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1.发明授权公开(公告)号：US11110607B2
公开(公告)日：2021-09-07
申请号：US16535108
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Yongping Zeng , Jianxin Pang
Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.
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公开(公告)号：US10894319B2
公开(公告)日：2021-01-19
申请号：US16671164
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
IPC: B25J19/00 , B25J9/16 , B25J9/10 , G05F1/10 , G05B19/414
Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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3.发明申请公开(公告)号：US20200206936A1
公开(公告)日：2020-07-02
申请号：US16535108
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Yongping Zeng , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.
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公开(公告)号：US20200206914A1
公开(公告)日：2020-07-02
申请号：US16671164
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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公开(公告)号：US11230012B2
公开(公告)日：2022-01-25
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.
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Patent Agency Ranking
公开(公告)号：US20200206929A1
公开(公告)日：2020-07-02
申请号：US16727956
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun XIONG , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides duplicate servo ID detection methods and a servo for a robot. One of the method includes: transmitting, by the main controller, a query instruction including a specific servo ID to at least two of the servos of the robot through a bus; differentiating feedback information replied by at least two of the servos corresponding to the specific servo ID; and determining, by the main controller, there being at least two of the servos with the same servo ID, if the feedback information not meeting a predetermined verification rule is received. Through the technical solution provided by this embodiment, the detection of duplicate servo ID can be realized, and the servos on the bus that have the same servo ID can be found so us to remind the user of the robot, thereby guaranteeing the normal operation of the robot.
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公开(公告)号：US10962109B2
公开(公告)日：2021-03-30
申请号：US16447982
申请日：2019-06-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Wenhua Fan , Zhongliang Wang , Hanyu Sun
Abstract: A servo includes a motor having a rotating shaft, an output shaft disposed apart from the rotating shaft, a transmission mechanism to transmit mechanical power from the motor to the output shaft, a circuit board, a first detected member fixed to an end of the rotating shaft, a second detected member fixed to an end of the output shaft adjacent to the circuit board; and a first detecting member and a second detecting member mounted on the circuit board and configured to respectively detect rotational angles of the rotating shaft and the output shaft, based on changes caused by rotation of the first detected member and the second detected member.
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8.发明授权公开(公告)号：US10960319B2
公开(公告)日：2021-03-30
申请号：US16727969
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Wei He , Wenhua Fan , Zhongliang Wang , Youjun Xiong
Abstract: A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.
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公开(公告)号：US20200206935A1
公开(公告)日：2020-07-02
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: The present disclosure provides a servo calibration method as well as an apparatus and a robot using the same. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Through the present disclosure, the problem in the prior art that the process of the calibration is cumbersome can be solved.
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10.发明申请公开(公告)号：US20200206646A1
公开(公告)日：2020-07-02
申请号：US16727969
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Wei He , Wenhua Fan , Zhongliang Wang , Youjun Xiong
Abstract: A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.
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