U.S. patent number 3,626,190 [Application Number 04/541,654] was granted by the patent office on 1971-12-07 for sample changing elevator and light sealing mechanism for scintillation counting.
This patent grant is currently assigned to Beckman Instruments, Inc.. Invention is credited to Raymond E. Cannon.
United States Patent |
3,626,190 |
Cannon |
December 7, 1971 |
**Please see images for:
( Certificate of Correction ) ** |
SAMPLE CHANGING ELEVATOR AND LIGHT SEALING MECHANISM FOR
SCINTILLATION COUNTING
Abstract
Describes a sample handling system for a liquid scintillation
counter or the like having a sinusoidal drive for a sample changer
elevator with a positively interlocked upper shutter mechanism and
a cooperating lower light seal carried by the elevator which
overlaps the lower end of the elevator passage while the shutter is
open. The mechanism is driven by a unidirectional motor.
Inventors: |
Cannon; Raymond E. (San Diego,
CA) |
Assignee: |
Beckman Instruments, Inc.
(N/A)
|
Family
ID: |
24160509 |
Appl.
No.: |
04/541,654 |
Filed: |
April 11, 1966 |
Current U.S.
Class: |
250/328 |
Current CPC
Class: |
G01T
7/08 (20130101) |
Current International
Class: |
G01T
7/08 (20060101); G01T 7/00 (20060101); G01t
001/20 (); G01t 007/02 () |
Field of
Search: |
;250/16SC,71.5
;95/61 |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
Solderholm, Lars G., "Elevator and Index Mechanism Handle Samples
in Radiation Detector," Design News, Aug. 4, 1961.
|
Primary Examiner: Borchelt; Archie R.
Assistant Examiner: Frome; Morton J.
Claims
What is claimed is:
1. In a sample changing elevator and light sealing mechanism having
an elevator shaft and table for lowering samples from a sample
conveyor through an elevator passage to a detection chamber and
returning them to the conveyor;
a unidirectional drive motor connected to said elevator shaft to
drive it in a nonlinear manner;
a rotating shutter mechanism for opening and closing a shutter at
the top of said passage,
interlocking means connecting said shutter mechanism for
intermittent actuation by said motor to only open said shutter when
said table has entered said passage at its lower end and to always
close said shutter before said table leaves said passage at its
lower end, and
a light seal cooperating with said shaft to withdraw with said
table when it leaves the lower end of said passage and to extend
from said shaft to a position overlapping the lower end of said
passage to block light from going therebetween when said table
enters or is in said passage.
2. The mechanism of claim 1 in which said unidirectional drive
motor has a motor shaft and is connected to said elevator shaft
by;
an elevator drive wheel mounted for rotation on said motor
shaft,
a drive bearing connected at a point on said elevator drive
wheel,
a guide rail having a channel therein connected to said elevator
shaft at an angle therewith, said bearing being positioned to ride
back and forth in said channel and upon linear rotation of said
elevator drive wheel to cause said elevator shaft to go up and down
in nonlinear motion.
3. The mechanism of claim 2 in which said angle is a right angle
and said nonlinear motion is sinusoidal.
4. The mechanism of claim 2 in which photocell sensing means are
positioned to cooperate with a portion of said guide rail to detect
the upper and lower extremes of traverse of said elevator shaft and
generate an elevator motor control signal.
5. The mechanism of claim 1 in which said rotating shutter
mechanism includes;
a shutter wheel connected for rotation on a shutter drive shaft at
the top of said passage,
a shutter drive wheel connected for rotation on said shutter drive
shaft and containing two sets of teeth,
and in which said interlocking means includes;
a motor shaft on said motor,
an elevator drive wheel connected for rotation on
said motor shaft,
at least one drive mechanism extending from said
elevator drive wheel followed during rotation of said
elevator drive wheel by a slot in the circumference of
said elevator drive wheel, said drive mechanism positioned
to contact a tooth in one of said sets of teeth
during rotation of said elevator drive wheel and cause
said shutter drive wheel and shutter drive shaft to
rotate by inserting a tooth from the other of said sets
of teeth into said slot to permit rotation of said
shutter drive wheel, said other set of teeth
normally coacting against said elevator drive
wheel to prevent said shutter drive wheel from
rotating.
6. The mechanism of claim 5 in which said elevator drive wheel has
two of said drive mechanisms, each formed by a pin extending from
its circumference, each followed by one of said slots, for
permitting rotation of said shutter twice during each revolution of
said elevator drive wheel, said pins and slots being positioned at
points on the circumference of said elevator drive wheel to rotate
said shutter wheel, said shutter drive shaft and said shutter drive
wheel after said table enters said passage from its lower end to
open said shutter and before said table leaves said passage from
its lower end to close said shutter.
