Vehicle Capture Assembly and Related Devices, Systems, and Methods

Abstract

A vehicle capture assembly and related devices, systems, and methods include one or more probe assemblies for passively engaging and immobilizing a target vehicle.

Description

Technical Field

[0001] Cross - Reference to Related Applications

[0001] This application claims the benefit of the filing date of U.S. Provisional Patent Application No. 63 / 019,923, filed on May 4, 2020, for "VEHICLE CAPTURE ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS", the disclosure of which is hereby incorporated by reference in its entirety.

[0002]

[0002] This disclosure relates to systems, devices, assemblies, apparatuses, and methods for vehicle (e.g., spacecraft) docking. In some embodiments, the disclosure includes primarily passive vehicle capture assemblies for engaging with a related vehicle, as well as related devices, systems, and methods.

Background Art

[0003]

[0003] Docking assemblies and devices can be utilized to mechanically connect two or more vehicles (e.g., spacecraft) to each other. Such spacecraft can be vehicles designed for short - term spaceflight (e.g., self - propelled vehicles) and / or configured to stay in space for extended periods. The spacecraft can be intended to perform specific functions in a space mission, such as supplying resources to a target vehicle and / or changing the orbit of the target vehicle. Optionally, the spacecraft can be a space station, a satellite, or another suitable structure.

[0004]

[0004] The connection of two or more spacecrafts can enable the transfer of resources from one spacecraft to another. For example, a spacecraft can dock with a space station to send crew members and resources. In another example, a spacecraft can dock with a satellite to perform maintenance and repair of one or more components of the satellite. Still in a further example, a spacecraft can dock with another vehicle to provide specific mission functions such as propulsion for descent to or ascent from a celestial body, or to move to a selected position for a mission.

[0005] The conceptualized method of docking to a spaceship consists of complex mechanical devices. U.S. Patent Nos. 3,508,723, 4,018,409, 4,177,964, 4,219,171, 4,391,423, 4,588,150, 4,664,344, 4,898,348, 5,005,786, 5,040,749, 5,094,410, 5,299,764, 5,364,046, 5,372,340, 5,490,075, 5,511,748, 5,735,488, 5,803,407, 5,806,802, 6,017,000, 6,299,107, 6,330,987, 6,484,973, 6,523,784, 6,742,745, 6,843,446, 6,945,500, 6,969,030, 7,070,151, 7,104,505, 7,207,525, 7,216,833, 7,216,834, 7,240,879, 7,293,743, 7,370,834, 7,438,264, 7,461,818, 7,484,690, 7,513,459, 7,513,460, 7,575,199, 7,588,213, 7,611,096, 7,611,097, 7,624,950, 7,815,149, 7,823,837, 7,828,249, 7,857,261, 7,861,974, 7,861,975, 7,992,824, 8,006,937, 8,006,938, 8,016,242, 8,033,508, 8,056,864, 8,074,935, 8,181,911, 8,196,870, 8,205,838, 8,240,613, 8,245,370, 8,333,347, 8,412,391, 8,448,904, 8,899,527, 9,108,747, 9,302,793, 9,321,175, and 9,399,U.S. Patent Application Publication Nos. 2004 / 0026571, 2006 / 0145024, 2006 / 0151671, 2007 / 0228220, 2009 / 0001221, 2012 / 0112009, 2012 / 0325972, 2013 / 0103193, 2015 / 0008290, 2015 / 0314893, 2016 / 0039543, and 2016 / 0039544; European Patent Nos. EP0092602A1, EP0541052, 0741655B1, 0741655B2, and 1654159; PCT Publication Nos. 2005 / 110847, 2005 / 118394, 2014 / 024,199, and 2016 / 030890; Japanese Patent Nos. JPH01282098 and JPH01226497; Automated Rendezvous and Docking of Spacecraft, Fehse, Wigbert, Cambridge University Press (2003); On-Orbit Servicing Missions: Challenges and Solutions for Spacecraft Operations, Sellmaier, F. et al., SpaceOps 2010 Conference, AIAA 2010-2159 (2010); and Towards a standardized grasping and refueling on-orbit servicing for geo spacecraft, Medina, Alberto et al., Acta Astronautica vol. 134, pages 1-10 (2017); DEOS-The In-Flight Technology Demonstration of German’s Robotics Approach to Dispose Malfunctioned Satellites, Reintsema, D. et al. Various patents and publications contemplate such methods, and the disclosures of each of them are hereby incorporated by reference in their entirety into this specification.,

Summary of the Invention

Problems to be Solved by the Invention

[0006]

[0006] However, the mechanical complexity and / or the active control complexity present in many of the above designs increase the likelihood of component failure, which can lead to failures in the docking and maintenance management processes.

Means for Solving the Problems

[0007]

[0007] Some embodiments of the present disclosure include a probe assembly including one or more retention elements for engaging a target vehicle to secure the target vehicle, and an extendable lance coupled to the probe assembly at its distal portion. The probe assembly can be configured to passively engage the target vehicle to secure the target vehicle and to passively engage and disengage from the target spacecraft to release the target spacecraft.

[0008]

[0008] Some embodiments of the present disclosure may include a vehicle capture assembly comprising a probe assembly including one or more retaining elements for engaging a target vehicle in a deployed position to secure the target vehicle. The probe assembly may be configured to passively engage the target vehicle by the one or more retaining elements in the deployed position to secure the target vehicle. The vehicle capture assembly may include a biasing element for biasing the one or more retaining elements to the deployed position. The one or more retaining elements may be configured to move against the force of the biasing element to a stowed position in response to a force applied to the one or more retaining elements. The vehicle capture assembly may include an extendable lance coupled to the probe assembly, where the probe assembly is positioned at a distal portion of the lance, and the vehicle capture assembly may also include an actuation element coupled to the one or more retaining elements by one or more linkages. The actuation element may be for interacting with the biasing element to bias the one or more retaining elements to the deployed position and also to return the one or more retaining elements to the deployed position after the one or more retaining elements have been forced to the stowed position.

