US Pat. No. 10,085,356

ELECTRONIC DEVICE WITH LOCKING ASSEMBLY

UBTECH ROBOTICS CORP., S...

1. An electronic device comprising:a support defining a slot;
a casing defining a receiving hole, at least one dent being defined in a bottom of the receiving hole;
a locking assembly configured to detachably connect the casing to the support, the locking assembly comprising a connection member received in the receiving hole and a locking member connected to and rotatable together with the connection member, the locking member being rotatable to a position where the locking member engages the slot, thereby fixing the casing to the support; and
a connection ring that is connected to and rotatable together with the connection member, the connection ring comprises at least one protrusion, the at least one protrusion is configured to be received in the at least one dent so as to enable the locking member to maintain the engagement with the slot;
wherein the connection member comprises a main body received in the receiving hole and a head connected to a first end of the main body, and the locking member is connected to a second end of the main body that is opposite to the first end;
wherein the locking member defiles a through hole and is connected to the connection member by a screw passing through the through hole.

US Pat. No. 9,889,388

TOY BUILDING BLOCK ROBOT AND MAIN CONTROL BOX THEREOF

UBTECH ROBOTICS CORP., S...

1. A main control box for a toy building-block robot, comprising:
a toy building-block robot main control housing;
a toy building-block robot main control board; and
a battery;
wherein the toy building-block robot main control board is installed in the toy building-block robot main control housing,
the battery is connected to the toy building-block robot main control board to supply power to the toy building-block robot
main control board; a plurality of connection mechanisms are disposed on the toy building-block robot main control housing
for engaging the toy building-block robot main control housing with other components of the toy building block robot;

wherein the connection mechanisms comprise at least one of:
a plurality of connecting portions disposed on an outer surface of the toy building-block robot main control housing, each
of the connecting portions comprises a connection pillar and a connection plate, the connection plate is installed on the
outer surface of the toy building-block robot main control housing through the connection pillar; the connection plate is
configured to engage into a butting slot on a building block of the toy building block robot, so as to couple the main control
box with the building block, or configured to engage into a butting slot on a servo of the toy building block robot, so as
to couple the main control box with the servo; the connection pillar has one or more limit grooves or one or more limit protrudes
formed thereon, for matching with one or more limit protrudes or one or more limit grooves formed on the butting slot;

a plurality of connection pin holes disposed on the toy building-block robot main control housing for engaging with the component
of the toy building block robot through a bearing pin; and

a slot disposed on an outer surface of the toy building-block robot main control housing for engaging with the battery, wherein
the toy building-block robot main control board further comprises power terminals, and the battery comprises electrodes, the
power terminals on the toy building-block robot main control board are exposed within the slot; the battery is inserted into
the slot, the electrodes on the battery are coupled with the power terminals on the toy building-block robot main control
board.

US Pat. No. 10,069,446

BRUSHLESS SERVO

UBTECH ROBOTICS CORP., S...

1. A brushless servo comprising:a direct current (DC) brushless motor comprising an output shaft;
a reduction gearbox comprising a speed reduction mechanism; and
a control circuit board comprising a plurality of layers of printed circuit boards (PCBs) that are spaced apart from each other, and two adjacent PCBs are electrically connected to each other via a flexible circuit board;
wherein the output shaft of the DC brushless motor is connected to the speed reduction mechanism in the reduction gearbox, the DC brushless motor and the control circuit board are arranged side by side at one side of the reduction gearbox, the DC brushless motor and the reduction gearbox are arranged along a height-wise direction of the brushless servo, the DC brushless motor and the control circuit board are arranged along a length-wise direction of the brushless servo, and the plurality of layers of PCBs are arranged along the height-wise direction of the brushless servo; and
wherein a lowermost one of the plurality of layers of PCBs is located adjacent to a top of the reduction gearbox, and at least one of the plurality of layers of PCBs comprises a left end that has a shape matching and contacting a circumferential surface of the DC brushless motor.

US Pat. No. 10,059,393

ANTI-FALLING ROBOTS, ANTI-FALLING METHOD, AND ANTI-FALLING DEVICE OF ROBOTS DURING POWER OUTAGE

UBTECH ROBOTICS CORP., S...

1. An anti-falling method of robots during power outage, comprising:transmitting first controlling signals to a first leg mechanism and a second leg mechanism to control a first leg and a second leg of the robot to be perpendicular to ground upon determining a power outage condition;
transmitting second controlling signals to the first leg mechanism and/or the second leg mechanism to control the first leg and/or the second leg of the robot to move from the perpendicular to ground position, such that a first foot and a second foot of the robot are positioned at two sides of a ground projection point of center of gravity of the robot;
controlling the first leg and/or the second leg to move the center of gravity of the robot close to the ground;
transmitting third controlling signals to the first leg mechanism and/or the second leg mechanism to stop movements of the first leg mechanism and/or the second leg mechanism upon determining a stop condition.

US Pat. No. 10,031,514

METHOD FOR SERVO LOCKING CONTROL AND SERVO

UBTECH ROBOTICS CORP., S...

1. A method for locking control of a servo, the method comprising:controlling the servo to enter a first lock state in response to an output axis of the servo being in a target locking position, wherein in the first lock state a main control circuit of the servo controls the output axis of the servo to remain in the target locking position;
determining whether current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value, wherein each current angular deflection value is an absolute value of difference between a current angular value and a latest target locking position value of the servo;
controlling the servo to enter a second lock state from the first lock state, in response to the current angular deflection values of the servo in the first preset period being all greater than the preset angular deflection value, wherein in the second lock state the target locking position is changed with the current angular values;
determining whether current angular changing values of the servo in a second preset period are all less than a preset angular changing value; and
controlling the servo to enter the first lock state from the second lock state, in response to the current angular changing values of the servo in the second preset period being all less than the preset angular changing value.

US Pat. No. 9,815,192

SERVO AND ROBOT WITH SERVO

UBTECH ROBOTICS CORP., S...

