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CN-121986014-A - Clamping jaw adapter system, clamping jaw replacement system and carrying device

CN121986014ACN 121986014 ACN121986014 ACN 121986014ACN-121986014-A

Abstract

The invention relates to a jaw change system (10), in particular for releasably arranging a base jaw (20) on a handling device, comprising an adapter (12) of a base jaw (20) which can be fastened to a gripper (22), and comprising a magazine (14) for receiving (32) the adapter (12), wherein the adapter (12) has at least one locking bolt (34) which can be displaced along an x-axis between an inner release position and an outer locking position, wherein the base jaw (20) can be released from the adapter (12) in the release position and can be locked on the adapter (12) by the at least one locking bolt (34) in the locking position, wherein the adapter (12) has at least one spring device (44) which forces the at least one locking bolt (34) into the locking position, wherein at least one placement sensor (82) for detecting the presence and/or position and/or orientation of the adapter (12) in the magazine (14) is provided in or on the magazine (14).

Inventors

  • MICHAEL FRANZ
  • JURGEN FLEISCHER
  • HEINRICH GELVER

Assignees

  • 雄克自动化技术有限公司

Dates

Publication Date
20260505
Application Date
20241023
Priority Date
20240118

Claims (14)

  1. 1. A jaw adapter system (16) for placing 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 the x-axis between an inner release position and an outer locking position, Wherein in the release position the base jaw (20) of the holder (22) is releasable from the adapter (12) and in the locking position is lockable on the adapter (12) by means of the at least one locking bolt (34), Wherein the adapter (12) has at least one spring means (44) forcing the at least one locking bolt (34) into the locking position, characterized in that, The radio frequency identification, RFID, transponder (84) can be arranged or disposed in a recess (88) of a lateral surface of the adapter (12).
  2. 2. The jaw adapter system (16) of claim 1, wherein said locking bolt (34) has an actuation ramp (46) facing away from said spring means (44) for inserting said adapter (12) into said magazine (14) in the correct orientation and position.
  3. 3. The jaw adapter system (16) of claim 1 or 2, wherein the adapter (12) has a receptacle (32) and the base jaw (20) has an insertion portion (26) extending along a z-axis extending perpendicular to the x-axis and the y-axis, and the insertion portion is insertable into the receptacle (32).
  4. 4. A jaw adaptor system (16) as claimed in claim 3, wherein the insert portion (26) has at least one first insert bolt (28) and at least one second insert bolt (28), each of the first and second insert bolts having a clamping portion (48), wherein in the locked position the at least one locking bolt (34) is arranged along the y-axis between the first and second insert bolts (28, 28).
  5. 5. The jaw adaptor system (16) of any one of the preceding claims, wherein said at least one locking bolt (34) has an inner first portion (38), an intermediate second portion (62) and an outer third portion (66), wherein said first portion (38) has a spring receiving portion (42) for receiving (32) said spring means (44) and a locking ramp (40) for locking said insertion portion (26), and/or Wherein the second part (62) has a screw recess (64) for releasing the insertion part (26), and/or Wherein the silo (14) is capable of interacting with the third section (66).
  6. 6. A jaw exchange system (10), in particular for releasably arranging base jaws (20) on a handling device, comprises an adapter (12) of the base jaws (20) which can be fastened to a gripper (22), and comprises a magazine (14) for receiving the adapter (12), Wherein the adapter (12) has at least one locking bolt (34) which can be displaced along the x-axis between an inner release position and an outer locking position, wherein in the release position the base jaw (20) can be released from the adapter (12) and in the locking position can be locked on the adapter (12) by means of the at least one locking bolt (34), Wherein the adapter (12) has at least one spring device (44) which forces the at least one locking bolt (34) into the locking position, Wherein at least one placement sensor (82) is provided in the silo (14) or on the silo (14) for detecting the presence and/or position and/or orientation of the adapter (12) in the silo (14).
  7. 7. The jaw adapter system (16) of claim 6, wherein the placement sensor (82) is designed as a proximity sensor, in particular as an inductive sensor.
  8. 8. The jaw exchange system (10) of claim 6 or 7, wherein said adapter (12) is insertable into said magazine (14) in a magazine position along a y-axis perpendicular to an x-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 pushes the at least one locking bolt from the locking position into the release position against the spring force of the spring means (44).
  9. 9. The jaw exchange system (10) of any of claims 6-8, wherein said at least one placement sensor (82) is directed toward said adapter (12) at said bin location.
  10. 10. The jaw exchange system (10) of any of claims 6 to 9, wherein said at least one displacement element has at least one displacement ramp for uniformly displacing said locking bolt (34).
  11. 11. The jaw replacement system (10) of any of claims 6 to 10, wherein at least one RFID transponder (84) is arranged in the adapter (12), wherein the RFID transponder (84) is configured to detect a placement orientation of the adapter (12) in the magazine (14) and/or a placement orientation of a gripping finger (18) arranged on the adapter (12), a number of replacements of the adapter (12) and/or gripping finger (18) and/or an adapter type of the adapter (12) and/or a finger type of the gripping finger (18).
  12. 12. The jaw exchange system (10) of any of claims 6 to 11, wherein an RFID antenna (90) is arranged in said bin (14), said RFID antenna interacting with said RFID transponder (84) arranged in or on said adapter (12).
  13. 13. The jaw exchange system (10) of claim 12, comprising a data processing unit (92) and a memory (94), said data processing unit and said memory being configured such that they process, store and provide sensor data acquired by said at least one placement sensor (82) and/or data acquired by said at least one RFID transponder (84).
  14. 14. Handling device with a jaw adapter system (16) according to any of claims 1 to 5 and/or with a jaw replacement system (10) according to any of claims 6 to 13.

