Clamping and / or clamping device with locking transmission

Abstract

The invention relates to a clamping or clamping device (10) having a base housing (12), at least one clamping jaw element (14) movably arranged in the base housing (12), and a transmission unit (18), the transmission unit (18) having an input shaft (24) and an output shaft (28), the input shaft (24) being or being coupled to a drive (16), and the output shaft (28) being coupled to the input shaft (24). The output shaft (28) can be or is coupled to the at least one clamping jaw element (14), and wherein the transmission unit (18) is designed as a locking planetary gear (18A).

Description

Field of the Invention

[0001] The present invention relates to a clamping or gripping device having a base housing, at least one jaw element movably arranged in the base housing, and a transmission unit, wherein the transmission unit has an input shaft and an output shaft, wherein the input shaft is couplable or coupled to a drive, and wherein the output shaft is couplable or coupled to at least one jaw element. Background Art

[0002] A clamping or gripping device with a worm gear transmission is known from EP1905549B1, wherein the inclination angle of the helical part is configured such that the position holding of the jaw element can be achieved due to the automatic locking in a non-actuated drive. The worm gear transmission has the disadvantages of a poor efficiency, the need for axial adjustment and bearing requirements due to high axial forces. A gripping device with an automatically locking worm gear transmission is known from JP3156145U. Summary of the Invention

[0003] Therefore, the object underlying the present invention is to provide a clamping or gripping device which eliminates the disadvantages of the prior art and in particular ensures reliable position holding of the jaw element even in the case of a non-actuated drive.

[0004] The object underlying the present invention is achieved by a clamping or gripping device having the features of claim 1. Thus, the transmission unit is configured as a locking, in particular partially locking / or automatically locking planetary gear transmission.

[0005] Due to the locking planetary gear transmission, it can be ensured that the reverse rotation of the transmission unit or the reverse movement of the jaw element cannot be carried out (non-destructively) even in the case of a non-actuated drive. In addition, compared with a worm gear transmission, the planetary gear transmission has a higher efficiency, a higher force transmission, a more compact structural form and a higher running smoothness.

[0006] In the sense of the present invention, a "locking planetary gear transmission" should be understood as an "automatically locking planetary gear transmission" or a "partially locking planetary gear transmission".

[0007] In the context of the present invention, an "automatically locking planetary gear transmission" should be understood to mean that the load torque at the actual follower that becomes the drive can be increased to the breaking limit without the load torque causing movement of the planetary gear transmission, in particular the input shaft. Here, the increase in the load torque also increases the counteracting frictional force. In the context of the present invention, a "partially locking planetary gear transmission" should be understood to mean that the planetary gear transmission is non-rotatable in the reverse direction on the follower side until the limit value of the load torque. The load torque is generated by the spring energy stored in the flexibility of the fingers, workpieces, drive train, etc.

[0008] Below, the difference between the automatic locking and the partial locking of the transmission is derived, and this difference is shown in Figure 4 By this or a similar method, the differences of other transmissions, such as planetary gear transmissions, coupled epicyclic transmissions, Wolfrom planetary gear sets, or spur gear transmissions, etc., can also be considered.

[0009] For example, a single-stage planetary gear transmission has a central gear 1, a web s, and a central gear 2, where the planetary gear transmission is fixed to the central gear 1 on the housing side. In normal operation, the transmission is driven at the web s and driven at the central gear 2. In the opposite direction, the transmission should have automatic locking or partial locking. That is to say, the drive is the central gear 2, and the follower is the web s. Only for the operating type, the planetary gear transmission has automatic locking, and this is the case even only at a positive fixed gear ratio. This is achieved, for example, by using a planetary gear transmission according to Figure 4 and Figure 5 Here, a positive fixed gear ratio means that the two central gears in the vertical web rotate in the same direction.

[0010] The fixed gear ratio in the vertical web is obtained according to the following formula:

[0011] The load-related losses caused by tooth friction can be considered through efficiency. Given the tooth efficiency of each stage, the fixed efficiency is calculated as follows:

[0012] In addition to the load-related losses (such as those caused by tooth friction), there are also load-independent losses, which are represented by a constantly acting torque. This can be, for example, the friction of seals or bearings. The constant friction is also represented by the idling torque in the transmission.

[0013] Therefore, a shaft 0 is pre-mounted in front of the web s, where, regardless of the load, the constant friction torque always acts in the direction opposite to the rotation direction of the shaft ​

[0014] In the case of a known fixed transmission ratio and fixed efficiency for a planetary gear transmission, the operating transmission ratio and the operating efficiency should be calculated based on the operating state of the vertical central gear 1:

[0015]

[0016] What is important for the calculation of the efficiency is whether the fixed transmission ratio is or .

[0017] If :

[0018]

[0019] If :

[0020]

[0021] If , the transmission locks automatically in the direction from the central gear 2 to the web s. That is to say, the torque at the central gear 2 (now the drive shaft) causes an internal frictional force that prevents the rotation of the web s (now the driven shaft). These forces increase with the increasing drive torque and prevent reverse rotation regardless of the height of the drive torque. The torque can be increased until damage to the transmission or accessories occurs. If the drive is to be rotated, i.e., power flows from the central gear 2 to the web s, additional power must be introduced at the web s (driven shaft). This explains the negative efficiency at which the required power can be calculated.

[0022] The following relationship applies to the drive of shaft 0 for constructing the torque for clamping the workpiece: At a given drive torque and known constant friction the following torque is generated at the central gear 2 (driven shaft):

[0023] The sign of results from the direction of rotation and cancels the direction of rotation of shaft 0. When the torque is positive. Since power is introduced into the transmission, the frictional torque must be subtracted :

[0024] The following relationships apply to the drive at the central gear 2 for relaxing the clamping: The clamping force “stored” in the system flexibility or the torque at the central gear 2 causes the transmission at the central gear 2 to be driven by the clamping force. This corresponds to the operating state in which the torque acts on the central gear 2 (now the drive shaft). This generates a reaction torque at shaft 0:

[0025] Depending on the direction of rotation of shaft 0, a computed sign is generated. If the direction of rotation is negative, since the jaws open, the computed sign is negative:

[0026] According to the power calculation, it is calculated whether power flows out or whether power must be introduced. When a negative torque is computed in the case of a negative direction of rotation a power must be introduced. Then, the drive train cannot reduce the accumulated clamping and requires additional power from the motor. Thus, the task of “holding the clamping force” in a stress-free state is completed.

[0027] The holding of the clamping force can be achieved by automatic locking: If the efficiency , there is automatic locking in the transmission. Regardless of the torque , it is impossible to rotate the transmission from the driven side.

[0028] If the transmission is to be rotated (or the clamping state is to be released), the following torque must be applied to shaft 0 (now the driven shaft):

[0029] When the internal friction is greater than the torque , the holding of the clamping force can also be achieved: When the transmission has a positive efficiency , the torque at the web s must be greater than the constant friction . Here, the torque variation through the transmission must be taken into account. Only in this way can the driven member move the transmission:

[0030] Or:

[0031] As long as the torque at the central gear 2 is less than this limit, the system will operate as required and can maintain the clamping itself.

