12 - Land, air and water vehicles; parts of land vehicles
35 - Advertising and business services
Goods & Services
(1) Self-balancing electric unicycles; electric scooter; self-balancing electric scooters; electrically powered motor scooters; electric bicycles; push scooters; self-balancing boards; mobility scooters; folding bikes; self-balancing scooters. (1) Advertising agencies; online advertising for others via a computer communications network; import-export agency services; market studies; providing marketing strategies for others; promoting goods and services through the distribution of discount cards; providing an on-line commercial information directory on the internet; provision of an on-line marketplace for buyers and sellers of goods and services; marketing services in the field of arranging for the distribution of the products of others; arranging and conducting toy trade show exhibitions.
A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.
F16D 63/00 - Brakes not otherwise provided forBrakes combining more than one of the types of groups
F16D 55/226 - Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads in which the common actuating member is moved axially
A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.
Provided is a method for dynamically expanding a service attribute, said method comprising: obtaining service attributes and service attribute data stored in row mode which correspond to a service object (202); by means of row/column conversion, converting said service attributes and corresponding service attribute data into columns and displaying same in a data table (204). In the method, it is necessary only to store in row form the service attributes to be expanded, and then achieve dynamic expansion of service attributes by means of row/column conversion, and there is no need to add a new table structure; the method is easy and convenient and greatly reduces development costs, and improves development efficiency. In addition, a service attribute dynamic expansion apparatus, computer device, and storage medium are also provided.
A short text filtering method and apparatus, a medium and a computer device. The method comprises: acquiring a text to be detected, wherein the text to be detected is a short text (S102); performing word segmentation on the text to be detected, so as to acquire a word segmentation result including at least one word vector (S104); and calculating the relevancy between the word segmentation result and a pre-set corpus database, and filtering the text to be detected according to the relevancy (S106). By means of the short text filtering method and apparatus, the medium and the computer device, the accuracy of short text filtering can be improved.
Disclosed are a method and apparatus for generating a building block model, and a terminal and a computer-readable storage medium. The method comprises: scanning a target model based on multiple orientations, so as to acquire a contour image of the target model (S202); matching the contour image according to building block parts in a pre-set part library, so as to obtain sub-parts matching the contour image (S204); and assembling a three-dimensional building block model similar to the target model according to the sub-parts (S206). By means of the method, a real object can be quickly converted into a building block model after the real object is scanned, thereby enhancing a user's abstraction ability for a real object.
A self-training method and apparatus for a model, a computer device, and a storage medium. The method comprises: receiving a self-defined corpus template and an entity (202); generating a training corpus according to the corpus template and the entity, the training corpus comprising training text and a corresponding text annotation, and the training text being generated by means of combination according to the corpus template and the entity (204); inputting the training text as a model to be trained, training the model by taking the corresponding text annotation as expected output of the model, and obtaining a target model after the training is completed (206). According to the self-training method for a model, a training corpus is automatically generated merely according to a user defined corpus template and an entity, and a target model is obtained by automatically training a model according to the training corpus; the method is simple and convenient, and machine corpus identification is easily, conveniently and highly efficiently achieved.
An entity identification method and apparatus in a dialogue corpus, and a computer device. The method comprises: obtaining corpus text of an entity to be identified (S102); performing word segmentation on the corpus text to obtain a word segmentation result, the word segmentation result comprising multiple words (S104); obtaining a word vector corresponding to each word in the word segmentation result, and combining the word vector corresponding to each word to obtain a text matrix corresponding to the corpus text (S106); and inputting the text matrix to an entity identification model, and obtaining the entity in the corpus text output by the entity identification model (S108). By using the mode above, the accuracy of entity identification is improved.
A robot operation and control method, a gesture recognition apparatus and a robot. The method comprises the following steps: when a palm stretches into a first gesture recognition apparatus provided with several ultrasonic sensors, initializing a program and recording original data of the palm; a first control module acquiring, at a set frequency, distance data, measured by the ultrasonic sensors, of the palm; the first control module determining a set of distance change values of all the ultrasonic sensors relative to the palm according to the current distance data of the palm and distance data of the palm after at least a set time interval, and determining a current gesture according to the set of the distance change values; the first control module determining an action of a robot according to the current gesture; and sending the action of the robot to a connected robot to complete first operation and control.
Provided are an object path tracking display method and system, comprising the following steps: establishing in a distributed search server a mapping relationship library of image features of an object and Wi-Fi information, each Wi-Fi information comprising location information (step 101); receiving a path query request based on a monitored object (step 102); according to the image features of the monitored object, searching the image feature and Wi-Fi information mapping relationship library to form a Wi-Fi information set; forming a corresponding position information set according to the Wi-Fi information set (step 103); generating real-time path information of the monitored object according to the position information set (step 104). The present method increases the accuracy of path query.
Provided are a method for controlling the gait of a biped robot, and a biped robot, comprising the following steps: obtaining six-dimensional force information, and, according to the six-dimensional force information, determining the state of support of a biped robot; according to the six-dimensional force information, calculating a ZMP position of each foot of the biped robot; setting a ZMP expected value of each foot according to the state of support and body posture error; determining the ankle joint compensation angle of each foot of the biped robot according to the ZMP position and the ZMP position change rate, the ZMP expected value, and the ZMP expected value change rate; according to the ankle joint compensation angle, tracking and adjusting, in real time, the current ankle joint angle of the biped robot; repeating the above steps at a set frequency until posture control or ankle joint compliance is completed in different states of support.
