Gyroscope flexure hinge suspension

Claim 2

Apparatus for supporting a gyroscopic inertial flywheel for rotation about a first principal axis and for angular displacement about second and third principal axes mutually perpendicular and intersecting with respect to said first axis comprising: an upper gimbal ring coaxially related to said first principal axis; an elongate shaft coaxial with respect to said first principal axis and having a pair of diametrically opposed, displaced lower gimbals supported on the axial upper end thereof along said second principal axis; a first pair of diametrically opposed flexure elements respectively integral between said pair of lower gimbals and said gimbal ring for supporting said gimbal ring relative to said elongate shaft and for permitting said gimbal ring to tilt relative to said shaft about said second principal axis; a pair of diametrically opposed displaced middle gimbals positioned along said third principal axis and integrally supported from said gimbal ring by a second pair of diametrically opposed flexure elements; each of said flexure elements comprising a pair of necked-down sections of said cylindrical wall member, one of which has its longitudinal axis aligned parallel to said first principal axis and the other one of which has its longitudinal axis aligned parallel to one other of said principal axes; and a rotor mounting ring integrally supported by said pair of middle gimbals in a coaxial manner relative to said first principal axis, whereby said second pair of flexure elements permit said middle gimbals and said rotor mounting ring to angularly tilt or bend about said third principal axis, said rotor mounting element being adapted to support a gyroscopic flywheel relative to said elongate shaft.

Claim 3

The apparatus of claim 1 wherein said elongate shaft has integrally attached thereto angle stop means for limiting the angular displacement of said rotor mounting element about said second and third principal axes;

Claim 4

A universal joint flexure hinge element for use in a gyroscopic suspension apparatus comprising: a hollow cylindrical member symmetrically disposed about a set of three principal mutually intersecting and orthogonal axes; an elongate shaft integral with the lower axial end of said hollow cylindrical member and coaxial with respect thereto and to a first one of said principal axes, said member including a lower gimbal ring adjacent to said integral elongate shaft; a pair of diametrically opposed upstanding wall portions spaced along a second one of said principal axes; an upper gimbal ring, said upper gimbal ring being supported for angular rotation about said second principal axis by a diametrically opposed pair of flexure elements integral therewith and with said upstanding wall portions, respectively; a pair of diametrically opposed arcuately shaped middle gimbal portions in quadrature with said pair of upstanding wall portions and spaced along a third one of said principal axes, said middle gimbal portions being supported from said upper gimbal ring by a second pair of diametrically opposed flexure elements spaced along said third principal axis and adapted to support said middle gimbal portions for angular rotation about said third principal axis relative to said upper gimbal ring; said first and second pairs of diametrically opposed flexure elements comprising thin necked-down sections of said cylindrical wall member having their longitudinal axes parallel to said first principal axis and their transverse bending axes aligned along said second or third principal axis, respectively, whereby a gyroscopic inertial element may be integrally supported by said middle gimbal portions for two-axis angular displacement relative to said elongate shaft.

Claim 5

A universal joint flexure hinge element for use in a gyroscopic suspension apparatus comprising: a hollow cylindrical member symmetrically disposed about a set of three principal mutually intersecting and orthogonal axes; an elongate shaft integral with the lower axial end of said hollow cylindrical member and coaxial with respect thereto and to a first one of said principal axes, said member including a lower gimbal ring adjacent to said integral elongate shaft; a pair of diametrically opposed upstanding wall portions spaced along a second one of said principal axes; an upper gimbal ring, said upper gimbal ring being supported for angular rotation about said second principal axis by a diametrically opposed pair of flexure elements integral therewith and with said upstanding wall portions, respectively; a pair of diametrically opposed arcuately shaped middle gimbal portions in quadrature with said pair of upstanding wall portions and spaced along a third one of said principal axes, said middle gimbal portions being supported from said upper gimbal ring by a second pair of diametrically opposed flexure elements spaced along said third principal axis and adapted to support said middle gimbal portions for angular rotation about said third principal axis relative to said upper gimbal ring; said first and second pairs of diametrically opposed flexure elements comprising thin necked-down sections of said cylindrical wall member having their longitudinal axes parallel to said first principal axis and their transverse bending axes aligned along said second or third principal axis, respectively, whereby a gyroscopic inertial element may be integrally supported by said middle gimbal portions for two-axis angular displacement relative to said elongate shaft.