1. A servo, comprising:
a power input apparatus providing rotational power;
a deceleration apparatus driven to operate by the power input apparatus; and
a power output mechanism driven to rotate by the deceleration apparatus;
wherein the power input apparatus comprises a first output shaft; the deceleration apparatus comprises a first-stage deceleration
mechanism partly installed on the first output shaft and used to change a power output direction, and a second-stage deceleration
mechanism connected between the first-stage deceleration mechanism and the power output mechanism; the power output mechanism
comprises a second output shaft driven to rotate by an output terminal of the second-stage deceleration mechanism and connected
with an exterior component, and an output bearing fixedly installed on the second output shaft, wherein the second output
shaft is an external spline output shaft;

the first-stage deceleration mechanism comprises a power gear installed on the first output shaft and rotating along with
the first output shaft as well as a face gear engaged with the power gear, the rotation direction of the face gear is perpendicular
to the rotation direction of the power gear; and

the second-stage deceleration mechanism comprises a second-stage pinion rotating coaxially with the face gear, a middle gear
set engaged with the second-stage pinion and driven to rotate by the second-stage pinion, a planetary gear set engaged with
the middle gear set, a fixing gear engaged with the planetary gear set to prevent the planetary gear set from idling, the
second-stage pinion and the planetary gear set each are locked on a fixing shaft on the power output mechanism.

US Pat. No. 10,029,187

TOY ASSEMBLING APPARATUS

UBTECH ROBOTICS CORP., S...

1. A toy assembling apparatus, comprising at least one connector, and each connector comprising at least one of a first connecting portion and a second connecting portion;wherein the first connecting portion comprises a connection plate and a connection pillar disposed on the connection plate; and
wherein the second connecting portion comprises a left side board, a right side board, a bottom board, and a top board, the left side board, the right side board, the bottom board, and the top board jointly form a containing slot for inserting the first connecting portion therein along a first direction, the containing slot comprises a plate slot for containing the connection plate and a pillar slot for containing the connection pillar; and
wherein the connection pillar has one or more limit grooves or one or more limit protrudes formed thereon, the pillar slot has one or more protrudes or one or more limit grooves formed thereon correspondingly and extending in a second direction substantially perpendicular to the first direction;
wherein, when the first connecting portion of one connector is inserted into the second connecting portion of another connector, the connection plate of the connector is engaged in the plate slot of the another connector and the connection pillar of the connector is engaged in the pillar slot of the another connector so as to assemble these two connectors together, and the one or more limit grooves of one of these two connectors is engaged with the one or more limit protrudes of the other of these two connectors so as to limit their relative position along the first direction.

US Pat. No. 9,857,036

ROBOT SERVO CAPABLE OF EMITTING LIGHT

UBTECH ROBOTICS CORP., S...

1. A servo comprising:
a servo casing;
a servo cover connected to the servo casing, the servo cover and the servo casing defining a receiving space;
a circuit board received in the receiving space;
a light emitting member arranged on the circuit board and electrically coupled to the circuit board, the light emitting member
being configured to emit light according to signals indicative of a motion state from the circuit board; and

a light guide comprising a light incident surface that is located adjacent to the light emitting member, and a light exit
surface that is exposed to an external surface of the servo cover.

US Pat. No. 10,084,362

SERVOMOTOR AND CONTROL METHOD THEREOF

UBTECH ROBOTICS CORP., S...

1. A servomotor comprising:a control circuit, an electric motor, a drive and a sensor;
the control circuit being electrically connected to the electric motor, and configured to output signals to control the electric motor to rotate;
the drive comprising an outer casing, a wave generator, a flexspline and a circular spline that are arranged within the outer casing, the electric motor being arranged at one end of the outer casing, the wave generator being driven by the electric motor, the flexspline being sleeved on an exterior of the wave generator, the circular spline being fixed within the outer casing, the flexspline being located within the circular spline and engaging with the circular spline;
the flexspline being connected with an output member that is configured to output power, and a post arranged along a rotation axis of the output member and fixed to the output member; and
the sensor being arranged within the outer casing and configured to detect angular displacement of the post;
wherein the drive further comprises a flexspline pressing member and a bearing inner ring, the flexspline pressing member comprises a position limiting portion and a protruding portion, the flexspline defines a first through hole in a bottom thereof, the bearing inner ring defines a second through hole, the protruding portion of the flexspline pressing member passes through the first through hole and the second through hole in sequence, and the flexspline is arranged between the position limiting portion of the flexspline pressing member and the bearing inner ring.

US Pat. No. 9,998,063

MASTER CONTROLLER, SERVO ACTUATOR AND SERVO CONTROLLING SYSTEM

UBTECH ROBOTICS CORP., S...

1. A servo actuator, comprising:a common node;
a servo microcontroller (MCU) electrically coupled to the common node;
a first servo switch;
a second servo switch;
a first interface electrically coupled to the common node via the first servo switch;
a second interface electrically coupled to the common node via the second servo switch;
wherein the servo MCU is electrically coupled to both the first servo switch and the second servo switch and controls switching of the first servo switch and the second servo switch; and
wherein in response to the first interface receiving an electronic signal from a master controller, the servo MCU switches on at least the first servo switch, such that the first interface acts as an input interface of the servo actuator and the second interface acts as an output interface of the servo actuator.

US Pat. No. 10,031,506

MOTION CONTROL METHOD, MOTION CONTROL DEVICE, AND MOTION TRAJECTORY PLANNING METHOD

UBTECH ROBOTICS CORP., S...

1. A motion control method, comprising:(a) obtaining a current position of a control object at a current time using sensors, and obtaining a current velocity of the control object;
(b) obtaining a current acceleration based on the current position and the current velocity through the formula a(t)=K2(s0?s(t))?2Kv(t), wherein t is the current time, K is the accommodation coefficient, s0 is the target position, s(t) is the position at the current time, v(t) is the velocity at the current time;
(c) responsive to controlling a motor for driving the control object utilizing the current acceleration; and
(d) iteratively performing the steps (a)-(c) until the control object reaches the target position.

US Pat. No. 9,979,862

BUFFERING METHOD FOR VIDEO PLAYING, STORAGE MEDIUM AND DEVICE

UBTECH ROBOTICS CORP., S...

1. A buffering method for video playing, comprising:playing a video according to an amount of video buffer data and a predefined playing threshold, and monitoring a network speed of a stream of the video;
determining whether the network speed meets a predefined condition; and
responsive to the network speed meeting the predefined condition, updating a previously set video buffer depth and the playing threshold according to the network speed;
wherein the step of determining whether the network speed meets a predefined condition, comprises:
determining whether a stuttering in the video stream occurs when receiving video data during buffering video; or
determining whether a stuttering in the video stream occurs when reading video data during playing of the video; and
wherein the step of updating a previously set video buffer depth and the playing threshold according to the network speed comprises:
if a stuttering in the video stream occurs when receiving video data during buffering video or when reading video data during playing of the video, calculating an updated buffer depth and an updated playing threshold based on a duration during which fixed-length video data is played, a duration during which the fixed-length video data is buffered, a duration of a previous stuttering, a duration of a current stuttering, an initial buffer depth and an initial playing threshold, and replacing the initial buffer depth and the initial playing threshold with the updated buffer depth and the updated playing threshold, respectively.

