Angle compensation unit with control and locking piston and clamping and / or clamping device and operating device

Abstract

The invention relates to an angle compensation unit (10) for an operating device, comprising a base part (12) and a compensation part (14), the compensation part (14) being pivotable about an x-axis and a y-axis running perpendicular to the x-axis between a starting position and a compensation position relative to the base part (12), a carrier (24) and a carrier flange (26) being arranged in the base part (12), the carrier (24) is mounted in the base part (12) in a rotatable manner about the x-axis, and wherein the carrier flange (26) is mounted in the carrier (24) in a rotatable manner about the y-axis.

Description

Technical Field

[0001] The present invention relates to an angle compensation unit, to clamping and / or gripping devices, and to operating devices. Background Art

[0002] A compensation unit, in particular an angle compensation unit, is suitable for being arranged on an automation system, in particular between an operating device and a tool, and has a base part and a compensation part, the compensation part being arranged to be movable relative to the base part along at least one compensation direction from an initial position to a compensation position, and having a spring member for returning the compensation part from the compensation position to the initial position. The base part can be designed to be fastened to the operating device and / or the tool, and the compensation part can be designed to be fastened to the tool and / or the operating device.

[0003] The applicant's compensation unit AGE-U disclosed in the current catalog material is a known embodiment of a compensation unit for performing angle compensation movement.

[0004] DE102021126756A1 discloses a collision protection device for a machining head of a laser processing machine having a universal joint. DE102016212141A1, DE3605505A1, and DD143226A1 also disclose collision protection devices. DE102021130322A1 discloses a cardan joint suspension for a device to be detected. DE102020100435A1 discloses a robot tool having a selectable yield modulus. Summary of the Invention

[0005] The object of the present invention is to establish an angle compensation unit with a high load-carrying capacity.

[0006] The object of the present invention is achieved by an angle compensation unit having the features of claim 1. The angle compensation unit has a base part and a compensation part. The compensation part can pivot relative to the base part about the x-axis and the y-axis along at least one compensation direction between an initial position and a compensation position. The y-axis is perpendicular to the x-axis. A carrier frame and a carrier flange are arranged in the base part. The carrier frame is mounted on the base part such that it can rotate about the x-axis. The carrier flange is mounted in the carrier frame such that it can rotate about the y-axis. The combination of the carrier frame and the carrier flange is based on a gimbal suspension. The carrier frame and the carrier flange are also referred to as "universal joint" hereinafter.

[0007] Due to the design of the carrier frame and the carrier flange, forces can be distributed over different load-bearing components, thus ensuring a high load-carrying capacity, especially for axial forces.

[0008] In the initial position, the compensating part is arranged perpendicular to the z-axis. The z-axis extends perpendicular to the x-axis and the y-axis. In the compensating position, the compensating part is not arranged vertically but at an angle to the z-axis.

[0009] The angle compensation unit has a control piston, in particular pneumatically and / or hydraulically actuated, for controlling the pivoting moment and / or the release moment, wherein the control piston can be displaced along the z-axis extending perpendicular to the x-axis and the y-axis between a lower control position and an upper release position. In order to prevent the movement of the universal joint, in particular the undesired rotation about the x-axis and the y-axis and the movement of the compensating part, for example due to the self-weight of the threaded actuator in the horizontal position of the angle compensation unit, a control piston, in particular a one-way piston, is provided such that the universal joint and the compensating part can only move above a specific pivoting moment. Therefore, the force acting on the compensating part must first overcome the pivoting moment in order to move the compensating part from the initial position to the compensating position.

[0010] The angle compensation unit further includes a locking piston, in particular pneumatically and / or hydraulically actuated, for locking the compensating part. The locking piston can move along the z-axis between an upper unlocking position and a lower locking position. In the locking position, it is not possible to use the angle compensation of the compensating part. In the unlocking position, the angle compensation is possible.

[0011] The locking piston and the control piston are coupled such that the displacement of the locking piston into the locking position also causes the displacement of the control piston into the control position. For this purpose, the force of the locking piston is transmitted to the control piston via a first spring element. It is also conceivable that the locking piston contacts the control piston in the locking position and thus directly transmits the force for displacement. Thus, the bearing flange and the compensating part are locked by the control piston.

