Gyroscope having vibrating gimbals

Claim 2

A gyroscope comprising: a rotatable driving member having a first axis of rotation; a rotatable rotor having a second axis of rotation; first and second torsion means, attached to said rotatable driving member, and having their torsion axes substantially along third and fourth axes which are perpendicular to said first axis and to each other; third and fourth torsion means, attached to said rotor, having their torsion axes substantially along fifth and sixth axes which are perpendicular to said second axis and to each other; first gimbal means attached to said first and third torsion means with elastically restrained freedom of rotation relative to said driving means and said rotor, said third and fifth axes being perpendicular to each other; and second gimbal means attached to said second and fourth torsion means, having elastically restrained freedom of rotation relative to said driving member and said rotor, said fourth and sixth axes being perpendicular to each other.

Claim 3

A device as recited in claim 1 in which: each said gimbal means comprises first and second substantially identical gimbals, symmetrically positioned with respect to said driving member and said rotor; each of said first and second torsion means comprises first and second torsion springs extending radially outward in opposite directions from said driving member; and each of said third and fourth torsion means comprises first and second torsion springs extending radially inward in opposite directions from said rotor.

Claim 4

A device as recited in claim 2 in which: the center of mass of said first gimbal means, including said first and second gimbals thereof, coincides with said first axis; the center of mass of said second gimbal means, including said first and second gimbals thereof, coincides with said first axis; the principal moments of inertia of said first gimbal means are designated A1, B1, and C3, with the principal axis of inertia corresponding to C1 coinciding with said first and second axes when said first and second axes are in their coaxial position; the principal moments of inertia of said second gimbal means are designated A2, B2, and C2, with the principal axis of inertia corresponding to C2 coinciding with said first and second axes when said first and second axes are in their coaxial position; and the sum of the spring constants of said first, second, third and fourth torsion means is substantially equal to the square of the angular spin frequency of said driving member and rotor, multiplied by the quantity (A1 + A2 + B1 + B2 - C1 - C2).

Claim 5

A device as recited in claim 3 in which: the spring constant of said first torsion means minus the spring constant of said second torsion means minus the spring constant of said third torsion means plus the spring constant of said fourth torsion means is substantially equal to the square of the angular spin frequency of said driving member and rotor, multiplied by the quantity (A2 + B2 - C2 - A1 - B1 + C1).

Claim 6

A device as recited in claim 4 and further comprising: means for sensing the misalignment between said first and second axes; and means for controllably applying torque to said rotor.

Claim 7

A device as recited in claim 1 in which said rotor is pendulous.

Claim 8

The combination of claim 1 in which: each said gimbal means comprises a closed gimbal; each of said first and second torsion means comprises first anD second springs on opposite sides of and equal distance from said first axis; and each of said third and fourth torsion means comprises third and fourth springs on opposite sides of and equal distance from said second axis.

Claim 9

A device as recited in claim 7 in which: the center of mass of said first gimbal means coincides with said first axis; the center of mass of said second gimbal means coincides with said first axis; the principal moments of inertia of said first gimbal means are designated A1, B1, and C1, with the principal axis of inertia corresponding to C1 coinciding with said first and second axes when said first and second axes are in their coaxial position; the principal moments of inertia of said second gimbal means are designated A2, B2, and C3, with the principal axis of inertia corresponding to C2 coinciding with said first and second axes when said first and second axes are in their coaxial position; and the sum of the spring constants of said first, second, third and fourth springs is substantially equal to the square of the angular spin frequency of said driving member and rotor, multiplied by the quantity (A1 + A2 + B1 + B2 - C1 - C2).

Claim 10

A device as recited in claim 8 in which: the spring constant of the first spring, minus the spring constant of the second spring, minus the spring constant of the third spring, plus the spring constant of the fourth spring is equal to the square of the angular spin frequency of said driving member and rotor, multiplied by the quantity (A2 - B2 -C2 - A1 - B1 + C1).

Claim 11

The combination of claim 9 in which said torsion springs are cruciform springs.

Claim 12

The combination of claim 9 in which said springs are leaf springs.

