US 12,242,180 B1
Tool drive system
Paul E. Nikulla, Greenbelt, MD (US); Jonathan Kraeuter, Elkridge, MD (US); Mark Behnke, Perry Hall, MD (US); and Edward James, Greenbelt, MD (US)
Assigned to United States of America as represented by the Administrator of NASA, Washington, DC (US)
Filed by United States of America as represented by the Administrator of NASA, Washington, DC (US)
Filed on Jan. 31, 2022, as Appl. No. 17/589,191.
Int. Cl. B25J 15/00 (2006.01); B25J 19/04 (2006.01); B64G 4/00 (2006.01); G03B 3/10 (2021.01)
CPC G03B 3/10 (2013.01) [B25J 15/0066 (2013.01); B25J 19/04 (2013.01); B64G 4/00 (2013.01); B64G 2004/005 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A multi-functional robotic end effector that interfaces with and operates a plurality of robotic tools, the multi-functional robotic end effector comprising:
a core section including:
a ball-lock coupler system which allows said core section to mate to a common tool plate supporting at least one robotic tool;
a multi-drive assembly including a plurality of rotary drives extended by said ball-lock coupler system, and a linear drive, each of which function independently of one another;
a blindmate connector system including a plurality of blindmate connectors, said blindmate connector system which is extended by said ball-lock coupler system to engage with said at least one robotic tool and transmit electrical power and signal to said at least one robotic tool;
an extension assembly which supports said plurality of blindmate connectors and controls an extension/retraction of a plurality of rotary drive sockets and said plurality of blindmate connectors, said extension assembly which is actuated simultaneously by said ball-lock coupler system;
a vision system including at least one camera system with a corresponding camera position mechanism (CPM); and
an input/output (I/O) electronic controller disposed in an I/O housing which controls the multi-functional robotic end effector
wherein said ball-lock coupler system is a compliant actuation drive system during extension and mating operations and a rigid retraction to ensure full retraction for demating operations, said ball-lock coupler system which further comprises:
a ball-lock cam assembly including a cam ring, said ball-lock cam assembly which is driven by a coupler gearmotor;
a ball-lock retainer which mates onto said tool plate, said ball-lock retainer including a plurality of locking balls which are deployed from said cam ring;
a pushrod assembly including a push plate and a plurality of pushrods, said pushrod assembly which operates with said extension assembly to control an extension motion of said plurality of rotary drive sockets and said plurality of blindmate connectors;
a ball screw assembly including a ball screw shaft and a ball screw nut;
wherein each pushrod of said plurality of pushrods is attached to said ball screw nut of said ball screw assembly; and
wherein said coupler gearmotor is a three (3)-phase brushless direct current (BLDC) motor and drives a 2:1 spur gear set which provides torque and rotates said ball screw shaft and translates said ball screw nut to translate rotary motion into linear motion to push/pull said push plate which applies a thrust force to said plurality of pushrods, to extend/retract said cam ring and said extension assembly and applies the coupler pre-load onto said at least one robotic tool.