Compensation unit for an automation plant, and handling device

Abstract

The invention relates to a compensation unit (10) for an automation plant, in particular to be arranged between a handling device (12) and a tool (20), having a fastening part (14) and having a compensation part (16), wherein the compensation part (16) is arranged so as to be movable along an x axis and along a y axis, extending perpendicularly to the x axis, with respect to the fastening part (14) from a home position into a compensation position, wherein at least one first guide (34) extending along the x axis and at least one second guide (36) extending along the y axis are provided, characterised in that the at least one first guide (34) and the at least one second guide (36) are arranged in a guide plane (62).

Description

[0001] Title : Compensation unit for an automation system,

[0002] Handling device

[0003] Description

[0004] The invention relates to a compensation unit for an automation system, in particular for arrangement between a handling device and a tool, with a fastening part and with a compensation part, wherein the compensation part is arranged such that it can move relative to the fastening part along an x-axis and along a y-axis running perpendicular to the x-axis from a basic position into a compensation position. The compensation direction of the compensation part is composed of the displacement from the basic position along the x-axis and / or along the y-axis. The compensation unit has at least one first linear guide extending along the x-axis for guiding the compensation part along the x-axis and at least one second linear guide extending along the y-axis for guiding the compensation part along the y-axis.

[0005] Compensation units, which are also referred to as overload protection devices, are known from the prior art 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, the compensation unit has the fastening part for arrangement in particular on the handling device, for example on a receiving flange of a robot arm. The compensation part, for example in the form of a tool flange, is provided on the fastening part and is designed in particular to receive handling tools, for example gripping devices, processing devices or measuring devices. The compensation part is movably connected to the fastening part so that a relative orCompensating movement between the fastening part and the compensating part is enabled. Linear compensating movements can be provided depending on the application area of ​​the handling tools attached to the tool holder.

[0006] A known embodiment of a compensation unit for implementing a compensating movement in the three spatial directions is the applicant's XYZ AGE-S compensation unit, which is shown in common catalog materials. The compensation part of the AGE-S has two movable planes, one of which can be moved in the x-direction and the other in the y-direction, in order to enable compensation of the compensation part from the home position in the x-direction and y-direction into the respective compensation position. Furthermore, compensation in the third spatial direction, the z-direction, is possible.

[0007] DE 10 2015 113 346 A1 discloses a compensating unit with spring pins on a housing part for supporting a compensating element, wherein the spring pins lie in one plane. DE 10 2022 204 759 A1 discloses a compensating device with a pivotable wobble plate and a translationally movable end effector connection point arranged thereon. Compensating devices are also known from DE 10 2013 208 635 B4 and DE 10 2021 208 632 A1.

[0008] The invention is based on the object of providing a compensation unit which is improved compared to the prior art and which is in particular more durable, lighter and smaller.

[0009] The object underlying the invention is achieved by a compensation unit having the features of claim 1. The first linear guide and the second linear guide are arranged in a common guide plane.

[0010] In the sense of this invention, "arranged in a (common) guide plane" means that the at least one first linear guide and the at least one second linear guide each have a center point and the center points span a guide plane.

[0011] The first linear guide preferably only allows translational movement along the x-axis. The second linear guide preferably only allows translational movement along the y-axis. The first linear guide preferably blocks movement transverse to the x-axis. The second linear guide preferably blocks movement transverse to the y-axis. The first and / or second linear guide preferably blocks rotational movement of the compensating part and / or the guide frame. The at least one first linear guide and the at least one second linear guide are preferably arranged such that the guide plane runs parallel to the x-axis and parallel to the y-axis, i.e. runs perpendicular to a z-axis. It is conceivable that a total of at least three linear guides are provided, wherein the at least three guides are arranged in one guide plane.It is further conceivable that a total of at least three linear guides are provided and that these at least three linear guides are arranged in a guide plane running perpendicular to the z-axis.

[0012] The arrangement of the first linear guide and the second linear guide in one guide plane means that the compensation unit is flatter and lighter than the prior art, as two moving planes arranged one above the other are not required. This leads to lower transverse forces and lower moment loads acting on the linear guides and the connecting elements. It also results in even loading and even wear on the linear guides, as there is no lever arm difference along the z-axis between the center of gravity of the compensation unit and the X-linear guide system or the Y-linear guide system. This is particularly relevant for robot and various handling applications, as the moment load is further increased by the acting accelerations. A smaller, lighter and longer-lasting compensation unit can therefore be provided.

[0013] An advantageous development of the invention provides that the compensation unit has a guide frame. Preferably, the compensation part is arranged opposite the

[0014] Fastening part arranged to be movable along the x-axis and along the y-axis from the basic position into the compensation position by means of the guide frame.

[0015] The guide frame is preferably designed separately from the fastening part and / or the compensating part. The guide frame is preferably provided with at least one first linear guide for guiding the guide frame on the fastening part. The guide frame is preferably provided with at least one second linear guide for guiding the compensating part on the guide frame. The compensating part can be mounted on the fastening part so as to be movable along the x-axis and / or the y-axis by means of the guide frame. The guide frame is preferably arranged along the z-axis between the fastening part and the compensating part. The guide frame preferably extends along the guide plane, wherein in particular the center point and / or the center of gravity of the guide frame is arranged in the guide plane.

