DE102019118324B4 - Device and method for changing the position and shape of a body - Google Patents

Abstract

Device (10) with at least one deformable body (20) which can be brought from a first shape state with a first component geometry (20a) into a second shape state with a second component geometry (20b) different from the first component geometry (20a) by applying a deformation force and with an adjusting device for changing the position and shape of the deformable body (20), characterized in that the adjusting device has:- a first adjusting member (11) which is articulated with a first member end (11a) at a first end section of the deformable body (20 ) and is articulated with an opposite second link end (11b) to a base frame (13) at a first point,- at least one second adjustment link (12) which is articulated with a first link end (12a) to a second end section opposite to the first End section of the deformable body (20) and having an opposite second limb end (12 b) is articulated to the base frame (13) at a second point spaced apart from the first point, and- an actuator device (14) which is connected to the deformable body (20), the first adjustment member (11), the second adjustment member (12) and the arrangement on the base frame (13) interacts in such a way that when the actuator device (14) is transferred from a first actuator state to a second actuator state, the deformable body (20) is brought from a first position to a second position , and- that when the actuator device (14) is transferred from the second actuator state to a third actuator state, the deformable body (20) remains in the second position by means of an end stop (15) and a deformation force is exerted on the deformable body (20) instead, so that the deformable body (20) forms a quasi-joint of the linkage and is brought from the first shape state into the second shape state becomes.

Description

The invention relates to a device with at least one deformable body that can be brought from a first shape with a first component geometry into a second shape with a second component geometry that differs from the first component geometry by applying a deformation force. The invention also relates to a method for changing the position and shape of such a deformable body.

The shape of an object not only plays a major role in terms of design, but in many cases is also decisive from a technical point of view. For example, it is crucial for aircraft wings that the shape of the wings has the necessary aerodynamic properties so that the lift required for flight can be generated. A stable shape is essential here, and not just from a safety perspective.

In the area of aircraft wings, however, rigid shapes reveal their greatest disadvantage, namely that they cannot be changed. Because depending on the flight phase, it is desirable for the wings to have different aerodynamic properties in order to adapt as best as possible to the respective flight phase. For this reason, wings of large commercial aircraft usually have leading edge slats (also called slats) and/or landing flaps, which are extended during the take-off and landing phase and thus change the lifting surface of the wings. This results in a change in the profile of the wings, which enables commercial aircraft to generate the necessary lift with the help of the wings, even at low speeds, without having to fear a stall.

With such slats or landing flaps, however, the profile is changed purely mechanically in such a way that the slats or landing flaps represent additional rigid mechanical elements that can be brought into a corresponding target position. As a result, large deformations can be made possible with comparatively low actuator forces. However, this often results in large additional gaps or other discontinuities on the surface, which should be avoided by a corresponding wing design. In addition, such rigid mechanical elements do not offer the possibility of a very precise, gradual adjustment.

For these reasons, efforts have been made for some time to design such elements (referred to as bodies in the context of the present invention) to be shape-changing, so that such bodies can be transferred from a first shape state to a second shape state. In the process, such shape-changing bodies change their component geometry and are therefore no longer classic rigid bodies. Such shape-changing bodies are also referred to as "morphing structures".

From the NL 2006936C a shape-changeable structure of an airfoil is known, in which the actual shape or the profile of the airfoil can be changed to a limited extent without additional mechanical aids. To this end, two or more rows of interconnected cells are proposed, with the cells in a row being subjected to pressure. If the cells in the first row are subjected to a high pressure and the cells in the second row are subjected to a low pressure, the profile of the wing changes to a desired first shape. However, if the pressure ratio of the rows of cells is reversed, the shape can be converted back to the original shape.

Whilst this makes it possible to change the profile of an airfoil, or more generally any object, in its basic shape between two different shape states, but only with respect to a shape with a curvature. Multiple curved surfaces cannot be achieved with the shape-changing structure proposed in the above Dutch patent application. In other words, with the concept proposed in the above Dutch patent application, the Gaussian curvature of a shape of an object cannot be changed significantly.

