Patents Assigned to UBTECH ROBOTICS CORP.
  • Patent number: 10727821
    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.
    Type: Grant
    Filed: July 12, 2019
    Date of Patent: July 28, 2020
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youjun Xiong, Lifu Zhang, Wenhua Fan, Hanyu Sun
  • Patent number: 10725796
    Abstract: The present disclosure provides a task management method for a robot, a robot using the same, and a computer readable storage medium. The method includes: obtaining a current task of the robot, in response to receiving a request for executing a new task of the robot; querying the preset state table according to the new task and the current task to determine whether to switch the robot from the current task to the new task: and switching the robot from the current task to the new task, in response to determining to switch. In this way, the stability of the operation of the robot can be improved, and the efficiency of the robot to execute tasks can be improved.
    Type: Grant
    Filed: December 18, 2018
    Date of Patent: July 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Ruiqiang Huang
  • Patent number: 10718413
    Abstract: An assembly of a robot includes a first member, a second member rotatably connected to the first member to construct a robot joint structure, a driving assembly arranged within the first member, a speed reducer assembly to rotatably connect the first member to the second member, and a belt drive assembly connected to the driving assembly and the speed reducer assembly. The belt drive assembly is used to transmit rotary motion from the driving assembly to the speed reducer assembly, thereby rotating the first member with respect to the second member.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: July 21, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Youpeng Li, Hongyu Ding
  • Patent number: 10717188
    Abstract: A spatial crossed-axis transmission mechanism includes a rotatable driving member, an actuating member, and a support member for fixing the driving member and the actuating member. The driving member comprises a first end surface adjacent to the support member, and an Archimedes spiral groove is defined in the first end surface of the driving member. The actuating member includes an end surf adjacent to the support member and a sliding shaft on the end surface of the actuating member. The support member defines a straight groove passing therethrough, and the sliding shaft comprises an end that extends through the straight groove and fits into the Archimedes spiral groove.
    Type: Grant
    Filed: August 28, 2018
    Date of Patent: July 21, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Kunlei Zhao
  • Patent number: 10714114
    Abstract: The present disclosure provides a noise reduction processing method, system and terminal device. In the present disclosure, a position angle of a far-field audio input sound source and a microphone array as well as a rotation angle of a head servo of a robot are obtained, and then a target rotation angle of the robot is calculated. The head servo of the robot is controlled to rotate according to the target rotation angle such that the robot moves along with the far-field sound source, and a beam area is changed according to the target rotation angle to enable a sound source enhancement area to process far-field audios. As a result, the noise reduction performance of the microphone array beam is effectively improved.
    Type: Grant
    Filed: May 2, 2018
    Date of Patent: July 14, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Haoming Li, Pinxiu Wen, Yanhui Xia
  • Patent number: 10707457
    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.
    Type: Grant
    Filed: September 25, 2018
    Date of Patent: July 7, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventor: Gao Yang
  • Patent number: 10685672
    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 an 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.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: June 16, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Lifu Zhang, Wenhua Fan, Malin Wang
  • Patent number: 10682756
    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.
    Type: Grant
    Filed: March 30, 2019
    Date of Patent: June 16, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Sicong Liu, Youjun Xiong, Hongyu Ding, Jianxin Pang
  • Patent number: 10671080
    Abstract: The present disclosure provides a data processing method and a robot with the same. The robot includes: an electromagnetic wave receiver configured to receive at least two electromagnetic wave signals transmitted by at least two electromagnetic wave transmitters on a charging device within a preset time range; a demodulator configured to demodulate the at least two electromagnetic wave signals received by the electromagnetic wave receiver to obtain at least two corresponding electromagnetic wave demodulation data; a processor configured to determine electromagnetic wave demodulation control data based on the at least two obtained electromagnetic wave demodulation data and preset electromagnetic wave demodulation data; and a controller configured to move the robot according to the electromagnetic wave demodulation control data until the robot is docked at the charging device.
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: June 2, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Jiawen Hu, Gaobo Huang, Caixia Li
  • Patent number: 10667045
    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.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: May 26, 2020
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youjun Xiong, Fanglin Xing
  • Patent number: 10667091
    Abstract: The present disclosure provides a wireless positioning method as well as a server and a storage medium with the same. The method includes: obtaining a current ranging value between a first positioning device and a second positioning device, where there is no obstruction between the first positioning device and the second positioning device; determining a distance of the first positioning device and the second positioning device in a depth direction of a tunnel based on the current ranging value; and obtaining a current coordinate of the second positioning device based on the distance. In the above-mentioned manner, the automatic updating of the coordinate of the reference base station in the tunnel can be realized, the times of repeated measurements of the base station are reduced, thereby improving the construction efficiency of the tunnel and saving working loads.
