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：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：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.

公开(公告)号：US10783661B2

公开(公告)日：2020-09-22

申请号：US16416281

申请日：2019-05-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Youjun Xiong ,  Zhichao Liu

IPC: G06T7/73 ,  G06T7/80 ,  H04W8/02 ,  H04W56/00

Abstract: The present disclosure provides a positioning method and a robot using the same. The method includes: obtaining, through the visual sensor, a current frame image; obtaining, through the ultra-wideband tag, distance of a robot from an ultra-wideband anchor; performing a feature matching on the current frame image and an adjacent frame image to generate partial map point(s); determining whether the current frame image is a key frame image; and optimizing a pose of the visual sensor corresponding to the key frame image through a joint objective function in response to the current frame image being the key frame image, where the joint objective function at least comprises a distance cost function of the ultra-wideband anchor and a visual residual cost function. Through the above-mentioned method, the accuracy of the positioning of the robot can be improved.

公开(公告)号：US10773398B2

公开(公告)日：2020-09-15

申请号：US16228811

申请日：2018-12-21

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Hailei Li ,  Guangjun Hei ,  Weining Zhang

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

Abstract: A robot foot structure for being used in conjunction with the main body structure of a humanoid robot is provided, the robot foot structure being connected to a bottom of the main body structure, wherein the robot foot structure includes a sole plate and a buffering mechanism provided on the sole plate, the buffering mechanism is configured to be connected between the sole plate and the main body structure of the humanoid robot for buffering a load acted on the robot foot structure generated by the weight of the main body structure during walking of the robot foot structure. A load generated by the weight of the main body structure during walking is acted on the buffering mechanism which in turn absorbs an impact resulted from the load as the robot foot structure touches the ground, such that the service life of the robot foot structure can be extended.

公开(公告)号：US10747494B2

公开(公告)日：2020-08-18

申请号：US16163582

申请日：2018-10-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Liyang Li ,  Yanhui Xia ,  Haoming Li

IPC: G10L21/00 ,  G06F3/16 ,  G10L15/22 ,  G10L19/00 ,  B25J11/00

Abstract: The present disclosure provides a robot and speech interaction recognition rate improvement circuit and method thereof. In the circuit, the main controller transmits a pre-recorded servo sound file to the first decoder in response to detecting the robot being in a motion state; the first decoder decodes the servo sound file to obtain a first sound analog signal of a servo sound; the analog-to-digital converter converts the first sound analog signal of the servo sound into a first sound digital signal, and converts a second sound analog signal collected by the microphone into a second sound digital signal; and the main controller further performs a suppression process on the servo sound in the second sound digital signal based on the first sound digital signal and the second sound digital signal. As a result, the influence of the sound of the servo of the robot is effectively reduced.

公开(公告)号：US10707457B2

公开(公告)日：2020-07-07

申请号：US16140565

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Gao Yang

IPC: H01M2/10 ,  B25J9/00 ,  H01M2/02 ,  H01M10/42

Abstract: A battery case for a robot has a housing and an end cap. The housing defines a chamber for receiving a battery therein. The chamber has an open end. The end cap includes a cap that is used to cover the open end, a rotatable post rotatably passing through the cap and extending into the chamber, an elastic member arranged around the rotatable post and comprising an end abutting against the cap, and a locking member connected to the rotatable post and rotatable together with the rotatable post to a position where the locking member is engaged with the housing, thus locking the cap to the housing.

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：US10667045B1

公开(公告)日：2020-05-26

申请号：US16447986

申请日：2019-06-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Fanglin Xing

IPC: H04R1/40 ,  H04R1/02

Abstract: The present disclosure provides a robot and an audio data processing method thereof. The robot includes a body part, a main control module, and a sound pickup module electrically coupled to the main control module. The sound pickup module includes N microphones distributed around the body part to collect audio data. The main control module is configured to obtain the audio data of a sound source from a part of the N microphones collecting the audio data of the sound source without blocked by the body part, and perform a sound source localization and a sound pickup based on the obtained audio data. The 360-degree wake-up and sound source localization of the robot and the beam-forming of directional beams are realized. In addition, the sound pickup is realized without forming microphone holes on the head of the robot, hence the aesthetics of the robot will not be affected.

公开(公告)号：USD872152S1

公开(公告)日：2020-01-07

申请号：US29654979

申请日：2018-06-29

Applicant: UBTECH Robotics Corp

Designer： Youjun Xiong ,  Wenjing Ye ,  Jianfei Wang ,  Xinshui Huang ,  Xin Li