DE2714086A1 - BENDING ARM ARRANGEMENT AND METHOD OF MANUFACTURING IT - Google Patents

Description

Flexural joint assembly and method for making same

The invention relates to flexible joint assemblies for Connecting two rotating components, with a universal movement of one component relative to the other via small Angle is possible. In particular, the invention relates to a flexural joint arrangement with concentrically arranged inner and outer tubular components which are partially fastened together, each tubular component are divided into separate parts by mutually adjacent pairs of openings which are interconnected by slots are connected, the parts of each tubular member being displaceable at an angle to one another when they are connected to one another by the flexible bending blades, formed by the material left between each pair of openings, and each of a plurality of Pairs of mutually perpendicular, crosswise arranged, radially adjacent bending blades form a bending joint formed from a plurality of flexures, while each individual flexure is part of a separate one of the

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Account: Bayerische Vereinsbank (BLZ 75020073) 5 804 248

Postal checking account Müncfcan STO 69-80 '

t? ^ ·. · ¹ Rogensbürg

- dr - forms tubular components.

A typical bending joint arrangement of known type is the subject of US Pat. No. 3,311,172. In this arrangement and (with one exception) in all other known arrangements are an inner tubular member and an outer tubular component each in two end parts and an intermediate part by pairs of diametrically opposed bending blades that are formed in the wall of each component, divided. Lie on this flexible joint arrangement formed has two pairs of diametrically opposite one another Flexural joints, the one universal movement via small angular legs allow between a central cardanic element part and an end part thereof, and has two pairs of opposite one another arranged bending joints that have a universal movement but small angles between the central part of the allow gimbal element and the other end part of the flexure joint assembly.

Each opening in each pair of circumferentially adjacent openings is slit connected to a circumferentially offset opening of another pair of openings. The slot-opening scheme divides each tubular component into at least two parts, which are only connected to one another by the blades. Each of the parts between a slot-opening row and one of the circular edges of the tubular member or other such row is (or forms part of) a gimbal, a driving element or a driven element thereof.

Thus, a row of recesses running in the circumferential direction divides the tubular components around them into substantially annular elements which are interconnected by the bending blades.

Each flexure has a pair of bending blades with mutually perpendicular bending planes. A bending sheet

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of every pair in a flexible joint is represented by a Pair of circumferentially adjacent openings in the wall of the inner tubular member, the other bending blade is formed by a pair of circumferentially adjacent openings formed in the outer tubular part. A bending sheet can be used, though the desired amount of angular movement about a compliant axis is limited and zero friction and backlash are essential. A bending sheet is a mechanical component that bends around an axis compliant, but rigid about the transverse axis. The term "compliance" as used in the present invention is the reciprocal of the spring constant.

In known devices, one of the flexure blades in each flexure hinge formed by a pair of flexure blades is oriented to impart high axial strength in the longitudinal axis of the flexure hinge assembly and the other blade of the same pair is oriented orthogonally so that the required radial stiffness is achieved, the f ^r ir a isoelastic suspension is necessary.

In the known method for producing an arrangement of the known type, the bending blades in each of the concentric inner and outer tubular components formed in such a way that four pairs of mutually adjacent, Machined openings in the walls of a tubular component that are offset at the same angle in the circumferential direction, separately in a separate processing step four pairs of offset at the same angle, in the circumferential direction Edited adjacent openings in the walls of the other tubular components and then the two components are brought into coaxial positional relationship to one another. This separate machining of pairs of adjacent openings for the formation of bending blades to the degree of accuracy required when using the bending joint arrangement in gyroscopic instruments required is extremely difficult

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and time consuming. Each radially adjacent pair of bending blades, one of which is in the Wall of the inner and the other sheet is provided in the wall of the outer tubular component, a common, Define co-linear bending axis. The bending axes of all bending hinge assemblies should be as accurate as possible intersect at a common center point, which represents the pivot point and which is on the longitudinal axis of the flexure joint assembly lies. Due to the known method of working out between yourself separately and individually There are often minor misalignments in one and the other of the tubular members forming openings in flexure blades between the bending axes of the inner and outer tubular components during assembly. this leads to to the fact that too high and asymmetrical Pederkonstanten and other sources of error of the instrument, which from the finished Flexural joint assembly is received, are introduced. Furthermore, the formation of bending blades results after the known methods of bending blades which have a non-uniform thickness along their respective bending axes, which to differences in the spring constants of the bending blades.

An application for a universal joint for small angular deflections ; "st a free top. A free top works with a rotor element executing a spin motion, if it is attached to a support structure, in such », That the support arrangement can be rotated or translational movements can extend without disturbing torques on the rotor element to be abandoned. In a practical embodiment, the rotor element is used to precess the rotor element abandoned control torques in a controlled manner. A free gyro usually has F-'ihler to display the angle? misalignments between the spin axis of the rotor element, often called the rotor, and either the shaft axis or one axis fixed to the housing. The angular misalignment that is indicated in this way can then be followed accordingly Application for applying a torque to a support arrangement, e.g. a cardanic element of an inertial platform,

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can be used to allow the support assembly to follow the rotor spin axis, bringing the angular misalignment to zero will. On the other hand, sensed angular misalignment can be used to directly determine torque Abandon rotor element in a "forced" or "tied up" operation.

In the case of cylindrical bending joint assemblies of known construction, the tubular components are integrated into one by means of bending blades axially offset drive part, two cardanic parts and a driven part separately. This means that this Parts are axially displaced from one another along the longitudinal axis of the flexure joint assembly. In particular result in axially displaced slots in the walls of each tubular component a centric one cardanic part connected to end parts by bending blades is. One end part is used as a driving element for connection to a drive shaft, the other as driven element for mounting an inertia wheel known as a rotor element.

A common arrangement of the basic elements of a gyro has a motor which is supported in bearings on each side with the motor shaft protruding through a bearing a distance sufficient to accommodate a flexure joint assembly and to support a rotor mounted thereon. A flexible joint with tubular driving, gimbal and driven elements, formed by axially displaced slots in the tubular components has the disadvantage that the motor shaft protruding outward from the motor bearings has a certain degree of compliance that enables vibrations. The flexure joint assembly and the rotor mounted on the motor shaft are therefore exposed to such vibrations. Defective vibrations of the rotor are a source of errors in the performance parameters a gyro.

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The aforementioned and other disadvantages of flexure joints of the known type are addressed by the flexure joint arrangement of the present invention and the method of the invention for making such flexure joint assemblies.

The flexure joint assembly of the present invention has a pair of concentric inner and outer tubulars Components, each of which in at least one driving element part, at least one gimbal element part and at least one driven element part is divided with interconnections by a plurality of bending blades be formed; the subdivision is the result of a plurality of essentially peripheral ones Slots through the walls of each tubular member, with each end of each slot in a Opening ends. As will become apparent from the detailed description below, rows of subdivide Slots around the circumference of a tubular component such a tubular component, with the exception of the rest, connecting bending blades between end openings of slots. The openings are in pairs of circumferentially adjacent ones Arranged openings. Each of the tubular members has four pairs of circumferentially adjacent openings. In each component, the four pairs of openings are equally spaced around the circumference of the tubular component, each pair of adjacent openings forming a bending blade. The two leaves of each pair of radially adjacent, i.e. superimposed, bending blades, one in the inner and one in the outer component Bending planes that are perpendicular to each other and also a common bending axis, thus forming a bending joint. at most embodiments intersect all of the bending axes Flexural joints the longitudinal axis, i.e. the common axis of the inner and outer tubular components on a common Pivot point, although this is not absolutely necessary.

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The present invention is thus based on the knowledge that the method for producing flexible joint assemblies of described type can be improved in that the number of necessary manufacturing steps is reduced and at the same time a reduction in manufacturing costs is achieved if it is possible that pairs of openings between the bending blades fix themselves, at the same time, i.e. in a single operation through both tubular components can be created if these are temporarily fixed in each other. It was then found that such a simplified sequence of processing steps, which additionally increases the accuracy of the finished product, can be achieved if the angular orientations of the bending blades are not uniform in each of the tubular members, as has previously been the case, but by carving out of openings that leave the bending blades so that each of the tubular members some of the bending blades in has an orientation at a certain angle, while other bending blades of the other tubular component by 9o ° are oriented offset to the respective angle. When assembling the two tubular components in a corresponding different position, which can be viewed as the result of a turning step, the two can tubular components are then connected to one another in such a way that the flexural joints are formed, which are oriented crosswise Bending blades are composed. The method according to the present invention thus avoids the disadvantages and complications and the resulting inconsistencies in known methods by performing a sequence of steps which allow machining of the openings in the two tubular components at the same time, when the tubular members are temporarily in a concentric Arrangement are connected.

The object of the invention is to provide an improved flexible joint arrangement to propose for gyroscopes and other corresponding applications ^ those simpler and with higher manufac-

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Accuracy can be established as known flexural joint assemblies. Another object of the invention is a method for manufacturing a flexure joint assembly, which is shown in Compared to known methods is simpler and that results in a flexure joint assembly with flexure axes that the longitudinal Cut the axis of the flexible joint assembly exactly at a common pivot point.

According to the invention, it is proposed in a flexible joint arrangement of the generic type that some of the bending blades of each tubular component at a first specific angle to the axis of the tubular component are oriented, and that the remaining bending blades of the same tubular component are at a second specific angle, which is perpendicular with respect to the orientation of the bending blades that form the first specific angle are. Preferably, half of the bending blades of a tubular component are oriented at the first specific angle, while the other half of the bending blades of the same tubular member is oriented at the second specific angle is.

In a special embodiment of the invention, the inner tubular component has at least one inner cardanic component Element part connected to a pair of inner bending blades and having the outer tubular member at least one outer gimbal member connected to a pair of outer bending blades. The gimbals Element parts are the result of slots, the one opening of a pair of openings with the next opening of a circumferentially adjacent pair of Connect openings in each of the inner and outer tubular members.

In a further embodiment of the invention it is proposed that the inner tubular component has at least one inner cardanic element part and at least one driving element part, which via a pair of bending blades

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are interconnected, and that the outer tubular Component has at least one outer cardanic Eleraentteil and at least one driven element part, but which a pair of bending blades are connected together. Here, pairs of adjacent openings lay in the outer tubular Component a first and a second pair of bending blades fixed at the same angle around the circumference of the outer tubular member are offset, and the outer bending blades of the first pair are sequentially around the circumference of the outer tubular component offset. On the other hand, put pairs of adjacent openings in the outer tubular Component a first and a second pair of bending blades fixed at the same angle around the circumference of the outer tubular member are offset, and the outer bending blades of the first and second pairs are alternating offset around the circumference of the outer tubular component.

The first and second specific flexure angles are 45 degrees each, but in opposite directions the normally coincident common axis of the concentric tubular members, for example is the first specific bending blade angle about 0 ° and the second specific bending blade angle about 90 °.

Furthermore, it is proposed according to the invention in a generic flexible joint arrangement that the inner tubular component an inner driving element part, an inner cardanic element part and an inner driven element Element part has that the outer tubular member has an outer driving element part, an outer cardanic element part and an outer driven element part that the inner bending blades of a first pair of inner bending blades have a first inner bending axis define and connect the inner cardanic element with the inner driving element that the inner Bending blades of a second pair of inner bending blades have a common second inner bending axis and that inner cardanic element with the inner driving element "

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connect part that first and second inner bending axes are oriented approximately perpendicular to each other, the outer bending blades of a first pair of outer bending blades have a common first outer bending axis and connecting the outer gimbal to the outer driving element, and that the outer bending blades of a second pair of outer bending blades have a common second outer bending axis and the outer connecting the gimbal element to the outer driven element, with the first and second outer bending axes are oriented approximately perpendicular to each other and the first and second inner bending axes and the first and second outer bending axes intersect in a common pivot point.

The bending axes of the inner driving element and the inner driven element intersect at one common pivot point of the inner tubular member and are in the same axial direction from the common Pivot point offset; the bending axes of the outer driving Eleraentteiles and the outer driven one Element parts of the outer tubular component are in the same axial direction out of the common pivot point offset. The inner driving element part of the inner tubular component preferably has a hub partially closing one end of the inner tubular member and with the first pair of inner ones Bending blades is connected, and the one device for connecting the inner driving element to a drive shaft owns.

The bending joint arrangement according to the present invention is designed, for example, so that the bending axes of the outer driving element part of the outer tubular component relative to the common pivot point are offset in the same axial direction as the bending axes of the inner% ntreibenden element part, and that the outer driving element part with the inner driving element

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part of the inner tubular component and the inner driving element part of the inner tubular component is attached to the outer driving element portion of the outer tubular member. Here are the inner ones gimbal element part and the sweeter gimbal element part secured together so that they form a flexure joint which is effectively a single gimbal Has element, and the inner and outer tubular members are positioned relative to each other so that they Align the first inner bending axis colinearly with the first outer bending axis.

Furthermore, the inner driving element part and the inner driven element part of the inner tubular member in the opposite axial direction, respectively be offset from the common pivot point, as well as the outer driving element part and the outer driven element Element part of the outer tubular component, the inner and outer cardanic elements of the inner and outer tubular components are at least partially nested one inside the other.

In a further embodiment of the invention it is proposed that the inner driving element part has a first hub, which partially encloses one end of the inner tubular member, that the first hub has a device for Has connecting the inner tubular member to a drive shaft, and that the outer driving element part a second hub partially enclosing one end of the outer tubular member, the second Hub has a device to connect the outer tubular member to the drive shaft. The first hub with the inner cardanic element part is expediently through the first pair of inner bending blades and the second hub connected to the outer gimbal portion by the first pair of outer bending blades. Furthermore, a third, tubular component can be provided,

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which is disposed coaxially within the inner and outer tubular members and which extends between the first and the second hub extends to interleaving the inner one and constraining outer tubular members in position of one with respect to the other.

Appropriately, the outer diameter of the inner cardanic part selected approximately equal to the inner diameter of the outer cardanic part, and the inner and outer gimbals are interconnected so that they form a flexure joint assembly that is effectively a single has a gimbal element, the first inner bending axis being approximately colinear with the first outer bending axis. The outer diameter of the inner gimbal element can be shorter than the inner diameter of the outer gimbal Element so that the inner and outer gimbal elements can rotate independently through small angles is possible.

The inner and outer tubular members can be partially attached to one another, the first being inner Bending axis is approximately colinear with the first outer bending axis or approximately perpendicular to the first outer bending axis. The inner driving and driven element parts can axially in opposite directions from the common pivot point, and the outer driving and driven element parts can be in opposite directions Directions from the common pivot point can be axially offset. The outer diameter of the inner rohrförwiytü Component and the inner diameter of the outer tubular component are preferably approximately the same length, the inner and outer driving element parts are also attached to one another so that the inner and outer gimbals are attached to one another, and the inner and outer driven member parts are secured together so that a flexure joint assembly is achieved which has a single cardanic element.

