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公开(公告)号：US20180029235A1
公开(公告)日：2018-02-01
申请号：US15222568
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 , Matthew Bitterman , Michael Scott Beardsworth
IPC: B25J9/16 , G05B17/02 , G05B19/4063
CPC classification number: B25J9/1692 , B25J9/1669 , B25J9/1687 , E04G21/22 , G05B17/02 , G05B19/4063 , G05B2219/39024 , G05B2219/45086
Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).
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公开(公告)号：US10987812B1
公开(公告)日：2021-04-27
申请号：US16154923
申请日：2018-10-09
Applicant: X Development LLC
Inventor： Jeff Linnell , Anthony Jules , Marek Michalowski , Kendra Byrne , Jonathan Proto , Brandon Kruysman , Eli Reekmans , Matthew Bitterman , Michael Beardsworth
IPC: B25J9/16 , E04G21/22 , G05B19/4063 , G05B17/02
Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).
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公开(公告)号：US20190329494A1
公开(公告)日：2019-10-31
申请号：US16458628
申请日：2019-07-01
Applicant: X Development LLC
Inventor： Jeff Linnell , Jonathan Proto , Brandon Kruysman , Steven Moody
IPC: B29C64/379 , B29C64/124 , B29C64/129 , B29C64/286 , B29C64/393 , B29C67/24 , B33Y50/02 , B33Y30/00 , B33Y10/00 , B29C64/245
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.
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公开(公告)号：US20190184555A1
公开(公告)日：2019-06-20
申请号：US16251175
申请日：2019-01-18
Applicant: X Development LLC
Inventor： Jeff Linnell , Anthony Jules , Marek Michalowski , Kendra Byrne , Jonathan Proto , Brandon Kruysman , Eli Reekmans
CPC classification number: B25J9/163 , B25J9/1669 , B25J9/1671 , B25J9/1674 , B25J13/089 , E04G21/22 , G05B17/02 , G05B2219/45086
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.
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公开(公告)号：US09950465B2
公开(公告)日：2018-04-24
申请号：US15814061
申请日：2017-11-15
Applicant: X Development LLC
Inventor： Jeff Linnell , Brandon Kruysman , Jonathan Proto
IPC: B29C67/00 , B29C64/245 , B29C64/386 , B29C64/20 , B33Y30/00 , B33Y10/00 , B33Y50/02 , B29C64/129 , 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.
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Patent Agency Ranking
公开(公告)号：US09828128B1
公开(公告)日：2017-11-28
申请号：US14574324
申请日：2014-12-17
Applicant: X Development LLC
Inventor： Jeff Linnell , Matthew Bitterman , Tobias Kinnebrew
Abstract: Example methods and systems are disclosed for on-demand packaging of one or more items. According to one example, a method can include receiving an order for the item(s) and determining characteristic-information for the item(s) using a computer system. The characteristic-information includes an indication of at least a size and a shape of the item(s). The method also includes processing the characteristic-information based on design criteria to determine an arrangement of the item(s) within at least one container volume, and a configuration for a protective structure to hold the item(s) in the arrangement within the container volume(s). The method can further include, in response to the processing the characteristic-information, forming the protective structure according to the configuration, placing the item(s) into the protective structure according to the arrangement, and placing the protective structure and the item(s) in the container volume(s).
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公开(公告)号：US10967501B1
公开(公告)日：2021-04-06
申请号：US16182733
申请日：2018-11-07
Applicant: X Development LLC
Inventor： Jeff Linnell , Marek Michalowski , Kendra Byrne , Brandon Kruysman , Eli Reekmans
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.
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公开(公告)号：US10800036B1
公开(公告)日：2020-10-13
申请号：US16798938
申请日：2020-02-24
Applicant: X Development LLC
Inventor： Michael Kolb , Jeff Linnell , Anthony Sean Jules
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.
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公开(公告)号：US10399272B2
公开(公告)日：2019-09-03
申请号：US15513927
申请日：2015-08-26
Applicant: X Development LLC
Inventor： Jeff Linnell , Jonathan Proto , Brandon Kruysman , Steven Moody
IPC: B29C41/12 , B29C64/379 , B29C67/24 , B33Y10/00 , B33Y30/00 , B33Y50/02 , B29C64/245 , B29C64/393 , B29C64/286 , B29C64/129 , B29C64/124
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.
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公开(公告)号：US10155273B1
公开(公告)日：2018-12-18
申请号：US15159549
申请日：2016-05-19
Applicant: X Development LLC
Inventor： Johan Jessen , Jeff Linnell , Kendra Byrne , Jonathan Proto , Brandon Kruysman
IPC: B23D59/00 , G05B15/02 , B29C64/141 , B29C64/40 , B29C64/386 , B33Y10/00 , B33Y50/02
Abstract: Example implementations may relate to interactive object fabrication. In particular, a control system may receive model data defining a 3D shape of a physical object that is fabricable out of a substrate at a work site. The system may then direct a projection system to emit onto the substrate a projection illustrative of the 3D shape defined by the model data. Also, the system may transmit, to a robotic system, fabrication instructions that direct the robotic system to fabricate the physical object in accordance with the model data. subsequently, during fabrication of the physical object, the system may (i) receive progress data indicative of a portion of the physical object that has been fabricated from the substrate, and (ii) direct the projection system to update the projection of the 3D shape to remove a portion of the projection corresponding to the portion of the physical object that has been fabricated.
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