Gear unit for a gripping or clamping device and gripping or clamping device

Abstract

Gear unit (30) for a gripping or clamping device (10), wherein the gear unit (30) is switchable between a rapid traverse and a power traverse and a gripping or clamping device (10).

Description

[0001] The invention relates to a gear unit for a gripping or clamping device comprising an input shaft and an output shaft. The input shaft can be coupled to or is coupled to a drive, and the output shaft can be coupled to or is coupled to at least one movable jaw element on which a gripping or clamping element can be arranged or which forms a gripping or clamping element. Furthermore, the gear unit is switchable between a rapid traverse and a power traverse. The invention also relates to a gripping or clamping device comprising a gear unit.

[0002] From EP 3 670 115 A1, a gripper device with a transmission module for transmitting torques is known, comprising a base, a first drive shaft, a second drive shaft parallel to it, a first output shaft, and a second output shaft, both of which are rotatable about a common axis. The drive shafts are arranged parallel to the common axis of the output shafts. A gear unit is provided, wherein the two drive shafts, the gear unit, and the first output shaft are rotatably mounted in the base, and the second output shaft is rotatably mounted in the first output shaft. The gear unit is designed such that a rotational movement of the first drive shaft results in a synchronous rotational movement of the two output shafts, and a rotational movement of the second drive shaft results in a relative rotational movement of the two output shafts.

[0003] DE 10 2006 006 966 A1 discloses a switching clutch for prostheses, in particular for prosthetic gripping devices, arm prostheses or hand prostheses, e.g. with a chassis on which at least one finger prosthesis is articulated, has a drive element, an output element and a switching device which switches between two gear stages depending on the torques applied to the output element.

[0004] German patent DE 10 2019 125 415 B4 discloses a gear unit for a gripping and clamping device that can be switched between rapid traverse and power traverse. The gear unit shown therein is designed as a planetary gear and includes elastically compliant elements that enable switching from rapid traverse to power traverse. Furthermore, a locking device is provided that prevents the gear unit from rotating backwards in power traverse mode under load. A particular disadvantage is the limited rotational travel of the input shaft relative to the output shaft in power traverse mode and the separately active locking device.

[0005] The present invention is based on the objective of providing a gear unit with a rapid traverse and a power traverse for a gripping or clamping device as well as a gripping or clamping device, with which the disadvantages of the prior art are overcome.

[0006] The problem is solved by a gear unit according to claim 1. The gear unit is designed as a planetary gear with a first and a second stage, arranged such that the input shaft moves synchronously with the output shaft during rapid traverse. The gear unit is arranged such that when a torque differential between the input and output shafts is exceeded, at least one component of the first stage and / or at least one component of the second stage locks into place. This locking action engages the gear unit in power mode.

[0007] A gear unit according to the invention has the particular advantage that a rapid traverse and a power traverse with a high gear ratio can be provided in a single gear unit. The power traverse requires only a low drive torque to drive the gear unit, thus enabling the use of smaller and more energy-efficient drives. Automatic switching to the power traverse and from the power traverse to the rapid traverse occurs at a differential torque between the input and output shafts, without requiring active intervention by control elements, as is the case in the prior art. Locking can occur in any position of the gear unit, eliminating the need for prior locking; only the differential torque is relevant for switching. To switch back from the power traverse to the rapid traverse, only the direction of rotation of the input shaft needs to be reversed.A multi-stage transmission, particularly a planetary gear set, allows for especially advantageous gear ratios between the output shaft and input shaft in the power transmission mode, while maintaining a compact installation space. Furthermore, there is no limitation on the rotational angle of the input shaft. The rapid traverse is preferably designed such that the input and output shafts are rotationally coupled and exhibit the same speeds and directions of rotation. This rapid traverse can be achieved, in particular, through internal friction within the transmission unit and / or in the individual sub-gearboxes. Therefore, in rapid traverse mode, there is preferably no or only minimal relative movement between the sub-gearboxes.

[0008] The first stage is formed by a first sub-transmission with a first input element and a first output element. The second stage is formed by a second sub-transmission with a second input element and a second output element. The input shaft is rotaryally coupled to the first input element of the first sub-transmission, and the output shaft is rotaryally coupled to the second output element of the second sub-transmission. The first output element is rotaryly coupled to the second input element. Such interaction of the sub-transmissions without intermediate bearings results in a space-saving and lightweight transmission unit. Preferably, the input shaft and the output shaft lie on the same axis.

