EP3442750B1 - Clamping device and method for clamping a workpiece - Google Patents

Description

The present invention relates to a clamping device for clamping a workpiece, which comprises a clamping element which can be converted from a release position into a clamping position in a clamping movement, the clamping movement comprising a pivoting movement and a linear movement.

Such clamping devices are known. In particular, such clamping devices are known in which a piston which can be acted on with an actuating fluid is provided for driving the clamping movement of the clamping element, the piston cooperating with a guide track in such a way that the clamping element carries out a pivoting movement and a linear movement.

The FR 2 044 137 A5 discloses a tensioner according to the preamble of claim 1.

The present invention has for its object to provide a clamping device of the type mentioned, which allows great variability in terms of controlling the pivoting movement and the linear movement of the clamping element.

This object is achieved by a tensioning device according to claim 1.

The present invention is based on the concept of providing two different pistons for driving the linear movement and for driving the swiveling movement, so that these two movements can be influenced and controlled separately.

In this description and in the appended claims, a piston is to be understood to mean any guided movable element, regardless of its geometric shape; Such a piston can therefore in particular also be essentially hollow-cylindrical.

The linear movement piston can preferably be acted upon with an actuating fluid, in particular on a clamping side of the linear movement piston with a clamping actuating fluid and / or on a release side of the linear movement piston with a release actuating fluid.

The pivoting movement piston can likewise preferably be acted upon with an actuating fluid, in particular on a clamping side of the pivoting movement piston with a clamping actuating fluid and / or on a release side of the pivoting movement piston with a release actuating fluid.

The clamping actuating fluid can be a liquid, in particular a hydraulic oil, or a gas, in particular compressed air.

The release actuating fluid can also be a liquid, for example a hydraulic oil, or a gas, in particular compressed air.

In a preferred embodiment it is provided that the tensioning device comprises a tensioning fluid sequence control, which has the effect that the linear movement of the tensioning element into the tensioning position only begins after the pivoting movement of the tensioning element has started from the release position.

In particular, it can be provided that the tensioning device comprises a tensioning fluid sequence control, which has the effect that the linear movement of the tensioning element into the tensioning position only begins after the pivoting movement of the tensioning element from the release position has been completed.

The tensioning device comprises a tensioning fluid path for a tensioning actuating fluid to the tensioning side of the linear movement piston, which is only released when the pivoting movement of the tensioning element from the release position is completed.

The clamping fluid path to the clamping side of the linear movement piston has a section which runs through the pivoting movement piston.

It is preferably provided that the tensioning element can be transferred from the tensioning position into the release position in a release movement, the release movement comprising a linear movement and a pivoting movement.

The tensioning device preferably comprises a release fluid sequence control, which has the effect that the pivoting movement of the tensioning element into the release position only begins after the linear movement of the tensioning element has started from the tensioning position.

In particular, it can be provided that the tensioning device comprises a release fluid sequence control, which causes the pivoting movement of the tensioning element into the release position only begins after the linear movement of the tensioning element from the tensioning position has been completed.

In a preferred embodiment of the tensioning device, it is provided that the tensioning device comprises a release fluid path for a release actuating fluid to the release side of the pivoting movement piston, which is only released when the linear movement of the tensioning element from the tensioning position is completed.

In particular, it can be provided that the release fluid path has a section that runs through the linear movement piston. The linear movement piston can have a stop for the swivel movement piston, against which the swivel movement piston is pressed in the clamping position by a clamping actuating fluid.

The pivoting movement piston can have a fluid channel which is in fluid communication with a fluid channel of the linear movement piston during the linear movement of the clamping element into the clamping position and / or during the linear movement of the clamping element.

It can be provided that the fluid channel of the pivoting movement piston is not in fluid communication with the fluid channel of the linear movement piston during the pivoting movement of the tensioning element from the release position and / or during the pivoting movement of the tensioning element.

The linear movement piston can have a seal which, in the clamping position, bears sealingly against a sealing surface and is released from the clamping position by the linear movement of the clamping element, so that a release fluid path for a release actuating fluid is released to the release side of the pivoting movement piston.

As an alternative or in addition to this, it can be provided that the tensioning device comprises a sleeve in which the linear movement piston is displaceably guided and which has a seal which, in the tensioned position, bears sealingly on a sealing surface of the linear movement piston, the linear movement piston having a release fluid channel which moves past the seal of the sleeve during the linear movement of the clamping element from the clamping position, so that a release fluid path to the release side of the pivoting movement piston is released through the release fluid channel.

The pivoting movement of the clamping element preferably takes place about a pivot axis which is oriented essentially parallel to a clamping surface on which the workpiece to be clamped is clamped by means of the clamping element.

In a special embodiment of the tensioning device, it is provided that the tensioning element can be rotated about an axis of rotation running parallel to the direction of movement of the linear movement and the tensioning device comprises a fixing device, by means of which the angular position of the tensioning element with respect to the axis of rotation can be fixed, preferably releasably.

Such a fixing device can in particular comprise a clamping device, for example in the form of a clamping flange or a clamping ring.

The fixing device, in particular the clamping device, preferably fixes a cover of the clamping device in which the linear movement piston and / or the pivoting movement piston of the clamping device are guided.

The cover of the tensioning device is preferably connected in a rotationally fixed manner to the linear movement piston and / or to the pivoting movement piston via an anti-rotation device, so that the clamping element is also rotated about the axis of rotation when the cover is rotated about the axis of rotation.

In order to prevent the pivoting movement piston from moving relative to the linear movement piston before the pivoting movement is to begin, it is expedient if the tensioning device comprises a locking device, by means of which the pivoting movement piston can be locked on the linear movement piston, preferably by positive locking.

In a preferred embodiment of the invention it is provided that the locking device comprises at least one locking body which can be brought into engagement with a locking recess in order to lock the pivoting movement piston on the linear movement piston.

The locking recess can in particular be arranged on the pivoting movement piston.

The linear movement piston can have a locking body receptacle, from which the locking body partially extends into the locking recess in order to lock the pivoting movement piston in a locking position on the linear movement piston.

The locking body can comprise one or more rolling bodies.

The rolling element or elements can in particular be designed as a ball.

In a special embodiment of the invention it is provided that the locking body comprises two or more rolling bodies, in particular two or more balls.

Furthermore, it can be provided that the locking device comprises an escape recess into which the locking body can at least partially escape in order to release the locking of the pivoting movement piston on the linear movement piston.

Such an escape recess can be arranged on a sleeve, in which the linear movement piston is displaceably guided.

