公开(公告)号：US20200156721A1

公开(公告)日：2020-05-21

申请号：US16452532

申请日：2019-06-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jianxin Pang

IPC: B62D57/032

Abstract: The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feel of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.

公开(公告)号：US20190160693A1

公开(公告)日：2019-05-30

申请号：US15856054

申请日：2017-12-28

Applicant: UBTECH Robotics Corp

Inventor： YOUJUN XIONG ,  Xiaopeng Wu ,  Meichun Liu

IPC: B25J17/00 ,  F16H21/44

Abstract: A servo transmission mechanism includes a servo main body, a first housing, a second housing, a connecting rod, and a linking member. The semi main body includes a first end having an output shaft and a second opposite end. The first housing is connected to the output shaft of the servo main body. The connecting rod has an upper end and a lower end that includes a connecting shaft, opposite ends of which are rotatably connected to the first housing and the second housing, respectively. The linking member rotatably connects the upper end of the connecting rod to the second end of the servo main body.

公开(公告)号：US20190118380A1

公开(公告)日：2019-04-25

申请号：US15856052

申请日：2017-12-27

Applicant: UBTECH Robotics Corp.

Inventor： YOUJUN XIONG ,  Haiwu Su

IPC: B25J9/16 ,  G01M1/30 ,  G01M1/12

Abstract: The present disclosure is applicable to robot technology. A method, an apparatus and a terminal device for robot fall prediction are provided. The method includes: searching for a gravity center offset weighting value corresponding to a posture of a robot; correcting a gravity center offset of the robot basing on the gravity center offset weighting value; correcting an acceleration of the robot basing on a gravity center offset direction of the robot; and determining whether the robot will fall or not basing on the corrected gravity center offset and the corrected acceleration. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.

公开(公告)号：US20190097496A1

公开(公告)日：2019-03-28

申请号：US15851719

申请日：2017-12-21

Applicant: UBTECH Robotics Corp

Inventor： YOUJUN XIONG ,  Yong Fu ,  Hongyu Ding

IPC: H02K7/116 ,  H02K11/30 ,  H02K11/215

CPC classification number: H02K7/116 ,  H02K11/215 ,  H02K11/30 ,  H02K11/33

Abstract: A brushless servo includes a housing, a motor, a printed circuit board (PCB), a servo output shaft and a gear transmission mechanism that are accommodated within the housing. The motor includes a motor output shaft that is arranged in parallel with the servo output shaft. The gear transmission mechanism includes a number of gearsets that connect the motor output shaft to the servo output shaft. Each gearset has a gear and a pinion that is smaller than the gear, and each of a first one of the gearsets and a last one of the gearsets is arranged in a manner that the gear is below the pinion thereof. Each of the rest of the gearsets is arranged in a manner that the gear is above the pinion thereof.

公开(公告)号：US20190001486A1

公开(公告)日：2019-01-03

申请号：US15716436

申请日：2017-09-26

Applicant: UBTECH Robotics Corp

Inventor： YOUJUN XIONG ,  Wenquan Shu ,  Feng Hu

IPC: B25J9/10 ,  B25J17/00

Abstract: An assembly for a robot includes a servo comprising an output gear, a servo housing connected to the servo, a rotary support connected to the servo and the servo housing, the rotary support being configured to rotate as driven by the servo; and a stopper assembly arranged at the servo housing and the rotary support. The stopper assembly is used to limit the rotary support to be rotatable in a predetermined range.

公开(公告)号：US20180373261A1

公开(公告)日：2018-12-27

申请号：US15721759

申请日：2017-09-30

Applicant: UBTECH Robotics Corp

Inventor： YOUJUN XIONG ,  Jiawen Hu ,  Gaobo Huang

IPC: G05D1/02

Abstract: The present disclosure relates to a recharging alignment method of a robot and a robot thereof. The recharging alignment method includes adjusting a signal receiver of the robot to a first critical point to obtain position information of the first critical point, adjusting the signal receiver from the first critical point to a second critical point to obtain position information of the second critical point, determining a mid-point of the first critical point arid the second critical point according to the position information of the first critical point and the second critical point, and adjusting the signal receiver to the mid-point to align with the recharging dock, so as to accurately align with the recharging dock.

公开(公告)号：US20180186016A1

公开(公告)日：2018-07-05

申请号：US15465621

申请日：2017-03-22

Applicant: UBTECH Robotics Corp.

Inventor： YOUJUN XIONG ,  Feng Hu ,  Xinpu Chen

IPC: B25J17/00 ,  B62D57/032 ,  B25J15/02

CPC classification number: B25J17/00 ,  B25J15/02 ,  B25J17/0258 ,  B25J17/0275 ,  B25J18/04 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/28

Abstract: A leg structure includes: a pair of first-stage leg servos connected to the waist structure, each of the first-stage leg servos including a first output shaft; second-stage leg servos corresponding to and arranged opposite to the first-stage leg servos, the second-stage leg servos including second output shafts perpendicular to the first output shaft; a pair of connecting assemblies each used for mounting one of the first-stage leg servos and one of the second-stage leg servos, the connecting assemblies each including a connecting member for mounting one end of the first output shaft and one end of the second output shaft, a first end cover fixed to the connecting member and used for mounting the other end of the first output shaft, and a second end cover fixed to the connecting member and used for mounting the other end of the second output shaft.

公开(公告)号：US20180186014A1

公开(公告)日：2018-07-05

申请号：US15448495

申请日：2017-03-02

Applicant: UBTECH Robotics Corp.

Inventor： YOUJUN XIONG ,  Wenquan Shu ,  Wenhua Yu ,  Qi Zhao ,  Youpeng Li

IPC: B25J17/00

CPC classification number: B25J17/00 ,  Y10T74/20329

Abstract: A robot includes a head, a shoulder, and a rotary structure. The head includes a housing and a fixing frame. Connection assemblies are disposed between the housing anti the fixing frame. Each of the connection assemblies has a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, and the flange is fixedly connected to the housing. The rotary structure includes an adapter rotatably connecting the fixing shaft about an axis of the fixing shaft and a drive source rotating the adapter. The adapter has an installation disc portion for connecting the shoulder and a drive portion for connecting the drive source.

公开(公告)号：US20180169862A1

公开(公告)日：2018-06-21

申请号：US15432923

申请日：2017-02-15

Applicant: UBTECH Robotics Corp.

Inventor： YOUJUN XIONG ,  Jiawen Hu ,  Gaobo Huang

IPC: B25J9/16

CPC classification number: B25J9/1664

Abstract: A motion control method for a robot is disclosed. The robot includes a determining module, a merging module, and a controlling module. The determining module determines whether at least two motion tasks executed in an adjacent sequence satisfy a merging condition. The merging module merges the at least two motion tasks to a new motion task, when the merging condition is satisfied. The controlling module controls the robot to perform the new motion task.