Clamping or gripping device with integrated fluid drive

Abstract

The invention relates to a clamping and / or gripping device (10) comprising: - a base housing (12) with a central longitudinal axis (14), - a clamping element (16) mounted radially displaceable in the base housing (12) relative to the central longitudinal axis (14), - a fluid drive (26) for driving the at least one clamping element (16), wherein the fluid drive (26) is arranged in or on the base housing (12).

Description

[0001] The invention relates to a clamping and / or gripping device, in particular a chuck and / or a zero-point clamping module, for clamping and / or gripping components and / or component carriers.

[0002] Clamping systems driven by an external, particularly hydraulic or pneumatic, power source are known from the prior art. Such clamping systems require complex cabling to the clamping system, especially in multi-axis machining centers or systems. Furthermore, such clamping systems are subject to leakage losses and poor efficiency.

[0003] Electromechanical clamping systems are also known from the prior art, which comprise an electric motor with a downstream gearbox and a spindle drive. Such clamping systems have limited design flexibility, as the drive unit must always be positioned within the force flow of the clamping system.

[0004] The invention is based on the object of providing a clamping and / or gripping device which has a simple and flexible construction and low operating costs.

[0005] The object underlying the invention is achieved by an object having the features of claim 1. The clamping and / or gripping device comprises a base housing with a central longitudinal axis. For clamping and / or gripping, the component and / or the component carrier is preferably fed along the central longitudinal axis to the clamping and / or gripping device. The clamping and / or gripping device further comprises a clamping element, in particular a clamping jaw and / or gripping jaw, which is mounted in the base housing so as to be displaceable radially to the central longitudinal axis. Furthermore, the clamping and / or gripping device has a fluid drive for driving the at least one clamping element. The fluid drive of the clamping and / or gripping device is arranged in or on the base housing and / or is integrated in the base housing.

[0006] The advantage of a fluid drive integrated into the base housing is that there is no need for complex cabling between the system and the clamping and / or gripping device. Furthermore, it is highly efficient because there is no leakage at the transition between the system and the clamping and / or gripping device, thus achieving low operating costs. Furthermore, the proximity between the fluid drive and the at least one clamping element allows for more reliable and precise information about the clamping situation. Since the fluid drive does not have to be arranged in the force flow, this results in a high degree of flexibility in the design and integration of the fluid drive into the clamping and / or gripping device. Furthermore, the reaction force of the clamping force does not have to be absorbed by the fluid drive, so small bearings can be used for the fluid drive.A fluid drive arranged in or on the base housing provides an advantageous combination of a drive integrated in the clamping and / or gripping device and a drive arranged outside the power flow.

[0007] The clamping element is preferably formed separately from the base housing. The base housing preferably has a guide in which the clamping element is guided in a translational manner.

[0008] An advantageous embodiment of the invention provides that the fluid drive comprises an electric motor arranged in the base housing and / or a hydraulic pump arranged in the base housing. The hydraulic pump is preferably reversible and / or designed as a miniature hydraulic pump and / or as a gear pump. The integration of the motor and / or the hydraulic pump provides a self-contained assembly that can be easily integrated into existing machining centers or systems. Gear pumps enable a uniform fluid flow, high pressures, and simple maintenance. In addition, gear pumps are self-priming, meaning they can lift fluids and pump them against a pressure, have a compact design, allowing the clamping and / or gripping device to be particularly flat, and can also pump viscous fluids.

[0009] It is advantageous if the fluid drive is designed such that a change in the direction of rotation of the motor causes a change in the direction of displacement of the at least one clamping element. The direction of displacement of the at least one clamping element extends perpendicular to the central longitudinal axis, wherein the at least one clamping element is displaceable towards the central longitudinal axis into an inner position and away from the central longitudinal axis into an outer position. During internal gripping and / or internal clamping, the clamping element is in the closed position in the inner position and in the open position in the outer position. During external gripping and / or external clamping, the clamping element is in the closed position in the outer position and in the open position in the inner position.Such a design enables the opening (clamping element in the open position) and closing (clamping element in the closed position) of the clamping and / or gripping device and the limitation of the maximum pressure without the use of expensive and bulky valve technology, particularly solenoid-controlled directional control valves. Solenoid-controlled directional control valves require an additional electrical cable for control, which can be omitted here. To switch between opening and closing, the flow direction of the hydraulic pump and / or gear pump, especially the reversing one, must be reversed by reversing the motor rotation direction.

[0010] It is further advantageous if the clamping and / or gripping device has a pressure cylinder arranged in the base housing, wherein the pressure cylinder extends along a cylinder axis running perpendicular to the central longitudinal axis. The fluid drive preferably also has a pressure piston arranged in the pressure cylinder and mounted for displacement along the cylinder axis. The pressure piston is preferably displaceable parallel to the clamping elements. The pressure cylinder and the pressure piston preferably delimit a first pressure chamber to which a fluid pressure can be applied, and a second pressure chamber to which a fluid pressure can be applied. With respect to the central longitudinal axis, the first pressure chamber is preferably arranged radially outward and the second pressure chamber radially inward.During internal clamping and / or internal gripping, the first pressure chamber can be subjected to fluid pressure in order to move the at least one clamping element into the closed position, and the second pressure chamber can be subjected to fluid pressure in order to move the at least one clamping element into the open position. During external clamping and / or external gripping, the situation is reversed. A fluid drive of this type, in particular a cylinder-piston unit, has the advantages of providing high clamping and gripping force, high positioning accuracy, a simple design, and high resistance to harsh environmental conditions. Preferably, one pressure cylinder is provided for each clamping element or for each two clamping elements. Preferably, one pressure piston is provided for each clamping element.

