Passive centraliser

The passive centraliser addresses the complexity and cost issues of existing compliance compensators by using gravity to automatically recenter the end effector, offering a simpler and more responsive solution for robot arm misalignment compensation.

WO2026132105A1 Publication Date: 2026-06-25OCADO INNOVATION LTD
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Patent Information

Application Number
PCT/EP2025/087804
Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
Priority Date
2024-12-19
Filing Date
2025-12-17
Publication Date
2026-06-25

AI Technical Summary

Technical Problem

Existing compliance compensators for robot arms require active recentering mechanisms, such as pneumatics or electromagnets, which are complex, costly, and prone to failure, while force torque sensing systems are expensive and vulnerable to external wear.

Method used

A passive centraliser mechanism that uses gravity to automatically recenter the end effector by connecting it to a robot arm, allowing horizontal and rotational misalignment compensation without the need for active actuation, using a housing with inclined surfaces and resilient members to lock into place when an object is lifted.

Benefits of technology

The passive centraliser provides a simpler, cost-effective, and faster response mechanism for compensating misalignment, reducing complexity and parts, and enhancing stability and responsiveness.

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Abstract

A passive centraliser is provided for compensating horizontal misalignment between an end effector and a target object, the passive centraliser being configured to connect the end effector to a robot arm, the passive centraliser comprising: a housing configured to connect to the robot arm, the housing comprising a base having an opening; an assembly within the housing, the assembly comprising a centrally located protrusion that protrudes through the opening of the housing and is configured to connect to the end effector; the passive centraliser being moveable between an unlocked position in which the assembly is able to move horizontally relative to the housing, and a locked position in which the assembly is not able to move horizontally relative to the housing, characterised in that: the base has an upper surface downwardly inclined toward the opening; and the assembly comprises a lower surface complementary to the shape of the downwardly inclined upper surface of the base; wherein: in the unlocked position the assembly is lifted vertically to separate the lower surface of the assembly from the upper surface of the base and to enable the protrusion to move laterally within the opening; and when the end effector lifts an object, the weight of the object pulls the assembly down into the locked position to cause the lower surface of the assembly to rest on the upper surface of the base and to position the protrusion centrally in the opening. A robot arm is provided, connected to an end effector via a passive centraliser as defined herein.
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