Electromechanical clamping device with a sensor system for a gripping system

Abstract

The invention relates to a clamping device (1), in particular for a gripping system, having a housing (2), an electromechanical drive which is arranged at least partially in the housing (2) and the output of which is connected to a first clamping arm fastening (21), and a sensor system for determining the position of the first clamping arm fastening (21), wherein the sensor system comprises a first sensor (102), which is movably guided along a curve about an axis of rotation of the first clamping arm fastening (21), and a first marker (101), the movement of which is coupled to a movement of the first clamping arm fastening (21), and wherein the first sensor (102) is configured to generate a sensor signal as a function of a distance of the first marker (101) from the first sensor (102).

Description

[0001] Electromechanical clamping device with a sensor system for a gripping system

[0002] Field of the invention

[0003] The disclosure relates to an electromechanical clamping device with a sensor system for a gripping system.

[0004] State of the art

[0005] Electromechanical clamping devices are known from the prior art. For example, DE202019105343U1 discloses an electromechanical clamping device without position determination. Clamping devices, particularly pneumatic ones, are also known that use sensors to detect the end positions of the clamping device.

[0006] These are not suitable for determining intermediate positions, which are particularly possible with electromechanical clamping devices. For a helical gear drive, US 2013 / 0008270 A1 describes a conversion of the rotary movement into a linear position for determining the end position using sensors. However, the current technology is complex to implement and has disadvantages in terms of accuracy.

[0007] Disclosure of the invention

[0008] The object of the invention is to provide an electromechanical clamping device with a sensor system for a gripping system that is improved over the prior art. In particular, an electromechanical clamping device with a sensor system that enables the position of a clamping device to be queried as simply and cost-effectively as possible.

[0009] The object is achieved with an electromechanical clamping device for a gripping system according to claim 1 and a method according to the independent claim.

[0010] A first aspect relates to a clamping device, in particular for a gripping system, having a housing, an electromechanical drive arranged at least partially in the housing, the output of which is connected to a first clamping arm fastening, and a sensor system for determining the position of the first clamping arm fastening, wherein the sensor system comprises a first sensor which is guided such that it can move along a curve about an axis of rotation of the first clamping arm fastening and a first marking whose movement is coupled to a movement of the first clamping arm fastening, wherein the first sensor is configured to generate a sensor signal as a function of a distance of the first marking from the first sensor.

[0011] A further aspect relates to a method for adjusting and operating a clamping device with a first clamping arm fastened to a first clamping arm fastening, in particular using a clamping device according to one of the embodiments described here.

[0012] Where a list below contains “or”, this means “and / or” unless otherwise stated.

[0013] In typical embodiments, the electromechanical drive comprises an electric motor and a gearbox. In typical embodiments, the electric motor can be embodied as a DC motor. Further embodiments include an asynchronous motor or a PMSM motor. Typically, the electric motor drives the gearbox. In typical embodiments, the gearbox comprises a planetary gear, a worm shaft, and a gear. Typically, the drive shaft of the electric motor is connected, in particular rigidly connected, to the drive shaft of the planetary gear. In typical embodiments, the drive shaft of the electric motor is also the drive shaft of the planetary gear; in particular, the drive shaft of the electric motor is designed as a single piece with the drive shaft of the planetary gear. This allows a compact design to be achieved. Typically, the planet gear carrier of the planetary gear is designed as the output shaft of the planetary gear.In typical embodiments, the output shaft of the planetary gear is formed integrally with the worm shaft. Typically, the output shaft of the planetary gear is connected to a worm shaft. In typical embodiments, the worm shaft is arranged on the output shaft. In some embodiments, the drive shaft of the electric motor and the drive shaft of the planetary gear are connected to an angular gear. This allows for a more compact design.

[0014] In typical embodiments, the gear meshes with the worm shaft. In typical embodiments, the gear is designed as a helical gear or as a worm wheel. In certain embodiments, the gear has helical gearing, worm gearing, or curved gearing. The gear stage formed with the gear can be designed as a helical gear, worm gear, or face spiral gear. The gear stage is typically self-locking. In typical embodiments, the gear, in particular the helical gear, is manufactured by primary molding, in particular using a plastic injection molding process or an aluminum die-casting process. This can advantageously allow for inexpensive production of the gear or the production of lightweight gears. Typically, the gear is made of a plastic or a non-ferritic material, for example aluminum or magnesium.In further embodiments, the gear can be manufactured by primary forming using 3D printing.