As an alternative or in addition to this, it can be provided that an escape recess, into which the locking body can at least partially escape, in order to release the locking of the pivoting movement piston on the linear movement piston, on a receiving block, on a machine table or on another device into which the clamping device preferably without inserting a housing directly - can be used.

The present invention further relates to a method for clamping a workpiece by means of a clamping device according to claim 15.

In this way, the object is achieved to create a method for clamping a workpiece by means of a clamping device, which enables great variability with regard to the control and execution of the pivoting movement and the linear movement of the clamping element.

This method according to the invention is preferably carried out by means of the tensioning device according to the invention.

The linear movement of the clamping element is driven by means of a linear movement piston.

The pivoting movement of the tensioning element is driven by means of a pivoting movement piston.

The linear movement piston and the pivoting movement piston are elements of the tensioning device which are different from one another and which are preferably displaceable relative to one another, in particular guided relative to one another.

The tensioning device according to the invention enables the linear motion piston and the pivoting motion piston to interact in a switching sequence in which an actuating fluid acts on the linear motion piston and the pivoting motion piston at different times in order to generate a pivoting motion of the tensioning element and a linear motion of the tensioning element.

This functional principle allows workpieces to be clamped with large manufacturing tolerances to be clamped precisely without relative movement on the workpiece.

The tensioning device according to the invention can be designed in cartridge technology, as a result of which the tensioning device can be inserted directly into the cavity of a device, in particular can be inserted or screwed in.

As an alternative to this, the tensioning device according to the invention can also be provided with a housing which can be mounted on a receiving block or another device.

A linear movement of the tensioning element can be initiated in particular by moving a fluid channel arranged on the pivoting movement piston past a seal arranged on the linear movement piston.

A pivoting movement of the clamping element can be initiated in particular by moving a seal arranged on the linear movement piston out of a cavity into which the clamping device is inserted.

As an alternative or in addition to this, a pivoting movement of the tensioning element can also be initiated in that a fluid channel provided on the linear movement piston is moved past a seal which is arranged on a sleeve surrounding the linear movement piston.

Further features and advantages of the invention are the subject of the following description and the drawing of exemplary embodiments.

Fig. 1

eine perspektivische Darstellung einer Spannvorrichtung, die an einem Aufnahmeblock montiert ist, wobei die Spannvorrichtung sich in einer Spannstellung befindet, in welcher ein Werkstück zwischen einem Spannelement der Spannvorrichtung und einer Spannfläche eingespannt ist;

Fig. 2

eine Draufsicht auf die Spannvorrichtung und das eingespannte Werkstück aus Fig. 1 von oben;

Fig. 3

eine Vorderansicht der Spannvorrichtung und des Aufnahmeblocks aus den Fig. 1 und 2, jedoch ohne das Werkstück, mit der Blickrichtung in Richtung des Pfeiles 3 in Fig. 2;

Fig. 4

eine Seitenansicht der Spannvorrichtung, des Aufnahmeblocks und des eingespannten Werkstücks aus den Fig. 1 und 2, mit der Blickrichtung in Richtung des Pfeiles 4 in Fig. 2;

Fig. 5

einen Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück aus den Fig. 1 bis 4, längs der Linie 5 - 5 in Fig. 2;

Fig. 6

eine der Fig. 4 entsprechende Seitenansicht der Spannvorrichtung, des Aufnahmeblocks und des Werkstücks in einer Zwischenstellung, in welcher das Spannelement in einer Löserichtung linear von dem Werkstück weg bewegt worden ist;

Fig. 7

einen der Fig. 5 entsprechenden Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück in der Zwischenstellung;

Fig. 8

eine der Fig. 4 entsprechende Seitenansicht der Spannvorrichtung, des Aufnahmeblocks und des Werkstücks in einer Lösestellung, in welcher das Spannelement um einen Winkel β um eine Schwenkachse aus der Zwischenstellung weg geschwenkt worden ist;

Fig. 9

einen der Fig. 5 entsprechenden Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück in der Lösestellung;

Fig. 10

einen der Fig. 5 entsprechenden Schnitt durch eine zweite Ausführungsform einer Spannvorrichtung, eines Aufnahmeblocks und eines Werkstücks, wobei die Spannvorrichtung sich in der Spannstellung befindet, in welcher das Spannelement der Spannvorrichtung das Werkstück an einer Spannfläche einspannt, wobei die Spannvorrichtung bei dieser Ausführungsform eine Hülse umfasst, in welcher ein Linearbewegungskolben der Spannvorrichtung verschieblich geführt ist und welche in eine Ausnehmung des Aufnahmeblocks eingesetzt ist;

Fig. 11

einen der Fig. 10 entsprechenden Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück bei der zweiten Ausführungsform, wobei die Spannvorrichtung sich in der Zwischenstellung befindet, in welcher das Spannelement in der Löserichtung linear von dem Werkstück weg bewegt worden ist;

Fig. 12

einen der Fig. 10 entsprechenden Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück bei der zweiten Ausführungsform, wobei die Spannvorrichtung sich in der Lösestellung befindet, in welcher das Spannelement um die Schwenkachse aus der Zwischenstellung weg geschwenkt worden ist;

Fig. 13

eine perspektivische Darstellung einer dritten Ausführungsform der Spannvorrichtung und des Aufnahmeblocks;

Fig. 14

eine Draufsicht auf die Spannvorrichtung, den Aufnahmeblock und ein mittels der Spannvorrichtung gegen eine Spannfläche gespannten Werkstücks bei der dritten Ausführungsform, wobei die Spannvorrichtung sich in einer Spannstellung befindet, in welcher das Spannelement der Spannvorrichtung das Werkstück an einer Spannfläche einspannt, wobei das Spannelement um eine parallel zur Spannrichtung verlaufende Drehachse verdrehbar und mittels einer Fixiervorrichtung in einer gewünschten Winkelposition bezüglich der Drehachse lösbar fixierbar ist, wobei eine Längsmittelebene des Spannelements um einen Winkel von 0° gegenüber einer Bezugsebene gedreht ist;

Fig. 15

eine Seitenansicht der Spannvorrichtung, des Aufnahmeblocks und des Werkstücks aus Fig. 14, mit der Blickrichtung in Richtung des Pfeiles 15 in Fig. 14;

Fig. 16

eine der Fig. 14 entsprechende Draufsicht auf die Spannvorrichtung, den Aufnahmeblock und das Werkstück aus den Fig. 14 und 15, wobei das Spannelement der Spannvorrichtung um einen Winkel α (in der Blickrichtung von Fig. 16 gesehen im Gegenuhrzeigersinn) um die Drehachse gedreht worden ist, so dass die Längsmittelebene des Spannelements nunmehr den Winkel α (von beispielsweise ungefähr 22°) mit der Bezugsebene einschließt;

