公开(公告)号：US09366323B1

公开(公告)日：2016-06-14

申请号：US14288432

申请日：2014-05-28

Applicant: Google Inc.

Inventor： Robert Wilson

IPC: F16H19/00 ,  F16H9/04

CPC classification number: F16H9/04 ,  F16H9/24 ,  F16H19/005 ,  F16H19/0622 ,  F16H19/0672

Abstract: An example variable transmission system is provided. As an example, a variable transmission system may include a frame, an output hub coupled to the frame, a first linear actuator coupled to the frame, and a second linear actuator coupled to the frame. The variable transmission system may also include a tension-bearing element positioned around the output hub. A first end of the tension-bearing element may be coupled to the first linear actuator, and a second end of the tension-bearing element may be coupled to the second linear actuator. The tension-bearing element may include a variable stiffness profile such that a transmission ratio of the output hub may be adjusted based on a position of the second linear actuator relative to the output hub.

Abstract translation: 提供了示例性可变传输系统。 作为示例，可变传动系统可以包括框架，联接到框架的输出轮毂，联接到框架的第一线性致动器以及耦合到框架的第二线性致动器。 可变传动系统还可以包括围绕输出轮毂定位的张力承载元件。 张力承载元件的第一端可以联接到第一线性致动器，并且张力承载元件的第二端可以联接到第二线性致动器。 张力承载元件可以包括可变刚度轮廓，使得可以基于第二线性致动器相对于输出轮毂的位置来调节输出轮毂的传动比。

公开(公告)号：US20160288328A1

公开(公告)日：2016-10-06

申请号：US14672706

申请日：2015-03-30

Applicant: Google Inc.

Inventor： Jeffrey Thomas Bingham ,  Robert Wilson

IPC: B25J9/16

CPC classification number: B25J9/1674 ,  G06Q10/20

Abstract: Example implementations may relate to a cloud service that stores a detection metric corresponding to a maintenance request for a particular component. In particular, the cloud may receive sensor data from various robotic systems each having the particular component. The cloud may then determine, based on the sensor data, performance data for the particular component over time at the various robotic systems. The cloud may also determine various maintenance events for the particular component. Based on the performance data, the cloud may determine that at least one maintenance event occurs at other metrics that are different from the detection metric. Responsively, the cloud may adjust the detection metric based on a difference between the detection metric and the other metrics. The cloud may then detect operation of a particular robotic system at the adjusted detection metric and may responsively request maintenance for the particular component at the particular robotic system.

Abstract translation: 示例实现可以涉及存储与特定组件的维护请求对应的检测度量的云服务。 特别地，云可以从各自具有特定组件的各种机器人系统接收传感器数据。 然后，云可以基于传感器数据，在各种机器人系统上确定特定部件随时间的性能数据。 云还可以确定特定组件的各种维护事件。 基于性能数据，云可以确定在与检测度量不同的其他度量上发生至少一个维护事件。 响应地，云可以基于检测度量和其他度量之间的差异来调整检测度量。 然后，云可以以调整的检测度量检测特定机器人系统的操作，并且可以响应地请求在特定机器人系统处的特定组件的维护。