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1. 发明授权

US08196870B2 Robotic satellite refueling tool 有权
标题翻译：机器人卫星加油工具
公开(公告)号：US08196870B2
公开(公告)日：2012-06-12
申请号：US13323472
申请日：2011-12-12
申请人： Lawrence Gryniewski , Derry Crymble
发明人： Lawrence Gryniewski , Derry Crymble
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： A tool for fuelling an unprepared or partially prepared client satellite required for accessing, opening and closing a fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The tool includes interchangeable socket modules, a support frame, a socket module holder mechanism, a socket drive mechanism, a clamping mechanism to secure the tool to a reaction area on the fuel fill valve and oxidizer fill valve, and a valve actuation mechanism. The interchangeable socket modules include a first module for removing and replacing the access valve cap, a second module for coupling the fuel fill line to the fuel tank, a third module for engaging the access valve cap on the oxidizer fill valve, and a fourth module for coupling the oxidizer fill line to the oxidizer tank.
摘要翻译：用于加油未经准备或部分准备的客户卫星的工具，用于存取，打开和关闭被保存的卫星上的燃料充注阀，储存和取出工具箱上的工具和各种燃料填充阀盖的储存和取回站。该工具包括可互换的插座模块，支撑框架，插座模块保持器机构，插座驱动机构，用于将工具固定到燃料填充阀和氧化剂填充阀上的反应区域的夹紧机构，以及阀致动机构。可互换插座模块包括用于移除和更换进入阀盖的第一模块，用于将燃料填充管线连接到燃料箱的第二模块，用于接合氧化剂填充阀上的进入阀盖的第三模块和第四模块用于将氧化剂填充线连接到氧化剂罐。

2. 发明申请

US20120325972A1 ROBOTIC SATELLITE REFUELLING TOOL 有权
标题翻译：机动卫星修复工具
公开(公告)号：US20120325972A1
公开(公告)日：2012-12-27
申请号：US13470661
申请日：2012-05-14
申请人： Lawrence GRYNIEWSKI , Derry CRYMBLE
发明人： Lawrence GRYNIEWSKI , Derry CRYMBLE
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： 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.
摘要翻译：一个安装在服务卫星上的工具，用于加油未经准备或部分准备好的客户端卫星。该工具包括安装在服务器卫星上的机器人手臂和构造成可被机器臂可释放地夹持的阀工具。阀门工具包括具有支撑框架和安装在支撑框架上的扳手机构的壳体。扳手机构构造成用于移除和更换第一填充排放阀上的第一进入阀盖并将第一推进剂填充管线联接到第一推进剂罐，任选地移除和更换第二排水阀上的第二进气阀盖，所述第二推进剂罐并且将第二推进剂填充管线联接到所述第二推进剂罐，并且致动所述第一填充排放阀上的所述阀致动螺母，并且可选地致动所述第二填充排放阀上的所述阀致动螺母。

3. 发明申请

US20120080563A1 ROBOTIC SATELLITE REFUELING TOOL 有权
标题翻译：机动卫星修复工具
公开(公告)号：US20120080563A1
公开(公告)日：2012-04-05
申请号：US13323472
申请日：2011-12-12
申请人： Lawrence GRYNIEWSKI , Derry CRYMBLE
发明人： Lawrence GRYNIEWSKI , Derry CRYMBLE
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： A tool for fuelling an unprepared or partially prepared client satellite required for accessing, opening and closing a fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The tool includes interchangeable socket modules, a support frame, a socket module holder mechanism, a socket drive mechanism, a clamping mechanism to secure the tool to a reaction area on the fuel fill valve and oxidizer fill valve, and a valve actuation mechanism. The interchangeable socket modules include a first module for removing and replacing the access valve cap, a second module for coupling the fuel fill line to the fuel tank, a third module for engaging the access valve cap on the oxidizer fill valve, and a fourth module for coupling the oxidizer fill line to the oxidizer tank.
摘要翻译：用于加油未经准备或部分准备的客户卫星的工具，用于存取，打开和关闭被保存的卫星上的燃料充注阀，储存和取出工具箱上的工具和各种燃料填充阀盖的储存和取回站。该工具包括可互换的插座模块，支撑框架，插座模块保持器机构，插座驱动机构，用于将工具固定到燃料填充阀和氧化剂填充阀上的反应区域的夹紧机构，以及阀致动机构。可互换插座模块包括用于移除和更换进入阀盖的第一模块，用于将燃料填充管线连接到燃料箱的第二模块，用于接合氧化剂填充阀上的进入阀盖的第三模块和第四模块用于将氧化剂填充线连接到氧化剂罐。

