Balancing device for a lifting device and use of such a balancing device

Abstract

The invention relates to a compensating device (100) for a lifting means (10) for compensating positional deviations of the lifting means (10), as well as to the use of such a compensating device (100) with a suspension arrangement (200), a compensating arrangement (300), a centering arrangement (500), a connecting arrangement (400), and a coupling arrangement. The suspension arrangement (200) couples the compensating arrangement (300) to the corresponding lifting means (10). The coupling arrangement couples the centering arrangement (500) to an object (20) to be lifted. The centering arrangement (500) aligns the compensating arrangement (300) during lowering of the lifting means (10).The connecting arrangement (400) has at least one first connecting element (350) on the compensating arrangement side and at least one second connecting element (530) on the centering arrangement side, which can be detachably connected to one another in an aligned state of the compensating arrangement (300).

Description

Prior ArtThe invention relates to a compensating device for a lifting means and to a use of such a compensating device.It is known to manually couple articles to lifting means for lifting or transporting them over the lifting means. Here, the object may be a transport box and the lifting means may be a drone. In manual coupling, the lifting means or drone can be manually aligned with the object to be lifted and subsequently connected to the object to be lifted via suitable connecting elements.For example, cardboard transport boxes with an upwardly projecting tongue-shaped tab are known. The protruding tongue-shaped tab is clamped between clamping elements which are arranged on an underside of a drone. In this case, in the event of a position deviation of the drone, only a part of the tab can be clamped in. In addition, the flap of the transport box can be completely missed in the event of a lateral positional deviation of the drone or in the event of a rotation of the drone about a vertical axis of the object to be lifted.From WO 2019239413 a gripping device for gripping an object without the intervention of a user is known, wherein the device for object gripping comprises a first engagement element configured to be attachable to a lifting element; and a second engagement element configured to be attachable to the object, wherein the first engagement element is configured to be engageable with the second engagement element.DE 102020116442 A1 discloses a fastening device for detachably fastening a load device to a guide device. The fastening device has a supporting structure with a fastening unit and a closure unit. The fastening unit can be connected to the guide unit and the closure unit is designed for the detachable fastening of the load device. The closure unit has a plurality of projections which are arranged at predetermined intervals along a circumference of the supporting structure. Each protrusion of the plurality of protrusions includes a closure member movable between a closed state and an open state.FR 2997032 A1 discloses a manual gripping device for handling a mechanical component with varying cross section. The gripping device comprises a central shaft or carriage connected to a balancing system and having at least one handle for operating the device, a gripping tong mounted on the carriage and comprising jaws for gripping the mechanical component for handling and transport, and a means for fixing the gripping tong both in an open position and in a closed position in which the gripping tong grips the mechanical component for handling and transport.Disclosure of the InventionAn object of the invention is to provide a compensating device for lifting means which simplifies and / or improves the connection of a lifting means to an object to be lifted.A further object of the invention is to provide an application of such a compensating device which enables a reliable and / or simplified connection of a lifting means to an object to be lifted.The objects are achieved by the features of the independent claims. Advantageous embodiments and advantages of the invention are evident from the further claims, the description and the drawing.A compensating device for a lifting means for compensating position deviations of the lifting means is proposed, having a suspension arrangement, a compensating arrangement, a centering arrangement, a connecting arrangement and a coupling arrangement. The suspension arrangement couples the compensating arrangement to the corresponding lifting means. The coupling arrangement couples the centering arrangement to an object to be lifted. The centering arrangement aligns the compensating arrangement during lowering of the lifting means. The connecting arrangement has at least one first connecting element on the compensating arrangement side and at least one second connecting element on the centering arrangement side, which can be detachably connected to one another in an aligned state of the compensating arrangement, as a result of which, in the connected state of the connecting elements, the lifting means is coupled to the object to be lifted via the suspension arrangement, the connecting arrangement and the coupling arrangement. In the released state of the connecting elements, the lifting means is released from the object to be lifted.The compensating arrangement has a rotationally symmetrical base body which has an opening in the middle and on the underside of which the at least one first connecting element on the compensating arrangement side is arranged. The base body can be formed in particular annularly. However, other rotationally symmetrical shapes, for example polygonal shapes, are also conceivable. On the underside of the base body, for example, three first connection elements on the compensating arrangement side can be arranged, which are arranged offset by 120° with respect to one another. In this case, a secure hold of the object to be lifted can be made possible during the lifting and / or during the transport. In addition, such a distribution of the connecting elements on the base body enables a good distribution of the weight of the object to be lifted on the compensating arrangement and thus on the lifting means.The rotationally symmetrical base body can be designed, for example, as a metallic ring. Other dimensionally stable materials are also conceivable. On an upper side of the rotationally symmetrical base body, the coupling elements of the suspension arrangement can be arranged.Advantageously, the connecting elements of the connecting arrangement are not arranged directly on the lifting means and not directly on the object to be lifted, but on the centering arrangement and the compensating arrangement. Since the centering arrangement aligns the compensating arrangement, the corresponding connecting elements on the compensating arrangement side are likewise aligned, as a result of which the connecting elements on the compensating arrangement side can be aligned with the connecting elements on the centering arrangement side independently of the position of the lifting means. As a result, the connecting elements of the connecting arrangement can be arranged with respect to one another in such a way that a positive fit and / or a non-positive fit is possible or can be implemented easily. For example, the connecting elements are arranged opposite each other in the aligned state.Due to the simple positive and / or frictional connection to be implemented, irrespective of the position of the lifting means, the reliability of the connection and the establishment of the connection between the lifting means and the object to be lifted can be significantly improved, as a result of which the safety during lifting and / or during transport can be increased.An undesired release of the connection or an unfavorable distribution of the weight of the object to be lifted can be advantageously avoided or at least made more difficult by the reliable connection of the connection arrangement.Advantageously, by means of the compensating device according to the invention, position deviations of the lifting means can be compensated reliably by the suspension arrangement, the compensating arrangement and the centering arrangement automatically when the lifting means is lowered. In this case, the centering arrangement aligns the compensating arrangement, wherein the position or the orientation of the lifting means is adjusted only in the vertical direction in order to enable tolerance compensation of the position of the lifting means with respect to the object to be lifted. In this case, the suspension arrangement can release a necessary