EP-4735217-A1 - JAW ADAPTER SYSTEM, JAW EXCHANGE SYSTEM, HANDLING DEVICE

EP4735217A1EP 4735217 A1EP4735217 A1EP 4735217A1EP-4735217-A1

Abstract

The invention relates to a jaw exchange system (10), in particular for releasably arranging base jaws (20) on handling apparatuses, comprising an adapter (12) which can be fastened to a base jaw (20) of 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 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 means (44) which forces the at least one locking bolt (34) into the locking position, wherein in or on the magazine (14) at least one placement sensor (82) is provided for detecting the presence and/or position and/or location of the adapter (12) in the magazine (14).

Inventors

FRANZ, MICHAEL
FLEISCH, Jürgen
Gelver, Heinrich

Assignees

SCHUNK SE & Co. KG Spanntechnik Greiftechnik Automatisierungstechnik

Dates

Publication Date: 20260506
Application Date: 20241023

Claims (1)

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.

Description

Title: Jaw adapter system, jaw changing system, Handling device Description 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 is detachable 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 which urges the at least one locking bolt into the locking position. JP 2011 189 415 A discloses a jaw adapter system which is arranged on 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 changing head. No information about the stored adapters is recorded. For this reason, reproducible depositing and picking up of the adapters is not possible. The invention is therefore based on the object of providing a jaw adapter system which ensures reproducible depositing and picking up of the adapters. 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 deposited 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. An advantageous further development provides that the locking bolt has a Has an actuating bevel for inserting the adapter into the magazine in the correct position and position. 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 area of the magazine and, for repeatable and precise detection of the position and/or the 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. 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. 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. Advantageously, the at least one locking bolt and/or the at least one insertion section is such designed so 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 Adapter, in particular in the at least one receptacle, can be locked by means of the at least one locking bolt. 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. 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 internally, i.e. within the adapter, and has a spring receptacle in the form of a hollow cylinder for receiving the spring means. The spring means is arranged between the bottom of the blind hole and the spring receptacle in the assembled state. Neither the