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
17.
COMMUNICATION LINK HANDOVER METHOD AND APPARATUS, TERMINAL, AND COMPUTER READABLE STORAGE MEDIUM
Disclosed in the embodiments of the present invention are a communication link handover method and apparatus, a terminal, and a computer readable storage medium, the method comprising: detecting in real time the signal strength of a first network signal and the signal strength of a second network signal; when the signal strength of the first network signal and/or the signal strength of the second network signal are greater than or equal to a first threshold, selecting on the basis of a preset transmission policy a first communication link and/or a second communication link for transmitting data; and, when the signal strength of the first network signal and the signal strength of the second network signal are less than a second threshold, selecting a third communication link for transmitting data. The present method enables automatic handover of communication links on the basis of the signal strength of different network signals, increasing the stability of the communication system and increasing the robustness of the terminal devices during the communication process.
A data presentation method and apparatus, a computer device and a storage medium. The method comprises: acquiring requirement information sent by a terminal, wherein the requirement information is input by means of a requirement information input page of the terminal (S202); acquiring, according to the requirement information, target data corresponding to the requirement information (S204); filling, according to the requirement information, the target data into a corresponding position of a data presentation template, so as to generate a target presented data table (S206); and sending the generated target presented data table to the terminal, so as to display the target presented data table on the terminal (S208). The method improves table generation efficiency, and facilitates a terminal in checking in a timely manner.
Disclosed are an authority system and a method for service access, the system comprising: a user system, a service system, and an identity authentication system. The user system is configured to send a service request to the service system; the service request carries token information; the service system is configured to acquire the token information from the service request and send the obtained token information to the identity authentication system; the identity authentication system determines whether the user system has the authority to access the service system according to the token information and sends the determination result to the service system; the service system receives the determination result returned by the identity authentication system, and executes, if the determination result is that the user system has the authority to access the service system, the service corresponding to the service request. In this way, the efficiency of accessing multiple services by users is improved.
H04L 9/32 - Arrangements for secret or secure communicationsNetwork security protocols including means for verifying the identity or authority of a user of the system
20.
QUESTION TEXT MATCHING METHOD AND APPARATUS, COMPUTER DEVICE AND STORAGE MEDIUM
A question text matching method and apparatus, a computer device and a storage medium, the method comprising: obtaining a question text to be matched (S102); combining the question text to be matched with each preset question text in a question text library respectively to obtain a plurality of input question texts (S104); inputting the plurality of input question texts into a question matching model to obtain similarity labels between the question text to be matched and each preset question text (S106); and obtaining a target question text having the highest similarity to the question text to be matched according to the similarity labels (S108). By means of the described method, the question matching accuracy can be improved to a certain extent.
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.
A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.
Disclosed in the embodiments of the present invention are a method, a system and an apparatus for a robot to acquire a resource file, a computer device and a storage medium. The method comprises: acquiring a link acquisition request sent by a robot; generating a resource file link according to the link acquisition request; and sending the resource file link to the robot, so that the robot acquires a corresponding resource file from a server according to the resource file link. The method improves the efficiency of robot resource updating.
A method and device for pharmaceutical forecasting, a computer device, and a storage medium. The method comprises: acquiring symptom information of medicament to be forecasted, the symptom information comprising at least one symptom (202); determining a symptom vector corresponding to each symptom (204); calculating, on the basis of the symptom vector of each symptom, the vector distance between the symptom vector and medicament vectors corresponding to medicaments in a medicament database (206); and determining, on the basis of the vector distance, a target medicament corresponding to the symptom information (208). The method for pharmaceutical forecasting greatly increases the efficiency of forecasting.
G16H 20/10 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
25.
METHOD AND DEVICE FOR CALIBRATING EXTERNAL PARAMETERS OF ROBOT SENSOR, ROBOT AND STORAGE MEDIUM
000000000) as a set of coordinate data; and when the relative positional relationship between the robot (110) and the calibration reference object (120) changes, repeating the steps above to obtain N sets of coordinate data, and then calculating external parameters between the first sensor and the second sensor. The present method improves the performance of the robot (110). In addition, also provided are a device for calibrating the external parameters of the robot sensor, the robot (110) and a storage medium.
An electronic payment transaction system and method. The payment system is used for sending bill collection information to a management system, so that the management system sends the bill collection information to a bill collection system; the payment system is also used for modifying the state of a message in a payment message confirmation table from a first payment state to a second payment state after the bill collection information is successfully sent to the management system (S602); the bill collection system sending bill collection confirmation information to the management system after a bill collection operation is successfully executed, and modifying the state of a message in a bill collection message confirmation table from a first bill collection state to a second bill collection state after the bill collection confirmation information is sent to the management system (S604); and the management system is used for sending the bill collection confirmation information to the payment system, so that the payment system modifies the second payment state in the payment message confirmation table to a third payment state according to the bill collection confirmation information (S606). By means of the method, the consistency of data of both a payee and a payer is guaranteed to a certain extent.
An object positioning method, comprising: obtaining a target image obtained by photographing a target object to be positioned (202); performing feature extraction on the target object in the target image to obtain a two-dimensional feature corresponding to each feature point (204); searching a word bag for a target feature matching each two-dimensional feature, and determining three-dimensional point coordinates of the corresponding feature point according to the target feature, the word bag being established by learning on the basis of a label point and storing a correspondence between the two-dimensional feature and the three-dimensional point coordinates of the feature point in the target object (206); and obtaining two-dimensional point coordinates of each feature point in a current camera coordinate system, and determining a position relationship of the target object with respect to the current camera coordinate system according to the two-dimensional point coordinates and the three-dimensional point coordinates (208). The object positioning method is simple in operation and high in stability and accuracy. In addition, also provided are an object positioning apparatus, a computer device, and a storage medium.