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Furthermore, according to the invention, a flexible joint arrangement is proposed in which the cardanic element parts the inner and outer tubular components have a center of gravity on the normally coincident axis, in which the inner tubular component has an inner having driving part and first and second gimbal parts, in which the first and second inner gimbals Parts are axially offset in opposite directions from the center of gravity at which the first inner gimbal Part with the inner driving part via a first pair of inner bending blades with a common first inner one Bending axis is connected, in which the second inner cardanic part with the inner driving part over a second pair of inner bending blades connected to a common second inner bending axis, the first and second inner bending axes are approximately perpendicular to one another, in which the outer tubular components one have outer driven part and first and second outer gimbal parts, with the first and second outer gimbal parts are axially offset in opposite directions from the center of gravity at which the first outer cardanic part with the outer driven part via a pair of first outer bending blades with a common Bending axis is connected, in which the second outer cardanic part with the outer driven part via a pair of second outer bending blades are connected to a common second outer bending axis in which first and second outer bending axes are arranged perpendicular to each other, in which the first inner cardanic part is attached to the first outer gimbal to form a gimbal, and in which the second inner gimbal attached to the second outer gimbal to form a second gimbal is. The inner diameter of the first and second inner cardanic element parts can be approximately the same size and be slightly longer than the inner diameter of the inner driving element part to allow independent rotation one of the inner gimbal element parts in relation to the

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other cardanic element part is possible. Further can the individual centers of gravity of the first and second gimbal element parts in the axial direction along the normally coincident axis may be offset in opposite directions, but equidistant from that combined center of gravity of the first and second gimbal element parts be arranged.

The invention also relates to a gyro with a rotatable drive shaft, a motor for rotating the drive shaft, an inertia wheel, a flexure joint assembly for suspending the inertia wheel on the drive shaft, the The flexure joint assembly is mounted on the drive shaft and the inertia wheel is mounted on the flexure joint assembly, and wherein the bending joint arrangement is formed in the manner described above.

Furthermore, according to the invention, a method for producing a flexible joint arrangement of the type explained above is provided proposed in which at the same time pairs of openings while maintaining bending blades in between two tubular members are formed by machining when they are temporarily concentric in A first specific angular position are held to each other, and in which the two tubular components in one second, permanent relative position can be positioned, which is rotated at an angle with respect to the first specific position and in which the pairs of bending blades form the bending joints.

It is preferably proposed in such a method that at least one pair of radially adjacent index holes in the inner and outer tubular members with a common colinear first center line and a third Index hole in one of the inner and outer tubular members with a second center line that is angled around the The longitudinal axis of the coaxial inner and outer tubular members is offset by the first predetermined angle,

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are formed, and that the first and second center lines are guided through the longitudinal axis of the inner and outer tubular components at a common pivot point before the machining of the pairs of openings in the tubular components is started. The inner and outer tubular members are preferably maintained in the first position by inserting an index pin into each pair of index holes, correspondingly the inner and outer tubular members are maintained in the second coaxial position by inserting an index pin into the third index hole and one of the pairs of Index holes held. The pairs of openings are expediently formed by machining at a distance of 90 ° around the circumference of the outer tubular component.

In a further embodiment of the method according to the invention, it is proposed that four pairs of in the circumferential direction adjacent openings in the outer tubular component and four pairs of adjacent openings in the circumferential direction are machined in the inner tubular member that simultaneously adjacent in the radial direction first and second openings in the walls of the inner and outer tubular components, in the radial direction adjacent third and fourth openings in the opposite one Walls of the inner and outer tubular components, at the same time fifth and sixth adjacent in the radial direction Openings in the walls of the outer and inner tubular components and seventh and eighth in the radial direction adjacent openings are formed in the walls on opposite sides of the inner and outer tubular members being the first and fifth, second and sixth, third and seventh, and fourth and eighth openings circumferentially adjacent openings are so that a pair of radially adjacent, coplanar first and second bending blades in walls of the outer and inner tubular members; and a second pair of third and fourth radially adjacent coplanar bending blades in the opposite walls of the inner and

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outer tubular components are generated.

In particular, there are first, second, third and fourth openings as well as fifth, sixth, seventh and eighth openings formed and repeated at a distance of 90 ° around the circumference of the outer tubular member, thus a third Pair of fourth and fifth radially adjacent coplanar bending blades in the walls of the outer one and inner tubular members and a fourth pair of seventh and eighth adjacent ones in the radial direction coplanar bending blades are created in the opposite walls of the inner and outer tubular members where the fifth, sixth, seventh and eighth bending blades have a common collinear bending axis.

In a special embodiment of the invention Procedure, the angle of rotation from the first to the second position has a size of 90 °, in another special embodiment such a size of 180 °. Alternating flexure joints also have a common collinear flexure axis.

In a further embodiment of the method according to the invention it is proposed that a plurality of slots be formed in the walls of the inner and outer tubular members be so that the inner and outer tubular components in a driving element, at least one gimbal Element and a driven element are divided, at least one pair of bending blades being the gimbal Element with the driving element and at least one other pair of bending blades flexible the gimbal element connects to the driven element.

With the present invention, a method for manufacturing a flexure joint assembly is thus achieved that the Differences in stiffness around the basic bending axes of the bending joint assembly reduced to a minimum, since the Symmetry of the flexible joint arrangement is a maximum that the same Tranalationseteifigkeit both in the radial

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than is obtained in the axial direction. The invention is applicable to Bxegegelenkanierungen that during operation Cancel rectified torques generated by angular vibrations that double the speed of rotation of the flexure joint assembly occur. In general, the invention provides a flexure joint assembly, which can be easily manufactured and in which not only time but also costs can be saved.

The invention is also applicable to universal joints with at least two cardanic elements, in which the bending axes of each cardanic element has a predetermined angular orientation with respect to the corresponding bending axes of the other gimbal element or the other gimbal elements.

The invention is explained below in conjunction with the drawing on the basis of exemplary embodiments. Show it:

Fig. 1 is a perspective view of an exploded view of blanks for the inner and outer tubular Components of an embodiment of a flexible joint arrangement according to the invention,

Pig. Fig. 2 is a perspective view of the inner and outer tubular components of Fig. 1 when assembled State in a first angular position of coaxial alignment,

3 is a perspective view of the inner and outer tubular members of FIGS. 1 and 2 after they are machined so that complete, radially aligned pairs of openings and pairs of radially adjacent bending blades with coplanar bending planes are available,

FIG. 4 is a perspective view of the inner and outer tubular members of FIG. 3, with one example is shown for machining by means of a tool, which is used to form the slots,

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Figures 5, 6, 7 and 8 show, partially in section, a set of orthogonal projections of the completed flexure joint assembly with a single gimbal Element made from the tubular components according to the Pig. 1-4, after one turn of one tubular component in relation to the other,

Fig. 9 is an exploded perspective view of a second embodiment of the invention with two intermediate cardanic elements that vibrate independently of each other can,

10a, lob, 10c and iod each show a view of the development of one of the tubular components of the embodiment according to FIG. 9, the manufacturing method

this embodiment, especially the The design of the openings and slots therein becomes visible,

11, 12 and 13 show a group of orthogonal projections of the embodiment according to FIG. 9, partly in section,

14a, 14b, 14c and 14d show a view of the development of a of the tubular components of a third embodiment similar to the embodiment of FIG. 9, wherein these figures show the manufacturing process for this embodiment and the layout of openings and Show slits in it

15 is a perspective view of an exploded view of a fourth embodiment of the invention with two coaxial upright cylinders,

16a, 16b and 16c each show a view of the development of one of the tubular components, the manufacturing method the embodiment according to Pig. 15 and the The design of openings and slots is visible,

17a, 17b and 17c are a view of the development of one of the tubular components of a fifth embodiment similar to the Pig embodiment. 15; these

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Figures show the manufacturing process for this embodiment and the layout of openings and slits in it,

18 is a perspective view of a sixth embodiment of the invention in an exploded view, with a pair of independent, intermediate, vibrating cardanic elements, the focal points of the two cardanic elements in opposite directions are offset from the common pivot point,

19, 20 and 21 each show a view of the development of one of the tubular components, the design of the openings and slots of the embodiment according to FIG. 18 and the manufacturing method for this embodiment is shown,

22 shows a cross-sectional view of the inner tubular component according to FIGS. 20 and 21,

Figure 23 is a sectional view of the outer tubular member according to Fig. 19,

24a, 24b and 24c each show a view of the development of one of the tubular components of a seventh embodiment of the invention similar to the embodiment of FIG. 15, with a modified design the openings and slots therein shown, and

25 is a cross-sectional view of a gyroscope with the embodiment of a flexible joint arrangement according to FIG Figures 1-8.

The method of making the flexure hinge assembly is also shown in FIG The present invention is particularly illustrated in connection with a description of a first embodiment Figs. 1-8 explained. The following is a description of the manufacturing process for the embodiment of Figs. 1-8 also applicable to the production of the other embodiments according to FIGS. 9-13, 14, 15 and 16, 17, 18-23 and 24. Following the general explanation of the manufacturing process for the embodiment according to FIGS. 1-8, a Explanation of the differences in the application of the method for producing the other exemplary embodiments. Table I.

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Fig. 2 be. Not all positions of each embodiment are shown in the drawings. The painting a similar form can be a corresponding Show position. For example, positions 550 and 560 are referenced in step 34 of Table I. is not shown in FIG. 14, but FIGS. 12 and 13 show corresponding positions 350 and 360.

The flexure joint assembly of FIGS. 1-8 has an inner tubular member OO and another outer one tubular component 02, both of which are preferably made of steel consist of high strength with highly elastic spring properties and with a common longitudinal axis Ol. Although the components OO and 02 are drawn separately in the axial direction in Fig. 1 for ease of illustration, they are normally pushed into one another, i.e. component OO is moved within component 02 in a coaxial and concentric manner around the common axis of symmetry Ol added. From the following description it can be seen that the manufacturing method of flexible joints in the walls of the components OO unu 02 results, which deflect around bending axes 03 and 05, these bending axes run orthogonally to the longitudinal axis or common axis O1 and in a straight pivot point 07 on the axis Cut oil (see Fig. 2).

The outer tubular member 02 is a straight circular cylinder with a flange 04 at one end. Of the Flange 04 provides a mounting for an inertia wheel, i.e. a rotor (not shown in Figure 1). The component 02 is a straight circular cylinder made of bar material to obtain a flange 04 as shown in FIG.

The inner tubular component OO is also made from a rod material. The rod can be drilled out or peeled off, so that a cup-shaped configuration is created, i.e. a straight circular cylinder, which is closed at one end.

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summarizes the manufacturing process of all exemplary embodiments with the exception of the exemplary embodiment according to FIG. 24. Table II gives modifications to the general manufacturing process shown in Table I which is the preferred manufacturing process some embodiments of the invention. The procedure given in Table II is fully and partially applicable to the embodiment of Figures 1-8 and 17 applicable to the embodiment according to FIGS. 9-13 and Figs. 18-23, but not applicable to the embodiments according to Fig. 14 and Fig. 15-17. Table II is not a complete indication of the alternative procedure, but must be read in conjunction with Table I. The numbering of the positions of each embodiment starts with 00, 200, 400, 600, 800 and lOOO. Starting with the reference numerals 40, 240, .... 1040 are the alternating corresponding positions of each embodiment in Numbered at intervals of 2OO. For example, the openings 40, 240, 440, 640, 840 and 1040 correspond to one another, i.e. each is one of the two openings that form a bending blade at the 0 position of the sweeter tubular component. For item numbers 00-40, 100-140, etc. there is a partial, but not complete, correspondence in numbering positions at intervals of 200. Tools and geometric axes are identified by odd-numbered reference numerals, parts of the assemblies are given even-numbered ones Reference numbers.

Numbered positions in Tables I and II preceded by an asterisk (X) are not shown, mostly because they are not visible in the drawing. For items that are not shown, the corresponding item number is used another embodiment that is not an asterisk is preceded, referenced. Tool positions that are not shown may be similar to the corresponding tool positions be according to Figs. 1-8. For example, in step 8 of Table I, the tool part block χ 209 (not shown) a tool block similar to the tool block 09 according to

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When a flexure joint assembly for a universal joint for use as a suspension for a rotor element on a shaft in a. If a free rotor is designed, the position of the center of the suspension, ie the position of the pivot point 07 along the axis O1, must be taken into account. The general requirement for the production of such a suspension is met by a moment of inertia of the cardanic element which is equal to and opposite to the spring constant of the bending blades. If the spin axes of a rotor element (not shown) and a drive shaft (not shown) are not aligned, each gimbal element must swing back and forth to accommodate the relative movement. Since a gimbal has a finite mass and a finite moment of inertia, torques are used to achieve this movement and these torques are generated in part by reactions on the drive shaft and in part by reactions on the rotor element. The reaction moments on the rotor element result in a compensation mechanism. Mathematically, these torques of the cardanic elements are identical to a negative, in-phase spring constant. They can be adjusted so that the rotor element precession motion in a cone, but in the opposite direction to the precession caused by the bending action of the flexures. Adjusting the negative spring rate of the gimbals to cancel the positive torsional spring rate at a particular spin speed of the rotor is known as "tuning" the gyro. The conditions for tuning a bearing-free gyroscope with a single intermediate gimbal that is suspended between a rotor and a shaft are described in an article "Dynamically Tuned Free Rotor Gyroscope" from Control Engineering, June 1964, pp. 67-72.

The rigidity of this dynamic negative spring constant is determined by the moments of inertia of the gimbal elements certainly. The general torque expression results from the stiffness of the negative spring constant Dynamic spring constant for each gimbal element =

N ² (CAB)

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where N is the spin frequency, A and B are gimbal moments of inertia about the bending axes and C is the moment of inertia of the gimbal element about the spin axis and about the bending axes. The size of the effective spring constant is proportional to the moment of inertia of the cardanic element around the spin axis, reduced by the moments of inertia around the two pivot axes. If the gimbal were infinitely thin, this expression would approach the value zero, since the negative Peder constant is proportional to the height of the gimbal in the direction of the spin axis. In practice, the positive spring constants of the individual flexures are preferably matched to one another within about 5 % accuracy, and the effective height of each gimbal can be adjusted, if necessary, by means of adjusting screws or by removing material on the gimbals so that the total spring constant becomes approximately zero.

If a gyro works in free operation (unbound), it causes a direct or so-called common-mode useful spring constant a nutation of the rotor element (a slow tapering movement) that is directly proportional to the amount by which the rotor axis is offset from the spin axis. For example, a direct spring constant occurs when the spin frequency deviates from the tuned frequency of the cardanic suspension, i.e. if the suspension is not precisely tuned is. A torque is generated about the same axis as the initial displacement, which in turn causes the Rotor makes a precession movement about an axis perpendicular to the axis of displacement. Since there is no energy dissipation in This spring is present, the spin rotor axis does not return to the spin shaft axis, but sets the prMcession movement continues in a cone around the shaft axis.