[0012] The base part preferably has a connection housing and / or a universal joint housing, wherein the universal joint housing is preferably connected to the connection housing in a movement-preventing manner, in particular in a threaded connection manner. It is advantageous if the carrier and the bearing flange are arranged in the universal joint housing. It is also advantageous if the carrier is mounted in the universal joint housing such that it can rotate about the x-axis. The connection housing is preferably closed in such a way that a housing cover is on the top side of the base part.

[0013] A further advantageous arrangement provides that the compensating part is connected to the bearing flange in a movement-preventing manner. Thus, the degrees of freedom of movement achieved by the carrier and the bearing flange are provided in the compensating part.

[0014] It is advantageous if the carrier has a first axis of rotation extending along the x-axis and the carrier flange has a second axis of rotation extending along the y-axis, wherein the first axis of rotation and the second axis of rotation lie in a plane of rotation extending perpendicular to the z-axis. Due to the arrangement of the axes of rotation in a common plane or the arrangement of the carrier and the carrier flange radially adjacent to the z-axis, the angle compensation unit, in particular the base part and / or the gimbal housing, is in particular flat.

[0015] It is even more advantageous if the carrier is rotatably mounted in the base part, in particular in the gimbal housing, by means of a first pivot pin extending along the x-axis. It is also advantageous if the carrier flange is rotatably mounted in the carrier by means of a second pivot pin extending along the y-axis. The pivot pins represent a simple way of supporting the carrier and / or the carrier flange.

[0016] Another advantageous embodiment provides that the carrier is annular, in particular perpendicular to the z-axis. Preferably, the carrier has a flange seat for receiving the carrier flange. The carrier is preferably rounded, in particular convexly rounded, on a first outer surface, wherein the rounding preferably extends or is visible in a cross-section along the z-axis. Preferably, a first pin socket for receiving the first pivot pin is provided in the first outer surface.

[0017] Another advantageous embodiment provides that the carrier flange is partially spherical. The second outer surface of the carrier flange preferably extends along a spherical surface in a central region with respect to the z-axis. The carrier preferably has an inner surface oriented towards the z-axis, which inner surface is preferably concave-rounded. The carrier flange can be guided along the inner surface of the carrier. The central regions of the carrier flange and the carrier are preferably designed to be complementary to each other. In the central region of the carrier flange, a second pin socket is preferably provided to receive the second pivot pin.

[0018] Due to the pivot pins, rotation about the z-axis is inhibited. The translational displacement of the carrier flange and the compensation part is prevented by the spherical shape on the outer surface of the carrier flange or the flange ring and the hemispherical shape of the same diameter on the inner guide surfaces in the gimbal housing and the carrier ring. At the same time, these spherical contact surfaces are still able to rotate about the axes not locked by the pivot pins, i.e., the x-axis and the y-axis, which enables angle compensation to be achieved.

[0019] To return the control piston to the control position, a first spring element, in particular a compression spring, is preferably provided. Thus, even when the power supply is switched off, the control piston moves to the control position, and thus when the power supply is switched off, the compensation part also returns to the initial position.

[0020] Preferably, the control piston has a control surface, and the bearing flange has a flange surface, which contact and interact to return the compensating part to the rest position. The control surface and / or the flange surface can be flat, especially extending perpendicular to the z-axis in the initial position of the compensating part. Alternatively, the control surface is formed by a mandrel protruding along the z-axis. Alternatively, the flange surface is formed by a recessed pocket along the z-axis. It is also conceivable that the pocket is arranged on the control piston and the mandrel is arranged on the bearing flange.

[0021] It is advantageous if the mandrel and / or the pocket are conical and / or complementary to each other. The conical surface enables greater force transmission and thus higher locking torque. Preferably, the pocket tapers away from the mandrel. Preferably, the mandrel tapers towards the pocket.

[0022] It is even more advantageous if the mandrel and / or the pocket are designed as inserts, especially designed separately from the control piston and / or the bearing flange. Thus, the mandrel and / or the pocket can be made of a different material than the control piston and / or the bearing flange. For example, the insert can have higher wear resistance than the other components, while the other components are designed for lightweight construction. The insert can preferably be designed as a wear-resistant insert.

