Device for compensating joining motions

The invention relates to a joining unit (10, 40) for an articulated arm robot (12, 44) for joining a component (24, 58) with a joining element (28, 60) by applying an axial force. The joining unit (10, 40) comprises a base element (14, 42) for connecting to an articulated arm robot (12, 44). The base element (12, 42) is connected to an advancing unit (13, 46), which can be moved relative to the base element (14, 42) in an axial direction in and against a setting direction. The advancing unit (13, 46) is connected to a setting device (16, 54), which can be moved together with the advancing unit (13, 46). Furthermore, a pressure piece (26, 50) mounted for movement relative to the advancing unit (13, 46) in and against the setting direction is connected to the advancing unit (13, 46) by means of a coupling unit (17, 48). The invention is distinguished in that the coupling unit (17, 48) comprises a blocking unit (18, 56), which, starting from a predefined axial blocking position, prevents motion of the pressure piece (26, 50) relative to the advancing unit (13, 46) against the setting direction so long as the advancing force is less than the set blocking force. The blocking unit comprises a release device (20, 62), by means of which the relative motion of the pressure piece (26, 50) against the setting direction is enabled.