7 104 505

7,104,505 Title:

Autonomous satellite docking system

This invention solves problems associated with prior-art soft-dock mechanisms by placing all active components of a soft-dock system on the chaser side of the mechanism, leaving the target side of the mechanism completely passive (i.e., requiring no power expenditure or self-actuated moving parts to operate). In particular, the active components are supported on the end of a flexible cable attached to the probe, or chaser, side of the device. These components act as a sort of spring-loaded "trap." Once the end of the probe passes into a receptacle on the target side, the mechanism is triggered, engaging it in such a way that it can no longer be pulled out of the receptacle until it is reset. The soft-docking cable may be replaced with a rigid, semi-rigid or jointed post that is used to bring a capture mechanism into engagement with its corresponding receptacle or receiving structure. The magnetic end effector may also be implemented as an electro-magnet, which requires power to maintain the holding force, or a permanent magnet, which captures a target without power. The main target cone may be either a metallic cone: or a non-metallic cone constructed of fabric, plastic, or other flexible material.

We claim:

1. A system for docking a chase space vehicle to a target space vehicle having a receptacle, comprising: a control member extending from the chase vehicle; and a device coupled to theend of the control member, the device facilitating: a) a deployed state wherein the device is coupled to the receptacle, and b) a disengaged state achieved by a pull on the control member, causing or providing for the device to freely disengage from thereceptacle.

2. The system of claim 1, wherein the control member comprises a flexible cable.

3. The system of claim 1, wherein the control member comprises a rigid or semi-rigid post.

4. A system for docking a chase space vehicle to a target space vehicle having a receptacle, comprising: a control member extending from the chase vehicle, wherein the control member comprises a jointed post; and a device coupled to the end ofthe control member, the device facilitating: a) a deployed state wherein the device is coupled to the receptacle, and b) a disengaged state achieved by a pull on the control member, causing or providing for the device to be released from the receptacle.

5. A system for docking a chase space vehicle to a target space vehicle having a receptacle comprising: a control member extending from the chase vehicle; and a device coupled to the end of the control member, wherein the device comprises aHarpoon mechanism, the device facilitating: a) a deployed state wherein the device is coupled to the receptacle, and b) a disengaged state achieved by a pull on the control member, causing or providing for the device to be released from the receptacle.

6. The system of claim 1, wherein the device comprises a magnet or electromagnet.

7. The system of claim 1, wherein the receptacle comprises a metallic or non-metallic cone constructed of fabric, plastic, or other flexible material.

8. The system of claim 1, wherein the receptacle comprises a cone, and a surface of said cone comprises a flexible material.

9. The system of claim 1, wherein said flexible material comprises a non-metallic material.

10. The system of claim 1, wherein said flexible material comprises a fabric material.

11. A system for docking a chase space vehicle to a target to a target space vehicle having a receptacle, comprising: a control member extending from the chase vehicle, wherein the control member comprises a jointed post; and a device coupledto the end of the control member, the device facilitating: a) a deployed state wherein the device is coupled to the receptable, wherein the receptacle comprises a cone, a surface of said cone comprises a flexible material, and said cone further comprisesa shape retaining ring, and b) a disengaged state achieved by a pull on the control member, causing or providing for the device to be released from the receptacle.

12. A system for docking a chase vehicle with a target vehicle, comprising: a. and end effector operatively coupled to the chase vehicle, wherein said end effector comprises a armed state and a deployed state; when in said armed state, saidend effector is adapted to freely engage or disengage with a receptacle of the target vehicle; and when in said deployed state after an engagement with a receptacle of the target vehicle, said end effector is adapted so as to prevent a disengagement ofsaid end effector from said receptacle; and b. a flexible member operatively coupling said end effector to said chase vehicle, wherein said flexible member provides for actuating said end effector from said deployed state to said armed state responsiveto a tension applied to at least a portion of said flexible member from said chase vehicle.

13. A system for docking a chase vehicle with a target vehicle as recited in claim 12, wherein said flexible member comprises a control cable through which said tension is applied from said chase vehicle so as to provide for actuating said endeffector.

14. A system for docking a chase vehicle with a target vehicle as recited in claim 12, wherein said flexible member comprises a least one load bearing element operatively coupled between said chase vehicle and said end effector, wherein said atleast one load bearing cable provides for pulling said chase vehicle and said target vehicle together after said end effector is engaged with said receptacle and deployed in said deployed state.

15. A system for docking a chase vehicle with a target vehicle as recited in claim 14, wherein at least one said load bearing element comprises a load bearing cable.

16. A system for docking a chase vehicle with a target vehicle as recited in claim 15, wherein said flexible member comprises a least one load bearing element operatively coupled between said chase vehicle and said end effector, wherein said atleast one load bearing cable provides for pulling said chase vehicle and said target vehicle together after said end effector is engaged with said receptacle and deployed in said deployed state.

