Jaw adapter system, jaw exchange system, handling device
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- SCHUNK GMBH & CO KG
- Filing Date
- 2024-10-23
- Publication Date
- 2026-05-06
AI Technical Summary
Existing jaw adapter systems fail to ensure reproducible depositing and picking up of adapters due to gravity-induced misplacement and lack of information recording, leading to unreliable storage and retrieval.
Incorporation of an RFID transponder in the adapter for data transmission to a magazine, along with a locking bolt mechanism and actuating bevels to ensure correct insertion and orientation, allowing precise and reliable storage and retrieval through interaction with a storage sensor.
Enables reproducible and accurate depositing and picking up of adapters, ensuring correct positioning and orientation, and facilitating data logging for inventory management.
Smart Images
Figure EP2024079979_24072025_PF_FP_ABST
Abstract
Description
[0001] Title : Jaw adapter system, jaw changing system,
[0002] Handling device
[0003] Description
[0004] The invention relates to a jaw adapter system for storing an adapter system in a magazine and / or for the detachable arrangement of gripper fingers on handling devices. The jaw adapter system has a base jaw of a gripper and an adapter that can be fastened to the base jaw. The adapter has at least one locking bolt that can be moved along an x-axis between an inner release position and an outer locking position. In the release position, the base jaw can be detached from the adapter, and in the locking position, the adapter can be locked by means of the at least one locking bolt. The adapter has at least one spring means that urges the at least one locking bolt into the locking position.
[0005] JP 2011 189 415 A discloses a jaw adapter system that is attached to a gripping device with a jaw changing system. It is particularly disadvantageous that the adapters designed as base jaws fall into the magazine due to gravity when they are inserted into the magazine and released from the change head. No information about the stored adapters is recorded. For this reason, reproducible depositing and retrieval of the adapters is not possible.
[0006] The invention is therefore based on the object of providing a jaw adapter system which ensures reproducible depositing and picking up of the adapters.
[0007] The object underlying the invention is achieved by a jaw adapter system with the features of claim 1. An RFID transponder can be arranged or is arranged in a recess in a jacket surface of the adapter. The RFID transponder can interact with an RFID antenna in the magazine and transmit information about the adapter, such as ID, type, size, operating time, etc., to the magazine. This ensures that the adapters can be put down and picked up in a reproducible manner. In addition, the RFID transponder can be mounted on the adapter quickly and easily and can also ensure reliable transmission due to its proximity to the magazine.
[0008] An advantageous development provides that the locking bolt has an actuating bevel facing away from the spring means for inserting the adapter into the magazine in the correct position and location. If there is a preferred direction of insertion of the adapter into the magazine, the actuating bevel is preferably tapered in the direction of the magazine. This ensures that the adapter can only be inserted into the magazine along the preferred direction of insertion. The preferred direction of insertion is particularly relevant if a storage sensor arranged on the magazine is arranged in a rear region of the magazine and for the repeatable and precise detection of the position and / or orientation of the adapter, the storage sensor must assume a precise position in the magazine. If the actuating bevel is incorrectly oriented, this can in particular cause mechanical resistance.
[0009] An advantageous embodiment of the jaw adapter system provides that the adapter has a receptacle, and the base jaw of the gripper has at least one insertion section, wherein the insertion section extends along a z-axis running perpendicular to the x-axis and the y-axis and can be inserted into the receptacle. By means of the insertion section, a relative positioning between the adapter and the base jaw along the x-axis and the y-axis can be achieved, so that the adapter can be inserted precisely into the magazine.
[0010] It is conceivable that a gripping finger can be arranged or is arranged on the adapter. Thus, existing base jaws, especially gripping fingers, can also be used with the jaw changing 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 adapter, in particular from the at least one receptacle, in the release position and in the locking position in the
[0012] Adapter, in particular in the at least one receptacle, can be locked by means of the at least one locking bolt.
[0013] It is advantageous if the at least one insertion section has at least one first insertion bolt and at least one second insertion bolt. The insertion bolts each have a clamping section which interacts with the at least one locking bolt for releasing and locking. In the locking position, the at least one locking bolt is arranged along the y-axis between the at least one first insertion bolt and the at least one second insertion bolt. Accordingly, at least two insertion bolts can be actuated simultaneously by means of one locking bolt, so that an even distribution of force can take place.
