Low Gravity Power Distribution Systems and Equipment

Abstract

The present invention is embodied in a system and method for transporting energy and mass (materials) in a low gravity environment. Broadly speaking, a suitable system includes a launcher, a receiver, and a capsule. The capsule is used for the transfer of the payload (e.g., materials) between the launcher and the receiver. In addition, the receiver converts a portion of the kinetic energy of the payload into potential energy via regenerative braking and stores this energy for later use. The stored energy can be used on the receiver side for applications such as powering habitat systems, mining operation systems, and life support systems. In some cases, a portion of the stored energy can be used for relaunching the payload. The launcher and receiver can be established in different spatial network configurations in a lower gravity environment (e.g., circular with the launcher in the middle, launchers downstream of a chain of receivers, or other configurations).

Description

[Technical field]

[0001] The present invention relates to the field of transportation, and more particularly to the field of energy and mass transportation. [Background technology]

[0002] The space economy is $469 billion and poised for even more explosive growth over the next decade. Over the past two decades, the trend toward reusable launch vehicles has lowered the costs associated with reaching space, making new industries like in-space maintenance, assembly, and manufacturing (ISAM) and in-situ resource utilization (ISRU) increasingly viable. The proliferation of small businesses, start-ups, and large incumbents in the space economy has focused on making these industries profitable and sustainable. Currently, the ISAM and ISRU sectors are nascent but promising. Importantly, this trend is not coming solely from the private sector; as of this writing, the United States is launching Artemis missions as part of its commitment to establishing a sustained presence in deep space and building a robust lunar economy driven by the ISRU sector. (Twenty-three nations have signed the U.S.-drafted Artemis Accords, which outline a framework for lunar economic development and exploration.) Ultimately, both private and government interest in the space economy is a powerful vector for opportunity and economic growth.

[0003] There are a variety of technical and business challenges that must be addressed in order to establish a lunar and broader deep space economy. One particularly prominent concern is the logistics and transportation of cargo across the lunar surface. Lunar logistics is problematic for several reasons: 1. First, despite the falling cost of launching to low Earth orbit (LEO), the cost of transporting equipment to the lunar surface remains high. Current launch costs are around $500,000 per kg, limiting the number of logistics architectures that can be implemented on the lunar surface. 2. Second, any lunar logistics solution will need to traverse (or avoid) rough terrain. Mining operations in the ISRU field will likely take place in the ice walls of steep craters. Furthermore, lunar regolith is notoriously abrasive, potentially degrading equipment on the lunar surface. 3. Third, the logistics architecture will need to scale up to accommodate a lunar economy. Long-distance transport of regolith, water and propellants will be necessary to link mining operations with centralized refineries, construction zones and storage. 4. Fourth, the energy-intensive nature of a lunar economy makes existing solutions unviable: power cables are heavy and expensive, and wireless power is still inefficient, making it impossible to scale up.

[0004] While long-standing space logistics platforms such as rovers and landers will play an important role in the lunar value chain, the interrelated challenges outlined above necessitate the development of new lunar logistics solutions to augment rover- and lander-based architectures, necessitating the development of cost-effective systems and methodologies for the transportation of cargo (including batteries for power distribution) that are lightweight, optimized for lunar terrain, and capable of efficient long-range operations. Summary of the Invention

[0005] The subject matter of the present invention is embodied in a system and method for transporting energy and mass (materials) in a low gravity environment. Broadly speaking, a suitable system includes a launcher, a receiver, and a capsule. The capsule is used to transfer the payload (e.g., materials) between the launcher and the receiver. In addition, the receiver converts a portion of the kinetic energy of the payload into potential energy via regenerative braking (e.g., a kinetic energy recovery system (KERS)) and stores the energy for later use. This stored energy can be used on the receiver side for applications such as powering habitats, mining operations, life support systems, etc. In some cases, a portion of the stored energy can be used to relaunch the payload. The launcher and receiver can be established in different spatial network configurations in a lower gravity environment (e.g., a circular configuration with the launcher in the center, a configuration with the launcher downstream of a series of receivers, and other configurations).

[0006] The launcher and receiver are preferably the same device; that is, the same device is capable of both launching and receiving a payload. For purposes of this specification, the preferred device will be referred to as an LNR (launch and receive) device 10. Broadly speaking, the preferred LNR device includes a main shaft disposed along a central axis and connected between a pair of frames. A rotating arm is connected to the shaft by a roller bearing. The rotating arm rotates on a roller bearing attached to the shaft. A motor rotates the rotating arm, and a sensing device monitors the position and speed of the rotating arm.

[0007] A preferred rotating arm includes two spokes. A release mechanism is attached to a distal end of the first spoke. The release mechanism has at least two positions: a closed position for holding a payload as the rotating arm rotates up to launch velocity, and an open position for releasing the payload at a desired time. A catch mechanism is attached to a distal end of the second spoke. The catch mechanism includes a concave surface for catching an incoming payload.

[0008] For control of the payload release angle, a bridge is rotatably connected to the shaft and driven by a second motor. Placing electromagnets on the bridge allows the release mechanism to be actuated at a desired angle as the rotating arm rotates. Adjusting the rotational position of the bridge adjusts the angle of payload release.

[0009] The counterbalance system keeps the LNR device balanced before and after payload launch. The preferred counterbalance system includes a first counterbalance assembly connected to the shaft. The preferred counterbalance assembly has at least two positions: a locked position and a free position. In the locked position, the counterbalance assembly is fixed to the rotating arm. In the free position, the counterbalance is not fixed to the rotating arm. The purpose of the free position is to allow the counterbalance to rotate 180° with respect to the rotating arm (i.e., to switch from one spoke to the other). To allow this 180° relative rotation, a second magnetic element is disposed on the bridge. When the second magnetic element is activated, it slows down the rotation of the counterbalance in the free position with respect to the rotating arm, allowing the 180° relative rotation.

