Object transfer interface for space vehicles and related systems and methods - Patents.com

Abstract

An object transfer interface for a space vehicle and related systems and methods are disclosed. An exemplary system includes a support structure, a latch arm base movably coupled to the support structure, and a coupling mechanism including a latch arm pivotally coupled to the latch arm base. Another exemplary system includes a service valve portion, a coupling portion configured to receive the service valve portion, and a coupling mechanism coupling the service valve portion to the coupling portion. The coupling mechanism may include a latch arm positioned to pivot between a position in which the latch arm is pivoted outward and a position in which the latch arm is pivoted inward to capture the service valve portion. The latch arm may be carried by a latch arm base that translates relative to the support structure of the coupling portion. The object transfer interface may include a self-aligning port with faces that engage with each other via a cup-and-cone configuration.

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates generally to object transfer interfaces for space vehicles and related systems and methods.

[0002] This application claims priority to U.S. Provisional Patent Application No. 62 / 994,668, filed March 25, 2020, the entire disclosure of which is incorporated herein by reference. [Background technology]

[0003] Existing space systems have several shortcomings. For example, launch vehicles may have limited volume and mass capabilities. Spacecraft, e.g., satellites and / or other space-moving machines, are often launched into orbit with a limited amount of fuel on board due to size and / or cost constraints that must be compromised when designing a spacecraft for a particular mission. Space exploration missions may thus be limited in life and / or usefulness due to fuel limitations. Similarly, the features and capabilities of spacecraft, e.g., the type and amount of payload that the spacecraft itself can carry, may be limited and / or compromised because the spacecraft must be launched full of the fuel it will need throughout its life. There is a need for a system and method for refueling spacecraft, particularly spacecraft with long life cycles intended to be in orbit for extended periods of time.

[0004] Refueling a satellite is difficult or impossible with existing systems. For example, existing docking systems and procedures are complicated, and the docking systems of the two satellites or vehicles may be incompatible or may not exist. Existing docking systems are also difficult or impossible to use autonomously. Existing docking systems also do not simultaneously provide adequate docking capabilities and an object transfer interface (e.g., filling and / or emptying). Thus, there is a need for a system and method for transferring objects in space that addresses these shortcomings of existing space systems. Summary of the Invention

[0005] According to one aspect of the invention, there is provided a coupling mechanism comprising: A support structure; a latch arm base movably connected to the support structure; A coupling mechanism is provided that includes one or more latch arms coupled to a latch arm base.

[0006] According to another aspect of the invention, there is provided a system for transferring objects between two containers, 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 positioned to engage the one or more first ports; A system is provided in which the coupling mechanism has a plurality of latch arms positioned for movement between an open position and a closed position, and in the closed position the coupling portion captures the service valve portion.

[0007] According to yet another aspect of the invention, there is provided a system for transferring objects between two spacecraft, the system comprising: a service valve portion having one or more first ports for transferring objects; a coupling portion positioned to receive the service valve portion, the coupling portion including: support structure, one or more second ports positioned to engage the one or more first ports for transferring objects to or from 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 system is provided having a latch arm carried by a latch arm base, the latch arm being movable relative to the latch arm base.

[0008] According to yet another aspect of the invention, there is provided a method of transferring an object between two spacecraft, the method comprising the steps of: detecting at least one of a proximity or contact relationship between a service valve portion carried by the first spacecraft and a mating portion carried by the second spacecraft; upon detecting at least one of a 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; translating the latch arm base relative to a 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 a first spacecraft, through a service valve portion, through a coupling portion, and into a second spacecraft; or (b) transferring the object from the second spacecraft through the coupling portion, through the service valve portion, and into the first spacecraft.

[0009] According to yet another aspect of the present invention, there is provided a port for transferring an object, comprising: a port body having a bore extending therethrough; a port head attached to the first end of the port body, the port head having a port face with a contoured mating surface; a movable pintle positioned within the bore, the pintle extending from the port face when the pintle is in a first position; A port is provided in which the port is closed when the pintle is in a first position and the pintle is movable to a second position in which the port is open to permit the flow of matter through the port body, past the pintle, and through the port face.

[0010] In the drawings, like reference numbers refer to like elements throughout. [Brief description of the drawings]

[0011] [Figure 1A] 1 is a partial schematic perspective view of components of an object transfer interface system including a service valve portion and a space coupling portion at various stages of engaging and / or docking with one another in accordance with an embodiment of the present technology; [Figure 1B] 1 is a partial schematic perspective view of components of an object transfer interface system including a service valve portion and a space coupling portion in different stages of engaging and / or docking with one another in accordance with an embodiment of the present technology; [Figure 1C] 1 is a partial schematic perspective view of components of an object transfer interface system including a service valve portion and a space coupling portion in yet another of various stages of engaging and / or docking with one another in accordance with an embodiment of the present technology. [Diagram 2] FIG. 1D is a perspective view of the service valve portion shown in FIGS. 1A-1C, showing ports of the service valve portion. [Figure 3A-3C] FIG. 3A shows a schematic diagram of a coupling mechanism constructed in accordance with the present technology, the various sub-figures (3A, 3B, 3C) taking together and performing a coupling or decoupling sequence. [Figure 4A] 4A-4C are partial schematic diagrams of the coupling mechanism shown in FIGS. 3A-3C configured in accordance with an embodiment of the present technology, further illustrating an actuator for facilitating the coupling action. [Figure 4B] 1 is a partial schematic perspective view of several components of an object transfer interface system configured in accordance with an embodiment of the present technology; [Figure 4C] 1A-1C show schematic diagrams of a coupling mechanism configured in accordance with an embodiment of the present technology and performing a coupling or decoupling sequence; [Figure 4D] 4C together with a schematic diagram of a coupling mechanism configured in accordance with an embodiment of the present technology and performing a coupling or decoupling sequence. [Diagram 5] 1 is a flow diagram illustrating a coupling and / or fueling process in accordance with an embodiment of the present technique. [Figure 6A-6B] 6A and 6B are partial schematic perspective views of a service valve portion engaged with a ground coupling portion constructed in accordance with an embodiment of the present technique. [Figure 7A] FIG. 1 is a perspective view of a port configured in accordance with an embodiment of the present technology. [Figure 7B] 1 is a perspective view of another port configured in accordance with an embodiment of the present technology. [Figure 8] FIG. 7C is an exploded perspective view of the port shown in FIG. 7B. [Figure 9] FIG. 7C is a cross-sectional view of the ports shown in FIGS. 7A and 7B as they approach each other before docking. [Figure 10] FIG. 7C is a cross-sectional view of the ports shown in FIGS. 7A and 7B mated or engaged with one another. [Figure 11] FIG. 1 is a perspective view of a port assembly configured in accordance with an embodiment of the present technology. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Some embodiments of the present technology relate to systems and methods for transferring objects (e.g., liquids, gases, solids, and / or other substances) in space or on planetary or lunar surfaces. Any of the features described herein may be combined in any suitable manner with any of the other features described herein without departing from the scope of the technology.