[0014] In a further advantageous embodiment, the at least one locking bolt has an inner first section, a middle second section and an outer third section. The first section is arranged on the inside, i.e. within the adapter, and has a spring receptacle in the form of a hollow cylinder for receiving the spring means. In the assembled state, the spring means is arranged between the bottom of the blind hole and the spring receptacle. Neither the first section nor the spring means are visible in the assembled state. Furthermore, the first section has a locking bevel for locking the insertion section. The locking bevel of the at least one locking bolt and the clamping section of the at least one insertion section interact in such a way that in the locking position the locking bevel fixes the clamping section.The at least one insertion section preferably engages behind the at least one locking bolt in the locking position. The second section of the locking bolt has a bolt recess for releasing the insertion section, wherein to release the insertion section the locking bolt is displaced translationally along the x-axis so that the second section of the locking bolt is arranged in the region of the insertion section. The insertion section can then be guided through the bolt recess and the adapter can be detached from the base jaw. The third section of the locking bolt is arranged on the outside, i.e. visible from the outside, and serves to absorb the actuating force introduced by the at least one displacement element of the magazine or by a user.The locking bolt, in particular the third section referred to as the actuating element, is contacted by the displacement bevel and the inner wall of the magazine. The third section is preferably designed such that when the adapter is inserted into the magazine, the actuating element of the locking bolt can slide with little to no resistance along the displacement bevel and the inner wall of the magazine. The third section therefore preferably interacts with the magazine, in particular with the displacement bevel and the inner wall. The third section is preferably designed such that the adapter can only ever be inserted into the magazine in one direction with little to no resistance.For this purpose, the actuating element of the locking bolt is provided with an actuating bevel on the bolt side, which is designed such that, on the one hand, less mechanical resistance occurs when inserting the adapter and thus when the third section comes into contact with the magazine in the correct insertion position, and, on the other hand, greater mechanical resistance occurs when inserting the adapter and thus when the third section comes into contact with the magazine in the incorrect insertion position. This allows the adapter to always be inserted into the magazine in the correct position and in the correct position, following the poka-yoke principle, which in particular enables the RFID transponder to be read using an RFID antenna.
[0015] A further advantageous embodiment provides: The jaw adapter system according to one of claims 1 to 5, wherein the adapter has at least one holding device for fixing the adapter in the magazine, wherein preferably the at least one holding device is designed as at least one ball pressure pin arranged in the adapter.
[0016] The object underlying the invention is also achieved by a jaw changing system for the detachable arrangement of gripping fingers on handling devices with the features of claim 6. The jaw changing system has an adapter which can be fastened to a base jaw of a gripper and a magazine for receiving at least one adapter. The adapter has at least one locking bolt which is arranged along an x-axis between an inner
[0017] release position and an outer locking position. In the release position, the adapter can be released from the base jaw and in the locking position the adapter can be locked to the base jaw by means of the at least one locking bolt. The adapter has at least one spring means which urges the at least one locking bolt into the locking position. At least one storage sensor for detecting the presence and / or position and / or location of the adapter is provided in or on the magazine.
[0018] This has the advantage that precise, safe and reproducible depositing of the detected adapter in an assigned deposit location in the magazine and picking up of the detected adapter from a location in the magazine known to the jaw changing system or the handling device is guaranteed. It can therefore be ensured that the adapter is deposited in the magazine and / or that the base jaw is released from the adapter when the adapter has assumed a suitable position and / or a suitable orientation in the magazine. Accordingly, it can furthermore be additionally or alternatively ensured that the adapter is picked up from the magazine when the adapter has a suitable position and / or a suitable orientation in the magazine. Accordingly, it can furthermore be additionally or alternatively ensured that the base jaw can be released from the adapter when the locking bolt is arranged in the release position.Accordingly, it can also be ensured, additionally or alternatively, that the adapter can be picked up by the base jaw when the locking bolt is arranged in the locked position. If the adapter is not arranged in the suitable position and / or in the suitable orientation, in particular in the event of an adapter being lost or the adapter being inserted into the magazine in the wrong position, an error message can be issued by the jaw changing system and / or the handling device, in particular by a clamping and / or gripping device, which can cause the jaw changing system and / or the handling device to alternatively move to another similar adapter located at a different storage location in the magazine or make additional external intervention necessary, e.g. manually by an operator.
