Balancing device for a compensating unit, balancer, and controller for a balancing device and set

Abstract

The invention relates to a balancing device (10) for a compensating unit (12), a set for providing a balancing device (10), a controller for a balancing device (10), and a method for operating a balancing device (10), wherein the compensating unit (12) comprises a base part (14) and a fastening part (18), wherein the fastening part (18) is movable with respect to the base part (14) from a base position (G) along at least one compensating direction (A1, A2, A3) into a compensating position (A), the balancing device comprising a cam (26) which can be arranged or is arranged on the base part (14) or on the fastening part (18), and comprising at least one balancer (24) which can be arranged or is arranged on the fastening part (18) or on the base part (14), wherein the balancer (24) interacts with the cam (26) in such a way that, when the balancing device (10) is arranged on the compensating unit (12), the base part (14) and the fastening part (18) are held in the base position (G) and / or are displaced out of the compensating position (A) into the base position (G), wherein a support element (22) can be fastened or is fastened to the base part (14) or the fastening part (18), and wherein, in the mounted state, the at least one balancer (24) is releasably and exchangeably arranged on the support element (22).

Description

[0001] Title : Balancing device for a balancing unit ,

[0002] Balancer and control for a balancing device and set

[0003] Description

[0004] The present invention relates to a balancing device for a balancing unit, a balancer, and a controller for such a balancing device. The present invention also relates to a set for providing such a balancing device and a method for operating a balancing device.

[0005] Compensation units, which are also referred to as overload protection devices or tolerance compensation devices, are known for example from DE 10 2019 128 931 B4 and are used in particular in externally powered handling devices, for example in axis- or path-controlled industrial robots, to prevent damage in the event of collisions between the tool and objects in the vicinity of the handling device. For this purpose, a compensation unit has a base part for arrangement on a handling device, for example on a receiving flange of a robot arm. A fastening part, for example in the form of a tool flange, is provided on the base part and is designed in particular to receive handling tools, for example gripping devices, processing devices or measuring devices. The fastening part is movably connected to the base part so that a relative orCompensatory movement between the base part and the.

[0006] Fastening component is enabled, particularly in the event of a collision. The compensating movement is generally limited by the design characteristics of the base component and the attached fastening component. To prevent undesirable compensating movements, for example, due to even minor collisions or due to the position or dead weight, spring means are sometimes provided that apply a preload force between the base component and the fastening component, so that a compensating movement can only occur when the preload force is overcome.

[0007] The spring elements used have the particular property of exhibiting only one spring characteristic. Therefore, in order to utilize different spring characteristics, different spring elements must be used. This is a particular disadvantage because different spring elements must be kept in stock, and these may not be available as standard parts.

[0008] Installation space must be provided in the compensation unit for the spring elements. The size of the installation space depends on the size of the spring elements and therefore also on the spring characteristic curve used. In the event of a tool change, the installation space cannot be changed at will and the spring characteristic curve in particular cannot be adjusted at will by replacing the spring elements. Compensating movements caused by dynamic or transient influences can only be suppressed to a limited extent by conventional spring elements. Existing compensation units cannot be retrofitted or equipped with conventional spring elements or can only be done with great effort.

[0009] The object of the present invention is to provide a way of suppressing undesirable compensating movements, in particular caused by the weight of the fastening part with the handling device located thereon.

[0010] The object is achieved with a balancing device for a balancing unit according to claim 1.

[0011] The compensation unit is particularly intended for arrangement in an automation system, such as a robot arm or a handling device. The compensation unit comprises at least a base part and a fastening part. The base part is particularly intended to be arranged on the automation system, for example on a robot flange. The fastening part, for example in the form of a tool flange, has a possibility in particular for receiving handling tools, for example gripping devices, processing devices or measuring devices. The fastening part is arranged such that it can be moved relative to the base part from the base position along the at least one compensation direction into the compensation position. The balancing device has a cam which is or can be arranged on the base part or on the fastening part.Furthermore, the balancing device has at least one balancer that can be arranged or is arranged on the fastening part or on the base part. The arrangement of the at least one balancer and the cam is such that the at least one balancer interacts with the cam in such a way that the base part and the fastening part are held in the basic position by the balancing device arranged on the balancing unit and / or are forced from the balancing position into the basic position.

