Material transfer interface for space vehicle, and associated system and method

Abstract

To provide a material transfer interface for space vehicle and an associated system and method.SOLUTION: A system includes a coupling mechanism including a support structure, a latch-arm base movably connected to the support structure, and a latch arm pivotably connected to the latch-arm base. Another system includes a service valve portion, a coupling portion configured to receive the service valve portion, and a coupling mechanism for coupling the service valve portion to the coupling portion. The coupling mechanism includes latch arms positioned to pivot between a position where the latch arms are pivoted outwardly and a position where the latch arms are pivoted inwardly to capture the service valve portion. The latch arm is carried by the latch-arm base that translates relative to the support structure of the coupling portion. Material transfer interfaces include self-aligning ports having faces that engage each other with cup-and-cone structures.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present disclosure (the present invention) generally relates to an object transfer interface for a space vehicle (spacecraft) and related systems and methods.

[0002] This application is a claim for priority to U.S. Provisional Patent Application No. 62 / 994,668, filed on March 25, 2020, which is incorporated herein by reference in its entirety.

Background Art

[0003] Existing space systems have several drawbacks. For example, launch rockets may have limited capabilities with respect to volume and mass. Aerospace vehicles, such as satellites and / or other machines that move through space, are often launched towards orbit with a limited amount of fuel onboard due to size and / or cost constraints that require trade-offs when designing the aerospace vehicle for a particular mission. Thus, space exploration missions may be limited in lifespan and / or usefulness due to fuel limitations. Similarly, the characteristics and functions of an aerospace vehicle, such as the type and amount of payload that the aerospace vehicle can carry itself, may be limited and / or require trade-offs because the aerospace vehicle needs to be launched fully loaded with enough fuel for its entire lifespan. There is a need for systems and methods for refueling aerospace vehicles, particularly those with long lifecycles intended to be in orbit for extended periods of time.

[0004] Refueling artificial satellites is difficult or impossible with existing systems. For example, existing docking systems and procedures are complex, and the docking systems of two artificial satellites or vehicles may be incompatible, or there may be no docking system for them. Existing docking systems are also difficult or impossible to use autonomously. Existing docking systems also do not simultaneously provide an appropriate docking function and an object transfer interface (e.g., filling and / or discharging). Therefore, there is a need for a system and method for transferring objects in space that solve these drawbacks of existing space systems.

Summary of the Invention

[0005] According to one aspect of the present invention, a coupling mechanism, a support structure, a latch arm base movably connected to the support structure, and one or more latch arms connected to the latch arm base, is provided.

[0006] According to another aspect of the present invention, a system for transferring an object between two containers, a service valve portion having one or more first ports, and a coupling portion configured to receive the service valve portion, the coupling portion having a coupling mechanism and one or more second ports, the second ports being positioned to engage the one or more first ports, the coupling mechanism having a plurality of latch arms positioned to move between an open position and a closed position, and in the closed position, the coupling portion capturing the service valve portion, is provided.

[0007] According to still another aspect of the present invention, a system for transferring an object between two aerospace vehicles, a service valve portion having one or more first ports for transferring an object, including a coupling portion positioned to receive the service valve portion, the coupling portion comprising: a support structure, one or more second ports positioned to engage one or more first ports for transferring an object therebetween, a latch arm base movable relative to the support structure, a first actuator positioned to move the latch arm base relative to the support structure, and a latch arm carried by the latch arm base, the latch arm being movable relative to the latch arm base, a system is provided.

[0008] According to yet another aspect of the present invention, a method of transferring an object between two aircraft, comprising: detecting at least one of proximity or contact between a service valve portion carried by a first aircraft and a coupling portion carried by a second aircraft, when detecting at least one of proximity or contact between the service valve portion and the coupling portion, moving a plurality of latch arms towards the service valve portion to restrict relative movement between the service valve portion and the coupling portion, including translating the latch arm base relative to the support structure of the coupling portion, the translation of the latch arm base causing the latch arm to press the service valve portion against the support structure, (a) transferring an object from the first aircraft, through the service valve portion, through the coupling portion, and into the second aircraft, or (b) transferring an object from the second aircraft, through the coupling portion, through the service valve portion, and into the first aircraft, a method is provided.

[0009] According to yet another aspect of the present invention, a port for transferring an object, comprising: having a port body, within which a bore extends, It has a port head attached to a first end of the port body, and the port head has a port face with a non-standard engagement surface. It has a movable pintle positioned within the bore, and the pintle extends from the port face when the pintle is in a first position. There is provided a port characterized in that the port is closed when the pintle is in the first position, and the pintle can move to a second position where the port allows the flow of an object through the port body, over the pintle, and through the port face.

[0010] In the drawings, the same reference numerals indicate the same elements throughout the figures.

Brief Description of the Drawings

[0011]

Figure 1A

Figure 1B

Figure 1C

Figure 2

Figures 3A - 3C

Figure 4A

Figure 4B

Figure 4C

Figure 4D

Figure 5

Figures 6A - 6B

Figure 7A

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Figure 11

DETAILED DESCRIPTION OF THE INVENTION

[0012] Some embodiments of the present technology relate to systems and methods for transporting objects (e.g., liquids, gases, solids, and / or other substances) within space or on the surface of a planet or the moon. Any of the features described herein can be combined in a suitable manner with any of the other features described herein without departing from the scope of the present technology.

[0013] Many specific details of some embodiments of the present technology are set forth in the following description and in FIGS. 1-11 to provide a complete understanding of these embodiments. Well-known structures, systems, and methods that are often associated with such embodiments but that may obscure some important aspects of the invention are not described in the following text for clarity of explanation. Further, the following disclosure describes some embodiments of the present technology, but some embodiments of the present technology can have configurations and / or components different from those of the embodiments described in the sections of this detailed description. Accordingly, the present technology can include embodiments that include additional elements and / or embodiments that are in a state of not including some of the elements described below with reference to FIGS. 1-11.

[0014] Some embodiments of the techniques described below can take the form of executable instructions by a computer or a controller including routines executed by a programmable computer or a controller. Those skilled in the art will understand that the present technology can be implemented in computer / controller systems other than the computer / controller systems illustrated and described below. The present technology can be embodied in a special-purpose computer, controller, or data processor that is specially programmed, set, or configured to execute one or more of the computer-executable instructions described below. Therefore, the terms "computer" and "controller" generally used in this specification mean any data processor and can include Internet appliances and handheld devices (including palmtop computers, wearable computers, cellular phones, mobile phones, multiprocessor systems, processor utilization or programmable household appliances, network computers, minicomputers, etc.). The information processed by these computers can be presented on any suitable display medium including an LCD.

[0015] The present technology can also be embodied in a distributed environment where tasks or modules are executed by remote processing devices linked via a communication network. In a distributed computing environment, program modules and / or subroutines can be stored in local and remote storage devices. The aspects of the present technology described below can be stored on and / or distributed on a computer-readable medium including a magnetic or optically readable or removable computer disk and can be electronically distributed by a network. The data structures and data transmissions specific to the aspects of the present technology are also included in the scope of the embodiments of the present technology.

[0016] References are made herein to "space". Space includes the orbital space near or around the Earth, the Moon, or another planetoid. One of ordinary skill in the art will also understand that embodiments of the present technology can be implemented on the surface of a planet or the Moon, or another surface. Also, reference is made to fuel or propellant. One of ordinary skill in the art will understand that when referring to an object or substance that powers and / or propels a spacecraft, the terms "fuel" and "propellant" can be used interchangeably, and that these terms may include an oxidizer that functions as a propellant when combined with fuel. Also, one of ordinary skill in the art will understand that when reference is made to the transfer of fuel or propellant, the corresponding embodiments can be used to transfer other objects that can be transferred between two containers, such as a pressurizing agent, water, a coolant, waste, or other objects. Additionally, as will be understood by one of ordinary skill in the art, a spacecraft can include any artificial object in space.