[0010] A second counterbalance assembly is preferably used in combination with the first counterbalance assembly. The rotational inertia of each of the two counterweight assemblies is preferably equal. In addition, the combined rotational inertia of the counterweight assemblies should be equal to the rotational inertia of the payload. This allows both counterweights to be positioned opposite the payload to balance the system. Similarly, after the payload is released, the counterweights can be positioned opposite each other to maintain balance.

[0011] For additional degrees of freedom and adjustability, it is preferred to mount the frame to a chassis. The preferred chassis has a pair of rotating turntables and a linear track to allow two rotational degrees of freedom and one linear degree of freedom. [Brief description of the drawings]

[0012] [Figure 1] 1 shows a perspective view of a preferred embodiment of the present invention;

[0013] [Diagram 2] 1 illustrates an embodiment of a spherical capsule.

[0014] [Diagram 3] FIG. 1 shows a perspective view of one embodiment of the device.

[0015] [Figure 4] 4 shows a front view of the embodiment of FIG. 3.

[0016] [Diagram 5] FIG. 4 shows a side view of the embodiment of FIG.

[0017] [Figure 6] FIG. 4 shows a perspective view of the embodiment of FIG. 3 with the counterbalance assembly and rotating arm momentum storage system (RAMSS) removed.

[0018] [Figure 7] 1 illustrates an exploded view of one embodiment of a rotating arm.

[0019] [Figure 8] A cross-sectional view of FIG. 7 is shown.

[0020] [Figure 9] 1 shows a cross-sectional view of a preferred release mechanism.

[0021] [Figure 10] 1 shows an exploded view of a preferred release mechanism.

[0022] [Figure 11] FIG. 4 shows a perspective view of the embodiment of FIG. 3 with the shaft and rotating arm momentum storage system (RAMSS) removed.

[0023] [Figure 12] FIG. 4 is an exploded view of the embodiment shown in FIG.

[0024] [Figure 13] A perspective view of the rotating arm and counterbalance assembly is shown with the counterbalance assembly in position 1. Note that button 58 is pressed in.

[0025] [Figure 14] A perspective view of the rotating arm and counterbalance assembly is shown with the counterbalance assembly in position 3. Note that button 58 is pulled out.

[0026] [Figure 15] FIG. 1 is a perspective view of the counterbalance assembly disassembled from the rotating arm.

[0027] [Figure 16] A cross-sectional view of FIG. 15 is shown.

[0028] [Figure 17] FIG. 2 is a perspective view of the counterbalance assembly.

[0029] [Figure 18] A cross-sectional view of FIG. 17 is shown.

[0030] [Figure 19] FIG. 18 is an exploded view of FIG.

[0031] [Figure 20] FIG. 2 is an exterior perspective view of an embodiment of a rotor hub.

[0032] [Figure 21] FIG. 1 illustrates an interior perspective view of an embodiment of a counterweight assembly.

[0033] [Figure 22] FIG. 13 is an exterior perspective view of an embodiment of a counterweight assembly with the outer hub removed.

[0034] [Diagram 23] FIG. 13 is an inside perspective view of an embodiment of a counterweight outer hub.

[0035] [Figure 24] FIG. 13 is a perspective view of a magnetic actuator of one embodiment of a release mechanism.

[0036] [Diagram 25] FIG. 25 is a perspective view of FIG. 24 with the spoke covers removed and the cam in the locked position.

[0037] [Figure 26] FIG. 25 is a perspective view of FIG. 24 with the spoke cover removed and the cam in the unlocked position.

[0038] [Figure 27] FIG. 25 is a perspective view of FIG. 24 with the spoke covers removed and the magnetic elements having angled tips.

[0039] [Figure 28] 13 illustrates another embodiment of an ejection actuator featuring an extendable roller.

[0040] [Figure 29] FIG. 1 is a perspective view of a preferred rotating arm with a release mechanism on a first spoke and a catch mechanism on a second spoke.

[0041] [Diagram 30] FIG. 30 is an exploded view of FIG. 29.

[0042] [Diagram 31] FIG. 13 is a rear perspective view of one embodiment of a catch mechanism 45.

[0043] [Diagram 32] FIG. 2 is a cross-sectional view of one embodiment of a capsule.

[0044] [Diagram 33] FIG. 1 illustrates an embodiment of a motor / stator mounted on a main shaft.

[0045] [Diagram 34] FIG. 1 is a diagram of a motor sleeve.

[0046] [Diagram 35] FIG.

[0047] [Diagram 36] FIG. 1 is a diagram of one embodiment of a device mounted on a chassis featuring three degrees of freedom R1, R2 and L1.

[0048] [Figure 37] FIG. 2 is another view of an embodiment of the device mounted on a chassis.

[0049] [Figure 38]33 shows a cross-sectional view of the embodiment shown in FIG. 32.

[0050] [Figure 39] FIG. 33 is a more detailed cross-sectional view of the second turntable of FIG. 32.

[0051] [Diagram 40] FIG. 13 is a front perspective view of the shield and door attached to the bridge.

[0052] [Diagram 41] FIG. 13 illustrates a rear perspective view of an embodiment of a shield and door attached to a bridge.

[0053] [Diagram 42] FIG. 13 illustrates a rear cross-sectional view of one embodiment of a shield, door and outer housing.

[0054] [Diagram 43] 1 illustrates a cross-sectional view of one embodiment of an empty catch mechanism.

[0055] [Diagram 44] 1 shows a cross-sectional view of one embodiment of a catch mechanism with a capsule inside.

[0056] [Diagram 45] FIG. 13 illustrates an embodiment in which the right counterweight is in a free position (second position) and has begun to rotate 180° relative to the other spoke of the rotating arm.

[0057] [Figure 46] An embodiment is shown in which the right counterweight is in a locked position (third position) and is on the opposite spoke (180°) from the left counterbalance assembly, which is also in the third position. Description of the Preferred Embodiments

[0058] This specification is primarily directed to launches within 25 km range. However, one skilled in the art will recognize that the system can be optimized to reduce costs or to transport more mass over longer distances. Similarly, the preferred materials for fabricating LNR devices are lightweight titanium or aluminum, and the preferred fabrication methods are often CNC milling or EDM machining. However, other materials and fabrication methods can be used and tailored as desired for the circumstances.