[0012] It is further provided that a carrier element can be or is fastened to the base part or to the fastening part and that the at least one balancer is arranged detachably and replaceably on the carrier element in the mounted state.

[0013] It is precisely the detachable arrangement of the at least one balancer that enables easy replacement of the at least one balancer, particularly when a balancer with different properties is required, for example in the case of a changing handling or gripping task or in the case of maintenance and repair.

[0014] By providing separate and individually manageable components (cam, support element, and balancer), a balancing device can be retrofitted with a balancing device, and subsequent adaptation to the circumstances of a new task of the automation system can be carried out quickly and easily. A further advantage is the modularity of such a balancing device. Even if an existing balancing device is present in one balancing direction, balancing devices can be arranged in the other balancing directions.

[0015] It is advantageous to provide one or more balancing devices for more than one or even all balancing directions of the balancing unit in order to enable an optimal balancing function in any position of the balancing unit in space and in any movement due to the inertia of the balancing device.

[0016] Advantageously, the support element comprises a base body, wherein the base body has a fastening section for fastening the support element to the base part or to the fastening part. The fastening of the base body can be effected in particular with fastening means, such as screws.

[0017] It is also conceivable for the base body to have two mounting sections which are spaced apart from one another and located opposite one another, each for a balancer. For this purpose, the base body can have an elongated basic shape with two opposite narrow sides, on each of which a mounting section is provided. The mounting sections can in particular be raised above the base body and run parallel to one another. A support element of this type has the advantage that two balancers can be arranged on just one support element, thus saving weight. Furthermore, this ensures optimal force introduction of the balancers into the base part or the fastening part. In particular, the arrangement is such that a free space is created between the offset mounting sections, in which space the cam lies when installed.

[0018] It is conceivable for the mounting sections to each have an opening, which is surrounded, in particular, by a ring section. It is also advantageous if part of the opening is formed or surrounded by the base body. A corresponding balancer can be advantageously mounted centrally through an opening in order to achieve optimal functionality through a reproducible arrangement.

[0019] Furthermore, the ring section, which is partially formed by the base body, allows for material and thus weight savings. This also makes the support element compact. A lightweight and compact support element benefits the dynamics of the entire automation system.

[0020] Advantageously, the respective mounting section has a thread. It is advantageous if the balancer has a corresponding thread for mounting on the support element. This eliminates the need for additional fastening elements in the balancing device, keeping the structure simple and saving weight.

[0021] The object underlying the invention is also achieved by a balancing device having the features of claim 5 . It is particularly provided that the at least one balancer has a housing and a plunger with a free end . The plunger is displaceable along a balancing axis and is acted upon by a spring force along the balancing axis . The plunger and the

[0022] Housings define a pressure chamber so that when pressure is applied to the pressure chamber the plunger is subjected to a compressive force along the balancing axis. Through the interaction of the spring force and the compressive force, the plunger can prevent unwanted compensating movements against the weight and / or inertia of the tool when it is moved by the handling device and can balance the balancing unit particularly advantageously in the home position. The spring force creates a basic preload to balance the balancing unit itself and, if applicable, the tool arranged on it. The compressive force is intended to adjust the balancing unit during operation to different requirements with regard to the dead weight, the position and the movements of the balancing unit and a tool arranged on it.Advantageously, the pressure is also variable and adjustable during the handling process, so that the pressure force can be adjusted depending on the respective area of ​​application.

[0023] Advantageously, a first balancer and a second balancer are provided for each balancing direction, whereby the balancing axes of the two balancers can be parallel and / or on the same axis, whereby the tappets are acted upon in opposite directions. The forces of the first balancer, which result from the sum of spring force and pressure force, act against the forces of the second balancer. This allows balancing around a defined basic position in the respective balancing direction. In a further conceivable embodiment, at each

[0024] A balancing unit consisting of at least one balancer and one cam is provided on the side of the compensation unit. This allows the force of each balancer to be reduced to a value, preferably to 50% of the maximum value. The effective force of each balancer can also be set differently. The total force of the balancing units results from the sum of the forces of each balancer in engagement.