[0017] As used herein, the term "and / or" when used in the expression "A and / or B" means "A or B, or both A and B". A similar way of interpretation applies when the expression "and / or" is used in a list of three or more terms.

[0018] A. System Overview The present disclosure describes a system and / or device, such as an object transfer interface, configured to facilitate the transfer of objects (e.g., fluids, including fuel, propellant, or other substances) between containers (e.g., containers carried on a spacecraft) in an extraterrestrial environment, such as space, or on an extraterrestrial celestial body, such as the Moon, a planet, or an asteroid, or on Earth or within the Earth's atmosphere. In some embodiments, autonomous object transfer activities are envisioned, but the activities performed by the systems and / or spacecraft disclosed herein may be semi-autonomous or non-autonomous and may include assistance by robots, artificial intelligence, and / or humans.

[0019] Some of the object transfer interfaces as embodiments of the present technology can be embodied within an aircraft equipped with a container for receiving and / or storing an object, such as a liquid, a gas, and / or other substances. The present technology also includes a coupling system that couples aircraft to each other, for example, during rendezvous and / or docking maneuvers. Embodiments of the present technology provide, among other advantages, an aircraft having the ability to refuel, extend its useful life, and / or discharge waste.

[0020] Figures 1A - 1C are partial schematic perspective views of components of an object transfer interface system 100. The system 100 may include a service valve portion 105 and a space coupling portion 110. The service valve portion 105 (e.g., replacing an existing fill / drain valve) may be positioned on a first aircraft. The space coupling portion 110 may be implemented on a second aircraft and is configured to receive the service valve portion 105 for transferring an object between aircraft or other objects or functioning as a structural docking interface. For example, in some embodiments, the space coupling portion 110 and / or the service valve portion 105 may not be provided with object transfer equipment (e.g., ports), or these portions 105, 110 may be embodied such that these object transfer equipment are not used, and as a result, some embodiments of the present technology can be used solely for structural docking and / or for forming a data connection portion. In this specification, the space coupling portion 110 is referred to as the space coupling portion because it is realizable on an aircraft, and in some embodiments, the space coupling portion 110 can be used on other vehicles or containers.

[0021] Figures 1A - 1C together show a service valve portion 105 and a space coupling portion 110 that couple or decouple with each other according to an embodiment of the present technology. The coupling is generally represented in the sequence of Figure 1A, then Figure 1B, and further Figure 1C. The decoupling (disconnection) is generally represented in the reverse order (Figure 1C, then Figure 1B, and further Figure 1A).

[0022] Referring to Figure 1A, the service valve portion 105 and the space coupling portion 110 approach each other along the axis Z. The relative positions of the service valve portion 105 and the space coupling portion 110 may be controlled by an operator or a computer. For example, the service valve portion 105 and / or the space coupling portion 110 may be positioned on a movable arm or a movable spacecraft to align and couple the service valve portion 105 and the space coupling portion 110 (as in the case of Figures 1B and 1C).

[0023] In some embodiments, the space coupling portion 110 may have one or more sensors 115 (schematically shown) positioned on the face of the space coupling portion 110 to detect the proximity and / or contact relationship with the service valve portion 105. The sensor 115 can include a capacitive touch sensor, a proximity sensor, a limit switch, an optical sensor, or other sensors suitable for detecting the contact relationship and / or proximity between the service valve portion 105 and the space coupling portion 110. When the sensor 115 detects the contact relationship or sufficient proximity between the service valve portion 105 and the space coupling portion 110, a controller 120 (schematically shown) operatively coupled to the sensor 115 can receive the signal output from the sensor 115 and initiate the latching movement of one or more (e.g., four) latch arms 125. The latch arms 125 move (e.g., pivot or rotate) between a first position (Figures 1A and 1B) where the latch arms 125 are moved outward and a second position (Figure 1C) where the latch arms 125 move inward to capture the service valve portion 105. The coupling mechanism will be described in more detail below.

[0024] The service valve portion 105 has a support structure 130 (which may be in the form of a frame or other suitable support structure), and this support structure can support one or more ports 135a, 135b. Similarly, the space coupling portion 110 includes a support structure (described below) surrounded by an optional housing 140, and this space coupling portion can support one or more ports 145a, 145b. For example, the service valve portion 105 may have a propellant port 135a configured to mate with the propellant port 145a provided in the space coupling portion 110 to provide (or receive) propellant to this propellant port. The service valve portion 105 may have a purge port 135b configured to mate with the purge port 145b provided in the space coupling portion 110 and receive (or provide) the purged object from this purge port. In some embodiments, the support structure 130 may have a first plate 130a, a second plate 130b, and one or more coupling elements 130c (e.g., struts or pillars) for connecting the first plate 130a and the second plate 130b to each other.

[0025] Referring to FIGS. 1A - 1C, in some embodiments, the latch arm 125 captures the first plate 130a during the latching movement. In some embodiments, each of the service valve portion 105 and the space coupling portion 110 may have one or more data and / or power connectors 136 configured to couple to each other for transmitting data and / or power between the service valve portion 105 and the space coupling portion 110 and / or between the aircraft having the service valve portion 105 and the space coupling portion 110. In some embodiments, data connectors may include pin connectors, optical communication connectors, and / or other connectors suitable for aircraft - to - aircraft communication. Power connectors may include pin connectors, plugs, sockets, and / or other connectors suitable for transmitting power between aircraft. In some embodiments, the connector 136 can transmit both data and power.

[0026] Referring particularly to FIG. 1B, the service valve portion 105 is in contact with the space coupling portion 110. FIG. 1B also shows an optional housing 140 around the support structure 142 of the space coupling portion 110. The support structure 142 may be in the form of a frame structure, or the support structure may be in other suitable structural forms. At this point, the sensor 115 detects the contact or proximity between the service valve portion 105 and the space coupling portion 110. The corresponding ports 135, 145 provided on each of the service valve portion 105 and the space coupling portion 110 are engaged or substantially engaged with each other.

[0027] Referring to FIG. 1C (which also shows the housing 140 as an option around the support structure 142 of the space coupling portion 110), the service valve portion 105 is latched or coupled to the space coupling portion 110. As will be further described below, the latch arm 125 is first rotated inwardly along the direction R towards the service valve portion 105, thereby overlapping with a part of the support structure 130 (e.g., the first plate 130a) to create a "soft capture state" that generally prevents the service valve portion 105 from moving away from the space coupling portion 110. In FIG. 1C, the latch arm 125 also translates along the direction T to press the latch arm 125 against the support structure 130, the purpose of which is to absorb the play between the service valve portion 105 and the space coupling portion 110 to establish a sufficiently firm connection relationship, sometimes called a "hard latch state".

[0028] Accordingly, the coupling mechanism of the object transfer interface configured according to the embodiment of the present technology uses the latch arm 125 to provide a soft capture state and then a hard latching state. From the perspective of the soft capture of the coupling mechanism configured according to the embodiment of the present technology, it helps to align the service valve portion 105 with the space coupling portion 110 to ensure the engagement between the corresponding ports 135 and 145 carried by the service valve portion 105 and the space coupling portion 110. For example, due to the property that the latch arms 125 are symmetrically arranged, the service valve portion 105 is guided to be in an alignment relationship with the space coupling portion 110 during the soft capture operation (rotation of the latch arm 125 along the direction R). Subsequently, the hard latching state (translation of the latch arm 125 along the direction T) resists the relative movement between the service valve portion 105 and the space coupling portion 110 (for example, the movement caused by the relative movement of the corresponding satellite body), and provides a large clamping force that facilitates the high-pressure fluid connection at the ports 135 and 145. In some embodiments, for example, the clamping force provided by the latch arm 125 is at a pressure of 10 psi to 3000 psi or more and is adapted to the flow of objects between the connected ports 135 and 145. One or more conduits 150 are coupled to the ports 135 and 145 to convey an object (for example, a fluid or a gas) from the corresponding container to the ports 135 and 145.