7. The mechanism of claim 6 in which said two sets of teeth each
contain four teeth extending radially outward from said shutter
drive wheel and located 90 degrees apart around the circumference
of said shutter drive wheel, said two sets of teeth being displaced
45 degrees around the circumference of said shutter drive wheel and
axially along said shutter drive shaft, and
said shutter wheel having two holes therein located 180.degree.
apart for indexing with said elevator passage to alternately open
and close the top of said passage.
8. The mechanism of claim 1 in which said light seal is biased
against said table to withdraw with said table when it leaves the
lower end of said passage, and
said light seal is biased against the lower end of said passage to
extend from said elevator shaft overlapping the lower end of said
passage to block light from going therebetween when said table
enters or is in said passage.
9. In a sample changing elevator and light sealing mechanism having
an elevator shaft and table for lowering samples from a sample
conveyor through an elevator passage to a detection chamber and
returning them to the conveyor, a rotating shutter mechanism
including;
a shutter wheel connected for rotation on a shutter drive shaft at
the top of said passage,
a shutter drive wheel connected for rotation on said shutter drive
shaft and containing two sets of teeth,
a unidirectional drive motor having a shaft,
an elevator drive wheel having a slot in the periphery thereof and
a smooth surface over the remainder of the periphery connected for
rotation on said motor shaft,
at least one drive mechanism extending from said elevator drive
wheel followed during rotation of said elevator drive wheel by a
slot in the circumference of said elevator drive wheel, said drive
mechanism positioned to contact a tooth in one of said sets of
teeth during rotation of said elevator drive wheel and cause said
shutter drive wheel and shutter drive shaft to rotate by inserting
a tooth from the other said sets of teeth into said slot to permit
rotation of said shutter drive wheel, said other set of teeth
normally coacting against said smooth surface of said elevator
drive wheel to prevent said shutter drive wheel from rotating.
10. The mechanism of claim 9 in which said elevator drive wheel has
two of said drive mechanisms, each formed by a pin extending from
its circumference, each followed by one of said slots, for
permitting rotation of said shutter twice during each revolution of
said elevator drive wheel, said pins and slots being positioned at
points on a circumference of said elevator drive wheel to rotate
said shutter wheel, said shutter drive shaft and said shutter drive
wheel after said table enters said passage from its lower end to
open said shutter and before said table leaves said passage from
its lower end to close said shutter.
11. The mechanism of claim 10 in which said two sets of teeth each
contain four teeth extending radially outward from said shutter
drive wheel and located 90 degrees apart around the circumference
of said shutter drive wheel, said two sets of teeth being displaced
45 degrees around the circumference of said shutter drive wheel and
axially along said shutter drive shaft, and
said shutter wheel having two holes therein located 180.degree.
apart for indexing with said elevator passage to alternately open
and close the top of said passage.
12. In a sample changing elevator and light sealing mechanism
having an elevator shaft and table for lowering samples from a
sample conveyor through an elevator passage to a detection chamber
and returning them to the conveyor;
a light seal,
means biasing said light seal against said table to withdraw it
with said table when said table leaves the lower end of said
passage, and
means biasing said light seal against the lower end of said passage
to extend from said shaft overlapping the lower end of said passage
to block light from going therebetween when said table is in said
passage.
13. The mechanism of claim 12 in which said light seal is mounted
in a cup having a hole larger than said shaft centrally located in
its bottom through which said shaft moves,
said shaft is mounted for motion through an elevator guide bearing,
and
a compression spring is connected between said cup and said
elevator guide bearing to urge said seal against said table when
said table is withdrawn from said passage and to urge said seal
against the lower end of said passage, overlapping said passage,
when said table is in said passage, said seal always fitting snugly
to provide a light seal around said shaft.
14. An apparatus for scintillation counting and analogous purposes,
comprising wall means defining a counting chamber and an elongated
passage connecting said chamber with the exterior, said wall means
having a shoulder portion between the counting chamber and the
exterior, a sample platform moveable through a portion of said
passage and into said counting chamber, a shaft coupled to said
platform for positioning said platform within said passage and said
counting chamber, and a sleeve moveable about said shaft, said
sleeve having light-sealing means for engaging said shoulder
portion of said wall means.
