Servo motor clamping jaw with adjustable clamping force

Abstract

The invention provides a servo motor clamping jaw with adjustable clamping force, and relates to the field of clamping jaws. The servo motor clamping jaw with the adjustable clamping force comprises a servo motor and a shell, the servo motor is fixedly installed at one end of the shell, a transmission mechanism controlled by the servo motor is arranged in the shell, and a clamping jaw body is fixedly installed at the output end of the transmission mechanism. According to the clamping-force-adjustable servo motor clamping jaw, an electromagnetic telescopic sleeve is unfolded, extrusion between a friction pad and a limiting mechanism is utilized, so that a pressure sensor is clamped relative to the limiting mechanism and does not displace, and an electromagnetic block attracts a magnetic head to retract into a groove, so that a connecting rod can freely move relative to a limiting sleeve; and the servo motor works again to drive the two clamping jaws to get close to each other to extrude the pressure sensor, and when the pressure reaches the preset pressure, the servo motor is controlled to stop working, so that the effect of adjusting the clamping force can be achieved, and meanwhile, the pressure sensor is arranged in the shell to avoid collision in the moving process.

Description

Technical Field

[0001] The invention relates to the field of clamping jaws, in particular to a servo motor clamping jaw with adjustable clamping force. Background Art

[0002] Servo motor grippers are mechanical devices driven by servo motors and are widely used in industrial automation and intelligent manufacturing. Servo motor grippers are generally divided into two types: one is to drive the grippers to slide by the servo motor to achieve mutual approach to complete the gripping, and the other is to drive the grippers to swing by the servo motor to achieve mutual approach to complete the gripping.

[0003] The existing patent (CN220783952U) discloses a servo motor clamp adapted to objects of different diameters, comprising a fixed plate and a top plate, wherein the top plate is fixedly connected to the top of the fixed plate, the top of the top plate is fixedly connected to a first servo motor, the output end of the first servo motor is fixedly connected to a drive shaft, the bottom end of the drive shaft is fixedly connected to a linear screw, and the linear screw is movably assembled at the front end of the fixed plate. The technical solution discloses a technical solution in which a servo motor drives the clamp to approach each other by swinging.

[0004] The existing patent (CN220534246U) discloses a servo motor clamp reset device, including a protective shell, two groups of partitions are fixedly connected on both sides of the protective shell, an adjusting screw is movably connected between the partitions, a limit rod is arranged above the adjusting screw, a driving clamp is arranged outside the adjusting screw, a clamp plate is installed on one side of the driving clamp, a fixing plate is fixedly connected to the top of the protective shell, two groups of mounting plates are arranged on both sides of the top of the fixing plate, and one side of the bottom of the mounting plate is fixedly connected to the adjusting sleeve. This technical solution discloses a technical solution that a servo motor drives the clamps to approach each other by sliding.

[0005] The existing patent (CN221549894U) discloses a clamping jaw pressure detection device, including a pressure detection sensor body and an anti-skid component; a mounting plate is provided at the bottom end of the pressure detection sensor body, and an anti-skid component is provided on the mounting plate; the anti-skid component includes a mounting groove, a first mounting hole, a mortise, a fixing plate, a first plug block, a limiting plate, a second plug block, a second mounting hole, a rubber pad, a tenon strip, a slot and an anti-skid convex particle;

[0006] This technical solution uses the anti-skid component to buffer the pressure detection sensor body and prevent the pressure detection sensor body from slipping during use, ensuring the detection accuracy of the pressure detection sensor body. At the same time, the anti-skid component is convenient and detachable to meet actual needs. However, in this technical solution, the pressure detection device is directly set on the clamping claw, which is easy to interfere with external components during the movement of the clamping claw. Summary of the invention

[0007] In view of the deficiencies of the prior art, the present invention provides a servo motor clamp with adjustable clamping force, which solves the problem that the pressure detector is easily collided when it is arranged outside as mentioned in the background art.

