US2133809A - Gyrovertical - Google Patents

Description

GYROVERT ICAL 'Filed Deo. 2l, 1935 3 Sheets-Sheet 2 N .m1 @v f ,n m A 0 m m C n Mmm m .T 1 www m 1MB m [W MMU .Rn M

Oct 18, 1938. v L. F. CARTER ET AL GYROVERTICAL Filed Deo. 21, 1935 3 Sheets-Sheet 3 :NVE mons asus F CARTER l WIB/#IHM Hlvscor l .THE/R ATM Cil Patented Oct. 18, 1938 UNITED sTATEsA PATENT OFFICE 2,133,809 GYRovEn'rIcAL Application December 21, 1935, Serial No. 55,606

21 claims.

This invention relates to artificial horizons or gyro verticals.

One ofthe principal objects is toA construct` such a device so that the sensitive element, or gyro proper, is supported for freedom about its horizontal axes entirely on air bearings, so that the sources of error due to angular motion of the platform on which the device is mounted, which are usually transmitted through the friction of the supporting bearings, are largely eliminated.

While we are aware that devices of this broadly stated characteristic have heretofore been proposed, of the ball type in which a rapidly rotating ball or sphere is supported at the base in a cup by an air film, self-generated or otherwise, such devices have the disadvantage that there necessarily exists a more or less tight coupling between the element causing the spinning and the ball. 'They also give trouble in case the air supply is shut off While the ball is spinning, since in such case the' rapidly spinning ball scores the cup and seriously damages the same.'

According to the preferred form of our present invention, the rotor is mounted on an ordinary anti-friction bearing and the rotor bearing casing is universally supported on an air bearing or bearings, either directly or indirectly. An .erecting force may be applied to the casing from the pendulous supporttherefor, said force being applied, preferably, at right angles to the inclination so as to cause direct elimination of tilt without setting up an oscillation. In other forms of the invention, the rotor is spun by reaction jets so as to avoid coupling between the rotor and the support.

Referring to the drawings, illustrating several forms our invention may assume,

Fig. 1 is a side elevation, partly in section, of one kform of artificial horizon.

Fig. 2 is a plan view of the spherical rotor bearing casing, the view being taken on transverse section line 2 2 of Fig. 1.

Fig. 3 is a vertical section, partly in elevation, of a modified form of horizon in which the gyro element comprises a hollow truncated sphere.

Fig. 4 is a vertical section, partly in elevation, of a still further modification.

Fig. 5 is a front elevation of the form shown in Fig. 4.

Fig. 6 is a. sectional detail through the spherical shell of the rotor bearing casing in Figs. 1 and 2.

Fig. 7 is a side elevation, partly in section, of another modied form of the invention, showing the same applied to a gyro vertical of the naval type.

Fig. 7 A isa sectional detail of one of the bearings supporting the gyro gimbal ring from the air floated cup.

Fig. 8 is a side elevation, partly in section, of

' another form of naval type gyro vertical.

Fig. 9 is an elevation, partly in section, taken at right angles to Fig. 8 on broken line 9 9.

Fig. 10 is a horizontal section through the lower portion of the ball rotor, taken on line Ill-I0 of Fig. 8.