Fig. 17

eine Seitenansicht der Spannvorrichtung, des Aufnahmeblocks und des Werkstücks aus Fig. 16, mit der Blickrichtung in Richtung des Pfeiles 17 in Fig. 16;

Fig. 18

einen der Fig. 10 entsprechenden Schnitt durch eine vierte Ausführungsform einer Spannvorrichtung, eines Aufnahmeblocks und eines Werkstücks, wobei die Spannvorrichtung sich in der Spannstellung befindet, in welcher das Spannelement der Spannvorrichtung das Werkstück an einer Spannfläche einspannt, wobei die Spannvorrichtung bei dieser Ausführungsform eine Arretiervorrichtung umfasst, mittels welcher der Schwenkbewegungskolben an dem Linearbewegungskolben arretierbar ist;

Fig. 19

einen der Fig. 18 entsprechenden Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück bei der vierten Ausführungsform, wobei die Spannvorrichtung sich in der Zwischenstellung befindet, in welcher das Spannelement in der Löserichtung linear von dem Werkstück weg bewegt worden ist;

Fig. 20

einen der Fig. 18 entsprechenden Schnitt durch die Spannvorrichtung, den Aufnahmeblock und das Werkstück bei der vierten Ausführungsform, wobei die Spannvorrichtung sich in der Lösestellung befindet, in welcher das Spannelement um die Schwenkachse aus der Zwischenstellung weg geschwenkt worden ist, und wobei die Arretiervorrichtung sich in einer Freigabestellung befindet, in welcher sie den Schwenkbewegungskolben nicht an dem Linearbewegungskolben arretiert.

The drawings show:

Fig. 1

a perspective view of a clamping device which is mounted on a receiving block, wherein the clamping device is in a clamping position in which a workpiece is clamped between a clamping element of the clamping device and a clamping surface;

Fig. 2

a plan view of the clamping device and the clamped workpiece Fig. 1 from above;

Fig. 3

a front view of the clamping device and the receiving block from the Fig. 1 and 2 , but without the workpiece, with the direction of view in the direction of arrow 3 in Fig. 2 ;

Fig. 4

a side view of the clamping device, the receiving block and the clamped workpiece from the Fig. 1 and 2 , looking in the direction of arrow 4 in Fig. 2 ;

Fig. 5

a section through the clamping device, the mounting block and the workpiece from the 1 to 4 , along the line 5 - 5 in Fig. 2 ;

Fig. 6

one of the Fig. 4 corresponding side view of the clamping device, the receiving block and the workpiece in an intermediate position in which the clamping element has been moved linearly away from the workpiece in a release direction;

Fig. 7

one of the Fig. 5 corresponding section through the clamping device, the holding block and the workpiece in the intermediate position;

Fig. 8

one of the Fig. 4 corresponding side view of the clamping device, the receiving block and the workpiece in a release position in which the clamping element has been pivoted away from the intermediate position by an angle β about a pivot axis;

Fig. 9

one of the Fig. 5 corresponding section through the clamping device, the mounting block and the workpiece in the release position;

Fig. 10

one of the Fig. 5 corresponding section through a second embodiment of a clamping device, a receiving block and a workpiece, the clamping device being in the clamping position in which the clamping element of the clamping device clamps the workpiece on a clamping surface, the clamping device in this embodiment comprising a sleeve in which a Linear movement piston of the clamping device is slidably guided and which is inserted into a recess of the receiving block;

Fig. 11

one of the Fig. 10 corresponding section through the clamping device, the receiving block and the workpiece in the second embodiment, the clamping device being in the intermediate position in which the clamping element has been moved linearly away from the workpiece in the release direction;

Fig. 12

one of the Fig. 10 corresponding section through the clamping device, the receiving block and the workpiece in the second embodiment, the clamping device being in the release position in which the clamping element has been pivoted away from the intermediate position about the pivot axis;

Fig. 13

a perspective view of a third embodiment of the clamping device and the receiving block;

Fig. 14

a plan view of the clamping device, the receiving block and a workpiece clamped by means of the clamping device against a clamping surface in the third embodiment, the clamping device being in a clamping position in which the clamping element of the clamping device clamps the workpiece on a clamping surface, the clamping element being one the axis of rotation running parallel to the clamping direction can be rotated and can be detachably fixed in a desired angular position with respect to the axis of rotation by means of a fixing device, a longitudinal center plane of the clamping element being rotated by an angle of 0 ° with respect to a reference plane;

Fig. 15

a side view of the clamping device, the receiving block and the workpiece Fig. 14 , looking in the direction of arrow 15 in Fig. 14 ;

Fig. 16

one of the Fig. 14 corresponding top view of the clamping device, the holding block and the workpiece from the Fig. 14 and 15 , wherein the clamping element of the clamping device by an angle α (in the viewing direction of Fig. 16 seen counterclockwise) has been rotated about the axis of rotation, so that the longitudinal center plane of the clamping element now includes the angle α (for example, about 22 °) with the reference plane;

Fig. 17

a side view of the clamping device, the receiving block and the workpiece Fig. 16 , looking in the direction of arrow 17 in Fig. 16 ;

Fig. 18

one of the Fig. 10 corresponding section through a fourth embodiment of a clamping device, a receiving block and a workpiece, the clamping device being in the clamping position in which the clamping element of the clamping device clamps the workpiece on a clamping surface, the clamping device in this embodiment comprising a locking device by means of which the Pivoting movement piston can be locked on the linear movement piston;

Fig. 19

one of the Fig. 18 corresponding section through the clamping device, the receiving block and the workpiece in the fourth embodiment, the clamping device being in the intermediate position in which the clamping element has been moved linearly away from the workpiece in the release direction;

Fig. 20

one of the Fig. 18 corresponding section through the clamping device, the receiving block and the workpiece in the fourth embodiment, the clamping device being in the release position in which the clamping element has been pivoted away from the intermediate position about the pivot axis, and wherein the locking device is in a release position in which it does not lock the pivoting movement piston on the linear movement piston.

Identical or functionally equivalent elements are designated with the same reference symbols in all figures.

One in the 1 to 9 The clamping device 100 shown serves for clamping a workpiece 102 on a clamping surface 104.

The clamping surface 104 can be arranged on a receiving block 106 on which the clamping device 100 is mounted; Alternatively, the clamping surface 104 can also be provided on an element that is different from the receiving block 106.