[0025] It is conceivable that the two balancers and the cam are arranged such that, in the home position, the free ends of the tappets rest against opposite sides of the cam, and that, in the balancing position, the free end of one tappet acts against the cam and the free end of the other tappet may lift off the cam. This allows the forces of the balancers to be advantageously transferred into the balancing unit, improving balancing around the home position and the return from the balancing position to the home position.

[0026] Advantageously, a stop for the respective tappet is provided on each housing, whereby the stop can be adjusted by inserting spacers.

[0027] Another advantage is that the stop is provided in such a way that when moved into the balancing position the respective tappet remains in its position. The cam or the support element can be moved into the balancing position, depending on which component is provided on the fastening part. When the fastening part is pushed into the balancing position, in particular one of the tappets of the two balancers can lift off the cam. When pushed from the balancing position only one of the tappets is therefore stressed and only compressive forces are transferred to the cam or the tappet. This simplifies setting the pressure for the required compressive force. In a further conceivable embodiment neither of the tappets lifts completely off the cam, but both remain permanently in the contact position. The respective balancing force is then set due to a differential force between the two opposing balancers.This can be achieved by making the stop adjustable.

[0028] Preferably, the at least one balancer is provided outside a housing of the balancing unit. This means that no installation space is required within the balancing unit, and the balancing unit can also be retrofitted to existing balancing units.

[0029] It is conceivable for a balancer for the balancing device according to the invention to have a plunger with a free end and a housing, wherein the plunger is displaceable along a balancing axis, wherein the plunger is acted upon by a spring force along the balancing axis, and wherein the plunger and the housing delimit a pressure chamber, so that the plunger is subjected to a compressive force along the balancing axis when pressure is applied to the pressure chamber. Advantageously, a helical spring or an elastomer is provided in the housing to provide the spring force.

[0030] It is also conceivable that a stop for the plunger is provided in the balancer housing so that when moved into the balancing position, the respective plunger remains in its position. This ensures that only one of the plungers remains in contact with the cam, and it is then conceivable that only compressive forces are transmitted for balancing and / or pushing into the home position.

[0031] Advantageously, the balancer housing is rotationally symmetrical, at least in some sections. This allows the balancer to be mounted on the support element in any position, particularly with respect to its longitudinal axis.

[0032] The housing of the balancer preferably has an external thread. The external thread is advantageously designed to correspond to the thread in the mounting section of the support element. This allows the balancer to be easily screwed into the support element for assembly and can be mounted in any position. Furthermore, this eliminates the need for additional mounting hardware.

[0033] A pressure connection is preferably provided on the housing of the balancer. This allows the pressure in the pressure chamber of the balancer to be generated and adjusted by an external pressure source not further described. It is advantageous if the pressure connection is provided centrally at an end of the housing opposite the tappet. A centrally arranged pressure connection simplifies the connection of compressed air lines or hydraulic lines and the balancer can be mounted in any position. Other arrangements of the pressure connection in other areas of the housing are also conceivable, however. It is conceivable that engagement sections for a tool for mounting the balancer on the support element are provided on the housing. These engagement sections could be designed as flats distributed over the circumference. The flats allow the balancer to be mounted using a conventional wrench.

[0034] The object underlying the invention is also achieved by a set for providing a balancing device according to the invention. The set comprises at least one support element, at least one cam, and several differently designed balancers according to the invention. Such a set allows a balancing device to be easily provided for existing balancing devices and, by means of differently designed balancers, can be easily adapted to the requirements of the automation system.

[0035] Advantageously, the different balancers have different pressure connections. Different pressure connections include, in particular, the connection geometry, the connection diameters, and angled connections. Furthermore, the different balancers advantageously have different spring forces. This allows the balancing unit to be advantageously adapted to the compensation unit.