Claim 13

A device as recited in claim 11 in which the medial planes of each pair of said leaf springs which are attached to said rotor form an acute angle with the medial planes of the pairs of said leaf springs attached to said shaft, and in which, in the undeflected condition of said springs, planes determined by the spin axis of said shaft and the torsion axes of said springs bisect said acute angles.

Claim 14

A device as recited in claim 12 in which said acute angles are substantially 84* .

Claim 15

In a gyroscope: a rotatable drive shaft; a rotor; and suspension means coupled between said rotor and said shaft for substantially isolating the rotor from the shaft, said suspension means including at least two intermediate gimbals, each said gimbal being torsionally connected to said rotor for rotation about a first axis, each said first axis radially extending from said rotor, each said gimbal being torsionally connected to said drive shaft for rotation about a second axis oriented at an angle with the first axis, each said second axis radially extending from said shaft, each said first axis of each said gimbal being angularly offset with respect to at least one other said first axis and each said second axis of each said gimbal being angularly offset with respect to at least one other second axis.

Claim 16

In a gyroscope: a rotatable drive shaft; a rotor; and suspension means coupled between said rotor and said shaft for substantially isolating the rotor from the shaft, said suspension means including at least two intermediate gimbals, each said gimbal being torsionally connected to said rotor for rotation about a first axis, each said first axis radially extending from said rotor, each said gimbal being torsionally connected to said drive shaft for rotation about a second axis oriented at an angle with the first axis, each said second axis radially extending from said shaft, each said first axis of each said gimbal being angularly offset with respect to at least one other said first axis and each said second axis of each said gimbal being angularly offset with respect to at least one other second axis.

Claim 17

A device as recited in claim 14 in which said torsion connections to said rotor are at right angles to each other and said torsion connections to said shaft are at right angles to each other.

Claim 18

A device as recited in claim 14 in which said torsion connections are cruciform springs.

Claim 19

A device as recited in claim 14 in which said torsion connections are leaf springs.

Claim 20

A device as recited in claim 17 in which said leaf springs are made from a dowel with its central portion formed into a leaf spring.

Claim 21

A device as claimed in claim 17 in which the medial planes of said leaf springs connected to said rotor form acute angles with the medial planes of said leaf springs attaChed to said shaft; and in which, in the absence of deflection of said springs, a plane determined by the spin axis of said shaft and the torsion axes of said springs bisects said acute angle.

Claim 22

A device as recited in claim 19 in which said acute angles are substantially 84* .

Claim 23

A device as recited in claim 14 in which the principal moments of inertia of said gimbals and spring constants of said torsion connections are adjusted to cause said rotor to have substantially the characteristics of a free rotor.

Claim 24

A device as recited in claim 14 in which said principal moments of inertia and said spring constants are adjusted to enhance the cancelling of steady torques on said rotor which are caused by oscillatory inputs on said drive shaft.

Claim 25

A device as recited in claim 14 in which said suspension means comprises a pair of substantially identical gimbals symetrically attached to said rotor and said drive shaft.

Claim 26

The device of claim 23 wherein each said gimbal means comprises cooperating fractional portions which are physically separated from one another.

Claim 27

The device of claim 24 wherein each said gimbal means said fractional portion extends over approximately a quarter of a circle, one end of such portion being connected to the rotor and the other end being connected to the shaft.

Claim 28

A device as recited in claim 14 in which said suspension means includes a pair of gimbals, said gimbals overlying with clearance for relative motion.

Claim 29

A device as recited in claim 14 in which said rotor is pendulous.

Claim 30

A device as recited in claim 14 and further comprising a second rotor; second drive shaft; and second suspension means attached to said second rotor and said second drive shaft to allow misalignment between the spin axes of said second rotor and said drive shaft.

Claim 31

A device as recited in claim 28 in which at least one of said rotors is pendulous.

Claim 32

The device of claim 14 wherein suspension means includes a plurality of intermediate gimbals coupled between said rotor and said shaft such that the rotor is substantially isolated from oscillatory motion of the shaft at frequencies within a frequency range including twice the spin frequency of the shaft.

Claim 33

The device of claim 14 wherein said suspension means includes two gimbals and the torsional axes of said gimbals are approximately at right angles to each other.

