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1.发明授权公开(公告)号：US11110607B2
公开(公告)日：2021-09-07
申请号：US16535108
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Yongping Zeng , Jianxin Pang
Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.
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公开(公告)号：US10894319B2
公开(公告)日：2021-01-19
申请号：US16671164
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
IPC: B25J19/00 , B25J9/16 , B25J9/10 , G05F1/10 , G05B19/414
Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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3.发明申请公开(公告)号：US20200206936A1
公开(公告)日：2020-07-02
申请号：US16535108
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Yongping Zeng , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.
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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
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.
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公开(公告)号：US20200206914A1
公开(公告)日：2020-07-02
申请号：US16671164
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20190163209A1
公开(公告)日：2019-05-30
申请号：US16161093
申请日：2018-10-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Fan , Hanyu Sun , Zhongliang Wang
Abstract: The present disclosure relates to a method, a terminal device, and a computer readable storage medium for controlling rotation of a servo. The method includes: acquiring a loading mass and a rotation radius of the servo from a sensor electrically connected with the servo or by an externally input; calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo; setting an angular acceleration of the servo according to the angular acceleration threshold; and rotating the servo according to the angular acceleration.
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公开(公告)号：US20190160659A1
公开(公告)日：2019-05-30
申请号：US16161099
申请日：2018-10-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Dong Liu , Zhenmin Mo , Zhongliang Wang
Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.
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公开(公告)号：US10209093B2
公开(公告)日：2019-02-19
申请号：US15473610
申请日：2017-03-30
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Zhongliang Wang
IPC: G01M13/02 , G01D5/02 , G05B19/4065
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.
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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
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.
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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.
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