Robotic cargo transfer systems

Abstract

A system may include a spacecraft bus configured to dock with a cargo exchange module and / or a spacecraft bus docked to re-entry vehicle and two CEM's docked together. A system may include a re-entry vehicle configured to transport a cargo exchange. A system may include at least one cargo exchange module, the cargo exchange module configured to robotically move payloads within the cargo exchange module, and configured to robotically move payloads through a hatch into another cargo exchange module.

Description

Robotic Cargo Transfer SystemsCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 507,957, filed June 13, 2023, the disclosure of which is incorporated herein by reference in its entirety.FIELD OF THE INVENTION

[0002] This invention is generally related to in-space cargo systems. In particular, it is related to robotic cargo transfer systems for in-space servicing and manufacturing.BACKGROUND

[0003] Exchanging hardware between spacecraft while in orbit typically requires crew involvement or intricate robotic manipulators that are costly to develop and operate. In either case, they can require coupling interfaces, docking systems to mate the two vehicles before either the crew or the robotic manipulator can be employed. Current docking system coupling interfaces can be categorized by the spacecraft class they support, and the types of mechanisms involved to perform soft capture and hard capture.

[0004] The current docking adapters that are routinely used for docking operations are the International Docking Adapter (IDA) that is based off of the International Docking System Standard (IDSS) and the Magnetic Capture Docking System developed by NASA Johnson Space Center for micro- and nano-satellites.

[0005] Today, the International Docking System Standard (IDSS) is often considered the state-of-the-art for spacecraft docking. This docking standard is used by NASA’s Docking System along with other agencies operating on the International Space Station (ISS). The system can include a soft-capture system and a hard-capture system to provide low-impact docking for large visiting spacecraft. While this system can be effective for mating large, pressurized vehicles, it relies on crew involvement to transfer cargo across each element.

[0006] The IDSS Soft-Capture System is the initial mechanical mating between the docking systems. It is the first stage of attachment in the docking sequence providing interface alignment, capture, and arrest and stabilization of dynamic motion between the spacecraft. The system can perform soft capture using mechanical capture latches with mechanical strikers.

[0007] The IDSS Hard-Capture System is utilized once the soft-capture system aligns the two mating vehicles and brings the hard capture interfaces into hard capture range, at which point the hard-capture system can be activated. The hard-capture system can perform the final structural mating between the two vehicles, establishing a connection capable of withstanding atmospheric pressure loads combined with loads from mated operations. This system features a set of active and passive hooks that, when activated, drive together both docking systems sealing the elastomeric ring and connecting power and data plugs.

[0008] A magnetic soft-capture system has been developed which can be used to dock micro- or nano-satellites to a host vehicle to transfer services and for maintenance. This system features electromagnets and a ball-lock mechanism for docking while providing a means to transfer power, data, and fluid.SUMMARY OF THE INVENTION

[0009] Devices and methods in accordance with some embodiments of the invention are directed to robotic cargo transfer systems, device, their structure, and methods for their manufacture and use.

[0010] Many embodiments of the disclosure are directed to a cargo exchange module comprising, a structure defining an interior volume; at least one hatch disposed on the structure wherein each of the at least one hatch has an opening disposed therein configured for access to the interior volume and passage of a payload through the opening; an exchange mechanism configured for translating the payload through the at least one hatch; and at least one coupling interface configured for coupling to an ancillary structure.

[0011] In several embodiments, the at least one hatch comprises at least two hatches opposingly disposed on the structure.

[0012] In numerous embodiments, the exchange mechanism is configured to translate the payload through the at least two hatches.

[0013] In some embodiments, the cargo exchange module further comprises a plurality of payload receivers wherein the exchange mechanism is further configured to translate the payload between the plurality of payload receivers.

[0014] In various embodiments, the at least one coupling interface is further configured to receive at least power or communication from the ancillary structure.

[0015] In several embodiments, the structure further comprises a shaft, and the exchange mechanism further comprises at least one coupling device configured for coupling to the payload and translating along a length of the shaft.

[0016] In numerous embodiments, the exchange mechanism further comprises a rotor configured for translating along and rotating about the shaft.

[0017] In some embodiments, the rotor further comprises a rotor wing that extends perpendicular from the shaft.

[0018] In various embodiments, at least one coupling device is configured to translate along the rotor.

[0019] In several embodiments, the exchange mechanism further comprises, a housing with a plurality of through holes configured to receive complementary shafts; a support shaft configured to be received by a support through hole and align the housing with an axis; a translation shaft configured to be received by a translation through hole and translate the housing along the axis; and a rotation shaft configured to be received by a rotation through hole and coupled to a sleeve disposed on the housing and configured to rotate about the housing wherein rotation of the rotation shaft rotates the sleeve about the housing; wherein the sleeve comprises a coupling device configured to couple with a complementary coupling device such that rotation of the sleeve or translation of the housing can couple the coupling device and the complementary coupling device.

[0020] Numerous embodiments of the disclosure are directed to, a system for payload exchange, the system comprising, providing at least one payload, a structure defining an interior volume, and an ancillary structure, wherein the structure is configured for transport and comprises at least one coupling interface, at least one hatch, and atleast one coupling device and wherein the at least one coupling device is configured for coupling with the at least one payload, the at least one hatch is configured with an opening disposed therein, the opening is configured for access to the interior volume, the interior volume is configured for storage of the at least one payload, the at least one coupling interface is configured for coupling with a complementary coupling interface disposed on the ancillary structure, and the structure is further configured for translating the at least one payload within the interior volume and through the at least one hatch; transporting the structure to the ancillary structure; coupling the at least one coupling interface to the ancillary structure; coupling the at least one coupling device to the at least one payload; and translating the at least one payload between the interior volume and the ancillary structure.

[0021] In some embodiments, the ancillary structure defines an ancillary interior volume and the ancillary structure further comprising an ancillary hatch and the ancillary hatch has an opening disposed therein configured for access to the ancillary interior volume and wherein the structure is further configured to translate the at least one payload through the ancillary hatch.

[0022] In various embodiments, the system for payload exchange further comprises a plurality of payload receivers wherein the plurality of payload receivers are configured to receive the at least one payload, and the structure is further configured to translate the at least one payload between the plurality of payload receivers.

[0023] In several embodiments, the structure is further configured to translate the at least one payload in a microgravity environment.

[0024] In numerous embodiments, the ancillary structure is further configured to provide at least power or communication to the structure.

[0025] In some embodiments, the structure further comprises at least one shaft configured for translation of the at least one payload between the plurality of payload receivers.

[0026] In various embodiments, the structure further comprises a rotor configured to at least translate along or rotate about the at least one shaft.

[0027] In several embodiments, the at least one coupling device is configured to translate along the rotor.

[0028] In numerous embodiments, the rotor further comprises a rotor wing that extends perpendicular from the at least one shaft.

[0029] Various embodiments of the disclosure are directed to, a cargo exchange module comprising, a structure defining an interior volume; a plurality of hatches opposingly disposed on the structure wherein each hatch has an opening disposed therein configured for access to the interior volume and passage of a payload through the opening; a plurality of coupling interfaces disposed on the structure wherein at least one coupling interface is configured for coupling to an ancillary structure, and each coupling interface is configured for at least a soft capture system configured for a low attachment force or a hard capture system configured for a rigid connection that can withstand at least 2 atm pressure; an exchange mechanism that can rotate about an axis 360 degrees and comprises at least one coupling device, the at least one coupling device configured to couple to a complementary coupling device, and the exchange mechanism is configured for translating the payload through at least one hatch such that the payload can be received by the ancillary structure; and a plurality of barrels, wherein each barrel is configured to couple to the exchange mechanism, wherein rotation of the exchange mechanism rotates the coupled barrel, and each of the plurality of barrels is further configured to receive a plurality of payloads, and each payload is configured to couple to the exchange mechanism.

