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：US10906174B2

公开(公告)日：2021-02-02

申请号：US16553480

申请日：2019-08-28

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Seth Gilbertson ,  Marc Strauss

IPC: A61H1/02 ,  B25J9/10 ,  F16H19/02 ,  B25J13/08

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.

公开(公告)号：US20190381655A1

公开(公告)日：2019-12-19

申请号：US16553480

申请日：2019-08-28

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Seth Gilbertson ,  Marc Strauss

IPC: B25J9/10 ,  F16H19/02 ,  B25J13/08

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.

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.

公开(公告)号：US11325246B2

公开(公告)日：2022-05-10

申请号：US17119353

申请日：2020-12-11

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Seth Gilbertson ,  Marc Strauss

IPC: G01L1/04 ,  B25J9/10 ,  F16H19/02 ,  B25J13/08

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.

公开(公告)号：US10081102B1

公开(公告)日：2018-09-25

申请号：US15171675

申请日：2016-06-02

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Jeffrey Bingham ,  Seth Gilbertson

IPC: F16H55/18 ,  B25J9/10 ,  F16H37/06 ,  F16H57/12 ,  B25J9/12

CPC classification number: B25J9/103 ,  B25J9/126 ,  F16H37/06 ,  F16H55/18 ,  F16H57/12 ,  F16H2057/121 ,  F16H2057/123

Abstract: An example system includes a transmission having a first plurality of gears and an extent of backlash. The system also includes a first motor connected to an input shaft of the transmission and a second motor connected to an output shaft of the transmission through a second plurality of gears. A first gear ratio of a first plurality of gears is greater than a second gear ratio of the second plurality of gears. The system may receive a command to change a direction of rotation of the output shaft from a first direction to a second direction. In response to the received command, the first motor may drive the transmission through a first portion of the extent of backlash deadband. The second motor may drive the transmission through a second portion of the extent of backlash deadband. The second portion may be greater than the first portion.

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

IPC: B25J9/10 ,  F16H19/02 ,  B25J13/08

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.

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

IPC: G05B15/00 ,  B25J9/10 ,  F16H19/02 ,  B25J13/08

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.