Claim 34

The device of claim 14 wherein said suspension means includes three gimbals, and the torsional axes of said gimbals are equiangularly spaced with respect to one another.

Claim 35

A device as recited in claim 14 in which said suspension means comprises three substantially identical gimbals, symmetrically attached to said rotor and said drive shaft.

Claim 36

In a gyroscope: a driving shaft; a rotor element; and suspension means for connecting said rotor to said shaft such that said rotor has substantially the characteristics of a free tuned rotor; said suspension means comprising a pair of gimbal means for reducing the effects of vibratory forces in a frequency range including approximately twice the frequency of rotation of said shaft; each gimbal means being individually torsionally connected to said shaft and said rotor by spring means, the torsional axis of attachment between each of said gimbal means and said shaft being at approximately right angles to the torsional axis of attachment of the same gimbal means to said rotor, and each torsional axis of attachment of each said gimbal means being at approximately right angles to the corresponding torsional axis of attachment of the other said gimbal means.

Claim 37

In a gyroscope: a driving shaft; a rotor element; and suspension means for connecting said rotor to said shaft such that said rotor has substantially the characteristics of a free tuned rotor; said suspension means comprising a pair of gimbal means for reducing the effects of vibratory forces in a frequency range including approximately twice the frequency of rotation of said shaft; each gimbal means being individually torsionally connected to said shaft and said rotor by spring means, the torsional axis of attachment between each of said gimbal means and said shaft being at approximately right angles to the torsional axis of attachment of the same gimbal means to said rotor, and each torsional axis of attachment of each said gimbal means being at approximately right angles to the corresponding torsional axis of attachment of the other said gimbal means.

Claim 38

The device of claim 34 wherein said suspension means includes means for connecting said rotor to said shaft such that said rotor is pendulous.

Claim 39

A device as recited in claim 34 in which: the sum of the spring constants of connection of said gimbal means to said shaft and said gimbal means to said rotor is substantially equal to the square of the angular spin frequency times the quantIty (A1 + B1 + A2 + B2 - C1 - C2), wherein A1, B1, and C1 are the principal moments of inertia of the first one of said gimbal means with the axis associated with C1 substantially coincident with the spin axis of said shaft, and A2, B2, and C2 are the principal moments of inertia of the second of said gimbal means with the principal axis associated with C2 substantially coincident with the spin axis of said shaft.

Claim 40

A device as recited in claim 36 in which (Kx1 + Kx2) - (Ky1 + Ky2) is substantially equal to the square of the angular velocity of said shaft multiplied by the quantity (A2 + B2 - C2 -A1 - B1 + C1), wherein Kx1, Ky1, are the spring constants of connection of said first gimbal to said shaft and said rotor, respectively and Ky2, Kx2 are the spring constants of connection of said second gimbal to said shaft and said rotor, respectively.

Claim 41

In combination: a drive shaft; a gyroscope rotor; and a pair of gimbals each torsionally attached to said shaft and said rotor in a configuration allowing the spin axis of said rotor to be angularly displaced from the spin axis of said shaft about the axis of one of said torsional attachments with a first one of said gimbals angularly displacing with said rotor and a second one of said gimbals angularly displacing with said shaft; and wherein, when said torsional attachments are undeflected, the axis of torsional attachment of said first gimbal to said shaft is coaxial with the axis of torsional attachment of said second gimbal to said rotor; and in which the axis of torsional attachment of said second gimbal to said shaft is coaxial with the axis of torsional attachment of said first gimbal to said rotor.

Claim 42

In combination: a drive shaft; a gyroscope rotor; and a pair of gimbals each torsionally attached to said shaft and said rotor in a configuration allowing the spin axis of said rotor to be angularly displaced from the spin axis of said shaft about the axis of one of said torsional attachments with a first one of said gimbals angularly displacing with said rotor and a second one of said gimbals angularly displacing with said shaft; and wherein, when said torsional attachments are undeflected, the axis of torsional attachment of said first gimbal to said shaft is coaxial with the axis of torsional attachment of said second gimbal to said rotor; and in which the axis of torsional attachment of said second gimbal to said shaft is coaxial with the axis of torsional attachment of said first gimbal to said rotor.