[0030] Additional embodiments and features are set forth in part in the description that follows, and in part will become apparent to those skilled in the art upon examination of the specification or may be learned by the practice of the disclosure. A further understanding of the nature and advantages of the present disclosure may be realized by reference to the remaining portions of the specification and the drawings, which forms a part of this disclosure.BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The description and claims will be more fully understood with reference to the following figures and data graphs, which are presented as exemplary embodiments of the invention and should not be construed as a complete recitation of the scope of the invention.

[0032] FIGS. 1A through 1 B conceptually illustrate a reusable space system that includes a permanent spacecraft bus and a re-entry vehicle system pair performing a payload interchange process.

[0033] FIGS. 2A through 2C conceptually illustrates a cross-section of an example Cargo Exchange Module (CEM) with a Robotic Exchange Mechanism (REM).

[0034] FIG. 3 conceptually illustrates an example re-entry vehicle.

[0035] FIG. 4 conceptually illustrates an example spacecraft bus coupled to a CEM and in proximity to a re-entry vehicle.

[0036] FIGS. 5A through 5B conceptually illustrates an example exterior views of a CEM including a Soft-Capture Hard-Capture Docking Adapter (SCHCDA).

[0037] FIG. 6 conceptually illustrates an example of a robotic in-space cargo exchange system can include a first CEM, a second CEM, a re-entry vehicle, and a spacecraft bus.

[0038] FIGS. 7A through 7B conceptually illustrates example views of CEMs.

[0039] FIGS. 8A through 8B conceptually illustrates an example of a carriage assembly capable of translating along a pair of two parallel shafts.

[0040] FIGS. 9A through 9D depicts an example mechanism of a carriage assembly.

[0041] FIG. 10 conceptually illustrates an example CEM with two central shafts.

[0042] FIGS. 11A through 11 B conceptually illustrate another example CEM with two central shafts.

[0043] FIG. 12 conceptually illustrates an example of two CEMs docked together.

[0044] FIGS. 13A and 13B conceptually illustrates illustrate another example CEM with a barreling mechanism.

[0045] FIGS. 14A through 14C conceptually illustrates another Cargo Exchange Module (CEM) with a payload locking mechanism.

[0046] FIGS. 15A through 15D conceptually illustrates a cross-section of an example Cargo Exchange Module (CEM) with carriage interface plates.

[0047] FIGS. 16A through 16C conceptually illustrates example locking mechanisms for a Cargo Exchange Module (CEM).

[0048] FIGS. 17A and 17B conceptually illustrate an example hatch cover for a Cargo Exchange Module (CEM).DETAILED DESCRIPTION

[0049] In accordance with various embodiments of the invention, a robotic cargo transfer system can be utilized to exchange materials and payloads in space between two spacecraft. Such systems are important for the manufacture of next-generation materials and the manufacture and development of materials in microgravity environments such as space.

[0050] A Cargo Exchange Module (CEM) can form a part of a robotic cargo transfer system. CEMs can integrate with a resupply vehicle, house, and / or sort internal payloads and / or exchange those payloads with another spacecraft. The system can perform an on- orbit exchange of payloads to support a variety of applications. In many embodiments, CEMs can be configured to robotically store, sort, and exchange cargo in space, and, in many such embodiments, do so using a compact form factor. In many embodiments, a spacecraft can be a spacecraft bus, a re-entry vehicle, a cargo exchange module, a client spacecraft, and / or a servicing spacecraft.

[0051] Many robotic cargo transfer (RCT) systems can be low-cost and reliable cargo round-trip solutions to space and back. RCT systems can support the transportation of payloads to space, host them in an orbit, and return those payloads back to the ground. In many embodiments, an RCT can support applications such as in-space manufacturing, microgravity research, and / or space hardware testing.

[0052] Many RCT systems can be entirely uncrewed. Several embodiments of RCT systems include three core elements. A first element can be a spacecraft bus that provides power, data, and other utilities to docked modules. A second element can be a reusable re-entry capsule that transports cargo between a spacecraft bus and the Earth’s surface. A third element can be a CEM. A CEM can be a container that holds cargo and can be docked onto a spacecraft bus. The CEM can also be mated with another CEM to exchange standard form-factor payloads. Standard form factor payloads can be used for such applications as manufacturing materials and experiment samples. In several embodiments, a CEM can be configured to transport and exchange standard form factorssuch as 3U CubeSat sized payloads. In accordance with numerous embodiments of the invention, a CEM can be configured to support the exchange of various payload form factors. As can readily be appreciated, the specific size and / or form factor of the payloads transported by a CEM are largely dependent upon the requirements of specific applications.

[0053] RCT systems, in various embodiments, can reliably exchange payloads. In accordance with numerous embodiments of the invention, RCT systems offer a myriad of benefits, such as providing access to viable in-space manufacturing operations, increasing space sustainability, and decreasing space mission costs and development timelines.

[0054] Several embodiments of RCT can provide a suitable facility for in-space manufacturing. The lack of gravity-induced effects in space, such as (but not limited to) buoyancy, convection, and turbulence, can offer a medium proven to enable the creation of new and superior products compared to Earth-made counterparts. Products that benefit from in-space manufacturing can include but are not limited to pharmaceuticals, fiber optics, metal alloys, and / or other products. The exchange of equipment in space can be a key to enabling in-space manufacturing and research at scale. In-space equipment exchange can allow for factories to operate in space with resupply vehicles transporting raw materials up and finished products down.

[0055] The ability to exchange hardware in space between two independent elements can also be leveraged to upgrade large, expensive satellites with new and state- of-the-art mission payloads. In several embodiments, a satellite bus that can include electrical power, communications, thermal control, and other systems can be repurposed to support the latest payload. The payloads can, in various embodiments, be replaceable by robotic in-space operations. In several embodiments, the modularization of entire satellite bus subsystems can allow RCT payloads to include satellite subsystems such as improved propulsion modules, communications equipment, and / or other subsystems appropriate to the requirements of specific applications.

[0056] Servicing on-orbit spacecraft can remove the need to develop and launch an entirely new satellite bus when a new payload needs to be deployed. Currently, the development of the satellite bus that supports the operation of a particular payload is themost expensive part of mission development. By repurposing an existing on-orbit satellite bus, payload operators no longer need to develop or acquire a new bus; rather, they would procure the service to have their payloads installed on an existing satellite. Not only does this have the potential to provide vast cost savings, but it can also significantly reduce development timelines to get a payload to orbit. Several embodiments of the invention provide an on-orbit servicing platform to meet these needs.

[0057] In several embodiments, an RCT can expand warfighting capabilities by enabling robotic exchange of payloads in orbit for satellite servicing, in-space manufacturing, and / or other purposes. Various embodiments are capable of robotically exchanging hardware in space without the need for a robotic arm. In some embodiments, the RCT can enable the rapid deployment of cargo. Some embodiments enable the implementation of space-based logistic systems. Some such embodiments enable space to Earth transportation of cargo. In many such systems cargo located in space can be organized into customized payloads for transportation to Earth. Some such embodiments enable the high-speed transport of cargo from space to remote or high-priority locations. Other embodiments enable point-to-point logistics and rapid asset deployments.