[0013] Many specific details of some embodiments of the present technology are described in the following description and in FIGS. 1-11 to provide a thorough understanding of these embodiments. Well-known structures, systems, and methods that are often associated with such embodiments, but that may unnecessarily obscure some important aspects of the present invention, are not described in the following text for clarity of explanation. Furthermore, although the following disclosure describes some embodiments of the present technology, some embodiments of the present technology may have different configurations and / or different components than the embodiments described in this detailed description section. Thus, the present technology may include embodiments that include additional elements and / or that do not include some of the elements described below with reference to FIGS. 1-11.

[0014] Some embodiments of the technology described below may take the form of computer or controller executable instructions, including routines executed by a programmable computer or controller. Those skilled in the art will appreciate that the technology may be implemented in computer / controller systems other than those illustrated and described below. The technology may be embodied in a special purpose computer, controller, or data processor that is specifically programmed, configured, or configured to execute one or more of the computer executable instructions described below. Thus, the terms "computer" and "controller" as used generally herein refer to any data processor, and may include Internet appliances and handheld devices, including palmtop computers, wearable computers, cellular phones, mobile phones, multiprocessor systems, processor-based or programmable consumer electronics, network computers, minicomputers, and the like. Information handled by these computers may be presented on any suitable display medium, including LCDs.

[0015] The technology can also be embodied in a distributed environment where tasks or modules are performed by remote processing devices linked through a communications network. In a distributed computing environment, program modules and / or subroutines can be stored in local and remote storage devices. Aspects of the technology described below can be stored and / or distributed on computer-readable media, including magnetic or optically readable or removable computer disks, and electronically distributed over a network. Data structures and data transmissions specific to aspects of the technology are also within the scope of embodiments of the technology.

[0016] References are made herein to "outer space." Outer space includes orbital space near or around the Earth, Moon, or another planetary body. Those skilled in the art will also appreciate that embodiments of the present technology can be implemented on a planetary or lunar surface, or on another surface. References are also made to fuel or propellant. Those skilled in the art will appreciate that when referring to objects or substances that power and / or propel a spacecraft, the terms fuel and propellant can be used interchangeably, and these terms may include an oxidizer that functions as a propellant when combined with the fuel. Those skilled in the art will also appreciate that when references are 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 pressurized agents, water, coolants, waste, or other objects. Additionally, as those skilled in the art will appreciate, a spacecraft can include any man-made object in outer space.

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

[0018] A. System Overview This disclosure describes systems and / or devices, e.g., object transfer interfaces, configured to facilitate the transfer of objects (e.g., fluids, including fuel, propellant, or other substances) between containers (e.g., containers carried aboard a spacecraft) in an extraterrestrial environment, e.g., outer space, or on an extraterrestrial body, e.g., a moon, planet, or asteroid, or on Earth or in the Earth's atmosphere. While some embodiments contemplate autonomous object transfer activities, the activities performed by the systems and / or spacecraft disclosed herein may be semi-autonomous or non-autonomous, and such activities may include robotics, artificial intelligence, and / or human assistance.

[0019] Some of the object transfer interfaces of the present technology can be embodied in spacecraft with containers for receiving and / or storing objects, such as liquids, gases, and / or other substances. The present technology also includes mating systems for coupling the spacecraft to one another, such as during rendezvous and / or docking maneuvers. Among other advantages, embodiments of the present technology provide spacecraft with the ability to refuel and extend their useful life and / or evacuate waste.

[0020] 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 spacecraft. The space coupling portion 110 may be implemented on a second spacecraft, the space coupling portion configured to receive the service valve portion 105 to transfer objects between the spacecraft or other objects or to function 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 is not used, such that some embodiments of the present technology may be used solely for structural docking and / or for forming data connections. Although space coupling portion 110 is referred to herein as a space coupling portion because it is feasible for a spacecraft, in some embodiments, space coupling portion 110 may be used for other vehicles or containers.

[0021] 1A-1C, taken together, show a service valve portion 105 and a space coupling portion 110 coupling or decoupling from one another in accordance with an embodiment of the present technology. Coupling is generally represented in the sequence of FIG. 1A, then FIG. 1B, then FIG. 1C. Decoupling (disconnecting) is generally represented in the reverse order (FIG. 1C, then FIG. 1B, then FIG. 1A).

[0022] 1A, the service valve portion 105 and the space coupling portion 110 approach each other along 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 moveable arm or a moveable spacecraft to align and couple the service valve portion 105 and the space coupling portion 110 (as in FIGS. 1B and 1C).

[0023] In some embodiments, the space coupling portion 110 may have one or more sensors 115 (shown diagrammatically) positioned on a face of the space coupling portion 110 to detect proximity and / or contact with the service valve portion 105. The sensors 115 may include capacitive touch sensors, proximity sensors, limit switches, optical sensors, or other sensors suitable for detecting contact and / or proximity between the service valve portion 105 and the space coupling portion 110. When the sensor 115 detects contact or sufficient proximity between the service valve portion 105 and the space coupling portion 110, a controller 120 (shown diagrammatically) operatively coupled to the sensor 115 may receive a signal output from the sensor 115 to initiate a 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 (FIGS. 1A and 1B) in which the latch arms 125 are moved outwardly and a second position (FIG. 1C) in which the latch arms 125 are moved inwardly to capture the service valve portion 105. The coupling mechanism is described in further detail below.

[0024] The service valve portion 105 includes a support structure 130 (which may be in the form of a frame or other suitable support structure) that may 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 that may support one or more ports 145a, 145b. For example, the service valve portion 105 may include a propellant port 135a configured to mate with a propellant port 145a provided in the space coupling portion 110 and provide propellant to (or receive propellant from) the propellant port. The service valve portion 105 may include a purge port 135b configured to mate with a purge port 145b provided in the space coupling portion 110 and receive purged material from (or provide purged material to) the purge port. In some embodiments, the support structure 130 may include a first plate 130a, a second plate 130b, and one or more linking elements 130c (e.g., struts or pillars) for connecting the first plate 130a and the second plate 130b to each other.

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

[0026] 1B, the service valve portion 105 is in contact with the space coupling portion 110. FIG. 1B also shows an optional housing 140 around a support structure 142 for 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 any other suitable form of structure. At this point, the sensor 115 detects a contacting relationship or proximity between the service valve portion 105 and the space coupling portion 110. The corresponding ports 135, 145 on the service valve portion 105 and the space coupling portion 110 are engaged or nearly engaged with each other.