US Pat. No. 9,964,295

BUILDING BLOCK LIGHT MODULE

UBTECH ROBOTICS CORP., S...

1. A building block light module comprising:an upper portion defining a receiving chamber with two opposite open ends;
a shield attached to one of the open ends, and comprising a plurality of light transmissive surfaces;
a circuit board comprising a plurality of light sources corresponding to the light transmissive surfaces; and
a lower portion defining a plurality of connection elements for mating with building blocks, and the lower portion and the shield being respectively mounted at the open ends of the receiving chamber.

US Pat. No. 9,931,577

SERVO OF ENTERTAINMENT ROBOT

UBTECH ROBOTICS CORP., S...

1. A servo of an entertainment robot comprising:a servo main body comprising a casing and an output shaft, the casing being a hexahedron; and
a servo plate fixed to the output shaft of the servo main body and comprising a square drive plate;
wherein at least one surface of the casing comprises a T slot having an opening at one end, and the size of the T slot matches the size of the drive plate of the servo plate;
wherein the T slot comprises two elastic positioning protrusions, the elastic positioning protrusions are opposite and disposed at an inner side of a narrow slot of the T slot and adjacent to a closed end of the T slot; the servo plate comprises a mounting hub connected to the drive plate, the mounting hub comprises four positioning grooves, the four positioning grooves are disposed at symmetrical perpendicular axes of the drive plate, when the servo plate is inserted into a T slot of another servo, elastic positioning protrusions of the T slot of the another servo are fit into two opposite positioning grooves of the mounting hub.

US Pat. No. 9,892,312

FACE DETECTING AND TRACKING METHOD AND DEVICE AND METHOD AND SYSTEM FOR CONTROLLING ROTATION OF ROBOT HEAD

UBTECH ROBOTICS CORP., S...

1. A face detecting and tracking method comprising:
acquiring an image and performing a depth detection for the image to obtain a depth value of each pixel of the image;
determining one or more face candidate areas with a center located at a position of the pixel corresponding thereto, based
on depth value of each pixel of the image of current frame;

performing a face detection to the one or more face candidate areas to determine one or more face boxes of the image of current
frame; and

determining a tracking box of the image of current frame based on the one or more face boxes and a tracked face box, and tracking
the face in the tracking box of the image of current frame,

wherein the step of determining one or more face candidate areas based on depth value of each pixel of the image of current
frame, comprises:

determining a detection window corresponding to each pixel of the image of current frame according to depth value of each
pixel of the image of current frame;

determining one or more neighboring windows neighboring each of the detection windows;
determining if one of the detection windows and the one or more neighboring windows corresponding thereto satisfy a mask condition
of the one or more face candidate areas; and

if yes, the one of the detection windows is one of the one or more face candidate areas;
wherein the step of determining a detection window corresponding to each pixel of the image of current frame according to
depth value of each pixel of the image of current frame, comprises:

determining a face width corresponding to each pixel of the image of current frame according to depth value of each pixel
of the image of current frame; and

creating a square detection box as the detection window for each pixel of the image of current frame, wherein each square
detection box has a center located at a position of the pixel corresponding thereto, and a length equaling to the face width
corresponding to the pixel that corresponds to the square detection box;

wherein the step of determining one or more neighboring windows neighboring each of the detection windows, comprises:
determining at least one of a left window, a right window and an upper window that surround each of the detection windows
at a left side, a right side and an upper side of each of the detection windows, and each of the detection windows and the
at least one of the left window, the right window and the upper window are spaced apart from each other by a first predetermined
width;

wherein the mask condition comprises: an absolute difference between an average depth value of the one of the detection windows
and the depth value of the pixel corresponding to the one of the detection windows is less than a first threshold, and an
absolute difference between average depth value of each of the one or more neighboring windows and the depth value of the
pixel corresponding to the one of the detection windows is less than a second threshold, and the first threshold is less than
the second threshold.

US Pat. No. 10,011,027

LEG STRUCTURE AND HUMANOID ROBOT

UBTECH ROBOTICS CORP., S...

1. A leg structure for connecting a waist structure and two foot structures of a humanoid robot, the leg structure comprising:a pair of first-stage leg servos connected to the waist structure, each of the first-stage leg servos comprising a first output shaft;
second-stage leg servos corresponding to and arranged opposite to the first-stage leg servos, the second-stage leg servos comprising second output shafts perpendicular to the first output shaft;
a pair of connecting assemblies each configured for mounting one of the first-stage leg servos and one of the second-stage leg servos, the connecting assemblies each comprising a connecting member for mounting one end of the first output shaft and one end of the second output shaft, a first end cover securely connected to the connecting member and configured for mounting the other end of the first output shaft, and a second end cover securely connected to the connecting member and configured for mounting the other end of the second output shaft.

US Pat. No. 10,143,933

ROBOT

UBTECH ROBOTICS CORP., S...

8. A robot comprising:a body comprising a torso and an arm rotatably connected to the torso, the arm comprising a hand;
a fake gun magnetically and detachably connected to the body, wherein the arm and the fake gun are configured in such a way that the fake gun connected to the body is magnetically and detachably connected to the hand when the arm is rotated to a predetermined position, and the hand drives the fake gun to become disengaged from the body and move together with the hand;
wherein the fake gun comprises a barrel, a grip and two connection members that are respectively attractable to the body and the hand, the barrel comprises a main body, a first decoration plate and a second decoration plate, the first decoration plate and the second decoration plate are arranged at opposite sides of the main body, and one of the connection members is arranged at the first decoration plate; the grip comprises a main part, a first decoration panel and a second decoration panel, the first decoration panel and the second decoration panel are arranged at opposite sides of the main part, and the other one of the connection members is arranged at the second decoration panel; the main part of the grip is connected to or integrally formed with one end of the main body of the barrel.

US Pat. No. 10,031,726

FLOWCHART GENERATING METHOD AND FLOWCHART GENERATING APPARATUS BASED ON QT 2D GRAPHIC VIEW

UBTECH ROBOTICS CORP., S...

1. A flowchart generating method based on QT 2D graphic view, comprising:designing a main process and a sub-module of a flowchart; wherein the main process comprises a main process start, a sub-module port, and a main process end;
wherein the sub-module comprises a sub-module node, and the sub-module node comprises a sub-module entry node, a sub-module exit node, and a sub-module interrupted node configured to connect to other modules and stop running the other modules;
establishing a connection relationship between the sub-module and the sub-module port to embed and call the sub-module in the main process.

US Pat. No. 10,022,874

ROBOTIC HAND

UBTECH Robotics Corp., S...