[0009] According to a first embodiment, the first partial transmission can comprise a first sun gear, a first planet carrier, at least one first planet gear arranged on the first planet carrier, and a first ring gear. It is conceivable that the first input element is formed by the first sun gear and the first output element is formed by a second section of the first planet gear. Advantageously, the first planet gear has two different tooth configurations. This results in advantageous interaction between the partial transmissions.

[0010] The second sub-transmission could comprise a second sun gear, a second planet carrier, at least one second planet gear arranged on the second planet carrier, and a second ring gear. The second input element is preferably formed by the second ring gear, and the second output element is formed by the second sun gear.

[0011] It is conceivable that the first ring gear and the second planet carrier are fixed in the power transmission. By fixing the first ring gear and the second planet carrier, a gear ratio is provided for the power transmission.

[0012] The gear unit is preferably arranged in a gear housing. It is conceivable that the ring gear of the first sub-gearbox is coupled to the gear housing and / or that the ring gear forms at least a section of the gear housing. The second sub-gearbox could also be arranged in the gear housing. The gear housing could be designed as an encapsulated unit, which, if provided in a gripping or clamping device, is or can be arranged in a housing of the gripping or clamping device. The gear unit could be mounted in the housing in such a way that it is freely rotatable in rapid traverse mode and that, in power traverse mode, certain components of the gear unit are fixed against the housing.

[0013] It is conceivable that at least one switching element is provided for securing the second planet carrier and the first ring gear. The switching element preferably comprises: at least one locking element, in particular a clamping roller or several clamping rollers, at least one wedge section arranged on the second planet carrier and at least one drive section arranged on the first ring gear.

[0014] The gear unit is preferably arranged such that locking is achieved by a relative movement between the first ring gear and the second planet carrier. The at least one clamping roller is moved by the drive section against the at least one wedge section, and the wedge section presses the clamping roller against an area outside the gear unit, in particular the housing, so that the second planet carrier and the first ring gear are locked against the area outside the gear unit. In this way, an automatic switching capability of the gear unit from rapid traverse to power traverse is provided, which does not require manual operation, occupies a small installation space, and exhibits low complexity. Furthermore, locking by means of the switching element prevents the gear unit from rotating backwards.

[0015] According to a further embodiment, the first partial transmission could comprise a first sun gear, a first planet carrier, at least one first planet gear arranged on the first planet carrier, and a first ring gear. It is conceivable that the first input element is formed by the first planet carrier. It is further conceivable that the first output element is formed by the first ring gear.

[0016] The second sub-transmission could comprise a second planet carrier, at least one second planet gear mounted on the second planet carrier, a second ring gear, and a third ring gear. It is conceivable that the second input element is formed by the second planet carrier. It is further conceivable that the second output element is formed by the third ring gear.

[0017] The first sun gear and the second ring gear are preferably fixed in the power gear.

[0018] According to a further embodiment, the first partial transmission could comprise a first planet carrier, at least one first planet gear arranged on the first planet carrier, and a first ring gear and a second ring gear. It is conceivable that the first input element is formed by the first planet carrier. It is further conceivable that the first output element is formed by the second ring gear. Preferably, the first planet gear has two different tooth configurations.

[0019] The second sub-gearbox could comprise a second sun gear, a second planet carrier, at least one second planet gear mounted on the second planet carrier, and a third ring gear. The second input element could be formed by the second sun gear. The second output element could be formed by the third ring gear.

[0020] It is conceivable that the first ring gear and the second planet carrier are fixed in the power transmission.

[0021] According to a further embodiment of the transmission unit, the first sub-transmission could comprise a first planet carrier, at least one first planet gear arranged on the first planet carrier, and a first ring gear. Preferably, the first input element is formed by the first planet carrier. More preferably, the first output element is formed by a second section of the first planet gear. It is conceivable that the first planet gear has two different tooth configurations.

[0022] Preferably, the second partial transmission comprises a second sun gear, a second planet carrier, at least one second planet gear arranged on the second planet carrier, and a second ring gear. It is conceivable that the second input element is formed by the second ring gear. It is further conceivable that the second output element is formed by the second sun gear.

[0023] Preferably, the first ring gear and the second planet carrier are fixed in the power gear.

