Adjustable Structures

Abstract

An adjustable structure (1) comprising a first structural layer (10) defined by a first array of extendable and/or retractable rods or beams (11, 11a, 11b) pivotally connected to each other at their ends and a second structural layer (20) connected to the first structural layer (10) and defined by a second array of extendable and/or retractable rods or beams (21, 21a, 21b) pivotally connected to each other at their ends, wherein at least a portion of the second layer (20) is outside the volume defined by the first structural layer (10) and the extendable and/or retractable rods or beams in the second array are more densely packed than the extendable and/or retractable rods or beams in the first array.

Claims

1-75. (canceled)

76. An adjustable structure comprising an array of beams pivotally connected together by two or more joined lines, each beam comprising a beam connector connecting one of the lines to the beam, at least one of the beam connectors comprising a barrel within which the line is held and a tension adjustor connecting the line to the barrel, wherein the tension adjustor is threadedly engaged with the barrel such that rotation, in use, of the tension adjustor relative to the barrel adjusts the line along the barrel to adjust the tension in the line.

77. The adjustable structure according to claim 76, wherein the adjustor comprises a grip feature for engaging with an adjustment tool for adjusting the tension adjustor.

78. The adjustable structure according to claim 76, wherein the line held in the barrel comprises an enlarged head portion at or adjacent one end thereof that engages the tension adjustor.

79. The adjustable structure according to claim 76, wherein the joined lines are entwined or intertwined together.

80. The adjustable structure according to claim 76, wherein the joined lines are bonded together or formed integrally.

81. The adjustable structure according to claim 76, wherein one or more of the beam connectors further comprises an anti-rotation element.

82. The adjustable structure according to claim 76 further comprising a flexible skin or membrane secured to an outer portion of the structure.

83. The adjustable structure according to claim 76, wherein each of the beams comprises a series of telescopic parts.

84. The adjustable structure according to claim 83 further comprising a drive motor coupled to a keyed drive shaft rotatably mounted to each rod or beam and slidably engaging a series of movable gears, wherein each movable gear is rotatably mounted to a respective telescopic part and secured to an end of a threaded shaft that threadedly engages one or more subsequent telescopic parts in the series to drive the extension or retraction of the telescopic parts of the beam.

85. The adjustable structure according to claim 84, wherein the keyed drive shaft, the movable gears and the threaded shafts of each beam are contained within the telescopic parts.

86. The adjustable structure according to claim 84 further comprising a controller operatively connected to one or more of the drive motors for adjusting, in use, the configuration of the structure.

87. The adjustable structure according to claim 86 further comprising one or more sensors operatively connected to the controller for providing signals indicative of one or more measured parameters.

88. The adjustable structure according to claim 76, wherein the array of beams comprise a first structural layer defined by a first array of extendable beams and a second structural layer connected to the first structural layer and defined by a second array of extendable beams, wherein at least a portion of the second layer is outside the volume defined by the first structural layer and the extendable beams in the second array are more densely packed than the extendable beams in the first array.

89. The adjustable structure according to claim 76, wherein the array of beams define a structural layer, the adjustable structure comprising a drive motor configured to extend or retract at least one of the beams and an array of infill elements each having ends, each end of each infill element being pivotally connected to a respective extendable beam, wherein the infill elements are extendable or retractable, in use, in response to the extension or retraction of the extendable beams.

90. The adjustable structure according to claim 76, wherein the array comprises a three-dimensional polygonal array.

91. The adjustable structure according to claim 90, wherein the three-dimensional polygonal array comprises a triangular or pyramidal or tetrahedral or octahedral array.

92. An adjustable structure comprising an array of beams pivotally connected together by one or more tension joints, each tension joint comprising a beam connector including two or more joined lines connected to adjacent beam ends, wherein at least one of the lines is adjustably connected to at least one beam by a threaded tension adjustor configured to adjust tension in the line on rotation.

93. The rod according to claim 92, wherein the tension adjustor comprises a first telescopic element that threadedly engages the barrel and radially engages a second telescopic element such that relative rotation therebetween is prevented while permitting axial telescopic movement therebetween.

94. A beam connector for connecting a line to a beam, the beam connector comprising a barrel within which the line is held and a tension adjustor connecting the line to the barrel, the tension adjustor having a first telescopic element that threadedly engages the barrel and radially engages a second telescopic element such that relative rotation therebetween is prevented while permitting axial telescopic movement therebetween.

95. The adjustable structure according to claim 94, wherein the radial engagement between the first and second telescopic elements is provided by one or more radial pins or ridges secured to one of the telescopic elements and engages a slot in the other of the telescopic elements.

