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公开(公告)号：US20210187730A1
公开(公告)日：2021-06-24
申请号：US16770940
申请日：2018-04-19
Applicant: BEIJING INSTITUTE OF TECHNOLOGY
Inventor： Qing SHI , Chang Li , Mengchao MA , Mingjie ZOU , Shengjie WANG , Qiang HUANG , Fukuda TOSHIO
Abstract: A waist imitating device of robotic rat based on multiple-connecting-rod transmission comprises a pitch parallel connecting rod group (8) and a yaw parallel connecting rod group (2). The pitch parallel connecting rod group (8) and the yaw parallel connecting rod group (2) are respectively connected with a front joint and a back joint of a waist of a robotic rat. Under the drive of a first motor (4), crank connecting rods drive the yaw parallel connecting rod group (2) such that left-right yaw motion of the waist of the robotic rat relative to wheels and forelimbs can be achieved. Under the drive of a second motor (14), crank connecting rods drive the pitch parallel connecting rod group (8) such that upper-down pitch motion of the waist of the robotic rat relative to the wheels and the forelimbs can be achieved.
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2.发明申请公开(公告)号：US20200376576A1
公开(公告)日：2020-12-03
申请号：US16889539
申请日：2020-06-01
Applicant: Beijing Institute of Technology
Inventor： Qiang HUANG , Xuxiao FAN , Richeng HUANG , Chenglong TANG , Fei MENG
IPC: B23F1/06
Abstract: The present disclosure provides a machining device for duplex gear of high-precision reducer for robot, and use method thereof. The device comprises a laser welding device, a laser rotary support, a rotary mechanism and a rotary platform, the rotary mechanism being installed with a reducer body, wherein a center of a central gear is fixedly connected with a rotating shaft; sets of duplex gears are evenly disposed around the central gear; the gear of each set of duplex gear which is connected with the central gear are connected to an output gear ring from outside; a fixed gear ring is disposed above the output gear ring; a rotating frame is disposed at ends, close to the top of the reducer, of rotating shafts of the sets of duplex gears and the rotating shaft of the central gear; the rotating frame welding gaps are formed in positions, close to respective rotating shafts of duplex gears, on the side edge of the rotating frame; the rotary mechanism is disposed at a center of the rotary platform, and the rotary mechanism is fixedly connected with the rotating shaft of the central gear; the laser rotary support is disposed on the rotary platform and close to a side surface; and the laser welding device is disposed on a top of the laser rotary support.
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公开(公告)号：US20230158669A1
公开(公告)日：2023-05-25
申请号：US17908238
申请日：2020-05-09
Applicant: BEIJING INSTITUTE OF TECHNOLOGY
Inventor： Zhangguo YU , Qiang HUANG , Yaliang LIU , Yuyu ZUO , Xuechao CHEN , Gao HUANG , Han YU
IPC: B25J9/16 , B25J13/08 , G05B19/4155
CPC classification number: B25J9/1633 , B25J13/085 , G05B19/4155 , G05B2219/39188
Abstract: A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.
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公开(公告)号：US20230087356A1
公开(公告)日：2023-03-23
申请号：US17482183
申请日：2021-09-22
Applicant: Beijing Institute of Technology
Inventor： Qiang HUANG , Xuxiao FAN , Richeng HUANG , Gao HUANG , Jingping LIAO , Zhangguo YU , Xingzhong LIU , Yuyu ZUO
Abstract: The present disclosure provides a reducer gear for robot, and a method for generating the gear and a reducer therewith. The reducer gear comprises: an outer contour layer and a reticulated porous base layer cladded by the outer contour layer; the outer contour layer comprises a mounting surface layer, a tooth surface layer, and a connecting surface layer connected between the mounting surface layer and the tooth surface layer and forming a complete gear outer contour together with the mounting surface layer and the tooth surface layer; the mounting surface layer, the tooth surface layer and the connecting surface layer are compact structures; the reticular porous base layer is located in a cavity formed by the outer contour layer, and fiber trabeculae in a porous grid structure are provided in the reticular porous base layer.
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公开(公告)号：US20210008734A1
公开(公告)日：2021-01-14
申请号：US16856010
申请日：2020-04-22
Applicant: Beijing Institute of Technology
Inventor： Qiang HUANG , Junyao GAO , Chunlei ZHANG , Weimin ZHANG , Xuechao CHEN , Dingkui TIAN
IPC: B25J17/00
Abstract: The present disclosure provides a waist joint of humanoid robot and a humanoid robot. The waist joint comprise: tile-shaped structural members, connection members, and substrates. The first end of the first connection member is slidably connected with the first end of the first tile-shaped structural member, and the first end of the second connection member is slidably connected with the second end of the first tile-shaped structural member; one side surface of the first substrate is slidably connected with the first end of the second tile-shaped structural member, and one side surface of the second substrate is slidably connected with the second end of the second tile-shaped structural member; the second end of the first connection member is connected with the third end of the second tile-shaped structural member, and the second end of the second connection member is connected with the fourth end of the second tile-shaped structural member.