[0009]

[0009] Some embodiments of the present disclosure may include a spacecraft capture system comprising two or more vehicle capture assemblies. Each vehicle capture assembly includes a probe assembly including one or more retaining elements for engaging and securing a target vehicle, and an extendable lance coupled to the probe assembly at a distal portion. The probe assembly is configured to engage a portion of the target spacecraft. The two or more vehicle capture assemblies may be configured to retract each respective probe assembly of the two or more vehicle capture assemblies substantially simultaneously to secure the target spacecraft.

[0010] Some embodiments of the present disclosure may include a method of capturing a spacecraft, including extending a lance of a vehicle capture assembly toward a target spacecraft, passively engaging a probe coupled to the lance of the vehicle capture assembly with the target spacecraft, retracting the lance of the vehicle capture assembly to at least partially secure the target spacecraft, and passively releasing one or more returns of the probe from engagement with the target spacecraft.

[0011] Some embodiments of the present disclosure may include a method of capturing a target spacecraft, including biasing one or more returns to a deployed position by an actuation element coupled to the one or more returns of a probe of a vehicle capture assembly, inserting the one or more returns into a docking element of the target spacecraft, retracting the one or more returns to at least a partially retracted position in response to a force applied to the one or more returns by the target spacecraft, returning the one or more returns to the deployed position to secure the one or more returns to the docking element by the actuation element, moving the actuation element along the probe against the biasing force, and moving the one or more returns to a released position to disengage the one or more returns from the docking element of the target spacecraft in response to moving the actuation element.

[0012] Some embodiments of the present disclosure may include one or more probe assemblies configured to be received within respective structures (e.g., one or more capture cones) on a target vehicle. Retaining features on the one or more probe assemblies may allow movement of the probe assemblies to provide an approximate gimbal between the one or more probe assemblies and the target vehicle.

[0013] The above summary is not intended to describe every illustrated embodiment or every implementation of the present disclosure.

[0014] The drawings included in this application are incorporated herein and form a part of this specification. The drawings illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. The drawings are merely useful for explaining specific embodiments and do not limit the present disclosure.

Brief Description of the Drawings

[0014]

Figure 1

[0015] FIG. 1 is a schematic side view of a capture vehicle and a target vehicle including a vehicle capture assembly according to one or more embodiments of the present disclosure.

Figure 2

[0016] FIG. 2 is an isometric view of a vehicle capture assembly in an initial position according to one or more embodiments of the present disclosure.

Figure 3

[0017] FIG. 3 is a partial side cross-sectional view of a vehicle capture assembly in an initial position according to one or more embodiments of the present disclosure.

Figure 4

[0018] FIG. 4 is an isometric view of a vehicle capture assembly in an extended position or during extension according to one or more embodiments of the present disclosure.

Figure 5

[0019] FIG. 5 is an isometric view of a docking assembly according to one or more embodiments of the present disclosure.

Figure 6

[0020] FIG. 6 is an isometric view of a vehicle capture system including a plurality of vehicle capture assemblies according to one or more embodiments of the present disclosure.

Figure 7

[0021] FIG. 7 is a partial side cross-sectional view of a vehicle capture assembly in an initial position according to one or more embodiments of the present disclosure.

Figure 8

[0022] FIG. 8 is a partial side cross-sectional view of a vehicle capture assembly received within a docking assembly according to one or more embodiments of the present disclosure.

Figure 9

[0023] Partial side cross-sectional view of a vehicle capture assembly received within a docking assembly, according to one or more embodiments of the present disclosure. **DETAILED DESCRIPTION** **

[0015] **

[0024] The present disclosure is capable of accommodating various modifications and alternative forms, and specific examples thereof are shown in the drawings and described in detail as examples. However, it should be understood that the intention is not to limit the present disclosure to the specific embodiments described. On the contrary, the intention is to cover any modifications, equivalents, and alternative forms that fall within the scope of the present disclosure. **

[0016] **

[0025] As used herein, the term "substantially" in relation to a given parameter means and includes to the extent that one of ordinary skill in the art would understand that a given parameter, characteristic, or condition is met with a minor variance, such as within acceptable manufacturing tolerances. For example, a parameter that is substantially met may be met at least about 90%, at least about 99%, or even 100%. **

[0017] **

[0026] Embodiments of the present disclosure may include capture and coupling assemblies and systems for the mechanical docking of two or more vehicles (e.g., spacecraft on an orbit, with or without self-propulsion) using one or more vehicle capture assemblies (e.g., two or more, three, four, etc.) on a captured vehicle. The vehicle capture assembly is configured to engage a docking portion of a target vehicle to be captured (e.g., one or more docking cones coupled to the target vehicle). Some embodiments may enable autonomous capture and docking of spacecraft having relatively large mass and inertia, with minimal perturbation to either vehicle. Some embodiments provide benefits in the form of a relatively simple docking architecture with improved reliability and safety compliance, i.e., compliance for preventing damage to the spacecraft.