Description
This invention relates to a sample conveying elevator and light
sealing mechanism for moving a sample vial from one vertical plane
to another from a sample conveying chain to a position in a
counting chamber, exposing the sample to photomultiplier tubes for
counting light scintillations emanating therefrom and, more
particularly, to such a mechanism in which the light sealing
mechanism and drive mechanism for the sample elevator and shutter
is simple and highly reliable in order to insure smooth operation
and that no light from outside the counting chamber will reach the
photomultiplier tubes when they are activated.
Prior art liquid scintillation counting systems first employed a
mechanism such as disclosed in U.S. Pat. No. 3,085,155, Kern et al.
in which a sample containing vial is placed on a shutter over a
photomultiplier tube. The shutter is interlocked with a cover which
is brought down over the sample to shield it from outside light and
radiation such that it is only open when the cover is down. Such a
system has the obvious disadvantage that only a single sample can
be measured at a time and requires replacement by an operator. The
mechanism is not readily susceptible to automation.
In attempting to automate a liquid scintillation counting system
such that a number of samples carried by a conveyor could be
automatically lowered into a counting chamber, the prior art also
employed a device in which a sample is first lowered by one
elevator onto a rotating disc or mechanism which will serve to
laterally transfer the sample to a second elevator. Prior to
opening a shutter to lower the sample down the second elevator, a
shutter is closed in the first elevator, then the second elevator
lowers the sample down between the photomultiplier tubes. Such an
arrangement is obviously mechanically complex and expensive.
In an attempt to further improve mechanisms for sample conveying
and light sealing, the device of U.S. Pat. No. 3,163,756, Meeder et
al. was conceived. This device employs a number of sealing rings
carried by the sample conveying elevator which cooperate with a
shutter. The shutter is closed during the period when the elevator
is down in the counting chamber. When the elevator goes up to
discharge a sample and pick up the next sample, prior to the time
the shutter opens, the sealing rings will engage the wall of the
elevator passage between the counting chamber and the conveyor,
preventing light from impinging upon the photomultiplier tubes.
This device requires that the elevator and seal be machined
accurately to fit snugly in the elevator passage and that the
elevator be driven with precision such that it does not bind upon
entering the passage.
In addition, the shaft in this device is provided with gear teeth
to drive it up and down by means of a spur gear, driven in turn by
a reversible motor. Conventional limit switches are used to sense
the up and down positions and a relatively expensive bidirectional
motor is required to drive the device. This tends to complicate the
associated electronic control because a memory or reset circuit
must be employed. The output at the elevator shaft is linear,
making acceleration and deceleration severe, tending to cause rough
operation of the elevator and undue stress on the rack and spur
gear. This is so rough that a relatively expensive shock absorbing
device has to be used in the form of two coaxial shafts, isolated
from each other by springs.
The linear motion output also requires that the elevator shaft be
braked effectively upon reaching the upper or lower limits, at
which times it is going at full speed when it contacts the limit
switch. Even the most effective braking system will allow some
amount of over-run, presenting a problem of reproducible accuracy
of positioning. Also, the type of limit switches used display an
adverse characteristic commonly termed "bounce" which means that
when the switch is actuated, the contacts make and break several
times and give several signals to the electronics which are only
looking for one signal. This requires additional circuitry to blank
out all but the first signal.
The shutter mechanism, which cooperates with the light seal on the
elevator shaft, utilizes a push-pull cable actuated by a ramp cut
into the elevator shaft, which in turn actuates the leaf shutter by
means of an actuating arm and spring return. There is no mechanical
interlock to prevent the tubes from being exposed to external light
or radiation should the shutter fail to close, which will happen
from time to time. The spring return can fail structurally or the
push-pull cable can become stiff and binding from lack of
lubrication, or become kinked, or the lever arm and shutter leaf
can bind, preventing the shutter from closing. Also, when operating
in a manual mode, the operator may put a distorted plastic vial in
the machine, or not let go of the vial soon enough, resulting in
the shutter closing on the vial.
Another approach to solving the problem of sample conveying and
light sealing in a liquid scintillation spectrometer is illustrated
in U.S. Pat. Nos. 3,188,468, Packard and 3,198,948, Olson. In this
mechanism, the elevator shaft is raised and lowered by means of a
cable, one end of which is attached to one end of the elevator
shaft. The cable is routed over an idler drum positioned very close
to the elevator, then to a motor driven pay-in, payout drum and
back over the idler drum and finally to the other end of the
elevator shaft. A reversible motor is used so that the elevator can
be made to move up or down. Position sensing is again accomplished
using limit switches.
