US1112997A - Gyrostat. - Google Patents

Description

s. z. DE FBRRANTI.

GYROSTAT. APPLICATION FILED OCT. 14, 1910.

Patenfed 001;. 6, 1914.

6 SHEETS-SHEET 1 Ill rSi. Z. DE FERRANTI.

GYROSTAT.

APPLICATION FILEI? 00T. 1f'1I 1910. 1,112,997. Patented 001;. 6,1911

6 SHEETS-SHEET 2.

S. Z. DE -FERRANTI.

GYROSTAT.

APPLICATION FILED 00T.` 14, 1910.

Patented 0@t.6,1914.

6 SHEETS-SHEET 3.

S. Z. DE PERRANTI.

' GYBOSTAT.

`APPLICATION FILED 0012,14, 1910. Patented Oct. 6, 1914.

'6- SHEETS-SHEET 5.

s. Z. DE PERRANTI.

GYROSTAT.

.APPLICATION FILED 00T.14, 1910.

1,1 12,997. i Patented oct. e, 1914.

s SHEETS-SHERT @ff UNITED STATES PATENT FFICE.

" SEBASTIAN ZIANI DE FERRANTI, OF GRINDLEFORD, ENGLAND.

GYROSTAT.

Specification of Letters Patent...

raient-d oct; 6,1914.

Application tiled October 14,1910. Serial No. 5817,104. r. ,i v i is imparted to an initially stable body or to a case in which stability is to be imparted to an initially unstable body or to a case in which stability is neutral.

Two different methods of gyroscppic steadying have been proposed heretofore, theA direct and the indirect. According to the former or direct method, the freedom of the gyroscopes to move in some particular direction with reference to the body on which they are mounted, and which-it is their primary function to stabilize is necessarily restrained to a certain extent so that the stabilizing forces due to the gyroscoijies may be directly transmitted by way of the inem? bers imposing such restraint to the body in question; an exampleof this method, which in order to obtain the best results in `general involves either a retardation or an acceleration of the precessional movement of the gyroscopes, is to be found in the well-known Brennan monorail vehicle. According' to the latter or indirect method on the contrary, movement of the gyroscopes relatively to the body which it is their ultimate function to stabilize is utilized to operate auxiliary balancing' devices cithcrby direct mechanical connections or in some cases through the instrumentality of a relay.

The present invention relates mere particularlyto the application of the direct method of steadying' or stabilizing, though as will appear hereinafter, in some cases it is also applicable to the indirect method.

In order to avoid practical ditlicultiesl particularly in connection with the steeringr` in systems of the type referred to. as applied to ships, menorail vcl'iicles` and forth, it has been proposed to employ two `"yroscopes for steadvl f; the body in a lgiven plane. c. g., a transver,v vertical plane and if the body is also to be steadied in a longitudinal vertical plane to employ two more gyroscopes. In

other cases, sintflgyroscope has been proposed for imparting stability to the body 1n` say the transverse direetionvand -a second glyrcscope tor performing a similar function 1n thelongitudmal direction. v,ln all such cases. however, the particular gyroscope or pair of gyroscopes, which according to such proposed systems controls what for simplicity may be called the rollingr motion of the body, is restrained in such a manner that it has no effect in controlling' the pitch- 55 insT motionand vice versa so that the` total mass embodied in the system is not used to the best advantage.

Now the primary object of the present invention is to provide a gyroscople system in which a much more efficient utilization of the rotatable mass available is rendered possible. To this end the present invention consists broadly in a pair of `gyroscopic units x mounted on a body so that each unit acts to impart stability thereto in every direction.'

In general it is necessary toprovide means for either retarding or acceleratingthe rate` at which the gyroscopes precess.

