Angle compensation unit with control and locking piston, clamping and / or gripping device and handling device

Abstract

The invention relates to an angle compensation unit (10) for a handling device with a base part (12) and a compensation part (14), wherein the compensation part (14) is pivotable relative to the base part (12) about an x-axis and about a y-axis perpendicular to the x-axis between a basic position and a compensation position, wherein a bearing frame (24) and a bearing flange (26) are arranged in the base part (12), wherein the bearing frame (24) is rotatably mounted in the base part (12) about the x-axis, and wherein the bearing flange (26) is rotatably mounted in the bearing frame (24) about the y-axis.

Description

[0001] The invention relates to an angle compensation unit, a clamping and / or gripping device and a handling device.

[0002] Compensation units, in particular angle compensation units, are designed for arrangement in an automation system, in particular for arrangement between a handling device and a tool. They comprise a base part and a compensation part, wherein the compensation part is arranged such that it can be moved relative to the base part from a home position along at least one compensation direction into a compensation position, and they comprise spring means for returning the compensation part from the compensation position to the home position. The base part can be designed for attachment to a handling device or a tool, and the compensation part can be designed for attachment to a tool or a handling device.

[0003] A known embodiment of a compensation unit for realizing an angular compensation movement is the applicant's compensation unit AGE-U, which is shown in common catalog materials.

[0004] DE 10 2021 126 756 A1 discloses a collision protection device for a processing head of a laser processing machine with a cardan joint. Collision protection devices are also known from DE 10 2016 212 141 A1, DE 36 05 505 A1, and DD 1 43 226 A1. A cardanic suspension of a detection device is known from DE 10 2021 130 322 A1. A robot tool with selectable compliance modes is known from DE 10 2020 100 435 A1.

[0005] The invention is based on the object of providing an angle compensation unit which has a high load capacity.

[0006] The object underlying the invention is achieved by an angle compensation unit with the features of claim 1. The angle compensation unit has a base part and a compensation part. The compensation part is pivotable relative to the base part along at least one compensation direction about an x-axis and about a y-axis between a home position and a compensation position. The y-axis runs perpendicular to the x-axis. A bearing frame and a bearing flange are arranged in the base part. The bearing frame is rotatably mounted about the base part about the x-axis. The bearing flange is rotatably mounted in the bearing frame about the y-axis. The combination of the bearing frame and the bearing flange is based on a cardanic suspension. The bearing frame and bearing flange are also referred to below as a "cardan joint".

[0007] Due to the design of the bearing frame and the bearing flange, forces can be distributed across different bearing components, ensuring high load capacity, especially axial forces.

[0008] In the home position, the compensating part is positioned perpendicular to a z-axis. The z-axis runs perpendicular to the x-axis and the y-axis. In the compensating position, the compensating part is not positioned perpendicularly, but at an angle to the z-axis.

[0009] The angle compensation unit has a control piston, in particular a pneumatically and / or hydraulically driven one, for controlling the pivoting moment or release moment, wherein the control piston is displaceable along a z-axis running 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 an unintentional rotation about the x-axis and the y-axis and a movement of the compensating part, for example due to the dead mass of a screwed-on actuator in the horizontal position of the angle compensation unit, the control piston, in particular a single-acting one, is provided, whereby the universal joint and thus the compensating part can only be deflected when a pivoting moment is present. Consequently, the force acting on the compensating part must first overcome the pivoting moment in order to move the compensating part from the home position to the compensation position.

[0010] The angle compensation unit further comprises a locking piston, in particular a pneumatically and / or hydraulically driven one, for locking the compensation part. The locking piston is movable along the z-axis between an upper unlocking position and a lower locking position. In the locking position, angle compensation using the compensation part is not possible. In the unlocking position, angle compensation is possible.

[0011] The locking piston and the control piston are coupled in such a way that moving the locking piston into the locking position also causes the control piston to move into the control position. For this purpose, the force of the locking piston is transmitted to the control piston by means of the first spring means. It is also conceivable for the locking piston to contact the control piston in the locking position, thus directly transmitting the force for displacement. Consequently, the bearing flange and thus the compensating part are locked by means of the control piston.