17. A system for docking a chase vehicle with a target vehicle as recited in claim 12, wherein said flexible member comprises a sheath that provides for stiffening said flexible member.

18. A system for docking a chase vehicle with a target vehicle as recited in claim 17, wherein said sheath comprises an extension spring element.

19. A system for docking a chase vehicle with a target vehicle as recited in claim 12, further comprising a docking boom operatively coupled to said chase vehicle, wherein a forward end of said docking boom is adapted to mate with a targetreceptacle of the target vehicle, and said docking boom is adapted with a passage through which said flexible member is extended from said chase vehicle.

20. A system for docking a chase vehicle with a target vehicle as recited in claim 19, wherein said forward end of said docking boom has a substantially conical profile.

21. A system for docking a chase vehicle with a target vehicle as recited in claim 19, wherein said flexible member is operatively coupled to said docking boom.

22. A system for docking a chase vehicle with a target vehicle as recited in claim 19, wherein said chase vehicle and said docking boom are adapted so that said docking boom can be extended from or retracted to said chase vehicle.

23. A system for docking a chase vehicle with a target vehicle as recited in claim 22, further comprising a first actuator operatively coupled between said chase vehicle and said docking boom, wherein said first actuator is adapted to extend orretract said flexible member from or to said chase vehicle.

24. A system for docking a chase vehicle with a target vehicle as recited in claim 23, wherein said second actuator comprises a ball screw mechanism.

25. A system for docking a chase vehicle with a target vehicle as recited in claim 12, further comprising a second actuator operatively coupled between said flexible member and said chase vehicle, wherein said second actuator as adapted toextend or retract said flexible member from or to said chase vehicle.

26. A system for docking a chase vehicle with a target vehicle as recited in claim 25, wherein said second actuator comprises a ball screw mechanism operatively coupled to a load bearing portion of said flexible member.

27. A system for docking a chase vehicle with a target vehicle as recited in claim 22, further comprising a second actuator operatively coupled between said flexible member and said docking boom, wherein said second actuator is adapted toextend or retract said flexible member from or to said docking boom.

28. A system for docking a chase vehicle with a target vehicle as recited in claim 27, wherein said second actuator comprises a ball screw mechanism operatively coupled to a load bearing portion of said flexible member.

29. A system for docking a chase vehicle with a target vehicle as recited in claim 28, wherein said ball screw mechanism is operatively coupled to a carriage adapted to translate relative to said docking boom.

30. A system for docking a chase vehicle with a target vehicle as recited in claim 25, further comprising a third actuator operatively coupled to said chase vehicle, wherein said third actuator is adapted to actuate a control cable portion ofsaid flexible member.

31. A system for docking a chase vehicle with a target vehicle as recited in claim 30, wherein said third actuator is operatively coupled to a carriage that is actuated by said second actuator.

32. A system for docking a chase vehicle with a target vehicle as recited in claim 31, wherein a load bearing portion of said flexible member is operatively coupled to said carriage, and said control cable portion of said flexible member isoperatively coupled to said third actuator.

33. A system for docking a chase vehicle with a target vehicle as recited in claim 32, wherein said third actuator comprises a solenoid.

34. A method of providing for a chase vehicle to capture a target vehicle, comprising: a. providing for an end effector operatively coupled to the chase vehicle, wherein the operative coupling of said end effector to said chase vehiclecomprises a flexible member extending from said chase vehicle to said end effector; b. providing for placing said end effector in an armed state, wherein when in said armed state, said end effector is adapted to freely engage or disengage with areceptacle of the target vehicle; c. providing for engaging said end effector with said receptacle of the target vehicle d. providing for automatically deploying said end effector responsive to an interaction of said end effector with said targetvehicle, whereby said operation of deploying said end effector changes said end effector from said armed state to a deployed state within said receptacle so as to prevent a disengagement of said end effector from said receptacle; and e. providing forplacing said end effector in said armed state from said chase vehicle so as to provide for disengaging said end effector from said receptacle, and the operation of placing said end effector in said armed state comprises pulling on at least a portion ofsaid flexible member from said chase vehicle.

35. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 34, further comprising providing for extending at least a portion of said flexible member from a docking boom prior to the operation of engaging saidend effector with said receptacle of said target vehicle.

36. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 35, further comprising providing for extending at least a portion of said docking boom from said chase vehicle prior to the operation of engaging saidend effector with said receptacle of said target vehicle.

37. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 36, further comprising providing for retracting at least a portion of said flexible member to said docking boom after said operation of deploying saidend effector.

38. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 37, further comprising providing for retracting at least a portion of said docking boom after said operation of deploying said end effector.

39. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 38, wherein said docking boom and said flexible member are retracted until said docking boom engages with at least a portion of said receptacle ofsaid target vehicle.