Claim 6

The apparatus of claIm 3 wherein said elongate shaft is adapted to receive torque from a gyroscope drive means to cause said lower gimbal ring and said middle gimbal portions and said upper gimbal to rotate about said first principal axis.

Claim 7

A universal joint flexure hinge element for use in gyroscopic suspension apparatus comprising: a hollow cylindrical member symmetrically disposed about a set of three principal mutually intersecting and orthogonal axes, said hollow cylindrical member including an upper ring gimbal coaxially related to a first one of said axes, a pair of diametrically opposed cutaway wall portions displaced along a second one of said principal axes, said cutaway wall portions being supported for angular rotation about said second axis relative to said gimbal upper ring by a corresponding pair of diametrically opposed flexure elements, said member further including a pair of diametrically opposed lower gimbal portions cut away from the wall of said hollow cylindrical member and displaced along a third one of said principal axes, said lower gimbal cutaway wall portions being supported from said upper ring gimbal by a second pair of diametrically opposed flexure elements adapted to permit said upper gimbal ring to angularly rotate relative to said lower gimbal portions about said third principal axis, and wherein said first and second pairs of diametrically opposed flexure elements comprise locally thin necked-down sections of said cylindrical wall member each of which has a longitudinal axis normal to said first principal axis and a transverse bending axis aligned parallel to either said second or third principal axes, respectively.

Claim 8

A universal joint flexure hinge element for use in gyroscopic suspension apparatus comprising: a hollow cylindrical member symmetrically disposed about a set of three principal mutually intersecting and orthogonal axes, said hollow cylindrical member including an upper ring gimbal coaxially related to a first one of said axes, a pair of diametrically opposed cutaway wall portions displaced along a second one of said principal axes, said cutaway wall portions being supported for angular rotation about said second axis relative to said gimbal upper ring by a corresponding pair of diametrically opposed flexure elements, said member further including a pair of diametrically opposed lower gimbal portions cut away from the wall of said hollow cylindrical member and displaced along a third one of said principal axes, said lower gimbal cutaway wall portions being supported from said upper ring gimbal by a second pair of diametrically opposed flexure elements adapted to permit said upper gimbal ring to angularly rotate relative to said lower gimbal portions about said third principal axis, and wherein said first and second pairs of diametrically opposed flexure elements comprise locally thin necked-down sections of said cylindrical wall member each of which has a longitudinal axis normal to said first principal axis and a transverse bending axis aligned parallel to either said second or third principal axes, respectively.

Claim 9

The apparatus of claim 5 wherein said pair of diametrical opposed cutaway middle gimbal portions is adapted to support a gyroscope inertial element and wherein said pair of diametrically opposed lower gimbal cutaway cylindrical wall portions is adapted to integrally fixed relative to a gyroscope drive means, said means being effective to cause said lower gimbal wall portions to be rotated about said first principal axis.

Claim 10

The combination comprising: an inner flexure hinge unit for permitting universal tilting and rotation about a gyroscope spin reference axis; an outer flexure hinge unit for permitting universal tilting and rotation about said spin reference axis concentrically and integrally fixed to said inner hinge unit and adapted to coaxially support a gyroscope inertial element, said outer hinge unit comprising a hollow cylindrically shaped member having an upper gimbal portion, a pair of diametrically opposed middle gimbal portions, and a pair of diametrically opposed lower gimbal portions in quadrature with said middle gimbal portions, said middle gimbal portions being respectively supported from said upper gimbal portions by a first pair of diametrically opposed flexure elements permitting said middle gimbal portions to pivot about an axis perpendicular to and intersecting said spin reference axis, said middle gimbal portions having a gyroscope inertial element support ring attached to their outside peripheral surfaces, respectively, and said lower gimbal portions being respectively supported from said upper gimbal portion by a second pair of diametrically opposed flexure elements permitting said lower gimbal portions to pivot about a second axis mutually perpendicular and intersecting said spin axis and said first axis; and, an angle stop means fixed to said inner hinge unit and adapted to limit the tilting of said inertial element relative to said spin axis.