[0012] The base part preferably has a connection housing and / or a gimbal housing, wherein the gimbal housing is preferably rigidly connected to the connection housing, in particular by screwing. It is advantageous if the bearing frame and the bearing flange are arranged in the gimbal housing. It is further advantageous if the bearing frame is mounted in the gimbal housing so as to be rotatable about the x-axis. The connection housing is preferably closed on the upper side of the base part by means of a housing cover.

[0013] An advantageous further development provides for the compensating part to be rigidly connected to the bearing flange. Thus, the freedom of movement achieved by the bearing frame and the bearing flange is provided at the compensating part.

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

[0015] It is further advantageous if the bearing frame is rotatably mounted in the base part, particularly in the cardan housing, by means of a first pivot pin extending along the x-axis. It is also advantageous if the bearing flange is rotatably mounted in the bearing frame by means of a second pivot pin extending along the y-axis. The pivot pins represent a simple way of mounting the bearing frame and / or the bearing flange.

[0016] A further advantageous embodiment provides that the bearing frame is annular, in particular perpendicular to the z-axis. The bearing frame preferably has a flange receptacle for receiving the bearing flange. The bearing frame is preferably rounded, in particular convexly, on a first outer surface, wherein the rounding preferably runs or is visible in a cross-section along the z-axis. First bolt receptacles for receiving the first pivot bolts are preferably provided in the first outer surface.

[0017] A further advantageous embodiment provides for the bearing flange to be partially spherical. A second outer surface of the bearing flange preferably extends along a spherical surface in a central region relative to the z-axis. The bearing frame preferably has an inner surface directed toward the z-axis, which is preferably concavely rounded. The bearing flange can be guided along the inner surface of the bearing frame. The central region of the bearing flange and the bearing frame are preferably designed to complement one another. Second bolt receptacles for receiving the second pivot bolts are preferably provided in the central region of the bearing flange.

[0018] Rotation around the z-axis is suppressed by the pivot pins. Translational displacement of the bearing flange, and thus of the compensating part, is prevented by a spherical shape on the outer surfaces of the bearing flange or bearing ring, as well as a hemispherical shape of the same diameter on the inner guide surfaces in the cardan housing and the bearing ring. These spherical contact surfaces simultaneously allow rotation around the axes not blocked by pivot pins, namely the x-axis and the y-axis, thus enabling angular compensation.

[0019] To return the control piston to the control position, a first spring means, in particular a compression spring, is preferably provided. Consequently, the control piston is moved to the control position even in the de-energized state, and thus the compensating part is also returned to its home position in the de-energized state.

[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 home position. The control surface and / or the flange surface can be flat, in particular extending perpendicular to the z-axis in the home position of the compensating part. Alternatively, the control surface is formed by a mandrel protruding along the z-axis. Furthermore, the flange surface is alternatively formed by a pocket protruding along the z-axis. It is also conceivable for the pocket to be arranged on the control piston and the mandrel to be 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 surfaces enable greater force transmission and thus a higher locking torque. Preferably, the pocket tapers away from the mandrel. Preferably, the mandrel tapers towards the pocket.

[0022] It is further advantageous if the mandrel and / or the pocket are designed as inserts, particularly those formed separately from the control piston and / or the bearing flange. Accordingly, 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 inserts can thus exhibit greater wear resistance than the other components, while the other components are designed for lightweight construction. The inserts can preferably be designed as wear inserts.

[0023] Preferably, the base part, in particular the connection housing, and the control piston define a pressurizable first pressure chamber. When the first pressure chamber is pressurized, the control piston is moved from the release position to the control position in addition to the spring force of the first spring means, so that the compensating part is displaced into the home position. To pivot the compensating part in the compensating direction, the pivoting moment caused by the control piston, and in particular the first spring means, must first be overcome. This enables continuous adjustment of the pivoting moment. Such continuous adjustment is particularly important for horizontal applications or when the center of gravity of the tools is not on the same z-axis as the compensating part.

