公开(公告)号：US11759945B2

公开(公告)日：2023-09-19

申请号：US17547274

申请日：2021-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongyu Ding ,  Yisen Hu ,  Jian Li

IPC: B25J9/12 ,  B25J9/10 ,  B25J13/08

CPC classification number: B25J9/102 ,  B25J9/108 ,  B25J9/126 ,  B25J13/088

Abstract: A dual-output-shaft servo includes a housing including two first sensors and two actuating mechanisms. Each actuating mechanism includes a motor assembly, a speed reduction mechanism opposite the motor assembly, and a transmission mechanism arranged between the motor assembly and the speed reduction mechanism. The speed reduction mechanism includes an output component, and a connection shaft is fixed to the output component. A first sensor counterpart is attached to an end of the connection shaft which faces the motor assembly. The transmission mechanism is to transmit mechanical power from the motor assembly to the speed reduction mechanism. The axes of rotation of the output components of the speed reduction mechanisms are skew or intersected with each other.

公开(公告)号：US20220134581A1

公开(公告)日：2022-05-05

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

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.

公开(公告)号：US20210347038A1

公开(公告)日：2021-11-11

申请号：US16902205

申请日：2020-06-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHENGKUN ZHANG ,  Liang Huang ,  Jianbo Li ,  Jingchen Li ,  Hongyu Ding ,  Wenhua Fan ,  Won Suk You ,  Raymond Ma ,  Muhammed Rasid Pac ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/04 ,  B25J17/00 ,  B25J19/00 ,  B25J13/08

Abstract: A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.

公开(公告)号：US11148283B2

公开(公告)日：2021-10-19

申请号：US16702480

申请日：2019-12-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jianli Chen ,  Youjun Xiong ,  Hongyu Ding ,  Jianxin Pang

IPC: B25J9/12 ,  B25J9/10 ,  B25J17/02 ,  F16H1/20

Abstract: A servo includes a housing, and a motor, a reduction gear drive mechanism, an output shaft, a position sensor and at least two stages of transmission gear. The reduction gear drive mechanism is connected with motor and the output shalt of the servo, the reduction gear drive mechanism used to transmit power from the motor to the output shaft of the servo. A head stage of the transmission gear is located on a tail end of the output shaft of the servo, and the position sensor is located at an axis of a tail stage of the transmission gear. The at least two stages of transmission gear transmit a rotation angle of the output shaft of the servo to the position sensor by a ratio of 1:1, the position sensor is not arranged coaxially with the output shaft of the servo.

公开(公告)号：US20210197404A1

公开(公告)日：2021-07-01

申请号：US16854856

申请日：2020-04-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Li ,  Hongyu Ding ,  Youpeng Li ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J17/00 ,  F16H49/00 ,  F16H57/02 ,  H02K7/08 ,  H02K7/116 ,  H02K11/215 ,  H02K11/22

Abstract: A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.

公开(公告)号：US10857681B2

公开(公告)日：2020-12-08

申请号：US16370889

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

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

IPC: B25J15/08 ,  F16C1/12 ,  F16H25/20 ,  B25J15/00 ,  F16C1/16

Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.

公开(公告)号：US20200206955A1

公开(公告)日：2020-07-02

申请号：US16370891

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

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

IPC: B25J15/10 ,  B25J9/10

Abstract: A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.

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：US10081111B1

公开(公告)日：2018-09-25

申请号：US15823612

申请日：2017-11-28

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Yong Fu ,  Hongyu Ding

IPC: B25J15/02 ,  B25J15/10

CPC classification number: B25J15/0213 ,  B25J15/0226 ,  B25J15/10

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. An output end of the planetary gear transmission assembly includes a cam having a number of protruding portions in a circumferential direction thereof. Each two adjacent protruding portions are spaced apart from each other by a space, thereby forming a curved circumferential surface. One end of each of the claws stays in contact with the curved circumferential surface, enabling the claws to be rotatable toward or away from one another when driven by the cam.

公开(公告)号：US12281642B2

公开(公告)日：2025-04-22

申请号：US18588046

申请日：2024-02-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongkui Huang ,  Hongyu Ding ,  Yisen Hu ,  MaLin Wang ,  Youpeng Li

IPC: F03G1/10 ,  B25J9/10

Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising an open end and an opposite, closed end; an elastic member attached to the sleeve; a sliding member slidably arranged at the open end of the sleeve, wherein opposite ends of the elastic member are respectively in contact with the closed end of the sleeve and the sliding member; a first telescopic link comprising a first end pivotally connected to the sliding member and an opposite, second end; and a second telescopic link comprising a first end pivotally connected to the sliding member and a second end. The second ends of the first telescopic link and the second telescopic link are pivotally connected to a rotating member at an end of the joint, and the first telescopic link and the second telescopic link are to extend and retract to drive the sliding member to side along the sleeve.