Claim 11

The combination comprising: an inner flexure hinge unit for permitting universal tilting and rotation about a gyroscope spin reference axis; an outer flexure hinge unit for permitting universal tilting and rotation about said spin reference axis concentrically and integrally fixed to said inner hinge unit and adapted to coaxially support a gyroscope inertial element, said outer hinge unit comprising a hollow cylindrically shaped member having an upper gimbal portion, a pair of diametrically opposed middle gimbal portions, and a pair of diametrically opposed lower gimbal portions in quadrature with said middle gimbal portions, said middle gimbal portions being respectively supported from said upper gimbal portions by a first pair of diametrically opposed flexure elements permitting said middle gimbal portions to pivot about an axis perpendicular to and intersecting said spin reference axis, said middle gimbal portions having a gyroscope inertial element support ring attached to their outside peripheral surfaces, respectively, and said lower gimbal portions being respectively supported from said upper gimbal portion by a second pair of diametrically opposed flexure elements permitting said lower gimbal portions to pivot about a second axis mutually perpendicular and intersecting said spin axis and said first axis; and, an angle stop means fixed to said inner hinge unit and adapted to limit the tilting of said inertial element relative to said spin axis.

Claim 12

The combination of claim 7 wherein said inner hinge unit comprises: a lower ring gimbal coaxially disposed about said spin axis and having integrally attached thereto an elongate shaft portion coaxially related to said spin axis, and; an upper ring gimbal supported relative to said lower ring gimbal by a first pair of diametrically opposed flexure elements, said flexure elements being adapted to permit said upper ring gimbal to Pivot relative to said lower ring gimbal about a first axis perpendicular to and intersecting said spin reference axis, said upper ring gimbal having a second pair of diametrically opposed flexure elements supported therefrom and having a corresponding pair of diametrically opposed middle gimbals fixedly secured thereto, said second pair of flexure elements permitting said pair of middle gimbals to pivot relative to said upper ring gimbal about a second axis mutually perpendicular to and intersecting said spin axis and said first axis.

Claim 13

The combination comprising: an inner flexure hinge unit for permitting universal tilting and rotation about a gyroscope spin reference axis, said inner flexure hinge unit comprising a lower ring gimbal coaxially disposed about said spin axis and having integrally attached thereto an elongate shaft portion coaxially related to said spin axis, and an upper ring gimbal supported relative to said lower ring gimbal by a first pair of diametrically opposed flexure elements, said flexure elements being adapted to permit said upper ring gimbal to pivot relative to said lower ring gimbal about a first axis perpendicular to and intersecting said spin reference axis, said upper ring gimbal having a second pair of diametrically opposed flexure elements supported therefrom and having a corresponding pair of diametrically opposed middle gimbals fixedly secured thereto, said second pair of flexure elements permitting said pair of middle gimbals to pivot relative to said upper ring gimbal about a second axis mutually perpendicular to and intersection said spin axis and said first axis; an outer flexure hinge unit for permitting universal tilting and rotation about said spin reference axis concentrically and integrally fixed to said inner unit and adapted to coaxially support a gyroscope inertial element, said outer flexure hinge unit comprising a hollow cylindrically shaped member having an upper gimbal portion, a pair of diametrically opposed middle gimbal portions, and a pair of diametrically opposed lower gimbal portions in quadrature with said middle gimbal portions, said middle gimbal portions being respectively supported from said upper gimbal portions by a first pair of diametrically opposed flexure elements whereby said first pair of flexure elements permit said middle gimbal portions to pivot about a first axis perpendicular to and intersecting said spin reference axis, said middle gimbal portions having a gyroscope inertial element support ring attached to their outside peripheral surfaces, respectively, and said lower gimbal portions being respectively supported from said upper gimbal portion by a second pair of diametrically opposed flexure elements whereby said second pair of flexure elements permit said lower gimbal portions to pivot about a second axis mutually perpendicular and intersecting said spin axis and said first axis, the outside peripheral surface of said inner hinge unit''s upper ring gimbal being integrally fastened to the inside peripheral surface of said outer hinge unit''s upper gimbal portion, the outside peripheral surfaces of said inner hinge unit''s middle gimbals being integrally fastened to the inside peripheral surfaces of said outer hinge unit''s middle gimbal portions respectively, and the outside peripheral surface of said inner hinge unit''s lower ring gimbal being fixedly attached to the inside peripheral surface of said outer hinge unit''s lower gimbal portion; and an angle stop means fixed to said inner hinge unit and adapted to limit the tilting of said inertial element relative to said spin axis.