[0023] Preferably, the base part, especially the connecting housing and the control piston, define a pressurizable first pressure chamber. When the first pressure chamber is pressurized, in addition to the spring force of the first spring member, the control piston also moves from the release position to the control position, so that the compensating part moves to the initial position. In order to pivot the compensating part in the compensation direction, the pivoting moment caused by the control piston, especially the first spring member, must first be overcome. This enables continuous adjustment of the pivoting moment. This continuous adjustment is particularly important for horizontal applications or when the center of gravity of the tool is not on the same z-axis as the compensating part.

[0024] A second spring member, especially two compression springs, is provided to return the locking piston to the unlocked position. Thus, the locking piston moves to the unlocked position in the power-off state, and thus the compensating part can pivot to the compensation position in the power-off state.

[0025] If the base part, especially the connecting housing and the housing cover, and the locking piston define a pressurizable second pressure chamber. When the second pressure chamber is pressurized, the locking piston moves from the unlocked position to the locked position against the spring force of the second spring member, especially against the spring force of the first spring member, so that the compensating part is displaced to the initial position and locked there. The locked position can be set along the entire stroke path of the locking piston. It is conceivable that the locking piston is displaced only along a part of the stroke path of the z-axis, so that the maximum pivoting angle of the compensating part can be limited. This enables continuous adjustment of the maximum pivoting angle.

[0026] The first spring member is preferably supported on the control piston and the locking piston. The second spring member is preferably supported on the locking piston and the connecting housing.

[0027] A further advantageous arrangement provides that the angle compensation unit has a sensor device, the sensor device having a position sensor and / or a presence sensor. The position sensor is used to detect the position of the locking piston and / or the control piston and / or the carrier and / or the carrier flange and / or the compensation part. The presence sensor is used to detect the presence of components on the compensation part.

[0028] It is advantageous if the angle compensation unit has a controller / regulator. The sensor device preferably transmits sensor data to the controller / regulator. The controller / regulator preferably controls the pressurization of the first pressure chamber and / or the second pressure chamber according to the received sensor data. In addition, the controller / regulator preferably determines the force and / or moment acting on the compensation part according to the position deviation of the compensation position from the initial position.

[0029] In order to limit the pivoting angle of the compensation part, at least one end stop is preferably provided on the compensation part, the end stop contacting the underside of the base part, in particular the underside of the gimbal housing, at the maximum pivoting angle. Preferably, at least one end stop has a tapered ramp. The ramp preferably tapers towards the base part along the z-axis.

[0030] The object of the present invention is also achieved by a clamping and / or gripping device having the features of claim 19. The clamping and / or gripping device has an angle compensation unit as described above.

[0031] The object of the present invention is also achieved by an operating device having the features of claim 20. The operating device has the angle compensation unit described previously and / or the clamping and / or gripping device described previously.

[0032] Further details and advantageous embodiments of the present invention can be found in the following description, which further describes and explains embodiments of the present invention. Description of the Drawings

[0033] In the drawings: Figure 1 A perspective view of the angle compensation unit is shown; Figure 2 Shows according to Figure 1 An exploded view of the angle compensation unit; Figure 3 Shows according to Figure 1 An exploded view of the angle compensation unit; Figure 4 Shows according to Figure 1 A perspective view of the gimbal housing of the angle compensation unit; Figure 5shows a sectional view of an angle compensation unit according to Figure 1 in which the compensation part is arranged in the initial position; Figure 6 shows a sectional view of an angle compensation unit according to Figure 1 in which the compensation part is arranged in the compensation position; Figure 7 shows a sectional view of an angle compensation unit according to Figure 1 in which the locking piston is arranged in the locked position; Figure 8 shows another sectional view of an angle compensation unit according to Figure 1 in which the compensation part is arranged in the initial position; Figure 9 shows another sectional view of an angle compensation unit according to Figure 1 in which the compensation part is arranged in the compensation position; and Figure 10 shows another sectional view of an angle compensation unit according to Figure 1 in which the locking piston is arranged in the locked position. DETAILED DESCRIPTION

[0034] The angle compensation unit 10 is arranged on an operating device (not shown), where the angle compensation unit 10 can be arranged between an operating device (not shown), in particular a robotic arm, and a tool (not shown), in particular a fixture. According to Figure 1 , the angle compensation unit 10 has a base part 12 and a compensation part 14, where the compensation part 14 can pivot between an initial position and a compensation position relative to the base part 12 about an x-axis and a y-axis extending perpendicular to the x-axis.