A text entity recognition method, comprising: obtaining a text of an entity to be recognized (S202); using the text as an input of an entity recognition model to obtain a first predicted entity set output by the entity recognition model (S204); using a word segmentation mechanism to perform word segmentation on the text, and extracting, according to the word segmentation processing result, a second predicted entity set (S206); and determining, according to the first predicted entity set and the second predicted entity set, a target entity set obtained through recognition, the target entity set being a set of target entities (S208). By using the word segmentation mechanism as a supplementary recognition, the accuracy of entity recognition is improved. In addition, also provided are a text entity recognition apparatus, a computer device, and a storage medium.
Provided are a chat corpus cleaning method, an apparatus, a computer device and a storage medium, comprising: obtaining chat corpus, the chat corpus comprising question corpus and answer corpus (S102); performing word segmentation processing on the chat corpus to obtain a word vector converted from the word segmentation result, and obtain a character vector corresponding to the chat corpus (S104); inputting the word vector and the character vector into a preset chat corpus matching model, to obtain a target matching score corresponding to the chat corpus (S106); and cleaning the chat corpus according to the target matching score. Through the above manner, the chat corpus can be automatically cleaned to improve the quality of the chat corpus, thereby improving the accuracy of subsequent model training.
A chat corpus cleaning method and apparatus, a computer device, and a storage medium. The method comprises: acquiring a chat corpus, wherein the chat corpus comprises a question corpus and an answer corpus (S102); performing word segmentation processing on the chat corpus, and converting a word segmentation result into a word vector (S104); inputting the word vector into a preset deep retrieving, matching and sorting model to acquire a matching score corresponding to the chat corpus (S106); and cleaning the chat corpus according to the matching score (S108). By means of the method, a chat corpus can be automatically cleaned, thereby improving the quality of the chat corpus, thus improving the accuracy of subsequent model training.
A rotation angle detection method and device for a steering engine, said method comprising: calculating a rotation angle estimation value of a motor shaft during rotation according to a second rotation angle (S202); determining an actual range of a rotation angle of the motor shaft according to the rotation angle estimation value in conjunction with a detection error of a second angle sensor (120) (S204); on the basis of the correlation between a first rotation angle and the rotation angle estimation value, determining optional values of the rotation angle of the motor shaft (S206); and on the basis of a value of the optional values of the rotation angle within the actual range of the rotation angle of the motor shaft, determining an actual rotation angle of the motor shaft, and determining an actual rotation angle of an output shaft according to the actual rotation angle of the motor shaft (S208). Said method can improve the measurement accuracy of the rotation angle of a rotating mechanism output shaft, greatly reducing the influence of an error in accuracy of an angle sensor on the overall system error, making the output control of the rotating mechanism more accurate.
G01B 5/24 - Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of mechanical techniques for testing the alignment of axes
32.
METHOD AND DEVICE FOR SEGMENTING DATA, COMPUTER DEVICE, AND STORAGE MEDIUM
Disclosed are a method and device for segmenting data, a computer device, and a storage medium, comprising: acquiring a dataset and service types of data in the dataset; segmenting the data of the dataset on the basis of the service types to produce multiple data tables; acquiring the number of data entries in each of the data tables; segmenting the data tables on the basis of the corresponding number of data entries to produce multiple data child tables corresponding to each of the data tables. The segmentation of data per the method increases the efficiency of data query when data query is required.
A data processing method and device, a computer apparatus, and a storage medium. The method comprises: obtaining a data processing request comprising a database identifier (S102); determining, according to the database identifier, a target database microservice, wherein the target database microservice provides a data processing interface of a target database corresponding to the data processing request (S104); and sending the data processing request to the target database microservice, and performing, by means of the data processing interface provided by the target database microservice, a data processing operation corresponding to the data processing request (S106). The present method can improve the efficiency of data processing.
A vehicle query method, system and apparatus, a computer device and a storage medium. The method comprises: receiving a vehicle query request sent by a terminal, the vehicle query request comprising location information of a user (202); determining a corresponding target microservice according to the location information of the user, and sending the vehicle query request to the target microservice, wherein the target microservice is used to query target vehicle information matching the location information at a corresponding vehicle information storage region (204); receiving the target vehicle information queried by the target microservice, and returning the target vehicle information to a corresponding terminal (206). The described vehicle query method queries by means of zoning, which greatly improves the processing efficiency.
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.
An arm assembly includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, and a forearm transmission member comprising a first end rotatable with respect to the chest and a second end coupled to the forearm. The upper arm, the forearm and the forearm transmission member are arranged in such a way that the forearm rotates when the upper arm rotates with respect to the chest.
An assembly for driving a waist of a humanoid robot to rotate with respect to a chest of the humanoid robot includes a support assembly fixed in the chest, a servo mounted to the support assembly, and a rotating member fixed to the waist and rotatable when driven by the servo.
An arm assembly of a robot includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, a hand connected to an end of the forearm and rotatable about a first axis extending along a lengthwise direction of the forearm; and a hand transmission mechanism configured to transmit motion from the servo to the hand so as to drive the hand to rotate about the first axis.