1. A robotic hand comprising a servo housing, a plastic circuit board (PCB), a motor, a planetary gear transmission assembly and a movable plate that are mounted within the servo housing, and a plurality of claws rotatably connected to the servo housing, wherein the motor is electrically connected to the PCB, the planetary gear transmission assembly is connected to an output shaft of the motor, the movable plate is connected to the planetary gear transmission assembly and movable when driven by the planetary gear transmission assembly, one end of each of the claws is pivotally connected to the movable plate and the claws are rotatable toward or away from one another when driven by the movable plate;wherein the planetary gear transmission assembly comprises an output end that comprises a threaded shank, and the movable plate defines a threaded hole that is engaged with the threaded shank.

US Pat. No. 10,081,111

ROBOTIC HAND

UBTECH ROBOTICS CORP., S...

1. A robotic hand comprising a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing, wherein the motor is electrically connected to the PCB, an input end of the planetary gear transmission assembly is connected to an output shaft of the motor, an output end of the planetary gear transmission assembly comprises a cam, the cam comprises a plurality of protruding portions in a circumferential direction thereof and each two adjacent protruding portions are spaced apart from each other by a space, thereby forming a curved circumferential surface, and one end of each of the claws stays in contact with the curved circumferential surface, enabling the claws to be rotatable toward or away from one another when driven by the cam;wherein the cam and the claws are configured such that each claw is rotatable around an axis that is perpendicular to an axis around which the cam rotates;
wherein the output end of the planetary gear transmission assembly comprises a rotation shaft, the cam defines a through hole that allows the rotation shaft to be partly received therein, the through hole is shaped and sized to match the rotation shaft in such a way that the cam is rotatable together with the rotation shaft;
wherein the planetary gear transmission assembly includes an upper cover, a lower cover and a planetary gear transmission mechanism of at least two stages arranged between the upper cover and the lower cover, the planetary gear transmission mechanism comprises an input end connected to the output shaft of the motor and an output end connected to the rotation shaft, and the lower cover comprises a plurality of urging assemblies that are configured to apply a force to the claws to cause the claws to stay in contact with the curved circumferential surface.

US Pat. No. 10,211,766

MULTI-TURN ANGLE CONTROLLING METHOD BASED ON AN ABSOLUTE POSITION ENCODER AND DEVICE

UBTECH ROBOTICS CORP., S...

1. A multi-turn angle controlling method based on an absolute position encoder electronically connected to a motor, comprising:obtaining a starting position and a target position of the motor by the absolute position encoder;
obtaining a target angle according to the starting position and the target position, and obtaining number of times N that the target angle passes a predetermined position;
determining whether an absolute value of the target angle being greater than 360 degrees;
turning the motor under control of the absolute position encoder such that the motor operates in a first operation mode if the absolute value of the target angle is greater than 360 degrees, wherein the first operation mode turns the motor at an upper-limited speed;
M is a positive integer and an initial value of M is zero, and incrementing M by one when the operation angle passes the predetermined position until M equals to N;
turning the motor under control of the absolute position encoder such that the motor operates in a second operation mode when M equals to N, wherein N is a positive integer greater than 1, wherein the second operation mode dynamically adjusts an operation speed of the motor according to a difference between the target position and the starting position.

US Pat. No. 10,166,681

BLUETOOTH SPEAKER AND ROBOT INTERACTION SYSTEM

UBTECH ROBOTICS CORP., S...

1. A Bluetooth speaker for a robot, comprising:an interface unit;
a processor;
a Bluetooth unit configured to receive and transmit audio signals; and
a speaker configured to play the audio signals;
wherein one end of the interface unit is configured to connect to a main controller of the robot, and another end of the interface unit is configured to connect to the processor; the processor further connects to the Bluetooth unit; and the Bluetooth unit connects to the speaker; the interface unit comprises cascade connected a first interface and a second interface connecting to a first device and a next device respectively; the first interface is configured to turn on the first device; the second interface is configured to turn on the next device, after the first device is turned on and the first device is assigned with an identification number;
wherein the Bluetooth speaker for the robot further comprises a switch, wherein one end of the switch connects to the interface unit, and another end of the switch connects to the processor;
wherein the switch comprises a switch module having a first data interface, a second data interface, a first output port, a second output port, a first enable port, and a second enable port;
wherein the first data interface and the second data interface connect to the first interface and the second interface respectively; the first output port and the second output port connect to the processor; the first enable port and the second enable port connect to the processor; the processor turns on the first data interface and the first output port or turns on the second data interface and the second output port according to a voltage of the first data interface and the second data interface; and
wherein the first interface is configured to connect to the switch via a resistance by a wire, and the second interface is configured to connect to the processor via a resistance by a wire.

US Pat. No. 10,209,093

SERVO GEAR IDLE POSITION MEASURING DEVICE AND METHOD

UBTECH ROBOTICS CORP., S...

1. A servo gear idle position measuring method, comprising:outputting a start-up fixed force of a first rotation direction to an output shaft of a servo under test, and recording a value of a start-up position of the output shaft of the servo under test 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 contrary to the first rotation direction for rotating the output shaft of the servo under test to the output shaft of the servo under test, and recording a value of an counterrotation position of the output shaft of the servo under test when the rotor of the servo under test is in a stop status after a predetermined interval; and
calculating a value of a servo gear idle position in a current measuring point, wherein 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.

US Pat. No. 10,211,768

CONTROL METHOD AND CONTROL DEVICE OF DIRECT CURRENT MACHINE

UBTECH ROBOTICS CORP., S...

6. A control device of direct current (DC) machine, comprising:a target module configured to obtain a target speed n;
a speed detection module configured to detect a current speed nk;
a first calculation module configured to calculate a current rotating speed difference ek, wherein ek=n?nk;
a second calculation module configured to calculate a speed base voltage W according to the current speed nk, wherein the speed base voltage W is proportional to the current speed nk;
a third calculation module configured to calculate a PID adjustment voltage V according to the current rotating speed difference ek, wherein the PID adjustment voltage is nonlinearly proportional to the current speed nk;
a fourth calculation module configured to calculate an output voltage U according to the PID adjustment voltage V and the speed base voltage W; and
a driving module configured to drive the DC machine according to the output voltage U;
wherein the driving module further comprises:
a duty-cycle calculation unit is configured to calculate a voltage duty-cycle ratio according to the output voltage U; and
a control unit is configured to drive the DC machine according to the voltage duty-cycle ratio and a control logic of the DC machine by means of a power device;
wherein the speed base voltage W is calculated by an equation below according to the current speed nk:
W=Cr×?×nk;
wherein Cr represents the coefficient of electromotive force, and ? represents the motor flux.