Description

[0069] Embodiments of the invention will now be described by way of example only with reference to the accompanying drawings in which:

[0070] FIG. 1 is a perspective view of an adjustable structure according to one embodiment of the invention with a skin secured to an outer portion thereof;

[0071] FIG. 2 is a partial side view of the structure of FIG. 1 illustrating the two structural layers formed of respective arrays of extendable and/or retractable rods or beams aligned such that the skin is substantially planar;

[0072] FIG. 3 is a partial side view similar to that of FIG. 2 of an adjustable structure with a second structural layer according to an alternative configuration with the extendable and/or retractable rods or beams adjusted such that the skin has a non-planar surface profile;

[0073] FIG. 4 is a partial perspective view of a corner arrangement of four extendable and/or retractable rods or beams interconnected by a connection according to the invention;

[0074] FIG. 5 is a partial perspective view of an arrangement of twelve extendable and/or retractable rods or beams interconnected by a connection according to the invention;

[0075] FIG. 6 is a partial perspective view of an external assembly of extendable and/or retractable rods or beams interconnected by a connection according to the invention with a fixing plate secured thereto for attachment of the skin;

[0076] FIG. 7 is a partial perspective view of a rod or beam connector according to the invention;

[0077] FIG. 8 is a section view of the rod or beam connector of FIG. 7;

[0078] FIG. 9 is a partial top view of the top layer only of the adjustable structure of FIG. 1 with part of the skin removed to illustrate the infill array;

[0079] FIGS. 10 and 10a illustrate partial perspective views of external assemblies of extendable and/or retractable rods or beams including an infill array with part of the skin removed;

[0080] FIG. 10b is a partial perspective view of the connection between the midpoint of an extendable and/or retractable rod or beam of the first structural layer and the ends of extendable and/or retractable rods or beams of the second structural layer.

[0081] FIG. 11 is a side view of one of the connections between infill rods or beams and extendable and/or retractable rods or beams;

[0082] FIG. 12 is a perspective view of a series of telescopic tubes from one side of an extendable and/or retractable rod or beam from the adjustable structure of FIG. 1;

[0083] FIG. 13 is a similar view to that of FIG. 12 with a portion of the tubes omitted to show the internal drive mechanism;

[0084] FIG. 14 is a perspective sketch of a seat incorporating an adjustable structure of the invention;

[0085] FIG. 15 is a perspective section view of the seat of FIG. 14;

[0086] FIG. 16 is a sketch illustrating a force feedback movement of the armrest of the seat of FIGS. 14 and 15;

[0087] FIG. 17 is a sketch illustrating a force feedback surface adjustment of an outer portion of the seat of FIGS. 14 and 15;

[0088] FIG. 18 is a sketch illustrating a small scale control model for adjusting the configuration of the seat of FIGS. 14 and 15;

[0089] FIG. 19 is a sketch illustrating the movement of the chair in response to forces exerted on the control model of FIG. 18;

[0090] FIG. 20 is a sketch illustrating a pair of seats similar to those of FIGS. 14 to 19 in an airplane, train or other vehicle that includes a retractable table incorporating an adjustable structure according to the invention;

[0091] FIG. 21 is a sketch similar to that of FIG. 20 illustrating the chairs in a reclined condition;

[0092] FIGS. 22 to 24 are sketches of an aircraft incorporating adjustable structures according to the invention with the wings shown in different respective configurations;

[0093] FIG. 25 shows cross-sectional views of alternative wing configurations of the aircraft of FIGS. 22 to 24; and

[0094] FIGS. 26 and 27 are cross-sectional sketches of the aircraft of FIGS. 22 to 25 with the fuselage shown in different respective configurations.

[0095] FIGS. 1 and 2 show an adjustable structure 1 with a skin 2, a first structural layer 10, a second structural layer 20 connected to the first structural layer 10 and an array of infill rods or beams 4. The first structural layer 10 includes a first array of extendable and/or retractable rods or beams 11, 11a, 11 b pivotally interconnected to each other at their ends by entwined or intertwined or single piece multi-legged flexible line connector element joints between first rod or beam connectors 3 or 3a secured to the ends of the rods or beams 11, 11a, and 11b. The second structural layer 20 includes a second array of extendable and/or retractable rods or beams 21, 21a, 21b interconnected to each other at their ends by entwined or intertwined or single piece multi-legged flexible line connector element joints between second rod or beam connectors 30, 30a and 30b.

[0096] The array of rods or beams 11, 11a, 11b, 21, 21a, 21b of each of the first and second layers 10, 20 is arranged in a three dimensional triangular or pyramidal and/or tetrahedral and/or octahedral array in this embodiment. Other stable geometric arrangements may be formed. The second layer 20 is also outside the volume defined by the first structural layer 10 and the extendable and/or retractable rods or beams 21, 21a, 21b in the second layer 20 are more densely packed than the extendable and/or retractable rods or beams 11, 11a, 11b in the first layer 10. The infill rods or beams 4 are pivotally connected to central portions 22 of the uppermost rods or beams 21 of the second structural layer 20.

