US Patent 9975253 Gripper finger, gripper tip, gripper jaw, and a robot system

A gripper finger for grasping objects includes a gripper jaw and a gripper tip which extends with a gripper axis along a longitudinal direction. The gripper tip is detachably connected to the gripper jaw by a connecting element. The connecting element can be locked with a connecting socket extending in the longitudinal direction in the form of a plug-in connection in such a manner that in the locked state it is impossible for the gripper tip to tilt away in relation to the gripper axis and simultaneously the gripper tip is locked against the gripper jaw in relation to the longitudinal direction by a predefinable longitudinal locking force.