US4042869A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Backlash compensation
Assignee: Industrial Nucleonics Corp
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Filing: 1971-03-29
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Granted: 1977-08-16
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Expires: 1991-03-29
Abstract
Abstract A system for compensating for the backlash of a drive mechanism of an actuator that can be controlled manually or switched to automatic, with the starting position indeterminate. The actuator includes a position transducer for the actuator. Impulses are supplied to the drive mechanism to energize the drive mechanism in discrete steps in a first direction. In response to a change in the actuator position being sensed by the position transducer, the supply of impulses to the drive mechanism is terminated. Because of backlash in gearing included in the drive mechanism, each of the impulses to the drive mechanism does not necessarily result in a change in the actuator position. In response to movement of the actuator being sensed the drive mechanism is energized in a direction opposite to the first direction through a distance equal to the sum of the backlash and the amount of movement of the actuator detected by the position transducer.
Inventors
- 👤 John E. Eickelberg
- 👤 James S. Rice
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 12:31
CPC Classifications
G; G05; G05B; G05B7/00; G05B7/04; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/33; G05B19/35; G05B19/351; G05B7/02; G05D; G05D3/00; G05D3/12; G05D3/20; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34337; G05B2219/41; G05B2219/41074
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
159 words
A system for compensating for the backlash known between backlash limits of a drive mechanism for an actuator comprising a position transducer for the actuator, means for energizing the drive mechanism in a first direction, a certain amount of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, means for terminating energization of the drive mechanism in the first direction in response to a change in the actuator position being sensed by the position transducer, means responsive to the position transducer for deriving an indication of the amount of movement of the actuator in response to the drive mechanism being energized, and means responsive to a change in the actuator position being sensed for energizing the drive mechanism in a direction opposite to the first direction through a distance equal to the sum of the indicated amount of actuator movement and a predetermined magnitude equal to the drive mechanism known backlash.
Claim 2
Independent Claim
159 words
A system for compensating for the backlash known between backlash limits of a drive mechanism for an actuator comprising a position transducer for the actuator, means for energizing the drive mechanism in a first direction, a certain amount of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, means for terminating energization of the drive mechanism in the first direction in response to a change in the actuator position being sensed by the position transducer, means responsive to the position transducer for deriving an indication of the amount of movement of the actuator in response to the drive mechanism being energized, and means responsive to a change in the actuator position being sensed for energizing the drive mechanism in a direction opposite to the first direction through a distance equal to the sum of the indicated amount of actuator movement and a predetermined magnitude equal to the drive mechanism known backlash.
Claim 3
Dependent Claim
48 words
The system of claim 1 wherein the energizing means includes means for stepwise energizing the drive mechanism so that the drive mechanism moves in discrete steps, and means for detecting a change in the position of the actuator after each of the discrete steps of the drive mechanism.
Claim 4
Independent Claim
164 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechanism and actuator being intermediate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, terminating energization of the drive mechanism in response to movement of the actuator being detected, measuring the amount of movement of the actuator in response to energization of the drive mechanism, energizing the drive mechanism in a direction opposite to the first direction through a distance equal to the sum of the measured amount of actuator movement and a predetermined magnitude equal to the drive mechanism known backlash, and thereafter commencing automatic control of the drive mechanism.
Claim 5
Independent Claim
164 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechanism and actuator being intermediate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, terminating energization of the drive mechanism in response to movement of the actuator being detected, measuring the amount of movement of the actuator in response to energization of the drive mechanism, energizing the drive mechanism in a direction opposite to the first direction through a distance equal to the sum of the measured amount of actuator movement and a predetermined magnitude equal to the drive mechanism known backlash, and thereafter commencing automatic control of the drive mechanism.
Claim 6
Dependent Claim
39 words
The method of claim 3 wherein the drive mechanism is stepwise energized so that it moves in discrete steps, and detecting a change in the position of the actuator after each of the discrete steps of the drive mechanism.
Claim 7
Dependent Claim
49 words
The method of claim 3 further including the steps of terminating energization of the drive mechanism a predetermined time after initiating energization thereof even though movement of the actuator has not been sensed, and initiating automatic control of the drive mechanism in response to the predetermined time having elapsed.