[0097] As shown more clearly in FIG. 2, the rods or beams 21a of the second layer 20 are pivotally joined or connected via connectors 30a to the uppermost rods or beams 11a and the middle rods or beams 11b of the first layer 10 at the first layer 10 rod or beam connectors 3a to provide the more densely packed second layer 20. Similarly, the rods or beams 21b of the second layer 20 are pivotally joined or connected to the uppermost rods or beams 11a of the first layer 10 at a central portion 12 thereof via connectors 30b to provide the more densely packed second layer 20. Each rod or beam 11, 11a, 11 b, 21, 21a, 21b includes a centrally mounted drive motor 13, 23 that drives the extension and/or retraction of the rod or beam 11, 11a, 11b, 21, 21a, 21b. It is intended that drive motor and drives in this context also mean rods or beams 11, 11a, 11b, 21, 21a, 21b can have their extension and/or retraction powered by hydraulic, pneumatic, solenoid, magnetic, chemical, electrochemical or other means.

[0098] An alternative adjustable structure 100 with a more densely packed second layer 120 is shown in FIG. 3, wherein like references depict like features and will not be described further. In this embodiment, rod or beam connectors 30a of the rods or beams 121a of the second layer 120 are pivotally joined or connected to the uppermost rods or beams 11a and middle rods or beams 11b of the first layer 10 at the first rod or beam connectors 3a. Rod or beam connectors 30b of rods or beams 121b of the second layer 120 are pivotally joined or connected to the uppermost rods or beams 11a of the first layer 10 at the central portion 12 of rods or beams 11a. Rod or beam connectors 130 of rods or beams 121c of the second layer 120 are pivotally joined or connected to the uppermost rods or beams 11a of the first layer 10 at two additional intermediate portions 112a, 112b thereof, each of which is preferably spaced centrally between the central portion 12 and the first rod or beam connectors 3a to provide the yet more densely packed second layer 120. This central spacing along the length of rods or beams 11a of connection points 112a and 112b between points 12 and connectors 3a is preferably constant, regardless of whether the rods or beams 11a are fully retracted, fully extended or at any degree of extension between the upper and lower limits of extension. Further connection points (not shown) of rod or beam connectors 130 of rods or beams 121c are to the central portion 42 of infill elements 4 shown in FIGS. 9 to 11, with the infill elements 4 connected to the rods or beams 11a of the top surface of the first layer 10.

[0099] A further alternative arrangement (not shown) with a yet further densely-packed second layer 120 comprises further rods or beams 121c that are pivotally joined or connected to the uppermost rods or beams 11a of the first layer 10 at three or more, e.g. four or more or five or more additional intermediate portions, in a similar arrangement to connections 112a and 112b. In some configurations, further connection points (not shown) of rod or beam connectors 130 of rods or beams 121c are to the infill elements 4, which are connected to the rods or beams 11a of the top surface of the first layer 10. The spacing along the length of rods or beams 11a for each of the connections of the rods or beams 121c between the central portion 12 of rods or beams 11a and the first rod or beam connectors 3a is preferably equal for all of the connections. This equal spacing along the length of rods or beams 11a of connection points for additional rods or beams 121c between points 12 and connectors 3a is preferably constant, regardless of whether the rods or beams 11a are fully retracted, fully extended or at any degree of extension between the upper and lower limits of extension.

[0100] The provision of connections between the ends of the lowermost rods or beams 21a, 21b, 121a, 121b, 121c of the second layer 20, 120 with both the ends 3a and also central or intermediate portions 12, 112a, 112b of the uppermost rods or beams 11a of the first layer 10 and, in some configurations, the central portion 42 of infill elements 4 of the first layer 10 provides a second layer 20, 120 with rods or beams 21, 21a, 21b, 121, 121a, 121b, 121c that are packed more densely than those in the first layer 10. Furthermore and as illustrated by FIG. 3, further increasing the number of rods or beams 121, 121a, 121b, 121c relative to those in layer 10 and by providing additional relevant intermediate connection points 112a, 112b increases the density of the second layer 120 in comparison to the configuration shown in FIG. 2 in layer 20.

[0101] As mentioned briefly above and as will be discussed further below with reference to the specific applications, providing a second layer 20, 120 of extendable and/or retractable rods or beams 21, 21a, 21b, 121, 121a, 121b, 121c that is more densely packed than the first layer 10 enables coarse adjustment of the structure by the first layer 10 and fine adjustment of the external skin 2 of the structure 1, 100 using the second layer 20, 120.

[0102] As shown in FIGS. 1 to 3, the size of the rods or beams 21, 21a, 21b, 121, 121a, 121b, 121c in the more densely packed second layer 20, 120 are proportionately smaller than those in the first layer 10 depending upon the density of the second layer 20, 120. The rod or beam connectors 30, 30b, 130 within the layer 20, 120 are sized accordingly. The rod or beam connectors 30a for layer 20, 120, at the interface with layer 10 at the connections with connectors 3a, may vary in size between being the same size as connectors 3a to being the same size as connectors 30, 30b, 130, or be any size between these upper and lower limits. However, the configuration of the rod or beam connectors 3, 3a, 30, 30a, 30b, 130 is the same aside from the difference in their scale.