The present invention is applicable to theI` Bo steadying' not only of ships, submarines, aeroplanes hydroplanes".l and many other vehicles but also of 'naval gun platforms, ships saloons, cabins, couches or otherwise.

diere the body torwhieh the invention is 85 applied or to which any othcr`gyroscopic steadying system is applied carries' one or more motors for propulsion or other purposes, l may in some casesuse suitable ro-` vtary parts ot' such motors as the necessary 90 gryroscopic' mass. In' such cases and especially where my inventionis applied to aeroplanes that type of motor in which the cylinders revolve around the cra1ik-sliaft is particularly suitable. importance in such'an :'ipplicati'on,v no matter what the precise typeof motor adopted that even if one of the motorsfaila'the eyroscopic control should lbe maintained-in' order to ctllect a .safe landing. \n ,\ther part of the inveution'thus con- .`:ts in providing' means .vhe'reby if' the motor fails. the standing parts of thc saine will be automatically relca's'ed'and the'whole' motor will rotate bodily'in virtue either of `105 its stored energy or a connectitm by which] it is geared toianother motor, the motorbe`- ing preferably released also automatically from the propeller, or the' like `driven thereby.

The invention finally consists in the novel forms of gyroscopic control, applications and It is' of. the utmost e5 ing turbine omitted for the sake of clearness,

.'Fig. 'Q being` a corresponding section through cnc. of the gyroscopes, showing driving turbineandnozzle and, Fig. 3 aperspective view of, a pairl of iriction blocks; Fi 4 shows an elevation of Aa modiiication o the invention in which the gyr'o'scopes are placed one above the other,-Fig. 5 being' a corresponding plan; Fig. 6 shows a general View 'of a biplane drivenv by motor gyroscopes,

' Fig. 7 being a detail oiia larger 4scale of the gyroscopic engines and their i adjuncts partly in section, WhileFigs 8, 9 and l0 show .respectively sections on the lines i4-B, C-D, and D-'-E of Fig. '7, through the automatic clutch, universal joint and elastic drive; Figs. 10 and -101 show other Adetails oi' the elastic drive, Fig. 11 shows a general view cfa nioiioplaiie4 in which the moven'ients oi ilie gyroscopesare employed to op crate ail relis and an elevator, while finally F i2 shows an elevation partly iii section oic a forni ofthe invention in which forced prece 'on is employed, Fig. l'being a correspon` ing plan showing the connections.

The drawings are to a considerable extent of a diagrammatic nature, various elements of the complete apparatus which are well shown only conventionally.

Where desirable the same reference sym@ bols are used iii the diiierent 'figures to denote corresponding parts,

' I wlll now describe one form of my inven- .tion suitable for attachment direct to an aeroplane for4 example. According to this oim (see Figs. l, 2 and 3) I provide a' pair .of gyrosco-pes, a, mounted on ball-bearings,

'7), within suitable Casings, c, and l suspend`- these from a frame, (Z, their highest points ing iuidby way of the'fiexible connection, j,

' and nozzle, 'p,' carried by the (. asingv 0,2 the casing, may conveniently be held i'iom turning by fixing it to one lialfof the friction block.l n, hereinafter referredzto'.

"In the present all others, the using a pair vc f-.like vgyroscopes'.and rotating them at the samejspeedin opposite direc-- form of .the invention as in tions..."

In order--tdfimpose the necessary. restraint on the gyroscopes,-l niount each of them known to those skilled in the art being 'to said 'plaiie Consequently, taki best results are obtained by trames of each pair beingarranged at 'right angles to each yother as shown. Each of these frames, moreover, is pivotedat its-up- "per .end so as to be able to swing about a horizontal axis, the frames,- f, turning` about thepivots, e', and thel frames,- h, about the pivots, f. The lower member of each U- frame is concentric with the lcenterof the ball-and-scclict joint and is provided with a slot, Z, as shown, in which slide blocks, m, n,

' which may conveniently be formed iii halves with rubber interposed. Any other device may be employed to `force the vlialf'blocls apart.v Corresponding members of the U- frames areccnnected byl suitable-gearing so'. that they can swing only in opposite directions., Thus, as regards the frames, z, links,

'0,l connect them rto opposite ends of the double lever, r, pivoted at its middle point,

s,`to the main 4frame,v d, this construction preferably beingduplicatd as shown. As

regards the frames, ,T', each yof these is -connected by a pair ot links, ,-to levers, u, mounted on a spindle, if, the two spindles being mounted' on opposite sides oi the main iframe, d, and connected yat their iniieiei'ids by segmental spur wheels/w, as shown.