This mechanism again necessitates the use of reversible motors with
the aforerecited disadvantages and it also has a linear output,
requiring a solution of the problems associated therewith as well
as those associated with the limit switches aforementioned.
In this mechanism, a light pipe is employed between the
photomultiplier tubes, and the seals carried by the elevator shaft
are expanded and contracted. They are contracted when passing the
light pipe so as not to rub against the pipe, and are expanded when
in the elevator passage above the light pipe. This requires the use
of a complicated actuating mechanism for the seals and again
requires accurate machining and driving of the elevator
mechanism.
This mechanism also uses a leaf shutter that moves back and forth
for the upper light seal, but it is driven differently. A length of
thin, rectangular bar stock, twisted approximately 90.degree., is
connected to the leaf shutter and is rotated by means of a hollow
tube connected to the elevator shaft by brackets. Pins positioned
in the tube allow the thin section of rectangular bar stock to pass
freely. As the tube is raised or lowered, the pins engage the
twisted portion of the rectangular bar and turn it. If a sample
vial gets in the way of the shutter, when the shutter is closing as
mentioned above, the rectangular bar could incur damage by
twisting, exposing and damaging the photomultiplier tubes.
The main purpose of the invention includes three aspects. The first
is to provide a new and improved sample changing elevator for
scintillation counting to accomplish the movement of a sample vial
from one vertical plane to another, position it accurately and
provide a signal to an electronic section when in position, moving
the sample in a smooth manner with an uncomplicated and inexpensive
mechanism. The second is to provide a timed and mechanically
interlocked light-tight shutter in the elevator passage for
cooperating with a simple sealing mechanism which closes off the
lower end of the elevator passage when the shutter is open, to
protect the photomultiplier tubes from light and yet enable the
sample vial to be inserted and withdrawn from a detector chamber.
The third is to provide an improved light sealing mechanism in
which a seal carried by the elevator shaft does not enter the
elevator passage but overlaps its lower end, reducing the amount of
machining and driving accuracy required.
These and other objects are achieved by providing a sample changing
elevator and light sealing mechanism of the type having an elevator
shaft and table for lowering samples from a sample conveyor through
an elevator passage to a detection chamber and returning them to
the conveyor, characterized by a unidirectional drive motor
connected to said elevator shaft to drive it in a nonlinear manner,
a rotating shutter mechanism for opening and closing a shutter at
the top of said passage, interlocking means connecting said shutter
mechanism for intermittent actuation by said motor to only open
said shutter when said table has entered said passage at its lower
end and to always close said shutter before said table leaves said
passage at its lower end, and a light seal cooperating with said
shaft to withdraw with said table when it leaves the lower end of
said passage and to extend from said shaft to a position
overlapping the lower end of said passage to block light from going
therebetween when said table enters or is in said passage.
The novel features which are believed to be characteristic of the
invention are set forth with particularity in the appended claims.
The invention, and further objects and advantages thereof, can best
be understood by reference to the following description and
accompanying drawings in which:
FIG. 1 is a view of a cross section through the center of a
detector housing, shutter and shutter drive wheel, elevator drive
wheel and elevator guide bearing, exposing the elevator shaft,
table and seal and shutter drive shaft and illustrating the motor
mounting bracket and unidirectional motor, of one embodiment of the
invention; and,
FIG. 2 is an isometric drawing of the elevator and shutter driving
mechanism illustrated in FIG. 1, taken in the direction A and
illustrating a photocell mounting bracket, not illustrated in FIG.
1 for purpose of clarity.
Turning now to the drawings, it can be seen that a unidirectional
motor 10 is mounted on a motor mounting bracket 11, to a lower
mounting plate 12. Motor 10 has a shaft 13, connected through a
gear box 14 to a gear motor output drive shaft 15, which serves to
drive the elevator drive wheel 16, and is positively, pin-connected
thereto. A bearing shaft 17 is mounted perpendicular to and through
drive wheel 16 at a point near its circumference for mounting a
drive bearing 18 thereon. Drive bearing 18, in turn, cooperates
with a channel in drive track 19, which is attached to the lower
end of an elevator shaft 20.
A detector housing 21 containing a detection chamber 22 is mounted
on lower mounting plate 12 and extends upwardly to conveyor
base-plate 23, over which the sample conveyor chain carrying the
sample bottles (not illustrated) rides. Such a conveyor is
illustrated more fully in a copending application entitled "Control
Tower and Method for Programming Automatic Radioactivity Measuring
System," R. E. Nather, (Beckman Docket 7D-128) filed concurrently
herewith and assigned to the assignee of the present invention.