[0024] A second spring means, in particular two compression springs, is provided to return the locking piston to the unlocked position. Consequently, the locking piston is moved into the unlocked position in the de-energized state, and thus the compensating part can be pivoted into the compensating position in the de-energized state. It is advantageous if the base part, in particular the connection housing and the housing cover, and the locking piston define a pressurizable second pressure chamber. When pressure is applied to the second pressure chamber, the locking piston is moved from the unlocked position into the locked position against the spring force of the second spring means, and in particular against the spring force of the first spring means, so that the compensating part is displaced into the home position and locked there. The locking position can be provided along the entire stroke of the locking piston.It is conceivable that the locking piston is only moved a partial stroke along the z-axis, so that the maximum pivot angle of the compensating part can be limited. This allows for continuous adjustment of the maximum pivot angle.

[0025] The first spring means is preferably supported on the control piston and the locking piston. The second spring means is preferably supported on the locking piston and the connection housing.

[0026] A further advantageous development provides that the angle compensation unit has a sensor device with a position sensor for detecting the position of the locking piston and / or the control piston and / or the bearing frame and / or the bearing flange and / or the compensation part and / or with a presence sensor for detecting the presence of a component on the compensation part.

[0027] It is advantageous if the angle compensation unit has a control and / or regulating device. The sensor device preferably transmits the sensor data to the control and / or regulating device. The control and / or regulating device preferably controls the pressurization of the first pressure chamber and / or the second pressure chamber depending on the received sensor data. Furthermore, the control and / or regulating device preferably determines the forces and / or moments acting on the compensation part depending on the positional deviation of the compensation position from the base position.

[0028] To limit the pivoting angle of the compensating part, at least one end stop is preferably provided on the compensating part, which, at the maximum pivoting angle, contacts an underside of the base part, in particular an underside of the cardan housing. Preferably, the at least one end stop has a conical slope. The slope preferably tapers along the z-axis toward the base part.

[0029] The object underlying the invention is also achieved by a clamping and / or gripping device having the features of claim 19. The clamping and / or gripping device has a previously described angle compensation unit.

[0030] The object underlying the invention is also achieved by a handling device having the features of claim 20. The handling device has a previously described angle compensation unit and / or a previously described clamping and / or gripping device.

[0031] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are further described and explained. Character description

[0032] They show: Fig. 1. a perspective view of an angle compensation unit; Fig. 2. an exploded view of the angle compensation unit according to Fig. 1; Fig. 3. another exploded view of the angle compensation unit according to Fig. 1; Fig. 4. a perspective view of a cardan housing of the angle compensation unit according to Fig. 1 Fig. 5. a sectional view of the angle compensation unit according to Fig. 1, wherein the compensating part is arranged in the basic position; Fig. 6. a sectional view of the angle compensation unit according to Fig. 1, wherein the compensating part is arranged in the compensating position; Fig. 7. a sectional view of the angle compensation unit according to Fig. 1, wherein the locking piston is arranged in the locking position; Fig. 8. another sectional view of the angle compensation unit according to Fig. 1, wherein the compensating part is arranged in the basic position; Fig. 9. another sectional view of the angle compensation unit according to Fig. 1, wherein the compensating part is arranged in the compensating position; and Fig. 10. another sectional view of the angle compensation unit according to Fig. 1, wherein the locking piston is arranged in the locking position.

[0033] The angle compensation unit 10 is designed to be arranged on a handling device (not shown), wherein the angle compensation unit 10 can be arranged between a handling device (not shown), in particular a robot arm, and a tool (not shown), in particular a gripper. The angle compensation unit 10 has, according to Fig. 1 a base part 12 and a compensating part 14, wherein the compensating part 14 is pivotable relative to the base part 12 about an x-axis and about a y-axis running perpendicular to the x-axis between a base position and a compensating position.

[0034] In the basic position, the compensation part 14 is Fig. 1 is arranged perpendicular to a z-axis. The z-axis runs perpendicular to the x-axis and the y-axis. In the compensating position, the compensating part 14 is not arranged perpendicularly, but rather at an angle to the z-axis.

