Gripper alternating system for an automatic manipulating device

摘要

A gripper alternating system for an automatic manipulating device is disclosed, which is provided with a coupling device for the docking-on of two gripper jaws, and with a magazine, in which the gripper jaws of different shapes and sizes are arranged in pairs. The manipulating device comprises a spindle which can be optionally rotated in two directions by a motor and has a section with a right-hand thread and a section with a left-hand thread, on each of which a nut is mounted in a non-rotating, but axially displaceable fashion. Each nut has on its circumference at least one keyhole-shaped aperture and a slot which is connected to the said aperture and extends parallel to the axis of the spindle. Each gripper jaw has at least one bolt with a widened head, which can be inserted into the widened region of the keyhole-shaped apertures of the nuts. Gripper jaws of different shapes and sizes are accommodated in pairs in a magazine, the grippers of each pair being arranged in the magazine at an unchangeable distance from one another.