Gripper for manipulator

Abstract

The invention relates to a gripper for manipulating assemblies, in particular for operating robots to grasp objects, comprising a coupling element to be mounted to an object, a base body to be mounted to a manipulating assembly, the base body comprising a housing, a clamping carriage arranged on the outside of the housing, and a clamping mechanism arranged in the housing and operatively connected to the clamping carriage, wherein the clamping carriage has a latched state in which the clamping carriage is pulled into a position close to the housing and an unlocked state in which the clamping carriage is pushed away from the housing to accommodate the coupling element between the clamping carriage and the housing, wherein the clamping mechanism can be activated by a pneumatic or hydraulic drive to force the clamping carriage to change from the latched state to the unlocked state and deactivated so that the clamping carriage can return to the latched state, thereby clamping the coupling element to the housing.

Description

Technical Field

[0001] This invention relates to a gripper for automatically manipulating components to load and unload objects, particularly for manipulating robots. Specifically, this invention relates to a gripper for a robot to grasp a pallet or workpiece used in a machine tool. Background Technology

[0002] Automated manipulation components are devices capable of automatically performing specific actions in industrial environments, such as manipulators. Automation can increase the adequacy of production. One frequently used automated action is loading and unloading objects. A specific application is in the machining industry. Before machining, workpieces must first be loaded into the machine tool, and after machining, the produced parts must be unloaded from the machine tool. Typically, workpieces are mounted on pallets with clamping devices, allowing the pallets to be automatically clamped onto the machine tool's worktable. For such applications, manipulators are mostly used to remove pallets with workpieces to be processed from the hopper and load them into the machine tool, and to remove pallets with processed parts and reload them into the machine tool. An important component for manipulators is the gripper for safely holding the pallets. In most cases, the gripper must be able to hold heavy loads.

[0003] CN 107433484 describes a gripping device for a pallet exchange system, including a gripping device main board and a gripping device tool plate. The gripping device main board is connected to the end of a robot's gripping arm, and the gripping device tool plate is connected to a standard pallet. The gripping device main board includes a main board base. Locating tapers and ball retaining frames are arranged on the main board base in an outwardly projecting pattern. Each gripping device tool plate includes a tool plate base that can be inserted into the ball retaining frame. As is the case with most gripping devices used in this application, the main board and tool plate are clamped in one location, typically in the middle of a side surface. Therefore, a very high clamping force is required.

[0004] Another known gripper is the Erowa RCS gripper. The gripper includes an interface element on which a tray can be mounted, and a mating part is mounted to the robot. Clamping plugs are mounted on the interface element to clamp the interface element and the mating part. A single plug, positioned at half the height of the interface element, must provide a large clamping force to ensure secure clamping. Furthermore, because the interface element is mounted laterally on the tray, the center of gravity of the tray is not located close to the interface element, but rather at least 150 mm away from it; therefore, a large portion of the tray has a considerable length and width. The total weight of the tray and the workpiece mounted on it is typically high. The torque generated by the tray at the clamping point must be compensated by the torque generated by the clamping plug. Since the height of the interface element is limited, and the plug is positioned at half the height of the interface element, only a small distance can contribute to the torque generated by the clamping plug; therefore, the clamping force must be large. This gripper has the disadvantage of limited load capacity. This means that the tray weight is limited, and the safety margin is limited in the event of air pressure loss. Summary of the Invention

[0005] The object of this invention is to provide a gripper for automatically manipulating components to load and unload objects, particularly for manipulating robots, to allow for rapid and reliable object gripping. Another object of this invention is to provide a compact gripper for reliably gripping heavy objects. In particular, an object of this invention is to provide a gripper for firmly clamping objects in the event of air pressure loss.