[0035] In the initial position, the compensation part 14 is arranged perpendicular to the z-axis according to Figure 1 . The z-axis extends perpendicular to the x-axis and the y-axis. In the compensation position, the compensation part 14 is not arranged vertically but is arranged inclined relative to the z-axis.

[0036] According to Figure 1 , the base part 12 has a cubic connection housing 16 and a cubic universal joint housing 20 adjacent to the connection housing 16, where the universal joint housing 20 is connected to the connection housing 16 in a manner preventing movement, in particular in a threaded connection manner. The connection housing 16 is for arranging on the operating device. The compensation part 14 is for arranging on the tool. The connection housing 16 is closed by a housing cover 18.

[0037] As Figures 2 to 10 shown, the compensation part 14 and the base part 12 are movably connected to each other by a universal joint 22. The universal joint 22 is arranged within the universal joint housing 20. According to Figure 2, the universal joint 22 has a rotationally symmetric bearing frame 24 and a rotationally symmetric bearing flange 26. The bearing frame 24 is rotatably mounted in the universal joint housing 20 about a first pivot pin 28 about a first axis of rotation 29, wherein the first axis of rotation 29 extends along the x-axis. The bearing frame 24 has a first pin socket 30 for receiving the first pivot pin 28. The bearing flange 26 is rotatably mounted in the bearing frame 24 about a second pivot pin 32 about a second axis of rotation 33, wherein the second axis of rotation 33 extends along the y-axis. The first axis of rotation 29 and the second axis of rotation 33 extend in a common plane 35. The bearing flange 26 has a second pin socket 34 for receiving the second pivot pin 32. The bearing flange 26 is connected to the compensating part 14 in a manner that prevents movement. Thus, the pivoting of the bearing flange 26 also causes the pivoting of the compensating part 14, and vice versa.

[0038] To overcome the continuous adjustment of the pivoting moment, the angle compensation unit 10 according to Figures 5 to 10 has a rotationally symmetric control piston 36, in particular pneumatically and / or hydraulically actuated, which forces the bearing flange 26 into the zero position and thus the compensating part 14 into the initial position. To lock the compensating part 14, the angle compensation unit 10 has a locking piston 38, in particular pneumatically and / or hydraulically actuated, which forces the bearing flange 26 into the zero position and locks the compensating part 14 in the initial position.

[0039] According to Figure 8 , the connecting housing 16 has a connecting housing top side 40, an opposite connecting housing bottom side 42 and a connecting housing side surface 44. The universal joint housing has a universal joint housing top side 46, an opposite universal joint housing bottom side 48 and a universal joint housing side surface 50. The compensating part 14 has a compensating part top side 52, an opposite compensating part bottom side 54 and a compensating part side surface 56. In the assembled state, the connecting housing top side 40 faces the operating device, the connecting housing bottom side 42 faces the universal joint housing top side 46, the universal joint housing bottom side 48 faces the compensating part top side 52, and the compensating part bottom side 54 faces the tool. The connecting housing top side 40 is substantially formed by the housing cover 18.

[0040] According to Figures 2 to 10 , the universal joint housing 20 is basin-shaped and has a central recess 58 in which the universal joint 22 is arranged in the assembled state. To guide the bearing frame 24 in the universal joint housing 20, the universal joint housing 20 according to Figure 7 has a first guiding surface 60 which extends parallel to the z-axis in an upper first part and along a spherical or conical surface in a lower second part. The first guiding surface 60 is bounded by the universal joint housing base 62 which substantially forms the universal joint housing bottom side 48.

[0041] According to Figure 7, the carrier frame 24 has a first outer surface 64 that contacts the first guiding surface 60. The first outer surface 64 extends along a spherical surface. The support frame 24 further includes a flange seat 66 for receiving the bearing flange 26, and the flange seat 66 has a second guiding surface 68 that also extends along the spherical surface. As Figures 5 to 10 shown, the carrier frame 24 has a circular shape in a cross-sectional view perpendicular to the z-axis. The bearing flange 26 has a second outer surface 70 that extends along the spherical surface and contacts the second guiding surface 68. When the bearing flange 26 rotates about the x-axis, the first outer surface 64 slides on the first guiding surface 60. When the bearing flange 26 rotates about the y-axis, the second outer surface 70 slides on the second guiding surface 68.

