US1335893A - Automatic stabilizing apparatus - Google Patents

Description

. L. l. HENRY. v AUTOMATIC STABILIZING APPARATUS.

I v APPLICATION FILED FEB- 27] 1919. 1,335,893. Patented Apr. 6, 1920.

L. I. HENRY. AUTOMATIC STABILIZING APPARATUS. APPLICATION FILED FEB.27, I9I9.

1,335,893. I Patent d Apr. 6, 1920.

4 SHEET-SHEET 2.

1 "HI?"- v L.

Iran r 51 L. llen-ry L. l. HENRY.

AUTOMATIC STABILIZING APPARATUS. APRLICATION FILED FEB. 21, 1919.

Pate

nted Apr. 6,1920.

4 SHEETS-SHEET 3- .14 Ira? L. I. HENRY.

AUTOMATIC STABILIZING APPARATUS.

APPLICATION FILED FEB- 27| I9I9.

Patented Apr. 6,

19266, 4 SHEETS-SHEET 4.

UNITED STATES. PATENT OFFICE.

LOUIS ISIIDORE HENRY, or roUL'oN, FRANCE.

AUTOMATIC STABILIZING- APPARATUS.

Application filed February 2'7, 1919.

To all whom it may concern Be it known that l, LOUIS IsIDoRnI-InNRY,

a citizen of the French Republic, residing at Toulon, France, have invented certain new and useful Improvements in Automatic Stabilizing Apparatus, of which the following is a specification.

i This invention relates to automatic stabilizing devices for use in connection with all vehicles which move in fluids such as air (aeroplanes), water (submarines), air and water (vessels plying on the surface of the lizing device which forms the subject of the present invention, is to set in operation auxiliary surfaces or blades, whose resistance to the fluid, by reason of the speed of travel of the vessel, counteracts the pitching and roll- .ing movements of the vessel and restores its equilibrium. Since, in order that the blades enter into action, it is necessary that the oscillatory movements be started, these latter must not be completely suppressed, but must be rapidly moderated and restricted in such manner that their amplitude is confined within narrow limits. 1

This automatic stabilizing device comprises a member termed a vertical member which is a pendulum constructed and suspended so as to remain vertical, or in a fixed position near the vertical, whatever be the movement of its point of suspensiondue to the travel and oscillations of the vessel, this vertical member maintaining a fixed direction in space with respect to the horizontal plane. The vessel in its oscillations moves with respect thereto, or reversely if it is con sidercd that the vertical member oscillates irregularly with respect to the vessel about its point of suspension. These movements of the vertical member with respect to the vessel are utilized to act on shafts rigidly attached to the vessel, which set in action. the blades provided to counteract the pitching and rolling movements ofthe vessel. -As a matter of fact the pendulum or vertical member is too sensitive to control these/elements directly without deranging the equi- Specification of Letters Patent.

resented in Patented Apr. 6,1920.

Serial No. 279,663.

librium of the vessel. To remedy this there is interposed between the pendulum and the elements controlling the blades an intermediateelement termed the stabilizer, which is likewise a pendulum connected to the main pendulum by an auxiliary device so as to follow exactly all movements with respect to the vessel, and itself actuating the-control T elements of the blades. The reactions of these elements on the stabilizerare balanced by compressed air, which is the medium of service between the stabilizerand the pendulum, and none of these reactions are transmitted tothe latterr f An embodiment of this invention, by way of example, is described hereinafter and repwhich:

Figure 11s a sideview, partly in section,

of the entire device with certain partsbroken away for the purpose of clearness. Figs. 2 to 5 show one ofthetwo similar elements intended to serve the pendulum v stabilizer, called stabilizing cylinders, Fig. 2 being a sectional elevation, Fig. 8 a plan,

Figsyeiand 5 an elevation and plan.

Fig. 6' represents one of the two falsestabilizing cylinders intended to overcome the effects of inertia of the slides of the true stabilizing cylinders on the pendulum.

Fig. 7 represents a mechanism for connecting and rendering immovable the pendulum and the stabilizing device from each other and from the vessel.

Fig. 8 is a diagram ofthe connection of the device with the motors of the blades, for clutching and releasing them.

