Spacecraft docking device

Abstract

Spacecraft Docking Device The present invention relates to a spacecraft docking device (1) comprising a docking structure (10) for a spacecraft to be docked (2), said docking structure (10) comprising a reversible magnetic attachment system (13), the reversible attachment system (13) comprising at least one magnetic docking suction cup (130) comprising a first part (131) intended to be carried by the spacecraft to be docked (2) and a second part (132) carried by the docking structure (10), said docking structure (10) also comprising a base (11), a docking module (12) and an elastic linkage system (14) between the base (11) and the docking module (12), the docking module (12) carrying the second part (132) of said at least one suction cup, the docking module (12) and the base (11) being arranged opposite each other,and the reversible magnetic attachment system (13) being configured to allow the base (11) and the docking module (12) to move closer together and further apart. Figure for the abbreviation: Figure 1,

Description

Title of the invention: Spacecraft docking device

[0001] The invention is in the field of docking of spacecraft.

[0002] The docking of a satellite to a spacecraft, in particular another satellite, a Docking a spacecraft or space station is a complex and important operation that requires their temporary or permanent connection in orbit. Docking can be used for various operations, such as fuel transfer, maintenance, repair, or even the launch of a joint mission.

[0003] There are various systems allowing the docking of the satellite to a spacecraft.

[0004] In particular, mechanical mooring systems comprising arms are known mechanical fasteners, clamps or hooks to secure the two entities together.

[0005] Magnetic docking systems are also known to include a pair of magnets (passive docking) or electromagnets (active docking) arranged on the satellite and the spacecraft.

[0006] When docking a satellite to a spacecraft, it is important to ensure that the two objects are correctly aligned and positioned before connection, in order to avoid any damage or risk of collision. Precise guidance and navigation systems can be used to help perform a safe and accurate docking.

[0007] For this purpose, there are two types of satellite approaches, closed-loop dockings and open-loop dockings.

[0008] In a closed-loop docking, the two orbiting objects are equipped with sensors and control systems that allow them to align and dock autonomously. These sensors and control systems are designed to detect each other's movements and make precise adjustments to maintain a stable approach trajectory. Thus, closed-loop dockings utilize complex and expensive robotic solutions with a high level of embedded intelligence.

[0009] In an open-loop docking system, orbiting objects are guided manually by ground operators. The operators use telemetry data and images to monitor the objects' approach and make adjustments to ensure they are properly aligned before docking. While open-loop solutions are less expensive, they often involve a large number of parts, reducing the simplicity and reliability of the operation. Furthermore, the docking kinematics in this system are very fast and depend on highly precise synchronization of the satellite and spacecraft. Finally, these solutions often involve tribology problems over time that degrade the success of the mooring.

[0010] There is therefore a need for a simple and reliable mooring device over time, particularly in the context of an open approach.

[0011] To this end, the invention relates to a space docking device comprising a docking structure for a spacecraft, said docking structure comprising a reversible magnetic attachment system, the reversible attachment system comprising a magnetic docking suction cup comprising a first part intended to be carried by the spacecraft to be docked and a second part carried by the docking structure, in which said docking structure also comprises a base, a docking module and an elastic linking system between the base and the docking module, the docking module carrying the second part of the suction cup, the docking module and the base being arranged opposite each other, and the reversible magnetic attachment system being configured to allow the base and the docking module to move closer together and further apart.

[0012] The docking device's receiving structure according to the invention advantageously enables self-alignment between the receiving module and the spacecraft to be docked, thanks to the combination of the elastic link system and the reversible magnetic attachment system. The docking device is therefore particularly well-suited to open approaches and compensates for errors in the judgments of ground operators, as well as for relative velocities (translations and rotations) between the two spacecraft.

[0013] The reception structure also makes it possible to generate a repulsive force to assist in the release of the spacecraft to be docked.

[0014] In the invention, "spacecraft" means a satellite, a spacecraft or a space station.