To apply a clamping force to the workpiece 102, the clamping device 100 comprises a clamping element 108, which in the illustrated embodiment comprises a clamping lever 110 and a pressure piece 114, for example in the form of a pressure screw 116, which penetrates an opening 112 in the clamping lever 110 and which is in a clamping position of the clamping device 100 rests on the workpiece 102 to be clamped.

The pressure piece 114 can be secured to the tensioning lever 110 by a nut 118.

As will be explained in more detail below, the clamping element 108 can be moved linearly towards the workpiece 102 along a clamping direction 120 and linearly away from the workpiece 102 along a release direction 122 opposite the clamping direction 120.

Furthermore, the tensioning element 108 is pivotably connected to a pivoting movement piston 126 about a pivot axis 124 running transversely, preferably perpendicularly, to the tensioning direction 120 and the release direction 122.

The pivoting movement piston 126 can comprise a piston rod 128 extending along the tensioning direction 122 and a joint eye 130 fixed to an upper end of the piston rod 128.

Here and below, the information “above” and “below” relates to the clamping direction 122; the clamping direction 122 can coincide with the vertical, but it can also be inclined at any angle with respect to the vertical.

The joint eye 130 is penetrated by a bolt 132, the longitudinal center axis of which coincides with the pivot axis 124.

How best to look Fig. 1 can be seen, the bolt 132 also passes through two bearing legs 133 of the clamping element 108.

The pivoting movement piston 126 is guided in a linear movement piston 134 so as to be displaceable along the clamping direction 122.

The linear movement piston 134 can comprise a lower part 136 in the form of a cylinder 138 and an upper part 140 inserted in the lower part 136 in the form of a bushing 142 with an articulated head 144 arranged thereon.

The bushing 142 can have an external thread which is screwed into an internal thread of the cylinder 138 which is complementary to this.

The joint head 144 of the linear motion piston 134 is connected in an articulated manner to the tensioning element 108 via one or two pull tabs 146.

For this purpose, each pull tab 146 is penetrated by a first bolt 148, which extends parallel to the pivot axis 124 through a passage opening in the joint head 144, and by a second bolt 150, which extends parallel to the pivot axis 124 through a passage opening in the clamping element 108.

The linear movement piston 134 is displaceably guided along the clamping direction 122 in a recess 152, which is formed in the receiving block 106.

The recess 152 is stepped and comprises a lower cavity 154, into which a clamping actuating fluid channel 156 opens, which leads to a clamping actuating fluid connection 158, and an upper cavity 160, which has a larger diameter than the lower cavity 154 and into which a release actuation fluid channel 162 opens, which leads to a release actuation fluid connection 164.

An upper end region 166 of the cylinder 138 extends beyond the upper cavity 160 into an interior 168 of a cover 170 of the clamping device 100, which forms an upper clamping actuating fluid chamber 172, from which a clamping actuating fluid on the clamping side of the linear movement piston 134 can act to move it downward in the clamping direction 120.

The interior 168 of the cover 170 can be vented via a vent channel 174 provided in the lid 170, the vent channel 174 being closed by means of a vent screw 176 when the tensioning device 100 is in operation.

How best from the Fig. 1 and 2 can be seen, the cover 170 is releasably secured to the receiving block 106 by means of a plurality of, for example four, fastening screws 178.

The upper part 140 of the linear motion piston 134 is guided in the cover 170 so that it can move along the clamping direction 120.

In the cover 170 there is also a deflection nozzle 180 which is connected to a compressed air source (not shown) during the operation of the clamping device 100.

This deflection nozzle 180 is in fluid communication with an outlet channel 182 provided in the upper part 140 of the linear movement piston 134 when the linear movement piston 134 is in its upper end position, which in the FIGS Fig. 7 and 9 is shown, which correspond to an intermediate position of the clamping device 100 or a release position of the clamping device 100.

If there is a fluid connection between the deflection nozzle 180 and the outlet duct 182, compressed air can escape through the outlet duct 182 into the surroundings of the clamping device 100, which leads to a pressure drop in the compressed air line upstream of the deflection nozzle 180, which can be detected by means of a pressure sensor (not shown) and indicates the reaching of the upper end position of the linear motion piston 134.

When this pressure drop is determined, the clamping element 108 is released from the workpiece 102 to be clamped, so that the workpiece 102 can be removed from its clamping position on the clamping surface 104.

Furthermore, the linear movement piston 134 has one or more fluid channels 184 which pass through the linear movement piston 134 from the inside to the outside thereof and open into the upper clamping actuating fluid chamber 172.

The pivoting movement piston 126 is provided with a fluid channel 186, which on the one hand opens into the lower cavity 154 and, on the other hand, is in fluid communication with the fluid channel 184 of the linear movement piston 134 when the pivoting movement piston 126 is in an upper end position, which in the Fig. 5 and 7 is shown which correspond to the clamping position or the intermediate position of the clamping device 100.

In this upper end position, an annular collar 188 of the pivoting movement piston 126 bears against an inwardly projecting stop 190 of the linear movement piston 134, which limits the displacement path of the pivoting movement piston 126 upwards.

The part of the lower cavity 154 located below the ring collar 188 of the pivoting movement piston 126 forms a lower clamping actuating fluid chamber 192, from which the clamping side of the pivoting movement piston 126 can be acted upon with clamping actuating fluid from the clamping actuating fluid channel 156.

The part of the recess 152 in the receiving block 106 which lies above the annular collar 188 of the pivoting movement piston 126 and which lies within the linear movement piston 134 forms an inner release actuating fluid chamber 194, from which the release actuation fluid can act on the release side of the pivoting movement piston 126 .

An inner end of a fluid channel 196 in the linear movement piston 134 opens into this inner release actuating fluid chamber 194, the other end of which opens on the outside of the linear movement piston 134.

Like from the Fig. 5 . 7 and 9 can be seen, an annular seal 198 is arranged on the outside of the linear movement piston 134 above the mouth of the fluid channel 196, which sealingly rests on a sealing surface 200 in the form of the peripheral wall of the lower cavity 154, as long as the linear movement piston 134 is below its upper end position how this in Fig. 5 is shown, which shows the clamping position of the clamping device 100.

When this seal 198 is moved up out of the lower cavity 154 so that it is no longer in contact with the sealing surface 200, a release fluid path is released, which from the upper cavity 160 along the outside of the linear movement piston 134 to the fluid channel 196 and thence into the inner release actuating fluid chamber 194.

