US 6,495,983 B1 · Integrated closed-loop programmable motor assembly

Abstract

An integrated, closed-loop programmable motor assembly (10) consisting of a bi-directional motor (12), a motor-shaft encoder (24), a rotation decoder (42), a microcontroller (64) and a motor drive circuit (70). In a typical application, the electric motor (12) is first programmed by placing the assembly (10) in a record mode and then rotating the motor shaft (14) to describe a desired motion. The motor shaft (14) can be made to rotate any amount, in any direction, and for any period of time. During the record mode, digital data corresponding to the motor shaft rotation is read from the motor shaft encoder (24) to the rotation decoder (42) and is subsequently stored in the memory circuit of the microcontroller (64). This data is recorded time synchronous, based on the time pulse produced by a time pulse generator (48). When the assembly (10) is placed in the playback mode, the stored position data is synchronously read by the microcontroller (64) via the rotation decoder (42), and the motor (12) rotates to reproduce the rotational data manually inserted during the record mode.

Claims23

Dependent claims

An integrated, closed-loop programmable motor assembly comprising:

a) a bi-directional electric motor which operates in a record mode and in a playback mode, wherein said motor includes a motor shaft that is connected to a load and to a motor-shaft encoder, wherein when said motor is operated in the record mode the motor shaft is manually rotated, which allows said motor-shaft encoder to produce an encoder digital data signal corresponding to the rotational speed and angular displacement of the motor shaft,
b) a rotation decoder which is applied the encoded digital signal from said motor shaft encoder and produces a decoded digital signal corresponding to the rotational speed and angular displacement of the motor shaft, and
c) a microcontroller having an internal memory, wherein when said assembly is placed in the record mode, the decoded digital signal is applied and stored in the internal memory, wherein when said assembly is placed in the playback mode, said microcontroller produces a motor drive circuit that is applied to a motor drive circuit which produces a motor interface signal which is applied to and allows said motor to automatically duplicate the speed and angular displacement of the motor shaft produced during the record mode.

An integrated closed-loop programmable motor assembly comprising:

a) a bi-directional electric motor which operates in either a record mode or in a playback mode, wherein said motor includes a motor shaft that is connected to a load,
b) a motor shaft encoder having means for being attached to the motor shaft, wherein when said motor is operated in the record mode said encoder produces an encoded digital signal corresponding to the rotational speed and angular displacement of the motor shaft,
c) a rotation decoder which receives the encoded digital signal from said motor shaft encoder and produces a decoded digital signal corresponding to the rotational speed and angular displacement of the motor shaft,
d) a time-pulse generator having means for controlling the precise timing sequence of said assembly, wherein said generator produces a timed clock signal,
e) a memory circuit having means for storing the speed and rotational history of the motor shaft, wherein said circuit produces an input/output data signal,
f) a microcontroller having means for controlling the operation of said system, wherein said microcontroller is applied:
(1) the decoded digital signal from said rotation decoder which corresponds to the rotational speed and angular displacement of the motor shaft,
(2) the timed lock signal from said time pulse generator, and
(3) the input/output data signal from said memory circuit, wherein said microcontroller produces an address signal and a read/write signal that are applied to the memory circuit, wherein when said assembly is in the playback mode said microcontroller produces a motor drive signal,
g) a motor drive circuit having means for processing the motor drive signal and producing a motor interface signal which allows said motor to automatically duplicate the rotational speed and angular displacement of the motor shaft produced during the record mode,
h) an assembly control circuit connected to said microcontroller via a cable assembly, wherein said circuit allows an operator to access and control the operation of said assembly, and
i) a power source having means for producing a regulated voltage to operate said assembly.

9 more elements

An integrated closed-loop programmable motor assembly comprising:

a) a bi-directional d-c motor which operates in a record mode and in a playback mode, wherein said motor includes a motor shaft that is connected to a load,
b) a motor shaft encoder comprising:
(1) an optically coded disk that is attached to the motor shaft, and
(2) a stationary optical pick-up that reads the output of the optically coded disk and produces an encoded digital signal corresponding to the rotational speed and angular displacement of the motor shaft,
c) a rotational decoder comprising a set of logic elements which receive and process the encoded digital signal from said stationary optical pick-up and produces a decoded digital signal corresponding to the rotational speed and angular displacement of the motor shaft,
d) a time pulse generator which comprises a crystal controlled oscillator that produces a timed clock signal which controls the precise timing sequence of said assembly,
e) a memory circuit comprising a Random Access Memory (RAM) having means for storing the speed and rotational history of the motor shaft, wherein said circuit produces an input/output data signal,
f) a microcontroller having means for controlling the operation of said system, wherein said microcontroller is applied:
(1) the decoded digital signal is from said rotation decoder which corresponded to the rotational speed and angular displacement of the motor shaft,
(2) the timed clock signal from said time pulse generator, and
(3) the input/output data signal from said memory circuit, wherein said microcontroller produces an address signal and a read/write signal that are applied to said memory circuit, wherin when said assembly is in the playback mode said microcontroller produces a motor drive signal,
g) a motor drive circuit comprised of an H-bridge circuit incorporating series pass elements which control the polarity of a motor interface signal which is applied to and allows said motor to automatically duplicate the rotational speed and angular displacement of the motor shaft produced during the record mode,
h) an assembly control circuit connected to said microcontroller via a cable assembly, wherein said circuit having a control panel which includes a set of switches and indicators that assist an operator to control the operation of said assembly, and
i) a power source having means for producing the required power to operate said assembly.

11 more elements

Dependencies are inferred from the claim text.

Integrated closed-loop programmable motor assembly

Life of this patent

Integrated closed-loop programmable motor assembly

Life of this patent

Abstract

Claims23