[0008] To achieve the above purpose, the present invention is implemented through the following technical solutions: a servo motor clamp with adjustable clamping force, comprising a servo motor and a housing, wherein the servo motor is fixedly installed at one end of the housing, a transmission mechanism controlled by the servo motor is arranged inside the housing, a clamp is fixedly installed at the output end of the transmission mechanism, a pressure detection mechanism is clamped with the transmission mechanism or the clamp, a limit mechanism with the same motion trajectory as the pressure detection mechanism is arranged on the housing, a clamping sensor is arranged on the side where the clamps are close to each other, the pressure detection mechanism comprises a pressure sensor, an electromagnetic telescopic sleeve is fixedly installed on the side of the pressure sensor close to the limit mechanism, a limit sleeve is fixedly installed on the free end of the pressure sensor, a connecting rod is slidably clamped inside the limit sleeve, the connecting rod is fixedly connected to the transmission mechanism or the clamp, a baffle is fixedly installed on the side of the connecting rod located away from the transmission mechanism or the clamp, a positioning hole is opened on the surface of the connecting rod, a groove is opened on the inner wall of the limit sleeve, an electromagnetic block is fixedly installed inside the groove, a magnetic head is slidably connected inside the groove, the electromagnetic block and the magnetic head are fixedly connected by a reset spring, and one end of the magnetic head located outside the groove is fixedly clamped inside the positioning hole.

[0009] Preferably, the transmission mechanism drives the clamping jaws to approach each other by swinging, the transmission mechanism is provided with a protrusion, the housing is provided with a concentric limit ring with the same motion trajectory as the protrusion, the pressure detection mechanism is located between the two limit rings, and the connecting rod is fixedly connected to the protrusion.

[0010] Preferably, the transmission mechanism includes a driving gear and a half gear that mesh with each other, the driving gear and the half gear are rotatably connected to the outer shell, an extension plate is fixedly installed on the outer side of the driving gear and the half gear, the clamping claw is hinged at the top of the extension plate, the clamping claw and the outer shell are hinged through a connecting rod, a driving gear is fixedly installed on the output end of the servo motor, the driving gear meshes with the driving gear, a protrusion is installed above the extension plate, and the connecting rod is fixedly connected to the protrusion.

[0011] Preferably, the transmission mechanism drives the clamping jaws to approach each other by sliding, the housing is provided with a limiting groove having the same movement trajectory as the clamping jaws, and the connecting rod is fixedly connected to the clamping jaws.

[0012] Preferably, the transmission mechanism includes a worm wheel, lead shafts are fixedly installed on both sides of the worm wheel, the clamping jaws are engaged with the outer surface of the lead shaft, a worm is fixedly installed on the output end of the servo motor, the worm is transmission-connected to the worm wheel, the pressure detection mechanism is located between the two limit grooves, and the connecting rod is fixedly connected to the clamping jaws.

[0013] Preferably, a friction pad is fixedly mounted on the free end of the electromagnetic telescopic sleeve, and the shape of the friction pad is compatible with the limiting mechanism.

[0014] Preferably, the clamping sensor is a contact sensor arranged at the clamping claw or a motor state detection sensor arranged at the servo motor.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The servo motor clamp with adjustable clamping force can drive the transmission mechanism to work through the operation of the servo motor, so that the clamping jaws can be close to each other to achieve clamping, and a signal is generated when the object is clamped, so that the electromagnetic telescopic sleeve is expanded and squeezed between the friction pad and the limit mechanism, so that the pressure sensor is clamped relative to the limit mechanism without displacement, and the electromagnetic block attracts the magnetic head to shrink into the inside of the groove so that the connecting rod can move freely relative to the limit sleeve. When the servo motor works again to drive the two clamping jaws close to each other, the pressure sensor is squeezed at this time. When the pressure reaches the preset pressure, the servo motor is controlled to stop working, thereby achieving the effect of adjusting the clamping force. At the same time, the pressure sensor is arranged inside the shell to avoid collision during movement.

[0017] 2. The servo motor clamp with adjustable clamping force has a friction pad fixedly installed on the free end of the electromagnetic telescopic sleeve, and the shape of the friction pad is adapted to the limit mechanism. Such a setting can increase the friction between the electromagnetic telescopic sleeve and the limit mechanism, thereby preventing the electromagnetic telescopic sleeve from being relatively displaced with the limit mechanism when in the expanded working state.

[0018] 3. The servo motor clamp with adjustable clamping force has a transmission mechanism including a worm gear, lead shafts are fixedly installed on both sides of the worm gear, the clamp is meshed with the outer surface of the lead shaft, a worm is fixedly installed on the output end of the servo motor, the worm is connected to the worm gear, the pressure detection mechanism is located between the two limit grooves, the connecting rod is fixedly connected to the clamp, when the clamping sensor detects that the clamp clamps the workpiece, the electromagnetic telescopic sleeve is expanded and tightly attached to the limit groove so that the pressure sensor no longer moves, and the magnetic head is retracted to the inside of the groove, driven by the servo motor, the protrusion can move relative to the pressure sensor and squeeze the pressure sensor, when the pressure is squeezed to a specified pressure value, the servo motor stops working, and through such a setting, a pressure detection value equal to the clamp pressure can be directly obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the technical solution of the swinging jaw approaching of the present invention;

[0020] Figure 2 This is a schematic diagram of the driving gear connection of the present invention;

[0021] Figure 3 This is a schematic diagram showing the connection of the limit ring of the present invention;

[0022] Figure 4 This is a schematic diagram of the sliding clamp approaching technical solution of the present invention;

[0023] Figure 5 This is a schematic diagram of the worm gear connection of the present invention;

[0024] Figure 6 It is a schematic diagram of the pressure detection mechanism of the present invention;

[0025] Figure 7 For the present invention Figure 6 Enlarged schematic diagram at point A in the middle.