Claim 8
Independent Claim
145 words
A system for compensating for the known backlash between backlash limits of a drive mechanism for an actuator comprising a position transducer for the actuator, means for energizing the drive mechanism in a first direction, a certain amount of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, means for terminating energization of the drive mechanism in the first direction in response to a change in the actuator position being sensed by the position transducer, means responsive to the position transducer for deriving an indication of the amount of movement of the actuator in response to the drive mechanism being energized, and means responsive to said movement indication amount to compensate an automatic control for the indicated amount of actuator movement and a predetermined magnitude equal to the drive mechanism known backlash, if backlash compensation is required.
Claim 9
Independent Claim
145 words
A system for compensating for the known backlash between backlash limits of a drive mechanism for an actuator comprising a position transducer for the actuator, means for energizing the drive mechanism in a first direction, a certain amount of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, means for terminating energization of the drive mechanism in the first direction in response to a change in the actuator position being sensed by the position transducer, means responsive to the position transducer for deriving an indication of the amount of movement of the actuator in response to the drive mechanism being energized, and means responsive to said movement indication amount to compensate an automatic control for the indicated amount of actuator movement and a predetermined magnitude equal to the drive mechanism known backlash, if backlash compensation is required.
Claim 10
Dependent Claim
48 words
The system of claim 6 wherein the energizing means includes means for stepwise energizing the drive mechanism so that the drive mechanism moves in discrete steps, and means for detecting a change in the position of the actuator after each of the discrete steps of the drive mechanism.
Claim 11
Independent Claim
153 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechansim and actuator being indeterminate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of backlash, terminating energization of the drive mechanism in response to movement of the actuator being detected, measuring the amount of initial movement of the actuator in response to energization of the drive mechanism, compensating for the measured magnitude of the initial movement of said actuator and a predetermined magnitude equal to the drive mechanism known backlash, if backlash compensation is required for automatic control of the drive mechanism.
Claim 12
Independent Claim
153 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechansim and actuator being indeterminate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of backlash, terminating energization of the drive mechanism in response to movement of the actuator being detected, measuring the amount of initial movement of the actuator in response to energization of the drive mechanism, compensating for the measured magnitude of the initial movement of said actuator and a predetermined magnitude equal to the drive mechanism known backlash, if backlash compensation is required for automatic control of the drive mechanism.
Claim 13
Dependent Claim
49 words
The method of claim 8 further including the steps of terminating energization of the drive mechanism a predetermined time after initiating energization thereof even though movement of the actuator has not been sensed, and initiating automatic control of the drive mechanism in response to the predetermined time having elapsed.
Claim 14
Independent Claim
133 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechanism and actuator being indeterminate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, terminating energization of the drive mechanism in response to movement of the actuating being detected, energizing the drive mechanism in a direction opposite to the first direction through a distance determined by the drive mechanism known backlash, and thereafter commencing automatic control of the drive mechanism.
Claim 15
Independent Claim
133 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechanism and actuator being indeterminate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of the backlash, terminating energization of the drive mechanism in response to movement of the actuating being detected, energizing the drive mechanism in a direction opposite to the first direction through a distance determined by the drive mechanism known backlash, and thereafter commencing automatic control of the drive mechanism.
Claim 16
Independent Claim
119 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechanism and actuator being indeterminate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of backlash, terminating energization of the drive mechanism in response to movement of the actuator being detected, and compensating for the known backlash, if backlash compensation is required for automatic control of the drive mechanism.
Claim 17
Independent Claim
119 words
A method of changing the operation of a drive mechanism for an actuator from manual to automatic control in response to a command signal, said mechanism having a known backlash between backlash limits, the extent of the backlash between the mechanism and actuator being indeterminate when the change is made, comprising the steps of energizing the drive mechanism in a first direction in response to the command signal, some of the energization of the drive mechanism not being necessarily coupled to the actuator because of backlash, terminating energization of the drive mechanism in response to movement of the actuator being detected, and compensating for the known backlash, if backlash compensation is required for automatic control of the drive mechanism.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1980-08-15 | 1981-02-14 | 1981-08-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1984-08-15 | 1985-02-14 | 1985-08-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1988-08-15 | 1989-02-14 | 1989-08-16 | $7700.00 | Window Closed / Lapsed |