[0011] Preferably, the fluid drive has a volume balance between the open position and the closed position, or between the first pressure chamber and the second pressure chamber, so that the same fluid volume needs to be provided in the first pressure chamber and the second pressure chamber to open and close the clamping elements. Accordingly, a compensating tank for compensating the volumes of the first pressure chamber and the second pressure chamber can be dispensed with.

[0012] It is also advantageous that by selecting the piston cross-section of the pressure piston, the level of the clamping force can be variably adjusted to the clamping device and / or that by selecting the hydraulic piston stroke of the pressure piston, the jaw stroke of the clamping elements can be variably adjusted.

[0013] Preferably, a fluid tank is provided in or on the base housing, which serves as a reservoir for the fluid of the fluid drive. An integrated fluid tank supports the integration of the fluid drive into the clamping or gripping device. Alternatively or additionally, the fluid drive has a closed fluid line system within the base housing. Therefore, external line connections are not required.

[0014] An advantageous development of the invention provides that the at least one pressure piston is directly coupled to the at least one clamping element. A high volume balance between the first pressure chamber and the second pressure chamber can also be achieved preferably by means of a rodless fluid drive. This is preferably possible by means of the direct coupling between the pressure piston and the clamping element. The piston movement along the cylinder axis and the movement of the clamping elements parallel to the cylinder axis run synchronously and / or parallel to the piston movement. The volumes between the opening and closing chambers are identical and therefore do not need to be balanced via an equalizing tank.Alternatively or additionally, the at least one pressure piston is coupled to at least one clamping element by means of a synchronization, in particular a synchronization means, preferably a rack-and-pinion mechanism and / or connecting rod synchronization, preferably a synchronization pinion. Alternatively, the synchronization can be achieved by means of a connecting rod. For this purpose, the at least one pressure piston has a rack profile that engages with the synchronization pinion during operation. When using multiple pressure pistons and / or multiple clamping elements, the movement of the pressure pistons or the clamping elements can be synchronized by means of the synchronization pinion. Furthermore, rack profiles can also be provided on the clamping elements, which engage with the synchronization pinion during operation.

[0015] It is advantageous if the clamping and / or gripping device has a system interface, in particular a purely electrical or electronic one, in the low-voltage range with a maximum input power of 100 W. The permissible voltage of the system interface is preferably in a range between 0-48 V DC, preferably 24 V DC. The permissible current is preferably in a range between 0-10 A, in particular 4 A. Due to the low input power and / or the only electrical supply, a particularly simple energy supply is possible, in particular by means of a contactless interface, preferably by means of induction.

[0016] It is further advantageous if the clamping and / or gripping device has a control unit arranged in or on the base housing for controlling and / or regulating the fluid drive and / or the at least one clamping element. The control unit can also be configured, additionally or alternatively, for communication with a higher-level control system and / or a system control system.

[0017] It is also advantageous if the clamping and / or gripping device is configured to collect and process information relating to the clamping or gripping situation, and to take this information into account when controlling and regulating the clamping and / or gripping device. The clamping and / or gripping device is preferably configured to control the fluid drive, in particular the motor, and / or its torque, speed, and direction of rotation. The clamping and / or gripping device is preferably configured to detect the fluid pressure in the clamping and / or gripping device. The clamping and / or gripping device is preferably configured to detect vibration during machining in the clamping and / or gripping device, in particular near or at the clamping or gripping point.

[0018] The clamping and / or gripping device preferably has a power booster or power amplifier arranged in or on the base housing for temporarily providing higher power to the fluid drive. The power booster can therefore provide additional power in addition to the power provided via the system interface. This allows, for example, the high clamping pressure to be built up. The power booster can preferably be designed as a capacitive or electromechanical dispenser. Furthermore, the power booster can have a voltage transformer, which in particular transforms the provided voltage to the motor of the fluid drive and / or temporarily provides a higher voltage for the motor.

[0019] An advantageous development of the invention provides that the clamping and / or gripping device has a sensor device arranged in or on the base housing with at least one pressure sensor for detecting the fluid pressure in the clamping and / or gripping device and / or with at least one vibration sensor for detecting shrinkage during machining of the clamping and / or gripping device and / or a position sensor arranged in or on the base housing. The sensor device preferably generates signals that are transmitted to the control unit. The control unit is preferably configured to control the fluid drive and / or the clamping elements depending on the signals from the sensor device.

[0020] A further advantageous development of the invention provides that the clamping and / or gripping device has a pressure booster arranged in or on the base housing for increasing the fluid pressure. The pressure booster preferably has a differential piston. A differential piston has two working surfaces of different sizes. The larger working surface of the differential piston is used to absorb a lower input pressure and transfer the resulting force to the smaller working surface of the pressure piston, which leads to a higher output pressure. It is advantageous if the differential piston is part of the pressure piston.