[0035] The base part 12 has according to Fig. 1 comprises a cuboidal connection housing 16 and a cuboidal gimbal housing 20 adjacent to the connection housing 16, wherein the gimbal housing 20 is rigidly connected, in particular screwed, to the connection housing 16. The connection housing 16 is designed for attachment to a handling device. The compensating part 14 is designed for attachment to a tool. The connection housing 16 is closed by a housing cover 18.

[0036] The compensating part 14 and the base part 12 are according to the Fig. 2 to 10 are movably connected to one another by means of a cardan joint 22. The cardan joint 22 is arranged in the cardan housing 20. The cardan joint 22 has, according to Fig. 2 a rotationally symmetrical bearing frame 24 and a rotationally symmetrical bearing flange 26. The bearing frame 24 is rotatably mounted about a first axis of rotation 29 in the cardan housing 20 by means of first pivot pins 28, wherein the first axis of rotation 29 runs along the x-axis. The bearing frame 24 has first pin receptacles 30 for receiving the first pivot pins 28. The bearing flange 26 is rotatably mounted about a second axis of rotation 33 in the bearing frame 24 by means of second pivot pins 32, wherein the second axis of rotation 33 runs along the y-axis. The first axis of rotation 29 and the second axis of rotation 33 run in a common axis of rotation plane 35. The bearing flange 26 has second pin receptacles 34 for receiving the second pivot pins 32. The bearing flange 26 is connected to the compensating part 14 in a movement-proof manner. Accordingly, pivoting of the bearing flange 26 also causes pivoting of the compensating part 14 and vice versa.

[0037] For the continuous adjustment of the swivel torque to be overcome, the angle compensation unit 10 has, according to the Fig. 5 to 10, a rotationally symmetrical control piston 36, in particular a pneumatically and / or hydraulically driven one, which pushes the bearing flange 26 into the zero position and thus the compensating part 14 into the home position. To lock the compensating part 14, the angle compensation unit 10 has a locking piston 38, in particular a pneumatically and / or hydraulically driven one, which pushes the bearing flange 26 into the zero position and locks the compensating part 14 in the home position.

[0038] The connection housing 16 has according to Fig. 8 a connection housing top side 40, an opposite connection housing bottom side 42, and a connection housing shell side 44. The gimbal housing has a gimbal housing top side 46, an opposite gimbal housing bottom side 48, and a gimbal housing shell side 50. The compensating part 14 has a compensating part top side 52, an opposite compensating part bottom side 54, and a compensating part shell side 56. In the assembled state, the connection housing top side 40 faces the handling device, the connection housing bottom side 42 faces the gimbal housing top side 46, the gimbal housing bottom side 48 faces the compensating part top side 52, and the compensating part bottom side 54 faces the tool. The connection housing top side 40 is essentially formed by the housing cover 18.

[0039] The cardan housing 20 is according to the Fig. 2 to 10 is pot-shaped and has a central recess 58 in which the cardan joint 22 is arranged in the assembled state. To guide the bearing frame 24 in the cardan housing 20, the cardan housing 20 has Fig. 7 has a first guide surface 60, which runs parallel to the z-axis in an upper first section and along a spherical surface or a conical surface in a lower second section. The first guide surface 60 is delimited by a gimbal housing base 62, which essentially forms the gimbal housing underside 48.

[0040] The bearing frame 24 has according to Fig. 7 first outer surface 64, which bears against the first guide surface 60. The first outer surface 64 extends along a spherical surface. The bearing frame 24 further comprises a flange receptacle 66 for receiving the bearing flange 26 with a second guide surface 68, which also extends along a spherical surface. The bearing frame 24 is shown in a sectional view perpendicular to the z-axis, as shown in the Fig. 5 to 10, is circular in shape. The bearing flange 26 has a second outer surface 70, which runs along a spherical surface and engages the second guide surface 68. For rotation of the bearing flange 26 about the x-axis, the first outer surface 64 slides on the first guide surface 60. For rotation of the bearing flange 26 about the y-axis, the second outer surface 70 slides on the second guide surface 68.