From the U.S. 2011/0 038 727 A1 a shape-changing airfoil is known in which several interconnected cells are arranged, which can be subjected to a pressure. By changing the pressure conditions within the cell, the cross-sectional shape of each cell is changed, which changes the airfoil on its outer surface.

From the U.S. Patent No. 6,015,115 a variable-shape wing for aircraft is also known, in which bubble-like bodies are arranged on the inside, which can be inflated with air. Due to the resulting pressure conditions inside the wing, the outer shape can be changed.

From the U.S. 2005/0 029 406 A1 an actuator is known that can change its length with the help of pressure-tight cells. By applying pressure in certain cells, their shape is changed in such a way that the overall length of the actuator changes. Through this hydraulic elements of a mechanical system, for example an aileron of an aircraft, can be replaced.

From the U.S. 2019/0 152 581 A1 a mechanism for producing a wing trailing edge is known, in which the trailing edge can be moved from a first position to a second position. When the trailing edge is moved beyond the second position, a mechanism inside the trailing edge is actuated via a ram engaged with the wing, causing the trailing edge to deform as the trailing edge is moved beyond the second position.

From the U.S. 2016/0 185 443 A1 the deformation of a wing leading edge is known, in which the shape of the wing leading edge is changed by means of a toggle joint.

One of the greatest disadvantages of such shape-changing bodies is that such bodies have to withstand the flight loads that occur and at the same time should allow a large deformation (large deviation from the first component geometry to the second component geometry) in order to be able to be used safely in the various phases of flight.

It is therefore the object of the present invention to specify a deformable body that enables great deformability with comparatively low actuator forces and still offers gradual adaptation without making the overall concept too complex and heavy and therefore no longer suitable for flight operations.

The object is achieved with the device according to claim 1 and the method according to claim 9 according to the invention. Advantageous configurations of the invention can be found in the corresponding subclaims.

According to claim 1 a device is proposed with at least one deformable body which can be brought from a first shape state with a first component geometry into a second shape state with a second component geometry different from the first component geometry by applying a deformation force. Such a body is consequently plastically and/or elastically deformable and can thereby change its component geometry or component shape. Furthermore, the device has an adjustment device for changing the position and shape of the body, which is designed to change or adjust both the position of the deformable body and the shape of the deformable body.

During the change in position, the deformable body is preferably moved without changing its shape in such a way that it obtains a changed position in relation to a reference system, while the deformable body is preferably deformed during the change in shape without changing its position in relation to the reference system.

According to the invention, the adjusting device has a first adjusting member which is articulated with a first member end to a first end section of the deformable body and with an opposite second member end articulated to a base frame at a first point. The adjustment device also has a second adjustment link, which is articulated with a first link end to a second end section of the deformable body opposite the first end section and with an opposite second link end articulated to the base frame at a second point spaced apart from the first point. As a result, a coupling mechanism is formed by the deformable body, the first adjusting member, the second adjusting member and the arrangement on the base frame (in this case a square joint), which can be controlled accordingly to change the position.

For this purpose, the adjustment device has an actuator device with at least one actuator, the actuator device interacting with the linkage formed in such a way that when the actuator device is transferred from a first actuator state to a second actuator state, the deformable body is brought from a first position to a second position and that when the actuator device is transferred from the second actuator state to a third actuator state, the deformable body remains in the second position due to an end stop and is fixed by it and instead a deformation force is exerted on the deformable body, so that the deformable body changes from the first shape state to the second shape is brought.

Due to the end stop, by which one of the two adjusting elements of the linkage is fixed when the second actuator state is present, while the other adjusting element remains movable and is not fixed, the position of the deformable body does not change when the actuator device is transferred from the second actuator state to the third actuator state further changed and instead a deforming force is exerted on the body, which causes the deformable body to undergo a change in shape instead of a change in position. In this case, the deformable body a quasi-joint of the linkage.