.Assuming tiie main frame, ahin the 1iori,

zontal position, .it will thus be seen that vthe pair of interconnected iframes, f, prevents the gyroscopes from swinging in tlie'same'directions 4in planes -iiormal to the axes of the' pivots, i t, of the iframes, but byv virtue `vof .the slots, Z, freely allows opposite processions in line with the pivots, z' c, while the other pair of interconnecting frames, z, pre rents both gyroscopes trom swinging in the saine direction in the plane in which opposite precessions were allowed b v the iirst pair. of frames, while siiiiilarlj.' allowing opposite precessions in directions at right angles the iiiterconnections between ihe gyro opes as a whole, it will be seen that the latter rigidly resist `or are so to sa)`Y locked to, i'lic iframe as regards any disturbi; its direction, which tenus toV tilt them similarly in relation to the frame on which the)v are mounted and vet arel ableto more, in oppositedirections to each other at right angles to the disturbing force, rlfhe interconnections therefore act not only to deiine the swing of the gjroscopes in relation to one another, but-by virtue oiE their pivotal rela- 'tioii to the body to be vstabilized act' also to .i al forces :fet l up by the gyroscopes,l this trans! transmit to the body preccs's'u r quiredv to enable tlieni to be used to oppose vtilting couples acting on vthe aeroplane, no

niatte'rin what vertical 'plane said couples act. the inter-actions of: the cross frames and f' l'oi're. no matter what the gyroscopes in the example described be ing symmetrical as regards planes at 4.3 to the longitudinal and transverse directions while in other planes, the pairs of interconnected frames move to dii'l'erent and varyingl degrees. i

y In the case of a 4'body such as the aeroplane in question which possesses .ncirinalliy a certain degree of 'stabilityrit :is necessary or desirable to retard the precession oit the gyroscopes and where I speak .in this speei tieation of free prcc-ession l, I means precession subject to such retardation. In order 'to obtain the best results, such retarde tion should increase with the disturbing force. This object I may achieve very simply in gjfroscopic systems as herein described or otherwise by providing suitable rubbing surfaces such as those o1 the blocks, m, n, above mentioned and the 'walls ot' the slots in which they move, the Vlrictifmi and retardation tlius varying in accimflaiicc with the pressure between them and therefore with the disturbing force.

In particular, as shown in lfig. l. may form the co-acting` rubbing' sur taces of tho blocks and slot-wall, the one with a V'A shaped projection, a, and the other with a tI-shaped groove, .2, cooperating with the projection. I may vary the amount ol the retardation in proportion to the d isturbancc by varying 'the angle ot' the if or by equivalent means. Y

According to a. modification {se' Figs. -l and I mayv arrange the gyroscopes within c'asings, o, as before described with their ver tical axes in line, instead of side hiv side., the one gyroscope having a balhaiid-soclot, c. or equivalent mounting' at its upper cud and the other at its .lower end. The it'rce ends of the `afyroscope casing's pass throue'h slots in the lll-frames, f, 72 pivoted respectively at i, and 7c, these frames being ii'iterconnected bj" suitable linkages as before. Thus, the frames, are connected by rods. 2. to corresponding ends ofthe quadrant levers. 23, pivoted at fl, these quadrants jarring' into one another as shown. Similarl the vtrames, fr, are `reared together by rods. .3, and quail rants. (i. By thus interconnecting;l the gvroscopes by members corresponding' in Jfunction to those aire-ad;r described. l pr-wido precisel)v the saine peculiar restraint and so secure the same control. vIn the present cas-c, it will be seen 'that the pair ot interconnected trames. f. prevents the gvrosc-:rpc swing:-- ing' in directions or planes normal to the axis of the pivots. z', ol these trames in the saine rotational direction (e. o.. bolli in a cloclnvise or both in a countcrcloclwisc direction in the north-south planes) bul` t'rcolv allows opposite precessions in a direction or plane at right angles (c. g.. thc ernst-west ver*` ical plane thcoiugh the pivot4 y" .f l while Lltrames.

supported in ball bearings as shown.

prevents swinging of the gyroscopes in the .same rotational direction in the direction or plane in which opposite preccssions were allowed by the first pair of frames 4(e. g., the east-west vertical plane through the pivots 2'., i.) while similarly allowing,r opposite prei'fessions in those directions or planes (e. y., north-south planes normal to the axis of the pivots, ef, i) in which swinging in the same rotatitnial direction was prevented. 75

The northssouth, east-west, or other planes ot' swing may tor the purposes of this speciiication be termed directional planes.