[0015] According to other advantageous aspects of the invention, the space docking device comprises one or more of the following features, taken individually or in any technically possible combinations:

[0016] - the reversible magnetic attachment system further comprises at least one magnetic stacking suction cup of the base and the receiving module, said at least one magnetic stacking suction cup comprising a lower part fixed to the base and an upper part fixed to the receiving module;

[0017] - at least one magnetic stacking suction cup comprises an activatable part and a passive part, each corresponding to the upper or lower part, preferably the activatable part corresponds to the lower part;

[0018] - the activatable part is an electromagnet comprising a core made up of a soft ferromagnetic material and / or a hard ferromagnetic material surrounded by at least one electrical coil, and the passive part consisting of a soft ferromagnetic material and / or a hard ferromagnetic material;

[0019] - the linking system is configured to allow at least one degree of freedom to movements of the host module, preferably the linking system is configured to allow six degrees of freedom to the movements of the host module;

[0020] - the linking system comprises at least one reversible elastic element fixed to the base and the reception module;

[0021] - the base and the receiving module extend in parallel planes between each other and in which at least one reversible elastic organ extends in a plane parallel to said planes;

[0022] - the reception structure further includes a movement restriction system of the welcome module;

[0023] - the space docking device includes a shock-absorbing system fixed to the base.

[0024] The invention further relates to a docking spacecraft comprising a space docking device as defined above. Brief description of the figures

[0025] The invention will be better understood upon reading the following description, given solely by way of example and made with reference to the accompanying drawings in which:

[0026] - [Fig. 1] [Fig. 1] represents an isometric view of a spacecraft to be docked and of a space docking device according to the invention carried by a docking spacecraft. The arrow represents the direction of movement of the spacecraft to be docked.

[0027] - [Fig.2] [Fig.2] represents two isometric views (A and B) of a device space docking according to a first embodiment of the invention. Figure 2A is a top isometric view and Figure 2B is a bottom isometric view.

[0028] - [Fig.3] [Fig.3] represents an attachment kinematic between a base and a docking device reception module according to [Fig.2].

[0029] - [Fig.4] [Fig.4] represents a first configuration of a magnetic suction cup of a space docking device according to the invention. The magnetic suction cup comprises two parts. Each arrow represents the magnetic moment generated by one part of the magnetic suction cup.

[0030] - [Fig.5] [Fig.5] represents a second configuration of a suction cup magnetic suction cup of a space docking device according to the invention. The magnetic suction cup comprises two parts. Each arrow represents the magnetic moment generated by one part of the magnetic suction cup. A dashed arrow indicates that the emission of a magnetic field by the part is optional.

[0031] - [Fig. 6] [Fig. 6] represents a third configuration of a magnetic suction cup of a space docking device according to the invention. The magnetic suction cup comprises two parts. Each arrow represents the magnetic moment generated by one part of the magnetic suction cup.

[0032] - [Fig.7] [Fig.7] represents a cross-sectional view of a reversible elastic organ of a space docking device according to the invention.

[0033] - [Fig.8] [Fig.8] represents an isometric view of a mooring device according to a second embodiment of the invention.

[0034] - [Fig.9] [Fig.9] represents an isometric view of a mooring device according to a third embodiment of the invention.

[0035] - [Fig. 10] [Fig. 10] represents an isometric view of a mooring device according to a fourth embodiment of the invention.

[0036] - [Fig. 11] [Fig. 11] represents the space docking device according to [Fig. 2] including a restriction system according to a first embodiment.

[0037] - [Fig. 12] [Fig. 12] represents the space docking device according to [Fig. 2] including a restriction system according to a second embodiment.

[0038] - [Fig. 13] [Fig. 13] represents the space docking device according to [Fig. 2] including a restriction system according to a third embodiment.

[0039] - [Fig. 14] [Fig. 14] represents an isometric view of a reduction system shock torsors of a space docking device according to a first embodiment.

[0040] - [Fig. 15] [Fig. 15] represents an isometric view of a damping system of a space docking device according to a second embodiment.

[0041] - [Fig. 16] [Fig. 16] represents an isometric view of the mooring device according to [Fig.2] further including the shock-absorbing system according to [Fig. 14].

[0042] - [Fig. 17] [Fig. 17] represents the kinetics of mooring and unmooring a A space docking device according to the invention with a spacecraft. White arrows represent magnetic moments. Light gray flashes represent attractions. Dark gray flashes represent repulsions. Dashed arrows represent optional steps. Detailed description of the invention

[0043] The following embodiments are examples. Although the description refers to one or more embodiments, this does not necessarily mean that each reference relates to the same embodiment, or that the features apply only to a single embodiment. Simple features of different embodiments can also be combined and / or interchanged to provide other embodiments.

