MISSILE FIN DEVICE AND MISSILE

Description

TECHNICAL FIELD OF THE INVENTION

[0001] During the flight of a missile, especially a reusable or return-to-Earth rocket or a so-called "launcher," different flight phases occur (in particular, an ascent phase, a tilt-over maneuver phase, a ballistic phase, an aerodynamic descent phase, a deceleration phase, an approach phase with deployment of landing elements, and a landing phase), during which the missile must adopt different aerodynamic geometries to achieve the aerodynamic properties required for the respective flight phase. For this purpose, deployable fins are used to alter the aerodynamic properties.The deployable fins can be folded in, for example, during the ascent phase, the tilt-over maneuver phase, and the ballistic phase, and thus (at least largely) aerodynamically ineffective. They can be deployed during the aerodynamic descent phase, the braking phase, the approach phase, and the landing phase to achieve the desired aerodynamic influence. The fins can be configured, for example, as so-called grid fins or flat fins (so-called "plain fins"). In the deployed state, the influence of the fin on the missile's flow conditions depends (in addition to the geometry of the fin itself) on the angle of attack of the fin relative to the airflow around the missile. For this background to the invention, reference is made to J. Klevanski, T. Ecker, J. Riehmer, B. Reimann, E. Dumont, C.Chavagnac: Aerodynamic Studies in Preparation for CALLISTO-Reusable VTVL Launcher First Stage Demonstrator; 69th International Astronautical Congress (IAC), Bremen, Germany, 1–5 October 2018; IAC-18-D2.6.3, pages 1 to 10.

[0002] The fins serve to ensure and / or improve the stability of the missile and / or its control during atmospheric flight phases. The fins may be deployed in some circumstances to allow the fin to be activated only selectively during certain flight phases. On the other hand, the fins may need to be folded in to minimize a negative effect of the deployed fin on the aerodynamic properties of the missile during the launch phase (e.g., unwanted additional drag or a destabilizing effect). Folding the fins may also be necessary to bring the missile into a spatially compact state with the fins folded in, which may be advantageous for storing and / or transporting the missile and / or for launching the missile from a launch canister or launch chute.

[0003] The present invention relates to a missile fin deployment device according to claim 1, which enables the deployment of a fin. Furthermore, the invention relates to a missile with such a missile fin deployment device, according to claim 4. Furthermore, a method for operating a missile with a missile fin deployment device is described. STATE OF THE ART

[0004] WO 2014 / 197046 A2 discloses a missile designed as a projectile, in which fins are arranged in the rear end region of the missile. The fins can be pivoted about an axis oriented parallel to the longitudinal axis of the missile. In the folded state, the fins are integrated into the surface of the missile in such a way that one longitudinal axis of the fin is oriented in the circumferential direction or tangentially to the surface of the missile, while one is oriented parallel to the transverse axis of the fin in the longitudinal direction of the missile. In the unfolded state, the longitudinal axis of the fin extends radially or perpendicularly to the surface of the missile and thus transversely to the longitudinal axis of the missile, while the transverse axis of the fin remains oriented parallel to the longitudinal axis of the missile.

[0005] WO 2008 / 147453 A2 also discloses the pivoting of fins arranged in the rear end region of a missile designed as a projectile about pivot axes oriented parallel to the longitudinal axis of the missile. Alternatively, WO 2008 / 147453 A2 also proposes an embodiment in which the fins are arranged in radial shafts in the rear end region of the missile. In the folded position, the fins are initially held in the shafts by a holding device. The fins are pivotally mounted in the radially outer end region about a pivot axis oriented tangentially to the circumferential direction of the missile. The holding effect of the holding device can be overcome by centrifugal forces exerted on the fins as a result of rotation of the missile, whereby the fins can be unfolded radially outward from the shafts about the pivot axis.

[0006] EP 2 433 084 B1 discloses a missile having, on the one hand, fins in the rear end region for roll stabilization, which fins are accommodated in radial slots and can be pivoted outward about a pivot axis oriented tangentially to the lateral surface of the missile. In the retracted state, the fins are spring-loaded in the direction of pivoting out, with the fins initially prevented from pivoting out by a lock. To pivot the fins out using the springs, the lock is destroyed. Furthermore, the missile has centrally arranged pivotable wings, which, in the retracted state, are also accommodated in radial slots in the missile and can be pivoted out about a pivot axis oriented transversely to the longitudinal axis of the missile.The wings are deployed when the missile, in the form of a projectile, exits the muzzle or upon reaching the highest point of its ballistic phase. In this case, a locking mechanism that holds the wings in the retracted position must also be destroyed. A tail section of the missile with the deployable fins is connected to a front section of the missile with the wings via a coupling that can be rotated when the coupling is released. Depending on the activation of the coupling, the roll-stabilizing effect of the fins can be activated or deactivated.

[0007] EP 1 627 200 B1 also discloses a mounting of pivotable fins in missile bays, extending radially and in the longitudinal direction of the missile. Here, too, the fins are pivoted about pivot axes oriented tangentially to the circumferential direction of the missile.

[0008] While the aforementioned missile fin deployment devices only provided one pivoting degree of freedom for deploying the fins, EP 1 485 668 B1 proposes ensuring deployment of the fins by means of an actuating mechanism in which, in the degree of freedom of the fins for deployment, a twisting action on the one hand and a pivoting action of the fin on the other hand are superimposed. In the retracted state, the fin extends with its longitudinal axis in the longitudinal direction of the missile and its transverse axis tangential to the circumferential direction of the missile. In contrast, when the fin is deployed, its longitudinal axis extends radially to the missile or perpendicular to the missile's lateral surface, while its transverse axis extends parallel to the missile's longitudinal axis.The fin's degree of freedom clearly defines the dependence of the fin's pivot angle and its rotation angle during deployment by a guide rail. Movement along this degree of freedom is achieved by a preloaded spring, and this movement is also supported by the airflow around the missile and the fin during deployment. Despite the spring's force, the fin is held in the retracted position by an unspecified locking mechanism.

