公开(公告)号：US10059052B1

公开(公告)日：2018-08-28

申请号：US15717286

申请日：2017-09-27

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C64/386 ,  B29K105/00 ,  B33Y70/00 ,  B33Y30/00 ,  B33Y10/00

CPC classification number: B29C64/386 ,  B29C64/124 ,  B29C64/393 ,  B29K2105/06 ,  B29K2995/0005 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y40/00

Abstract: A 3D printing process may form a 3D object by alternatingly forming layers from a liquid resin and a solid. For instance, when printing a 3D object, the 3D printer may at least partially cure a layer of liquid resin, and before the curing of the resin is complete, dip the semi-cured resin into a vat containing graphene powder so as to create a super strong 3D object. As another example, each semi-cured resin layer could be pressed into a vat of fiberglass such that the fiberglass is coupled to the semi-cured resin. The resin may then be allowed to finish curing before the next layer of resin is formed. In other embodiments, this process could be used to embed sensors in 3D printed objects.

公开(公告)号：US09873223B2

公开(公告)日：2018-01-23

申请号：US14523214

申请日：2014-10-24

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C67/00 ,  B29C64/124 ,  B33Y10/00 ,  B33Y30/00 ,  B29C64/106 ,  B29C64/386 ,  B29K83/00 ,  B29K105/00

CPC classification number: B29C64/124 ,  B29C64/106 ,  B29C64/241 ,  B29C64/386 ,  B29K2083/00 ,  B29K2105/0058 ,  B33Y10/00 ,  B33Y30/00

Abstract: Example implementations may relate to shifting a curing location during a three-dimensional (3D) printing procedure. A system may control components of a 3D printer to form a first layer of the 3D structure from resin in a first area of a resin container. The components may include: (i) a base plate and (ii) light source(s) operable to emit radiation that cures resin. After formation of the first layer, the system may move the resin container with respect to the base plate such that a second layer of the 3D structure can be formed in a second area of the resin container. The second area and the first area may be at least partially non-overlapping. The system may then control the components of the 3D printer to form the second layer of the 3D structure from resin in the second area of the resin container.

公开(公告)号：US09808992B1

公开(公告)日：2017-11-07

申请号：US14463530

申请日：2014-08-19

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Jonathan Proto ,  Brandon Kruysman

IPC: B29C67/00

CPC classification number: B33Y30/00 ,  B29C64/135 ,  B29C64/176 ,  B29C64/245 ,  B33Y10/00 ,  Y10S901/02

Abstract: An example three-dimensional printer system includes (a) a resin container, (b) a base plate, (c) a light source arranged below the resin container, where the light source is operable to emit electromagnetic radiation that causes resin in the resin container to cure, (d) a robotic device having the base plate attached thereto, wherein the robotic device positions the base plate above the resin container and is operable to move the base plate with at least two degrees of freedom, such that a build volume of the three-dimensional printer system extends beyond the edges of the resin container, and (e) a control system that is operable to (i) receive data specifying a three-dimensional structure and (ii) generate control signals that coordinate movement of the base plate by the robotic device and operation of the light source to form the three-dimensional structure from layers of resin.

公开(公告)号：US20170297264A1

公开(公告)日：2017-10-19

申请号：US15513927

申请日：2015-08-26

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Jonathan Proto ,  Brandon Kruysman ,  Steven Moody

IPC: B29C64/379 ,  B29C64/286 ,  B29C64/245 ,  B33Y10/00 ,  B33Y50/02 ,  B33Y30/00 ,  B29C64/129 ,  B29C64/393

CPC classification number: B29C64/379 ,  B29C64/124 ,  B29C64/129 ,  B29C64/245 ,  B29C64/286 ,  B29C64/393 ,  B29C67/244 ,  B29C2791/008 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02

Abstract: Described herein are three-dimensional (3D) printer systems and methods, which may provide for “continuous pull” 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.

公开(公告)号：US10987812B1

公开(公告)日：2021-04-27

申请号：US16154923

申请日：2018-10-09

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans ,  Matthew Bitterman ,  Michael Beardsworth

IPC: B25J9/16 ,  E04G21/22 ,  G05B19/4063 ,  G05B17/02

Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

公开(公告)号：US20190329494A1

公开(公告)日：2019-10-31

申请号：US16458628

申请日：2019-07-01

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Jonathan Proto ,  Brandon Kruysman ,  Steven Moody

IPC: B29C64/379 ,  B29C64/124 ,  B29C64/129 ,  B29C64/286 ,  B29C64/393 ,  B29C67/24 ,  B33Y50/02 ,  B33Y30/00 ,  B33Y10/00 ,  B29C64/245

Abstract: Described herein are three-dimensional (3D) printer systems and methods, which may provide for “continuous pull” 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.

公开(公告)号：US20190184555A1

公开(公告)日：2019-06-20

申请号：US16251175

申请日：2019-01-18

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Jules ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/16 ,  G05B17/02 ,  E04G21/22 ,  B25J13/08

CPC classification number: B25J9/163 ,  B25J9/1669 ,  B25J9/1671 ,  B25J9/1674 ,  B25J13/089 ,  E04G21/22 ,  G05B17/02 ,  G05B2219/45086

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

公开(公告)号：US09950465B2

公开(公告)日：2018-04-24

申请号：US15814061

申请日：2017-11-15

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Brandon Kruysman ,  Jonathan Proto

IPC: B29C67/00 ,  B29C64/245 ,  B29C64/386 ,  B29C64/20 ,  B33Y30/00 ,  B33Y10/00 ,  B33Y50/02 ,  B29C64/129 ,  B29L31/60

CPC classification number: B29C64/245 ,  B29C64/129 ,  B29C64/20 ,  B29C64/386 ,  B29L2031/608 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02

Abstract: An example system includes: (i) a resin container defining a cavity; (ii) a plurality of rods extending from an inner base surface of the resin container and into the cavity; (iii) a plurality of light sources arranged to emit radiation into the plurality of rods, such that when the cavity contains liquid resin, radiation passing through a given one of the rods cures liquid resin that surrounds the given rod; and (iv) a control system configured to: (a) receive data specifying a three-dimensional structure; (b) determine a shape for a layer of a plurality of layers that collectively form the three-dimensional structure; and (c) determine one or more of the light sources that correspond to the shape of the layer; and (d) form the layer by operating the one or more determined light sources that correspond to the shape of the layer.

公开(公告)号：US10596703B1

公开(公告)日：2020-03-24

申请号：US15220300

申请日：2016-07-26

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Jonathan Proto ,  Brandon Kruysman

IPC: B25J9/16 ,  G05B19/4099 ,  B25J11/00

Abstract: The present application discloses implementations relate to automated generation of interlocking joint features. An example method involves obtaining a virtual model of an object. The virtual model specifies dimensions of a first element, dimensions of a second element, and a spatial relation between the first element and the second element that defines a joint angle. The example method also involves obtaining a relationship that correlates element dimensions and joint angles with cut dimensions. The example method further involves determining cut dimensions for the first element the second element based on the relationship, the dimensions of the first element, the dimensions of the second element, and the joint angle. Modifying the first element and the second element according to the cut dimensions produces interlockable features on the first element and the second element. Additionally, the method involves providing an output signal indicative of the cut dimensions.

公开(公告)号：US10150213B1

公开(公告)日：2018-12-11

申请号：US15221555

申请日：2016-07-27

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Kendra Byrne ,  Brandon Kruysman ,  Eli Reekmans

IPC: B25J9/00 ,  B25J9/16 ,  B25J15/00

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.