[0024] According to a further embodiment of the transmission unit, it is conceivable that the first sub-transmission comprises a first planet carrier, at least one first planet gear arranged on the first planet carrier, a first ring gear, and a first sun gear. Preferably, the first input element is formed by the first planet carrier. More preferably, the first output element is formed by the first sun gear.

[0025] The second sub-transmission could comprise a second planet carrier, at least one second planet gear arranged on the second planet carrier, and a second and third ring gear. It is conceivable that the second input element is formed by the second planet carrier. Preferably, the second output element is formed by the third ring gear. The second planet gear could have two different tooth configurations.

[0026] The first ring gear and the second ring gear could be locked in the power transmission.

[0027] The underlying problem is also solved by a gripping or clamping device with a drive and at least one movable jaw element, wherein a gear unit according to the invention is provided between the drive and the at least one jaw element. A gear unit according to the invention in a gripping or clamping device enables a compact device design while simultaneously providing high gripping or clamping forces. The drive can be smaller and lighter than usual, which in turn saves installation space and weight. Due to the low weight and a drive with reduced energy consumption, industrial and assembly systems can be designed more efficiently. Furthermore, automatic switching eliminates the need for control lines, external mechanics, and / or electronics, thereby reducing complexity.

[0028] The gripping or clamping device according to the invention could have a base housing in which the movable jaw element is provided and an attachment housing in which the drive and a gear unit according to the invention are provided.

[0029] It is conceivable that the gripping or clamping device has a base housing in which the movable jaw element and a gear unit according to the invention are provided. Preferably, the base housing forms a housing for the gear unit according to the invention.

[0030] A gear unit according to the invention and a gripping or clamping device enable higher gripping forces to be provided more easily and energy-efficiently with smaller units.

[0031] Further details and advantageous embodiments of the invention can be found in the following description, which provides further description and explanation of exemplary embodiments of the invention.

[0032] They show: Fig. 1: A gripping device; Fig. 2 to 5: the gripping device from Fig. 1 in different views as sectional views; Fig. 6: a top view into the gripping device according to Fig. 1; Fig. 7: a gear plan for a gear unit of the gripping device acc. Fig. 1 - 6; and Fig. 8 to 11: Various wheel designs of further embodiments.

[0033] Fig. Figure 1 shows a gripping device 10 with jaw elements 14, 16 arranged in a housing 12 so as to be movable relative to and relative to each other. Gripping elements 18, 20 can be arranged on the jaw elements 14, 16 to grip or handle objects. The jaw elements 14, 16 have teeth 22 that mesh with a pinion 24 to move the jaw elements 14, 16. The gripping device 10 also has a second housing 26 in which a gear unit 30 is arranged. However, it would also be conceivable to form the housings 12 and 26 as a single piece.

[0034] In Fig. Figure 2 shows a cross-section of the gripping device 10, revealing the gear unit 30 with an input shaft 32 and an output shaft 34. The input shaft 32 and the output shaft 34 lie on a central axis A of the gear unit. The gear unit 30 is designed as a multi-stage planetary gear unit; the gear unit 30 comprises a first sub-gear unit G1 and a second sub-gear unit G2.

[0035] The input shaft 32 of the gear unit 30 is driven by a drive mechanism not described in detail, which can be, for example, electric, pneumatic, or manual. As soon as the input shaft 32 is set into rotation, the output shaft 34 rotates synchronously in the same direction. The output shaft 34 is coupled to the pinion 24 and thus sets the jaw elements 14, 16 in motion.

[0036] The transmission unit 30 is designed such that as soon as a differential torque between an output torque DA at the output shaft 34 and an input torque DE at the input shaft 32 is exceeded, it switches to a power gear. This is the case, for example, as in Fig. Figure 2 shows the situation when the gripping elements 18, 20 or the jaw elements 14, 16 come into contact with a component B to be gripped or clamped. In the non-switched state, i.e., when the input shaft 32 and the output shaft 34 rotate synchronously with respect to their rotational speeds, the gear unit 30 is in rapid traverse mode.

[0037] In power mode, the input shaft 32 and the output shaft 34 rotate at different speeds, but still in the same direction of rotation with respect to the transmission's central axis A. The input torque DE is multiplied by the transmission unit 30 in power mode, so that the jaw elements 12, 14 and gripping elements 18, 20 can be moved with increased force due to an increased output torque DA compared to rapid traverse. The direction of rotation in power mode and rapid traverse, as well as the switching between the gears of the transmission unit 30, can be either clockwise or counterclockwise.