[0036] The object underlying the invention is also achieved by a control system for a balancing device according to the invention. In particular, the control system is designed to control the pressure in the at least one balancer according to the invention as a function of a dead weight of the balancing device and / or of a tool that can be arranged on the balancing device and / or of an object picked up by the tool, and / or a changing position or orientation of the balancing unit and the tool in space, and / or an acceleration of the balancing unit and the tool, and / or a sum of the inertias of the balancing unit, the tool and an object picked up by the tool. With this type of control, the balancing device can balance in the basic position at any time or push from a balancing position back into the basic position, depending on the intended use of the balancing unit.

[0037] Advantageously, a memory and / or a communication interface to a machine controller is provided in the controller. The controller is advantageously configured to retrieve information about the position and / or dead weight from the memory and / or the communication interface.

[0038] The object underlying the invention is also achieved by a method for operating a balancing device according to the invention.

[0039] By means of the balancing device according to the invention, the balancer according to the invention, the set according to the invention, the control system according to the invention, and the method according to the invention, a balancing unit can be advantageously equipped with a modular balancing device in the manner described and variably balanced in or around the basic position. The balancing device can also be retrofitted.

[0040] 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 described and explained in more detail.

[0041] It shows :

[0042] Figure 1 : Two balancing devices provided on a balancing device;

[0043] Figures 1a and 1b: the balancing device with the balancing devices according to Fig. 1 in different views in a balancing position;

[0044] Figure 2: one of the balancing devices shown in Figures 1 to 1b in side view;

[0045] Figure 3 : the view according to Fig . 2 as a sectional view; and

[0046] Figures 4 to 6 : a balancer for the balancing device similar to Figures 1 to 3 in various views and sectional representations .

[0047] In Figures 1, 1a and 1b, two balancing devices 10. 1 and 10. 2 are shown, which are arranged on a balancing unit 12. The balancing unit 12 has a

[0048] Base part 14 with a robot flange 16 and a fastening part 18 which is movable relative to the base part 14. In this embodiment, the fastening part 18 can be moved along two compensation directions A1 and A2 in a plane from the shown basic position G into various compensation positions. In Figures 1a and 1b, the fastening part 16 is deflected relative to the base part 14 into a balancing position A along the compensation direction A1 due to a disturbing force S. In this position, the disturbing force S can result in particular from a weight force of the fastening part 12 and / or a tool arranged on the fastening part 12, since here the earth's gravity runs parallel to the compensation direction A1. The central axis BA of the fastening part is deflected by the distance V relative to the central axis GA of the base part 14.It is also conceivable for the fastening part 18 to be movable in a further compensation direction A3, which runs perpendicular to the two compensation directions A1 and A2. It is further conceivable for the fastening part 18 to be movable relative to the base part 14 at an angle relative to one of the compensation directions A1, A2 or A3 by means of the compensation device 12, wherein the angle can be adjusted between the respective preferred compensation directions A1, A2 or A3.

[0049] The robot flange 16 is intended for arranging the balancing unit on, for example, a robot (not shown), which may be part of a larger automation system. The fastening part 18 has on its underside 20 fastening sections for tools such as grippers, measuring tools and machining tools. The balancing devices 10.1 and 10.2 can

[0050] Hold or balance the fastening part 18 in the home position G to prevent unwanted compensating movements along the directions A1 and A2. Likewise, the balancing devices 10.1 and 10.2 can force the fastening part 18 from a compensating position back into the home position G.

[0051] In order to enable the described functionality, the balancing devices 10.1 and 10.2 each comprise a support element 22 for each balancing axis B1, B2, a balancer 24 arranged on the support element 22 and a cam 26. The support element 22 assigned to the balancing axis B1 is arranged on the base part 14 and the cam 26 on the fastening part 18. With regard to the balancing axis B2, the support element 22 is arranged on the

[0052] The fastening part 18 and the cam 26 are arranged accordingly on the base part 14. The arrangement of the cam 26 and the support element 22 is therefore variable and possible depending on the intended use and requirements.