The size of the common mode spring constant for unmatched conditions is
θ / ο = (AN) / F _m

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where AN is the difference between the tuned frequency and the actual spin frequency and F is an expression called a figure of merit. F is for a specific one

Device equals ΗΝ / Κ », where H is the angular momentum of the movement of the rotor element, N is the rotational frequency and K_ is the sum of all torsional spring constants of the joint suspension. A common-mode useful spring constant due to detuning is avoided in that the moments of inertia of the cardanic elements are set in the manner explained below. The spring joint arrangement according to the invention can be used in a gyroscope which is largely free of error torques which arise because of the rectification of angular vibrations which occur at a frequency equal to twice the spin frequency of the rotor element. Ball bearings, which are used to support the W ⁸ IIe, generate angular vibrations at harmonics of the spin frequency. If no compensating adjustments are made, tuned rotor gyros will rectify such angular vibrations at twice the spin frequency. The effect can be significant, typically on the order of 5 / hour / arc second amplitude of the vibration at a frequency twice the spin frequency. Such rectified error torques can be avoided by suitable design of the theoretical moments of inertia of the cardanic elements and, if necessary, by setting the actual moments of inertia.

This effect is illustrated below using an exemplary embodiment explained in more detail, in which the bending joints along a bending axis of a cardanic element are relatively stiff in comparison to the rigidity of the joints along the other bending axis of the cardanic element. When the top is subjected to angular vibration, the joints must deflect by an amount equal to the amplitude of the vibration, so that a direct spring torque is generated on the rotor element. Usually these result in spring torques Average value zero over each vibration cycle, but not

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in the case of synchronous vibration at twice the spin frequency, 2N. In the worst case, the positives bend Half-cycles of angular displacement a stiff flexure, while the negative half-cycles a weak one, i.e. less bend rigid flexible joint. The result is a usable mean torque on the rotor element. This effect can be practically avoided for bending elements by carefully designing the spring constants of the bending joints.

The negative dynamic spring constant, which is generated by the movement tines each ciane learn t it, is to a large extent asymmetrical. To explain this phenomenon, it is assumed that an angular velocity is given up about an axis of the device that is fixed to the housing. The torque transmitted to the rotor element at a given instant is a function of the instantaneous position of the rotor element. For a single gimbal, the gimbal is forced to follow the shaft angular velocity when the shaft related bending axis is perpendicular to the axis of the input velocity, but it is not forced to follow the shaft when it is in line with the axis of the input velocity (because of the low torsional stiffness). Then, substantially the rotor element is alternately subjected to high centrifugal moments, when the angular velocity input acting on the drive shaft about the ^r otorbezogene bending axis of a gimbal element, but it is not subjected to high centrifugal moments, when the angular velocity input to the drive shaft to the wave-related bending axis of this cardanic element acts. If a condition can be achieved in which the high angular velocities occur in one direction when there is a strong gyroscopic coupling with the rotor element, but for high angular velocities in the opposite direction the transmitted torques are very weak, a useful rectification in favor of the higher direction is Coupling available. Such a condition exists with angular vibration inputs of twice the spin frequency,

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and only at this frequency. An investigation has shown that this rectification effect is canceled out by the torques which are given to the rotor element by a correspondingly adapted second cardanic element, which is arranged at right angles to the first, in which the moment of inertia is adapted so that effectively the torque vectors of the two cardanic elements are canceled.

The bending joint arrangement according to the present invention can in embodiments with two independent cardanic Elements are produced, wherein gimbal inertia are designed so that they cancel the spring constant and a cancellation of torques due to vibrations around input axes fixed to the housing at twice the spin frequency result. For example, the gimbals rectify 2N vibrations, but rectify torques are equal in size and opposite, provided that the gimbals are carefully chosen for this characteristic are adapted. Adjustment can be made with balance weights or by removing material on a gimbal Element can be achieved. US Pat. No. 3,678,764 describes the equations of motion for such a gyroscope, the tuning conditions and the conditions for extensive suppression of errors, i.e. inaccuracies caused by Torques are introduced which are at a frequency of twice the rotational speed of the rotor, i.e. the Spin frequency are caused in detail.

The application of these principles to the embodiments of the invention described herein is described in connection with The following description of the scheme of openings and slots through which each of the components can be better understood 00 and 02 is divided into a driving element, a gimbal element and a driven element, such as in the embodiments according to FIGS. 1-8 and FIGS. 9-13 shown. When applying these principles, the position of the pivot point 07 along the axis O1 is calculated so that

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the moment of inertia of the ultimately remaining parts of the inner and outer tubular members 00 and 02 in an axial direction from pivot 07 in FIG Size equal to the moment of inertia of the ultimately remaining parts of the inner and outer tubular components 00 and 02 in the other axial direction from the pivot point 07. The mass of the inner and outer tubular Components OO and 02 used for this calculation do not contain any material that has been removed, if the openings or the slots are created, as described below, if the components 00 and 02 can be divided into a driving element, a gimbal element and a driven element, or material of components OO and O2, which is arranged in the radial direction inwardly with respect to the flange 04. In all shown here Embodiments cancels the gimbal inertia the spring constant of the bending blades. In some of the embodiments, the cardanic elements are connected so that that they cancel rectified torques which are due to angular vibrations at twice the rotational frequency of the rotor, i.e. the spin frequency or spindle speed.

In the first manufacturing step of the Aushrungsform after the 1-8, the outer diameter of the inner tubular component OO is machined to a predetermined length. The opening 06 is then drilled into the closed end of the inner tubular component 00. The opening 06 is sized to accommodate a drive shaft (not shown). The inner diameter of the must tubular component 02 is lapped so that a seat between the components 00 and 02 is achieved, which as Sliding seat is known. The seat between components OO and 02 must be such that the components can be separated. The inner and outer tubular components OO and 02 are telescopically into one another in a coaxial, concentric relative position

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slidable and then machined to the same length.

A switching block 09 can be used to simplify the production of a flexible joint arrangement from the coaxial and concentric arranged inner and outer tubular components and 02 are used. The switching block 09 can be rotated 360 ° in steps of 90 ° around the axis O1 and by 360 ° in steps of 90 ° around the axis 03, i.e. around 360 ° in a horizontal position Be rotated plane, as Fig. 2 shows. The axes 01, 03 and 05 are shown in FIG. The switch block 09 can be positioned exactly at intervals of 90 ° around axis O1 and at intervals of 90 ° around axis 03. the Operation of the switching block 09 is only for reasons of convenience only described in connection with axis 03. The axes oil, 03 and 05 are imaginary, in space fixed axes, which are shown to illustrate the manufacturing process, as they are not rotated or moved, when components 00 and 02 are rotated. Alternatively, tooling devices can be used around the perimeter the components 00 and 02 can be rotatably arranged

Radial switching holes 10 and 12 and radial switching holes 14 and 16 are longitudinal colinear diameters of the outer tubular member 02 and the inner tubular member OO drilled. Conventional machining techniques are used to make holes 10 and 14 and holes and 16 each to be drilled at the same time. These radial holes are used to ensure exact alignment between the components OO and O2 during the successive manufacturing steps of the flexible joint arrangement in the following Way to maintain.

A device (spud) 13, which in principle is a fastener is of known type, and a shim 15 (shown in Fig. 2) is used for fastening the coaxial components and 02 are used on the switching block 09. Supplement 15, although not required, is accurate the same diameter as the outer diameter of the outer tubular component 02. The device 13 clamps the

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Components OO and 02 between attachment 15 and switching block 09. The shaft of the device 13 has in radial Switching holes (index holes) 29 and 31 running in the same direction. The switching hole 31 is not visible in FIG. The device 13 is dimensioned so that the center lines of the holes 10 «12, 14, 16, 29 and 31 coincide with one another and lie on a common axis when the components OO and 02 are attached to the switching block 09.

Switch pins (index pins) 33 and 35 are used for maintenance the alignment between the components 00 and 02 * and the switching block 09 during manufacture. The pin 33 will in the holes 10 and 14, the pin 35 in the holes 12 and 12 inserted. The components 00 and 02 are then in a coaxial Position on the switching block 09 using the device 13 and the attachment 15 attached. The components 00 and 02 are then rotated about their common axis O1 until the switching pins 33 and 35 are inserted into the holes 29 and 31 can be.

In particular in connection with Fig. 2, the openings and 42 are shown as being formed with the aid of a tool. The tool 41 is an electric spark machining tool (KDM). Electro spark processing id <- oia ^. known technique for making bending sheets. Referring to aL.f literature, reference is made to U.S. Patent 3,585,586 and the book "Electrical Machining, Spark-Erosion Machines, Technology Generators" published by Charmilles Engineering Works L ^ d. Geneva, Switzerland, refer to a book "Electrical Discharge Machining ior the 1970" ^: by Leland J. Quuackendush and William N. Lawrence, published by the Industrial Development Division Institute of Science and Technology, University of Michigan, 22OO North Campus Boulevard Ann Arbor, Michigan 48105, U.S.A. A Charmilles DlO electric spark machining machine can be used with electrodes that are specifically designed to make cuts that define openings and slots in tubular components OO and O2

709Ö42 / 0762

result.

According to FIGS. 2-8, each radially inwardly directed recess of the electrical spark machining tool 41 produces a pair of openings, e.g., pairs 40, 42 and 54, 58, each of which two adjacent openings through a thin bending blade 44 and 56 in the cylindrical wall of the outer tubular Component 02 and the inner tubular component OO are separated, the bending blades passing through both tubular Components are formed, aligned simultaneously and with one another in the radial direction by a single recess, i.e. produced coplanar. According to the method according to the invention, an exact flexural joint arrangement is thereby achieved manufactured that a pair of tubular components in a coaxial, concentric, also called teleskopförraig Position to be fixed, and that pairs of coplanar, radially adjacent bending blades be formed in the inner and outer tubular members. As will be explained in more detail below, close at this stage of the procedure cutting slots in the tubular components, the slots connecting pairs of openings with one another, the turning of the inner and outer tubular members in relation to each other and the laying of parts of one with parts of the other in the rotated position, whereby a plurality of flexures are formed. Each of the flexures achieved has a pair of mutually perpendicular

* "* Bending sheets on, a bending sheet in the outer tubular

co component and a bending blade in the inner tubular component,

j ^ where the two flexures of a pair have a common

^ Define the bending axis. The scheme of bending sheets is given in ° selected accordingly, so that first four pairs of radially adjacent bending blades before the cd rotation * ° at intervals of 90 ° around the circumference of the tubular component are produced and then the tubular components in relation to one another in a predetermined Angles are rotated, creating four flexures, each of which is a pair of one on top of the other Has vertical bending blades.

From the illustration of Fig. 2 it can be seen that each bending sheet, e.g., the visible bending sheet 44 or the Bending blade 56 is formed from a very residual component of the cylindrical wall of a tubular component that remains between two openings. A bending sheet is then a thin, almost flat sheet, which is a two-dimensional one Represents element which defines a bending plane 55 which extends through and which the two Separates openings from each other. This plane is called the bend plane, and there is one for each bend blade such level. The bending plane that is defined by the longitudinal axis 55 of a bending blade and by the bending axis 05 is; is shown in Fig. 2 as an example of a bending plane.

The perpendicular assignment of the bending blades of each bending joint shows that the bending joint arrangement has the desired, equal translational rigidity in the radial and in the axial direction. This characteristic property is known as isoelasticity. No bending plane of the bending blades of a bending joint needs to be parallel or perpendicular to the longitudinal axis, which in principle is the spin axis of the bending joint arrangement during operation. In most of the embodiments shown here, the two bending planes of each bending joint form angles of 45 ° with the common or spin axis, but in opposite directions. Experiments with a certain bending joint arrangement indicate any deviation from such a 45 ° scheme, which is necessary to achieve isoelasticity. Of course, it can also be a 0 ° -90 ° mule
is purified.

O ° -9O ° patterns can be used as described below.

The method of manufacturing flexure joint assemblies according to the invention is based on numerous configurations of openings and slots are applicable, as will be apparent from the explanation of other embodiments. All embodiments of the invention include the arrangement of pairs

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of coplanar, radially adjacent bending blades in the inner and outer tubular components OO and 02, then on this the turning of the components OO and 02 against each other and the fixing of parts of a component with parts of the other component, whereby flexible joints of the type described above are produced.

According to a general production method that applies to all exemplary embodiments is applicable, and which is summarized in Table I, becomes a pair of coplanar, in radial Direction of adjacent bending blades formed in tubular components 00 and 02 according to FIG. 4 and the components and O2 are rotated to the next position where the next pair of openings will be formed. With a preferred modified embodiment of such a method two pairs of diametrically opposed bending blades are made before the two components are inserted into the next position can be rotated. This variation of the general manufacturing process is explained below and summarized in Table II. It is not for all embodiments applicable.

The discussion of the general manufacturing process which is applicable to all of the embodiments now continues is. 2-8 shows that a puncture of the tool 41 openings 40 and 42 in the outer tubular Component 02 and openings 46 and 48 in the inner tubular Component 00 generated. The part of the component 02 between the openings 40 and 42 represents the bending blade 44. As in FIG Fig. 6, from which the arrangement is visible after rotation, the bending blade 50 is immediately below the Bending blade 44 and between the openings 46 and 48 produced. The formation of openings and slots is how detailed below, carried out by a single recess of an electrical spark machining tool in one position. The term "a single pass" also includes a pass with a roughly shaped tool and one or more finishing passes one precise

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dimensioned tool.

Then the switching block 09 is rotated by 90 ° about the axis O1 and fixed in the new position. The next The recess of the tool 41 forms openings 52 and 54 in the outer tubular component 02 as well as openings 58 and 6O in the inner tubular component OO, whereby bending blades 56 and 62 arise.

The switching block 09 is now turned clockwise by 90 ° both rotated in a horizontal plane about the axis 03 and furthermore by 90 ° about the axis O1. In the embodiment according to FIGS. 1-8, the flexural joints are ultimately formed by rotating the inner and outer components through an angle of 180 ° to each other. When the tool 41 again punctures the components OO and 02 without a rotation of 90 about the axis 03 results in the following Rotation of the components 00 and 02 with respect to one another not oriented perpendicular to one another and adjacent in the radial direction Bending sheets. Rather, the radially adjacent bending blades are still after such a rotation coplanar, i.e. the bending planes of the bending blades continue to coincide with each other.

The next cut of the tool 41 forms the openings 64 and 66 in the outer tubular component 02 and the openings 70 and 72 in the inner tubular component 00, so that bending blades 68 and 74 are produced.

The switching block 09 is again 90 ° clockwise rotated around the axis of oil. At this point in time, the switching block 09 is not rotated about the axis 03. The tool 41 pierces the components OO and 02 to form the openings 76 and 78 in the component 02 as well as the Openings 82 and 84 in component OO, so that bending blades 80 and 86 arise.

Then the switching block is next turned clockwise by 90 °

Ol and around 90 im

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around the axis Ol and counterclockwise by 90 °

the vertical axis 03 rotated so that the block returns to the starting position.