The pendulum proper or vertical member is a solid of revolution, not capable of being changed in form, and consists of the parts referred to hereinafter.

A member 1 in the form of an extremely elongated bell,supporting a ring 2 by means of arms 1 is suspended from a hollow rod 3 terminating in a weight 4 the height of which on rod 3 may be regulated by means of screw threads. This pendulum is .provided, interiorly at its upper end, with a sus pension pivot whose point is at 5. The-center of gravity of the pendulum is adjusted so as to be exactly at 5. It may be. brought there with great exactitudeby regulating the height of the masse, and by'the radial diswhich it carries the accompanying drawings in By means of-itspivot the penduIuin'rests socket is se'atedin a semi-spherical head 8 having the point 5 as a center. 'To the upper Jart 1 of the bell there is screwed a lower part 1' provided interiorly with a semi-spherical bearing surface forming a snug fitting ball and socket joint with the head 8. Part 1 is provided with a toothed crown 1 actuated by a worm 1* carried by a bearing arm fixed tothe upper part 1, and inanipulated'by a wheel 1. Another arm 1 ofthe part1, located opposite the first carries two rollers 1 which travel in respect to each other;

upper and lower grooves of the toothed crown 1 to guide members 1 and 1 with The wheel 1 rotates with the member 1? and moves vertically with respect thereto by sliding vertically on pins 1 carric'dby the member 1 Compressed air from any suitable source passes through the tube 6 into the hollow rod'3 of the pendulum. The joint formed at the head 8 allows only a minute leakage of air 2113 111118 point and the air passes through tubes '3 and 3 at a greater pressure than that for which it is utilized.

Another tube 9 surrounds the hollow rod 6 and terminates at the top in a set of tubes 10 which direct compressed air against a suitable surface located within the base of hell 1. The plane of this set of tubes is perpendicular to the axis of the rod 6, that is, horizontal when the latter is vertical in the normal position of the vessel traveling on calm fluids. blowing nozzles which. are similar and uniformly distributed, to form a'crown which directs a continuous and uniform blast of air over the entire inner circumference of the base of the pendulum 1.

The stabilizer or member intermediate lillG-]')(-\I1(llll1l1l1 and the control elenuents of the ailerons for stabilization of the vessel include the chieit elements hereinafter de rounds the rod 3 V carrles at its upper part a weight 15 whose height on the rod may be regulated byscr bed. It consists (Fig. 1)- of a bell 12, lirallasted at the bottom by a weight ring 13 surmounted by a tubular rod 14; which surof the pendulum, and

means of screw threads. This stabilizer has a semi-spherical surface 17 resting on balls r 18, mountedon another send-spherical sur-- face 16 formingpart of the pendulum 1.

chamber 32 of the sleeve 31.

The set of tubes comprises stabilizer is also at the point of suspension 5, being brought there with great accuracy "by regulation of the height of the weight with the vessel during pitching and rolling of the vessel. 1

Referring to FigsQ, 3 and 5, it will be seen that each stabilizing cylinder 28 has a slide 39 for distributing compressed air to the interior of the cylinder and on 0pposite sides of a piston 27 which is slidably mounted within the cylinder. This slide has a hollow rod 38 terminating in a fork 38 the arms of which are pivotally connected with pins 20 fixed to an oscillatable One of them is shown dia- V and slidable sleeve 31 carried by the hollow rod 3. As shown in Fig. 3, the hollow rod 3 is provided with a pluralityof holes which permit compressed air from the interior of the rod to pass into an annular From this chamber the air is conveyed bypipes 33 to the interior of the hollow sliderod 38.

The piston 27 is controlled by the slide 39 and is rigidly connected by tube 34 and arms 34 to pins 20 fixed to a sleeve 36, which turns and slides on the tube 14 of the stabilizer. When the axes of tubes 3 and '14: coincide the axes of pins 20 and 20 are coaxial.