The portion of the upper cavity 160 which is in fluid communication with the release actuation fluid channel 162 and lies below an annular collar 202 on the linear movement piston 134 forms an outer release actuation fluid chamber 204, from which the release actuation fluid from the release Actuating fluid channel 162 can act on the release side of the linear motion piston 134.

The clamping device 100 described above for clamping a workpiece 102 on the clamping surface 104 functions as follows:
Before the clamping process, the clamping device 100 is in the in the Fig. 8 and 9 shown release position, in which a longitudinal axis 206 of the clamping element 108 is inclined at an angle β (of preferably more than 40 °, for example approximately 50 °) with respect to the clamping surface 104 (see in particular Fig. 8 ).

As from the sectional view of Fig. 9 can be seen, the linear movement piston 134 is in its upper end position, in which the linear movement piston 134 bears against the cover 170, in particular against the upper boundary wall of the interior 168 of the cover 170.

The pivoting movement piston 126 is in its lower end position relative to the linear movement piston 134.

The workpiece 102 to be clamped is arranged on the clamping surface 104, on which it is to be clamped by means of the clamping element 108 of the clamping device 100.

By means of a control device (not shown) of the clamping device 100, a valve in a clamping actuating fluid supply line leading to the clamping actuating fluid connection 158 is opened, as a result of which pressurized clamping actuating fluid, in particular a hydraulic oil, flows into the lower clamping actuating fluid. Chamber 192 arrives.

The clamping actuating fluid in the lower clamping actuating fluid chamber 192 acts on the clamping side of the pivoting movement piston 126, so that it is moved upward relative to the linear movement piston 134 in the release direction 122, which results in a pivoting movement of the clamping element 108 about the pivot axis 124 ( in the direction of the Fig. 8 and 9 seen clockwise).

During this pivoting movement, the clamping fluid path through the fluid channel 186 into the upper clamping actuating fluid chamber 172 is initially still closed, which is why the linear movement piston 134 remains in its upper end position.

The upward movement of the pivoting movement piston 126 continues until the collar 188 of the pivoting movement piston 126 abuts the stop 190 of the linear movement piston 134.

Then it's in the Fig. 6 and 7 Intermediate position of the clamping device 100 shown is reached, in which the longitudinal axis 206 of the clamping element 108 and in particular a pressure surface 210 at the end of the pressure element 114 facing the workpiece 102 are aligned essentially parallel to the clamping surface 104.

In this intermediate position, the pressure piece 114 of the clamping element 108 is still spaced from the workpiece 102.

Furthermore, in this intermediate position, an orifice 212 of the fluid channel 186, which can be designed, for example, as an annular groove on the outside of the pivoting movement piston 126, has passed an annular seal 208 on the inside of the linear movement piston 134 and is in fluid communication with the fluid channel 184, which is the linear movement piston 134 passes through to the upper clamping actuating fluid chamber 172, so that the clamping fluid path for the clamping actuating fluid to the clamping side of the linear movement piston 134 is now released.

After the swivel movement of the clamping element 108 has been completed, the linear movement piston 134 therefore moves downward from the upper end position along the clamping direction 120, as a result of which the clamping element 108 is also moved in the clamping direction 120 towards the workpiece 102 to be clamped until the pressure element 114 in the Fig. 4 and 5 shown clamping position (preferably flat) rests on an outer surface of the workpiece 102 opposite the clamping surface 104, so that the workpiece 102 is acted upon by a clamping force directed against the clamping surface 104.

This completes the clamping movement of the clamping element 108, which comprises a pivoting movement and a linear movement, from the release position into the clamping position.

The tensioning device 100 thus comprises a tensioning fluid sequence control, which in particular comprises the fluid channels 186 and 184 and the seal 208 and which has the effect that the linear movement of the tensioning element 108 into the tensioning position only begins after the pivoting movement of the tensioning element 108 has started, and preferably only when the pivoting movement of the tensioning element 108 has been completed.

The procedure for releasing the workpiece 102 clamped on the clamping surface 104 by means of the clamping device 100 is as follows:
By means of the control device, a valve is opened in a release actuating fluid supply line (not shown), which leads to the release actuation fluid connection 164, so that a release actuation fluid, for example a hydraulic oil, through the release actuation fluid channel 162 enters the outer release actuating fluid chamber 204 and acts on the release side of the linear movement piston 134, whereby the linear movement piston 134 in the release direction 122 from its in Fig. 5 shown lower end position is moved up.

As a result, the clamping element 108 with the pressure piece 114 is also released from the clamped workpiece 102 and moved linearly away from the workpiece 102 along the release direction 122.

This linear movement of the tensioning element 108 from the tensioned position is completed when the linear motion piston 134 reaches its upper end position, in which it abuts the upper boundary wall of the interior 168 of the cover 170, so that the in the Fig. 6 and 7 Intermediate position of the clamping device 100 shown is reached.

During this linear movement of the tensioning element 108, the release fluid path from the outer release actuation fluid chamber 204 to the inner release actuation fluid chamber 194 is interrupted by the seal 198, so that no release actuation fluid reaches the release side of the pivoting movement piston 126, which is why Pivoting movement piston 126 remains in its upper end position relative to the linear movement piston 134.

In the in the Fig. 6 and 7 Intermediate position shown, the seal 198 has moved out of the lower cavity 154 and is no longer on the sealing surface 200, which is formed by the peripheral wall of the lower cavity 154, so that now the release fluid path from the outer release actuating fluid chamber 204 is released through the fluid channel 196 to the inner release actuating fluid chamber 194 and the release actuation fluid can act on the release side of the pivoting movement piston 126. As a result, the pivoting movement piston 126 is displaced downward relative to the linear movement piston 134, that is to say in the clamping direction 120, as a result of which the clamping element 108, which is articulatedly connected to the pivoting movement piston 126, from the intermediate position in which the longitudinal axis 206 of the clamping element 108 is essentially parallel to the clamping surface 104 is aligned in which in the Fig. 8 and 9 shown release position is pivoted, in which the longitudinal axis 206 of the clamping element 108 is inclined at an angle β relative to the clamping surface 104.

This pivoting movement of the tensioning element 108 is completed when a lower end of the pivoting movement piston 126 abuts a bottom 214 of the lower cavity 154.

The releasing process of the clamping device 100 is thus ended, and the workpiece 102 can be removed from its clamping position on the clamping surface 104.

The tensioning device 100 thus comprises a release-fluid sequence control, which in particular comprises the seal 198 and the fluid channel 196 and causes the pivoting movement of the tensioning element 108 into the release position only begins after the linear movement of the tensioning element 108 has started from the tensioned position, and preferably only when the linear movement of the clamping element 108 from the clamping position is completed.