[0053] Figure 2 shows the balancing devices 10.1 u in a side view along the balancing axis Bl. Figure 3 shows a sectional view corresponding to the side view of Figure 2. Firstly, it can be seen that the cam 26 and the carrier element 22 are fixed to the

[0054] Fastening part 18 or the base part 14. In this embodiment, screws are shown, but other fastening means are also conceivable, such as clips, clamps or even that the cam 26 and / or the carrier element 22 are integrally formed with the respective parts 14, 18 of the

[0055] Compensation unit 12 are formed. The support element 22 has an elongated base body 30 extending parallel to the balancing axis Bl. A fastening section 32 is formed centrally on the base body. The screw 28, with which the support element 22 is fastened to the base part 18, is guided through the fastening section 32. At the ends 34, which in the case of the elongated base body 30 can also be referred to as narrow sides, opposite and spaced-apart mounting sections 36 are arranged. Due to the spacing, the mounting sections 36 enclose a free space 37 into which the cam 26 projects. The mounting sections 36 are each annular and enclose - as can be clearly seen in Figure 3 - an opening 38 with an internal thread 40.

[0056] 4 to 6 as an individual part. Figure 4 shows an isometric view of an individual balancer 24, Figure 5 shows a side view and Figure 6 shows a sectional view corresponding to section AA from Figure 5. The housing 44 of the balancer 24, which is rotationally symmetrical at least in sections, can be seen. A rotationally symmetrical housing 44 simplifies assembly because it allows the balancer 24 to be mounted on the support element 22 regardless of its position. In addition, the balancer 24 is more cost-effective and easier to manufacture. However, any other external shape for the housing 44 is also conceivable. In Fig. 6 it can be seen that the balancer housing 44 has a cover 48 at the end 51 facing away from the cam 26, into which a pressure connection 50 is screwed.It would also be conceivable for the cover 48 and the pressure connection 50 to be formed as a single piece. The cover 48 seals the housing 44 with a gasket 52.

[0057] Inside the housing 44, a plunger 54 with a piston section 62, which has a piston diameter 68, together with the housing 44 delimits a pressure chamber 56. The pressure chamber 56 can be pressurized with a pressure L, in particular compressed air, via the pressure connection 50 in order to subject the plunger to a compressive force D. A helical spring 60 is arranged in the pressure chamber 56 and is supported on the housing 44 or on the cover 48 against the plunger 54 and applies a spring force F to the plunger. It would also be possible to arrange the spring 60 outside the housing 44 or to provide an elastomer block or other resilient material instead of the helical spring 60. The compressive force D can be variably adjusted by varying the pressure L when the handling task changes or even during a handling task. The pressure force D acts in addition to the spring force F along the balancing axis Bl of the balancer 24 .It would also be possible not to use any springy materials and instead to apply pneumatic or hydraulic pressure to the plunger exclusively by means of the adjustable pressure in order to provide the respective balancing force to the balancer unit.

[0058] The plunger 54 is forced out of the housing 44 by the forces D, F along a longitudinal axis of the balancer 24 or, in the assembled state, along the balancing axis B1, B2, the position of the plunger 54 shown in Fig. 6 showing the maximum extension path. The plunger 54 rests on the stop 65 inside the housing 44. An embodiment is also conceivable in which the stroke of the plunger 54 can be made variable by means of spacers (not shown), the spacers being able to be present between the plunger 54 and the stop 65. The plunger 54 is guided with the shaft region 58 in the housing 44 in a plunger guide 45. The plunger emerges at one end 70 of the housing 44 at least with its free end or Tappet tip 64 out in order to transmit the forces D, F with the free end 64 to the cam 26 in the assembled state.As previously described, the stroke can be changed, particularly subsequently, by inserting spacers (not shown) in such a way that the tappets are in contact with the cam at all times and thus balancing forces can be introduced at any time by both opposing tappets.

[0059] The area surrounding the tappet guide 45 has an external thread 42 for screwing into the support element 22. A stop 46 in the form of a circumferential collar is provided on the housing 44 facing away from the external thread 42 in order to define the screw-in depth of the balancer 24 into the support element 22. This greatly simplifies the assembly of the respective balancer 24 and avoids the need to measure and adjust the positioning of the balancer 24 during assembly on the support element. The housing 44 has a central section 72 with a number of flat spots distributed around the circumference. The flat spots form an engagement section 74 for a tool, for example a wrench, in order to securely mount the balancer 24 on the support element 22.