[0038] The structure and function of a possible embodiment of the gear unit 30 will be described using the following: Fig. 2 to 6 and the Fig. 7, the illustration of a wheel plan of the embodiment, will be explained.

[0039] The first sub-transmission G1 is in the Fig. 2 in longitudinal section and in the Fig. 3 and Fig. Figure 4 shows a cross-sectional view. The sub-gearbox G1 comprises a first sun gear S1, first planet gears P1 arranged on a first planet carrier T1, and a first ring gear H1. The sun gear S1 forms a first input element E1 and is coupled to the input shaft 32. Preferably, three planet gears P1 are arranged in the sub-gearbox G1; however, a different number is also conceivable. The planet gears P1 each have a first section 36 and a second section 38, which are identical in this embodiment; however, different numbers of teeth and / or diameters are conceivable for sections 36 and 38. The first section 36 engages with the ring gear H1, and the second section 38 engages with a second ring gear H2 of the second sub-gearbox G2. By engaging with the ring gear H2, the second section 38 forms a first output element A1 of the gearbox G1, as shown in Figure 4. Fig. 4 is shown.

[0040] The ring gear H1 is rotationally fixed to a gearbox housing 40 and a lower gearbox cover 42. The gearbox housing 40 is rotatably mounted about axis A within the housing 26. As shown, the ring gear H1 and the gearbox housing 40 can be formed integrally. The gearbox cover 42 is bolted to the gearbox housing 40; it is also conceivable to form the lower gearbox cover 42 integrally with the housing 40. The planet carrier T1 is rotatably mounted on the gearbox cover 42, allowing it to rotate independently about axis A. A bearing can be provided between the gearbox cover 42 and the planet carrier T1 for this purpose.

[0041] In Fig. 2 The sub-gearbox G2 is arranged above the sub-gearbox G1 in the gearbox housing 40. The sub-gearbox G2 comprises a second ring gear H2, second planet gears P2, which are arranged on a second planet carrier T2, and a second sun gear S2. A disk 44 lies between the first planet gears P1 and the second planet gears P2, which is designed to separate and support the planet gears P1 and P2. The second ring gear H2 forms a second input element E2 and the second sun gear S2 forms a second output element A2. The first input element E2 is coupled to the first output element A1 of the first sub-gearbox G1, and the second output element A2 is coupled to the output shaft 34. Based on the section in the Fig. As shown in Figure 5, the ring gear H2 is rotatably arranged in the gearbox housing 40.

[0042] In rapid traverse mode, there is no relative movement between the components of the sub-gearboxes G1 and G2; therefore, the entire gear unit 30, including the gear housing 40, rotates within the housing 26. The input torque DE is transmitted directly and unchanged from the input shaft 32 through the gear unit 30 to the output shaft 34 as an output torque DA of equal magnitude. The ratio of the rotational speeds of the input shaft 32 and the output shaft 34 is 1:1. This is achieved, for example, by the internal friction acting within the gear unit 30.

[0043] In power mode, at least one component of the gear unit 30 is fixed, so that the input torque DE is converted into a higher output torque DA. In power mode, relative movements occur between the individual components of the gear unit 30. In the embodiment according to the Fig. In sections 2 to 7, the first ring gear H1 and the second planet carrier T2 are fixed against rotation relative to the housing 26. A switching device 49 is provided for fixing the ring gear H1 and planet carrier T2; this device includes, in particular, clamping rollers 50 which are Fig. 2 and Fig. 6 are shown.

[0044] The view of Fig. 6 is located on an upper edge 52 of the housing 26, on which the housing 12 can be arranged. The second planet carrier T2 and the pinion 24 arranged on the output shaft 34 are also shown. For switching from rapid traverse to power traverse and locking by the switching device 49, the clamping rollers 50 are shown in the form of cylindrical rollers. The clamping rollers 50 interact with recesses 54 in the housing 40 as drive sections, wedge sections 56, and, section by section, with an inner wall 58 of the housing 26. In this embodiment, three clamping rollers 50 are shown, each interacting with a recess 54 and at least one wedge section 56; however, more or fewer clamping elements 50 are also conceivable. The clamping rollers 50 are each located between two opposing wedge sections 56.

[0045] The switching between rapid traverse and power traverse, and vice versa, occurs automatically and is torque-dependent, as previously described. Manual switching would also be conceivable, but is not shown.