[0027] 1C (which also shows an optional housing 140 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 explained below, the latch arm 125 is initially rotated inwardly along a direction R toward the service valve portion 105, thereby overlapping a portion of the support structure 130 (e.g., the first plate 130a) to create a "soft capture" 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 a direction T to press the latch arm 125 against the support structure 130 in order to take up any play between the service valve portion 105 and the space coupling portion 110 to establish a sufficiently rigid interlocking relationship that may be referred to as a "hard latching".

[0028] Thus, the coupling mechanism of the object transfer interface configured in accordance with embodiments of the present technology provides a soft capture state and then a hard latched state using the latch arm 125. The soft capture aspect of the coupling mechanism configured in accordance with embodiments of the present technology helps align the service valve portion 105 with the space coupling portion 110 to ensure engagement between the corresponding ports 135, 145 carried by the service valve portion 105 and the space coupling portion 110. For example, due to the symmetrical nature of the latch arm 125, the service valve portion 105 is guided into alignment with the space coupling portion 110 during a soft capture operation (rotation of the latch arm 125 along direction R), and thereafter the hard latched state (translation of the latch arm 125 along direction T) resists relative motion between the service valve portion 105 and the space coupling portion 110 (e.g., motion caused by relative motion of the corresponding satellite body) and provides a large clamping force that facilitates high pressure fluid connection at the ports 135, 145. In some embodiments, for example, the clamping force provided by the latch arm 125 accommodates pressures ranging from 10 psi to 3000 psi or more for the flow of material between the coupled ports 135, 145. One or more conduits 150 are coupled to the ports 135, 145 for conveying material (e.g., fluids or gases) from corresponding containers to the ports 135, 145.

[0029] 2 is a perspective view of the service valve portion 105 shown in FIGS. 1A-1C. Ports 135, 145 may be configured in a manner suitable for face-to-face connection to facilitate transfer of objects upon connection. Exemplary embodiments of suitable ports are described in further detail below.

[0030] B. Connection between the service valve and the space connecting part 3A-3C together show a schematic diagram of a coupling mechanism 300 configured in accordance with an embodiment of the present technology and performing a coupling or decoupling sequence. Coupling is generally represented by the sequence of FIG. 3A, then FIG. 3B, then FIG. 3C. Decoupling is generally represented by the reverse sequence. In FIG. 3A, the first plate 130a is in close proximity to the space coupling portion 110 with the latch arm 125 open. In FIG. 3B, in response to a signal from the contact or proximity sensor 115 (see FIG. 1), an actuator (e.g., a solenoid, a stepper motor, a servo motor, or another actuator) rotates the latch arm 125 along a direction R to softly capture the first plate 130a of the service valve portion 105. 3B shows that the service valve portion 105 may not be fully engaged with the space coupling portion 110, but cannot move entirely away from the space coupling portion 110 due to soft capture by the latch arms 125 (e.g., due to the position of a lip 360 carried by the latch arms 125 that extends from the latch arms 125 and is positioned to overlap the first plate 130a when the latch arms 125 are rotated inwardly along direction R). FIG. 3C shows that the latch arms 125 have translated along direction T to hard latch the first plate 130a to the space coupling portion 110. Translation along direction T can be facilitated by a wax motor or linear actuator connecting the latch arms 125 to the space coupling portion 110.

[0031] 4A is a partial schematic diagram of a coupling mechanism 300 configured in accordance with an embodiment of the present technology, further illustrating an actuator that performs the coupling action. In some embodiments, the latch arm 125 is movably (e.g., pivotally or rotatably) coupled to the latch arm base 310 to rotate along 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 latch arm base 310 to rotate the latch arm 125 along direction R to provide a soft capture feature 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 more than one latch arm 125 (e.g., multiple latch arms 125 may be positioned similarly to one another, positioned adjacent to one another, and actuated similarly to one another). Each latch arm 125 pivots or rotates relative to the latch arm base 310 via one or more corresponding latch arm actuators 315, or by other sources of force. For example, embodiments may 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 (carrying the latch arm 125) moves along a direction T relative to the support structure 142 of the space coupling portion 110 by a 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 actuators 320 positioned between the latch arm base 310 and the support structure 142 may 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 (e.g., 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 (e.g., two near the top of the latch arm base 310 or two near the bottom of the latch arm base 310). The flexible elements 325 may include springs or flexible strips of material that effectively suspend the latch arm base 310 movably relative to the support structure 142. The flexible elements 325 facilitate a low-friction interface between the latch arm base 310 and the support structure 142, which reduces (e.g., minimizes) the energy required to move the latch arm base 310. For example, in some embodiments, the flexible elements 325 help 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 to engage (press) the latch arm base 310. For example, the actuator 320 can be operatively positioned between the latch arm base 310 and the support structure 142. In some embodiments, the actuator 320 can be positioned to press against a ledge or protrusion 330 extending from the latch arm base 310. In some embodiments, the support structure 142 can include a bracket 347 that supports the actuator 320 on the support structure 142. One or more of the connecting elements 345 can support the bracket 347 and / or another portion of the support structure 142 can support the bracket 347.

[0034] One or more of the actuators 320 may include an actuating portion 350 and a piston rod 355. If the actuator 320 is a wax motor, when power is applied to the wax motor (e.g., upon command 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 downward along direction T). This motion causes the lip 360 of the latch arm 125 (which lip captures the first plate 130a of the service valve portion 105, see FIG. 2) to move downward along direction T (toward the first plate 130a and the support structure 142 of the space coupling portion 110), resulting in a hard latching connection. In some embodiments, the support structure 142 may 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 a protrusion 330) and positioned to press against the support structure 142.

[0035] When power is removed from the wax motor, the wax therein cools, pulling out the piston rod 355 which allows the latch arm base 310 to 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 can be actuated to rotate the latch arm 125 away from the latch arm base 310 to fully 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 so that when power is removed, the wax in the wax motor cools sufficiently to release the forces between the latch arm base 310 and the support structure 142, allowing the flexible element 325 to urge the latch arm base 310 upward along the direction T toward the soft capture position. Additionally, the mechanism 300 may include a spring element that urges the latch arm 125 away from the latch arm base 310 toward the open position. Other springs may be used to urge 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 spacecraft even if one spacecraft experiences a power outage or other emergency. A healthy spacecraft may be quickly and / or automatically separated from a failed or damaged spacecraft. Some embodiments may include a mechanical, electrical, or electromechanical system that urges the service valve portion 105 and the space coupling portion 110 apart when the mechanism 300 is open. For example, one or more springs, pushers, or other decoupling devices may be provided on the space coupling portion 110 and / or the service valve portion 105 to urge the portions 110, 105 apart. In some embodiments, the actuator 320 and / or the springs may be configured to cause the mechanism 300 to assume 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 (e.g., one on each side of each latch arm base 310, generally designated by reference number 320). However, other quantities and combinations of arms, arm bases, actuators, and wax motors may be employed in other embodiments. An advantage of embodiments of the present technology is that the mechanism 300 can engage in soft capture and / or hard latching coupling even in the event of failure of one or more (e.g., all but one of) the latch arm bases 310 and / or latch arms 125. In some embodiments, the coupling mechanism 300 may include an actuator positioned to translate the latch arm 125 relative to the latch arm base 310.