[0042] According to Figure 10 , the bearing flange 26 has a plurality of fastening seats 76 on the flange bottom side 72 for receiving fastening devices 74 arranged on the top side 52 of the compensating part. In a manner where the fastening devices 74 and the fastening seats 76 connect the compensating part 14 and the bearing flange 26 to each other, movement is prevented.

[0043] As Figure 2 shown, for assembling the universal joint 22, first the bearing flange 26 is inserted into the flange seat 66 of the flange frame 24. Subsequently, the second pivot pin 32 is inserted into the second pin socket 34 via the first outer surface 64 of the carrier frame 24. Subsequently, the carrier frame 24 together with the bearing flange 26 is inserted into the central groove 58 of the universal joint housing 20. Then, the first pivot pin 28 is inserted into the first pin socket 30 via the side 50 of the universal joint housing. Then the compensating part 14 and the bearing flange 26 are connected to each other.

[0044] To limit the maximum pivot angle, according to Figure 9 , the compensating part 14 has an end stop 78 on the top side 52 of the compensating part. The end stop 78 is designed as a tapered ramp, where the ramp tapers towards the base part 12. When the compensating part 14 has reached the maximum pivot angle, the end stop 78 contacts the bottom side 48 of the universal joint housing in the compensating position.

[0045] According to Figure 10, a flange surface 82 is provided on a flange top side 80 of the bearing flange 26. The flange surface contacts and interacts with a control surface 84 of the control piston 36 to return the compensation part 14 to the initial position. The control surface 84 is formed by a mandrel 86 protruding along the z-axis. The flange surface 82 is formed by a pocket 88 recessed backward along the z-axis. It is also conceivable that the pocket 88 is arranged on the control piston 36 and the mandrel 86 is arranged on the bearing flange 26. The mandrel 86 and the pocket 88 are conical and complementary to each other. The conical surfaces enable greater force transmission and thus higher locking torques. The pocket 88 tapers away from the mandrel 86. The mandrel 86 tapers towards the pocket 88. The mandrel 86 and the pocket 88 are designed as inserts separable from the control piston 36 and / or the bearing flange 26. The mandrel 86 and the pocket 88 are made of a material different from that of the control piston 36 and the bearing flange 26 made of a lightweight material (especially wear-resistant material). The inserts are designed as wear-resistant inserts.

[0046] To control the locking torque, the control piston 36 is moved along the z-axis from an upper release position to a lower control position. The mandrel 86 and the pocket 88 interact with each other such that the bearing flange 26 is centered and the compensation part 14 is displaced to the initial position. To pivot the compensation part 14, a pivoting moment or actuation moment generated by the control piston 36 must be overcome by a force acting on the compensation part 14. A first spring member 90, especially a compression spring, is provided for returning the control piston 36 to the control position. Thus, even in the power-off state, the control piston 36 moves to the control position, and thus the compensation part 14 also returns to the initial position in the power-off state. The first spring member 90 extends along the z-axis and is supported on the control piston 36 and the locking piston 38. For this purpose, as Figure 5 shown, a first spring seat 92 is provided on the control piston 36 and the locking piston 38. To enable continuous adjustment of the pivoting moment, the control piston 36 and the connecting housing 16 define a first pressure chamber 94. The first pressure chamber 94 is sealed by a first sealing device 96 arranged on the connecting housing 16 and the control piston 36. The first pressure chamber 94 can be pressurized through at least one first pressure line 98, where the first pressure line 98 leads to the connecting housing side 44. When the first pressure chamber 94 is pressurized, in addition to the spring force of the first spring member 90, the control piston 36 moves from the release position to the control position, such that the compensation part 14 is displaced to the initial position. To pivot the compensation part 14 in the compensation direction, the pivoting moment caused by the control piston 36 and the first spring member 90 must first be overcome. This enables continuous adjustment of the pivoting moment. This continuous adjustment is particularly important for horizontal applications or when the center of gravity of the tool is not on the z-axis of the compensation part 14.