[0058] Increased demand for round-trip access to space from entities such as commercial entities seeking to manufacture products and perform research in microgravity is impeded by the lack of frequent and affordable orbital hosting and Earthreturn services. Microgravity conditions in space present a lucrative avenue for research and manufacturing, particularly among the pharmaceutical, biological, and material sciences. Numerous commercial entities are positioning themselves to take advantage of the next industrial revolution in space. In various embodiments, robotic cargo transfer systems bridge logistical gaps present in space manufacturing by enabling more economical production and manufacturing with uncrewed orbital factories for plug-and- play missions and / or reusable vehicles capable of returning cargo and manufactured products to Earth. In several embodiments, robotic cargo transfer systems offer a seamless process for performing in-space manufacturing, in-space research, and / or inspace technology demonstrations.

[0059] Now turning to the figures. A process, in accordance with various embodiments of the invention, can allow multiple missions to be performed with apermanent spacecraft bus configured to receive a re-entry vehicle. Figure 1A depicts a multiple-mission reusable space payload interchange process in accordance with numerous embodiments. At step 1 , a cargo carrier and retriever will launch from Earth and meet a host satellite. At step 2, rendezvous occurs with an in-orbit satellite. After rendezvous and docking, at step 3, an exchange module, will pass payloads from the cargo carrier to the satellite. After the exchange at step 4, the cargo carrier returns to Earth and at step 5 is refurbished for reuse and relaunch.

[0060] An example depicting a reusable space system that includes a permanent spacecraft bus and a re-entry vehicle system pair performing a payload interchange process is conceptually illustrated in FIG. 1 B. A reusable space system 100 can include a permanent spacecraft bus 102 and at least one re-entry vehicle 104. An initial launch 106 can deliver the spacecraft bus 102 and / or at least one re-entry vehicle 104 into space. An uncrewed mission 108 can be performed in microgravity. The re-entry vehicle 104 can interchange payloads with the spacecraft bus 102 during the uncrewed mission. The reentry vehicle 104 can then perform re-entry 110 while the spacecraft bus 102 remains in orbit. The re-entry vehicle 104 can then be refurbished 112, and new payloads can be integrated 114. In a reuse flight, the re-entry vehicle 104 can be relaunched 116 for the performance of another mission 118.

[0061] This process uses the ability to robotically exchange cargo in space. Robotic space cargo exchange can remove the need to continuously transport manufacturing and support equipment to orbit and back. This, in turn, can improve the value of missions by allowing users to focus on the product. The re-entry vehicle 104 or a permanent spacecraft bus 102 can include a cargo exchange module. In accordance with several embodiments of the invention, a spacecraft bus 102 can be an orbital station and / or an orbital platform.

[0062] A cargo exchange module (CEM) can be a cargo container that is transported by a resupply vehicle such as a re-entry vehicle. CEMs can, in various embodiments, be robotically removed from the vehicle’s payload bay during its mission. CEMs can be outfitted with various coupling interfaces (i.e. , docking systems), such as a Soft-Capture Hard-Capture Docking Adapter (SCHCDA) on each side such that the CEM can be docked on two sides simultaneously. The SCHCDA can include a soft-capturesystem and a hard-capture system to provide low-impact docking for the two mated elements. As can readily be appreciated, the specific coupling interface and docking system that is utilized is largely dependent upon the requirements of a particular application.

[0063] CEMs can include Robotic Exchange Mechanisms (REM) in accordance with many embodiments of the invention. Once a OEM has docked with another CEM and / or a satellite containing a SCHCDA or other appropriate docking mechanism, cargo can be exchanged between both mated elements via the REM. In several embodiments, REMs can include rotors that can rotate 360°. In many embodiments, the rotation of the rotors can be continuous. In several such embodiments, continuous rotation can be advantageous for improving operation speed. In many such embodiments, a rotor with continuous rotation can use the shorter rotation direction each time a rotation is required. In many embodiments, the rotors can travel up and down a central shaft. In some embodiments, the rotor can have wings that contain coupling devices such as grippers. In some such embodiments, each coupling device can be moved independently along the length of a rotor and wing. As can readily be appreciated, the specific mechanical implementation of an REM is largely dependent upon the requirements of particular applications.

[0064] While specific processes and / or systems for a reusable space system that includes a permanent spacecraft bus and a re-entry vehicle system pair performing a payload interchange process are described above, any of a variety of processes and / or systems can be utilized as payload interchange system as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously or in parallel. In many embodiments, such performance can reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a reusable space system that includes a permanent spacecraft bus and a re-entry vehicle system pair performing a payloadinterchange process, the techniques disclosed herein may be used in any type of cargo exchange system such as for example in point-to-point and ground-to-ground systems. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0065] A cross-section of an CEM with REM in accordance with an embodiment of the invention is conceptually illustrated in FIGS. 2A through 2C. A CEM 200 can include a REM 202. The CEM 200 can have a coupling interface docking adapter 204 such as (but not limited to) a SCHCDA disposed on a first side and a second side. The CEM can further include a central shaft 206 along which a central rotor 208 can translate. The central rotor 208 can include a rotor wing 210. The rotor wing 210 can extend from the central rotor 208 towards an outer edge of the CEM 200. Coupling devices such as a first gripper 212 and a second gripper 214 are coupled to the rotor wing 210. The first gripper 212 and the second gripper 214 can translate independently on the rotor wing 210 in a radial direction. Several embodiments incorporate a grasping system. The first gripper 212 and the second gripper 214 can form a grasping system. Grasping systems can be capable of selectively coupling to one or more payloads. Grasping systems can be capable of selectively moving payloads. Payloads 216 can be arranged around the central shaft 206. Payloads 216 can be stabilized by a fixing plate 218. A fixing plate can extend in multiple (e.g., 6) directions. The fixing plate 218 can hold the payloads 216 in conformal receivers 220. In the depicted embodiment, two fixing plates 218 are shown. A CEM can be configured to have fixing plates that correspond to expected payloads. Conformal receivers can be configured to receive payloads with standard dimensions. The CEM 200 can include an access door 224. The access door 224 can be a rotational door which rotates around an axis, the axis coincident with a longitudinal axis of the central shaft 206. In various embodiments the access door can be a rotational door, an iris type door and / or another type of door.

[0066] As shown through the series of FIGS. 2A through 2C, the rotor wing 210 can rotate the coupling devices around the central shaft. In the illustrated embodiment, the coupling devices are made up of a first gripper 212 and a second gripper 214. As can readily be appreciated, the coupling devices can have any of a variety of alternativemechanical configurations appropriate to the requirements of specific applications. The coupling devices can move radially along rotor wings such that the coupling devices can be positioned for attaching to payloads. The REM 202 can include the central rotor 208, the central shaft 210, the rotor wing 212, and first gripper 214 and / or the second gripper 216. The REM 202 can be used to attach to a payload, extract the payload from the conformal receivers 220, and move the payload through an opening in the access door 224.

[0067] In many embodiments, various coupling interface docking adapters, such as SCHCDAs, can have electrostatic, electro-adhesive, and / or magnetic latches. Docking adapters can, in several embodiments, include alignment pins, machine-readable visual indicators such as AprilTags, ARUco markers, and / or binary fiducial markers for alignments. In numerous embodiments, a receiving spacecraft bus can have a vision system for scanning machine-readable visual indicators. Spacecraft buses, in accordance with many embodiments of the invention, can include electro-optical sensors and / or image / data processing algorithms. In many embodiments sensors and processing algorithms can be beneficial to navigate with respect to a client spacecraft using fiducial markers and / or direct relative state and orientation estimation using spacecraft shape and / or material information.