Claim 14

The combination comprising: an inner flexure hinge unit for permitting universal tilting and rotation about a gyroscope spin reference axis, said inner flexure hinge unit comprising a lower ring gimbal coaxially disposed about said spin axis and having integrally attached thereto an elongate shaft portion coaxially related to said spin axis, and an upper ring gimbal supported relative to said lower ring gimbal by a first pair of diametrically opposed flexure elements, said flexure elements being adapted to permit said upper ring gimbal to pivot relative to said lower ring gimbal about a first axis perpendicular to and intersecting said spin reference axis, said upper ring gimbal having a second pair of diametrically opposed flexure elements supported therefrom and having a corresponding pair of diametrically opposed middle gimbals fixedly secured thereto, said second pair of flexure elements permitting said pair of middle gimbals to pivot relative to said upper ring gimbal about a second axis mutually perpendicular to and intersection said spin axis and said first axis; an outer flexure hinge unit for permitting universal tilting and rotation about said spin reference axis concentrically and integrally fixed to said inner unit and adapted to coaxially support a gyroscope inertial element, said outer flexure hinge unit comprising a hollow cylindrically shaped member having an upper gimbal portion, a pair of diametrically opposed middle gimbal portions, and a pair of diametrically opposed lower gimbal portions in quadrature with said middle gimbal portions, said middle gimbal portions being respectively supported from said upper gimbal portions by a first pair of diametrically opposed flexure elements whereby said first pair of flexure elements permit said middle gimbal portions to pivot about a first axis perpendicular to and intersecting said spin reference axis, said middle gimbal portions having a gyroscope inertial element support ring attached to their outside peripheral surfaces, respectively, and said lower gimbal portions being respectively supported from said upper gimbal portion by a second pair of diametrically opposed flexure elements whereby said second pair of flexure elements permit said lower gimbal portions to pivot about a second axis mutually perpendicular and intersecting said spin axis and said first axis, the outside peripheral surface of said inner hinge unit''s upper ring gimbal being integrally fastened to the inside peripheral surface of said outer hinge unit''s upper gimbal portion, the outside peripheral surfaces of said inner hinge unit''s middle gimbals being integrally fastened to the inside peripheral surfaces of said outer hinge unit''s middle gimbal portions respectively, and the outside peripheral surface of said inner hinge unit''s lower ring gimbal being fixedly attached to the inside peripheral surface of said outer hinge unit''s lower gimbal portion; and an angle stop means fixed to said inner hinge unit and adapted to limit the tilting of said inertial element relative to said spin axis.

Claim 15

A combination comprising: universal-joint flexure hinge means for coupling a gyroscopic inertial flywheel to a drive shaft and for causing said flywheel to rotate about a spin axis coaxial to said shaft, said hinge means being further adapted to permit said flywheel to tilt about an axis perpendicular to said spin axis during rotation thereof, said flexure hinge means including an input shaFt for receiving torque from a gyroscope motor drive shaft to cause said rotation about said spin axis, and a flywheel support ring coaxially supported by said hinge means for rotation about said spin axis, said tilt limiting means including a ring radially extending from said spin axis, and integrally fixed to said input shaft, said ring being axially spaced from said flywheel support ring along said spin axis, said ring further including an outer flange member rigidly fixed thereto, said flange member having an inwardly radially extending lip portion relative to said spin axis and being axially positioned therealong so as to engage the outer extremity of said flywheel support ring after a predetermined magnitude of tilt thereof about said perpendicular axis; and means for limiting the magnitude of tilt about said axis.

Claim 16

A combination comprising: universal-joint flexure hinge means for coupling a gyroscopic inertial flywheel to a drive shaft and for causing said flywheel to rotate about a spin axis coaxial to said shaft, said hinge means being further adapted to permit said flywheel to tilt about an axis perpendicular to said spin axis during rotation thereof, said flexure hinge means including an input shaFt for receiving torque from a gyroscope motor drive shaft to cause said rotation about said spin axis, and a flywheel support ring coaxially supported by said hinge means for rotation about said spin axis, said tilt limiting means including a ring radially extending from said spin axis, and integrally fixed to said input shaft, said ring being axially spaced from said flywheel support ring along said spin axis, said ring further including an outer flange member rigidly fixed thereto, said flange member having an inwardly radially extending lip portion relative to said spin axis and being axially positioned therealong so as to engage the outer extremity of said flywheel support ring after a predetermined magnitude of tilt thereof about said perpendicular axis; and means for limiting the magnitude of tilt about said axis.