US Pat. No. 10,183,403

ROBOT HEAD ROTATING STRUCTURE

UBTECH ROBOTICS CORP., S...

1. A robot head rotating structure, comprising:a robot head comprising a housing defining an internal space;
a fixing frame disposed in the internal space;
at least one connection assembly disposed between the housing and the fixing frame; and
a rotary driving apparatus disposed in the internal space;
wherein the connection assembly comprises a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, the flange is fixedly connected to the housing, and the rotary driving apparatus is utilized to rotate the flange around the fixing shaft, and
wherein the housing is spherical in share and comprises a front case and a rear cover, the front case and the rear cover enclose to form the internal space, and the front case is locked with the rear cover through the flange.

US Pat. No. 10,307,914

ROBOT WITH ROTARY STRUCTURE

UBTECH Robotics Corp., S...

1. A robot, comprising:a robot head portion, wherein the robot head portion comprises a housing defining an internal space and a fixing frame disposed in the internal space, and at least one set of connection assemblies are disposed between the housing and the fixing frame; wherein each of the connection assemblies comprises a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, and the flange is fixedly connected to the housing;
a shoulder portion; and
a rotary structure, wherein the rotary structure comprises an adapter rotatably connecting the fixing shaft about an axis of the fixing shaft and a drive source rotating the adapter, wherein the adapter comprises an installation disc portion for connecting the shoulder portion, a drive portion for connecting the drive source, and a holding portion connected between the installation disc portion and the drive portion;
wherein, the fixing shaft defines a first shaft hole for accommodating the drive portion, the drive source is disposed on the fixing frame and supported by the fixing frame, the drive portion and the fixing shaft are disposed coaxially.

US Pat. No. 10,275,639

FACE DETECTING AND TRACKING METHOD, METHOD FOR CONTROLLING ROTATION OF ROBOT HEAD AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A face detecting and tracking method comprising:acquiring an image and performing a face detection to determine one or more face boxes of each acquired image;
performing a detection error removing process to the image of current frame, and saving one of the one or more face boxes of the processed image of current frame as a first face box; and
determining a tracking box of the image of current frame based on the first face box and a tracked face box, and tracking a face in the tracking box of the image of current frame;
wherein the step of performing a detection error removing process to the image of current frame, and saving one of the one or more face boxes of the processed image of current frame as a first face box, comprises:
determining that an image of previous frame, which the image of current frame is successive to, and the image of current frame comprise one or more face boxes;
determining that the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame are located at corresponding positions; and
determining that the image of current frame does not comprise a falsely detected face box, and saving one of the one or more face boxes of the image of current frame as the first face box;
wherein the step of determining if the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame are located at corresponding positions, comprises:
determining that the image of current frame and the image of previous frame are orientated in the same way in the same coordinate system, and that overlapping portions exist between the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame;
computing a first overlapping rate of an area of the overlapping portions to an area of the one or more face boxes of the image of current frame, and computing a second overlapping rate of an area of the overlapping portions to an area of the one or more face boxes of the image of previous frame;
in response to the first overlapping rate and/or the second overlapping rate being greater than a predetermined value,
determining that the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame are located at corresponding positions.

US Pat. No. 10,245,945

DRIVING DEVICE AND WHEELED ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP., S...

1. A driving device of a robot comprising at least one driving assembly and a fixing assembly that are arranged outside a base of the robot, wherein the at least one driving assembly comprises a motor, an omnidirectional wheel, a connection shaft configured to connect an output shaft of the motor to the omnidirectional wheel, and a connection assembly configured to connect the connection shaft to the motor and the omnidirectional wheel, the motor, the connection shaft and the omnidirectional wheel are arranged along a radial direction of the base, and the fixing assembly is configured to fix the motor to the base of the robot, wherein a lateral surface of the output shaft of the motor comprises a first external planar surface that defines a positioning hole, a hub of the omnidirectional wheel defines a mounting hole having an inner side surface that comprises a first inner planar surface, the connection shaft comprises a first end and a second end, the first end defines a receiving hole that allows the output shaft to be inserted thereinto and has an inner surface comprising a second inner planar surface, the second inner planar surface comprises a protrusion matching the positioning hole, and the second end has a lateral surface comprising a second external planar surface matching the first inner planar surface.

US Pat. No. 10,232,507

WAIST STRUCTURE AND HUMANOID ROBOT

UBTECH ROBOTICS CORP., S...

1. A waist structure for connecting a trunk structure to leg structures of a humanoid robot, the waist structure comprising:a support assembly located between the trunk structure and the leg structures;
a waist servo mounted on the support assembly and a pair of first-stage leg servos; and
a transmission connected between the waist servo and the first-stage leg servos to enable the waist servo to drive the first-stage leg servos to rotate, the waist servo being configured to connect the trunk structure to the support assembly, and the first-stage leg servos being configured to connect the support assembly to the leg structures;
wherein the waist servo comprises an output shaft connected to the transmission; each of the first-stage leg servos comprises a connecting end; the transmission comprises a first connecting member and a second connecting member securely mounted on the connecting ends, a first transmission member mounted on the output shaft and connected to the first connecting member, and a second transmission member driven by the first transmission member to rotate and connected to the second connecting member.

US Pat. No. 10,265,846

SERVO

UBTECH Robotics Corp., S...

1. A servo comprising:a housing comprising a gear shaft supporting and positioning structure therein;
an electric motor arranged within the housing;
a speed reduction gear set;
an output gear shaft comprising a front end protruding out of the housing and a rear end located within the housing;
an angle detection device; and
a control circuit board;wherein the electric motor is engaged with the output gear shaft through the speed reduction gear set, the rear end of the output gear shaft is connected to the angle detection device, the control circuit board is connected to the electric motor and the angle detection device, and the angle detection device comprises a magnetic sensor arranged on the control circuit board and a magnet that is connected to the rear end of the output gear shaft and located right in front of the magnetic sensor.

US Pat. No. 10,279,472

SERVO CONTROL SYSTEM AND ROBOT

UBTECH Robotics Corp., S...

1. A servo control system, applied to a servo, characterized in that the servo control system comprises:a main control module, comprising two enabling terminals; and
a communication module, comprising a first communication interface, a second communication interface and a control switch unit, the control switch unit comprising a first communication terminal, a second communication terminal, a first enabling port, and a second enabling port, the first communication terminal and the second communication terminal being correspondingly coupled to the first communication interface and the second communication interface, and the first enabling port and the second enabling port being correspondingly coupled to the two enabling terminals of the main control module; wherein:
the main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level coupled to the servo, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level coupled to the servo.