It will be seen from this description that the mass ot' the gvroscopes according to the present invention is utilized much more efficiently than heretofore, since each gyroscope exercises etl'ective control no matter in what direction the aeroplane tends to tilt.

I prefer as above indicated that the rotatim;r members otl thc motors should themselves act as the njvroscopes. and such an application ot my invention I have shown in `o'cncral view in Fig'. (l and `in detail in Figs.

i, S, 9 and l0. AccordingY to this application of my invention the motors, 7.V which uiav conveniently be ofthe type in which the cylinders themselves rotate. a well known example ot" which tmvpe'is to be found in the'4 l .sccn that the. stationary shaft, llfot' the. mo;

tor is prevented from turning under normal circunistanccs b v the onewa v device or clutch shown in detail in Fig. 5l. This clutch consists ot swing-controlled wedges. 12. cont-ting on thc one hand with the shaft. 11. and on the other hand with the stepwise inclined walls. ll. of a casino', ll. attached to the blocks. in, sliding in one of thc pivoted The revolving parts oi thc motor are supported bv a substantially airtight universal joint. The lnotor asini its-cli' is shaped with an aiipropriatc spherical portion. l5. in which pivot-A and itsn ring'. lli. with spherical surfaces` both on its outer and inner surfaces. this ring' in turn fitting and lacing pivotcd to as much asis' rcuuircd ol a sphere. 1T. rigidi)v attached to a slccvc. lo.

.Your thc upper cnd oi the sleeve. 1S. a dish or collar. 1i). is formed provided with project ine' pins. (sce Fin". loc) 20. which bv inc'ins oi leather or rubber rings. '21. coen-1 :is shown in Fig'. 10 with corresponding pins. 1215 22. projecting' downwardl from a disk o1' collar. fili (sce Figi'. 10h) toi-ming part of :i lecllow shaft. il. which at its` .lppcrcnd carrics' a bcvcl '.vhcel. 25. and passes downthc other pair ot' in tcrcon'iulcteil trames /.f. i wai-(ily llzronn'h lhc .'-'l\cvc,`l8, :is shown, 130

The objectief the flexibledrive described is to equalize as muchas possible the variarions in the velocity ratio transmitted through the universal joint when the motors swing' from their central position. 4With such an arrangement carbu'reted air canenter by the inlet, 2G, and pass down the hollowv shaft, Q1, tothe motor. Y

As indicated I prefer to u'se a special form of duplex 'bearing' Wherever needed as apres cantieri against failure, such abearing. consisting m essence of two concentric series of 4 balls. 27 and 28, separated. by a live ring, 2 9.

4 rIlle ball. races and ringl should be so closely assembled,A and it maybe, checked into each v other that in case of ball failure the relative --positi'. n of the parts, Will be 'maintained Xi/1th such a bearing the breakage of any in- 'dividua-l ball in such a way as to cause failfail, the re-acting-tmque on the stationary shaft, 11, would cease to actand so free the clutch, thus enabling the cylinders and shaft of theinotor to revolve bodily either in virtuev of their stored energy or the power supplied from the' undamaged motor. Again I may -arranzfe a 'clutch between .a motor and -a propeller so as to be able to stop the latter with.- outl losing the Qyroscopicfeiicect, the object throughout in this part of the invention beinnI to provide as far as possible for maintaining the gvroscopic control under all conditions. including" even iailure of individual. parts ot the apparatus. An aeroplane such as described above may be steered on an even keel by the usual ruddcis, since the plane of rotation `oi the gyroscopes is horizontal While the aeroplane may be caused to ascend or descend by ad justinent oi tue Whole plane system (includingl tail and elevators-if any) in Arelation to the gryroscopic system. Or again, the re-.

quired alterations in'direction may beeftected by utilizing the precessional couples due toV forces appli-ed to the controlling ryroscopesin any suit-able manner, or Aone or more special gyroscopesmaybe used for the purpose. Moreover, if I desire to ascend'or' descend I may lock that'i't loses its controlling` eiiect' in the Ionitudinal vartical plane and t lows steering up or down by means of a honaantal rudder. 'Furthermore I may pro-- vide-an aeroplane the gvroscopic system so.