[0044] The invention relates to a space docking device 1 for a spacecraft to be docked 2. Figure 1 illustrates an approach of a spacecraft to be docked 2 in the direction of a docking device 1 attached to a docking spacecraft 3. The docking spacecraft 2 is, in particular, a satellite or a spacecraft. The docking spacecraft 3 is, in particular, a space station, a satellite, or a spacecraft.

[0045] We will turn to [Fig.2] which illustrates a first embodiment of the mooring device 1 according to the invention.

[0046] The space docking device 1 includes a docking structure 10 designed to make contact with and attach to the spacecraft to be docked. The docking structure 10 comprises a base 11 and a docking module 12 facing each other. The base 11 and the docking module 12 extend in parallel planes. The base 11 and the docking module 12 each comprise a lower surface 110, 120, and an upper surface 111, 121, respectively opposite each other. The upper surface 111 of the base 11 faces the lower surface 120 of the docking module 12. The upper surface 121 of the docking module is designed to face space, and the base 11 is designed to be attached directly or indirectly via its lower surface 110 to the docking spacecraft 3.

[0047] The primary function of the docking module 12 is to be reversibly attached to the docking spacecraft 2. Furthermore, the docking module 12 includes a resting position in which it is away from the base 11 (Figure 3A) and an attachment position in which it is attached to the base 11 (Figure 3B). For these two purposes, the docking structure 10 includes a reversible magnetic attachment system 13 configured, on the one hand, to allow the docking module 12 to be attached to and away from the docking spacecraft 2, and on the other hand, to allow the docking module 12 to be attached to and away from the base 11.

[0048] To enable the attachment and separation of the docking module 12 from the spacecraft to be docked 2, the reversible magnetic attachment system 13 may include at least one magnetic docking suction cup 130, for example three magnetic docking suction cups 130. When several suction cups 130 are present, they are arranged in particular in a circle centered on an axis Al passing through the geometric center of the base 11 and the docking module 12. When only one suction cup 130 is present, it is arranged in particular along the axis Al, as shown in [Fig.2]. The magnetic docking suction cup 130 or each magnetic docking suction cup 130 comprises two parts, namely a first part 131 carried by the spacecraft 2 (visible in [Fig.1]), and a second part 132 carried by the docking module 12. The second part 132 is in particular fixed to the upper surface 120 of the docking module 12.In particular, the second part 132 is fixed at the center of the upper surface 120. The first part 131 is arranged at the surface of the spacecraft to be docked 2, notably as shown in [Fig.1].

[0049] To allow the attachment and separation of the receiving module 12 from the base 11, the reversible magnetic attachment system 13 may include at least one magnetic stacking suction cup 133, for example three magnetic stacking suction cups 133. Like the anchoring suction cups 130, when several stacking suction cups 133 are present, they are arranged in a circle centered on the axis Al. Similarly, when only one stacking suction cup 133 is present, it is arranged at the axis Al, as shown in [Fig.2]. The stacking suction cup 133 or each magnetic stacking suction cup 133 also comprises two parts, namely a lower part 134 carried by the base 11 and an upper part 135 carried by the receiving module 12. The lower and upper parts 134, 135 are arranged opposite each other.In particular, the lower part 134 is fixed to the upper surface 111 of the base 11 and the upper part 135 is fixed to the lower surface 120 of the reception module 12. In particular, the lower part 134 and the upper part 135 are arranged respectively at the center of the surface 110, 121 where they are fixed.

[0050] Said at least one magnetic lashing suction cup 130 and said at least one stacking suction cup 133 each comprise a so-called "passive" part P and a so-called "activatable" part A, which may optionally correspond to either of their respective parts. According to a preferred embodiment, the passive part P of said at least one lashing suction cup 130 corresponds to the first part 131 and the activatable part A of said at least one lashing suction cup 130 corresponds to the second part 132. According to a preferred embodiment, the activatable part A of said at least one stacking suction cup 133 corresponds to the lower part 134, further simplifying the electrical wiring.

[0051] The passive part P may comprise a soft ferromagnetic material and / or a hard ferromagnetic material.

[0052] In the invention, "soft ferromagnetic material" means a ferromagnetic material exhibiting weak remanent magnetization and a weak coercive field, i.e., one that does not allow the other part of the suction cup to be attracted. In contrast, a "hard ferromagnetic material" exhibits strong remanent magnetization and a strong coercive field, i.e., one that allows the other part of the suction cup to be attracted, such as a permanent magnet.