'Ihe form shown in Fig. 1 is especially adapted for stabilizing a mirror I in a horizontal plane for use as an articial horizon in obtaining fixes in navigation, aerial or water borne. The device is shown as gimbal supported withina gimbal ring 2 which is mounted for oscillation within. brackets 3 on axis 4. Said gimbal, in turn, supports the framework 5 for oscillation about a horizontal axis 6 6 at right angles to axis 4 4. Air for spinning the rotor and supporting the device is forced in through one of bearings I in the usual manner from a pump.(not shown) and conducted around the hollow gimbal ring and through one or both of bearings 6 throughv aper- -tures 'l around the stud 8, the air entering -passageways 9 within the member 5. The member 5 is vshownlas pendulously supported in the bearings 4 and 6. Said member, in turn, universally supports the rotor bearing casing I0 in neutral equilibrium about three axes. Said casing is shown as substantially in the form of a hollow sphere which is floated within member 5 on air bearings. For this purpose, a portion of the air from a passageway 9 passes through opening II to a chamber I2 underneath the sphere. The air then pass-es between the close fitting annular surface' I3 around` member 5 and the sphere to` provide an air bearing for the saine, supporting it for freedom around all three axes, i. e., both horizontal axes and the vertical axis. An upper air bearing is provided above the center of the sphere at I4, the air passing through the channel 9 to emerge between the spherical surface of member 5 at I4 and the sphere. The sphere is thus prevented from bouncing out of the lower cup or `bearing I3- 'Ihe sphereisv shown as made in upper and lower halves for assembly purposes, the halves being secured together. Member 5 is also shown as constructed in two parts bolted together by bolts 80. Within the sphere is'journaled the rotor I5 on upper and lower anti-friction bearings I6 and I1. The rotor is shown as spun from ing buckets I9 on a lower extension of the rotor. The air tosaid jets passes upwardly from the chamber I2 through radial aperture 28 and transverse apertures 2|. Since the hollow sphere is universally supported, the reaction of the jets may tend to drive it in the opposite direction to the spin of the rotor especially during the starting up period, Athus reducing the gyroscopic action. In order to prevent this and at the same time secure gravitational control of the casing, we provide tangential jets or openings 22 around the normal tendency of the sphere to rotate. After spinning the ball, the air' emerges through tangential jets 22 into the outside atmosphere and by adjusting the relative size of the jets, the sphere may be made to stand still or rotate slowly in either direction, as desired.

Said jets preferably emerge on a line with the top 23 of the supporting member 5 so as to be bisected thereby. Therefore, in case the housing |0 becomes inclined with respect to the pendulously mounted member 5, an unbalanced torqueyabout the horizontal axis would be exerted on the 'sphere at right angles to the axis of inclination, thereby directly erecting the gyroscope. In such gyroscopes, the gyroscope very slowly follows the position of the pendulum. that is, it assumes its average position. Hence the gyi roscope may be said to integrate the positions of the pendulum. It should be noted that the` gyroscope is entirely f ree about all three axes, the only bearings being air bearings, so that rolling and pitching of the platform will not disturb the gyroscope.

The forms of the invention' shown in Figs. 3 and 4 are more adapted for use as a horizon indicator on aircraft. Referring to these-forms, the rotor consists of a hollow truncated sphere 25, which is preferably spun by reaction jets 28 so that there is no coupling to the spinning means. For this purpose, air is introduced into the center of the sphere through a tube 21 extending downwardly from the top 28 of the casing 29 and communicating at 'its top with the atmosphere, air being continuously pumped from the casing fthrough pipe coupling 8|.4 I'I'he bottom of said'tube is shown as having a knob 38 thereon'where it entersthe middle of the rotor, the knob forming an air bearing 3| in cooperation with a small ring- 32 secured within the top of the rotor. The spinning air emerges through a plurality of tangential jets 28. For erecting purposes there is provided a mass 33 which is floated in a cup 34 at the bottom of the casing. Air enters through aperture 35 in the cup and passes upwardly between the cup and mass 33, Yto oat the same within the-cup. A portion of the air also passes up through a central aperture 38 in the mass 33 to assist in supporting the spinning ball on the mass 23. The jets 28 emerge on a line with the top edge of the mass, so that in case thev ball gyroscope becomes inclined with respect to the mass, -an erecting torque is exerted thereon which slowly erects the same due .to the fact that the spinning jets on the low side are partially covered, resulting in a greater torque on the high side in the proper direction to erect the gyroscope. A horizon line or indicator 31 may be painted or otherwise marked on a shell 38 secured to the ball rotor, which is visible from the front through a window 38.

The form shown in Fig. .4 is quite similar, except that the pendulous mass 33 is omitted and 2,133,809 air jetsnl8 within the sphere I8, the jets engagof the rotor 25' itself. `In this case vthe rotor is shown as spun from tangential jets 48 in a dlsc'4l securedpto an inner stem 42 along the axis oi' the ball. Said stem is shown as provided with a knob 43 at the top which forms an air bearing in conjunction with a cup 44 formed in the hollow downwardly extending ,stem 21' from the casing 29". The air entering through the stem. 21 furnishes an air support between l the cup 44 and knob 43. A portion of the air also passes downwardly through the bore 46 in the top of the sphere and directed so as to oppose the stem 42, which is connected by a transverse bore 41 to the jets 40. A portion of the air also emerges fromthe bottom of the bore 46 to supthe horizon line 31' marked on the periphery ply the air bearing support between the bottom of the spinning ball and the cup 48 formed in the lower portion of the housing 29'.