[0068] In a number of embodiments, a rotor wing can be suitable for payloads that measure 10cm on one side, up to 25cm on another side, and / or up to 30cm on a third side. Several embodiments can support payload form factors, including 1 U, 3U, and / or 6U CubeSats. Rotors can, in several embodiments, include a first rotor wing and a second rotor wing. In many such embodiments, the second rotor wing can be configured for differently sized payloads than the first rotor wing. In some such embodiments, a second rotor wing can be configured to accommodate larger CubeSats. Some such embodiments can accommodate up to 24U CubesSat.

[0069] In accordance with many embodiments of the invention, a REM can start in a nominal position with a rotor in a start location and the access door open, as illustrated in FIG. 2A. The rotor and coupling devices can then translate such as to align over the payload and bring the coupling devices into position to couple to and secure a payload as illustrated in FIG. 2B. Finally, the rotor and coupling devices can translate, rotate,and / or shift to place the secured payload into the transfer position, such that it can be transferred externally, as illustrated in FIG. 2C.

[0070] In several embodiments, the REM can include a robotic arm, a manipulator with grippers having 2 degrees of freedom, and / or other types of manipulators and coupling devices. In many embodiments, payloads can also include an attachment mechanism for attaching to REM components. In several embodiments, payloads can rotate within a CEM and / or around a central shaft. In some embodiments, a REM can include a gripper, which can include cylindrical rollers. As can readily be appreciated, the manner in which the REM is implemented and / or the external features of the payload that facilitate transfer via the REM are largely dependent upon the requirements of a specific application.

[0071] While specific processes and / or systems for an exemplary Cargo Exchange Module (CEM) with a Robotic Exchange Mechanism (REM) are described above, any of a variety of processes and / or systems can be utilized as a Cargo Exchange Module (CEM) with a Robotic Exchange Mechanism (REM) as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously or in parallel. In many embodiments, such performance can reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to an example Cargo Exchange Module (CEM) with a Robotic Exchange Mechanism (REM), the techniques disclosed herein may be used in any type of cargo exchange system, such as, for example, in point-to-point and ground-to-ground systems. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0072] In many embodiments, CEMs can be transported to space via but not limited to re-entry vehicles. Re-entry vehicles, in accordance with numerous embodiments of the invention, can support a variety of use cases, including cargo deliveryand return, orbital servicing, in-space manufacturing, as well as research and technology demonstrations. An exemplary re-entry vehicle is conceptually illustrated in FIG. 3. In many embodiments, re-entry vehicles can house a variety of payload types within a configurable payload bay. Key vehicle parameters of a re-entry vehicle in accordance with some embodiments of the invention can include (but are not limited to) a re-entry vehicle total diameter, a re-entry vehicle height, a re-entry vehicle payload volume, a reentry vehicle payload mass, and / or a re-entry vehicle payload lifetime reusability.

[0073] In an exemplary re-entry vehicle, the key vehicle parameters are a total diameter of approximately 101 .6 cm, a re-entry vehicle height of approximately 93.0 cm, a re-entry vehicle payload volume of approximately 76.2 cm Diameter x 76.2 cm Height, a re-entry vehicle payload mass of approximately 250 kg up and, 200 kg down, and a reentry vehicle payload lifetime reusability of over 10 missions. As can readily be appreciated, the specific dimensions of a re-entry vehicle in accordance with an embodiment of the invention is largely dependent upon the requirements of a given application.

[0074] Re-entry vehicles can, in several embodiments, feature at least one primary thruster used for orbital maneuvers and re-entry burns. In many embodiments, re-entry vehicles also include at least one momentum management thruster for momentum management and proximity operations.

[0075] An exemplary embodiment of such a re-entry vehicle features three green propellant 22 Newton primary thrusters used for orbital maneuvers and re-entry bums and nine 1 Newton momentum management thrusters for momentum management and proximity operations. As can readily be appreciated the number of required thrusters for re-entry, and orbital maneuvers typically depends upon the requirements of a given application.

[0076] In another exemplary embodiment of a re-entry vehicle, the key parameters are a total diameter of approximately 500 cm and a vehicle height of about 1000 cm, a vehicle payload volume of approximately 300 cm in diameter, and 600 cm in height. The re-entry vehicle can be equipped with 200 Newton thrusters and can be tailored to the payload requirements such as accommodating a twenty-foot shipping container. As can readily be appreciated, the specific dimensions and the number of required thrusters fora re-entry vehicle are largely dependent upon the requirements of a given application and for successful re-entry and orbital maneuvers.

[0077] In several embodiments, re-entry vehicles can have a combination of electro-optical sensors, reaction wheels, and magnetorquers that enable the attitude determination and / or control precision necessary for accurate pointing during various mission phases. In numerous embodiments, onboard antennas and / or communication equipment can provide data links across ultra-high frequency (UHF) and / or X-Band (e.g., with data rates up to 100 Mbps). In accordance with some embodiments of the invention, a re-entry vehicle configured for microgravity manufacturing missions can have electrical power provided by batteries until the spacecraft rendezvous and docks with a spacecraft bus.

[0078] In various embodiments, re-entry vehicles can be further outfitted with a heat shield such as (but not limited to) a Phenolic-Impregnated Carbon Ablator (PICA) heat shield and / or backshell thermal protection to maintain appropriate temperatures during atmospheric descent. In some embodiments, capsule avionics can provide active control to minimize the forces acting upon the spacecraft and the landing footprint during descent. In numerous embodiments, the capsule’s landing equipment can consist of a parachute system with a pressurized gas mortar ejection mechanism. In some embodiments, to reduce landing and final landing shock loads and footprint, the vehicle can be capable of being captured in the air prior to touchdown. As can readily be appreciated, any of a variety of landing mechanisms can be utilized to control descent and / or reduce landing shock as appropriate to the requirements of specific applications.

[0079] While specific processes and / or systems for an example re-entry vehicle are described above, any of a variety of processes and / or systems can be utilized as an example re-entry vehicle as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments ofthe invention are described in reference to an example re-entry vehicle, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, reentry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0080] In several embodiments, re-entry vehicles can be configured to mate with a permanent uncrewed spacecraft bus. A spacecraft bus coupled to a CEM and in proximity to a re-entry vehicle in accordance with an embodiment of the invention is conceptually illustrated in FIG. 4. An uncrewed spacecraft bus 400 can serve as a primary base of operations for in-space manufacturing missions. A re-entry vehicle 402 can deliver a CEM 404 to the spacecraft bus 400. The CEM 404 is depicted as having exited the re-entry vehicle 402 and docked to the spacecraft bus 400. Spacecraft buses, in accordance with many embodiments of the invention, can be fully independent spacecraft that house their own payloads and / or contain equipment that offers on-orbit capabilities. In many such embodiments, on-orbit capabilities include power, communications, and / or stationkeeping. In an exemplary embodiment, such on-orbit capabilities include continuous power of around 1200 W and peak power of around 2000 W, communications uplink data rate of around 6 Mbps, a downlink data rate of around 150 Mbps, and station keeping. As can readily be appreciated, the specific power and bandwidth requirements of spacecraft buses typically depend on the requirements of a given application.

[0081] Spacecraft buses can, in accordance with numerous embodiments of the invention, have design lives of around 10 years. As can readily be appreciated, the specific design life of a spacecraft bus is largely dependent upon the requirements of a given application. In many embodiments, re-entry vehicles and spacecraft buses are designed to dock with each other through a CEM. Various embodiments are configured for in-space use. In-space, use can refer to use in various orbit regimes between Low- Earth orbit, geostationary / geosynchronous orbit, and / or other orbits and / or positions, including cis-lunar and / or deep space. Many such embodiments can enable the re-entry vehicle to carry only the subsystems necessary to rendezvous with the spacecraft bus and / or to perform re-entry along with its mission payloads. In many embodiments and asshown in FIG. 4, the re-entry vehicle can include a hatch that, when open, can allow a CEM to exit the re-entry vehicle.