[0041] The bearing flange 26 has according to Fig. 10 has a plurality of fastening receptacles 76 on a flange underside 72 for receiving fastening means 74 arranged on the compensating part upper side 52. The compensating part 14 and the bearing flange 26 are rigidly connected to one another by means of the fastening means 74 and the fastening receptacles 76.

[0042] To assemble the cardan joint 22, Fig. 2 First, the bearing flange 26 is inserted into the flange receptacle 66 of the bearing frame 24. Subsequently, the second pivot pins 32 are inserted into the second pin receptacles 34 via the first outer surface 64 of the bearing frame 24. Subsequently, the bearing frame 24, together with the bearing flange 26, is inserted into the central recess 58 of the cardan housing 20. Then, the first pivot pins 28 are inserted into the first pin receptacles 30 via the cardan housing shell side 50. The compensating part 14 and the bearing flange 26 are then connected to one another.

[0043] To limit the maximum pivoting angle, the compensating part 14 has Fig. 9 has an end stop 78 on the top side 52 of the compensating part, which is designed as a conical slope, wherein the slope tapers towards the base part 12. The end stop 78 comes into contact with the bottom side 48 of the cardan housing in the compensating position when the maximum pivoting angle has been reached by the compensating part 14.

[0044] On a flange top 80 of the bearing flange 26, according to Fig. 10, a flange surface 82 is provided which contacts and interacts with a control surface 84 of the control piston 36 for returning the compensating part 14 to the home 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 protruding along the z-axis. It is also conceivable for the pocket 88 to be arranged on the control piston 36 and the mandrel 86 on the bearing flange 26. The mandrel 86 and the pocket 88 are conical and complementary to one another. The conical surfaces enable greater force transmission and thus a higher locking torque. 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 formed separately from the control piston 36 and / or the bearing flange 26.The mandrel 86 and the pocket 88 are made of a different material, particularly a wear-resistant material, than the control piston 36 and the bearing flange 26, which are made of a lightweight material. The inserts are designed as wear inserts.

[0045] To control the locking torque, the control piston 36 is displaced along the z-axis from an upper release position to a lower control position. The mandrel 86 and the pocket 88 interact in such a way that the bearing flange 26 is centered and the compensating part 14 is displaced into the home position. To pivot the compensating part 14, the pivoting moment or activation moment resulting from the control piston 36 must be overcome by the force acting on the compensating part 14. A first spring means 90, in particular a compression spring, is provided to return the control piston 36 to the control position. Consequently, the control piston 36 is moved into the control position even in the de-energized state, and thus the compensating part 14 is also returned to the home position in the de-energized state. The first spring means 90 extends along the z-axis and is supported on the control piston 36 and the locking piston 38. For this purpose, according to Fig. 5 First spring receptacles 92 are provided on the control piston 36 and on the locking piston 38. For continuously adjusting the pivoting torque, the control piston 36 and the connection housing 16 define a first pressure chamber 94. The first pressure chamber 94 is sealed by a first sealing means 96 arranged on the connection housing 16 and on the control piston 36. The first pressure chamber 94 can be pressurized by means of at least one first pressure line 98, wherein the first pressure line 98 opens into the connection housing casing side 44. When pressure is applied to the first pressure chamber 94, the control piston 36 is moved from the release position into the control position in addition to the spring force of the first spring means 90, so that the compensating part 14 is displaced into the home position. To pivot the compensating part 14 in the compensation direction, the pivoting torque caused by the control piston 36 and the first spring means 90 must first be overcome.This allows for continuous adjustment of the swivel torque. Such continuous adjustment is particularly important for horizontal applications or when the center of gravity of the tools is not on the same z-axis as the compensation part 14.

[0046] To lock the compensating part 14 in the home position or the universal joint 22 in the zero position, the locking piston 38 is movable along the z-axis between an upper unlocking position and a lower locking position. In the locking position, angular compensation is not possible using the compensating part 14. In the unlocking position, angular compensation is possible using the compensating part 14. The locking piston 38 is essentially diamond-shaped with rounded corners in cross-section perpendicular to the z-axis, being elongated along the y-axis and compressed along the x-axis. A second spring means 100, in particular two compression springs, is provided to return the locking piston 38 to the unlocking position.Consequently, the locking piston 38 is moved into the unlocking position in the energy-free state and thus the compensating part 14 is unlocked in the energy-free state and can thus be pivoted into the compensating position.