[0059] The major elements of a preferred LNR system are described in more detail below.

[0060] The following steps outline a 25km launch and catch: 1. The payload is loaded into the LNR device 10. See FIG. 1. The preferred payload is a spherical capsule 25 carrying various types of cargo. See FIG. 2. However, other options are viable (e.g., empty capsule, non-spherical capsule, no capsule at all). (See Payload section below). 2. When loading a payload into the launch LNR device 10, the payload may be conveyed upward through the center of the chassis via an actuator and held by ejection mechanism 43, which is attached to the distal end of rotating arm 34. (See, e.g., FIG. 4; see also rotating arm section below). 3. Motor 65 rotates rotating arm 34 about shaft 28 until the rotating arm reaches the desired angular velocity, at which point the payload is released at the desired angle. (See Launch Operation section below). 4. When the payload is released, the moment of inertia of the rotating arm changes. To counteract this change in moment of inertia, a dynamic counterbalance system is preferably used (see Counterbalance section below). 5. The receiving LNR unit 10 can be operably moved into position to catch the payload. (See Chassis section below.) 6. Prior to the catch, the rotating arm 34 of the receiving LNR rotates such that the arm's tip tangential velocity matches the velocity of the incoming payload. Ideally, the only force applied to the system is to change the payload's trajectory into a rotational motion (see catch operation below). 7. Once the receiver catches the payload, the receiver's rotating arm 34 will decelerate and the receiver may unload the payload. Through a regenerative braking process, the receiver can recover some of the kinetic energy of the incoming payload, improving the energy efficiency of the system.

[0061] With the above overview in mind, each of the major components of the preferred LNR device 10 will now be described.

[0062] ( Outer cover ) The outer cover has two main functions: (1) to house the launching / receiving mechanisms and (2) to retrieve misfired payloads. The outer cover includes two main parts: a fixed outer housing 13 and a rotating bridge 17. The outer housing 13 is rigidly connected to the frame 31. The outer housing 13 does not rotate relative to the frame. The lower part of the frame 31 is rigidly connected to a first turntable 86 that is part of the chassis 14 and transfers load to the chassis 14. A rotating arm 34 rotates about a main shaft 28. The main shaft 28 is connected between the upper ends of each frame 31.

[0063] 3-5, the rotating bridge (or "bridge") 17 is a structural element that rotates about a main shaft 28. An actuator motor drives the rotation of the bridge. The actuator motor of the bridge 17 is preferably mounted on the shaft 28. The main purpose of the bridge is to create angular adjustability for launching and receiving payloads. A bridge connector 18 may be used to connect the bridge elements. The bridge connector 18 increases the stiffness of the bridge 17 as the actuator of the bridge 17 acts on the release mechanism and counterbalance. This also keeps both sides of the bridge 17 aligned. The outer housing 13 does not rotate with respect to the frame, only the bridge rotates. This bridge allows for adjustment of the launch and catch angles. Additionally, electronics may be attached to the bridge. The bridge also provides a structure for connecting the launch shield and the sliding door.

[0064] A payload release magnet 62 (and a payload lock magnet 63) may be mounted on the bridge via the bridge frame 20 and used to actuate the release mechanism (described below). In summary, the payload release magnet 62 is preferably a single electromagnet that actuates a cam collar for payload release. Counterbalance magnets (60, 61) are also mounted on the bridge via the bridge frame 20. The release / lock magnets (62, 63) and counterbalance magnets (60, 61) are preferably located on separate radii from the center shaft 28 so as not to interfere with each other. See FIG. 4.

[0065] Referring again to FIG. 1, the outer housing 13 has an elongated opening 15 at the top. The elongated opening 15 allows a payload to enter and exit the device 10 along its length. To cover the elongated opening 15 as much as possible while still allowing firing and catching operations, a shield 19 is preferably attached to the bridge 17 and a door 22 is slidably connected to the shield 19. As shown in FIGS. 40-41, the shield 19 is attached to the bridge 17. The shield 19 rotates with the bridge 17 to change the firing / catching angle. The door 22 slides on a rail 24 to open and close the elongated opening 15. The door 22 opens during firing / catching to allow the payload to exit / enter the elongated opening 15.

[0066] The door 22 preferably includes an actuator that slides open and closed. The combination of the shield 19 and door 22 can be used to cover the elongated opening 15 when the LNR device is not firing or catching. It is preferred that the door remain closed as much as possible to prevent dust and other debris from entering the outer cover. Therefore, the door 22 is preferably only opened during firing and catching.

[0067] The outer housing 13 may be made of a durable metal (e.g., aluminum plated). The outer housing 13 forms a disk-shaped interior volume that surrounds the launch / receive mechanism. The protective cover prevents the payload from escaping the outer cover if it is released at an unacceptable angle. If the payload is not at the correct launch angle, the protective cover holds the payload within the outer cover. The payload rotates on the inner surface of the outer cover until the payload loses kinetic energy and comes to rest at the bottom of the outer cover. Once there is no kinetic energy in the system, the payload can be removed.

[0068] ( Rotating Arm ) To deliver a payload farther, the payload launch must occur at a higher speed and / or flight path angle. A preferred LNR system includes a rotating arm 34 that can rotate up to 1,100 RPM. This capability allows the LNR system to perform payload launch at the lunar surface up to 200 m / s or 25 km.

[0069] The preferred rotating arm 34 includes four main parts: a rotor hub 66, a pair of spokes (40, 47), a release mechanism 43, and a catch mechanism 44. As shown in Figures 7 and 36, the rotor hub 66 surrounds a pair of roller bearings 37, a motor 65, and a rotary encoder 70. The spokes (40, 47) are connected to the distal end of the rotor hub 66. The spokes are preferably identical and each has a release mechanism at its distal end. This is for the preferred embodiment, in practice the LNR may have multiple spokes (as few as one and as many as can be attached). The release mechanism 43 is connected to the first spoke 40 and the catch 82 mechanism is connected to the second spoke 47. The shaft 28 passes through the center of the rotor hub 66.

