Gyroscopically stabilized apparatus
First Claim
1. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
- hub shaft means including a pair of hub shafts disposed along a first axis and having opposite extremities, respectively;
an instrument platform for supporting an instrument;
a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis;
a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space;
third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis;
yoke means coupled to the hub shaft means and comprising a yoke having a half circle configuration, a midportion and opposite extremities, and coupled at its midportion to the support means, and coupled at its opposite extremities to the opposite extremities of the pair of hub shafts, and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and
support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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Accused Products
Abstract
A gyroscopically stabilized apparatus for aiming an instrument at a target object. An external yoke is attached to the ends of a hub assembly which supports the gyro and camera platforms for rotation about pan, tilt and roll axes. The yoke is associated with an externally located vibration damping system interposed between the yoke and the support arm attached to the helicopter or other transporting vehicle. This makes possible a greater degree of helicopter pitch and roll without having any support structure impact the gyro and camera. In one embodiment the platforms are associated with separately rotatable hemispheres joined to provide a spherical fairing. In another embodiment the hemispheres are attached together for common rotation about pan and tilt axes.
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Citations
31 Claims
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1. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means including a pair of hub shafts disposed along a first axis and having opposite extremities, respectively; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and comprising a yoke having a half circle configuration, a midportion and opposite extremities, and coupled at its midportion to the support means, and coupled at its opposite extremities to the opposite extremities of the pair of hub shafts, and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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2. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means including a pair of hub shafts disposed along a first axis and having opposite extremities, respectively; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and comprising a yoke having a central portion having a half circle configuration, and coupled at its central portion to the support means, the yoke further having opposite extremities oppositely horizontally offset, with the ends of the opposite extremities coupled to the opposite extremities of the pair of hub shaft, and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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3. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means including a hub shaft disposed along a first axis and having an outer extremity; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and comprising a yoke having a quarter circle configuration and opposite extremities, and coupled at its opposite extremities to the support means and to the outer extremity of the hub shaft, respectively, and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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4. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes; and fairing means in surrounding relation to the instrument platform and the gyro platform, with the yoke means being located exteriorly of the fairing means, the fairing means comprising a first hemisphere coupled to and movable with the instrument platform, and a second hemisphere coupled to and movable with the gyro platform.
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5. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes; and fairing means in surrounding relation to the instrument platform and the gyro platform, with the yoke means being located exteriorly of the fairing means, the fairing means comprising a first hemisphere coupled to and movable with the instrument platform, and a second hemisphere coupled to the first hemisphere for rotation therewith.
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6. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; fairing means in surrounding relation to the instrument platform and the gyro platform; yoke means coupled to the hub shaft means and located exteriorly of the fairing means and outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes, the support means including a support arm adapted for connection to a vehicle; and vibration isolating and damping means interposed between the yoke means and the support arm and located exteriorly of the fairing means.
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7. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space, the gyro platform mounting a gyro housing for rotation about a fourth axis, and mounting a third axis motor having a driving element operative to develop a driving torque tending to rotate the housing about the fourth axis whereby, upon stabilization of the gyro housing, the stabilized gyro housing resists the driving torque and instead the instrument platform rotates about the third axis; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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8. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument, and mounting a driven element for rotation about a second axis; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space, the gyro platform mounting a second axis motor having a driving element operative to develop a driving torque tending to rotate the housing about the second axis whereby, upon stabilization of the gyro housing, the stabilized gyro housing resists the driving torque and instead the instrument platform rotates about the second axis; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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9. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument, and mounting a second axis motor operative to develop a driving torque; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including second bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space, the gyro platform mounting a gyro housing for rotation about a fourth axis, the gyro platform tending to be rotated about the second axis by the driving torque of the second axis motor of the instrument platform whereby, upon stabilization of the gyro housing, the stabilized gyro housing resists the driving torque and instead the instrument platform rotates about the second axis; third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes.
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10. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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hub shaft means disposed along a first axis; an instrument platform for supporting an instrument; a hub assembly including first bearing means defining the first axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the first axis, the hub assembly including bearing means defining a second axis perpendicular to the first axis and supporting the instrument platform upon the hub assembly for rotation of the instrument platform along a rotational path extending about the second axis; a gyro platform including at least three gyroscopes tending in operation to stabilize the gyro platform in space, each gyroscope comprising a gyro frame, a gyro wheel carried by a gyro housing for rotation about a spin axis, the gyro housing being carried by the gyro frame for rotation about a precession axis; and
three releveling means associated with the three gyroscopes, respectively, for immediate releveling of the gyro platform when desired, each releveling means comprising camming means carried by the gyro housing for rotation with the gyro housing about the precession axis;
a projection means having a normal position out of the path of the camming means, and a relevel position in the path of rotation of the camming means, the projection means in the relevel position engaging the camming means and preventing the gyro housing from rotating, whereby simultaneous engagement of all of the camming means by the projection means prevents rotation of all of the gyro housings about their precession axes;third bearing means supporting the gyro platform upon the instrument platform for rotation of the gyro platform along a rotational path extending about the second axis; yoke means coupled to the hub shaft means and located outwardly of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and the gyro platform are rotatable about the first and second axes without engaging the yoke means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a third axis perpendicular to the first and second axes. - View Dependent Claims (11, 12)
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13. A gyroscopically stabilized apparatus for aiming a camera at a target object, the apparatus comprising:
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hub shaft means disposed along a roll axis; a camera platform for supporting a camera; a hub assembly including first bearing means defining the roll axis and supporting the hub assembly upon the hub shaft means for rotation of the hub assembly about the roll axis, the hub assembly including second bearing means defining a tilt axis perpendicular to the roll axis and supporting the camera platform upon the hub assembly for rotation of the camera platform about the tilt axis; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; third bearing means supporting the gyro platform upon the camera platform for rotation of the gyro platform about the tilt axis; a pair of hemispherical fairings in adjacent relation and surrounding the camera platform and the gyro platform; yoke means located exteriorly of the pair of fairings, and coupled to the hub shaft means; and support means coupled to the yoke means for supporting the hub assembly for rotation of the hub assembly about a pan axis perpendicular to the roll and tilt axes. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A gyroscopically stabilized apparatus for aiming an instrument at a target object, the apparatus comprising:
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an instrument platform for supporting an instrument; a gyro platform including a plurality of gyroscopes tending in operation to stabilize the gyro platform in space; yoke means and hub means supporting the instrument platform and the gyro platform for rotation along rotational paths extending about a first axis, the hub means further supporting the instrument platform for rotation along a rotational path extending about a second axis perpendicular to the first axis, and the instrument platform further supporting the gyro platform for rotation along a rotational path extending about the second axis, the yoke means being located outwardly of all of the rotational paths of the instrument platform and the gyro platform whereby the instrument platform and gyro platform are freely rotatable about the first and second axes without striking the yoke means; and support means coupled to the yoke means for supporting the yoke means and hub means for rotation about a third axis perpendicular to the first and second axes. - View Dependent Claims (30, 31)
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Specification