clearance of the compensating arrangement from the lifting means, so that the compensating arrangement can move relative to the lifting means. In this case, one or more degrees of freedom of the compensation arrangement are enabled.For example, the compensating arrangement can rotate and / or tilt and / or pivot about a plurality of axes relative to the lifting means and relative to the centering arrangement. In addition, the compensating arrangement can move axially in a plurality of spatial directions relative to the lifting means and relative to the centering arrangement.A position deviation of the lifting means is understood below to mean a deviation of an actual position of the lifting means above the object to be lifted from a predefined desired position above the object to be lifted.If the lifting means has the desired position, the connecting elements are arranged with respect to one another such that a reliable connection can be implemented between the lifting means and the object to be lifted.The deviation from the desired position can be a lateral deviation or a rotation about a vertical axis of the lifting means or a roll deviation or a pitch deviation by rotation of the lifting means about one or more horizontal axes of the lifting means.In the case of the position deviation, only one of the aforementioned deviations from the desired position can be present or a plurality of deviations from the desired position can be present; for example, a lateral deviation and simultaneously a roll deviation or a rotation about the vertical axis and a pitch deviation, etc. are conceivable.In the case of the lateral deviation of the lifting means, the vertical axis of the lifting means can be displaced horizontally and, as a result, elements of the lifting means can be displaced horizontally when approaching the object to be lifted. As a result, the positions of the vertical axis and elements of the lifting means, in particular of the connecting elements, can deviate from the desired position in an x-y plane. The x-y plane is defined here by a longitudinal direction and a transverse direction of the object to be lifted. A lateral offset or a lateral deviation of the lifting means from the object to be lifted can be compensated in an advantageous manner by the compensating device according to the invention by the suspension arrangement and the movement of the compensating arrangement relative to the lifting means.In the case of the deviation from the desired position by the rotation of the lifting means about the vertical axis, positions of the elements of the lifting means, in particular of the connecting elements, in the x-y plane can deviate from the desired position. A rotation of the lifting means can be compensated by a rotation of the compensating arrangement relative to the lifting means.In the case of the deviation from the desired position by a roll deviation and / or a pitch deviation of the lifting means, positions of the elements of the lifting means, in particular of the connecting elements, can deviate from the desired position in the x-z plane and / or in the y-z plane. The x-z plane is defined here by the longitudinal direction of the object to be lifted and by a direction of gravity. The y-z plane is defined by the transverse direction of the object to be lifted and by the direction of gravity. A roll deviation and a pitch deviation can arise as a result of a rotation of the lifting means about one of the horizontal axes of the lifting means.This deviation can be compensated for by tilting and / or pivoting and / or rotating the compensating arrangement about the corresponding axis relative to the lifting means.In an aligned state, the longitudinal axis, the transverse axis and the vertical axis of the compensating arrangement correspond to the longitudinal axis, the transverse axis and the vertical axis of the centering arrangement or the respective axes run at least parallel to one another.In the following, without limiting generality, it is assumed for voice simplification that a drone is the lifting means. Of course, another suitable aircraft or a crane or a crane hook or crane gripper or another suitable assembly or another suitable component is also conceivable as lifting means.Advantageously, according to the invention, the connecting elements of the connecting arrangement are aligned with respect to one another in that the compensating arrangement is aligned by the centering arrangement. The mutually aligned connection elements can then be brought into engagement with one another simply manually or automatically in order to produce a positive and / or non-positive connection. In this case, the alignment of the compensating arrangement takes place merely by lowering the lifting means. As a result, no complicated control or no readjustment of the lifting means is required. In addition, the alignment of the connecting elements with respect to one another can advantageously be automated.Since the centering arrangement is connected to the object to be lifted via the coupling arrangement in a predetermined position, an effective coupling between the lifting means and the object to be specified is implemented with connected connecting elements.The centering arrangement can be arranged on a cover or on an upper side of the object to be lifted. The centering arrangement is shaped in such a way that it forcibly guides the compensating arrangement, so that the movement of the compensating arrangement is predefined by the centering arrangement.The coupling arrangement may be a screw connection or a clamping connection or another suitable releasable connection between the centering arrangement and the object to be lifted. In this case, the coupling arrangement comprises at least one coupling element which couples or connects the centering arrangement to the object to be lifted in a releasable form-fitting and / or force-fitting manner. In this case, the upper side or the cover of the object to be lifted and / or the centering arrangement can have additional coupling elements, for example a channel for coupling elements designed as screws and / or as clamping elements and / or as engagement elements.Additionally or alternatively, the upper side or the cover of the object to be lifted and / or the centering arrangement can have bulges and / or undercuts and / or notches and / or other suitable additional coupling elements, which enable a spring-loaded coupling element to engage. The coupling arrangement can be released in order to remove the centering arrangement from the top side or from the cover of the current object and to arrange it on another object to be lifted or store it until being used again.Advantageously, the balancing device according to the invention can improve an effective connection between lifting means and object to be lifted despite a position deviation of the lifting means and increase the establishment of the connection. Furthermore, it is possible in an advantageous manner to substantially dispense with manual readjustment of the position of the lifting means.The compensating device according to the invention enables in particular the coupling and decoupling of a drone to a transport crate while maintaining given position deviations of the drone. In this case, the drone can have a lateral deviation from the desired position of up to + / - 250 mm. Additionally or alternatively, the drone can have a twist about the vertical axis of up to + / - 20°. Additionally or alternatively, the drone can have a rotation about one or more horizontal axes of up to + / - 10°, without the coupling or decoupling being negatively influenced by the deviations.According to a favorable embodiment of the compensating device, the at least one first connecting element on the compensating arrangement side can be designed as a conical bayonet or as a catch cone. Advantageously, a bayonet connection between a cone bayonet and a catch cone is easily implementable and reliable. In this case, the conical bayonet can have a typical guide groove with a groove trough. The catching cone can have a transverse pin which is guided by the guide groove and is fixed in the trough of the groove after a rotation of the fan cone or of the cone bayonet. The conical shape has the advantage that a tolerance compensation between the capture cone and the cone bayonet can be made possible. At least one first connecting element embodied as a cone bayonet can be arranged on the rotationally symmetrical base body, which first connecting element interacts with a corresponding second connecting element embodied as a catch cone. Alternatively, at least one first connecting element embodied as a catch cone can be arranged on the rotationally symmetrical base body, which