The corresponding elements of the second stabilizing cylinder (not shown), the axis of which is in the median plane perpendicular to the plane of Fig. l, are connected to the rod 3 of the pendulum by pins 21, and to the rod 14: of the stabilizer by pins 22, which also have the same axis as pins 21 when the axes of tubes 3 and 14 coincide. The stabilizer, caused by the reactions of the blade control elements to assume rotary movements about point 5, would entrain therewith in these movements the pistons connected to it. dowever, none of these movements take place, and the pistons have no other movements than those of the slides lizer. The two surfaces 16 and 1'? also have their centers at o. The center of gravity of the The bell 12 of the stabilizer has a certain number of toothed arcs such as 2324, (this number varies accordingly as it is desired to operate for longitudinal stabilization only, or for lateral stabilization only, or for both simultaneously, or whether only one or two governors or blades are used for each of these stabilizations) engaging with pinions 25 whose axes are connected to the surfaces of the vessel shown diagraminatically at 26. The toothed arcs 23, 24 are mounted and rotate on horizontal axes 23 24 which pass through the point of suspension 5. The

arcs formed by the teeth of the parts 2324:

have said point 5 as a center and are concentric with the semi-spherical surface 8. By means of suitable connections, pinions 'actuatethe control slides of the motors which manipulate the stabilization surfaces or ailerons. These pinions 25 have a flange at each side as shown in F 8 to engage the toothed arcs with which the pinions mesh in such manner as to be able to carry the arcs along.

The constant coincidence of the axis of the stabilizer with that of the pendulum proper or vertical member 1 is assured by two stabilizing cylinders 19, exactly alike, which have. been mentioned heretofore.

lVith the pendulum proper or vertical member there is connected (Fig. in a manner hereinbeforedescribed. the hollow rod 38 of a cylindrical slide 39 for the distribution of compressed air, inside a piston 27 concentric'with the slide and which folcalled a stabilizing cylinder, whose axis A) is also that of the piston and of the slide. This axis (AA) is in a'plane perpendicular to the axis of the tube 6 and may rotate about axis (BB) parallel to that of tube 6 and may meet, at a point 29,-the axis of the pendulum 1. The slide 39 controls the piston 27 by means of compressed air, in the manner hereinafter described. The compressed air arrives through the hollow rod 38 and passes to a duct 76 provided in the slide 3 9. This duct 7 6 communicates, when the piston moves inside the cylinder 28, with one'of both ducts 77 or 78 provided in the piston on each side of the axis A'A and directed in opposite directions to each other, The compressed air will so act on either side of the piston as to move it in a direction corresponding to the displacement of the slide 27. The stabilizing cylinder 28 is connected to the vessel in the following manner. The points a forming the ends of axis (aa) about which the cylinder 28 freely rotates, forms part of a frame 30 which rotates freely itself about the. axis '(7) which crosses the axis (aa) and is parallel to the axis of tube 6. When the vesseloscillates about the point of suspension 5 of the pendulum on pitching and rolling about a momentary horizontal axis of rotation, of any azimuth, passing through this point, the cylinder 19 oscillates aboutthe axis (22-7)) moving with the vessel, and the axes of the cylinder 19 and slide 39 pivots on the sleeve 31, which can turn on the rod 3. It is therefore, evident that for very slight pitching and rolling angles the point of contact of the slide axis with the pendulum axis, is moved very little with respect to the latter, and the sleeve 31 scarcely oscillates on its axis- The axis c0 always remains perpendicular to the axis of the pendulum, Pistons 27 accurately follow the movement of the slides39 in the cylinders 28.

hen the vessel is immovable about the point of suspension the mounting of the device'is such that the axes of the pendulum l and of the stabilizer coincide, The axes of the spindles or trundles of the sleeves 31' and 32, which substantially coincide when at rest, coincide still more accurately in operation, consequently the axis of the cylindrical rod 1% will thus have for a common point with the axis of the pendulum, that at which he stabilizer thus always ha an axis pass-..

ing through point 5, and which having two points common with the axis of the pendulum, coincides exactly therewith.