[0038] FIG. 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. FIG. 4B is similar to FIG. 1C, except that this view does not depict the optional housing (140) shown in FIG. 1C, and FIG. 4B shows the components of the interface system 100 rotated approximately 90 degrees about the Z axis. In FIG. 4B, the service valve portion 105 is hard-latched to the space coupling portion 110 as in FIG. 1C. In such a configuration, the ports 135, 145 (see FIG. 1A) are closely engaged to one another to transfer objects between the service valve portion 105 and the space coupling portion 110. FIG. 4B further shows a biasing spring 400 positioned to bias the latch arm base 310 toward an open configuration (e.g., a soft-latched or fully open configuration). A biasing spring 400 may be positioned between the latch arm base 310 and a portion of the support structure 142, such as the lower plate 340, to provide an upward force on the latch arm base 310 along direction T. An exemplary heating element 370 for a wax motor is shown in Figure 4B.

[0039] 4C and 4D together show a schematic diagram of a coupling mechanism 410 configured in accordance with an embodiment of the present technology to perform a coupling or decoupling sequence. The coupling mechanism 410 is substantially similar to 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 arms 125 can engage with the guides 415 to move them to a 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 a guide 415 in the form of an angled edge portion 416 configured to engage with an angled edge portion 420 on the latch arm 125 in some embodiments. When the latch arm 125 is moved downward along a direction T (e.g., by an actuator force), the angled edge portions 416, 420 engage with each other to rotate the latch arm 125 along a direction R. The guides 415 (e.g., angled edge portion 416) effect movement along direction R with or without the presence and / or assistance of an additional actuator to effect rotation along direction R. Thus, both the soft capture and hard latching engagement states provided by coupling mechanisms configured in accordance with certain 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, due at least in part to the geometry of the coupling mechanism 410, the latch arm actuator 315 (see FIGS. 4A and 4B) can be omitted. In some embodiments, the latch arm actuator 315 does not need to be powered or operated to keep the latch arm 125 in its soft captured position. In some embodiments, the coupling mechanism 410 can maintain a hard latched state in the event that the latch arm actuator 315 (see FIGS. 4A and 4B) fails.

[0041] 5 is a flow diagram illustrating a coupling and / or fueling process 500 in accordance with an embodiment of the present technique. In some embodiments, process 500 may be performed under the control of one or more controllers programmed with instructions for carrying out one or more (e.g., all) of the steps of process 500.

[0042] Beginning at block 502, the object transfer interface may be in an idle and / or standby state, in which the service valve portion 105 and the space coupling portion 110 are decoupled and spaced apart from one another. In some embodiments, when the service valve portion 105 and the space coupling portion 110 approach one another, a controller or operator may place the components of the interface system 100 in a standby state (block 504). If the system or operator detects contact (or, in some embodiments, imminent contact) between the service valve portion 105 and the space coupling portion 110 (e.g., via one or more sensors 115 described above), the interface system 100 performs a soft capture operation (block 506) by rotating the latch arm 125 toward the latch arm base 310 (as described above) to generally restrain the service valve portion 105 from moving away from the space coupling portion 110 (i.e., limiting the extent to which the service valve portion 105 can move away from the space coupling portion 110). 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 deemed insufficient for soft capture (e.g., the service valve portion 105 and the space coupling portion 110 are not sufficiently aligned to facilitate a tight coupling between the corresponding ports), the interface system 100 may time out and return to the standby state at block 504.

[0043] After the soft capture operation (block 506), the interface system 100 or an operator verifies whether the interface system 100 is in a soft capture state (block 508) and ready for hard latching at any time. For example, if there is insufficient contact and / or alignment, or if the soft capture fails, the interface system 100 may attempt the soft capture operation (block 506) again, or a controller or other operator may further align the components to improve contact before performing the hard latch operation (block 510).

[0044] After the interface system 100 is deemed to be in a soft capture state (block 508), in block 510, the interface system 100 performs a hard latch as described above (e.g., the latch arm base 310 moves along direction T, see Figures 1C, 3C, 4A, and 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, proper contact and alignment must exist for a period of time, e.g., 10 seconds, for the controller to consider the system to be coupled or docked. Additionally, in some embodiments, the coupling also results in telemetry or other data connectivity (e.g., via data connector 136, see FIG. 1A and FIG. 2) between the service valve portion 105 and the space coupling portion 110 for a period of time (e.g., 10 seconds) before the controller considers the interface system 100 to be in a coupled or docked state. If the docking is considered successful (block 512), in block 514, the controller may initiate fuel delivery or other object transfer via the interface system 100 (e.g., 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, a return to a previous state in the process 500. For example, in some embodiments, if telemetry or other data is not fully exchanged between the service valve portion 105 and the space coupling portion 110, the controller can initiate a handshake failure protocol in block 516, which can include a return to any previous state for a retry. In some embodiments, the controller can indicate a fueling failure (e.g., if a sensor associated with the interface system 100 fails to detect that an object has been successfully transferred and / or that a port has failed) in block 518. In response to a fueling failure, the controller can completely decommission the interface system 100 in block 520 and then return it to the standby state of block 504 (e.g., for a later retry).

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

[0048] Some systems configured in accordance with embodiments of the present technology include an aliveness sensor that outputs a signal indicative of the power state of at least one of the coupled spacecraft (e.g., a signal indicative of whether the spacecraft is powered on or off or whether the spacecraft has experienced a fault). In some embodiments, if at any time the aliveness sensor indicates that one of the coupled spacecraft is in a powered-down state or is experiencing a loss of power or other fault condition, the coupling mechanism responds by halting the coupling process or by uncoupling (although in some embodiments the coupling mechanism may remain coupled).

[0049] Generally, a coupling mechanism constructed in accordance with embodiments of the present technology includes a latch arm that is positioned for movement between an open position and a closed position, in which the coupling portion captures another, for example a service valve portion. Additional embodiments of the coupling mechanism are described below.

