LT6991B - QUICK-CHANGE GRIP GRIP SYSTEM AND HOW THE GRIP INTERACTS WITH THE GRIP TOE - Google Patents

Abstract

The invention relates to a gripper (TG) quick change gill system and method of quick change gills. The system includes a gripper finger, a locking pin and a gill. The gripper finger includes at least one bore which is provided for the locking pin and in which the locking pin can move along said bore. The locking pin includes an elongated part, a head for transmitting rotational force to the locking pin, a spring element that is arranged around the elongated part of the locking pin, and at least one locking projection. The part intended for attachment to the gripper finger includes a cavity that includes a recess for placing the locking protrusions, a recess for inserting the sides of the gripper finger into the part of attaching the gill to the gripper finger, a recess for accommodating the elongated part of the locking pin together with a spring element, a profile for directing and locking the locking protrusions. The orientation and locking profile of the locking lugs includes the 90° turning tracks of the locking lugs, which are oriented in the opposite directions of the locking lugs for movement, and the locking grooves located in the 90° turning tracks of the locking lugs.

Description

TECHNICAL FIELD

The invention relates to transport grippers used in plastic product production lines, and more specifically to a system of quick-change gills of transport grippers for gripping bottle blanks and blown bottles, and the manner in which such gills interact with the gripper finger.

STATE OF THE ART

Gills, in the production of PET products, are the so-called parts that are attached to pneumatic, electric grippers, which are used to grip a PET, PP or other plastic blank or product and move, turn over, take out, or carry out other manipulations.

Typically, PET production line equipment includes equipment that is equipped with a series of grippers for transporting the preforms and subsequent products. Typically, chucks are provided with threaded holes, in some cases at least one additional pin hole, that decrease in size as the gauge of the chuck decreases. In order for one and the same equipment to be able to manipulate many different workpieces, every time the geometry of the workpiece is changed, the equipment needs to be rearranged by changing the jaws of the grippers. In this way, switching from one workpiece standard to another increases the lead time of the production line. For example, in a four-slot manufacturing machine, when changing from one workpiece standard to another, 16 pieces of jaws need to be changed - each chuck has two jaws, and each jaw has 2 screws. So the installer has to unscrew and screw 64 screws. In order to keep the overall size of the entire installation and individual units smaller, access to the grippers is not convenient in almost all cases, it is not possible to use an electric screwdriver, so the tuner must unscrew/tighten the screws manually, using a key. Even working very quickly (unscrewing the first gill, putting it aside, picking up a new one and screwing it on in 1 min) it would take >30 min to replace all the gills. It may take longer because you are working with small parts, in a limited space, where there is no convenient access, where you need to get the position by hand, where the angle of rotation of the key is limited, and the parts are small, etc.

The main solutions on the market to solve the quick-change problem of gills include gill-to-chuck finger systems, where locking of the gill to the chuck finger is ensured by a combination of injection ports and protrusions in both the gill and the chuck finger, together with a spring-operated locking pin.

International patent application PCT/FR2012/052683 describes a system for quick-change gills of a gripper for transporting plastic preforms. The system includes a first part and a second part, where one of these parts is attached to the tool and the other is attached to the support. The first part consists of a rigid body containing a reception area. The second part has a rigid attachment part oriented in the receiving zone along the first coupling direction. The first part includes a lock which is rigidly and movably anchored to at least one support surface of the housing along the second locking direction. The lock has a locking part which, in the connected state of the system, is attached to the mounting part along at least one mutually supporting surface. Each surface, of the at least one mutually supporting surface, is inclined with respect to the first and second coupling directions. The main disadvantage of this solution is the insecure connection of the two parts, since the locking is fixed with the help of only one element, i.e. springs, there is a possibility of accidental depressing or displacement of the locking element to the unlocked position due to unforeseen factors.

In German patent application no. DE102016225203 provides a quick change system for gripper gills. The locking element described in this system includes a spring actuated push and lock pin. One end of the pin includes a head for turning and depressing, and the other end includes a locking tab which, when the pin is turned, engages one of several recesses in the chuck tab for attaching the gill to lock the pin in position. The main disadvantage of this solution is the insecure connection of the two parts, since the locking has no secondary locking means to act as a back-up safety device.

The invention does not have the above disadvantages and includes additional advantages such as ease of use, low weight, fully recyclable.

