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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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12.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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公开(公告)号：US20200161803A1
公开(公告)日：2020-05-21
申请号：US16445243
申请日：2019-06-19
Applicant: Ubtech Robotics Corp Ltd
Inventor： Youjun Xiong , Wenhua Fan , Jianxin Pang
Abstract: An electronic building block includes a first side and a second side, a first magnet fixed to the first side and including a number of first magnet segments, a second magnet fixed to the second side and including a number of second magnet segments, a first power contact, a second power contact and a first communication contact arranged on the first side; and a third power contact, a fourth power contact and a second communication contact arranged on the second side and respectively coming into contact with the first power contact, the second power contact, and the first communication contact when the first magnet segments of one of two electronic building blocks is connected to the second magnet segments of the other of two electronic building blocks.
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14.发明申请公开(公告)号：US20190163159A1
公开(公告)日：2019-05-30
申请号：US16147591
申请日：2018-09-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Malin Wang , Wenhua Fan , Sheng Zhou
IPC: G05B19/29 , G05B19/414 , B25J9/16
Abstract: The present disclosure relates to a method for controlling zero-return of a servo of a robot, and a servo and a robot with enhanced zero-return. The method includes: outputting an activation command to a motor, and reading a default zero-point of the motor (w1) and a default zero-point of an output shaft of the speed reducer (w2). The output shaft of the motor (w1) is driven to return until the default zero-point of the output shaft of the speed reducer (w2) is the same with the current position of the output shaft of the speed reducer (w4) in response to the default zero-point of an output shaft of the speed reducer (w2) being not the same with the current position of the output shaft of the speed reducer (w4).
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公开(公告)号：US20230415355A1
公开(公告)日：2023-12-28
申请号：US18243669
申请日：2023-09-08
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： ZHONGKUI HUANG , Hongyu Ding , Xixiang Luo , Ming Chen , Wenhua Fan
CPC classification number: B25J15/0009 , B25J15/022
Abstract: A linkage mechanism includes: a base member; a first link having a first end rotatably connected to the base member; a second link rotatably connected to the first link; a connecting member rotatably connected to the base member and the second link; an actuating mechanism having a linear actuator, a pushing member, and a transmission member, the pushing member slidably connected to the output shaft, the pushing member having a pushing surface, the transmission member including a first end hinged to the pushing member, and a second end pivoted to the first end of the first link. When the output shaft extends to push the pushing surface, the pushing member moves and the first link rotates relative to the base member.
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Patent Agency Ranking
公开(公告)号：US11346648B2
公开(公告)日：2022-05-31
申请号：US16626519
申请日：2018-12-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xi Bai , Wenhua Fan , Malin Wang , Youjun Xiong
IPC: G01B5/24 , H02P21/18 , G05B19/416
Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.
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公开(公告)号：US11185983B2
公开(公告)日：2021-11-30
申请号：US16713012
申请日：2019-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Lifu Zhang , Wenhua Fan , Hanyu Sun , Youjun Xiong , Jianxin Pang
Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.
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公开(公告)号：US11059173B2
公开(公告)日：2021-07-13
申请号：US16236518
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jianxin Pang , Lifu Zhang , Wenhua Fan , Dong Liu
IPC: B25J9/16
Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.
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公开(公告)号：US10823582B2
公开(公告)日：2020-11-03
申请号：US16141987
申请日：2018-09-26
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Fan , Yongping Zeng , Sheng Zhou
Abstract: The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.
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公开(公告)号：US10744643B2
公开(公告)日：2020-08-18
申请号：US15960571
申请日：2018-04-24
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Zhenmin Mo
Abstract: The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.
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