[0019] It is advantageous if the RFID transponder is designed as an RFID tablet. This represents a simple, cost-effective, and compact design for a data storage device located directly on the adapter. The RFID transponder can store, in particular, data about the adapter and the gripping fingers located on the adapter. This data can be read by an RFID antenna located on the magazine or near the jaw adapter system. This allows the adapter to have a unique identifier and to transmit this information, and the storage location of the adapter in the magazine can be detected and logged.
[0020] An advantageous development provides that the locking bolt has a head section facing away from the spring means, wherein the head section has an actuating bevel for correctly inserting the adapter into the magazine. In a preferred direction of insertion of the adapter into the magazine, the actuating bevel drops towards the rear area of the magazine, i.e. it tapers. This ensures that the adapter can only be inserted into the magazine along the preferred insertion direction. The preferred insertion direction is particularly relevant when the storage sensor is arranged in the rear area of the magazine with an orientation towards a screw head located on the adapter and for the repeatable and precise detection of the position and / or location of the adapter, the adapter with the screw head located on it can assume a defined position and orientation in the rear area of the magazine.The screw head is used to query the storage sensor.
[0021] If the actuating bevel is incorrectly oriented when inserting the adapter into the magazine, i.e. does not taper towards the rear area of the magazine, this can cause greater mechanical resistance when inserting the adapter, which can cause the jaw changing system or the handling device to abort the insertion process and, if necessary, to repeat it in a different insertion direction.
[0022] It is advantageous if the adapter can be inserted into the magazine into a magazine position perpendicular to the x-axis along a y-axis. Preferably, the magazine has at least one displacement element extending along the y-axis, which, in the magazine position, contacts the at least one locking bolt and / or pushes it from the locking position into the release position against the spring force of the spring means.
[0023] It is further advantageous if the at least one storage sensor is directed toward the adapter in the magazine position located in the rear area of the magazine. This ensures precise and accurate detection of the adapter.
[0024] Advantageously, the at least one
[0025] Displacement element has at least one displacement slope for uniform actuation of the locking bolt. For this purpose, the displacement slope closes to the adapter in the
[0026] Magazine position an angle which is preferably greater than 5 °, in particular greater than 10 ° and preferably greater than 15 ° and / or less than 35 °, in particular less than 30 ° and preferably less than 25 °. The displacement slope can preferably be provided relative to the y-axis and / or the z-axis, so that the adapter can be inserted into the magazine along the y-axis and / or along the z-axis.
[0027] An advantageous development of the invention provides that the at least one storage sensor is designed and / or configured to detect the storage location of the adapter and / or gripping fingers arranged on the adapter, the number of changes of an adapter and / or gripping fingers and / or the adapter type of the adapter and / or finger type of the gripping fingers.
[0028] It is advantageous if at least one RFID antenna that interacts with the RFID transponder arranged in or on the adapter is arranged in the magazine or in the immediate vicinity of the magazine in the jaw changing system.
[0029] The jaw changing system preferably has a data processing unit and / or a memory which are set up in such a way that they process, store and provide the data detected by the at least one storage sensor and / or by an RFID transponder by means of at least one RFID antenna. In this way, for example, a higher-level ERP system can log how many and which adapters and gripper fingers are present in the area of the jaw changing system or a handling device, where the adapters and gripper fingers are positioned in the magazine, which gripper fingers are arranged on which adapter, and how often adapters or the gripper fingers located on them are picked up by a gripper, which can enable conclusions to be drawn as to the condition of the adapters or gripper fingers.From the read data, for example, the status "change frequency", "use", "operating time", "storage location", "error frequency" and "error" can be calculated and displayed.
[0030] It is advantageous if the RFID transponder is arranged on the adapter and at least one RFID antenna corresponding to the RFID transponder is arranged in the magazine or in the immediate vicinity of the magazine in the jaw changing system. A recess for receiving the RFID transponder is provided in the outer surface of the adapter. Using the data read from the RFID transponder, an ERP system can obtain information regarding the adapter, the gripper fingers located on the adapter, and the gripper on which the adapter is located, as well as the presence or storage location of the adapter in the magazine.
[0031] The jaw changing system according to claims 6 to 14 can further be supplemented by the features of claims 1 to 5 of the jaw adapter system.
[0032] Further advantageous developments of the invention provide: The jaw changing system according to one of claims 6 to 14, wherein the magazine has a magazine plate and preferably a receiving plate for the magazine plate, wherein the magazine plate can preferably be mounted on the receiving plate in a floating manner, in particular by means of elastomer receiving bushes. By means of the floating mounting, forces and moments can be absorbed and compensated for by both the magazine plate and the receiving plate, which are caused in particular by improper or incorrectly positioned or non-orthogonal insertion of the adapter into the magazine and can cause damage to the magazine as well as to the adapter. Such damage can occur more frequently, in particular with high insertion speeds of the adapter and the high impulses caused thereby.
