the base unit 36. As can be seen from Figs. 1 to 4, the base unit 36 ​​is formed from a plate-shaped basic body with a continuous longitudinal groove 40, along which the attached change unit 38 is guided so as to be longitudinally movable until it reaches a stop as shown in Figs. 1 and 2, in that the block-shaped change unit 38 engages precisely in the longitudinal groove 40 of the base unit 36 ​​on the bottom. In this way, a type of rail system for guiding the two units 36, 38 is achieved.

[0029] By means of a fixing device 42 acting as a whole between the base unit 36 ​​and the exchange unit 38, in one moving position of the units 36, 38 relative to one another, they are coupled to one another in the locking position according to Figs. 1 and 2 and decoupled from one another in a further moving position, which corresponds to the release position according to Figs. 3 and 4. In the decoupled position, the respective exchange unit 38 can be removed from the remaining base unit 36 ​​in the vertical direction as viewed in Figs. 3 and 4. Of course, the exchange unit 38 can also be held in a predeterminable position and the base unit 36 ​​can be placed perpendicular to it.

[0030] The securing device 42 has individual securing means and associated gripping means, which move toward or away from one another to maintain the locking position or the release position. For this purpose, the securing means are formed from individual solid bolts 44 with, for example, a circular cross-section, which are arranged in pairs on the two opposite longitudinal sides 46 of the respective exchange unit 38. Other cross-sections, such as rectangular, oval, etc., are possible here. In total, four bolts 44 per exchange unit 38 extend along the two opposite longitudinal sides 46 with a predeterminable overhang. The associated gripping means, in turn, consist of individual hook elements 48 on the base unit 36, which, with interruptions on the edges, delimit the respective longitudinal groove 40 of the base unit 36.The respective hook opening of the hook elements 48 is in any case selected such that an associated bolt 44 for locking can at least partially engage under the hook element 48 and, as shown in Figs. 1 and 2, is thus held in the locking position. Like the bolts 44, the hook elements 48 are also positioned in paired groups opposite one another on the long sides of the base unit 36.

[0031] If, as shown in Fig. 3, the exchange unit 38 is placed onto the base unit 36 ​​from above, the exchange unit 38 moves from right to left for the left-hand holding device 30 until the hook elements 48 engage over the bolts 44 in a securing manner, thereby resulting in the securing or locking position shown in Figs. 1 and 2. Locking for the right-hand holding device 32 occurs in the reverse order, from left to right. In any case, the hook elements 48, arranged one behind the other in a row, delimit a bottom-side longitudinal guide 50 along one long side of the base unit 36 ​​with their openings pointing in one direction, onto which the respectively assignable bolts 44 can be placed from above as viewed in Figs. 3 and 4. Starting from this release position, these bolts then move in a longitudinal direction to the left or right into the locking position shown in Figs. 1 and 2.As further shown in the figures, the bolts 44 are held in their locked position within the associated hook elements 48 by a locking device 52. This locking device 52 typically consists, in a known manner, of a resilient pressure piece, wherein the pressure piece, counter to the spring action, clears the path out of the opening of the hook element 48 as soon as the respective bolt 44 passes over the locking device 52 with a predeterminable displacement force. Bolts 44 and hook elements 48 project beyond the longitudinal groove 40 of the base unit 36 ​​and are arranged lying on a plateau, which is essentially formed by the respective longitudinal guide 50.