[0082] In numerous embodiments, a spacecraft bus can be launched on a rocket and can permanently reside in a Sun-synchronous orbit (SSO). Many such embodiments allow for a constant source of power. Various embodiments are configured for in-space use. In-space use can refer to use in various orbit regimes between Low-Earth orbit, geostationary / geosynchronous orbit, and / or other orbits and / or positions, including cislunar and / or deep space.

[0083] In various embodiments, power can be provided via solar panels that stow during launch and deploy once in orbit. In some embodiments, a propulsion system can be employed for station-keeping maneuvers. In numerous such embodiments, the propulsion system is electric, chemical, and / or hybrid. In several embodiments, an attitude determination and control system can allow the spacecraft to maintain a desired orientation. In numerous such embodiments, the attitude determination and control system includes reaction wheels, magnetorquers, and / or other components. In some such embodiments, the attitude determination and control system includes maintains a sun-facing orientation.

[0084] In many embodiments, spacecraft can include communications systems capable of enabling high bandwidth telemetry downlink and command uplinks. In some embodiments, a communications antenna can enable high bandwidth communications for commanding, telemetry, and an inter-satellite link between spacecraft and / or re-entry vehicles. In various embodiments commercial ground station networks can provide the spacecraft bus with dozens of opportunities for uplink / downlink per day. As can readily be appreciated, the specific communication system incorporated within a spacecraft bus is largely dependent upon the requirements of a given application.

[0085] In many embodiments, a CEM system can include a capture system such as but not limited to a SCHCDA. Some such embodiments include a hard-capture system such as an IDSS and a soft-capture system. In various embodiments, the soft-capture systems can include electromagnets for soft-capture operations. A SCHCDA can, in accordance with various embodiments of the invention, combine the benefits of soft capture, such as an electromagnetic capture, which provides a compact and low-masssoft-capture system with the annular design of the IDSS that provides significant surface area contact to facilitate cargo exchange between the two docked systems. In addition, in numerous embodiments, the SCHCDA mirrored layout can allow the interchange of passive and active sides. In some such embodiments, the passive side can be a client CEM and the active side can be a servicing CEM.

[0086] While specific processes and / or systems, for example, a spacecraft bus coupled to a CEM, are described above, any of a variety of processes and / or systems can be utilized as an example spacecraft bus coupled to a CEM as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to an example spacecraft bus coupled to a CEM, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0087] Exemplary exterior views of a CEM, including a SCHCDA, are conceptually illustrated in FIGS. 5A and 5B. A SCHCDA system on a CEM 500 can include proven hard-capture methodologies such as hard-capture latches 502, power and data plugs 504, power and data sockets 506 and / or elastomeric ring seals 508. The SCHCDA system on the CEM 500 can further include a soft capture such as an electro-magnetic soft capture system. In accordance with several embodiments of the invention, soft capture systems can include electromagnets, electro-adhesives, electromagnetic systems, electrostatic systems, spring actuated systems, linearly actuated systems and / or rotationally actuated systems. In some embodiments, the electro-magnetic soft capture system can include soft-capture electromagnets 510, alignment pins 512, and / or alignment holes 514. Various embodiments are suitable for supporting operations for small satellites such as satellites weighing 100-500kg. In many embodiments once thehard-capture system is employed, the access door can open for the REM to remove and / or intake cargo. For resupply missions to crewed space stations, the central H-fixture 516 can allow the CEM to be manipulated by robotic arms. While installable on any smallsatellite class spacecraft, various embodiments of the SCHCDA can be suitable to operate with a re-entry vehicle and / or CEM to enable on-orbit power, data, and robotic cargo exchange between two elements. In various embodiments, the coupling interface docking systems can be androgynous and can be compatible with other matching docking systems such as SCHCDA. In numerous embodiments, payloads of similar form factors can be stored in a radial pattern around a central shaft inside of CEMs. In many embodiments, REMs can be suitable for moving stored payloads up and down to a hatch and / or another opening in a CEM. In many embodiments, payloads can also be moved to new locations within the CEM. Two docked CEMs can be capable, in various embodiments, of moving payloads between each other. In some embodiments CEMs can have doors and / or hatches that rotate out of the way, that use a mechanical iris arrangement, and / or that jettison away from the CEM.

[0088] While specific processes and / or systems for a CEM, including a Soft- Capture Hard-Capture Docking Adapter, are described above, any of a variety of processes and / or systems can be utilized as a CEM, including a Soft-Capture Hard- Capture Docking Adapter as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a CEM, including a Soft- Capture Hard-Capture Docking Adapter, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0089] In accordance with many embodiments of the invention, a first CEM can dock to a spacecraft bus on a first side, and can dock with a second CEM on a second side. An exemplary robotic in-space cargo exchange system that includes a first CEM, a second CEM, a re-entry vehicle, and a spacecraft bus is conceptually illustrated in FIG. 6. A robotic in-space cargo exchange 600 can include a spacecraft bus 602, a first CEM 604, a second CEM 606, and a re-entry vehicle 608. The re-entry vehicle 608 can have an openable hatch 610 that allows the second CEM 606 to be docked to a first side of the first CEM 604. The first CEM 604 is further docked to the spacecraft bus 602. The spacecraft bus 602 can provide data and power to connected CEMs 604 and 606. CEMs can, in various embodiments, be configured to act as conduits for power, fluid, and / or data connections from spacecraft buses to other CEMs. For example, as illustrated in FIG. 6, the second CEM 606 can receive power, communications, and / or fluids from the spacecraft bus 602 via the first CEM 604. The first CEM 604 and the second CEM 606 can transfer payloads between each other when they are docked together. Payloads can be moved by a first CEM up to and / or at least partially into a second CEM as a transfer between CEMs is performed. CEMs can streamline robotic exchange of payloads in space. CEMs can have a symmetrical design, which can allow the CEM to be docked on both sides with any other compatible docking systems. Through internal mechanisms, CEMs can allow for the sorting of payloads and robotic transfer between two docked CEMs. This capability can allow for the manufacturing of products that require multiple processing steps while reducing the need for customers to continuously ship manufacturing equipment. In accordance with many embodiments of the invention, payloads can be moved around inside of a CEM, with the positioning of payloads relative to a hatch. Positioning of payloads can be performed with a robotic exchange mechanism.

[0090] While specific processes and / or systems for a robotic in-space cargo exchange system can include a first CEM, a second CEM, a re-entry vehicle, and a spacecraft bus are described above, any of a variety of processes and / or systems can be utilized as a robotic in-space cargo exchange system can include a first CEM, a second CEM, a re-entry vehicle, and a spacecraft bus as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited tothe order, sequence and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a robotic in-space cargo exchange system can include a first CEM, a second CEM, a re-entry vehicle, and a spacecraft bus, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0091] Further views of CEMs in accordance with an embodiment of the invention are conceptually illustrated in FIG. 7A through 7B. In FIG. 7B a first CEM 704 can have a first side 706 and a second side 708. The second side 708 can be aligned to and or connected with a first side 710 of a second CEM 712. The second CEM 712 can have a second side 714.

