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.

公开(公告)号：US20190198048A1

公开(公告)日：2019-06-27

申请号：US16163589

申请日：2018-10-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Malin Wang

IPC: G11B5/584 ,  G11B5/55

Abstract: The present disclosure provides a linearity detecting method and apparatus for a servo position sensor, and a robot with the same. The method includes: collecting and saving m output angle of the servo under test; analyzing the output angle to obtain a relationship curve of angle and time of the servo under test to rotate for one turn; extracting angle information of a starting point to an ending point of the output angle corresponding to the position sensor in the servo under test based on the relationship curve of angle and time to obtain valid angle data; and determining whether the output angle corresponding to the position sensor is linear based on the valid angle data. The present disclosure can solve the problem that an external sensor and a fixture are required when detecting the linearity of the sensor which causes complicated operation, high detection cost, and low detection efficiency.

公开(公告)号：US20190165622A1

公开(公告)日：2019-05-30

申请号：US16195866

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Yan Zhou ,  Youpeng Li ,  Wenhua Fan

IPC: H02K1/22

Abstract: An inner rotor lamination for a permanent magnet direct current motor includes a yoke and a plurality of teeth connected to the yoke. Each of the teeth has a tooth body connected to the yoke and a tooth tip connected to a distal end of the tooth body. A winding slot is formed between each two adjacent tooth bodies. One tooth tip defines one or more first through holes adjacent to a radial end thereof, and one or more second through holes. Each of the one or more second through holes is located adjacent to one circumferential end of the at least one tooth tip.

公开(公告)号：US20180191278A1

公开(公告)日：2018-07-05

申请号：US15469491

申请日：2017-03-25

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Wenhua Fan ,  Xi Bai ,  Dong Liu

IPC: H02P6/16

CPC classification number: H02P7/2913 ,  H02P9/02

Abstract: A control method of direct current (DC) machine includes the following steps: obtaining a target speed n, detecting a current speed nk, calculating a current rotating speed difference ek, calculating a speed base voltage W according to the current speed nk, calculating a PID adjustment voltage V according to the current rotating speed difference ek, calculating an output voltage U according to the PID adjustment voltage V and the speed base voltage W, and driving the DC machine according to the output voltage U.

公开(公告)号：US20180188282A1

公开(公告)日：2018-07-05

申请号：US15455062

申请日：2017-03-09

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Wenhua Fan ,  Lifu Zhang ,  Jianyun Xiao

IPC: G01P3/481

CPC classification number: G01P3/481 ,  G01D5/243

Abstract: A method for measuring speed of a permanent magnet synchronous motor includes: acquiring a number K of pulse signals received in a current measuring period and outputted by an incremental encoder; acquiring a first duration Sn−1 between a time point when a pulse is last received in a previous measuring period and a time point when the previous measuring period ends, and a second duration Sn between a time point when a pulse is last received in the current measuring period and a time point when the current measuring period ends; calculating a third duration T0, measured between the time point when the pulse is last received in the previous measuring period and the time point when the pulse is last received in the current measuring period, according to the length T of the measuring period, the first duration Sn−1 and the second duration Sn; and calculating a motor speed v according to formula: v = K K 0 × 1 T   0 .

公开(公告)号：US20180188074A1

公开(公告)日：2018-07-05

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

CPC classification number: H02P7/00 ,  H02P6/20 ,  H02P2203/03

Abstract: The present disclosure relates to a multi-turns angle controlling method basing on magnetic coding, 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 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 diode when M equals to N, N is a positive integer greater than 1.