[0029] FIG. 2 is a perspective view of the service valve portion 105 shown in FIGS. 1A - 1C. The ports 135 and 145 may be configured in a manner suitable for a forward-facing connection that facilitates the transfer of objects during connection. Representative embodiments of suitable ports will be described in further detail below.

[0030] B. Connection between the service valve portion and the space coupling portion Figures 3A - 3C together show a schematic view of a coupling mechanism 300 configured in accordance with an embodiment of the present technology and performing a coupling or decoupling sequence. The coupling is generally represented by the sequence of Figure 3A, then Figure 3B, then Figure 3C. The detachment is generally represented by the reverse sequence of this. In Figure 3A, the first plate 130a is in a state approaching the space coupling portion 110 with the latch arm 125 open. In Figure 3B, in response to a signal from the contact or proximity sensor 115 (see Figure 1), an actuator (e.g., a solenoid, a stepper motor, a servo motor, or another actuator) rotates the latch arm 125 along the direction R to softly capture the first plate 130a of the service valve portion 105. Figure 3B shows that although the service valve portion 105 may not be fully engaged with the space coupling portion 110, due to the soft capture by the latch arm 125, (e.g., due to the position of the lip 360 carried by the latch arm 125) (the lip 360 extends from the latch arm 125 and is positioned to overlap with the first plate 130a when the latch arm 125 is rotated inward along the direction R), it shows a state where the whole cannot move away from the space coupling portion 110. Figure 3C shows a state where the latch arm 125 has translated along the direction T to hard - latch the first plate 130a to the space coupling portion 110. The translation along the direction T can be facilitated by a wax motor or a linear actuator that connects the latch arm 125 to the space coupling portion 110.

[0031] FIG. 4A is a partial schematic view of a coupling mechanism 300 configured in accordance with an embodiment of the present technology, and further shows an actuator that performs a coupling action. In some embodiments, the latch arm 125 is movably (e.g., pivotably or rotatably) coupled to the latch arm base 310 to rotate along the direction R to provide a soft capture aspect of the mechanism 300. In some embodiments, a latch arm actuator 315 (e.g., a solenoid, a stepper motor, a servo motor, or another actuator) is coupled to each latch arm 125 and the latch arm base 310 to rotate the latch arm 125 along the direction R so as to provide a soft capture function between the space coupling portion 110 and the service valve portion 105. In some embodiments, each latch arm base 310 carries a single latch arm 125. In other embodiments, each latch arm base 310 carries two or more latch arms 125 (e.g., a number of latch arms 125 may be positioned similarly to each other, positioned adjacent to each other, and may operate similarly to each other). Each latch arm 125 rotates or pivots relative to the latch arm base 310 via one or more corresponding latch arm actuators 315, or by another source of force. For example, an embodiment can include a latch arm actuator 315 for each latch arm 125, or a shared latch arm actuator 315 for all of the latch arms 125 carried by one of the latch arm bases 310.

[0032] The latch arm base 310 (which carries the latch arm 125) moves along direction T relative to the support structure 142 of the space coupling portion 110 by the force provided by one or more actuators 320 positioned between the latch arm base 310 and the support structure 142, thereby creating a hard latch connection. In some embodiments, the actuator 320 positioned between the latch arm base 310 and the support structure 142 can include a wax motor, a linear actuator, and / or another suitable actuator. In some embodiments, the latch - arm base 310 is movably coupled to the support structure 142 via one or more flexible elements 325 (for example, four flexible elements 325, which may include two near the top of the latch arm base 310 and two near the bottom of the latch arm base 310). In some embodiments, the latch arm base 310 may be coupled to the support structure 142 via only two flexible elements 325 (for example, two near the top of the latch arm base 310 or two near the bottom of the latch arm base 310). Examples of the flexible element 325 include a spring or a flexible strip of material that effectively suspends the latch arm base 310 movably relative to the support structure 142. The flexible element 325 facilitates the realization of a low - friction interface between the latch arm base 310 and the support structure 142, and such a low - friction interface reduces (for example, minimizes) the energy required to move the latch arm base 310. For example, in some embodiments, the flexible element 325 helps to minimize the number of sliding surfaces.

[0033] In some embodiments, the support structure 142 includes two parallel plates 335, 340 connected by one or more struts or connecting elements 345. The support structure 142 can carry an actuator 320 positioned (pushed) to engage the latch arm base 310. For example, the actuator 320 may be operatively positioned between the latch arm base 310 and the support structure 142. In some embodiments, the actuator 320 may be positioned to push a shelf or protrusion 330 extending from the latch arm base 310. In some embodiments, the support structure 142 may include a bracket 347 that supports the actuator 320 on the support structure 142. One or more of the connecting elements 345 may support the bracket 347 and / or another portion of the support structure 142 may support the bracket 347.

[0034] One or more of the actuators 320 may have an operating portion 350 and a piston rod 355. When power is applied to the wax motor if the actuator 320 is a wax motor (e.g., upon instruction by the CPU 120 or another controller shown in FIG. 1A), the wax motor heats the wax, which expands and pushes the piston rod 355. The extending piston rod 355 pushes the protrusion 330 away from the bracket 347 (generally, the extending piston rod 355 pushes the latch arm base 310 away from the upper plate 335 or pushes it down along the direction T). Due to this movement, the lip 360 of the latch arm 125 (this lip captures the first plate 130a of the service valve portion 105, see FIG. 2 for this) moves downward along the direction T (towards the first plate 130a and the support structure 142 of the space coupling portion 110), resulting in a hard latch connection. In some embodiments, the support structure 142 can support the actuator 320 in other ways. In some embodiments, the actuator 320 may be supported on the latch arm base 310 (e.g., on the protrusion 330) and positioned to push the support structure 142.

[0035] When power is removed from the wax motor, the wax within the wax motor cools, retracting the piston rod 355, whereby the latch arm base 310 can move upward along direction T (e.g., due to the biasing force provided by the flexible element 325) and return to the soft capture position. The latch arm actuator 315 may be actuated to rotate the latch arm 125 away from the latch arm base 310 so as to completely disengage the space coupling portion 110 from the service valve portion 105.

[0036] In some embodiments, the mechanism 300 may be configured to be in a "normally open" configuration, such that when power is removed, the wax in the wax motor cools sufficiently to relieve the force between the latch arm base 310 and the support structure 142, whereby the flexible element 325 can bias the latch arm base 310 upward along direction T toward the soft capture position. Additionally, the mechanism 300 may include a spring element that biases the latch arm 125 away from the latch arm base 310 toward the open position. Other springs may be used to bias the mechanism 300 toward the open position. Such a "normally open" configuration may be a fail-safe configuration that is advantageous for protecting the two aircraft even if one aircraft is in a power outage or other emergency situation. A healthy aircraft can be quickly and / or automatically disconnected from a malfunctioning or damaged aircraft. Some embodiments may include a mechanical, electrical, or electromechanical system that pushes the service valve portion 105 and the space coupling portion 110 apart from each other when the mechanism 300 is opened. For example, one or more springs, pushers, or other separating devices may be provided on the space coupling portion 110 and / or the service valve portion 105 to enable these portions 110, 105 to be pushed apart from each other. In some embodiments, the actuator 320 and / or the spring may be configured such that the mechanism 300 assumes a "normally closed" configuration.

[0037] According to some embodiments of the present technology, some devices with four latch arm bases 310 and four latch arms 125 may further include four corresponding latch arm actuators 315 and eight corresponding wax motors (for example, one on each side of each latch arm base 310, which are collectively indicated by reference numeral 320). However, in other embodiments, other quantities and combinations of arms, arm bases, actuators, and wax motors may be employed. An advantage of embodiments of the present technology is that mechanism 300 can be involved in soft capture and / or hard latching connections even in the event of a failure of one or more (e.g., all but one) of latch arm bases 310 and / or latch arms 125. In some embodiments, coupling mechanism 300 may include an actuator positioned to translate latch arm 125 relative to latch arm base 310.