[0021] It is advantageous if the fluid drive can be operated in a rapid traverse and a power traverse. The hydraulic pump preferably provides a lower first fluid pressure, in particular in a range between 30 bar and 60 bar, at a maximum fluid flow rate. The hydraulic pump can be configured to be used only for the forceless movement of the pressure pistons and / or the clamping elements. The pressure booster, in particular the differential piston, is preferably connected downstream of the hydraulic pump and provides a higher second fluid pressure, in particular in a range between 180 bar and 250 bar, at a lower fluid flow rate. The combination of the hydraulic pump with the pressure booster thus serves to quickly move and forcefully close the pressure pistons and / or the clamping elements. Accordingly, a fluid drive, in particular a hydraulic pump, with a low power consumption, in particular less than 100 W, can be used.The fluid pressure is negatively proportional to the fluid flow rate, with the fluid pressure determining the clamping or gripping force of the clamping elements and / or the fluid flow rate determining the travel speed of the clamping elements and / or the pressure piston. Accordingly, only the hydraulic pump can be used for rapid traverse, and the hydraulic pump and pressure booster in combination can be used for power traverse. The fluid drive is preferably designed such that the pressure booster is only switched on when the fluid pressure is in a range of 30 bar to 60 bar. A pressure-controlled, passive valve, in particular a pressure sequence valve or pressure switching valve or sequence valve and / or check valve, is preferably provided to switch on the pressure booster. Alternatively, the valve can also be actively controlled, e.g. by means of current.

[0022] Alternatively, it is conceivable that in TANDEM clamping the clamping and / or gripping device can be operated at 60 bar in rapid and power mode without a pressure booster.

[0023] The object underlying the invention is also achieved by a clamping device according to claim 12. The clamping device serves to clamp a clamping element of a clamping and / or gripping device, in particular of a previously described clamping and / or gripping device. The clamping and / or gripping device has a pressure cylinder extending along a cylinder axis, in which a clamping ring and a pressure piston with a piston section that is displaceably mounted along the cylinder axis are arranged. The clamping ring is not movable relative to the pressure cylinder and has an annular bevel that runs obliquely relative to the cylinder axis. The clamping device comprises a first clamping element that is movable along the cylinder axis relative to the piston section and / or the clamping ring and has a first clamping bevel, wherein in particular the first clamping bevel runs obliquely to the cylinder axis.The clamping device further comprises a second clamping element which is movable along the cylinder axis relative to the piston section and / or the clamping ring and / or the first clamping element and has a second clamping bevel and a third clamping bevel. The second clamping bevel and / or the third clamping bevel preferably run obliquely to the cylinder axis. In addition, the clamping device comprises a clamping slide which is movable along the cylinder axis relative to the piston section and / or the clamping ring and / or the first clamping element and / or the second clamping element. In a clamped state, the at least one clamping element of the clamping and / or gripping device can be secured by means of the clamping device, in particular by means of the first clamping element and / or the second clamping element and / or the clamping ring. The clamping device can ensure that the position and / or gripping force of the clamping elements is fixed.

[0024] It is advantageous if the clamping device is designed such that, in the clamped state, the first clamping element can be acted upon and / or displaced towards the central longitudinal axis by means of a fluidic pressure in a first pressure chamber and / or the second clamping element can be acted upon and / or displaced away from the central longitudinal axis by means of the clamping slide. The clamping slide is preferably urged away from the central longitudinal axis by a spring means and / or the gripped component and / or component carrier. Due to the bidirectional mode of action of the clamping device, the clamping effect of the clamping device increases with increasing load on the clamping elements, so that the position maintenance and / or the gripping force maintenance also increases with increasing load until the components of the clamping device are destroyed.The clamping device is preferably configured such that, to release the clamped state of the clamping device, fluid pressure can be applied to a second pressure chamber. Thus, the first clamping element can be displaced away from the central longitudinal axis, and the clamping is released.

[0025] It is furthermore advantageous if the first clamping element is trapezoidal and / or the first clamping bevel is provided on an outer circumference of the first clamping element. It is furthermore advantageous if the second clamping element is hollow and / or the second clamping bevel is provided on an inner circumference of the second clamping element and the third clamping bevel is provided on an outer circumference of the second clamping element. It is furthermore advantageous if the clamping ring is hollow and / or the annular bevel is provided on an inner circumference of the clamping ring. In addition, it is advantageous if, when the clamping device is in a clamping state, the first clamping bevel comes into contact with the second clamping bevel and the third clamping bevel comes into contact with the annular bevel. Due to the two clamping points acting simultaneously in the clamping state, a particularly strong clamping effect can be achieved.

[0026] It is also advantageous if the clamping device is designed to be spring-loaded. Preferably, the clamping slide is preloaded away from the and / or the piston section toward and / or the first clamping element toward the central longitudinal axis by means of at least one spring. Accordingly, a clamping or gripping force can be applied to the clamping element without operating the fluid drive. Furthermore, vibration during operation can be compensated for by means of the spring.