[0032] The following gives an example of the number of transmissions:

[0033] From this, the fixed gear ratio is obtained:

[0034] Therefore, the following operating gear ratio is obtained:

[0035]

[0036] Assume a constant frictional torque .

[0037] At with a fixed efficiency, the transmission is automatically locked.

[0038] The following operating efficiency is obtained:

[0039]

[0040] At negative efficiency it indicates that it is an automatically locked transmission.

[0041] According to the driving torque at shaft 0 (drive shaft), the torque at the central gear 2 (driven shaft) is thus obtained:

[0042] To release the clamping introduced at the central gear 2, the torque required at shaft 0 is:

[0043] The combination of negative torque and negative speed means that additional power must be applied at shaft 0 or web s.

[0044] At with a fixed efficiency, the transmission is not automatically locked.

[0045] The following operating efficiency is obtained:

[0046]

[0047] Due to higher efficiency, a lower driving torque is required. Therefore, the torque at the central gear 2 is obtained as follows:

[0048] The torque thus clamped generates a torque at the web s:

[0049] That is to say, the clamping cannot be released independently. To release the clamping thus introduced, a torque is required at the shaft 0:

[0050] Starting from the following torque at the central gear 2 (now the drive shaft), the transmission rotates.

[0051]

[0052] The analysis method proposed here for distinguishing between automatic locking and partial locking is applicable to both single-stage planetary gear transmissions and multi-stage planetary gear coupling transmissions and reduction planetary gear coupling transmissions. In the case of a coupled planetary gear transmission, the total transmission ratio i must be determined based on the gear arrangement 12 and the overall efficiency along the operating direction η 12 and against the operating direction η 21 of the overall efficiency.

[0053] Advantageous improvements provide that the planetary gear transmission is configured as a single-stage planetary gear transmission, a multi-stage planetary gear transmission, a reduction planetary gear coupling transmission, or a combination of the above transmissions. It can also be combined with other transmission stages, such as a cylindrical gear transmission or a bevel gear transmission.

[0054] Preferably, the planetary gear transmission is preferably configured as a single-speed or non-shiftable transmission. Preferably, the transmission unit is configured as a single-speed planetary gear transmission. In the case of a single-speed or non-shiftable transmission, the transmission ratio of the transmission is constant, especially independent of the input torque and / or output torque.

[0055] Advantageously, the first stage of the planetary gear transmission is formed by a first sub-transmission having a first input member and a first output member, and the second stage of the planetary gear transmission is formed by a second sub-transmission having a second input member and a second output member. The input shaft is preferably rotationally coupled to the first input member of the first sub-transmission, and / or the output shaft is rotationally coupled to the second output member of the second sub-transmission. The first output member is preferably rotationally coupled to the second input member. This interaction of the sub-transmissions without intermediate bearing elements results in a space-saving and lightweight transmission unit. Preferably, the input shaft and the output shaft are located on one axis.

[0056] According to one embodiment, the planetary gear transmission includes a first internal gear, a web having one or more planetary gears, and a second internal gear. Here, the planetary gears are implemented as multi-stage planetary gears and have a first side and a second side, the first side engaging with the first internal gear and the second side engaging with the second internal gear. Here, the web is coupled to the drive of the clamping system. The first internal gear is non-rotatably coupled to the base body. The second internal gear represents the driven member of the planetary gear transmission and is coupled to the jaws.

[0057] Another advantageous embodiment includes a first internal gear, a web having one or more planetary gears, and a second internal gear. Here, the planetary gears have the same tooth profile on the first side and the second side, the first side engaging with the first internal gear and the second side engaging with the second internal gear. Since the first internal gear and the second internal gear have different numbers of teeth, the same pitch diameter between the internal gear and the planetary gear can be achieved by profile modification of the gears. This embodiment enables more cost-effective manufacture of the planetary gears. Here, it has proven advantageous that the internal gear has a number of teeth in the range from 35 to 55 teeth, in particular in the range from 43 to 46 teeth, and the planetary gear has a number of teeth in the range from 10 to 20 teeth, in particular in the range from 12 to 15 teeth.

[0058] Alternatively advantageously in this embodiment, only one planetary gear is changed. As the size of this one planetary gear increases, the planetary gear extends beyond the rotational axis of the central gear. In this case, an eccentric gear transmission or an Akbar transmission is being discussed. Here, the planetary gear can be implemented as a multi-stage planetary gear or have a continuous tooth profile.

[0059] According to a preferred embodiment, the transmission can also be implemented as a reduction planetary gear coupling transmission. Here, the first sun gear is used as the input member, and the first sun gear engages with one or more planetary gears. The planet carrier can be used for the planetary gears. Since no power is transmitted via the planet carrier, the planet carrier is not necessary and can also be omitted for cost reasons. The planetary gears engage with two internal gears. The first internal gear is fixed to the base, and the second internal gear represents the follower. Here, it is advantageous that the planetary gears have continuously identical tooth profiles, and the difference in the number of teeth of the internal gears is achieved by different profile modifications. It is also conceivable that the planetary gears have two different tooth profiles, one of which engages with the first internal gear and the other engages with the second internal gear. This arrangement is also known as the Wolfrom transmission. It has been proven advantageous that the internal gears have a number of teeth in the range of 35 to 55 teeth, especially in the range of 43 to 46 teeth, and / or the planetary gears have a number of teeth in the range of 10 to 20 teeth, especially in the range of 12 to 15 teeth, and / or the sun gear has a number of teeth in the range of 12 to 25 teeth, especially in the range of 14 to 20 teeth. This preferred embodiment has the advantage of providing a higher overall transmission ratio with fewer components and less structural space. Thereby, the power density is increased, which makes the final product smaller. Here, the requirements for automatic locking are met, which has especially been a challenge in the case of small transmissions.

[0060] The transmission unit is preferably arranged in the base housing and / or the attachment housing.

[0061] According to another embodiment, the first sub-transmission includes a first planet carrier, at least one first planetary gear arranged on the first planet carrier, and a first internal gear and a second internal gear. It is conceivable that the first input member is formed by the first planet carrier. It is also conceivable that the first output member is formed by the second internal gear. Preferably, the first planetary gears have two different tooth profiles. The second sub-transmission can include a second sun gear, a second planet carrier, at least one second planetary gear arranged on the second planet carrier, and a third internal gear. The second input member can be formed by the second sun gear. The second output member can be formed by the third internal gear. It is also advantageous that the base housing forms and / or fixes the first internal gear and the second planet carrier. In this case, the first internal gear and the second planet carrier are fixed relative to the base housing.