first connecting element interacts with a corresponding second connecting element embodied as a cone bayonet. Alternatively, at least one catch cone and at least one cone bayonet can be arranged on the rotationally symmetrical base body, which are each assigned to at least one counter piece of the bayonet connection.According to a favorable embodiment of the compensating device, at least two inner rollers can be arranged on the rotationally symmetrical base body. The inner rollers can have an axis of rotation parallel to the vertical axis of the base body and an axis of rotation perpendicular to the axis of rotation. The rollers can align in a predetermined direction by the axis of rotation, whereby the axis of rotation can be aligned. The rollers can roll over the axis of rotation and enable a movement of the base body in the rolling direction. These rollers can be guided by a guide surface of the centering arrangement. In this case, the guide surface can at least partially overlap the opening of the base body.When the at least two inner rollers contact the guide surface of the centering arrangement, the compensating arrangement can be aligned laterally with increasing lowering depth of the lifting means. As a result, a lateral deviation of the lifting means and as a result a lateral deviation of the rotationally symmetrical base body from the desired position can be compensated for. For example, eight inner rollers can be arranged offset relative to one another by 45°. In the following, "lying on the inside" is understood to mean that the rollers do not project beyond an outer edge of the base body. The inboard rollers may protrude into the central opening.According to a favorable embodiment of the compensating device, at least two outer rollers protruding beyond an outer edge of the base body can be arranged on the rotationally symmetrical base body, which rollers have an axis of rotation perpendicular to the vertical axis of the base body. The outer rollers have fixed axes of rotation and thereby roll off in a predefined direction. For example, four rollers can be arranged offset relative to each other by 90°. The axes of rotation of the rollers can be aligned star-shaped or cross-shaped with respect to the center of the base body. The rollers can correspond, for example, to cylindrical rollers. Because the rollers protrude beyond the outer edge of the base body, they can be guided by a guide surface which is not overlapped by the base body. As a result, the base body can be rotated, for example. In this case, a rotation of the lifting means and thereby a rotation of the rotationally symmetrical base body from the desired position can be compensated.According to a favorable configuration of the compensating device, at least one drive element can be arranged on the rotationally symmetrical base body, which drive element drives at least one of the at least one first connecting elements on the compensating arrangement side in the aligned state of the compensating arrangement. The at least one drive element allows the existing first connecting elements to be transferred into an effective position, wherein in the effective position a force-fit or form-fit connection is formed with the corresponding second connecting element. The connection process can be automated in an advantageous manner by the at least one drive element. Time and personnel can be saved in this case.According to a favorable embodiment of the compensating device, at least one distance sensor can be arranged on the rotationally symmetrical base body. In one exemplary embodiment, each first connection element on the compensating arrangement side or each drive element can be assigned a distance sensor, which monitors the distance of the base body from the centering arrangement. The distance sensor can be arranged flush on a side surface of the base body or on an underside of the base body. The desired distance of the sensor from a base and / or a side wall of the centering arrangement, which is present in the case of a successful alignment of the compensating arrangement and in the case of a successful alignment of the first connecting elements, is known. As a result, the sensor signals can activate the drive element when the desired distance is reached, as a result of which the connection process can advantageously be further automated. Additionally or alternatively, the at least one distance sensor can output a signal which confirms the successful alignment of the compensating arrangement and the first connecting elements. This signal can be output to at least one optical and / or acoustic output unit or to the at least one drive element. Alternatively, the signal may be an error signal if the alignment of the compensation arrangement and the first connection elements is not successful. The error signal can be output to at least one acoustic or optical output unit or to the lifting means.A suspension arrangement is understood below to mean an arrangement having at least one suspension element, in particular a cable, for example a steel cable, which can be used in heavy loads, and coupling elements for coupling the at least one suspension element to the lifting means and the compensating arrangement. In this case, each suspension element can be coupled at a first end region to the lifting means and at a second end region to the compensating arrangement. In this case, the lifting means can have a plurality of coupling elements, to each of which a first end region of a corresponding suspension element can be fastened. Alternatively, the lifting means may comprise a single coupling element, the first end portions of the suspension elements being fixed to said coupling element.Alternatively, the first end regions of the suspension elements can be combined, wherein a suspension element formed from the combined suspension elements or connected to the combined suspension elements can be fastened to the coupling element. The coupling element can be designed, for example, as an annular screw.According to a favorable configuration of the compensating device, the at least one coupling element can be arranged on the upper side of the rotationally symmetrical base body, which coupling element couples at least one element of the suspension arrangement, in particular the cable, to the annular base body. In one exemplary embodiment, the lifting means and the base body can each have three coupling elements arranged offset from one another by 120°.Advantageously, a cover element, which covers an upper side of the base body, can cover existing drive elements and / or existing cables and / or existing energy sources for distance sensors and drive elements. The cover element can have recesses for coupling elements. The cover can be made of fiber-reinforced material.According to a favorable embodiment of the compensating device, the centering arrangement can have a rotationally symmetrical inner centralizer which is arranged centrally on the centering arrangement and whose cross section is smaller than the opening of the rotationally symmetrical base body. The inner centraliser can be designed, for example, as a truncated cone, the widest point of which has a smaller cross section than the opening of the rotationally symmetrical basic body.As a result, the inner centraliser can enter the opening of the rotationally symmetrical basic body or the rotationally symmetrical basic body can be placed over the inner centraliser. As a result, the inner centraliser can form an inner stop for the rotationally symmetrical main body, which prevents or at least makes difficult a renewed lateral displacement of the rotationally symmetrical main body if the rotationally symmetrical main body is aligned laterally. The inner centralizer can taper upwards, counter to the direction of gravity, in order to facilitate insertion into the opening of the rotationally symmetrical base body.According to a favorable embodiment of the compensating device, the centralizer can form a curved and / or obliquely running guide surface which guides the inner rollers of the compensating arrangement. The inner rollers align along the slope of the guide surface. Due to the shape of the guide surface, the inner rollers move the rotationally symmetrical base body laterally during the lowering of the lifting means and thereby during the lowering of the rotationally symmetrical base body until the rotationally symmetrical base body is arranged around the inner centraliser. After completion of a first alignment phase, the compensation arrangement is arranged around the inner centraliser. As a result, a lateral offset of the lifting means and as a result a lateral offset of the base body of the compensating arrangement with respect to the vertical