[0047] The base part 12, in particular the connection housing 16 and the housing cover 18, and the locking piston 38 limit according to Fig. 7 a pressurizable second pressure chamber 102. The second pressure chamber 102 is sealed by a second sealing means 104 arranged on the connection housing 16 and on the control piston 36. The second pressure chamber 102 can be pressurized by means of at least one second pressure line 106, wherein the second pressure line 106 opens into the connection housing casing side 44. When the second pressure chamber 102 is pressurized, the locking piston 38 is moved against the spring force of the second spring means 100 and the first spring means 90 from the unlocked position into the locked position, so that the compensating part 14 is displaced into the home position and locked there. The second spring means 100 extends along the z-axis and is supported on the locking piston 38 and on the connection housing 16. For this purpose, the locking piston 38 and the connection housing 16 are provided with Fig. 5 second spring receptacles 108 are provided. The locking position can be provided along the entire stroke of the locking piston 38. It is conceivable that the locking piston is only displaced a partial distance along the z-axis, so that the compensating part 14 is not completely locked, but only the maximum pivoting angle of the compensating part 14 can be limited beyond the end stop 78. This also enables continuous adjustment of the maximum pivoting angle.

[0048] The angle compensation unit 10 further comprises according to Fig. 5 shows a sensor device 110 with a position sensor for detecting the position of the locking piston 38 and / or the control piston 36 and / or the bearing frame 24 and / or the bearing flange 26 and / or the compensating part 14 and / or with a presence sensor for detecting the presence of a component on the compensating part 14. A position sensor for detecting the position of the locking piston 38 has a signal transmitter 112 arranged in the locking piston 38 and a signal receiver arranged in a sensor groove 114 provided on the connector housing casing side 44. The signal transmitter 112 is preferably arranged in a casing side of the locking piston 38. The signal transmitter 112 enters the effective range of the signal receiver as soon as the locking piston 38 is arranged in the locking position. The position sensor thus detects the locking of the compensating part 14.However, it is also conceivable that the position sensor can detect the entire stroke of the locking piston 38.

[0049] The angle compensation unit 10 further comprises according to Fig. 5 has a control and / or regulating device 116. The sensor device 110 transmits the sensor data of the at least one sensor to the control and / or regulating device 116. The control and / or regulating device 116 controls the pressurization of the first pressure chamber 94 and / or the second pressure chamber 102 depending on the received sensor data. Furthermore, the control and / or regulating device determines the forces and / or moments acting on the compensating part 14 depending on the positional deviation of the compensating position from the home position. List of reference symbols 10 Angle compensation unit 12 Basic part 14 Compensating part 16 connection housings 18 Housing cover 20 cardan housings 22 Cardan joint 24 bearing frames 26 Bearing flange 28 first pivot pin 29 first axis of rotation 30 first bolt receptacle 32 second pivot pin 33 second axis of rotation 34 second bolt receptacle 35 Rotation axis plane 36 control pistons 38 locking pistons 40 Connection housing top 42 Connection housing bottom 44 Connection housing shell side 46 Cardan housing top 48 Cardan housing bottom 50 Cardan housing shell side 52 Compensating part top 54 Compensating part underside 56 Compensating part shell side 58 central recess 60 first guide surface 62 Cardan housing base 64 first outer surface 66 flange mount 68 second guide surface 70 second outer surface 72 flange underside 74 fasteners 76 Mounting bracket 78 End stop 80 flange top 82 flange surface 84 control surface 86 Thorn 88 bag 90 first spring means 92 first spring holder 94 first pressure chamber 96 first sealant 98 first pressure line 100 second spring means 102 second pressure chamber 104 second sealant 106 second pressure line 108 second spring retainer 110 Sensor device 112 signal generators 114 Sensor groove 116 Control and / or regulating device

