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公开(公告)号：US10317874B2
公开(公告)日：2019-06-11
申请号：US15640581
申请日：2017-07-03
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Lifu Zhang , Xi Bai , Wenhua Fan
IPC: G05B19/23 , G05B19/402
Abstract: The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.
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262.发明申请公开(公告)号：US20190163209A1
公开(公告)日：2019-05-30
申请号：US16161093
申请日：2018-10-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Fan , Hanyu Sun , Zhongliang Wang
Abstract: The present disclosure relates to a method, a terminal device, and a computer readable storage medium for controlling rotation of a servo. The method includes: acquiring a loading mass and a rotation radius of the servo from a sensor electrically connected with the servo or by an externally input; calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo; setting an angular acceleration of the servo according to the angular acceleration threshold; and rotating the servo according to the angular acceleration.
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公开(公告)号：US20190160659A1
公开(公告)日：2019-05-30
申请号：US16161099
申请日：2018-10-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Dong Liu , Zhenmin Mo , Zhongliang Wang
Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.
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公开(公告)号：US10279472B2
公开(公告)日：2019-05-07
申请号：US15321727
申请日：2016-10-28
Applicant: UBTECH Robotics Corp.
Inventor： Dong Liu , Youjun Xiong
IPC: B25J9/00 , B25J9/12 , B25J13/00 , G05B19/042 , G05B19/414
Abstract: The present invention discloses a servo control system and a servo. A servo control system includes a main control module; and a communication module including a first communication interface, a second communication interface and a control switch unit. First communication terminal and second communication terminal of the control switch unit are correspondingly coupled to the first communication interface and the second communication interface. First enabling port and second enabling port of the control switch unit are correspondingly coupled to two enabling terminals of the main control module. The main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level. In the above manner, the present invention can assign an identification number to a servo during initialization of the servo, avoiding the installing inconvenience caused by that servo identification numbers are fixed.
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公开(公告)号：US20190121328A1
公开(公告)日：2019-04-25
申请号：US16140546
申请日：2018-09-25
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Mingzhao Li , Zhenmin Mo
IPC: G05B19/416 , G05B19/19 , G05B21/02
Abstract: A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second ideal motion curve to a second ideal end position from a corresponding ideal position on a first ideal motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second ideal end position according to the second ideal motion curve. When the second motion instruction is received, the servo is controlled to rotate from the ideal position to the second ideal end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.
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Patent Agency Ranking
公开(公告)号：US20190097491A1
公开(公告)日：2019-03-28
申请号：US15826686
申请日：2017-11-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Yong Fu , Hongyu Ding
Abstract: A servo includes a housing, a motor, a printed circuit board (PCB) and a servo output shaft that are accommodated within the housing. The motor is electrically connected to the PCB. The housing has a lateral side defining a cutout. The servo further includes a gear transmission mechanism and an output arm. The gear transmission mechanism is used to connect a motor output shaft of the motor to the servo output shaft. The output arm has an end that is arranged within the housing at a substantially central position and connected to the servo output shaft, and another end extending out of the housing to connect with an external component.
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公开(公告)号：US10209093B2
公开(公告)日：2019-02-19
申请号：US15473610
申请日：2017-03-30
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Zhongliang Wang
IPC: G01M13/02 , G01D5/02 , G05B19/4065
Abstract: A device sod a method for measuring servo gear idle position are provided. The method includes: outputting a start-up fixed force of a first rotation direction to an output shall of a servo under test, and recording a value of a start-up position of the output shaft when a position of a rotor of the servo under test changes for the first time; outputting a counterrotation force of a second rotation direction for rotating the output shaft to the output shaft, and recording a value of an counterrotation position of the output shaft when the rotor is in a stop status after a predetermined interval; and calculating a value of a servo gear idle position in a current measuring point, the value of the idle position is the absolute value of the difference between the value of the start-up position and the value of the counterrotation position.
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公开(公告)号：US20190001509A1
公开(公告)日：2019-01-03
申请号：US15717941
申请日：2017-09-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Feng Hu , Xinpu Chen , Wenquan Shu
Abstract: A winding structure of a joint of a robot includes a first servo, a second servo connected to the first servo, the second servo being rotatable with respect to the first servo, a flexible printed circuit board (FPCB) configured to connect the first servo to the second servo; and a winding assembly connected to the first servo. The winding assembly is used to wind the FPCB thereon.
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公开(公告)号：US20180361573A1
公开(公告)日：2018-12-20
申请号：US15815583
申请日：2017-11-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Wenxue Xie
Abstract: The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time.
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公开(公告)号：US10143933B1
公开(公告)日：2018-12-04
申请号：US15663704
申请日：2017-07-29
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Xiaopeng Wu , Xinpu Chen
Abstract: A robot includes a body having a torso, a pair of arms and servos configured to drive the arms. A first end of each of the arms is movably connected to the torso via a corresponding one of the servos. An opposite, second end of each of the arms is connected with a hand. A first connection member is arranged on the body. A fake gun includes a second connection member that is magnetically attractable to the first connection member, and is connected to the body when the second connection member is attracted to the first connection member. One of the arms is rotatable and the hand of the one of the arms and the fake gun are configured in such a way that fake gun is detachably connected to the hand of the one of the arms when the one of the arms is rotated to a predetermined position.
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