lwith a gyroscopic systernff i according to my invention, which in auw. i tion to imparting` stability directly also acts indi1ectly'to Vobtain the saine effect by operating suitable elevators, ailerons, Wingflexing` devices or otherwise. One example of suoli a modification (as appi-ed so an aeroplane having a main sup-porting member, 30), is shown diagrammatically in Fifa l1 inxvhich the downwardly hanging 'gyroscopes U-frames and interconnections are substantially as describedfwith.reference to Fig. 1.I y In this example vthe double lever, r,

theaile'rons, 33. Moreover, on the'U-irame, i j', a second pulley, laxially' therewith, other-wwires, 35, passing over this pulley tofoperate the elevator, 36.

laterally 'the gyroscopes Will'be caused to process in a ore-and-aft direction, thereby turningthe pulley, 81,1 and operating the vaileronsinsuch a Way as torestore the aeroplanev to the horizontal position, While if on the contrary the machine should tend to pitch, the second pulley, 34, would turn owing to the precession of the gyros'copes in lateraly directions, and thereby' operate the elevator to restore equilibrium. i j,

Imay iilrevvise apply myA invention and` the above described forms thereof; to the.

iirivliich case some must-be providedfor.accelerating' the pre'- cession 'Thus referring to Figs. 12 and'13A which illustrate one form-of this part of my invention in Which the gyroscope's are placed jene above the'other, asin aprevious eX- Y the.l links being arranged as shown one above and onebeloW the center of thedislr. Suitablev springs,

tweenlugs, 42 and 43, on the disk and crossdist-rubanceito their central position. The toothed disk. 'itself gears with corresponding `teeth attached to a rotary valve, 44. A precisely similar. arrangementto that described is provided in a direction` at right angles as seen in Fig. 13, the parts including a second valve," 45', and a second cylinder,- 46. A. peculiarity of thisform of the invention l.consists lin 'cross-coupling the valves respectively `each Ato the the other set of "mechanism. The valves, as shown in the diagrarnmatie;Z view are provided Witlif'passages,` 47 andv 4.8,l which enable the pipes',149 and ample described, the gyr'oscopes.- are -as'bef 105 4:1, are arranged co-acting becylinder of L of .Fig-1 is replaced by a pulley 31, .over which Wires, 5,2,for the like pass to operate e0' 34, is rigidly attached co- It will be seen. that if the aeroplane tilts-l .A

caseoi bodies possessing no initial stability,

known or suitable imeans.,`

head respectively 'tov return the parts after 50,y to thefcylinders v vto* beconnectedf-as required to a Source-0i' The action of the device described is as follows: Supposing in Fig. .12 that the axes of the Lgyroscopes are vertical and lie in the same fore-and-aft plane of the body to which they are applied as the'axis of the cylindenthen if the body were to pitch i the free ends ofthe gyroscopes as explained above in a previous example would move slightly in opposite directions, thereby rotating the toothed dish, 38,'and thus the rotary valve, 44, thereby admitting pressure Huid to the. cylinder, 4.6, and :forcing the gyroscopes to precessin a plane at right -angles to that ofthe plane of the figure.-

,in order to. make clear the nature of my invention I have described certain specific examples thereof in considerable detail, nevertheless it will be evident that the novel principles involved can be embodied in a great variety of different forms.

Having now described my invention what I claim as new and desire to secure by Letters Patent is l. In combination, a body, and means for automatically opposing tilting couples act-v ing thereon irrespective of the direction of the axes of said couples, said means including a pair of gyrosco'pic units each universally `mounted thereon to swing relatively to said body through substantial angles in any direction, and means for restraining said units from simultaneously so swinging inthe same rotational direction relatively to said body.

Q. In combination, a body, and means for automatically opposing tilting couples acting thereon irrespective of the direction ot' the axes of said couples, said means including a pair of gyroscopic units each univer'- sallv mounted thereon to swing relatively to said body through substantial angles in any direction, and means for constraining said units so to suing in opposite rotational directions relatively to said body.

3. In combination, a body, and gyroscopic means for directly applying thereto precessional couples to oppose tilting couples act ingon-sai'd body irrespective of the direc tion of. the axes of saidcouples, said means includingV a pair `of gyroscopio units each universally mounted thereon in stabilized "equilib'riurn, and; meanswfor constraining said units to swing in opposite rotational directions relativelyto said body. i l. In-combination, a body, and gyroscopic means for directly applying thereto precessional couples to oppose tilting` couples acting on said body irrespective oi the direction of the axes of .said tiltingl couples, said means including a pair ot' pendulous gyrosc-opic units, each universally mounted thereon, and means for constraining said units to swing in opposite rotational directions relatively to said body.