[0016] The compensation unit, in particular the fastening part, preferably has a housing. The housing has a receptacle on a housing top side for receiving the guide frame and / or the compensation part. In the assembled state, the housing forms an at least substantially closed unit with the compensation part and / or the guide frame. The fastening part, in particular the housing, and / or the compensation part preferably have an end stop acting along the x-axis and / or along the y-axis for limiting the displacement of the compensation part and / or the guide frame from the basic position along the x-axis and / or the y-axis. It is advantageous if the guide frame is arranged so as to be movable relative to the fastening part along the x-axis. In this way, the guide frame can be displaced relative to the fastening part from the basic position along the x-axis.It is also advantageous if the guide frame is fixed relative to the fastening part along the y-axis. Thus, the guide frame cannot be displaced from its basic position relative to the fastening part along the y-axis.

[0017] Advantageously, the compensating part is arranged so as to be movable relative to the guide frame along the y-axis. In this way, the compensating part can be displaced relative to the guide frame from its basic position along the y-axis. Furthermore, the compensating part can be freely displaced by means of the guide frame relative to the fastening part along the x-axis and along the y-axis, i.e. parallel to the guide plane. It is also advantageous if the compensating part is arranged fixedly relative to the guide frame along the x-axis. In this way, the compensating part cannot be displaced relative to the guide frame from its basic position along the x-axis.

[0018] An advantageous development provides that the at least one first linear guide and / or the at least one second linear guide each have at least one guide rail and at least one bearing rail. During guidance, the guide rail and the bearing rail interact, with the guide rail and the bearing rail coming into contact with one another, in particular during guidance.

[0019] The at least one first linear guide preferably has at least one bearing bar and a frame-side guide bar as well as a fastening-side guide bar. The frame-side guide bar is preferably arranged on the guide frame. The fastening-side guide bar is preferably arranged on the fastening part. The bearing bar is preferably arranged between the fastening-side guide bar and the frame-side guide bar. Alternatively, it is conceivable for the bearing bar to be arranged fixedly on the fastening part or fixedly on the guide frame. If the bearing bar is arranged fixedly on the fastening part, the fastening-side guide bar can be omitted. If the bearing bar is arranged fixedly on the guide frame, the frame-side guide bar can be omitted.

[0020] The at least one second linear guide preferably has at least one bearing rail and a frame-side guide rail and a compensation-side guide rail. The frame-side guide rail is preferably arranged on the guide frame. The compensation-side guide rail is preferably arranged on the compensation part. The bearing rail is preferably arranged between the compensation-side guide rail and the frame-side guide rail. Alternatively, it is conceivable for the bearing rail to be arranged fixedly on the compensation part or fixedly on the guide frame. If the bearing rail is arranged fixedly on the compensation part, the compensation-side guide rail can be omitted. If the bearing rail is arranged fixedly on the guide frame, the frame-side guide rail can be omitted.

[0021] It is advantageous if the at least one bearing rail, in particular the bearing rail of the first linear guide and / or the second linear guide, is designed as a rolling bearing guide, in particular as a cross-roller guide. The crosswise arrangement of the cylindrical rollers results in high rigidity and load-bearing capacity, which further improves the longevity of the compensation unit.

[0022] It is further advantageous if the at least one guide rail, in particular the fastening-side guide rail and / or the frame-side guide rail and / or the compensation-side guide rail, is designed as a V-shaped cross rail. With V-shaped cross rails, the roller bearing guides, in particular the cross roller guides, are surrounded on all four sides in the assembled state or come into contact with all four sides.

[0023] An advantageous development of the invention provides that the guide frame has a rectangular, in particular square, cross-section along the z-axis running perpendicular to the guide plane. The guide frame preferably has a central passage. The guide frame preferably has a frame upper side running parallel to the guide plane and a frame lower side running parallel to the guide plane and opposite the frame upper side. The guide frame preferably has four narrow frame sides between the frame upper side and the frame lower side.

[0024] Advantageously, a guide rail, in particular a V-shaped cross rail, is arranged on each of the four narrow sides of the frame.

[0025] Another advantageous further training provides that the

[0026] Compensation unit has a locking module for locking the compensation part and / or guide frame in the home position. The locking module is preferably in

[0027] Fastening part, especially in the housing of the

[0028] fastening part. The locking module preferably has a centering pin which can be moved along the z-axis between a release position and a locking position. In the locking position, the centering pin interacts with the compensating part and / or the guide frame, so that a displacement of the compensating part and / or the guide frame from the basic position is not possible. In the release position, the centering pin is not in engagement with the compensating part and / or guide frame, so that the compensating part and / or the guide frame can be freely displaced along the compensating direction into the compensating position. The locking module preferably engages in the locking position and in particular also in the release position through the central passage of the guide frame.

[0029] It is advantageous if the centering bolt has a first bevel, in particular a conical section, on the first bolt end facing the compensating part. It is furthermore advantageous if a second bevel, in particular a centering shell which is preferably accessible from the locking module, is arranged on the compensating part. In the locking position, the first bevel and the second bevel preferably interact in such a way that the compensating unit is urged against the compensating direction, in particular is displaced into the basic position. The second bevel, in particular the centering shell, preferably extends through the central passage of the guide frame. The arrangement of the centering bolt and / or the centering shell in the central passage furthermore enables a flat design of the compensating part. The first bevel can be formed in one piece or in two pieces with the centering bolt.The second bevel can be formed in one piece or in two pieces with the compensating part.