[0015] In typical embodiments, the output of the electromechanical drive is connected to the first clamping arm attachment. In particular, the output of the gear is connected to the first clamping arm attachment, in particular connected in one piece. In typical embodiments, an output shaft of the gear comprises a fastening profile configured for fastening a clamping arm. By way of example, at least one end of the output shaft of the gear comprises a polygonal profile, in particular a square profile.

[0016] Typically, the first clamping arm attachment is designed to receive the clamping arm. In particular, the clamping arm can typically be attached to the first clamping arm attachment. For example, a recess in the clamping arm can be applied, in particular plugged, onto the square of the first clamping arm attachment. In embodiments, the first clamping arm attachment has devices for receiving fastening means for attaching the clamping arm. For example, the clamping arm can be attached to the first clamping arm attachment by means of a screw connection. Separating the clamping arm and the first clamping arm attachment can advantageously enable adaptation of the clamping arm to different clamping devices.

[0017] Typically, the clamping device comprises a housing. In typical embodiments, the electric motor, the planetary gear, and the gear are housed in the housing. Typically, the worm shaft is at least partially housed in the housing. Typically, the gear is mounted in the housing. In typical embodiments, the housing is made of a plastic or a non-ferritic material, for example, aluminum or magnesium.

[0018] Typically, the clamping device includes a sensor system for determining the position of the first clamping arm attachment. In particular, the position of the first clamping arm attachment relative to the housing is determined.

[0019] Typically, the sensor system comprises a first sensor which is guided along a curve, in particular a sensor curve, around a rotational axis of the first clamping arm fastening so as to be movable, in particular continuously movable. In typical embodiments, the curve follows the direction of rotation of the gear. In typical embodiments, the curve is provided in or on the housing of the clamping device. In typical embodiments, the housing has a guide, for example designed as a profile. Typically, the first sensor is guided in the guide so as to be continuously movable and can be freely fixed in the guide. Typically, the guide runs over an angular range of at least 30°, 45°, 60°, 75°, 90°, 120°, 150°, 185°, 210°, 240°, 270° or 360°.

[0020] In typical embodiments, the first sensor is accommodated in a sensor receiving element, in particular a sliding block, or is connected to a sensor receiving element. Typically, the sensor receiving element, in particular the sliding block, is movable in the guide and freely fixable. Typically, the sliding block is fixed in the guide with, for example, two grub screws. In typical embodiments, the guide is connected to the housing, in particular radially outwardly, or to a side cover of the housing. In particular, the guide is integrated into the housing or into a side cover of the housing. In typical embodiments, the housing comprises a cover on each side of the gear. In typical embodiments, the cover on a first side of the gear has a greater wall thickness than the cover on a second side of the gear. Typically, the sensor is incorporated in the cover on the first side of the gear.In typical embodiments, the center axis of the gear is offset from the worm shaft, which typically results in the cover on the first side of the gear having a greater wall thickness than the cover on the second side of the gear, with the cover on the first side and the cover on the second side typically being subjected to the same mechanical loads. Thus, the first sensor can be incorporated into the cover on the first side without compromising stability or service life.

[0021] In typical embodiments, the first sensor comprises a magnetic field sensor. Typically, the magnetic field sensor is designed as a reed switch, which is configured to switch when a magnetic field is applied. In alternative embodiments, the magnetic field sensor is designed as a GMR sensor, TMR sensor, or Hall sensor.

[0022] In further embodiments, active sensors, particularly as the first sensor, can be used that are sensitive to a property of the marking. Typical sensors comprise a permanent magnet or an electromagnet. In some embodiments, the sensor comprises a capacitive sensor or an inductive sensor.

[0023] In typical embodiments, the clamping device comprises a first marker whose movement, in particular along a marker curve around the rotational axis of the first clamping arm attachment, is coupled to a movement of the first clamping arm attachment. Typically, the marker curve is a circular curve around the rotational axis of the first clamping arm attachment. In typical embodiments, the marker curve is a circular curve around the rotational axis of the gear.