[0006] In this invention, a gripper for manipulating components to grasp objects, particularly for manipulating robots, includes a connecting element and a base. The base includes a housing, a clamping bracket disposed outside the housing, and a clamping mechanism disposed within the housing and operatively connected to the clamping bracket. The connecting element can be secured to the object. The clamping bracket has a latched state and an unlocked state. In the latched state, the clamping bracket is pulled close to the housing, while in the unlocked state, the clamping bracket is pushed away from the housing to accommodate the connecting element between the clamping bracket and the housing. The clamping mechanism can be pneumatically or hydraulically activated to force the clamping bracket to change from the latched state to the unlocked state. Furthermore, the clamping mechanism can be deactivated, allowing the clamping bracket to return to the latched state, thereby clamping the connecting element to the housing. When the clamping mechanism is not activated, the clamping bracket remains in the latched state. This can further improve safety. For example, if the air pressure applied to the gripper is too low or even drops to zero, the connecting element remains clamped to the housing via the clamping bracket, preventing the connecting element and the load from falling. This provides a self-locking effect, which increases safety.

[0007] In one embodiment, the clamping mechanism includes a piston and a piston rod, one end of which is fixedly connected to a clamping bracket and the other end is operatively connected to the piston to transmit the movement of the piston to the clamping bracket.

[0008] Systems for automatically loading objects, such as robots, automatic tool changers, and automatic pallet changers, are widely used in industrial environments. For example, to reduce processing time and increase productivity, automatic pallet changers are used to load pallets onto and unload them from machine tools. Typically, the connecting element is mounted on the pallet, while the base is mounted on the robot arm. When the robot arm must load or unload a pallet from the machine tool, the pallet must first be firmly gripped by a gripper so that the robot arm can perform the loading or unloading action.

[0009] The clamping bracket has a central portion and two jaws that clamp the connecting element and the housing between them. Specifically, the clamping bracket has a U-shape, and the jaws form U-shaped legs. This configuration increases load capacity. In particular, the tray weight and distance to the center of gravity, as well as the clamping force maintained under air pressure loss, are higher compared to known clamps. Preferably, the central portion and jaws are made as a single piece to achieve high rigidity. The clamping force generated by the clamping bracket acts over the entire height of the connecting element and the housing, thereby enhancing the clamping torque. The clamping bracket is configured to generate a high clamping force by amplifying the pull-in force generated by the piston; that is, the clamping force is several times the pull-in force. This is achieved by selecting the angle between the jaws and the central portion within the range of 5° to 25°. This results in a power transmission ratio of approximately 2:1 to 5:1 between the clamping bracket and the connecting element. For example, if the pulling force exerted by the piston rod on the clamping bracket is on the order of 4,000 Newtons, then the clamping force exerted by the jaws can be on the order of 20,000 Newtons.

[0010] The shell has a generally rectangular shape and is rigid. In a preferred variation, the shell has a front wall, a rear wall, a top wall, a bottom wall, and two side walls.

[0011] In one embodiment, when the clamping bracket changes from the latched position to the unlocked position, the clamping bracket is located on the side of the housing and can be moved laterally by the clamping mechanism, and vice versa. The coupling element, which has a tray thereon, can contact the front surface of the housing and be clamped by the jaws therebetween. For reliable clamping, the jaws have the same height as the housing, and the coupling element has at least the same height as the housing, so the clamping force acts along the entire height of the housing, resulting in high torque.

[0012] Furthermore, a connecting contact area is formed on the connecting element to engage with a clamping area formed on the gripper. At least one support area is formed on the front and / or rear wall of the housing, and a clamping force is applied to this support area when the connecting element is clamped to the housing.

[0013] Specifically, the cleaning port is located on the support area on the front surface of the housing. Since the clamp is used in industrial applications, especially in the machining industry, it is applied in environments with, for example, chips and debris. If the support area is covered with debris, the clamping force will be significantly reduced, which directly affects the safety of the clamping. Therefore, clean contact surfaces are important. Furthermore, the air pressure through the cleaning port can be measured to monitor the clamping status of the connecting elements and the housing.