[0027] An advantageous development provides that a previously described clamping and / or gripping device has a previously described clamping device. Accordingly, the disadvantage in hydraulic applications that when the fluid pressure drops, the clamping force is also reduced linearly, since most clamping elements are not mechanically self-locking, can be compensated for. Due to the integrated design of the fluid drive, no external power connections are possible in this regard. In this case, it is necessary to operate the fluid drive continuously, which is disadvantageous due to the energy consumption and heat generation in the clamping and / or gripping device. The clamping device provides a self-locking positive connection in which the position and the clamping or gripping force are maintained even when the fluid pressure is lost.It is advantageous if the clamping device is arranged in or on the base housing, in particular is integrated in the base housing.

[0028] The control unit is preferably configured to control and / or regulate the position and / or reaction force of the at least one clamping element. It is further advantageous if the clamping device is part of the pressure piston. It is further advantageous if the control unit is configured such that, in the clamped state, the power booster, in particular the capacity and / or the battery, are charged. Additionally or alternatively, the fluid drive, in particular the motor, can be switched off in the clamped state.

[0029] It is further advantageous if the clamping and / or gripping device has a plurality of clamping elements, wherein the plurality of clamping elements are mounted displaceably along a clamping plane. Preferably, the volume center of the clamping elements lies in the clamping plane. It is also advantageous if the fluid drive, in particular the motor and / or the hydraulic pump and / or the fluid tank and / or the control unit and / or the sensor device and / or the pressure amplifier and / or the power booster, lies in the clamping plane and / or intersects the clamping plane.

[0030] The clamping and / or gripping device preferably has two, three, four, or six clamping elements, which are arranged in a cross-shaped or star-shaped configuration. It is advantageous if the motor and / or the hydraulic pump and / or the fluid tank and / or the control unit and / or the sensor device and / or the pressure amplifier and / or the power booster are arranged in or on the base housing between two clamping elements.

[0031] The description further relates to a previously described clamping and / or gripping device with a power booster arranged in or on the base housing.

[0032] The description further relates to a previously described clamping and / or gripping device with a pressure amplifier arranged in or on the base housing.

[0033] The description further relates to a previously described clamping and / or gripping device with a clamping device arranged in or on the base housing.

[0034] The object underlying the invention is also achieved by a pressure piston with the features of claim 17. A pressure bolt for a clamping and / or gripping device, in particular as described above, with a piston section integrated in the pressure piston and either with a clamping device integrated in the pressure piston, in particular as described above, and / or with a pressure amplifier, in particular a differential piston, integrated in the pressure piston.

[0035] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are further described and explained.

[0036] They show: Fig. 1 a perspective view of a clamping and / or gripping device; Fig. 2 a top view of the clamping and / or gripping device according to Fig. 1 ; Fig. 3 a side view of the clamping and / or gripping device according to Fig. 1; Fig. 4 a side view of the clamping and / or gripping device according to Fig. 1 with a clamping pallet; Fig. 5 a sectional view of a hydraulic pump of the clamping and / or gripping device according to Fig. 1 ; Fig. 6 a front view of a control unit of the clamping and / or gripping device according to Fig. 1 ; Fig. 7 a detailed view in section of the control unit and the sensor device of the clamping and / or gripping device according to Fig. 1 ; Fig. 8 a top view of the clamping and / or gripping device according to Fig. 1 in an open position and in a release state; Fig. 9 a sectional view of the clamping and / or gripping device according to Fig. 8 ; Fig. 10 a top view of the clamping and / or gripping device according to Fig. 1 in a closed position and in a release state; Fig. 11 a sectional view of the clamping and / or gripping device according to Fig. 10 ; Fig. 12 a top view of the clamping and / or gripping device according to Fig. 1in a closed position and in a clamping state; and Fig. 13 a sectional view of the clamping and / or gripping device according to Fig. 13 .

[0037] In the Fig. 1 to 4 A clamping and / or gripping device 10 for clamping or gripping a component or component carrier (not shown) is shown, comprising a base housing 12 and a central longitudinal axis 14. Arranged in the base housing 12 are four clamping elements 16 that are mounted radially displaceably relative to the central longitudinal axis 14 and are preferably guided in a guide 13 for translational movement. The clamping and / or gripping device 10 can be designed as a clamping device, gripping device, chuck, or zero-point clamping module.

[0038] According to Fig. 4The clamping and / or gripping device 10 can be arranged on a machine table 20 of a machining center 22 or a machining system by means of a clamping pallet 18. For this purpose, the clamping pallet 18 has clamping bolts 24, which can be received in bolt receptacles (not shown) of the machine table 20, in particular in at least one zero-point clamping module (not shown).

[0039] The clamping and / or gripping device 10 has according to Fig. 2 a fluid drive 26 integrated into the base housing. The fluid drive 26 has an electric motor 28 and a hydraulic pump 30. The clamping elements 16 can be driven by means of the fluid drive 26.