[0053] The activatable part A may, in particular, be an electromagnet comprising a core of ferromagnetic material surrounded by at least one electrical coil. When several coils are present, they may have the same or opposite winding directions. The ferromagnetic core may comprise a soft ferromagnetic material and / or a hard ferromagnetic material.

[0054] The passive part P can therefore have a magnetic attraction function or be attracted by the magnetic field generated by the activatable part A, but cannot change its state. Conversely, the activatable part A has at least one "activatable" function that allows it to generate a magnetic field and thus change its state. In the case of an electromagnet, this function is triggered, in particular, by injecting an electric current into said at least one electric coil. The activatable part A can comprise two activatable functions, each generating a magnetic field with an opposite magnetic moment.

[0055] According to one embodiment of the invention, when the passive parts P and / or the activatable parts A of the anchoring suction cup 130 and the stacking suction cup 133 are or comprise a hard ferromagnetic material, their respective magnetic moment is in the same direction so as not to disturb the magnetic forces of attraction and repulsion of the suction cups 130, 133 between them.

[0056] The activation of one or more functions of the activatable part A can be configured to allow either attraction or repulsion of the passive part P. Figures 4 to 6 illustrate different combinations of activatable and passive parts and a way in which attraction and repulsion can be achieved in a suction cup, which can be the mooring suction cup 130 or the stacking suction cup 133. These figures show a separate initial state where the activatable part A is not activated (A), a state of magnetic attachment between the two parts A and P (B), and a state of separation of these two parts A and P (C). In the figures, the passive part P is shown at the top, and the activatable part A at the bottom. The activatable part A is an electromagnet comprising a ferromagnetic core surrounded by a coil.

[0057] Figure 4 illustrates a configuration where the passive part P is made of a soft ferromagnetic material, and the activatable part A comprises a hard ferromagnetic core. Thus, the transition from the initial separated state (A) to the fixed state (B) is achieved passively by the attraction of the passive part P by the activatable part A. The subsequent separation (C) is achieved by activating the activatable part A and injecting an electric current into the electromagnet coil, thereby emitting a magnetic field with a magnetic moment equal to that of the magnetic field emitted by the ferromagnetic core but in the opposite direction. The attractive force of the ferromagnetic core is thus canceled, and the passive part P separates passively from the activatable part A.

[0058] Figure 5 illustrates a second configuration in which the passive part is made of a hard ferromagnetic material, and the activatable part comprises a soft ferromagnetic core. The transition from the initial separated state (A) to the fixed state (B) is achieved passively by the attraction of the activatable part A by the passive part P. This attraction can be increased by activating a first function of the part Activable part A and the injection of an electric current into the electromagnet coil generate a magnetic field with a magnetic moment in the same direction as that of the passive part P. The subsequent separation (C) can be achieved by activating a second function of the activable part A and injecting an electric current in the opposite direction, resulting in the generation of a magnetic field with a magnetic moment in the opposite direction to that of the passive part P. Of course, the intensity of the magnetic field generated by the activable part must be greater than or equal to that of the magnetic field generated by the passive part to allow repulsion between the two parts A and P.

[0059] Figure 6 illustrates a third configuration in which the passive part P is made of soft ferromagnetic material, and the activatable part A comprises a core also made of soft ferromagnetic material. Thus, in the initial state (A), no attraction or repulsion occurs between the two parts A and P. The transition from the separated initial state (A) to the fixed state (B) is achieved by activating the activatable part and injecting an electric current into the electromagnet coil to generate a magnetic field. The direction of the magnetic moment of the generated magnetic field is irrelevant for achieving attraction of the passive part P. The subsequent separation (C) is achieved by deactivating the activatable part A.

[0060] Returning to [Fig.2], it can be seen that the receiving structure 10 further comprises an elastic linkage system 14 between the base 11 and the receiving module 12, specifically configured to:

[0061] - maintain the receiving module 12 in its resting position,

[0062] - allow at least one degree of freedom of movement of the receiving module 12, said degree of freedom corresponding at least to a translation to and from base 11, and

[0063] - to provide a limit on the travel in the movements of the reception module 12.

[0064] The receiving module 12 thus exhibits a certain freedom of movement relative to the base 11 when it is in its rest position. This rest position is of course adapted to avoid passive attraction of the upper and lower parts 134, 135 of the stacking suction cup 133.