[0103] References hereinafter to further features of the structure 1 of the first embodiment are equally applicable to the structure 100 according this embodiment. References hereinafter to rods or beams 11 can be equally applicable to rods or beams 11a, 11b, unless noted otherwise. References hereinafter to rods or beams 21, 121 can be equally applicable to rods or beams 21a, 21b, 121a, 121b, 121c, unless noted otherwise. References hereinafter to connectors 3, 30 can be equally applicable to connectors 3a, 30a, 30b, 130, unless noted otherwise.

[0104] FIGS. 4 to 8 illustrate the construction of the entwined or single piece multi-legged flexible line connector element joints of rod or beam connectors 3, 30 in more detail. Each rod or beam connector 3, 30 receives and secures one end of a flexible line or cord 31, whose other end may be received and secured within another rod or beam connector 3, 30. The joint or connection between two or more rods or beams 21 is effected by intertwining the flexible lines 31 thereof during assembly, or by installing a single piece multi-legged moulded or bonded flexible line connector element and forming a structure 1, 100 shown in FIGS. 1 to 3 in which the connections are in tension. The tension of the flexible lines 31 may be adjusted using a tension adjustor 32 in order to provide a robust, yet flexible and pivotable connection between the rods or beams 11, 21, 121. FIG. 4 shows an illustrative outer corner connection between four rods or beams 11, 21, 121, while FIG. 5 shows an illustrative inner connection between twelve rods or beams 11, 21, 121.

[0105] FIG. 6 shows an uppermost joint between rod or beam connectors 30 of rods or beams 11a, 21, 121 in the first or second layer 10, 20, 120 to which the skin 2 may be attached. This joint includes a circular fixing plate 33 and anti-rotation element 34. The fixing plate 33 includes a downwardly extending loop (not shown), which may or may not incorporate a tension adjuster (not shown), through which the flexible lines 31 of the connectors 30 extend to connect the plate 33 to the connector 30. Alternatively, the fixing plate 33 includes a downwardly extending single flexible line (not shown), which may or may not incorporate a tension adjuster (not shown), fixed back to plate 33, and the line may be tied to the flexible lines 31 of the connectors 30 to connect the plate 33 to the connector 30. Alternatively, the fixing plate 33 may connect, with or without a tension adjuster (not shown), to the single piece multi-legged moulded or bonded flexible line connector element which may be connected to the connector 30. The anti-rotation element 34 includes a flexible strip of material extending along and toward the connected end of adjacent rods or beams 11, 21, 121 and secured at each end to a respective one of the adjacent rods or beams 11, 21, 121 by one or more bolts 34a. It will be appreciated that the anti-rotation element 34 prevents twisting or rotation about the axis of the rods or beams 11, 21, 121 to ensure that the fixing plate 33 remains in the required orientation when plate 33 is located at any point along the length of rods or beams 11, 21, 121, and also when plate 33 is located on the infill rods or beams 4.

[0106] It is intended that anti-rotation elements 34 are installed throughout the array to prevent, or at least mitigate, the tendency for the rods or beams 11, 21, 121 to rotate about their longitudinal axis in general use if they are not otherwise constrained.

[0107] Referring now to FIGS. 7 and 8, the tension adjustor 32 includes a first part 35 and a tapered second part 36, both of which are rotatably received within a mounting barrel 37, which in turn is secured to the rod or beam 11, 21, 121. The first part 35 includes a hollow threaded shaft 35a with a radial bore adjacent a first, outer end thereof within which is securedly received a pair of pins 35b and a washer 35c that abuts a second, inner end of the threaded shaft 35a. The flexible line 31 includes an enlarged head 31a at one end, which can either be formed by a knot in the line or by a moulded feature. The flexible line 31 extends through the hollow first part 35 such that the head 31a is sized such that it cannot pass through the aperture of the washer 35c. The washer 35c can be omitted, provided that the head 31a of line 31 is sized such that it cannot pass through the radial bore of threaded shaft 35a.

[0108] The second part 36 includes a control collar 36a, a driving collar 36b and an extension collar 36c, all of which are hollow. The control collar 36a includes a radial bore adjacent a first, outer end thereof, within which is securedly received a pair of pins 36d, and a pair of opposed axial slots 36e along a portion thereof adjacent a second, inner end thereof. Each axial slot 36e of the control collar 36a slidably receives a respective one of the pins 35b of the first part 35 such that rotation R.sub.1 of the control collar 36a causes the first part 35 to rotate as shown by arrow R.sub.2, but allows axial movement therebetween.

