公开(公告)号：US20210339406A1

公开(公告)日：2021-11-04

申请号：US17286239

申请日：2019-09-17

Applicant: HangZhou YuShu TECHNOLOGY CO.,LTD.

Inventor： Xingxing WANG ,  Zhiyu YANG

IPC: B25J17/02 ,  B25J19/00 ,  B25J9/10

Abstract: The present application relates to the technical field of robot joints, and discloses a robot dual joint unit, and a legged robot and a cooperative manipulator using the same. The robot dual joint unit includes a first joint consisting of a first motor and reducer assembly, a second joint consisting of a second motor assembly and a second reducer; a first output connecting rod is fixedly provided on an output shaft of the first motor and reducer assembly, the second reducer is provided in the first output connecting rod, and the second motor assembly drives the second reducer through a transmission rod. In the present application, a fixed end of the second motor assembly is fixed with a fixed end of the first motor and reducer assembly, rather than a fixed end of a second motor of a conventional robot joint series structure is fixed on an output end of a first motor and reducer assembly, such that the output inertia of two output shafts of the robot dual joint is smaller, and a power cable leading to the second motor assembly of the second joint is omitted.

公开(公告)号：US20250033221A1

公开(公告)日：2025-01-30

申请号：US18917403

申请日：2024-10-16

Applicant: HangZhou YuShu TECHNOLOGY CO.,LTD.

Inventor： Xingxing WANG

IPC: B25J13/08 ,  B62D57/032 ,  G01L1/02 ,  G01L5/00

Abstract: A foot force acquisition apparatus includes a first connecting rod, a pressure signal acquisition board, a second connecting rod rotatably connected with the first connecting rod, and an air tube provided in the first connecting rod and the second connecting rod. An end portion of the second connecting rod is fixedly provided with an elastic foot pad. An air chamber is provided in the elastic foot pad. One end of the air tube is connected with the air chamber. The other end is connected with the pressure signal acquisition board. By providing the pressure signal acquisition board and providing the air chamber in the foot, the air tube spans a joint formed by the first connecting rod and the second connecting rod to acquire the internal pressure value of the air chamber, thus achieving the advantages of simple structure, low cost and high reliability.

公开(公告)号：US20240042627A1

公开(公告)日：2024-02-08

申请号：US18269444

申请日：2021-11-30

Applicant: HangZhou YuShu TECHNOLOGY CO.,LTD.

Inventor： Xingxing WANG ,  Zhiyu YANG

IPC: B25J17/00 ,  B25J19/00 ,  F16J15/3284

CPC classification number: B25J17/00 ,  B25J19/0075 ,  F16J15/3284

Abstract: A robot joint having a dynamic sealing structure includes a power unit housing and an output shaft rotatable relative to the power unit housing. A soft and hard combined composite sealing ring is provided between the power unit housing and the output shaft. A soft first sealing ring is tightly connected with a joint to effectively seal the rotating joint. A hard second sealing ring slides relative to the joint while sealing the joint, thus reducing the obstruction to the movement of the joint. A quadruped robot applies the robot joint having the dynamic sealing structure. The two sealing rings with different hardness butt against each other to form a dynamic sealing structure used for sealing the joint and capable of maintaining the normal movement of the joint, effectively preventing rainwater, dust and the like from entering the joint, thus protecting the joint of the robot.

公开(公告)号：US20230303192A1

公开(公告)日：2023-09-28

申请号：US18248785

申请日：2021-11-30

Applicant: HangZhou YuShu TECHNOLOGY CO.,LTD.

Inventor： Xingxing WANG

IPC: B62D57/032 ,  B25J19/00 ,  B25J17/00

CPC classification number: B62D57/032 ,  B25J19/0091 ,  B25J19/0075 ,  B25J17/00 ,  F16F15/08

Abstract: A quadruped robot body having a flexible buffer structure includes a housing having an accommodating cavity, a buffer connection portion capable of connecting to a fixed end of a joint unit being provided at at least one position on the housing. The buffer connection portion is provided with a connection hole for fixedly connecting to the joint unit. One or more strip-shaped holes are provided in a region where the buffer connection portion connects to the housing. Further disclosed is a quadruped robot. The strip-shaped hole is provided on the buffer connection portion, and under the action of an external force, the strip-shaped hole can deform slightly to generate a slight displacement between the hole wall and a surrounding region, thus achieving buffering of the external force. The present invention features a simple structure, low manufacturing costs, no need to reserve an additional mounting space, and a compact structure.

公开(公告)号：US20230288680A1

公开(公告)日：2023-09-14

申请号：US18019008

申请日：2021-10-25

Applicant: HangZhou YuShu TECHNOLOGY CO., LTD.

Inventor： Xingxing WANG

IPC: G02B13/06 ,  H04N23/55 ,  B62D57/032

CPC classification number: G02B13/06 ,  H04N23/55 ,  B62D57/032

Abstract: Disclosed is a quadruped robot having an ultra-wide viewing angle. The quadruped robot is equipped with a wide-angle lens or a fisheye lens (2) having a viewing angle that covers a blind area (100) under the robot abdomen, and thus is capable of sensing the terrain under the robot abdomen and obstacles around the robot, achieving ultra-wide vision, and effectively reducing visual blind areas of the quadruped robot. Therefore, the solution can help the robot to select footholds for feet to prevent the feet from slipping or stepping into pits or holes, or can be used for preventing the feet from hitting obstacles while swinging or for preventing the robot from hitting obstacles around the robot during movement. Thus, the solution prevents loss of control and damage of the quadruped robot, improves the motion sensing capability, and effectively satisfies the requirements for autonomous movement and obstacle avoidance of quadruped robots.