[0070] A motor 65 rotates the rotating arm. The motor is preferably a brushless DC direct drive motor (BLDC DDM) motor including a stator 72. The stator 72 may be epoxied to a DDM sleeve 74 that is press-fitted to a hub 82. See Figures 33-34. The hub 82 may be press-fitted to a static shaft 28. See Figure 35. In this configuration, the motor may drive the rotating arm about the main shaft via bearings 37. The motor 65 is preferably located close to the shaft and may rotate the rotating arm 34 to the desired speed.

[0071] Figures 3, 4 and 5 show a preferred embodiment. As shown, the main shaft 28 is disposed along a central axis and is connected at either end to frames 31. These frames provide structural support for the shaft and transmit forces to the chassis below (not shown). The main shaft 28 is preferably fixed and the rotating arm 34 is coupled to the shaft by a pair of roller bearings 37 (see Figure 7). It is also preferred that the shaft 28 be a tube to allow wiring and other elements (e.g., rod 89) to pass through it.

[0072] When using a rotary launch mechanism, the release angle and speed must be precisely controlled. Typically, the launch window for a payload is less than 1.5 milliseconds. A high pulse-per-revolution rotary encoder 70 can be used to actively monitor the exact position and speed of the rotating arm 34. The logic required to ensure high accuracy in the system can be implemented in a microprocessor. The microprocessor allows for the collection and interpretation of data collected from connected devices and sensors. In addition, the microprocessor ensures that the motors operate under specified conditions, allowing for consistent launches and catches. The logic in the microprocessor also collects environmental feedback from the device to ensure that all components are protected and maintained in the desired operating conditions.

[0073] Optionally, the spokes (40, 47) of the rotating arm 34 may be curved. 5. The curved shape allows errant payloads (i.e., payloads that are not caught directly at the tip) to be captured and then roll to the tip of the arm where a release mechanism holds the payload in place. Additionally, the rotating arm 34 may be sized to withstand being caught up to 1 / 3 of the way around the center of the arm.

[0074] Similarly, both spokes (40, 47) may prepare to catch the payload. If the payload is caught too close to the center of the arm, the imparted kinetic energy may damage the rotating mechanism due to the speed difference. For each rotation, there are two catch windows (one on each spoke). These catch windows are larger than the launch window. Optionally, the width of the rotating arm is three times the payload, allowing for a larger error margin for the catch.

[0075] Referring to Figure 30, a catch mechanism 44 is connected to the spokes (40, 47). The catch mechanism preferably includes a housing 45 that is open at the front. A funnel / guide 46 is attached to the housing to accommodate slight trajectory perturbations of the incoming payload. The funnel / guide 46 directs the incoming object into a concave surface 42 that is attached to the inside of the housing 45.

[0076] ( release mechanism ) At times, the rotating arm 34 receives a payload into the firing chamber 35. As shown in Figures 9 and 10, the firing chamber 35 includes a collar 68. As the collar rotates, it actuates (via teeth or gears) four helical clamping cams 71. These cams move rollers (in and out) to lock and release the payload. Spoke covers 76 connect to the spokes (40, 47) and lock the cams 71 in place while still allowing them to rotate.

[0077] In operation, the payload is initially locked in place (closed position) so that the four cam-activated rollers 71 hold the payload within the chamber 35. When the collar 68 is actuated, the cams are rotated to unlock the capsule 25 within the firing chamber 35 ("open position"). It is preferred that only the clamping cams 71 hold the payload in place, rather than having the capsule 25 contact a side wall. As shown in Figure 9, the clamping cams 71 are positioned adjacent the maximum diameter of the payload so that only a small amount of clamping cam actuation is required during ejection.

[0078] Activating the collar 68 and releasing the payload (i.e., moving the release mechanism from the closed position to the open position) is preferably done via the release magnet 62. (For purposes of this specification, "magnet" means a magnetic element, i.e., the "magnet" may be an actual magnet. However, it is preferred that an actual magnet is placed on the bridge frame 20 and extends a magnetic field to the collar 68 via a ferromagnetic element). The release magnet 62 is preferably an electromagnet. See Figs. 24-27. The collar 68 preferably also includes a ferromagnetic element. Thus, when the release magnet 62 is turned on, a magnetic couple is created with the collar 68, causing the collar 68 to rotate. Using a magnet to actuate the collar 68 eliminates the need to provide an actuator that must resist G-forces at the end of the arm (holding it from the other side essentially stops the payload from popping out). Optionally, the tip of the release magnet 62 can be angled to increase the magnetic force on the collar 68. See Fig. 27. Upon release, the second collar magnet 62 moves the collar 68 in the opposite direction back to the locked position.

[0079] Alternatively, instead of using magnets, the payload can be launched once roller 77 is extended, see Figure 28. Once roller 77 has extended far enough it engages collar 68, causing collar 68 to rotate slightly relative to the entire release mechanism, thereby releasing cam 71 from its grip on the payload and launching the payload.

[0080] ( Counterbalance ) During operation of the LNR device, it is important to keep the LNR device as balanced as possible, as vibrations caused by imbalance can lead to inaccurate firing and reduced operational life of the LNR. Typically, when the chamber 35 is empty, the rotating arm 34 is balanced. However, when the chamber holds a payload, the rotating arm 34 becomes unbalanced. As a result, without a counterbalance system, the LNR device will become unbalanced as it rotates to the desired angular firing speed. Alternatively, even if the rotating arm 34 was balanced before the payload was released, the rotating arm will become unbalanced after release.

[0081] The counterweight assemblies (48, 49) solve this problem by offsetting the payload load on the rotating arm 34 before launch and balancing the load on the rotating arm after launch. The rotational inertia of each of these two counterweight assemblies is preferably equal. In addition, the counterweight assemblies preferably have a combined rotational inertia equal to the rotational inertia of the payload. The system is then balanced when both counterweights 50, 52 are located on opposite sides of the payload. Similarly, the system is also balanced if both counterweights 50, 52 are located on opposite sides of the main shaft (i.e., 180° from each other) when the chamber 35 is empty.