[0040] According to Fig. 5the hydraulic pump 30 can be designed as a gear pump 32. The gear pump 32 has a pump housing 34, a first pump gear 36 arranged in the pump housing 34, and a second pump gear 38 arranged in the pump housing 34. The first pump gear 36 can be driven by the motor 28. The first pump gear 36 meshes with the second pump gear 38, so that the latter is also moved. The first pump gear 36 has the same direction of rotation as the output shaft (not shown) of the motor 28. The second pump gear 38 has a direction of rotation opposite to the direction of rotation of the output shaft (not shown) of the motor 28 and the first pump gear 36. Alternatively, it is conceivable that a single-stage transmission, in particular a spur gear, is arranged between the first pump gear 36 and the motor 28. In this case, the first pump gear 36 rotates opposite to the direction of rotation of the motor 28.The first pump gear 36 and the second pump gear 38 are rotatably mounted in the pump housing 34 by means of a gear shaft bearing about a drive axis 42 running parallel to the output shaft of the motor 28. The first pump gear 36 and the second pump gear 38 are preferably mounted on both sides in bearing bushes. In the assembled state, the drive axis 42 preferably runs parallel or perpendicular to the central longitudinal axis 14. The first pump gear 36 and the second pump gear 38 transport the fluid between the teeth of the pump gears 36, 38 and the pump housing 34.

[0041] Furthermore, the gear pump 32 according to Fig. 5 a first connecting channel 44 and a second connecting channel 46, wherein, depending on the direction of rotation of the motor 28, fluid is conveyed from the first connecting channel 44 to the second connecting channel 46 and vice versa. Hydraulic oil is preferably used as the fluid.

[0042] To provide the fluid, the clamping and / or gripping device 10 according to Fig. 2 a fluid tank 48 integrated into the base housing. The fluid tank 48 is preferably fluidically connected to the first connecting channel 44 and / or the second connecting channel 46.

[0043] To move the clamping elements 16 perpendicular to the central longitudinal axis, Fig. 9 , 11 and 13A cylinder-piston unit is provided for each clamping element 16. A pressure cylinder 52 extending along a cylinder axis 50 is provided in the base housing 12, wherein the cylinder axis 50 preferably runs perpendicular to the central longitudinal axis 14. A pressure piston 54 is displaceably mounted in the pressure cylinder 52 along the cylinder axis 50. The pressure piston 54 has a piston section 56, wherein the piston section 56 and the pressure cylinder 52 each delimit a first pressure chamber 58 to which fluid pressure can be applied, and a second pressure chamber 60 to which fluid pressure can be applied. The first pressure chamber 58 is preferably arranged radially outward relative to the central longitudinal axis 14, and the second pressure chamber 60 is arranged radially inward relative to the central longitudinal axis 14.

[0044] During internal clamping or internal gripping, the first pressure chamber 58 can be subjected to fluid pressure, so that the clamping element 16 is pushed into the closed position and displaced, and the second pressure chamber 60 can be subjected to fluid pressure, so that the clamping element 16 is pushed into the open position and displaced. Preferably, the first connecting channel 44 is fluidically connected to the first pressure chamber 58. Preferably, the second connecting channel 46 is fluidically connected to the second pressure chamber 60. Accordingly, depending on the direction of rotation of the motor 28, a fluid can be pumped from the hydraulic pump 30 into the first pressure chamber 58 or the second pressure chamber 60. Preferably, the connecting channels 44, 46 and the pressure chambers 58, 60 form a closed fluid line system 61.

[0045] To move the clamping elements 16, the pressure pistons 54, in particular the piston section 56, are Fig. 9 , 11 and 13directly coupled to the clamping element 16 by means of a respective coupling section 62. Accordingly, the movement of the pressure piston 54, in particular the piston section 56, is synchronized with the clamping element 16. Due to the direct coupling between the piston section 56 and the clamping element 16, a piston rod can be dispensed with, since the pressure pistons 54 are also guided by means of the guide of the clamping elements 16.

[0046] On the central longitudinal axis 14, in particular in the center of the clamping and / or gripping device 10, according to Fig. 8 , 10 and 12A synchronization pinion 64 is provided, which interacts with at least two pressure pistons 54. For this purpose, the pressure pistons 54 have a rack profile 68 at a free piston end 66 facing the central longitudinal axis 14, which, during operation, engages with the synchronization pinion 64. Consequently, the movement of the pressure pistons 54 and clamping elements 16 engaged with the synchronization pinion 64 is synchronized with one another.

[0047] Furthermore, the clamping and / or gripping device 10 according to Fig. 2 , 6 and 7 a control unit 70 arranged in the base housing for controlling and regulating the clamping and / or gripping device 10, in particular the fluid drive 26. The control unit 70 preferably has Fig. 6a logic and / or communication module 70A and / or a pump control module 70B and / or a sensor module 70C and / or a power supply and / or communication module 70D and / or a capacitive energy storage module 70E and / or a pump connection unit 70F and / or a pressure sensor connection unit 70G.

[0048] Furthermore, the clamping and / or gripping device 10 has a sensor device 72 arranged in the base housing 12, which according to Fig. 2 and 7a pressure sensor 74 for detecting the fluid pressure in the fluid line system 61, in particular in the pressure chambers 58, 60 and / or in the hydraulic pump 30, and / or a vibration sensor 76 for detecting the shrinkage during machining of the clamping and / or gripping device 10, and / or a motor sensor for detecting the motor current of the motor 28. The sensor device 72 is preferably linked to the sensor module 70C. The control unit 70 is configured to control the clamping and / or gripping device 10 depending on the signals from the sensor device 72. The control unit 70 is preferably configured to control and regulate the fluid drive 26, in particular the motor 28, with regard to the torque, the specified speed, and / or the direction of rotation.The control unit 70 is preferably configured such that the fluid pressure provided in the clamping and / or gripping device 10 is determined as a function of a measurement of the actual pressure at the pressure sensor and / or the motor current, so that no pressure relief valve is required to shut off the fluid drive 26 when the desired fluid pressure is reached. The compact design of the clamping and / or gripping device 10 and the control unit 70 integrated in the base housing 12 are advantageous in this regard.

