公开(公告)号：US10220511B2

公开(公告)日：2019-03-05

申请号：US15222583

申请日：2016-07-28

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/16 ,  B25J13/08 ,  G05B17/02 ,  E04G21/22

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

公开(公告)号：US10059052B1

公开(公告)日：2018-08-28

申请号：US15717286

申请日：2017-09-27

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C64/386 ,  B29K105/00 ,  B33Y70/00 ,  B33Y30/00 ,  B33Y10/00

CPC classification number: B29C64/386 ,  B29C64/124 ,  B29C64/393 ,  B29K2105/06 ,  B29K2995/0005 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y40/00

Abstract: A 3D printing process may form a 3D object by alternatingly forming layers from a liquid resin and a solid. For instance, when printing a 3D object, the 3D printer may at least partially cure a layer of liquid resin, and before the curing of the resin is complete, dip the semi-cured resin into a vat containing graphene powder so as to create a super strong 3D object. As another example, each semi-cured resin layer could be pressed into a vat of fiberglass such that the fiberglass is coupled to the semi-cured resin. The resin may then be allowed to finish curing before the next layer of resin is formed. In other embodiments, this process could be used to embed sensors in 3D printed objects.

公开(公告)号：US10059003B1

公开(公告)日：2018-08-28

申请号：US15009621

申请日：2016-01-28

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Anthony Sean Jules

IPC: G06F19/00 ,  G05B15/00 ,  B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G05B2219/40601 ,  Y10S901/09

Abstract: In one aspect, a method is described. The method may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. The method may further include providing first location data indicating a first location of the end effector tool with respect to the work surface, providing second location data indicating a second location of the end effector tool within the worksite coordinate frame, and providing third location data indicating a third location of the end effector tool within the worksite coordinate frame. The method may further include tracking the location of the end effector tool based on the first, second, and third location data, and, based on the tracked location of the tool, instructing the robotic device to manipulate the end effector tool to perform a task on the work surface.

公开(公告)号：US20170297264A1

公开(公告)日：2017-10-19

申请号：US15513927

申请日：2015-08-26

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Jonathan Proto ,  Brandon Kruysman ,  Steven Moody

IPC: B29C64/379 ,  B29C64/286 ,  B29C64/245 ,  B33Y10/00 ,  B33Y50/02 ,  B33Y30/00 ,  B29C64/129 ,  B29C64/393

CPC classification number: B29C64/379 ,  B29C64/124 ,  B29C64/129 ,  B29C64/245 ,  B29C64/286 ,  B29C64/393 ,  B29C67/244 ,  B29C2791/008 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02

Abstract: Described herein are three-dimensional (3D) printer systems and methods, which may provide for “continuous pull” 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.

公开(公告)号：US09757859B1

公开(公告)日：2017-09-12

申请号：US15003526

申请日：2016-01-21

Applicant: X Development LLC

Inventor： Michael Kolb ,  Jeff Linnell ,  Anthony Sean Jules

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1684 ,  B25J13/089 ,  G01S13/86 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S15/931 ,  G01S17/06 ,  G01S17/08 ,  G01S17/936 ,  G05B2219/37423 ,  G05B2219/40298 ,  Y10S901/09

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

公开(公告)号：US09737987B1

公开(公告)日：2017-08-22

申请号：US14948112

申请日：2015-11-20

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Sean Jules ,  Matthew Bitterman ,  Eli Reekmans ,  Kendra Byrne

IPC: G06K7/14 ,  B25J9/16

CPC classification number: B25J9/161 ,  B25J9/1656 ,  B25J13/02 ,  G05B2219/35459 ,  G05B2219/40132 ,  G05G9/02 ,  Y10S901/03

Abstract: Disclosed are systems and methods for detecting a graphic card that visually describes an operational mode of a rotatable interface component via a plurality of curves for rotationally-varying parameters, determining the operational mode that is visually described on the graphic card, and loading the operational mode to the rotatable interface component, where the operational mode specifies operations for a motor such that the motor generates torque on the interface component based on the curves for the rotationally-varying parameters that are shown on the graphic card.

公开(公告)号：US10596703B1

公开(公告)日：2020-03-24

申请号：US15220300

申请日：2016-07-26

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman

IPC: B25J9/16 ,  G05B19/4099 ,  B25J11/00

Abstract: The present application discloses implementations relate to automated generation of interlocking joint features. An example method involves obtaining a virtual model of an object. The virtual model specifies dimensions of a first element, dimensions of a second element, and a spatial relation between the first element and the second element that defines a joint angle. The example method also involves obtaining a relationship that correlates element dimensions and joint angles with cut dimensions. The example method further involves determining cut dimensions for the first element the second element based on the relationship, the dimensions of the first element, the dimensions of the second element, and the joint angle. Modifying the first element and the second element according to the cut dimensions produces interlockable features on the first element and the second element. Additionally, the method involves providing an output signal indicative of the cut dimensions.

公开(公告)号：US10150213B1

公开(公告)日：2018-12-11

申请号：US15221555

申请日：2016-07-27

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/00 ,  B25J9/16 ,  B25J15/00

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

公开(公告)号：US20180071982A1

公开(公告)日：2018-03-15

申请号：US15814061

申请日：2017-11-15

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C67/00 ,  B29L31/60

CPC classification number: B29C64/245 ,  B29C64/129 ,  B29C64/20 ,  B29C64/386 ,  B29L2031/608 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02

Abstract: An example system includes: (i) a resin container defining a cavity; (ii) a plurality of rods extending from an inner base surface of the resin container and into the cavity; (iii) a plurality of light sources arranged to emit radiation into the plurality of rods, such that when the cavity contains liquid resin, radiation passing through a given one of the rods cures liquid resin that surrounds the given rod; and (iv) a control system configured to: (a) receive data specifying a three-dimensional structure; (b) determine a shape for a layer of a plurality of layers that collectively form the three-dimensional structure; and (c) determine one or more of the light sources that correspond to the shape of the layer; and (d) form the layer by operating the one or more determined light sources that correspond to the shape of the layer.

公开(公告)号：US20180041667A1

公开(公告)日：2018-02-08

申请号：US15787656

申请日：2017-10-18

Applicant: X Development LLC

Inventor： Jeff Linnell

IPC: H04N5/222 ,  B25J11/00 ,  H04N13/04 ,  B25J9/16 ,  G06T15/20

Abstract: A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.