[0060] Instead of the pressure connection 50 shown in Figures 4 to 6 in the form of a straight quick coupling, angled pressure connections 76 as shown in Figure 1 are also conceivable.

[0061] The balancing in the basic position G and also the pushing out of a balancing position will be explained in more detail with reference to Fig. 3. If the fastening part 18 is subjected to a disturbing force S relative to the base part 14 in Figure 3 to the right along the balancing direction Al, the

[0062] Fastening part 18 is urged or moved into a compensating position, as shown in Figures 1a and 1b. The plunger 54 of the balancer 24, which is located in the direction of action of the disturbing force S, can be urged into the housing 44. In order to minimize or even completely prevent this movement, the balancing device 10.1 is provided. In order to minimize or even completely prevent a comparable movement along the direction A2, the balancing device 10.2 is provided. Due to the modularity, the balancing devices 10.1 and 10.2 have identical parts, which is reflected in the corresponding reference numerals. The disturbing force S results, for example, from the dead weight of the fastening part 18, any tools arranged on the fastening part 18 and the loads received by them.

[0063] objects, as well as from the position of the compensation unit 12 in space or the inertia when moving through the

[0064] handling device during the handling process. The

[0065] Disturbing force S can act in any of the directions A1, A2 and A3; superimposed effects, as well as several different disturbing forces S are also conceivable. If the balancing unit 12 is arranged with the balancing direction A1 parallel to the earth's gravity, the resulting disturbing force S along A1 and B1 is particularly high due to the additional weight force and the pressure L must be set in the corresponding balancer 24. In Figures 1a and 1b, the downward-pointing balancer 24 would have to be subjected to pressure in order to extend the plunger 54 and force the fastening part from the balancing position A into the basic position G and to overcome the displacement V. It is also evident here that the balancing devices 10.1 and 10.2 are constructed in such a way that they do not influence one another. The cam 26 of the balancing device 10.2 moves by the displacement V along the direction Al without the plungers 54 of the balancers 24 of this balancing device 10 . 2 being subjected to a force S or urged. However, it is also conceivable that the plunger tips 64 of the balancing unit 10 . 2 exert friction on the cam 26 and inhibit the movement in the direction Al. This friction can also be adjusted via the pressure L.

[0066] In the balancing device 10.1 shown in Fig. 3, each balancer 24 with the external thread 42 is screwed into the internal thread 40 of the mounting sections 36 and thus mounted on the support element 22. The balancers 24 are arranged here along the balancing axis Bl and stand opposite one another, with the free space 37 remaining largely free so that the cam 26 can project into it. However, it would also be conceivable for the balancers 24 to be arranged offset from one another and each to have its own balancing axis, with the balancing axes being parallel. The cam 26 transmits the disturbing force S with its side 66 to the free end 64 of the tappet 54 of the balancer 24 (right) lying in the direction of the force S.Because the free ends 64 of the tappets 54 of the two balancers 24 only rest on the sides 66 of the cam 26 and there is no further material-locking or form-locking connection, the free end 64 of the left tappet 54 can lift off the cam 26 when the cam 26 is deflected accordingly.

[0067] Furthermore, the housing 44 is provided with a stop 65 against which the plunger 54 rests with its piston section 62. This stop 65 corresponds to the length of the plunger 54 and to the further arrangement and geometry of the balancing devices 10.1 and 10.2. Accordingly, forces are only transmitted to the plunger 54 and the balancer 24 in the form of pressure and not in the form of tension. The spring force F of the respective balancer 24 acts in the basic position G via the plunger against the cam 26 and thus balances the fastening part 18 in the basic position G against the disturbing forces S. If the disturbing force S exceeds the spring force F of the respective loaded balancer 24 and if necessary the fastening part 18 is pushed out of the basic position G, then the pressure force D can be built up with the help of the pressure L in the pressure chamber 56 and the

[0068] Fastening part 18 is held in the basic position G or at least forced into this position.