[0030] An advantageous development of the invention provides that a locking piston is provided on a second pin end of the centering pin, opposite the first pin end. The locking piston is preferably formed in one piece or in two pieces with the centering pin. The locking piston is preferably arranged in a locking cylinder, wherein the locking piston delimits a first pressure chamber in the locking cylinder that can be pressurized and in particular also delimits a second pressure chamber that can be pressurized. The locking cylinder is preferably arranged in the fastening part, in particular in the housing of the fastening part. A pressure acting on the first pressure chamber acts on the centering pin by means of the locking piston and urges the centering pin in the direction of the locking position, in particular into the locking position.A pressure acting on the second pressure chamber acts on the centering pin by means of the locking piston and urges the centering pin in the direction of the release position, in particular into the release position. Alternatively, it is conceivable that a spring means, in the form of a compression or tension spring, is provided for the pressure application of the first pressure chamber or the second pressure chamber in order to displace the centering pin into the locking position or the release position. The first pressure chamber and / or the second pressure chamber is preferably connected by means of lines, in particular lines in.

[0031] Fastening part, fluidically connectable to an external pressure supply.

[0032] It is further advantageous if the centering pin can be displaced into an intermediate position between the release position and the locking position. This limits the freedom of movement, i.e., the distance that the compensating part and / or guide frame can travel relative to the fastening part. The intermediate position can preferably be achieved by simultaneously applying pressure to the first pressure chamber and the second pressure chamber.

[0033] A further advantageous development of the invention provides that the compensation unit has a fixing module for fixing the compensation part in the compensation position and / or home position. The fixing module can be provided in addition to or alternatively to the locking module. If both the fixing module and the locking module are provided, the locking module serves, among other things, to lock the compensation part and / or the guide frame in the home position and the fixing module to fix the compensation part and / or the guide frame in the compensation position. Thus, for example, for mounting a pin in a hole with a roughly toleranced position, a planar offset can be compensated for and then temporarily maintained.

[0034] It is advantageous if the fixing module is designed as at least one friction element which can be moved along the z-axis between a release position and a fixing position for fixing the compensating part and / or the guide frame in the compensating position. The fixing module and / or the friction element can preferably be designed as an annular piston. In the fixing position, the fixing module interacts with the compensating part and / or the guide frame, in particular by means of a frictional connection, so that a displacement of the compensating part and / or the guide frame from the current compensating position or the basic position is not possible. In the fixing position, the fixing module preferably comes into contact with the compensating part, in particular with the centering shell.In the release position, the fixing module is not engaged with the compensating part and / or the guide frame, so that the compensating part and / or the guide frame can be freely displaced along the compensating direction into another compensating position or the home position. Preferably, in the locking position and especially also in the release position, the fixing module engages through the central passage of the guide frame.

[0035] It is furthermore advantageous if the fixing module, in particular the friction element and / or the annular piston, delimits at least one further first pressure chamber which can be pressurised and in particular one further second pressure chamber which can be pressurised. The further first pressure chamber and / or the further second pressure chamber is preferably arranged in the fixing part, in particular in the housing of the fixing part. A pressure acting on the further first pressure chamber acts on the fixing module and urges the fixing module in the direction of the fixing position, in particular into the fixing position. A pressure acting on the further second pressure chamber acts on the fixing module and urges the fixing module in the direction of the release position, in particular into the release position.The further first pressure chamber and / or the further second pressure chamber can preferably be fluidically connected to an external pressure supply by means of further lines, in particular lines in the fastening part. The first pressure chamber and / or the second pressure chamber and / or the further first pressure chamber and / or the further second pressure chamber can each be pressurized independently of one another. Alternatively, it is conceivable that a spring means, in the form of a compression or tension spring, is provided for displacing the fixing module into the fixing position or the release position for pressurizing the first pressure chamber or the second pressure chamber.

[0036] It is further advantageous if the fixing module can be displaced into an intermediate position between the release position and the fixing position. This allows the force required to displace the compensating part and / or the guide frame to be adjusted. The intermediate position can preferably be achieved by simultaneously applying pressure to the additional first pressure chamber and the additional second pressure chamber.

[0037] An advantageous further development provides that the compensation unit has a sensor device with at least one for detecting the position of the compensation part and / or the guide frame with at least one signal transmitter and at least one signal receiver. The sensor can be designed as at least one inductive sensor. In this case, the fastening part and / or the guide frame and / or the compensation part and / or one of the bearing strips and / or one of the guide strips, in particular the crossed roller cage, can be designed as a signal transmitter with an electrically conductive material. The sensor device can alternatively be designed as

[0038] In this case, the

[0039] A permanent magnet can be arranged as a signal transmitter on the fastening part and / or on the guide frame and / or on the compensating part and / or on one of the bearing strips and / or on one of the guide strips, in particular on the crossed roller cage. In this case, a Hall sensor, for example, can be used as the signal receiver. The signal receiver can preferably be arranged in a sensor groove on an outer side of the fastening part and / or the compensating part. One sensor is preferably provided for detecting the position along the x-axis and one sensor is provided for detecting the position along the y-axis.