4. 发明申请

US20150246803A1 BUNG PLUG EXTRACTOR AND METHODS FOR TRANSFERRING FLUID WITH A PRESSURIZED TANK 有权
标题翻译： UNG G G G K K K K K K K K K K K K K K K K K K K K K K
公开(公告)号：US20150246803A1
公开(公告)日：2015-09-03
申请号：US14193064
申请日：2014-02-28
申请人： The Boeing Company
发明人： Mark J. Holthaus
IPC分类号： B67B7/42
CPC分类号： B67B7/42 , B25B27/0042 , B67D7/0288 , B67D2007/0405 , Y10T137/0402 , Y10T137/6126
摘要： An apparatus for exchanging fluid with a tank through a tank port includes a bung extractor casing that has a first end configured to removably couple to a tank port. The tank port is configured to be sealingly coupled to a bung plug. The bung extractor casing also includes a second end opposite the first end, a hose connector configured to removably couple to a hose, and a channel defined between the first end and the hose connector. The apparatus also includes a bung extractor coupled to the extractor casing second end. The bung extractor includes a tip portion configured to releasably engage the bung plug. The bung extractor is operable to selectively uncouple the bung plug from the tank port such that a sealed flow path is formed through the tank port and the channel.
摘要翻译：一种用于通过罐口与罐交换流体的装置包括一个提取器壳，其具有构造成可拆卸地连接到罐口的第一端。罐口配置为密封地连接到栓塞。栓提取器壳体还包括与第一端相对的第二端，被配置为可拆卸地连接到软管的软管连接器以及限定在第一端和软管连接器之间的通道。该装置还包括一个连接到提取器壳体第二端的抽取器。栓提取器包括构造成可释放地接合插塞的尖端部分。龙头提取器可操作以选择性地从罐口分离栓塞，使得通过罐口和通道形成密封的流动路径。

5. 发明申请

US20120112009A1 SATELLITE REFUELLING SYSTEM AND METHOD 有权
标题翻译：卫星修复系统和方法
公开(公告)号：US20120112009A1
公开(公告)日：2012-05-10
申请号：US13196750
申请日：2011-08-02
申请人： Lawrence GRYNIEWSKI , Derry CRYMBLE , John Cameron OWER
发明人： Lawrence GRYNIEWSKI , Derry CRYMBLE , John Cameron OWER
IPC分类号： B64G1/22
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： The present invention provides a method, system and apparatus for robotic refuelling of satellites. The system may include a dedicated refuelling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refuelling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refuelling procedure. The system may also be configured to be operated autonomously under computer control.
摘要翻译：本发明提供了一种用于卫星的机器人加油的方法，系统和装置。该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，在较大的宇宙飞船或空间站，在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储在空间站，直到需要它可以启动。该系统包括一个机械手臂，适合的工具，可以固定在机器人手臂的末端执行器上，该机器人手臂用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上装有工具并且存储各种燃料填充阀盖。该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。该系统还可以被配置为在计算机控制下自主操作。

6. 发明公开

EP2053015A1 Refueling nozzle and automatic refueling system using the same 有权
标题翻译：坦克系统破坏
公开(公告)号：EP2053015A1
公开(公告)日：2009-04-29
申请号：EP07118978.1
申请日：2007-10-22
申请人： Rotec Engineering B.V.
发明人： Hofman, Hendrik , Koekoek, Menno , Van der Zee, Tino Walter , Groensma, Ype
IPC分类号： B67D5/04 , B67D5/372
CPC分类号： B67D7/46 , B67D7/0401 , B67D2007/0403 , B67D2007/0405 , B67D2007/0419 , B67D2007/0444 , B67D2007/0469
摘要： The invention relates to a vehicle refueling system. The vehicle refueling system has a refueling nozzle (1), a refueling station (5), a robot (7) and a computer system (9). The refueling nozzle (1) is arranged for refueling a vehicle fuel-tank, and has a nozzle valve for controlling a fuel flow and a sensing assembly arranged for automatically closing the nozzle valve upon or after detection of a full fuel tank. The refueling station (5) is arranged for providing a fuel supply to the refueling nozzle (1). The robot (7) is provided with a robot arm (11) that is arranged for carrying the refueling nozzle (1) and moving it in accordance with movement instructions. The computer system (9) is arranged to provide the movement instructions to the robot (11). Finally, the vehicle refueling system further comprises a further sensing unit (17') arranged for automatic closing of the nozzle valve.
摘要翻译：本发明涉及车辆加油系统。车辆加油系统具有加油喷嘴（1），加油站（5），机器人（7）和计算机系统（9）。加油喷嘴（1）设置用于对车辆燃料箱进行加油，并且具有用于控制燃料流量的喷嘴阀和布置成在检测到完全燃料箱之后或之后自动关闭喷嘴阀的感测组件。加油站（5）被布置用于向加油喷嘴（1）提供燃料供应。机器人（7）设置有机器人手臂（11），其被布置用于运送加油喷嘴（1）并根据移动指令移动。计算机系统（9）被布置成向机器人（11）提供移动指令。最后，车辆加油系统还包括另外的检测单元（17'），用于自动关闭喷嘴阀。

7. 发明公开

EP3351354A1 SATELLITE REFUELLING SYSTEM AND METHOD 审中-公开
公开(公告)号：EP3351354A1
公开(公告)日：2018-07-25
申请号：EP18159861.6
申请日：2008-03-10
申请人： MacDonald, Dettwiler and Associates Inc.
发明人： GRYNIEWSKI, Lawrence , CRYMBLE, Derry
IPC分类号： B25J11/00 , B64G1/14 , B64G4/00 , B64G5/00 , B64G1/10 , B64G1/40 , B67D7/04
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： The present invention provides a method, system and apparatus for robotic refuelling of satellites. The system may include a dedicated refuelling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refuelling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refuelling procedure. The system may also be configured to be operated autonomously under computer control.