axis of the centering arrangement can be compensated.According to a favorable embodiment of the compensating device, the centering arrangement can have a rotationally symmetrical, in particular cylindrical, outer centraliser which comprises a vertically running wall, wherein an upper edge of the wall forms a plurality of guide ramps which guide the at least two outer rollers of the compensating arrangement.In the case of a cylindrical wall of the outer centraliser and an annular base body, the outer rollers can be guided in a circle, as a result of which it is possible to easily rotate the base body. Other shapes matched to one another are also possible. The rollers can roll down the ramps of the upper edge under the force of gravity, thereby moving the base body in a predetermined direction and / or rotating it about a predetermined axis. The highest region of the guide ramp can advantageously be arranged below the highest region of the inner centraliser, so that the inner centraliser is surrounded by the base body and forms the inner stop.This can prevent the outer rollers from losing contact with the ramps as a result of a lateral movement of the base body. After completion of a second alignment phase, rotations of the lifting means and thus rotations of the base body of the compensating arrangement about the vertical axis of the centering arrangement are corrected.According to a favorable embodiment of the compensating device, two adjacent guide ramps can each open at their low point into a recess of the wall. In one embodiment, the dimensions of the recess can be adapted to the dimensions of the outer rollers. The low points of adjacent guide ramps advantageously mark one end of a freedom of movement of the outer rollers. As a result, a movement of the outer rollers and thereby a movement of the base body in a predetermined position can be stopped. By adapting the recess to the respective outer roller, the outer roller can be arranged in the recess, whereby the recess fixes the outer roller. As a result, the base body can be secured against rotation in a predetermined position. The number of recesses may correspond at least to the number of outer rollers. The high points of two adjacent ramps can merge into one another or end in a plateau.According to a favorable embodiment of the compensating device, low points of the recesses of the wall can be arranged vertically at the same height. The rollers can be guided vertically in the recesses and can rest on the low points. This allows tilts of the base body to be compensated for. After completion of a third alignment phase, tilting of the lifting means and thereby tilting of the base body of the compensating arrangement about at least one of the horizontal axes are compensated. Instead of the rollers, other elements of the compensating arrangement can also be arranged vertically at the same height in order to correct these tilts.According to a favorable embodiment of the compensating device, a base can be arranged between the inner centralizer and the outer centralizer, on which base the at least one second connecting element on the centralizer arrangement side is arranged. The low point of the recess or the arrangement of the base body in the direction of gravity is selected here such that first and second connecting elements can engage.Advantageously, at least one distance sensor can be arranged on the bottom and / or on the outer side of the wall of the inner centraliser and / or on the inner side of the wall of the outer centraliser. In addition or as an alternative to the distance sensor of the compensating arrangement, this can monitor the distance of the base body from the centering arrangement and output corresponding sensor signals.According to a favorable embodiment of the compensating device, the at least one second connecting element on the centering arrangement side can be designed as a catch cone or as a cone bayonet. In this case, the second connecting element on the centering arrangement side forms the counterpart to the first connecting element on the compensation arrangement side.At least one drive element can be arranged on the centering arrangement, which drive element drives at least one of the at least one second connecting elements on the centering arrangement side in the aligned state of the compensating arrangement. This at least one drive element can be used in addition or alternatively to the at least one drive element of the compensating arrangement in order to achieve a frictional connection and / or positive connection between first connecting elements and second connecting elements.According to a favorable embodiment of the compensating device, in an aligned state of the compensating arrangement, the capture cone and the corresponding cone bayonet can be aligned with respect to one another such that a frictional connection between cone bayonet and capture cone takes place by a rotation of the cone bayonet and / or the capture cone. This frictional connection is advantageously a reliable connection.According to a favorable embodiment of the compensating device, the centering arrangement can have at least one receptacle for a fastening element of the coupling arrangement. For example, an opening for a screw or a clamping element can be provided.A use of such a compensating device for a lifting means for compensating position deviations of the lifting means is proposed, wherein a compensating arrangement is coupled to the corresponding lifting means via a suspension arrangement. Furthermore, a centering arrangement is coupled to the object to be lifted via a coupling arrangement. Furthermore, the compensating arrangement is aligned by the centering arrangement during a lowering of the lifting means. Furthermore, a connecting arrangement has at least one first connecting element on the compensating arrangement side and at least one second connecting element on the centering arrangement side, which are detachably connected to one another in an aligned state of the compensating arrangement, as a result of which, in the connected state of the connecting elements, the lifting means is coupled to the object to be lifted via the suspension arrangement, the connecting arrangement and the coupling arrangement.At least two inner rollers arranged on a rotationally symmetrical base body of the compensating arrangement, having an axis of rotation parallel to a vertical axis of the base body and an axis of rotation perpendicular to the axis of rotation, are guided by a rotationally symmetrical inner centraliser. In the case of a curved and / or obliquely running guide surface of the inner centraliser, it is possible to dispense with drives of the inner rollers, since the force of gravity or a slope output force drives the inner rollers. By the movement of the inner rollers, the tilted and / or rotated and / or laterally displaced base body can be moved into a predefined first position in a first alignment phase. After completion of the first alignment phase, the compensation arrangement is arranged around the inner centraliser.The same advantages and definitions apply for the use according to the invention as for the compensating device according to the invention.Advantageously, by using the compensating device according to the invention, an effective connection can be formed between the lifting means and the object to be lifted despite a positional deviation of the lifting means and the establishment of the connection can be increased. Furthermore, it is possible in an advantageous manner to substantially dispense with manual readjustment of the position of the lifting means. Moreover, an automation of the use steps can be implemented in an advantageous manner.During this displacement of the compensating arrangement, a lateral offset of the lifting means and thereby a lateral offset of the base body of the compensating arrangement with respect to the vertical axis of the centering arrangement is compensated.According to a favorable embodiment of the use, at least two outer rollers arranged on the rotationally symmetrical base body of the compensating arrangement protruding beyond an outer edge of the base body and having an axis of rotation perpendicular to the vertical axis of the base body are guided by guide ramps of the compensating arrangement. By the movement of the outer rollers, the tilted and / or rotated base body can be moved into a predefined second position in a second alignment phase. After completion of the second alignment phase, the compensation arrangement is rotated by a predetermined angle. During this rotation of the compensating arrangement, a rotation of the lifting means and thereby a rotation of the base body of the compensating arrangement about the vertical