[0024] Typically, the marking is incorporated into an element of the transmission, in particular into the gear. For example, the marking is incorporated into the helical gear or the worm gear. Thus, a movement of the first clamping arm attachment, which is associated with a movement of the gear, can be measured. Incorporating the first marking into an element of the transmission advantageously enables the attachment of a multitude of different clamping arms to the first clamping arm attachment, for example, for different objects to be clamped, without modifying the sensor system.

[0025] In embodiments, the first marking is arranged on the clamping arm. In particular, the first marking can be accommodated in the clamping arm. As a result, a movement of the clamping arm is directly linked to a movement of the first marking. Typically, the marking can be easily changed, for example, when the environment of the clamping device changes, for example with regard to background magnetic fields or electrical background fields, which may create a need for stronger or weaker markings.

[0026] In typical embodiments, the first marking comprises a permanent magnet. In further embodiments, the first marking comprises a metal marking, in particular a metal insert. Typically, the first marking is magnetically conductive. In particular, with a magnetically conductive marking, the housing, the clamping arm, the clamping arm attachment, or the gear is typically not magnetically conductive or has a magnetic conductivity at least one order of magnitude lower than the magnetic conductivity of the first marking.

[0027] Typically, the first sensor is configured to generate a sensor signal depending on the distance between the first marking and the first sensor. In particular, the sensor signal is larger at a shorter distance than at a longer distance. Typically, the first sensor and the first marking are coordinated with each other; for example, the sensor system for a first marking with a permanent magnet comprises a magnetic field sensor as the first sensor.

[0028] In typical embodiments, the sensor system comprises a plurality of markings, in particular 2, 3, 4, or 6 markings. In typical embodiments, the plurality of markings are of the same type, in particular similar to the first marking. In some embodiments, the plurality of markings comprises markings of different types. This can be advantageous when the environment of the clamping device varies, particularly with regard to background fields.

[0029] Typically, a plurality of markings enables the construction of the clamping device, in particular the installation of the gear, regardless of the installation position of the first marking. Typically, the guidance of the first sensor extends over an angular range greater than the quotient of 360° and the number of markings. Typically, the plurality of markings are placed at equal intervals, in particular at equal angular intervals, from one another.

[0030] In typical embodiments, the sensor system comprises a plurality of sensors, in particular 2, 3, 4, 5 or 6 sensors. In typical embodiments, the plurality of sensors are of the same type, in particular similar to the first sensor. In typical embodiments, a second sensor is guided so as to be movable along a second sensor curve about a rotation axis of the first clamping arm fastening. The second sensor curve can be the same as the first sensor curve. A plurality of sensors advantageously enables a plurality of positions of the first clamping arm fastening to be determined, in particular in combination with a plurality of markings. For example, a position of the first clamping arm fastening can be deduced from a combination of the sensor signals from several sensors.

[0031] In typical embodiments, the first clamping arm attachment is rotated about a rotational axis of the first clamping arm attachment into a first defined clamping position. In particular, the first clamping arm, and thus the first clamping arm attachment, is rotated into a defined clamping position. The first defined clamping position can, for example, be a clamping arm position in which the first clamping arm clamps an object with a second clamping arm, or an open clamping arm position in which the clamping arm is open.

[0032] Typically, the first sensor is moved along the first sensor curve, with the first sensor signal being observed in particular. As soon as the first sensor signal reaches a first threshold, the first sensor is typically fixed in the guide. Thus, reaching the first threshold of the first sensor signal can be linked to a position of the first clamping arm attachment, and thus of the first clamping arm. The first threshold of the first sensor signal can be a predefined threshold, a local maximum, a local minimum, a global maximum, or a global minimum of the first sensor signal.