[0046] Starting from the unshifted state in rapid traverse, the switching process to power traverse will be described. In rapid traverse, the entire gear unit 30 with the clamping rollers 50 is rotated in the housing to move the jaw elements 14, 16 quickly. As soon as the jaw elements 14, 16 or the gripping elements 18, 20 are as described in Fig. When the sun gear S2 comes into contact with a component B to be gripped, the torque DA at the output shaft 34 increases, and the sun gear S2 initially stops. The input shaft 32 continues to rotate until the internal friction of the gear unit 30 is overcome. It is advantageous if the internal friction of the first sub-gearbox G1 is higher than the internal friction of the second sub-gearbox G2. This results in opposing relative movements between the housing 40, to which the first ring gear H1 is coupled, and the second planet carrier T2. The housing 40 with the ring gear H1 rotates faster than the planet carrier T1. Due to the relative movement, the clamping rollers 50 are each engaged by the corresponding recess 54 of the housing 40 and pressed against the respective keyway section 56.Since the wedge sections 56 are ramp-shaped or wedge-shaped, the clamping rollers 50 are then forced radially outwards, i.e., away from axis A, against the inner surface 58 of the housing 26. This creates a frictional connection between the inner wall 58 and the respective switching element 50, as well as the respective wedge section 56, thereby securing the planet carrier T2. Due to the secured clamping elements 50, the housing 40 and the ring gear H1 can no longer rotate within the housing 26, as the housing 40 rests against the respective clamping element 50 with an inner surface 60 of the respective recess 54 of a drive section. The gear unit 30 is switched to the power gear. The described switching process can be carried out independently of the direction of rotation and without conversion due to the opposing arrangement of the wedge sections 56, as is the case, for example, when a tubular component is to be gripped from the inside.

[0047] When the gear unit 30 is in power gear and the first ring gear H1 with the gear 40 and the second planet carrier T2 are fixed against rotation relative to the housing 26, the components of the gear unit 30 move as follows:

[0048] The first sun gear S1 is driven by the input shaft 32, which in turn drives the planet gears P1. These gears run against the fixed first ring gear H1 with section 36. The planet gears P1 rotate about their respective axes and perform a rotational movement around axis A. This drives the second ring gear H2 with section 38. The second ring gear H2 rotates very slowly in the opposite direction to the rotation of the input shaft 32 with a high torque. The second ring gear H2, in turn, drives the second planet gears P2, which in turn drive the second sun gear S2. The second planet gears P2 rotate only about their own axes and do not move around axis A, since the planet carrier T2 is fixed. The direction of rotation of the ring gear H2 is reversed, so that the sun gear S2 has the same direction of rotation as the sun gear S1.

[0049] To switch from power traverse to rapid traverse, the direction of rotation of the input shaft 32 simply needs to be reversed relative to the direction of rotation in which the switch was made, thus releasing the clamping rollers 50. Active control for switching the gear unit 30 is not required.

[0050] The in Fig. Figure 7 of the gear diagram serves to clarify the preceding description of the first embodiment, showing the first planetary gears P1 with different sections 36 and 38. For cost reasons, these sections 36 and 38 are identical in the embodiment shown. Fig. 2-6 are identical, which is made possible by a suitable selection of the number of teeth and profile shifts of the ring gears H1, H2 and the planetary gears P1. The previously described switching device 49 is shown here in a highly simplified form.

[0051] In Fig. Figure 8 shows a second advantageous embodiment of the transmission unit 30, comprising a first sub-transmission G1.2 and a second sub-transmission G2.2, depicted as a gear diagram. Reference numerals used previously shall also apply here, insofar as this is possible with the preceding description. The first sub-transmission G1.2 comprises a first planet carrier T1.2, at least one first planet gear P1.2, and a first ring gear H1.2. The second sub-transmission G2.2 comprises a second planet carrier T2.2, at least one second planet gear P2.2, a second ring gear H2.2, and a third ring gear H3.2. The second sub-transmission G2.2 does not include a sun gear. The first planet carrier T1.2 forms a first input element E1 and is coupled to the input shaft 32. The first ring gear H1.2 forms a first output element A1 and is coupled to the second planet carrier T2.2. The second planet carrier T2.2 forms a second input element E2 of the second sub-gearbox G2.2.The third ring gear forms the second output element A2 and is coupled to the output shaft 34. The second planetary gear P2.2 has a first section 70 and a second section 72, wherein the first section 70 engages with the second ring gear H2.2 and the second section engages with the third ring gear H3.2. Sections 70 and 72 are shown differently but can be identical, which is made possible by a suitable selection of the number of teeth and profile shifts of the corresponding components H2.2, H3.2, and P2.2. The same applies to the rapid traverse as described for the first embodiment. In the power traverse, the first sun gear S1.2 and the second ring gear H2.2 are fixed by the switching device 49, with the switching process being torque-dependent and proceeding accordingly, as described above.

