Patent ID: 9151343
Filing Date: 2015-10-06
Classification: B25J,F16D,Y10T

Abstract:
1. A compensation device configured to be interposed between a robot and a robotic tool, the compensation device comprising: a first section having an interior space with an axis; a second section connected to the first section and including a central opening that is axially aligned with the interior space in a home position; a piston positioned within the first and second sections and being movable along the axis relative to each of the first and second sections; ball members positioned within the interior space and the central opening, the ball members being radially movable relative to the axis; the piston being movable along the axis between a first position and a second position, the first position being in proximity to a bottom of the interior space and the second position being farther away from the bottom of the interior space than the first position, the piston being in contact with the ball members in the second position to force the ball members radially outward away from the axis and into contact with the second section to secure the position about the axis of the second section relative to the first section; the first and second sections being mechanically interlocked through a radial flange on the first section that is positioned within a corresponding gap in the second section to connect the first and second sections together and prevent removal of the second section from the first section when the piston is in both the first and second positions; the second section being radially movable relative to the axis of the interior space of the first section, the second section being movable away from the home position to offset positions with the central opening being axially misaligned with the interior space; and a plurality of secondary pistons mounted in the first section and movable to contact against the second section to lock the position of the second section relative to the first section at the offset positions.