[0050] C. Ground connection 6A and 6B are partial schematic perspective views of the service valve portion 105 engaged with a ground coupling portion 600 configured in accordance with an embodiment of the present technology. The ground coupling portion 600 may be embodied on a ground system that is configured to mate with the service valve portion 105, for example, to service a spacecraft on the ground (e.g., to transfer objects to and / or from the spacecraft). The ground coupling portion 600 receives the service valve portion 105 to transfer objects between two containers by connecting ports 135a, 135b (see FIG. 2) of the service valve portion 105 to corresponding ports of the ground coupling portion 600.

[0051] 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) hook- or hammer-shaped latch arms 615 that are spring-loaded (radially away from the center of the ground coupling portion 600) toward an open position.

[0052] The proximal portion 620 of the ground coupling portion 600 is rotatable relative to the distal portion 630. The proximal portion 620 is coupled to the distal portion 630 by a threaded engagement that allows the proximal portion 620 to move up and down along axis Z1 relative to the distal portion 630. Upon rotation of the proximal portion 620 relative to the distal portion 630, as generally indicated by arrow A, the proximal portion 620 translates upward along direction T to push the latch arms 615, which then rotate about a pivot point (e.g., along the direction generally indicated by arrow B) and also close the latch arms 615 about the service valve portion 105 (e.g., about the top plate 130b) to secure the service valve portion 105 to the ground coupling portion 600. In some embodiments, movement of the proximal portion 620 relative to the distal portion 630 can also exert a downward force on the latch arms 615, further securing the service valve portion 105 to the ground coupling portion 600. FIG. 6B shows the service valve portion 105 secured to the ground coupling portion 600 with the latch arms 615 rotated into a position that secures the top plate 130b. In some embodiments, the ground coupling portion 600 can create a Higbee type interlocking relationship between the proximal portion 620 and the distal portion 630. In some embodiments, a resilient tab element 635 is positioned between each of the latch arms 615 and the proximal portion 620 to improve alignment and torque consistency.

[0053] The ground coupling portion may be operated autonomously or may be fully or partially manually operated. In certain exemplary embodiments, the ground coupling portion may be fully manually operated to facilitate fueling of a spacecraft or transferring objects on Earth as opposed to in space. In some embodiments, the ground coupling portion 600 may be embodied in a spacecraft and operated in space.

[0054] D. Self-aligning port Aspects of the present technology include self-aligning ports, which may 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 mating ports 145a, 145b, the port geometry may self-align the ports and seal the connection to allow 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 is engaged with the space coupling portion 110, the male port 135a on the service valve portion 105 mates with the female port 145a on the space coupling portion 110, and the female port 135b on the service valve portion 105 mates with the male port 145b on the space coupling portion 110. Although the pair of male and female ports in the configuration shown in FIG. 1A mates together with another corresponding pair of male and female ports, other configurations may be embodied in other embodiments. For example, the service valve portion 105 may include any suitable number of ports (e.g., one or more) and the space coupling portion 110 may include a corresponding number of corresponding ports. Some or all of the ports on the service valve portion 105 may be male ports and some or all of the ports on the space coupling portion 110 may be female ports, or vice versa.

[0055] 7A is a perspective view of a port 700 configured in accordance with an embodiment of the present technology. The port 700 may 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 systems other than the space coupling portion 110, the service valve portion 105, and the ground coupling portion 600. For example, the port 700 may be embodied in any system and / or mechanism involved in the transfer of objects.

[0056] The port 700 includes a port body 710 and a port head 720. The port body 710 is connectable to a conduit (e.g., conduit 150 shown in FIG. 1A and described above) for transferring objects into and out of 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 objects between the conduit and the port 700. Alternate embodiments may include other connectors suitable for connecting a 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 alternate embodiments, the port 700 may include other devices for attaching the port 700 to a support structure. In some embodiments, the flange 750 may be omitted. The port face 740 can have a contoured engagement surface that is configured to mate with a corresponding contoured engagement surface on another port (e.g., a port described below with reference to FIG. 7B). In some embodiments, the port face 740 has a female or cup portion 770 that is configured to receive a male portion, such as a cone or other protrusion, on another port (e.g., a port described below with reference to FIG. 7B). The port face 740 can have one or more grooves 780 that carry O-rings 785. As described in more detail below, the port face 740 seals against a corresponding port face on another port. In another embodiment, the port face 740 can seal against another face sealing mechanism. The port 700 further includes a movable pintle 787 that may extend from the port face 740 through an opening in the port face 740 to engage a corresponding movable pintle in another port, as described in more detail below.

[0057] FIG. 7B is a perspective view of a port 790 configured in accordance with another embodiment of the present technology. The port 790 is similar to the port 700 described above with reference to FIG. 7A, except that the port head 791 has a different profiled engagement surface configured to mate with a corresponding profiled engagement surface on another port, such as the port 700 described above with reference to FIG. 7A. The port head 791 (which includes the port face 792) can have an optional flange 793 with a different shape than the optional flange 750 described above with reference to FIG. 7A. The port face 792 can have a male portion, such as a cone portion 794 configured to fit into the cup portion 770 of the port 700 described above with reference to FIG. 7A. The port face 792 can further have one or more (e.g., two) grooves 780 that carry an O-ring 785. The port face 792 fits tightly against the corresponding port face 740 described above with reference to FIG. 7B. The port 790 further includes a pintle 787 that may extend from a port face 792 for engaging with a pintle provided on another port, such as the port 700 described above with reference to FIG. 7A.

[0058] Although FIG. 7A shows a generally circular flange 750 and FIG. 7B shows a generally triangular flange 793, ports constructed in accordance with embodiments of the present technology may have flanges having other shapes or the ports may omit a flange.

[0059] FIG. 8 is an exploded perspective view of the port 790 shown in FIG. 7B. FIG. 8 also shows the port body 710 in cross section. The pintle 787 is movable within a bore 800 in the port body 710 along a longitudinal axis 803. The pintle 787 has a pintle tip 805 that optionally protrudes from a port face 792 before the port 790 engages another port (i.e., the port closed position as shown in FIG. 7B). The pintle tip 805 may be pressed into the port body 710 when the port 790 engages another port, as described in more detail below with reference to FIGS. 9 and 10. The pintle tip 805 may have a diameter slightly smaller than the diameter of an opening 810 in the port face 792 through which the pintle tip 805 moves. The pintle 787 is biased toward the port closed position by a resilient element, such as a spring 815. In some embodiments, the port 790 has an O-ring 820 positioned over the pintle 787 to seal the pintle 787 against the inside of the port body 710 and seal the port 790 when the pintle 787 is in the port closed position.