For erecting this form of horizon, we have shown a plurality of small tangential equatorial jets 50 in the knob 43, supplied with air from the bore 46. Said jets preferably are directed in the proper direction to erect the gyroscope upon inclination, being in line with the lower edge of the cup 44, so that a portion of the jets is covered upon inclination of the ball with respect to the casing. Since these jets may be made smaller than the jets 40 and are on a less radius, they willnot interfere seriously with the spinning of the ball.

In the form shown in Figs. 8, 9 and 10, the ball rotor 25" is shown as supported by air bearings within a gimbal supported ring 5|. Said ring is shown as secured by brackets 52 to a ring 53 which is universally supported by means of a gimbal ring 54 from fixed brackets 55. Air is shown as "supplied through a exible tube 56 to the interior of the ring 5|. The main body of the air is forced within the ball through a circumferential slot 51 and apertures 58, the air entering the axial bore 59 and emerging through the spinning jets 88 and 6| which are shown near the top and bottom of the ball, respectively. Additional air may be supplied to the lower bearing 63 formed by ring-5|, through channel 64 connected to the passage 56'.

A pendulously supported cup 65 is placed un- 'der the ball- 'so that the exterior rim thereof 86 vmain pivots on ring 5|-at 68, and ring 68', be-

ing'pivoted thereon at |28, the'cup 85 being secured to the latter by bracket |2|.

The outer gimbalsystem is preferably stabilized from the ball by any suitable follow-up system, such as disclosed in the patent to Gillmor and Wittkuhns, No. 1,984,874, dated December 18, 1934, for Gyro verticals. According to this system, there is provided a cruciform inductive controller 10 mounted on a bracket 1 on top of the supporting ring, which cooperates with a soft iron button 38' on the rotor andwhich controls motors 12 and 13, acting about the two major axes of support of the ring 5|. The motor 12 is shown as geared directly to the trunnion 14 of ring 54, while thev motor 13 is coupled to a bail or loop 15 mounted on brackets 16 in line with the minor trunnion axis 11 of the gimisisl the direction of rotation of the rotor.

vertical to trunnion tilt correctors and the like.

A similar type of gyro vertical is shown in Fig. '7. In this case, however, the rotor |5' is supported on conventional anti-friction bearing I1' in casing 82, which, in turn, is universally supported on hollow trunnions 93 and 83' by gimbal ring 83 within a second ring 84. The latter is mounted on or forms the top of a hemispherical cup or bowl 85 which is'floated on air bearings 86 within a supporting spider or frame 81. Said frame, in turn, is universally supported on an independent gimbal system 88, as ring 53 is supported in Figs. 8 and 9. Air may enter the gimbal system through hollow trunnions of the gimbals as in Fig. -l, the air then passing through pipes 89 and central vertical aperture 89' to 'pass into a chamber 90 between the spider and bowl. A portion of the air passesyupwardly through the air bearings 86 to float the cup universally. Another part of the air passes upwardly through aperture 9| and pipe 92 and through the hollow trunnion 93 and hollow ring 84. A pipe 95 is shown as connected to the hollow trunnion 83 to carry air`into the lower bearing I1' of the rotor. The rotor shaft is shownas hollow at least half way u`p, for leading air into radial passages 96 which connect with tangential spinning jets 91 in the face of Athe rotor.

As in Fig. 8, the device is providedwith means for stabilizing the outer gimbal system and frame 81 from the gyroscope, the pick-off being shown as a cruciform inductive device 10, as in the other form, which cooperates with a magnetic button 98 on a stem 99 secured to the gyro casing. Said inductive transformer control follow-up motors 12 and 13, as in Fig. 8. which may drive transmitteds I0 to repeater devices for stabilizing a trunnion tilt corrector or other device.