[0092] While specific processes and / or systems for a Cargo Exchange Module are described above, any of a variety of processes and / or systems can be utilized as a Cargo Exchange Module as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a Cargo Exchange Module, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0093] Rotor carriage assemblies can be configured to translate along a central shaft in many embodiments. In some embodiments, the carriage assemblies can beconfigured to translate along one, two, or more generally parallel shafts. A carriage assembly capable of translating along a pair of two parallel shafts in accordance with an embodiment of the invention is conceptually illustrated in FIGS. 8A through 8B. The carriage assembly 800 can include two through holes 802 and one threaded hole 806. The carriage assembly 800 can be configured to translate along two shafts such as the shafts 1104 illustrated in FIG. 11 B. The holes 802 can be configured to receive two shafts, such that the shafts pass through the holes 802. The carriage assembly 800 can be configured such that a first sleeve 804 and a second sleeve 805 can rotate around those two shafts. The sleeves 804 and 805 can have coupling devices such as tabs 812. Each of the tabs 812 can protrude from a sleeve such as sleeve 804 and / or sleeve 805. The sleeve 804 can be translated along the two shafts. The carriage assembly 800 can be part of a robotic exchange mechanism. The tabs 812 can be used to couple to payloads. Payloads can have standard form factors. With tabs 812 coupled to a payload, the sleeve can rotate and / or translate about and / or around the shafts to move and / or position payloads. The payloads can be moved through a first hatch on a first spacecraft and transferred to another robotic exchange mechanism through another hatch on a second spacecraft. The sleeves 804 and 805 can be capable of rotating around a carriage 810. The carriage 810 can be coupled to the sleeves 804 and 805 so that the carriage can translate along the shafts, and each of the sleeves 804 and 805 can rotate around the carriage 810. The sleeves, in many embodiments, can rotate independently of each other. As noted above, the specific mechanism capable of moving payloads within a CEM is largely dependent upon the requirements of specific applications.

[0094] While specific processes and / or systems for a carriage assembly capable of translating along a pair of two parallel shafts are described above, any of a variety of processes and / or systems can be utilized as a rotor capable of translating along a pair of two parallel shafts as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more ofthe above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a rotor capable of translating along a pair of two parallel shafts, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0095] Further views of an exemplary rotor carriage assembly in accordance with an embodiment of the invention are conceptually illustrated in FIG. 9A through 9D. The rotor carriage assembly 900 can include a carriage housing 910 with a plurality of through holes 902, 902’ and 902” that can include support through holes 902, translation through holes 902’, and rotation through holes 902” configured to receive complementary shafts 907, 908, and 909. A support shaft 908 configured to be received by a support through hole 902 can align the housing 910 along an axis. A translation shaft 907 configured to be received by a translation through hole 902’ can translate the housing 910 along the axis. In some embodiments, the translation through hole 902’ and the translation shaft 907 can be complementary threaded such that rotation of the translation shaft 907 results in the translation of the carriage assembly 900 along the axis. In many such embodiments, the rotation of the translation shaft 910 is induced by a coupled motor such as a servo or stepper motor. A rotation shaft 909 configured to be received by a rotation through hole 902” can rotate a sleeve about the housing 910. The rotation shaft 909 can be keyed, such as a “D” profile, and coupled to an internal gear 920 such that rotation of the rotation shaft 909 can induce rotation of the internal gear 920. The internal gear 920 can be coupled to further gears, such as a circumferential gear 922. The gears can be coupled to a sleeve 904 such that rotation of the rotation shaft 909 rotates the sleeve 904 about the housing 910. The sleeve 904 can be capable of rotating about the carriage housing 610 and the carriage housing 610 can be coupled to the sleeve 904 such that the carnage housing 910 can translate along the shafts 907, 908 and 909 and the sleeve 904 can rotate around the carriage housing 910. Support rings and / or bearings 924 can support the sleeve 904 on the housing 910 such that the sleeve can rotate about the housing 910. The sleeve can also be configured with one or more coupling devices 912, and the coupling devices 912 can be configured to couple with complementary coupling devices914 and 916 such that rotation of the sleeve or translation of the housing can couple the coupling device and the complementary coupling device 914 and 916. The coupling device 912 can be tabs, and the tabs can be oriented in multiple orientations to couple to different and / or multiple elements, such as vertical tabs 912 that can be oriented to couple with complementary a coupling device 914 such as the geometry of the carriage interface plates of the barrels. This can allow the rotation of the sleeve 904 to induce rotation of carriage interface plates and barrels. Horizontal tabs 912’ can couple with a complementary coupling tab 916 to couple with payloads 918. This can allow translation of the rotor carriage assembly 900 to induce translation of the payload 918. Translating the payload 918 can move the payload 918 to a target location, such as a payload receiver, through a hatch, another CEM, another exchange mechanism, a structure, or a spacecraft.

[0096] As noted above, the specific mechanism capable of moving payloads within a CEM is largely dependent upon the requirements of specific applications. While specific processes and / or systems for a carriage assembly capable of translating along multiple shafts are described above, any of a variety of processes and / or systems can be utilized as a rotor capable of translating along shafts as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a rotor capable of translating along multiple shafts, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0097] CEMs can take a variety of configurations. In several embodiments, a CEM can have a REM, which includes a rotor carriage assembly. For instance, a CEM can include a rotor carriage assembly 800 and / or 900. A CEM with two central shafts inaccordance with an embodiment of the invention is conceptually illustrated in FIG. 10. A CEM 1000 is shown with a transparent outer covering. In a CEM 1000, a carriage assembly 1002 can travel along a pair of central shafts 1004. One or more sleeves 1003 can rotate relative to a carriage 1002. The body 1006 can include a hatch 1008. The hatch can be configured such that an exchange mechanism REM, including central shafts 1004 and carriage assembly 1002, can pass payloads through the hatch 1008. The sleeve 1003 can have a tab 1010. The tabs 1010 can be configured to couple to payloads. Payloads can be held in a payload receiver 1013 in payload racks 1014, located axially around the exchange module, such as in a circumferential arrangement.

[0098] A CEM with two central shafts, in accordance with another embodiment of the invention is conceptually illustrated in FIG. 11A through 11 B. In a CEM 1100, a rotor carriage assembly 1102 can travel along a pair of central shafts 1104. The carriage assembly 1102 can include one or more rotating sleeves. The sleeves 1103 and 1105 can rotate relative to a carriage of the carriage assembly 1102. The carriage assembly 1102 can be similar to the carnage assembly 800 and / or 900. The body 1106 can include a hatch 1108. The hatch 1108 can be configured such that an exchange mechanism carriage assembly 1102 can translate along central shafts 1104 and, can pass a payload 1118 through the hatch 1108. The carriage assembly 1102 can be similar to the rotor 208. The sleeves 1103 and 1105 can each have a tab. The tabs can be configured to couple to payloads 1118. Payloads can be held in payload racks 1110, located axially around the exchange mechanism (REM), such as a circumferential arrangement.

[0099] While specific processes and / or systems for a cargo exchange module with multiple shafts are described above, any of a variety of processes and / or systems can be utilized as a cargo exchange module with multiple shafts as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are describedin reference to a cargo exchange module with two central shafts, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0100] Several embodiments of CEMs can be docked together at a coupling interface to allow exchange mechanisms to transfer payloads between the docked CEMs. Two CEMs docked together in accordance with an embodiment of the invention is conceptually illustrated with transparencies in FIG. 12. As can be seen, a first CEM 1202 is coupled at a coupling interface to a second CEM 1204. A hatch 1206 on the first CEM 1202 can be aligned with a hatch on the second CEM 1204. The CEMs can perform a transfer where a payload can be coupled to a first REM of the first CEM 1202 and can be translated and passed through the hatch 1206 to a second REM of the second CEM 1204. The second REM can then couple to the payload, and the first REM can release the payload such that the second REM can manipulate the payload in the second CEM 1204.