[0018]

[0027] Some embodiments can reduce the mechanical complexity of the docking device by eliminating the need for an actively driven probe assembly for the docking process. For example, the extension and / or retraction of the holding element of the probe assembly for capturing and / or releasing the target vehicle can be done substantially without the use of active components or devices within the probe (e.g., motors, or other electronic and / or hydraulic actuation assemblies such as solenoids). Such embodiments can reduce or eliminate the need for electronic components (e.g., signal conductors, wiring, power systems, switches, etc.) within a portion of the vehicle capture assembly (e.g., within the lance of the vehicle capture assembly and / or within the probe).

[0019]

[0028] FIG. 1 shows a schematic side view of a capture vehicle 10 (e.g., a workboat, a chaser spacecraft, a transfer spacecraft, etc.) that can be operated to approach a target vehicle 11, capture the target vehicle 11, dock with the target vehicle 11, supply cargo or resources to the target vehicle 11, transfer cargo or resources to the target vehicle 11, and / or repair the target vehicle 11, according to one or more embodiments of the present disclosure.

[0020]

[0029] The capture vehicle 10 and the target vehicle 11 may each be a spacecraft or artificial satellite located in an orbit around a celestial body. The capture vehicle 10 may be a spacecraft designed to approach the target vehicle 11, capture the target vehicle 11, dock with the target vehicle 11, and undock from the target vehicle 11. Docking of the capture vehicle 10 to the target vehicle 11 may enable certain functions in a space mission. For example, the connection of vehicles 10 and 11 can enable the transfer of resources (e.g., cargo, equipment, passengers, crew, etc.) from one vehicle to the other, enable vehicle repair, and / or enable certain mission functions (e.g., propulsion for descent to a celestial body or ascent from a celestial body or transfer to a selected position in space for a mission).

[0021]

[0030] The capture vehicle 10 may be designed to dock with two or more target vehicles 11. For example, the capture vehicle 10 may include a docking mechanism (e.g., vehicle capture assembly 22) that enables the capture vehicle 10 to dock with and undock from multiple target vehicles 11. The capture vehicle 10 may be configured to dock with one or more of the target vehicles 11 that include one or more docking elements 18 (e.g., docking cones, mechanisms, etc.).

[0022]

[0031] In some embodiments, also, as discussed below, the docking element 18 may be configured to enable immediate release of the connection between vehicles 10 and 11. For example, the docking element 18 may be coupled to the target vehicle 11 by a releasable coupling or union that can be destructively (e.g., by one or more pyrotechnic fixtures such as explosive bolts) or non-destructively (e.g., by a releasable union) released from the target vehicle 11 to free at least a portion of the docking element 18.

[0023]

[0032] As shown, the capture vehicle 10 may include a spacecraft hull 12, a docking platform 14, a main thruster 17, a gimbal thruster 20, and a vehicle capture assembly 22. As described above, the vehicle capture assembly 22 may include a retaining element that directly contacts and secures the target vehicle 11 in a manner that does not require the use of active components such as a motor that directly acts on the retaining element (e.g., does not require being driven in an active manner). Rather, the retaining element may use passive means or mechanisms such as mechanical forces (e.g., biasing forces) to engage the target vehicle 11.

[0024]

[0033] Mechanical forces (e.g., biasing forces) may be used to release the retaining element (e.g., non-destructively release) and move the retaining element towards a storage position or an engagement / disengagement position to release the target spacecraft 11 without involving the use of a motor that directly drives the retaining element. Such embodiments may reduce or even eliminate the need for electronic components (e.g., signal conductors, electrical wiring, power systems, switches, motors, heaters, thermistors, helical harnesses, etc.) within a portion of the vehicle capture assembly 22 (e.g., within the lance and / or probe of the vehicle capture assembly 22).

[0025]

[0034] As discussed below, a motor (e.g., a single isolated motor) may be used to actively move (e.g., translate) the vehicle capture assembly 22 towards and / or away from the target vehicle 11, but such a motor may only indirectly contribute to the engagement and / or disengagement of the retaining element. For example, the motor may be able to position the retaining element at a selected position relative to the target vehicle, but the force applied to the vehicle capture assembly 22 may be utilized to engage and / or disengage the retaining element in a passive manner that is not actively driven by the motor or other electronic devices (e.g., a force that overwhelms one or more biasing elements of the vehicle capture assembly 22).

[0026]

[0035] The target vehicle 11 may be a spacecraft to be captured by the vehicle capture assembly 22 of the capture vehicle 10. The target vehicle 11 may be in a low Earth orbit, a medium Earth orbit, a geostationary orbit, a beyond geosynchronous orbit, or another orbit around a celestial body such as, for example, the Earth, the Moon, or another planetoid. The target vehicle 11 may include a docking element 18 and a separation ring 19.

[0027]

[0036] The vehicle capture assembly 22 of the capture vehicle 10 may be configured to capture the target vehicle 11 at the docking element 18 and also to pull the target vehicle 11 and the capture vehicle 10 together for docking. When docking, one or more portions of the target vehicle 11 and / or the vehicle capture assembly 22 may abut to hold the vehicles 10, 11 together.

[0028]

[0037] FIG. 2 shows an isometric view of a vehicle capture assembly 100 in an initial position that may be used with a capture vehicle. In some embodiments, the vehicle capture assembly 100 is similar to the vehicle capture assembly 22 of the capture vehicle 10 schematically shown and described above in FIG. 1 and may include similar components and features thereof.

[0029]

[0038] As shown in FIG. 2, the vehicle capture assembly 100 includes a probe or probe assembly 102 coupled to a lance or lance assembly 104 (e.g., at a distal portion of an end of the lance assembly 104). The probe assembly 102 includes one or more retention features (e.g., a loop 106) extending from the probe assembly 102 at a location proximate the probe tip 108. The loop 106 may extend in a direction transverse to the length or longitudinal axis of one or more portions of the vehicle capture assembly 100 (e.g., transverse to the length of the lance assembly 104). As shown, the rotatable loop 106 extends laterally outwardly and proximally toward the lance assembly 104 to capture the target vehicle 11 (FIG. 1).