[0040] A further advantageous development provides that the compensating unit has a balancing device for applying a force to the compensating part and / or the guide frame. The application of a force to the compensating part and / or the guide frame can preferably take place along the x-axis and / or along the y-axis. Thus, the compensating part and / or the guide frame can be displaced into a defined balancing position. The balancing device preferably has a balancer for the x-axis and / or a balancer for the y-axis. The balancing device, in particular the at least one balancer, can preferably be detachably arranged on the outside of the fastening part and / or the compensating part.The balancer preferably has a plunger which interacts with a cam arranged on the fastening part and / or on the compensating part in such a way that the compensating part and / or the guide frame is displaced from the basic position into a compensating position, from the compensating position into the basic position and / or from a first compensating position into a second compensating position and / or is held in the basic position and / or the compensating position.

[0041] The invention further comprises a compensation unit with the features of the preamble of claim 1. The compensation unit has a one-piece guide frame, wherein at least one, preferably two, frame-side guide rails extending along the x-axis and at least one, preferably two, frame-side guide rails extending along the y-axis are arranged in one piece or in two pieces on the guide frame. The frame-side guide rails are preferably movement-coupled to the guide frame. The frame-side guide rails preferably form the first linear guide and the second linear guide, respectively, in accordance with the previously described embodiment, with guide rails arranged on the fastening part and on the compensation part and bearing rails arranged between the respective guide rails.Accordingly, by means of the guide frame and the frame-side guide rails extending along the x-axis and along the y-axis, a displacement of the compensating part relative to the fastening part from the home position into the compensating position is possible. Accordingly, the frame-side guide rails arranged on the guide frame each form at least one guide partner of the first linear guide and at least one guide partner of the second linear guide. Due to the special design of the guide frame, a particularly flat construction of the compensating part is possible. The object underlying the invention is also achieved by a system having the features of claim 19.

[0042] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which an embodiment of the invention is further described and explained.

[0043] They show:

[0044] Fig. 1 is a perspective top view of a compensating unit according to the invention;

[0045] Fig. 2 is a perspective bottom view of the compensation unit according to Fig. 1;

[0046] Fig. 3 is a perspective top view of the balancing unit according to Fig. 1, wherein the balancing part is in the balancing position;

[0047] Fig. 4 is a perspective view of the compensation unit according to Fig. 1 without compensation part;

[0048] Fig. 5 is a schematic exploded top view of the balancing unit according to Fig. 1;

[0049] Fig. 6 is a schematic exploded bottom view of the balancing unit according to Fig. 1;

[0050] Fig. 7 is a schematic exploded top view of the compensation unit according to Fig. 1 without the compensation unit; Fig. 8 is a schematic exploded bottom view of the compensation unit according to Fig. 1 without the fastening part;

[0051] Fig. 9 is a schematic sectional view of the compensation unit according to Fig. 1 along the x-axis (AA);

[0052] Fig. 10 is a schematic sectional view of the compensation unit according to Fig. 1 parallel to the y-axis (CC);

[0053] Fig. 11 is a further schematic sectional view of the compensating unit according to Fig. 1 along the y-axis (B-B), wherein the compensating part is in the basic position;

[0054] Fig. 12 is a schematic sectional view of the locking module and the fixing module along the y-axis (BB), with the compensating part in the home position;

[0055] Fig. 13 is a schematic sectional view of the compensating unit according to Fig. 1 along the y-axis (B-B), with the centering bolt in the locking position;

[0056] Fig. 14 is a schematic sectional view of the locking module and the fixing module along the y-axis (BB), with the centering bolt in the locking position; Fig. 15 is a schematic sectional view of the compensating unit according to Fig. 1 along the y-axis (BB), with the compensating part in the compensating position;

[0057] Fig. 16 is a schematic sectional view of the locking module and the fixing module along the y-axis (BB), with the compensating part in the compensating position;

[0058] Fig. 17 is a schematic sectional view of another embodiment of the compensation unit along the x-axis (AA) with an inductive sensor;

[0059] Fig. 18 is a schematic sectional view of a further embodiment of the compensation unit along the y-axis (BB) with a magnetic switch;

[0060] Fig. 19 is a schematic sectional view of the embodiment of the compensation unit according to Fig. 18 along the x-axis (AA) with a magnetic switch;

[0061] Fig. 20 is a schematic side view of a gripping process of a handling device with a compensation unit according to the invention and with a gripping tool;