[0082] As shown in Figure 15, the preferred counterweight assemblies (48, 49) are connected to the main shaft on opposite sides of the rotating arm 34. A first counterweight 50 is adjustably connected to a first counterweight arm 54. Similarly, a second counterweight 52 is adjustably connected to a second counterweight arm 56. Both counterweights (50, 52) need to be adjustable along the length of each counterweight arm so that the total inertia of each arm can be altered to suit the situation (e.g., different payload weights). Such adjustability can be achieved by a variety of methods, such as a threaded connection.

[0083] During spin-up and firing, the counterweight assemblies (48, 49) should be on the same side of the main shaft as each other, facing away from the loaded chamber 35. See FIG. 13. Additionally, the counterweight assemblies (48, 49) should be connected ("locked") to the rotating arm 34. In this state, the entire assembly (rotating arm, capsule and two counterweight assemblies (48, 49)) is rotating on the rotating arm bearing 37. This is called the first position.

[0084] After the capsule 25 is released from the chamber 35, the rotating arm 34 becomes unbalanced since there is no capsule in the release mechanism 43. However, on the other side, both counterweight assemblies are still connected. To balance this state, both counterweight assemblies (48, 49) are first disengaged from the rotating arm 34. Once both counterweight assemblies are disengaged, the rotating arm 34 is in a balanced state (but the system is not in a balanced state, see next paragraph). The rotating arm is now rotating on the rotating arm bearing 37. Each of the two counterweight assemblies (48, 49) is free to rotate on its respective counterweight bearing at a different rpm than the rotating arm. This is called the second position.

[0085] Although the rotating arm 34 is balanced in the second position, the counterweight assemblies (48, 49) are not balanced because both counterweight assemblies (48, 49) are still on the same side of the shaft 28. To bring the counterweight assemblies (48, 49) into a balanced state, one counterweight assembly must be rotated 180° relative to the other. Once this is done, the counterweight assemblies (48, 49) will also be balanced. See, for example, Figures 12 and 14.

[0086] Again, position 1 refers to the position where the counterbalance assemblies 48, 49 are directly locked to the rotating arm 34. See FIG. 13. Position 2 is where the counterbalance assemblies 48, 49 are neutral (disengaged from the rotating arm) and allowed to rotate on their own bearings about the shaft 28. In position 2, the counterbalance assemblies 48, 49 are allowed to change RPM (and position) relative to each other and the rotating arm 34. Position 3 refers to the position where the two counterbalance assemblies (48, 49) are again locked to the rotating arm 34 via the outer hub 57, thereby fixing the rpm and angle of these counterbalance assemblies to the rotating arm. Position 3 occurs in at least two positions (i.e., 0° or 180°). For the purposes of this specification, positions 1 and 3 are referred to as locked mode (or locked positions) and position 2 is referred to as floating mode (or free mode).

[0087] Roughly speaking, the process of finding a good balance works as follows: 1. Before payload release: Both counterbalances are in position 1. 2. After payload release: Both counterbalances are towed to position 2. 3. When one counterbalance assembly is pulled to position 3, the other counterbalance assembly magnet turns on and the counterbalance assembly starts to move 180° (relative to the rotating arm) since there is an angular velocity difference between them. 4. When the other counterbalance assembly reaches 180°, it is pulled to position 3.

[0088] Those skilled in the art will recognize various ways to move between the locked and free modes. A preferred method of moving between modes is to use a male / female key system. For example, as shown in Figures 20 and 21, an inner key 64 can be positioned on the counterweight assembly to engage an inner keyway 67 located on the rotor hub 66. Thus, when the inner key 64 engages with the inner keyway 67, the counterbalance assembly is "locked" to the rotating arm 34 (position 1). Similarly, as shown in Figures 22 and 23, an outer key 69 can be positioned on the counterweight assembly to engage with an outer keyway 73 located on the inner surface of the outer hub 57. Thus, when the outer key 69 engages with the outer keyway 69, the counterbalance assembly is "locked" to the outer hub 57 (position 3). Between positions 1 and 3 is position 2, in which the counterweight assembly does not engage with either the rotating arm 34 or the outer hub 57.

[0089] 19, a preferred counterweight assembly includes the following parts: outer hub 57, button 58, thrust flange 59, bearing housing 78 (including bearings (not shown)), and inner hub 79. The inner hub 79 is secured to the rotor hub 66. And the outer hub 57 is secured to the inner hub 79. The outer hub 57 preferably includes a cutout so that when the outer hub 57 is connected to the inner hub 66, a groove 55 is formed. The bearing housing 68 fits slidably and rotatably inside the inner hub 79 / outer hub 57 combination. The counterweight arms 54, 56 are connected to the bearing housing.

[0090] 21, grooves 55 limit the movement of the counterweight arms 54, 56. That is, when the counterweight assembly is in Position 2, the counterweight is free to rotate relative to the pivot arms, but the freedom of rotation of the counterweight is limited by grooves 55.

[0091] The stepper motor 88 moves the counterweight assembly (48, 49) between the first position, the second position, and the third position via the rod 89. As shown in FIG. 12, the rod 89 connects the stepper motor 88 to the counterweight assembly (48, 49). More specifically, the rod 89 is connected to the button 58. The button 58 is connected to the thrust flange 59. The thrust flange 59 then engages the bearing flange 78. In this configuration, the stepper motor 88 linearly actuates the rod 89 to push the inner key 64 into and out of the inner keyway 67. Similarly, the stepper motor 88 linearly actuates the rod 89 to pull the outer key 69 into and out of the outer keyway 73.

[0092] To achieve position 1, the stepper motor 88 presses the inner key 64 into the inner keyway 67, locking the counterweight assembly to the rotating arm 34. This is true for both counterweight assemblies (48, 49).

[0093] To achieve position 2, the stepper motor 88 pulls the inner key 64 out of the inner groove 67, allowing the bearing flange 78 / counterweight arm (54, 56) to rotate within the groove 55. This applies to both counterweight assemblies (48, 49).

