| 摘要 |
In automation technology, robots are often used in order, for example, to grip and position workpieces. In order to be able to compensate position tolerances, compensating units are known which can be placed between the robot and a gripper moved by the robot. The invention relates to a compensating device (5) for a handling unit (1), wherein the compensating device (5) comprises a first interface section (7a) for a manipulator (2) and a second interface section (7b) for an end effector (3), such that the compensating device (5) can be arranged between the manipulator (2) and the end effector (3), having at least one joint mechanism (8), wherein the at least one joint mechanism (8) is oriented to be aligned with a first axis Z between the interface sections (7a,b) and comprises a first and a second joint partner (9,10), wherein the first joint partner (9) is connected to the first interface section (7a) and the second joint partner (10) is connected to the second interface section (7b), wherein the one joint partner comprises a ball section (9) and the other joint partner comprises a receiving section (10) for the ball section (9), so that the joint mechanism (8) forms a pivoting joint or a ball joint, wherein the receiving section (10) has at least one ramp region (14), wherein the ball section (9) can be moved in a transverse direction X-Y to the first axis Z, from a normal position into a compensating position, so that the joint mechanism (8) forms a plunging joint (2). |