[0062] In Fig. 20, a compensation unit 10 according to the invention is connected to a handling device 12 in the form of a robot arm. The compensation unit 10 has, according to Figs. 1-3, a fastening part 14 and a compensation part 16, wherein the fastening part 14 is arranged on a receiving flange 18 of the robot arm according to Fig. 20. For this purpose, the fastening part 14 has, according to Figs. 2 and 6, flange-side fastening means 19. The compensation part 16 has a tool flange (not shown) for connecting a gripping tool 20. According to Figs. 1 and 3, the compensation part 16 can have threaded holes 17 for the connection. The compensating part 16 is movably connected to the fastening part 14 along an x-axis X and a y-axis Y, so that a relative movement or compensating movement between the fastening part 14 and the compensating part 16 is possible. In Figs. 11 to 14, the compensating part 16 is arranged in the home position. In Figs.15-16, the compensating part 16 is arranged in the compensating position. In the case illustrated in Fig. 20, the gripping tool 20 grips a pin which is arranged in a roughly toleranced position (i). Due to the planar offset, the gripping tool 20 grips the pin off-center (ii). The compensating unit 10 is designed such that the compensating part 16 performs a displacement into a compensating position so that the pin is gripped centrally in the gripping tool 20 (iii). The compensating unit 10 can then fix the compensating part 16 in the compensating position (save the intermediate position) or move it back to the home position.

[0063] The fastening part 14 has, according to Fig. 1-3, a housing 22 with a housing top side 24 facing the compensating part 16, with a housing top side 24 facing away from the compensating part 16

[0064] Housing bottom 26 and with a between the housing top 24 and the housing bottom 26 arranged

[0065] Housing shell side 28 on .

[0066] 4, 5 and 7, the housing 22 has a receptacle 30 for receiving the compensating part 16 and a guide frame 32. In the assembled state, the fastening part 14 and the compensating part 16 form a substantially closed unit. The guide frame 32 is arranged along the z-axis Z between the fastening part 14 and the compensating part 16. The guide frame 32 is arranged such that it can move relative to the fastening part 14 along the x-axis in two first linear guides 34. The guide frame 32 is arranged fixedly relative to the fastening part 14 along the y-axis. The compensating part 16 is arranged such that it can move relative to the guide frame 32 along the y-axis in two second linear guides 36. The compensating part 16 is fixedly arranged relative to the guide frame 32 along the x-axis.In summary, the compensating part 16 can be displaced from the basic position into a compensating position by means of the guide frame 32 both along the x-axis and along the y-axis.

[0067] According to Fig. 4, 5 and 7, the housing 22 has two fastening-side guide sections 38 on the housing top side 24, projecting parallel to the z-axis, wherein a fastening-side guide strip 42 is arranged on the fastening-side section inner side 40 in each case.

[0068] According to Fig. 4-6, the guide frame 32 has a square cross-section along the z-axis with a frame top side 44, with a frame bottom side 46, with four frame narrow sides 48 arranged between the frame top side 44 and the frame bottom side 46 and with a central passage 50.

[0069] 5 and 6, the guide frame 32 has a frame-side guide rail 52 on each of the four narrow sides 48 of the frame. In the assembled state, the guide frame 32 is inserted in the receptacle 30, with a bearing rail 54 being arranged between the fastening-side guide rail 42 and the frame-side guide rail 52. The fastening-side guide rail 42, the frame-side guide rail 52 and the bearing rail 54 form one of the two first linear guides 34. The first linear guides 34 are identical. By means of the first linear guides 34, the guide frame 32 is arranged so as to be displaceable relative to the fastening part 14 along the x-axis.

[0070] According to Fig. 5, 6 and 8, the compensating part 16 has two compensating-side guide sections 56 which protrude parallel to the z-axis and face the fastening part 14, wherein a compensating-side guide strip 60 is arranged on the inside 58 of each compensating-side section.

[0071] According to Fig. 1-3, the compensation-side guide sections 56 form end stops of the compensation part 16, which contact the fastening-side guide sections 38 when displaced into the maximum compensation position.

[0072] According to Figs. 4, 6 and 8, a further bearing bar 54 is arranged between each of the two remaining frame-side guide bars 52 arranged on the guide frame 32 and the compensation-side guide bars 60. The frame-side guide bar 52, the compensation-side guide bar 60 and the bearing bar 54 form one of the two second linear guides 34. The second linear guides 34 are identical to one another and / or to the first linear guides. By means of the second linear guides 36, the compensation part 16 is arranged so as to be displaceable relative to the guide frame 32 along the y-axis.

[0073] The fastening part 14, the guide frame 32 and the compensating part 16 are designed according to Fig. 4-6 such that the two first linear guides 34 and the two second linear guides 36 are arranged in a common guide plane 62 running perpendicular to the z-axis. Accordingly, the compensating unit 10 can be constructed particularly flat. In addition, the lever arm between the center of gravity of the compensating part 16, in particular with the tool 20 and possibly with workpieces arranged thereon, and the first linear guides 34 or the second linear guides 36 is identical, resulting in a uniform load and thus a longer-lasting compensating unit 10.

[0074] 5-7, the fastening-side guide rails 42 are formed in two pieces with the fastening part 14 and are each arranged in a fastening-side guide groove 63 on the fastening-side section inner side 40. By means of fastening-side fastening means 64 extending parallel to the z-axis, the fastening-side guide rails 42 are fixed in the fastening-side guide groove 63 according to Figs. 4 and 7. The compensation-side guide rails 60 are formed in two pieces with the compensation part 16 according to Figs. 6 and 8 and are each arranged in a compensation-side guide groove 66 on the compensation-side section inner side 58. The compensation-side guide rails 60 are fixed in the compensation-side guide groove 66 by means of compensation-side fastening means 68 extending parallel to the z-axis. The frame-side guide rails 52 are formed integrally with the guide frame 32.The bearing strips 54 of the first guide 34 are also attached to the mounting side by means of fastening means 64.