[0030]

[0039] In some embodiments, the return 106 can be biased (e.g., spring loaded) to a selected position. For example, the return 106 can be in the shown deployed position, in which the return 106 can engage a portion of the target vehicle 11 (FIG. 1). In further embodiments, the return 106 can be biased to a retracted or stowed position.

[0031]

[0040] Referring to FIGS. 1 and 2, the lance assembly 104 can include functionality to enable extension and / or retraction of a portion of the probe assembly 102 to facilitate docking of the capture vehicle 10 with the target vehicle 11. For example, when the capture vehicle 10 is positioned proximal to the target vehicle 11, the probe assembly 102 can be extended by the lance assembly 104 to the docking element 18 of the target vehicle 11 and inserted within the docking element 18. The lance assembly 104 can include a lance boom 110 that is driven by a motor 112 positioned within the housing 115 of the probe assembly 102. The motor 112 can be used to actively move (e.g., translate) the lance boom 110 toward and / or away from the target vehicle 11.

[0032]

[0041] In some embodiments, the motor 112 can only indirectly contribute to the engagement and / or disengagement of the return 106. For example, the motor 112 can position the return 106 to a selected position relative to the target vehicle 11, but the force applied to the return 106 (e.g., to overcome the biasing force of the return 106 to the deployed position) can be applied when the return 106 is inserted into the docking element 18 to engage the return 106 in a passive manner that is not actively driven by the motor 112. As discussed below, movement of the probe assembly 102 (e.g., by pushing the probe assembly 102 into the target vehicle 11) can be used to release the return 106 from the target vehicle 11 (e.g., by overcoming the biasing force of the return 106 in a different manner by internal components of the probe assembly 102).

[0033]

[0042] The vehicle capture assembly 100 may include another rear element (e.g., a docking cone 114) for engaging another portion of the target vehicle 11 (e.g., another portion of the docking element 18). As shown, the docking cone 114 may be biased (e.g., by a spring 116) toward the return 106 to secure the target vehicle between the return 106 and the docking cone 114.

[0034]

[0043] The vehicle capture assembly 100 may include a backstop 118 for joining with a portion of the target vehicle 11 (e.g., at the capture position). One or more additional retaining elements (e.g., a latch 120) may be coupled (e.g., rotatably coupled) to the backstop 118. Further embodiments may include a linkage-type latch. At the capture position, the latch 120 may be actuated to engage the docking element 18 to secure the target vehicle 11. In some embodiments, after engagement, the latch 120 may occupy a majority of the rigid connection (e.g., which may be a primary connection) between the vehicles 10, 11. For example, the latch 120 may bear a majority of the forces occurring between the two vehicles 10, 11, while other attachment points (e.g., the docking cone 114 and / or the return 106) are either not used primarily or receive a significantly (e.g., by an order of magnitude or more) lesser amount of force.

[0035]

[0044] FIG. 3 is a partial side cross-sectional view of a vehicle capture assembly (e.g., vehicle capture assembly 100) at an initial position (e.g., after being initially deployed from a stowed state and before being extended toward the target vehicle 11 (FIG. 1)). As shown in FIG. 3, the vehicle capture assembly 100 includes an actuation feature (e.g., cam actuator 122) that can be coupled (e.g., at the distal end of the lance boom 110) to the lance assembly 104. The cam actuator 122 can move (e.g., translate) relative to one or more portions of the probe assembly 102 (e.g., probe tip 108). For example, the cam actuator 122 may translate (e.g., slide within) the probe tip 108. In some embodiments, the probe tip 108 can move relative to the entirety of the vehicle capture assembly 100, while the cam actuator 122 can be held stationary relative to one or more portions of the vehicle capture assembly 100 (e.g., lance assembly 104).

[0036]

[0045] A biasing element 124 (e.g., a spring) can be positioned between the cam actuator 122 and the probe tip 108 to bias the cam actuator 122 and / or the probe tip 108 to a selected position. For example, the biasing element 124 can bias the probe tip 108 to a position where the cam actuator 122 is separated from the return 106. When a force (e.g., a force applied to the probe tip 108 between the vehicles 10, 11 (FIG. 1)) overcomes the biasing element 124, the probe tip 108 can move relative to the cam actuator 122. The cam tip 126 of the cam actuator 122 can slide through the return 106 to move the return 106 to another position (e.g., a stowed position or a release position). When the force is removed from the probe tip 108, the biasing element 124 can return the probe tip 108 to an extended position, at which the return 106 can be returned to a deployed position or a capture position.

[0037]

[0046] FIG. 4 is an isometric view of the vehicle capture assembly (e.g., vehicle capture assembly 100) in the extended position or during extension. FIG. 5 is an isometric view of the docking assembly 200 for the target vehicle 11 (FIG. 1).

[0038]

[0047] Referring to FIGS. 1-5, during operation, the vehicle capture assembly 100 can be positioned in the initial state shown in FIGS. 2 and 3. In some embodiments, the vehicle capture assembly 100 can move from a stored state (e.g., used during transfer) to the initial state. In the stored state, the probe tip 108 and the return 106 can position (e.g., compress) or contact the probe tip 108 and the docking cone 114 toward the anti-backflow plate 118.

