Automatic positioner with nonlinear drive

• US 4,851,749 A
• Filed: 12/10/1987
• Issued: 07/25/1989
• Est. Priority Date: 12/10/1987
• Status: Expired due to Term

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: General Dynamics Corporation
• Inventors: Forrester, Lester L.
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): BERGMANN, SAUL
• Application Number:
  US07/131,472
• Time in Patent Office: 593 Days
• Field of Search: 318/568, 318/630
• US Class Current: 318/568.11
• CPC Class Codes: G05B 19/238 the positional error is only used to control speed in steps according to distance left, or to give a stop signal when error reaches zero
• CPC Class Codes: G05B 2219/35232 Bcd
• CPC Class Codes: G05B 2219/42212 Rotation over, selection of smallest, shortest angle, distance
• CPC Class Codes: G05B 2219/43194 Speed steps, switch over as function of position
• CPC Class Codes: G05B 2219/45083 Manipulators, robot
• CPC Class Codes: G05B 2219/49285 Linear control rotating movement kept constant

Abstract

A motor driven mechanical positioner is provided which will position a movable arm to any one of 840 discrete angular positions. A total angular range of +/-42° can be covered in 0.1° increments. Electronic circuitry controls the nonlinear drive mechanism. A drive shaft wheel has six evenly spaced holes through which light from an IR LED is allowed to shine on a phototransistor placed on the other side of the wheel. As a result of the intermittent light striking the phototransistor, six clock pulses are generated for every revolution of the drive shaft. A desired angular position is entered into the electronics via thumb wheel BCD switches. The BCD information from the switches is transformed into binary information to address EPROMs. For each possible binary address representative of a desired angular position, the selected EPROMs output binary data that is representative of the clock pulse count for that particular angular position. In order to compensate for the nonlinearity of the drive mechanism, the clock pulse count is incremented at a nonlinear rate as the angular position is increased. Additional circuitry in the automatic positioner senses when the mechanism is within a preset distance from where it should be, and when this occurs a presettable slow drive speed is implemented to minimize overshoot.

Claims

1. An automatic angular positioner comprising:

a frame;

an arm having one end pivotably attached to said frame;

reference sensing means coupled between the frame and a movable portion of the arm to signal the presence of the arm in a 0°

reference position;

reversible drive means slidably coupled to said arm at a position displaced from said one end; and

electronic control means for controlling said drive means in response to manually and automatically produced signals compared with signals from the reference sensing means to develop a selected angular position of said arm relative to said reference position.

2. The angular positioner of claim 1 in which said electronic control means comprise:

input means for setting a desired angular position;

clock pulse generating means for generating a total number of pulses corresponding to how far said arm has moved from reference position on its way toward said desired position;

counting means for counting pulses generated by said pulse generating means;

registering means for keeping a current clock pulse count;

translation means for translating said setting of said input means into a corresponding clock pulse count;

comparing means for comparing said corresponding clock pulse count with said current clock pulse count; and

means for shutting off said drive means when said current clock pulse count is determined by said comparing means to be equal to said corresponding clock pulse count.

3. The angular positioner of claim 2 further comprising a sensing mechanism that produces an output signal when said arm is within a predetermined distance of a position set on said input means;

and speed control means responsive to said sensing mechanism output signal to reduce the speed of said drive means.

4. The angular positioner of claim 2 wherein said input means comprise binary coded decimal thumb wheel switches and said translation means comprise means for transforming the binary coded decimal information from said thumb wheel switches into binary addresses, and further including a plurality of EPROMs storing clock pulse count data in locations addressed by said binary addresses provided by said transforming means.

5. The positioner of claim 1 wherein said reversible drive means comprise:

a motor having a rotatable drive shaft with a threaded portion, a block which moves on said threaded portion of said drive shaft, and a pin attached to said block, slidably engaged in a slot in said arm.

6. The positioner of claim 5 further comprising:

a drive wheel mounted concentrically on said motor shaft, having a plurality of equally spaced holes therethrough along a circumference;

a light source mounted in a fixed position to one side of said circumference of said drive wheel;

a light detector mounted on the other side of said drive wheel opposite said light source; and

a pulse-producing circuit electrically connected to said light source and to said light detector.

7. The positioner of claim 6 further comprising:

a fixed dial attached to said frame, said dial having first and second adjacent light detectors mounted thereon;

first and second light sources mounted on said arm and spaced apart by the same amount as said first and second detectors, said light sources facing said light detectors; and

a zero-position pulse-generating circuit electrically connected to said first and second light sources and also to said first and second light detectors to provide a signal output.

8. The positioner of claim 6 wherein said electronic control means comprise:

motor control means;

first manually settable binary coded decimal switch;

second manually settable binary coded decimal switch;

third manually settable binary coded decimal switch;

decoder means for decoding the binary coded decimal outputs of said first, second, and third binary coded decimal switches;

a plurality of EPROMs for storing clock pulse count data in locations addressed by the binary information from said decoder means;

a "Go to" pushbutton for strobing an address into said EPROMs;

an AT counter connected to an output of said pulse-producing circuit and resettable to zero by said output of said zero-position pulse generating circuit;

a position magnitude comparator connected to an output of said AT counter and to the outputs of said EPROMs;

a "Go to" one-shot connected to said AT counter;

a plurality of exclusive or gates;

a "slow" dip switch on which a presettable number is present;

a motor relay connected to said motor; and

a HEX display.