axis of the centering arrangement is compensated. Since the guide ramps extend obliquely, the outer rollers are driven by the force of gravity or the slope output force.According to a favorable embodiment of the use, the outer rollers are vertically guided by recesses adapted to the dimensions of the outer rollers, and the compensating arrangement is fixed in the aligned state by the outer rollers arranged in the adapted recesses. The vertical guidance causes the base body and, together with the base body, the first connecting elements to be lowered further. In this case, the base body is aligned by the first alignment phase and the second alignment phase such that the first connection elements are each arranged above a corresponding second connection element. By lowering the first connecting elements, the first connecting elements and the second connecting elements are brought into engagement with one another. Furthermore, the vertical movement of the outer rollers enables the base body tilted about a horizontal axis of the base body to be moved into a predefined third position in a third alignment phase. After completion of the third alignment phase, the horizontal axes of the compensation arrangement are arranged parallel to the horizontal axes of the centering arrangement.According to a favorable use, in the aligned state, a positive connection and / or a frictional connection takes place between the at least one first connection element on the compensating arrangement side and the at least one second connection element on the centering arrangement side. In the case of a bayonet lock, one of the two connection elements can be rotated into the active position by a drive or manually.In the connected state, the object to be lifted can be moved and / or transported by the lifting means.In order to separate the object to be lifted from the lifting means, for example at the destination, the use steps can be carried out in the reverse sequence. In this case, the connection of the first and second connecting elements is released. Subsequently, the lifting means can be moved counter to the direction of gravity, so that the compensating arrangement is released from the centering arrangement. The centering arrangement can then be decoupled from the object to be lifted. Likewise, the lifting means can be decoupled from the compensating arrangement and / or the suspension arrangement.DRAWINGFurther advantages are evident from the following description of the drawings. Exemplary embodiments of the invention are illustrated in the figures. The figures, the description, and the claims contain numerous features in combination. The skilled person will expediently also consider the features individually and summarize them to form meaningful further combinations.The following are shown by way of example: FIG. 1 shows a schematic view of an arrangement with a lifting means, an object to be lifted and an exemplary embodiment of a compensating device according to the invention; FIG. 2 shows a view from below of a compensating arrangement of the compensating device according to FIG. 1 ; FIG. 3 shows a view from above of a compensating arrangement of the compensating device according to FIGS. 1 and 2 ; FIG. 4 is a perspective view of a centering arrangement of the compensating device according to FIG. 1 ; FIG. 5 is a sectional view of the balancing arrangement and the centering arrangement of the balancing device according to FIGS. 1 to 4 during a first alignment phase; FIG. 6 is a perspective view of the balancing arrangement and the centering arrangement of the balancing device according to FIGS. 1 to 5 during a second alignment phase; FIG. 7 is a perspective view of a detail view of the compensating arrangement and the centering arrangement of the compensating device according to FIGS. 1 to 6 during a third alignment phase; FIG. 8 is a sectional view of the compensation arrangement and the centering arrangement of the compensation device during the third alignment phase according to FIG. 7 ; and FIG. 9 shows a perspective view of a detail view of the compensating arrangement and of the centering arrangement of the compensating device according to FIGS. 1 to 8 after the third alignment phase according to FIG. 8.Embodiments of the InventionIn the figures, components of the same type or having the same effect are denoted by the same reference numerals. The figures merely show examples and should not be understood as limiting.Before describing the invention in detail, it is to be understood that it is not limited to the particular components of the apparatus, as well as the particular use steps, as these components and uses may vary. The terms used herein are intended to describe particular embodiments only and are not used in a limiting sense. Moreover, when the singular or indefinite articles are used in the specification or claims, this also refers to the plurality of these elements unless the overall context clearly indicates otherwise.Directional terminology used in the following with terms such as "left", "right", "top", "bottom", "front", "behind", "after" and the like is merely used for better understanding of the figures and is in no case intended to represent a limitation of generality. The illustrated components and elements, their design and use can vary within the purview of one skilled in the art and be adapted to the particular applications and location aspects.FIG. 1 schematically shows an arrangement with a lifting means 10, an object 20 to be lifted and the compensating device 100 according to the invention.As can be seen from FIG. 1, in the exemplary embodiment shown, the lifting means 10 is designed as a drone. Other suitable lifting means are also conceivable.As can be further seen from FIG. 1, the object 20 to be lifted is designed as a transport crate. Other suitable articles to be lifted and / or transported are also conceivable.As can be further seen from FIG. 1, the object 20 to be lifted is arranged on a parking space 30. An arrangement on a floor would also be conceivable. Above the object to be lifted, there should be enough free space for the lifting means 10 and the compensating arrangement 100 according to the invention. The illustrated parking space 30 has laterally arranged, upwardly projecting guide elements which guide the object 20 to the center of the parking space 30 when it is placed on the parking space 30. This makes it possible to compensate for position deviations of the lifting means 10 when the object 20 is deposited.The object 20 to be lifted can either be merely lifted or lifted by the lifting means 10 and transported over a predetermined distance and subsequently deposited again at the destination.As can be further seen from FIG. 1, the compensating device 100 for a lifting means 10 for compensating position deviations of the lifting means 10 comprises a suspension arrangement 200, a compensating arrangement 300, a centering arrangement 500, a connecting arrangement 400 illustrated in more detail in FIGS. 7 to 9 and a coupling arrangement.The suspension arrangement 200 couples the compensation arrangement 300 to the corresponding lifting means 10.In the illustrated embodiment, the suspension arrangement 200 comprises three cables 210. The ropes 210 are each connected with a first end region to the drone 10 and with a second end region to a coupling element 320 of the compensation arrangement 300.In the exemplary embodiment shown, the coupling elements 320 are each designed as ring screws which are screwed into a base body 310 of the compensation arrangement 300. The ring of the ring screw has fastened in it the second end region of the respective cable 210, which is designed as a loop. The ropes 210 may be formed as steel ropes or made of another suitable material.In an exemplary embodiment not shown, the suspension arrangement 200 can have more than three or less than three ropes 210. Furthermore, in an exemplary embodiment not shown, a plurality of ropes 210 can be bundled and the bundles can be connected to the lifting means 10.As can be further seen from FIG. 1, position deviations of the lifting means 10 are transmitted via the suspension arrangement 200 to the compensating arrangement 200. As a result, in the non-aligned state of the compensating arrangement 200, a vertical axis 301 of the base body 310 illustrated in FIGS. 2 and 3 is aligned parallel to the vertical axis of the lifting means 10.As can be further seen from FIG. 1, the coupling arrangement, not designated in more detail, couples the centering arrangement 500 to the object 20 to be lifted. The coupling arrangement can be a screw connection or a clamping connection or a connection formed with ropes and coupling elements or another suitable connection, which