[0033] The jaw changing system according to one of claims 6 to 14, wherein the adapter has at least one slotted guide recess which is designed such that when the adapter is inserted into the magazine, the at least one guide recess engages in the insertion bevel, the insertion slope and the inner wall of the magazine plate.
[0034] The jaw changing system according to one of claims 6 to 14, wherein the magazine has an insertion chamfer and an insertion bevel as well as an inner wall, and wherein the adapter can be inserted into the magazine in such a way that either the insertion chamfer and the insertion bevel and the inner wall of the magazine interact with the actuating bevel of the locking bolt.
[0035] Furthermore, the object underlying the invention is also achieved by a handling device with the features of claim 14. The handling device preferably comprises a gripper housing, at least one base jaw arranged in the gripper housing and at least one adapter arranged on the base jaw, and in particular at least one gripper finger arranged on the adapter, wherein the adapter has at least one locking bolt which is displaceable along an x-axis between an inner release position and an outer locking position, and in particular at least one insertion section arranged on the at least one base jaw and detachable from the adapter, wherein the insertion section is detachable from the adapter in the release position and can be locked to the adapter by means of the at least one locking bolt in the locking position, wherein the adapter has at least one spring means,which urges the at least one locking bolt into the locking position, and wherein the locking bolt is designed such that it can be moved from the locking position into the release position by means of an insertion bevel, an insertion slope and / or an inner wall of a magazine plate or by a user.
[0036] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are further described and explained.
[0037] It shows :
[0038] Fig. 1A perspective view of a jaw changing system, with an adapter located in front of a magazine;
[0039] Fig. 1B is a perspective view of the jaw changing system according to Fig. 1A, with the adapter in the magazine position; Fig. 1C is a perspective view of the jaw changing system according to Fig. 1A, with the adapter being detached from a base jaw of a gripper by means of a gripping finger;
[0040] Fig. ID exploded view of the adapter of the jaw changing system according to Fig. 1A;
[0041] Fig. 2A sectional view along the x-axis and y-axis through adapter and magazine according to Fig. 1A (locking bolt in locking position);
[0042] Fig. 2B sectional view along the x-axis and y-axis through adapter and magazine according to Fig. 1B (locking bolt in release position);
[0043] Fig. 3A sectional view along the x-axis and z-axis through the adapter according to Fig. 1A (locking bolt in locking position);
[0044] Fig. 3B sectional view along the x-axis and y-axis through the adapter according to Fig. 1A (locking bolt in locking position);
[0045] Fig. 3C sectional view along the x-axis and z-axis through the adapter according to Fig. 1B (locking bolt in release position);
[0046] Fig. 3D sectional view along the x-axis and y-axis through the adapter according to Fig. 1B (locking bolt in release position); Fig. 4A perspective view of a
[0047] locking bolt;
[0048] Fig. 4B Front view of a locking bolt according to
[0049] Fig. 4A;
[0050] Fig. 5A is a perspective view of another embodiment of a jaw changing system, wherein an adapter is located in front of a magazine; and
[0051] Fig. 5B perspective view of the jaw changing system according to Fig. 5A, with the adapter in the magazine position.
[0052] A jaw changing system 10 for depositing an adapter 12 in a magazine 14 comprises, as shown in Figs. 1A-1D, a jaw adapter system 16 and the magazine 14. The adapter 12 serves to receive and hold a gripper finger 18. The adapter 12 can be removably arranged on a base jaw 20 of a handling device, in particular a gripper 22. The gripper 22 can be designed as a parallel, centric, or four-jaw gripper and can be driven pneumatically, electrically, and / or mechatronically. The gripper 22 can be arranged on a robot arm (not shown). The jaw changing system 10 comprises the magazine 14 for equipping the gripper 22 with different adapters 12 and different gripping fingers 18 that can be arranged on the adapter 12. The adapter 12 is connected to the base jaw 20 in a movement-rigid manner, so that a displacement of the base jaw 20 along a gripping direction 24 by the gripper 22 also leads to a displacement of the adapter 12.The jaw adapter system 16 represents a subsystem of the jaw changing system 10, wherein the jaw adapter system 16 includes, among other things, the base jaw 20 and the adapter 12.