[0014] Additionally, a cleaning groove is formed in the clamping bracket near the grippers. Specifically, the cleaning groove is formed between the rigid bodies of the grippers to blow air supplied through air inlets on the contact surfaces.

[0015] In some embodiments, the clamping mechanism includes a retaining device fixedly mounted in the housing to hold the clamping bracket in a latched position. Specifically, a resetting device is mounted between the inner surface of the front wall of the housing and the piston to apply a retaining force to the piston.

[0016] In an advantageous variation, the retaining device includes at least one spring, preferably multiple springs to generate sufficient retaining force. For example, the retaining force is on the order of 1000 Newtons. In a preferred variation, the spring is a compression spring. When the clamping bracket is in the unlocked state, the spring is compressed and thus strongly pre-tensioned. When the pneumatic drive is deactivated, the compression spring partially releases to push the piston back, thereby the piston rod pulling the clamping bracket into the latched state. In this state, the spring is less pre-tensioned, but maintains pre-tension to provide retaining force. In the absence of external drive, the clamping bracket remains in the latched state.

[0017] Furthermore, the piston can be pneumatically or hydraulically driven to overcome the holding force, thereby enabling the clamping bracket to move from the latched position to the unlocked position, in which the clamping bracket is laterally pushed away from the housing. Preferably, the piston rod is arranged vertically on the clamping bracket and parallel to the direction of movement of the clamping bracket, to push the clamping bracket away from the housing and pull the clamping bracket back into the housing.

[0018] In one variant, the piston has a cylindrical shape and is mounted into a bore from the rear wall of the housing. A spring is mounted on the piston, positioned along its axial direction, and pressed against the inner surface of the front wall of the housing.

[0019] In one variation, the clamping mechanism includes a transmission device to transmit the piston's motion to the piston rod. The transmission device is capable of changing the axial movement of the piston to another direction, specifically enabling the piston rod to move in a direction orthogonal to the piston's axial direction.

[0020] Because the gripper should be compact, the space within the housing is limited. Therefore, a slider is used as a transmission device. The slider is connected to the piston to follow its movement and is configured to convert the piston's movement in an axial direction defined as a first direction into movement of the piston rod in a second direction orthogonal to the first direction. Preferably, the first and second directions are in the same plane, particularly in a horizontal plane.

[0021] The slider has the shape of a plate with a defined thickness and is located on a horizontal plane parallel to the top wall of the housing. One end of the slider is mounted on the piston to follow its movement. A guide groove is formed on one surface of the slider to receive a guide pin formed at one end of the piston rod. The piston rod has a cylindrical shape and is received in a hole drilled in the side wall of the housing, so that the piston rod can move essentially only in its axial direction. The guide pin always engages with the guide groove. As the slider follows the movement of the piston, the guide pin can travel along the guide groove. In particular, the guide groove extends in a direction inclined relative to the axial direction of the piston. When the piston pushes the slider in a first direction, the inclination of the guide groove generates a lateral force on the piston rod through the engagement of the guide pin with the guide groove, thereby laterally pushing the piston rod.

[0022] In order to compensate for manufacturing errors, the slider is installed in a way that allows its position to float on an axis by about a tenth of a millimeter.

[0023] In an advantageous variation providing high clamping force, the slider is configured to amplify the retaining force acting on the piston by the released spring to generate a clamping force that clamps the connecting element and the housing. In particular, the clamping force is at least twice the retaining force, preferably ten times the retaining force. For example, the retaining force is on the order of 1000 Newtons, the pull-in force of the piston rod acting on the clamping bracket is on the order of 4000 Newtons, and the clamping force acting by the jaws is on the order of 16000 Newtons.