[0109] The driving collar 36b includes a pair of opposed flats 36f at a central outer surface thereof, an axial counterbore at a first, outer end that securedly receives the extension collar 36c and a radial bore adjacent a second, inner end. The extension collar 36c is rounded perpendicular to the longitudinal axis of the rod or beam connectors at its outer end internally to inhibit undue concentrated stresses from being exerted on the flexible line 31, and to inhibit any tendency for the collar 36c to cut into flexible line 31, as loads acting upon the rods or beams may have a tendency to induce adjacent collars 36c to impose a shear load upon the flexible line 31. The extension collar 36c is also preferably rounded perpendicular to the longitudinal axis of the rod or beam connectors at its outer end on its outer face to enable the smooth rotation of the connectors around the approximate shared point of connection between the rods or beams 11, 21, 121. Collar 36c is preferably formed from a material with low friction qualities, to lessen the friction otherwise encountered when multiple collars 36c are in contact with each other and moving relative to each other in the assembled configuration, as shown in FIG. 4, 5, 6.

[0110] The second end of the driving collar 36b is received within the first end of the control collar 36a and securedly receives the pins 36d of the control collar 36a, thereby securing the control collar 36a and driving collar 36b together.

[0111] The mounting barrel 37 is hollow with a first, external end that receives a bearing sleeve 38 and a second, internal end with a threaded axial bore 37a with a counterbore that receives a nylon insert 37b with an internal thread that matches the threading in the bore 37a. The counterbore of mounting barrel 37 is sized so as to securedly hold and prevent the rotation of nylon insert 37b around the longitudinal axis of connector 3, 30. The mounting barrel 37 is received within an end of the rod or beam 11, 21, 121 and secured thereto by a bolt 37c on either side of the rod or beam 11, 21, 121. The second part 36 is received within the first end of the mounting barrel 37 and is rotatably engaged therewith by the bearing sleeve 38. The threaded shaft 35a of the first part 35 is received within and engages the threaded axial bore 37a at the second end of the mounting barrel 37, wherein the nylon insert 37b inhibits unwanted rotation of the first part 35 via the profile of the threaded axial bore within nylon insert 37b, whilst still permitting the relative threaded rotation of threaded shaft 35a within the threaded axial bore 37a, when induced by the manually-induced rotation of parts 35, 36.

[0112] In use, a plurality of rods or beams 11, 21, 121 are provided and their flexible lines 31 are entwined or intertwined with one another or formed of a single piece multi-legged flexible line connector element to form the structure 1. The tension adjustors 32 are then adjusted to provide the requisite tension between the connectors 3, 30 by rotating the driving collar 36b using a tool (not shown) that engages the flats 36f. This rotation R.sub.1 causes the pins 36d of the control collar 36a to rotate, thereby causing the slots 36e of the control collar 36a to engage the pins 35b of the first part 35 and force the rotation R.sub.2 of the first part 35. This rotation R.sub.2 causes the first part 35 to retract into the rod or beam 11, 21, 121, due to the engagement of threaded shaft 35a with threaded bore 37a, and pushes the head 31a away from the point of the entwined or intertwined lines or the single piece multi-legged flexible line connector element, thereby tensioning the joint.

[0113] As shown more clearly in FIGS. 9 to 11, the infill elements 4 may be pivotally connected at their ends to infill connectors 40 mounted to central portions 22 of the uppermost rods or beams 11a of first layer 10, and/or uppermost rods or beams 21, 121 of the second layer 20, 120. Each infill element 4 is formed of a series of telescopic parts 41, which may extend telescopically from a central part 42. The telescopic parts 41 are configured to restrict the rotation of the telescopic parts 41 relative to each other along their longitudinal axis. The telescopic parts 41 are shown in FIG. 10 with a rectangular cross section. Alternatively, the tubes may have a square cross-section, or any other cross-section, for example an oval, a C or channel shape, or a circular cross-section, provided an anti-rotation measure was used e.g. a key and a slot/keyway. A circular fixing plate 33 similar to those secured to the joints of the rods or beams 11a, 21, 121 may be secured to each central part 42. In certain arrangements of the structure comprised of multiple layers of rods or beams of varying scales, such as shown in FIG. 3, additional infill elements 4 are located at the top of the lowermost rod or beam layer 10, connected to rods or beams 11a. In this arrangement, the circular fixing plates 33 are omitted, and instead the lower ends of some of the rods or beams 121c in the second layer 120 may be pivotally connected e.g. via connectors 130 to the central parts 42 of the infill elements 4 located at the top of the lowermost rod or beam layer 10. The ends of each infill element 4 include a fork 43a, 43b secured thereto, one of which 43a is pivotable about the longitudinal axis A.sub.3 of the infill element 4 and the other 43b of which is non-pivotable.

[0114] Each infill connector 40 includes a pair of brackets 44, a first pivot pin 45 and a pair of second pivot pins 46. The brackets 44 extend perpendicularly from the central portion 22 of the relevant rod or beam 11a, 21, 121 with the first pivot pin 45 pivotably mounted to and extending between them in an orientation parallel to the rod or beam 21. Each of the second pivot pins 46 extends through a hole (not shown) in each of the arms of a respective one of the forks 43a, 43b of the infill element, through a pair of opposed hollow shoulder elements 46a and through a hole (not shown) in the first pivot pin 45.