[0033] In typical embodiments, during operation of the clamping device, the first clamping arm attachment is rotated, in particular by means of the electromechanical drive. In this case, the electric motor typically rotates the worm shaft via the planetary gear. In typical embodiments, the worm shaft engages the helical gear and rotates the helical gear and thus the first clamping arm attachment. During operation of the clamping device, in particular during rotation of the first clamping arm attachment, the first sensor signal is typically detected. As soon as the first sensor signal reaches the first threshold value, the rotation of the first clamping arm attachment is typically stopped. This typically occurs by stopping or switching off the electric motor. Thus, the rotation of the first clamping arm attachment, and thus of the first clamping arm, is stopped as soon as the first defined clamping position is reached.This advantageously prevents excessive clamping of the object to be clamped and typically prevents excessive loading of both the clamping device and the object to be clamped. Due to the self-locking effect of the gear stage, particularly the helical or worm gear, a clamping position is maintained even when the electric motor is switched off.

[0034] In typical embodiments, the sensor system comprises a second sensor. Typically, the first clamping arm attachment is rotated about the rotational axis of the first clamping arm attachment into a second defined clamping position. The second defined clamping position can, for example, be a clamping arm position in which the first clamping arm, together with a second clamping arm, clamps another object, for example with a different geometry, or an open clamping arm position in which the clamping arm is open, particularly when the first defined clamping position is associated with clamping an object.

[0035] Typically, the second sensor is moved along the second sensor curve, which may be identical to the first sensor curve, with particular attention being paid to the second sensor signal. As soon as the second sensor signal reaches a second threshold, the second sensor is typically fixed in the guide. Thus, reaching the second threshold of the second sensor signal can be linked to a position of the first clamping arm attachment, and thus of the first clamping arm. The second threshold of the second sensor signal can be a predefined threshold, a local maximum, a local minimum, a global maximum, or a global minimum of the first sensor signal. The second threshold of the second sensor signal can be equal to the first threshold of the first sensor signal.

[0036] In typical embodiments, the first clamping arm fastening is rotated during operation of the clamping device. During operation of the clamping device, in particular during rotation of the first clamping arm fastening, the first and second sensor signals are typically recorded. Typically, the rotation of the first clamping arm fastening occurs as a function of the first and second sensor signals. For example, the rotation of the first clamping arm fastening stops as soon as the first or second sensor signal reaches the first or second threshold value. The threshold value can be a switching threshold of a digital sensor, such as a reed contact, which closes, i.e. switches, when a magnetic field is applied. The first clamping arm fastening thus typically advantageously remains between two defined clamping positions.In embodiments, the rotation of the first tension arm attachment stops as soon as the first sensor signal reaches the first threshold or the second sensor signal reaches the second threshold.

[0037] In typical embodiments, the sensor system comprises a second marking which is located at a fixed distance, in particular at a fixed angular distance, from the first marking. Typically, the first or the second sensor is configured to generate a first or second sensor signal depending on the distance of the second marking from the first sensor or from the second sensor. Typically, two clamping positions with a defined fixed distance, in particular angular distance, can thus be realized. In this case, one of the markings can typically define a clamping position and another of the markings can define an open clamping position, whereby only one sensor is required. A further advantage of having multiple markings is that in the event of wear on the gear due to the load on only a specific section of the toothing, the gear can be rotated by the angular distance between the markings.As a result, a non-worn section of the gear teeth can engage with the worm shaft and the position of the first clamp arm attachment can be further determined.

[0038] The invention makes it possible to achieve a clamping device with a sensor system for determining the position of the first clamping arm attachment, which offers greater accuracy and flexibility than the prior art. In particular, the guidance of the first sensor along a curve allows the sensor system to be adjusted to any desired end position, in particular through the free adjustment of the position of the sensors, in particular of the first sensor, for example in a sliding block. Integrating the sensors, in particular of the first sensor, into the housing and the markings, in particular of the first marking, into the gear of the transmission enables a sensor system that is robust against environmental influences such as heat, vibrations, shocks, or dirt.Compared to the prior art, the invention does not require translating the rotation of the first clamping arm mount into a linear position; instead, the position of the first clamping arm mount can be determined directly. The invention is compact and does not cause any interfering contours. It is therefore easily integrated into gripping systems.

[0039] Embodiments can offer particular advantages when used in gripping systems, particularly for handling loads mounted, for example, on industrial robots. In particular, typical clamping devices with a sensor system offer the advantage that the sensor system can be easily adapted for different usage scenarios, especially for different objects to be gripped, particularly with regard to the clamping positions to be determined.