[0032] As can be seen in particular from Fig. 4, the exchange unit 38 can be constructed in several parts and has a base part 54 which is cuboid-shaped and has rows of bolts, each with two bolts 44, along its two lower longitudinal sides. The axial spacing of these rows, viewed parallel to the longitudinal direction 14, corresponds to the spacing between two adjacent hook elements 48 with respect to the base of the respective circular opening. Furthermore, the base part 54 has, on its underside facing the base unit 36, two strip-shaped, downwardly projecting longitudinal guides 56 which enable secure guidance between the base part 54 and the base unit 36 ​​and help to reduce sliding resistance accordingly.On the opposite upper side of the block- or cuboid-shaped base part 54, a hole 58 is provided, the hole pattern being adapted to the engagement possibility of screws with which differently designed interchangeable units 38 can be placed on the base part 54. Thus, the holding device 30 on the left as viewed in the direction of Figs. 1 to 3, with its adapter unit 60, which can be designed in a modular manner depending on the respective work task, is designed in a stepped construction with two horizontally running surfaces 62 and two vertically running surfaces 64. A corresponding, stepped construction is also selected for the holding device 32 on the right as viewed in the direction of the figures, which nevertheless has a different construction than the holding device 30.The aforementioned surfaces 62, 64 could, particularly in the interaction of the two holding devices 30, 32, be provided as contact or support surfaces and thus as clamping means for third-party components to be secured, such as metal plates. However, the vertically extending surfaces 64 preferably have at least one pendulum support 66, which is used exclusively as a clamping means on both holding devices 30, 32, so that the horizontally extending surfaces 62 do not necessarily have to be used as supports for third-party components.

[0033] Furthermore, the two adapter units 60 of the holding device 30 and the holding device 32 have individual gripper fingers at the point of transition to the screwed-on base part 54, which, when the base unit 36 ​​is coupled to the exchange unit 38, are arranged to form gripper finger pairs 68 and project both beyond the base unit 36 ​​and beyond the base part 54. While the holding device 32 has only one gripper finger pair 68 in the center, the adapter unit 60 of the holding device 30 has two such gripper finger pairs 68, which define a distance between them such that the gripper finger pair 68 of the holding device 32 can engage flush, as is shown by way of example in the illustration in Fig. 3. In this respect, the opposing gripper finger pairs 68 would also be fundamentally suitable for accommodating individual third-party components between them as additional clamping means.In an embodiment not shown, it would also be conceivable to control the gripper fingers of each pair 68 in a pincer-like manner by means of an independent drive and to close them accordingly for a holding or clamping movement. In the present case, however, the gripper finger pairs 68 define a through-passage 70 between them as shown in Fig. 3, so that a hydraulic or pneumatic control part (not shown) which is connected to the housing body 12 has space in a receiving space 72 arranged between them in every travel position of the holding device 30, 32 and is guided in the through-passage 70 by protruding bolt-like components when the holding devices 30, 32 are moved as shown in Fig.3 are moved towards each other, which usually corresponds to a clamping position, provided that the base units 36 coupled to the respective exchange units 38 follow this movement via the jaws 18 of the actuating device 10.

[0034] It is understood that, in the sense of a modular system, a plurality of different adapter units 60 can be exchanged onto the base part 54, so that a plurality of handling and gripping options are obtained for the holding device solution according to the invention.

[0035] As can be further seen from Figs. 1 to 3, on the top side of each holding device 30, 32 and in pairs associated with one another, engagement bores 74 are provided as receiving means, which cooperate in a correspondingly standardized manner with adapted receiving pins or locating bolts 76 of a magazine device 78, of which only a single storage plate 80 is shown in Fig. 5. The relevant storage plate 80 with its receptacles 76 can be expanded flatly in all directions, or several such storage plates 80, multiplied in the transverse and longitudinal directions, form the magazine device 78 as a whole, which in this respect is constructed from standardized components, i.e. the storage plates 80.

[0036] A handling device (robot) (not shown) engaging the underside 82 of the housing body 12 is capable of turning the arrangement shown in Fig. 1 upside down. For this movement, the respective base unit 36 ​​should be connected and locked to the exchange unit 38 in a coupling manner. In this case, the unit according to Fig. 1 can be placed onto the support plate 80 shown in Fig. 5 by means of the handling device. For the sake of simplicity, only a part of the housing body 12 according to Fig. 1 is shown in Fig. 5. The prerequisite for this placement process is that the two holding devices 30, 32 are moved towards each other in their closest possible position, in which the middle gripper finger pair 68 of the holding device 32 engages in the two spaced-apart gripper finger pairs 68 of the opposite holding device 30.