As is well known, a free gyroscope will apparently assume a tilt due to the earths rotation, which varies in accordance with latitude and lies to the west. To prevent this, We have shown a latitude corrector comprising a ring I 0| .rotatably mounted onan annular trackway |02 secured to the frame 81. A single air nozzle |03 is mounted thereon to exert a small continuous torque on the gyroscope on thenorth or south side of the gyroscope, dependingupon the direction of rotation. In order to maintain said nozzle xedin azimuth, ring IOI is shown as driven from a repeater motor |04 driven from the gyro compass. Air is shown as supplied to said nozzle |03 through pipe |05 connected with an annular channel I 06 formed in the adjacent surfaces |01 and I 08 on the spider and rotatable ring |0I, respectively.

Since the cup 85 is pendulous, we depend on the same to impart an erecting coupling on the gyroscope` through the gimbal support connecting the same to the gyro. In order to secure this effect, it is necessary that the cup rotate slowly in the direction of the rotor. According to our construction, this is accomplished automatically since it is found that the air' drag ofthe rapidly spinning rotor on the casing 82 and the friction of bearings |1' will carry the cup around slowly in There is thus exerted an erecting force on the gyro casing through this cup, which in itself is not connected by any metallic or frictional bearings with the support. In order to limit the speed of rotation of the cup 85, air bafile plates H0, III may be mounted on the cup.

We also prefer to lock the cup against displacement during turning or other acceleration of the ship. 'Ihis may be conveniently accomplished by a solenoid |I2 at the base of the frame which, when excited, pushes upwardly a centralizing sleeve I I3, the tapered end of which engages a conical seat H5 on the bottom of the cup at the mouth of aperture 9|, to centralize and temporarily lock the cup to the frame. The operator merely holds a button III down during turning-or acceleration, or automatic means' may be provided to this end, if desired. i

As many changes could be made in the above construction and many apparently `widely different embodiments of this invention could be made without departing from the scope thereof, it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

Having described our invention, what we claim and desire to secure by Letters Patents is:

l. In a free gyroscope, a rotor, av hollow spherical casing within which said rotor is journaled for spinning, ay cup for supporting said casing for freedom about 'all three principal axes, means for supplying ai between said cup and casing to float the latter, means for pendulously supporting said cup, and erecting means acting between said cup and casing to apply atorque to said casing at right angles tothe plane of tilt thereof.

2.In a gyro vertical, a rotor, a rotor bearing casing supporting said rotor, and air borne spherical bearing means for supporting said casing for freedom about all three principal axes.

3. In a gyro vertical, a'rotor, a rotor bearing casing supporting said rotor, an air borne spherical bearing means for supporting said casing for freedom about all three principal axes, and pendulous erecting means for said casing acting between said bearing means and said casing, directly eliminating the tilt thereof.

, 4. A free gyroscope as claimed in claim 1, having air -jet means for spinning the rotor Within its casing, and air jet means in said casing through which the spinning air escapes, said last named means forming the erecting means in conjunction With a lip of the cup adjacent thereto. said means also acting to reduce the rotation of said casing induced by the reaction of said rotor spinning means.

5. Ina free gyroscope, a rotor, a hollow spherical casing within which said rotor is journaled, a'

cup for supporting said casing` for freedom about all three principal axes, and means for supplying air between said cup and casing to float the latter and to spin the rotor within said casing, said casing having air ports for the discharge of the spinning air directed'to oppose reactive rotation of said casing.

6. In a free gyroscope, a rotor, a hollow spherical casing within which'said rotor is journaled, a cup for supporting said casing for freedom about all three principal axes, means for supplying air between said cup and casing to`fioat the latter and to spin the rotor within saidcasing, said casing having air ports for the discharge of the spinning air preferably directed to oppose reactive rotation of said casing, and means for pendulously supporting said cup, said ports lying in the same plane as an adjacent edge of the said cup, whereby an erecting torque is exerted on said casing upon inclination thereof.

7.In a gyro vertical, a hollow ball-like rotor, means for supplying air under pressure within the rotor, said ball having peripheral apertures therein through which the air escapes to spin the rotor by` reaction, and a gravitationally responsive member adjacent the apertures in said rotor to intercept -alportion of said apertures upon inclination of said rotor to erect the same.