[0040] Short description of the drawings

[0041] The invention is explained in more detail below with reference to the accompanying drawings, in which the figures show:

[0042] Fig. 1 shows an embodiment of the invention in a longitudinal section;

[0043] Fig. 2a shows a further embodiment of the invention in a schematic side view;

[0044] Fig. 2b shows a further embodiment of the invention in a schematic side view;

[0045] Fig. 2c shows a further embodiment of the invention in a schematic side view;

[0046] Fig. 3a shows the embodiment of Figs. 2a and 2c in a detail of a schematic longitudinal section;

[0047] Fig. 3b shows a detail of the schematic longitudinal section of Fig. 3a;

[0048] Fig. 4a shows the embodiment of Fig. 2b in a further schematic side view; Fig. 4b shows the embodiment of Figs. 2b and 4a in a schematic sectional view;

[0049] Fig. 4c a detail of the schematic sectional view of Fig. 4b.

[0050] Description of embodiments

[0051] Typical embodiments are described below with reference to the figures, whereby the invention is not limited to the embodiments. Rather, the scope of the invention is determined by the claims. When describing the embodiments, the same reference numerals may be used for the same or similar parts in different figures and for different embodiments in order to make the description clearer. However, this does not mean that corresponding parts of the invention are limited to the variants shown in the embodiments. In some cases, features that have already been described in connection with other figures are not described again for the sake of clarity. In some cases, features that are shown more than once in a figure are only identified by reference numerals.

[0052] Fig. 1 shows a longitudinal section of a typical embodiment of a clamping device 1 according to the invention for a gripping system.

[0053] In detail, the clamping device 1 comprises a housing 2, a planetary gear 3 and an electric motor 4. The housing 2 accommodates the electric motor 4, the planetary gear 3, a worm shaft 7 and a helical gear 8. The electric motor 4 comprises a drive shaft 10 of the electric motor 4, a rotor 11 and a stator 12. The rotor 11 is connected to the drive shaft 10. The planetary gear 3 comprises planet gears 5 and a planet gear carrier 6. The planet gears 5 mesh with a sun gear which is connected to the drive shaft 10. The planet gear carrier 6 is mounted on a bearing 18. The planet gear carrier 6 of the planetary gear 3 is designed as an output shaft 9, in particular made in one piece. The worm shaft 7 sits on the output shaft 9 and is connected to it in a torsionally rigid manner. The axes of rotation of the electric motor 4, the planetary gear 3 and the worm shaft 7 are arranged coaxially.The worm shaft 7 is mounted via the output shaft 9 through the bearing 18 of the planetary gear 3 and with a bearing 17 in the housing 27. The bearing 17 can be a floating bearing. The worm shaft 7 engages with the helical gear 8. The housing 2 is connected to a mounting 14. The mounting 14 includes a torque support 13, which supports the electric motor 4. A first marking 101 and a further marking are incorporated in the helical gear 8. The helical gear 8 is connected to a first clamping arm 22; in particular, a movement of the helical gear 8 is linked to a movement of the first clamping arm 22.

[0054] The embodiment shown in Fig. 1 comprises a drive with the electric motor 4 and a two-stage gear with the planetary gear 3 and the helical gear with the helical gear 8.

[0055] Fig. 2a shows a schematic side view of an embodiment according to the invention, which, for example, can have a drive in accordance with the embodiment of Fig. 1. The clamping device 1 comprises a housing 2, in which in particular a worm shaft and a helical gear are accommodated. A first clamping arm fastening 21, which can accommodate the first clamping arm, is connected to the helical gear. The housing 2 comprises a lateral cover 25. The cover 25 comprises a guide 105 for guiding a first sensor. The first sensor is received in a first sliding block 112. The first sliding block 112 is received in the guide 105 and guided in the guide 105 for continuously movable movement. The guide 105 forms a circular curve around the first clamping arm fastening 21. The first sliding block 112 can be fastened in the guide 105 by means of grub screws 113, in particular by means of two grub screws 113.