8. 发明授权

US09499381B2 Bung plug extractor and methods for transferring fluid with a pressurized tank 有权
标题翻译：龙头塞提取器和用加压罐输送流体的方法
公开(公告)号：US09499381B2
公开(公告)日：2016-11-22
申请号：US14193064
申请日：2014-02-28
申请人： The Boeing Company
发明人： Mark J. Holthaus
IPC分类号： B67B7/42 , B67D7/02 , B25B27/00 , B67D7/04
CPC分类号： B67B7/42 , B25B27/0042 , B67D7/0288 , B67D2007/0405 , Y10T137/0402 , Y10T137/6126
摘要： An apparatus for exchanging fluid with a tank through a tank port includes a bung extractor casing that has a first end configured to removably couple to a tank port. The tank port is configured to be sealingly coupled to a bung plug. The bung extractor casing also includes a second end opposite the first end, a hose connector configured to removably couple to a hose, and a channel defined between the first end and the hose connector. The apparatus also includes a bung extractor coupled to the extractor casing second end. The bung extractor includes a tip portion configured to releasably engage the bung plug. The bung extractor is operable to selectively uncouple the bung plug from the tank port such that a sealed flow path is formed through the tank port and the channel.
摘要翻译：一种用于通过罐口与罐交换流体的装置包括一个提取器壳，其具有构造成可拆卸地连接到罐口的第一端。罐口配置为密封地连接到栓塞。栓提取器壳体还包括与第一端相对的第二端，被配置为可拆卸地连接到软管的软管连接器以及限定在第一端和软管连接器之间的通道。该装置还包括一个连接到提取器壳体第二端的抽取器。栓提取器包括构造成可释放地接合插塞的尖端部分。龙头提取器可操作以选择性地从罐口分离栓塞，使得通过罐口和通道形成密封的流动路径。

9. 发明授权

US08448904B2 Robotic satellite refuelling tool 有权
标题翻译：机器人卫星加油工具
公开(公告)号：US08448904B2
公开(公告)日：2013-05-28
申请号：US13470661
申请日：2012-05-14
申请人： Lawrence Gryniewski , Derry Crymble
发明人： Lawrence Gryniewski , Derry Crymble
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： 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.
摘要翻译：一个安装在服务卫星上的工具，用于加油未经准备或部分准备好的客户端卫星。该工具包括安装在服务器卫星上的机器人手臂和构造成可被机器臂可释放地夹持的阀工具。阀门工具包括具有支撑框架和安装在支撑框架上的扳手机构的壳体。扳手机构构造成用于移除和更换第一填充排放阀上的第一进入阀盖并将第一推进剂填充管线联接到第一推进剂罐，任选地移除和更换第二排水阀上的第二进气阀盖，所述第二推进剂罐并且将第二推进剂填充管线联接到所述第二推进剂罐，并且致动所述第一填充排放阀上的所述阀致动螺母，并且可选地致动所述第二填充排放阀上的所述阀致动螺母。

10. 发明授权

US08181911B1 Satellite refuelling system and method 有权
标题翻译：卫星加油系统及方法
公开(公告)号：US08181911B1
公开(公告)日：2012-05-22
申请号：US13196750
申请日：2011-08-02
申请人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
发明人： Lawrence Gryniewski , Derry Crymble , John Cameron Ower
IPC分类号： B64G1/64
CPC分类号： B25J11/00 , B64G1/1078 , B64G1/14 , B64G1/402 , B64G4/00 , B64G5/00 , B67D2007/0403 , B67D2007/0405 , B67D2007/0417 , B67D2007/0432
摘要： The present invention provides a method, system and apparatus for robotic refueling of satellites. The system may include a dedicated refueling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refueling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station. Cameras are included focussed on the robotic arm and end effector and images are transmitted to the operator to allow the operator to direct and control the refueling procedure. The system may also be configured to be operated autonomously under computer control.
摘要翻译：本发明提供了一种用于卫星的机器人加油的方法，系统和装置。该系统可以包括直接从地球发射的专用加油卫星，或者可以从另一个较大的母体航天器或空间站发射，在较大的宇宙飞船或空间站，在较大的太空飞船的情况下将加油卫星送入太空，或者可以存储在空间站，直到需要它可以启动。该系统包括一个机械手臂，适合的工具，可以固定在机器人手臂的末端执行器上，该机器人手臂用于访问，打开和关闭被维护的卫星上的燃料填充阀，储存和取回站，工具箱上装有工具并且存储各种燃料填充阀盖。该系统由远程操作者远程操作，例如位于地球上，在母站或空间站中。摄像机被集中在机器人手臂和末端执行器上，并且图像被传送到操作者，以允许操作者引导和控制加油程序。该系统还可以被配置为在计算机控制下自主操作。

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