The entire assemblage of the slide 39 and its connection with the pendulum 'is'balanced (Fig. 2) on the piston 27 and its connection with the stabilizer is balanced on the stabilizing cylinder 28 by a counterweight 37. As a constructional detail the slide is provided at its lower part. with a slight internal cavitywhere the full pressure of the compressedair may be exerted to relieve the weight and diminish friction'in its very slight movements with respect'to the piston. (Fig. 2). I

As has been stated above, there are two identical constructions of stabilizing cylinders the axis (a -a of the second cylinder is like that (a a) of the first, perpendicular to the axis of the tube 6 bringing in the com-- pressed air, but in an azimuth passing through this latter axis located at from that of axis (a e). The two azimuths will, for example, be 5 on. each side of the vertical longitudinal plane of symmetry of the vessel. The axisof the two cylinders are at a certain vertical distance from each other,

nection with the pistons and slides of the stabilizing cylinders, during the entire period of operation of the device, the whole pendulum stabilizer may be further subjected to periods of magnitude, direction the slides is to be contended with, and not that of the pistons. The operation of the controlling of the pistons by the slides through compressed air combined with the 90 arrangement of the axes of the two cylinders of stabilization, brings back the force of inertia of the pistons to the axes (Z) 1)) that is,to the vessel. For opposing the inertia of the slides, in accordance with the present invention, another assemblage l0 has been conceived to. correspond with each assemblage 19 (Fig. 1) (cylinder, piston, slide and connections with the pendulum-stabi lizer assemblage). In fact, it we assume that the vessel travels 111 a calm without pitching or rolling, at the moment atwhich the velocity will be increased, the slide will have found its force of inertia. The latter in any direction has a force according to the direc tion of the rod ofthis slide and a perpendicular force in this direction. The slide can only have the first of these forces by pulling on the pendulum rod. There is hence required a member of the same bulk as the slide symmetrical thereto with respect to the point of suspension of the device and connected to the pendulum at a point symmetrical to the point of attachment of the slide in order to neutralize the moment thus created. The stress of the force of inertia perpendicular to the direction of the rod will be provided during the inoperation of the apparatus, by the reaction of the vessel on the axis 6-5 which comprises the center of gravity of the slide, but during operation this center of gravity moves from the axis and the compensation for the moment thus created will be effected by the same arrangement as above, consequently this assemblage a0 shown in Fig. 6 will comprise a frame as pivoted about a vertical axis l4;--4l-5, connected. to the vessel and arranged parallel to the pivotal axis 6-?) of the frame of the assemblage 19 with respect to the suspension point 5 of the pendulum. The stabilizing cylinder is replaced by a cage (or housing) at; pivoted about the horizontal axis 4c7-8 arranged parallel to the pivotal axis (aa) of the cylinder of assemblage 19. Housing 4-6 has vertical rollers 4-9 and horizontal rollers 50 between which a rod 51 having a bulk equal to that of the slide of assemblage 19 is supported and guided. This rod'is provided at one end with a fork 52 and a counterweight 53, and at the other end with a fork 54. the arms of which are pivoted on pins (or trunnions) a l fixed on the collar 42 centered on the axis of the pendulum and turning on rollers about the lower portion 1 of the bell of the pendulum. Each of the arms of the fork oaterminate in two vertical lugs which bear on each side on two independent rollers 435 563 carried by the pins 41. 4

A result of the same assemblage 40 is to nullify the component of the weight of the slide along its red on the pendulum; V

W' hen, after periods of inoperation, the compressed air being cut oil", the device is again set in operation, the following conditions are to be fulfilled:

(1) The axis of the'pendulum and the axis of the stabilizer must coincide exactly, so that the pistons and their slides will be in the relative position desired for service.

(2) It is necessary that the common line of these two axes coincides with the axis of tube 6. I s r (3) It is necessary that the vessel be rigid with respect to its center of gravity, that is to say, does not pitch nor roll, so that the device will have no preliminary angular deviation nor velocity with respect to its fixed operative position. V

(4E) The compressed air must be admitted before entering into operation, to assure immediate service.

These results are obtained:

(a) By looking together the pendulum 1 and the stabilizer for the periods of inoperation in a position in which their axes coincide exactly, and'at the same time looking the assemblages with the vessel in such manner that said common axis coincides with. the axis of tube 6 rigidly connected to The locking and unlocking device is at- V tached to a frame 57 see Fig. 7 rigidly attached to the vessel housing and protecting the apparatus, which may assume itsvarious positions therein with respect to the vessel. This frame is interrupted in the regions of contact with the toothed arcs and the pin ions and presents there openings for the escape of the air coming from the nozzles 10. Upon the frame 57 (Fig. 7) there is mounted an axle 58 supporting two pivotally mounted jaws 59-60, the ends of which may simultaneously grasp the rod 3 of the pendulum and tube 14; of the stabilizer. These two jaws extend beyond the axis 58 in the form of two slotted arms (it-62,- the slide blocks of which 6364 are pivoted to nuts 6566 mounted on a screw 67 having oppositely disposed threads and actuated by the crank 68. The manipulation of the jaws 5960, which creates or destroys the coop 'eration of the pendulum and the stabilizer When the vessel pitches and rolls, either.