Claims

[1] Angle compensation unit (10) for a handling device with a base part (12), with a compensation part (14), with a control piston (36) for controlling the pivoting moment and with a locking piston (38) for locking the compensation part (14), wherein the compensating part (14) is pivotable relative to the base part (12) about an x-axis and about a y-axis perpendicular to the x-axis between a basic position and a compensating position, wherein a bearing frame (24) and a bearing flange (26) are arranged in the base part (12), wherein the bearing frame (24) is rotatably mounted in the base part (12) about the x-axis, wherein the bearing flange (26) is rotatably mounted in the bearing frame (24) about the y-axis, wherein the control piston (36) is displaceable along a z-axis perpendicular to the x-axis and the y-axis between a control position and a release position, wherein the locking piston (38) is displaceable along the z-axis between an unlocking position and a locking position, wherein the locking piston (38) in the locking position urges the control piston (36) in the direction of the control position, and wherein the control piston (36) locks the compensating part (14). [2] Angle compensation unit (10) according to claim 1, wherein the compensation part (14) is connected to the bearing flange (26) in a movement-proof manner. [3] Angle compensation unit (10) according to claim 1 or 2, wherein the bearing frame (24) has a first axis of rotation (29) running along the x-axis and the bearing flange (26) has a second axis of rotation (33) running along the y-axis, and wherein the first axis of rotation (29) and the second axis of rotation (33) lie in a plane of rotation (35). [4] Angle compensation unit (10) according to one of the preceding claims, wherein the bearing frame (24) is rotatably mounted in the base part (12) by means of first pivot pins (28) and / or the bearing flange (26) is rotatably mounted in the bearing frame (24) by means of second pivot pins (32). [5] Angle compensation unit (10) according to one of the preceding claims, wherein the bearing frame (24) is annular and / or the bearing flange (26) is partially spherical. [6] Angle compensation unit (10) according to one of the preceding claims, wherein a first spring means (90) is provided for returning the control piston (36) to the control position. [7] Angle compensation unit (10) according to one of the preceding claims, wherein a protruding mandrel (86) is provided on the control piston (36) and a pocket (88) cooperating with the mandrel (86) in the control position is provided on the bearing flange (26), or wherein a protruding mandrel (86) is provided on the bearing flange (26) and a pocket (88) cooperating with the mandrel (86) in the control position is provided on the control piston (36). [8] 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] Angle compensation unit (10) according to one of claims 7 or 8, wherein the mandrel (86) and / or the pocket (86) are designed as inserts. [10] Angle compensation unit (10) according to one of the preceding claims, wherein the base part (12) and the control piston (36) delimit a pressurizable first pressure chamber (94) such that when the first pressure chamber (94) is pressurized, the compensation part (14) is centered. [11] Angle compensation unit (10) according to one of the preceding claims, wherein a second spring means (100) is provided for returning the locking piston (38) to the unlocking position. [12] Angle compensation unit (10) according to one of the preceding claims, wherein the base part (12) and the locking piston (38) delimit a pressurizable second pressure chamber (102) such that when the second pressure chamber (102) is pressurized, the compensation part (14) is locked. [13] Angle compensation unit (10) according to one of claims 11 to 12, wherein the first spring means (90) are supported on the one hand on the control piston (36) and on the other hand on the locking piston (38) and / or wherein the second spring means (100) are supported on the one hand on the locking piston (38) and on the other hand on the base part (12). [14] Angle compensation unit (10) according to one of the preceding claims, wherein it comprises a sensor device (110) with a position sensor for detecting the position of the locking piston (38) and / or the control piston (36) and / or the bearing frame (24) and / or the bearing flange (26) and / or the compensation part (14) and / or with a presence sensor for detecting the presence of a component on the compensation part (14). [15] Angle compensation unit (10) according to one of the preceding claims, wherein at least one end stop (78) is provided on the compensation part (14) to limit the pivoting angle of the compensation part (14), which end stop (78) contacts an underside of the base part (12) in a maximum compensation position. [16] Clamping and / or gripping device with an angle compensation unit (10) according to one of the preceding claims. [17] Handling device with an angle compensation unit (10) according to one of claims 1 to 15 or with a clamping and / or gripping device according to claim 16.

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