To summarize the steps in which the sixteen openings are made, it can be seen that the four openings of each group of two radially adjacent pairs of openings are made in a single pass of the tool. When the tool 41 is oriented according to FIG. 2, the two pairs of openings 40, 42 in component 02 and openings 46, 48 in component OO are produced in the manner shown in FIGS. 2 and 3. During the first rotation through 90 ° about the axis O1, the second two pairs of openings 52, 54 and 58, 60 are formed. To produce the next two pairs of openings 64, 66 and 70, 72, which are not visible in FIG. 2, but are shown, for example, in FIG. 3, the arrangement is rotated again by 90 about axis O1, and the same applies for the fourth and last two pairs of openings 76, 78 and 82, 84 visible in Figs. As shown in Fig. 3 and explained in detail below, it is necessary for the two last produced pairs of openings that are visible within the arrangement of FIG its own axis, which is rotated with the axis O3 in Fig. together ^f äÄt so that bending sheets, including the sheets are left 74 and 86 in the inner tubular member 00 between the openings, the bending leaves at an angle of 9O ° with respect to the bending blades are oriented between the two first-made pairs of openings. Since the tool 41 is fixedly arranged in the electric spark processing machine, it has been found to be expedient to proceed in the manner indicated above, namely that the arrangement of the two tubular components OO and O2 are rotated about the axis O3 and this has the same effect, of course, as if such a rotation did not occur but the tool 41 was rotated. The ** different orientation of the openings and thus the bending blades between the openings, which are offset by 90 ° in the first, second, third and fourth areas and are formed in this sequence, which lead to

27U086

Has been selected for purposes of illustration and description, has the purpose already mentioned, that upon termination of the machining process and after a rotation of the two tubular components OO and 02 in relation to one another by 180 ° the bending blades, which are thereby adjacent to one another in the radial direction, form the 90 ° angle that are required for the conditions of equal torsional stiffness to achieve the desired isoelasticity.

In the immediately following steps of the formation of the openings, but regularly before the rotation, parallel slots are formed in the walls of the inner and outer tubular members 00 and 02. at such embodiments where slots are parallel to the common longitudinal axis Ol are radially aligned, a slot in both outer and inner tubular components one after the other, i.e. in a single pass of the tool. If the slots, however are not aligned in the radial direction, the inner and outer tubular components must be separated and the Slots are formed independently in each component. Some of the embodiments have slots that can be created separately in each component. Some of the embodiments have slots parallel to the axis of oil, which not only contain radially adjacent, aligned slots, but also two pairs of slots on opposite sides of components 00 and 02 that are connected to each other are aligned. Such pairs of contiguous, aligned slots can be modified by modifying the general manufacturing process, which is set out below and summarized in Table 2, are formed.

In the general manufacturing process, slots are made parallel to the axis OI in inner and outer tubulars Components OO and 02 formed without the components OO and 02 from their coaxial position on the device 13 (Fig. 2) can be removed. The tool 41 is removed from the electric spark processing machine and the tool

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89 (shown in Fig. 4) is used. The tool 89 is another electrical spark machining tool (EDM tool), that can be a single tool. The tool 89 is shown positioned to form the slot 88. The tool 89 can then be moved along the axis 05 into the correct position for the formation of the slot 90 will. The tool 89 can also be a double-blade tool, as is indicated, which at the same time has the Slots 88 and 90 forms. The following description is based on the use of a double blade tool 89 the end.

The first puncture of such a double-leafed eye 89 forms the slots 88 and 90 in the outer tubular component 02 and the slots 104 and 106 in the inner tubular component Component 00. The switching block (index block) 09 is then rotated 90 ° clockwise around the axis O1. The next recess of the tool 89 forms the slots 92 and 94 in the component 02 and the slots 108 and 110 in the Component 00.

The switching block 09 is again rotated 90 clockwise about the axis O1. The next puncture of the tool 89 forms the slots 96 and 98 in the component 02 and the slots 112 and 114 in the component 00.

The switching block 09 is rotated again by 90 about the axis O1. The last recess of the tool 89 forms the Slots 100 and 102 in component 02 and slots 118 and 118 in component 00. The switch block can then be turned around 90 ° can be turned clockwise so that the components OO and 02 return to their original position.

Reference is now made to the tool 119 of FIG. Tool 119 is another EDM tool that is used to make slots in the walls of components 02 and 00. From the orientation of the tool 119 in Bezua to the component CO ν nc ¹ 02 calibrates

27H086

that the recess of the tool 119 creates slots in the components OO and O2: which are orthogonal to the direction the common axis Ol run. In Pig. 4, the tool 119 is shown as being in one direction penetrates orthogonally to the axis O1 and to the direction of the recess of the tool 89 and the tool 41. the The direction of the puncture of the tools 41 and 89 is shown as a vertical direction. In practice it will Tool 119 is set in place of tool 89 and moves along a vertical line. The following description continues with the openings 40 and 42 and the slots 88 and 90 in the uppermost position, and it assumes that tool 119 is in the position of tool 89 rather than the position shown is set.

The first recess of the tool 119 forms curved slots 120 and 128 in the components 02 and OO. Of the Slot 120 is in communication with slot 90 and slot 92. The slot 128 coincides with the slot I06 and slot 108 in communication. It is thus a continuous slot between the openings 42 and 52 and another continuous slot is provided between openings 48 and 58.

The switching block 09 is then rotated 90 ° clockwise about the axis O1. The next puncture of the tool 119 defines the slots 122 and 130 in the components 02 and 00. The slots 94, 1 ^ 2 and 96 connect the openings 54 and 64 together. The slots HO, 130 and 112 connect the openings 60 and 70 with one another. In Figs. 4-8 not all slots are shown. Corresponding reference characters are used in other embodiments described below are used. It is used for a better understanding of the interconnection of openings through the Rows of slots are referred to (see particularly Figures 11b and 1c). It will be repeated in this context mentions that corresponding items in the various exemplary embodiments are numbered at intervals of 200.

792/0? Ss2

The switching block 09 is again 90 ° clockwise rotated around the axis of oil. The next puncture of the tool 119 forms the slots 124 and 132 in the tubular Components 02 and 00.

Then the switching block 09 is clockwise around the axis Oil rotated through an angle of 90 ° into the 270 ° position. The next cut of the tool 119 forms slots 126 and 134 in the tubular components 02 and OO.

After making all the openings, axial slots and curved circumferential slots in the manner described above the tubular components 00 and 02 are removed from the switching block 09 in that the switching pins 33 and 35 be released from the switching holes 29 and 31. However, the switch pins 33 and 35 are not completely removed and further hold the inner and outer tubular members 00 and 02 in precise alignment with respect to FIG each other. The device 13 is removed from the locking block O9, whereby the 'rest of the arrangement of the inner and outer tubular components 00 and 02 is released.

The tubular components OO and 02 can be attached using conventional machining techniques in such a way that that they make a vertical recess of an EDM tool in facilitate the longitudinal axis of oil. For this purpose, reference is made to FIG. 4, in which a fourth EDM tool 145 is shown. The EDM tool 145 is shaped to cut a series of slots that form a closed line in FIG The shape shown in the tubular components 00 and 02 follows. The slots 136, 138, 140 and 142 can be best seen in FIG. 5. Slots 136, 138, 140 and 142 complete the step of dividing the tubular components 00 and 02 into a driving element, a cardanic element and a driven element.

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The tool 145 is inserted into the components OO and 02 by moving in the direction of the axis O1. The tool 145 is shown in a horizontal position in FIG. 4 for the sake of simplicity of the drawing. The puncture of the tool 145 is normally in a vertical direction, as set out above. The puncture of the tool 145 results in outer driving elements 148a and 148b, an outer gimbal element 152, outer driven elements 154a and 154b, inner driving elements 158a and 158b, a hub 160, an inner gimbal element 162, and inner driven elements 164a and 164b. The use of the term “outer” relates to elements which form part of the outer tubular component 02. The use of the term "inner" refers to elements that form part of the inner tubular member 00.

The tool 145 is shown as a unitary single tool. In practice, this tool can work through Various different EDM tools can be replaced, each of which is designed to be a different part of the entire cut made by tool 145 cuts. For example, a tool can be circular Parts of the cut and a second tool feed the U-shaped parts at each end of the cut. Other subdivisions of the outline of the tool 145 are of course also possible.

When all the steps involving the electrical spark machining are completed, one of the two tubular members becomes 00 and 02 rotated 180 ° with respect to the other and held in this position with switch pins. Then it will be each part of each element in the inner tubular member with parts of the corresponding part of the same Element connected in the outer tubular member. The outer driving element part 148a is associated with the inner driving element part 153a connected. The outer driving Element part 148b is with the inner driving

Element part 158b connected. There is now a rigid connection between the outer driving elements 158a and 158b and a drive shaft (not shown) which is fastened in the opening 06. This rigid Connection is made through internal driving elements 148a and 148b and hub 160.

The outer gimbal 152 is connected to the inner gimbal 162. The tubular components OO and 02 have a telescopic coaxial Position with "sliding seat" in relation to each other. A connection of the inner and outer gimbals 152 and 162 gives a single gimbal that has dynamic properties as a function of rotor disturbances shows how this can be found in US Pat. No. 3,678,764.

The outer driven members 154a and 154b are connected to the inner driven members 164a and 164b. There is thus a rigid connection between the inner driving elements 164a and 164b and a rotor (in 1-8) through flange 04 and outer driven members 154a and 154b.

Then the switch pins are removed from the completed flexure hinge assembly but remain in place, thus maintaining a uniform mass distribution

remain.

A description of other embodiments follows of the invention as shown in Figures 9-13, 14, 15 and 16, 17 and 18-23. Further the general manufacturing process for these embodiments is described, but only insofar as the process differs from the above description of the manufacturing process for the embodiment according to FIGS. 1-8. This means that this section does not contain a complete description of the manufacturing process for these embodiments. Tables I and II contain all basic

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laying out steps for making these embodiments. This section should therefore be read in conjunction with Tables I and II.

In Figs. 9-13, an inner tubular member 200 is shown and an outer tubular member 202 is shown. Of the For the sake of clarity, components 20o and 202 are shown in an exploded view in FIG. 9 and according to their mutual rotation shown, i.e. with bending joints of pairs of crosswise oriented bending blades. the Components 2OO and 2O2 have a collinear, longitudinal ^, i.e. common axis 201. In this embodiment of the Invention becomes a driving element, a gimbal Element and a driven element are formed from each of the components 200 and 202. This embodiment thus has two intermediate cardan elements that are able to to move independently over small angles. The theory and dynamic properties of a flexure joint assembly with two gimbals is described in US Pat. No. 3,678,764.

In this embodiment, the flexures that a connecting the driving element with a gimbal element and a gimbal element with a driven element, in the above in connection with the embodiment according to FIGS. 1-8 connected way. The bending joints each have a pair of bending blades with a common bending axis on. Orthogonal axes 203 and 205 are identified as the bending axes that are perpendicular to axis 201.

Each of the components 2OO and 202 has a straight, circular one Cylinder with one closed end and one flanged end. The outer tubular component 202 has a flange 204. The closed end of the component 202 has an opening 2O8 in the component is designed to receive a (not shown) drive shaft. The flange 204 has two diagonally opposite one another radial index holes 210 and 212 drilled into the flange. A coaxial cylindrical

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Component 216 can be part of the outer tubular component 202 or else be designed as a separate component. About the general manufacturing process of the embodiment to be able to perform according to FIGS. 9-13 and 14, is it is not necessary that the cylindrical member 216 is separated from the parts of the outer tubular member 202 is. The cylindrical component 216 is a spacer that enables the component 2o2 to engage in the component 200 limited. In particular, the cylindrical member 216 holds the open end of each tubular member in place Distance from the flange of the other tubular component when the tubular components are nested in their normal position Position (FIG. 11), the cylindrical component 216 being shown in such a way that: it has a part t \, s tubular member 202 forms, although this is not absolutely necessary. Components 200 and 202 are open a device 213, e.g., a tension bolt (Fig. 9), in a nested position. the Screw nut 215 holds the components 2OO and 202 on the device 213 arranged one inside the other and a cylindrical one Component 216 rests against the inner, closed end of component 200. The machining sleeve 217 is a sleeve, used to maintain precise angular alignment of components 200 and 202 with respect to one another will. These machining necks 217 have radial index holes 219 and 221, the center lines on the same diameter like holes 210 and 212 have. Through the radial index holes 219 and 210 and through radial index holes 221 and 212 switching or index pins 223 and 225 are used. Of course, the radial index holes must be in the flanges 204 and 226 can be drilled separately.

The inner tubular component 200 has a flange 226 similar to the flange 204 on the outer tubular component 202. The flange 226 has two drilled into it radial index holes 228 and 23O. The inner tubular component 200 has an opening 206 for receiving a Drive shaft (not shown) also through the opening

709842/0762

208 leads in the outer tubular component 202. The sleeve 217 has two radial index holes 233 and 235 with center lines on the same diameter as the radial index holes 228 and 230. Switching pins 237 and 239 are inserted into the radial index holes 233 and 228 as well as 235 and 230. Fig. 9 shows the components 200 and 202 after the component 200 has been rotated by 180 ° with respect to the component 2O2, so that pairs of mutually intersecting bending blades that are adjacent in the radial direction are similar to those of the embodiment according to FIGS. 1-8 be achieved? the method of manufacturing the bending sheets is described in detail below.

In the embodiment shown in FIGS. 9-13, the inner diameter of the outer tubular component 202 is greater than the outer diameter of the inner tubular component 200. This means that there is no sliding seat, as was described in relation to the embodiment according to FIGS. 1-8. Also, the inner diameter of the inner tubular member 200 is larger than the outer diameter of the cylindrical member 216. Thus, each of the two gimbals formed at the open end of the members 200 and 202 can move freely through small angles without being in contact with

the other cardan element comes.

Pairs of adjacent openings are in the walls of the components 200 and 202 in the in connection with the embodiment formed according to FIGS. 1-8 described manner.

FIGS. 10a, 10b, 10c and iod show the basic method steps in the production of this embodiment. 10a shows in a developed, two-dimensional view the entire circumference of the nested tubular components 200 and 202 in a stage in which the openings have been formed. The center lines that represent the bending plane of the bending blades in the outer tubular member 202, namely the bending blades 280 and

709842/076 2

r 27H086

• 5ο

are parallel to each other, and the center lines of the bending blades 255 and 268 are also parallel to each other arranged. Furthermore, the center lines, i.e. the bending planes of the bending blades 280 and 244, are perpendicular Direction in relation to the center lines, i.e. the bending planes, of the bending blades 256 and 268. Behind each of these four bending blades is provided with a radially adjacent bending blade in the inner tubular component 200, which has surfaces in the walls of the openings that are coplanar with the radially adjacent bending blade are in the outer tubular component. Since the Fig. LOa-lOd are developed views, the bending axes 203 and 205 appear twice in each of these figures.