[0062] One advantageous improvement provides that the clamping or gripping device has a clamping force holding device for holding the clamping force at at least one jaw element. Thus, position holding can be achieved by means of a closed planetary gear transmission and clamping force holding can be achieved by means of the clamping force holding device. The interaction of the closed planetary gear transmission and the clamping force holding device represents the best fallback position in case of a drive failure. Advantageously, in addition to the clamping force holding device, a position holding device is provided, in particular a position holding device in the form of a brake and / or a clamping / braking mechanism.

[0063] The clamping force holding device is preferably configured as a spring device, in particular an arc spring clutch. The arc spring clutch preferably couples the input shaft and the output shaft, wherein, in particular, power is transmitted from the input shaft via the arc spring clutch to the output shaft. The arc spring clutch preferably extends along the transmission axis and / or is preferably arranged between the input shaft and the output shaft of the closed planetary gear transmission along the transmission axis. For this purpose, the input shaft and / or the output shaft and / or the arc spring clutch can be arranged coaxially with the transmission axis. The arc spring clutch is preferably rotatably supported in the base housing or the attached housing. Alternatively, it is conceivable that the input shaft and the output shaft are arranged offset from each other perpendicular to the transmission axis. In this case, the arc spring clutch can be arranged coaxially with the input shaft or the output shaft, or can be arranged offset from the input shaft and the output shaft perpendicular to the transmission axis. In all arrangements, power transmission between the input shaft and the output shaft via at least one arc spring clutch is preferably carried out.

[0064] The associated advantage is that, due to the flexibility introduced into the drive train by the arc spring clutch, as lossless as possible clamping force holding can be achieved, and the pulse force or the pulse force peak that damages the clamping or gripping device is reduced by means of the arc spring clutch. As lossless as possible clamping force holding can be understood as that at least 70%, in particular at least 80%, preferably at least 90%, preferably at least 95% of the clamping force introduced by the drive is retained and the drop in the clamping force is very small.

[0065] As an alternative to the arc spring clutch, a jaw clutch with a damped elastic tooth ring, a clutch with a compression or tension spring, a clutch with a helical spring or a clutch with a helical torsion spring can also be used as the clamping force holding device and / or the clutch.

[0066] Compared with a jaw clutch having an elastic plastic element, the arc spring clutch has a linear behavior, greater flexibility, higher fatigue strength at the same flexibility, less wear, and less damage to the behavior and aging by temperature and humidity. Compared with a clutch having a straight compression spring or a tension spring, a greater rotation angle can be achieved with the arc spring in the same structural space. Compared with a clutch having a helical spring, a higher spring stiffness can be achieved in the same structural space. Compared with a clutch having a helical torsion spring, a smaller axial structural space is required. Therefore, a higher power density is achieved.

[0067] One advantageous configuration of the invention provides that the arc spring clutch has a lower housing rotatably supported in a basic housing or an attachment housing (hereinafter both are referred to as the housing), an upper housing configured to be separated from the lower housing, and at least one arc spring. The arc spring can alternatively be replaced by a straight helical compression spring that is arc-shaped deformed by being installed in the lower housing and / or the upper housing. The lower housing and the upper housing can preferably rotate relative to each other in the installed state. The lower housing is rotatably supported in the housing and / or the upper housing. The upper housing is rotatably supported in the housing and / or the lower housing. At least one arc spring is compressed during the relative rotational movement between the lower housing and the upper housing. This structure represents a fast, easy-to-manufacture, and installable arc spring clutch. The arc spring absorbs the destructive impulse force and also, due to its high flexibility, enables a clamping force retention with as little loss as possible in terms of the setting behavior during clamping and backlash in the drive train. Therefore, the clamping force can be retained with as little loss as possible when clamping a clamped workpiece, and workpiece loss can be prevented, where the clamped workpiece is re-oriented after the original clamping between the jaws is released. Therefore, the permanently energized drive or the "post-energization" solution known from the prior art is thus redundant. For example, in combination with an automatic locking transmission, the gripper drive can be disconnected during workpiece transportation.

[0068] Advantageously, the lower housing has in particular an annular bearing inner ring and in particular an annular bearing outer ring. The bearing inner ring is preferably arranged radially internally relative to the transmission axis and / or the bearing outer ring in the installed state, and / or the bearing outer ring is preferably arranged radially externally relative to the transmission axis and / or the bearing inner ring in the installed state. In addition, the lower housing preferably has a housing bottom, where the bearing inner ring and the bearing outer ring are arranged. The bearing inner ring and the bearing outer ring preferably protrude relative to the housing bottom parallel to the transmission axis in the installed state.

[0069] The inner bearing ring and the outer bearing ring, and in particular the bottom of the housing, preferably delimit a spring receiving portion, which is in particular pitch-circular or in particular circular, for receiving at least one arcuate spring. The arcuate spring is preferably arranged in the spring receiving portion and / or is arranged radially between the inner bearing ring and the outer bearing ring with respect to the transmission axis. The spring receiving portion provides a secure support for the arcuate spring in the arcuate spring clutch, in particular in the lower housing, so that the arcuate spring does not collide with the interfering tooth profile during compression or reverse deformation and does not rub against the transmission housing, which rotates relatively quickly with respect to the arcuate spring portion.

[0070] The arcuate spring preferably extends along a spring axis, wherein the spring axis extends along the circumference of a circle or a pitch circle.

[0071] It is also advantageous that the lower housing has at least one drive web, which interacts with at least one arcuate spring such that the arcuate spring can be rotated about the transmission axis by means of the at least one drive web. Here, the rotation of the lower housing preferably causes the rotation of the arcuate spring.

[0072] Preferably, the upper housing has at least one clutch web. In addition, the upper housing preferably has a housing cover. The clutch web is preferably arranged at the housing cover and / or projects parallel to the transmission axis relative to the housing cover in the mounted state. The at least one clutch web interacts with the arcuate spring such that the upper housing can be driven by means of the lower housing and / or at least one arcuate spring. Thus, when no opposing torque acts on the upper housing, the rotation of the lower housing preferably causes the rotation of the arcuate spring and further causes the rotation of the upper housing. When, for example, the lower housing rotates due to the object clamped between the jaws and the upper housing is fixed, the at least one arcuate spring is compressed by means of the drive web and the clutch web.

[0073] Another advantageous refinement of the invention provides that at least one inner drive web is arranged at the inner bearing ring and an outer drive web is arranged at the outer bearing ring. The inner drive web and / or the outer drive web preferably extend into the spring receiving portion. The inner drive web and / or the outer drive web preferably face each other and / or are arranged in the same angular position with respect to the transmission axis in the mounted state of the arcuate spring and in the unloaded state of the spring. Preferably, in the mounted and unloaded state of the spring, at least one clutch web is located in the intermediate space between the inner drive web and the outer drive web. This also preferably applies when the arcuate spring is loaded by biasing. The clutch web preferably intersects the spring axis of the at least one arcuate spring. The provision of the inner drive web and the outer drive web requires the arcuate spring to be firmly supported in the spring receiving portion. In addition, the clutch web acts centrally on the arcuate spring. Thus, a uniform force flow is ensured during the force transmission between the lower housing and the arcuate spring and between the arcuate spring and the upper housing.

