公开(公告)号：US10211766B2

公开(公告)日：2019-02-19

申请号：US15591059

申请日：2017-05-09

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Lifu Zhang

IPC: G01D5/12 ,  H02P7/00 ,  H02P6/20

Abstract: The present disclosure relates to a multi-turn angle controlling method based on an absolute position encoder, including: obtaining a target angle according to a starting position and a target position, and obtaining number of times N that the target angle passes a predetermined position, determining whether an absolute value of the target angle being greater than 360 degrees, conducting a first operation mode upon determining that the absolute value of the target angle being greater than 360 degrees, incrementing M by one when the operation angle passes the predetermined position until M equals to N, M is a positive integer and an initial value of M is zero, and conducting a second operation mode when M equals to N, N is a positive integer greater than 1.

公开(公告)号：US10031506B2

公开(公告)日：2018-07-24

申请号：US15409490

申请日：2017-01-18

Applicant: UBTECH Robotics Corp.

Inventor： Wenhua Fan ,  Lifu Zhang ,  Xi Bai ,  Youjun Xiong

IPC: G05B19/18 ,  G05B19/19 ,  G05B19/416

CPC classification number: G05B19/19 ,  G05B19/416 ,  G05B2219/37313 ,  G05B2219/37323 ,  G05B2219/41223 ,  G05B2219/41436 ,  G05B2219/43147

Abstract: A motion control method includes: (a) obtaining a current position and a current velocity of a control object at a current time; (b) obtaining a current acceleration based on the current position and the current velocity, wherein the current acceleration has a positive correlation with a difference between the current position and a target position as well as a negative correlation with the current velocity; (c) controlling a motor for driving the control object utilizing the current acceleration; and (d) iteratively performing the steps (a)-(c) until the control object reaches the target position. A motion trajectory planning method and a motion control device are further provided. Through the above-mentioned way, the present disclosure could realize the smooth acceleration and smooth deceleration of the motor. As a result, smooth motion trajectory, less vibration, and stable motor with less overshoot could be achieved.

公开(公告)号：US20180188707A1

公开(公告)日：2018-07-05

申请号：US15640581

申请日：2017-07-03

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Lifu Zhang ,  Xi Bai ,  Wenhua Fan

IPC: G05B19/402

CPC classification number: G05B19/402 ,  G05B19/23 ,  G05B2219/34013 ,  G05B2219/37589

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.

公开(公告)号：US20180188073A1

公开(公告)日：2018-07-05

申请号：US15473610

申请日：2017-03-30

Applicant: UBTECH Robotics Corp.

Inventor： YOUJUN XIONG ,  Lifu Zhang ,  Wenhua Fan ,  Zhongliang Wang

IPC: G01D5/02 ,  G05B15/02

CPC classification number: G01D5/02 ,  G05B19/4065 ,  G05B2219/42328

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.

公开(公告)号：US11685043B2

公开(公告)日：2023-06-27

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 ,  B25J13/08 ,  B25J19/00 ,  B25J9/12

CPC classification number: B25J9/046 ,  B25J13/085 ,  B25J13/086 ,  B25J17/00 ,  B25J19/0004 ,  B25J9/126

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：US11230012B2

公开(公告)日：2022-01-25

申请号：US16508335

申请日：2019-07-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Hanyu Sun ,  Wenhua Fan ,  Lifu Zhang ,  Zhongliang Wang ,  Jianxin Pang

IPC: B25J19/02 ,  B25J9/16

Abstract: A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.

公开(公告)号：USD932530S1

公开(公告)日：2021-10-05

申请号：US29738499

申请日：2020-06-18

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Brandon Jon LaPlante ,  Liang Huang ,  Chengkun Zhang ,  Jianbo Li ,  Jingchen Li ,  Francisco Jose Hernandez ,  Shixun Chen ,  Hongyu Ding ,  Wenhua Fan ,  Xinshui Huang ,  Huan Tan ,  Youjun Xiong

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.