[0039]

[0048] The lance motor 112 can translate the probe assembly 102 from the initial position toward the target vehicle 11 (e.g., toward the docking assembly 200) to the extended position or during extension shown in FIG. 4. The lance motor 112 and / or the capture vehicle 10 can pass the probe tip 108 through the outer cone 202 of the docking assembly 200, through the neck portion 204, and move (e.g., push) it into the inner volume 206 of the docking assembly 200. When the probe tip 108 passes through the neck portion 204, the biasing force of the return 106 can be overcome by the insertion force. The return 106 can at least partially retract to pass through the neck portion 204 and can also be returned to the deployed position or extended position within the inner volume 206 once to initially capture the target vehicle 11.

[0040]

[0049] In some embodiments where multiple vehicle capture assemblies 100 (e.g., three vehicle capture assemblies 100) are utilized, the combination of vehicle capture assemblies 100 coupled to respective docking assemblies 18 of the target vehicle 11 can approximate a universal joint or a rotary joint to provide movement and / or force tolerance and / or attenuation between vehicles 10, 11. For example, both the return 106 (e.g., three returns) and the inner portion of the docking assembly 200 with which the distal end of the return 106 engages can have complementary surfaces. In some embodiments, both the return 106 and the inner portion of the docking assembly 200 define at least partially spherical surfaces that allow the return 106 to move (e.g., slide along) the inner surface of the docking assembly 200 to provide an approximate universal joint.

[0041]

[0050] In some embodiments, each docking assembly (e.g., three docking assemblies) can provide a combination of a universal joint, a linear joint, and an approximate universal joint (e.g., a 3-UPU (universal-linear-universal) manipulator) when coupled to respective numbers of capture cones through a gap (e.g., in situ) during the docking procedure. In some embodiments, the 3-UPU can include a combination of a universal joint, a linear joint, and an approximate universal joint such as a spherical joint.

[0042]

[0051] After initial capture, the lance motor 112 can retract the probe assembly 102 back to the capture vehicle 10. The lance motor 112 can force the docking cone 114 into contact with the docking assembly 200 (e.g., within the outer cone 202) to further secure the target vehicle 11. The rim 208 of the docking assembly 200 can be pushed into the anti-backflow plate 118. The latch 120 can be actuated to engage the rim 208 of the docking assembly 200 to further secure the target vehicle 11 to the rigidified connection.

[0043]

[0052] To release the target vehicle 11 in a non-destructive manner (e.g., a repeatable manner), the vehicle capture assembly 100 can release the docking assembly 200 and return it to its initial position. For example, the lance motor 112 can move the probe assembly 102 away from the capture vehicle 10. As described above, the force applied to the probe tip 108 can overcome the biasing element 124 and move the probe tip 108 relative to the cam actuator 122. The cam tip 126 of the cam actuator 122 can rotate the lever 106 to release the docking assembly 200, and the probe tip 108 can be removed from the docking assembly 200. When the force is removed from the probe tip 108, the biasing element 124 can return the probe tip 108 to the extended position, at which the lever 106 can be returned to the deployed or capture position. The lance motor 112 can return the probe assembly 102 to an initial position similar to the positions shown in FIGS. 2 and 3.

[0044]

[0053] To release the target vehicle 11 in another manner, one or more of the vehicle capture assembly 100 and / or the docking assembly 200 can include a releasable union that can be released destructively or non-destructively. For example, a coupling portion 210 can be coupled to the target vehicle 11 and releasably coupled to the remainder of the docking assembly 200 via a releasable union 212. In some embodiments, the releasable union 212 can include an explosive coupling (e.g., one or more explosive bolts) that can explosively release the docking assembly 200 from the target vehicle 11. In further embodiments, the releasable union 212 can be a non-destructively releasable union (e.g., a remotely releasable electronic and / or magnetic latch or coupling).

[0045]

[0054] FIG. 6 is an isometric view of a vehicle capture system 300 including a plurality of vehicle capture assemblies 302. In some embodiments, the plurality of vehicle capture assemblies 302 may be similar to the vehicle capture assemblies described above and include components similar to those of the vehicle capture assemblies described above.

[0046]

[0055] As shown in FIG. 6, vehicle capture assemblies 320 (e.g., three assemblies or arms) may be coupled in an alternating pattern (e.g., in a ring) onto a capture vehicle 304 (e.g., which may be similar to capture vehicle 10 (FIG. 1)). As shown, the vehicle capture assemblies 302 may be offset from a central portion or centerline of the capture vehicle 304. Such an offset may provide clearance for a propulsion system or propulsion element (e.g., a prime mover) of the capture vehicle 304 and / or the target vehicle.

[0047]

[0056] Two or more of the vehicle capture assemblies 302 may collectively (e.g., substantially simultaneously) dock with a target vehicle and pull the target vehicle to secure it together with the capture vehicle 304 by substantially simultaneously retracting each lance assembly of the vehicle capture assemblies 302. In some embodiments, the vehicle capture assemblies 302 may provide redundant docking connections in the event of misaligned or otherwise failed docking with one or more of the vehicle capture assemblies 302.

[0048]

[0057] FIG. 7 is a partial side cross-sectional view of a vehicle capture assembly (e.g., vehicle capture assembly 400) in an extended position (e.g., an initial position and / or a deployed position). In some embodiments, the vehicle capture assembly 400 may be similar to the vehicle capture assembly 100 described above and may include one or more components of the vehicle capture assembly 100 described above.