[0074] Alternatively, it is conceivable that the upper housing has an inner bearing ring, an outer bearing ring, and a drive web, and the lower housing has a clutch web, wherein at least one arc spring is arranged in a spring receiving portion of the upper housing.

[0075] Another advantageous configuration of the invention provides that the arc spring clutch has two arc springs. Here, the lower housing preferably provides two pairs, each pair having an inner drive web and an outer drive web. In addition, the upper housing preferably has two clutch webs. Thus, a pair of drive webs and a clutch web are respectively arranged between the two arc springs. The pair of drive webs and / or the clutch web enclose an angle between 160° and 200°, especially between 170° and 190°, preferably 180° relative to the transmission axis. For example, this occurs when the two arc springs have the same spring length. Especially in the case where the rotation angle to be achieved is small, it would make sense to provide a drive web and a clutch web for each spring respectively, and then the drive web and the clutch web can be arranged relative to each other at an angle less than 180°.

[0076] Advantageously, the lower housing is configured as a sleeve and has a central opening. In addition, advantageously, the upper housing has a pin that protrudes especially relative to the housing cover and / or the drive web. Preferably, the pin engages in the central opening of the lower housing in the installed state. In addition, advantageously, the pin is configured as hollow and can thus receive drive or transmission elements. Therefore, the drive unit can be constructed more flat axially. The cavities and / or pins in the upper housing and / or the lower housing can also be configured as grease reservoirs.

[0077] It is also advantageous that the arc spring clutch, especially the lower housing and / or the upper housing, is rotatably supported in the housing in a sliding manner. This is accompanied by a simple and low-maintenance support of the arc spring clutch.

[0078] Preferably, the upper housing and the output shaft are rotationally coupled to each other. Thus, the rotation of the upper housing directly causes the rotation of the output shaft. Subsequently, the jaws are further supported so that an object can be clamped or held by a clamping or gripping device. Preferably, the arc spring clutch is arranged between the second output member of the second sub-transmission and the output shaft.

[0079] It is also advantageous that the lower housing is rotationally coupled to the second output member of the second sub-transmission.

[0080] As an alternative clamping force holding device, magnetic, hydraulic or pneumatic brakes and / or friction devices and / or clamping devices and / or elastomeric devices can also be used.

[0081] The clamping force holding device can preferably have a translational elastic device and / or a rotational elastic device configured to be separated from the translational elastic device. The elastic device can be configured as a spring device and / or an elastomer device. Thereby, the inevitably occurring transmission and clutch clearances as well as the system-inherent flexibility can be compensated by an adjustable elasticity in the slave system and thereby a controlled clamping force holding can be generated. As the rotational elastic device, a spring device, in particular an arc spring, and / or an elastomer device can be provided. As the translational elastic device, a spring device and / or an elastomer device can be provided. The translational elastic device and the rotational elastic device are preferably arranged spaced apart from each other. Preferably, the translational elastic device is arranged in the guide assembly of the synchronizing pinion and / or in the rack tooth profile of the jaw element.

[0082] Due to the characteristics or targeted design of the elastic / spring element, the kinetic energy in the slave system can be reduced to a greater extent. Thereby, the clamping pulses that may occur during operation and may be higher than the original clamping force can be limited to a predetermined range. Due to the targeted elastic design in the system, the kinetic energy is converted into spring energy. In the case of workpiece loss, the elasticity (mechanical spring) relaxes, causing the fixed jaw element to move in the axial direction. This movement is preferably recognized by a stroke measuring system and can be used for workpiece loss recognition in the control of the gripper.

[0083] In the first embodiment, the rotational elastic device is configured as an arc spring, and the translational elastic device is configured as a mechanical spring, in particular a mechanical spring made of plastic or metal. Due to the combination of two adjustable additional elasticities, the influence on the force curve is achieved by two feasible solutions for clamping force holding in a large range. Therefore, the adaptability and behavior of the electromechanical gripper are significantly improved. In addition, a larger spring stroke can be achieved, which enables a reduction in clamping pulses and workpiece loss recognition. Furthermore, by targeted adjustment of the characteristics of the spring element, the force curve (operating point) can be changed in a larger range.

[0084] In the second embodiment, a translational elastic device in the form of an elastomer element, in particular a translational elastic device made of plastic or metal, is provided, and no rotational elastic device is provided. Compared with the first embodiment, the possibility of elastic adjustability is lower because only the clamping force holding elastic device is used. This is accompanied by the advantages of a compact structural form, simplified interchangeability, and installation of the clamping force holding device.

[0085] In the third embodiment, a translational elastic device in the form of a mechanical spring, in particular a translational elastic device made of plastic or metal, is provided, and a rotational elastic device is not provided. Compared with the first embodiment, the possibility of elastic adjustability is lower because only a clamping force retention type elastic device is used. This is accompanied by the advantage that a greater spring stroke can be achieved, thereby achieving a reduction in clamping pulses and workpiece loss identification.

[0086] In the fourth embodiment, a translational elastic device in the form of an elastomeric element, in particular a translational elastic device made of plastic or metal, and a rotational elastic device in the form of an arc spring are provided. Thereby, clamping pulses that may be higher than the original clamping force generated during operation can be limited to a predetermined range. Due to the targeted design of the elasticity in the system, kinetic energy is converted into spring energy. In the case of workpiece loss, the elasticity (mechanical spring) relaxes, causing the fixed jaw to move in the axial direction. This movement is preferably identified by a stroke measurement system and can be used for workpiece loss identification in the control of the gripper. In addition, a clamping force retention device that can be more easily installed and is more cost-effective compared to the first embodiment can be provided.

[0087] Advantageously, the clamping or holding device has a drive. The locking planetary gear transmission in the clamping or holding device enables a compact device while achieving a high clamping or holding force. The drive can be smaller and lighter than usual, which in turn saves structural space and weight. Due to the light weight and low energy consumption of the drive, industrial and installation equipment can be designed more efficiently. In addition, control cables, external mechanical and / or electronic devices are eliminated through automatic switching, thereby reducing complexity.

[0088] It is also advantageous that the clamping or holding device has an attachment housing configured to be separated from the base housing, and the drive and / or the locking planetary gear transmission are arranged in the attachment housing. When the locking planetary gear transmission is arranged in the attachment housing, the implementation of the transmission components for forming or fixing the first and second transmission stages is correspondingly also applicable to the attachment housing. Alternatively, the drive is arranged in the attachment housing and the locking planetary gear transmission is arranged in the base housing.

[0089] The object on which the present invention is based is also achieved by a transmission assembly for a clamping or holding device, wherein the transmission assembly has: the transmission unit, in particular a transmission unit having one or more of the above-mentioned features; and an arc spring clutch, in particular an arc spring clutch having one or more of the above-mentioned features.