F16H 21/44 - Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
A head of a robot includes a head housing, a lace panel connected to the head housing, a mask moveably connected to the head housing, a mounting frame arranged within the head housing, a first servo connected to the mounting frame, and a first transmission mechanism to transmit motion from the first servo to the mask so as to move the mask between a first position where the mask covers the face panel and a second position where the mask is lifted to expose the face panel.
F16H 21/32 - Crank gearingsEccentric gearings with one connecting-rod and one guided slide to each crank or eccentric with additional members comprising only pivoted links or arms
F16H 19/00 - Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
A leg assembly of a robot comprising a waist includes a thigh rotatably coupled to the waist, a lower leg rotatably coupled to the thigh, a foot rotatably coupled to the lower leg, a servo fixe to the thigh, a first transmission mechanism configured to transmit motion from the servo to the thigh to drive the thigh to rotate with respect to the waist; a second transmission mechanism configured to transmit motion from the thigh to the lower leg to drive the lower leg to flex when the thigh move upward and extend when the thigh move downward; and a third transmission mechanism configured rotatably connected to the thigh and the foot in such a way that the foot dorsiflexes from an original position when the lower leg is flexing and rotates back toward the original position when the lower leg is extending.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
A63H 11/18 - Figure toys which perform a realistic walking motion
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A biped robot and a moving method therefor, an apparatus and a storage medium, wherein the method comprises: on the basis of the actual moving track of a biped robot, calculating the movement state of each motor of the legs, and controlling each motor to rotate to a corresponding movement state. The method may enable a biped robot to flexibly control the biped robot on the basis of received real-time exterior feedback.
The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.
G05B 19/19 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
The present disclosure provides an output shaft component and a power output mechanism. The output shaft component includes a housing connected to the driven member, an adapter shaft connected to an output shaft of the power output mechanism, and an elastic body mounted in the housing. The adapter shaft is rotatably mounted in the housing. The elastic body includes an inner ring, an outer ring located outside the inner ring, and an elastic portion connected between the inner ring and the outer ring. The adapter shaft is sheathed in the inner ring, the inner ring is synchronously rotatably connected to the adapter shaft, and the outer ring is fixed on the housing.
F16D 3/12 - Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted for accumulation of energy to absorb shocks or vibration
F16D 1/10 - Quick-acting couplings in which the parts are connected by simply bringing them together axially
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.
The present disclosure provides an obstacle avoidance method and system for a robot having ranging sensors as well as a robot using the same. The method includes: obtaining detection data collected by the plurality of ranging sensors; obtaining a current position of the robot based on the collected detection data; determining whether historical detection data corresponding to the current position has been stored; planning a movement path of the robot based on the collected detection data and the historical detection data and generating movement path information of the movement path, if the historical detection data corresponding to the current position has been stored; and controlling the robot to move along an obstacle-free path based on the movement path information. The present disclosure can effectively break through the limitation of the sensor technology, reduce the detection blind zone, and effectively improve the obstacle avoidance efficiency of a robot.
An overload protection assembly includes a first gear of a servo, a second gear of the servo, defining a receiving space; and a clutch configured to coaxially couple the first gear to the second gear and transmit torque between the first gear and the second gear. The clutch includes an elastic member arranged around the first gear and received in the receiving space. The elastic member includes a number of protrusions at a circumferential surface thereof, and a number of recesses are defined in a lateral surface of the receiving space. The protrusions are used to be respectively engaged with corresponding ones of the recesses so as to couple the firs gear to the second gear when a value of the torque is less than a preset value, and disengageable from the corresponding ones of the recesses so as to disconnect the first gear.
A finger of a robotic hand includes a phalanx portion including two phalanxes rotatably coupled to each other, one of the two phalanxes being rotatable about a rotation axis with respect to the other one of the two phalanxes; and a stopper structure including a first stopper member connected to the one of the two phalanxes and a second stopper member connected to the other one of the two phalanxes. The first stopper member extends around the rotation axis, and a circumferential space is defined between the first stopper member and the second stopper member and allowing the first stopper member to rotate together with the one of the two phalanxes in a predetermined range.
A servo includes a casing, a motor assembly arranged within the casing and including a hollow output shaft, a harmonic drive including a flex spline, a wave generator arranged and a circular spline that comprises, a first bearing to rotatably connect the flex spline to the circular spline so as to enable one of the flex spline and the circular spline to serve as an output member, and enable the other one to serve as a fixed member, a post fixed to the output member and received in the output shaft, a first source member arranged at one end of the post that is away from the output member; and a control circuit board having a first sensing member. The first sensing member and the first source member corporately constitute a rotation sensor to detect rotation of the output member.
The present disclosure provides a serial port communication mode conversion method, system, and circuit for a serial port circuit, in which the serial port circuit includes a first serial port and a second serial port, a transmission signal line of the first serial port and a reception signal line of the second serial port are connected to form a half-duplex signal line. The method includes: configuring the second serial port to enable after a preset time; controlling the first serial port to transmit a control signal to an external device through the half-duplex signal line within the preset time; and controlling the second serial port to receive response data transmitted by the external device through the half-duplex signal line after the preset time. The present disclosure realizes the conversion of the full-duplex serial port to the half-duplex serial port.