ESSENCE OF THE INVENTION

The invention discloses a transport gripper quick-change gill system and the manner in which such gills interact with the gripper finger. A quick-change gill has multiple walls at the chuck attachment point that wrap around the chuck finger to which the gill is attached. The only way to put a gill on is to put it on. This limits any movement of the gills in directions other than those of the fitting, ensuring a rigid fixation.

A locking pin is inserted through the hole in the gripper finger. On the locking pin manipulation side, a spring is located between the gripper finger and the locking pin head to create the tension force. At the other end of the locking pin, there are locking protrusions that prevent the spring from pulling the locking pin out of the gripper finger, and at the same time are designed to lock the gill in the locking groove specially made for it, in the gill.

The pin is pushed onto the chuck in the direction of spring pressure from the chuck finger when the locking pin is retracted. After the gill has reached the end position of mating with the gripper finger, after the rear inner wall of the gill rests against the free end of the gripper finger, the locking pin is pressed down and rotated 90 degrees. The locking pin is guided, with a profile inside the gill, which helps to prevent twisting, helps to find the end position. When the locking pin is turned to the locking position (90 degrees, or until rotation is no longer allowed by the gill profile for locking), the locking pin is released, the spring retracts the pin, the locking protrusions of the locking pin fit into the locking grooves. The blade is removed from the gripper finger in reverse order.

BRIEF DESCRIPTION OF THE DRAWINGS

The features of an invention that are novel and non-obvious are given in the definition clauses. However, the invention may be best understood by reference to the following detailed description of the invention, in which, without limiting the spirit of the invention, exemplary embodiments of the invention are described in conjunction with the accompanying drawings, in which:

Fig. is a top isometric view of the elements of the quick-change gill system (the gill is not connected to the gripper finger).

Fig. is a bottom isometric view of the elements of the quick-change gill system (the gill is not connected to the gripper finger).

Fig. profiles of the quick-change gill outlets are shown.

Fig. the elements of the quick-change gill system are shown from above (the gill is connected to the gripper finger).

Fig. is an isometric outline view of the elements of the quick-change gill system: the gill is connected to the gripper finger and the locking lugs are in the raised position.

Fig. shows a cross-section of the elements of the quick-change gill system (along the chuck finger and along the locking finger, through the center of the chuck finger and through the center of the locking pin): the gill is connected to the chuck finger and the locking lugs are in the raised position.

Fig. is an isometric outline view of the elements of the quick-change gill system: the gill is engaged with the gripper finger and the locking lugs are in the lowered position.

Fig. shows a cross-section of the elements of the quick-change gill system (along the chuck finger and along the locking finger, through the center of the chuck finger and through the center of the locking pin): the gill is connected to the chuck finger and the locking lugs are in the lowered position.

Fig. is an isometric outline view of the elements of the quick-change gill system: the gill is connected to the gripper finger and the locking lugs are located in the guideways in an intermediate rotated position between the lowered and locked positions.

Fig. is an isometric outline view of the elements of the quick-change gill system: the gill is connected to the gripper finger and the locking lugs are in the locking grooves.

Fig. is shown with the locking lugs of the quick-change gill system locking pin in the raised position before being rotated to the locked position.

Fig. shows the locking lugs of the quick-change gill system locking pin in an intermediate rotated position between the lowered and locked positions as it rotates toward the locked position.

Fig. is shown with the locking lugs of the quick-change gill system locking pin in the locked position in the locking grooves.

Preferred embodiments of the invention are described below with reference to the drawings.

Each figure contains the same numbering of the same or equivalent item.

DETAILED DESCRIPTION OF METHODS FOR IMPLEMENTING THE INVENTION

It should be understood that numerous specific details are set forth in order to provide a complete and comprehensible description of an exemplary embodiment of the invention. However, it will be clear to one skilled in the art that the detail of the exemplary embodiments of the invention is not intended to limit the implementation of the invention, which may be implemented without such specific instructions. Well-known methods, procedures, and components have not been described in detail in order not to confuse the exemplary embodiments of the invention. Further, this description should not be construed as limiting the exemplary embodiments provided, but only as an embodiment thereof.

Although embodiments of the invention, or aspects thereof, as shown and described, include a number of components that are depicted as being in some common space or location, some components may also be remote. It should also be understood that the presented examples are not limited to the described components and include other elements necessary for their functioning and interaction with other components, the presence of which is self-evident and therefore not detailed.