This device therefore represents a four-bar linkage, which is also characterized in that, when two points are fixed in translation (the two attachment points on the base frame), it has only one degree of freedom that covers the two non-fixed points (articulated connection between the adjustment member and the deformable body) moves. The deformable body performs a combination of translation and rotation, the size of which can be adjusted by the length of the individual rods (adjusting elements). An additional degree of freedom (in the form of an additional joint) leads to a five-bar linkage that has two degrees of freedom and can therefore no longer be clearly determined by an actuator in the movement. What is special about the present invention is that this additional fifth joint is normally fixed, e.g. This degree of freedom can be used when the remaining kinematics are moved against a stop with an adjusting element and the kinematics can no longer move in this direction. This results in kinematics that are no longer force-free, which can move in translation and rotation, but bending forces arise in the deformable body. This means that the joint bridged by the rigidity can also be designed. Since this fifth joint is designed as a deformable body (morphing structure), in addition to a rigid body movement (from the first to the second actuator state), a deformation or morphing (from the second to the third actuator state) can also be carried out with just a single actuator.

With the present invention it is thus possible to combine a rigid body movement with a deforming movement in a single device in such a way that a single actuator is sufficient for the operation of this device. The combination allows the advantages of both systems to be used. In this way, large deformations (based on the rigid body movement) can be made possible with comparatively low actuator forces and, at the same time, fine gradual adjustments can be implemented with the help of the morphing structure.

A large number of intermediate positions are possible between the first position and the second position, so that the first position merely represents a starting position or neutral position, while the second position represents an end position. The same applies to the first form state and the second form state, with a large number of intermediate form states being possible here as well. Here, too, the first shape state represents an initial shape or an initial shape state, while the second shape state represents a final shape or a final shape state.

According to one embodiment, it is provided that the actuator device has at least one linear actuator, which is fastened with a first actuator end to the base frame at a third point and with an opposite second actuator end is fastened to the first adjustment member, to the second adjustment member or to the deformable body . Preferably, the third point is different from the first and second points.

If the linear actuator is fastened with its second actuator end to the first adjusting element, for example, then the second adjusting element can be limited by an end stop in the second actuator state.

According to a further embodiment it is provided that the adjustment members are rigid and rigid.

According to a further embodiment, it is provided that the actuator device has at least one linear actuator, one of the adjustment members being formed by the at least one linear actuator such that the deformable body can be moved and deformed by a length adjustment or change in length of the relevant adjustment member.

According to a further embodiment, it is provided that the actuator device has at least one actuator which acts on one of the adjustment members for moving the adjustment device, the adjustment member in question being flexible and pliable in such a way that it is deformed by the at least one actuator when the deformation force is applied, such that a change in length is effected between the first link end and the second link end to bring the deformable body from the first shape state to the second shape state. The end stop fixes the further movement of the coupling mechanism from the second actuator state, so that the change in length of the deforming adjusting element exerts a deformation force on the deformable body, which leads to a deformation of the body.

According to one embodiment, it is provided that when the actuator device is transferred from the first actuator state to the second actuator state, the deformable body is brought from the first position into the second position without deforming in the process.

According to one embodiment it is provided that the deformable body is a profiled flow body. Such a profiled flow body can be a slat, for example.

• - Überführen der Aktuatoreinrichtung von dem ersten Aktuatorzustand in den zweiten Aktuatorzustand durch Ansteuern der Aktuatoreinrichtung, so dass der verformbare Körper von der ersten Position in die zweite Position gebracht wird,
• - Überführen der Aktuatoreinrichtung von dem zweiten Aktuatorzustand in den dritten Aktuatorzustand durch Ansteuern der Aktuatoreinrichtung, so dass der verformbare Körper durch einen Endanschlag in der zweiten Position verbleibt und stattdessen eine Verformungskraft auf den verformbaren Körper ausgeübt und der verformbare Körper von dem ersten Formzustand in den zweiten Formzustand gebracht wird.

Moreover, the object is also achieved with the method according to claim 9 for changing the position and shape of a deformable body using a device as described above, the method comprising the following steps:

• - Transferring the actuator device from the first actuator state to the second actuator state by controlling the actuator device, so that the deformable body is brought from the first position into the second position,
• - Transferring the actuator device from the second actuator state to the third actuator state by controlling the actuator device, so that the deformable body remains in the second position due to an end stop and instead a deformation force is exerted on the deformable body and the deformable body changes from the first shape state to the second shape is brought.

Advantageous refinements of the method can be found in the corresponding dependent claims.

