Clamping Device

Abstract

The present invention relates to a clamping device comprising a zero-point clamping system (1) operable by a working medium, a machine vice (2) coupleable to the zero-point clamping system (1), and a gripping and positioning device (3) for transporting and positioning the machine vice (2) on the zero-point clamping system (1), wherein the zero-point clamping system (1) includes at least one coupling element (26), and the gripping and positioning device (3) includes a docking device (27) having at least one docking element (28) coupleable to the coupling element (26) for supplying a working medium to the zero-point clamping system (1). To facilitate a coupling process, the at least one coupling element (26) on the zero-point clamping system (1) is offset parallel to a receiving opening (19) for a clamping element (18) located on the machine vice (2), and is arranged such that the at least one docking element (28) is coupled to the coupling element (26) by a retraction movement of the clamping element (18) located on the machine vice (2) into the receiving opening (19).

Description

[Technical Field]

[0001] The present invention relates to a clamping device according to the preamble of claim 1 . [Background technology]

[0002] Such a clamping device is known from Patent Document 1. It comprises a zero-point clamping system actuated by a working medium, a machine vice connectable to the zero-point clamping system via a pallet, and a gripping and positioning device designed as a pallet gripper for transporting and positioning the pallet with the machine vice on the zero-point clamping system. A docking unit is integrated into the plate gripper so that the working medium can be supplied to the zero-point clamping system via the pallet gripper, allowing docking to the pallet clamping system. The zero-point clamping system includes multiple zero-point clamping devices integrated into the plate, each having a receiving opening for receiving a clamp pin protruding from the underside of the pallet. A plurality of side-by-side coupling elements are provided on the side wall of the plate for coupling with corresponding docking elements in the docking unit arranged on the pallet gripper. To operate the zero-point clamping devices, a working medium can be supplied to the zero-point clamping system via the coupling elements. The coupling elements are arranged on the side wall of the pallet so that their longitudinal axes are aligned perpendicular to the longitudinal axis of the receiving opening of the clamping spigot. The pallet with the machine vice can be placed on the plate of the zero-point clamping system by the pallet gripper. To couple a docking unit located on a pallet gripper to a coupling element located on a zero-point clamping system, the docking unit must first be lowered relative to the plate gripper to vertically align the docking element with the coupling element in the zero-point clamping system. After this vertical alignment, the docking unit must then be extended horizontally to lock it onto the plate of the zero-point clamping system and connect the docking element to the coupling element. This requires corresponding linear guides and a separate drive. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] DE102018128883A1 Summary of the Invention

[0004] The object of the present invention is to devise a clamping device of the initially mentioned type, which, by coupling a docking unit, makes it possible to supply the working medium to the zero-point clamping system without providing a separate drive device for the docking unit.

[0005] This problem is solved by a clamping device having the features of claim 1. Suitable embodiments and useful refinements of the invention are set out in the dependent claims.

[0006] The zero-point clamping system of the clamping device according to the present invention has at least one coupling element, and the gripping and positioning device has a docking device with at least one docking element that can be coupled to a coupling element for supplying a working medium to the zero-point clamping system. The at least one coupling element on the zero-point clamping system is offset parallel to a receiving opening for a clamping element arranged on the machine vice, and the at least one docking element is arranged to be coupled to the coupling element by a retraction movement of the clamping element arranged on the machine vice into its receiving position. An important advantage of the clamping device according to the present invention is that the coupling element for supplying the working medium is also coupled to the zero-point clamping system simply by coupling the machine vice to the zero-point clamping system initiated by the gripping and positioning device, without any additional drive or complex coupling operation.

[0007] In a particularly preferred embodiment, the connectable coupling element and docking element are designed as fluid transfer elements for transferring compressed air or hydraulic fluid as the actuating medium. The coupling element advantageously comprises a through opening, the longitudinal axis of which runs parallel to the longitudinal axis of the receiving opening for the clamping element. A blocking element can be arranged in the through opening of the coupling element, which is actuated into a closed position by a compression spring. The connectable coupling element and docking element can be designed as fluid transfer elements and / or as electrical connectors for transferring electrical energy or electrical signals. The electrical connector can also be designed as a connecting element for contactless transmission.