The chuck (TG) quick-change gill system includes a chuck finger (1), a locking pin (2) and a gill (3).

One end of the gripper finger (1) is designed to be anchored to the gripper (TG), while the other end is free and designed to interact with the gill (3). The gripper finger (1) includes at least one hole (1.1) which is intended for a locking pin (2) and in which the locking pin (2) can move along said hole (1.1).

The locking pin (2) includes an elongated part (2.2) of such a shape, preferably cylindrical, that it can move smoothly longitudinally and rotationally, in the hole (1.1) of the gripper finger (1). It also includes a head (2.1) for transmitting the rotational force to the locking pin (2), which may include means for facilitating rotation, such as: friction between said head (2.1) and the rotating means interacting with it, increasing the surface (for grasping with the fingers of a human hand or tools with gripping fingers); recess for inserting a turning tool such as a screwdriver head. Also includes a spring element (2.3) which is preferably arranged around the elongated part (2.2) of the locking pin (2), between the head (2.1) of the rotational force transmission to the locking pin (2) and the gripper finger (1) so that one of the spring element one end would rest on or near the head (2.1) of the torque transfer locking pin (2) and the other on or near the surface of the gripper finger (1). The spring element (2.3) is of such dimensions that the head (2.1) of the turning force transmission of the locking pin (2) under the action of the force that causes the pin (2) to move in the hole (1.1) of the gripper finger (1) along it, the said head (2.1) approaching the gripper finger (1) and/or the force that causes the pin (2) to rotate around its longitudinal axis in the hole (1.1) of the gripper finger (1) so that the spring element (2.3) rests on one end of the gripper finger ( 1) and the other end to the head (2.1) of the torque transmission locking pin (2). The locking pin also includes at least one locking protrusion, but preferably two locking protrusions (2.4', 2.4"), which are formed at the end of the elongated part (2.2) of the locking pin (2), opposite the head (2.1) of the locking pin (2) of the rotational force transmission ). Said locking protrusions (2.4', 2.4") are formed on one axis, perpendicular to the longitudinal axis of the locking pin (2) and on two opposite sides of the elongated part of the locking pin. Said locking protrusions (2.4', 2.4") are sized to limit the movement of the locking pin (2) in the hole (1.1) of the gripper finger (1), along it. The spring element (2.3) and the locking protrusions (2.4', 2.4") acting together, from different sides of the gripper finger (1), limit the movement of the locking pin (2) in the hole (1.1) of the gripper finger (1), along it. In this way, the locking pin (2) is anchored in the gripper (TG) finger (1) and cannot fall out of it freely: when the head of the locking pin (2) is pressed towards the gripper finger (1), the spring element (2.3) is elastically deformed, bringing the said head closer (2.1) to said finger (1) and at the same time moving the locking protrusions (2.4', 2.4") away from the finger.

The jig (3) includes a part (3.1) for gripping the workpiece or product and a part (3.2) for attachment to the gripper finger. The part (3.2) intended to be attached to the gripper finger includes a cavity (3.2.1), which includes: a recess (3.2.3) for the placement of the locking protrusions (2.4', 2.4"), the width of which substantially corresponds to the elongated part of the locking pin (2.2 ) width; removal of the side part of the gripper finger (1) to the part (3.2) of the attachment of the gill (3) to the gripper finger (3.2.2', 3.2.2'); removal of the locking pin (2), elongated part (2.2) together with the spring element (2.3) (3.2.5); positioning and locking profile of the locking protrusions (2.4', 2.4"), in which the locking protrusions (2.4', 2.4") can be pressed deep, turned by 90° turning paths (3.2.6", 3.2.6'") directed on the opposite side to move in the intended directions of the locking protrusions (2.4', 2.4"), but only in one direction, and lift up into the locking grooves (3.2.6', 3.2.6") of the protrusions (2.4', 2.4") The paths (3.2.6", 3.2.6'") of the locking protrusions (2.4', 2.4") are essentially the width of the protrusions (2.4', 2.4").