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Patent Agency Ranking
公开(公告)号：US20210008713A1
公开(公告)日：2021-01-14
申请号：US16848634
申请日：2020-04-14
Applicant: Beijing Institute of Technology
Inventor： Qiang HUANG , Chunlei ZHANG , Junyao GAO , Zhangguo YU , Huaxin LIU
Abstract: The present disclosure provides a joint support structure of a robot and a robot having the same. The joint support structure comprises: a drive motor; a reducing transmission mechanism; a motor side casing; a transmission side casing; and a knee joint sleeve disposed on outer peripheries of the motor side casing and of the transmission side casing and connected to the reducing transmission mechanism; the motor side casing has a first annular groove; the transmission side casing has a second annular groove; the knee joint sleeve is provided with an annular connector circumferentially surrounding the motor side casing, and the annular connector has a third annular groove matched with the first annular groove to form a first ball track for accommodating first balls; the knee joint sleeve has a fourth annular groove is matched with the second annular groove to form a second ball track.
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公开(公告)号：US20220143835A1
公开(公告)日：2022-05-12
申请号：US17153140
申请日：2021-01-20
Applicant: BEIJING INSTITUTE OF TECHNOLOGY
Inventor： Qing SHI , Guanglu JIA , Tao SUN , Chen CHEN , Yi XU , Shurui YAN , Qiang HUANG
Abstract: The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.
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公开(公告)号：US20200206064A1
公开(公告)日：2020-07-02
申请号：US16812278
申请日：2020-03-07
Applicant: Beijing Institute of Technology
Inventor： Liancun ZHANG , Qiang HUANG , Wenkang WANG
IPC: A61H3/00
Abstract: The present invention discloses a soft knee exoskeleton driven by a negative-pressure linear actuator, including: an exoskeleton controller, a left leg knee joint soft actuator, a right leg knee joint soft actuator and the like. The soft knee exoskeleton mainly uses a miniature vacuum negative pressure pump as an air pressure power source. A DSP embedded control system performs real-time processing on the data, such as a muscle force, a knee joint angle and a human-machine interaction force, detected by a sensing system, estimates a human-machine cooperation state, and performs real-time control on the switching of the negative pressure flow and an air channel of the miniature vacuum negative pressure pump.
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公开(公告)号：US20210351667A1
公开(公告)日：2021-11-11
申请号：US17035264
申请日：2020-09-28
Applicant: Beijing Institute of Technology
Inventor： Qiang HUANG , Wu ZHANG , Donglin QIU , Xuechao CHEN , Qiang CHEN
Abstract: The present disclosure provides a motor stator and a motor. The motor stator comprises a core; windings wound on the core; and a three-dimensional fitted winding inner groove embedding structure which is a cage-type structure having ribs and ends, the ribs being embedded in grooves between the windings, and the ends being connected to the ribs and cover ends of stator windings; both of the rib and the end of the inner groove embedding structure comprise nonmagnetic heat-conducting glue layers and a phase-change material layer interposed as an interlayer between the heat-conducting glue layers. According to the present disclosure, the heat of each part of the motor stator can be quickly conducted, so as to rapidly reduce the temperature, quickly eliminate the instantaneous temperature peak, and improve the temperature gradient equilibrium of each part.
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公开(公告)号：US20210339407A1
公开(公告)日：2021-11-04
申请号：US17035231
申请日：2020-09-28
Applicant: Beijing Institute of Technology
Inventor： Qiang HUANG , Wu ZHANG , Donglin QIU , Zhangguo YU , Xingzhong LIU
Abstract: The present disclosure provides a robot joint member, a dynamic joint and a robot with a heat dissipation structure. The joint member has a hollow barrel structure disposed to sleeve a heat source component, and a plurality of phase change heat dissipation units; the phase change heat dissipation unit comprises a phase change working medium, a capillary material and a sealed phase change cavity; heat dissipation auxiliary ribs are arranged on a periphery of the barrel wall of the joint member and a side of the phase change heat dissipation unit away from the heat source component; and the heat dissipation auxiliary ribs define a plurality of gas flow channels with cross sections gradually reduced along a gas flow direction. The joint member has can quickly eliminate the heat accumulation of the joint power source, and can keep a compact structure of the dynamic joint of the robot.
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