US Pat. No. 10,327,053

BLUETOOTH SPEAKER

UBTECH ROBOTICS CORP., S...

1. A speaker comprising:an upper case and a lower case, the upper case and the lower case corporately defining a receiving space, and the upper case and the lower case each comprising a mounting portion for connecting with a building block element;
a circuit board, a loudspeaker, a wireless module and a light emitting module that are received in the receiving space, and the loudspeaker, the wireless module and the light emitting module are electrically connected to the circuit boarding; and
a light guide configured to guide the light emitted from the light emitting module to an outside of the speaker;
wherein the light guide comprises a first guiding portion and a second guiding portion connected to the first guiding portion, and the first guiding portion defines a recess, and side walls of the recess are slant, the side walls of the recess extend from one end of the first guiding portion to an inner sidewall of the second guiding portion, the second guiding portion is received in a through hole of the lower case so as to be exposed to an outside of the lower case.

US Pat. No. 10,317,874

CRITICAL POINT LOCKING METHODS OF SERVOS AND DEVICES THEREOF

UBTECH Robotics Corp., S...

1. A critical point locking method for a servo comprising a processor and a magnetic encoder electronically connected to the processor, the method comprising:obtaining, by the magnetic encoder, an actual position of the servo, and feeding back the actual position to the processor;
computing, by the processor, a difference between a target position and the actual position to obtain a current target deviation;
computing, by the processor, a variation value according to the current target deviation and a previous target deviation;
determining, by the processor, whether the variation value is greater than a constraint value;
modifying, by the processor, the current target deviation according to the current target deviation and a predetermined value in response to the variation value being greater than the constraint value;
setting, by the processor, the modified current target deviation as a current controlling deviation; and
moving, by the processor, the servo toward the target position, and controlling the servo to lock an angle at the target position according to the current controlling deviation;
wherein the step of modifying, by the processor, the current target deviation according to the current target deviation and the predetermined value further comprises:
setting the current controlling deviation by summing up the current target deviation and a maximum position coding value, in response to the current target deviation being less than the predetermined value;
setting the current controlling deviation as the current target deviation minus the maximum position coding value, in response to the current target deviation being greater than the predetermined value; and
setting the current controlling deviation to be the previous target deviation, in response to the current target deviation being equal to the predetermined value.

US Pat. No. 10,313,150

DATA TRANSMISSION METHOD AND DEVICE FOR ROBOT USING BUFFER

UBTECH Robotics Corp., S...

1. A data transmission method for robot, comprising:transmitting, by a main controller, an attribute reporting request to at least one node via an attribute request frame, wherein the attribute request frame is an extended data frame and the attribute reporting request carries a length of a buffer configured to store attribute data, and the attribute data is in form of block data;
determining, by the node, whether a length of attribute data to be reported is greater than the length of the buffer, transmitting a first attribute reporting response to the main controller in response to the length of the attribute data to be reported being greater than the length of the buffer, and transmitting the attribute data in response to the length of the attribute data to be reported being not greater than the length of the buffer, wherein the first attribute reporting response carries the length of the attribute data to be reported; and
receiving, by the main controller, the first attribute reporting response transmitted from the node, updating the length of the buffer according to the first attribute reporting response, and returning step of transmitting the attribute reporting request to the at least one node via the attribute request frame.

US Pat. No. 10,279,487

FOOT STRUCTURE AND HUMANOID ROBOT

UBTECH Robotics Corp., S...

1. A foot structure for contacting the ground and connecting to a leg structure of a humanoid robot, comprising:a foot assembly for contacting the ground;
a first servo mounted on the foot assembly and comprising a first output shaft;
a connecting assembly rotatably connected to the foot assembly and configured to constitute an ankle portion; and
a second servo mounted on the connecting assembly and configured to connect with the leg structure, the second servo comprising a second output shaft perpendicular to the first output shaft;
the connecting assembly being arranged perpendicularly to the foot assembly and comprising a first connecting structure configured to mount the first output shaft and rotatably connected to the foot assembly, and a second connecting structure connected to the first connecting structure and configured to mount the second output shaft;
wherein the foot assembly comprises a bottom plate, a fixing portion and a mounting portion that protrude toward the leg structure, and a mounting block fixed to the bottom plate and opposite to the mounting portion, the first servo is fixed to the fixing portion, the first output shaft is mounted to the first connecting structure, and opposite ends of the first output shaft are connected to the mounting portion and the mounting block.

US Pat. No. 10,333,838

FRAME TRANSMISSION METHODS AND DEVICES

UBTECH Robotics Corp., S...

1. A frame transmission method, comprising:generating a data frame, wherein the data frame comprises an arbitration field and a data field, the arbitration field comprising a frame mode indication sub-field indicating a frame mode of the data frame, and the data field comprising an instruction sub-field indicating instruction messages carried within the data frame; and
sending the data frame;
wherein the data frame is one of a standard data frame and an expanded data frame, a length of the frame mode indication sub-field in the standard data frame is less than a length of the frame mode indication sub-field in the expanded data frame, and the frame mode indication sub-field indicates purpose of the data frame.

US Pat. No. 10,397,895

RANGE FINDING BASE STATION SELECTION METHOD AND APPARATUS

UBTECH Robotics Corp, Sh...

1. A computer-implemented range finding base station selection method for a wireless positioning system, wherein the wireless positioning system comprises a server, a plurality of base stations, and one or more tags communicating with each other in a wireless manner, the method comprising executing on a processor of the server in the wireless positioning system the steps of:obtaining a first base station group, wherein the first base station group comprises a plurality of base stations have been successfully finding range with respect to a pending tag;
determining whether a first distance between every two base stations in the first base station group being less than a first preset value, and discarding any one of the two base stations in the first base station group having the first distance less than the first preset value to obtain a second base station group;
determining whether horizontal projections of every three base stations in the second base station group are in a straight line, in response to an amount of the base stations in the second base station group being not less than a first preset base station amount, and discarding any one of the three base stations in the second base station group having the horizontal projections in the straight line to obtain a third base station group;
obtaining a second distance of each base station in the third base station group to the pending tag, in response to an amount of the base stations in the third base station group being not less than the first preset base station amount, and discarding any one of the base stations in the third base station group having an absolute value of a difference between the second distance and a pie-stored third distance exceeding a first preset range to obtain a fourth base station group wherein the pre-stored third distance is a distance of the base station to the pending tag in a previous frame;
obtaining a predicted distance of each base station in the fourth base station group to a predicted coordinate of the pending tag in a current frame based on the predicted coordinate and obtaining a real distance of each base station in the fourth base station group to a real coordinate of the pending tag in the current frame based on the real coordinate, in response to an amount of the base stations in the fourth base station group being not less than the first preset base station amount;
discarding any one of the base stations in the fourth base station group having an absolute value of a difference between the predicted distance and the real distance being exceeding a second preset range to obtain a fifth base station group; and
determining the base stations in the fifth base station group as range finding base stations for positioning the pending tag, in response to an amount of the base stations in the fifth base station group being equal to the first preset base station amount.