[0094] To move from position 2 to position 3, one of the two counterbalance electromagnets 61, 62 is switched on. When switched on, the magnetic field starts to slow down the rotation of the counterbalance assembly relative to the rotating arm 34. To facilitate the formation of the magnetic couple, it is preferable to add a ferromagnetic ring 75 to the counterbalance assembly. The magnetic couple slows down the rotation of the counterweight assembly as it passes. This allows the rotating arm 34 to "catch up" with the counterbalance, allowing the 180° adjustment. When the counterbalance assembly reaches a position 180° relative to the rotating arm (i.e. opposite the slot 55), it stops. The stepper motor 88 draws the outer key 69 into the outer keyway 73, locking it to the outer hub 57. The outer hub 57 is locked to the rotating arm 34. This is position 3.

[0095] Normally, the other counterbalance does not rotate relative to the rotating arm 34. Instead, after the payload is released, the stepper motor 88 pulls the bearing hub 68 directly to position 3. When both counterbalance assemblies 48, 49 are in position 3 (but opposite each other), the system is rebalanced. See, for example, FIG. 12. Because the two counterweight assemblies detached from the rotating arm 34 after position 1, the loads of the two counterweights are on their respective bearings.

[0096] Ultimately, each payload release involves three elements: the payload and two counterweights. Before launch, both counterweights are positioned opposite the payload. After launch, the counterbalance assembly disengages from the rotating arms 34 and one counterbalance is pulled to the opposite side to balance the system. When a new payload is loaded into the LNR, the counterweights re-engage with the rotating arms 34.

[0097] ( Example: Launch Operation ) First, a payload is loaded into the LNR chamber 35 of the first spoke 40 when the rotating arm 34 is in the vertically lowered position. When the payload is in the chamber, both counterweight assemblies must be connected to the second spoke 47 (i.e., the two counterweights must be connected to the spoke opposite the payload). A key 64 installed in the counterbalance assembly keeps the counterweight assemblies connected to the rotating arm. The inertia of the first spoke (including the payload) must be balanced by the inertia of the second spoke (including the pair of counterweight assemblies).

[0098] Next, a launch angle is selected. To do this, the control system rotates the bridge 17 to the desired launch angle. Once the motor 65 spins up the rotating arm 34 to the desired angular velocity, the payload is ready to be launched. The control system issues a launch signal and simultaneously turns on the collar magnet 62. The rotating arm 34 continues to rotate until the collar 68 is activated. Three actions then occur simultaneously: (1) the payload is released, (2) the first counterweight arm is released from the rotating arm (position 2), and (3) the second counterweight arm is released from the rotating arm (position 2). This keeps the rotating arms balanced. At this point, the first and second counterbalance arms have their respective counterweight forces on their respective bearings. Next, one of the counterweight magnets 60, 61 is turned on and begins to decelerate one of the counterweight assemblies. The other counterweight assembly moves to position 3. When the first counterweight rotates 180°, it also moves to position 3. Once one of the counterweight arms has switched, the counterbalance system is balanced and the rotating arm can begin to decelerate using its own regenerative braking system.

[0099] (Example: Catching motion) Prior to catch, the pivot arm 34 needs to be balanced to minimize vibration during spin-up. The preferred way to achieve this is to "lock" the first counterweight assembly to the first spoke and the second counterweight assembly to the second spoke (position 3). In this orientation, both counterweight assemblies are connected to the main motor via the pivot arm and are located on opposite sides of the pivot arm. In this orientation, the pivot arm is balanced prior to catch.

[0100] The motor 65 then rotates the rotating arm 34 until its tip speed is parallel to the speed of the incoming payload. It is preferable for the tip of the rotating arm to rotate at a speed approximately 1% slower than the incoming payload, allowing the payload to maintain contact with the rotating arm 34 after being caught. This slight speed difference helps to mitigate any destructive shocks, allowing for a smoother catch.

[0101] When an incoming payload arrives, it contacts and pushes against the rotating arm 34. Once contact is made, one of the counterweight assemblies rotates 180 degrees to the opposite side of the rotating arm to maintain balance. This is preferably achieved by magnets; this moves one counterbalance to the opposite side of the payload pushing against the rotating arm 34 in a circular motion. After catching, both counterweights are side-by-side and positioned directly opposite the payload, thus balancing the rotating arm 34.

[0102] ( Receiving kinetic energy ) Once the payload is caught, its kinetic energy can be converted to electrical energy by regenerative braking. To achieve this, the rotating arm 34 can be directly attached to a DDM BLDC motor. The motor 65 preferably runs along a static shaft that is held in place by the receiving module. The motor itself rotates, but the output shaft does not. This reduces the number of bearings required in the system, improving efficiency and reducing wear. It also allows the attachment of a momentum storage device 94 that rotates in the opposite direction to the rotating shaft. See Figure 4.

[0103] When the payload energy rotates the arm, it spins a motor. The motor slows the arm's rotation while harvesting kinetic energy. In a 25km, 12kg payload scenario (harvesting kinetic energy from the launch arm and payload), the required power input is 697kJ, but the net power input is only 325.7kJ. The efficiency of the system depends on the specific electrical components used and the amount of inertia required to spin up and spin down relative to the payload weight.

[0104] In a pure kinetic energy distribution system, electrical energy is only available when kinetic energy is absorbed. This electrical energy is not continuous and decreases as the arm decelerates. This can result in power spikes that can be detrimental to operations that only expect a continuous power supply, and also require a continuous payload flow, which is not feasible. It is therefore preferable to enable a continuous power supply. A variety of motors may be suitable, but a preferred system uses a brushless DC motor that generates electricity as it spins (when not electrically powered), a three-phase rectifier connected to the DC motor that receives power, and a converter that converts the fluctuating power flow from the DC motor (which varies with torque and RPM) into a continuous voltage. Similarly, a variety of batteries may be suitable, but a lithium-ion battery is preferred, which can store electrical energy harvested from the motor and discharge it as needed. In this system, kinetic energy can be converted to electrical energy, stored, and then continuously output. When the battery is fully charged, the excess energy can be dissipated as heat via a resistor bank.