[0069] If it is desired that the fastening part 18 from the

[0070] basic position G can be pushed beyond the spring force F, the pressure L can be set to the atmospheric ambient pressure P, as is shown for example in Figures 1a and 1b. Due to the adjustable pressure L in the pressure chamber 56, the balancing device 10 can be variably adjusted to most applications, such as the position, movement and acceleration of the compensating device 12, without the preload of the spring 60 having to be adjusted or even the entire spring 60 or the balancer 24 having to be replaced. In the case of major changes in the application, it is conceivable to use different balancers 24 with different springs 60 and / or piston diameters 68 or to exchange the balancers 24 in order to be able to apply higher forces F, D for balancing.

[0071] To control the balancing devices 10, a controller 80 can be provided, which controller is set up to control the pressure L in the balancers 24 as a function of a dead weight of the balancing device 12 and / or of a tool that can be arranged on the balancing device and / or of an object picked up by the tool, and / or a changing position or orientation of the balancing unit 12 and the tool in space, and / or an acceleration of the balancing unit 12 and the tool, and / or a sum of the inertias of the balancing unit 12, the tool and an object picked up by the tool. The controller can have a memory and / or a communication interface to a machine controller, wherein the controller 80 is set up to retrieve information on the position and / or the dead weight from the memory and / or the communication interface.

Claims

Patent claims 1. Balancing device (10) for a balancing unit (12), wherein the balancing unit (12) comprises a base part (14) and a fastening part (18), wherein the fastening part (18) is arranged such that it can be moved relative to the base part (14) from a basic position (G) along at least one balancing direction (A1, A2, A3) into a balancing position (A), with a cam (26) which is or can be arranged on the base part (14) or on the fastening part (18), with at least one balancer (24) which is or can be arranged on the fastening part (18) or on the base part (14), wherein the balancer (24) cooperates with the cam (26) such that the base part (14) and the fastening part (18) when the cam (26) is arranged on the balancing unit (12) Balancing device (10) is held in the basic position (G) and / or is pushed from the balancing position (A) into the basic position (G), wherein a carrier element (22) is attached to the base part (14) orcan be fastened or is fastened to the fastening part (18), and wherein the at least one balancer (24) is arranged detachably and replaceably on the carrier element (22) in the mounted state.

2. Balancing device (10) according to claim 1, characterized in that the carrier element (22) has a Base body (30), wherein the base body (30) has a fastening section (32) for fastening the carrier element (22) to the base part (14) or to the fastening part (18), and that the base body (30) has two spaced-apart and opposite mounting sections (36) for one balancer (24) each.

3. Balancing device (10) according to one of the preceding claims, characterized in that the mounting section (36) has an opening (38) which is surrounded by a ring section.

4. Balancing device (10) according to one of the preceding claims, characterized in that the mounting section (36) has a thread (40).

5. Balancing device (10) for a balancing unit (12), wherein the balancing unit (12) comprises a base part (14) and a fastening part (18), wherein the Fastening part (18) is arranged to be movable relative to the base part (14) from a basic position (G) along at least one compensation direction (A1, A2, A3) into a compensation position (A), with a cam (26) which is or can be arranged on the base part (14) or on the fastening part (18), with at least one balancer (24) which is or can be arranged on the fastening part (18) or on the base part (14), wherein the balancer (24) is arranged together with the cam (26) acts such that the base part (14) and the fastening part (18) are held in the basic position (G) and / or urged from the balancing position (A) into the basic position (G) when the balancing device (10) is arranged on the balancing unit (12), wherein the at least one balancer has a housing (44) and (24) a plunger (54) with a free end (64), wherein the plunger (54) is displaceable along a balancing axis (Bl, B2), wherein the plunger (54) is acted upon by a spring force (F) along the balancing axis (Bl, B2), and wherein the plunger (54) and the housing (44) delimit a pressure chamber (56) such that the plunger (54) is acted upon by a pressure force (D) along the balancing axis (Bl, B2) when pressure is applied to the pressure chamber (56).