A grayscale tracking sensing module includes: a main control unit, and a grayscale acquisition unit comprising at least five grayscale sensors electronically connected to the main control unit. The at least five grayscale sensors are formed a V-shape, with one of the grayscale sensors arranged at an apex of the V-shape and the rest of the grayscale sensors offsettingly arranged at two opposite sides of said one of the grayscale sensors. A smart terminal are also provided.
The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.
The present disclosure relates to intelligent control technology, and provides a robot, a method for controlling motion of a robot and a non-transitory readable medium. The method includes: acquiring current motion state of the robot; when the robot is in abnormal motion state, storing received data; when the robot returns to normal motion state, acquiring restoring time for the robot to return from the abnormal motion state to the normal motion state; and controlling the robot to perform a corresponding action after the robot returns to the normal motion state. In this way when multiple robots perform synchronized tasks and one of them is interrupted, this robot may perform the corresponding action based on the fault duration and the data which correspond to the action the robot needs to perform in the normal motion state. Thus, this robot may keep its actions consistent with the others.
A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a rotating member that is rotatable with respect to the phalanx portion, a rope having two opposite ends respectively connected to one phalanx and the rotating member, a rotating cam driven by a driving device and having 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.
A device capable of simulating a limb of a humanoid robot includes a vertically arranged guiding rail, a lower block fixed to the lower end of die guiding rail, an upper block slidably connected to rail, a lower linkage bar rotatably coupled to the lower block, an upper linkage bar rotatably coupled to the upper block, a joint module located between and rotatably coupled to the lower linkage bar and the upper linkage bar, a sensor configured to measure a force exerted on the joint; and a data processing module electrically connected to the sensor and configured to receive data from the sensor to determine a value of the force.
The present disclosure provides a robot control method, apparatus and a storage medium with the same. The method includes: obtaining a serial number and a rotational angle parameter of a first servo corresponding to a preset motion frame portion of a first motion; obtaining a serial number of a second servo located symmetrical to the first servo; receiving an instruction for mirroring the preset motion frame portion; performing a preset mirroring processing on a rotational angle parameter of the second servo according to the instruction; and storing the mirrored rotational angle parameter in a motion frame portion of a second motion; performing the first motion and the second motion. In the above-mentioned manner, the difficulty in adjusting the motion frame in the mirroring operation of the robot is largely simplified, and the accuracy and efficiency of the mirroring operation are improved.
A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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.
F16H 37/04 - Combinations of toothed gearings only
F16H 7/02 - Gearings for conveying rotary motion by endless flexible members with beltsGearings for conveying rotary motion by endless flexible members with V-belts
The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
60.
Robot foot structure and humanoid robot having the same
A robot foot structure for being used in conjunction with the main body structure of a humanoid robot is provided, the robot foot structure being connected to a bottom of the main body structure, wherein the robot foot structure includes a sole plate and a buffering mechanism provided on the sole plate, the buffering mechanism is configured to be connected between the sole plate and the main body structure of the humanoid robot for buffering a load acted on the robot foot structure generated by the weight of the main body structure during walking of the robot foot structure. A load generated by the weight of the main body structure during walking is acted on the buffering mechanism which in turn absorbs an impact resulted from the load as the robot foot structure touches the ground, such that the service life of the robot foot structure can be extended.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
61.
Robot-based 3D picture shooting method and system, and robot using the same
The present disclosure provides a robot-based 3D picture shooting method and system, and a robot using the same. The method includes: obtaining a distance between a photographed object and the photographing device of the robot based on a received shooting instruction; calculating an inter-axis distance based on the distance; obtaining the first picture after moving the robot for half of the inter-axis distance along the movement direction; obtaining the second picture after moving the robot for entire of the inter-axis distance from a current position along an opposite direction of the movement direction; and synthesizing the first picture and the second picture to obtain a 3D picture of the photographed object. In the process, the robot moves the photographing device according to the calculated inter-axis distance, and obtains two pictures of the left and right of the photographed object, which is not necessary to use a binocular camera.
H04N 13/221 - Image signal generators using stereoscopic image cameras using a single 2D image sensor using the relative movement between cameras and objects
62.
Biped robot equivalent trajectory generating method and biped robot using the same
The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.
The present disclosure provides a method, an apparatus and a terminal device for communication protocol compatibility. The method includes: receiving an external protocol list transmitted by an external device and retrieving a locally stored local protocol list; taking one of a same version information of the external protocol list and the local protocol list as matched version information, if the external protocol list and the local protocol list have the same version information; and taking the local protocol corresponding to the snatched version information as the protocol for communicating with the external device, and transmitting the matched version information to the external device. As a result, when the terminal device and the external device have the same communication protocol, they can perform data exchange using the same communication protocol automatically, which reduces the possibility of the incompatibility in the communication protocol so as to improve the communication success rate.
The present disclosure relates to servo control technology, which provides a method, device, and terminal device for servo movement smoothing. The method includes: obtaining a starting position and a control command for a rotation of an output shaft the servo; determining an ending position and a rotation time for the rotation of the output shaft in accordance with the control command; constructing a movement curve of the output shaft based on the starting position, the ending position, and the rotation time; and controlling the output shaft to rotate from the starting position to the ending position in accordance with the movement curve. The above-mentioned method smooths the movement of the servo by constructing a simple linear function, which greatly reduces the calculation amount in comparison with the technical solution using the cubic Bessel formula, and is capable of reducing the requirements for the hardware performance of servos.
G05B 19/25 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
G05B 19/408 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
G05B 19/416 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
65.