[0047] To lock the compensating part 14 in the initial position or to lock the universal joint 22 in the zero position, the locking piston 38 can be displaced along the z-axis between an upper unlocking position and a lower locking position. In the locking position, angular compensation via the compensating part 14 is not possible. In the unlocking position, angular compensation can be carried out via the compensating part 14. The locking piston 38 is substantially diamond-shaped, which has rounded corners in a cross-section perpendicular to the z-axis, is stretched along the y-axis and compressed along the x-axis. A second spring element 100, in particular two compression springs, is provided to move the locking piston 38 back to the unlocking position. Thus, the locking piston 38 moves to the unlocking position in the power-off state, and thus the compensating part 14 is unlocked in the power-off state and can thus be pivoted to the compensating position.

[0048] According to Figure 7 , the base part 12, in particular the connecting housing 16 and the housing cover 18, and the locking piston 38 delimit a pressurizable second pressure chamber 102. The second pressure chamber 102 is sealed by a second sealing device 104 arranged on the connecting housing 16 and on the control piston 36. The second pressure chamber 102 can be pressurized via at least one second pressure line 106, wherein the second pressure line 106 leads to the side 44 of the connecting housing. When the second pressure chamber 102 is pressurized, the locking piston 38 moves from the unlocking position to the locking position against the spring forces of the second spring element 100 and the first spring element 90, such that the compensating part 14 is displaced to the initial position and locked there. The second spring element 100 extends along the z-axis and is supported on the locking piston 38 and the connecting housing 16. For this purpose, according to Figure 5 , a second spring seat 108 is provided on the locking piston 38 and on the connecting housing 16. The locking position can be set along the entire stroke path of the locking piston 38. It is conceivable that the locking piston is only displaced by a part of the stroke path along the z-axis, such that the compensating part 14 is not completely locked, but only the maximum pivot angle of the compensating part 14 can be limited beyond the end stop 78. This also enables continuous adjustment of the maximum pivot angle.

[0049] According to Figure 5, the angle compensation unit 10 further includes a sensor device 110. The sensor device has a position sensor and / or a presence sensor. The position sensor is used to detect the position of the locking piston 38 and / or the control piston 36 and / or the carrier 24 and / or the carrier flange 26 and / or the compensating part 14, and the presence sensor is used to detect the presence of components on the compensating part 14. The position sensor for detecting the position of the locking piston 38 has a signal generator 112 arranged in the locking piston 38 and a signal receiver arranged in a sensor recess 114 provided on the side surface 44 of the connecting housing. The signal generator 112 is preferably arranged in the side surface of the locking piston 38. Once the locking piston 38 is arranged in the locking position, the signal generator 112 enters the effective range of the signal receiver. Thus, the position sensor detects the locking of the compensating part 14. However, it is also conceivable that the position sensor can detect the entire stroke path of the locking piston 38.

[0050] The angle compensation unit 10 further includes a controller / regulator 116 according to Figure 5 . The sensor device 110 transmits the sensor data of at least one sensor to the controller / regulator 116. The controller / regulator 116 controls the pressurization of the first pressure chamber 94 and / or the second pressure chamber 102 according to the received sensor data. In addition, the controller / regulator determines the force and / or moment acting on the compensating part 14 based on the position deviation between the compensation position and the initial position.

[0051] List of reference numerals 10 Angle compensation unit 12 Base part 14 Compensating part 16 Connecting housing 18 Housing cover 20 Cardan housing 22 Cardan joint 24 Carrier 26 Carrier flange 28 First pivot pin 29 First rotation axis 30 First pin socket 32 Second pivot pin 33 Second rotation axis 34 Second pin socket 35 Plane of the rotation axis 36 Control piston 38 Locking piston 40 Top side of the connecting housing 42 Bottom side of the connecting housing 44 Side surface of the connecting housing 46 Top side of the cardan housing Bottom side of the universal joint housing Side surface of the universal joint housing Top side of the compensating part Bottom side of the compensating part Side surface of the compensating part Central groove First guiding surface Base of the universal joint housing First outer surface Flange seat Second guiding surface Second outer surface Bottom side of the flange Fastening device Fastening seat End stop Top side of the flange Flange surface Control surface Spindle Pouch First spring element First spring seat First pressure chamber First sealing device First pressure line Second spring element Second pressure chamber Second sealing device Second pressure line Second spring seat Sensor device Signal generator Sensor groove Controller / regulator