[0049]

[0058] As shown in FIG. 7, the vehicle capture assembly 400 includes an actuation feature (e.g., a towline actuator 422) that is coupled to and / or movable within the lance assembly 404. The towline actuator 422 can move (e.g., translate) relative to one or more portions of the probe assembly 402 (e.g., the probe tip 408). For example, the towline actuator 422 can translate (e.g., slide within) the probe tip 408. As shown, the towline actuator 422 can be coupled to (e.g., via a linkage 410) one or more towlines 406 to move the towlines 406 between an extended position and a retracted position (e.g., when each towline 406 is connected to a single common towline actuator 422). For example, when the towline actuator 422 translates within the probe assembly 402, the towline actuator 422 can actuate the towlines 406 between positions. As shown, the linkage 410 can be substantially J-shaped or L-shaped to provide a lever action for rotating the towlines 406 and / or to provide appropriate clearance for the lateral ends of the towlines 406.

[0050]

[0059] In some embodiments, one or more towlines 406 can be coupled to each other. For example, one or more towlines 406 can be coupled by pins 412, in which case the towlines 406 can rotate relative to each other and relative to the probe tip 408. In some embodiments, the pins 412 can move (e.g., translate) within the probe tip 408 to allow the towlines 406 to rotate by a selected amount (e.g., within a selected range of degrees) to release and / or capture the target spacecraft. In further embodiments, a portion of the probe tip 408 can move (e.g., translate) to allow the towlines 406 to rotate by a selected amount to release and / or capture the target spacecraft.

[0051]

[0060] In some embodiments, each of the returns 406 can rotate (e.g., pivot) around a component of the probe tip 408 (e.g., one or more cam rollers 418). As described above, when the pin 412 is implemented, the movement of the pin 412 and / or the movement of the cam roller 418 (e.g., with the probe tip 408) can enable rotation around a selected range of degrees. For example, this configuration can enable the return 406 to rotate between 90 degrees and 180 degrees between the retracted position, the extended position, and the overextended position of each of the returns 406, as will be discussed in more detail below.

[0052]

[0061] As shown, a biasing element 424 (e.g., a spring) can be positioned between the drawstring actuator 422 and the probe tip 408 to bias the drawstring actuator 422 and / or the probe tip 408 to a selected position. For example, the biasing element 424 can bias the probe tip 408 to a position where the drawstring actuator 422 positions the return 406 to the extended or deployed position by the linkage 410 (e.g., the return 406 extends laterally from the probe tip 408 with a substantially maximum dimension or width). When a force (e.g., a force applied to the return 406 during a docking or undocking procedure) overcomes the biasing element 424, the drawstring actuator 422 can move to compress and / or extend the biasing element 424, and after the force is removed, the return 406 and the drawstring actuator 422 can return to their initial state, as will be discussed below.

[0053]

[0062] In some embodiments, the vehicle capture assembly 400 is coupled to a lance boom (e.g., lance boom 110 (FIG. 4)), in which case the extension of the lance boom towards the target spacecraft (e.g., substantially full extension) can act to pull the cable actuator 422 downward (e.g., against the biasing element 424) to retract the return 406. Such a configuration can enable the retraction of the return 406 passively (e.g., without the direct use of a motor or other active device on the return or a linkage coupled to the return). For example, the return 406 may be retracted passively using only the indirect movement of the lance boom that can be driven by a motor, in which case the return 406 (or the linkage coupled to the return 406) is not directly driven by a motor or other active device.

[0054]

[0063] In some embodiments, an end of the lance boom (e.g., the return storage slider) that is movable relative to the length of the boom (e.g., and can be biased relative to the length of the lance boom) can be coupled to the cable actuator 422 by a component such as a cable passing through the lance boom. As the lance boom approaches or substantially reaches the end of its travel, the length of the lance boom can continue to move relative to the return storage slider (e.g., against the biasing force). The return storage slider can then act to pull the cable actuator 422 in a direction opposite to the movement of the lance boom to retract the return 406.

[0055]

[0064] Similar to the vehicle capture assembly described above, the vehicle capture assembly 400 can include another rear engagement element and / or retention element (e.g., docking cone 414) for engaging another portion of the target vehicle 11 (e.g., another portion of the docking element 18 (FIG. 1)). As shown, the docking cone 414 can be biased towards the return 406 (e.g., by a spring 416) to secure the target vehicle between the return 406 and the docking cone 414.

[0056]

[0065] Figures 8 and 9 show the vehicle capture assembly 400 during use (e.g., during the docking procedure). As shown in Figure 8, during the docking procedure, a portion of the target spacecraft (e.g., the throat 430 of the docking element 18) can push the return 406 from its initial position shown in Figure 7, where the lateral width of the return 406 is reduced, to another position (e.g., a stowed position or a release position). With the return 406 at least partially retracted, the probe tip 408 and the return 406 may be positioned within the docking cone 414 and can pass through the neck-like portion (e.g., the throat 430) of the docking element 18. When the force is removed from the probe tip 408, the biasing element 424 can return the probe tip 408 to the extended position, where the return 406 can be returned to the deployed position or the capture position (e.g., to secure the target vehicle 11 via the docking element 18). This new deployed position or capture position may be similar to the extended position shown in Figure 7 that creates the maximum lateral span of the return 406. In the deployed position or the capture position, the return 406 can secure the vehicle capture assembly 400 to the docking element 18 of the target vehicle 11 (e.g., here, the return 406 prevents the probe tip 408 from traveling back through the throat 430).

[0057]

[0066] As shown in Figure 9, after or during the docking procedure, the return 406 may still be movable to yet another release position to release the docking element 18. Such an additional release position may be utilized to free the target vehicle 11 by releasing the docking element 18 from the probe tip during the undocking procedure or during a failed or partial docking procedure. As shown, the docking element 18 (e.g., the throat 430) can push the return 406 to an additional release position (e.g., a forward position or an overextended position where the return 406 is directed toward the distal end of the docking element 18 and / or the probe tip 408). For example, relative movement between the vehicle capture assembly 400 and the target vehicle 11 can also, in this case, press the return 406 against the surface of the docking element 18 that defines the throat 430.