40. A system for docking a chase vehicle with a target vehicle, comprising an end effector operatively coupled to the chase vehicle, wherein said end effector comprises a plunger and an actuator sleeve; said plunger is biased towards an armedposition thereof causing said actuator sleeve to be held in an armed position thereof; said plunger is adapted to be moved from said armed position to a deployed position responsive to an interaction thereof with an element of the target vehicle; whensaid plunger is moved to said deployed position thereof, said plunger provides for releasing said actuator sleeve, thereby providing for said actuator sleeve to move from said armed position to a deployed position responsive to a bias force within saidend effector, whereby when in said deployed position after said end effector has been engaged with a receptacle of said target vehicle, said actuator sleeve provides for deploying said end effector so as to prevent a disengagement of said end effectorfrom said receptacle of the target vehicle.

41. A system for docking a chase vehicle with a target vehicle as recited in claim 40, wherein said plunger is biased towards said armed position thereof by a first spring operative between said plunger and an inner shell of said end effector.

42. A system for docking a chase vehicle with a target vehicle as recited in claim 40, wherein said actuator sleeve is adapted to attach to a control member so as to provide for placing said end effector in said armed state responsive to atension force applied to said control member.

43. A system for docking a chase vehicle with a target vehicle as recited in claim 40, wherein said actuator sleeve is held in said armed position by at least one first ball operative between said actuator sleeve, said plunger, and at least onecorresponding first hole in an inner shell of said end effector.

44. A system for docking a chase vehicle with a target vehicle as recited in claim 40, wherein said bias force is generated by a second spring operative between said actuator sleeve and an outer shell of said end effector.

45. A system for docking a chase vehicle with a target vehicle as recited in claim 40, wherein said end effector comprises at least one second ball operative between said actuator sleeve and at least one corresponding second hole in an outershell of said end effector, so as to provide for preventing disengagement of said end effector from said receptacle of said target vehicle.

46. A system for docking a chase vehicle with a target vehicle as recited in claim 40, wherein said at least one second ball cooperates with a capture ring of said receptacle so as to provide for preventing disengagement of said end effectorfrom said receptacle of said target vehicle.

47. A method of providing for a chase vehicle to capture a target vehicle, comprising: a. providing for an end effector operatively coupled to the chase vehicle; b. providing for placing said end effector in an armed state, wherein when insaid armed state, said end effector is adapted to freely engage or disengage with a receptacle of the target vehicle, and said plunger is biased towards a forward end of said end effector and said plunger is adapted to provide for retaining said actuatorsleeve in an armed state; c. providing for engaging said end effector with said receptacle of the target vehicle d. providing for automatically deploying said end effector responsive to an interaction of said end effector with said target vehicle,whereby said operation of deploying said end effector changes said end effector from said armed state to a deployed state within said receptacle so as to prevent a disengagement of said end effector from said receptacle, wherein said end effector isdeployed responsive to an interaction of said plunger with said target vehicle which releases said actuator sleeve from said armed state to a deployed state, thereby deploying said end effector; and e. providing for placing said end effector in saidarmed state from said chase vehicle so as to provide for disengaging said end effector from said receptacle.

48. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 47, wherein said end effector is deployed responsive to a depression of said plunger within said end effector by a trigger pin in said receptacle.

49. A method of providing for a chase vehicle to capture a target vehicle as recited in claim 47, wherein said end effector is armed responsive to a force applied to said actuator sleeve by a tension in a control cable operatively coupled tosaid chase vehicle.

50. A System for docking a chase vehicle with a target vehicle, comprising an end effector operatively coupled to the chase vehicle, wherein said end effector comprises a permanent magnet adapted to cooperate with a magnetically attractiveelement of the target vehicle so as to provide for capturing said target vehicle with said chase vehicle, and at least one of the chase vehicle and the target vehicle comprises an electromagnet adapted to interact with said permanent magnet so as toprovide for releasing said target vehicle from said chase vehicle.

51. A system for docking a chase vehicle with a target vehicle as recited in claim 50, wherein said electromagnet is located at least proximate to said end effector.

52. A system for docking a chase vehicle with a target vehicle as recited in claim 50, wherein said permanent magnet cooperates with a striker plate in a receptacle of said target vehicle so as to provide for attracting said permanent magnet tosaid receptacle.

53. A system for docking a chase vehicle with a target vehicle as recited in claim 50, wherein said electromagnet is located at least proximate to a receptacle of said target vehicle.

54. A system for docking a chase vehicle with a target vehicle, comprising a substantially conical element operatively coupled to the target vehicle adapted to receive an end effector from the chase vehicle, wherein said substantially conicalelement comprises a flexible material.

55. A system for docking a chase vehicle with a target vehicle as recited in claim 54, wherein said flexible material comprises a non-metallic material.

56. A system for docking a chase vehicle with a target vehicle as recited in claim 54, wherein said flexible material comprises a fabric material.

57. A system for docking a chase vehicle with a target vehicle as recited in claim 16, wherein said load bearing element comprises a plurality of load bearing cables, and said control cable is inside said plurality of load bearing cables.