[0008] At least one docking element may include a pressure ram (pressure piston) axially displaceable into the receiving opening of the docking unit, the pressure ram having a through opening. When the gripping and positioning device is in a docking position for docking the machine vice to the zero-point clamping system, the pressure ram is arranged so that the through opening of the pressure ram is aligned with the through opening of the corresponding coupling element. The pressure ram may be pressed outward by a compression spring and conveniently has a central pressure section at its outer end facing the coupling element for opening the blocking element arranged in the connecting part, and a passage for conveying compressed air from the docking element to the coupling element. The blocking element may be a blocking pin guided to move within the coupling element and biased to a closed position by a compression spring.

[0009] To facilitate separation, the pressure ram advantageously has a first pressure surface on which a working medium can act to move the pressure ram to a retracted position. This allows the gripping and positioning device to be disengaged for separation at an angle of 90° relative to the central axis of the zero-point clamping system. In a further useful approach, the pressure ram can be designed as a differential pressure ram, which includes a first pressure surface on which a working medium can act to move the pressure ram to a retracted position, as well as a second pressure surface on which a working medium can act to move the pressure ram to an extended position (pushed). This allows the pressure ram to be both pressed against the coupling element and retracted by the working medium. Conveniently, multiple switching valves are arranged in the docking unit to control the supply of compressed air. Zero-point clamping systems equipped with spring-loaded closing mechanisms can be equipped with self-locking valves to hold the zero-point clamping system in an open position.

[0010] In a particularly useful embodiment, a row of multiple first coupling elements arranged side by side is arranged on the zero-point clamping system, and a row of multiple docking elements arranged side by side is arranged on the gripping and positioning device to couple with corresponding coupling elements in each row. This allows for the supply of working fluid to machine vises of different lengths without complex adjustment mechanisms. The coupling elements can be arranged in a grid with predetermined divisions and spacing to suit various machine vises. This grid can be adapted to specific dimensions and requirements.

[0011] In another useful embodiment, the gripping and positioning device can have, in addition to a coupling device for releasably connecting to the clamping device and holding the clamping device securely during transport, an integrated drive device for moving the clamping device between the clamping position and the release position. Such a gripping and positioning device can therefore transport the clamping device back and forth between different positions, for example, between a storage position and a machining position in a machine tool, as well as actuate the clamping device in various positions for movement between the clamping and release positions. This gripping and positioning device thus allows a conventional clamping device to be used not only for holding a workpiece during processing, but also as a gripping device for transporting and handling the workpiece. This simplifies the loading process and reduces assembly and downtime. Replacement and reworking operations can also be performed outside the machine room.

[0012] Further details and advantages of the invention will become apparent from the following description of preferred embodiments with reference to the drawings. [Brief explanation of the drawings]

[0013] [Figure 1] 1 shows a perspective view of a clamping device with a zero-point clamping system, a machine vise, and a gripping positioning device. [Figure 2] FIG. 2 shows a side view of the clamping device shown in FIG. [Figure 3] FIG. 2 shows an enlarged perspective view of the clamping device shown in FIG. [Figure 4] FIG. 2 shows a detailed view of the clamping device shown in FIG. [Figure 5] 2 shows a top view of a zero-point clamping system of the clamping device shown in FIG. 1. [Figure 6] 6 shows a cross-sectional view taken along line AA in FIG. 5. [Figure 7] 6 shows a cross-sectional view taken along line BB in FIG. 5. [Figure 8] 1 shows a circuit diagram for controlling a zero-point clamping system. [Figure 9]1 shows a clamping device with a sensor mechanism for monitoring the switching state of a zero-point clamping system. DETAILED DESCRIPTION OF THE INVENTION