[0024] In a preferred variation, the guide groove has a first portion and a second portion. The guide groove is configured such that the guide pin can be locked within the first portion to provide a self-locking function. In a preferred variation, the first and second portions have two different tilt angles α and β defined relative to the axial direction of the piston. Specifically, the first portion has a small tilt angle, for example less than 20 degrees, preferably about 10 degrees, and the second portion has a larger tilt angle than the first portion. When the clamping bracket is in the latched state, the guide pin engages in the first portion. The small tilt angle of the first portion provides a self-locking function, thus the clamping bracket is securely locked in the latched position. Without external driving force, the guide pin cannot travel from the first portion to the second portion. Therefore, the connecting element is securely clamped to the front surface of the housing. When the piston is pneumatically driven to push the slider in a direction toward the front surface of the housing, the guide pin is guided in the guide groove and repositioned from the first portion to the second portion. The larger tilt angle in the second portion is chosen such that the travel lengths of the piston rod and the piston are similar.

[0025] To ensure a secure clamping, two clamping brackets are provided, each mounted on one side of the housing to clamp the connecting element and the housing from both sides. Specifically, the two sides are opposite sides. Preferably, the clamping brackets are positioned close to the two side surfaces of the housing.

[0026] The gripper is not limited to gripping a pallet, but may also grip another gripper, for example. Therefore, the gripper includes pneumatic and / or electrical transmission devices to connect two pneumatic mechanisms and / or electrical devices.

[0027] Furthermore, at least one mounting hole is provided on the front surface of the housing to receive a connecting pin formed on the connecting element. Additionally, the connecting pin and the mounting hole serve as alignment elements for the clamp and the connecting element, and at least two connecting pins can be inserted into at least two mounting holes provided on the housing of the base. Attached Figure Description

[0028] A more detailed description of the principles briefly described above will now be presented with reference to specific embodiments illustrated in the accompanying drawings. These drawings illustrate exemplary embodiments of the present disclosure and should therefore not be considered as limiting its scope. The principles of the present disclosure are described and explained in detail using the accompanying drawings, in which:

[0029] Figure 1 A three-dimensional view of the tray and gripper in a clamped state is shown;

[0030] Figure 2a A three-dimensional view of the gripper as seen from the rear is shown;

[0031] Figure 2b This is a three-dimensional view of the gripper as seen from the front;

[0032] Figure 3 A cross-sectional view of the clamp in a vertical plane is shown;

[0033] Figure 4 A cross-sectional view of the clamp in a horizontal plane is shown;

[0034] Figure 5 A three-dimensional view of the piston rod is shown;

[0035] Figure 6 A three-dimensional view of the slider is shown;

[0036] Figure 7a A three-dimensional view of the clamping bracket is shown;

[0037] Figure 7b , Figure 7c A cross-sectional view of the clamp and a detailed view of the cleaning tank are shown;

[0038] Figure 8a , Figure 8b The connecting element is shown;

[0039] Figures 8c and 8d show trays mounted on the connecting elements at different locations;

[0040] Figure 9a , Figure 9b and Figure 9c The clamp is shown in both the latched and unlocked positions; and

[0041] Figure 10 The clamp is shown with another clamping device mounted on it. Detailed Implementation

[0042] Figure 1 A three-dimensional view of a gripper 100 is shown, which includes a base 20 and a connecting element 10 that can be fixedly mounted to the side wall of a tray 1. The base can be mounted in a robot or loading device. This is useful when the robot must load the tray into a machine tool, such as... Figure 1 As shown, the substrate is brought close to the connecting element on which the tray is mounted, to accommodate and clamp the connecting element. The robot can then move the tray toward the machine tool and place the tray on the machine tool's worktable.

[0043] Figure 2a and Figure 2b Three-dimensional views of the base 20 as seen from the rear and front are shown respectively. The base includes a housing 21 having a front wall 23, a rear wall 22 and two side walls 24, and two clamping brackets 30a and 30b, each clamping bracket being disposed on each side of the housing.