[0049] The clamping and / or gripping device 10 preferably has a purely electrical or electronic system interface in the low-voltage range with a maximum power consumption of 100 W. The permissible voltage of the system interface 78 is preferably in a range between 0-48 V DC, preferably 24 V DC. The permissible current is preferably in a range between 0-10 A, in particular 4 A. Due to the low power consumption and / or only one electrical supply, a particularly simple media supply, in particular contactless and / or by means of induction, between the machining center 22 and the clamping and / or gripping device 10 is possible. The system interface 78 is preferably linked to the logic and / or communication module 70A and / or to the power supply and / or communication module 70D.

[0050] In addition, the clamping and / or gripping device 10 according to Fig. 6a power booster 80 or power amplifier for the short-term provision of higher power to the fluid drive 26. The power booster 80 can therefore provide additional power in addition to the power provided via the system interface. For example, static friction can be overcome when starting up the clamping elements 16. The power booster 80 can preferably be designed as a capacitive or electrochemical storage device. The power booster 80 can also be integrated into the energy storage module 70E. Furthermore, the power booster 80 can have a voltage transformer 82, which in particular transforms the voltage provided for the motor 28 of the fluid drive 26, so that a constant voltage and / or a short-term higher voltage can be provided for the motor 28. The voltage transformer 82 can preferably be integrated into the voltage supply and / or communication module 70D.

[0051] The clamping and / or gripping device 10 further comprises the pressure amplifier 71 shown for increasing the fluid pressure, which is designed in particular as a differential piston. A differential piston has two working surfaces of different sizes. The larger working surface of the differential piston is used to absorb a lower input pressure and transfer the resulting reaction force to the smaller working surface of the pressure piston, which leads to a higher output pressure. It is advantageous if the differential piston is part of the pressure piston 54.

[0052] To compensate for the disadvantage in hydraulic applications that the clamping force also drops linearly when the fluid pressure drops, since most clamping elements 16 are not mechanically self-locking, the clamping and / or gripping device 10 according to the Fig. 9 , 11 and 13a clamping device 100. Due to the clamping device 100, a self-locking positive connection is provided, in which the position and the clamping or gripping force are maintained even if the fluid pressure on the clamping elements 16 is lost. It is advantageous if the clamping device 100 is arranged in or on the base housing 12, in particular integrated into the base housing 12.

[0053] The clamping device 100 serves to clamp the clamping elements 16 and can be operated in a clamped state and a released state. Figs. 8 and 9 show the clamping and / or gripping device 10 in the open position and in the release state. Figs. 10 and 11 show the clamping and / or gripping device 10 in the closed position and in the released state. Figs. 12 and 13 show the clamping and / or gripping device 10 in the closed position and in the clamping state.

[0054] The clamping device 100 is preferably integrated in the pressure piston 54. The clamping device 100 has, according to the Fig. 9 , 11 and 13 a clamping ring 102 with a ring bevel 104, a first clamping element 106 with a first clamping bevel 108, a second clamping element 110 with a second clamping bevel 112 and a third clamping bevel 114 and a clamping slide 116 with a pushing section 118.

[0055] The clamping ring 102 is immovably arranged in the printing cylinder 52, in particular clamped, and / or hollow. The clamping ring 102 can alternatively be formed integrally with the base housing 12. The annular bevel 104 is arranged obliquely, in particular at an angle of 25°, to the cylinder axis 50. The first clamping element 106 has a conical base section 120, which tapers in particular towards the central longitudinal axis 14, and a cylindrical head section 122. The first clamping bevel 108 is arranged on an outer circumference of the first clamping element 106, in particular on the base section 120. The first clamping bevel 108 is arranged obliquely, in particular self-locking, preferably at an angle of less than 15°, in particular 10°, to the cylinder axis 50. The second clamping element 110 is cylindrical or hollow and / or annular.The second clamping bevel 112 is arranged on an inner circumference of the second clamping element 110 and / or the third clamping bevel 114 is arranged on an outer circumference of the second clamping element 110, wherein the inner circumference tapers towards the central longitudinal axis 14 and / or the outer circumference tapers away from the central longitudinal axis 14. The second clamping bevel 112 and / or the third clamping bevel 114 is arranged obliquely, in particular at an angle of 25°, to the cylinder axis 50. The clamping slide 116 is also hollow and has, according to . Fig. 11 on its inner circumference a guide section 124 in which the first clamping element 106, in particular the head section 122, is guided.

