Robotic satellite refuelling tool
View Patent ↗A tool mounted on a servicer satellite for fuelling an unprepared or partially prepared client satellite. The tool includes a robotic arm mounted on the servicer satellite and a valve tool configured to be releasibly gripped by the robotic arm. The valve tool includes a housing with a support frame and a wrench mechanism mounted on the support frame. The wrench mechanism is configured for removing and replacing the first access valve cap on the first fill-drain valve and coupling a first propellant fill line to the first propellant tank optionally removing and replacing the second access valve cap on the second fill-drain valve on the second propellant tank and coupling a second propellant fill line to the second propellant tank, and actuating the valve actuation nut on the first fill-drain valve, and optionally actuating the valve actuation nut on the second fill-drain valve.
1. A satellite servicing system comprising: a robotic system mounted on a servicer satellite for fuelling an unprepared or partially prepared client satellite which includes a first propellant tank, a first fill-drain valve and a valve actuation nut on the first fill-drain valve used to open and close the first fill-drain valve and a first access valve cap on the first fill-drain valve, and optionally includes a second propellant tank having a second fill-drain valve and a valve actuation nut to open and close the second fill-drain valve and a second access valve cap on the second fill-drain valve, and wherein said robotic system comprises:
a robotic arm mounted on the servicer satellite; and
a valve tool configured to be releasibly gripped by said robotic arm, said valve tool including a housing with a support frame, a wrench mechanism mounted on said support frame, said wrench mechanism configured for
removing and replacing the first access valve cap on the first fill-drain valve and coupling a first propellant fill line to the first propellant tank
optionally removing and replacing the second access valve cap on the second fill-drain valve on the second propellant tank and coupling a second propellant fill line to the second propellant tank, and
actuating the valve actuation nut on the first fill-drain valve, and optionally actuating the valve actuation nut on the second fill-drain valve.
2. The satellite servicing system according to claim 1 wherein said wrench mechanism includes
a) a socket module holder mechanism mounted on said support frame and interchangeable socket modules configured to be releasibly held by said socket module holder mechanism, a first socket module configured for removing and replacing the first access valve cap on the first fill-drain valve, a second socket module coupled to an end of said first propellant fill line configured to be coupled to the first fill-drain valve, optionally a third socket module configured for removing and replacing the second access valve cap on the second fill-drain valve and optionally a fourth socket module coupled to and end of a second propellant fill line configured to be coupled to the second fill-drain valve,
b) a socket drive mechanism mounted on said support frame for actuating said first, second, third and fourth socket modules when seated in said socket module holder mechanism;
c) a valve actuation mechanism mounted on said support frame configured to engage and actuate the valve actuation nut on the first fill-drain valve and optionally the valve actuation nut on the second fill-drain valve; and
e) a clamping mechanism mounted on said support frame to secure said valve tool to a reaction area on the first fill-drain valve and optionally on the second fill-drain valve, said clamping mechanism being configured to localize torque generated by said valve tool for ensuring that any reaction torques from said socket drive mechanism are reacted locally to prevent damage to the fill-drain valves.
3. The satellite servicing system according to claim 2 further comprising a tool caddy which is mountable on the servicer satellite, said tool caddy including storage stations for storing and holding said first, second, third and fourth socket modules, and wherein said storage stations for storing and holding said first, second, third and fourth socket modules each include a socket module retaining plate and a tab mounted thereon, and wherein said socket module retaining plate includes a spring ball detent and wherein each of said first, second, third and fourth socket modules include a groove extending around a periphery of said socket module, and wherein said groove on each socket module is configured to mate with said spring ball detent to hold said socket modules in place in each of said four socket module holder storage stations.
4. The satellite servicing system according to claim 3 further comprising cutting tools for cutting thermal blankets and lockwires, said cutting tools being mounted on said tool caddy and configured to be releasibly gripped by said robotic arm.
5. The satellite servicing system according to claim 3 wherein said valve tool and said tool caddy include lead-in features for enabling robotic teleoperation of the tool.
6. A satellite servicing system comprising: a valve tool for fuelling an unprepared or partially prepared client satellite which includes a propellant tank, a fill-drain valve and a valve actuation nut on the fill-drain valve used to open and close the fill-drain valve and an access valve cap on the fill-drain valve, and optionally includes a second propellant tank having a second fill-drain valve and a valve actuation nut to open and close the second fill-drain valve and an access valve cap on the second fill-drain valve, and wherein said valve tool comprises;
a housing with a support frame. a wrench mechanism mounted on said support frame configured for removing and replacing the access valve cap on the first fill-drain valve, actuating the valve actuation nut on the first fill-drain valve and coupling a propellant fill line to the first propellant tank and optionally removing and replacing the access valve cap on the second fill-drain valve on the second propellant tank, actuating the valve actuation nut on the second fill-drain valve and coupling a second propellant fill line to the second propellant tank.
7. The satellite servicing system according to claim 6 including a clamping mechanism mounted on said support frame to secure said tool to a reaction area on the fill-drain valve and optionally on the second fill-drain valve, said clamping mechanism being configured to localize torque generated by said valve tool for ensuring that any reaction torques from said wrench mechanism are reacted locally to prevent damage to the fill-drain valve and optionally on the second fill-drain valve.
8. The satellite servicing system according to claim 6 including a grippable portion configured to be releasibly gripped by a robotic arm, and wherein said valve tool includes lead-in features for enabling robotic teleoperation of the valve tool.