[0053] According to Fig. 1C, the base jaw 20 has an insertion section 26 with two insertion bolts 28 extending parallel to the z-axis. The adapter 12 has an adapter housing 30 with two receptacles 32 into which the two insertion bolts 28 can be inserted. To fix the adapter 12 to the base jaw 20, the adapter 12 comprises a locking bolt 34 shown in Fig. 1D, which is arranged in a blind hole 36 extending parallel to the x-axis. The blind hole 36 is arranged along the y-axis between the two receptacles 32, wherein these intersect within the adapter housing 30. The locking bolt 34 and the insertion bolts 28 can thus interact there. The locking bolt 34 can be moved parallel to the x-axis between a locking position and a release position.
[0054] According to Fig. 2A and 2B, the locking bolt 34 has an inner first section 38 which has a spring receptacle 42 in the form of a hollow cylinder for receiving a spring 44. The spring 44 is supported on the bottom of the blind hole 36 and urges the locking bolt 34 into the locking position, wherein the locking bolt 34 protrudes relative to the adapter housing 30 in the locking position shown in Fig. 2A. In the locking position, the insertion bolts 28 engage behind the locking bolt 34, wherein a locking bevel 40 arranged on the first section 38 cooperates with a clamping section 48 arranged on the insertion bolt 28. In the locking position, the insertion bolts 28 are
[0055] Locking bolt 34 is secured in the receptacles 32. In Fig. 1A, the locking bolt 34 is in the locking position, so that the adapter 12 is firmly connected to the base jaw 20.
[0056] In Fig. 1A the gripper 22 is positioned directly in front of the magazine 14. This position is used for pre-positioning, from which the adapter 12 can be inserted into the magazine 14. For this purpose the adapter 12 is inserted parallel to the y-axis into the magazine 14 until it comes to rest against a defined magazine stop 50. In Fig. 1B, as well as in Figure 2B, it is shown how the adapter 12 is in the magazine position. By inserting the adapter 12 into the magazine 14 the adapter 12 is unlocked so that according to Fig. 1C the base jaw 20 can be released from the adapter 12 and the adapter 12 remains in the magazine 14.
[0057] When the adapter 12 is inserted into the magazine 14, the locking bolt 34 is unlocked. For this purpose, the magazine 14 has two webs 52 with an insertion bevel 54 and a displacement bevel 56, as shown in Figs. 1B and 2B. The webs 52 engage, as shown in Figs. 1B and 2B, in a slot-like guide recess 58 in the form of two grooves extending parallel to the y-axis, each with a groove base 60 of the adapter 12, the insertion bevel 54 being provided for simplified positioning of the adapter 12 on the magazine 14. In this case, the displacement slope 56 comes into contact with the locking bolt 34 and, by moving parallel to the y-axis, displaces it uniformly parallel to the x-axis against the spring force of the spring 44 into the release position, wherein the locking bolt 34 is flush with the adapter housing 30, in particular with respect to the
[0058] Groove and preferably opposite the groove bottom 60. The displacement slope 56 closes according to Fig. 2B with the
[0059] Adapter housing 30 forms an angle a which is preferably greater than 5°, in particular greater than 10° and preferably greater than 15° and / or less than 35°, in particular less than 30° and preferably less than 25°. In this case, the locking bevel 40 of the locking bolt 34 comes out of engagement with the insertion bolts 28. To release the adapter 12, the locking bolt 34, according to Fig. 2A and 2B, has a central second section 62 with a bolt recess 64. In the release position, the insertion bolts 28 can be guided out of the receptacles 32 through the bolt recess 64, so that the adapter 12 can be detached from the base jaw 20.
[0060] 1B, 1C and 2B the locking bolt 34 is in the release position. The relative movement of the base jaw 20 parallel to the z-axis releases the base jaw 20 from the adapter 12. The engagement of the webs 52 in the guide recesses 58 causes the adapter 12 to remain in the magazine 14. Furthermore, the locking bolt 34 has an outer third section 66 which interacts with the web 52 and is designed such that the adapter 12 is held securely in position in the magazine 14 even without the base jaw 20. The first section 38 and / or the second section 62 and / or the third section 66 of the locking bolt 34 can be formed in one piece. In Figs. 3A and 3B the locking bolt 34 is in the locked position and in Figs. 3C and 3D shown in the release position.
