Compensating device for a handling unit and handling unit comprising the compensating device

A compensating device for positioning between a manipulator of a handling device and an end effector of the handling device, comprising:

• a first interface segment configured to connect to the manipulator;
• a second interface segment configured to connect to an end effector;
• at least one joint device oriented in alignment with a first axis between the first and second interface segments, wherein the first axis is perpendicular to a line in a Y direction defined by passing through a radial center of each of the first interface segment and the second interface segment;
• a first joint partner connected to the first interface segment and a second joint partner connected to the second interface segment;
• and
• at least one locking device configured to lock at least one degree of movement freedom between the first and second interface segments;
• wherein one of the first and second joint partners is a ball segment and the other of the first and second joint partners is a receptacle segment for the ball segment, so that the joint device forms a pivot joint or ball joint,
• wherein the receptacle segment includes at least one ramp region,
• wherein the ball segment is displace-able, from a normal position, in a transverse direction to the first axis into a compensating position, so that the joint device forms a plunge joint,
• wherein when there is a movement of the second interface segment in the direction of a Z axis and/or in the direction of the first interface segment, a pre-tension device undergoes spring compression, so that a degree of movement freedom is provided, and when there is a movement of the second interface segment in the Y direction, the receptacle segment and/or the second joint partner are displaced on a supporting region, the ball segment being pressed, against the pre-tension force of the pre-tension device, in the direction of the first interface segment, so that a degree of movement freedom is provided, and
• wherein the pre-tension device is for pre-tensioning the joint device, so that the ball segment is guided from the compensating position back into the normal position, wherein the locking device is configured to lock the pre-tension device.