• 1 Schematische Darstellung der Vorrichtung in einer ersten Ausführungsform;
• 2 schematische Darstellung der Vorrichtung in einer zweiten Ausführungsform;
• 3 schematische Darstellung der Vorrichtung in einer dritten Ausführungsform.

The invention is explained in more detail by way of example on the basis of the accompanying figures. Show it:

• 1 Schematic representation of the device in a first embodiment;
• 2 schematic representation of the device in a second embodiment;
• 3 schematic representation of the device in a third embodiment.

1 shows the course of the change in position and shape of a deformable body 20 of a device 10 shown schematically from top to bottom. The figure above shows the 1 the first actuator state, the middle mapping of the 1 the second actuator state and the lower figure of the 1 the third actuator state.

The device 10 has a first adjusting member 11 and a second adjusting member 12 which are articulated at their respective ends on the deformable body 20 . The first adjusting member 11 is articulated with a first member end 11a on a front part or a front region of the deformable body 20 and is articulated with a second member end 11b on a base frame 13 . Correspondingly, the second adjusting member 12 is articulated with a first member end 12a on a rear part or a rear area of the deformable body 20 and is articulated with a second member end 12b on the base frame 13 .

The distance between the attachment of the second link end 11b of the first adjustment member 11 and the second link end 12b of the second adjustment member 12 to the base frame 13 is fixed and generally unchangeable.

An actuator 14 of an actuator device now engages on the first adjusting member 11 with a second actuator end 14b, the actuator 14 also being fastened in an articulated manner to the base frame 13 with its first actuator end 14a.

The upper figure shows the actuator 14 in a first actuator state, which represents a kind of neutral position of the deformable body 20 . In this neutral position, the deformable body 20 is unchanged in terms of its initial position and its initial shape.

By controlling the actuator 14, which is a linear actuator, the distance between the first actuator end 14a and the second actuator end 14b of the actuator 14 is increased, whereby the linkage formed by the device is moved in the direction of the defined end stop 15. When the second actuator state is reached, as shown in the middle figure, further movement of the linkage is initially prevented by the end stop 15, with which the second adjusting element 12 is engaged in such a way that a corresponding movement is prevented and the linkage is fixed . The one degree of freedom defined by the linkage formed in the direction of the end stop 15 is thus blocked by this, so that further movement is not possible without a further degree of freedom.

If the linear actuator 14 were to continue to exert a corresponding force on the first adjustment member 11, this would result in bending loads in the first adjustment member 11 or in the deformable body 20 due to the fixation by the end stop 15.

However, the deformable body 20 is plastically deformable and can be brought from a first shape with a first component geometry 20a into a second shape with a second component geometry 20b by a deformation force. The first shape state with a first component geometry 20a of the deformable body 20 is in the top and middle illustrations shown. The deformable body 20 forms a kind of auxiliary joint 21 that allows a further degree of freedom of the linkage.

If the actuator 14 is now transferred from the second actuator state, as shown in the middle figure, to the third actuator state, as shown in the lower figure, the loads occurring in the structure lead to a deformation of the deformable body 20, so that this changes from its first component geometry 20a to its second component geometry 20b. The bending loads that occur are accordingly carried away by the auxiliary joint 21 contained in the deformable body 20 , which results in a deformation of the deformable body 20 .

It is crucial here that the flexural rigidity of the deformable body 20 is lower in relation to the first adjustment element 11 such that when the actuator 14 is transferred from the second actuator state to the third actuator state, the deformable body 20 is deformed and not the adjustment element 11.

In a second embodiment, which is 2 is shown, the first adjusting member 11 is formed by the linear actuator 14 . Here, too, the first actuator state is shown in the upper figure, the second actuator state in the middle figure and the third actuator state in the lower figure. When the end stop 15 is reached, the deformable body 20 is brought from its first component geometry into its second component geometry.

3 shows a third embodiment, in which only the third actuator state is shown, and the first embodiment shown in FIG 1 is very similar. However, here the first adjustment member 11 is flexible and pliable, so that when the actuator 14 is transferred from the second actuator state to the third actuator state, the adjustment member 11 is bent. This shortens the end points 11a and 11b of the adjusting member 11, which also exerts a bending load on the deformable body 20, which then changes its shape.