In combination, a body having` a pair of gyroscopic units universally mounted thereon g and means for preventing said units swinging simultaneously in the same rotational direction in any the same directional plane while permitting swinging in opposite rotational directions in said same directional plane. f

G. In combination, a bodv having a pair of gyroscopic units universally mounted thereon; mechanical interconnections for preventing inclining ofthe individual'units relatively to said body in the( same rotational direction in a certain directional plane While allowing precession in opposite rotational directions in a directional plane at rightangles and other mechanical interconnections for preventing inclining in the same rotational direction in the directional plane at right angles while allowing precession in opposite rotational directions in the first-mentioned directional plane.

7. In combination, a body and gyroscopic` means for directly applying thereto precessional couples to oppose tilting couples act-` ing thereon irrespective ofthe direction of the axes of said couples, said means including a motor having gyroscopic rotary parts universally mounted on said body to swing through substantial angles in any direction; a second gyroscopic mass similarly mounted on said body and means for constraining said units to swing in opposite rotational directions relatively to said` body.

8. In combination, a `body and gyroscopic means for applying theretojstabilizing precessional couples, said means including rotary parts of a motor having cylinder and crank 'shaft members both rotatably mounted on said body; together with one-way' means for holding one of said motor membei's stationary during `normal working of said motor and releasing said member during certain other working conditions.

9. In combination, a body; a pair of gyroscopic units each having a separate univer-` sal mounting thereontoallow said units to swingrelatively to saidbody'through sub,- stantial angles in any direction siving-, defining interconnections operatively' 'associated with said gyroscopic units and having members in :torce-transmitting relation" to 'ciated with said ygryroscopic units, togetherl said body, together with means tor transmitting precessional -forces from said gymscopic units to said'body directly to stabilize the saine, said ii'lcans including the forceiransmittinn members of said swing-dehning connections.

10. .ln combination, a body; a pair of gyroscopic units' each having' a separate uniyersal mounting thereon to allow said units to Swing); 'relatiyely to saidbody through substantial angles in any direction; swingdening interconnections .operatively assowith means for transmitting stabilizing precessional couples from each of said gyroscopic units to said body, said means includinn` in respect of each of lsaid units said swing-defining connections.

11.111 combination, a body and gyroscopic means for applying' thereto stabilizing 4precessional couples, saidmeans includ-A ing a motor hai/'ing` a rotor member and a universal 'power-transmitting mounting,`

*supporting said motor; propelling means supporting-said' motor;' propelling means for'said body; means for operatively con- .necting said rotor member with said pro'- pell'ingi; means, said connecting means iiicludingl said power-transmitting 'mounting and including,r also a lieXible coupling, to- ,g'etherwith means for supplying' Working Huid to said motor by Way of said powertra'nsmitting mounting. l

13. In combination, ,a body and gyroscopic means for applying thereto stabilizing precessional couples, said means including 'a motor -having cylinder members rotatably mounted On `said body; a 4crank shaft' member also rotatably mounted on said body and one-Waynieans for holding said ,crank shaft member stationary durin'gr normal working: of said motor, and releasing said crankshaft member during' certain other working' conditions. 14. ln combination, a body haying' a pair of gy'roscopic units universallyV Amounted thereon and means for constrainingfsaid units toswingi,V in oppositerotational directions, said meansincluding a. plurality of .'-frames to each unit. said Ll-irames being each .pivotally mounted on said body-and interconnections between frames coperating with different units.

a body and gyrocorresponding 1 15. l'n combination, Aa body; gyroscopic incans mounted thereon to allow procession of the axis ot' said gyrosco'pic means in a ce tain plane; together with meansv for re,-

t-iiding said procession, 'said precession-retai-ding means including` a nieniberfreeeivin a direction at right angles to said certain plane, thrust due to said precession and including also amember transmitting thrust from lsaid gyroscopic means toA said thrust-receiving means, one of said members having` associated therewith a groove and the other of said members a projection coacting with said groove.