Shutter speed adjusting method and apparatus, and robot using the same
The present disclosure provides a shutter speed adjusting method and apparatus or a robot with a photographing device, and a robot using the same. The method includes: obtaining a motion speed of the robot: obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device; obtaining a distance between the robot and a photographed object; and adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance. Through the present disclosure, the problem of blurred picture caused by the movement of the robot itself can be avoided, thereby improving the photographing quality.
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.
G11B 5/584 - Disposition or mounting of heads relative to record carriers with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for track following on tapes
G11B 5/55 - Track change, selection, or acquisition by displacement of the head
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.
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
68.
Angle detection device and method of multi-turn servo, and multi-turn servo
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.
G01D 5/12 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means
G01D 5/244 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
69.
Servo including mechanism for preventing abnormal rotation of servo output shaft and robot including the same
A servo assembly includes a housing, a motor, a control circuit board and a gear transmission mechanism that are arranged in the housing. The motor is electrically connected with the control circuit board. The gear transmission mechanism is rotatably connected with a motor output shaft of the motor and the servo output shaft. A servo output shaft has one end that is received in the housing and located above the control circuit board and an opposite end that extends out of the housing. A servo plate is connected to the end of the servo output shaft which is away from the control circuit board. The servo plate includes a connecting portion connected with the servo output shaft. An annular member is disposed between an end surface of the connecting portion and the housing, and the annular member is used to limit an abnormal rotation of the servo output shaft.
H02K 7/00 - Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
F16H 57/021 - Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
H02K 11/30 - Structural association with control circuits or drive circuits
An assembly for a robot includes a shoulder, an arm rotatably connected to the shoulder, an armor decorative member connected to the arm and located adjacent to the shoulder, and a connection assembly located between and rotatably connected to the arm and the armor decorative member. Relative rotation between the arm and the connection assembly and between the armor decorative member and the connection assembly enables the arm to continue to rotate after an upper end of the armor decorative member comes into contact with the shoulder.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 11/00 - Manipulators not otherwise provided for
A servo transmission mechanism includes a servo main body, a first housing, a second housing, a connecting rod, and a linking member. The semi main body includes a first end having an output shaft and a second opposite end. The first housing is connected to the output shaft of the servo main body. The connecting rod has an upper end and a lower end that includes a connecting shaft, opposite ends of which are rotatably connected to the first housing and the second housing, respectively. The linking member rotatably connects the upper end of the connecting rod to the second end of the servo main body.
F16C 7/02 - Constructions of connecting-rods with constant length
F16H 21/44 - Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
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.
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.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
F16H 55/22 - Toothed membersWorms for transmissions with crossing shafts, especially worms, worm-gears
F16H 1/12 - Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
The present disclosure relates to a method for controlling zero-return of a servo of a robot, and a servo and a robot with enhanced zero-return. The method includes: outputting an activation command to a motor, and reading a default zero-point of the motor (w1) and a default zero-point of an output shaft of the speed reducer (w2). The output shaft of the motor (w1) is driven to return until the default zero-point of the output shaft of the speed reducer (w2) is the same with the current position of the output shaft of the speed reducer (w4) in response to the default zero-point of an output shaft of the speed reducer (w2) being not the same with the current position of the output shaft of the speed reducer (w4).
G05B 19/10 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches
G05B 19/29 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for point-to-point control
G05B 19/414 - Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
G05B 19/19 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
75.
Method, terminal device, and computer readable storage medium for controlling rotation of servo
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.
G05D 13/62 - Control of linear speedControl of angular speedControl of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
G05B 17/02 - Systems involving the use of models or simulators of said systems electric
76.
Servo driving method, apparatus, and robot thereof
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.
The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
An inner rotor lamination for a permanent magnet direct current motor includes a yoke and a plurality of teeth connected to the yoke. Each of the teeth has a tooth body connected to the yoke and a tooth tip connected to a distal end of the tooth body. A winding slot is formed between each two adjacent tooth bodies. One tooth tip defines one or more first through holes adjacent to a radial end thereof, and one or more second through holes. Each of the one or more second through holes is located adjacent to one circumferential end of the at least one tooth tip.
H02K 29/03 - Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
A skin for a robot includes a first composite layer structure, a second composite layer structure and a number of first insulating protrusions. The first composite layer structure is used to be arranged on a housing of the robot, and includes a base adhesive layer arranged on the housing of robot, a first supporting layer stacked on the base adhesive layer and a first silver conductive adhesive layer stacked on the first supporting layer. The second composite layer structure covers the first composite layer, and includes a second silver conductive adhesive layer stacked on the first composite layer structure, and a second supporting layer stacked on the second silver conductive adhesive layer. The first insulating protrusions are arranged between the first silver conductive adhesive layer and the second silver conductive adhesive layer, and separate the first silver conductive adhesive layer and the second silver conductive adhesive layer.
B32B 3/00 - Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shapeLayered products comprising a layer having particular features of form
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B32B 27/08 - Layered products essentially comprising synthetic resin as the main or only constituent of a layer next to another layer of a specific substance of synthetic resin of a different kind
B32B 7/12 - Interconnection of layers using interposed adhesives or interposed materials with bonding properties
B32B 7/05 - Interconnection of layers the layers not being connected over the whole surface, e.g. discontinuous connection or patterned connection
A servo includes a motor, an output shaft used to drive an external component and having an external lateral surface, a gear set arranged between the motor and the output shaft and used to transmit power from the motor to the output shaft. The gear set includes an output gear arranged around the output shaft. The output gear defines a through hole that allows the output shaft to pass therethrough. The through hole has an internal lateral surface facing the external lateral surface. The servo further includes a connection ring arranged around the output shaft between the external lateral surface and the internal lateral surface. The connection ring is used to connect the output gear to the output shaft when a load placed on the output shaft is less than a preset value, and disconnect the output gear from the output shaft when the load exceeds the preset value.