[0056] The pressure piston 54 is displaceable relative to the pressure cylinder 52 and the clamping ring 102 along the cylinder axis 50. The first clamping element 106 is displaceable relative to the clamping ring 102 and the piston section 56 along the cylinder axis 50. The second clamping element 106 is displaceable relative to the clamping ring 102, the piston section 56, and the first clamping element 106. The clamping slide 116 is displaceable relative to the clamping ring 102, the piston section 56, and the first clamping element 106.

[0057] Between the piston section 56 and the clamping slide 116, according to Fig. 9 , 11 and 13A first spring means 126 is provided, which preloads the piston section 56 toward the central longitudinal axis 14 and / or which preloads the clamping slide 116 away from the central longitudinal axis 14. This allows for preloading of the clamping elements 16 that maintains gripping force. Furthermore, this can strengthen the clamping of the clamping elements 106, 110 and the clamping ring 102.

[0058] The driving and displacement of the clamping elements 16 is carried out as follows: In the initial state, the clamping elements 16 are in accordance with Figs. 8 and 9in the open position and in the released state, taking into account external clamping or external gripping. With internal gripping or internal clamping, the orientation is reversed. The pressure piston 54 and the clamping device 100, in particular the first clamping element 106 and / or the second clamping element 110 and / or the clamping slide 116, are arranged radially outward relative to the central longitudinal axis 16. To move the clamping elements 16 into the closed position, fluid pressure is applied to the first pressure chambers 58 by means of the fluid drive 26. Figs. 10 and 11shows the clamping and / or gripping device 10 in this closed position. The clamping device 100, in particular the first clamping element 106 and / or the second clamping element 110 and / or the clamping slide 116, do not move relative to the piston section 56 and / or relative to one another. As soon as a component or a component carrier is clamped or gripped on the clamping elements 16, the reaction force increases. Due to the small dimensions of the fluid drive 26, the pressure amplifier is now switched on so that a higher clamping or gripping force can be provided to the clamping elements 16. To maintain the position and / or clamping or gripping force, the fluid drive 26 and the pressure amplifier can be operated continuously.

[0059] It is conceivable that depending on the orientation of the clamping, the orientation of the clamping device 100 is also changed.

[0060] Alternatively, the clamping device 100 can be in the clamping state according to Figs. 12 and 13be moved. In the clamped state, the clamping device 100 receives the position and / or clamping or gripping force of the clamping elements 16. For this purpose, the clamping element 16 comes into contact with the component to be clamped or gripped. Consequently, a reaction force is transmitted to the pressure piston 56 by means of the coupling section 62. Furthermore, the first pressure chamber 58 is subjected to fluid pressure. In this case, on the one hand, the clamping slide 116 is urged radially outward with respect to the central longitudinal axis 14 by means of the first spring means 126, and on the other hand, the first clamping element 106 is urged radially inward with respect to the central longitudinal axis 14. When the first clamping element 106 moves radially inward relative to the central longitudinal axis 14, the first clamping bevel 108 slides over the second clamping bevel 112.Due to the opposite orientation of the first clamping bevel 108 and the second clamping bevel 112, the second clamping element 110 is pushed radially outward relative to the cylinder axis 50. The third clamping bevel 114 slides over the annular bevel 104. However, the freedom of movement of the second clamping element 110 radially inward toward the central longitudinal axis 14 is limited by the clamping slide 116. Consequently, in the gripped or clamped state, the second clamping element 110 is pushed radially inward with respect to the central longitudinal axis 14 and radially outward with respect to the cylinder axis 50. Accordingly, in the clamped state, the first clamping bevel 108 and the second clamping bevel 112, as well as the third clamping bevel 114 and the annular bevel 104, abut one another, wherein in particular their contact surfaces intersect a clamping plane 128 running perpendicular to the cylinder axis 50.With increasing gripping or clamping force as well as increasing reaction force, the clamping device 100 is clamped more strongly due to the first pressure chamber 58 and the clamping slide 116.

[0061] To release the clamping state, the second pressure chamber 60 must be subjected to fluid pressure. For this purpose, the pressure piston 54 has a through-bore 130 running parallel to the central longitudinal axis 14, which fluidically connects the second pressure chamber 60 to the inner circumference of the clamping slide 116 and / or to the first clamping element 106, in particular the head section 122. The head section 122 preferably has a head seal 132, which fluidically separates the first pressure chamber 58 and the second pressure chamber 60 from one another. Furthermore, the first clamping element 106 is prestressed toward the central longitudinal axis 14 by means of a second spring means 134, wherein the second spring means 134 is arranged in the clamping slide 116, in particular on its inner circumference.When the second pressure chamber 60 is subjected to a fluid pressure which is greater than the fluid pressure in the first pressure chamber 58 and the pressure resulting from the second spring means 134, the first clamping element 106 is displaced radially outwards away from the central longitudinal axis 14. In the process, the clamping between the first clamping element 106, the second clamping element 110 and the clamping ring 102 is released. After the clamping is released, the pressure piston 54 and the clamping element 16 are displaced radially outwards with respect to the central longitudinal axis 14, so that the clamping and / or gripping device 10 returns to its initial state, i.e. in the open position and in the released state, according to. Figs. 8 and 9 is located.

Claims

1. Clamping and / or gripping device (10) comprising: - a base housing (12) with a central longitudinal axis (14), - at least one clamping element (16) guided in the base housing (12) so as to be displaceable radially to the central longitudinal axis (14), - a fluid drive (26) for driving the at least one clamping element (16), wherein the fluid drive (26) is arranged in or on the base housing (12).