[0038] Figure 4B is a partial schematic perspective view of some components of an object transfer interface system 100 configured in accordance with an embodiment of the present technology. Figure 4B is substantially the same as Figure 1C, except that this figure does not depict the optional housing (140) shown in Figure 1C, and Figure 4B shows the components of interface system 100 rotated approximately 90° about the Z-axis. In Figure 4B, as in the case of Figure 1C, service valve portion 105 is hard latched to space coupling portion 110. In such a configuration, ports 135, 145 (see Figure 1A) are engaged and in close contact with each other for transferring an object between service valve portion 105 and space coupling portion 110. Figure 4B further shows a biasing spring 400 positioned to bias latch arm base 310 towards an open configuration (e.g., a soft latch or fully open configuration). Biasing spring 400 may be positioned between latch arm base 310 and a portion of support structure 142, such as lower plate 340, to exert an upward force along direction T on latch arm base 310. A representative heating element 370 for the wax motor is shown in Figure 4B.

[0039] Figures 4C and 4D together show a schematic view of a coupling mechanism 410 configured according to an embodiment of the present technology and performing a coupling or decoupling sequence. The coupling mechanism 410 is substantially the same as the coupling mechanism 300 described above with reference to FIGS. 3A - 4B. In some embodiments, the support structure 142 includes a plurality of guides 415. The latch arm 125 can engage the guides 415 and move them to the closed position. For example, in some embodiments, a portion of the support structure 142 (e.g., the lower plate 340 of the support structure 142 or another portion) includes guides 415 in the form of angled edge portions 416 configured to engage angled edge portions 420 provided on the latch arm 125 as in some embodiments. When the latch arm 125 is moved downward along direction T (e.g., by the force of an actuator), the angled edge portions 416, 420 engage each other to rotate the latch arm 125 along direction R. The guides 415 (e.g., angled edge portions 416) cause movement along direction R regardless of the presence and / or assistance of an additional actuator for causing rotation along direction R. Thus, both the soft capture and the hard latch engagement state provided by the coupling mechanism configured according to some embodiments of the present technology can be achieved by simply moving the latch arm base 310 (see FIGS. 4A and 4B) along direction T.

[0040] In some embodiments, the latch arm actuator 315 (see FIGS. 4A and 4B) can be omitted, at least in part, due to the geometry of the coupling mechanism 410. In some embodiments, the latch arm actuator 315 need not be powered or operative to keep the latch arm 125 in its soft capture position. In some embodiments, the coupling mechanism 410 can maintain a hard latch state in the event of failure of the latch arm actuator 315 (see FIGS. 4A and 4B).

[0041] FIG. 5 is a flow diagram showing a coupling and / or fuel supply process 500 according to an embodiment of the present technology. In some embodiments, process 500 may be implemented under the control of one or more controllers programmed with instructions to perform one or more (e.g., all) steps of process 500.

[0042] Starting at block 502, the object transfer interface may be in an idling and / or standby state, in which the service valve portion 105 and the space coupling portion 110 are decoupled from each other and spaced apart. In some embodiments, when the service valve portion 105 and the space coupling portion 110 approach each other, the controller or operator may put the components of the interface system 100 into a standby state (block 504). When the system or operator detects contact (or near contact in some embodiments) between the service valve portion 105 and the space coupling portion 110 (e.g., by one or more of the sensors 115 described above), the interface system 100 rotates the latch arm 125 towards the latch arm base 310 (as described above) to generally prevent the service valve portion 105 from moving away from the space coupling portion 110 (i.e., limit the extent to which the service valve portion 105 can move away from the space coupling portion 110) to perform a soft capture operation (block 506). If the system or operator does not detect contact (or near contact) between the service valve portion 105 and the space coupling portion 110, or if the contact is considered insufficient for soft capture (e.g., if the service valve portion 105 and the space coupling portion 110 are not sufficiently aligned to facilitate a tight connection between the corresponding ports), the interface system 100 can time out and return to the standby state of block 504.

[0043] After the soft capture operation (block 506), the interface system 100 or the operator checks whether the interface system 100 is in a soft capture state (block 508) and is at any time in a state where it can be hard latched. For example, if the contact and / or alignment is insufficient or if the soft capture fails, the interface system 100 may well retry the soft capture operation (block 506) or the controller or other operator may improve the contact condition before performing the hard latching operation (block 510) by further aligning the components.

[0044] After the interface system 100 is considered to be in the soft capture state (block 508), in block 510, the interface system 100 performs a hard latching as described above (for example, the latch arm base 310 moves along direction T, for which see FIGS. 1C, 3C, 4A, 4B).

[0045] If the hard latching (block 510) is successful, in some embodiments, the interface system 100 may be considered to be coupled or docked (block 512). In some embodiments, for the system to be considered coupled or docked by the controller, there must be proper contact and alignment over a period of time, for example 10 seconds. Additionally, in some embodiments, the coupling also causes remote measurement (telemetry) or other data connectivity (for example, via the data connector 136, for which see FIGS. 1A and 2) between the service valve portion 105 and the space coupling portion 110 over a period of time (for example, 10 seconds) before the interface system 100 is considered by the controller to be in the coupled or docked state. If docking is considered successful (block 512), in block 514, the controller can initiate fuel supply or other object transfer via the interface system 100 (for example, using the ports described above).

[0046] In some embodiments, if the controller detects a failure, the controller can initiate one or more failure modes and, optionally, can initiate a return to a previous state in process 500. For example, in some embodiments, if remote measurements or other data are not being sufficiently exchanged between the service valve portion 105 and the space coupling portion 110, at block 516, the controller may initiate a handshake failure protocol, which may include a return to any previous state for retries. In some embodiments, at block 518, the controller can indicate a failure related to the fuel supply (e.g., if a sensor associated with the interface system 100 fails to detect that an object is being successfully transferred and / or that a port is malfunctioning). In response to a failure related to the fuel supply, at block 520, the controller may preferably completely deactivate the interface system 100 and then return to the standby state of block 504 (e.g., for later retries).

[0047] In some embodiments, the controller analyzes the force applied by the coupling mechanism 300 to hold the service valve portion 105 against the space coupling portion 110 (e.g., using one or more strain gauges). If the force is insufficient, the controller may instruct a hard latch failure at block 521. Next, the controller may initiate the release of the hard latch (i.e., release of the wax motor) at block 522, thereby returning to the soft capture state at block 508 or returning to another part of process 500 and thereby attempting coupling and object transfer again. In some embodiments, after the release of the hard latch at block 522, the controller may fully deactivate the interface system 100 at block 520 (e.g., if the controller determines that one aspect of process 500 is not possible in the current state and / or relative position of the service valve portion 105 and the space coupling portion 110).

[0048] Among the systems configured according to embodiments of the present technology, there are those that include an aliveness sensor that outputs a signal representing the power state of at least one of the spacecraft in the coupled state (e.g., a signal indicating whether the power supply of the spacecraft is on or off, or whether the spacecraft is experiencing a failure). In some embodiments, whenever the aliveness sensor indicates that one of the coupled spacecraft is in a power-off state, or exhibits a power loss or other failure state, the coupling mechanism responds by stopping the coupling process or releasing the coupling (however, in some embodiments, the coupling mechanism may be able to maintain the coupled state).

[0049] Generally, a coupling mechanism configured according to embodiments of the present technology includes a latch arm positioned to move between an open position and a closed position. In the closed position, the coupling portion captures another, e.g., the service valve portion. Additional embodiments of the coupling mechanism will be described below.

[0050] C. Ground (Terrestrial) Coupling Portion Figures 6A and 6B are partial schematic perspective views of a service valve portion 105 in an engaged state with a ground coupling portion 600 configured according to an embodiment of the present technology. The ground coupling portion 600 is preferably embodied on a terrestrial system, and this ground coupling portion is configured to mate with the service valve portion 105, for example, to supply a terrestrial spacecraft (e.g., to transfer an object to / from this spacecraft). The ground coupling portion 600 receives the service valve portion 105 by connecting ports 135a, 135b (see FIG. 2) of the service valve portion 105 to corresponding ports of the ground coupling portion 600 to transfer an object between two containers.