8. In a gyro vertical, a rotor, means for sup-.`

plying air under pressure within the rotor, said rotor having peripheral apertures therein through which the air escapes to spin the rotor by reaction, 'a rotorbearing casing supporting said rotor, a cup member or bowla gimbal support whereby said bowl supports said casing, and air dotation means for pendulously supporting said bowl about the three principal axes, and permitting slow rotation about the vertical axis in the direction of spin of the rotor.l

9. In a gyro vertical, a rotor, a rotor bearing casing supporting said rotor, an air borne spherical bearing means for supporting said casing for freedom about all three principal axes, pendulous erecting means for said casing acting between said first named means and said casing, directly eliminating the tilt thereof, and means for locking said pendulous means during acceleration or turn of the vehicle on which the gyro vertical isl mounted.

l 10. A gyro vertical as claimed in claim 7, having an outer casing surrounding the ball-like rotor, a hollow stem therein for leading air under pressure within the ball, and a spherical air bear` the rotor.

12. `A gyroscopic horizon having a pendulous device and a free gyroscope acting as an in tegrating device for the position of said pendulous device in which said pendulous device is in the form of a hollow member of spherical contour, air bearings for floating said member for complete freedom, and gimbal means within said member for universally supporting said gyroscope, and means for normally revolving said member slowly in the direction of spin of the gyro rotor.

13,. In a gyro vertical, a hollow spherically shaped member, air bearings for oating the same for freedom about all three axes, a neutrally mounted gyroscope having a verticalspin axis universally supported within said member,`and means for eilecting slow rotation of said member in the directionof spin of the gyroscope rotor, whereby the gyroscope is maintained with its spin axis vertical.

14. A gyro vertical as claimed in claim 2, havingua jet means for applying a corrective torque on said casing to counteract tilt due to the earths rotation, and compass controlled means for maintaining saidjet means xed in azimuth.

,15. In a gyro vertical, the combination with a neutrally universally mounted gyroscope, `pendulous means for erecting the same, a. device stabilized in azimuth adjacent said gyroscope, and an air jet thereon to impinge the gyroscope to counteract tilt caused by rotation of the earth.

16. A gyroscopic horizon as claimed in claim 12, having means for locking the spherical sup-y porting member during acceleration of the ship.

17. An air spun, air borne gyroscope having a ball-like rotor, a casing for supporting the same 0n a spherical air bearing at the bottom, a hollow stem on said casing for leading air within the ball, a cooperating nstem in the rotor having a bore receiving such air, a spherical air bearing between said stems at the center of the ball through which said air passes, and air jet means connected with thebore in the last named stem for spinning said rotor.

-18. In a gyro Vertical, arotor, a hollow rotor bearing casing therefor of spherical contour, a pendulous gimbal support in which said casing is floated on spherical air bearings for freedom about all axes, air jet means within said casing for spinning the rotor, and air jet means through which the used air escapes from said casing, said support acting as a cut-oiI shield for cutting off a portion of said last named jet means upon inclination of the rotor.

v19. In a gyro vertical, a rotor; a hollow rotor bearing casing therefor of spherical contour, a pendulous gimbal support in which said casing is floated on spherical air bearing means for freedom about all axes, there being air vents in said casing from which air jets emerge tangentially,

said s'upport acting as a cut-off shield for cutting oi a portion of said jets upon inclination of the casing, whereby the gyroscope is directly erected to the vertical.

20. A gyro vertical as claimed in claim 18,

wherein the second mentioned air jet means are tangentially directed in the same direction as the rst mentioned air jet means, whereby the vspinning of the support by the reaction from the spinning jets is substantially reduced or nullified.

2l. In a free gyroscope, a rotor, a hollow spherical casing within which said rotor is journaled, a cup for supporting said casing for freedom about a plurality of axes, and means for supplying air between said cup and casing to float thelatter and to spin the rotor within said casing, said casing having air ports for the discharge of the spinning air so constructed and arranged as to partially suppress freedom about at least one axis.

LESLIE F. CARTER. WILLIAM ANSCO'IT.

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