[0105] For a material distribution cycle, the system spins up a DDM and launches a payload using electrical energy. The launcher can harvest kinetic energy from the arm using the DDM with regenerative braking. The launch rotating arm can eventually come to a complete stop. If material distribution uses a network of LNRs, four LNRs can be used for a 100 km material transfer, with the first LNR firing to a second LNR, which fires to a third, and so on. Instead of an intermediate LNR spinning down its arm and then rotating to the next LNV in the chain to spin up again, the arm stays rotated and the LNV can simply change direction to perform the desired maneuver and release the payload in the new direction.

[0106] The receiving device uses the stored electrical energy to spin up its catching arms, and once the payload arrives, the kinetic energy of the payload is converted to electrical energy through the use of regenerative braking and stored onboard the vehicle.

[0107] The table below shows the pure mechanical energy required to spin up a 1.75 meter launch arm and payload. The estimated electrical input power to the system is 697.4kJ. If the arm's KE harvesting is used, only an additional 409.2KJ is required to be added to the system during launch. If all of the KE is harvested during a full cycle of payload launch and payload catch, only about 325kJ of power is required to be supplied to the system. [Table 1]

[0108] ( Chassis ) The catching device must have the ability to move horizontally and laterally to account for drift of the payload. Mobility is achieved by mounting the frame 17 to a chassis 14, which is optionally mounted on motorized wheels.

[0109] As shown in Figures 36-39, the chassis 14 has three degrees of freedom (R1, R2 and X1). A first turntable 86 is mounted on the chassis to generate rotation shown as R1. The first turntable is preferably driven by a direct drive motor (DDM) and mounted on rollers 89 (Figure 17) that run on a circular track. A linear track 90 supports the first turntable and generates linear translation shown as X1. A second turntable 92 is connected to the underside of the linear track 90 and provides rotation shown as R2. As shown, the preferred chassis 14 device can move as shown at R2, X1 and R1 to control the origin of the launch position and the angle of launch.

[0110] To ensure maximum stiffness without including unacceptable mass, R1, X1 and R2 work together to accommodate less than perfect launch trajectories by adjusting the receiving LNR system in real time. First, the system calculates the payload trajectory, then determines the angular coordinates of the arm at the time of release. R1 then rotates up to 180 degrees to allow X1, the linear carriage, to move along its axis to the required position. Once X1 is in place, R2 rotates to align the arm so that it is ready for the pick-up catch. All three degrees of freedom work simultaneously to ensure that the arm is in place by the time the payload arrives.

[0111] Additionally, the chassis 14 is secured to the lunar surface to provide a stable base for launching payloads. For added stability, the LNR device preferably includes wheels and a spine for locking into place during launch and catch operations. The LNR device can then be towed or towed to a new location by a rover or other vehicle once operations are complete. Additionally, after moving to a new location, the undercarriage can be deployed and the rover can load lunar rocks onto the module, utilizing the spine as a stabilizing weight. Once ready to move, the module ejects regolith and is ready for transport.

[0112] Another option is to add a momentum store 94 along the rotating arm. See FIG. 3. The momentum store accelerates in the opposite direction to the rotating arm, countering the angular momentum caused by the acceleration of the rotating arm. When the payload is released, the momentum store works to counter the instantaneous angular momentum generated in the system. The momentum store then decelerates in conjunction with the rotating arm. When the rotating arm reaches zero RPM, the momentum store stores residual momentum. To release this momentum to the lunar surface, the momentum store can be decelerated slowly. This improves system stability during launch and catch.

[0113] Ideally, once the vehicle is in position, the chassis is lowered. This lowers the center of gravity and creates a support structure for the chassis, limiting vibration, bouncing, and movement. The flaps can then be folded up. Earth or stones are placed on top of and alongside the chassis to secure it in place. If possible, vertical or splayed rotary pins are driven into the surface. Optionally, legs can be deployed to provide additional stability. The goal is to stabilize the outer hub so that it does not bounce or rock during operation, which improves accuracy and repeatability.

[0114] ( Payload Design ) The preferred payload 25 is designed as a sphere, since the sphere shape is symmetrical enough to catch whatever spin the payload may have during launch. However, the payload shape can be any shape, such as a disk, an egg, a cylinder, etc., and the release mechanism of the launch system only needs to be modified for different shapes. Different shapes work better for launch-only operations, since the catch must take into account that the catch geometry changes with rotation. For some types of additional payloads, no payload is needed. For example, when recycling crashed spacecraft, the recovered aluminum can be cast into the desired shape and quantity and then loaded into the SK system.

[0115] A spherical payload can be delivered by gravity and therefore pass through the system with minimal actuation. Once the payload is on board, the payload's center of gravity influences the trajectory. The tangential velocity of the system increases proportionally to the distance from the center of rotation. This means that the payload experiences different tangential velocities as it rotates faster. The average velocity occurs at half the height of the payload. So if the center of gravity (CG) is not aligned with the geometric center of the payload, the payload's velocity will change. If rotation is induced in the payload, it will rotate around its own center of gravity, thus causing precession. For the preferred method of release, this is not much of an issue as minimal rotation occurs.

[0116] The CG of the payload needs to be identified before launch for offset cancellation. This can be done by rotating the payload about three axes and monitoring the acceleration profile of the payload. Then, when the payload is loaded into the LNR, the CG can be rotated to align with the center of the payload with respect to the rotating arm. This can be done by adding a small magnet to the bottom of the payload with respect to the CG. When the payload is loaded into the receiving arm, an electromagnet "pulls" the payload so that the "bottom" of the payload is in the proper plane. The release mechanism then locks the payload into place.

[0117] (Catch relaxation) For error mitigation of the launcher, an optional embodiment can be configured with a net to catch the payload with 244kJ of kinetic energy. To ensure that the net can withstand the impact of the payload, materials with high tensile strength, such as high-strength fibers or steel cables, may need to be used. Considering some errors in the launch method, the surface area of ​​the net should be 10m x 10m. Furthermore, the net should be designed with a sufficient safety factor to account for unexpected variations in the kinetic energy or trajectory of the ball.