[0115] Thus, each infill element 4 is pivotable about a first axis A.sub.1 corresponding to the longitudinal axis of the first pivot pin 45 and about a second axis A.sub.2 corresponding to the longitudinal axis of the second pivot pin 46. Each infill element 4 is also pivotable at one end 43a only about a third axis A.sub.3 corresponding to the longitudinal axis of the infill element 4 itself.

[0116] When a loads L are imposed on the fixing plates 33 of the infill elements 4 via the skin 2, or loads L from the adjoining smaller-scale rod or beam layer 120 when connections are made by rods or beams 121c to the infill elements 4, this induces a twisting moment M along the longitudinal axis of the telescopic rods or beams 11a, 21, 121. This is partly due to the infill connectors 40 not being located on the longitudinal axis of the rods or beams 11a, 21, 121 but the pins 45 also act as pivot points A.sub.1, leading to the moment M. However, this moment in one direction of rotation would generally be balanced by a generally equal load on the fixing plates 33 of the infill elements 4, or a load transmitted by adjoining smaller-scale rod or beam layer 120 when connections are preferably made by rods or beams 121c to the infill elements 4 from rods or beams 120, on the opposite side of the rod or beam 11a, 21, 121, as shown in FIG. 9, thus opposing or at least reducing the initial moment force.

[0117] This moment M is avoided altogether by configuring the rods or beams 11a, 21, 121 such that axis A.sub.1, formed by first pivot pin 45, is moved onto the longitudinal axis of the telescopic rods or beams 11a, 21, 121, as shown in FIG. 10a. This is achieved by separating the two telescoping assemblies of tubes that comprise a single rod or beam 11a, 21, 121, and joining them with a tubular section/spacer 46b, whose longitudinal axis is on the longitudinal axis of rods or beams 11a, 21, 121. The tubular section/spacer replaces the first pivot point 45 and forms axis A.sub.1. Brackets 44a, 44b connect forks 43a, 43b via the second pivot pins 46 to the tubular section/spacer. Brackets 44a, 44b pivot around the axis A.sub.1 shared longitudinally by the rods or beams 11a, 21, 121 and the tubular section/spacer.

[0118] In addition, FIG. 10b shows how this use of the tubular section/spacer 46b and the bracket 44a, 44b, pin 46 and fork 43a, 43b arrangement may be used to connect the ends of the extendable and/or retractable rods or beams 21b, 121b, 121c of the second array at the middle 12 and/or intermediate points 112a, 112b of the extendable and/or retractable rods or beams 11a of the first array.

[0119] There is also a tendency for the rods or beams 21 to rotate about their longitudinal axis in general use if they are not otherwise constrained, but this rotation is prevented, or at least mitigated, by installation throughout the array of the anti-rotation elements 34.

[0120] The anti-rotation elements 34 may also be (not shown), or may not be, installed to prevent, or at least mitigate, the rotation of infill elements 4, by either connecting together a pair of infill elements 4, or connecting an infill element to an adjacent rod or beam 11a, 21, 121.

[0121] In this embodiment and as shown in more detail in FIGS. 10 to 13, each rod or beam 11, 21, 121 includes a series of hollow telescopic tubes 24 extending from each side of the central portion 12, 22. This arrangement enables the positioning of any relatively large components that may form part of the rod or beam 11, 21, 121, such as the drive motor 13, 23 away from the rod or beam connectors 3, 30, e.g. directly fixed to the central portion 12, 22.

[0122] The hollow telescopic tubes 24 may be round in cross section. In order to prevent unwanted rotation of the telescopic elements or hollow tubes 24 along their shared longitudinal axis, a key or ridge 26 that engages with a slot or keyway 26a, preferably formed within collars 26b which may be fixed to tubes 24, may be incorporated into each section of the telescoping elements or hollow tubes 24.

[0123] Each rod or beam 21, 121 of the second layer 20, 120 also includes a further three or more fixing plates 33 equispaced along their length between the ends thereof. One fixing plate 33 is secured to the central portion 22 of the rod or beam 21 and the additional fixing plates 33 are mounted to intermediate positions by a carriage 47. The arrangement shown in FIG. 10 shows a carriage 47 comprised of a pair of arms 47a, one on either side of the telescopic tubes 24, secured at one of their ends to the end of one of the tubes 24 and at their other ends to a ring 47b slideable along another one of the tubes 24. Alternatively, as is shown in FIG. 10a, the sliding element or ring 47b may be omitted, such that the arm or arms 47a are rigidly connected to or rigidly secured from or rigidly mounted solely at point 47c, at one of the ends of the telescopic tubes 24, without secondary support via ring 47b.

