公开(公告)号：US10894321B1

公开(公告)日：2021-01-19

申请号：US16700326

申请日：2019-12-02

Applicant: X Development LLC

Inventor： Vincent Yves Michel Nabat ,  Philip Mullins ,  Justine Rembisz

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  B25J5/00 ,  B25J13/08

Abstract: Methods, systems, and apparatus, including an apparatus that includes a motorized base configured to move the apparatus; an upper portion coupled to the motorized base; one or more load-sensing devices located between the motorized base and the upper portion, the one or more load-sensing devices being configured to (i) detect forces between the upper portion and the motorized base, and (ii) provide force information based on the detected forces between different portions of the upper portion and the motorized base; and one or more processors performs operations of: obtaining the force information provided by the one or more load-sensing devices; determining a difference between the forces indicated by the force information from the one or more load-sensing devices; determining, based the difference in the forces, a movement to be performed by the apparatus; and providing control information to cause the motorized base to perform the determined movement.

公开(公告)号：US10330182B2

公开(公告)日：2019-06-25

申请号：US15341475

申请日：2016-11-02

Applicant: X Development LLC

Inventor： Aaron Edsinger ,  Philip Mullins

IPC: G05G11/00 ,  F16H19/08 ,  F16H48/12 ,  F16H7/12 ,  B25J9/10 ,  F16H7/02 ,  F16H19/00

Abstract: An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.

公开(公告)号：USD912119S1

公开(公告)日：2021-03-02

申请号：US29705877

申请日：2019-09-16

Applicant: X Development LLC

Designer： Justine Rembisz ,  Philip Mullins ,  Matthew Day

公开(公告)号：US20200376656A1

公开(公告)日：2020-12-03

申请号：US16884873

申请日：2020-05-27

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Justine Rembisz ,  Vincent Nabat ,  Joshua Seal ,  Gregory Katz ,  Chris Jones ,  Nicholas Foster ,  Christopher Morey ,  John Tran ,  Marc Strauss ,  Philip Mullins ,  Jonathan Souliere ,  Sarah Bates ,  Matthew Day ,  Robert Wilson ,  Mario Prats

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J17/00 ,  B25J17/02 ,  B25J15/00

Abstract: In an embodiment, a mobile robotic device includes a mobile base and a mounting column fixed to the mobile base. The robotic device further includes a seven-degree-of-freedom (7DOF) robotic arm, including a rotatable joint that enables rotation of the 7DOF robotic arm relative to the mounting column. The robotic device additionally includes a perception housing comprising at least one sensor, where the mounting column, the rotatable joint of the 7DOF arm, and the perception housing are arranged in a stacked tower such that the rotatable joint of the 7DOF arm is above the mounting column and below the perception housing.

公开(公告)号：US10189158B2

公开(公告)日：2019-01-29

申请号：US15243034

申请日：2016-08-22

Applicant: X Development LLC

Inventor： Aaron Edsinger ,  Lee Magnusson ,  Philip Mullins ,  Jeff Weber

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10 ,  F16H7/02

Abstract: An example torque controlled actuator includes a frame, and one or more timing belt stages coupled in serial on the frame. The timing belt stages include an input stage for coupling to a motor and an output stage for coupling to a load, and the timing belt stages couple rotation of the motor to rotation of an output of the output stage. The torque controlled actuator also includes one or more belt idlers coupled to the frame that contact a timing belt of the output stage, and a strain gauge coupled to the frame to determine a tension of the timing belt of the output stage based on force applied by the timing belt of the output stage to the one or more belt idlers.