[0052] In Fig. Figure 9 shows a third advantageous embodiment of the transmission unit 30, comprising a first sub-transmission G1.3 and a second sub-transmission G2.3, depicted as a gear diagram. Reference numerals used previously shall also apply here, insofar as this is possible with the preceding description. The first sub-transmission G1.3 comprises a first planet carrier T1.3, at least one first planet gear P1.3, a first ring gear H1.3, and a second ring gear H2.3. A first sun gear is not included in the first sub-transmission G1.3. The second sub-transmission G2.3 comprises a second planet carrier T2.3, at least one second planet gear P2.3, and a third ring gear H3.3. The first planet carrier T1.3 forms a first input element E1 and is coupled to the input shaft 32. The second ring gear H2.3 forms a first output element A1 and is coupled to the second sun gear S2.3. The sun gear S2.3 forms a second input element E2 of the second sub-gearbox G2.3. The third ring gear is H3.3 forms the second output element A2 and is coupled to the output shaft 34. The first planet gear P1.3 has a first section 80 and a second section 82, wherein the first section 80 interacts with the first ring gear H1.3 and the second section interacts with the second ring gear H2.3. Sections 80 and 82 are shown differently but can be identical, which is made possible by a suitable selection of the number of teeth and profile shifts of the corresponding components H1.3, H2.3, and P1.3. The same applies to the rapid traverse as described for the first embodiment. In the power traverse, the first ring gear H1.3 and the second planet carrier T2.3 are fixed by the switching device 49, the switching process being torque-dependent as described above and proceeding accordingly.

[0053] In Fig. Figure 10 shows a fourth advantageous embodiment of the transmission unit 30, comprising a first sub-transmission G1.4 and a second sub-transmission G2.4, depicted as a gear diagram. Reference numerals used previously shall also apply here, insofar as this is possible with the preceding description. The first sub-transmission G1.4 comprises a first planet carrier T1.4, at least one first planet gear P1.4, and a first ring gear H1.4. A first sun gear is not included in the first sub-transmission G1.4. The second sub-transmission G2.4 comprises a second planet carrier T2.4, at least one second planet gear P2.4, a second sun gear S2.4, and a second ring gear H2.4. The first planet carrier T1.4 forms a first input element E1 and is coupled to the input shaft 32. The first planet gear P1.4 has a first section 90 and a second section 92. The second section 92 forms a first output element A1 and is coupled to the second ring gear H2.4.The second ring gear H2.4 forms a second input element E2. The second sun gear S2.4 forms a second output element A2 and is coupled to the output shaft 34. Sections 90 and 92 are shown differently but can be configured identically, which is made possible by a suitable selection of the number of teeth and profile shifts of the corresponding components H1.4, H2.4, and P1.4. The same applies to rapid traverse as described for the first embodiment. In power traverse, the first ring gear H1.4 and the second planet carrier T2.4 are fixed by the switching device 49, with the switching process being torque-dependent as described above and proceeding accordingly.

[0054] In Fig.Figure 11 shows a fifth advantageous embodiment of the gear unit 30 with a first sub-gearbox G1.5 and a second sub-gearbox G2.5 as a gear diagram. Reference numerals used previously shall also apply here, insofar as this is possible with the preceding description. The first sub-gearbox G1.5 comprises a first planet carrier T1.5, at least one first planet gear P1.5, a first ring gear H1.5, and a first sun gear S1.5. The second sub-gearbox G2.5 comprises a second planet carrier T2.5, at least one second planet gear P2.5, a second ring gear H2.5, and a third ring gear H3.5. The first planet carrier T1.5 forms a first input element E1 and is coupled to the input shaft 32. The first sun gear S1.5 forms a first output element A1 and is coupled to the second planet carrier T2.5. The second planet carrier T2.5 forms a second input element E2. The third ring gear H3.5 is also included.5 forms a second output element A2 and is coupled to the output shaft 34. The second planetary gear P2.5 has a first section 100 and a second section 102, wherein the first section 100 engages with the second ring gear H2.5 and the second section engages with the third ring gear H3.5. Sections 100 and 102 are shown differently but can be configured identically, which is made possible by a suitable selection of the number of teeth and profile shifts of the corresponding components H2.5, H3.5, and P1.5. The same applies to the rapid traverse as described for the first embodiment. In the power traverse, the first ring gear H1.5 and the second ring gear H2.5 are fixed by the switching device 49, the switching process being torque-dependent as described above and proceeding accordingly.