F16D 1/08 - Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hubCouplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with hub and longitudinal key
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.
The present disclosure is applicable to robot technology. A method for robot fall prediction, and a robot are provided. The method includes: searching a weighted value of a center of gravity of the robot corresponding to a posture of the robot, according to a preset first corresponding relationship; correcting an offset of the center of gravity of the robot based on the weighted value of the center of gravity of the robot; correcting an acceleration of the robot based on an offset direction of the center of gravity of the robot; and determining whether the robot will fall based on the corrected offset of the center of gravity, the offset direction of the center of gravity, and the corrected acceleration of the robot. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
A footed robot landing control method and device are provided. The footed robot landing control method includes: detecting a landing motion state of the robot; if the landing motion state is a flight phase descending state, a motion of the foot portion of the robot with respect to a ground in the flight phase descending state is controlled based on a relative speed; if the landing motion state is a support phase landing state, a motion of joints of the robot in the support phase landing state is controlled based on a first expected joint torque. The footed robot landing control method and device are capable of reducing the impact of the foot portion against the ground, thereby realizing the flexible control of the landing process of the footed robot in a simple and rapid manner and reducing the cost of the footed robot.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
84.
Servo movement control method, device, and terminal device
A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second target motion curve to a second target end position from a corresponding target position on a first target motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second target end position according to the second target motion curve. When the second motion instruction is received, the servo is controlled to rotate from the target position to the second target end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.
G05B 19/25 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
G05B 19/416 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
G05B 19/19 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
G05B 21/02 - Systems involving sampling of the variable controlled electric
85.
Computer-implemented method for robot posture detection and robot
The present disclosure is applicable to robot technology. A method for robot posture detection and a robot are provided. The method includes: obtaining a position parameter of each of nodes of a robot; obtaining a first weighted value of each of the nodes corresponding to the position parameter of the corresponding node; calculating a weighted value of each of body parts of the robot based on the first weighted value of the node of the corresponding body part; and correcting an original parameter of a center of gravity of the robot according to a body gravity center influence factor of each of the body parts, and the weighted value of each of the body parts.
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
09 - Scientific and electric apparatus and instruments
28 - Games; toys; sports equipment
Goods & Services
(1) Robotic arms for loading; unmanned robots being cargo handling machines; electric motors for machines; aeronautical engines; boat engines; jet engines; motors and engines used in industrial applications; rocket engines; steam engines; belts for machines; toothed gearing for machines; bearings as machine parts; reduction gears being parts of machines; speed change gears being parts of machines; transmission gears for industrial machinery; carpet cleaning machines; central vacuum cleaning installations; floor cleaning machines; steam cleaning machines; cyclone dust collectors; woodworking dust collectors
(2) Computer programs and software for image processing; computer software for creating and editing videos, music and sounds; humanoid robots with artificial intelligence; infrared sensors; security surveillance robots; electronic notice boards; humanoid robots with artificial intelligence for teaching purposes; GPS receivers; navigation apparatus for vehicles in the form of on-board computers; mobile telephones; fire extinguishers; photographic cameras
(3) Arcade game machines; arcade video game machines; slot machines; video game machines ; zip line apparatus for recreational purposes; toy robots; pachinkos; action figure toys; baby toys; educational toys; infant toys; pet toys; small toys; toy building blocks; board games; balls for playing handball; balls for racketball; balls for rhythmic gymnastics; playground balls; playing balls; abdominal boards for exercise; exercise bars; exercise platforms; free weights for physical exercise; stationary exercise bicycles; weight lifting machines for exercise; fishing tackle; archery arm guards; archery arrow fletching; archery arrows; archery bows; archery bowstrings; archery target stands; archery targets
09 - Scientific and electric apparatus and instruments
28 - Games; toys; sports equipment
Goods & Services
(1) Robotic arms for loading; unmanned robots being cargo handling machines; electric motors for machines; aeronautical engines; boat engines; jet engines; motors and engines used in industrial applications; rocket engines; steam engines; belts for machines; toothed gearing for machines; bearings as machine parts; reduction gears being parts of machines; speed change gears being parts of machines; transmission gears for industrial machinery; carpet cleaning machines; central vacuum cleaning installations; floor cleaning machines; steam cleaning machines; cyclone dust collectors; woodworking dust collectors
(2) Computer programs and software for image processing; computer software for creating and editing videos, music and sounds; humanoid robots with artificial intelligence; infrared sensors; security surveillance robots; electronic notice boards; humanoid robots with artificial intelligence for teaching purposes; GPS receivers; navigation apparatus for vehicles in the form of on-board computers; mobile telephones; fire extinguishers; photographic cameras.
(3) Arcade game machines; arcade video game machines; slot machines; video game machines ; zip line apparatus for recreational purposes; toy robots; pachinkos; action figure toys; baby toys; educational toys; infant toys; pet toys; small toys; toy building blocks; board games; balls for playing handball; balls for racketball; balls for rhythmic gymnastics; playground balls; playing balls; abdominal boards for exercise; exercise bars; exercise platforms; free weights for physical exercise; stationary exercise bicycles; weight lifting machines for exercise; fishing tackle; archery arm guards; archery arrow fletching; archery arrows; archery bows; archery bowstrings; archery target stands; archery targets
A robotic hand includes 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. 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, and an output end of the planetary gear transmission assembly includes a helical gear shaft and a number 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.