Claims

1. An angle compensation unit (10) for an operating device, the angle compensation unit (10) comprising: a base part (12), a compensation part (14), a control piston (36) for controlling a pivoting moment, and a locking piston (38) for locking the compensation part (14), in, The compensating portion (14) is capable of pivoting relative to the base portion (12) between an initial position and a compensating position about an x-axis and a y-axis extending perpendicular to the x-axis. The support frame (24) and the support flange (26) are arranged in the base portion (12). The carrier (24) is mounted in the base portion (12) in a manner that allows it to rotate around the x-axis. The bearing flange (26) is mounted in the bearing frame (24) in a manner that allows it to rotate around the y-axis. wherein the control piston (36) is displaceable between a control position and a release position along a z-axis extending perpendicularly to the x-axis and the y-axis, wherein the locking piston (38) is displaceable along the z-axis between an unlocked position and a locked position, wherein the locking piston (38) in the locking position forces the control piston (36) in the direction of the control position, and The control piston (36) locks the compensating portion (14).

2. The angle compensation unit (10) according to claim 1, wherein: The compensating portion (14) is connected to the bearing flange (26) in a movement-proof manner.

3. The angle compensation unit (10) according to claim 1 or 2, wherein: The carrier (24) has a first rotation axis (29) extending along the x-axis and the carrier flange (26) has a second rotation axis (33) extending along the y-axis, and the first rotation axis (29) and the second rotation axis (33) are located in a rotation plane axis (35).

4. Angle compensation unit (10) according to any one of the preceding claims, wherein: The carrier (24) is rotatably mounted in the base portion (12) via a first pivot pin (28), and / or the carrier flange (26) is rotatably mounted in the carrier (24) via a second pivot pin (32).

5. Angle compensation unit (10) according to any one of the preceding claims, wherein: The support frame (24) is annular and / or the support flange (26) is partially spherical.

6. Angle compensation unit (10) according to any one of the preceding claims, wherein: A first spring element (90) is provided for returning the control piston (36) to the control position.

7. Angle compensation unit (10) according to any one of the preceding claims, wherein: The protruding core shaft (86) is arranged on the control piston (36), and the bag-shaped portion (88) cooperating with the protruding core shaft (86) in the control position is arranged on the bearing flange (26), or wherein the protruding core shaft (86) is arranged on the bearing flange (26), and the bag-shaped portion (88) cooperating with the core shaft (86) in the control position is arranged on the control piston (36).

8. The angle compensation unit (10) according to claim 7, wherein: The mandrel (86) and / or the pocket (88) are conical and / or complementary to each other.

9. The angle compensation unit (10) according to claim 7 or 8, wherein: The mandrel (86) and / or the pocket (86) are designed as an insert.

10. Angle compensation unit (10) according to any one of the preceding claims, wherein: The base portion (12) and the control piston (36) delimit a first pressurizable pressure chamber (94), such that when the first pressure chamber (94) is pressurized, the compensation portion (14) is centered.

11. An angle compensation unit (10) according to any one of the preceding claims, wherein: A second spring member (100) is provided for returning the locking piston (38) to the unlocking position.

12. Angle compensation unit (10) according to any one of the preceding claims, wherein: The base portion (12) and the locking piston (38) define a pressurizable second pressure chamber (102), such that when the second pressure chamber (102) is pressurized, the compensating portion (14) is locked.

13. The angle compensation unit (10) according to any one of claims 11 to 12, wherein: One end of the first spring member (90) is supported on the control piston (36) and the other end of the first spring member (90) is supported on the locking piston (38), and / or one end of the second spring member (100) is supported on the locking piston (38) and the other end of the second spring member (100) is supported on the base (12).

14. Angle compensation unit (10) according to any one of the preceding claims, wherein: It has a sensor device (110), which has a position sensor and / or a presence sensor, the position sensor is used to detect the position of the locking piston (38) and / or the control piston (36) and / or the support frame (24) and / or the support flange (26) and / or the compensating part (14), and the presence sensor is used to detect the presence of a component on the compensating part (14).

15. Angle compensation unit (10) according to any one of the preceding claims, wherein At least one end stop (78) is provided on the compensating portion (14) to limit the pivot angle of the compensating portion (14), the end stop (78) contacting the bottom side of the base portion (12) in a maximum compensation position.

16. A clamping and / or holding device having an angle compensation unit (10) according to any one of the preceding claims.

17. An operating device comprising an angle compensation unit (10) according to any one of claims 1 to 15 and / or a clamping and / or holding device according to claim 16.

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