Patent ID: 8794418

Claim:
A compensation device adapted to be interposed between a robot and a robotic tool, the compensation device comprising: a first section configured to be mounted to the robot and comprising a cavity formed between a bottom wall and a side wall and including an open top, the cavity extending along a first axis; a second section configured to be operatively connected to the robotic tool, the second section comprising: an elongated member with a first end and a second end, the first end positioned in the cavity and in contact with and forming a pivot bearing with the first section with the second end extending outward beyond the top of the cavity; a tool plate spaced along the elongated member and away from the first end; a radial member mounted to and extending radially outward from the elongated member and positioned axially along the elongated member between the first end and the tool plate and being located within the cavity, the radial member including a plurality of seats positioned around the periphery and facing radially outward towards the side wall of the cavity; a piston positioned in the first section and being axially movable along the first axis, the piston including a contact surface that faces radially inward towards the seats; and a plurality of ball members positioned relative to the first axis radially between the radial member and the piston with one of the plurality of ball members positioned in each of the seats; the piston being biased away from the bottom wall and towards the tool plate to contact the ball members and apply a radial force around the elongated member to bias the elongated member to be aligned along the first axis.