Patent ID: 8602470

Claim:
A gripper claw ( 1 ) having replaceable gripper fingers ( 2 , 2 ′) for grasping and depositing objects, the gripper claw ( 1 ) comprising two gripper jaws ( 3 , 3 ′), which each comprise a first jaw flange ( 5 , 5 ′) parallel to a first axis ( 4 ), these two gripper jaws ( 3 , 3 ′) being fastened using their respective first jaw flange ( 5 , 5 ′) so they are movable on at least one linear guide ( 7 ) and being implemented as movable toward one another and away from one another in the direction of the first axis ( 4 ) along said at least one linear guide ( 7 ) by at least one drive ( 8 ), wherein each of the two gripper jaws ( 3 , 3 ′) comprises a holding mandrel ( 10 , 10 ′) having a holding cone ( 67 , 67 ′) and having a holding axis ( 40 ), each of the two gripper fingers ( 2 , 2 ′) being implemented as reversibly insertable into one of the gripper jaws ( 3 , 3 ′) of the gripper claw ( 1 ) in each case, in that it comprises a finger base ( 11 , 11 ′), which has a depression ( 12 , 12 ′) complementary to the respective corresponding holding cone ( 67 , 67 ′) of the holding mandrel ( 10 , 10 ′) of the gripper claw ( 1 ), and the holding cone ( 67 , 67 ′) being defined in that its length is at least one-third of its largest diameter, and its smallest diameter is at most 90% of the largest cone diameter; wherein the two gripper jaws ( 3 , 3 ′) and the finger bases ( 11 , 11 ′) of the gripper fingers ( 2 , 2 ′) comprise holding means ( 13 , 13 ′; 14 , 14 ′) which hold the gripper fingers ( 2 , 2 ′) in a stop position ( 15 , 15 ′) on the respective gripper jaw ( 3 , 3 ′), and wherein the two gripper jaws ( 3 , 3 ′) and the finger bases ( 11 , 11 ′) of the two gripper fingers ( 2 , 2 ′) comprise stabilizing means, which are implemented so that, in operational combination with the holding cone ( 67 , 67 ′), they prevent tilting of the gripper fingers ( 2 , 2 ′) around the holding axis ( 40 ).