[0056] Fig. 2b shows a schematic side view of a further embodiment of the invention. The clamping device 1 comprises a drive with an electric motor 4, which is connected to the planetary gear (not shown in Fig. 2b) via an angular gear 33, the angular gear 33, the planetary gear, and a helical gear with a worm shaft and a helical gear. The clamping device 1 comprises a housing 2, in which, similar to the embodiment of Fig. 1, the worm shaft and the helical gear are accommodated. A first clamping arm attachment 21, which can accommodate the first clamping arm, is connected to the helical gear. Located radially on the outside of the housing 2 is a guide 105 for guiding the first sensor 102. The first sensor 102 can be accommodated in a sensor receiving element, in particular a sliding block. The guide 105 forms a circular curve around the first clamping arm attachment 21.A second sensor can be accommodated in the guide 105. Regardless of the embodiments shown in Fig. 2a and Fig. 2b, the guide of Fig. 2a can be combined with the angular gear 33 of Fig. 2b, or the arrangement of electric motor and gear of Fig. 2a can be combined with the guide of Fig. 2b.

[0057] Fig. 2c shows a schematic side view of a further embodiment of the invention. The clamping device 1 comprises a drive with an electric motor 4, which is connected to the planetary gear (not shown in Fig. 2c) via an angular gear 33, the angular gear 33, the planetary gear, and a helical gear with a worm shaft and a helical gear. The housing 2 comprises a lateral cover 25. The cover 25 comprises a guide 105 for guiding a plurality of sensors, in Fig. 2c for guiding two sensors. A first sensor is received in a first sliding block 112. The first sliding block 112 is received in the guide 105 and is guided for continuous movement in the guide 105. A second sensor is received in a second sliding block 122. The second sliding block 122 is received in the guide 105 and is guided for continuous movement in the guide 105. The guide 105 forms a circular curve around the first clamping arm fastening 21.The first T-slot nut 112 or the second T-slot nut 122 can be secured in the guide 105 using grub screws 113, in particular two grub screws 113 each. The first sensor is positioned approximately 90° offset from the second sensor. Thus, a first clamping position of the clamping arm attachment can be detected with the first sensor, and a second clamping position of the clamping arm attachment can be detected with the second sensor. During operation of the clamping device, the clamping arm attachment, in particular the clamping arm, can be pivoted between the two clamping positions.

[0058] Fig. 3a shows a schematic longitudinal section of the embodiment of Fig. 2a and Fig. 2c. The sliding block 112, which is designed to accommodate the first sensor, is incorporated into the cover 25 of the housing of the clamping device. A small distance between the cover 25 with the sliding block 112 and the first marking (not shown in Fig. 3a) allows for better measurement of a first sensor signal by the first sensor, particularly when the first marking is incorporated into the helical gear 8 or the clamping arm. The helical gear 8 engages the worm shaft 7.

[0059] Fig. 3b shows a detail of Fig. 3a. In particular, Fig. 3b shows a section of the cover 25. The cover 25 comprises a guide 105. A first sliding block 112 is received in the guide 105 and is movably guided in the guide 105. A first sensor 102 is received in the first sliding block 112. The position of the first sensor 102 is freely variable in the guide 105. If the clamping device comprises a second sliding block with a second sensor, this can be received in the guide 105 in the same way as the first sliding block shown in Fig. 3b and can be movably guided in the guide 105.

[0060] Fig. 4a shows the embodiment of Fig. 2b in a further schematic side view. The housing 2 of the clamping device comprises a guide 105, which adjoins the housing radially outward with respect to the rotational axis of the first clamping arm attachment 21. The guide 105 guides a sensor receiving element 112, in which the first sensor 102 is received. The sensor receiving element 112 is movably guided in the guide 105 and can be freely fixed. The sensor receiving element 112 engages around the guide 105.

[0061] Fig. 4b shows the embodiment of Fig. 4a in a schematic sectional view. The guide 105 is located in a plane perpendicular to the rotational axis of the helical gear.

[0062] Fig. 4c shows the profile of the guide 105 of Figs. 4a and 4b in detail. The guide 105 has a T-shaped profile.