[0026] In the figure: 1. servo motor; 2. housing; 3. transmission mechanism; 4. clamping claw; 5. pressure detection mechanism; 6. limit mechanism; 7. clamping sensor; 501. pressure sensor; 502. electromagnetic telescopic sleeve; 504. limit sleeve; 503. friction pad; 505. connecting rod; 506. baffle; 507. positioning hole; 508. groove; 509. electromagnetic block; 510. magnetic head; 511. reset spring; 8. protrusion; 601. limit ring; 602. limit groove; 301. driving gear; 302. half gear; 303. extension plate; 304. connecting rod; 305. driving gear; 307. worm wheel; 308. lead shaft; 309. worm. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0031] like Figure 1-7 As shown, a servo motor clamp with adjustable clamping force includes a servo motor 1 and a housing 2, wherein the servo motor 1 is fixedly installed at one end of the housing 2, a transmission mechanism 3 controlled by the servo motor 1 is arranged inside the housing 2, a clamp 4 is fixedly installed at the output end of the transmission mechanism 3, a pressure detection mechanism 5 is clamped with the transmission mechanism 3 or the clamp 4, the housing 2 is provided with a limit mechanism 6 having the same motion trajectory as the pressure detection mechanism 5, a clamping sensor 7 is arranged on the side where the clamps 4 are close to each other, the pressure detection mechanism 5 includes a pressure sensor 501, an electromagnetic telescopic sleeve 502 is fixedly installed on the side of the pressure sensor 501 close to the limit mechanism 6, and the free end of the pressure sensor 501 is fixedly installed A limiting sleeve 504 is provided, and a connecting rod 505 is slidably engaged inside the limiting sleeve 504. The connecting rod 505 is fixedly connected to the transmission mechanism 3 or the clamping jaw 4. A baffle 506 is fixedly installed on the side of the limiting sleeve 504 away from the transmission mechanism 3 or the clamping jaw 4. A positioning hole 507 is provided on the surface of the connecting rod 505. A groove 508 is provided on the inner wall of the limiting sleeve 504. An electromagnetic block 509 is fixedly installed inside the groove 508. A magnetic head 510 is slidably connected inside the groove 508. The electromagnetic block 509 and the magnetic head 510 are fixedly connected via a reset spring 511. One end of the magnetic head 510 located outside the groove 508 is fixedly engaged with the inside of the positioning hole 507.

[0032] The transmission mechanism 3 drives the clamping jaws 4 to approach each other by swinging. The transmission mechanism 3 is provided with a protrusion 8. The housing 2 is provided with a concentric limit ring 601 with the same movement trajectory as the protrusion 8. The pressure detection mechanism 5 is located between the two limit rings 601, and the connecting rod 505 is fixedly connected to the protrusion 8. Through such a setting, the protrusion 8 can be used to drive the pressure sensor 501 to detect pressure.

[0033] The transmission mechanism 3 includes a driving gear 301 and a half gear 302 that mesh with each other. The driving gear 301 and the half gear 302 are rotatably connected to the housing 2. An extension plate 303 is fixedly installed on the outer side of the driving gear 301 and the half gear 302. The clamping jaw 4 is hinged at the top of the extension plate 303. The clamping jaw 4 is hinged to the housing 2 through a connecting rod 304. A driving gear 305 is fixedly installed at the output end of the servo motor 1. The driving gear 305 meshes with the driving gear 301. The protrusion 8 is installed above the extension plate 303. The connecting rod 505 is fixedly connected to the protrusion 8. This technical solution is one of the specific implementation plans for driving the clamping jaw 4 to swing. The servo motor 1 drives the driving gear 305 to work, and the driving gear 3 01 and the half gear 302 swing, and cooperate with the connecting rod 304 and the extension plate 303 to drive the clamping jaw 4 to move in a swinging manner. When the clamping sensor 7 detects that the clamping jaw 4 clamps the workpiece, the electromagnetic telescopic sleeve 502 is expanded and tightly attached to the limit ring 601 so that the pressure sensor 501 no longer moves, and the magnetic head 510 is retracted to the inside of the groove 508. Driven by the servo motor 1, the protrusion 8 can move relative to the pressure sensor 501 and squeeze the pressure sensor 501. When the pressure is squeezed to the specified value, the servo motor 1 stops working. Since the swinging pressure is related to the distance from the swing arm to the swing center, the pressure between the two clamping jaws 4 and the clamped workpiece can be set by proportional calculation.