6. Balancing device (10) according to claim 5, also comprising the features of claims 1 to 4.

7. Balancing device (10) according to one of the preceding claims, characterized in that a first balancer (24) and a second balancer (24) are provided for each balancing direction (A1, A2, A3), the balancing axes (B1, B2) of the two balancers (24) being parallel and / or in the same axis, the tappets (54) being acted upon in opposite directions.

8. Balancing device (10) according to claim 6, characterized in that the two balancers (24) and the cam (26) are arranged so that in the basic position (G) the free ends (64) of the tappets (54) on opposite sides (66) of the cam (26), and that in the compensation position (A) the free end (64) of the at least one tappet (54) acts against the cam (26).

9. Balancing device (10) according to one of the preceding claims 7 or 8, characterized in that a stop (65) for the respective plunger (54) is provided on the housing (44) in such a way that the respective plunger (54) remains in its position when displaced into the compensating position (A).

10. Balancing device (10) according to one of the preceding claims, characterized in that the at least one balancer (24) is provided outside a housing (44) of the balancing unit (12).

11. Balancer (24), in particular for a balancing device (10) according to one of the preceding claims, characterized in that the balancer (24) has a housing (44) and a plunger (54) with a free end, wherein the plunger (54) is displaceable along a balancing axis (Bl, B2), wherein the plunger (54) is acted upon by a spring force (F) along the balancing axis (Bl, B2), and wherein the plunger (54) and the housing (44) delimit a pressure chamber (56) such that the plunger (54) is acted upon by a pressure force (D) along the balancing axis (Bl, B2) when pressure is applied to the pressure chamber (56).

12. Balancer (24) according to claim 11, characterized in that in the housing (44) a stop (65) for the plunger (54) is provided, wherein the stop (65) can be adjusted by inserting spacers.

13. Balancer (24) according to claim 12, characterized in that the stop (65) is provided such that when displaced into the compensating position (A), the respective plunger (54) remains in its position.

14. Balancer (24) according to one of claims 11 to 13, characterized in that the housing (44) is rotationally symmetrical at least in sections.

15. Balancer (24) according to one of claims 11 to 14, characterized in that the housing (44) has an external thread (42).

16. Balancer (24) according to one of claims 11 to 15, characterized in that a pressure connection (50, 76) is provided on the housing (44), 17. Balancer (24) according to one of claims 11 to 16, characterized in that the pressure connection (50, 76) is provided centrally at an end of the housing (44) opposite the tappet (54).

18. Balancer (24) according to one of claims 11 to 17, characterized in that engagement sections (74) for a tool for mounting the balancer (24) on the carrier element (22) are provided on the housing (44).

19. Set for providing a balancing device (10) according to one of claims 1 to 10, comprising at least one support element (22), at least one cam (26) and several differently designed balancers (24) according to one of claims 11 to 18.

20. Set according to claim 19, characterized in that the different balancers (24) have different pressure connections (50, 76).

21. Control for a balancing device (10) according to one of claims 1 to 10, characterized in that the control is set up to control the pressure (L) in the at least one balancer (24) according to one of claims 11 to 18 as a function of a dead weight of the balancing device (12) and / or of a tool that can be arranged on the balancing device and / or of an object picked up by the tool, and / or of a variable position or orientation of the balancing unit (12) and the tool in space, and / or of an acceleration of the balancing unit (12) and the tool, and / or of a sum of the inertias of the balancing unit (12), the tool and of an object picked up by the tool.

22. Control according to claim 21, characterized in that a memory and / or a communication interface to a machine control is provided, wherein the control is configured to retrieve information on the position and / or the dead weight from the memory and / or the communication interface.

23. Method for operating a balancing device (10) according to one of claims 1 to 10, characterized in that the pressure (L) in the at least one balancer (24) according to one of claims 11 to 18 depending on the weight of the compensation device (12) and / or a tool that can be arranged on the compensation device and / or an object picked up by the tool, and / or a variable position or orientation of the compensation unit (12) and the tool in space, and / or an acceleration of the compensation unit (12) and the tool, and / or a sum of the inertias of the compensation unit (12), the tool and an object picked up by the tool.

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