US3594626A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Template follower multiaxes servosystem
Assignee: Individual
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Filing: 1969-04-21
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Granted: 1971-07-20
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Expires: 1989-04-21
Abstract
Abstract This invention relates to improvements in servosystems, particularly position servosystems. The specification discloses, and the drawing depicts, a two axis positioning system having an analog input structure and a digital positioner. Novel electric circuitry is disclosed by which the analog input information is conditioned for application to the digital positioner. Two forms of manually operable input structures are shown.
Inventors
- 👤 Charles G Palmer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-07 20:01
CPC Classifications
B; B23; B23Q; B23Q35/00; B23Q35/04; B23Q35/08; B23Q35/12; B23Q35/121; B23Q35/123; B23Q35/126; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/49; G05B2219/49221
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
345 words
In a servo positioner; a movable base structure; a probe carried by said base and movable relative to a point on the base in at least two dimensions at least one of which includes a rotation about a pivotal axis extending through the point; sensing means for sensing differences, in said two dimensions, in the relative position of the probe and point from a reference relative position; and positioning means responsive to said sensing means for positioning said base structure such that the point occupies said reference relative position; in which said positioning means comprises a pair of stepping motors connected to said movable base and each effective, when energized, to alter the position of the base in a direction normal to the direction of action of the other; said sensing means comprising a pair of sensors each effective to provide electrical signals indicative of displacement of said probe in a respectively associated one of said dimensions and of the direction of such displacement, and each sensor including means responsive to displacement and direction of displacement to actuate an associated one of said stepping motors in a direction tending to return said base to overcome such displacement; and in which said stepping motors are responsive to rotate in a direction corresponding to the polarity of applied electrical pulses at a speed corresponding to their frequency; and in which each sensor includes means for generating at least three electrical pulses the polarity of a first pulse of which is reversed as said displacement is changEd from one direction to the other, and a second pulse of which is reversed as said displacement in said other direction is altered to exceed a selected displacement, and the third pulse of which is reversed as said displacement in the other direction is altered to exceed a selected greater displacement; and means for applying said pulses to a respectively associated one of said stepping motors after altering the frequency of pulses applied to said motor when the polarity of one of said first pulse and said third pulse is reversed.
Claim 2
Dependent Claim
345 words
In a servo positioner; a movable base structure; a probe carried by said base and movable relative to a point on the base in at least two dimensions at least one of which includes a rotation about a pivotal axis extending through the point; sensing means for sensing differences, in said two dimensions, in the relative position of the probe and point from a reference relative position; and positioning means responsive to said sensing means for positioning said base structure such that the point occupies said reference relative position; in which said positioning means comprises a pair of stepping motors connected to said movable base and each effective, when energized, to alter the position of the base in a direction normal to the direction of action of the other; said sensing means comprising a pair of sensors each effective to provide electrical signals indicative of displacement of said probe in a respectively associated one of said dimensions and of the direction of such displacement, and each sensor including means responsive to displacement and direction of displacement to actuate an associated one of said stepping motors in a direction tending to return said base to overcome such displacement; and in which said stepping motors are responsive to rotate in a direction corresponding to the polarity of applied electrical pulses at a speed corresponding to their frequency; and in which each sensor includes means for generating at least three electrical pulses the polarity of a first pulse of which is reversed as said displacement is changEd from one direction to the other, and a second pulse of which is reversed as said displacement in said other direction is altered to exceed a selected displacement, and the third pulse of which is reversed as said displacement in the other direction is altered to exceed a selected greater displacement; and means for applying said pulses to a respectively associated one of said stepping motors after altering the frequency of pulses applied to said motor when the polarity of one of said first pulse and said third pulse is reversed.