[0037] During the respective setting-down process, the paired locating pins 76 of the plate 80 then engage in the associated engagement bores 74 of both holding devices 30, 32. If the housing body 12 of the actuating device 10 is equipped with only one holding device 30 or 32, such an exchange process can also be carried out for just this one individual holding device 30 or 32 by placing it on a storage plate 80 of the magazine device 78. Although not explained in more detail, the exchange units 38 can also be manually separated from the respectively associated base unit 36 ​​and placed on the storage plate 80 of the magazine device 78, whereby the respective base unit 36 ​​remains connected to the jaws 18 on the actuating device 10.The base unit 36 ​​of the actuating device 10, which then remains on the housing body 12, can then be moved to another location on the magazine device 78 by means of the handling system in order to accommodate interchangeable units 30, 32 of a different or identical design. With this modular storage system, a product range from third-party components in the form of rectangular components measuring 40 x 40 mm up to 200 x 200 mm and more can be handled with only a small number of holding devices, for example in the form of the two holding devices 30, 32 shown in the figures. Overall, it is clear that with the holding device solution presented here, one only fundamentally needs to provide a special adapter unit 60, which is to be adapted to the new component to be handled, whereas the other components of the actuating device 10 with base units 36 and base parts 54 can remain the same.This leads to significant cost savings and a significant simplification of the handling processes involved. If the gripper finger pairs 68 can be moved in a pincer-like manner using a suitable drive, individual handling processes can also be performed with only one holding device, with the respective holding device then acting as the active gripper part.

[0038] To facilitate the setting down of holding devices 30, 32, preferably in pairs, a further releasable locking device 84 is provided as a whole as shown in Figures 6 and 7. The respective holding device 30, 32 is in turn firmly connected to the respectively assigned jaws 18 of the actuating device 10 by means of coupling elements 34 in the form of individual screw bolts. For this purpose, the respective further, second locking device 84 has a two-armed pivot lever 86 which is pivotally guided about a horizontal pivot axis 88. The respective pivot lever 86, which is pivotally guided on the base unit 36 ​​of each holding device 30, 32 via the pivot axis 88, is supported with one free end on a spring-loaded pressure piece 90 of the base unit 36 ​​and is provided with a contact surface at its other free end.The spring-loaded pressure piece 90 exerts a force on the pivot lever 86 of the holding device 32 in the direction of a counterclockwise pivoting movement about the pivot axis 88. In the holding device 30, however, as shown in particular in Fig. 6, the pivot lever 86 is acted upon by the spring-loaded pressure piece 90 in the direction of a clockwise pivoting movement about the pivot axis 88. Thus, the lower part of the pivot lever 86, as shown in Fig. 6, comes into a lower arresting or locking position, in which the bolt 44, which is arranged adjacent to the locking part of the pivot lever 86, remains in its fixed position within the associated hook element 48, as shown in Fig. 6. This hook element is not shown in Figs. 6 and 7 for the sake of simplicity. The same applies to the right-hand retaining bolt 44 of the holding device 30.