has corresponding connection elements.As can be further seen from FIG. 1, the vertical axis 501 of the centering arrangement 500 illustrated in FIGS. 4 and 6 runs parallel to the direction of gravity G.If the lifting means 10 and thus the compensating arrangement have a tilt, the vertical axes 301, 501 are arranged non-parallel to one another in the non-aligned state.As can be further seen from FIG. 1 and FIGS. 5 to 9, the centering arrangement 500 aligns the compensating arrangement 300 during a lowering of the lifting means 10.As can be seen from FIGS. 7 to 9, the connecting arrangement 400 has at least one first connection element 350 on the compensating arrangement side and at least one second connection element 530 on the centering arrangement side, which can be detachably connected to one another in an aligned state of the compensating arrangement 300, as a result of which, in the connected state of the connection elements 350, 530, the lifting means 10 is coupled to the object 20 to be lifted via the suspension arrangement 200, the connecting arrangement 400 and the coupling arrangement.In the exemplary embodiment shown, the connecting arrangement 400 has three first connecting elements 350 on the compensating arrangement side and three second connecting elements 530 on the centering arrangement side. In an alternative exemplary embodiment not shown, the connecting arrangement can have more than three or less than three first connecting elements 350 on the compensating arrangement side and second connecting elements 530 on the centering arrangement side.In the aligned state of the compensation arrangement 300, the first connection elements 350 on the compensation arrangement side and the second connection elements 530 on the centering arrangement side are arranged opposite one another and can easily be brought into engagement with one another. If the compensation arrangement 300 is laterally offset from a desired position or rotated by an angle about the vertical axis 301 or tilted by an angle about one of the horizontal axes which run perpendicular to the vertical axis 301, the first connection elements 350 on the compensation arrangement side are not arranged opposite the second connection elements 530 on the centering arrangement side.The invention enables the coupling and decoupling of a drone, for example, to a transport crate while maintaining given position deviations of the drone. In this case, a lateral deviation of the drone of up to + / - 250 mm, a rotation of the drone about the vertical axis of up to + / - 20° and a tilting of the drone about one of the horizontal axes of up to + / - 10° can be compensated for by the compensating arrangement 300 according to the invention.The dimensions of the compensation arrangement 300 can be adapted if necessary such that even greater position deviations of the drone than those mentioned can be compensated.As can be seen from FIGS. 1 to 3, 6 and 8, the compensation arrangement 300 has the rotationally symmetrical main body 310, which has an opening 312 in the center and on the underside of which the at least one first connection element 350 on the compensation arrangement side is arranged. In the exemplary embodiment shown, the base body 310 is of annular design, and the opening 312 is of round design. As a result, the base body 310 can fit the centering arrangement 500 independently of the rotation of the lifting means 10 about its vertical axis and independently of the rotation of the base body 310 about its vertical axis 301. Other shapes of the base body 310 are also possible.In the exemplary embodiment shown, the rotationally symmetrical base body 310 is designed as a metallic ring. Metal has the advantage that it is dimensionally stable and can thus hold heavy loads without deforming. Other suitable materials are also conceivable.As can be seen from FIGS. 2, 3, 7, 8 and 9, in the exemplary embodiment shown, the first connection elements 350 on the compensating arrangement side are designed in the form of conical bayonets. The conical bayonets each comprise a guide groove which ends in a groove trough 352.As can be seen from FIGS. 4, 7, 8 and 9, the second connecting elements 530 on the centering arrangement side are designed as catch cones in the exemplary embodiment shown. The catch cones extend upwardly to a point and have a transverse bore 534 in which a transverse pin 532 is arranged. The cross pin 532 is guided by the guide groove. By rotating the catching cone or the cone bayonet, the transverse pin 532 reaches the groove trough 352. As long as the transverse pin 532 is moved by a force in the direction of the groove trough 352, this connection cannot be released. In the illustrated embodiment, the force of gravity is this force.In an alternative exemplary embodiment, not shown, the first connection elements 350 on the compensating arrangement side are designed as catch cones and the second connection elements 530 on the centering arrangement side are designed as cone bayonet.In a further alternative exemplary embodiment, not shown, the first connection elements 350 on the compensating arrangement side and the second connection elements 530 on the centering arrangement side are designed as other suitable components of a connection.As can be further seen from FIGS. 1 to 3 and 5, at least two inner rollers 330 are arranged on the rotationally symmetrical base body 310. In the exemplary embodiment shown, eight inner rollers 330 are arranged on the base body 310 offset by 45° with respect to one another. In an alternative exemplary embodiment, not shown, more or less than eight internal rollers 330 may be arranged on the base body 310. The inner rollers 330 have an axis of rotation RA parallel to the vertical axis 301 of the base body 310 and an axis of rotation DA 1 perpendicular to the axis of rotation RA. The axis of rotation RA allows the axis of rotation DA 1 of the respective inner roller 330 to be aligned. The inner rollers 310 roll off over the respective axis of rotation DA 1.As can be further seen from FIGS. 1, 4 and 5, the centering arrangement 500 has a rotationally symmetrical inner centraliser 510, which is arranged centrally on the centering arrangement 500 and the cross section of which is smaller than the cross section of the opening 312 of the rotationally symmetrical main body 300. The length of the cross section of the inner centralizer 510 determines which lateral position deviations can be compensated. In particular, lateral deviations which are smaller than half the length of the cross section can be compensated. In the exemplary embodiment shown, an upper region of the inner centralizer 510 is of frustoconical configuration and tapers upwards. The lower portion of the inner center 510 is formed in a cylindrical shape, and the taper shape is changed to the cylindrical shape. In an alternative exemplary embodiment, not shown, other shapes are also conceivable.As can be further seen from FIGS. 1, 4 and 5, the inner centralizer 510 forms a curved and / or inclined guide surface 512 that guides the inner rollers 330 of the balancer assembly 300. In this case, in a first alignment phase, during the lowering of the lifting means 10, the compensating arrangement 300 is aligned laterally. The inner rollers 330 are driven by the slope-driven force of the guide surface 512. During the movement of the rollers and lowering of the balancer 300, the truncated cone further dips into the opening 312 of the ring.The cylindrical lower region of the inner centralizer 510 forms an inner stop 514 for the base body 310 and prevents the latter from being laterally displaced again.As can be further seen from FIGS. 1, 4 and 5, at least two outer rollers 340 protruding beyond an outer edge of the base body 310 are arranged on the rotationally symmetrical base body 310. In the exemplary embodiment shown, four outer rollers 340 are arranged on the base body 310 offset by 90° with respect to one another. In an alternative exemplary embodiment, not shown, more or less than four outer rollers 340 may be arranged on the base body 310. The outer rollers 340 have an axis of rotation DA 2 perpendicular to the vertical axis 301 of the base body 310. These axes of rotation DA 2 are fixed and run in a star shape or cross shape with respect to the center of the base body 310.As can be further seen from FIGS. 1, 4 and 5, the centering arrangement 500 has a rotationally symmetrical, outer centralizer 520. In the exemplary embodiment shown, the outer centralizer 520 is of cylindrical design. The outer centralizer 520 includes a vertically extending wall 521, wherein an upper edge of the wall 521 forms a plurality of guide ramps 522 that guide the at least two outboard rollers 340 of the balancer