[0009] US 2009 / 0126523 A1 discloses an extension mechanism for a control surface. The extension mechanism can be used in a robot, in a transport device, in power or energy systems, in household appliances, and the like. Furthermore, the extension mechanism can also be used for an aircraft, a satellite, a spacecraft or space station, a turbine, a waterwheel, a propeller, or a windmill. Furthermore, according to US 2009 / 0126523 A1, the extension mechanism can also be used for a projectile, which can be arranged in a launching barrel with the control surface retracted. During flight, the control surface can be extended by the extension mechanism to influence the projectile's trajectory. By extending the control surface, the surface properties of the projectile can be modified to influence the projectile's trajectory.The control surface can allow for two alternative surface characteristics or even a larger number of them. The extension mechanism is arranged in a transverse bore of the base body of the projectile. In order to be able to extend a control surface body forming the control surface transversely to the longitudinal axis of the projectile, the extension mechanism has an electric motor whose drive pinion can be rotated about the longitudinal axis of the projectile. For a translational movement of the control surface body, the drive pinion meshes from the outer surface of the projectile with an output gear whose rotational axis is oriented parallel to the longitudinal axis of the projectile. The output gear drives a shaft whose rotational movement is converted into a translational movement of the control surface body transversely to the longitudinal axis of the projectile.The motor can be displaced relative to the output gear with the drive pinion, and a drive bevel gear, also driven by the motor, can mesh with an output bevel gear, whose rotational movement about the translational axis of the control surface body is transmitted to the control surface body. This rotational movement can rotate the end region of the control surface body protruding from the projectile's lateral surface, thus altering the airflow to it.

[0010] US 6,726,147 B1 proposes a mechanism which enables both a change in the angle of attack of a thrust reverser blade and the extension of a fin using a single actuator. For this purpose, the actuator drives a spindle which meshes with a spindle nut held by the end region of a crank. The crank is coupled to a holding body of the fin via a coupling. Furthermore, the crank is coupled via the coupling to a four-bar linkage chain, via which a rotation of the thrust reverser blade can be induced. The coupling has two drivers which are formed by a locking body. The drivers are each guided in a T-shaped guide. The vertical leg of the T is oriented in the circumferential direction around the holding body and is limited on one side by the crank and on the other side by a crank of the four-bar linkage chain.The vertical leg of the T is oriented in the longitudinal direction of the holding body. One partial leg of the horizontal leg is formed by the crank and the other partial leg of the horizontal leg is formed by the crank of the four-bar linkage. The locking body with the drivers is further loaded in the direction of its longitudinal axis by a pre-tensioned compression spring. The locking body rests with one end face away from the pivot axis of the fin on the holding body on the fin. In a first adjustment range of the actuator, in which the driver moves in the region of the circumferentially oriented vertical leg of the T of the guide, expansion of the spring is not possible due to the guide, meaning that the fin cannot leave the folded position. In this first adjustment range of the actuator, actuation of the actuator leads to a change in the angle of attack of the thrust reverser wing.However, if the catches reach the area of ​​the horizontal leg of the guide at the end of this adjustment range, the compression spring can extend the locking body, causing the fin to unfold around its pivot axis. During this unfolding, the catch moves along a partial leg of the horizontal leg of the T-shaped guide. Actuation of the actuator after the unfolding is complete can be used to pivot the holding body with the fin around its longitudinal axis.

[0011] The publication KR 101 864 088 B1 relates to a projectile that moves along a trajectory and rotates around its longitudinal axis at a roll speed. The trajectory is intended to be influenced by influencing the roll movement by folding out fins from the base body of the projectile, which are positioned relative to the airflow towards the projectile in such a way that they reduce and / or increase the roll speed. The effectiveness of the fins is intended to begin at a specific point on the trajectory, which is reached after a predetermined period of time. When the projectile is fired, the fins are folded against a base body of the projectile, with a longitudinal axis of the fin oriented in the direction of the longitudinal axis of the projectile and a transverse axis of the fin oriented tangentially to the circumference of the projectile. In the folded state, the fins are covered by a protective flap.After the time period has elapsed, the protective flap is removed. With the protective flap removed, the rotation of the projectile causes the fins to pivot, due to centrifugal force, around a pivot axis oriented tangentially to the circumference of the projectile's main body. When the fins are fully extended, the fins are locked to a carrier. The angle of attack of the fins relative to the incoming airflow can then be changed by rotating the fins and carrier using a motor and worm gear around an axis of rotation oriented radially to the projectile's longitudinal axis. The current roll speed of the projectile is recorded by a sensor. The sensor signal is fed to a control unit, which regulates the motor to achieve the desired roll speed.

[0012] US 2019 / 0154420 A1 discloses a fin that is held by a leaf spring to a base body of a projectile fired via a launch tube. For firing the projectile from the launch tube, the fin can be folded against the outer surface of the base body by elastically deflecting the leaf spring such that the longitudinal axis of the fin is oriented parallel to the longitudinal axis of the base body and the transverse axis of the fin is oriented tangentially to the circumference of the base body. After the fin is released, the leaf spring can unfold the fin such that the longitudinal axis of the fin is oriented radially to the longitudinal axis of the base body. Locking occurs in the reached unfolded end position. The leaf spring is held on a carrier that is mounted rotatably about a rotation axis that is oriented radially to the longitudinal axis of the base body of the projectile.When folded against the base body, the support is loaded by a preloaded torsion spring. In addition to the described unfolding, the torsion spring ensures rotation of the fin around the rotation axis oriented radially to the base body. The final rotation position is also locked. The complete rotation around the rotation axis should only occur once the fin has been unfolded and locked.

