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公开(公告)号：US20240091962A1
公开(公告)日：2024-03-21
申请号：US17932371
申请日：2022-09-15
Applicant: X Development LLC
Inventor： Marc Strauss
CPC classification number: B25J15/08 , B25J9/1612 , B25J15/0004
Abstract: An apparatus is described comprising a first gripping component having a first proximal region having a first rigid geometry configured to receive a handle of a tool and a first distal region having a first shape-adaptive finger and a second gripping component having a second proximal region having a second rigid geometry configured to receive the handle of the tool and a second distal region having a second shape-adaptive finger. The first distal region is separated by a clearance from the second distal region when the first rigid geometry and the second rigid geometry are grasping the handle of the tool and, in an absence of the handle of the tool, the first proximal region and the second proximal region enable a pinch grip between the first shape-adaptive finger of the first gripping component and the second shape-adaptive finger of the second gripping component.
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公开(公告)号：US20220355492A1
公开(公告)日：2022-11-10
申请号：US17814507
申请日：2022-07-22
Applicant: X Development LLC
Inventor： Marc Strauss , Colin Duffie , Bin Su
Abstract: A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.
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公开(公告)号：US20210114201A1
公开(公告)日：2021-04-22
申请号：US17119353
申请日：2020-12-11
Applicant: X Development LLC
Inventor： Ben Berkowitz , Seth Gilbertson , Marc Strauss
Abstract: A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.
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公开(公告)号：US10759063B1
公开(公告)日：2020-09-01
申请号：US15843714
申请日：2017-12-15
Applicant: X Development LLC
Inventor： Marc Strauss , Colin Duffie , Bin Su
Abstract: A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.
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公开(公告)号：US10434643B1
公开(公告)日：2019-10-08
申请号：US15334231
申请日：2016-10-25
Applicant: X Development LLC
Inventor： Ben Berkowitz , Seth Gilbertson , Marc Strauss
Abstract: A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.
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Patent Agency Ranking
公开(公告)号：US20180290310A1
公开(公告)日：2018-10-11
申请号：US16005736
申请日：2018-06-12
Applicant: X Development LLC
Inventor： Marc Strauss
Abstract: A robotic gripping device is provided. The device includes a finger having a worm gear coupled to its base end. The device also includes an actuator having a motor and a shaft, wherein the shaft is configured to rotate a worm coupled to the worm gear, and the actuator is mounted on a carriage such that the actuator is configured to slide along an axis. The device also includes a spring having first and second ends, wherein the first end is coupled to the motor and the second end is fixed. Further, the actuator is configured to (i) rotate the shaft relative to the motor by a first amount to move the finger toward an object, and (ii) when the finger is in contact with the object and is prevented from further movement, further rotate the shaft relative to the motor to slide the actuator along the axis.
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公开(公告)号：US11014249B1
公开(公告)日：2021-05-25
申请号：US15833205
申请日：2017-12-06
Applicant: X Development LLC
Inventor： Marc Strauss
Abstract: Retention mechanisms are used for coupling two objects, such as coupling end-of-arm tooling to a robotic arm system. The retention mechanisms may include two mounting members, each of which may be attached to a respective object to be coupled, such as an end effector and a robotic device appendage. The retention mechanisms may use interlocking alternating fingers on each mounting members to cooperatively form a tapered annular channel into which an external retaining ring or disc spring fits and applies pressure to secure the opposing mounting members in tight proximity to each other.
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公开(公告)号：US10732060B2
公开(公告)日：2020-08-04
申请号：US16103931
申请日：2018-08-15
Applicant: X Development LLC
Inventor： Marc Strauss
Abstract: An example device includes a rigid plate, an inner element, a plurality of connecting flexural elements coupled between the inner element and rigid plate, and a hardstop that extends through the inner element and couples to the rigid plate. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The plurality of connecting flexural elements allow the inner element to move relative to rigid plate. The hardstop contacts the inner element when a load applied on the device exceeds a threshold load.
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公开(公告)号：US10150218B2
公开(公告)日：2018-12-11
申请号：US15853695
申请日：2017-12-22
Applicant: X Development LLC
Inventor： Marc Strauss , David Youmans , Scott Stanford
Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.
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公开(公告)号：US10011019B1
公开(公告)日：2018-07-03
申请号：US15146688
申请日：2016-05-04
Applicant: X Development LLC
Inventor： Marc Strauss
CPC classification number: B25J15/022
Abstract: A robotic gripping device is provided. The robotic gripping device includes two opposable fingers and an actuator having a motor and a shaft, wherein the shaft is coupled to a first finger. The robotic gripping device also includes a torsion spring surrounding the actuator, the torsion spring having first and second ends, wherein the first end is coupled to the motor of the actuator and the second end is coupled to a second finger. Further, the actuator is configured to rotate the shaft relative to the motor by a first amount to move the two opposable fingers toward each other to contact the object. The actuator is also configured to further rotate the shaft relative to the motor to wind up the torsion spring when the two opposable fingers are both in contact with the object and the object prevents the fingers from further movement toward each other.
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