[0014] 1 shows a clamping apparatus designed to clamp a workpiece for machining. The clamping apparatus includes a zero-point clamping system 1, a machine vise 2 coupleable to the zero-point clamping system 1, and a gripping and positioning device 3 detachably connectable to the machine vise 2 for transporting and positioning the machine vise 2 on the zero-point clamping system 1. The gripping and positioning device 3 can be coupled to the machine vise 2 for transporting the machine vise 2 between different positions. In the illustrated embodiment, the gripping and positioning device 3 coupleable to the machine vise 2 is attached to a support arm 4, which is movable in multiple axes of a robot designed as an articulated arm robot. However, the gripping and positioning device 3 can also be attached to the machine vise 2. 2 The zero-point clamping system 1 may also be arranged on a gantry robot for moving the workpiece in different directions, or on a transport or positioning system of a different design. In the illustrated embodiment, the zero-point clamping system 1 is designed as a separate assembly that can be fastened to a clamping table or clamp carrier 5, which is here vertically aligned. However, the zero-point clamping system 1 can also be integrated into the clamping table or workpiece table of a machine tool.

[0015] The machine vise 2, shown in more detail in Figures 2 to 4, is designed as a centering vise with two clamping jaws 6 and 7 that are adjustable relative to one another. However, it may also have one fixed clamping jaw and one movable clamping jaw, or it may be designed as a multi-clamping device with three or more clamping jaws. In the illustrated embodiment, the machine vise 2 comprises a base element 8, on which the two clamping jaws 6 and 7 are guided to move on slides 9 and 10, shown in Figure 4, and the two clamping jaws 6 and 7 are adjustable in opposition by means of an adjustment mechanism with an adjustment element 11, here designed as an adjustment spindle.

[0016] As can be seen in FIG. 4, the adjusting element 11 in the form of an adjusting spindle is connected at its free end to a drive integrated in the gripping and positioning device 3. 13 Corresponding coupling parts 14 The gripping and positioning device 3 also includes a coupling unit 15 on its front side for secure coupling with the base element 8 of the machine vice 2. Via the coupling unit 15, the machine vice 2 can be gripped by the gripping and positioning device 3 and transported to the desired position. The coupling unit 15 is designed not only to grip the machine vice 2, but also to hold it securely during transport and thus to transport it safely to the zero-point clamping system 1, for example in any position. An RFID write / read head 16 and various sensors are also arranged on the front side of the gripping and positioning device 3 to monitor the lock, detect the distance, and check the presence of the machine vice 2.

[0017] Rotation drive device incorporated in gripping and positioning device 3 13, the two clamping jaws 6 and 7 can be adjusted relative to one another by rotating the adjusting element 11, which is designed as an adjusting spindle. The machine vise 2 can therefore be clamped and released as well as transported via the gripping and positioning device 3. The machine vise 2 can therefore not only be used for clamping during machining, but also for gripping workpieces for transport before machining. The coupling profile is designed as an external hexagon. 12 Alternatively, other coupling solutions can be used, such as a splined shaft, a claw attachment, a four-edge connection, or a shaft with a trunnion attachment. 13 is designed to be coupled to an adjusting element 11 designed as an adjusting spindle during coupling of the gripping and positioning device 3 to the machine vise 2. One possible design of a gripping and positioning device for transporting and moving the machine vise 2 is disclosed in DE 10 2018 106 210 A1, to which explicit reference is made with regard to the design and mode of operation of the gripping and positioning device.

[0018] A zero-point clamping element 18, projecting perpendicularly from the underside 17 of the base element 8 of the machine vise 2, is provided for lockable engagement in a receiving opening 19 of the zero-point clamping system 1 shown in Figures 4 and 5. The zero-point clamping element, here designed as a clamping spigot, 18 , the machine vice 2 can be precisely positioned and centered on the machine table of a machine tool with a corresponding zero-point clamping system 1 and clamped with a suitable clamping device. For this purpose, the zero-point clamping element is designed here as a single clamping spigot. 18 teeth, Zero Point Clamp System 1 along the longitudinal axis 20 of the receiving opening 19 for subsequent clamping. Zero Point Clamp System 1 The machine vice 2 is moved by the gripping and positioning device 3 so that it engages in the receiving opening 19 of the clamping element 10. In the illustrated embodiment, only one zero-point clamping element is provided, which is designed as a clamping spigot. 18is arranged on the machine vise 2. However, a plurality of zero-point clamping elements, which function as centering elements and clamping elements, may be provided on the machine vise 2 for engaging with corresponding receiving openings of the zero-point clamping system.