Claim 17

In a gyroscope rotor suspension having an inner, four-bar, two-axis, universal-joint flexure hinge and an outer, four-bar, two-axis universal-joint flexure hinge the method of assembly comprising the steps of: machining four equiangularly arranged pairs of adjacently spaced holes through the wall of a hollow cylindrical workpiece to form said inner hinge unit wherein said flexure bars comprise the respective necked-down wall portions between each pair of adjacently spaced holes; machining four equiangularly arranged pairs of adjacently separated holes through the wall of a hollow cylindrical workpiece having an inside diameter substantially equal to the outside diameter of said first cylindrical workpiece to form said outer hinge unit wherein said flexure bars comprise the respective necked-down wall portions between each pair of adjacently spaced holes, said wall portions in said outer hinge unit being orthogonally oriented relative to the wall portions in said inner hinge unit; positioning the inner hinge unit concentrically within the outer hinge unit whereby said orthogonally oriented wall portions common to said hinge units respectively have their extreme necked-down portions in corresponding alignment; fixedly fastening said inner hinge unit to said outer hinge unit to form a rigid unitary structure; machining a first series of gimbal forming slots in the rigid unitary structure; fixedly fastening a rotor mounting ring to the outside periphery of said rigid unitary structure; fixedly fastening an angle stop means to the outside periphery of said rigid unitary structure in axially spaced relation to said rotor mounting ring, and; machining a second and final series of gimbal forming slots in said rigid unitary structure sufficient to permit said rotor mounting ring to tilt relative to a portion of a said inner hinge unit about a pair of orthogonal axes defined respectively by the alignment of said orthogonally oriented wall portions, said axes being normal and in common intersecting relation with a reference axis passing longitudinally and centrally through said workpiece, the magnitude of tilt of said rotor mounting ring being limited by said angle stop means.

Claim 18

In a gyroscope rotor suspension having an inner, four-bar, two-axis, universal-joint flexure hinge and an outer, four-bar, two-axis universal-joint flexure hinge the method of assembly comprising the steps of: machining four equiangularly arranged pairs of adjacently spaced holes through the wall of a hollow cylindrical workpiece to form said inner hinge unit wherein said flexure bars comprise the respective necked-down wall portions between each pair of adjacently spaced holes; machining four equiangularly arranged pairs of adjacently separated holes through the wall of a hollow cylindrical workpiece having an inside diameter substantially equal to the outside diameter of said first cylindrical workpiece to form said outer hinge unit wherein said flexure bars comprise the respective necked-down wall portions between each pair of adjacently spaced holes, said wall portions in said outer hinge unit being orthogonally oriented relative to the wall portions in said inner hinge unit; positioning the inner hinge unit concentrically within the outer hinge unit whereby said orthogonally oriented wall portions common to said hinge units respectively have their extreme necked-down portions in corresponding alignment; fixedly fastening said inner hinge unit to said outer hinge unit to form a rigid unitary structure; machining a first series of gimbal forming slots in the rigid unitary structure; fixedly fastening a rotor mounting ring to the outside periphery of said rigid unitary structure; fixedly fastening an angle stop means to the outside periphery of said rigid unitary structure in axially spaced relation to said rotor mounting ring, and; machining a second and final series of gimbal forming slots in said rigid unitary structure sufficient to permit said rotor mounting ring to tilt relative to a portion of a said inner hinge unit about a pair of orthogonal axes defined respectively by the alignment of said orthogonally oriented wall portions, said axes being normal and in common intersecting relation with a reference axis passing longitudinally and centrally through said workpiece, the magnitude of tilt of said rotor mounting ring being limited by said angle stop means.

Claim 19

The method of claim 11 wherein said rigid unitary workpiece has an elongate portion axially protruding from said inner hinge unit and said angle stop means is rigidly fastened to said elongate protruding portion wherein said angle stop means comprises a radially extending ring member fixedly fastened to said inner hinge unit as hereinaforesaid, an axially extending cylindrical flange member fixedly secured to the outside periphery of said ring member, said flange member further including a radially inwardly extending lip portion for overlying the circumferential outer portion of said rotor mounting ring wherein said angle stop ring and said angle stop flange are accurately positioned relative to said rotor mounting ring and to each other respectively before being fixedly fastened to each other and said inner hinge unit respectively.

Claim 20

The method of claim 12 wherein said flange member and said ring member are accurately positIoned relative to each other and to said rotor mounting ring by inserting a shim between said circumferentially overlying radially inwardly extending lip portion and said rotor mounting ring outer portion through a hole formed in the wall of said flange, and, clamping said flange, said rotor mounting ring, and said radially extending ring together.