[0065] Due to the freedom of movement afforded to the docking module 12, the elastic linkage system 14 makes it possible, in particular, to achieve self-alignment between the docking module 12 and the spacecraft 2. Indeed, thanks to the elastic properties of the linkage system 40, the docking module 12 can be displaced relative to the base 11 during docking with the spacecraft 2 and then returned to its initial resting position by being fixed to the latter. This displacement makes it possible to correct, to some extent, any misalignment of the parts 131, 132 of the docking suction cup 130.

[0066] The elastic linkage system 14 is specifically configured to allow several degrees of freedom in the movements of the docking module 12, thereby increasing its self-alignment capabilities. In particular, the elastic linkage system 14 is configured to allow two, three, four, five, or even six degrees of freedom. With six degrees of freedom, the elastic linkage system 14 allows movement in all directions and ensures self-alignment of the docking module 12 with the spacecraft to be docked 2 in all directions.

[0067] The elastic linkage system 14 may include at least one reversible elastic element 140 having elastic or viscoelastic properties. This reversible elastic element 140 is, in particular, a helical spring as shown in [Fig. 2], or made of an elastomeric material. The elongation of the reversible elements 140 allows the receiving module 12 to move in the direction of elongation, limited by the applied elastic stresses. The reversible elements 140 thus stretch to regulate misalignments of the base 11 and the receiving module 12. According to a preferred embodiment, this at least one elastic element 140 extends perpendicularly to the axis of attraction AL. This arrangement makes it possible to obtain the maximum number of degrees of freedom, six, in the movements of the receiving module 12 with a minimal footprint.

[0068] The elastic linkage system 14 may include, in particular, at least one cable 141 connecting the base 11 and the receiving module 12, thus limiting the movement of the receiving module 12. Said at least one cable 141 prevents, in particular, a rupture of said at least one reversible member 141. It also allows for the application of a compressive preload of said reversible elastic member 140.

[0069] The elastic linkage system 14 may also include at least one shock absorber, in particular coupled to each reversible elastic element 140, in order to absorb at least part of the shock.

[0070] According to a particular embodiment, said at least one cable 141 is disposed at the center of a helical spring 140, as shown in [Fig. 7]. The cable 141 notably comprises two opposing heads 142, each held within a housing 143, one of which is fixed to the base 11 and the other to the receiving module 12. The spring 140 bears against each housing 143. Each housing 143 may include an opening through which the cable 141 slides when the spring 140 contracts or relaxes. Alternatively or additionally, the body of the cable 141 has sufficient flexibility to deform when the spring 140 contracts. The heads 142 may include play in each housing 143, allowing them to move apart when the spring 140 is released.

[0071] The docking module 12 and the base 11 may in particular include each of the fastening members 113, 123 of the different elements of the elastic linkage system 14. Said fastening members 113, 123 are in particular arranged at the peripheral edges of the docking module 12 and the base 11 in order to ensure maximum deflection for each degree of freedom, and thus allow greater flexibility in self-alignment with the spacecraft to be docked 2.

[0072] The shape of the base 11 and the receiving module 12 can also be configured to minimize their footprint. To this end, the base 11 and the receiving module 12 can have an identical shape exhibiting center symmetry, that is, their center of gravity corresponds to their center of symmetry. The respective centers of symmetry of the base 11 and that of the receiving module 12 are arranged one above the other. In particular, the base 11 and the receiving module 12 are arranged angularly offset around their respective axes of symmetry.

[0073] In particular, parts 134, 135 of the stacking suction cup 133 are arranged so that the axis Al passes through the respective axis of symmetry of the base 11 and the receiving module 12. Thus, the base 11 and the receiving module 12 are arranged offset in rotation along the axis Al, as shown in [Fig.2].

[0074] According to one embodiment shown in [Fig. 2], the base 11 and the docking module 12 each comprise a body 114, 124 in the form of at least two extensions extending from an axis of symmetry. Thus, the bodies 114, 124 of the base 11 and the docking module 12 may comprise two extensions ([Fig. 8]), three extensions ([Fig. 2]), four extensions ([Fig. 9]), or more. According to another embodiment, the base 11 and the docking module 12 each comprise a body 114, 124 having a hollow shape, in particular in the form of a hollow disk ([Fig. 10]). Such a shape allows, in particular, the housing of equipment within it, for example, electrical or fluidic connectors for connection or refueling between the two spacecraft. The bodies 114 and 124 of base 11 and of reception module 12 extend in particular in parallel planes to each other.