One in the 10 to 12 The illustrated second embodiment of the clamping device 100 and the receiving block 106 differs from the first embodiment described above in that, in the second embodiment, the linear movement piston 134 is not linearly displaceably guided directly in the recess 152 of the receiving block 106, but the clamping device 100 additionally has a sleeve 216 includes, in which of the linear movement pistons 134 is displaceably guided along the clamping direction 120 and which has on its inside a seal 218 which bears sealingly on a sealing surface 220 on the circumference of the linear movement piston 134.

Above the seal 218, one or more fluid channels 222 are provided in the sleeve 216, which pass through them from the outside to the inside and are in fluid communication with the release actuating fluid channel 162 on the outside.

On the inside of the sleeve 216, each fluid channel 222 opens into the outer release actuating fluid chamber 204, from which the release actuation fluid can act on the release side of the linear movement piston 134.

In the in Fig. 10 The tensioning position of the tensioning device 100 shown is the release fluid path from the outer release actuation fluid chamber 204 through the fluid channel 196 to the inner release actuation fluid chamber 194, from which the release actuation fluid can act on the release side of the pivoting movement piston 126, through which Seal 218 interrupted.

When the tensioning device 100 is lifted into the position shown in FIG Fig. 11 the intermediate position shown has been transferred, the fluid channel 196 has passed the seal 218 and is now in fluid communication with the outer release actuating fluid chamber 204, so that the release fluid path from the outer release actuation fluid chamber 204 through the fluid channel 196 into the inner release actuating fluid chamber 194 is released.

The release actuating fluid then acts on the release side of the pivoting movement piston 126, so that the pivoting movement piston 126 is moved downward in the clamping direction 120, as a result of which the pivoting movement of the clamping element 108 from that in FIG Fig. 11 intermediate position shown in the in Fig. 12 shown release position is driven.

This embodiment of the tensioning device 100 thus comprises a release-fluid sequence control, which in particular comprises the seal 218 and the fluid channel 196 and causes the pivoting movement of the tensioning element 108 into the release position only begins after the linear movement of the tensioning element 108 has started from the tensioning position , and preferably only when the linear movement of the clamping element 108 from the clamping position is completed.

The control of the clamping movement of the clamping element 108 from the in Fig. 12 shown release position on the in Fig. 11 intermediate position shown in the in Fig. 10 The clamping position shown is controlled by means of the fluid channel 186 and the seal 208, as has been described above in connection with the first embodiment.

The sleeve 216 of the second embodiment can be provided with an external thread 224 which, in the assembled state of the tensioning device 100, engages in an internal thread 226 complementary thereto on the peripheral wall of the recess 152 in the receiving block 106.

The second embodiment of the tensioning device 100 offers the advantage that the dynamic seals, which move during the transfer of the tensioning device from the release position into the tensioning position or from the tensioning position into the release position, move relative to the sealing surface on which they bear in a sealing manner, in particular those Seal 218, in each case bear against a sealing surface, for example on sealing surface 220, which is formed on a component of clamping device 100, namely on linear motion piston 134, which has a high surface quality, so that these seals are only slightly stressed during a clamping cycle .

The seals 228, by means of which the outside of the sleeve 216 lies in a sealing manner on the peripheral wall of the recess 152 in the receiving block 106, are, on the other hand, static seals which change during a tensioning cycle do not move relative to the sealing surface against which they are in contact, so that the peripheral walls of the recess 152 serving as the sealing surface do not have to have a high surface quality.

In contrast, in the 1 to 9 illustrated first embodiment, the dynamic seals on the outside of the linear movement piston 134, in particular the seal 198, each on a sealing surface, for example the sealing surface 200, which is formed on a peripheral wall of the recess 152 in the receiving block 106, so that these sealing surfaces have a high Must have surface quality to ensure a reliable seal even after a high number of clamping cycles.

Incidentally, that is correct in the 10 to 12 illustrated second embodiment of the clamping device 100 in terms of structure, function and method of manufacture with the in the 1 to 9 illustrated first embodiment, to the above description of which reference is made.

One in the 13 to 17 The illustrated third embodiment of the tensioning device 100 differs from the second embodiment described above in that the cover 170 of the tensioning device 100 is not fixed directly to the receiving block 106 by means of fastening screws, but instead the cover 170 is rotatably arranged about an axis of rotation 232 running parallel to the tensioning direction 120 and the angular position of the cover 170 with respect to the axis of rotation 232 can be releasably fixed by means of a fixing device 230.

The fixing device 230 can in particular be designed as a clamping device and preferably comprises a clamping flange or clamping ring 234, which engages over the cover 170 and against the receiving block 106 presses when the clamping ring 234 is releasably secured to the receiving block 106 by means of one or more, for example four, fastening screws 236.

The cover 170 is connected in a rotationally fixed manner to the linear movement piston 134, which is displaceably guided therein, and the linear movement piston 134 is connected in a rotationally fixed manner to the pivoting movement piston 126, which is guided in a displaceable manner therein, so that rotation of the cover 170 about the axis of rotation 232 corresponding rotation of the clamping element 108 about the axis of rotation 232 has the consequence.

The axis of rotation 232 can in particular coincide with the longitudinal center axis of the pivoting movement piston 126.

In the Fig. 14 and 15 The clamping device 100 is shown in a reference position in which the longitudinal axis 206 of the clamping element 108 is aligned parallel to a longitudinal center plane 238 of the receiving block 106 and thus encloses an angle α of 0 ° with the same.

In order to change the clamping element 108, preferably continuously, in its angular position relative to the receiving block 106, the fastening screws 236 of the clamping ring 234 are loosened to such an extent that the cover 170 can be rotated about the axis of rotation 232 relative to the clamping ring 234.

After rotation of the cover 170, the linear movement piston 134 and the swivel movement piston 126 with the clamping element 108 by an angle α other than zero (in the viewing direction of FIG Fig. 16 seen, for example, counterclockwise), the angular position of these elements with respect to the axis of rotation 232 is fixed by tightening the fastening screws 236.

Incidentally, that is correct in the 13 to 17 illustrated third embodiment of the clamping device 100 in terms of structure, function and method of manufacture with the in the 10 to 12 shown second embodiment, to the above description of which reference is made.

The use of a cover 170 which is rotatable about an axis of rotation 232 and can be fixed in a desired angular position with respect to the axis of rotation 232, in particular continuously, by means of a fixing device 230 is also possible in the case of FIGS 1 to 9 shown first embodiment of the clamping device 100 possible.