[0019] The zero-point clamping system 1, which is designed in the illustrated embodiment as a separate zero-point clamping module, comprises a pot-shaped housing 22 arranged on a base plate 21, in which the zero-point clamping element 18 Receiving opening for 19 and a zero-point clamping element designed as a clamping spigot 18 6 for clamping the machine vise 2 via the clamping device 23 shown in FIG. 6. The housing 22 has on its upper side a plurality of flat contact surfaces 24 arranged around the central receiving opening 19 for supporting the machine vise 2. A block-shaped connecting unit 25 is also provided on the zero-point clamping system 1, and a plurality of first connecting elements 26 are connected to the receiving opening 19. 19 are arranged parallel to each other.

[0020] A docking device 27, which can be coupled to the connection unit 25, is arranged on the gripping and positioning device 3 together with a plurality of docking elements 28, which can be coupled to the coupling elements 26, for supplying the zero-point clamping system 1 with a working medium. The coupling elements 26 of the zero-point clamping system 1 and the corresponding docking elements 28 form an interface that allows energy supply to the zero-point clamping system 1 to be realized without any special equipment on the work table. In the illustrated embodiment, the clamping device 23 is pneumatically operated, so that compressed air is supplied to the zero-point clamping system 1 as a working medium. The compressed air supplied to the zero-point clamping system 1 via the gripping and positioning device 3 can be used not only to operate the clamping device 23, but also as blowing air for removing chips and any other contaminants. However, in the case of hydraulic or electric clamping systems, hydraulic fluid or electric current can also be supplied as a working medium to the zero-point clamping system via the gripping and positioning device, provided that the coupling elements are appropriately designed.

[0021] The clamping device 23 can be configured to be closed by spring bias and opened by compressed air. However, the compressed air supplied to the zero-point clamping system 1 can be used not only to open the clamping device 23 but also to augment the clamping force generated by the spring bias. Furthermore, the compressed air can be used to realize a blowing or cleaning function. The control functions performed by the sensors and dynamic pressure queries can also be performed by compressed air.

[0022] In the illustrated embodiment, the connection unit 25 of the zero-point clamping system 1 is provided with multiple rows of coupling elements 26 arranged side by side. The docking device 27 of the gripping and positioning device 3 also has multiple docking elements 28 arranged side by side for coupling with corresponding coupling elements 26 in each row. In this way, machine vises 2 of various lengths can be connected. The coupling elements 26 arranged on the connection unit 25 are connected to the clamping device 23 via channels 29 and lines 30. The docking elements 28 arranged on the docking device 27 are supplied with compressed air via appropriate connections. In the illustrated embodiment, four rows spaced apart from one another are provided on the zero-point clamping system 1, each row having three coupling elements 26 arranged side by side, and three docking elements 28 arranged side by side on the docking device 27 of the gripping and positioning device 3 for coupling with the coupling elements 26 in each row. Other grids and divisions are possible depending on requirements.

[0023] As can be seen in particular from Figure 7, the coupling element 26 arranged in the connection unit 25 of the zero-point clamping system 1 has a bushing-like connecting part 31 which is screwed into the connection unit 25 and has a through opening 32, and a blocking element 34 which is arranged to move in the through opening 32 and is biased towards closing by a compression spring 33. In the embodiment shown, the blocking element 34 is designed as a blocking pin. The coupling element 26 is arranged according to Figure 6 so that the longitudinal axis 35 of the through opening 32 of the connecting part 31 runs parallel to the longitudinal axis 20 of the receiving opening 19 of the clamping element 18.