US Pat. No. 10,345,819

RECHARGING ROBOT SYSTEM

UBTECH ROBOTICS CORP., S...

1. A recharging robot system, comprising:a robot;
a recharging dock, comprising:
a signal emission device comprising:
a first signal emission channel and a second signal emission channel, wherein the first signal emission channel comprises a first opening and the second signal emission channel comprises a second opening;
at least one first signal emitter arranged within the first signal emission channel and at least one second signal emitter arranged within the second signal emission channel;
wherein a distance between a center point of the first opening and the center point of the second opening is greater than a distance between a center point of the first signal emitter and a center point of the second signal emitter;
wherein the first signal emitter is configured to emit first signals outward through the first opening, such that shape of the first opening confines the first signals into a first arc sector, and wherein the second signal emitter is configured to emit second signals outward through the second opening, such that shape of the second opening confines the second signals into a second arc sector;
wherein a moving direction of the robot is adjusted towards the recharging dock according to which of the first signals in the first arc sector, the second signals in the second arc sector, and both the first and second signals in an overlapping area of the first arc sector and the second arc sector that the robot senses.

US Pat. No. 9,946,250

SERVO ACTUATOR DEFAULT DISCONNECTED ID SETTING METHOD FOR SERVO CONTROLLING SYSTEM

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented identifier (ID) setting method, comprising:providing at least two servo actuators comprising a first servo actuator and a second servo actuator connected in sequence, the first servo actuator and the second servo actuator each comprising a first interface and a second interface, the first servo actuator and the second servo actuators coupled to an interface of a master controller of a servo controlling system via a bus, the master controller comprising a micro controller unit (MCU);
broadcasting, by the master controller, a first message to the servo actuators, the first message indicating that an original ID of the servo actuators is replaced with a non-default-disconnected ID, wherein the non-default-disconnected ID is different from a default-disconnected ID;
detecting, by the servo actuators, which of the first interface and the second interface of the servo actuators receives the first message;
when the first interface receives the first message, setting the first interface to be an input interface by the servo actuators, and setting the second interface to be an output interface by the servo actuators;
turning on the input interfaces and the output interfaces of the servo actuators when a current ID of the servo actuators is same as the non-default-disconnected ID;
broadcasting a second message to the servo actuators by the master controller, the second message indicating that the non-default-disconnected ID is replaced with the default-disconnected ID;
replacing the non-default-disconnected ID of the servo actuators with the default-disconnected ID by the servo actuators according to the second message; and
turning on the input interface of the servo actuators and turning off the output interface of the servo actuators when the current ID of the servo actuators is same as the default-disconnected ID.

US Pat. No. 10,389,812

DATA TRANSMISSION METHOD AND DEVICE, DISTRIBUTED STORAGE SYSTEM

UBTECH Robotics Corp., S...

1. A data transmission method for a distributed storage system comprising a data storage server cluster having at least two data storage servers, a data transmission device, and a terminal device communicating via a computerized network, the method comprising:determining, by the data transmission device, a target data storage server in the data storage server cluster according to a preset load balancing manner of the data storage server cluster, the data storage server cluster dynamically adding data storage servers to expand storage capability of the data storage server cluster;
assigning, by the data transmission device via the computerized network, data unloaded by the terminal device and property information of the data to store in a primary target data storage server of one of the data storage servers and a second target data storage server of another of the data storage servers according to weight ratios of the primary tar et data storage server and the second target data storage server;
sending, by the target data storage server via the computerized network, path information of the data to the terminal device, wherein the path information comprises an identification of the target data storage server, and a storage position of the data; and
relating, by the target data storage server, the path information to the property information of the data such that the terminal device searches for the path information based on the property information of the data.

US Pat. No. 10,384,541

LASER RADAR MODULE AND ROBOT

UBTECH Robotics Corp., S...

1. A robot comprising a base, a housing and a laser radar module arranged on the base and within the housing, the laser radar module comprising a laser radar sensor, an upper cover disposed above the laser radar sensor, a lower case disposed below the laser radar sensor, and a locking assembly for connecting the upper cover to the lower case, a gap between the upper cover and the lower case for the laser radar sensor to transmit and receive signals, and the housing defining a through hole matching the gap;wherein the robot further comprises an inner stacking structure disposed within the housing, the inner stacking structure comprises a plurality of support bars, a separating plate and a mounting plate, one end of each of the support bars is fixed to the separating plate and an opposite end of each of the support bars is fixed to the mounting plate, and the separating plate is fixed to the support bars.

US Pat. No. 10,379,510

COMMAND CONTROL IN A MULTI-SERVO FEEDBACK CONTROL SYSTEM

UBTECH Robotics Corp., S...

1. A command control in a multi-servo feedback control system comprising a main controller and a plurality of servos electrically connected to the main controller, the command control comprising:sending, from the main controller, a first action command to the servos via serial data bus, acquiring preset delay time by the servos, performing actions by the servos according to the first action command, and sending feedback information by the servos to the main controller after the preset delay time, wherein the preset delay time of the plurality of servos are different from each other, the feedback information is configured to identify work status of the servos;
sending, from the main controller, a second action command, and determining, by the servos, whether the second action command is valid;
in response to the actions corresponding to the first action command being not performed by one of the servos, determining that the second action command is valid, performing, by said one of the servos, actions corresponding to the second action command, and sending the feedback information to the main controller after the preset delay time; and
in response to the actions corresponding to the first action command being performed by the servos, determining that the second action command is not valid, and masking the second action command, by the servos;
wherein the second action command is sent by the main controller, in response to the feedback information from any one of the servos are not fully received by the main controller within a preset time period after the first action command is sent.

US Pat. No. 10,377,045

ROBOTIC HAND

UBTECH ROBOTICS CORP., S...

1. A robotic hand comprising a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing, wherein the motor is electrically connected to the PCB, an input end of the planetary gear transmission assembly is connected to an output shaft of the motor, an output end of the planetary gear transmission assembly comprises a helical gear shaft and a plurality of helical gears that are engaged with the helical gear shaft and the claws, the helical gears correspond to the claws respectively, one end of each of the claws is rotatably connected to the servo housing, and the claws are rotatable toward or away from one another when driven by the helical gears.