[0090] Further details and advantageous design options of the present invention can be obtained in the following description, based on which embodiments of the present invention are further described and explained. Description of the Drawings

[0091] Figure 1 Shows a cross-sectional view of a clamping or gripping device having an automatically locking planetary gear transmission and an arc spring clutch; Figure 2 Shows according to Figure 1 a cross-sectional view of a planetary gear transmission; Figure 3 Shows according to Figure 2 a perspective bottom view of a planetary gear transmission; Figures 4 to 8 Shows the gear arrangement of a planetary gear transmission in different embodiments; Figure 9 Shows according to Figure 1 a schematic top view of an arc spring clutch; Figure 10 Shows according to Figure 9 a schematic bottom view of an arc spring clutch; Figure 11 Shows according to Figure 9 a side cross-sectional view of an arc spring clutch; Figure 12 Shows according to Figure 9 a top cross-sectional view of an arc spring clutch; and Figures 13 to 16 Shows cross-sectional views of a clamping or gripping device having a clamping force holding device according to Figure 1 in four embodiments. Detailed Description of the Invention

[0092] Figure 1 Shows a clamping and / or gripping device 10 for gripping an object (not shown), having two jaw elements which are linearly movable in a base housing 12 between a closed position and an open position.

[0093] To drive the jaw elements 14, the clamping and / or gripping device 10 has a drive 16, which can be actuated, for example, electrically, pneumatically or manually. Arranged between the drive 16 and the jaw elements 14 is a transmission unit 18 configured as an automatically locking planetary gear transmission 18A, which extends along a transmission axis 20. The transmission unit 18 is arranged in an attachment housing 22, where the attachment housing 2 is preferably flange-connected to the base housing 12. Alternatively, it is conceivable that the transmission unit 18 is arranged in the base housing 12. The drive 16 is arranged on Figure 1 the attachment housing 22. Alternatively, the drive 16 can also be arranged in the attachment housing 22 or in the base housing 12.

[0094] According to Figure 1, the transmission unit 18 has an input shaft 24 that extends along the transmission axis 20 and is rotatably supported in the accessory housing 22. The input shaft 24 can be movably coupled to the drive shaft 26 of the driver 16. Alternatively, the drive shaft 26 of the driver 16 forms the input shaft 24. The transmission unit 18 also has an output shaft 28 that extends along the transmission axis 20 and is rotatably supported in the base housing 12 and / or the attachment housing 22. The output shaft 28 is movably coupled to the jaw element 14 by means of a synchronizing pinion 30. The synchronizing pinion 30 interacts with a rack tooth profile 31 provided on the jaw element 14. Once the input shaft 24 starts to rotate, the output shaft 28 rotates synchronously in the same rotational direction.

[0095] The input shaft 24 and the output shaft 28 rotate at different rotational speeds. Depending on the number of teeth, the input shaft 24 and the output shaft 28 rotate in the same or opposite rotational directions relative to the transmission axis 20. The input torque DE is multiplied by the transmission unit 18 such that the jaw element 14 can be moved with an increased force by an output torque DA that is increased compared to the input torque DE. The rotational direction can be executed either in the clockwise direction or in the counterclockwise direction.

[0096] As can be seen in Figures 1 to 3 , the transmission unit 18 includes a first internal gear H1, a sun gear S1, a first planetary gear P1 arranged on a first planetary gear carrier T1, and a second internal gear H2. The first sun gear S1 is coupled to the input shaft 24 and forms a first input member E1. Preferably, three planetary gears P1 are provided; however, different numbers are also conceivable. Each of the planetary gears P1 has a first planetary gear segment 32 and a second planetary gear segment 34, which are designed the same in this embodiment; however, different numbers of teeth and / or diameters can be conceived for the planetary gear segments 32, 34. The first planetary gear segment 32 engages with the first internal gear H1, and the second planetary gear segment 34 engages with the second internal gear H2. The second internal gear H2 forms a first output member A1 and is coupled to the output shaft 28 by means of an arc spring clutch 102. The first internal gear H1 is non-rotatably coupled to the base housing 12 and / or the attachment housing 22. It is also conceivable that the base housing 12 / or the attachment housing 22 forms the first internal gear H1. The attachment housing 22 is closed by a housing cover 36, wherein the housing cover 36 is screwed to the attachment housing 22. The first planetary gear carrier T1 is preferably rotatably arranged on the housing cover 36, wherein the planetary gear carrier T1 can rotate around the transmission axis 20 independently of the housing cover 36. For this purpose, a bearing can be provided between the housing cover 36 and the first planetary gear carrier T1.

[0097] At least one component of the transmission unit 18 is fixed such that the input torque DE is converted into a higher output torque DA. Here, relative movement occurs between the various components of the transmission unit 18. In accordance with Figures 1 to 3 In the embodiment according to, the first internal gear H1 is fixed against rotation relative to the attachment housing 22.

[0098] When the first internal gear H1 is connected against rotation to the attachment housing 22, the components of the transmission unit 18 move as follows: The first sun gear S1 is driven by the input shaft 24, whereby the planet gear P1 is driven and runs together with the first planet gear segment 32 at the fixed first internal gear H1. The planet gear P1 rotates about its respective axis and executes a revolution movement about the transmission axis 20. Thereby, the second internal gear H2 is driven together with the second planet gear segment 34. The second internal gear H2 thus rotates very slowly against the direction of rotation of the input shaft 24 with a high torque. The second internal gear H2 preferably drives the output shaft 28 or a subsequent drive element.

[0099] In Figure 4 A transmission circuit diagram of another embodiment of the planetary gear transmission 18A is shown. Here, the planetary gear transmission 18A is a single-stage planetary gear transmission 18A with a positive fixed transmission ratio and an internal gear as the central gear. The planetary gear transmission 18A includes a first internal gear H1, a first planetary gear carrier T1 having one or more planet gears P1, and a second internal gear H2. Here, the planet gear P1 is implemented as a multi-stage planet gear and has a first planet gear segment 32 and a second planet gear segment 34, the first planet gear segment 32 engaging with the first internal gear H1 and the second planet gear segment 34 engaging with the second internal gear H2. Here, the planetary gear carrier T1 is coupled to the input shaft 24. The first internal gear 24 is coupled against rotation to the base housing 12 and / or the attachment housing 22. The second internal gear H2 represents the driven gear of the planetary gear transmission 18A and is coupled to the output shaft 28.

[0100] In Figure 5A transmission circuit diagram of another embodiment of the planetary gear transmission 18A is shown. Here, the planetary gear transmission 18A is a single-stage planetary gear transmission 18A having a positive fixed transmission ratio and external meshing cylindrical gears as central gears. The planetary gear transmission 18A includes a first sun gear S1, a first planetary gear carrier T1 having one or more planetary gears P1, and a second sun gear S2. Here, the planetary gear P1 is implemented as a multi-stage planetary gear and has a first planetary gear section 32 and a second planetary gear section 34, the first planetary gear section 32 engaging with the first sun gear S1, and the second planetary gear section 34 engaging with the second sun gear S2. Here, the sun gear is coupled to the input shaft 24. The second sun gear S2 represents the driven gear of the planetary gear transmission 18A and is coupled to the output shaft 28.