[0060] In some embodiments, additional components may be positioned within the port body 710 to aid in the movement of the pintle 787. For example, in some embodiments, the port 790 includes a rider 825 that moves with the pintle 787 within the bore 800 along the longitudinal axis 803. The pintle 787 may include a pintle shaft 830 positioned within the bore rider 825. The pintle 787 may be formed as a one-piece assembly in some embodiments, or in other embodiments, the pintle may include multiple components joined together. In some embodiments, the pintle 787 is integral with the bore rider 825. The bore rider 825 may have a generally 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 remaining coaxial therewith. The bore rider 825 may keep the pintle 787 coaxial with the bore 800. The bore rider 825 may have one or more slots 835 oriented along the longitudinal axis 803 to allow objects 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 maintain the spring 815 in coaxial alignment with other components of the port 790. The connector element 730 may have threads that mate with optional threads 845 on the bore 800. The connector element 730 covers the bore 800 and retains 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-fit ​​or pressed into the bore 800 .Although a threaded connector element 730 is shown and described, in other embodiments, any suitable connector for connecting conduits and / or retaining components of the port 790 within the port body 710 may be provided.

[0061] As mentioned above, the port 790 shown in Figures 7B and 8 is substantially similar to the port 700 shown in Figure 7A, except for the configuration of the port heads 720, 791, and therefore the above description of the port 790 also applies to the port 700 shown in Figure 7A, which has the same or similar internal components as the port 790 of Figures 7B and 8.

[0062] 9 is a cross-sectional view of the ports 700, 790 as they approach each other prior to mating. The pintle tip 805 in each of the ports 700, 790 may protrude slightly from the port face 740, 792 when each pintle 787 is biased by a spring 815 toward its corresponding port face 740, 792. Prior to mating, an O-ring 820 on the pintle 787 (which may alternatively be carried by the port body 710) seals the port 700, 790 and prevents objects from passing through the port 700, 790.

[0063] FIG. 10 is a cross-sectional view of the mating or engaged ports 700, 790. One aspect of an embodiment of the present technology includes self-centering of the ports 700, 790. The ports 700, 790 do not need to be precisely oriented close to each other because the cup portion 770 receives the cone 794 in a manner that aligns the cup and cone 794 coaxially. Another aspect of an embodiment of the present technology includes a seal between the port faces 740, 792. Three O-rings 785 between the faces 740, 792 provide redundancy and ensure compliance with regulatory standards (e.g., regulatory standards related to hypergolic fuels). In some embodiments, more than four or less than two O-rings 785 may be provided. Redundancy is further provided by distributing O-rings 785 between the two ports 700, 790 (e.g., two O-rings 785 in one of the ports 790 and one O-ring in the other port 700). For example, if one of the ports 700, 790 is damaged (e.g., by a meteor or debris), the O-ring 785 in the other port may be sufficient to provide a seal. Although O-rings are described herein in connection with the port faces 740, 792 and pintle 787, other sealing devices (e.g., crushable seals or other suitable sealing devices) may be used in alternative embodiments. Systems in which the port faces 740, 792 have multiple O-rings or multiple other sealing devices may further include one or more measuring devices to aid in determining the status of the sealing devices (e.g., to help determine whether the sealing devices are functioning properly). Measuring devices may include pressure measuring devices for measuring pressure between the O-rings or other sealing devices. In some embodiments, the O-ring or other sealing device at the port face may be omitted.

[0064] In operation, the pintle tips 805 push against one another, thereby retracting each pintle 787 into the port body 710 (e.g., against the force of the springs 815). Movement of the pintles 787 into the port body 710 opens the passageway 1000 between the bore 800 and the pintle 787. Objects can then freely flow through the mated ports 700, 790 without escaping the seal created by the port faces 740, 792. For example, matter can flow through passage 1010 in connector element 730, through spring retainer 840, around spring 815, past bore rider 825 (e.g., by flowing through slot 835 shown in FIG. 8), past pintle 787, out opening 810 in the port face (see FIG. 8), and into the other port and past the same or similar component in the other port.

[0065] 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 similar to the port faces 740, 792 described with reference to FIGS. 7A-10. For example, one port face 1110a may have a cone portion 794 and another port face 1110b may have a cup portion 770. The port assembly 1100 may be disposed in one or more of the service valve portion 105, the space coupling portion 110, or the ground coupling portion 600 to provide ports 135, 145 (see FIGS. 1A-2 and 4B). The port body 1120 also carries a set of port components for each port face 1110 (e.g., pintle 787, bore rider, spring, O-ring, and spring retainer as described above). Thus, the port assembly 1100 constitutes two ports configured in accordance with an embodiment of the present technology, but within one port body 1120. Although two ports are described within one port body 1120, the same port body 1120 can include two or more ports. One port face has a cup and another has a cone, but in some embodiments, any suitable number of cups and cones can be used as port faces. The port assembly 1100 can mate or engage with another port assembly of another system. 1A, the service valve portion 105 can have port assemblies 1100 as ports 135a, 135b, and the space coupling portion 110 can have port assemblies 1100 as ports 145a, 145b. When the service valve portion 105 engages the space coupling portion 110, the port assemblies 1100 are forced together to form a seal while allowing movement of objects between the port assemblies 1100.

[0066] For general background, in some embodiments, components such as the service valve portion 105, the space coupling portion 110, and / or the ground coupling portion 600 may be sized to fit within a 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 chunk). In other embodiments, the dimensions may be scaled up or down to be larger or smaller. Valves and ports configured according to embodiments of the present invention may be used as service valves, fill / drain valves, fill / vent valves, or other valves for spacecraft or other systems.

[0067] In some embodiments, the conduit associated with the port may be thermally coupled to a heater for the wax motor (or may be thermally coupled to any actuator that generates heat) to use waste heat to control the temperature of the object in the conduit (e.g., to de-icing the fluid). In other embodiments, insulation may be provided between the conduit and the heater for the wax motor. In some embodiments, the force from the spring 815 may help push the port apart, which may help separate the service valve portion 105 from the space coupling portion 110, or may help separate other devices.

[0068] From the above, it will be appreciated that although several embodiments of the present technology have been described herein for illustrative purposes, various modifications may be made without departing from the disclosed technology. For example, more or fewer ports (e.g., one, three, four, or more than four ports) may be used to couple the valve and the coupling portion. Although a cup-and-cone structure is described above in connection with the faces of the ports, other cooperating shapes for creating concentric alignment may be employed in some embodiments. 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 may be positioned in any suitable location that facilitates docking and object transfer. In some embodiments, one or more surfaces of the components of the present technology may include a conductive surface or coating to reduce the buildup of static charge.