[0013] US 8,026,465 B1 discloses a projectile with a truncated cone-shaped nose. Fins are arranged in the nose area to ensure that the projectile meets NATO MIL-STED-333B requirements. A so-called "Variable Incidence Panel with Error Reduction" (VIPER) is used to adjust the aerodynamic drag, roll, and climb characteristics of the projectile. An altimeter and control devices, as well as a target contact device for triggering a warhead, are integrated into the nose of the projectile. In an initial position, the fins extend flush with the lateral surface of the truncated cone shape of the nose, with the fins evenly distributed circumferentially.From this folded position, the fins can be folded out so that their longitudinal axis extends radially to the longitudinal axis of the nose, whereby the fins are then oriented transversely to the incoming airflow and induce maximum drag with an incidence of zero. Two fins arranged on opposite sides can be rotated about the radial longitudinal axis, which depends on the control method used for the projectile: When a so-called lift method is used, the two fins are adjusted together using a common drive shaft to generate a lift trajectory with slow roll motion in the range of 10 Hz to 20 Hz. If, on the other hand, a so-called momentum method is used, the fins are moved differentially to one another in order to generate bidirectional roll accelerations and induce changes in the overall drag of the roll-stabilized projectile.The other two fins serve to influence the overall drag of the projectile and correct errors at the beginning of the trajectory, as well as to reduce the flight distance at the end of the trajectory. It is also possible for only one pair of fins to be deployed to influence the projectile's roll, while the other pair of fins remains folded against the nose. US 8,026,465 B1 does not contain any information on the design of the mechanisms for locking the fins in the folded position, for unfolding the fins, or for rotating the first pair of fins.

[0014] US 2017 / 0067725 A1 discloses a projectile whose four fins, evenly distributed around the circumference and arranged in the rear end region, are folded flush with the projectile's lateral surface during launch. The fins are each held in the rear end region in the direction of flight on a rotary plate, which can be rotated by an actuator about a rotation axis oriented radially to the longitudinal axis. To secure the fin in the folded state, a spring-loaded cam engages in a recess in the front end face of the fin. Upon actuation of the actuator and rotation of the rotary plate, a slight pivoting of the fin in a tangential plane of the projectile removes the cam's engagement in the front end recess of the fin, whereby a spring causes the fin to unfold about a pivot axis arranged in the region of the rotary plate, which is oriented tangentially to the cross-section of the projectile.When the fin is unfolded, the angle of attack of the fin can be influenced by rotating the turntable using the actuator.

[0015] DE-OS 2 023 212 discloses the mounting of a guidance or steering fin of a projectile via a fin holder on a base body of the projectile. The fin holder can be rotated by means of a drive about a rotation axis oriented radially to the base body. To introduce the projectile into a launch container or launch tube, the fin can be folded down relative to the fin holder under the action of a spring so that the fin extends along the circumference of the base body. When the projectile leaves the projectile container, the spring causes the fin to fold out. The folding movement of the fin is guided by the fact that the fin is mounted on the fin holder by means of a pivot bearing. The unfolding force of the spring is transferred to the fin via an actuating rod that acts eccentrically to the pivot bearing on the fin, thereby generating a unfolding moment.In the unfolded position, the fin is positively locked in the fin holder by the fin having a trapezoidal projection on the underside, which positively engages a correspondingly formed groove in the fin holder.

[0016] According to DE 30 10 027 A1, a tail assembly of a projectile is mounted in the folded state against the base body of the projectile so as to be rotatable about a first axis of rotation oriented radially to the longitudinal axis of the base body. By means of an actuating pin acting eccentrically from the first axis of rotation, the tail assembly can be folded outwards in a tangential plane or chord plane of the base body from a folded state in which the longitudinal axis of the tail assembly is oriented parallel to the longitudinal axis of the base body. The bearing body, which ensures support about the first axis of rotation, is mounted so as to be rotatable about a second axis of rotation oriented parallel to the longitudinal axis of the base body. The rotation about this second axis of rotation is brought about by the actuating pin being guided in a guide rail of the bearing body and being movable along the guide rail by means of a spring-loaded actuating rod.The link has a first section in which only a pivoting movement around the first axis of rotation is achieved, without any rotation of the bearing body. In a second section of the link, the further pivoting movement around the first axis of rotation is combined with a simultaneous rotation of the bearing body and thus of the tail assembly around the second axis of rotation. Once the end position in the link is reached as a result of the spring loading, the tail assembly extends in a plane spanned by the longitudinal axis of the base body and an axis oriented radially thereto. OBJECT OF THE INVENTION

[0017] The invention is based on the object of proposing a missile fin deployment device which is particularly suitable with regard to the achievable aerodynamic effects, the operation, the possibilities of influencing the achievable aerodynamic effects and / or the reliable support of the fin in the unfolded state is improved. Furthermore, the invention is based on the object of proposing a missile with a correspondingly improved missile fin deployment device. Finally, the invention is based on the object of proposing an improved method for operating a missile with a missile fin deployment device. DESCRIPTION OF THE INVENTION