Claims

Claims 1. A clamping device (1), in particular for a gripping system, comprising a housing (2), an electromechanical drive arranged at least partially in the housing (2), the output of which is connected to a first clamping arm fastening (21), and a sensor system for determining the position of the first clamping arm fastening (21), comprising: a first sensor (102) which is guided such that it can move along a curve about an axis of rotation of the first clamping arm fastening (21); and a first marking (101), the movement of which is coupled to a movement of the first clamping arm fastening (21); wherein the first sensor (102) is configured to generate a sensor signal as a function of a distance between the first marking (101) and the first sensor (102).

2. Clamping device (1) according to one of the preceding claims, wherein the first marking (101) comprises a permanent magnet and / or wherein the first sensor (102) comprises a magnetic field sensor.

3. Clamping device (1) according to claim 1, wherein the first marking (101) comprises a metal insert and / or wherein the first sensor (102) comprises a capacitive sensor and / or an inductive sensor and / or a magnetic field sensor with a permanent magnet.

4. Clamping device (1) according to one of the preceding claims, wherein the first marking (101) is incorporated in a gear wheel of a transmission of the drive.

5. Clamping device (1) according to one of the preceding claims, wherein the clamping device (1) comprises a clamping arm (22) connected to the first clamping arm attachment (21) and wherein the first marking (101) is arranged on the clamping arm (22).

6. Clamping device (1) according to one of the preceding claims, wherein the drive comprises a gear wheel designed as a helical gear (8) and / or as a worm gear.

7. Clamping device (1) according to one of the preceding claims, wherein the housing (2) has a guide (105); and wherein the first sensor (102) in the Guide (105) is continuously movable and can be freely fixed in the guide (105) 8. Clamping device (1) according to one of the preceding claims, wherein the housing (2) comprises a housing cover (25), and wherein the first sensor (102) is guided in the housing cover (25).

9. Clamping device (1) according to one of the preceding claims, wherein the Gear, the housing (2), the clamping arm (22) and / or the clamping arm fastening (21) is made of a plastic or a non-ferritic material.

10. Clamping device (1) according to one of the preceding claims, wherein the sensor system comprises a plurality of markings and / or at least one second sensor.

11. A method for adjusting and operating a clamping device (1) with a first clamping arm (22) attached to a first clamping arm attachment (21), in particular a clamping device (1) according to one of the preceding claims, comprising: Providing a sensor system with a first marking (101), the movement of which is coupled to a movement of the first clamping arm fastening (21); and a first sensor (102) which is movably guided along a sensor curve about a rotational axis of the first clamping arm fastening (21) and is configured to generate a first sensor signal as a function of a distance of the first marking (101) from the first sensor (102), Rotating the first clamping arm fastening (21) about the axis of rotation of the first clamping arm fastening (21) into a first defined clamping position; Moving the first sensor (102) along the sensor curve; Fixing the first sensor (102) as soon as the first sensor signal reaches a first threshold value; and Moving the first clamping arm attachment (21) during operation of the clamping device (1) in dependence on the first sensor signal.

12. The method according to claim 11, wherein moving the first clamping arm attachment (21) during operation comprises: Turning the first clamping arm fastening (21); detecting the first sensor signal of the first sensor (102) during the twisting; Stopping the first clamping arm fastening (21) as soon as the first sensor signal reaches the first threshold value.

13. The method according to claim 12, wherein the rotation of the first clamping arm fastening (21) is carried out by means of an electromechanical drive.

14. The method according to any one of claims 11-13, wherein the sensor system comprises a second sensor which is movably guided along a second sensor curve about a rotational axis of the first clamping arm attachment (21) and is configured to generate a second sensor signal as a function of a distance of the first marking (101) from the second sensor; and wherein the method comprises: Rotating the first clamping arm fastening (21) around the rotation axis of the first clamping arm fastening into a second defined clamping position Moving the second sensor along the second sensor curve; Fixing the second sensor as soon as the second sensor signal reaches a second threshold; and Moving the first clamping arm fastening (21) during operation of the clamping device also in dependence on the second sensor signal.

15. The method according to any one of claims 11-14, wherein the sensor system comprises a second marking whose movement is coupled to a movement of the first clamping arm attachment (21) and which is located at a fixed distance from the first marking (101); and wherein the first sensor (102) and / or the second sensor are configured to generate a first sensor signal and / or a second sensor signal depending on the distance of the second marking from the first sensor (102) and / or from the second sensor.

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