A robotic tool changer system through magnetic coupling force and all-round mechanical locking includes a first coupling unit, a plurality of second coupling units, and a plurality of tool changer grippers. The first coupling unit is fixed to a robot arm. The first coupling unit includes a first locking unit and a first magnetic unit. Each second coupling unit is detachably connected to one of the tool changer grippers and includes a second locking unit and a second magnetic unit. When the first coupling unit is moved to approach one of the second coupling units at a predetermined distance, the first coupling unit and the second coupling unit are coupled to each other by a magnetic coupling force, then the first coupling unit and the second coupling unit are fixed to each other through all-round mechanical locking of the first locking unit and the second locking unit.

A clamping system having first and second clamping mechanisms with respective contact faces, that are couplable such that the contact faces press together with a coupling force. The first clamping mechanism has first and second elements and at least three clamping spheres, the first and second elements being twistable relative to one another, and the clamping spheres being mounted on fixed positions of the second element to be rollable along a circular line. The second clamping mechanism has groove guides assigned to the clamping spheres which have helical groove courses in clamping portions. When coupling the clamping mechanisms, by twisting the second element relative to the first, first regions of the clamping spheres are moved to a clamping position which presses the contact faces together via coupling force. When coupling, the clamping spheres in the clamping portions roll over large distances, leading to low wear and activation with reduced force.