Apparatus for the automated handling of workpieces

A method of operating an apparatus for automated handling of workpieces, wherein the apparatus comprises:

• an object recognition device for detecting the workpieces;
• a gripper arranged at a gripping arm for picking the workpieces;
• a control for evaluating data of the object recognition device, for track planning and for controlling the gripping arm and the gripper;
• and a compensation unit which allows an evasion movement of the gripper on the exceeding of a first load of the gripping arm, comprising
• selecting the first load to be larger than forces occurring in normal operation due to a gripper's own weight and a weight of a workpiece at least in a travel position of the gripper, wherein the compensation unit remains rigid below the first load so that evasion movements of the gripper are prevented in normal operation.

An apparatus for the automated handling of workpieces, comprising:

• an object recognition device for detecting the workpieces;
• a gripper arranged at a gripping arm for picking the workpieces;
• a control for evaluating data of the object recognition device, for track planning and for controlling the gripping arm and the gripper;
• and
• a compensation unit which allows an evasion movement of the gripper,
• wherein the control is configured so that it changes an orientation of the gripper after picking up of a workpiece from a slanted gripper position to a travel position of the gripper such that static forces acting on the compensation unit by a gripper's own weight and a weight of the workpiece are reduced,
• wherein the compensation unit only allows an evasion movement of the gripper on the exceeding of a predefined first load of the gripping arm and remains rigid below the first load, wherein the first load is larger than a load exerted on the gripping arm solely by the gripper and the picked workpiece in the travel position of the gripper, while the static or dynamic load exerted on the gripping arm solely by the gripper and the picked workpiece in the slanted gripper position may exceed the first load.