One in the 18 to 20 The fourth embodiment of the clamping device 100 and the receiving block 106 illustrated differs from that described above and in FIGS 10 to 12 Second embodiment shown in that in the fourth embodiment, the clamping device 100 comprises a locking device 240, by means of which the pivoting movement piston 126 can be locked on the linear movement piston 134, so that a relative movement between the pivoting movement piston 126 and the linear movement piston 134 is particularly reliably prevented as long as the clamping element 108 should not perform the desired pivoting movement.

Like for example Fig. 18 It can be seen that a special embodiment of such a locking device 240 comprises a locking body 242, which is at least partially received in a locking body receptacle 244.

The locking body receptacle 244 is preferably arranged on the linear movement piston 134, in particular on its lower part 136.

The locking body receptacle 244 can be designed, for example, as a radial bore which passes through the linear movement piston 134 from the inside to the outside thereof.

A longitudinal axis of the locking body receptacle 244 is preferably oriented substantially perpendicular to the clamping direction 120 and preferably essentially perpendicular to the releasing direction 122 of the clamping device 100.

The locking body 242 is arranged in the locking body receptacle 244 in such a way that it can be moved in a longitudinal direction of the locking body receptacle 244 relative to the linear movement piston 134.

The locking body 242 can comprise one or more rolling bodies 246, for example in the form of balls 248.

In a preferred embodiment of the locking device 240, it is provided that the locking body 242 is formed by two or more balls 248, which preferably have essentially the same diameter and preferably touch one another.

In order to be able to bring the locking body 242 into engagement with the pivoting movement piston 126, a locking recess 250 is provided on the pivoting movement piston 126, which is opposite the locking body receptacle 244 on the linear movement piston 134 when the clamping device 100 is in the position shown in FIG Fig. 18 shown clamping position is located and the pivoting movement piston 126 assumes its highest position relative to the linear movement piston 134.

In this locking position, the locking body 242 projects from the locking body receptacle 244 into the locking recess 250, so that the pivoting movement piston 126 is prevented by positive engagement from moving relative to the linear movement piston 134.

On the outside of the linear movement piston 134, the locking body receptacle 244 is closed by the inside of the sleeve 216, so that the locking body 242, which is formed by the two balls 248, cannot move outward in the radial direction of the pivoting movement piston 126.

In order to be able to release the pivoting movement piston 126 from the locking on the linear movement piston 134, an escape recess 252 is provided on the sleeve 216, into which the locking body 242 can move radially outward when the locking body receptacle 244 locks together with the linear movement piston 134 and the one locked thereon Swivel movement piston 126 during the linear movement of the clamping element 108 from the clamping position into the in Fig. 19 Intermediate position shown has moved so far up that it is opposite to the escape recess 252.

In the intermediate position of the clamping element 108, the locking body 242, which is formed in particular from the two balls 248, is freely movable in the radial direction of the pivoting movement piston 126.

During the subsequent downward movement of the pivoting movement piston 126 relative to the linear movement piston 134, the locking body 242 is displaced from the locking recess 250, preferably by a bevel 254 at the upper edge of the locking recess 250, and in the process is partially pressed into the escape recess 252.

The locking device 240 can comprise a plurality of locking bodies 242, which are each at least partially accommodated in an associated locking body receptacle 244, the locking bodies 242 and the locking body receptacles 244 preferably being distributed essentially equidistantly around the circumference of the pivoting movement piston 126.

The locking recess 250 can in particular be designed as an annular groove on the outside of the pivoting movement piston 126.

In the in Fig. 18 The illustrated clamping position of the clamping device 100 is the release fluid path from the outer release actuation fluid chamber 204 through the fluid channel 196 to the inner release actuation fluid chamber 194, from which the release actuation fluid can act on the release side of the pivoting movement piston 126.

In this clamping position, the locking device 240 is in the locking position, in which the locking body 242 engages in the locking recess 250 on the pivoting movement piston 126 and thus prevents movement of the pivoting movement piston 126 relative to the linear movement piston 134.

When the tensioning device 100 is lifted into the position shown in FIG Fig. 19 has been transferred, the fluid passage 196 is in fluid communication with the outer release actuation fluid chamber 204, so that the release fluid path from the outer release actuation fluid chamber 204 through the fluid passage 196 into the inner release actuation fluid chamber 194 is released.

In this intermediate position of the clamping device 100, the locking body 242 of the locking device 240 is freely movable in the radial direction of the pivoting movement piston 126.

The release actuating fluid then acts on the release side of the pivoting movement piston 126, so that the pivoting movement piston 126 is moved downward in the clamping direction 120, as a result of which the pivoting movement of the clamping element 108 from that in FIG Fig. 19 intermediate position shown in the in Fig. 20 shown release position is driven.

During the downward movement of the pivoting movement piston 126, the locking body 242 is displaced radially outward into the locking recess 250 opposite the locking body receptacle 244, so that the locking body 242 is no longer in engagement with the locking recess 250 and the relative movement of the pivoting movement piston 126 relative to the latter Linear motion piston 134 no longer blocked.

This embodiment of the tensioning device 100 thus also comprises a release fluid sequence control, which in particular comprises the seal 218 and the fluid channel 196 and causes the pivoting movement of the tensioning element 108 into the release position only begins after the linear movement of the tensioning element 108 has started from the tensioning position has, and preferably only when the linear movement of the clamping element 108 is completed from the clamping position.

A relative movement of the pivoting movement piston 126 relative to the linear movement piston 134 and thus a start of the pivoting movement of the tensioning element 108 is excluded in this embodiment by the locking device 240, which locks the pivoting movement piston 126 on the linear movement piston 134, as long as the linear movement of the tensioning element 108 from the tensioned position into the Intermediate position is not yet complete.

The control of the clamping movement of the clamping element 108 from the in Fig. 20 shown release position on the in Fig. 19 intermediate position shown in the in Fig. 18 The clamping position shown is controlled by means of the fluid channel 186 and the seal 208, as has been described above in connection with the first embodiment.

Incidentally, that is correct in the 18 to 20 Fourth embodiment of the clamping device 100 shown in terms of structure, function and method of manufacture with the in the 10 to 12 shown second embodiment, to the above description of which reference is made.

A locking device 240, by means of which the pivoting movement piston 126 can be locked on the linear movement piston 134, of the type described above in connection with the fourth embodiment can in principle also be used in the case of FIGS 1 to 9 illustrated first embodiment can be used, which does not comprise a sleeve 216, in which the linear movement piston 134 is displaceably guided along the clamping direction 120.