The bottom part (3.2.3.1) of the removable (3.2.3) designed to place and guide the end of the locking pin (2) with the locking protrusions (2.4', 2.4"), from the beginning of the removable (3.2.3), from which the locking pin is inserted The end (2) with the locking protrusions (2.4', 2.4") extends in the first plane and limits the movement of the pin (2) in the downward direction to the mentioned part of the bottom of the withdrawal (3.2.3) (3.2.3.1). The sides of the socket (3.2.3.2', 3.2.3.2") limit the lateral movement of the pin (2). In this way, high accuracy of positioning and connecting the gill (3) with the gripper finger (1) is achieved due to the three guide surfaces (3.2.3.1,3.2.3.2', 3.2.3.2"). The socket (3.2.3) for placing and guiding the end of the locking pin (2) with the locking protrusions (2.4', 2.4") further includes the turning and guiding paths (3.2.6", 3.2.6) of the locking protrusions (2.4', 2.4") '") and protrusions (2.4', 2.4") locking grooves (3.2.6', 3.2.6"").

The turning and guiding paths (3.2.6", 3.2.6'") include a common central part consisting of a recessed part of the recess (3.2.3) for placing and guiding the locking protrusions (2.4', 2.4"), which includes the first part of the deepened bottom part (3.2.6.2") and the second part (3.2.6.2"'), which are located in a plane below the bottom part (3.2.3.1) of the removable part (3.2.3) intended to accommodate and guide the fixing protrusions (2.4', 2.4") ) extending in the first plane through at least the diameter of the locking protrusion (2.4', 2.4") or more. The aforementioned general central part of the turning and guiding paths (3.2.6", 3.2.6'") additionally includes another depression or hole (3.2.6.3) formed between the first part of the deepened bottom (3.2.6.2") and the second part (3.2 .6.2"'). The front wall (3.2.6.1 ") and the rear wall (3.2.6. T") of the said common central part are at such a distance from each other that the locking protrusions (2.4', 2.4") fit between them, longitudinally, for the first locking protrusion (2.4') leaning against the front wall (3.2.6.1"), fully closing the gill (3) on the gripper finger (1). When the first locking protrusion (2.4') rests against the front wall (3.2.6.1") and the locking pin (2) is pressed down, the first locking protrusion (2.4') moves down along the front wall (3.2.6.1"), and the second protrusion (2.4 ") moves down along the back wall (3.2.6.T"). When the fixing protrusions (2.4', 2.4") are located at least partially, preferably at least in their full diameter, between the front wall (3.2.6.1") and the rear wall (3.2.6.T"), between the fixing protrusions (2.4', 2.4") the end of the elongate part (2.2) of the locking pin (2) moves towards the aforementioned further depression or cavity (3.2.6.3) and is placed therein when the locking protrusions (2.4', 2.4") rest against the first part of the deepened bottom respectively (3.2.6.2 ") and the second part (3.2.6.2"'). Next, the turning paths (3.2.6", 3.2.6'") extend from the aforementioned common central part in 180° opposite directions. Both turning and pointing paths are formed on the principle of a mirror image with respect to each other.

The first turning and guiding path (3.2.6") for guiding the first locking projection (2.4') towards the first locking groove (3.2.6') includes lower (3.2.6.4") and upper (3.2.6.4') guiding surfaces between whose formed path (3.2.6") forms a slope along which the moving first locking protrusion (2.4') reaches the locking groove (3.2.6') when the locking pin (2) is rotated towards the locking position in the locking groove (3.2.6') ), which is shaped in such a way that at least part of the profile of the locking groove (3.2.6') is shaped higher than the recesses (3.2.3) for placing and directing the end of the locking pin (2) with the locking protrusions (2.4', 2.4") bottom part (3.2.3.1). In this way, the first locking projection (2.4') is located at least partially higher than the bottom part (3.2.3.1) of the extraction (3.2.3) intended to accommodate and guide the locking projections (2.4', 2.4") and at least at an angle of 90° to the aforementioned the slot (3.2.3) is intended for placement and orientation of the movement fixing protrusions (2.4', 2.4").

The second turning and guiding path (3.2.6"') for guiding the second locking protrusion (2.4") towards the second locking groove (3.2.6"") includes a lower (3.2.6.4"") and an upper (3.2.6.4"') ) guide surfaces between which the formed path (3.2.6"') forms a slope along which the moving second locking projection (2.4"), when the locking pin (2) is rotated towards the locking position in the locking groove (3.2.6""), reaches the locking the groove (3.2.6""), which is shaped so that at least part of the profile of the locking groove (3.2.6"") is shaped higher than the end of the locking pin (2) with the locking protrusions (2.4', 2.4") to accommodate and parts of the bottom (3.2.3.1) of the take-out (3.2.3) intended to be diverted. In this way, the second locking projection (2.4") is located at least partially higher than the bottom part (3.2.3.1) of the extraction (3.2.3) intended to place and guide the locking projections (2.4', 2.4") and at least at an angle of 90° to the aforementioned the slot (3.2.3) is intended for placement and orientation of the movement fixing protrusions (2.4', 2.4").