[0051] Referring to FIG. 6A, in some embodiments, the ground coupling portion 600 receives the service valve portion 105 in a cavity 610 and holds the service valve portion 105 with a coupling mechanism 613. The mechanism 613 of the ground coupling portion 600 includes one or more (e.g., four) latch arms 615 in the form of hooks or hammers, and these latch arms are spring-pressed towards an open position (radially away from the center of the ground coupling portion 600).

[0052] The proximal portion 620 of the ground coupling portion 600 is rotatable relative to the distal portion 630. The proximal portion 620 is connected to the distal portion 630 by a screwing method that moves the proximal portion 620 up and down along the axis Z1 relative to the distal portion 630. As shown generally by arrow A, when the proximal portion 620 rotates relative to the distal portion 630, the proximal portion 620 translates upward along direction T and pushes the latch arm 615, whereby these latch arms pivot (e.g., along the direction generally indicated by arrow B) about the pivot point and also close the latch arm 615 around the service valve portion 105 (e.g., around the top plate 130b) to fix the service valve portion 105 to the ground coupling portion 600. In some embodiments, the movement of the proximal portion 620 relative to the distal portion 630 can also exert a downward force on the latch arm 615, whereby the service valve portion 105 can be further fixed to the ground coupling portion 600. FIG. 6B shows the service valve portion 105 fixed to the ground coupling portion 600, and the latch arm 615 is rotated to a position that fixes the top plate 130b. In some embodiments, the ground coupling portion 600 can create a Higbee - type connection relationship between the proximal portion 620 and the distal portion 630. In some embodiments, elastic tab elements 635 are positioned between each of the latch arms 615 and the proximal portion 620 so as to be able to improve alignment and torque consistency.

[0053] The ground coupling portion can be actuated autonomously or can be operated manually, either fully or in part. In certain representative embodiments, the ground coupling portion can be operated fully manually to facilitate fuel supply of an aircraft or to transfer an object on the ground as opposed to in space. In some embodiments, the ground coupling portion 600 may be embodied within an aircraft and operate in space.

[0054] D. Self - aligning port The aspects of the present technology include a self-aligning port that can be embodied as one or more of the ports 135a, 135b, 145a, 145b described above with respect to FIG. 1A. For example, when the ports 135a, 135b engage with the counterpart ports 145a, 145b, the geometric shape of the ports can perform self-alignment of the ports and can seal the connection portion of these ports to enable object transfer. Referring to FIG. 1A, in some embodiments, the service valve portion 105 may include a male port 135a and a female port 135b. The space coupling portion 110 may include a corresponding female port 145a and a male port 145b. When the service valve portion 105 engages with the space coupling portion 110, the male port 135a provided in the service valve portion 105 fits into the female port 145a provided in the space coupling portion 110, and the female port 135b provided in the service valve portion 105 fits into the male port 145b provided in the space coupling portion 110. The pair of male and female ports in the configuration shown in FIG. 1A come together and engage with another corresponding pair of male and female ports, but in other embodiments, other forms may be embodied. For example, the service valve portion 105 can include any suitable number (e.g., one or more) of ports, and the space coupling portion 110 can include a corresponding number of corresponding ports. Some or all of the ports of the service valve portion 105 may be male ports, some or all of the ports of the space coupling portion 110 may be female ports, or the reverse relationship may hold.

[0055] FIG. 7A is a perspective view of a port 700 configured according to an embodiment of the present technology. The port 700 can be embodied as one or more of the ports 135a, 135b, 145a, 145b described above with reference to FIG. 1A and / or the port 700 may be embodied in a system other than the space coupling portion 110, the service valve portion 105, and the ground coupling portion 600. For example, the port 700 can be embodied in any system and / or mechanism involved in the transfer of an object.

[0056] Port 700 includes a port body 710 and a port head 720. The port body 710 can be connected to a conduit (e.g., the conduit 150 shown in FIG. 1A and described above) for inserting and removing an object from the port 700. For example, the port body 710 may include and / or be attached to a connector element 730 for engaging the conduit and facilitating the flow of an object between the conduit and the port 700. Another embodiment can include other connectors suitable for connecting the conduit. The port head 720 includes a port face 740 and an optional flange 750. In some embodiments, the flange 750 has mounting holes 760 for attaching the port 700 to a support structure. In another embodiment, the port 700 may be provided with other means for attaching the port 700 to a support structure. In some embodiments, the flange 750 can be omitted. The port face 740 may have a non-standard engagement surface configured to match a corresponding non-standard engagement surface provided on another port (e.g., the port described below with reference to FIG. 7B). In some embodiments, the port face 740 has a female or cup portion 770 configured to receive a male portion, such as a conical portion or other protrusion, provided on another port (e.g., the port described below with reference to FIG. 7B). The port face 740 may have one or more grooves 780 for carrying an O-ring 785. As will be described in more detail below, the port face 740 is in close contact with a corresponding port face provided on another port. In another embodiment, the port face 740 may be in close contact with another face sealing mechanism. The port 700 further has a movable pintle 787, and the movable pintle 787 may extend from the port face 740 through an opening provided in the port face 740 so as to engage a corresponding movable pintle provided on another port, as will be described in more detail below.

[0057] FIG. 7B is a perspective view of port 790 configured according to another embodiment of the present technology. Port 790 is substantially the same as port 700 described above with reference to FIG. 7A, except that port head 791 has different mating surfaces that are configured to mate with corresponding mating surfaces provided on another port, for example, port 700 described above with reference to FIG. 7A. Port head 791 (which includes port face 792) may have an optional flange 793 with a shape different from the optional flange 750 described above with reference to FIG. 7A. Port face 792 may have a male portion, for example, a conical portion 794 configured to fit into the cup portion 770 of port 700 described above with reference to FIG. 7A. Port face 792 may further have one or more (e.g., two) grooves 780 for carrying an O-ring 785. Port face 792 is in close contact with the corresponding port face 740 described above with reference to FIG. 7B. Port 790 further has a pintle 787, and pintle 787 may extend from port face 792 so as to engage with a pintle provided on another port, for example, port 700 described above with reference to FIG. 7A.

[0058] FIG. 7A shows a generally circular flange 750, and FIG. 7B shows a generally triangular flange 793, but ports configured according to embodiments of the present technology may have flanges with other shapes or these ports may be without flanges.

[0059] FIG. 8 is an exploded perspective view of port 790 shown in FIG. 7B. FIG. 8 also shows port body 710 in cross-section. Pintle 787 can move within bore 800 provided in port body 710 along longitudinal axis 803. Pintle 787 has a pintle tip 805 that projects from port face 792 as an option just before port 790 engages another port (i.e., the port closed position as shown in FIG. 7B). Pintle tip 805 is preferably pushed into port body 710 when port 790 engages another port as will be described in detail below with reference to FIGS. 9 and 10. Pintle tip 805 preferably has a diameter slightly smaller than the diameter of opening 810 provided in port face 792, and pintle tip 805 moves through this opening 810. Pintle 787 is biased toward the port closed position by an elastic element, such as spring 815. In some embodiments, port 790 has an O-ring 820 positioned on pintle 787 to seal port 790 when pintle 787 is seated within port body 710 with pintle 787 in the port closed position.