[0055] All embodiments of the gear unit 30 have in common that the input shaft 32 and output shaft 34 lie along an axis, and these can be hollow to allow, for example, sensor cables or other supply lines to pass through them.

Claims

[1] Gear unit (30) for a gripping or clamping device (10), with an input shaft (32) and an output shaft (34), wherein the input shaft (32) can be coupled or is coupled to a drive and wherein the output shaft (34) can be coupled or is coupled to at least one displaceably arranged jaw element (14, 16) on which a gripping or clamping element (18, 20) can be arranged or which forms a gripping or clamping element (18, 20), wherein the gear unit (30) can be switched between a rapid traverse and a power traverse, characterized bythat the transmission unit (30) is designed as a planetary transmission with a first and a second stage, wherein the arrangement is such that in rapid traverse the input shaft (32) moves synchronously with the output shaft (34), and wherein the arrangement is further such that when a differential torque between the input shaft (32) and the output shaft (34) is exceeded, at least one component of the first stage and / or at least one component of the second stage is locked, wherein the locking causes a shift into the power gear, and that the first stage is formed by a first partial transmission (G1) with a first input element (E1) and a first output element (A1), and that the second stage is formed by a second partial transmission (G2) with a second input element (E2) and a second output element (A2), wherein the input shaft (32) is rotationally coupled to the first input element (E1) of the first partial transmission (G1),wherein the output shaft (34) is rotationally coupled to the second output member (A2) of the second partial transmission (G2), wherein the first output member (A1) is rotationally coupled to the second input member (E2). [2] Gear unit (30) according to claim 1, characterized by in that the first partial transmission (G1) comprises a first sun gear (S1), a first planetary carrier (T1), at least one first planetary gear (P1) arranged on the first planetary carrier (T1), and a first ring gear (H1), wherein the first input member (E1) is formed by the first sun gear (S1), and wherein the first output member (A1) is formed by a section (38) of the first planetary gear (P1). [3] Gear unit (30) according to claim 2, characterized byin that the second partial transmission (G2) comprises a second sun gear (S2), a second planet carrier (T2), at least one second planetary gear (P2) arranged on the second planet carrier (T2), and a second ring gear (H2), wherein the second input member (E2) is formed by the second ring gear (H2), and wherein the second output member (A2) is formed by the second sun gear (S2). [4] Gear unit (30) according to claim 3, characterized by that the first ring gear (H1) and the second planet carrier (T2) are locked in the power gear. [5] Gear unit (30) according to one of claims 2 to 4, characterized by that the transmission unit (30) is arranged in a transmission housing (40), wherein the ring gear (H1) of the first partial transmission (G1) is coupled to the transmission housing (40) and / or the ring gear (H1) forms the transmission housing (40) at least in sections. [6] Gear unit (30) according to one of claims 4 to 5, characterized bythat at least one switching element is provided for fixing the second planet carrier (T2) and the first ring gear (H1), the switching element comprising: at least one locking body, in particular one clamping roller (50) or several clamping rollers (50), at least one wedge portion (56) arranged on the second planet carrier (T2), and at least one driver section arranged on the first ring gear (H1). [7] Gear unit (30) according to claim 6, characterized bythat the arrangement is such that the locking takes place by a relative movement between the first ring gear (H1) and the second planet carrier (T2), so that the at least one clamping roller (50) is moved by the driver section against the at least one wedge section (56) and the wedge section (56) presses the clamping roller (50) against an area lying outside the gear unit (30), so that the second planet carrier (T2) and the first ring gear (H1) are fixed against the area lying outside the gear unit (30). [8] Gear unit (30) according to claim 1, characterized bythat the first partial transmission (G1.2) comprises a first sun gear (S1.2), a first planet carrier (T1.2), at least one first planetary gear (P1.2) arranged on the first planet carrier (T1.2), and a first ring gear (H1.2), wherein the first