[0101] While specific processes and / or systems for two cargo exchange modules docked together are described above, any of a variety of processes and / or systems can be utilized as two cargo exchange modules docked together as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to two cargo exchange modules docked together, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0102] A CEM with a barreling rotation mechanism, in accordance with some embodiment of the invention is conceptually illustrated in FIG. 13A and FIG 13B. In a CEM 1300, a barreling mechanism 1302 can rotate and reposition payloads 1304. Thebarreling mechanism 1302 can rotate 360 degrees for repositioning. The barrel 1302 can be coupled to a motor for rotation. A rotor carriage assembly 1306 can travel along a support shaft 1308 and can align with a barrel 1302. A translation motor 1310 can couple to and rotate a translation shaft 1312, which can cause the carriage assembly 1306 to translate along a support shaft 1308 to align the barrel 1302 and carriage assembly 1306 for coupling. The barrel 1302 can have a barrel plate 1314 that can be connected to a barrel housing 1316 configured so that multiple barrels 1302 can rotate independently and so that a barrel 1302 can rotate in the CEM 1300. A set of barrel plates 1314 can connect with a payload rack 1318 and can form payload receiver locations. The barrel plates 1314 can also be connected by coupling rails 1320. The coupling rails 1320 can have a coupling device such as tabs 1322, which can be complementary to a coupling device such as a tab 1324 on the carriage assembly 1306. The carriage assembly 1306 can translate and align the complementary coupling devices 1322 and 1324, coupling the coupling rail 1320 and the carriage 1306. A rotation motor 1326 can couple to and rotate a rotation shaft 1328, which can induce the sleeve 1330 of the carnage assembly 1306 to rotate. The rotation of the sleeve 1330 can induce rotation in a coupled barrel 1302 and reposition payloads 1304. In many such embodiments, rotation of a barrel 1302 can be achieved through the rotation of a sleeve 1330 of a carnage assembly 1306 that is coupled to the barrel’s coupling rail 1320.

[0103] The payload can have a coupling device, such as a tab 1332, which can be complementary to a coupling device, such as a tab 1324’ on the carriage assembly 1306. The carriage assembly 1306 can translate and align the complementary coupling devices 1332 and 1324, coupling the payload 1304 and the carriage 1306. A translation motor 1310 can couple to and rotate a translation shaft 1312, which can cause the carriage assembly 1306 to translate along a support shaft 1308 to align the payload 1304 and carriage assembly 1306 for coupling. The carriage assembly 1306 can translate and induce translation of a coupled payload 1304. The coupling device can be configured 1332 and 1324, such that translation of the coupled payload 1304 can pass the payload through a hatch in the CEM 1300.

[0104] A CEM with a payload locking mechanism, in accordance with an embodiment of the invention is conceptually illustrated in FIG. 14A through 14C. A CEM1400 can keep a payload 1402 secured with a payload locking mechanism 1404. The payload locking mechanism 1404 can be fitted to a payload rack 1406. A payload coupling device such as an electromagnet can secure the payload 1402 to the payload locking mechanism 1404. A Pin and alignment hole 1408 can provide additional assistance in aligning the payload 1402 for coupling the payload 1402, and payload locking mechanism 1404. A payload locking mechanism 1404 can selectively couple to the payload 1402. When coupled, the payload locking mechanism 1404 can secure a payload 1402 in a barrel 1410. In many embodiments the payload locking mechanism 1404 can secure the payload 1402 as a barrel 1410 rotates. When a payload 1402 is not coupled with a payload locking mechanism 1404, the payload 1402 can be coupled with a payload carriage assembly. A coupled carriage assembly can then translate a coupled payload through a hatch 1414 in the CEM 1400.

[0105] A CEM with carriage interface plates in accordance with an embodiment of the invention is conceptually illustrated in FIG. 15A through 15D. In a CEM 1500, a barreling mechanism 1502 can rotate 360 degrees for repositioning. The barrel 1502 can be coupled to a motor for rotation. A rotor carriage assembly 1504 can travel along a support shaft 1506 and can align with a barrel 1502. A translation motor 1508 can couple to and rotate a translation shaft 1510, which can cause the carriage assembly 1504 to translate along a support shaft 1506 to align the barrel 1502 and carriage assembly 1504 for coupling. The barrel 1502 can have a carriage interface plate 1512 that can be connected to a barrel housing 1514 configured so that multiple barrels 1502 can rotate independently and so that a barrel 1502 can rotate in the CEM 1500. A carriage interface plate can have a coupling device, such as a tab or extended geometry 1516, which can be complementary to a coupling device such as a tab 1518 on a sleeve 1520 carriage assembly 1504. The carriage assembly 1504 can translate and align the complementary coupling devices 1512 and 1520, as illustrated in FIG. 15D coupling a carnage interface pate 1512 and a carriage assembly 1504. A rotation motor 1522 can couple to and rotate a rotation shaft 1524, which can induce the sleeve 1520 of the carriage assembly 1504 to rotate. The rotation of the rotation shaft 1524 can be transferred to the sleeve 1520 with coupled gears 1526. The rotation of a sleeve 1520 can induce rotation of a barrel 1502 through a coupled carriage interface plate 1512.

[0106] While specific processes and / or systems for a cargo exchange module with multiple shafts are described above, any of a variety of processes and / or systems can be utilized as a cargo exchange module with multiple shafts as appropriate to the requirements of specific applications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a cargo exchange module with two central shafts, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0107] A CEM with a barrel locking mechanism in accordance with another embodiment of the invention is conceptually illustrated in FIG. 16A through 16C. A locking mechanism 1600 can be connected to a CEM 1602 to selectively lock and unlock a barrel rotation mechanism to allow or prevent the rotation of the barrel relative to the CEM 1602. A barrel locking mechanism can be passive, as illustrated in FIG. 16A or can be an active or controlled mechanism, as illustrated in FIG. 16B and 16C. A passive mechanism, such as the mechanism illustrated in FIG. 16A, a pin 1604 can prevent rotation of the barrel rotation mechanism and can keep the barrel plate 1606 and CEM side wall 1608 aligned. A force can be applied to a pin 1604 such as a loaded compression spring 1610, configured to secure the barrel plate 1606 and CEM side wall 1608 in an alignment unless a second force exceeds the force applied to the pin. An active mechanism can use a motor 1612, solenoid, actuator, or another mechanism to engage a pin 1604 with an aligned barrel plate 1606 and CEM side wall 1608 to prevent rotation, such as a motor 1612 coupled to a crank arm 1614 and pin 1604 illustrated in FIG. 16B and 16C.

[0108] While specific processes and / or systems for a cargo exchange module are described above, any of a variety of processes and / or systems can be utilized as a cargo exchange module with multiple shafts as appropriate to the requirements of specificapplications. In certain embodiments, steps and / or components may be performed and / or configured in any order, sequence, and / or configuration not limited to the order, sequence, and / or configuration shown and described. In a number of embodiments, some of the above steps may be executed or performed substantially simultaneously where appropriate or in parallel to reduce latency and processing times. In some embodiments, one or more of the above steps and / or components can be rearranged or omitted. Although the above embodiments of the invention are described in reference to a cargo exchange module with two central shafts, the techniques disclosed herein may be used in any type of cargo exchange system. The techniques disclosed herein may be used within any of the spacecraft, cargo exchange modules, re-entry vehicles, spacecraft buses, and / or other devices and / or systems as described herein.