F16H 1/20 - Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
F16H 1/28 - Toothed gearings for conveying rotary motion with gears having orbital motion
F16H 19/02 - Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary motion and reciprocating motion
F16H 19/00 - Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
B25J 15/10 - Gripping heads having finger members with three or more finger members
F16H 1/22 - Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shaftsToothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with arrangements for dividing torque between two or more intermediate shafts
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.
F16H 1/20 - Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
F16H 1/06 - Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 11/30 - Structural association with control circuits or drive circuits
H02K 11/33 - Drive circuits, e.g. power electronics
A servo includes a housing, a motor, a printed circuit board (PCB) and a servo output shaft that are accommodated within the housing. The motor is electrically connected to the PCB. The housing has a lateral side defining a cutout. The servo further includes a gear transmission mechanism and an output arm. The gear transmission mechanism is used to connect a motor output shaft of the motor to the servo output shaft. The output arm has an end that is arranged within the housing at a substantially central position and connected to the servo output shaft, and another end extending out of the housing to connect with an external component.
H02K 7/00 - Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
H02K 11/30 - Structural association with control circuits or drive circuits
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
H02K 5/26 - Means for adjusting casings relative to their supports
H02K 51/00 - Dynamo-electric gears, i.e. dynamo-electric means for transmitting mechanical power from a driving shaft to a driven shaft and comprising structurally interrelated motor and generator parts
The present disclosure relates to a motion-controlling method of a robot and the robot thereof. A main control circuit continuously transmits a controlling instruction to a cache circuit. The controlling instruction may include the controlling information of a specific servo. A driving circuit is configured to obtain and analyze the controlling instruction from the cache circuit, so as to obtain the controlling information of the specific servo. The driving circuit transmits the controlling information to the specific servo to control the specific servo. As such, coherence of the robot may be improved.
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.
A driving assembly for a joint of a robot includes a first driving source having a first output shaft; a second driving source; and a gear set including a first gear and second gear that are engaged with each other. The first gear is arranged around the first output shaft. An ankle assembly and a robot having the driving assembly are also provided.
The present disclosure relates to a recharging alignment method of a robot and a robot thereof. The recharging alignment method includes adjusting a signal receiver of the robot to a first critical point to obtain position information of the first critical point, adjusting the signal receiver from the first critical point to a second critical point to obtain position information of the second critical point, determining a mid-point of the first critical point arid the second critical point according to the position information of the first critical point and the second critical point, and adjusting the signal receiver to the mid-point to align with the recharging dock, so as to accurately align with the recharging dock.
The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time.
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
H02P 23/04 - Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
G05D 19/02 - Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
G05D 3/20 - Control of position or direction using feedback using a digital comparing device
96.
Distance measuring method of robot, robot thereof, and recharging system
The present disclosure relates to a robot, a distance measuring method, and a recharging system for robot. The distance measuring method includes configuring a current position of a robot to be a first position, obtaining a first direction along a connection line from the first position to a signals transmitting position by a sensor of the robot, obtaining a second direction along a connection line from a second position to the signals transmitting position when the robot being driven by a driver to move along a moving direction by a predetermined distance to the second position, and the moving direction being perpendicular to the first direction to the second position, obtaining a distance between the second position and the signals transmitting position according to an included angle formed by the first direction and the second direction, and the predetermined distance.
A robot includes a body having a torso, a pair of arms and servos configured to drive the arms. A first end of each of the arms is movably connected to the torso via a corresponding one of the servos. An opposite, second end of each of the arms is connected with a hand. A first connection member is arranged on the body. A fake gun includes a second connection member that is magnetically attractable to the first connection member, and is connected to the body when the second connection member is attracted to the first connection member. One of the arms is rotatable and the hand of the one of the arms and the fake gun are configured in such a way that fake gun is detachably connected to the hand of the one of the arms when the one of the arms is rotated to a predetermined position.
The present disclosure relates to a semantic processing method of robots, including: receiving, by a semantic processing platform, a voice request from a robot, performing a sematic analysis on the voice request to obtain a current sematic intention, determining whether a response matching the current semantic intention is stored in a database, obtaining the response from the database if determining that the response is stored in the database, obtaining the response by accessing a third-party application corresponding to the current semantic intention if determining that the response is not stored in the database, and transmitting the response to the robot to guide the robot to perform a corresponding action. The present disclosure further provides a semantic processing device.
The present disclosure relates to a data interaction method, including: receiving a search request from a service layer, and transmitting the search request to a search application server. The search application server is configured to manage the response data obtained from at least one third-party application. The method further includes receiving the response data transmitted from the search application server, and transmitting the response data to the service layer. As such, the time of accessing the third-party applications may be reduced, the data-accessing time may be reduced, and the data-accessing performance may be improved.
A driving device of a robot includes at least one driving assembly and a fixing assembly that are arranged outside a base of the robot. The at least one driving assembly includes a motor, an omnidirectional wheel, a connection shaft used to connect an output shaft of the motor to the omnidirectional wheel, and a connection assembly used 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 used to fix the motor to the base of the robot.
B60B 19/00 - Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
B60K 17/24 - Arrangement of mountings for shafting
B62D 61/06 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