[0060] In some embodiments, additional components to assist the movement of the pintle 787 may be positioned within the port body 710. For example, in some embodiments, the port 790 has a rider 825 that moves within the bore 800 along the longitudinal axis 803 with the pintle 787. The pintle 787 may have a pintle shaft 830 positioned within the bore rider 825. The pintle 787 may, in some embodiments, be formed as an integral assembly, or in other embodiments, the pintle may have a number of components joined to each other. In some embodiments, the pintle 787 is integral with the bore rider 825. The bore rider 825 may preferably have an overall cylindrical shape and a size that matches the size of the bore 800, such that the bore rider 825 can move within the bore 800 while maintaining a coaxial relationship with the bore 800. The bore rider 825 can keep the pintle 787 coaxial with the bore 800. The bore rider 825 may preferably have one or more slots 835 that are oriented along the longitudinal axis 803 to allow an object to pass by the bore rider 825. In some embodiments, the bore rider 825 includes an anti-friction material, such as polytetrafluoroethylene (PTFE), to reduce friction within the bore 800. The spring 815 may be positioned between the bore rider 825 and the connector element 730. In some embodiments, a spring retainer 840 may be provided to keep the spring 815 in coaxial alignment with the other components of the port 790. The connector element 730 may preferably have threads that engage corresponding threads provided as an option on the threads 845 in the bore 800. The connector element 730 covers the bore 800 and holds the components of the port 790 within the bore 800. In some embodiments, the connector element 730 may be welded to the port body 710. In some embodiments, the connector element 730 may be snap-fitted or pressed into the bore 800.A threaded connector element 730 is illustrated and will be described, but as another embodiment, any suitable connector for connecting conduits and / or holding components of the port 790 within the port body 710 may be provided.

[0061] As described above, the ports 790 shown in FIGS. 7B and 8 are substantially the same as the port 700 shown in FIG. 7A, except for the form of the port heads 720, 791. Thus, the above description of the port 790 also applies to the port 700 shown in FIG. 7A having inner components identical or similar to the port 790 of FIGS. 7B and 8.

[0062] FIG. 9 is a cross-sectional view of the ports 700, 790 at the time of mutual approach before mating. The pintle tip portions 805 within each of the ports 700, 790 are preferably slightly protrude from the port faces 740, 792 when each pintle 787 is biased by the spring 815 towards its corresponding port face 740, 792. Prior to mating, the O-ring 820 of the pintle 787 (which O-ring may alternatively be carried by the port body 710) seals the ports 700, 790 and prevents objects from passing through the ports 700, 790.

[0063] FIG. 10 is a cross-sectional view of ports 700, 790 that are fitted or engaged with each other. One aspect of the embodiments of the present technology has a self-aligning function of the ports 700, 790. The ports 700, 790 do not need to approach each other in exactly the same orientation because the cup portion 770 receives the conical portion 794 in a manner that aligns the cup and the conical portion 794 coaxially. Another aspect of the embodiments of the present technology includes a sealing portion between the port faces 740, 792. The three O-rings 785 between the faces 740, 792 provide a fail-safe state (redundancy) and ensure compliance with regulatory standards (for example, regulatory standards related to self-igniting fuels). In some embodiments, there may be provided four or more or two or fewer O-rings 785. Further redundancy is obtained by distributing and arranging the O-rings 785 between the two ports 700, 790 (for example, two O-rings 785 are provided on one of the ports 790 and one O-ring is provided on the other port 700). For example, if one of the ports 700, 790 is damaged (for example, by meteoroid dust or debris), the O-ring 785 of the other port should be sufficient to provide a sealing portion. Although the O-rings are described herein in connection with the port faces 740, 792 and the pintle 787, other sealing devices (for example, crushable seals or other suitable sealing devices) can be used in other embodiments. A system in which the port faces 740, 792 have a number of O-rings or a number of other sealing devices may further include one or more measuring devices that assist in determining the state of the sealing device (for example, useful for determining whether the sealing device is functioning properly). Examples of the measuring device include a pressure measuring device for measuring the pressure between the O-rings or other sealing devices. In some embodiments, the O-rings or other sealing devices provided on the port face can be omitted.

[0064] To explain the operation, the pintle tips 805 press against each other, thereby retracting each pintle 787 into the port body 710 (e.g., against the force of spring 815). As the pintle 787 moves into the port body 710, the passage 1000 between the bore 800 and the pintle 787 is opened. Then, an object can flow freely through the mating ports 700, 790 without escaping from the seal created by the port faces 740, 792. For example, the object can flow through the passage 1010 provided in the connector element 730, through the spring retainer 840, around the spring 815, towards the tip of the bore rider 825 (e.g., by flowing through the slot 835 shown in FIG. 8), and towards the tip of the pintle 787, out through the opening 810 of the port face (see FIG. 8), and into the other port and towards the tip of the same or similar components within the other port.

[0065] FIG. 11 is a perspective view of a port assembly 1100 configured in accordance with an embodiment of the present technology. The port assembly 1100 may include two or more port faces 1110 supported on a single port body 1120. The port faces 1110 may be substantially the same as the port faces 740, 792 described with reference to FIGS. 7A-10. For example, one port face 1110a may have a conical portion 794, and another port face 1110b may have a cup portion 770. The port assembly 1100 may be provided in one or more of a service valve portion 105, a space coupling portion 110, or a ground coupling portion 600 to provide ports 135, 145 (see FIGS. 1A-2 and 4B). Further, the port body 1120 further carries a set of port components (e.g., a pintle 787, a bore rider, a spring, an O-ring, and a spring retainer as described above) for each port face 1110. Thus, the port assembly 1100 constitutes two ports configured in accordance with an embodiment of the present technology, but is provided within a single port body 1120. Although two ports provided within a single port body 1120 are described, the same port body 1120 can include two or more ports. One port face has a cup, and another port face has a conical portion, but in some embodiments, any suitable number of cups and conical portions can be used as port faces. The port assembly 1100 can mate or engage with another port assembly of another system. For example, referring further to FIG. 1A, the service valve portion 105 can have the port assembly 1100 as ports 135a, 135b when supplemented, and the space coupling portion 110 can have the port assembly 1100 as ports 145a, 145b. When the service valve portion 105 engages with the space coupling portion 110, the port assemblies 1100 are pressed against each other to form a seal and allow movement of an object between the port assemblies 1100.

[0066] For purposes of describing the general technical background, in some embodiments, components such as, for example, the service valve portion 105, the space coupling portion 110, and / or the ground coupling portion 600 may be sized to fit within an artificial satellite deployer, such as a CubeSat - type deployer. For example, in some embodiments, the service valve portion 105 and / or the space coupling portion 110 may be sized to fit within a cylindrical recess of a CubeSat - type deployer (colloquially referred to as a "tuna can" as a large mass). In another embodiment, the dimensional shape can be scaled up or down to be larger or smaller. The valves and ports configured in accordance with embodiments of the present invention can be used as service valves, fill / drain valves, fill / vent valves, or other valves for an aircraft or other system.

[0067] In some embodiments, the conduit associated with the port may be thermally coupled (or thermally coupled to any actuator that generates heat) to a heater for a wax motor for using waste heat to control the temperature of an object within the conduit (e.g., to anti - ice a fluid). In other embodiments, a thermal insulator may be provided between the conduit and the heater for the wax motor. In some embodiments, the force from the spring 815 can assist in pushing the port away, thereby assisting in the separation of the service valve portion 105 from the space coupling portion 110, or assisting in the separation of other devices.

[0068] From the above, although several embodiments of the present technology have been described herein for illustrative purposes, it will be understood that various modifications can be made without departing from the disclosed technology. For example, more or fewer ports (e.g., 1, 3, 4, or 5 or more ports) can be used to connect the valve and the coupling portion. Although the cup-and-cone (conical portion) structure has been described above in relation to the face of the port, in some embodiments, other cooperating shapes for creating a concentric alignment can be employed. In some embodiments, the service valve portion 105 and / or the space coupling portion 110 may be positioned on the exterior of the spacecraft (i.e., outside the insulation). In some embodiments, one or both of the portions 105, 110 may be positioned behind a movable cap or cover. Generally speaking, the portions 105, 110 can be placed in any suitable location that facilitates docking and object transfer. In some embodiments, one or more surfaces of the components of the present technology can include a conductive surface or coating to make it difficult for static charges to accumulate.