[0058]

[0067]

[0067] In some embodiments, the return 406 can pivot relative to the cam roller 418 to move to a forward position, and the pin 412 can move away from the cam roller 418 to allow the return 406 to retract to the forward position as shown in FIG. 9. As described above, the pin 412 and / or the cam roller 418 can translate (e.g., via the movement of the probe tip 408) to allow rotation of this return 406.

[0059]

[0068]

[0068] In the forward position, as the return 406 rotates forward, the lateral width of the return 406 decreases, so that the docking element 18 can be released from the return 406. As described above, such release can be utilized during the undocking procedure or when the docking procedure fails to allow the target vehicle 11 to be released.

[0060]

[0069]

[0069] In some embodiments, the amount of force required to move the return 406 to the forward position may be selected to be greater than the expected range of forces experienced during a normal docking procedure and also greater than the force required to move the return 406 to the retracted position. For example, a force of about 11.34 kg (about 25 pounds) (about 111.2 N) may be required to move the return 406 to the forward position, and a force of about 0.907 kg (2 pounds) (about 8.9 N) may be required to move the return 406 to the retracted position. In such embodiments, creating a relatively greater force between the vehicle capture assembly 400 and the target vehicle 11 may allow a passive undocking or release procedure between the vehicle capture assembly 400 and the target vehicle 11.

[0061]

[0070]

[0070] As described above, the return 406 can rotate up to 180 degrees from the retracted position or up to 90 degrees from the extended position in the forward position.

[0071] When the force is removed from the probe tip 408, the probe tip 408 can return the return 406 from the overextended position to the extended position, where the return 406 can be returned to the deployed position or the capture position (e.g., to re-fix the target vehicle 11 or another vehicle). In some embodiments, the biasing element 424 and the cable actuator 422 can act to force the return 406 back to the initial position, or another biasing feature or force feature can be utilized to return the return 406 from the overextended position.

[0062]

[0072] As described above, the movement of the return 406 can be achieved passively, for example, when the biasing force from one or more biasing features is overcome to move the return 406 to the retracted position or the forward position. The biasing force can also be used to return the return 406 to the initial position when the return 406 is moved (e.g., rotated) by another force. In further embodiments, the movement of the return 406 can be achieved by actively driving it between one or more of the retracted position or the forward position (e.g., via a motor of the vehicle capture assembly 400 (e.g., via the cable actuator 422 and / or the linkage 410)).

[0063]

[0073] In some embodiments, also, similar to the above-described embodiments, the force applied to the probe tip 408 can move the return 406 and the cable actuator 422 such that the return 406 releases the docking assembly 18. For example, the force applied to the probe tip 408 can press the probe tip 408 against the return 406. Accordingly, the return 406 can be rotated to a forward position, such as the position shown in FIG. 9, to release the docking element 18 (e.g., under the biasing force applied by the cable actuator 422).

[0064]

[0074] The embodiments of the present disclosure described above and shown in the accompanying drawings are merely examples of the embodiments of the present disclosure and do not limit the scope of the present disclosure. The present disclosure is defined by the appended claims and their legal equivalents. Any equivalent embodiments are within the scope of the present disclosure. In fact, in addition to what is shown and described herein, various modifications of the present disclosure, such as alternative useful combinations of the described elements, will be apparent to those skilled in the art from the description. Such modifications and embodiments also fall within the scope of the appended claims and their legal equivalents. The technical terms used herein are selected to explain the principles of the embodiments, the practical applications, or the technical improvements over the technologies found in the market, or to enable other skilled artisans to understand the embodiments disclosed herein.

Claims

1. A probe assembly including one or more retaining elements for engaging a target vehicle to secure the target vehicle, An extendable lance coupled to the probe assembly, the probe assembly being positioned at a distal portion of the lance, the extendable lance, A vehicle capture assembly comprising: The probe assembly is configured to passively engage and secure the target vehicle and to passively disengage from the target vehicle to release the target vehicle, The one or more retaining elements include one or more returns extending from the probe assembly in a direction transverse to the length of the lance, the one or more returns being configured to be at least one of a passively retracted return or a passively deployed return, The one or more returns are biased to a deployed position and are configured to move toward a retracted position in response to a force applied to a portion of the probe assembly, The one or more returns are configured to move to an overextended position away from the retracted position beyond the deployed position in a direction toward the target vehicle, at which overextended position the one or more returns release the target vehicle, Vehicle capture assembly.

2. The probe assembly is configured to passively engage and secure the target vehicle and to passively disengage from the target vehicle to release the target vehicle without the use of a motor, the vehicle capture assembly according to claim 1.

3. The force applied to a distal end of the probe assembly or to the one or more returns is configured to move the one or more returns to the retracted position, the vehicle capture assembly according to claim 1.

4. The one or more returns are coupled to an actuation element by one or more linkages, the actuation element interacting with a biasing element to bias the one or more returns to the deployed position and to return the one or more returns to the deployed position after being forced to one or more of the retracted position or the overextended position, the vehicle capture assembly according to claim 1.

5. The one or more returns are configured to exhibit a substantially maximum lateral width at the deployment position and a reduced lateral width relative to the maximum lateral width at both the storage position and the over-extension position, the vehicle capture assembly according to claim 1.