[0101] In Figure 6 is shown a transmission circuit diagram of an embodiment of the planetary gear transmission 18A according to Figure 1 Here, the planetary gear transmission 18A is a single-stage planetary gear transmission 18A having a positive fixed transmission ratio and two internal gears as central gears or a reduction planetary gear coupling transmission (Wolfrom transmission group). The planetary gear transmission 18A includes a sun gear S1, which is coupled to the planetary gear carrier T1. One or more planetary gears P1 are provided on the planetary gear carrier T1. In addition, a second internal gear H2 is provided. The planetary gear P1 has a first planetary gear section 32 and a second planetary gear section 34, the first planetary gear section 32 engaging with the first internal gear H1, and the second planetary gear section 34 engaging with the second internal gear H2, wherein the planetary gear sections 32, 34 have continuously identical tooth parts. Since the first internal gear H1 and the second internal gear H2 have different numbers of teeth, the same axle distance between the internal gears H1, H2 and the planetary gear P1 can be achieved by profile modification of the gears. It is also conceivable that the planetary gear P1 has two mutually different tooth parts, one of which engages with the first internal gear H1 and the other with the second internal gear H2. This arrangement is also referred to as a Wolfrom transmission. It has proven advantageous that the gears H1, H2 have a number of teeth in the range from 35 to 55 teeth, in particular in the range from 43 to 46 teeth, and / or the planetary gear P1 has a number of teeth in the range from 10 to 20 teeth, in particular in the range from 12 to 15 teeth, and / or the sun gear S1 has a number of teeth in the range from 12 to 25 teeth, in particular in the range from 14 to 20 teeth. This preferred embodiment has the advantage of providing a higher overall transmission ratio with fewer components and less structural space. Thereby, the power density is increased, which makes the final product smaller. Here, the requirements for automatic locking are met, which has especially been a challenge in the case of small transmissions.

[0102] Another embodiment of the planetary gear transmission 18A includes a first internal gear H1, a first planetary gear carrier T1 having one or more planetary gears P1, and a second internal gear H2. The planetary gear P1 has a first planetary gear segment 32 and a second planetary gear segment 34, the first planetary gear segment 32 being engaged with the first internal gear H1 and the second planetary gear segment 34 being engaged with the second internal gear H2, wherein the planetary gear segments 32, 34 have the same tooth profile. Since the first internal gear H1 and the second internal gear H2 have different numbers of teeth, the same axial pitch between the internal gears H1, H2 and the planetary gear P1 can be achieved by profile modification of the gears. This embodiment enables a more economical and efficient manufacture of the planetary gear P1. Here, it has proven advantageous that the gears H1, H2 have a number of teeth in the range from 35 to 55 teeth, in particular in the range from 43 to 46 teeth, and the planetary gear P1 has a number of teeth in the range from 10 to 20 teeth, in particular in the range from 12 to 15 teeth.

[0103] In Figure 7 a further advantageous variant of this embodiment is shown, in which preferably only one planetary gear P1 is used. As the size of this one planetary gear P1 increases, the planetary gear P1 extends beyond the rotational axis 20 of the central gear. In this case, an eccentric gear transmission or an Akbar transmission (Akbargetriebe) is being discussed. Here, the planetary gear P1 can be embodied as a multi-stage planetary gear or have a continuous tooth profile. Thus, a larger transmission ratio is achieved compared to the embodiment according to Figure 6 .

[0104] In Figure 8Another advantageous embodiment of the transmission unit 18 having a first sub-transmission G1 and a second sub-transmission G2 as a gear arrangement is shown. The first sub-transmission G1 includes a first planetary carrier T1, at least one first planetary gear P1, a first internal gear H1, and a second internal gear H2. The first sub-transmission G1 does not include a first sun gear. The second sub-transmission G2 includes a second planetary carrier T2, at least one second planetary gear P2, a second sun gear S2, and a third internal gear H3. The first planetary carrier T1 forms a first input member E1 and is coupled to the input shaft 24. The second internal gear H2 forms a first output member A1 and is coupled to the second sun gear S2. The sun gear S2 forms a second input member E2 of the second sub-transmission G2. The third internal gear H3 forms a second output member A2 and can be coupled to the output shaft 28. The first planetary gear P1 has a first planetary gear segment 32 and a second planetary gear segment 34, wherein the first planetary gear segment 32 interacts with the first internal gear H1, and the second planetary gear segment 34 interacts with the second internal gear H2. The planetary gear segments 32, 34 are shown in different ways, however, they can be designed to be the same, which is achieved by appropriately selecting the number of teeth and profile modification of the corresponding components H1, H2, and P1. The first internal gear H1 and the second planetary carrier T2 are preferably fixed relative to the base housing 12 and / or the attached housing 22. Thus, compared with the embodiment according to Figure 6 , a greater transmission ratio is achieved.

[0105] What all embodiments of the transmission unit 18 have in common is that the input shaft 24 and the output shaft 28 extend along the transmission axis 20, where the input shaft 24 and the output shaft 28 can be implemented as hollow in order to guide through, for example, sensor cables or other supply lines.

[0106] According to Figure 1 , the clamping or gripping device 10 further includes a clamping force holding device 100. According to Figures 9 to 12 , the clamping force holding device 100 is configured as an arc spring clutch 102. The clamping force holding at the jaw elements 14 can be achieved by means of the clamping force holding device 100. The combination of the self-locking planetary gear transmission 18A and the arc spring clutch 102 has the following advantages: Due to the flexibility introduced into the drive train by means of the arc spring clutch 02 and the non-reversibility of the self-locking planetary gear transmission 18A, a clamping force holding with as little loss as possible can be achieved; and the impulse force or impulse force peak that damages the clamping or gripping device 10 is reduced by means of the arc spring clutch 102.

[0107] The arc spring clutch 102 is preferably arranged between the second output member A2 and the output shaft 24, wherein the second output member A2 is rotationally coupled to the arc spring clutch 102.

[0108] According to Figures 9 to 12 , the arc spring clutch 102 has a lower housing 138 and an upper housing 140, wherein the lower housing 138 and the upper housing 140 are coupled to each other by means of two arc springs 142. The lower housing 138 is rotationally coupled to the second output member A2. The upper housing 140 is rotationally coupled to the output shaft 28.

[0109] When the second internal gear H2 forms the second output member, the second internal gear H2 is rotationally coupled to the arc spring clutch 102. For this purpose, the lower housing 138 has two driving members 139 facing the planetary gear transmission 18, and the two driving members 139 are engaged in two grooves 37 facing the arc spring clutch 30 of the second internal gear H2 in the installed state. This also applies to other transmission variants, where the grooves are arranged on the sun gear, the planetary gear or the planetary gear carrier.