FIGS. Lob and lOc show tubular components 2OO and 202, each in a developed view and separately from one another, in a stage after which the slots are formed have been. The slots have been formed, but the component 200 is not opposite to the component 202 been rotated. Although each of the pairs of openings in the inner tubular member 200 engages one Pair of openings in the outer tubular component 202, the slots are not in congruence, as Fig. 9 shows, and therefore the slots according to this embodiment will not be formed when components 2OO and 202 are in a coaxial, common, nested position are.

Fig. Iod is considered in conjunction with Fig. Lob. Fig. Iod shows the inner tubular component 2OO according to FIG. 10c, but at an angle of 180 ° with respect to the outer tubular component Component 202 rotated, which remains in the position shown in Fig. Lob. This rotation is schematic by change in the position of the vertically oriented lines, which are denoted by 0 °, 90 °, 180 ° and 270 °, indicated. From a Superimposition of Fig. Lob and iod showing the concentric arrangement 10 shows that each pair of radially adjacent bending blades, namely the bending blades

709842/0762

27U086

of pairs 244 and 274, 256 and 286, 268 and 250 as well as des
outermost left pair 280 and 262 are oriented at right angles to one another and therefore meet the requirements for isoelasticity.

The axial and peripheral slots in the components 200
and 202 can be formed using conventional machining techniques. The position of the slots does not, of course, affect the accuracy with which the axes
203 and 205 intersect at the desired common pivot point 207 on the axis 20l in FIG. 9. the
Slots can be made using switch block 209 and
a clamping device with spacer, similar to the device 13 and the spacer 15 according to FIG. 2 can be formed.

In performing steps 17 through 32 of Table II and continuing in Table I, the slots are formed first in one tubular component and then in the other tubular component. This means that steps 17 to 32 are carried out separately for the inner tubular component 2OO and for
the outer tubular member 202 can be performed.

A tool 345a (not shown) similar to tool 145 (Fig. 4) is used to form a slot 336 (in
11 and 12) is used. The slot 336 divides the outer tubular member into outer driving ones
Elements 348a 348b, the hub 350, the outer gimbal
Element 352 and the outer driven elements 354a and 354b. This means that the slot 336 is the last cut separating an outer driving element from a gimbal η element and from a driven element,
except for the bending blades 244, 25Ο, 256 new. The outer driving elements 348a and 348b are parts of the outer tubular member 202 that connects the bending blades 256 and 280 to the hub 350. The hub 350 has a
Opening 208 for receiving a drive shaft (not shown). Connect the outer driving elements 354a and 354d

709842/0762

27U086

the bending blades 244 and 268 with the flange 204. From FIGS. Lob and Iod it follows that the bending blades 244 and 248 are rotor-related and the bending blades 256 and 28O are shaft-related, i.e. they are connected to the drive shaft (not shown) and manufacture with the rotor (not shown).

Similarly, a tool 345b (not shown) similar in shape to tool 145 can be used for formation of slot 340 can be used. The slot (Figs. 11 and 13) divides the inner tubular member 20o into the inner driving elements 358a and 358b, the hub 360, the inner gimbal element 362 and the inner ones driving elements 364a and 364b. From Fig. Iod it can be seen that the bending blades 274 and 250 are wave-related and the bending blades 262 and 286 are rotor related bending blades.

Thus, the embodiment of FIGS. 9-13 has two independent intermediate cardan elements, each of which has two shaft-related bending blades and two rotor-related bending blades which are oriented at right angles to the first two bending blades. The two cardan elements after this embodiment cancel rectifying torques that are caused by vibrations of the drive shaft when they occur at twice the spin frequency of the drive shaft in the manner described in US Pat. No. 3,678,764.

The manufacture of the embodiment according to FIGS. 9-13 can be carried out by connecting the tubular components 2OO and 202 with of the sleeve 217 so that their axial and radial orientation are kept in the exact alignment in which they are made.

The embodiment of the invention according to FIG. Will now be considered. The embodiment according to FIG. 14 is identical the embodiment according to FIGS. 9-13, with the exception that rectifying torques by angular vibrations at the double spin frequency in the manner disclosed in US Pat. No. 3,678,764 cannot be canceled. Because of the

709842/0762

27UQ86

If this property is missing, the embodiment according to 9-13 with two cardanic elements is normally preferable to the embodiment of FIG. The embodiment according to Fig. 14 is introduced, to illustrate the scope of the method of making the flexure joint assemblies of the present invention.

FIGS. 14b and 14c show a diagram of openings which Bending blades in the inner tubular component 40o and in the outer tubular component 402 form that differently of that according to FIGS. 10b and 10c. The diagram of the center lines of the bending blades according to FIGS. 14b and 14c changes in direction every 90 °.

14b and 14d shows that the wave-related bending blades of the two components 400 and 402 in the circumferential direction are aligned with one another and that the rotor-related bending blades are also aligned with one another. This means that the rotor-related bending blades 444 and are aligned circumferentially that the rotor-related Bending blades 468 and 486 are aligned in the circumferential direction that the wave-related bending blades 480 and 450 in the circumferential direction are aligned and that the shaft related bending blades 456 and 474 are aligned in the circumferential direction. Thus it follows from FIGS. 10b and iod that a rotor-related Bending blade and a wave-related bending blade is positioned in the circumferential direction at every 90 interval.

15 and 16 is an embodiment of the invention shown, in which the inner tubular component 6OO and the outer tubular component 602 each have a straight, have circular cylinder. The embodiment according to Figures 15 and 16 is a flexure joint assembly having two independent intermediate gimbals. The inner diameter of the outer tubular component 602 is longer than the outer diameter of the inner tubular component 6OO, so that an independent movement of the two cardanic elements is possible. End flanges 604a and 604b on the inner tubular component 600 serve as spacers

709842/0762

- «·" 27U086

between the tubular members 6OO and 602 to this To hold components in a coaxial concentric position.

In the components 600 and 6O2 there are radial index holes 610, 612, 614, 616, 618, 620, 62Ob, 622, 624, 624b, 626, 628, 628b, 630, 632 and 632b as in the developed Views of Figures 16a and 16b are shown. Of course, fewer than sixteen radial index holes can be used to secure the components 600 and 602 in a coaxial concentric position with one another pinned. From FIGS. 16b and 16c it can be seen that when the openings and slots are finished, the inner tubular component 600 is rotated through an angle of 90 °. It can have the minimum number of radial index holes be drilled, which are required to pinned the components 6OO and 6O2 in the zero position and in the 90 position. This symmetry of the sixteen radial index holes according to FIGS. 16a and 16b requires minimal handling of the components 6OO and 602 in that no special orientation of the components is required when drilling the openings will.

The components 6OO and 6O2 are on a (not shown) Connector 613 is attached, and apertures and bending blades are shown in the foregoing in connection with Figs. 1-8 described manner. For the embodiments according to FIGS. 15 and 16, the developed view has the two tubular components according to FIGS. 16b and 16c, a hole pattern for a flexible joint arrangement with two cardan elements, and the two tubular components are rotated through an angle of 90 ° after the holes and the Slots have been formed. This represents a further variant of the method according to the invention. For comparison has the embodiment with corresponding representations in Figures lob and lOc a hole pattern also for a flexible joint arrangement with two cardan elements, but here the rotation takes place through an angle of 180 after the Openings and the slots have been formed.

709842/0762

W 27U086

The embodiment according to FIGS. 15 and 16 can rectify torques cancel the angular vibrations at twice the spin frequency of the rotating flexure joint assembly appeared. The cancellation of such rectifying torques resulting from angular vibrations with the double rotor spindle speed can be found in US Pat. No. 3,678,764. From FIGS. 16b and 16c it follows that at every 90 ° interval around the circumference of the tubular elements of this embodiment a pair of radially adjacent bending blades is present, one sheet of each pair of sheets being wave-related and one sheet of each pair of blades is rotor-related, as can be seen in US Pat. No. 3,678,764.

The slots running in the axial direction and in the circumferential direction in the components 600 and 602 can simultaneously that is, without separating the components. Reference is made to step 17 in Table II. The slots can be formed if the components are coaxial and telescopic, i.e. concentric Position in relation to one another because each slot in the inner tubular member 600 is radially connected to a corresponding one adjacent slot in the outer tubular member 6O2 is aligned.

A flexure joint assembly is formed by attaching the outer driving member 748 to the flange 6O4a which in turn is connected to the inner driving element 758. The outer driving element 754 is connected to flange 604b, which in turn is connected to inner driving member 764. The embodiment 15 and 16 is symmetrical, and the element can be used at either end as the driving force Element or the driven element can be identified. A hub (not shown) with a Opening having a center line along common axis 601 can be located within the inner, i.e. driving Element 758 be attached to connect the driving element to a drive shaft. A (not shown

709842/0762

^ 27U086

The rotor element may be attached to the outer surface of the outer driving element 754.

The embodiment for the developed views of the cylindrical walls shown in Figures 17a, 17b and 17C also uses two straight, circular cylinders for inner and outer tubular members 8OO and 802. The embodiment according to the Pig. 17a, 17b and 17C is identical to the embodiment according to FIGS. 15 and 1b, with the exception that it is an embodiment with a cardan element. The differences between this embodiment and that according to FIGS. 15 and 16 are that that the distance flanges between the components 800 and 8O2 are omitted, that the outer diameter of the inner tubular component 800 and the inner diameter of the outer tubular component 802 to "slide fit" tolerance are processed when the components are telescopically arranged in one another that the scheme of openings is designed is that a rotation of the components through 180 ° with respect to each other is required after the openings and slots have been trained.

In this embodiment, the flexure joint assembly formed by being in a concentric arrangement as in the other embodiments described above the two tubular components are combined, the mutual positioning being chosen so that the The combination is illustrated by superimposing Figures 17a and 17b, i.e. the inner member rotated 180 after the openings and slots have been made. Then the arrangement is completed by that the driving elements 948 and 958 are connected to one another, that the cardan elements 952 and 962 to one another and that the driving elements 954 and 964 are connected together.

The embodiment of Figures 18-23 is a hinge arrangement with two intermediate cardan elements. The inner pipe

709842/0762

27U086

shaped component 10000 has a straight circular Cylinder connected only by bending blades between a pair of disks 1162a and 1162b, from each of which forms part of a cardanic element. The inside diameter of the right circular cylinder is slightly smaller than the inner diameter of each disc. The outer tubular component 1002 is a straight one circular cylinder. When making the äusfihrungsforra according to ('.cn Fig. 18-23 according to the method according to the invention the inner and outer tubular components 10000 and 1002 to "slide fit" tolerance between the inner diameter of the outer tubular component 1002 and the outer diameter of the two disks 1162a and 1162b of the inner tubular component 10000 machined. The middle part of the outer tubular component has an outer one driven element 1154. The ends of the outer tubular component 1002 each contain a part of the cardanic element 1152a and 1152b. The straight circular cylinder part of the inner tubular component 10000 has an inner driving element 1158. Each of the disks 1162a and 1162b forms part of a gimbal Element. The inner cylindrical surface of the inner driving member 1158 fits on a (not shown) Drive shaft and is attached to it, but the drive shaft is not with the inner surface of the disks 1162a and 1162b in contact because their diameters are larger than the inner "driving" element 1158 (Fig. 22).

Two gimbal elements are formed in that radially adjacent gimbal element parts 1152a and 1162a be connected to each other; the resulting gimbal is hereinafter referred to as the "upper gimbal." Element "and similarly gimbal element parts 1152b and 1162b are connected to each other, which the "lower cardanic element" form. A rotor (not shown) is attached to the outer driven member 1154.

709842/0762

ORIGINAL INSPECTED

The embodiment according to FIGS. 18-23 is a flexible joint arrangement with two gimbals which are symmetrically arranged so that at each of them the center of gravity on another side of the axis ICX) I is offset, i.e. at the same distance from the overall center of gravity 1007 of the flexible joint arrangement. With each of the previously described embodiments with two cardanic Elements is the center of gravity of each of the two cardanic elements in a common pivot point of the joint arrangement positioned. An axial shift of the center of gravity of each individual cardanic element in opposite directions from the overall center of gravity gives rise to a source of error, which is the case with the above-described Execution examples with two cardanic elements does not exist if it is not compensated. In particular, a rectified error torque is achieved generates linear vibrations in the direction of the common longitudinal axis lOOl, which is usually the spin axis, the vibrations occurring at twice the spin frequency of an operating flexure joint assembly.

The embodiment according to FIGS. 18-23 can be rectified Cancel torques resulting from linear vibrations along the shaft axis and from angular vibrations around the Shaft axis result; both vibrations occur at twice the frequency of rotation of the flexible joint arrangement during operation on.

With regard to the cancellation of torques resulting from angular vibrations around the longitudinal axis of the flexible joint assembly result, is the embodiment according to FIGS. 18-23 of the Assign Class of Flexural Joint Assemblies How They Subject U.S. Patent 3,678,764.

According to the teaching that can be taken from this, error torques resulting from linear vibrations at double the The rotor spin frequency is caused by the axial displacement of the rotor-related flexural joints of each of the two

709842/0762

gimbal elements in opposite directions with respect to the geometric center 1OO7 and the overall center of gravity the joint arrangement canceled. Each rotor-related flexure joint is moved a predetermined distance moved against the gimbal that connects it to the rotor.

The displacement of the center of gravity of the upper and lower cardanic elements according to the embodiment according to FIGS. 18-23 in opposite directions with respect to the total center of gravity 1007 of the flexural joint arrangement results in a torque on a rotor (not shown) when the rotor is acted upon with an acceleration will. This torque is sinusoidal at the excitation frequency and is proportional to the weight of the shifted cardanic element and the distance of the center of gravity of the cardanic element from the common pivot point Ιφΐ and proportional to the magnitude of the acceleration. When the vibration occurs at twice the rotational frequency, the resulting sinusoidal torque is rectified and a stable error torque is applied to the motor. Although the two cardanic elements of the flexural joint arrangement are arranged symmetrically, in such a way that they are equally spaced from the common pivot point 1007, the stable torque described is normally not canceled because the cardanic elements are rotated 90 ° with respect to the drive shaft (not shown) of the Flexural joint assembly are out of phase. This 90 angular separation of the cardanic elements is necessary to achieve a cancellation of the rectified torques which result from angular vibrations of the drive shaft, the flexible joint arrangement and the rotor, which occur at twice the rotational frequency of the rotor, ie twice the spin frequency. Rectified error torques, which result from the displacement of the cardanic elements in opposite axial directions from the common pivot point 1007, are caused by the axial displacement of the flexible joints and thus the bending axes of the rotor-related

709842/0762

"et" 27U086

Flexural joint of each cardan element compensated and canceled. The bending axis of the rotor-related bending joint of each gimbal element is axially in a direction toward the gimbal element by a predetermined distance offset. The distance results from:

where L _Q = the distance of the cardanic center of gravity from the shaft, which connects the pivot point on the longitudinal axis,

W = the weight of the cardanic element Wp = the weight of the rotor (not shown).