[0044] Figure 3 and Figure 4 Cross-sectional views of the substrate in the XZ and YZ planes are shown respectively. In these views, the clamping bracket is in a latched state, but the connecting element is not clamped. The latched state is the initial state of the clamping bracket, and it remains in this state without any actuation. Figure 3 As shown, each clamping bracket is connected to a slider 60 via piston rods 45a, 45b. A piston 51 is disposed within the housing through a hole in the rear wall of the housing and is movable in a first direction, i.e., along its axial direction, which in this example is the Y direction. The slider lies on a horizontal plane, i.e., the XY plane, and one end of it is connected to the piston to follow the piston's movement in the first direction. Each piston rod is received in a hole in the side wall of the housing and is movable in a second direction, which in this example is the X direction. One end of the piston rod is fixedly connected to the clamping bracket, and the other end engages with the slider.

[0045] Figure 5 and Figure 6 The piston rod and slider 60 are shown in detail. A guide pin 48 is formed on one end of the piston rod and can be received in a guide groove 61A formed in the slider, so that the piston rod engages with the slider. Figure 6 As shown, the slider has two guide grooves 61a and 61b, each guide groove being formed by two parts: a first part 62 and a second part 63 of the guide groove with different inclinations. The first part of the guide groove has a first angle α relative to a first direction indicated by the dashed line, and the second part of the guide groove has a second angle β relative to the first direction. The first angle α is smaller than the second angle β. When the clamping bracket is in the latched state, the guide pin is located in the first part of the guide groove. The smaller angle in the first part provides the advantage of a strong engagement between the piston rod and the slider to enhance the clamping of the clamping bracket. When the clamping bracket is driven from the latched state to the unlocked state, the piston is driven to move in the first direction, and the slider follows this movement, such that the guide pin is guided along the guide groove and moves from the first part to the second part. The larger angle in the second part facilitates the movement of the guide pin in the second part.

[0046] like Figure 4 As shown, at least one, preferably at least two, springs 53 are mounted in the housing as a retaining device to hold the piston in an initial position near the rear wall of the housing. The springs are mounted on the front surface of the piston and press against the inner surface of the front wall of the housing. Figure 4 In the embodiment shown, three springs are arranged on the upper side of the slider, and three springs are arranged on the lower side of the slider.

[0047] In the latched state of the clamping bracket, a spring is positioned between the piston and the inner surface of the front wall to hold the slider and piston in their initial position, where the guide pin is positioned in the first portion 62 of the guide groove. When the piston is driven by air to move in the Y direction, the slider is pushed by the piston in the same direction, causing the guide pin to move from the first portion 63 of the guide groove to the second portion 63, thereby pushing the piston rod away from the housing to achieve the unlocked state. Simultaneously, the spring is compressed and pre-tensioned by the piston. In the unlocked state, an object can be accommodated on the front wall of the housing. When the air supply to the piston is cut off, the pre-tensioned spring pushes the piston back to its initial position. Therefore, the slider follows the movement of the piston and is moved back to its initial position, and the guide pin travels back to the first portion of the guide groove. Thus, the clamping bracket is pulled back towards the housing, clamping the object accommodated on the front wall together with the housing.

[0048] like Figure 2b As shown, a pneumatic air inlet 52 is located on the top of the housing to supply air for driving the piston.

[0049] Figure 7a A three-dimensional view of the clamping bracket is shown. The clamping bracket is U-shaped, with two protrusions on each side serving as grippers 40a, 40b. Each gripper has two clamping areas that contact the object when it is clamped onto the housing. The first gripper 40a has a first clamping area 31a at the upper end and a second clamping area 32a at the lower end, and the second gripper 41a has a third clamping area 33a at the upper end and a fourth clamping area 34a at the lower end. In a variation shown in the figure, the clamping areas have inclined surfaces to ensure high clamping forces and compensate for manufacturing tolerances. Therefore, the clamping force acting on the clamping areas is much higher, for example, three times the force exerted by the piston rod on the clamping bracket.

[0050] like Figure 2b As shown, support areas 58 are formed on the outer surface of the front wall of the housing, particularly at each edge of the outer surface. When the connecting element and the housing are clamped by the clamping brackets, the clamping force acts primarily on the four support areas.