[0118] To reduce the risk of damage to the net from multiple catches, it may be effective to incorporate a multi-stage deceleration system, which uses a series of nets with decreasing amounts of slack, gradually slowing the payload speed as it passes through each net. This approach may be useful in reducing the risk of damage to the net by distributing the deceleration force over a larger area.

[0119] Another optional embodiment is to design the payload to impact the lunar surface directly. This allows for the transfer of cargo and specific payloads designed for high impact on the lunar surface. The launch mechanism works in a similar manner, except there is no catch process. The first launch between two LNRs is the riskiest, as the location and local space environment information are not verified. To mitigate the risk of failing to catch, two approaches can be taken. First, a sacrifice capsule can be launched to deliberately miss the catching LNR. This allows both the launcher and catcher to monitor the capsule's trajectory and determine whether it matches the model output. This procedure can continue until the model matches the capsule's trajectory. For quality assurance, multiple launches can be made to multiple locations. Alternatively, a smart capsule with built-in thrusters can be used to evaluate the position in real time and perform correction burns to reach the target. The smart capsule records changes made during flight and provides that data to update the LNR's respective models. Launches and catches continue until the system is set up.

[0120] Although the invention has been described in detail with reference to one or more specific preferred embodiments, those of ordinary skill in the art to which the invention pertains will recognize that various modifications and improvements can be made without departing from the spirit and scope of the following claims.

Claims

1. 1. An apparatus for launching and receiving a payload in a low gravity environment, the apparatus comprising: a shaft disposed along a central axis and connected between a pair of frames; a rotating arm connected to the shaft by a roller bearing, a rotating arm comprising a first spoke and a first magnetic actuator on a first distal end, the first magnetic actuator being disposed a first radial distance from the shaft; a bridge rotatably connected to the shaft, the bridge comprising a first magnetic element disposed on the bridge at the first radial distance from the shaft; Equipped with The device is configured to release a payload from the first distal end via activation of the first magnetic element.

2. The device of claim 1 , further comprising a release mechanism disposed at the first distal end, the release mechanism comprising an open position and a closed position.

3. The device of claim 1 , further comprising a second spoke, the second spoke comprising a concave surface at a second distal end.

4. 2. The apparatus of claim 1, further comprising a first counterbalance assembly connected to the shaft, the first counterbalance assembly comprising a counterbalance, a locked position and a free position, in the locked position the first counterbalance assembly is secured to the rotating arm and in the free position the counterbalance is not secured to the rotating arm.

5. a second magnetic element connected to the bridge, the second magnetic element disposed a second radial distance from the shaft and configured to slow down rotation of the first counterbalance assembly; The apparatus of claim 4 further comprising:

6. The apparatus of claim 4 , further comprising a second counterbalance assembly connected to the shaft.

7. The apparatus of claim 1 further comprising a chassis, said pair of frames being attached to said chassis, said chassis providing three degrees of freedom.

8. 1. An apparatus for launching and receiving a payload in a low gravity environment, the apparatus comprising: a shaft disposed along a central axis and connected between a pair of frames; a rotating arm connected to the shaft by a roller bearing, the rotating arm comprising: a first spoke comprising a release mechanism, the release mechanism comprising an open position and a closed position; a second spoke having a concave surface on a second distal end; a rotating arm comprising: a motor connected to the shaft, the motor configured to rotate the rotating arm about the shaft; and Equipped with The apparatus is configured to release a payload from the release mechanism.

9. a first magnetic actuator disposed on the rotating arm at a first radial distance from the shaft; a rotating bridge connected to the shaft, the rotating bridge comprising a first magnetic element disposed at the first radial distance from the shaft; The apparatus of claim 8 further comprising:

10. 9. The apparatus of claim 8, further comprising a first counterbalance assembly connected to the shaft, the first counterbalance assembly comprising a counterbalance, a locked position and a free position, in the locked position the first counterbalance assembly is secured to the rotating arm and in the free position the counterbalance is not secured to the rotating arm.

11. a second magnetic element connected to a bridge, the second magnetic element being disposed a second radial distance from the shaft and configured to slow down rotation of the first counterbalance assembly; The apparatus of claim 10 further comprising:

12. The apparatus of claim 8 , further comprising a second counterbalance assembly connected to the shaft.

13. 9. The apparatus of claim 8, further comprising a chassis, said pair of frames being attached to said chassis, said chassis providing three degrees of freedom.

14. 1. An apparatus for launching and receiving a payload in a low gravity environment, the apparatus comprising: a shaft disposed along a central axis and connected between a pair of frames; a rotating arm connected to the shaft by a roller bearing; a motor connected to the shaft, the motor configured to rotate the rotating arm about the shaft; and a counterbalance connected to the shaft, the counterbalance having a locked position and a free position, in the locked position the counterbalance is fixed to the rotating arm, and in the free position the counterbalance is not fixed to the rotating arm; and An apparatus comprising:

15. The apparatus of claim 14 , further comprising a second counterbalance assembly connected to the shaft.

16. a second magnetic element connected to the bridge, the second magnetic element being disposed at a second radial distance from the shaft and configured to slow down rotation of the first counterbalance; The apparatus of claim 14 further comprising:

17. a first spoke on the rotating arm, the first spoke comprising a first magnetic actuator on a first distal end, the first magnetic actuator disposed a first radial distance from the shaft; a rotating bridge connected to the shaft, the rotating bridge comprising a first magnetic element, the first magnetic element disposed at the first radial distance from the shaft; The apparatus of claim 14 further comprising:

18. 20. The device of claim 17, further comprising a release mechanism disposed at the first distal end, the release mechanism comprising an open position and a closed position.

19. 20. The apparatus of claim 17, further comprising a second spoke, the second spoke comprising a concave surface on a second distal end.

20. 15. The apparatus of claim 14, further comprising a chassis, said pair of frames being attached to said chassis, said chassis providing three degrees of freedom.

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