[0024] 7 also shows that the docking element 28 arranged in the docking device 27 comprises a pressure ram 37 that is axially displaceable in a receiving opening 36. The pressure ram 37 has a through opening 38 and is pressed outward by a spring 39. The pressure ram 37 of the docking element 28 is arranged such that the through opening 38 is aligned with the corresponding through opening 32 of the coupling element 26 when the gripping and positioning device 3 is in a docking position for docking the machine vise 2 to the zero-point clamping system 1. The coupling element 26 and the docking element 28 therefore constitute a zero-point clamping element that is designed as a clamping pin on the machine vise 2. 18 are coupled together to supply compressed air to the zero point clamping system 1 when the compressed air supply is drawn into the receiving opening 19 of the zero point clamping system 1. No separate drive is required to couple the compressed air supply.

[0025] At its outer end facing the connecting element 26, the pressure ram 37 has a central pressure part 40 for opening the pin-shaped blocking element 34 and a nozzle-like passage 41 for conveying compressed air from the through opening 38 of the pressure ram 37 to the through opening 32 of the connecting part 31. A seal 42 is arranged at the outer end of the pressure ram 37 and sealably connects the pressure ram 37 with the connecting part 31 of the connecting element 26.

[0026] 8 shows a circuit diagram for pneumatically controlling the zero-point clamping system 1 via the docking device 27. The circuit diagram shows the clamping device 23, designated M2, on the zero-point clamping system 1, a diagrammatically designated blower 43 for blowing away chips and other contaminants, a self-locking valve 44, and three coupling elements 26, designated X1 to X3. Three docking elements 28, designated M1, M3, and M4, and four switching valves 45, designated S1 to S4, are shown on the docking device 27. A pressure connection 46, designated P1, is also provided on the docking device 27 to supply compressed air to the docking device 27.

[0027] The clamping device 23 can be actuated into the release position via a first coupling element 26 marked X1. In the clamping position, the spring47 The clamping force of the clamping device 23, which is acted upon by a spring 47, can be increased via the second coupling element 26, marked X2. A blower 43 for blowing away chips and other contaminants can be supplied via the third coupling element 26, marked X3. Once the docking device 27 is coupled to the zero-point clamping system 1, the clamping device 23 can be moved to the release position via the first switching valve 45, marked S1. Meanwhile, the clamping force of the clamping device 23, which is acted upon by a spring 47 in the clamped position, can be increased via the second switching valve 45, marked S2. A self-locking valve 44 upstream of the clamping device 23 ensures that the clamping device 23 remains open during unloading and closes only when actively controlling the counter pressure. The third switching valve 45, marked S3, can be used to control the blower 43. The fourth switching valve 45, marked S4, can be used to retract the pressure ram 37 of the docking element 28 to facilitate the separation of the gripping and positioning device 3.

[0028] Using the clamping device described above, the machine vise 2 can be transported from the preparation station via the gripping and positioning device 3 to the zero-point clamping system 1 fixed to the clamp support 5, as shown in FIG. 1 . The clamping device 23 arranged in the zero-point clamping system 1 is designed to be clamped with spring force and released by compressed air or by increased clamping force control. A self-locking valve 44 is then incorporated into the zero-point clamping system 1 to keep the clamping device 23 open until a positive counter pressure is adjusted by compressed air. Compressed air only needs to be introduced into the zero-point clamping system 1 when the machine vise 2 transported by the gripping and positioning device 3 is drawn into the corresponding receiving opening 19 of the zero-point clamping system 1 together with its pin-shaped zero-point clamping element 18. The pin-shaped zero-point clamping element 18 specifies the exact position of the machine vise 2. The clamping and release states of the clamping device 23 can be detected by an appropriate sensor mechanism to avoid damage. This prevents the machine vise 2 from being coupled to or detached from the zero-point clamping system 1 by the gripping and positioning device 3 when the clamping device 23 is closed.