6. The vehicle capture assembly according to any one of claims 1 to 5, wherein the probe assembly comprises another holding element spaced apart from the one or more holding elements along the length of the vehicle capture assembly.

7. The vehicle capture assembly according to claim 6, wherein both the another holding element and the one or more holding elements are configured to engage the target vehicle without the use of actively driven components to secure the target vehicle.

8. The vehicle capture assembly according to any one of claims 1 to 5, wherein the probe assembly does not have at least one of a motor, electrical components, electrical wiring, switches, heaters, thermistors, helical harnesses, or electrical signal conductors.

9. The vehicle capture assembly according to any one of claims 1 to 5, further comprising a motor configured to translate the probe assembly and the lance towards and away from the target vehicle.

10. The vehicle capture assembly according to claim 9, wherein the translation of the probe assembly and the lance at least passively stores or passively deploys the one or more holding elements without being directly driven by a motor.

11. The vehicle capture assembly according to any one of claims 1 to 5, further comprising at least one clamp configured to engage a docking cone of the target vehicle after the target vehicle is secured by the probe assembly.

12. The vehicle capture assembly according to claim 11, wherein after engagement, the at least one clamp forms a primary connection between the target vehicle and the vehicle capture assembly.

13. The vehicle capture assembly according to any one of claims 1 to 5, comprising two or more capture arms, each of the two or more capture arms including a respective combination of the probe assembly and the extendable lance.

14. The vehicle capture assembly according to claim 13, wherein each of the two or more capture arms is configured to be attached to a position on the capture vehicle that is offset from the center line of the capture vehicle and from the primary propulsion device of the capture vehicle.

15. A probe assembly including one or more holding elements for engaging a target vehicle in a deployed position to secure the target vehicle, the probe assembly being configured to passively engage the target vehicle with the one or more holding elements in the deployed position to secure the target vehicle. A biasing element for biasing the one or more holding elements to the deployed position, the one or more holding elements being configured to move toward a retracted position against the force of the biasing element in response to a force applied to the one or more holding elements. An extendable lance coupled to the probe assembly, the probe assembly being positioned at a distal portion of the lance. An actuation element coupled to the one or more holding elements by one or more linkages, the actuation element interacting with the biasing element to bias the one or more holding elements to the deployed position and, after being forced to the retracted position, to return the one or more holding elements to the deployed position. comprising The one or more holding elements are configured to move away from the retracted position beyond the deployed position in a direction toward the target vehicle to an overextended position where the one or more holding elements release the target vehicle. Vehicle capture assembly.

16. The vehicle capture assembly according to claim 15, wherein translation of the actuation element away from the one or more holding elements is configured to move the one or more holding elements to the retracted position to release the target vehicle.

17. The vehicle capture assembly according to claim 15 or 16, wherein the one or more holding elements are configured to move to an overextended position away from the retracted position beyond the deployed position in a direction toward the target vehicle, and wherein at the overextended position, the one or more holding elements release the target vehicle.

18. The vehicle capture assembly according to claim 15 or 16, wherein the translation of the lance in the direction towards the target vehicle is configured to move the one or more retaining elements to the storage position in order to release the target vehicle.

19. A spacecraft capture system, comprising: two or more vehicle capture assemblies, each of the two or more vehicle capture assemblies comprising a vehicle capture assembly according to claim 1; The spacecraft capture system, wherein the two or more vehicle capture assemblies are configured to retract the respective probe assemblies of the two or more vehicle capture assemblies substantially simultaneously to fix a target vehicle.

20. The spacecraft capture system according to claim 19, wherein each of the two or more vehicle capture assemblies is configured to substantially define a flexible joint between the target vehicle and the capture system when the respective probe assemblies of the two or more vehicle capture assemblies are received in and engaged with the respective docking cones of the target vehicle.

21. A method of capturing a spacecraft, comprising: extending a lance of a vehicle capture assembly towards a target spacecraft; passively engaging a probe of the vehicle capture assembly with the target spacecraft, wherein the probe is coupled to the lance; retracting the lance of the vehicle capture assembly to at least partially secure the target spacecraft; passively releasing one or more returns of the probe from engagement with the target spacecraft in a deployed position, including non-destructively releasing the target spacecraft; step; extending the lance and the target spacecraft away from a capture vehicle; and a method comprising.

22. The method according to claim 21, further comprising biasing the one or more returns to a deployed position, wherein the step of passively releasing the one or more returns of the probe comprises retracting the one or more returns towards a storage position to release the target spacecraft by extending the lance.

23. The step of passively releasing the one or more returns of the probe includes moving the one or more returns beyond the deployment position in a direction toward the target spacecraft to a forward position by a force applied to the one or more returns by the target spacecraft, the method of claim 21.

24. The method according to any one of claims 21 to 23, further comprising the step of destructively releasing the target spacecraft by detonating one or more explosive unions to disengage the target spacecraft from the probe.

25. A method of capturing a target spacecraft, comprising: biasing one or more returns of a probe of a vehicle capture assembly to a deployment position by an actuation element coupled to the one or more returns; inserting the one or more returns into a docking element of the target spacecraft; retracting the one or more returns at least partially to a retracted position in response to a force applied to the one or more returns by the target spacecraft; returning the one or more returns to the deployment position to fix the one or more returns to the docking element by the actuation element; pushing the one or more returns away from the retracted position and in a direction toward the target spacecraft with a force applied to the one or more returns by the target spacecraft; and detaching the one or more returns from the docking element of the target spacecraft. A method.

26. The method of claim 25, wherein the step of moving the one or more returns to the release position includes pushing the one or more returns in a direction toward the retracted position.

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