[0018] The invention proposes a missile fin deployment device comprising an actuating mechanism by means of which a fin can be deployed relative to a missile equipped with the missile fin deployment device, thus enabling it to be aerodynamically effective. This fin can be of any design, in particular a flat fin or a lattice fin. According to the invention, the actuating mechanism has two degrees of freedom for deploying the fin. These degrees of freedom are a rotational degree of freedom, via which the fin can be rotated about its longitudinal axis, and a pivoting degree of freedom, via which the fin can be pivoted about a transverse axis. According to the invention, the two degrees of freedom are independent of one another.This means, for example, that according to the invention there is no unambiguous assignment of the pivoting of the fin and the rotation thereof (and vice versa), as is the case with the slotted guide according to EP 1 485 668 B1. According to the invention it is thus possible, for example, for the fin to assume different pivoting positions for the same rotation and / or to assume different rotational positions for the same pivoting. The inventive equipping of the actuating mechanism with two independent degrees of freedom enables movements of the fin relative to the missile that differ from the movements of the fin that can be ensured by means of actuating mechanisms known from the prior art. The following merely mentions a few examples which do not limit the invention: . a) It is possible, for example, that the fin's pivoting does not occur simultaneously with its rotation, but rather that the pivoting and rotation are at least partially separated in time. Preferably, the fin is first pivoted completely to extend it, while the fin's rotation can then occur immediately after the pivoting or at a later time.b) While actuating mechanisms known from the prior art assume that the aerodynamic influence exerted by the fin is only used in two operating positions, namely the smallest possible influence on the aerodynamics when the fin is folded in, and the desired or maximum influence on the aerodynamic properties when the fin is unfolded (whereby different operating positions of the fin are only accepted during the unfolding of the fin), according to the invention, the aerodynamic effect of the fin can also be influenced during flight operation by utilizing at least one degree of freedom. For example, it is possible to change the angle of attack of the fin relative to the incoming flow depending on the flight conditions and / or flight phase, for example by rotating the fin in the swung-out state into different incoming flow positions.Even the rotation can be used to control or regulate the flight characteristics.

[0019] The missile fin deployment device according to the invention has a missile holding area, via which the missile fin deployment device is held on the missile, in particular supported and / or mounted. Furthermore, the missile fin deployment device has the actuation mechanism. The fin is held on the missile holding area via the actuation mechanism. The actuation mechanism serves to rotate the fin about a rotational axis relative to the missile holding area or the outer surface of the missile, on the one hand, and to pivot the fin about a pivot axis relative to the missile holding area or the outer surface of the missile, on the other hand. Thus, by means of the actuation mechanism, a pivoting degree of freedom and a rotational degree of freedom are provided, wherein the actuation along these two degrees of freedom can take place independently of one another.For this purpose, the actuating mechanism comprises, on the one hand, a twisting mechanism. Using the twisting mechanism, the fin can be rotated relative to the missile holding area about the rotation axis. On the other hand, the actuating mechanism comprises a pivoting mechanism. Using the pivoting mechanism, the fin can be pivoted relative to the missile holding area about the pivot axis. The twisting mechanism and the pivoting mechanism can be actuated independently of each other, which is achieved in particular by separately and independently controlling a rotary actuator acting on the twisting mechanism and a pivoting actuator acting on the pivoting mechanism.

[0020] In principle, the twisting mechanism and the pivoting mechanism can be designed in any desired manner and integrated into the missile fin deployment device. According to one proposal of the invention, the twisting mechanism and the pivoting mechanism are mechanically connected in series between the fin and the missile holding area with respect to the force flow. This results in the fin being supported on the missile holding area via the twisting mechanism and, via the latter, on the pivoting mechanism (or vice versa). Thus, with the pivoting of the pivoting mechanism, the twisting mechanism is also pivoted (or with the rotation of the twisting mechanism, the pivoting mechanism is also pivoted).

[0021] In the missile fin deployment device according to the invention, the pivoting mechanism has a guide slot. The guide slot converts any movement of a pivot actuator into a pivoting movement, with the dependence of the movement of the pivot actuator and the pivoting being determined by the contours of the guide slot. On the one hand, the use of the guide slot is advantageous in terms of the possibilities for designing the pivoting characteristics. On the other hand, it has been shown that a guide slot can also achieve very rigid support for the pivoting mechanism, and thus for the fin, relative to the missile holding area.

[0022] The pivoting mechanism can have an actuator that triggers and / or causes the pivoting of the fin. The actuator is preferably a translatory actuator, by means of which, for example, an actuating element (such as a push and / or pull element) is actuated, which ultimately causes the pivoting of the pivoting mechanism. For example, the movement of the translatory actuator can cause the pivoting mechanism to move along the guide rail.

[0023] There are many different options for the design of the (possibly translational) actuator, of which only two variants are mentioned below: It is possible for the actuator to have a spring device with one or more springs of any design. The spring device is tensioned when the fin is pivoted in. The tension in the spring represents an energy store. The energy from this energy store can then be used to generate the pivoting movement. In the pivoted in position, the spring device can be latched or locked via a detent or locking device. The detent or locking device can be unlocked or released. When the locking device is unlocked or released, the energy in the spring device is released, allowing the spring device to pivot the fin out. Under certain circumstances, de-latching or unlocking requires less energy than the energy required to pivot the fin out.Thus, the spring mechanism can be tensioned manually by pivoting the fin or via a separate tensioning device before launching the missile. Only a compact, low-energy release mechanism needs to be carried along with the missile. However, it is also possible for the actuator to be a preferably electric drive, which generates the translational movement of the actuating element or another movement that then results in the pivoting of the pivoting mechanism.

[0024] It is possible within the scope of the invention for the pivoting mechanism to have a pivot bearing body relative to which the fin can be pivoted. For example, the slotted guide can operate between the fin and the pivot bearing body. In a pivoted-out position, according to this proposal of the invention, the fin is supported (with regard to pivoting about the pivot axis) on a support and / or holding device on the pivot bearing body. Preferably, this support and / or holding device only comes into effect when the pivoted-out position is reached and in this position in addition to other supports or linkages. The support and / or holding device can ensure rigid and reliable support in the pivoted-out position, in which the fin may be exposed to considerable aerodynamic forces. The support and / or holding device can be designed as a stop or contact surface.It is also possible that in the pivoted-out position the fin or a holding element thereof is drawn in between contact surfaces, into a holding recess, for example of a guide tube or a guide cone, which can then ensure a positive support of the fin on the pivot bearing body.