assembly 300. In the illustrated embodiment, the inner wall of the outer centralizer 520 also forms an outer stop 526 for the balancer 300.As can be further seen from FIGS. 1, 4, 5 and 6, two adjacent guide ramps 522 open at their low point into a recess 524 of the wall 521. The dimensions of the recess 524 are here adapted to the dimensions of the outer rollers 340, so that the outer rollers 340 can be guided vertically by the corresponding recesses 524.The high points of adjacent guide ramps open into a plateau in the exemplary embodiment shown.As can be seen from FIG. 6, the outer rollers 340 roll down the respective guide ramps 522 and thereby rotate the base body 310. The guide ramps 522 can be formed in a straight line or arc-shaped manner, for example concave.The recess 524 forms a stop for the outer rollers 340 and thereby prevents further rotation of the base body 310 or a reverse rotation of the base body 310. In a second alignment phase, during the lowering of the lifting means, a possible rotation of the base body 310 is compensated for by the rotation of the base body 310.As can be further seen from FIGS. 6 and 8, the low points of the recesses 524 of the wall 521 are arranged vertically at the same height. In this case, the compensating arrangement 300 is lowered until all outer rollers bear against the respective low point. The vertical position of the base body 310 may be determined by members other than the outside rollers 340 and the recess 524. In a third alignment phase, during the lowering of the lifting means, a tilting of the base body 310 is compensated for. In addition, the first connection elements 350 on the compensating arrangement side are brought closer to the second connection elements 530 on the centering arrangement side, or the first connection elements 350 are put over the second connection elements 530.As can be seen from FIGS. 8 and 9, the transition from the conical shape to the cylindrical shape of the inner centralizer 510 is approximately at the height of the high points of the guide ramps 522 of the outer centralizer 520.As can be further seen from FIGS. 2 and 3, at least one drive element 360 is arranged on the rotationally symmetrical base body 310, which drive element drives at least one of the at least one first connection elements 350 on the compensating arrangement side in the aligned state of the compensating arrangement 300. In the exemplary embodiment shown, each first connection element 350 on the compensating arrangement side is assigned a drive element 360.In an alternative exemplary embodiment, not shown, a drive element 360 can drive all first connection elements 350 on the compensating arrangement side.In the exemplary embodiment shown, the drive elements 360 are designed as electric cylinders, which rotate the conical bayonet about an axis of rotation parallel to the vertical axis 301 of the base body 310.As can be further seen from FIGS. 5 and 7 to 9, at least one distance sensor 370 is arranged on the rotationally symmetrical base body 310. In the exemplary embodiment shown, each first connection element 350 on the compensating arrangement side is assigned a distance sensor 370, which determines a distance from the centering arrangement. If the distance has a predefined value, the sensor signal or a signal of an evaluation and control unit coupled to the distance sensor 370 can activate the respective drive element 360. In an alternative exemplary embodiment, not shown, more or fewer than three distance sensors 370 may be arranged on the base body 310. If successful alignment has not taken place, the distance sensors 370 or a distance sensor 370 can output an error signal to a corresponding output unit.As can be further seen from FIGS. 1 and 4 to 9, in the exemplary embodiment shown, a base 541 is arranged between the inner centralizer 510 and the outer centralizer 520, on which base the at least one second centralizer-arrangement-side connecting element 530 is arranged.In an alternative exemplary embodiment, not shown, the distance sensor 370 or the drive elements 360 can additionally or alternatively also be arranged on the base 541 of the centering arrangement 500. Here, the drive elements 360 drive or the drive element 360 drives the second connecting elements 530 on the centering arrangement side.As can be further seen from FIGS. 1 to 3 and 5 to 9, at least one coupling element 320 is arranged on an upper side of the rotationally symmetrical base body 310, which coupling element couples at least one element of the suspension arrangement 200, in particular a cable 210, to the annular base body 310. In the exemplary embodiment shown, the coupling elements 320 are arranged opposite the first connection elements 350 on the compensating arrangement side. Another arrangement is also conceivable.As can be further seen from FIGS. 1 and 6 to 9, a cover element 380 covers the drive elements 360 and existing cables and / or existing energy sources for distance sensors 370 and drive elements 360. The cover element 380 has a plurality of recesses for the coupling elements 320.As can be further seen from FIGS. 7 to 9, in an aligned state of the compensating arrangement 300 the catching cone and the corresponding cone bayonet are aligned with respect to one another such that a force flow between the cone bayonet and the catching cone takes place by a rotation of the cone bayonet and / or of the catching cone.As can be further seen from FIGS. 7 to 9, the centering arrangement 500 has at least one receptacle 544 for a fastening element of the coupling arrangement. In the illustrated embodiment, the receptacle 544 corresponds to a channel for screws.As can be further seen from FIGS. 4 and 7 to 9, a substructure 540 of the centering arrangement 500 has a metallic ring with an I-profile 542 cross section. The inner centralizer 510 and the outer centralizer 520 are formed of a glass fiber reinforced plastic.When the compensating device 100 is used for a lifting means 10 for compensating position deviations of the lifting means 10 from an object 20 to be lifted, a compensating arrangement 300 is coupled to the corresponding lifting means 10 via a suspension arrangement 200. In addition, a centering arrangement 500 is coupled to the object 20 to be lifted via a coupling arrangement. Furthermore, the centering arrangement 500 aligns the compensating arrangement 300 during a lowering of the lifting means 10, wherein a connecting arrangement 400 has at least one first connecting element 350 on the compensating arrangement side and at least one second connecting element 530 on the centering arrangement side, which are detachably connected to one another in an aligned state of the compensating arrangement 300. As a result, in the connected state of the connecting elements 350, 530, the lifting means 10 is coupled to the object 20 to be lifted via the suspension arrangement 200, the connecting arrangement 400 and the coupling arrangement.As can be seen from FIG. 5, in a first alignment phase at least two inner rollers 330 arranged on a rotationally symmetrical, in particular annular, base body 310 of the compensation arrangement 300 and having an axis of rotation RA parallel to a vertical axis 301 of the base body 310 and an axis of rotation DA 1 perpendicular to the axis of rotation RA are guided by a rotationally symmetrical, in particular a frustoconical, inner centraliser 510.As can be seen from FIGS. 6 and 7, in a second alignment phase at least two outer rollers 340 arranged on the rotationally symmetrical base body 310 of the compensation arrangement 300 and projecting beyond an outer edge of the base body 310 are guided by guide ramps 522 of the compensation arrangement 300 with an axis of rotation DA 2 perpendicular to the vertical axis 301 of the base body 310.As can be seen from FIGS. 7 and 8, in a third alignment phase, the outer rollers 340 are vertically guided by recesses 524 adapted to the dimensions of the outer rollers 340, and the compensating arrangement 300 is fixed in the aligned state by the outer rollers 340 arranged in the adapted recesses 524.As can be further seen from FIGS. 7 to 9, in the aligned state, a positive connection and / or a frictional connection takes place between the at least one first connection element 350 on the compensating arrangement side and the at least one second connection element 530 on the centering arrangement side.Decoupling takes place in the reverse sequence.Reference numerals denote reference numerals10 Lifting means 20 Object 30 Parking space 100 Compensating device 200 Suspension arrangement 210 Cable 300 Compensating arrangement 301 Vertical axis Base body 310 Rotationally symmetrical base body 312 Opening 320 Coupling element 330 Inner rollers 340 Outer rollers 350 First connecting element 352 Trough 360 Drive element 370 Distance sensor 380 Cover element 400 Connecting arrangement 500 Centering arrangement 501 Vertical axis Centering arrangement 510 Inner rotationally symmetrical centerer 512 Guide surface 514 Inner stop 520 Outer centerer 521 Wall 522 Guide ramp 524 Recess 526 Outer stop 530 Second connecting element 532 Transverse pin 534 Transverse bore 540 Substructure 541 Base 542 I-shaped profile 544 Receptacle for a fastening element G Direction of gravity RA Axis of rotation Rollers DA 1 Axis of rotation Rollers DA 2 Axis of rotation Rollers