[0124] The extension and retraction of the series of telescopic tubes 24 is effected by a keyed drive shaft 25, comprised of a series of telescoping tubes, with a fixed gear 25a and collar 25e secured to an end thereof and rotatably mounted to an end plate 24a that is secured to a first end of the outermost tube 24. Each of the other tubes 24 in the series includes an end plate 24a with a collar 25e and a movable gear 25b rotatably mounted thereto that slidably engages the key 25g in the drive shaft 25 such that the movable gear 25b rotates on rotation of the drive shaft 25 but is able to slide freely therealong relative to the inner portion or portions of telescopic drive tube or tubes 25. Thus each length of driveshaft 25 is restrained relative to the end plate 24a and tube 24, whilst each length of and the whole extent of driveshaft 25 is still able to rotate along its longitudinal axis. Each tube 24 also includes a drive gear 25c and collar 25f secured to the end of a threaded shaft 25d, both of which are rotatably mounted to the end plate 24a such that the drive gear 25c engages the fixed gear 25a and/or one of the movable gears 25b of the drive shaft 25. Each threaded shaft 25d also engages a threaded hole in the end plate 24a of the subsequent tubes 24 in the series.

[0125] In the assembled condition shown in FIG. 2 for example, the drive shaft 25 is coupled to the output shaft of the drive motor 13, 23. In use, a torque provided by the drive motor 13, 23 causes the drive shaft 25 to rotate, thereby rotating the fixed gear 25a and movable gears 25b, which causes the threaded shafts 25d to rotate and force the series of telescopic tubes 24 to extend or retract, depending on the direction of the rotation of the drive shaft of the drive motor 13, 23. This arrangement enables accurate and controllable extension and retraction of the rods or beams 11, 21, 121.

[0126] Turning now to FIGS. 14 to 21, there is shown a seat or chair 5 incorporating an adjustable structure 200 that includes five layers 210, 220, 230, 240, 250 of rods or beams arranged in arrays with progressively increasing densities and having the same features as the layers 10, 20, 120 described above, wherein like reference refer to like features. The rods or beams in the lowermost layer 210 are pivotally secured to a chair base 60 and the uppermost layer 250 includes an elastic resilient and/or elastic foam based skin 51 secured thereto in the manner described above. The seat 5 may be installed or incorporated in a vehicle 6 as shown in FIGS. 20 and 21, which may be an airplane, spacecraft, train, automobile, limousine or any other vehicle, or may simply be placed in the living room of a home or any room within or outside any other type of building.

[0127] The seat 5 incorporates a control system that includes a controller 50 incorporated within or located adjacent the seat 5, as shown in FIGS. 14 and 15 respectively, and operatively connected to the drive motors 13, 23 for providing command signals thereto and to a series of pressure sensors incorporated within skin 51 and/or the the fixing plates 33 and/or sensors that detect the imposed load along the longitudinal axes of the rods or beams in the various layers 210, 220, 230, 240, 250 for receiving input signals therefrom. In this embodiment, the controller 50 is connected to the drive motors 13, 23 and pressure sensors by wires (not shown), but the use of wireless communication technology and/or a conductive path (not shown) formed by the components of the structure and/or any other suitable technology is also envisaged.

[0128] The control system in this embodiment is configured to operate in one of a plurality of modes that are selectable via the controller 50. In a first mode, signals received from the pressure sensors of the skin 51 and/or the fixing plates 33 are compared to signals received from adjacent pressure sensors and/or sensors that detect the imposed load along the longitudinal axes of the rods or beams in the various layers 210, 220, 230, 240, 250 and, subsequently the drive motors 13, 23 in the uppermost, denser layers 230, 240, 250 are operated to alter the outer portion of the structure 200 to provide a pre-determined stiffness or softness to simulate a cushion-like structure. The degree of stiffness or softness is selected using the controller 50, which adapts the control algorithm accordingly.

[0129] In a second mode, the signals received from the pressure sensors of the skin 51 and/or the fixing plates 33 and/or sensors that detect the imposed load along the longitudinal axes of the rods or beams in the various layers 210, 220, 230, 240, 250 are used to operate the drive motors 13, 23 in the lowermost, coarser layers 210, 220 to alter configuration of the seat 5. As shown more clearly in FIG. 16, a force F applied by the hand H of a user to an arm rest 52 of the seat 5 causes the controller 50 to send a signal to the drive motors 13, 23 in the coarser layers 210, 220 and, to a lesser degree, 230 to move the armrest in the direction D of the force F.

[0130] In a third mode, the signals received from the pressure sensors of the skin 51 and/or the fixing plates 33 and/or sensors that detect the imposed load along the longitudinal axes of the telescopic rods or beams in the various layers 210, 220, 230, 240, 250 are used to operate the drive motors 13, 23 in all of the layers 210, 220, 230, 240, 250 according to a predetermined relationship to provide adjustment of an intermediate coarseness. As shown more clearly in FIG. 17, the surface topography of the structure 200 can be altered in this mode by applying pressure to one or more areas A of the skin 51, for example using a finger HF.

[0131] The seat 5 may advantageously be provided with a small or same or large scale force feedback model 53 operatively connected to the controller 50 to be used in conjunction with a fourth mode of the control system. The model 53 includes an internal structure, which may, but need not, mimic the telescopic rod or beam structure of the seat 5 and includes a series of sensors for detecting forces applied to and/or movements of portions of the model and feeding these back to the controller 50. In this mode, the input signals received from the model 53 are used to control the drive motors 13, 23 in the structure 200 to replicate the manipulation of the model 53 by the user.