[0025] It is possible for the pivot bearing body to be rotatable relative to the missile via a rotation mechanism. In a special embodiment of the invention, the pivot bearing body has a retaining recess into which the fin enters in the direction of actuation of the pivot actuator. The fin is then positively secured in the retaining recess in the pivoted-out state.

[0026] Preferably, the retaining recess and / or the fin have tapered retaining surfaces. If the fin moves into the retaining recess upon actuation of the pivot actuator, the tapered retaining surfaces may cause tension or pinching between the retaining surfaces. It is possible that a type of self-locking action may occur at the tapered retaining surfaces (depending on the friction conditions and the angle of inclination of the tapered retaining surfaces), securing the fin in the retaining recess and in the pivoted-out position.

[0027] For a missile fin deployment device according to the invention, the fin is held in the pivoted-in position (preferably exclusively) by the guide rail and the actuator linkage, thereby securing the pivoted-in position. In contrast, in the pivoted-out position, in addition to the guide rail and the actuator linkage, the support and / or holding device comes into effect, which means that the support and / or holding device can at least partially relieve the guide rail and / or the actuator linkage in order to support the potentially considerable forces acting on the fin during flight.

[0028] An electronic control unit can be present in the missile fin deployment device. The electronic control unit can then have control logic that controls the pivoting mechanism and / or the twisting mechanism (particularly independently of each other). In this case, the control can consist of controlling a drive unit designed as an electric motor. If an actuator with a spring device is used, the control can also consist of unlocking a locking device, which then releases the energy storage device provided by the preloaded spring device.

[0029] For one possible embodiment of the invention, the control logic controls the pivoting mechanism and the twisting mechanism in such a way that, to activate the fin, only the pivoting mechanism is initially actuated until the fin is pivoted outward so that the fin's longitudinal axis extends radially toward the missile. Subsequently, only the twisting mechanism is actuated to rotate the fin. The twisting thus occurs separately in time and after the pivoting.

[0030] Alternatively or additionally, it is possible for the control logic to process operational variables during flight operations. These operational variables can relate to the incoming airflow conditions of the missile, the speed of the missile, the orientation of the missile relative to the incoming airflow, the flight phase, the flight altitude, etc. Based on the operational variables, the control logic then controls the twisting mechanism during flight operations such that the fin is twisted depending on the operational variables. For example, the fin can assume a basic position with a predetermined angle of attack, and control can be carried out relative to this basic position by changing the angle of attack in order to bring about or restore desired aerodynamic conditions and influence flight operations.It is possible, for example, that the control is carried out in such a way that the fin is rotated relative to a basic position by a maximum of plus / minus 20 degrees, a maximum of plus / minus 15 degrees or a maximum of plus / minus 10 degrees, depending on the operating parameters.

[0031] It is possible for a fin position, in particular the pivoted-in position of the fin's pivoting mechanism and / or an outward position of the fin's pivoting mechanism, to be secured by means of a locking or latching device. In this case, a locking or latching device or a common locking or latching device can secure the pivoting position of the pivoting mechanism and / or the rotational position of the twisting mechanism. A locking device is preferably locked and / or unlocked via an actuator. The same can apply to a locking device. However, it is also possible for a locking device to be "overridden" by actuating the associated actuator with sufficient actuator forces.

[0032] The invention also proposes an embodiment of the missile fin deployment device in which the pivot bearing body is rotatably mounted relative to the missile. A rotation actuator is provided, via which the pivot bearing body (and with it the fin) can be rotated. In this case, a translationally actuated actuating element can extend through the pivot bearing body. The translationally actuated actuating element is driven by a pivot actuator, wherein the pivot actuator preferably generates a translational drive movement. The actuating element can be designed, for example, as a pull-duck rod, as a type of connecting rod, or as a pendulum support, wherein one end region of the actuating element is articulated to the pivot actuator, while the other end region of the actuating element can be articulated (directly or indirectly) to the fin.

[0033] A further solution to the problem underlying the invention is a missile, in particular a rocket, equipped with a missile fin deployment device as previously explained. Preferably, multiple types of such missile fin deployment devices with associated fins are used, with the fins preferably being arranged in the region of a front end or nose, i.e., in the front end region of the missile during ascent.

[0034] A further solution to the problem underlying the invention is a method for operating a missile. In this case, in independent method steps, the fin is unfolded by actuating the pivoting mechanism and the fin is rotated by actuating the twisting mechanism.

[0035] For a further development of this process, operating variables are processed during flight using control logic. Based on the operating variables (and their processing), the twisting mechanism is then controlled during flight so that the fin is rotated relative to its initial position. This can influence the aerodynamic properties during flight.

[0036] Advantageous developments of the invention emerge from the patent claims, the description, and the drawings. The advantages of features and combinations of several features mentioned in the description are merely exemplary and can be applied alternatively or cumulatively, without necessarily achieving the advantages in embodiments of the invention. Further features can be found in the drawings—in particular, the illustrated geometries and the relative dimensions of several components to one another, as well as their relative arrangement and operative connection.

[0037] The number of features mentioned in the patent claims and the description is to be understood as meaning that exactly this number or a greater number than the stated number is present, without the need for the explicit use of the adverb "at least." Thus, for example, if reference is made to one element, this is to be understood as meaning that exactly one element, two elements, or more elements are present. These features may be supplemented by other features or may be the only features of which the respective product consists.