Reference List

10

contraption

11

First adjustment link

11a

first link end of the first adjustment link

11b

second link end of the first adjustment link

12

Second adjuster

12a

first link end of the second adjustment link

12b

second link end of the second adjustment link

13

base frame

14

actuator/actuator device/linear actuator

14a

first actuator end

14b

second actuator end

15

end stop

20

deformable bodies

20a

first component geometry

20b

second component geometry

21

auxiliary joint

Claims (11)

Device (10) with at least one deformable body (20) which can be brought from a first shape state with a first component geometry (20a) into a second shape state with a second component geometry (20b) different from the first component geometry (20a) by applying a deformation force and with an adjusting device for changing the position and shape of the deformable body (20), characterized in that the adjusting device has: - a first adjusting member (11) which is articulated with a first member end (11a) on a first end section of the deformable body (20 ) and is attached with an opposite second link end (11b) in an articulated manner to a base frame (13) at a first point, - at least one second adjustment link (12) which is articulated with a first link end (12a) at a second end section opposite to the first end section End portion of the deformable body (20) and having an opposite second limb end (12b) is articulated to the base frame (13) at a second point spaced apart from the first point, and - an actuator device (14) which is connected to the deformable body (20), the first adjustment member (11), the second adjustment member (12) and the arrangement on the base frame (13) interacts in such a way that the deformable body (20) is brought from a first position to a second position when the actuator device (14) is transferred from a first actuator state to a second actuator state is, and - that when the actuator device (14) is transferred from the second actuator state to a third actuator state, the deformable body (20) is ver by an end stop (15) in the second position remains and instead a deformation force is exerted on the deformable body (20), so that the deformable body (20) forms a quasi-joint of the linkage and is brought from the first shape state into the second shape state. Device (10) after claim 1 , characterized in that the actuator device (14) has at least one linear actuator which is fastened with a first actuator end (14a) to the base frame (13) at a third point and with an opposite second actuator end (14b) on the first adjusting element (11 ), is attached to the second adjusting member (12) or to the deformable body (20). Device (10) after claim 1 or 2 , characterized in that the adjustment members (11, 12) are rigid and rigid. Device (10) after claim 1 or 2 , characterized in that the actuator device (14) has at least one linear actuator, one of the adjustment members (11, 12) being formed by the at least one linear actuator in such a way that the deformable body (20 ) is movable and deformable. Device (10) after claim 1 or 2 , characterized in that the actuator device (14) has at least one actuator (14) which acts on one of the adjustment members (11, 12) for moving the adjustment device, the adjustment member (11, 12) in question being flexible and pliable in such a way that it is deformed by the at least one actuator (14) when the deforming force is applied, so that a change in length between the first link end (11a, 12a) and the second link end (11b, 12b) is brought about in order to separate the deformable body (20) from the to bring the first form state into the second form state. Device (10) according to one of the preceding claims, characterized in that when the actuator device (14) is transferred from the first actuator state to the second actuator state, the deformable body (20) is brought from the first position into the second position without deforming in the process . Device (10) according to one of the preceding claims, characterized in that the deformable body (20) is a profiled flow body. Device (10) after claim 7 , characterized in that the profiled flow body is a slat. Method for changing the position and shape of a deformable body (20) by means of a device (10) according to one of the preceding claims, the method comprising the following steps: - Transferring the actuator device (14) from the first actuator state to the second actuator state by controlling the actuator device (14), so that the deformable body (20) is brought from the first position into the second position, - Transferring the actuator device (14) from the second actuator state to the third actuator state by activating the actuator device (14), so that the deformable body (20) remains in the second position due to an end stop (15) and instead a deformation force is exerted on the deformable body (20) is exercised and the deformable body (20) is brought from the first shape state into the second shape state. procedure after claim 9 , characterized in that the adjustment device is moved by means of a linear actuator of the actuator device (14). procedure after claim 9 or 10 , characterized in that by means of an actuator (14) of the actuator device (14) one of the adjustment members (11, 12) is deformed in such a way that a change in length between the first member end (11a, 12a) and the second member end (12a, 12b) is brought about and thereby bringing the deformable body (20) from the first shape state to the second shape state.

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