Material transfer interfaces for space vehicles, and associated systems and methods
Material transfer interfaces for space vehicles, and associated systems and methods are disclosed. A representative system includes a first coupler configured to be carried by a first space vehicle, and a first valve device carried by the first coupler. The system further includes a second coupler configured to be carried by a second space vehicle and a second valve device carried by the second coupler. The first coupler includes rotatable and translatable latch arms positioned to engage with and connect to the second coupler. The first valve device incudes a moveable probe that is insertable into the second valve device when the latch arms of the first coupler are connected to the second coupler to transfer fluid between the first and second valve devices.
1. A fluid transfer system for space vehicles, the system comprising:
a first coupler configured to be carried by a first space vehicle;
a first valve device carried by the first coupler;
a second coupler configured to be carried by a second space vehicle; and
a second valve device carried by the second coupler;
wherein:
the first coupler includes rotatable and translatable latch arms positioned to engage with and connect to the second coupler;
the first coupler includes a cam tube having a cam slot, the cam slot extending circumferentially around at least a portion of the cam tube, and extending at least partially axially along at least part of a length of the cam tube;
the first coupler includes a latch arm carrier having a cam follower positioned in the cam slot, wherein the latch arms are pivotably coupled to the latch arm carrier,
the first coupler includes an actuator operably coupled to the cam tube to rotate the cam tube, and to translate the latch arm carrier; and
the first valve device includes a movable probe that is insertable into the second valve device when the latch arms of the first coupler are connected to the second coupler to transfer fluid between the first and second valve devices.
2. The system of claim 1 , further comprising a single motor coupled to all the rotatable and translatable latch arms.
3. The system of claim 2 , wherein for each individual latch arm, the individual latch arm is coupled to both a corresponding elastic element and a corresponding latch arm guide, wherein the corresponding elastic element is positioned to bias the individual latch arm toward a closed position and away from an open position, and wherein the corresponding latch arm guide is positioned to releasably hold the individual latch arm in the closed position.
4. The system of claim 1 wherein the probe of the first valve device is movable among at least three positions: a closed position, a check position, and an open position.
5. The system of claim 4 wherein, in the closed position, a fluid pathway through the first valve device is closed.
6. The system of claim 4 wherein, in the open position, a fluid pathway through both the first and second valve devices is open.
7. The system of claim 4 wherein, in the check position, a fluid pathway is open through the first valve device, but not through the second valve device.
8. The system of claim 4 wherein the probe is translatable among the at least three positions.
9. The system of claim 1 wherein the latch arms are configured to fail to an open position.
10. The system of claim 9 , further comprising an actuator operably coupled to the latch arms to move the latch arms between the open position and a closed position, and a spring motor operably coupled to the latch arms to move the latch arms to the open position if the actuator fails.
11. The system of claim 1 wherein the latch arms are configured to fail to a closed position.
12. The system of claim 11 , further comprising an actuator operably coupled to the latch arms to move the latch arms between an open position and the closed position, and a spring motor operably coupled to the latch arms to move the latch arms to the closed position if the actuator fails.
13. The system of claim 1 , further comprising a cam tube lock positioned to move relative to the cam tube between an engaged position in which the cam tube is inhibited from rotating, and a disengaged position, in which the cam tube is rotatable by the actuator.
14. The system of claim 13 wherein the cam tube carries a gear, and wherein the cam tube lock includes teeth positioned to engage the gear in the engaged position, and disengage from the gear in the disengaged position.
15. The system of claim 1 , further comprising a support tube positioned concentrically between the cam tube and the latch arm carrier.
16. The system of claim 15 , further comprising a latch arm guide carried by the support tube, the latch arm guide including a roller positioned to roll along a surface of at least one of the latch arms as the at least one latch arm translates.
17. The system of claim 16 wherein a translational motion path of the at least one latch arm against the latch arm guide rotates the at least one latch arm.
18. The system of claim 1 wherein the latch arm carrier includes:
a first element to which the cam follower is connected;
a second element to which the latch arms are connected; and
a flexible, resilient third element positioned between the first and second elements to transmit loads between the first and second elements.
