Ubtech Robotics Corp Ltd

Wenhua Fan

Youjun Xiong

Lifu Zhang

Jianxin Pang

Xi Bai

Hanyu Sun

Zhongliang Wang

Malin Wang

Hongyu Ding

Sheng Zhou

Yongping Zeng

Huan Tan

Dong Liu

Chengkun Zhang

Youpeng Li

Jianbo Li

Liang Huang

Jingchen Li

Yan Zhou

Wei He

Zheng Xie

Francisco Jose Hernandez

Xinshui Huang

Brandon Jon LaPlante

Shixun Chen

Xuchao Du

Won Suk You

Zhenmin Mo

Raymond Ma

Muhammed Rasid Pac

Zhongkui Huang

Jianyun Xiao

A bidirectional energy storage device for a joint includes: a sleeve comprising two, opposite open ends; a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively; an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member; a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide; a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide.

Bidirectional energy storage device, robotic joint and robot

A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.

Mechanical arm

A current protection circuit for a high voltage system includes: a power supply module to supply power to a load through a high voltage bus and a low voltage bus; a detection module connected to the high voltage bus and used to detect a value of current flowing through the high voltage bus; a signal processing module electrically connected to the detection module and used to amplify the current flowing through the high voltage bus; and a control module electrically connected to the signal processing module, the power supply module, and the load, and used to disconnect the load from the power supply module or perform current limiting for the load when the value of the amplified current exceeds a preset threshold.

Current protection circuit and method for high voltage system

The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

Rotation angle detection method and device thereof

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.

Servo calibration method and apparatus and robot using the same

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.

Position control method for servo, computer readable storage medium, and robot

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.

Servo output shaft rotational angle calibration method and system and robot using the same

A firmware upgrade method for a slave station of a robot communicates with a master station of the robot via an EtherCAT bus of the robot, includes: switching a work mode of the slave station to an upgrade mode in response to a firmware upgrade instruction, receiving a new firmware corresponding to this firmware upgrade via the EtherCAT bus, storing the new firmware in a second storage area of a flash memory of the slave station, restarting the slave station after the new firmware is received, and copying the new firmware stored in the second storage area to a first storage area of the flash memory and executing the new firmware in the first storage area when the slave station is started. A slave station of the robot and a machine readable storage medium are also provided.

Firmware upgrade method, slave station of robot, and machine readable storage medium

The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.

Robot joint motion control method, device and robot using the same

A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.

Building element for modular device, hot-swap detection circuit and orientation detection circuit

A servo includes a motor having a rotating shaft, an output shaft disposed apart from the rotating shaft, a transmission mechanism to transmit mechanical power from the motor to the output shaft, a circuit board, a first detected member fixed to an end of the rotating shaft, a second detected member fixed to an end of the output shaft adjacent to the circuit board; and a first detecting member and a second detecting member mounted on the circuit board and configured to respectively detect rotational angles of the rotating shaft and the output shaft, based on changes caused by rotation of the first detected member and the second detected member.

Servo

The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.

Control method for electronically controlled servo mechanism and electronically controlled servo mechanism and robot thereof

The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.

Angle detection device and method of multi-turn servo, and multi-turn servo

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.

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Shenzhen, China

Wenhua Fan