2. Clamping and / or gripping device (10) according to claim 1, wherein the fluid drive (26) comprises an electric motor (28) arranged in or on the base housing (12) and / or a hydraulic pump (30) arranged in or on the base housing (12).

3. Clamping and / or gripping device (10) according to claim 2, wherein a change in a direction of rotation of the motor (28) causes a change in a direction of displacement towards or away from the central longitudinal axis (14) of the at least one clamping element (16).

4. Clamping and / or gripping device (10) according to one of the preceding claims, wherein the base housing (12) has at least one pressure cylinder (52) extending along a cylinder axis (50) running perpendicular to the central longitudinal axis (14), wherein the fluid drive (26) in each case has a pressure piston (54) arranged in or on the pressure cylinder (52) and displaceably mounted along the cylinder axis (50), and wherein in particular the pressure cylinder (52) and the pressure piston (54) each delimit a pressurizable first pressure chamber (58) for displacing the clamping element (16) from an open position into a closed position and a pressurizable second pressure chamber (60) for displacing the clamping element (16) from the closed position into the open position.

5. Clamping and / or gripping device (10) according to one of the preceding claims, wherein it has a fluid tank (48) arranged in or on the base housing (12), and / or wherein the fluid drive (26) has a fluid line system (61) closed in the base housing (12).

6. Clamping and / or gripping device (10) according to one of the preceding claims, wherein the pressure piston (54) is coupled directly and / or by means of a synchronization means (64) to the at least one clamping element (16).

7. Clamping and / or gripping device (10) according to one of the preceding claims, wherein it has an electrical system interface in the low-voltage range with a maximum input power of 100 W.

8. Clamping and / or gripping device (10) according to one of the preceding claims, wherein it comprises a control unit (70) for controlling and / or regulating the fluid drive (26) and / or the at least one clamping element (16).

9. Clamping and / or gripping device (10) according to one of the preceding claims, wherein it has a power booster (80) for the short-term provision of a higher power to the fluid drive (26).

10. Clamping and / or gripping device (10) according to one of the preceding claims, wherein said device comprises a sensor device (72) with at least one pressure sensor (74) for detecting the fluidic pressure in the clamping and / or gripping device (10) and / or with at least one vibration sensor (76) for detecting the shrinkages during operation of the clamping and / or gripping device (10) and / or with at least one position sensor.

11. Clamping and / or gripping device (10) according to one of the preceding claims, wherein it comprises a pressure amplifier (71) for increasing the fluid pressure, in particular a differential piston.

12. Clamping device (100) for clamping a clamping element (16) of a clamping and / or gripping device (10), in particular according to one of the preceding claims, wherein the clamping and / or gripping device (10) has a pressure cylinder (52) extending along a cylinder axis (50) with a fixed clamping ring (102) comprising an annular bevel (104) and a pressure piston (54) with a piston section (56), and wherein the clamping device (100) comprises: - a first clamping element (106) movable relative to the piston section (54) with a first clamping bevel (108), - a second clamping element (110) movable relative to the piston section (54) and to the first clamping element (106) with a second clamping bevel (112) and a third clamping bevel (114), and - a pressure cylinder (52) movable relative to the piston section (54), to the first clamping element (106) and to the second clamping element (110). Clamp slide (116),wherein in a clamping state the clamping element (16) can be fixed by means of the clamping device (100).

13. Clamping device (100) according to claim 12, wherein it is designed such that in the clamping state, the first clamping element (106) can be acted upon and / or displaced towards the central longitudinal axis (14) by means of a fluid pressure in the first pressure chamber (58) and / or the second clamping element (110) can be acted upon and / or displaced away from the central longitudinal axis (14) by means of the clamping slide (116).

14. Clamping device (100) according to claim 12 or 13, wherein the first clamping element (106) is wedge-shaped and the first clamping bevel (108) is provided on an outer circumference, wherein the second clamping element (110) is hollow and the second clamping bevel (112) is provided on an inner circumference and the third clamping bevel (114) is provided on an outer circumference, wherein the clamping ring (102) is hollow and the annular bevel (104) is provided on an inner circumference, and / or wherein the clamping device (100) is designed such that in a clamping state the first clamping bevel (108) cooperates with the second clamping bevel (112) and the third clamping bevel (114) cooperates with the annular bevel (104).

15. Clamping device (100) according to one of claims 12 to 14, wherein by means of at least one first spring means (126) the clamping slide (116) is prestressed away from and / or by means of at least one second spring means (134) the piston section (56) is prestressed towards and / or the first clamping element (106) is prestressed towards the central longitudinal axis (14).

16. Clamping and / or gripping device (10) according to one of claims 1 to 11, wherein it comprises a clamping device (100) according to one of claims 12 to 15.

17. Pressure piston (54) for a clamping and / or gripping device (10), in particular according to one of claims 1 to 11, with a piston section (56) integrated in the pressure piston (54) and with a clamping device (100) integrated in the pressure piston (54), in particular according to one of claims 12 to 15, and / or with a pressure amplifier (71) integrated in the pressure piston (54).

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