It can be seen from FIGS. 20 and 21 that the slit cuts in the tubular components 1002 and 10000 are made separately Need to become. In particular, the tubular components 100 and 1002 were released from their coaxial position because the slot cutting steps identified as steps 17-31 in Table I are 10000 for the components and 1002 must be carried out separately.

The method according to the invention is applied to the embodiment according to FIGS. 1-8, 9-13, FIG. Figures 15 and 16, 17 and 18-23 have been explained. From the above description it can be seen that the inventive Method to the manufacture of many different constructions of flexure hinge assemblies with different orientations of opening and slot schemes, form the bending blades, can be applied, and that also various modifications of the connection of the Includes slots, gimbals, driving elements, and driven elements.

The following is an expedient embodiment of the Process described which can be used for producing some of the exemplary embodiments shown in the drawings is. This embodiment of the invention Process is based on the production of any

709842/0762

Guide form of a flexible joint assembly suitable that having coaxial tubular components with bending leaves forming openings, the bending leaves forming Openings are made on opposite sides of the tubular components with the aid of a passageway of a tool can be. For example, in FIG. 2, the EDM tool 41 can be used in such a way that not only opening pairs 40, 42 and 46, 48 are formed, but rather it can also pierce through the opposite wall of each of the tubular members so that pairs of openings 70, 72 and 64, 66 in the inner and outer tubular members OO and 02, FIG. 3, are formed. The corresponding openings the embodiment according to FIGS. 9-13 can also made with one pass of the tool v. \ rucn, provided that the tubular member 216 is a separate spacer member which is added afterwards, and not part of the outer tubular component 202. This simplified embodiment of the method according to the invention is to the embodiment shown in Fig. 14 and in 15 and 16 is not applicable because the corresponding openings are on opposite sides of the tubular members are not in register, but it is applicable to the embodiments shown in Figs are shown in Figures 19-23. In general, the simplified method is applicable to any embodiment of such a flexure joint assembly applicable, in which the coaxial tubular components are rotated through an angle of 180 °, so that openings be formed with bending blades in between, provided that no component between the openings on opposite There are sides of the tubular components that cannot be manufactured separately.

Preferably, this modification of the method is practically carried out using an EDM machine which has a wire tool instead of a cutting tool according to FIG. Every EDM tool is subject to the Wear. The piercing of the tool 41 according to FIG. 2 through opposite walls of the inner and outer tubular

709842/0762

ORIGINAL INSPECTED

27U086

Gen components OO and 02 causes the tool 41 to wear out in such a way that the tool is pointed because part of the tool through four walls of the concentric tubular components and another part of the tool penetrates through only two walls. A wire EDM machine uses a continuously moving one Roll of wire under tension as a cutting edge. Such a machine is made by The Seaboard Machinery Co, Los Angeles, California, or manufactured by Machinery Sales Co, Los Angeles, California or driven out.

Table II summarizes the sequence of steps in the simplified method of making some of the embodiments of the drawings. Steps 9-16 relate to making a flexure joint assembly solely using a wire EDM machine. If the simplified method is by piercing the tool 41 through the four walls of coaxial tubular Components is carried out in practice, steps 9-16 of Table II can be omitted and the openings to which in referring to steps 17 and 18, can be formed by a single piercing of the tool 41. In a similar way Thus, the openings referred to in steps 20 and 21 can be pierced by a single puncture of the tool 41 are formed.

Steps 1-8 of the simplified procedure are the same as steps 1-8 of the general procedures outlined in Table I are summarized and discussed above.

In the next step of the simplified method, starting holes for the formation of openings in the coaxial inner and outer tubular components OO and O2 manufactured, in particular, there will be a small hole with a diameter that is large enough to allow the wire to enter the EDM machine can pass through, drilled into the desired surface contour line for the opening 40, for example. The starting hole

709842/0762

θ 27U086

(not shown) can be drilled at the location of the desired center line for opening 40 and is passed through the outer tubular component 02 and then drilled through the inner tubular component 00. In steps 9-16 of the Table II lists starting holes for openings in one location drilled onto the »circumference of the outer tubular component 02, and then the tubular components are both around rotated an angle of 90 °. Then the next set of starting blocks is created. This process continues until the starting holes have been drilled around the circumference of the outer tubular component 02 at intervals of 90 °. Of course, steps 9 and 13 can be performed along with drilling holes 40, 46, 42 and 66 in one go of the drilling process, etc. Steps 11 and 15 can be combined with one another in a similar manner will. When training the starting holes either after following the procedure given in steps 9-16 or in the manner described above, the coaxial tubular Components both rotated by the same angle if rotation is required. In the formation of the starting holes the coaxial tubular components are not rotated with respect to one another

The cutting wire of the wire EDM machine is then passed through the starting holes for openings 40, 46, 72 and 66. The wire will then be pulled through the starting holes as it is moved to cut the pattern of these openings. The pattern for cutting the openings is preferably computer-controlled, so that the openings can be cut with high precision. For those embodiments that have slots in opposite sides of the coaxial tubular members which are in register with one another, the wire EDM cutting technique can also be used to cut these slots. For example , the openings 40, 46 and 72 and 66 can be cut into the desired patterns without rethreading the wire, and the wire can then cut the slots 88, 104, 114 and 98. This Schlitzschneidtechnilc is based on the execution

709842/0762

27U086

not
form of Fig. 17, / but on the embodiments of the

Fig. 9-13 and Fig. 18-23 are applicable.

The openings 42, 48, 70 and 64 and the slots 9O, 106, 112 and 96 are made in a similar manner by passing the EDM cutting print through the starting holes for the openings and by controlling the movement of the wire following the cutting pattern with the aid of a computer educated. At the end of this step there are four bending blades along the axis 03, i.e. bending blades 44, 5O, and 68, formed by cutting openings.

Then the inner and outer tubular components OO and 02 are rotated by 90 ° without affecting the relative position of one component is changed in relation to the other. After step 7, the components are pinned together been.

Openings 52, 58, 84 and 78 as well as slots 92, 108, 118 and Io2 are made by the moving EDM wire cut in the manner described above. Similarly, openings 54, 60, 82 and 76 and slots 94, 110, 116 and 100 by movement cut of the EDM wire. The inner and outer tubular components OO and 02 can then be returned to their original Orientation can be turned back.

The other manufacturing steps when using the simplified method are identical to the general method according to Table I. Step 23 of Table II relates to various steps in the method when it comes to a Step according to Table I is continued as the next step in the manufacturing process, depending on the specific embodiment. When producing the embodiment 1-8, step 24 is the next because the slits cut parallel to the longitudinal axis O1 have been. When producing the embodiment according to 9-13, step 17 of Table I is the next step because parallel slots have not been cut

709842/0 76 2

because they were not in cover. The simplified method is not applicable to the embodiment according to FIG. 14 and those of Figures 15 and 16 are applicable so that step 9 of Table I is the next step in the general procedure is. Steps 24 and 17 of Table I are the next steps in making the embodiment 17. The simplified method is not applicable to the embodiment according to FIGS. 18-23.

The production of six embodiments of a flexible joint arrangement according to the method according to the invention has been described above. However, the method according to the invention is in no way restricted by the above description or by reference to the drawing. From the numerous applications of the method according to the invention, which have been discussed above, it follows that there are other embodiments of a bi-joint canal .ic P a art. η of uj. i_i: ogonally oriented BiegoLi "tt- rn are possible, to which the inventions ^ Tc processes for the production of such Biegegelcnkanformen are applicable.

The method according to the invention for producing flexible joints can be used to achieve the bending blades of the flexible joint assemblies U.S. Patents 3,354,725, 3,427,828, 3,527,062, 3,585,866, 3,614,894, 3,700,290, and 3,709,045 be applied. The applicability of the method according to the invention to one or more of the flexible joint anorclings according to these patents depends on the modifications of the patterns of the bending blades. For some of these devices this would mean modifying the pattern of openings or the pattern of openings and slots. For example \ * iron can carry out an apparatus based on US Pat. No. 3,700,290 according to the method according to the invention Modification of the pattern of openings and slots can be made. In particular, the pattern of openings be modified in the inner and outer tubular members. The pattern of the bending blades, their axes of symmetry alternately parallel and perpendicular to the longitudinal axis of the

709842/0762

ORIGINAL INSPECTED

Rotation are oriented according to Fig. 25, there will be a manufacture enable according to the method according to the invention.

Further, a flexure joint assembly can be made from coaxial components that are not straight, circular Cylinders are.

709842/0762

Table I.

-J
σ>
ro

Process steps from embodiments / elements

1. Switching the outer diameter of the inner one tubular component

2. Drilling holes to attach the shaft to the hub component inner component outer component

3. Grinding the inner diameter of the outer tubular component on

4. Telescopic sliding of the inner and outer tubular Components in a coaxial division

5. Grinding the inner and outer tubular components onto the same length

Fig. 1-8

00

06

N / A

02

'' Sliding seat "over 00

00 u.

00 u.

Fig. 9-13

200

206
208

202

desired gap
between
200 & 202

200 and 202

200 and 202

Fig. 14

4OO

x406 x408

402

"Sliding seat"

400 and 402

400 and 402

Fig. 15-16

600

N / A
N / A

602

desired gap
between
& 602

and 602

and 602

Fig.

800

N / A N / A

802

"Sliding seat"

800 and 802

800 and 802

Figures 18-23

1000

1006 N / A

1002 "sliding seat"

100 & 1002

100 & 1002

Procedural steps

Table I (continued)

Embodiments / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 6. Drilling Index holes IO and 14 210, 212 410, 412 610 & 618 810 & 818 1010 and 12 and 16 218 & 230 428 & 430 614 & 626 814 & 826 1018; 62oa and 82Oa and 1014 and 62Ob 82Ob; 1026; 628a and 828a and 102Oa & b 628b; 612 828b; 812 1028a & b and 622; and 822; 1012 and 616 &630; 816 &830; 1022; 624a and 824a and 1016 and 624b; 632a 824b; 832a 1030; and 632b and 832b 1024a & b 1032a & b 7. Insertion of Pin 33 Pin 223 x pen Pen Pen x833 Pin xlO33 Index pins in in holes in holes 423 in lo x633 in lo in holes in holes lOlO Index holes 10, 14, 219 and 21Ct cher x219 cher 610 u. 810 and 818; u. 1018; Pen 29; Pen Pin 225 &410; 618; Pen Pen x835 ÜO35 in holes 35 in lo in holes Pen x635 in lo in holes 1012 and 1022; cher 12.16 221 and 212 x425 in cher 612 u. 812 and 822; Pin xlO37 in and 31 Pin 237 Holes 622; Pen Pen x837 Holes 1014 u. in holes x421 & x637 in lo in holes 1026; Pin 1039 233 and 228 412; Pen cher 614 u. 814 &826; in holes 1016 u Pin 239 437 in lo 626; Pen Pen x839 1030 in holes cher x433 x639 in lo in holes 235 & 230 u. 428; cher 616 u. 816 and 830 Pin 439 630 in holes x435 and 430

Table I (continued)

(D OO

ro

^ j σ> ro

Procedural steps Fig. 1-8 Fig. 9-13 Fig. 14 Embodiments / elements Fig. 17 846 &848; Figures 18-23 ro 00 200 400 Fig. 15-16 800 Leaves 844 looo 8. Attach 600 & 850 inner and outer 02 202 402 802 1002 rer tubular 6O2 Components in ko axial position on holding device 09 x2O9 "409 x8O9 xlOO9 tion and index
block One time One time one time x6O9 Piercing Piercing the 9. Manufacture chen des ( hen des chen des Piercing of the tool-of the work- Tool of a couple be Tool Tool Tool ges x64l stuff xlO41 to the off adjacent opening 41 to Aus x241 to k441 for for training x841 for formation of the public gen inside education education education education of public education 1040 & ren and external the opening the opening 3 opening nungen 640 & dung of the 1042; 1046 &1048; tubular Ba ^ - gen 40 & 42 gen 240 & jen 440 & 642; 646 & openings Sheets 1044 & ttiien for training 46 &48; 242; 246 & 142; 446 & 648; Sheets 840 &842; 1050 at the + £ - tion of a bend and leaves 248; Leaves 148; Leaves 644 & 650 Job leaf in each 44 and 50 ter 244 & ter 444 & Component. openings 250 150 be inside and outer tube shaped component in a single Passage of the plant created

O OO cn

Procedural steps

Table I (continued)

Embodiments / elements

ig. 1-8

Fig. 9-13

Fig. 14 Fig. 15-lf

Fig.

Figures 18-23

CO
N>
CD

10. Change the
relative position of the tool and the
inner and outer tubular
Components to form a
another couple
from neighboring
openings both
in the interior
than the outer one
Förraigen pipe
Components

Turning the
Index blocks 09 at
90 iU around
Axis Ol
(no Dre
hung around
Axis 05)

Turning the index block x2O9 i.U. around Axis 201 and 90 i.U. around axis 205

Rotating the index block x409 by 90 i.U. about axis 401 and 90 ° i.U. about axis 405 turning the index block

kes 90

Turn the index block x6O9 by 90 i.U. around Axis 601 and 90 in conjunction with axis 60 and axis 8051005

Rotating the index block!

x8O9 at 90 i.U. around axis

xl009 at i.U. around Achge 1001 and

and 90 i.U.i.U. around axis

(The printouts "clockwise with i.U. and i.GU. abbreviated)

11. Manufacture
of a pair of adjacent openings in the
inner and outer · »Jfohr shaped
Components to form a
Bending sheet in
each

Piercing the
Tool
41 for the ¹
formation of training

Openings
52 &54;
58 &60;
Leaves 56
& 62

Grooving grooving of the tool tool x241 to x441 to

Formation of the opening

gen 252 &

254; 260;

258 & leaves

ter 256 & 262

gen 452 &454; 458 &460; Sheet ^{456 &} and are "counterclockwise"

Grooving tool x641 to form the openings 652 &654; 658 &660; Sheets 656 & 662

Grooving the tool x841 to form the openings 852 &854; 858 &

Grooving the tool x1041 to form the openings 1052 &1054; 1058 &1060; Sheets 1056 & 1062 attached

860; Sheets - £ 856 &

D *

^o o8

4NN

ooo

* 4 4

33

CO CO

27U086

<0

r * ol r »

O <

o « r« r «f ·

ill

K NNN

OO

β * Ή 0 Λ

OO OO

Is!