    Type: Grant
    Filed: April 28, 2019
    Date of Patent: May 26, 2020
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Yongsheng Zhao, Youjun Xiong, Yu Tang
  • Patent number: 10663034
    Abstract: A brushless servo includes a housing, a motor, a printed circuit board (PCB), a servo output shaft and a gear transmission mechanism that are accommodated within the housing. The motor includes a motor output shaft that is arranged in parallel with the servo output shaft. The gear transmission mechanism includes a number of gearsets that connect the motor output shaft to the servo output shaft. Each gearset has a gear and a pinion that is smaller than the gear, and each of a first one of the gearsets and a last one of the gearsets is arranged in a manner that the gear is below the pinion thereof. Each of the rest of the gearsets is arranged in a manner that the gear is above the pinion thereof.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: May 26, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Yong Fu, Hongyu Ding
  • Patent number: 10632609
    Abstract: A linkage mechanism includes a chest assembly of a robot; a servo arranged within the chest assembly and comprising an output shaft; a first linkage member including a first end and a second opposite end, the first end being connected to the output shaft; a forearm assembly rotatably connected to the second end of the first linkage member; and a second linkage member. Opposite ends of the second linkage member are rotatably connected to the chest assembly and the forearm assembly.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Xiaopeng Wu, Lefeng Liu
  • Patent number: 10632627
    Abstract: A servo assembly includes a first speed reducer, a first motor, a first connecting member, a first control circuit board, a second speed reducer, a second motor, a second connecting member and a second control circuit board. The first control circuit board is electrically coupled to the first motor, and the second control circuit board is electrically coupled to the second motor. The output component of the first speed reducer and the first connecting member are coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member are coaxial and arranged along a second direction that is perpendicular to the first direction. The output shaft of the first motor is connected to the input component of the first speed reducer, and the output shaft of the second motor is connected to the input component of the second speed reducer.
    Type: Grant
    Filed: February 26, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Youpeng Li, Jing Shi, Hongyu Ding
  • Patent number: 10632615
    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.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Dong Liu, Zhenmin Mo, Zhongliang Wang
  • Patent number: 10632620
    Abstract: A motion control method for a robot is disclosed. The robot includes a determining module, a merging module, and a controlling module. The determining module determines whether at least two motion tasks executed in an adjacent sequence satisfy a merging condition. The merging module merges the at least two motion tasks to a new motion task, when the merging condition is satisfied. The controlling module controls the robot to perform the new motion task.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Jiawen Hu, Gaobo Huang
  • Patent number: 10635118
    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.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Wenhua Fan, Hanyu Sun, Zhongliang Wang
  • Patent number: 10632612
    Abstract: An assembly for a robot includes a servo comprising an output gear, a servo housing connected to the servo, a rotary support connected to the servo and the servo housing, the rotary support being configured to rotate as driven by the servo; and a stopper assembly arranged at the servo housing and the rotary support. The stopper assembly is used to limit the rotary support to be rotatable in a predetermined range.
    Type: Grant
    Filed: September 26, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Wenquan Shu, Feng Hu
  • Patent number: 10634225
    Abstract: A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a driving device including a rotating member, a connection assembly including a housing defining a sliding groove that includes a first end and a second end defining a through hole that is in communication with the sliding groove, a cap connected to the housing at the first end, a sliding rod comprising a base slidably received in the sliding groove and a rod protruding from the base, and an elastic member received in the sliding groove and having opposite ends that respectively abut against the base and an inner surface of the second end, and a rope including two opposite ends respectively connected to the cap and one of the at least two phalanxes.
    Type: Grant
    Filed: December 29, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Kunlei Zhao, Wenhua Yu, Qi Zhao, Jiawen Hu, Yangyu Pi, Jianxin Pang
  • Patent number: D892230
    Type: Grant
    Filed: April 9, 2019
    Date of Patent: August 4, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Yumiao Wu, Lefeng Liu, Qiujie Lin, Xinshui Huang, Youjun Xiong