[0075] Fastening part 14 is detachably arranged. The bearing strips 54 of the second guide 34 are detachably arranged on the compensating part 16 by means of compensating-side fastening means 68. The fastening means 64 and 68 preferably serve as stops for the guide strips 42, 52, 60, so that they cannot fall out or wander out of the guide grooves 63, 66.

[0076] The guide rails 42, 52, 60 are preferably designed as V-shaped cross rails according to Fig. 5-11. The bearing rails 54 are preferably designed as cross roller guides. In the assembled state, the bearing rails 54 are received by the adjacent guide rails 42, 52, 60.

[0077] 10-16, a locking module 70 is provided in the fastening part 14 for locking the compensating part 16 in the home position and / or for limiting the compensation travel of the compensating part 16. The locking module 70 has a circular-cylindrical centering bolt 72 extending along the z-axis with an upper first bolt end 74 facing the compensating part 16 and a lower second bolt end 76 facing away from the compensating part 16. The centering bolt 72 is displaceable along the z-axis between a lower release position, in which the compensating part 16 is freely movable, and an upper locking position, in which the compensating part 16 is locked in the home position. In Figs. 10-12 and Fig. In Figs. 15-16, the centering bolt 72 is arranged in the release position. In Figs. 13-14, the centering bolt 72 is arranged in the locking position.The centering bolt 72 has at its first bolt end 74 a conical section 78 with at least one first bevel 80. In the locking position, the conical section 78 interacts with a centering shell 82 arranged on the compensating part 16 and having a second bevel 84. When the centering bolt 72 is moved in the direction of the locking position, the first bevel 80 and the second bevel 84 interact such that the closer the centering bolt 72 is to the locking position, the closer the compensating part 16 is pushed into the home position. As soon as the centering bolt 72 is in the locking position, the compensating part 16 is also fixed in the home position. To release the compensating part 16, the centering bolt 72 is moved into the release position.It is also conceivable that the centering bolt 72 is arranged in an intermediate position, in which the compensating part 16 is movable in a compensating position, but the displacement path is limited by the centering bolt 72.

[0078] 11, 13 and 15, the centering shell 82 is formed in two pieces with the compensating part 16. The centering shell 82 is detachably fastened to the compensating part 16 by means of fastening-side holding means 86 in the form of countersunk screws and / or cylinder head screws, which run perpendicular to the z-axis. Alternatively, it is conceivable for the compensating part 16 and the centering shell 82 to be formed in one piece. The centering shell 82 is arranged centrally relative to the compensating part 16. The centering shell 82 is arranged along the z-axis between the fastening part 14, in particular the centering bolt 72, and the compensating part 16.

[0079] In the assembled state, as shown in FIGS. 11, 13, and 15, the centering shell 82 extends into the central passage 50 of the guide frame 32, thus enabling a flat design of the compensation unit 10. Along the y-axis, the centering shell 82 is arranged between the first linear guides 34 and / or along the x-axis between the second linear guides 36. In the release position, the centering bolt 72 extends partially through the central passage 50 of the guide frame 32, and in the locking position, it extends completely through the central passage 50 of the guide frame 32.

[0080] The centering bolt 72 has a locking piston 88 at its second bolt end 76 as shown in Figs. 11-16. The locking piston 88 is formed in two pieces with the centering bolt 72. The locking piston 88 is releasably attached to the centering bolt 72 by means of piston-side fastening means 90.

[0081] According to Figs. 11-16, the fastening part 14 has a locking cylinder 92 with an oval cavity inside, the oval shape being particularly evident in Fig. 2. The locking cylinder can also have a circular cylindrical cavity. The locking cylinder 92 is closed by a housing cover 94 on the housing underside 26, the housing cover 94 being fixed to the fastening part 14 by screws extending parallel to the z-axis.

[0082] 11-16, the locking piston 88 delimits a lower first pressure chamber 96 below with the locking cylinder 92 and the housing cover 94. The locking piston 88 delimits an upper second pressure chamber 98 above with the locking cylinder 92. The locking piston 88 has a seal (not shown) on the casing side in order to fluidically separate the first pressure chamber 96 and the second pressure chamber 96. The first pressure chamber 96 and the second pressure chamber 98 are each fluidically connected to lines 100, wherein the first pressure chamber 96 and the second pressure chamber 98 can be pressurized separately by means of the lines 100. The lines 100 open into the housing casing side 28 and / or into the housing underside 26.When the first pressure chamber 96 is pressurized, the locking piston 88 and thus also the centering pin 72 are pushed upward into the locking position, so that the compensating part 16 is locked in the home position. When the second pressure chamber 98 is pressurized, the locking piston 88 and thus also the centering pin 72 are pushed downward into the release position, so that the compensating part 16 is released.

