| 摘要 |
There is described a gripper system, in particular for industrial robots, having movable gripper fingers to which there can be attached a plurality of gripper jaws which are placed in readiness in a magazine. The system according to the invention is distinguished by the combination of the following features: - the gripper jaws can be inserted into, or removed from, the respective magazine places by a linear movement of the gripper system from or in a direction which is perpendicular to the direction of movement of the gripper fingers, - the gripper jaws are held non-positively and/or positively in their magazine places during movements of the gripper fingers, - the gripper jaws are held on the gripper fingers non-positively during opening of the gripper fingers and positively during movement of the gripper fingers in other directions. The gripper system according to the invention allows automated gripper exchange in a simple manner, without great mechanical effort or complicated movements of the industrial robot being required for this purpose.
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