公开(公告)号：US20180172080A1

公开(公告)日：2018-06-21

申请号：US15380687

申请日：2016-12-15

Applicant: Google Inc.

Inventor： Zachary John Jackowski ,  Adam Young

IPC: F16D7/02 ,  F16H49/00 ,  F16H35/10 ,  B25J9/10

CPC classification number: F16D7/025 ,  B25J9/1025 ,  B25J19/06 ,  F16H25/20 ,  F16H35/10 ,  F16H49/001 ,  F16H2025/204 ,  F16H2025/2043

Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

公开(公告)号：US20180172121A1

公开(公告)日：2018-06-21

申请号：US15380561

申请日：2016-12-15

Applicant: Google Inc.

Inventor： Steven D. Potter ,  Zachary John Jackowski ,  Adam Young

IPC: F16H25/20 ,  B62D57/032 ,  B25J9/10

CPC classification number: F16H25/20 ,  B25J9/102 ,  B25J9/106 ,  B25J9/108 ,  B25J9/123 ,  B25J17/0241 ,  B62D57/032 ,  F16H2025/204 ,  F16H2025/2043 ,  F16H2025/2075 ,  Y10S901/01

Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.

公开(公告)号：US20180169868A1

公开(公告)日：2018-06-21

申请号：US15380593

申请日：2016-12-15

Applicant: Google Inc.

Inventor： Zachary John Jackowski ,  Kyle Rogers ,  Adam Young

IPC: B25J13/08 ,  B25J9/12 ,  H02K9/06 ,  H02K11/215 ,  H02K11/24 ,  H02K11/25 ,  H02K11/33

CPC classification number: B25J13/088 ,  B25J9/12 ,  H02K7/003 ,  H02K7/116 ,  H02K9/06 ,  H02K9/22 ,  H02K11/215 ,  H02K11/24 ,  H02K11/25 ,  H02K11/33 ,  H02K2211/03

Abstract: An example robot includes: a motor disposed within a housing at a joint configured to control motion of a member of a robot; a controller including one or more printed circuit boards (PCBs) disposed within the housing and including a plurality of field-effect transistors (FETs) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor mounted on the controller; a shaft coupled to a rotor of the motor and extending therefrom to the controller; and a magnet mounted within the shaft at an end of the shaft facing the controller.