[0083] 10-16, a fixing module 102 for fixing the compensating part 16 in the compensating position and / or in the basic position. The fixing module 102 has an annular piston 104 arranged centrally about the z-axis relative to the fastening part 14, the annular piston 104 being displaceable along the z-axis between a lower release position and an upper fixing position. The annular piston 104 has an upper ring side 106 facing the compensating part 16 and a lower ring side 108 facing away from the compensating part 16. To accommodate the annular piston 104, the fastening part 14 has a ring receptacle 110 according to FIG. 6. On the ring top side 106, the ring piston 104 has a friction element 112 which, in the fixing position, interacts with a friction section 114 of the compensating part 16, in particular the centering shell 82, in such a way that the compensating part 16 is fixed in the current compensating position and / or basic position.The friction section 114 can preferably have a surface that is roughened compared to the remaining surfaces. The friction element 112 can be designed as a wearing part in two pieces with the annular piston 104. The annular piston 104 delimits a first further pressure chamber 116 on the ring underside 108 with the ring receptacle 110. The first further pressure chamber 116 can be pressurized by means of further lines 118 according to FIG. 10. The further lines 118 open into the housing shell side 28 and / or the housing underside 26. When the first further pressure chamber 116 is pressurized, the annular piston 104 is forced into the fixing position. To move the annular piston 104 into the release position, a second further pressure chamber (not shown) can be pressurized or spring-loaded return means (not shown) can be used, such as e.g. at least one return spring must be provided.However, it is also conceivable that no means are provided for displacement into the release position. The annular piston 104 has a seal (not shown) on the casing side for fluidically separating the first further pressure chamber 116 from the environment. Furthermore, the compensation unit 10 in the second and third embodiments according to Fig. 17 and 18-19 has a sensor device 130 for detecting the position of the compensation part 16 and / or the guide frame 32 and / or the centering bolt 72 and / or the annular piston 104. The compensation part 16 and / or the guide frame 32 and / or the centering bolt 72 and / or the annular piston 104 can function as an active or passive signal transmitter 132. Alternatively or additionally, a e.g. a permanent magnet may be arranged on the compensating part 16 and / or on the guide frame 32 and / or on the centering bolt 72 and / or on the annular piston 104 and function as a signal generator 132.Furthermore, at least one signal receiver 134 can be provided for detecting the signal from the at least one signal transmitter 132. According to Figs. 1 to 8, the fastening part 14 and / or the compensating part 16 have sensor grooves 136, wherein the signal receivers 134 can be arranged in the sensor grooves 136.

[0084] In Fig. 17, the compensation unit 10 has an inductive sensor as a signal receiver 134 on the compensation part 16. For this purpose, the compensation part 16 has sensor receptacles into which the signal receivers 134 are inserted. A metallic sensor is provided on the guide frame 32 as a signal transmitter 132, which, when mounted, is received in a recess in the compensation part 16.

[0085] 18-19, the compensation unit 10 has, as signal receiver 134, a first magnetic switch for detecting the position along the y-axis on the fastening part 14 and a second magnetic switch for detecting the position along the x-axis on the compensation part 16, the magnetic switches being each arranged in sensor grooves 136 on the outside of the housing. A magnet fastened to the guide frame 32 by means of screws running along the z-axis is provided as a signal transmitter 132. The magnet according to Fig. 18 for the y-axis extends downwards along the z-axis away from the guide frame 32, in particular the underside 46 of the frame, a recess for receiving the magnet being provided in the fastening part 14. The magnet according to Fig.19 for the x-axis extends along the z-axis away from the guide frame 32, in particular the frame top 44, upwards, wherein a recess for receiving the magnet is provided in the compensating part 16.

[0086] Furthermore, the balancing unit 10 according to Fig. 1 and 2 has a balancing device 150 for actively displacing the balancing part 16 and / or guide frame 32. Accordingly, the balancing part 16 can also be displaced into a balancing position without any external intervention. The balancing device 150 has at least one balancer 152 with a plunger 154 for each of the x-axis and the y-axis. The plunger 154 can be displaced along the x-axis or the y-axis by means of a balancer drive 156, preferably a spring cartridge. The plunger 154 interacts with a cam 158 so that the balancing part 16 can be displaced. The balancer 152 is preferably arranged on the fastening part 14, in particular on the housing shell side 28, and the cam 158 is arranged on the compensating part 16. The balancers 152 are arranged stacked along the z-axis.It is conceivable that the balancers 152 are arranged in a common plane, in particular parallel to the guide plane 62, preferably in the guide plane 62. Alternatively, it is conceivable that only the tappets 154 and / or only the cams 158 are arranged in the guide plane 62. List of reference symbols.