[0061] Furthermore, it is possible for the adapter 12 to be inserted into the magazine 14 in two orientations. The base jaw 20 can be positioned above or below the magazine 14 when inserting the adapter 12, with only one web 52 interacting with the locking bolt 34. Accordingly, the jaw changing system 10 can be used, among other things, both on the shop floor and on the shop ceiling.
[0062] 3A and 3C. For this purpose, a stop means 68, in particular in the form of a threaded pin, is provided, the stop means 68 preferably extending parallel to the y-axis or the z-axis. The stop means 68 is arranged with the locking bolt 34 in the adapter 12 and serves to fix the locking position and the release position of the locking bolt 34. For this purpose, the locking bolt 34 comprises a stop groove 70 on the second section 62 along the circumference next to the bolt recess 64 according to Fig. 4A. In the assembled state, the stop means 68 engages in the stop groove 70, the stop means 68 having an inner, first groove end 72 in the locking position according to Fig. 3A and an inner, first groove end 72 in the release position according to Fig. 3C is in engagement with an outer, second groove end 74.
[0063] To improve the insertability of the adapter 12 into the magazine 14, the locking bolt 34 has a locking head 76 on the third section 66 according to Figs. 4A and 4B. The locking head 76 has a head groove 78 which runs parallel to the y-axis, wherein the head groove 78 interacts with the magazine 14, in particular with the web 52. In addition to or alternatively to the head groove 78, the locking head 76 has the bolt-side actuating bevel 46 which runs obliquely to the y-axis. Accordingly, a preferred direction of insertion of the adapter 12 into the magazine 14 can be defined.
[0064] A preferred insertion direction is particularly relevant when the orientation of the adapter 12 plays a significant role both in achieving a correct and therefore secure unlocking position and in data acquisition and data transfer. According to Fig. 1A to 1D, the jaw changing system 10 has a sensor device 80. The sensor device 80 preferably has a storage sensor 82, which is arranged on the magazine 14 and is designed as an induction sensor. A screw head 83 is preferably arranged on the adapter 12 and interacts with the storage sensor 82 in the magazine position. Furthermore, an RFID transponder 84 is provided on the adapter 12. To accommodate the RFID transponder 84, the adapter 12 has a recess 88 in a casing side 86. The recess 88 is preferably directed towards an RFID antenna 90 provided in the magazine 14 in the magazine position.In the magazine position, information, in particular adapter type, size, operating time, finger type, etc., is transmitted from the RFID transponder 84 to the RFID antenna 90.
[0065] In addition, in the jaw changing system or near the
[0066] Jaw changing system on magazine 14
[0067] A data processing unit 92 and / or a memory 94 is provided, which processes the sensor data acquired by the at least one storage sensor 82 and / or the data provided by the RFID transponder 84, stores it, and provides it, for example, to a higher-level controller of a handling device or an ERP system. Alternatively, the data processing unit 92 and / or the memory 94 can be arranged on the handling device and / or on the gripper 22.
[0068] Due to the orientation of the actuating bevel 46, a mounting aid is preferably provided on the locking bolt 34 and / or in the blind hole 36. According to Fig. 4A, a recessed mounting recess 96 is provided on the locking bolt 34, which, in the assembled state, interacts with a protruding mounting portion 98 arranged in the blind hole 36. This ensures that the locking bolt 34 can only be inserted into the blind hole 36 with the correct orientation.
[0069] In Figs. 5A and 5B, the magazine 14 alternatively has a magazine plate 100 and a receiving plate 102 for the magazine plate 100, wherein the magazine plate 100 can preferably be mounted in a floating manner, in particular by means of elastomer receiving bushings 104, on the receiving plate 102. By means of the floating mounting, forces and moments can be absorbed and compensated by both the magazine plate 100 and the receiving plate 102, which are caused in particular by improper or incorrectly positioned or non-orthogonal insertion of the adapter 12 into the magazine 14 and can cause damage to the magazine 14 as well as to the adapter 12. Such damage can occur increasingly, in particular at high insertion speeds of the adapter 12 and the high impulses caused thereby. In Figs. 1A to 2B, the magazine 14 has only one
[0070] Magazine plate 100 and no receiving plate 102. In both cases, the jaw adapter system 16 or the jaw changing system 10, with the exception of the magazine 14, is of identical design.