[0051] When a gripper is used to hold a pallet mounted in a machine tool, cleanliness of the clamping area is important to ensure reliable clamping. Therefore, a clean air passage is formed within the clamping bracket. A first pair of air outlets 36a are formed near the first clamping area 31a and the second clamping area 32a, respectively, and are connected via fluid passages to a pair of first pair of clean air inlets 39a formed near the clamping areas, as shown below. Figure 7b As shown in the figure, the diagram is Figure 7cEnlarged view of part A. The dashed arrows indicate the airflow direction for air scraping cleaning. Air outlet 36a is formed by a small gap of less than 0.3 mm, preferably 0.1 mm, between the cover and the bracket.

[0052] Cleaning air can be supplied to the first pair of air inlets to blow out of the slots and clean the clamping area. Additionally, each support area 58 can be cleaned by air blown out from cleaning holes 59 located on the support area. Furthermore, the cleaning holes can serve as sensing units to verify the clamping status by measuring the pressure within them.

[0053] Figure 8a and Figure 8b Details of the connecting element are shown. In this embodiment, the connecting element has a plate shape; however, the connecting element is not limited to this shape. Several connecting holes 16 are provided on the connecting plate for attachment to the tray. The height of the connecting element is greater than that of the tray to increase torque when the clamp holds the tray. Furthermore, two connecting pins 15 are secured to the connecting element to be inserted into the base of the clamp. The connecting pins also serve as alignment devices, and the two connecting pins can be inserted into two mounting holes 55 provided on the housing of the base. The connecting element is designed to form connecting contact areas 11 at the two edges of the connecting element to be received in the jaws of the clamping bracket. As shown in Figures 8c and 8d, the connecting element can be mounted to the tray in two different arrangements to allow for flexible installation of the tray.

[0054] Figure 9a , Figure 9b and Figure 9c The operation of grasping the tray is shown. Figure 9a This illustrates opening the clamping bracket by supplying pneumatic air into the housing of the base. A connecting element with a bracket can then be inserted into the base. When... Figure 9b As shown, air can be cut off when the connecting element is inserted into the base. The clamping brackets clamp the connecting element to the housing from both sides.

[0055] Figure 10 Another application of the gripper is shown. The gripper is mounted on robot 2, while the connecting element is mounted on the additional gripper 200. (See diagram) Figure 2a and Figure 2b As shown, the electrical transmission device 57 and the pneumatic transmission device 56 are disposed on the top of the housing. The electrical transmission device is disconnected to electrically connect to an additional gripper and allows communication between the gripper and the additional gripper, such as sending and receiving sensor signals. The pneumatic transmission device can transmit pneumatic air.

[0056] List of reference numerals

[0057] 1 pallet

[0058] 2 robots

[0059] 10 Connecting elements

[0060] 11 Connection Contact Area

[0061] 15 Connecting pins

[0062] 16 Connection holes

[0063] 20 matrix

[0064] 21. Shell

[0065] 22. Rear wall of the casing

[0066] 23 Front wall of the casing

[0067] 24. Sidewalls of the shell

[0068] 30 Clamping bracket

[0069] 31a, 31b First clamping area

[0070] 32a, 32b Second clamping area

[0071] 33a, 33b Third clamping area

[0072] 34a, 34b Fourth clamping area

[0073] 36a First pair of air outlets

[0074] 39a Clean Air Inlet

[0075] 40a, 40b First gripper

[0076] 41a, 41b Second gripper

[0077] 45a, 45b piston rods

[0078] 48a, 48b guide pins

[0079] 51 Piston

[0080] 52 Pneumatic air inlet

[0081] 53 Springs

[0082] 56. Pneumatic transmission device

[0083] 57 Electrical transmission device

[0084] 58 Support Area

[0085] 59 Cleaning Hole

[0086] 60 Slider

[0087] 61a, 61b guide slots

[0088] 62 The first part of the guide groove

[0089] 63. Second part of the guide groove

[0090] 100 clamps

[0091] 200 Additional clamps

[0092] 210 Connecting element for additional clamp.