In this way, it is ensured that the locking pin (2) will move smoothly, will not get stuck in intermediate positions, multi-level locking will be ensured thanks to the unidirectional profile formed for the movement and fixation of the locking pin.

The cavity (3.2.1) of the part (3.2) intended to be attached to the gripper finger also includes the lateral guide inner surfaces (3.2.2.2', 3.2.2.2"), the upper guide inner surfaces (3.2.2.1', 3.2.2.1"), the lower guiding internal surfaces (3.2.2.3', 3.2.2.3") and the rear wall (3.2.2.4). The mentioned lateral guiding internal surfaces (3.2.2.2', 3.2.2.2") are intended to interact with the lateral surfaces (1.2, 1.3) of the gripper finger, the upper guiding internal surfaces (3.2.2.1', 3.2.2.1") are intended to interact with the gripper finger on the upper surface of the finger (1.5), the lower guide internal surfaces (3.2.2.3', 3.2.2.3") are intended to interact with the lower surface of the gripper finger (1.6), for the forward or backward movement of the gripper finger, the part intended for fixing the gripper finger (3.2) in the cavity (3.2.1). The back wall (3.2.2.4) interacts with the free end of the finger (1.4), which is not attached to the gripper: the back wall (3.2.2.4) acts as a support for the free end of the gripper finger (1.4).

Locking and disconnection of the gill (3) is as described below. The blade (3) is mounted on the gripper finger (1) until the free end (1.4) of the gripper finger (1) rests against the back wall (3.2.2.4) of the cavity (3.2.1) of the part (3.2) intended for attaching the gripper finger. During the fitting of the tab (3) on the gripper finger (1), the gripper finger (1) and the locking pin (2) move in the aforementioned cavity as described above. The motion is limited to one degree of freedom. When the pin (3) is fully fitted onto the gripper finger (1), the head (2.1) of the locking pin (2) for power transmission to the locking pin (2) is pressed towards the gripper finger (1), elastically deforming the spring element (2.3) by compressing it, until locking pin locking protrusions (2.4', 2.4") rest against the first part (3.2.6.2") and the second part (3.2.6.2) of the bottom of the removable part (3.2.3) designed to accommodate and guide the deepened locking protrusions (2.4', 2.4") "'). After that, the head (2.1) of the locking pin (2) is rotated. Rotation is allowed only in one direction, and in the other direction, the fixing protrusions (2.4', 2.4") rest against the inner surfaces of the cavity (3.2.1) of the gill (3). By rotating the locking pin (2) in an unrestricted direction, the first locking protrusion (2.4') and the second locking protrusion (2.4") from the central part of the deepened bottom of the removable part (3.2.3) intended to accommodate and guide the locking protrusions (2.4', 2.4") respectively of the first part (3.2.6.2") and the second part (3.2.6.2"') moves along the first turn and guide path (3.2.6") and the second turn and guide path (3.2.6"'), respectively, while climbing up to the first locking protrusion (2.4') reaches the first locking position locking groove (3.2.6'), and the second locking protrusion (2.4") reaches the second locking position locking groove (3.2.6""). In this position, the spring element (2.3) moves the locking pin (2) up due to the tension created in it, thus locking the locking protrusions (2.4', 2.4") in the locking grooves of the locking position (3.2.6', 3.2.6"). To change the gill (3), the head of the locking pin (2.1) is pressed down and at the same time rotated in the opposite direction than during locking. In the turning and guiding paths (3.2.6", 3.2.6'"), the locking protrusions (2.4', 2.4") move until they rest against the recessed part of the removable part (3.2.3) for placing and guiding the locking protrusions (2.4', 2.4") the first part of the bottom (3.2.6.2") and the second part (3.2.6.2"'). After that, the spring pushes the end of the locking pin with the locking protrusions (2.4', 2.4") out of the recessed part of the recess (3.2.3) intended for placing and guiding the locking protrusions (2.4', 2.4"). In this position, the locking protrusions (2.4', 2.4") are arranged along the recesses (3.2.3) for placing and guiding the locking protrusions (2.4', 2.4") and the jaw (3) can be disconnected from the gripper finger (1).

