公开(公告)号：US10823233B2

公开(公告)日：2020-11-03

申请号：US16232086

申请日：2018-12-26

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xuchao Du ,  Yongfeng Wu ,  Hongyu Ding

IPC: F16D7/00 ,  B25J9/00 ,  F16H35/10 ,  H02P29/00 ,  H02P29/024

Abstract: An overload protection assembly includes a first gear of a servo, a second gear of the servo, defining a receiving space; and a clutch configured to coaxially couple the first gear to the second gear and transmit torque between the first gear and the second gear. The clutch includes an elastic member arranged around the first gear and received in the receiving space. The elastic member includes a number of protrusions at a circumferential surface thereof, and a number of recesses are defined in a lateral surface of the receiving space. The protrusions are used to be respectively engaged with corresponding ones of the recesses so as to couple the firs gear to the second gear when a value of the torque is less than a preset value, and disengageable from the corresponding ones of the recesses so as to disconnect the first gear.

公开(公告)号：US20200207432A1

公开(公告)日：2020-07-02

申请号：US16708464

申请日：2019-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youpeng Li ,  Youjun Xiong ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

IPC: B62D57/032 ,  B25J18/00 ,  B25J9/10

Abstract: A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.

公开(公告)号：US10682756B1

公开(公告)日：2020-06-16

申请号：US16370890

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

Inventor： Sicong Liu ,  Youjun Xiong ,  Hongyu Ding ,  Jianxin Pang

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10 ,  F16H25/20 ,  F16C1/16

Abstract: A driving assembly of a robotic hand includes an actuator, a fixed member, an elastic member having an end connected to the actuator, two phalanxes rotatably connected to each other through a first revolute joint, one of which is rotatably connected to the fixed member through a second revolute joint, torsion springs mounted to the first revolute joint and the second revolute joint, a first pulling member having two opposite ends that are respectively fixed to the fixed member and the first revolute joint, a second pulling member having two opposite ends that are respectively fixed to the first revolute joint and the second revolute joint, and a third pulling member having two opposite ends that are respectively fixed to the actuator and the second one of the at least two phalanxes.

公开(公告)号：US20200018358A1

公开(公告)日：2020-01-16

申请号：US16232086

申请日：2018-12-26

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Xuchao Du ,  Yongfeng Wu ,  Hongyu Ding

IPC: F16D7/00 ,  H02P29/00 ,  H02P29/024 ,  B25J9/00 ,  F16H35/10

Abstract: An overload protection assembly includes a first gear of a servo, a second gear of the servo, defining a receiving space; and a clutch configured to coaxially couple the first gear to the second gear and transmit torque between the first gear and the second gear. The clutch includes an elastic member arranged around the first gear and received in the receiving space. The elastic member includes a number of protrusions at a circumferential surface thereof, and a number of recesses are defined in a lateral surface of the receiving space. The protrusions are used to be respectively engaged with corresponding ones of the recesses so as to couple the firs gear to the second gear when a value of the torque is less than a preset value, and disengageable from the corresponding ones of the recesses so as to disconnect the first gear.

公开(公告)号：US10377045B2

公开(公告)日：2019-08-13

申请号：US15811725

申请日：2017-11-14

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Yong Fu ,  Hongyu Ding

IPC: B25J15/02 ,  B25J15/08 ,  F16H1/20 ,  F16H1/28 ,  F16H19/02 ,  F16H19/00 ,  B25J15/10 ,  F16H1/22

Abstract: A robotic hand includes a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing. The motor is electrically connected to the PCB. An input end of the planetary gear transmission assembly is connected to an output shaft of the motor, and an output end of the planetary gear transmission assembly includes a helical gear shaft and a number of helical gears that are engaged with the helical gear shaft and the claws. The helical gears correspond to the claws respectively. One end of each of the claws is rotatably connected to the servo housing, and the claws are rotatable toward or away from one another when driven by the helical gears.

公开(公告)号：US20190203817A1

公开(公告)日：2019-07-04

申请号：US15913934

申请日：2018-03-07

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Youpeng Li ,  Hongyu Ding

IPC: F16H37/04 ,  F16H7/02 ,  F16H49/00 ,  B25J9/10

Abstract: An assembly of a robot includes a first member, a second member rotatably connected to the first member to construct a robot joint structure, a driving assembly arranged within the first member, a speed reducer assembly to rotatably connect the first member to the second member, and a belt drive assembly connected to the driving assembly and the speed reducer assembly. The belt drive assembly is used to transmit rotary motion from the driving assembly to the speed reducer assembly, thereby rotating the first member with respect to the second member.

公开(公告)号：US12202131B2

公开(公告)日：2025-01-21

申请号：US18588055

申请日：2024-02-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongkui Huang ,  Hongyu Ding ,  Xuchao Du ,  Zheng Xie ,  Wenhua Fan

IPC: B25J17/02

Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising two, opposite open ends; a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively; an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member; a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide; a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide.

公开(公告)号：US11945528B2

公开(公告)日：2024-04-02

申请号：US17134147

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/02 ,  B62D57/032

CPC classification number: B62D57/032

Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.

公开(公告)号：US20240025038A1

公开(公告)日：2024-01-25

申请号：US18373991

申请日：2023-09-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yisen HU ,  Hao Dong ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/10 ,  B62D57/032

CPC classification number: B25J9/163 ,  B25J9/1664 ,  B25J9/106 ,  B25J9/161 ,  B25J9/1607 ,  B62D57/032

Abstract: A robot control method, a legged robot using the same, and a computer-readable storage medium are provided. The method includes: obtaining a motion parameter of a driving mechanism of a target part of the robot; and obtaining an end pose of the target part by processing the motion parameter of the driving mechanism according to a preset forward kinematics solving model, where the forward kinematics solving model is a neural network model trained by a preset training sample set constructed according to a preset inverse kinematics function relationship. In this manner, a complex forward kinematics solving process can be transformed into a relatively simple inverse kinematics solving process and neural network model processing process, which reduces the computational complexity, shortens the computational time, thereby meeting the demand for real-time control of the robot.

公开(公告)号：US11833673B2

公开(公告)日：2023-12-05

申请号：US17499890

申请日：2021-10-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongkui Huang ,  Zheng Xie ,  Hongyu Ding ,  Qixiang Luo

IPC: B25J19/00 ,  B25J9/10 ,  B25J9/12

CPC classification number: B25J19/0016 ,  B25J9/102 ,  B25J9/108 ,  B25J9/109 ,  B25J9/123

Abstract: An energy storing assistive mechanism includes a barrel having a first pivot end and an open end, a rod having a first end that passes through the open end and is received in the barrel, an elastic structure including two ends that abut against the first end of the rod and the first pivot end, a uni-directional gear rack having a second pivot end away from the barrel, and a locking mechanism fixed to the rod, the locking mechanism comprising a locking member and an actuator assembly that is to drive the locking member to move between a first position where the locking member is engaged with the gear rack, and a second position where the locking member is disengaged from the gear rack.