Claims

Compensating device (100) for a lifting means (10) for compensating position deviations of the lifting means (10), having a suspension arrangement (200), a compensating arrangement (300), a centering arrangement (500), a connecting arrangement (400) and a coupling arrangement, wherein the suspension arrangement (200) couples the compensating arrangement (300) to the corresponding lifting means (10), wherein the coupling arrangement couples the centering arrangement (500) to an object (20) to be lifted, wherein the centering arrangement (500) aligns the compensating arrangement (300) during a lowering of the lifting means (10), wherein the connecting arrangement (400) has at least one first connecting element (350) on the compensating arrangement side and at least one second connecting element (530) on the centering arrangement side, which can be detachably connected to one another in an aligned state of the compensating arrangement (300), whereby, in the connected state of the connecting elements (350, 530), the lifting means (10) is coupled to the object (20) to be lifted via the suspension arrangement (200), the connecting arrangement (400) and the coupling arrangement, wherein the compensating arrangement (300) has a rotationally symmetrical, in particular an annular, base body (310), which has an opening (312) in the middle and on the underside of which the at least one first connecting element (350) on the compensating arrangement side is arranged.Compensating device (100) according to claim 1, wherein the at least one first connecting element (350) on the compensating arrangement side is designed as a conical bayonet or as a catch cone.Compensating device (100) according to claim 1 or 2, wherein at least two inner rollers (330) are arranged on the rotationally symmetrical base body (310), which rollers have an axis of rotation (RA) parallel to the vertical axis (301) of the base body (310) and an axis of rotation (DA1) perpendicular to the axis of rotation (RA).Compensating device (100) according to one of the preceding claims, wherein at least two outer rollers (340) protruding beyond an outer edge of the base body (310) are arranged on the rotationally symmetrical base body (310), which rollers have an axis of rotation (DA2) perpendicular to the vertical axis (301) of the base body (310).Compensating device (100) according to one of the preceding claims, wherein at least one drive element (360) is arranged on the rotationally symmetrical base body (310), which drive element, in the aligned state of the compensating arrangement (300), drives at least one of the at least one first connecting elements (350) on the compensating arrangement side.Compensating device (100) according to one of the preceding claims, wherein at least one distance sensor (370) is arranged on the rotationally symmetrical base body (310).Compensating device (100) according to one of the preceding claims, wherein at least one coupling element (320) is arranged on an upper side of the rotationally symmetrical base body (310), which coupling element couples at least one element of the suspension arrangement (210), in particular a cable, to the annular base body (310).Compensating device (100) according to one of the preceding claims, wherein the centring arrangement (500) has a rotationally symmetrical, in particular a frustoconical, inner centring device (510), which is arranged centrally on the centring arrangement (500) and the cross section of which is smaller than the opening (312) of the rotationally symmetrical basic body (300).Compensating device (100) according to claim 8, wherein the, in particular frustoconical, centraliser (510) forms a curved and / or obliquely running guide surface (512), which guides the inner rollers (330) of the compensating arrangement (300).Compensating device (100) according to claim 8 or 9, wherein the centering arrangement (500) has a rotationally symmetrical, in particular cylindrical, outer centraliser (520) which comprises a vertically running wall (521), wherein an upper edge of the wall (521) forms a plurality of guide ramps (522) which guide the at least two outer rollers (340) of the compensating arrangement (300).Compensating device (100) according to claim 10, wherein two adjacent guide ramps (522) each open at their low point into a recess (524) of the wall (521), in particular wherein the dimensions of the recess (524) are adapted to the dimensions of the outer rollers (340).The balancing device (100) according to claim 11, wherein a plurality of low points of the recesses (524) of the wall (521) are arranged vertically at the same height.Compensating device (100) according to one of claims 8 to 12, wherein a base (541), on which the at least one second connecting element (530) on the centring arrangement side is arranged, is arranged between the inner centring element (510) and the outer centring element (520).Compensating device (100) according to claim 13, wherein the at least one second connecting element (530) on the centering arrangement side is designed as a catch cone or as a cone bayonet.Compensating device (100) according to one of Claims 2 to 14, wherein, in an aligned state of the compensating arrangement (300), the capture cone and the corresponding cone bayonet are aligned with respect to one another such that a force flow between the cone bayonet and the capture cone takes place by a rotation of the cone bayonet and / or of the capture cone.Compensating device (100) according to one of Claims 8 to 15, wherein the centring arrangement (500) has at least one receptacle (544) for a fastening element of the coupling arrangement.Use of a compensating device (100) for a lifting means (10) for compensating position deviations of the lifting means (10) from an object (20) to be lifted, wherein a compensating arrangement (300) is coupled to the corresponding lifting means (10) via a suspension arrangement (200), wherein a centring arrangement (500) is coupled to the object (20) to be lifted via a coupling arrangement, wherein the compensating arrangement (300) is aligned by the centring arrangement (500) during a lowering of the lifting means (10), wherein a connecting arrangement (400) has at least one first connecting element (350) on the compensating arrangement side and at least one second connecting element (530) on the centring arrangement side, which are detachably connected to one another in an aligned state of the compensating arrangement (300), whereby, in the connected state of the connecting elements (350, 530), the lifting means (10) is aligned via the suspension arrangement (200), the connecting arrangement (400) and the coupling arrangement is coupled to the object (20) to be lifted, wherein at least two inner rollers (330) arranged on a rotationally symmetrical, in particular annular, base body (310) of the compensating arrangement (300) are guided with an axis of rotation (RA) parallel to a vertical axis (301) of the base body (310) and an axis of rotation (DA1) perpendicular to the axis of rotation (RA) by a rotationally symmetrical, in particular a frustoconical, inner centraliser (510).Use according to claim 17, wherein at least two outer rollers (340) arranged on the rotationally symmetrical base body (310) of the compensating arrangement (300) protruding beyond an outer edge of the base body (310) are guided with an axis of rotation (DA2) perpendicular to the vertical axis (301) of the base body (310) by guide ramps (522) of the compensating arrangement (300).Use according to one of claims 17 to 18, wherein the outer rollers (340) are guided vertically by recesses (524) adapted to the dimensions of the outer rollers (340), and the compensating arrangement (300) is fixed in the aligned state by the outer rollers (340) arranged in the adapted recesses (524).Use according to claim 19, wherein in the aligned state a positive fit and / or a frictional fit takes place between the at least one first connection element on the compensating arrangement side and the at least one second connection element on the centering arrangement side.

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