19. The system of claim 1 wherein:
the movable probe is movable along a probe axis;
the first valve device is carried by a positioning bracket; and
the positioning bracket has a greater degree of flexibility transverse to the probe axis than along the probe axis.
20. The system of claim 19 wherein the positioning bracket includes first alignment features, and wherein the second coupler includes corresponding second alignment features that are engagable with the first alignment features.
21. The system of claim 20 wherein the first alignment features include tabs and the second alignment features include recesses.
22. The system of claim 21 wherein the tabs and recesses are positioned to constrain six degrees of freedom at six corresponding points between the first coupler and the second coupler when the tabs and recesses are engaged.
23. The system of claim 1 wherein at least one of the first coupler or the second coupler includes a separator positioned to push the first and second couplers away from each other.
24. The system of claim 23 wherein the separator incudes a plunger coupled to a spring, and wherein the spring is positioned to store energy when the first and second couplers are latched by the latch arms, and release energy when the latch arms are disengaged.
25. The system of claim 23 wherein the separator increases an amount of time in which the second coupler is within a grasping range of the latch arms.
26. A method for transferring fluid between a first space vehicle and a second space vehicle, the method comprising:
coupling the first and second space vehicles by latching the first vehicle to the second vehicle, wherein latching includes rotating and translating a plurality of latch arms carried by the first space vehicle to draw the second space vehicle toward the first space vehicle;
aligning the first and second space vehicles with tabs carried by the first vehicle and recesses carried by the second space vehicle;
inserting a movable probe carried by a first valve device of the first vehicle into a second valve device carried by the second space vehicle; and
transferring fluid between the first and second space vehicles via the first and second valve devices,
wherein positions of the tabs are more constrained in a first direction than a second direction, the first direction being aligned with a translational motion of the latch arms, the second direction being transverse to the first direction.
27. The method of claim 26 wherein coupling the first and second space vehicles includes, for each latch arm, moving the latch arm with force from both an elastic element and a latch arm guide.
28. The method of claim 27 wherein the elastic element includes a spring, and wherein coupling includes biasing the spring toward a closed position of the latch arm, and moving the latch arm guide against the latch arm to hold the latch arm in the closed position.
29. The method of claim 26 wherein inserting the movable probe includes:
moving the insertable probe from a closed position to an intermediate position;
checking for leaks along a flow path through the first valve device but not through an entirety of the second valve device while the probe is in the intermediate position;
moving the insertable probe from the intermediate position to an open position; and
transferring fluid between the first and second space vehicles through the first and second valve devices while the probe is in the open position.
30. The method of claim 26 wherein the latch arms are movable, via an actuator, between an open position and a closed position, and wherein the method further comprises driving the latch arms to the open position if the actuator fails.
31. The method of claim 26 wherein the latch arms are movable, via an actuator, between an open position and a closed position, and wherein the method further comprises driving the latch arms to the closed position if the actuator fails.
32. The method of claim 26 wherein the latch arms are carried by a latch arm carrier having a cam follower, and wherein translating the latch arms includes rotating a cam tube having a cam slot within which the cam follower is engaged.
33. The method of claim 32 wherein individual latch arms bear against corresponding latch arm guides, and wherein rotating the latch arms includes moving the latch arms relative to the latch arm guides as the latch arms translate.
34. The method of claim 26 , further comprising:
storing energy produced by motion of the first and second space vehicles toward each other as the space vehicles coupled and before transferring the fluid; and
releasing at least a portion of the stored energy to move the space vehicles apart from each other after transferring the fluid.
35. A fluid transfer system for space vehicles, comprising:
a first coupler configured to be carried by a first space vehicle;
a first valve device carried by the first coupler;
a second coupler configured to be carried by a second space vehicle; and
a second valve device carried by the second coupler;
wherein:
the first coupler includes rotatable and translatable latch arms positioned to engage with and connect to the second coupler;
the first valve device includes a movable probe that is insertable into the second valve device when the latch arms of the first coupler are connected to the second coupler to transfer fluid between the first and second valve devices; and
the latch arms are configured to fail to an open position.