[0029] The switching state of the zero-point clamping system 1 can be monitored, for example, via a sensor mechanism as shown in FIG. 9. The sensor mechanism includes a push rod 48 connected to the clamping device 23 of the zero-point clamping system with a switch 49 and a sensor 50 arranged on the docking device 27. The switch actuator 49 can be arranged at different spacings between the clamping devices so that it can be used to monitor all possible clamping devices. The push rod 48 is connected to the clamping device 23 incorporated in the zero-point clamping system 1 via an articulated joint comprising a transmission lever 51 and a joint 52. Thus, the movement of the clamping device 23 can be amplified. The sensor 50 can advantageously be a laser sensor. However, monitoring can also be performed using ultrasonic sensors, radar sensors, or other inductive, capacitive, or similar sensors. The sensor signal can also be transmitted from the zero-point clamping system 1 to the docking device 27, for example, via Bluetooth or a similar wireless method, to control the compressed air.

[0030] During loading of the machine vice 2 into the zero-point clamping system 1, the pressure ram 37 shown in Figure 7 is pressed downwards by a spring 39. As soon as the pin-shaped zero-point clamping element 18 is correctly introduced into the receiving opening 19 and the machine vice 2 is placed on the flat contact surface 24, the pressure ram 37 comes into contact with the connection 31 of the coupling element 26 arranged on the zero-point clamping system 1. The supply of compressed air to the zero-point clamping system 1 can then be controlled by a switching valve 45 and the clamping device 23, which is actuated for clamping.

[0031] After clamping the machine vice 2 on the zero-point clamping system 1, the gripping and positioning device 3 can be separated from the machine vice 2. In this case, compressed air can also be effectively used to retract the pressure ram 37, thereby creating free space for the lateral separation movement of the gripping and positioning unit 3. For this purpose, the pressure ram 37 shown in FIG. 7 has a first pressure surface 53 that is acted upon by compressed air by opening the switching valve S4 to move the pressure ram 37 to its retracted position. The pressure ram 37 in the illustrated embodiment is designed as a differential pressure ram and, in addition to the annular first pressure surface 53, has a second pressure surface 54 that is smaller than the first pressure surface 53 and that is acted upon by compressed air. Therefore, the pressure ram 37 can not only be retracted via compressed air, but also pressed against the connecting element 26.

[0032] To remove the machine vice 2 from the zero-point clamping system 1, the gripping and positioning device 3, together with the docking device 27, is positioned on the corresponding coupling element 26 of the zero-point clamping system 1. The fourth switching valve 45, designated S4, is closed so that the pressure ram 37 of the docking element 28 can be extended and contact the coupling element 26 of the zero-point clamping system 1. A corresponding actuation of the first switching valve 45, designated S1, can then control the opening of the clamping device 23. The opening of the clamping device 23 is detected by a corresponding sensor mechanism. The opening pressure in the zero-point clamping system 1 is maintained by the self-locking valve 44, which is designed as a return valve, until it opens and the clamping device 23 can close. [Explanation of symbols]

[0033] 1 Zero point clamp system 2 machine vise 3. Grasping and positioning device 4 support arms 5 Clamp Carrier 6 Clamp Jaws 7 Clamp Jaw 8 Base Elements 9 slides 10 slides 11 Adjustment factors 12. Bond Profiles 13 Rotational drive unit 14 Connecting parts 15 Combined Unit 16 RFID write / read heads 17 Bottom side 18 Zero point clamp element 19 Receiving opening 20 Longitudinal axis 21 Base Plate 22 Housing 23 Clamping device 24 Flat contact surface 25 connection units 26 Bonding Elements 27 Docking Device 28 Docking Elements 29 channels 30 lines 31 Connection part 32 Through opening 33 Compression spring 34 Block Elements 35 Longitudinal axis 36 Receiving hole 37 Pressure Ram 38 Through opening 39 Spring 40 Pressure Components 41 Passage 42 stickers 43 Blower 44 Self-locking valve 45 Switching valve 46 Pressure Connection 47 Spring 48 Push rod 49 Switch Actuator 50 sensors 51 Transmission lever 52 Joint 53 First pressure surface 54 Second pressure surface

