Servo-controlled shaft position device

Claim 1

A DEVICE FOR REMOTELY, SELECTIVELY AND ACCURATELY ANGULARLY DISPLACING AND POSITIONING A LOAD COMPRISING: (A) A STEPPER MOTOR HAVING AN OUTPUT SHAFT AND A PLURALITY OF SEPARATELY ACTUATED STATOR COILS FOR PROVIDING STEPPED ROTATION OF THE MOTOR OUTPUT SHAFT, (B) GEAR MEANS COUPLED TO SAID OUTPUT SHAFT FOR TRANSMITTING ANGULAR DISPLACEMENT FROM SAID OUTPUT SHAFT TO THE LOAD TO BE POSITIONED, (C) CLOCK MEANS FOR GENERATING PULSES, (D) GATING MEANS FOR GATING THE PULSES FROM SAID CLOCK MEANS, (E) COUNTING MEANS FOR COUNTING THE NUMBER OF PULSES TO BE GATED BY SAID GATING MEANS, (F) A FIRST FLIP-FLOP COUPLED TO RECEIVE THE PULSES FROM SAID GATING MEANS, SAID FIRST FLIP-FLOP HAVING FIRST AND SECOND OUTPUT CIRCUITS, (G) A SECOND FLIP-FLOP HAVING THIRD AND FOURTH OUTPUT CIRCUITS, (H) SWITCH MEANS COUPLED BETWEEN SAID FIRST FLIP-FLOP AND SAID SECOND FLIP-FLOP FOR CONNECTING EITHER SAID FIRST OR SECOND OUTPUT CIRCUIT TO SAID SECOND FLIP-FLOP, (I) FIRST, SECOND, THIRD AND FOURTH GATE CIRCUITS, EACH HAVING A FIRST AND SECOND INPUT AND OUTPUT, SAID FIRST AND THIRD GATE CIRCUITS HAVING THEIR FIRST INPUT COUPLED TO SAID FIRST OUTPUT CIRCUIT OF SAID FIRST FLIP-FLOP, SAID SECOND AND FOURTH GATE CIRCUITS HAVING THEIR FIRST INPUT COUPLED TO SAID SECOND OUTPUT CIRCUIT OF SAID FIRST FLIP-FLOP, SAID FIRST AND SECOND GATES HAVING THEIR SECOND INPUTS COUPLED TO THE THIRD OUTPUT CIRCUIT OF SAID SECOND FLIP-FLOP, AND SAID THIRD AND FOURTH GATES HAVING THEIR SECOND INPUTS COUPLED TO THE FOURTH OUTPUT CIRCUIT OF SAID SECOND FLIP-FLOP, AND (J) FOUR DRIVER AMPLIFIERS, EACH OF SAID DRIVER AMPLIFIERS COUPLED BETWEEN ONE OF SAID GATE CIRCUITS AND A STATOR COIL OF SAID STEPPER MOTOR.

Claim 2

A DEVICE FOR REMOTELY, SELECTIVELY AND ACCURATELY ANGULARLY DISPLACING AND POSITIONING A LOAD COMPRISING: (A) A STEPPER MOTOR HAVING AN OUTPUT SHAFT AND A PLURALITY OF SEPARATELY ACTUATED STATOR COILS FOR PROVIDING STEPPED ROTATION OF THE MOTOR OUTPUT SHAFT, (B) GEAR MEANS COUPLED TO SAID OUTPUT SHAFT FOR TRANSMITTING ANGULAR DISPLACEMENT FROM SAID OUTPUT SHAFT TO THE LOAD TO BE POSITIONED, (C) CLOCK MEANS FOR GENERATING PULSES, (D) GATING MEANS FOR GATING THE PULSES FROM SAID CLOCK MEANS, (E) COUNTING MEANS FOR COUNTING THE NUMBER OF PULSES TO BE GATED BY SAID GATING MEANS, (F) A FIRST FLIP-FLOP COUPLED TO RECEIVE THE PULSES FROM SAID GATING MEANS, SAID FIRST FLIP-FLOP HAVING FIRST AND SECOND OUTPUT CIRCUITS, (G) A SECOND FLIP-FLOP HAVING THIRD AND FOURTH OUTPUT CIRCUITS, (H) SWITCH MEANS COUPLED BETWEEN SAID FIRST FLIP-FLOP AND SAID SECOND FLIP-FLOP FOR CONNECTING EITHER SAID FIRST OR SECOND OUTPUT CIRCUIT TO SAID SECOND FLIP-FLOP, (I) FIRST, SECOND, THIRD AND FOURTH GATE CIRCUITS, EACH HAVING A FIRST AND SECOND INPUT AND OUTPUT, SAID FIRST AND THIRD GATE CIRCUITS HAVING THEIR FIRST INPUT COUPLED TO SAID FIRST OUTPUT CIRCUIT OF SAID FIRST FLIP-FLOP, SAID SECOND AND FOURTH GATE CIRCUITS HAVING THEIR FIRST INPUT COUPLED TO SAID SECOND OUTPUT CIRCUIT OF SAID FIRST FLIP-FLOP, SAID FIRST AND SECOND GATES HAVING THEIR SECOND INPUTS COUPLED TO THE THIRD OUTPUT CIRCUIT OF SAID SECOND FLIP-FLOP, AND SAID THIRD AND FOURTH GATES HAVING THEIR SECOND INPUTS COUPLED TO THE FOURTH OUTPUT CIRCUIT OF SAID SECOND FLIP-FLOP, AND (J) FOUR DRIVER AMPLIFIERS, EACH OF SAID DRIVER AMPLIFIERS COUPLED BETWEEN ONE OF SAID GATE CIRCUITS AND A STATOR COIL OF SAID STEPPER MOTOR.