[0039] 6 and 7, an actuating pin 92 is connected to the respective storage plate 80, which protrudes upwards above the upper side of the storage plate 80 by a predeterminable actuating distance and is otherwise firmly connected to the base thereof, for example via a screw connection. If the actuating device 10 as a whole, i.e. with its attachments, is moved from the position shown in Fig. 6 to the position shown in Fig. 7, in which both holding devices 30, 32 rest with their free upper sides on the facing upper side of the storage plate 80, the free end of the respective actuating pin 92 comes into contact with the free locking bolt part of the pivoting lever 86 along its contact surface, which is now forcibly controlled against the action of the spring-loaded pressure piece 90 in a clockwise direction for the holding device 32 and counterclockwise for the holding device 30 into its release position as shown in Fig.7 is pivoted, compressing the pressure piece 90 and thus clearing the path so that the previously mentioned bolt 44 disengages from the associated hook element 48, and the bolt 44 of the other bolt pair is also correspondingly released. By a corresponding movement of the jaws 18 within the jaw guide 16 from right to left for the device 32 and from left to right for the device 30, the base units 36 arranged thereon can be moved from their coupled position according to Fig. 2 into the released position according to Fig. 3, and the respective exchange unit 38 with its released bolt pairs 44 remains on the magazine device 78.The actuating device 10 can then be moved to another support plate 80 by means of the handling device with correspondingly stored holding devices, which can then be removed from the support plate 80 in reverse order by means of the actuating device 10 and the base units 36 arranged thereon for further gripping and clamping operations of third-party components. Despite the use of spring-loaded pressure pieces 90 for each pivot lever 86 of the additional locking device 84, it is ensured that in the event of failure of the pressure pieces 90, the associated rocker-shaped pivot lever 86 remains in its gravity-induced locking position shown in Fig. 6, thus precluding failure cases.

Claims

Patent claims 1 . Holding device, consisting of at least a base unit (36) and an exchange unit (38), which are guided longitudinally movable relative to one another from a locking position in which they are connected to one another, into a release position and vice versa, in which the two units (36, 38) are separated from one another.

2. Holding device according to claim 1, characterized in that by means of a fixing device (42) acting between the base unit (36) and the exchange unit (38), in a moving position of the units (36, 38) relative to one another, these are coupled to one another in the locking position and in a further moving position, which corresponds to the release position, the two units (36, 38) are decoupled from one another.

3. Holding device according to claim 1 or 2, characterized in that the fixing device (42) has individual fixing means and associated gripping means which move towards or away from each other to engage or disengage from each other to maintain the locking position or the release position.

4. Holding device according to claim 3, characterized in that the fixing means are formed from individual bolts (44) which are arranged in pairs on the two opposite longitudinal sides (40) of the exchange unit (38), and in that the gripping means consist of individual hook elements (48) on the base unit (36) which, via their hook opening, receive the assignable bolts (44) for a locking process in a longitudinal direction of travel or release them in the opposite direction.

5. Holding device according to one of the preceding claims, characterized in that at least some of the bolts (44) are held in the locking position within the assignable hook elements (48) by means of a releasable locking device (52).

6. Holding device according to one of the preceding claims, characterized in that the hook elements (48) arranged one behind the other in a row with their openings pointing in one direction delimit at least one longitudinal guide (50) into which the respectively assignable bolt (44) can be placed and moved from the release position along one longitudinal travel direction into the locking position.

7. Holding device according to one of the preceding claims, characterized in that the base unit (36) has a plate-shaped base body on which the respective hook element (48) protrudes in one direction and in the opposite direction at least one coupling element (34) which cooperates with an actuating device (10) which moves the base unit (36) in opposite directions parallel to the respective longitudinal travel direction for feed movements.

8. Holding device according to one of the preceding claims, characterized in that the exchange unit (38) for fixing third components comprises individual clamping means, such as - contact or support surfaces (62, 64) and / or - Pendulum supports (66) and / or - has gripper finger pairs (68).

9. Holding device according to one of the preceding claims, characterized in that the exchange unit (38) has, on its side facing away from the base unit (36), individual receiving means (74) for depositing the exchange unit (38) on a magazine device (78) in the release position, and in that, preferably by means of a further releasable locking device (84), the respective exchange unit (38) is coupled to the base unit (36) while being lifted off the associated magazine device (78).

10. System consisting of at least two holding devices (30, 32) each according to one of the preceding claims, characterized in that for applying or releasing a clamping force by means of the clamping means, the interchangeable units locked to the base units (36) can be moved towards or away from each other in pairs by means of the actuating device (10).

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