公开(公告)号：US09827678B1

公开(公告)日：2017-11-28

申请号：US15155388

申请日：2016-05-16

Applicant: X Development LLC

Inventor： Seth Gilbertson ,  Jeff Weber ,  Robert Wilson

IPC: G06F19/00 ,  B25J9/16 ,  B25J19/00 ,  B25J9/00 ,  B25J11/00 ,  A47L11/24 ,  A47L11/40

CPC classification number: B25J9/1682 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4055 ,  A47L11/4061 ,  A47L2201/00 ,  B25J9/0087 ,  B25J9/046 ,  B25J9/1694 ,  B25J11/0085 ,  B25J15/0014 ,  B25J15/0066 ,  B25J18/025 ,  B25J19/007 ,  Y10S901/01 ,  Y10S901/41

Abstract: An example robotic arm includes a base linkage and a first end effector connected to a second end of the base linkage through a first rotational joint. The robotic arm additionally includes a control arm. The control arm includes a first linkage and a second linkage, each having a first end and a second end. The first end of the first linkage is connected to the second end of the base linkage through a second rotational joint. The first end of the second linkage is connected to the second end of the first linkage through a third rotational joint. The control arm also includes a second end effector connected to the second end of the second linkage through a fourth rotational joint. The first, second, third, and fourth rotational joints are configured to rotate in or parallel to a first plane.

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.

公开(公告)号：US09827677B1

公开(公告)日：2017-11-28

申请号：US15155368

申请日：2016-05-16

Applicant: X Development LLC

Inventor： Seth Gilbertson ,  Jeff Weber ,  Robert Wilson

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B25J9/00 ,  B25J11/00 ,  G05D1/02 ,  A47L11/24 ,  A47L11/40

CPC classification number: B25J9/1682 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4052 ,  A47L11/4055 ,  A47L11/4061 ,  A47L2201/00 ,  B25J5/007 ,  B25J9/0087 ,  B25J9/046 ,  B25J9/1694 ,  B25J11/008 ,  B25J11/0085 ,  B25J15/0014 ,  B25J15/0019 ,  B25J15/0066 ,  B25J15/02 ,  G05D1/021 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/41

Abstract: An example robotic device includes a mobile base and a base linkage. The base linkage has a first end and a second end where the first end is connected to the mobile base. The robotic device also includes a first end effector connected to the second end of the base linkage. The first end effector includes a shovel tool. The robotic device additionally includes an actuated control arm having a first end and a second end. The first end of the actuated control arm is connected to the second end of the base linkage. The robotic device further includes a second end effector connected to the second end of the actuated control arm. The second end effector includes a sweeping tool. The actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.