16. ln combinationV-a body; gyroscopic means mounted thereon to allow procession vof the oif said gyroscopic means in a certain plane; together with means for re- 'tarding said"procession, said 'procession-retarding means including a member receiving in a direction at right angles to said certain plane, thrust due to said procession and incl nding p also a member transmitting thrust troni said -gyroscopic means to said thrust-receiving` means, one ot' said n'ieinbers ,having associated therewith a V-shaped groove and the other of said meni-` bers ad xi-shaped projection cti-acting with said groove.

17. In combination, gyroscopic imits each havingl a separate uni` versal mounting thereon to allow said units to swing' relatively to said body through substantial angles'in any direction; swingdeining interconnections opcratiyely associated with said gyroscopic units and having members pivotally mounted cn said body, togctherwith means for transniittino stabilizing precessional couples .from said gyroscopic units to said body, said means including said pivotally-inoniited members.

18. ln combination, a body haring a pairl of gyroscopic units "universally mounted thereon to swing through substantial angles in all directions; positive connecting` means between said units .ior const 1aining` them to swing' in opposite rotational directions relatively to said body g' together'with means for .controlling the movement oi said body and means for transmitting swinging increment f of said gy-roscopic units to sad controlling means. y

19. ncoinbination, a body having a pair of gyroscopic units inovably n'loun'tcd thereon; inter-connectionsfor constraining` said units to swingA in opposite rotational directionsrelatiyely to said body; together with means for controlling the movement'of said body and means fonlransmitting movement ofsaid units to said controlling means,jsaid t'ansmitting means'includii'igsr said swingy constraining interconnections. I K 20. In 'combination a body; propelling means therefor; motor means -having rotary',

parts and driving saidfpropelling means; a

means 'for defining swinging movement of pair ot gyrosef-,pie units. at least one oil said gyroseopic umts in relation te each which is emr'atituted hy rotary parts of said motor means, eaeh ot said gyroscopie units other, said means inelinlaig a plurality ot' having a separate universal mounting on l U-'l'ramea tor eaeh unit, each r" said said body: sninsf-detining inlereonneetions` operatively assoeiated with said gyroseopie units and haring members in 'Puree-trans- ,niitting relation to said body` together with means for transmitting stabilizing preeessional forces from said gyroseopie units to said body, said means including.l the forcetransn'iitting members ot said .suing-delinng' connections. A

21. In combination a body; a pair of gyrosoopio units universally mounted thereon: means for defining swinging movement of said `gyroseopie units in relation to eaeh other, said means including a plurality ot' U-lrames tor each unit, each oi' said U-lrames being pivotaliyv mounted on said body and means l'or restraining corresponding U-trames Cooperating yvitb different units from simultaneously swinging in the same rotational direetion relatively to said body.

.in combination a body; a pair of gyroseopie units universally mounted thereon: means tor defining swinging movement of said gyroseopie unita in relation to each other, said means including a plurality ot 5.5 trames for eaeh unit. eaeh ot said lntf-trainee being pivotally mounted on said body, and means for constraining dcorresi'ionding U-frames cooperating with dilterent units to sning in opposite rotational directions relatively to said body.

23. In con'ibinationa body; a pair of gyroseopie units universally mounted thereon;

U-t'ramef: heilig pivotally mounted on said body, and means l'or preventing corresponding U-l'ranies cooperating with different units swinging simultaneously in the same rotational direction in any the same directional plane while permitting swinging in opposite rotational directions in the same directional plane.

21k. In combination, a body; a pair of gyroseopic units universally mounted thereon` in stabilized eouililn'ium; and means for constraining .said units to .sving in opposite rotational directions relatively to said body.

2.7. ln eombination a body; a pair of gyroseope units universally mounted thereon and pendant therefrom; and means for con- .fitraining Said units to swing in opposite rotational direetions relatively to said body.

t. Tn combination, a body: gyroseopio means mounted thereon to allon preeession ot' the axis oi: said gyroseopie means in a. Certain pane: toglher with meansfor retarding .said prove-sion. .said pre effiion-retardng means int-hiding a member reeeiying in a ilreeion at right angles' to said eerl'ain plane. thrust due to said prceession.

ln testimony whereof, l aliix my signature, in pres-eure of tn'o Witnesses.

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