§3 J

7098A2 / Ö762 • ORIGINAL INSPECTED

Procedural steps

O CD OO

Table I (continued)

Embodiments / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 ig. 17th Figures 18-23 15. Repeat from step 9, i.e. Piercing the Tool 41 x241 x441 x641 x841 xlO41 for training of openings 76 & 78 276 & 278 476 & 478 676 & 678 87Ö & 878 1076/1078 openings Θ2 & 84 282 & 284 482 & 4Θ4 682 & 684 8Θ2 & 884 1082/1084 and leaves 80 & 86 28Ο & 286 480 & 486 68Ο & 686 88Ο & 886 1080/1086 16. Rotate the Index block in the initial posi tion at 90 i.U. around the axis Oil 201 401 601 801 lOOl and displayed number of
Degrees 90 ° i.GU. o ° 90 ° i.U. 90 ° i.U. 0 ° 90 ° i.U. around the axis 03 203 403 603 803 1003 (optional return return to the initial position of Index blocks)

Procedural steps

Table I (continued)

From currency forms / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 17. Separate aer Cylinder like on given no Yes Yes no no no Piercing the Tool 89 x289 x489 x689 c889 xlO89 for training of slots in the outer tubular gen component 88 & 90 288 & 29O 488 & 490 688 & I9O 888 & 89O 1088/1090 and slots in the inner tubular iT gen component 104 & 106 3O4 & 3O6 5O4 & 5O6 7O4 & 7O6 904 & 906 11O4 / 11O6 with a by ge by ge with a with a in separate Pass separated separated Pass Pass Passes the ^ /
Tool ** of the work Pass Pass of the work of the work witnesses fe des fe des witnesses witnesses Tools Tools total total 18. Rotate the xl009 Index block 09 x2O9 x409 x6O9 x8O9 9O ° i.ü. to the lOOl axis 01 201 401 601 801 19. Piercing xlO89 of the tool 89 x289 x489 x689 x889 1092/1094 ^ J for training
of slots 92 & 94 292 & 294 492 & 494 692 & 694 892 & 894 1108/1110] j and slots 108 & 110 3O8 & 31O 5O8 & 51O 7O8 & 71O 9O8 & 91O in separate, ^ in one in ge in ge in one in one Passages _ο Passage separated separated Passage Passage QO Continuous Continuous GD gene gene

O (O CO

Procedural steps

Table I (port setting)

Embodiments / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 20. Rotate the Index block
9O iU about the axis 09
01 x2O9
201 x409
401 x609
601 x809
801 xl009
lOOl 21. Grooving the Tool 89 x289 x489 x689 x889 xlO89 for training
the slots 96 & 98 296 & 298 496 & 498 696 & 698 Θ96 & 898 1096/1098 and the slots 112 &114; 312 &314; 512 &514; 712 & 714? 912 &914; 1112/1114? in one in ge in ge in one in one in separate Passage separated separated Passage Passage Passages Continuous Continuous gene gene 22. Rotate the Index block 09 x2O9 x409 x6O9 x8O9 xl009 90 i.U. around axis Oil 201 401 601 801 1001 23. Piercing of the tool 89 x289 x489 x689 x889 xlO89 for training
of slots 100 &102; 3ΟΟ &3Ο2; 5ΟΟ &5Ο2; 7ΟΟ &7Ο2; 9OO &9O2; 1100/1102; and slots 116 &118; 316 &318; 516 &518; 716 &718; 916 &918; 1116/1118? (Turning the in one in ge in ge in one in one in separate Index block 09 Passage separated separated Passage Passage Passages at 90 i.U. in Continuous Continuous To begin with gene gene optional ^

Procedural steps Table I (port setting) From guidance forms / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Pig. 17th Figures 18-23 ro
—I ιι, j 24. Piercing ^^^ *
00 of the tool 119 XJ19 x519 x719 x919 xlOl 9 CD for training of slots in the outer tubular gen component 120 320 520 720 920 1020 and slot in inner tubular gen component 128; 328; 528; 728; 928; 1128; in one in ge in ge in one in one in separate Passage separated separated Passage Passage Passages Continuous Continuous 25. Rotate the gene gene Index block 09 X2O9 x4O9 x6O9 x809 xl009 ' displayed display O number of degrees 90 ° i.U. 9O ° i.U. 90 ° i.U. 180 ° i.U. 180 i.U. 180 i.U. around the axis Oil 201 4Ol 601 801 1001 26. Piercing of the tool 119 x319 x519 x719 x919 xlll9 for training the slots 192 322 522 722 922 1122 and slots 130 330 530 730 930 1130 in one in ge in ge in one in one in separate Passage separated separated Passage Passage Passages Continuous Continuous gene gene

O CD Ο »

Procedural custom

Table I (continued)

Embodiments / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 IS? 27. Rotate the Index block 09 x2O9 x409 x609 x8O9 xl009 displayed display ο ο. _ ο. _ O · number of degrees 90 i.U. 90 ° i.U. 90 ° i.U. 90 i.U. 90 i.U. 90 l.U around the axis Oil 201 401 601 801 looa 28. New hires ment of the work witnesses lä-nj s the axis no N / A no N / A no N / A yes 601 yes 801 yes lOOl 29. Piercing of the tool 119 x3l9 x519 x719 x919 xlll9 £ for training of the slot 124 324 524 724 924 1124 and the slot 132 332 532 732 932 1132 in one in ge in ge in one in one in one Passage separated separated Passage Passage Passage Through- Continuous 30. Rotate the gene gene Index block 09 x2O9 x409 x609 x8O9 xlOO9 displayed display
number of degrees 90 ° i.U. 90 ° i.U. 90 ° i.U. 180 ° i.U. 180 ° i.U. 180 ° i.U. around the axis oil 201 401 601 301 1001

Table I (continued)

Procedural steps Fig. 1-8 Fig. 9-13 Fig. 14 Excerpt shape / learn nte K) Fig. 15-16 Fig. 17 Figures 18-23 - * 31. Piercing 119 X319 x519 of the tool x719 x919 X1119 for training 126 326 526 of the slot 134 334 534 726 926 1126 and the slot in one in ge in ge 734 934 1134 Passage separated separated in one in one in separate Continuous Continuous Passage Passage Passages OO 200 400 32. Remove the
inner and outer 600 800 1000 ren tubular 002 202 402 Components of the 602 802 1002 Index block, yet ver donates 00 & 02 2OO & 2O2 400 & 402 33. Attach the coaxial
reinforce separated separated inner and outer
ren tubular tet N / A N / A N / A Components for the Passage of a Oil 201 401 Tool lengthways
the axis

, ΤΟ OO

Procedural steps

Table I (port setting)

Embodiments / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 ro 34. linstitch N / A ^ Tool (s) 145 x345a & b x545a & b for training 00 the outer hub N / A 350 x55O N / A N / A N / A and the inner one hub 16O 360 x56O N / A N / A N / A for training of an external an drive element 148a & b 348a & b 548a & b 748 948 N / A for training of the outer car danelementes 152 352 552 752 952 1152a & b * for training of the outer driven Ele mentes 154a & b 354a & b 554a & b 754 954 1154 for training of the inside driving ele mentes 158a & b 358a & b 558a & b 758 958 1158 for training of the inner car danelementes 162 362 562 762 962 1162a & b for training of the inner drifting elements tes 164a & b 364a & b 564a & b 764 964 (see step 37

ο approx oo

Procedural steps Table I (continued) Execution forms / elements

Fig. 1-8 Fig. 9-13 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 06 35. Attach Ν / Α 200 400 Ν / Α Ν / Α Ν / Α 1002 <r _{
180 ° the inner and 202 4Ο2 outer tubular gen components in coaxial position (see step 7 above) ι remove the indes - pencils, turning the inside tubular construction part 00 200 400 600 800 iooo in relation to that outer tubular ge component
around 18Ο ° 2O2 "
180 ° SS * 90 8Ο2 _Λ
180 °

■ Ο ο oo

Table I (continued)

O CD OO

NJ »

-J o> ro

Procedural steps Fig. 1-8 Fig. 9-13 Hubs 350 Fig. 14 p4 x rotor Embodiments / elements ) N / A 15-16 Fig. 17th Figures 18-23 C. 1152a with ro 148a and 348a & b? &360;354; 548a &b; about flan Fig. with 948 with N / A C. 1162a; -j 36. a. rigid 158a; 148b 358a & b &354b; 558a & b cal 404 748 with 958; 954 1152b with Connect the 158b; 154a with a 364a & 364! with a & 426 604 a 754 with 964 1162b outer and inner and 164a; with a xwave (see Fig. ί 758; 604b ren driving 154b and xfielle about about hubs N / A with 764 Elements 164b x55O and with other and the 1560; 554a outer and inner 554b; ren powered > 564a & Elements 564b with first ver at the xRotor over a binding Flanges 2i 200 & 202 & 226 (s. with the Fig. 9) Sleeve 217 52 with N / A 952 with 36. b. rigid 62 962 Connect the inside ren and external Gimbal with each other first ver 37. Removing the binding Index pens - 200 & 202 See step 7 for with the the identity of the Sleeve 217 pencils

Table 2

Procedural steps Pig. 1-8 pi _a 9-ia_ Ίη-
Pig. 14th From examples / elements Pig. 17th Figures 18-23 27U08 but true
tes component
216 Pig. 15-16 1-8 the same
Steps as in
Table 1 40 & 46
42 & 48 not
applicable
bar 84Ο & 846
8426.848 not:
applicable 9. Training the
At catch holes
^ j in the interior
ο and outer tube
en-shaped components
oo for the openings
* - (by drilling or
^ * EDM, etc.) 00
02 24O & 246
242 & 24Θ N / A not
applicable
bar 800
802 ο 10. Turn the
"* · Tubular structural
^ divide by 90 iU 52 & 5Θ
54 & 60 200
202 N / A N / A 852 & 85Θ
854 & 860 11. Training the
At the beginning s 1 oe r
for the openings 00
02 2K2 & 258
254 & 26O N / A N / A 800
802 12. Rotate the
tubular construction
divide by 90 iU 64 & 70
66 & 72 200
202 N / A N / A 864 & 87Ο
Θ66 & 872 13. Training of
Initial holes
for openings 264 & 27O
266 * 272 N / A

O
(O
OO

Procedural steps

Table 2 (continued)

Embodiments / elements

14. Turning the tubular Components by 90 ° i.U.

15. Make the initial holes for openings

16. Turn the tubular components over 90 i.U. to the original position (optional)

17. Forming the openings and

Fig. 1-8

OO 02

76 & 82 78 & 84

OO 02

openings 40,

Slots if the 72, 66 and slots in Dek slots kung are (through 88, 104, pulling an EDM-114 & 98 wire through the Starting holes for cutting the pattern of openings and slots)

Fig. 9-13

but separated

tth component

216 Fig. 14

N / A

Fig. 15-16

N / A

N / A

openings N / A 240, 246
272 & 266

Fig.

800 802

8OO 802

Openings 840, 846, 872 & Θ66 and slots 888, 904, 914 &

Figures 18-23

-4 O CD CO

Procedural steps

18. Training «openings and slots also when the slots are in alignment

19. Turning the inner and outer tubular gn Components by i.ü.

20. Forming openings and slits even if the slits are under cover

Pig. 1-8

openings 42, 48, 7O & 64 and slots 106, 112 & 96

00 02

openings 52, 58, and 78 as well as slots 92, 108, 118 and

Table 2 (continued)

From examples / elements

Fig. 9-13 but separate component 216

openings 242, 248, 27O & 264

openings 252, 258 2Θ4 & 278

Fig. 14

N / A

N / A

N / A

Fig. 15-16

Fig. 17

Openings 842, 848, 870 and 864 and slots 890, 9o # 912 and

896

800 802

openings 852, 858, 8Θ4 & 878 as well as
Slots 892, 908, 918 and 902

Figures 18-23

N / A

N / A

N / A

Table 2 (continued)

Procedural steps

Fig. 9-13

From examples / elements

Fiq. 1-8 CtJJCL ytJL-iUXl
tth component
216 Fig. 14 Fig. 15-16 Fig. 17 Figures 18-23 21.
Training of
openings and
Slits too,
if slots in
Are coverage openings
54, 60, 82
76 as well as
Slots
94, 110,
116 and 100 openings
254, 260,
282 and 276 N / A N / A openings
854, 860,
862 and
876 and
Slots
894, 910,
916 and
900 N / A 22. Turning the
inner and
outer pipe conveyor
moderate components
at 90 ° i.GU. at
more original
position 00
02 200
202 N / A N / A 8th N / A 23. Perform
of the procedure
according to table 1
starting with
step 24 17th 9 9 24 9

25, there is shown a cross-section of a bearingless, flexibly suspended gyro 600 which is an embodiment of the invention in that its flexure hinge assembly 1410 is shown as Ausführungsfora of Figures 1-8; however, all of the above-described embodiments and others can be used Embodiments of the present invention are used as a suspension for the rotor of a gyroscope. Following the top 25 includes a flexure joint assembly 1410, a drive shaft 1412, and an inertia wheel 1414. The flexure joint assembly 1410 connects the drive shaft 1412 and the inertia wheel 1414 together. The inertia wheel 1414 may be connected to the flange 1404 of the flexure joint assembly 1410.

The working principle of the gyroscope is based on an angular decoupling of a gyro rotor executing a spin motion, e.g. of the inertia wheel 1414 from the drive shaft 1412. For a better understanding of this principle, the connection between bath and Shaft viewed as a frictionless universal joint. With such a universal joint there is minimal constraint on one Angular movement between the raduid of the shaft. Additionally results such a universal joint has a high resistance to translational movement parallel and sloping right to the spin axis.

If the moment of inertia of each cardan element is set as a function of a matching equation, the a rotor executing a spin motion can be freely deflected over small angles without reaction moments occurring. This becomes a Friction-free universal joint achieved. This principle is explained in detail in US Pat. No. 3 * 678,764. The characteristic of the dry, i.e., the fluid-free, tuned rotor eliminates all of the disadvantages of the power wires, mass instability, radiation sensitivity, fluid stratification, gimbals, and the like, inherent in fluid-filled gyroscopes.

From Fig. 2 ^ it follows that the inertia wheel 1414 with the flange 1404 and, as can be seen from FIG. 5, with the driven

709842/0762

Elements 154a, 154b, 164a, 164b, and thus with bending blades the cardan elements 152 and 162 (Fig. 5 and 8 and Fig. 4) is attached. The gimbals 152 and 162, which are connected to one another, are connected to the drive elements 148a, 148b, 158a, 158b attached via flexible joints. The inertia wheel 1414 and the flexure cone assembly 1410 form the entire sensitive element or element. the converter. As shown in FIG. 25, the shaft 1412 is supported by a housing 1416 with two preloaded ball bearings 1418. The ball bearings ή this device are not part of the sensitive Element or converter and therefore have no influence on the mass inequality of the inertia wheel 1414.

Capacitance taps comprising a plurality of plates 1420 in connection with the flange 1422 of the inertia wheel 1414, form four capacitor pairs for sensing the angular displacement of the Kreieel housing relative to the rotor element. The tap signals can then be brought to zero by torque generating devices and servo loops (not shown), whereby two axes of inertial stabilization or angular velocity measurements can be obtained. The four capacity taps are offset at the same angle around the flange 1422 (only one tap is shown in FIG. 9).