[0034] The transmission mechanism 3 drives the clamping jaws 4 to approach each other by sliding. The housing 2 is provided with a limit groove 602 with the same movement trajectory as the clamping jaw 4. The connecting rod 505 is fixedly connected to the clamping jaw 4. Through such a setting, the clamping jaw 4 can directly contact the pressure sensor 501.

[0035] The transmission mechanism 3 includes a worm gear 307, and lead shafts 308 are fixedly installed on both sides of the worm gear 307. The clamping jaws 4 are meshed with the outer surface of the lead shaft 308. A worm 309 is fixedly installed on the output end of the servo motor 1. The worm 309 is transmission-connected to the worm gear 307. The pressure detection mechanism 5 is located between the two limit grooves 602. The connecting rod 505 is fixedly connected to the clamping jaw 4. When the clamping sensor 7 detects that the clamping jaw 4 clamps the workpiece, the electromagnetic telescopic sleeve 502 is expanded and tightly attached to the limit groove 602 so that the pressure sensor 501 no longer moves, and the magnetic head 510 is retracted to the inside of the groove 508. Driven by the servo motor 1, the protrusion 8 can move relative to the pressure sensor 501 and squeeze the pressure sensor 501. When the pressure is squeezed to a specified pressure value, the servo motor 1 stops working. Through such a setting, a pressure detection value equal to the pressure of the clamping jaw 4 can be directly obtained.

[0036] A friction pad 503 is fixedly installed at the free end of the electromagnetic telescopic sleeve 502, and the shape of the friction pad 503 is adapted to the limiting mechanism 6. Such a setting can increase the friction between the electromagnetic telescopic sleeve 502 and the limiting mechanism 6, thereby preventing the electromagnetic telescopic sleeve 502 from being displaced relative to the limiting mechanism 6 when in the expanded working state.

[0037] The clamping sensor 7 is a contact sensor such as a proximity sensor arranged at the clamping jaw 4, which can detect the distance between the clamping jaw 4 and the object. When the clamping jaw 4 approaches the object to a certain distance, the sensor will send a signal. Common proximity sensors include inductive proximity sensors and capacitive proximity sensors. Inductive proximity sensors determine the distance by detecting the change in magnetic field caused by the object, while capacitive proximity sensors determine by detecting the change in capacitance. When the clamping jaw 4 contacts and clamps the object, the distance signal will change significantly, thereby determining whether the clamping jaw 4 has clamped the object.

[0038] The tactile sensor can sense the contact, shape, texture and other information of an object. The tactile sensor is based on the principle of capacitance. When the gripper 4 contacts the object, the capacitance value changes. Alternatively, piezoelectric materials are used, which generate electric charges when subjected to pressure, and the contact situation is determined by detecting the charge signal.

[0039] The motor state detection sensor at the servo motor 1 can be that when the motor of the clamp 4 drives the clamp 4 to close to grab an object, the load of the motor will change. If the object is not clamped, the load of the motor is small and the current is relatively stable; when the clamp 4 clamps the object, the load of the motor increases and the current of the motor increases accordingly. By detecting the change in the magnitude of the motor current, it can be determined whether the clamp 4 clamps the object. For example, a current sensor is installed to monitor the current of the motor in real time.

[0040] Similar to motor current detection, torque is a description of the twisting force when the motor drive shaft rotates. When the clamp 4 clamps an object, the motor needs to output a larger torque to overcome the resistance of the object. By detecting the change in motor torque, it can be determined whether the clamp 4 successfully clamps the object. A torque sensor is usually used to measure the torque of the motor output shaft.