[0075] The fastening members 113, 123 are in particular in the form of protrusions extending perpendicularly to the planes in which the bodies 114, 124 of the base 11 and the receiving module 12 are located, in particular in the direction of the element to which they do not belong. In particular, the fastening members 113, 123 are arranged at the level of at least one of the extensions of the body 114, 124 of the base 11 and the receiving module 12, in particular of each extension. Thus the base 11 and the receiving module 12 have an identical shape but inverted with respect to each other, as shown in [Fig. 2].

[0076] In order to limit the movement of the receiving module 12 along one or more degrees of freedom, the receiving structure 10 may include, in addition to the linking system elastic 14, a restriction system 15 for the movements of the receiving module 12. Said restriction system 15 includes, in particular, at least one stop. In particular, the restriction system 15 may include:

[0077] - at least one lateral stop 150 configured to limit a lateral displacement of the reception module 12 with respect to axis Al, and / or

[0078] - at least one upper stop 151 configured to limit a distance from the reception module 12 along axis Al relative to base 11, and / or

[0079] - at least one absolute stop 152 configured to limit the movement of the module reception according to all directions.

[0080] Said at least one lateral stop 150 is in particular fixed or formed from the base 11, as shown in [Fig. 11], or the receiving module 12. In particular, it may correspond to a projection of the body 114, 124 of the base 11 or of the receiving module 12 extending at least to the height of the body 114, 124 of the other. In particular, as shown in [Fig. 11], said at least one lateral stop 15 may be arranged between two extensions of the body 124 of the receiving module 12, or between two extensions of the body 114 of the base 11.

[0081] Said at least one upper stop 151 may in particular be in the form of a hollow cylinder disposed against or near the upper surface 121 of the receiving module 12. In particular, said stop 151 encircles the second part 132 of the mooring suction cup 130. The second part 132 may in particular be raised relative to the upper surface 124 of the receiving module 124 by a projection 125. These last two configurations also make it possible to limit the lateral displacement of the receiving module 12 by contact between the stop 151 and the projection 125 or the second part 132. Said at least one upper stop 151 may in particular be fixed or made of material with said at least one lateral stop 150 described above, as shown in [Fig. 12].

[0082] Said at least one absolute stop 152 includes, in particular, an opening 153, in particular circular, the central axis of which is arranged parallel to the plane in which the receiving module 12 extends. The absolute stop 152 may be supported by the base 11 or the receiving module 12. For cooperation with the opening 153, the receiving module 12 or the base 11, depending on the element carrying said opening 153, may include a finger 126 disposed in the opening 153. The finger 126 is, in particular, disposed in the center of the opening 153 in the rest position of the receiving module 12. Naturally, the opening 153 is dimensioned so as not to hinder the attachment of the two parts 134, 135 of the stacking suction cup 133. Said absolute stop 152 is fixed or integral with the base 11, in particular with extensions 115 extending from the body 114 of the base 11. As shown in [Fig.13], said finger 126 can be fixed or come from material with one end of an extension of the body 124. of the receiving module 12, or an extension of the body 114 of the base 11. The limit of displacement in a direction in line with the finger 126 can be ensured by the contact between the absolute stop 152 and the end of the body 114, 124 carrying the finger 126. In particular, the finger 126 extends from a fixing member 113, 123 of the base 11 or of the receiving module 12.

[0083] According to one embodiment of the invention, the mooring device 1 may further include a shock wrench reduction system 16 fixed to the base 11 of the docking system 10, as shown in Figures 14 to 16. Said shock wrench reduction system 16 is configured to minimize the shock of the mooring.

[0084] Said shock-absorbing system 16 may comprise an upper part 160 fixed to the base 11 and a lower part 161 intended to be fixed to the docking spacecraft 3. According to one embodiment of the invention, the upper and lower parts 160, 161 have the same shape, in particular inverted with respect to each other. According to one embodiment, the shape of the upper part 160, and optionally of the lower part 161, is identical to that of the body 113 of the base 11, as shown in [Fig. 16]. Like the base 11 and the docking module 12, the upper part 160 and the lower part 161 extend in parallel planes and may be arranged rotated offset about their axis of symmetry.