Claims
Patent claims 1. Jaw adapter system (16) for depositing an adapter (12) in a magazine (14), comprising an adapter (12) which can be fastened to a base jaw (20) of a gripper (22), wherein the adapter (12) has at least one locking bolt (34) which is displaceable along an x-axis between an inner release position and an outer locking position, wherein the base jaw (20) of the gripper (22) can be released from the adapter (12) in the release position and can be locked to the adapter (12) in the locking position by means of the at least one locking bolt (34), wherein the adapter (12) has at least one spring means (44) which urges the at least one locking bolt (34) into the locking position, characterized in that an RFID transponder (84) can be arranged or is arranged in a recess (88) of a lateral surface of the adapter (12). is.
2. Jaw adapter system (16) according to claim 1, wherein the locking bolt (34) has an actuating bevel (46) facing away from the spring means (44) for inserting the adapter (12) into the magazine (14) in the correct position and position.
3. Jaw adapter system (16) according to claim 1 or 2, wherein the adapter (12) has a receptacle (32) and the base jaw (20) has a z-axis extending along a perpendicular to an x-axis and a y-axis, has an insertion section (26) which can be inserted into the receptacle (32).
4. Jaw adapter system (16) according to claim 3, wherein the insertion section (26) has at least one first insertion bolt (28) and at least one second insertion bolt (28), each having a clamping section (48), wherein in the locking position along the y-axis the at least one locking bolt (34) is arranged between the first insertion bolt (28) and the second insertion bolt (28).
5. Jaw adapter system (16) according to one of the preceding claims, wherein the at least one locking bolt (34) has an inner first section (38), a middle second section (62) and an outer third section (66), wherein the first section (38) has a spring receptacle (42) for receiving (32) the spring means (44) and a locking bevel (40) for locking the insertion section (26), and / or wherein the second section (62) has a bolt recess (64) for releasing the insertion section (26), and / or wherein the magazine (14) can cooperate with the third section (66).
6. Jaw changing system (10), in particular for the detachable arrangement of base jaws (20) on handling devices, with an adapter (12) that can be fastened to a base jaw (20) of a gripper (22) and with a magazine (14) for receiving (32) the adapter wherein the adapter (12) has at least one locking bolt (34) which is displaceable along an x-axis between an inner release position and an outer locking position, wherein the base jaw (20) is detachable from the adapter (12) in the release position and can be locked to the adapter (12) in the locking position by means of the at least one locking bolt (34), wherein the adapter (12) has at least one spring means (44) which urges the at least one locking bolt (34) into the locking position, wherein at least one storage sensor (82) for detecting the presence and / or the position and / or the location of the adapter (12) in the magazine (14) is provided in or on the magazine (14).
7. Jaw adapter system (16) according to claim 6, wherein the placement sensor (82) is designed as a proximity sensor, in particular as an induction sensor.
8. Jaw changing system (10) according to claim 6 or 7, wherein the adapter (12) can be inserted into the magazine (14) into a magazine position perpendicular to an x-axis along a y-axis, wherein the magazine (14) has at least one displacement element extending along the y-axis, which in the magazine position contacts the at least one locking bolt (34) and / or urges it from the locking position into the release position against the spring force of the spring means (44).
9. Jaw changing system (10) according to one of claims 6 to 8, wherein the at least one storage sensor (82) is directed towards the adapter (12) in the magazine position.
10. Jaw changing system (10) according to one of claims 6 to 9, wherein the at least one displacement element has at least one displacement slope for uniformly displacing the locking bolt (34).
11. Jaw changing system (10) according to one of claims 6 to 10, wherein at least one RFID transponder (84) is arranged in the adapter (12), wherein the RFID transponder (84) is arranged to detect the storage location of the adapters (12) in the magazine (14) and / or of gripping fingers (18) arranged on the adapter (12), the number of changes of an adapter (12) and / or of the gripping fingers (18) and / or the adapter type of the adapter (12) and / or finger type of the gripping fingers (18).
12. Jaw changing system (10) according to one of claims 6 to 11, wherein an RFID antenna (90) cooperating with the RFID transponder (84) arranged in or on the adapter (12) is arranged in the magazine (14).
13. Jaw changing system (10) according to claim 12 with a data processing unit (92) and a memory (94) which are set up in such a way that they process, store and provide the sensor data detected by the at least one storage sensor (82) and / or the data detected by the at least one RFID transponder (84).
14. Handling device with a jaw adapter system (16) according to one of claims 1 to 5 and / or with a Jaw changing system (10) according to one of claims 6 to 13.