In Fig. 25 one possibility is shown, the Trej & eitsrad 1414 give up an eddy current moment. A second conductive one Flange 1424 is around inertia wheel 1414 and on top of the other Side of this bath · «positioned. The flange 1424 fits into the gaps of four circumferentially symmetrically arranged Electromagnets 1426a, 1426b, 1426c, and 1426d (only magnet 1426d is shown in Figure 25). Each of the electromagnets owns a live coil connected so as to enable control of the current, for example by means of a control device such as a computer or a servo device (not shown). The coils of the electromagnets are shown at 1428a, 1428b, 1428c, and 1428d (two of which are shown in Figure 25). The electromagnets are on one with

709842/0762

- Si- -

the arm attached to the housing 1416 is supported. If so desired is, the inertia wheel flange. 1424 a torque about an axis (not shown) which passes through magnets 1426a and 1426c, magnets 1426a and 1426c are energized. The virbel currents, induced in flange 1424, in conjunction with the magnetic field, generate this torque. If desired, dem Splash 1424 to apply torque about an axis (not shown) that goes through the center of magnets 1426b and 1426d, magnets 1426d and 1426b are excited *

Isolation from external magnetic fields is achieved by selecting appropriate material for the housing 1416, which consists of a High permeability steel can exist.

The spin motor can be a three-phase hysteresis synchronous motor, which drives shaft 1412, flexure assembly 1410, and inertia gear 1414 at a desired spin frequency. Of the Spin motor has stator windings 1430, a hysteresis ring 1432 and a web 1434.

709842/0762

Claims (1)

Claims 1. Flexible joint assembly with concentrically arranged inner and outer tubular components which are partially fastened to one another, wherein each tubular member is divided into separate parts by mutually adjacent pairs of openings which are slotted together are connected, wherein the parts of each tubular component in the V / inkel relative to each other are displaceable when they are by flexible 3 are joined together formed by the material left between each pair of openings, and each a plurality of pairs of perpendicular, crosswise arranged, radially adjacent bending blades a tsiegegelenk forms from a plurality of flexure joints while each individual flexure blade forms part of a separate one of the tubular members, characterized by an orientation of some of the bending blades of a each tubular component at a first specific angle to the axis of the tubular component, and a different orientation the rest of the bending blades of the same tubular component in one second;) specific angle that is perpendicular with respect to the orientation of the bending blades that form the first specific angle. 2. Flexural joint arrangement according to claim 1, characterized in that the Half of the sheets of a tubular component in the first specific angle are oriented that the other half of the bending blades of the same tubular member in the second specific Angles are oriented 709842/0762 ORIGINAL INSPECTED 3. üiegegelenkanordnung according to claim 1 or 2, characterized in that that the inner tubular member has at least one inner gimbal element part which is provided with a pair of inner bending blades is connected, and that the outer tubular member has at least one outer gimbal element part which is connected to a pair of outer leaflets is connected. 4. Üiegegelenkanordnung according to claim 3, characterized in that the gimbal parts are the result of slots that form one opening of a pair of openings with the next opening of an in Circumferentially adjacent pair of openings in each of the inner and connect outer tubular components. 5. Bending device according to one of claims 1 to A, characterized in that the inner tubular component has at least one inner cardanic element part and at least one driving element part which are connected to one another via a pair of bending blades, and that the outer tubular component has at least one outer one has a gimbal element part and at least one driven element part which are connected to one another via a pair of bending blades. 6. üiegegelenkanordnung according to any one of claims 1 to 5, characterized in that pairs of adjacent openings in the outer tubular component define a first and a second pair of bending blades which are at the same angle around the circumference of the outer tubular Component are offset, and that the outer bending blades of the first pair in succession around the circumference of the outer tubular member are offset. 7. Flexural joint arrangement according to one of claims 1 to 5, characterized in that pairs of adjacent openings in the outer tubular 709842/0762 shaped Sauteil a first and a second pair of Ciegeblatte.n set, which are offset at the same angle around the circumference of the outer tubular 3auteiles, and that the outer bending blutters of the first and second pairs are alternately offset around the circumference of the outer tubular member. 3. Flexural joint arrangement according to one of claims 1 to 7, characterized in that the first and second specific bending blade angles 45 each, but in opposite seals to the one normally used coincident common axis of the concentric tubular components be. 9. Flexural joint arrangement according to one of claims 1 to 7, characterized in that the first specific bending blade angle is approximately O and the second specific bend angle is about 90. 10. Flexural joint arrangement according to one of claims 1 to 9, characterized in that the inner tubular component has an inner driving element part, an inner gimbal element part and a inner driven element part has that the outer tubular member has an outer driving element part, an outer gimbal Element part and an outer driven element part has the inner bending blades of a first pair of inner bending blades define a first inner bending axis and connect the inner gimbal to the inner driving element that the inner bending blades of a second pair of inner bending blades have a common second inner bending axis and the inner one Connect gimbal element with the inner driving element part that first and second inner bending axes approximately perpendicular to each other are oriented, the outer bending blades of a first pair of outer bending blades having a common first outer bending axis have and connect the outer cardanic element to the outer driving element, and that the outer bending blades of a second Pair of outer bending blades have a common second outer bending axis, and connect the outer cardanic element to the outer driven element, wherein the first and second outer bending axes are oriented approximately perpendicular to each other and the first and second inner bending axes and the first and second outer bending axes intersect at a common pivot point. 11. Flexural joint arrangement according to claim 10, characterized in that the Bending axes of the inner driving element and the inner driven element each other at a common pivot point of the cut inner tubular component and are offset in the same axial direction from the common pivot point. 12. Flexural joint arrangement according to claim 11, characterized in that the Bending axes of the outer driving element part and the outer driven element part of the outer tubular member in the same axial seal offset from the common pivot point are. 13. Flexural joint arrangement according to one of claims 10 to 12, characterized in that the inner driving element part of the inner tubular component has a hub which partially closes one end of the inner tubular component and with the first pair is connected by inner flexural lattices, and the one device for connecting the inner driving element to a drive shaft owns. 14. Flexural joint arrangement according to one of claims 10 to 13, characterized in that the bending axes of the outer driving element part 709842/0762 of the outer tubular component compared to the common Pivot point are offset in the same axial direction as the bending axes of the inner driving element part, and that the outer driving element part with the inner driving element part of the inner tubular component and the inner driving element Element part of the inner tubular member attached to the outer driving element part of the outer tubular member is. 15. Flexural joint arrangement according to claim 14, characterized in that the inner gimbal part and the outer gimbal part are fastened together to form a flexure hinge assembly which effectively comprises a single gimbal element and that the inner and outer tubular members are relative to one another are positioned so that they are colinear with the first inner oie axis align with the first outer bending axis. 16. Flexural joint arrangement according to one of claims 10 to 13, characterized in that the inner driving element element and the inner one driven element part of the inner tubular member, respectively are offset in the opposite axial direction from the rough pivot point, as are the outer driving element part and the outer driven element portion of the outer tubular member, the inner and outer gimbals being the inner and outer tubular members are at least partially nested within one another. 17. Flexural joint arrangement according to one of claims 10 to 16, characterized in that the inner driving element part has an ice hub has, which partially encloses one end of the inner tubular member, that the first hub has a device for connecting the 709842/0762 -O- 27U086 has inner tubular component with a drive shaft and that the outer driving element part has a second hub, which partially encloses one end of the outer tubular member, wherein the second labe has a device to connect the outer tubular member to the drive shaft. 18. Flexural joint arrangement according to claim 17, characterized in that the first .iabe with the inner cardanic element part through the first Pair of inner bending flowers and the second iiabe with the outer gimbal member part is connected by the first pair of outer bending blades. 19. Flexural joint arrangement according to claim 17 or 18, characterized by a third tubular member, coaxial within the inner and outer tubular members disposed and extending between the first and second honeycombs around the nest of the inner and outer tubular members in one position of one with respect to the other. 20. Flexural joint arrangement according to one of claims 3 to 19, characterized in that the outer diameter of the inner cardanic Part is approximately equal to the inner diameter of the outer cardanic part and that the inner and outer cardanic parts are connected to one another so that they form a flexural joint arrangement, effectively having a single cardanic element, the first inner bending axis being approximately colinear with the first outer bending axis. 21. Flexural joint arrangement according to one of claims 3 to 19, characterized in that the outer diameter of the inner cardanic Element is shorter than the inner diameter of the outer gimbal 709842/0782 ORIGINAL INSPECTED 27U086 see element so that an independent rotation of the inner and outer cardanic elements around small angles is possible. 22. Flexural joint arrangement according to one of claims 10 to 21, characterized in that the inner and outer tubular components are partially attached to each other, wherein the first inner bending axis is approximately colinear with the first outer bending axis. 23. Flexural joint arrangement according to one of claims 10 to 21, characterized in that the inner and outer tubular components are partially * attached to one another, wherein the first inner bending axis is approximately perpendicular to the first outer bending axis. 24. Flexural joint arrangement according to one of claims 10 to 23, characterized in that the inner driving and driven element parts axially in opposite 'seals from the common Pivot are offset and that the outer driving and driven element parts in opposite seals from the common pivot point are axially offset. 25. Flexural joint arrangement according to claim 24, characterized in that the outer diameter of the inner tubular component and the inner diameter of the outer tubular component are approximately the same Have length, that the inner and outer driving element parts are fastened together, that the inner and outer gimbals are fastened together and that the inner and outer driven member parts are secured together, thereby forming a flexure joint assembly which is a single gimbal Element owns. 7090 ^ / 0762 26. Flexural joint arrangement according to one of claims 3 to 25, characterized characterized in that the gimbal member portions of the inner and outer tubular members have a center of gravity on the normally coincident axis, the inner tubular member having an inner driving portion and first and second gimbals Parts comprises that the first and second inner gimbal parts axially offset in opposite directions from the center of gravity are that the first inner gimbal part with the inner driving part via a first pair of inner bending blades with a common first inner bending axis is connected that the second inner cardanic part with the inner driving part via a second pair of inner bending blades is connected to a common second inner bending axis, that the first and second inner bending axes are approximately perpendicular to one another, that the outer tubular Components have an outer driven part and first and second outer gimbals with first and second outer gimbals axially in opposite directions from the center of gravity / e .sets that the first outer gimbal part with the outer driven part A pair of first outer bending blades with a common bending axis is connected to that of the second outer cardanic part with the outer driven part via a pair of second outer bending blades with a common second outer Bending axis is connected that first and second outer bending axes are arranged perpendicular to each other, that the first inner cardanic Part is attached to the first outer gimbal part to form a gimbal element, and that the second inner gimbal part with the second outer gimbal part to form • A second cardanic element is attached. 27. Flexural joint arrangement according to claim 26, characterized in that the inner diameters of the first and second inner gimbals 709842/0762 27U086 Element parts are approximately the same size and each longer than the inner diameter of the inner driving element part, so that one of the inner cardanic element parts can rotate independently on the other cardanic element part is possible. 28. Flexural joint arrangement according to claim 27, characterized in that the individual priorities of the first and second gimbal Element parts in the axial direction along the normally coincident Axis are offset in opposite directions, but equidistant from the combined center of gravity of the first and second cardanic element parts are arranged. 29. Gyroscope with a rotatable drive shaft, a motor for rotating the Drive shaft, an inertia wheel, a flexure joint assembly for suspending the inertia wheel on the drive shaft, wherein the flexure joint assembly is mounted on the drive shaft and the inertia wheel is mounted on the flexure joint assembly, characterized in, that the bending joint arrangement is an arrangement according to one of the claims 1 to 28 is. 30. A method for producing the flexible joint assembly according to one of the Claims 1 to 28, characterized in that pairs at the same time of openings are formed by machining while maintaining bending blades therebetween in both tubular members when they are temporarily concentric in a first Specific angular position are held to each other, and that the two tubular components are positioned in a second, permanent relative position, the angle with respect to the first specific position is rotated and in which the pairs of bending blades form the bending joints. 709842/0762 27U086 31. The method according to claim 30, characterized in that at least a pair of radially adjacent index holes in the inner and outer tubular sawn parts with a common colinear first liittenlinie and a third index hole in one of the inner and outer tubular components with a second center line that is angled around the longitudinal axis of the coaxial inner and outer tubular members is offset by the first predetermined angle, and that the first and second center lines guided through the longitudinal axis of the inner and outer tubular components at a common pivot point before the machining of the pairs of openings in the tubular components is started. 32. The method according to claim 31, characterized in that the inner and outer tubular members are maintained in the first position by inserting an index pin into each pair of index holes. 33. The method according to claim 31 or 32, characterized in that the inner and outer tubular components in the second coaxial position by inserting an index pin through the third index hole and held by «one of the pairs of index holes will. 34. The method according to any one of claims 30 to 33, characterized in that that the pairs of openings spaced 90 apart around the circumference of the outer tubular member by machining be formed. 35. The method according to any one of claims 30 to 32, characterized in that that four pairs of circumferentially adjacent openings in the outer tubular member and four pairs of circumferentially 700042/0702 27U086 adjacent openings in the inner tubular component thereby machined that at the same time in radial seal adjacent first and second openings in the walls of the inner and and outer tubular components / adjacent in a radial seal third and fourth openings in the opposite walls of the inner and outer tubular members and at the same time fifth and sixth radially adjacent openings in the walls of the outer and inner tubular components and seventh and eighth radially sealingly adjacent openings are formed in the 'walls on opposite sides of the inner and outer tubular members, the first and fifth, second and sixth, third and seventh as well as fourth and eighth openings are circumferentially adjacent openings, so that a pair of in radially adjacent, coplanor first and second bending blades in wounds of the outer and inner tubular members, and a second pair of third and fourth in radial seal adjacent coplanar bending blades in the opposite walls the inner and outer tubular components are generated. 36. The method according to claim 35, characterized in that first, second, third and fourth openings and fifth, sixth, seventh and eighth openings are formed and spaced 90 apart around the circumference of the outer tubular member are repeated so that a third pair of fourth and fifth adjacent in a radial seal coplanar bending blades in the walls of the outer and inner tubular members, as well as a fourth pair of seventh and eighth radially adjacent coplanar bending blades are produced in the opposite walls of the inner and outer tubular members, the fifth, sixth, seventh and eighth Bending blades have a common collinear bending axis. 709642/0 * 762 27U086 37. The method according to any one of claims 30 to 36, characterized in that da.3 the angle of rotation from the first to the second position is a quantity of 90 owns. 33. The method according to any one of claims 30 to 36, characterized in that that the original angle from the first to the second position is one size of lüO owns. 39. Vej-fahien according to one of claims 30 to 38, characterized in that da3 alternating flexures have a common collinear axis of the lie exhibit. 40. The method according to any one of claims 30 to 39, characterized in that da'3 a multitude of slits in the hands of the inner and outer Tubular components are designed so that the inner and outer tubular components are divided into a driving element, at least one Kcrdanisches element and a driven element, at least one pair of bending blades comprising the gimbal with the driving element and at least one other pair of Bending leaves flexibly connects the cardanic element with the driven element 709842/0762 ORIGINAL INSPECTED