US Pat. No. 10,367,440

SERVO ACTUATOR ID SETTING METHOD

UBTECH ROBOTICS CORP., S...

1. A servo actuator identity (ID) setting method for a servo actuator controlling system having a master controller and a plurality of servo actuators electrically coupled to the master controller, wherein the master controller comprises a master micro controller unit (MCU) and a plurality of interfaces, each of the plurality of interfaces is electrically coupled to the master MCU via a bus, the plurality of servo actuators are connected in series to one of the plurality of interfaces via a bus; each of the plurality of servo actuators comprises a servo MCU, a first interface, a second interface, a first servo switch, and a second servo switch, the first interface and the second interface are connected via a bus which is electrically coupled to the servo MCU; the first servo switch and the second servo switch are provided on the bus connected between the first interface and the second interface, the first servo switch is electrically coupled between the first interface and the servo MCU, the second servo switch is electrically coupled between the second interface and the servo MCU; a first connection line is provided between the first interface and the first servo switch to electrically couple to the servo MCU, and a second connection line is provided between the second interface and the second servo switch to electrically couple to the servo MCU, the method comprises:broadcasting, by the master controller, a message of replacing an ID of the servo actuator with a default disconnected ID to the plurality of servo actuators;
turning on, by each of the plurality of servo actuators, a servo switch of the servo actuator connected to an input interface in response to the ID of the servo actuator being the default disconnected ID;
turning off, by each of the plurality of servo actuators, the other servo switch of the servo actuator connected to an output interface in response to the ID of the servo actuator being the default disconnected ID, wherein the input interface is one of the first interface and the second interface, the output interface is the other of the first interface and the second interface, the output interface of each of the plurality of servo actuator is connected to the input interface of a next one of the plurality of servo actuators;
repeating the following steps to set IDs of the plurality of servo actuators one by one:
broadcasting, by the master controller, a signal to replace an ID with a target ID;
replacing, by the servo actuator that receives the signal, the ID of the servo actuator with the target ID according to the received signal; and
turning on, by a corresponding servo actuator, the second servo switch of the servo actuator in response to the ID of the servo actuator being not the default disconnected ID.

US Pat. No. 10,357,882

DATA UPGRADING METHODS AND DEVICES FOR ROBOTS

UBTECH ROBOTICS CORP., S...

1. A data upgrading method for a robot comprising a main controller and at least one node electrically connected to the main controller via a controller area network bus, the method comprising:transmitting, by the main controller, a data region preparation request requesting to prepare a data region to the at least one node;
configuring, by the at least one node, the data region to store at least one upgraded data packet in response to the data region preparation request, and transmitting a length of the data region to the main controller;
receiving, by the main controller, the length of the data region, and transmitting the at least one upgraded data packet to the at least one node according to a predetermined sending sequence, wherein the length of the data region is greater than or equal to a length of the at least one upgraded data packet;
transmitting, by the main controller, the length of the at least one upgraded data packet, an upgrading indicator, and a restarting time to the at least one node;
receiving, by the at least one node, the at least one upgraded data packet and saving the at least one upgraded data packet in the data region;
receiving, by the at least one node, the length of the at least one upgraded data packet, the upgrading indicator, and the restarting time; and
transmitting, by the at least one node, a confirmed length of the at least one upgraded data packet, a confirmed upgrading indicator, and a confirmed restarting time;
wherein the length of the at least one upgraded data packet, the upgrading indicator, and the restarting time are transmitted via a block control instruction frame;
the confirmed length of the at least one upgraded data packet, the confirmed upgrading indicator, and the confirmed restarting time are transmitted via a block return instruction frame.

US Pat. No. 10,377,037

SPEED REDUCTION DEVICE, JOIN SERVO AND ROBOT

UBTECH Robotics Corp, Sh...

1. A speed reduction device comprising:a driving device configured to provide power and comprising an output shaft for outputting the power;
a first stage speed reduction assembly configured to change an output direction of the power, the first stage speed reduction assembly comprising a power gear that is mounted on the output shaft and rotates together with the output shaft, and a face gear that engages the power gear, and a rotation direction of the face gear being perpendicular to a rotation direction of the power gear, and
a second stage speed reduction assembly securely mounted on a surface of the face gear that has gear teeth, the second stage speed reduction assembly comprising a sun gear that rotates coaxially with the face gear, a planet gear set that engages the sun gear and is driven to rotate by the sun gear, a fixed gear that is mutually engaged with the planet gear set and configured to prevent the planet gear set from idling, an output gear that is mutually engaged with the planet gear set and outputs the power, and a fixed shaft that passes through the face gear, the sun gear and the planet gear set in sequence and is fixed to the output gear.

US Pat. No. 10,411,483

ROBOT RECHARGING DOCK AND ROBOT RECHARGING SYSTEM

UBTECH ROBOTICS CORP., S...

1. A robot recharging dock, comprising:a recharging dock body;
at least a pair of recharging contact pads configured on at least one side of the recharging dock body;
at least one recharging switch circuit, a recharging power supply connected to the recharging contact pads through the at least one recharging switch circuit; and
a sensing circuit connected to the at least one recharging switch circuit;
wherein the sensing circuit is configured to turn on the recharging switch circuit upon detecting a magnetic component of a robot, so that the recharging power supply outputs a recharging voltage to the recharging contact pads;
wherein the sensing circuit comprises:
a first resistor, a first capacitor, and a sensor;
wherein a first end of the first resistor connects to a first power supply, and a second end of the first resistor connects to a first end of the sensor;
a first end of the first capacitor connects to the first power supply, and a second end of the first capacitor is grounded; and
a second end of the sensor connects to the recharging switch circuit, and a third end of the sensor is grounded.

US Pat. No. 10,384,352

FINGER OF ROBOTIC HAND AND ROBOT HAVING THE SAME

UBTECH Robotics Corp, Sh...

1. A finger of a robotic hand, comprising:a phalanx portion comprising at least two phalanxes rotatably coupled to each other;
a rotating member that is rotatable with respect to the phalanx portion;
a rope comprising two opposite ends respectively connected to one of the at least two phalanxes and the rotating member, the rope being configured to pull one of the at least two phalanxes to rotate;
a rotating cam driven by a driving device and comprising a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction; and
an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction, the second direction being different from the first direction;
wherein when the rotating member rotates in one of the first direction and the second direction, the rope is pulled by the rotating member and then pulls the one of the at least two phalanxes to rotate.