[0038] The reference signs contained in the patent claims do not represent a limitation of the scope of the subject-matter protected by the patent claims. They serve solely to make the patent claims easier to understand. BRIEF DESCRIPTION OF THE CHARACTERS

[0039] In the following, the invention is further explained and described with reference to preferred embodiments shown in the figures. Fig. 1 shows a fin of a missile in a spatial representation. Fig. 2 shows a missile with several missile fin deployment devices and associated fins in a three-dimensional view obliquely from the front, with the fins folded against the surface of the missile. Fig. 3 shows, also in a spatial view, the missile according to Fig. 2 , where the fins are swung out via a swivel mechanism. Fig. 4 shows, also in a spatial view, the missile according to Fig. 2 and 3 , where the fins are moved from the operating position according to Fig. 3 twisted by twisting a twisting mechanism. Fig. 5 shows a sectional view of a pivoting mechanism in the pivoted-in position. Fig. 6 shows the swivel mechanism according to Fig. 5 in partially swung-out state. Fig. 7 shows the swivel mechanism according to Fig. 5 and 6 in the swung-out position. Fig. 8 shows a missile fin deployment device with a twisting mechanism and a pivoting mechanism in a schematic representation. FIGURE DESCRIPTION

[0040] In the drawings and the present description of the figures, the same reference symbols are sometimes used for components that are identical or correspond in terms of their geometry and / or function. In this case, the components are differentiated from one another by the additional letters a, b, .... Reference is then sometimes made to these components with or without the additional letters, whereby this refers to individual components or all of these components.

[0041] Fig. 1shows a fin 1, which is designed here as a flat fin, but can have any other contour or geometry and can also be designed as a grid fin. The fin 1 has a longitudinal axis 2, which, when the fin 1 is swung out on the missile, is oriented vertically to the lateral surface or radially to a longitudinal axis 9 of the missile. Furthermore, the fin 1 has a transverse axis 3. The longitudinal axis 2 and the transverse axis 3 define the main extension plane of the fin 1. When the fin 1 is swung out, the transverse axis 3 can coincide with at least one flow component of the flow around the fin 1. In the context of the present description, a twist 4 is described as a twist of the fin 1 about the longitudinal axis 2.The rotation 4 preferably occurs for a state in which the fin 1 is completely pivoted relative to the missile 6, so that the rotation 4 then occurs about a rotation axis 34 that is oriented radially to a longitudinal axis 9 of the missile 6 or normal to the outer surface of the missile 6. A pivot 5 is understood to mean a pivoting of the fin 1 about a pivot axis 33 that corresponds to the transverse axis 3 of the fin 1 (or an axis parallel thereto). The pivot axis 33 is preferably oriented tangentially to the outer surface of the missile 6.

[0042] Fig. 2 to 4show a missile 6 with several missile fin deployment devices 7a, 7b, 7c, 7d with fins 1a, 1b, 1c, 1d. The missile fin deployment devices 7 are evenly distributed over the circumference of the missile 6 and arranged at the same axial extent of the missile 6. The missile fin deployment devices 7 are arranged in the front end region of the missile 6, which for the illustrated embodiment is immediately adjacent to and behind a nose 8 of the missile 6.

[0043] Fig. 2shows the missile fin deployment device 7 in a folded position. In the folded position, the fins 1 are applied to the lateral surface of the missile 6 or extend tangentially thereto. It is possible that the fins 1 are at least partially integrated into corresponding recesses in the lateral surface of the missile 6, whereby, on the one hand, the contouring of the lateral surface of the missile 6 and, on the other hand, the shape of the fins 1 can bring about an aerodynamically favorable profile of the missile 6 with the missile fin deployment device 7 and the fins 1. In the folded position of the fins 1 according to Fig. 2 the longitudinal axes 2 of the fins 1 extend parallel to the longitudinal axis 9 of the missile 6, while the transverse axis 3 is oriented tangentially or in cross-section along the lateral surface of the missile 6.

[0044] In the operating position of the missile fin deployment devices 7 according to Fig. 3 The fins 1 are pivoted outward by means of pivots 5 about the pivot axis 33 oriented parallel to the transverse axis 3, so that the longitudinal axes 2 of the fins extend normal to the lateral surface of the missile 6 or radially to the longitudinal axis 9 of the missile 6. The position of the transverse axis 3 or pivot axis 33 has remained unchanged. In this pivoted-out position of the fins 1, the fins 1 are (largely) oriented normal to the incoming flow, so that considerable holding forces must be exerted to keep the fins 1 in this pivot position.

[0045] From the operating position according to Fig. 3 the fins 1 are rotated 4 around the axis of rotation 34 into the operating position according to Fig. 4 In this operating position, the boom extends (according to Fig. 3) the longitudinal axis 2 of the fins 1 is radial to the longitudinal axis 9 or normal to the lateral surface of the missile 6. However, the transverse axis 3 of the fin is now oriented parallel to the longitudinal axis 9 of the missile due to the rotation 4. In the unfolded, i.e. pivoted and rotated position of the fins 1 according to Fig. 4 The main plane of extension of the fin 1, defined by the longitudinal axis 2 and the transverse axis 3, is oriented parallel to the incoming flow of the missile 6. During operation of the missile 6, in the swiveled-out position, the angle of attack of the fin 1 relative to the incoming flow can be changed by means of a rotation 4 in the range of plus / minus 20 degrees, plus / minus 15 degrees, plus / minus 10 degrees, or plus / minus 5 degrees, thus influencing the aerodynamics of the missile 6.

[0046] In Fig. 5 to 7A pivoting mechanism 10 of the missile fin deployment device 7 is shown. The pivoting 5 can be effected by means of the pivoting mechanism 10. In the Fig. 5 to 7 the pivoting mechanism 10 is shown in a section which runs vertically to the main extension plane of the fin 1, namely vertically to the transverse axis 3 and along the longitudinal axis 2.

[0047] The pivoting mechanism 10 has a pivot bearing body 12. The pivot bearing body 12 has a through-hole 13. A linkage body 14 is arranged in the through-hole 13 and is pivotably connected to an end region of the fin 1 via a pivot bearing 15, here with a pivot bearing pin 16 mounted in a bearing eye of the fin 1. The pivot bearing 15 has a pivot axis 11 oriented parallel to the transverse axis 3 and parallel to the pivot axis 33.

