公开(公告)号：US11080404B2

公开(公告)日：2021-08-03

申请号：US16576807

申请日：2019-09-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Malin Wang ,  Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Sheng Zhou ,  Jianxin Pang

IPC: G06F8/654 ,  G06F9/4401 ,  G06F21/57 ,  G06F13/40 ,  G06F8/65

Abstract: A firmware upgrade method for a slave station of a robot communicates with a master station of the robot via an EtherCAT bus of the robot, includes: switching a work mode of the slave station to an upgrade mode in response to a firmware upgrade instruction, receiving a new firmware corresponding to this firmware upgrade via the EtherCAT bus, storing the new firmware in a second storage area of a flash memory of the slave station, restarting the slave station after the new firmware is received, and copying the new firmware stored in the second storage area to a first storage area of the flash memory and executing the new firmware in the first storage area when the slave station is started. A slave station of the robot and a machine readable storage medium are also provided.

公开(公告)号：US20210046647A1

公开(公告)日：2021-02-18

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

IPC: B25J9/16

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.

公开(公告)号：US10819065B2

公开(公告)日：2020-10-27

申请号：US16445243

申请日：2019-06-19

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Wenhua Fan ,  Jianxin Pang

IPC: H01R13/62 ,  H01R13/22

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.

公开(公告)号：US20200212897A1

公开(公告)日：2020-07-02

申请号：US16509515

申请日：2019-07-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Hanyu Sun

IPC: H03K3/3565 ,  H03K5/24

Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.

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.