[0069] Several additional aspects of the present technology are described in the following embodiments section. 〔Embodiment Item 1〕 A coupling mechanism, a support structure, a latch arm base movably connected to the support structure, and one or more latch arms connected to the latch arm base. 〔Embodiment Item 2〕 The coupling mechanism according to Embodiment Item 1, wherein the one or more latch arms are rotatably connected to the latch arm base. 〔Embodiment Item 3〕 The coupling mechanism according to Embodiment Item 1, further comprising an actuator positioned to move the latch arm base relative to the support structure. 〔Embodiment Item 4〕 The coupling mechanism according to Embodiment Item 3, wherein the actuator includes a wax motor. [Embodiment Item 5] The latch arm base is movably coupled to the support structure by one or more flexible elements, and the coupling mechanism according to any one of Embodiment Items 1 to 4. [Embodiment Item 6] The coupling mechanism according to any one of Embodiment Items 1 to 5, further comprising an actuator positioned to rotate the one or more latch arms relative to the latch arm base. [Embodiment Item 7] A system for transferring an object between two containers, the system comprising: A service valve portion having one or more first ports; A coupling portion configured to receive the service valve portion, the coupling portion having a coupling mechanism and one or more second ports, the second ports being positioned to engage the one or more first ports; The coupling mechanism has a plurality of latch arms positioned to move between an open position and a closed position, and in the closed position, the coupling portion captures the service valve portion. System. [Embodiment Item 8] The coupling mechanism has a plurality of latch arm bases, each latch arm is rotatably connected to one of the plurality of latch arm bases, and the latch arm base is movable relative to the coupling portion. The system according to Embodiment Item 7. [Embodiment Item 9] The coupling portion has a support structure with a plurality of guides, the latch arms can move to engage the guides, and when the latch arms engage the guides, the latch arms move to the closed position. The system according to Embodiment Item 7 or 9. [Embodiment Item 10] The latch arm is positioned to rotate between a first pivot position where the latch arm is rotated outward and a second pivot position where the latch arm is rotated inward to capture the service valve portion. The system according to Embodiment Item 7. [Embodiment Item 11] The above-mentioned coupling part has a support structure, The above-mentioned coupling mechanism has one or more latch arm bases supported by the above-mentioned support structure, Each latch arm is rotatably connected to one of the one or more latch arm bases so as to rotate between the first pivot position and the second pivot position, The above-mentioned latch arm base is positioned to move translationally with respect to the above-mentioned support structure between a first linear position where the above-mentioned latch arm can move with respect to the above-mentioned coupling part as the above-mentioned service valve part moves, and a second linear position where the above-mentioned latch arm presses the above-mentioned service valve part against the above-mentioned coupling part. The system according to embodiment item 10. 〔Embodiment item 12〕 The above-mentioned support structure has a plurality of guides, the above-mentioned latch arm is positioned to engage with the above-mentioned guides, and when the above-mentioned latch arm engages with the above-mentioned guides, the above-mentioned latch arm moves to the second pivot position. The system according to embodiment item 11. 〔Embodiment item 13〕 The above-mentioned support structure has a plurality of first angled edge portions, and each latch arm has a second angled edge portion positioned to correspond to and engage with a first angled edge portion among the plurality of first angled edge portions when the above-mentioned latch arm is in the second linear position. The engagement between the first angled edge portion and the second angled edge portion causes the above-mentioned latch arm to rotate to the second pivot position. The system according to embodiment item 11. 〔Embodiment item 14〕 The above-mentioned coupling part has a proximal part, and a distal part connected to the proximal part by a screwing method, When the proximal part is rotated with respect to the distal part, the proximal part translates with respect to the distal part and pushes the latch arm to the closed position. The system according to embodiment item 7. 〔Embodiment item 15〕 A system for transferring an object between two spacecraft, the system A service valve portion having one or more first ports for transferring an object, and a coupling portion positioned to receive the service valve portion, the coupling portion including a support structure, one or more second ports positioned to engage the one or more first ports for transferring an object between the one or more first ports, a latch arm base, the latch arm base being movable relative to the support structure, a first actuator positioned to move the latch arm base relative to the support structure, and a latch arm carried by the latch arm base, the latch arm being movable relative to the latch arm base, a system. [Embodiment Item 16] The system according to Embodiment Item 15, wherein the coupling portion further includes a sensor configured to output a signal. [Embodiment Item 17] The sensor is a proximity sensor, the signal indicating the proximity between the service valve portion and the coupling portion, a contact sensor, the signal indicating the contact relationship between the service valve portion and the coupling portion, an optical sensor, the signal indicating the proximity or contact relationship between the service valve portion and the coupling portion, or a vitality sensor, the signal indicating the power state of at least one of the spacecraft, The system according to Embodiment Item 16, including [Embodiment Item 18] During execution, receiving the signal, The system according to Embodiment Item 17, further including a controller programmed to operate the actuator in response to the signal to translate the latch arm base and the latch arm to a position where the latch arm presses the service valve portion against the coupling portion. [Embodiment Item 19] It further includes a second actuator positioned to rotate the latch arm relative to the latch arm base, and the controller further, during execution, The system according to embodiment item 18, wherein a command for operating the second actuator to rotate the latch arm from a first position to a second position where the latch arm captures the service valve portion is programmed. 〔Embodiment item 20〕 The system according to any one of embodiment items 15 to 19, wherein the latch arm base is connected to the support structure by one or more flexible elements. 〔Embodiment item 21〕 The system according to any one of embodiment items 15 to 18, further including a second actuator positioned to rotate the latch arm relative to the latch arm base. 〔Embodiment item 22〕 The latch arm can move relative to the latch arm base between a first position and a second position, and the system further includes a spring positioned to bias the latch arm toward the first position. The system according to any one of embodiment items 15 to 21. 〔Embodiment item 23〕 The system according to any one of embodiment items 15 to 22, wherein the first actuator includes a wax motor. 〔Embodiment item 24〕 The latch arm base can move relative to the support structure between a first position and a second position, and the system further includes a spring positioned between the latch arm base and the support structure and biasing the latch arm base toward the first position. The system according to any one of embodiment items 15 to 23. 〔Embodiment item 25〕 Each of the service valve portion and the coupling portion described above includes at least one of (a) a data connector for transmitting data between the spacecraft or (b) a power connector for transmitting power between the spacecraft, according to any one of Embodiment Items 15 to 24. [Embodiment Item 26] A method for transferring an object between two spacecraft, the method comprising: detecting at least one of proximity or contact relationship between a service valve portion carried by a first spacecraft and a coupling portion carried by a second spacecraft; when detecting at least one of proximity or contact relationship between the service valve portion and the coupling portion, moving a plurality of latch arms toward the service valve portion to limit relative movement between the service valve portion and the coupling portion; including a step of translating a latch arm base relative to a support structure of the coupling portion, and by the translation of the latch arm base, the latch arm presses the service valve portion against the support structure; (a) transferring an object from the first spacecraft, through the service valve portion, through the coupling portion, and into the second spacecraft, or (b) a method including at least one of the steps of transferring an object from the second spacecraft, through the coupling portion, through the service valve portion, and into the first spacecraft. [Embodiment Item 27] The method according to Embodiment Item 26, further comprising transmitting at least one of data or power between the first spacecraft and the second spacecraft via a connector carried by the service valve portion and the coupling portion. [Embodiment Item 28] The method further includes detecting a power state of at least one of the first spacecraft or the second spacecraft. The method according to embodiment item 26 or 27, wherein in response to detecting that the first spacecraft or the second spacecraft is in a power-off state, the service valve portion is released from the coupling portion. 〔Embodiment item 29〕 A port for transferring an object, the port has a port body, a bore extends in the port body, has a port head attached to a first end of the port body, the port head having a port face with a non-standard engagement surface, has a movable pintle positioned within the bore, the pintle extending from the port face when the pintle is in the first position, the port is closed when the pintle is in the first position, and the pintle can move to a second position where the port is open to allow the flow of an object through the port body, over the pintle, and through the port face. 〔Embodiment item 30〕 The port according to embodiment item 29, further comprising an elastic element disposed within the bore and positioned within the bore to bias the pintle toward the first portion using a spring force. 〔Embodiment item 31〕 The port according to embodiment item 29 or 30, wherein the port face has one or more grooves configured to receive one or more O-rings. 〔Embodiment item 32〕 The port according to any one of embodiment items 29 to 31, further comprising a connector element attached to a second end of the port body. 〔Embodiment item 33〕 The object transfer system disclosed in this specification. 〔Embodiment item 34〕 The object transfer method disclosed in this specification.