Although the description of the invention has set forth numerous characteristics and advantages, along with structural details and features of the invention, the description is presented as an exemplary embodiment of the invention. Changes may be made in the details, especially in the form, size and arrangement of the materials, without departing from the principles of the invention, in accordance with the most widely understood meanings of the terms used in the definitions.

Claims (9)

A chuck (TG) quick-change gill system comprising a chuck finger (1), a locking pin (2) and a gill (3), where one end of the chuck finger (1) is designed to be anchored to the chuck (TG) and the other end is free and designed to interact with the gill (3), the gripper finger (1) includes at least one hole (1.1) which is intended for the locking pin (2) and in which the locking pin (2) can move along said hole (1.1), where the locking pin (2) ) includes an elongated part (2.2), a head (2.1) for transmitting rotational force to the locking pin (2), a spring element (2.3) which is arranged around the elongated part (2.2) of the locking pin (2), at least one locking projection (2.4', 2.4''), where the jaw (3) includes a part (3.1) for gripping the workpiece or product and a part (3.2) for attachment to the gripper finger, differing in that the part (3.2) for attachment to the gripper finger includes a cavity (3.2.1) , which includes: a recess (3.2.3) for placing the locking protrusions (2.4', 2.4''), a recess (3.2.2') for inserting the sides of the gripper finger (1) into the part (3.2) of attaching the gill (3) to the gripper finger , 3.2.2''); removal (3.2.5) of the elongated part (2.2) of the locking pin (2) together with the spring element (2.3); a profile for the orientation and locking of the locking protrusions (2.4', 2.4''), including the 90° turning tracks (3.2.6'', 3.2.6'') of the locking protrusions (2.4', 2.4'') which are directed opposite half in the directions of the locking protrusions (2.4', 2.4''), turning the locking protrusions (2.4', 2.4'') by 90°, the locking grooves (3.2) at the ends of the tracks (3.2.6'', 3.2.6'') .6', 3.2.6''''). Gripper (TG) quick-change gill system according to claim 1, wherein the end of the locking pin (2) with the locking projections (2.4', 2.4'') is designed to accommodate and guide the bottom part (3.2.3.1) of the socket (3.2.3), from the beginning of the socket (3.2.3), from which the end of the locking pin (2) with locking protrusions (2.4', 2.4'') is inserted, extends in the first plane and limits the movement of the pin (2) in the downward direction into the said socket (3.2.3) the part of the bottom (3.2.3.1), and the sides (3.2.3.2', 3.2.3.2'') of the socket (3.2.3) intended for placing and directing the locking protrusions (2.4', 2.4'') limit the lateral movement of the pin (2) . A gripper (TG) quick-change gill system according to claim 1 or 2, wherein the turning and guiding paths (3.2.6'', 3.2.6'') comprise a common central part formed by a recessed locking protrusion (2.4'', 2.4'' ) to place and guide the intended removable part (3.2.3), which includes the first part (3.2.6.2'') and the second part (3.2.6.2'') of the deepened bottom, which are located in a plane below the fixing protrusions (2.4' , 2.4'') to place and guide the removable (3.2.3) bottom part (3.2.3.1). Gripper (TG) quick-change gill system according to claim 3, wherein said common central part of the turning and guiding tracks (3.2.6'', 3.2.6'') additionally includes a further recess or hole (3.2.6.3) formed between of the first part (3.2.6.2'') and the second part (3.2.6.2'') of the deepened bottom. A gripper (TG) quick-change gill system according to any preceding claim, wherein said common central portion comprises a front wall (3.2.6.1'') and a rear wall (3.2.6.1'') between which locking projections (2.4', 2.4 ''), after the first locking projection (2.4') rests against the front wall (3.2.6.1''), after the gill (3) is fully closed on the gripper finger (1). The chuck (TG) quick change gill system according to any preceding claim, wherein the first pivoting and guiding path (3.2.6'') for guiding the first locking projection (2.4') towards the first locking groove (3.2.6') comprises a lower (3.2.6.4'') and the upper (3.2.6.4') guide surface between which the formed path (3.2.6'') forms a slope along which the first locking projection (2.4') moves when the locking pin (2) is rotated towards of the locking position in the locking groove (3.2.6'), reaches