Claims

1. A gripper (100) for manipulating components to grasp an object, comprising: a) The connecting element (10) to be installed onto the object; as well as b) A base (20) mountable to the actuating assembly, the base including a housing (21), clamping brackets (30a, 30b) disposed outside the housing, and a clamping mechanism disposed within the housing, the clamping mechanism being operatively connected to the clamping bracket, wherein the clamping bracket has a latched state and an unlocked state, wherein in the latched state the clamping bracket is pulled close to the housing, and in the unlocked state the clamping bracket is pushed away from the housing to accommodate the coupling element between the clamping bracket and the housing, wherein the clamping mechanism can be activated by pneumatic or hydraulic actuation to force the clamping bracket to change from the latched state to the unlocked state, and deactivated such that the clamping bracket can return to the latched state and thereby clamp the coupling element to the housing; The clamping mechanism includes a piston (51) and a piston rod (45a, 45b). One end of the piston rod is fixedly connected to the clamping bracket, and the other end is operatively connected to the piston to transmit the movement of the piston to the clamping bracket. The clamping bracket has a U-shaped shape, with a central portion for connecting the piston rod thereon and two jaws (40a, 41a) protruding from the central portion. The central portion and the jaws form a single component.

2. The clamping device according to claim 1, wherein the clamping mechanism includes a retaining device mounted in the housing to retain the clamping bracket in the latched state, the retaining device being a spring.

3. The clamp according to claim 2, wherein, The clamping mechanism includes a slider (60) connected between the piston rod and the piston, and the slider engages with the piston rod to convert the movement of the piston in a first direction into the movement of the piston rod in a second direction, the first direction and the second direction being perpendicular to each other.

4. The clamp according to claim 3, wherein the slider is connected to the piston to follow the movement of the piston, and is characterized by guide grooves (61a, 61b), wherein a guide pin (48a) formed on the piston rod engages in the guide grooves, and is capable of traveling along the guide grooves during the movement of the slider.

5. The clamp according to claim 4, wherein, The spring is mounted between the piston and the inner surface of the housing, wherein when the clamping bracket is in the unlocked state, the spring is compressed, and the compressed spring is partially released to hold the clamping bracket in the latched state.

6. The clamping device of claim 5, wherein the slider is configured to amplify the retaining force acting on the piston by the released spring to generate a clamping force to clamp the connecting element and the housing.

7. The clamp according to any one of claims 4 to 6, wherein the guide groove has a first portion (62) and a second portion (63), and the guide groove is configured such that the guide pin can be locked in the first portion, the first portion and the second portion having different tilt angles (α, β), and the first portion having a smaller tilt angle (α) than the second portion (β).

8. The clamp according to any one of claims 1 to 6, wherein, Two clamping brackets (30a, 30b) are provided, and each clamping bracket is mounted on each side of the housing to clamp the connecting element and the housing from opposite sides.

9. The clamp according to claim 6, wherein at least one support region (58) is formed on the outer surface of the housing, the clamping force is applied to the support region when the connecting element is clamped to the housing, and a cleaning hole (59) is provided on the support region, the cleaning hole enabling detection of the clamping state.

10. The clamping device according to any one of claims 1 to 6, wherein the height of the clamping bracket is the same as the height of the base.

11. The clamp according to any one of claims 1 to 6, wherein, A cleaning outlet (36a) is provided on the gripper, through which air can be blown out for cleaning.

12. The clamp according to any one of claims 1 to 6, wherein, A pneumatic transmission device (56) and / or an electrical transmission device (57) are disposed on the housing.

13. The clamp according to any one of claims 1 to 6, wherein, The connecting element has at least two connecting pins (15) that can be inserted into at least two mounting holes (55) provided on the housing of the base.

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