[0085] In order to absorb the forces, the shock absorber reduction system 16 may include a damper (not shown) coupled in particular to at least one reversible elastic element 162 connecting the upper part 160 and the lower part 161. Said at least one reversible elastic element 162 corresponds in particular to the elastic element 140 described above. The elastic properties of the elastic elements 162 are, of course, adapted to their required function. It is therefore preferable that the elastic elements 162 have a greater stiffness than the elastic elements 140. Indeed, the elastic elements 140 must allow easy movement of the docking module 12 towards the spacecraft to be docked 2 in order to correct its positioning, which requires a certain degree of flexibility, whereas the elastic elements 162 work with the dampers to absorb the shock and must therefore be more rigid.In particular, said at least one reversible elastic element 162 is pre-loaded using a cable (not shown), as described above. The reversible elastic elements are in particular arranged at an angle ranging from 0 to 90 degrees, in particular from 30 to 70 degrees, in particular from 45 degrees, with respect to the planes in which the lower part 161 and the upper part 160 extend.

[0086] According to an embodiment shown in [Fig. 15], the shock-absorbing system 16 may include a magnetic suction cup 163 comprising an upper part 164 and a lower part 165 arranged opposite each other at the lower face of the upper part 160 and the upper face of the Lower part 161. Like the suction cups described previously, the magnetic attachment suction cup 163 comprises a passive part and an activatable part. The magnetic attachment suction cup 163's primary function is to hold the upper part 160 and the lower part 161 together during transport to space, preventing any movement of the docking device 1 that could damage it. Once the docking device 1 is deployed in space, the magnetic attachment suction cup 163 is configured so that the activatable part pushes against the passive part.

[0087] A docking and equipping scenario for the spacecraft to be docked 2 with a docking device 1 of the invention comprising a single stacking suction cup 133 and a single docking suction cup 130 will now be described with reference to [Fig. 17]. In this example, the stacking suction cup 133 and the docking suction cup 130 have the same configuration of passive part P and activatable part A as shown in [Fig. 5]. For the stacking suction cup 133, the activatable part A corresponds to the lower part 134, and for the docking suction cup 130, the activatable part A corresponds to the second part 132.

[0088] By the combination of the respective attractions of the two suction cups 130, 133, the docking of the spacecraft 2 takes place in two parts: an intermediate docking by the attachment of the two parts 131, 132 of the docking suction cup 130, then a final docking by the subsequent attachment of the two parts 134, 135 of the stacking suction cup 133. The intermediate docking allows the spacecraft 2 to be captured by a mobile link and the final docking allows a robust static link to be obtained between the docking spacecraft 3 and the spacecraft to be docked 2 by a double magnetic attachment. Thus, part 132 of the mooring suction cup 130 corresponds to a target for spacecraft 2 for its attachment to spacecraft 3, which has the advantage of presenting a certain mobility allowing to correct positioning errors of spacecraft 2 to be moored before the final mooring which anchors spacecraft 2 in position.

[0089] The first stage shown (A) corresponds to the state of the space docking device 1 during the spaceflight for its insertion into space. Here, the two parts of the stacking suction cup 133 are fixed to each other so as to prevent any movement during the flight. This fixation is passive, as previously described, and can be enhanced by the first activation function of the activatable part A of the stacking suction cup 133. This fixation exerts a force on the elastic linkage system 14, and a deformation of the latter can be observed in the direction of the activatable part A of the stacking suction cup 133.

[0090] The second step shown (B) corresponds to the deployment of the anchoring device 1. In the representation following the first step (A), the activatable part A of the stacking suction cup 133 is activated according to the second function of in order to repel or cancel the attractive force with the passive part P. This action results in a force being exerted on the elastic linkage system 14 which releases the energy stored in the previous position and contributes to the separation of the two parts P, A of the stacking suction cup 133. Then, as can be seen in the subsequent representation of step (B), the system 14 stabilizes and maintains the receiving module 12 in its rest position where the attractive forces of the passive part P of the stacking suction cup 133 are not sufficient to allow it to approach the activatable part A.