[0048] The fin 1 carries a link element 17, which is designed here as a link bolt 18. The link bolt 18 extends parallel to the transverse axis 3. The link element 17 is accommodated in a link 19 of the pivot bearing body 12, whereby a link guide 35 is formed. For the illustrated embodiment, the link 19 is designed as a curved elongated hole or curved slot of the pivot bearing body 12, wherein the link 19 guides the link element 17 on a quarter-circle path. The pivot bearing 15 and the link element 17 are arranged on the longitudinal axis 2 and spaced from one another. The link 19 is in the end region in which the link element 17 is in the pivoted-in state according to Fig. 5 is oriented parallel to the longitudinal axis of the missile 6. In contrast, the other end region of the guide 19 is in the pivoted-in state according to Fig. 5oriented radially to the longitudinal axis 9 of the missile 6 or perpendicular to the lateral surface of the missile 6. Between these end regions, the guide 19 guides the guide element 17 on a path corresponding to a quarter circle.

[0049] The linkage body 14 can be moved radially to the longitudinal axis 9 or normal to the lateral surface of the missile 6 along the through-hole 13 by means of an actuating element 37, in particular by means of a pull rod 20, which is actuated by a pivot actuator 21, whereby the link element 17 can be moved from the end region according to Fig. 5 about a

[0050] Intermediate position according to Fig. 6 into the other end area of ​​the gate 19 according to Fig. 7 which is accompanied by the swinging out of the fin 1. In the swung-out position according to Fig. 7the link element 17 and the pivot bearing 15 are arranged on a common axis, which further corresponds to the longitudinal axis 2 of the fin 1, wherein this axis is then oriented normal to the lateral surface of the missile 6 or vertical to the longitudinal axis 9 of the missile 6.

[0051] The pivot axis 33, around which the fin 1 is pivoted, corresponds to the instantaneous center of the fin 1, which is determined by the pivot bearing 15 and the guide rail 35. The pivot axis 35 is thus shifted by the pivoting of the fin 1.

[0052] As an optional special feature for the illustrated embodiment, the pivoting position of the fin 1 in the pivoted-in state according to Fig. 5 exclusively through their linkage on the one hand via the link element 17 in the link 19 on the pivot bearing body 12 and on the other hand by the pivot bearing on the articulation body 14 and its support via the actuating element 37 on the pivot actuator 21 which is fixed in position The pivot position is fixed by the linkage at the two points mentioned, whereby the pivot position can be changed by actuating the pivot actuator 21.

[0053] In addition to the linkage via the two points mentioned in the swung-out position, Fig. 7additional support of the fin 1 in the pivot bearing body 12, in that the fin 1 is precisely received in the through-hole 13, which thus forms a holding recess 36. For this purpose, the end region of the fin 1 is drawn into the holding recess 36 with increasing movement of the link element 17 along the link 19. The interaction of this end region of the fin 1 with the boundary surfaces of the holding recess 36 forms a support and / or holding device 22, by means of which the fin 1 is additionally supported and / or held. The boundary surfaces of the holding recess 36 form holding surfaces 23 of the support and / or holding device 22, on which the end region of the fin 1 is supported.The retaining surfaces 23 can be tapered as shown, with a correspondingly tapered end region of the fin 1, so that when the fin 1 is pulled into the retaining recess 36, the end region of the fin 1 is wedge-shaped between the retaining surfaces 23. Depending on the angle of inclination of the retaining surfaces 23 and the friction pairing and friction conditions, a secure self-locking effect can also result. It is also possible for the fin 1 to end with a conical pin, which is then received in conical retaining surfaces 23.

[0054] The pivoting mechanism 10 according to the Fig. 5 to 7 only provides one degree of freedom for swiveling. Fig. 8 shows the use of the swivel mechanism according to Fig. 5 to 7 together with a twisting mechanism 24 in a missile fin deployment device 7: According to Fig. 8The pivot bearing body 12, which is designed in two parts here, is mounted rotatably relative to the missile 6 via a pivot bearing 25, while simultaneously being axially supported by an axial bearing 26. The pivot bearing 25 defines a rotation axis 34, which, in the pivoted-out state of the fin 1, coincides with the longitudinal axis 2 of the fin 1. The pivot bearing body 12 here has a hollow shaft 27, the interior 28 of which opens into the through-hole 13. The rotation mechanism 24, the pivot bearing body 12, and with it the fin 1, can be rotated via a rotary actuator 29. For the illustrated embodiment, the rotary actuator 29 is designed as an electric drive. The rotary actuator 29 is drive-connected to the pivot bearing body 12 via a gear 30.

[0055] The pivot actuator 21 is arranged in the interior 28 of the hollow shaft 27 and has a translationally moved actuator output element and is preferably also designed as an electric drive. The translationally moved actuator output element of the pivot actuator 21 is coupled to the articulation body 14 via the actuating element 37, so that the pivot actuator 21 can be used to Fig. 5 to 7 explained movement of the end region of the fin 1 into the through-recess 13, the movement of the link element 17 along the link 19 and thus the pivoting of the fin 1 can be brought about.

[0056] The operation of the missile fin deployment device 7 is as follows: During launch and / or at the beginning of the flight of the missile 6, the fin 1 is in the folded and swivelled state according to Fig. 2 and the pivoting mechanism 10 is in the operating position according to Fig. 5 .

[0057] In a flight phase of the missile 6 in which the unfolding of the fins 1 is required, the pivot actuator 21 is first actuated, whereby the end region of the fin 1 is drawn into the through-hole 13 via the actuating element 37 and the pivoting 5 of the fin 1 is brought about outward. At the end of the actuation of the pivot actuator 21, the end region of the fin 1 sits firmly in the holding recess 36, so that the supporting and / or holding device 22 becomes effective. The fin 1 is thus in the operating position according to Fig. 3 and the pivoting mechanism 10 is in the operating position, which in Fig. 7 is shown.