[0087] X x-axis

[0088] Y y-axis

[0089] Z z-axis

[0090] 10 compensation unit

[0091] 12 Handling device

[0092] 14 Fastening part

[0093] 16 Compensating part

[0094] 17 threaded holes

[0095] 18 Mounting flange

[0096] 19 flange-side fasteners

[0097] 20 gripping tool

[0098] 22 housings

[0099] 24 Top of the case

[0100] 26 Bottom of the case

[0101] 28 Housing shell side

[0102] 30 recordings

[0103] 32 guide frames

[0104] 34 first linear guides

[0105] 36 second linear guides

[0106] 38 fastening-side guide section

[0107] 40 fastening-side section inside

[0108] 42 fastening-side guide rail

[0109] 44 Frame top

[0110] 46 frame bottom

[0111] 48 frame narrow sides

[0112] 50 Implementation

[0113] 52 frame-side guide rail

[0114] 54 bearing strip

[0115] 56 compensation-side guide section

[0116] 58 compensation side section inside

[0117] 60 compensation-side guide rail

[0118] 62 management level

[0119] 63 mounting-side guide groove

[0120] 64 Fastening element on the fastening side, guide groove on the fastening side, locking module, centering bolt, first bolt end, second bolt end, conical section, first bevel, centering shell, second bevel, fastening element on the fastening side, laying piston, piston-side fastening element, locking cylinder, housing cover, first pressure chamber, second pressure chamber, lines, fixing module, annular piston, top side of ring, bottom side of ring, ring holder, friction element, friction section, further pressure chamber, further lines, sensor device, signal transmitter, signal receiver, sensor grooves

[0121] Bal other device balancer tappet

[0122] Balancer drive cam

Claims

Patent claims 1. Compensation unit (10) for an automation system, in particular for arrangement between a handling device (12) and a tool (20), with a fastening part (14) and with a compensating part (16), wherein the compensating part (16) is arranged relative to the Fastening part (14) is arranged to be movable along an x-axis and along a y-axis running perpendicular to the x-axis from a basic position into a compensation position, wherein at least one first linear guide (34) extending along the x-axis and at least one second linear guide (36) extending along the y-axis is provided, characterized in that the at least one first linear guide (34) and the at least one second linear guide (36) are arranged in a guide plane (62).

2. Compensation unit (10) according to claim 1, wherein a guide frame (32) is provided, and wherein the guide frame (32) is provided with at least one first linear guide (34) for guiding the guide frame (32) on the fastening part (14) and / or the at least one second linear guide for guiding the compensation part (16) on the guide frame (32).

3. Compensation unit (10) according to claim 2, wherein the guide frame (32) is arranged relative to the Fastening part (14) is arranged to be movable along the x-axis.

4. Compensation unit (10) according to claim 2 or 3, wherein the compensating part (16) is arranged to be movable relative to the guide frame (32) along the y-axis.

5. Compensation unit (10) according to one of the preceding claims, wherein the at least one first linear guide (34) and / or the at least one second linear guide (36) each have at least one guide rail (42, 52, 60) and at least one bearing rail (54).

6. Compensation unit (10) according to one of claims 2 to 5, wherein the at least one first linear guide (34) has at least one bearing strip (54) and a frame-side guide strip (52) as well as a fastening-side guide strip (42), wherein the fastening-side guide strip (42) is Fastening part (14), the frame-side guide rail (52) is arranged on the guide frame (32) and the at least one bearing rail (54) is arranged between the fastening-side guide rail (42) and the frame-side guide rail (52).

7. Compensation unit (10) according to one of claims 2 to 6, wherein the at least one second linear guide (36) has at least one bearing strip (54) and a frame-side guide strip (52) as well as a compensation-side guide strip (60), wherein the compensation-side guide strip (60) is arranged on the compensation part (16), the frame-side guide strip (52) is arranged on the guide frame (32) and the at least one bearing strip (54) is arranged between the compensation-side guide strip (60) and the frame-side guide strip (52).

8. Compensation unit (10) according to one of claims 5 to 7, wherein the at least one bearing strip (54) is designed as a cross roller guide.

9. Compensation unit (10) according to one of claims 5 to 8, wherein the at least one guide rail (42, 52, 60) is designed as a V-shaped cross rail.

10. Compensation unit (10) according to one of claims 2 to 9, wherein the guide frame (32) has a rectangular, in particular square, cross-section along a z-axis running perpendicular to the guide plane (62), in particular with a central passage (50).

11. Compensation unit (10) according to one of the preceding claims, wherein a locking module (70) is provided for locking the compensating part (16) in the basic position, in particular with a centering bolt (72) displaceable along the z-axis between a release position and a locking position.

12. Compensation unit (10) according to claim 11, wherein the centering bolt (72) has a first bevel (80), wherein a second bevel (84) is provided on the compensation part (16), and wherein in the locking position the first bevel (80) and the second bevel (84) interact such that the compensation unit (10) is displaced into the home position.

13. Compensation unit (10) according to claim 11 or 12, wherein a locking piston (88) is arranged on the centering bolt (72), wherein the locking piston (88) at least one pressurizable pressure chamber (96, 98).

14. Compensation unit (10) according to one of the preceding claims, wherein a fixing module (102) is provided for fixing the compensating part (16) in the compensating position.

15. Compensation unit (10) according to claim 14, wherein the fixing module (102) is provided as an annular piston (104) displaceable along the z-axis between a release position and a fixing position for fixing the compensating part (16) in the compensating position.

16. Compensation unit (10) according to claim 14 or 15, wherein the fixing module (102) defines at least one further pressure chamber (116) which can be pressurized.

17. Compensation unit (10) according to one of the preceding claims, wherein a sensor device (130) for detecting the position of the compensating part (16) is provided with a signal transmitter (132) and a signal receiver (134).

18. System with a handling device (12), with a compensation unit (10) according to one of the preceding claims and in particular with a tool (20) arranged on the compensation unit (10).

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