Claims

1. A docking device comprising: a zero-point clamping system (1) operable by a working medium; a machine vice (2) connectable to the zero-point clamping system (1); and a gripping and positioning device (3) for transporting and positioning the machine vice (2) on the zero-point clamping system (1), the zero-point clamping system (1) including at least one coupling element (26), the gripping and positioning device (3) having at least one docking element (28) connectable to the coupling element (26) for supplying the working medium to the zero-point clamping system (1). (27), characterized in that the at least one coupling element (26) on the zero-point clamping system (1) is offset parallel to a longitudinal axis (20) of a receiving opening (19) for a clamping element (18) located on the machine vice (2), and the at least one docking element (28) is arranged such that a pulling movement of the clamping element (18) located on the machine vice (2) into the receiving opening (19) causes the at least one docking element (28) to be coupled to the coupling element (26).

2. 2. The clamping device according to claim 1, characterized in that the at least one connecting element (26) has a through opening (32) whose longitudinal axis (35) runs parallel to the longitudinal axis (20) of the receiving opening (19) for the clamping element (18).

3. 3. The clamping device according to claim 1 or 2, characterized in that the at least one docking element (28) comprises a pressure ram (37) axially displaceable in a receiving opening (36) of the docking device (27), the pressure ram (37) being provided with a through opening (38).

4. 4. The clamping device according to claim 3, characterized in that the pressure ram (37) is arranged such that a through opening (38) of the pressure ram (37) is aligned with a through opening (32) of the corresponding coupling element (26) when the gripping and positioning device (3) is in a docking position for docking the machine vice (2) to the zero-point clamping system (1).

5. 5. A clamping device according to claim 3 or 4, characterized in that the pressure ram (37) is biased outwards by a spring (39).

6. 6. The clamping device according to claim 3, wherein the pressure ram (37) comprises, at its outer end facing the coupling element (26), a central pressure section (40) for opening a blocking element (34) arranged in a connection part (31) of the coupling element (26) connected to the pressure ram (37), and a passage (41) for conveying compressed air from the docking element (28) to the coupling element (26).

7. 7. The clamping device according to claim 6, characterized in that the blocking element (34) is a blocking pin which is guided for movement in the coupling element (26) and biased into a closed position by a compression spring (33).

8. 8. The clamping device according to claim 3, wherein the pressure ram (37) comprises a first pressure surface (53) against which the actuating medium can act to move the pressure ram (37) to a retracted position.

9. 9. The clamping device according to claim 8, characterized in that the pressure ram (37) is designed as a differential pressure ram and comprises in addition to the first pressure surface (53), on which the actuating medium can act to move the pressure ram (37) to a retracted position, a second pressure surface (54), on which the actuating medium can act to move the pressure ram (37) to an extended position.

10. 10. The clamping device according to claim 1, wherein a plurality of switching valves (45) are arranged in the docking device (27) for controlling the supply of compressed air.

11. 11. The clamping device according to claim 1, characterized in that a self-locking valve (44) is arranged in the zero-point clamping system (1) for holding the zero-point clamping system (1) in an open position in the absence of actuation in the closed position.

12. 12. The clamping device according to claim 1, characterized in that a plurality of rows of coupling elements (26) arranged side by side are arranged on the zero-point clamping system (1) and a plurality of docking elements (28) arranged side by side are arranged on the gripping and positioning device (3) for coupling to corresponding coupling elements (26) of each row.

13. 13. The clamping device according to any one of claims 1 to 12, characterized in that the gripping and positioning device (3) includes an integrated drive device (13) for moving the machine vice (2) between a clamping position and a release position.

14. 14. The clamping device according to claim 1, wherein a sensor mechanism (49, 50) is assigned to the zero-point clamping system (1) for monitoring the switching state of the zero-point clamping system (1).

15. 15. The clamping device according to claim 14, characterized in that the sensor mechanism (49, 50) comprises a push rod (48) connected to a clamping device (23) of the zero point clamping system (1) having a switch actuator (49) and a sensor (50) arranged on the docking device (27).

16. 16. The clamping device according to claim 15, characterized in that the push rod (48) is connected to the clamping device (23) of the zero-point clamping system (1) via an articulated joint comprising a transmission lever (51) and a joint (52).

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