input member (E1) is formed by the first planet carrier (T1.2), and wherein the first output member (A1) is formed by the first ring gear (H1.2). [9] Gear unit (30) according to claim 8, characterized by that the second partial transmission (G2.2) comprises a second planet carrier (T2.2), at least one second planet gear (P2.2) arranged on the second planet carrier (T2.2), a second ring gear (H2.2) and a third ring gear (H3.2), wherein the second input member (E2) is formed by the second planet carrier (T2.2), and wherein the second output member (A2) is formed by the third ring gear (H3.2). [10] Gear unit (30) according to claim 9, characterized bythat the first sun gear (S1.2) and the second ring gear (H2.2) are fixed in the power gear. [11] Gear unit (30) according to claim 1, characterized by that the first partial transmission (G1.3) comprises a first planetary carrier (T1.3), at least one first planetary gear (P1.3) arranged on the first planetary carrier (T1.3), and a first ring gear (H1.3) and a second ring gear (H2.3), wherein the first input member (E1) is formed by the first planetary carrier (T1.3), and wherein the first output member (A1) is formed by the second ring gear (H2.3). [12] Gear unit (30) according to claim 11, characterized byin that the second partial transmission (G2.3) comprises a second sun gear (S2.3), a second planet carrier (T2.3), at least one second planetary gear (P2.3) arranged on the second planet carrier (T2.3), and a third ring gear (H3.3), wherein the second input member (E2) is formed by the second sun gear (S2.3), and wherein the second output member (A2) is formed by the third ring gear (H3.3). [13] Gear unit (30) according to claim 12, characterized by that the first ring gear (H1.3) and the second planet carrier (T2.3) are locked in the power gear. [14] Gear unit (30) according to claim 1, characterized byin that the first partial transmission (G1.4) comprises a first planetary carrier (T1.4), at least one first planetary gear (P1.4) arranged on the first planetary carrier (T1.4), and a first ring gear (H1.4), wherein the first input member (E1) is formed by the first planetary carrier (T1.4), and wherein the first output member (A1) is formed by a second section (92) of the first planetary gear (P1.4). [15] Gear unit (30) according to claim 14, characterized by in that the second partial transmission (G2.4) comprises a second sun gear (S2.4), a second planet carrier (T2.4), at least one second planetary gear (P2.4) arranged on the second planet carrier (T2.4), and a second ring gear (H2.4), wherein the second input member (E2) is formed by the second ring gear (H2.4), and wherein the second output member (A2) is formed by the second sun gear (S2.4). [16] Gear unit (30) according to claim 15, characterized bythat the first ring gear (H1.4) and the second planet carrier (T2.4) are locked in the power gear. [17] Gear unit (30) according to claim 1, characterized by that the first partial transmission (G1.5) comprises a first planet carrier (T1.5), at least one first planet gear (P1.5) arranged on the first planet carrier (T1.5), a first ring gear (H1.5) and a first sun gear (S1.5), wherein the first input member (E1) is formed by the first planet carrier (T1.5), and wherein the first output member (A1) is formed by the first sun gear (S1.5). [18] Gear unit (30) according to claim 17, characterized bythat the second partial transmission (G2.5) comprises a second planet carrier (T2.5), at least one second planet gear (P2.5) arranged on the second planet carrier (T2.5), and a second ring gear (H2.5) and third ring gear (H3.5), wherein the second input member (E2) is formed by the second planet carrier (T2.5), and wherein the second output member (A2) is formed by the third ring gear (H3.5). [19] Gear unit (30) according to claim 18, characterized by that the first ring gear (H1.5) and the second ring gear (H2.5) are fixed in the power gear. [20] Gripping or clamping device (10) with a drive and at least one movable jaw element (14, 16), wherein a gear unit (30) according to one of claims 1 to 19 is provided between the drive and the at least one jaw element (14, 16). [21] Gripping or clamping device (10) according to claim 20, with a housing (12) in which the displaceably arranged jaw element (14, 16) is provided, and with a second housing (26) in which the drive and a gear unit (30) according to one of claims 1 to 19 are provided. [22] Gripping or clamping device (10) according to claim 21, wherein the housing (12) and the second housing (26) are formed in one piece.

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