Description

Clamping jaw adapter system, clamping jaw replacement system and carrying device The present invention relates to a jaw adapter system for placing the adapter system in a magazine and/or for releasably arranging gripping fingers on a handling device. The jaw adapter system has a base jaw of a gripper and an adapter that can be secured to the base jaw. The adapter has at least one locking bolt that is displaceable along the x-axis between an inner release position and an outer locking position. In the release position, the base jaw is releasable from the adapter, and in the locking position, the adapter is lockable by at least one locking bolt. The adapter has at least one spring means forcing the at least one locking bolt into the locking position. From JP 2011,189,415A jaw adapter system is known, which is arranged on a clamping device with a jaw exchange system. It is particularly disadvantageous that the adapter designed as a base jaw falls into the silo due to gravity when inserted into the silo and when released from the exchangeable head. No information about the placed adapter is recorded. For this reason, the adapter cannot be placed and received reproducibly. The present invention is therefore based on the object of providing a jaw adapter system which ensures that the adapter can be placed and received reproducibly. The object addressed by the present invention is achieved by a jaw adapter system having the features of claim 1. The radio frequency identification RFID transponder can be arranged or arranged in a recess of a lateral surface of the adapter. The RFID transponder is capable of interacting with an RFID antenna in the silo and transmitting information about the adapter, such as ID, type, size, operating time, etc., to the silo. This ensures that the adapter can be placed and received reproducibly. Furthermore, the RFID transponder can be mounted on the adapter easily and quickly and, due to its proximity to the silo, a reliable transmission can also be ensured. An advantageous further development provides that the locking bolt has an actuating ramp facing away from the spring means for inserting the adapter into the magazine in the correct orientation and position. If there is a preferred direction of insertion of the adapter into the silo, the actuation ramp preferably narrows towards the silo. This ensures that the adapter can only be inserted into the silo in the preferred insertion direction. The preferred insertion direction is particularly relevant when a placement sensor arranged on the silo is located in the rear region of the silo and the placement sensor has to occupy a precise position in the silo in order to repeatedly and accurately detect the position and/or orientation of the adapter. This can lead to mechanical resistance in particular if the actuation ramp is incorrectly oriented. An advantageous embodiment of the jaw adapter system provides that the adapter has a receptacle and that the base jaw of the gripper has at least one insertion portion, wherein the insertion portion extends along a z-axis extending perpendicular to the x-axis and the y-axis and can be inserted into the receptacle. The relative positioning between the adapter and the base jaw along the x-axis and the y-axis is made possible by the insertion portion, so that the adapter can be inserted precisely into the magazine. It is contemplated that the gripping fingers may be disposed or disposed on the adapter. This means that existing base jaws, in particular gripping fingers, can also be used with the jaw change system. Advantageously, the at least one locking bolt and/or the at least one insertion part are designed such that the at least one insertion part can be removed from the adapter, in particular from the at least one receptacle, in the release position and can be locked in the adapter, in particular in the at least one receptacle, by the at least one locking bolt in the locking position. Advantageously, the at least one insertion part has at least one first insertion bolt and at least one second insertion bolt. The insert bolts each have a clamping portion that interacts with the at least one locking bolt for release and locking purposes. In the locked position, the at least one locking bolt is arranged along the y-axis between the at least one first insertion bolt and the at least one second insertion bolt. Thus, at least two insert bolts can be actuated simultaneously by one locking bolt, so that an even distribution of forces can be achieved. In a further advantageous embodiment, the at least one locking bolt has an inner first portion, an intermediate second portion and an outer third portion. The first part is arranged inside the adapter, i.e. within the adapter, and has a spring receptacle in the form of a hollow cylinder for receiving the spring means. When assembled, the spring means is arranged between the bottom of the blind hole bore and the spring receiving portion. Neither the first