Claim 43

In a gyroscope: a driving shaft; a rotor element; and suspension means for connecting said rotor to said shaft such that said rotor has substantially the characteristics of a free tuned rotor; said suspension means comprising three gimbals for reducing the effects of vibratory forces in a frequency range including approximately twice the frequency of rotation of said shaft, each said gimbal being individually torsionally connected to said shaft and said rotor element by spring means, the torsional axes of attachment of said three gimbals to said driving shaft being spaced around said shaft, the torsional axes of attachment of said three gimbals to said rotor element being spaced around said rotor element.

Claim 44

In a gyroscope: a driving shaft; a rotor element; and suspension means for connecting said rotor to said shaft such that said rotor has substantially the characteristics of a free tuned rotor; said suspension means comprising three gimbals for reducing the effects of vibratory forces in a frequency range including approximately twice the frequency of rotation of said shaft, each said gimbal being individually torsionally connected to said shaft and said rotor element by spring means, the torsional axes of attachment of said three gimbals to said driving shaft being spaced around said shaft, the torsional axes of attachment of said three gimbals to said rotor element being spaced around said rotor element.

Claim 45

The device of claim 39 wherein said torsional axes of attachment of said three gimbals to said driving shaft are substantially equiangularly spaced around said driving shaft and said torsional axes of attachment of said three gimbals to said rotor element are substantially equiangularly spaced around said rotor element.

Claim 46

The device as recited in claim 39 wherein the torsion axis of attachment between each of said three gimbals and said shaft is at an approximately right angle to the torsional axis of attachment of the same gimbal to said rotor.

Claim 47

A gyroscope comprising: a driving shaft having a first axis of rotation; a rotor element having a second axis of rotation; first, second and third torsion means, attached to said driving shaft and having their torsion axes substantially along third, fourth and fifth axes respectively which axes are all perpendicular to said first axis and which are equiangularly spaced with respect to one another around said first axis; fourth, fifth and sixth torsion means attached to said rotor element and having their torsion axes substantially along sixth, seventh and eighth axes respectively which axes are all perpendicular to said second axis and which are equiaNgularly spaced with respect to one another around said second axis; a first gimbal attached to said first and fourth torsion means having elastically restrained freedom of rotation relative to said driving shaft and said rotor element; a second gimbal attached to said second and fifth torsion means having elastically restrained freedom of movement relative to said driving shaft and said rotor element; and a third gimbal attached to said third and sixth torsion means having elastically restrained freedom of movement relative to said driving shaft and said rotor element.

Claim 48

A gyroscope comprising: a driving shaft having a first axis of rotation; a rotor element having a second axis of rotation; first, second and third torsion means, attached to said driving shaft and having their torsion axes substantially along third, fourth and fifth axes respectively which axes are all perpendicular to said first axis and which are equiangularly spaced with respect to one another around said first axis; fourth, fifth and sixth torsion means attached to said rotor element and having their torsion axes substantially along sixth, seventh and eighth axes respectively which axes are all perpendicular to said second axis and which are equiaNgularly spaced with respect to one another around said second axis; a first gimbal attached to said first and fourth torsion means having elastically restrained freedom of rotation relative to said driving shaft and said rotor element; a second gimbal attached to said second and fifth torsion means having elastically restrained freedom of movement relative to said driving shaft and said rotor element; and a third gimbal attached to said third and sixth torsion means having elastically restrained freedom of movement relative to said driving shaft and said rotor element.

Claim 49

A device as recited in claim 42 and further comprising: means for sensing the misalignment between said first and second axes; and means for controllably apply torque to said rotor.

Claim 50

The device as recited in claim 42 wherein said third and sixth axes are perpendicular with respect to each other, said fourth and seventh axes are perpendicular with respect to each other, and said fifth and eighth axes are perpendicular with respect to each other.

Claim 51

A device as recited in claim 42 in which the principal moments of inertia of said first, second and third gimbals and spring constants of said first, second, third, fourth, fifth and sixth torsion means are adjusted to cause said rotor element to have substantially the characteristics of a free rotor.

Claim 52

A device as recited in claim 42 in which said principal moments of inertia and in which said spring constants are further adjusted to enhance the cancelling of steady torques on said rotor element which are caused by oscillatory inputs on said driving shaft.