In this case, an escape recess 252, which enables the locking body 242 to be moved out of the locking recess 250, is arranged instead of on the sleeve 216 on the receiving block 106 or on another device, for example on a machine table, into which the clamping device 100 can be inserted .

The four above-described embodiments of the clamping device 100 are implemented in a so-called cartridge technology, so that the clamping device 100 can be inserted, in particular inserted or screwed in, directly into a recess 152 of a receiving block 106 or another device, for example a machine table, without the interposition of a housing.

As an alternative to this, however, it can also be provided in each of these embodiments that the lower parts of the tensioning device, in particular the linear movement piston 134, the pivoting movement piston 126 and possibly also the sleeve 216, are arranged in a housing of the tensioning device, which preferably with the cover 170, in particular detachable, connected.

Such a housing can then be inserted into a recess 152 of a receiving block 106 or another device or can be placed on a support surface and fixed on the support surface.

Claims (15)

1. A clamping device for clamping a workpiece (102), including a clamping element (108) that is transferable in a clamping movement from a release position into a clamping position,
   wherein the clamping movement includes a pivotal movement and a linear movement,
   wherein the clamping device (100) includes a linear movement piston (134) for driving the linear movement, and a pivotal movement piston (126) for driving the pivotal movement, and
   wherein the clamping device (100) includes a clamping fluid path for a clamp actuation fluid, to the clamping side of the linear movement piston (134),
   wherein the clamping fluid path is not cleared until the pivotal movement of the clamping element (108) out of the release position has ended,
   characterised in that
   the clamping fluid path to the clamping side of the linear movement piston (134) has a portion that runs through the pivotal movement piston (126).
2. A clamping device according to Claim 1, characterised in that the clamping device (100) includes a clamping fluid sequence control that has the effect that the linear movement of the clamping element (108) into the clamping position does not begin until the pivotal movement of the clamping element (108) out of the release position has begun.
3. A clamping device according to one of Claims 1 or 2, characterised in that the clamping device (100) includes a clamping fluid sequence control that has the effect that the linear movement of the clamping element (108) into the clamping position does not begin until the pivotal movement of the clamping element (108) out of the release position has ended.
4. A clamping device according to one of Claims 1 to 3, characterised in that the clamping element (108) is transferable in a release movement from the clamping position into the release position,
   wherein the release movement includes a linear movement and a pivotal movement, and
   wherein the clamping device (100) includes a release fluid sequence control that has the effect that the pivotal movement of the clamping element (108) into the release position does not begin until the linear movement of the clamping element (108) out of the clamping position has begun.
5. A clamping device according to Claim 4, characterised in that the clamping device (100) includes a release fluid sequence control that has the effect that the pivotal movement of the clamping element (108) into the release position does not begin until the linear movement of the clamping element (108) out of the clamping position has ended.
6. A clamping device according to one of Claims 4 or 5, characterised in that the clamping device (100) includes a release fluid path for a release actuation fluid, to the release side of the pivotal movement piston (126), wherein the release fluid path is not cleared until the linear movement of the clamping element (108) out of the clamping position has ended.
7. A clamping device according to Claim 6, characterised in that the release fluid path has a portion that runs through the linear movement piston (134).
8. A clamping device according to one of Claims 1 to 7, characterised in that the linear movement piston (134) has an abutment (190) for the pivotal movement piston (126) against which the pivotal movement piston (126) is pressed in the clamping position, by a clamp actuation fluid.
9. A clamping device according to one of Claims 1 to 8, characterised in that the pivotal movement piston (126) has a fluid duct (186) that, during the linear movement of the clamping element (108) into the clamping position and/or during the linear movement of the clamping element (108) out of the clamping position, is in fluidic connection with a fluid duct (184) of the linear movement piston (134).
10. A clamping device according to one of Claims 1 to 9, characterised in that the linear movement piston (134) has a seal (198) that, in the clamping position, abuts sealingly against a sealing face (200) and is released from the sealing face (200) by the linear movement of the clamping element (108) out of the clamping position, such that a release fluid path for a release actuation fluid is cleared to the release side of the pivotal movement piston (126).
11. A clamping device according to one of Claims 1 to 10, characterised in that the clamping device (100) includes a sleeve (216) in which the linear movement piston (134) is displaceably guided and which has a seal (218) that, in the clamping position, abuts sealingly against a sealing face (220) of the linear movement piston (134), wherein the linear movement piston (134) has a release fluid duct (196) that, during linear movement of the clamping element (108) out of the clamping position, moves past the seal (218) of the sleeve (216), such that a release fluid path through the release fluid duct (196) is cleared to the release side of the pivotal movement piston (126).
12. A clamping device according to one of Claims 1 to 11, characterised in that the clamping element (108) is rotatable about an axis of rotation (232) parallel to the direction of movement of the linear movement, and the clamping device (100) includes a fixing device (230) by means of which the angular position of the clamping element (108) is fixable in relation to the axis of rotation (232).
13. A clamping device according to one of Claims 1 to 12, characterised in that the clamping device (100) includes a locking device (240) by means of which the pivotal movement piston (126) is lockable to the linear movement piston (134).
14. A clamping device according to Claim 13, characterised in that the locking device (240) includes at least one locking body (242) that is configured to be brought into engagement with a locking recess (250) in order to lock the pivotal movement piston (126) to the linear movement piston (134),
    wherein preferably the locking device (240) includes at least one deflection recess (252) into which the locking body (242) can be deflected in order to release locking of the pivotal movement piston (126) to the linear movement piston (134).
15. A method for clamping a workpiece (102) by means of a clamping device (100), in particular by means of a clamping device according to one of Claims 1 to 14, including the following:

    - transferring a clamping element (108) in a clamping movement from a release position into a clamping position;

    wherein the clamping movement includes a pivotal movement and a linear movement,
    wherein the linear movement of the clamping element (108) into the clamping position does not begin until the pivotal movement of the clamping element (108) out of the release position has begun,
    wherein the linear movement of the clamping element (108) is driven by means of a linear movement piston (134),
    wherein the pivotal movement of the clamping element (108) is driven by means of a pivotal movement piston (126),
    wherein the clamping device (100) includes a clamping fluid path for a clamp actuation fluid, to the clamping side of the linear movement piston (134),
    wherein the clamping fluid path is not cleared until the pivotal movement of the clamping element (108) out of the release position has ended, and
    wherein the clamping fluid path to the clamping side of the linear movement piston (134) has a portion that runs through the pivotal movement piston (126).

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