[0091] The third step shown (C) is the attraction of the spacecraft to be docked 2 by the docking suction cup 130. Thus, in the first representation following step (B), the passive part P carried by the spacecraft to be docked 2 will passively attract the activatable part A carried by the docking suction cup. The attraction between the two parts of the docking suction cup 130 can be reinforced by activating the first function of its activatable part A. This attraction will cause a deformation of the elastic linkage system 14 in the direction of the spacecraft 2, guiding the activatable part A of the docking suction cup 130 towards part P. Here, a slight misalignment can be seen between the two parts P and A of the docking suction cup 130. Self-alignment will be possible passively thanks to the flexibility of the linkage system 14, correcting this misalignment.

[0092] Following the attachment of the two parts of the docking suction cup 130, the intermediate docking is reached, corresponding to the second representation of step (C). If the spacecraft 2 continues on its trajectory, it will deform the elastic linkage system 14 towards the activatable part A of the stacking suction cup 133. If this deformation is sufficient, the passive part P of the stacking suction cup 133 will come within the attractive range of the activatable part A, thus causing the two parts of the stacking suction cup 133 to attach to each other. The final docking is then reached directly, corresponding to the third representation of step (C). To increase the magnetic attachment of the two parts P, A of the stacking suction cup 133, the first function of the activatable part A can be activated.

[0093] The fourth step shown (D) is optional and represents the case where the deformation of the elastic linkage system 14 towards the base was insufficient to allow passive attraction of the two parts of the stacking suction cup 133. In this case, the activatable part A of the stacking suction cup 133 is activated according to the first function in order to increase the mutual attractive forces of the two parts P and A and thus allow their magnetic attachment. Final docking is then achieved. As seen in step (C), the offset between parts P and A is regulated by the attractiveness of these two parts and the flexibility of movement of the receiving module 12 by the elastic linkage system 14.

[0094] The fifth stage shown (E) corresponds to the equipping of the spacecraft 2 by the activation of the second function of the activatable part A of the docking suction cup 130, causing the repulsion of the two parts of the docking suction cup 130.

Claims

Demands

1. A space docking device (1) comprising a docking structure (10) for a spacecraft to be docked (2), said docking structure (10) comprising a reversible magnetic attachment system (13), the reversible attachment system (13) comprising at least one magnetic docking suction cup (130) comprising a first part (131) intended to be carried by the spacecraft to be docked (2) and a second part (132) carried by the docking structure (10), characterized in that said docking structure (10) also comprises a base (11), a docking module (12) and an elastic linkage system (14) between the base (11) and the docking module (12), the docking module (12) carrying the second part (132) of said at least one suction cup, the docking module (12) and the base (11) being arranged opposite each other,and the reversible magnetic attachment system (13) being configured to allow the base (11) and the docking module to move closer together and further apart,

2. Docking device (1) according to claim 1, characterized in that the reversible magnetic attachment system (13) further comprises at least one magnetic stacking suction cup (133) of the base (11) and of the receiving module (12), said at least one magnetic stacking suction cup (133) comprising a lower part (134) fixed to the base (11) and an upper part (135) fixed to the receiving module (12).

3. Docking device according to claim 2, characterized in that said at least one magnetic stacking suction cup (133) comprises an activatable part (A) and a passive part (P) each corresponding to the upper part (135) or the lower part (134), preferably the activatable part (A) corresponds to the lower part (134).

4. Docking device (1) according to claim 3, characterized in that the activatable part (A) is an electromagnet comprising a core made of a soft ferromagnetic material and / or a hard ferromagnetic material surrounded by at least one electrical coil, and the passive part (P) made of a soft ferromagnetic material and / or a hard ferromagnetic material.

5. Docking device (1) according to any one of claims 1 to 4, characterized in that the linkage system (14) is configured to allow at least one degree of freedom to the movements of the host module (12), preferably the linkage system (14) is configured to allow six degrees of freedom to the movements of the host module (12).

6. Docking device (1) according to any one of claims 1 to 5, characterized in that the linking system (14) comprises at least one reversible elastic element (140) fixed to the base (11) and to the receiving module (12).

7. Docking device (1) according to claim 6, wherein the base (11) and the receiving module (12) extend in planes parallel to each other and wherein said at least one reversible elastic member (140) extends in a plane parallel to said planes.

8. Docking device (1) according to any one of claims 1 to 7, wherein the receiving structure (10) further comprises a system for restricting the movements (15) of the receiving module (12).

9. A mooring device according to any one of claims 1 to 8, further comprising a shock-absorbing system (16) fixed to the base (11).

10. Docking spacecraft (3) comprising a space docking device (1) according to any one of claims 1 to 9.