[0109] In accordance with several embodiments, a CEM can have sensors such as (but not limited to) magnetic hall effect sensors, microswitches 1528, and / or magnetic or optical encoders that are absolute or relative to determine their location. In many embodiments, the location of a component can be determined relative to a payload and / or relative to a spacecraft. In various embodiments, the sleeve and / or tab can be configured to couple to a standard payload form factor. In numerous embodiments, various means are possible for locating the location and configuration of an exchange mechanism relative to a hatch, a payload, another structure, or a spacecraft component. Some exemplary means for locating a robotic exchange mechanism include visible and / or IR spectrum vision systems, magnetic and / or optical encoders, motor operation data, and / or other information sources.

[0110] In accordance with several embodiments, a CEM can have a hatch 1414. In many such embodiments, a hatch can keep a CEM pressurized before opening to allow a payload transfer in and out of a CEM module. In some embodiments, a hinged hatch door can be used. In other embodiments, a hatch door that rotates or translates in and out of place can be used. In some embodiments, a hatch door can be made of a rigid material. In other embodiments, a hatch door can be made of a flexible material such as a fabric. In some embodiments, a fabric cover can roll for storage and can unroll to align with a hatch. In some such embodiments, a fabric hatch cover can leverage an internalpressure of a CEM as a compressive force, which can shape a fabric hatch cover to a surface and can create the seal.

[0111] A fabric hatch cover 1700 in accordance with an embodiment of the invention is conceptually illustrated in FIG. 17A and 17B. A fabric cover 1702 can be connected to a fabric frame 1704. A fabric frame 1704 can be connected to a liner actuator 1706, and the liner actuator can be connected to an actuator shaft 1708. A linear actuator 1706 can translate along the length of the actuator shaft 1708 aligning a fabric cover with a hatch 1414. Pressurizing a CEM can provide a compressive force, which can create a seal between a hatch surface and a fabric cover 1702. A linear actuator 1706 can translate the fabric cover 1702 out of alignment with a hatch 1414 and provide a clearance for a payload 1402 to pass through the hatch 1414.

[0112] While the above description contains many specific embodiments of the invention, these should not be construed as limitations on the scope of the invention, but rather as an example of one embodiment thereof. Accordingly, the scope of the invention should be determined not by the embodiments illustrated, but by the appended claims and their equivalents.

Claims

WHAT IS CLAIMED IS:1 . A cargo exchange module comprising, a structure defining an interior volume; at least one hatch disposed on the structure wherein each of the at least one hatch has an opening disposed therein configured to provide access to the interior volume and passage of a payload through the opening; an exchange mechanism configured for translating the payload through the at least one hatch; and at least one coupling interface configured for coupling to an ancillary structure.

2. The cargo exchange module of claim 1 , wherein the at least one hatch comprises at least two hatches opposingly disposed on the structure.

3. The cargo exchange module of claim 2, wherein the exchange mechanism is configured to translate the payload through the at least two hatches.

4. The cargo exchange module of claim 1 , further comprising a plurality of payload receivers wherein the exchange mechanism is further configured to translate the payload between the plurality of payload receivers.

5. The cargo exchange module of claim 1 , wherein the at least one coupling interface is further configured to receive at least power or communication from the ancillary structure.

6. The cargo exchange module of claim 1 , wherein the structure further comprises a shaft, and the exchange mechanism further comprises at least one coupling device configured for coupling to the payload and translating along a length of the shaft.

7. The cargo exchange module of claim 6, wherein the exchange mechanismfurther comprises a rotor configured for translating along and rotating about the shaft.

8. The cargo exchange module of claim 7, wherein the rotor further comprises a rotor wing that extends perpendicular from the shaft.

9. The cargo exchange module of claim 7, wherein at least one coupling device is configured to translate along the rotor.

10. The cargo exchange module of claim 1 , wherein the exchange mechanism further comprises: a housing with a plurality of through holes configured to receive complementary shafts; a support shaft configured to be received by a support through hole and align the housing with an axis; a translation shaft configured to be received by a translation through hole and translate the housing along the axis; and a rotation shaft configured to be received by a rotation through hole and couple to a sleeve disposed on the housing and configured to rotate about the housing wherein rotation of the rotation shaft rotates the sleeve about the housing; wherein the sleeve comprises a coupling device configured to couple with a complementary coupling device such that rotation of the sleeve or translation of the housing can couple the coupling device and the complementary coupling device.

11. A system for payload exchange, the system comprising, an ancillary structure comprising an ancillary coupling interface; a cargo exchange module comprising, a structure defining an interior volume; at least one hatch disposed on the structure wherein each of the at least one hatch has an opening disposed therein configured to provide access to the interior volume and passage of a payload through the opening; an exchange mechanism configured for translating the payload through the at least one hatch;and at least one coupling interface configured for coupling to the ancillary coupling interface; wherein the interior volume is configured for storage of the payload, wherein when the at least one coupling interface and ancillary coupling interface are coupled the exchange mechanism is configured to transport the payload between the interior volume and the ancillary structure.

12. The system for payload exchange of claim 11 , wherein the ancillary structure defines an ancillary interior volume and the ancillary structure further comprises an ancillary hatch and the ancillary hatch has an opening disposed therein configured for access to the ancillary interior volume and wherein the exchange mechanism is further configured to translate the payload through the ancillary hatch.

13. The system for payload exchange of claim 11 wherein the structure further comprises a plurality of payload receivers wherein the plurality of payload receivers are configured to receive the payload, and the exchange mechanism is further configured to translate the payload between the plurality of payload receivers.

14. The system for payload exchange of claim 11 , wherein the exchange mechanism is further configured to translate the payload in a microgravity environment.

15. The system for payload exchange of claim 11 , wherein the ancillary structure is further configured to provide at least power or communication to the structure.

16. The system for payload exchange of claim 13, wherein the exchange mechanism comprises at least one shaft configured for translation of the payload between the plurality of payload receivers.

17. The system for payload exchange of claim 16, wherein the exchange mechanism further comprises a rotor configured to at least translate along or rotate about the at least one shaft.

18. The system for payload exchange of claim 17, wherein the exchange mechanism further comprises at least one coupling device configured to couple to the payload.

19. The system for payload exchange of claim 16, wherein the exchange mechanism further comprises, a housing with a plurality of through holes configured to receive complementary shafts; a support shaft configured to be received by a support through hole and align the housing with an axis; a translation shaft configured to be received by a translation through hole and translate the housing along the axis; and a rotation shaft configured to be received by a rotation through hole and couple to a sleeve disposed on the housing and configured to rotate about the housing wherein rotation of the rotation shaft rotates the sleeve about the housing; wherein the sleeve comprises a coupling device configured to couple with a complementary coupling device such that rotation of the sleeve or translation of the housing can couple the coupling device and the complementary coupling device.

20. A cargo exchange module comprising, a structure defining an interior volume; a plurality of hatches opposingly disposed on the structure wherein each hatch has an opening disposed therein configured for access to the interior volume and passage of a payload through the opening; a plurality of coupling interfaces disposed on the structure wherein at least one coupling interface is configured for coupling to an ancillary structure, and each coupling interface is configured for at least a soft capture system configured for a low attachment force or a hard capture system configured for a rigid connection that can withstand a set pressure; an exchange mechanism that can rotate about an axis 360 degrees andcomprises at least one coupling device, the at least one coupling device configured to couple to a complementary coupling device, and the exchange mechanism is configured for translating the payload through at least one hatch such that the payload can be received by the ancillary structure; and a plurality of barrels, wherein each barrel is configured to couple to the exchange mechanism, wherein rotation of the exchange mechanism rotates the coupled barrel, and each of the plurality of barrels is further configured to receive a plurality of payloads, and each payload is configured to couple to the exchange mechanism.

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