[0110] According to Figure 11 and Figure 12 , the lower housing 138 has a housing bottom 144, a circular bearing inner ring 146 and a circular bearing outer ring 148, which together define a semi-annular spring receiving portion 150 for receiving the arc spring 142. In addition, according to Figure 12 , an inner driving web 152A is provided at the bearing inner ring 146 and an outer driving web 152B is provided at the bearing outer ring 148, respectively, at an angular interval of 180° from each other. The bearing inner ring 146, the bearing outer ring 148 and the driving webs 152A, 152B protrude relative to the housing bottom 144 parallel to the transmission axis 20.

[0111] The arc springs 142 extend respectively along a spring axis 154, which extends along a circumference or a pitch circumference around the transmission axis 20. The arc springs 142 are arranged in the spring receiving portion 150, slightly offset and supported at the inner driving web 152A and the outer driving web 152B respectively. The arc springs 142 reduce the force pulses or force peaks and also cause an almost lossless force retention on the jaw element 14 due to the flexibility. Figure 12

[0112] According to Figure 11 and Figure 12 , the upper housing 140 has a housing cover 156 and two clutch webs 158, wherein the clutch webs 158 are spaced at an angle of 180°. The housing cover 156 closes the spring receiving portion 150. The clutch webs 158 are arranged radially between the inner driving web 152A and the outer driving web 152B relative to the transmission axis 20 respectively. The clutch webs 158 are arranged in the intermediate space 153 between the inner driving web 152A and the outer driving web 152B in the installed and unloaded state of the spring. The clutch webs 158 are configured such that the clutch webs 158 intersect the spring axis 154. ​

[0113] The drive webs 152A, 152B interact with the arcuate spring 142 such that the arcuate spring 142 can be rotationally driven by means of the lower housing 138. The clutch web 158 interacts with the arcuate spring 142 such that the upper housing 140 can be rotationally driven by means of the arcuate spring 142.

[0114] The arcuate spring clutch 102 is configured such that when no load torque acts on the output shaft 28 or the upper housing 140, no relative rotational movement or only insignificant relative rotational movement occurs between the lower housing 138 and the arcuate spring 142 and / or between the lower housing 138 and the upper housing 140 when the lower housing 138 rotates about the transmission axis 20.

[0115] The arcuate spring clutch 102 is also configured such that when a load torque acts on the output shaft 28 or the upper housing 140, relative rotational movement occurs between the lower housing 138 and the arcuate spring 142 and / or between the lower housing 138 and the upper housing 140 when the lower housing 138 rotates about the transmission axis 20. In this case, the clutch web 158 moves out of the intermediate space between the drive webs 152A, 152B along the spring axis 154. Here, the arcuate spring 142 is compressed.

[0116] For force transmission between the output shaft 28 and the jaw elements 14, according to Figure 1 , at each jaw element 14 there is provided a jaw tooth portion 160 which interacts with the synchronizing pinion 30. The output shaft 28 and the synchronizing pinion 30 can be configured as a one-piece or as a multi-piece and rotationally rising type. The output shaft 28 is preferably arranged perpendicular to the transmission axis 20 between the two jaw elements 14.

[0117] Furthermore, according to Figures 10 to 12 , the lower housing 138 is configured as a sleeve and has a central opening 164 which, in the installed state, receives a pin 166 arranged at the upper housing 140 and extending along the transmission axis 20. The pin 166 is preferably configured as hollow such that transmission elements of the transmission unit 18, such as the input shaft 22 or the output member A2, can extend into the pin 166.

[0118] The pin 166 preferably extends along 360° about the transmission axis 20. Alternatively, according to Figure 12The pin 166 extends less than 320°, in particular less than 280°, preferably less than 240° and preferably less than 220°. Thus, the pin 166 forms a clearance 168 into which a rotation stop 170 arranged at the lower housing 138 extends. The rotation stop 170 is preferably formed in one piece with the lower housing 138. Advantageously, the rotation stop 170 cooperates with the pin 166 to further provide a sleeve-shaped groove. This interaction between the indexing ring circular pin 166 and the rotation stop 170 prevents the allowable spring travel of the arc spring 142 from being exceeded or the arc spring 142 from being impeded in its movement. The distance between the end of the rotation stop 170 and the pin 166 in the unloaded state is preferably in the range between 30° and 70°, preferably in the range between 40° and 60°, and preferably 50°. A particularly preferred embodiment of the invention provides that the pin 166 extends at an angle in the range between 150° and 110°, in particular in the range between 140° and 120°, and preferably 130°. Preferably, the rotation stop 170 extends at an angle in the range between 150° and 110°, in particular in the range between 140° and 120°, and preferably 130°. Advantageously, the rotation stop 170 extends at the same angle as the pin 166. Thus, the masses of the pin 166 and the rotation stop 170 are balanced and thus there is no imbalance. When the pin 166 and the rotation stop 170 each extend at an angle of 130° about the transmission axis 20, the lower housing 138 and the upper housing 140 can each rotate 50° in both rotational directions.

[0119] In Figures 13 to 16 FIGS. show a clamping device 10 with different embodiments of a clamping force holding device 100. The clamping force holding device 100 can preferably have a translational elastic device 104 and / or a rotational elastic device 106 configured separately from the translational elastic device 104. The elastic devices 104, 106 can be configured as spring devices and / or elastomeric devices. Thereby, the inevitably occurring transmission and clutch clearances and the system-inherent flexibility can be compensated by an adjustable elasticity in the slave system and thus a controlled clamping force holding can be generated. As the rotational elastic device 106, a spring device, in particular an arc spring 102, and / or an elastomeric device can be provided. As the translational elastic device 104, a spring device and / or an elastomeric device can be provided. The translational elastic device 104 and the rotational elastic device 106 are preferably arranged spaced apart from each other. Preferably, the translational elastic device 104 is arranged in the guide assembly of the synchromesh pinion 30 and / or in the rack profile 31 of the jaw element 14.

[0120] Due to the characteristics of the elastic / spring element or a targeted design, the kinetic energy in the follower system can be reduced to a greater extent. Thereby, the clamping pulses that may be higher than the original clamping force generated during operation can be restricted to a predetermined range. Due to the targeted elastic design in the system, the kinetic energy is converted into spring energy. In the case of workpiece loss, the elasticity (mechanical spring) is relaxed, so that the jaw element 14 moves in the axial direction. This movement is preferably recognized by a stroke measuring system and can be used for workpiece loss recognition in the control of the gripper.

[0121] In a first embodiment according to Figure 13 , the rotary elastic device 106 is configured as an arc spring 102, and the translational elastic device 104 is configured as a mechanical spring, in particular a mechanical spring made of plastic or metal. Due to the combination of two adjustable additional elasticities, the influence on the force curve is achieved by means of two feasible solutions for maintaining the clamping force within a large range. Therefore, the adaptability and behavior of the electromechanical gripper are significantly improved. In addition, a larger spring stroke can be achieved, which realizes a reduction in clamping pulses and workpiece loss recognition. Furthermore, by targeted adjustment of the characteristics of the spring element, the force curve (operating point) can be changed within a larger range.