[0041] When in use, the servo motor 1 can drive the transmission mechanism 3 to work, so that the clamping jaws 4 can be brought close to each other to achieve clamping, and a signal is generated when the object is clamped, so that the electromagnetic telescopic sleeve 502 is expanded and squeezed between the friction pad 503 and the limit mechanism 6, so that the pressure sensor 501 is clamped relative to the limit mechanism 6 without displacement, and the electromagnetic block 509 attracts the magnetic head 510 to shrink into the inside of the groove 508 so that the connecting rod 505 can move freely relative to the limit sleeve 504. When the servo motor 1 works again to drive the two clamping jaws 4 to approach each other, the pressure sensor 501 is squeezed at this time. When the pressure reaches the preset pressure, the servo motor 1 is controlled to stop working, thereby achieving the effect of adjusting the clamping force. At the same time, the pressure sensor 501 is arranged inside the shell 2 to avoid collision during movement.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0043] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A servo motor clamp with adjustable clamping force, comprising a servo motor (1) and a housing (2), characterized in that: The servo motor (1) is fixedly mounted on one end of the housing (2); a transmission mechanism (3) controlled by the servo motor (1) is arranged inside the housing (2); a clamping claw (4) is fixedly mounted on the output end of the transmission mechanism (3); a pressure detection mechanism (5) is clamped on the transmission mechanism (3) or the clamping claw (4); a limit mechanism (6) having the same motion trajectory as the pressure detection mechanism (5) is arranged on the housing (2); and a clamping sensor (7) is arranged on the side where the clamping claws (4) are close to each other; The pressure detection mechanism (5) comprises a pressure sensor (501), an electromagnetic telescopic sleeve (502) is fixedly mounted on one side of the pressure sensor (501) close to the limiting mechanism (6), a limiting sleeve (504) is fixedly mounted on the free end of the pressure sensor (501), a connecting rod (505) is slidably engaged inside the limiting sleeve (504), the connecting rod (505) is fixedly connected to the transmission mechanism (3) or the clamping claw (4), and the connecting rod (505) is located on one side of the limiting sleeve (504) away from the transmission mechanism (3) or the clamping claw (4). A baffle (506) is fixedly installed on the side, a positioning hole (507) is opened on the surface of the connecting rod (505), a groove (508) is opened on the inner wall of the limiting sleeve (504), an electromagnetic block (509) is fixedly installed inside the groove (508), a magnetic head (510) is slidably connected inside the groove (508), the electromagnetic block (509) and the magnetic head (510) are fixedly connected through a reset spring (511), and one end of the magnetic head (510) located outside the groove (508) is fixedly clamped inside the positioning hole (507).

2. The servo motor clamp with adjustable clamping force according to claim 1, characterized in that: The transmission mechanism (3) drives the clamping jaws (4) to move closer to each other by swinging, the transmission mechanism (3) is provided with a protrusion (8), the housing (2) is provided with a concentric limit ring (601) having the same movement trajectory as the protrusion (8), the pressure detection mechanism (5) is located between the two limit rings (601), and the connecting rod (505) is fixedly connected to the protrusion (8).

3. The servo motor clamp with adjustable clamping force according to claim 2, characterized in that: The transmission mechanism (3) comprises a driving gear (301) and a half gear (302) meshing with each other, the driving gear (301) and the half gear (302) being rotatably connected to the housing (2), an extension plate (303) being fixedly mounted on the outer sides of the driving gear (301) and the half gear (302), a clamping jaw (4) being hinged on the top of the extension plate (303), the clamping jaw (4) being hinged to the housing (2) via a connecting rod (304), a driving gear (305) being fixedly mounted on the output end of the servo motor (1), the driving gear (305) being meshed with the driving gear (301), a protrusion (8) being mounted above the extension plate (303), and a connecting rod (505) being fixedly connected to the protrusion (8).

4. The servo motor clamp with adjustable clamping force according to claim 1, characterized in that: The transmission mechanism (3) drives the clamping jaws (4) to move closer to each other by sliding, the housing (2) is provided with a limiting groove (602) having the same movement trajectory as the clamping jaws (4), and the connecting rod (505) is fixedly connected to the clamping jaws (4).

5. The servo motor clamp with adjustable clamping force according to claim 4, characterized in that: The transmission mechanism (3) comprises a worm wheel (307), lead shafts (308) are fixedly mounted on both sides of the worm wheel (307), the clamping jaw (4) is meshed with the outer surface of the lead shaft (308), a worm (309) is fixedly mounted on the output end of the servo motor (1), the worm (309) is transmission-connected to the worm wheel (307), the pressure detection mechanism (5) is located between the two limit grooves (602), and the connecting rod (505) is fixedly connected to the clamping jaw (4).

6. A servo motor clamp with adjustable clamping force according to claim 3 or 5, characterized in that: A friction pad (503) is fixedly mounted on the free end of the electromagnetic telescopic sleeve (502), and the shape of the friction pad (503) is compatible with the limiting mechanism (6).

7. A servo motor clamp with adjustable clamping force according to claim 3 or 5, characterized in that: The clamping sensor (7) is a contact sensor arranged at the clamping claw (4) or a motor state detection sensor arranged at the servo motor.

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