[0132] Optionally, resistance to movement encountered and sensed by the seat 5 may be, but need not be, fed back to the model 53, such that the user of the model 53 feels these resistances when they attempt to change the form of the control model 53. The resistances may be replicated in the model 53 by the controlled deformation of its internal structure, with the deformations controlled either by localised control units on each rod/beam and/or other element of structure, and/or a cluster of rods/beams and/or element of internal structure, and/or a separate control unit.

[0133] The control system may also include further modes that incorporate any number of combinations of the aforementioned modes. In some embodiments, the pressure sensors of the skin 51 and/or the fixing plates 33 and/or sensors that detect the imposed load along the longitudinal axes of the telescopic rods or beams in the various layers 210, 220, 230, 240, 250 are divided into different sectors, wherein each sector is configured to operate in one of the aforementioned modes. For example, the surface on which a user sits may be configured in the first mode, the arm rests 52 may be configured in the second mode and pre-determined portions of the back rest may be configured in the third mode. It will be appreciated that the control system may be configured with any number of combinations of the aforementioned modes or any further modes. The control system may be configured to distinguish between vertical and non-vertical loads and, for example, to resist vertical loads while responding to non-vertical loads.

[0134] As shown in FIGS. 20 and 21, the vehicle 6 may also include a deformable surface, in this example shown as a retractable table 61 also formed of an adjustable structure according to the invention. The table 61 may be configurable to operate in the second mode as described above, wherein a user simply grips a portion thereof and either pulls that portion outwardly to deploy the table 61 or pushes that portion toward the wall to retract the table 61.

[0135] Turning now to FIGS. 22 to 27, there is shown an aircraft 7 with wings 70, tailplane 71 and a fuselage 72 each incorporating a respective structure 300, 400, 500 according to the invention. As illustrated by FIGS. 22 to 24, the shape of the wings 70 and tailplane 71 of the aircraft 7 in this embodiment are reconfigurable to suit a plurality of different performance requirements. This reconfiguration may be performed dynamically while the aircraft 7 is in flight, for example to adapt the performance characteristics of the aircraft 7 when moving between high speed travel and/or reconnaissance and/or combat situations.

[0136] FIG. 25(a) shows the cross-section of a wing 70 whose entire structure 300 is provided by extendable and/or retractable rods or beams, while FIGS. 25(b) and 25(c) show the cross-section of a wing 70 that incorporates a fixed-form base frame 73 to which the extendable and/or retractable rods or beams are mounted.

[0137] The adjustable structures 300, 400 of the wings 70 and tailplane 71 in this embodiment are also configured to replace the traditional construction of flaps, ailerons, elevator and rudder with continuous control surfaces whose angle and shape are changed to provide the same function as these traditional elements.

[0138] The shape of the fuselage 72 is also reconfigurable in this embodiment, for example to alter the aerodynamic characteristics of the aircraft or to accommodate on its floor 74a load of cargo C having a particular shape. FIGS. 26 and 27 illustrate an application in which the fuselage 72 is distorted to accommodate a load with a particularly awkward shape.

[0139] It will be appreciated by those skilled in the art that multiple variations of the aforementioned embodiments are envisaged without departing from the scope of the invention. For example, the array of rods or beams 11, 21, 121 need not be arranged in a triangular or pyramidal array and may instead by arranged in a quadrilateral or cuboidal array or any other polygonal array or combination of two or more such arrays.

[0140] One or more of the rods or beams 11, 21, 121 need not include drive motors 13, 23, for example in applications where only passive resistance to extension or retraction thereof such drive motors may be replaced with a regulator or resistance means (not shown) that may be configured to inhibit or at least partially inhibit the extension and/or retraction thereof.

[0141] Moreover, the control systems described above rely on a centralised controller 50 that processes input signals and controls the drive motors 13, 23 accordingly. However, in large scale and/or complex systems it may be advantageous to provide independent controllers on each or a group of rods or beams 11, 21, 121. These controllers may, for example, operate on a hierarchical basis, wherein command signals received from a central controller 50 are processed in conjunction with feedback signals received from one or more or a plurality of sensors by an algorithm to determine the control signal to be sent to any particular drive motor 13, 23 or group of drive motors 13, 23. These sensors may be comprised, or may not be comprised, of pressure sensors within the skin 51 and/or on the fixing plates 33, and/or sensors that detect the imposed load along the longitudinal axes of the telescopic rods or beams in the various layers 210, 220, 230, 240, 250. The sensors may also detect the presence and/or movement of other nearby objects, and/or temperature, humidity, capacitance and/or any other measureable property or properties, or any combination thereof, of their surroundings.

[0142] It will also be appreciated by those skilled in the art that any number of combinations of the aforementioned features and/or those shown in the appended drawings provide clear advantages over the prior art and are therefore within the scope of the invention described herein.