[0070] Although the advantages associated with some embodiments of the present technology have been described in connection with these embodiments, some embodiments also exhibit the advantages described above, and not all embodiments necessarily exhibit such advantages so as to fall within the scope of the present technology. Accordingly, the present disclosure and related technologies can include other embodiments not explicitly described or illustrated herein.

[0071] The present disclosure is effective until any material incorporated by reference contradicts the present disclosure. The terms "about" and "substantially" as used herein refer to values within 10% of the recited value.

Claims

1. A coupling mechanism, comprising: a support structure; a latch arm base movably connected to the support structure; and one or more latch arms connected to the latch arm base.

2. The coupling mechanism according to claim 1, wherein the one or more latch arms are rotatably connected to the latch arm base.

3. The coupling mechanism according to claim 1, further comprising an actuator positioned to move the latch arm base relative to the support structure.

4. The coupling mechanism according to claim 3, wherein the actuator includes a wax motor.

5. The coupling mechanism according to claim 1, wherein the latch arm base is movably coupled to the support structure by one or more flexible elements.

6. The coupling mechanism according to claim 1, further comprising an actuator positioned to rotate the one or more latch arms relative to the latch arm base.

7. A system for transferring an object between two containers, the system comprising: a service valve portion having one or more first ports; and a coupling portion configured to receive the service valve portion, the coupling portion including a coupling mechanism and one or more second ports, the second ports being positioned to engage the one or more first ports, wherein the coupling mechanism has a plurality of latch arms positioned to move between an open position and a closed position, and in the closed position, the coupling portion captures the service valve portion.

8. The system according to claim 7, wherein the coupling mechanism has a plurality of latch arm bases, each latch arm being rotatably connected to one of the plurality of latch arm bases, and the latch arm bases being movable relative to the coupling portion.

9. The system according to claim 7, wherein the coupling portion has a support structure with a plurality of guides, the latch arms being movable to engage the guides, and when the latch arms engage the guides, the latch arms move to the closed position.

10. The latch arm is positioned to pivot between a first pivot position where the latch arm is pivoted outwardly and a second pivot position where the latch arm is pivoted inwardly to capture the service valve portion. The system according to claim 7.

11. The coupling portion has a support structure, The coupling mechanism has one or more latch arm bases carried by the support structure, Each latch arm is pivotally coupled to one of the one or more latch arm bases so as to pivot between the first pivot position and the second pivot position, The latch arm base is positioned to translate relative to the support structure between a first linear position where the service valve portion can move relative to the coupling portion with the latch arm and a second linear position where the latch arm presses the service valve portion against the coupling portion. The system according to claim 10.

12. The support structure has a plurality of guides, and the latch arm is positioned to engage the guides. When the latch arm engages the guides, the latch arm moves to the second pivot position. The system according to claim 11.

13. The support structure has a plurality of first angled edge portions, and each latch arm has a second angled edge portion positioned to correspond to and engage a first angled edge portion of the plurality of first angled edge portions when the latch arm is in the second linear position. The engagement between the first angled edge portion and the second angled edge portion causes the latch arm to pivot to the second pivot position. The system according to claim 11.

14. The coupling portion has a proximal portion, and a distal portion connected to the proximal portion by a screwing method, When the proximal portion is rotated relative to the distal portion, the proximal portion translates relative to the distal portion to push the latch arm to the closed position. The system according to claim 7.

15. A system for transferring an object between two spacecraft, the system comprising a service valve portion having one or more first ports for transferring the object, a coupling portion positioned to receive the service valve portion, the coupling portion comprising a support structure, One or more second ports positioned to engage with the one or more first ports for transferring an object therebetween. A latch arm base, the latch arm base being movable relative to the support structure. A first actuator positioned to move the latch arm base relative to the support structure, and A system having a latch arm carried by the latch arm base, the latch arm being movable relative to the latch arm base. **Claim 16** The system of claim 15, wherein the coupling portion further comprises a sensor configured to output a signal. **Claim 17** The sensor is A proximity sensor, the signal indicating proximity between the service valve portion and the coupling portion. A contact sensor, the signal indicating a contact relationship between the service valve portion and the coupling portion. An optical sensor, the signal indicating proximity or a contact relationship between the service valve portion and the coupling portion, or A viability sensor, the signal indicating a power state of at least one of the spacecraft. The system of claim 16, comprising. **Claim 18** During execution, Receiving the signal, In response to the signal, the system of claim 16 further comprising a controller programmed to operate the actuator to translate the latch arm base and the latch arm to a position where the latch arm presses the service valve portion against the coupling portion. **Claim 19** The system of claim 18 further comprising a second actuator positioned to rotate the latch arm relative to the latch arm base, and the controller is further programmed during execution to Operate the second actuator to rotate the latch arm from a first position to a second position where the latch arm captures the service valve portion. **Claim 20** The system of claim 15, wherein the latch arm base is connected to the support structure by one or more flexible elements. **Claim 21** The system of claim 15 further comprising a second actuator positioned to rotate the latch arm relative to the latch arm base. **Claim 22** The latch arm is movable relative to the latch arm base between a first position and a second position, and the system further includes a spring positioned to bias the latch arm toward the first position, the system of claim 15.

23. The system of claim 15, wherein the first actuator includes a wax motor.

24. The latch arm base is movable relative to the support structure between a first position and a second position, and the system further includes a spring positioned between the latch arm base and the support structure and biasing the latch arm base toward the first position, the system of claim 15.

25. The system of claim 15, wherein each of the service valve portion and the coupling portion includes at least one of (a) a data connector for transmitting data between the spacecraft or (b) a power connector for transmitting power between the spacecraft.

26. A method of transferring an object between two spacecraft, the method comprising: detecting at least one of proximity or contact between a service valve portion carried by a first spacecraft and a coupling portion carried by a second spacecraft; when detecting the at least one of proximity or contact between the service valve portion and the coupling portion, moving a plurality of latch arms toward the service valve portion to limit relative movement between the service valve portion and the coupling portion; including translating a latch arm base relative to a support structure of the coupling portion, the translation of the latch arm base pressing the service valve portion against the support structure; (a) transferring an object from the first spacecraft, through the service valve portion, through the coupling portion, and into the second spacecraft, or (b) including at least one of transferring an object from the second spacecraft, through the coupling portion, through the service valve portion, and into the first spacecraft.

27. The method according to claim 26, further comprising transmitting at least one of data or power between the first spacecraft and the second spacecraft via a connector carried by the service valve portion and the coupling portion.

28. The method further comprising detecting a power state of at least one of the first spacecraft or the second spacecraft, The method according to claim 26, wherein in response to detecting that the first spacecraft or the second spacecraft is in a power-off state, the service valve portion is released from the coupling portion.

29. A port for transferring an object, the port comprising: A port body having a bore extending therein, A port head attached to a first end of the port body, the port head having a port face with a non-circular engagement surface, A movable pintle positioned within the bore, the pintle extending out of the port face when the pintle is in the first position, The port is closed when the pintle is in the first position, and the pintle can move to a second position where the port allows the flow of an object through the port body, over the pintle, and through the port face.

30. The port according to claim 29, further comprising an elastic element disposed within the bore and positioned within the bore to bias the pintle toward the first portion using a spring force.

31. The port according to claim 29, wherein the port face has one or more grooves configured to receive one or more O-rings.

32. The port according to claim 29, further comprising a connector element attached to a second end of the port body.

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