[0122] In a second embodiment according to Figure 14 , a translational elastic device 104 in the form of an elastomeric element is provided, in particular a translational elastic device 104 made of plastic or metal, and no rotary elastic device is provided. Compared with the first embodiment, the possibility of elastic adjustability is lower because only the clamping force maintaining elastic device is used. This is accompanied by the advantages of a compact structural form of the clamping force maintaining device, simplified interchangeability, and installation.

[0123] In a third embodiment according to Figure 15 , a translational elastic device 104 in the form of a mechanical spring is provided, in particular a translational elastic device 104 made of plastic or metal, and no rotary elastic device is provided. Compared with the first embodiment, the possibility of elastic adjustability is lower because only the clamping force maintaining elastic device is used. The accompanying advantage is that a larger spring stroke can be achieved, thereby realizing a reduction in clamping pulses and workpiece loss recognition.

[0124] In a fourth embodiment according to Figure 16In the fourth embodiment, a translational elastic device 104 in the form of an elastomeric element, in particular a translational elastic device 104 made of plastic or metal, is provided, and a rotational elastic device 106 in the form of an arc spring 102 is provided. Thereby, the clamping pulses that may be higher than the original clamping force generated during operation can be limited to a predetermined range. Due to the targeted design of elasticity in the system, kinetic energy is converted into spring energy. In the case of workpiece loss, the elasticity (mechanical spring) relaxes, causing the fixed jaw to move in the axial direction. This movement is preferably recognized by a stroke measurement system and can be used for workpiece loss recognition in the control of the gripper. In addition, a clamping force holding device 100 that can be more easily installed and more cost-effective compared to the first embodiment can be provided.

Claims

1. A clamping or clamping device (10) comprising a base housing (12), at least one clamping jaw element (14) movably arranged in the base housing (12), and a transmission unit (18), wherein: The transmission unit (18) has an input shaft (24) and an output shaft (28), wherein the input shaft (24) is coupleable or coupled to the drive (16), and wherein the output shaft (28) is coupleable or coupled to the at least one clamping element (14), and wherein the transmission unit (18) is designed as a locking planetary gear transmission (18A).

2. The clamping or clamping device (10) according to claim 1, wherein: The planetary gear transmission (18A) is designed as a single-stage planetary gear transmission and / or a multi-stage planetary gear coupling transmission and / or a reduction planetary gear coupling transmission and / or a Wolfrom transmission.

3. The clamping or clamping device (10) according to claim 1 or 2, wherein: The planetary gear transmission (18A) comprises a first internal gear (H1), a second internal gear (H2) configured to be separated from the first internal gear (H1), and at least one planetary gear (P1), wherein the at least one planetary gear (P1) comprises a first planetary gear section (32) and a second planetary gear section (34), and wherein the first planetary gear section (32) interacts with the first internal gear (H1), and the second planetary gear section (34) interacts with the second internal gear (H2).

4. The clamping or clamping device (10) according to claim 3, wherein: The first internal gear (H1) and the second internal gear (H2) have different numbers of teeth, wherein the first planetary gear segment (32) and the second planetary gear segment (34) have the same toothing, and wherein the first internal gear (H1) and / or the second internal gear (H2) and / or the first planetary gear segment (32) and / or the second planetary gear segment (34) have a tooth profile displacement.

5. The clamping or clamping device (10) according to claim 3, wherein: The first internal gear (H1) and the second internal gear (H2) have different numbers of teeth, wherein the at least one planetary gear (P1) is designed as a multi-stage planetary gear, and the first planetary gear section (32) and the second planetary gear section (34) have different toothings.

6. A clamping or clamping device (10) according to any one of claims 3 to 5, wherein: The planetary gear transmission (18A) has a planetary gear carrier (T1) in addition to the first internal gear (H1), the second internal gear (H2) and the at least one planetary gear (P1), wherein the planetary gear carrier (T1) forms an input member (E1) and the second internal gear (H2) forms an output member (A1).

7. A clamping or clamping device (10) according to any one of claims 3 to 5, wherein: The planetary gear transmission (18A) has a sun gear (S1) and a planetary gear carrier (T1) in addition to the first internal gear (H1), the second internal gear (H2) and the at least one planetary gear (P1), wherein the sun gear (S1) forms an input member (E1) and the second internal gear (H2) forms an output member (A1).

8. A clamping or clamping device (10) according to any one of claims 3 to 7, wherein: The basic housing (12) forms and / or fixes the first hollow gear (H1).

9. The clamping or clamping device (10) according to claim 2, wherein: The planetary gear transmission (18A) has a first sun gear (S1), a second sun gear (S2) configured to be separated from the first sun gear (S1), and at least one planetary gear (P1), wherein the at least one planetary gear (P1) has a first planetary gear section (32) and a second planetary gear section (34), wherein the first planetary gear section (32) interacts with the first sun gear (S1) and the second planetary gear section (34) interacts with the second sun gear (S2), wherein the planetary gear sections (32, 34) have the same tooth section and tooth profile displacement or different tooth sections.

10. A clamping or clamping device (10) according to any one of the preceding claims, wherein: The first stage of the transmission unit (18) is formed by a first sub-transmission (G1) having a first input member (E1) and a first output member (A1), wherein the second stage of the planetary gear transmission is formed by a second sub-transmission (G2) having a second input member (E2) and a second output member (A2), wherein the input shaft (32) is rotationally coupled to the first input member (E1) of the first sub-transmission (G1), wherein the first output member (A1) of the first sub-transmission (G1) is rotationally coupled to the second input member (E2) of the second sub-transmission (G2), and wherein the second output member (A2) of the second sub-transmission (G2) is rotationally coupled to the output shaft (34).

11. The clamping or clamping device (10) according to claim 10, wherein: The first sub-transmission (G1) has a first planetary gear carrier (T1), at least one first planetary gear (P1), a first internal gear (H1) and a second internal gear (H2), wherein the second sub-transmission (G2) has a second planetary gear carrier (T2), at least one second planetary gear (P2), a second sun gear (S2) and a third internal gear (H3), wherein the first planetary gear carrier (T1) forms the first input member (E1), the second internal gear (H2) forms the first output member (A1), the second sun gear (S2) forms the second input member (E2), and the third internal gear (H3) forms the second output member (A2).

12. The clamping or clamping device (10) according to any of the preceding claims, further comprising clamping force maintaining means (100) for clamping force maintaining and / or position maintaining at the at least one clamping jaw element (14).

13. The clamping or clamping device (10) according to claim 12, wherein: The clamping force retaining device (100) is designed as a spring device, in particular an arc spring clutch (102), and / or a magnetic, hydraulic or pneumatic brake and / or a friction device and / or a clamping device and / or an elastomer device.

14. The clamping or clamping device (10) according to claim 13, wherein: The clamping force retaining device (100) comprises a translational elastic device and a rotational elastic device which is configured to be separated from the translational elastic device.

15. The clamping or clamping device (10) according to any one of the preceding claims, further comprising position retaining means for retaining the position of the at least one clamping jaw element (14).

Images