[0069] Some additional aspects of the present technology are described in the following embodiments section. [Embodiment 1] A coupling mechanism comprising: A support structure; a latch arm base movably connected to the support structure; and one or more latch arms coupled to the latch arm base. [Embodiment 2] The coupling mechanism of embodiment 1, wherein the one or more latch arms are pivotally connected to the latch arm base. [Embodiment 3] The coupling mechanism of embodiment 1, further comprising an actuator positioned to move the latch arm base relative to the support structure. [Embodiment 4] The coupling mechanism of embodiment 3, wherein the actuator comprises a wax motor. [Embodiment 5] The coupling mechanism of any one of embodiments 1 to 4, wherein the latch arm base is movably coupled to the support structure by one or more flexible elements. [Embodiment 6] The coupling mechanism of any one of embodiments 1-5, further comprising an actuator positioned to rotate the one or more latch arms relative to the latch arm base. [Embodiment 7] 1. A system for transferring objects 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 positioned to engage the one or more first ports; The coupling mechanism has a plurality of latch arms positioned for movement between an open position and a closed position, and in the closed position, the coupling portion captures the service valve portion. [Embodiment 8] The system of embodiment 7, wherein the coupling mechanism has a plurality of latch arm bases, each latch arm being pivotally connected to one of the plurality of latch arm bases, and the latch arm bases are movable relative to the coupling portion. [Embodiment 9] The system of embodiment 7 or 9, wherein the coupling portion has a support structure with a plurality of guides, the latch arm is movable to engage with the guides, and when the latch arm engages with the guides, the latch arm moves to the closed position. [Embodiment 10] The system of embodiment 7, wherein the latch arm is positioned to pivot between a first pivot position in which the latch arm is pivoted outward and a second pivot position in which the latch arm is pivoted inward to capture the service valve portion. [Embodiment 11] The coupling portion has a support structure; the coupling mechanism having 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 for pivoting between the first pivot position and the second pivot position; The system of embodiment 10, wherein the latch arm base is positioned to translate relative to the support structure to move the latch arm between a first linear position in which the service valve portion can move relative to the connecting portion and a second linear position in which the latch arm presses the service valve portion against the connecting portion. [Embodiment 12] The system of embodiment 11, wherein the support structure has a plurality of guides, the latch arm is positioned to engage with the guides, and when the latch arm engages with the guides, the latch arm moves to the second pivot position. [Embodiment 13] 12. The system of embodiment 11, wherein the support structure has a plurality of first angled edge portions, and each latch arm has a second angled edge portion positioned to correspondingly engage a first angled edge portion of the plurality of first angled edge portions when the latch arm is in the second linear position, such that engagement of the first angled edge portion with the second angled edge portion causes the latch arm to pivot to the second pivot position. [Embodiment 14] The binding portion is A proximal portion; a distal portion coupled to the proximal portion by a threaded engagement; 8. The system of embodiment 7, wherein 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. [Embodiment 15] 1. A system for transferring objects between two spacecraft, the system comprising: a service valve portion having one or more first ports for transferring objects; a coupling portion positioned to receive the service valve portion, the coupling portion including: support structure, one or more second ports positioned to engage the one or more first ports for transferring objects to or from the one or more first ports; a latch arm base, said latch arm base being movable relative to said support structure; a first actuator positioned to move the latch arm base relative to the support structure; and The system includes a latch arm carried by the latch arm base, the latch arm being movable relative to the latch arm base. [Embodiment 16] The system of embodiment 15, wherein the coupling portion further comprises a sensor configured to output a signal. [Embodiment 17] The sensor is a proximity sensor, said signal indicating the proximity of said service valve portion to said coupling portion; a contact sensor, said signal indicating a contacting relationship between said service valve portion and said coupling portion; an optical sensor, the signal indicating the proximity or contact relationship between the service valve portion and the coupling portion; or an aliveness sensor, the signal indicating a power status of at least one of the spacecraft; The system of embodiment 16, comprising: [Embodiment 18] At run time, Receiving the signal, The system of embodiment 17, further comprising a controller programmed with instructions to, in response to the signal, actuate 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. [Embodiment 19] a second actuator positioned to rotate the latch arm relative to the latch arm base, the controller further comprising: The system of embodiment 18, further comprising a programmable controller programmed with instructions to actuate the second actuator to rotate the latch arm from a first position to a second position in which the latch arm captures the service valve portion. [Embodiment 20] The system of any one of embodiments 15 to 19, wherein the latch arm base is connected to the support structure by one or more flexible elements. [Embodiment 21] The system of any one of embodiments 15-18, further comprising a second actuator positioned to rotate the latch arm relative to the latch arm base. [Embodiment 22] The system of any one of embodiments 15 to 21, wherein 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. [Embodiment 23] The system of any one of embodiments 15 to 22, wherein the first actuator includes a wax motor. [Embodiment 24] The system of any one of embodiments 15 to 23, wherein 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, biasing the latch arm base toward the first position. [Embodiment 25] The system of any one of embodiments 15 to 24, 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. [Embodiment 26] 1. A method of transferring an object between two spacecraft, the method comprising: detecting at least one of a proximity or contact relationship between a service valve portion carried by the first spacecraft and a mating portion carried by the second spacecraft; upon detection of said at least one of a proximity or a contact relationship between said service valve portion and said mating portion, moving a plurality of latch arms toward said service valve portion to limit relative movement between said service valve portion and said mating portion; translating a latch arm base relative to a 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 aerospace vehicle, through the service valve portion, through the coupling portion, and into the second aerospace vehicle; or (b) 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 27] The method of embodiment 26, further comprising the step of transmitting at least one of data or power between the first spacecraft and the second spacecraft via connectors carried by the service valve portion and the coupling portion. [Embodiment 28] detecting a power state of at least one of the first spacecraft or the second spacecraft; The method of any one of claims 26 to 27, further comprising disengaging the service valve portion from the coupling portion in response to detecting that the first spacecraft or the second spacecraft is in a powered-down state. [Embodiment 29] A port for transferring an object, the port comprising: a port body having a bore extending through the port body; a port head attached to the first end of the port body, the port head having a port face with a contoured mating surface; 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 is movable to a second position where the port is open to allow the flow of matter through the port body, past the pintle and through the port face. [Embodiment 30] The port of embodiment 29, further comprising a resilient element disposed within the bore and positioned within the bore to bias the pintle toward the first portion with a spring force. [Embodiment 31] The port of embodiment 29 or 30, wherein the port face has one or more grooves configured to receive one or more O-rings. [Embodiment 32] The port according to any one of embodiments 29 to 31, further comprising a connector element attached to the second end of the port body. [Embodiment 33] Disclosed herein is a system for transporting objects. [Embodiment 34] A method for transporting an object as disclosed herein.

[0070] Although advantages associated with some embodiments of the present technology have been described in connection with those embodiments, some embodiments may also achieve the advantages described above, and not all embodiments necessarily achieve such advantages to fall within the scope of the present technology. Thus, the present disclosure and related technology may include other embodiments not expressly described or illustrated herein.

[0071] The present disclosure will remain in effect until any material incorporated by reference contradicts the present disclosure. As used herein, the terms "about" and "approximately" refer to values ​​within 10% of the stated value.