[0058] Now the rotary actuator 29 is actuated, which results in a rotation 4 of the pivot bearing body 12, which also causes the rotation 4 of the fin 1. At the end of the actuation of the rotary actuator 29, the operating position of the fin 1 is as shown in Fig. 4reached.

[0059] In order to change the angle of attack of the fin 1, a rotation 4 of the rotation mechanism 24 and thus of the fin 1 can also be carried out during flight operation by driving the rotary actuator 29 in both directions by any desired angle.

[0060] It is possible that during flight operation, by operating the actuators 21, 29, the fin 1 is rotated in both directions and / or pivoted in and / or out. Preferably, however, only the fin 1 is pivoted out and rotated during flight operation, without the fin 1 having to be pivoted back toward the missile 6.

[0061] In the present description of the figures, it was assumed that a pivoting 5 of the fin 1 through a pivot angle of 90° occurs. This is not necessarily the case. Smaller or larger pivot angles are also possible. For example, it is possible that the longitudinal axis 2 of the fin 1, in the pivoted-in state, does not extend parallel to the longitudinal axis 9 of the missile 6, but rather forms an acute angle with it. It is also possible that the longitudinal axis 2 of the fin 1, in the pivoted-out state, does not extend normal to the outer surface of the missile 6, but rather forms an acute angle to the surface normal of the missile 6, whereby the fin 1 can be tilted forwards or backwards. It is also possible that the transverse axis 3 of the fin 1, in the pivoted-in state, is not oriented tangentially to the outer surface of the missile 6, but rather is tilted with respect to the outer surface.It is also possible that in the unfolded basic position of the fin 1, the fin 1 is already positioned at a small angle of rotation relative to the incoming flow.

[0062] The pivoting mechanism 10 and the twisting mechanism 24 together form an actuating mechanism 31.

[0063] The missile fin deployment device 7 is held on the missile 6 via a missile holding area 32. The missile holding area 32 can be formed by bearing surfaces of the at least one pivot bearing 25 and / or the axial bearing 26 as well as the supports of the actuators 21, 29. However, it is also possible for the missile fin deployment device 7 to have a housing in which the pivot bearings 25 and the axial bearing 26 are arranged, as well as the actuators 21, 29. The housing then forms the missile holding area 32, in which case the missile fin deployment device 7 can be screwed to the missile 6 via the missile holding area 32 or can be attached to it in some other way. LIST OF REFERENCE SYMBOLS

[0064] 1 Fin 2 Longitudinal axis 3 Transverse axis 4 Twist 5 Pivot 6 Missile 7 Missile fin deployment device 8 Nose 9 Longitudinal axis 10 Pivot mechanism 11 Pivot axis 12 Pivot bearing body 13 Through-hole 14 Linkage body 15 Pivot bearing 16 Pivot bearing pin 17 Link element 18 Link pin 19 Link 20 Pull rod 21 Pivot actuator 22 Support and / or holding device 23 Holding surface 24 Twist mechanism 25 Pivot bearing 26 Thrust bearing 27 Hollow shaft 28 Interior 29 Rotary actuator 30 Gear 31 Actuating mechanism 32 Missile holding area 33 Pivot axis 34 Pivot axis 35 Link guide 36 Holding recess 37Actuator

Claims

1. Missile fin deployment device (7) comprising a) a fin (1) having a longitudinal axis (2) and a transverse axis (3) which define a main extensional plane of the fin (1), b) a missile holding region (32) or missile (6) and c) an actuation mechanism (31) by which ca) the fin (1) is held at the missile holding region (32) or missile (6) and cb) the fin (1) can be rotated relative to the missile holding region (32) or missile (6) about a rotational axis (34) and can be pivoted about a pivot axis (33), d) wherein the actuation mechanism (31) da) comprises a rotation mechanism (24) by which the fin (1) can be rotated relative to the missile holding region (32) or missile (6) about the rotational axis (34) and db) comprises a pivoting mechanism (10) by which the fin (1) can be pivoted relative to the missile holding region (32) or missile (6) about the pivot axis (33), e) the pivot axis (33) corresponding to the transverse axis (3) of the fin (1) or to an axis being parallel thereto, f) the rotation mechanism (24) and the pivoting mechanism (10) being actuatable independent on each other and g) in the undeployed position of the missile fin deployment device (7) ga) the fin (1) is arranged on or aligned with an outer surface of the missile (6) and gb) the transverse axis (3) has an orientation tangential to the outer surface of the missile (6) or in a cross section has an orientation along the outer surface of the missile (6), characterized in that h) the pivoting mechanism (10) comprises a slotted link guide (35) by which a movement of a pivoting actuator is converted into a pivoting movement of the fin (1), the dependency of the movement of the pivoting actuator and the pivoting movement of the fin (1) being defined by the contour of the slotted link guide (35).

2. Missile fin deployment device (7) of claim 1, characterized in that the rotation mechanism (24) and the pivoting mechanism (10) are interposed between the fin (1) and the missile holding region (32) or the missile (6) in mechanical serial arrangement with respect to the force flow.

3. Missile fin deployment device (7) of one of the preceding claims, characterized in that the pivoting mechanism (10) comprises a pivot bearing body (12), the fin (1) being pivotable relatively to the pivot bearing body (12), the fin (1) being supported with respect to a pivoting about the pivot axis (33) on a supporting and / or holding device (22) at the pivot bearing body (12) in a deployed position, wherein preferably the pivot bearing body (12) can be rotated by the rotation mechanism (24) relative to the missile (6).

4. Missile (6) comprising a missile fin deployment device (7) of one of the preceding claims.