Claim 3
Dependent Claim
243 words
In a servosystem: error detection means sensitive to the state of a condition relative to a reference state for providing a first signal indicative of whether the state of the condition exceeds and whether it does not exceed the reference state, for providing a second signal indicative of whether the state of the condition differs and whether it does not differ from the reference state by more than a selected amount, and for providing a third signal indicative of whether the state of the condition differs and whether it does not differ from the reference state by more than a selected greater amount; correction means responsive to said signals for altering the state of said condition in a direction toward said reference condition and at a rate greater in response to certain of said signals than in response to others of them; in which said first, second and third signals comprise pulses of one phase when the state of said condition exceeds, differs by more than said selected amount, and differs by more than said selected greater amount, respectively, and otherwise of opposite phase; said correction means comprising a stepping motor responsive to said signals to rotate in a direction determined by the phase of said signals and at a speed determined by their frequency; said error detection means comprising three alternating current bridges adjustable in accordance with the state of said condition and each experiencing phase reversal of its output at null.
Claim 4
Dependent Claim
243 words
In a servosystem: error detection means sensitive to the state of a condition relative to a reference state for providing a first signal indicative of whether the state of the condition exceeds and whether it does not exceed the reference state, for providing a second signal indicative of whether the state of the condition differs and whether it does not differ from the reference state by more than a selected amount, and for providing a third signal indicative of whether the state of the condition differs and whether it does not differ from the reference state by more than a selected greater amount; correction means responsive to said signals for altering the state of said condition in a direction toward said reference condition and at a rate greater in response to certain of said signals than in response to others of them; in which said first, second and third signals comprise pulses of one phase when the state of said condition exceeds, differs by more than said selected amount, and differs by more than said selected greater amount, respectively, and otherwise of opposite phase; said correction means comprising a stepping motor responsive to said signals to rotate in a direction determined by the phase of said signals and at a speed determined by their frequency; said error detection means comprising three alternating current bridges adjustable in accordance with the state of said condition and each experiencing phase reversal of its output at null.
Claim 5
Dependent Claim
54 words
The invention defined in claim 2, said correction means further comprising a pulse generator whose frequency is variable according to the phase of said signals, and means connecting the output of said pulse generator to said stepping motor in a direction to determine motor rotation direction in accordance with the phase of said signals.
Claim 6
Dependent Claim
225 words
A servo positioner comprising: a probe mounted on a base movable relative to a reference position which is fixed relative to the base; sensing means for sensing the fact of separation of the probe from the reference position and the direction of that separation and for providing a signal indicative of separation and the direction thereof; base positioning means sensitive to said signal for moving the base relative to the probe until the probe has the reference position; the base positioning means comprising a fixed frequency energy source, a stepping motor and means for connecting the source to the motor while the probe has other than reference position, the probe being freely movable relative to the reference position to a degree of separation and at a velocity independent of the frequency of said course; means for driving the stepping motor at at least two different fixed speeds; and means for sensing separation of probe and reference point greater than a predetermined separation and for driving said stepping motor at one speed when separation is greater than said predetermined separation and at another speed when less than said predetermined separation; said sensing means and said means for sensing separation of probe and reference point greater than a predetermined separation both comprising bridge circuits having null points at different degrees of separation between probe and reference point.
Claim 7
Dependent Claim
225 words
A servo positioner comprising: a probe mounted on a base movable relative to a reference position which is fixed relative to the base; sensing means for sensing the fact of separation of the probe from the reference position and the direction of that separation and for providing a signal indicative of separation and the direction thereof; base positioning means sensitive to said signal for moving the base relative to the probe until the probe has the reference position; the base positioning means comprising a fixed frequency energy source, a stepping motor and means for connecting the source to the motor while the probe has other than reference position, the probe being freely movable relative to the reference position to a degree of separation and at a velocity independent of the frequency of said course; means for driving the stepping motor at at least two different fixed speeds; and means for sensing separation of probe and reference point greater than a predetermined separation and for driving said stepping motor at one speed when separation is greater than said predetermined separation and at another speed when less than said predetermined separation; said sensing means and said means for sensing separation of probe and reference point greater than a predetermined separation both comprising bridge circuits having null points at different degrees of separation between probe and reference point.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-07-19 | 1975-01-18 | 1975-07-20 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-07-19 | 1979-01-18 | 1979-07-20 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-07-19 | 1983-01-18 | 1983-07-20 | $7700.00 | Window Closed / Lapsed |