Claims

1. A coupling mechanism comprising: a support structure having a plurality of guides; a plurality of latch arm bases supported by and movable relative to the support structure; a coupling mechanism having a plurality of latch arms, each of the plurality of latch arms being pivotally coupled to a corresponding one of the plurality of latch arm bases.

2. The coupling mechanism of claim 1 , further comprising a plurality of actuators positioned to move said latch arm base relative to said support structure.

3. The coupling mechanism of claim 2 wherein each said actuator comprises a wax motor.

4. The coupling mechanism of claim 1 , wherein each said latch arm base is movably coupled to said support structure by one or more flexible elements.

5. 2. The coupling mechanism of claim 1, further comprising a plurality of actuators, each actuator of said plurality of actuators positioned for rotation in corresponding relationship to a respective latch arm of said plurality of latch arms.

6. The coupling mechanism of claim 1, wherein when the latch arm moves relative to the guide, the guide moves the latch arm.

7. A coupling mechanism as described in claim 1, wherein the latch arm is movable relative to the guide, the latch arm is movable between an open position and a closed position, and when the latch arm moves relative to the guide, the guide moves the latch arm toward the closed position.

8. A coupling mechanism as described in claim 1, further comprising a plurality of first actuators positioned to move the latch arm base in a corresponding relationship relative to the support structure, and a plurality of second actuators positioned to rotate the latch arm in a corresponding relationship relative to the latch arm base.

9. 1. A system for transferring objects 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 support structure, a coupling mechanism, and one or more second ports, at least one second port of the one or more second ports being positioned to engage a first port of the one or more first ports, the support structure having a plurality of first angled edge portions; The coupling mechanism comprises: a plurality of latch arms positioned to pivot between a first pivot position in which the latch arms are pivoted outwardly and a second pivot position in which the latch arms are pivoted inwardly to capture the service valve portion; one or more latch arm bases carried by the support structure; each latch arm is pivotally connected in corresponding relationship to one of the one or more latch arm bases, the latch arm bases being positioned to translate relative to the support structure to move the latch arms between a first linear position in which the service valve portion is movable relative to the mating portion and a second linear position in which the latch arms press the service valve portion against the mating portion; each latch arm has a second angled edge portion positioned to correspondingly engage a first angled edge portion of the plurality of first angled edge portions when the latch arm is in the second linear position, such that engagement of the first angled edge portion with the second angled edge portion causes the latch arm to pivot to the second pivot position.

10. A system for transferring objects 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 binding moiety is one or more second ports positioned to engage the one or more first ports; A proximal portion; a distal portion coupled to the proximal portion by a threaded engagement; a coupling mechanism including a plurality of latch arms positioned for movement between an open position and a closed position, wherein in the closed position, the coupling portion captures the service valve portion; 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.

11. 1. A system for transferring objects between two spacecraft, the system comprising: a service valve portion having one or more first ports for transferring objects; a coupling portion positioned to receive the service valve portion, said coupling portion comprising: support structure, one or more second ports positioned to engage the one or more first ports for transferring objects to or from the one or more first ports; a latch arm base, said latch arm base being movable relative to said support structure; a first actuator positioned to move the latch arm base relative to the support structure; and a latch arm carried by said latch arm base, said latch arm movable relative to said latch arm base, said latch arm movable relative to said latch arm base between a first position and a second position; and a spring positioned to bias the latch arm toward the first position.

12. The system of claim 11 , wherein the coupling portion further comprises a sensor configured to output a signal.

13. The sensor includes: a proximity sensor, the signal indicating the proximity of the service valve portion to the coupling portion; a contact sensor, the signal indicating a contacting relationship between the service valve portion and the coupling portion; an optical sensor, the signal indicating a proximity or contact relationship between the service valve portion and the coupling portion; or an aliveness sensor, the signal indicating a power status of at least one of the spacecraft; The system of claim 12 , comprising:

14. At run time, receiving said signal; 13. The system of claim 12, further comprising a controller programmed with instructions to, in response to the signal, actuate 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.

15. a second actuator positioned to rotate the latch arm relative to the latch arm base, the controller further comprising:

15. The system of claim 14, further programmed with instructions to actuate the second actuator to rotate the latch arm from a first position to a second position in which the latch arm captures the service valve portion.

16. The system of claim 11 , wherein the latch arm base is coupled to the support structure by one or more flexible elements.

17. The system of claim 11 , further comprising a second actuator positioned to rotate the latch arm relative to the latch arm base.

18. The system of claim 11 , wherein the first actuator comprises a wax motor.

19. 12. The system of claim 11, wherein the latch arm base is movable relative to the support structure between a first position of the latch arm base and a second position of the latch arm base, the system further comprising a spring positioned between the latch arm base and the support structure, the spring biasing the latch arm base toward the first position of the latch arm base.

20. 12. The system of claim 11, wherein the service valve portion and the coupling portion each include 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.

21. A system for transferring an object between two spacecraft, comprising: a service valve portion having one or more first ports for transferring objects; a coupling portion positioned to receive the service valve portion, the coupling portion comprising: support structure, one or more second ports positioned to engage the one or more first ports for transferring objects to or from the one or more first ports; a latch arm base, said latch arm base movable relative to said support structure between a first position and a second position; a first actuator positioned to move the latch arm base relative to the support structure; a latch arm carried by said latch arm base, said latch arm being movable relative to said latch arm base; and a spring positioned between the latch arm base and the support structure, biasing the latch arm base toward the first position.

22. 1. A method of transferring an object between two spacecraft, the method comprising: detecting at least one of a proximity or contact relationship between a service valve portion carried by the first spacecraft and a mating portion carried by the second spacecraft; detecting a power state of at least one of the first spacecraft or the second spacecraft; and upon detection of said at least one of a proximity or contact relationship between said service valve portion and said mating portion, moving a plurality of latch arms toward said service valve portion to limit relative movement between said service valve portion and said mating portion; translating a plurality of latch arm bases relative to a support structure of the coupling portion, each latch arm base carrying a corresponding one of the plurality of latch arms, the translation of the latch arm bases causing the latch arms to press the service valve portion against the support structure; (a) transferring an object from the first aerospace vehicle through the service valve portion, through the coupling portion, and into the second aerospace vehicle; or (b) at least one of the steps of transferring an object from the second aerospace vehicle through the coupling portion, through the service valve portion, and into the first aerospace vehicle; The method includes disengaging the service valve portion from the coupling portion in response to detecting that the first spacecraft or the second spacecraft is in a powered down condition.

23. 23. The method of claim 22, further comprising transmitting at least one of data or power between the first spacecraft and the second spacecraft via connectors carried by the service valve portion and the mating portion.

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