while at a stand still or traveling at a speed too slow to cause the efficient operation of the ailerons (or blades), or if its movements are so slight as not to require moderation, it is of advantage to economize in the use of the compressed air consumed by the motors actuating the ailerons by disengaging these motors from the ailerons, the

stabilizing apparatus, however, remainlng in operation. In accordance with the pres ent invention, these clutching and releasing movements are effected when the pinion is at thecenter of its toothed are 24:, since at this moment the ailerons are no longer in' engagement with the motors. It is suf-- ficient to connect or disconnect the pinion 25 with or from the slide 75 of the motor which it controls. This is easily accomplished, as shown diagrammatically in Fig. 8, by causing pinion 25 to control a valve 71, which admits compressed air to the slide valve casing 72 of cylinder 73. The piston 74E of this cylinder has its rod connected to one end of a lever 73 which is pivotally mounted at 73 and has its other end connected to the sliding portion of a clutch 73 The'other portion of this clutch'is fixed to the pinion 25. The valve 7 1 will permit the passage of the air only when the pinion 25 is at the center of the are 2&. The upper end of the lever 73 carries lug 81iwhich,

' when the clutch is disconnected, enters va lug 82PI'OVlCl8Cl in the rotating slide 75 of the motors which operate theailerons.

WVhen the vessel is stationary about its center of gravity, in calm fluids, the pendulum, balanced by the weight about its point,

of suspension 5, is maintained stationary, and its axis is held in permanent coincidence with'the axis of tube 6 as a result of the air blast from the nozzle 10. In agitated'fluids,

the pendulum is subjected to movements arising from these blasts, coming fromthe crown (of air nozzles), which is subject to movements, chieflyoscillatory, of the pitching? and rolling vessel, and also to movement resulting from its. connections with the remainder of the apparatus and with the vessel by its point of suspension, which, in

reality, has a certain extent. Itis constructed in such manner as tov have around the entire plane perpendicular tothe axis of tube V I it 6 passing through point 5, a moment of inertia suiiiciently great to be subjected to oscillatory movements ofonly very slight am-- plitude, so that practically thesame course may be followed as in a period of calm. The

stabilizer, which always follows the pendu lum 1, by reason of the operation of the stabilizing cylinders, also'keeps the same course, while astothe toothed arcs 2324, the position of which is practically .fixed, the oscillating vessel causes the rolling of the pinions 25, which control the operation of the stabilizin ailerons of the vessel, on said arcs, the eflorts-exerted bythese pinions on the stabilizer being further opposed by the compressed air of thestabilizing cylinders. i

I claim: i

An automatic stabilizing-device to prevent ipitching of vessels moving through fluids comprising a pendulum consisting of an -in. 1

deformable revolution element, a stabilizer, two cyhnders of stablhzation connecting the pendulum to the stabilizer, two false cylin-. i

ders symmetrical tothese cylinders withrespect to the point of suspension ofthe apparatus,'pinions supported by the vessel, stabilizing ailerons having manipulating elements, toothed arcs attached to the stabi-a lizer, engaging said pinions and controlling the elements for manipulating the surfaces of the stabilizing ailerons, a hollow rod rigidly attached to the vessel and on which the pendulum is suspended at its i'center of gravity,said rod conveying compressed airto; the pendulum, ablast nozzle crown carrled by said rod and located in a plane perpendicular to the axis of the rod, said crownuniformly distributing the compressed air on theinner circumference of the pendulum in such manner as to constantly urge the axis of the pendulum into coaxial relation with theaxis of the hollow: rod.

In testimony whereofI aflix' my signature.

LOUIS ISIDORE HENRY.

Witnesses:

, AUG. NOXIIET, PAUL DENEAU.

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