the locking groove (3.2.6'), which is shaped so that at least part of the profile of the locking groove (3.2.6') is shaped higher than the end of the locking pin (2) with the bottom parts (3.2.3.1) of the withdrawal (3.2.3) intended to be placed and guided by the locking protrusions (2.4', 2.4''), and the second turning and guiding track (3.2.6''') to guide the second locking protrusion (2.4 '') towards the second locking groove (3.2.6'''') includes the lower (3.2.6.4'''') and upper (3.2.6.4''') guide surfaces between which a path (3.2.6'') is formed ) forms a ramp along which the moving second locking projection (2.4'') reaches the locking groove (3.2.6''') when the locking pin (2) is rotated towards the locking position in the locking groove (3.2.6'''') , which is formed in such a way that at least part of the profile of the locking groove (3.2.6'''') is formed higher than the recesses (3.2) intended for placing and directing the end of the locking pin (2) with the locking protrusions (2.4', 2.4'') .3) part of the bottom (3.2.3.1). A gripper (TG) quick-change gill system according to any preceding claim, wherein the spring element (2.3) and locking projections (2.4', 2.4'') act together, from different sides of the gripper finger (1), to limit movement of the locking pin (2) in the hole (1.1) of the gripper finger (1), along it. A gripper (TG) quick-change gill system according to any preceding claim, wherein the cavity (3.2.1) of the gripper finger attachment portion (3.2) includes side guide inner surfaces (3.2.2.2', 3.2.2.2''), top guides internal surfaces (3.2.2.1', 3.2.2.1''), lower guiding internal surfaces (3.2.2.3', 3.2.2.3'') and rear wall (3.2.2.4). The method of interaction of the gill (3) of the gripper (TG) with the gripper finger, which includes fitting the gill (3) on the gripper finger (1) until the free end (1.4) of the gripper finger (1) rests in the cavity of the part (3.2) intended for fixing the gripper finger ( 3.2.1) the rear wall (3.2.2.4), and the locking of the gill (3) on the gripper finger (1) with a locking pin (2) comprising the head (2.1), the elongated part (2.2), the spring element (2.3) and the end with locking protrusions (2.4', 2.4'') are different in that when the gill (3) is fitted on the gripper finger (1), the elongated part (2.2) of the locking pin (2) together with the spring element (2.3) moves along their housing recess (3.2) .5), and the end of the locking pin with the locking protrusions moves to the socket (3.2.3) for the end of the pin (2), where between the aforementioned sockets (3.2.3, 3.2.5) are formed for inserting the sides of the gripper finger (1) into the gills ( 3) the part (3.2) for attaching to the gripper finger is provided by the take-out (3.2.2', 3.2.2''), for limiting the movement of the gripper finger to one degree of freedom, after the gill (3) is fully fitted on the gripper finger (1), the locking pin ( 2) the head (2.1) of the power transmission locking pin (2) is pressed towards the gripper finger (1), elastically deforming the spring element (2.3) by compressing it, until the locking protrusions (2.4', 2.4'') of the locking pin rest against the deepened locking the first part (3.2.6.2'') and the second part (3.2.6.2'') of the bottom of the removable part (3.2.3) intended to place and guide the protrusions (2.4', 2.4'') then the head of the locking pin (2) ( 2.1) is rotated, where rotation is allowed only in one direction, and in the other direction, the locking protrusions (2.4', 2.4'') rest against the inner surfaces of the cavity (3.2.1) of the gill (3), by rotating the locking pin (2) in an unlimited direction, the first locking protrusion (2.4') and the second locking protrusion (2.4'') from the central part of the deepened bottom of the removable part (3.2.3) intended for placing and directing the locking protrusions (2.4', 2.4'') respectively of the first part (3.2.6.2') ') and the second part (3.2.6.2''') move along the first turning and guiding path (3.2.6'') and the second turning and guiding path (3.2.6''), respectively, while climbing up to the first locking projection (2.4') reaches the first locking position locking groove (3.2.6') and the second locking protrusion (2.4'') reaches the second locking position locking groove (3.2.6'''') locking the locking protrusions (2.4', 2.4') ') in the locking position fixing grooves (3.2.6', 3.2.6''''), where to remove the gill (3) from the gripper (TG) finger (2), the above sequence of actions is performed in reverse order.