An elevator passage 24 extends downwardly from conveyor base-plate
23 and is formed of a cylindrical tube contained in a hole in
detector housing 21. Passage 24 extends slightly down into the
detection chamber 22. An elevator access hole 25 extends downwardly
from detection chamber 22, in axial alignment with elevator passage
24, and over a hole 26 in lower mounting plate 12. An elevator
guide bearing 27 is contained in the lower portion of elevator
access hole 25, secured to detector housing 21 and having a reduced
diameter portion at its upper end to provide a relatively snug fit
to serve as a bearing surface and guide for elevator shaft 20.
Light is kept from entering the lower portion of the detection
chamber 22 by the seal 28, which may be made of wool felt and fits
snugly against elevator shaft 20, mounted on the bracket 29 to
housing 21 and bearing 27. The upper end of elevator shaft 20
contains an elevator table 30, which is a round disc having a
diameter smaller than that of elevator passage 24 and elevator
access hole 25. The disc may be screwed into the end of the
elevator shaft 20, as illustrated.
Below elevator table 30, an elevator shaft seal 31, which may be
made of a soft material such as wool felt, is mounted around the
elevator shaft 20. Seal 31 rides on the upper lip 32 of a
cup-shaped metallic member 33, which contains two other
washer-shaped seal members 34 of smaller diameter than seal 31. Cup
33 is made of metal and has a hole in the bottom through which
elevator shaft 20 extends. The elevator shaft 20 can ride through
the seals 31, 34 and cup 33 without undue friction since the hole
in the bottom of cup 33 has a slightly larger diameter than
elevator shaft 20. However, the seals cooperate with elevator shaft
20 to provide a light seal therebetween. The diameter of seal 31 is
greater than that of passage 24 but less than that of access hole
25.
A compression spring 35, in the form of a cylindrical coil, has its
lower end surrounding and fitted to the reduced diameter portion of
elevator guide bearing 27, and its upper end surrounding and fitted
to cup 33, urging it upward and, in turn, urging the seal 31
against the elevator table 30 in such a manner that when the
elevator shaft goes up through detection chamber 22 and table 30
enters passage 24, table 30 will proceed upward through passage 24
while seal 31 will engage the end of the portion of passage 24
extending down into detection chamber 22, in an overlapping manner,
will not enter passage 24, and will be urged against it by the
spring 35. The seal 31 will then keep light from coming down the
passage 24 while the elevator table 30 is in the passage 24 by
sealing from across the lower portion of passage 24 to a sliding
seal against the shaft 20.
The unidirectional motor 10 and gear box 14 together make up a 10
r.p.m. gear motor for driving the elevator drive wheel 16 at 10
r.p.m. As can be seen better, referring to FIG. 2, the bearing 18
cooperates with the channel in guide rail 19 as wheel 16 revolves,
here in a counterclockwise direction, in a manner such that at the
extremes of up and down, the guide rail 19 will be moving slowly.
The overall motion of the guide rail in the up and down direction
will be nonlinear, sinusoidal in nature, and the resulting up and
down movement of the elevator shaft 20 will be sinusoidal, such
that at the top and bottom limits of its excursion it is moving
very slowly, avoiding the aforementioned problems which are
incurred with linear motion.
In FIG. 2, a photocell assembly 36 is shown, adjustably mounted on
an upper portion of a rod 37. A second photocell assembly 38 is
adjustably mounted on the lower portion of the rod 37, the rod 37
being mounted downwardly from the lower mounting plate 12 (not
illustrated in FIG. 2). The right-hand extremity of the drive track
19 carries a flag 39 which cooperates with the upper and lower
photocell assemblies 36 and 38 when the track 19 is in its upper
and lower positions and the elevator shaft 20 is correspondingly in
its upper and lower positions, to actuate the controls (not
illustrated) for unidirectional motor 10. These photocell
assemblies 36 and 38 avoid the problems associated with the bounce
of the limit switches, aforementioned.
The upper end of housing 21 contains a shutter wheel 40, which is
pin-connected to and rotated by a shutter drive shaft 41 and
contains holes 47 therein. Holes 47 will index with the passage 24
when the shutter is to be opened to receive a sample bottle during
the time when table 30 and shaft 20 are in passage 24 and the seal
31 is closing off light at the lower end of passage 24, keeping it
out of detection chamber 22. Felt packing 48 is placed around wheel
40 to keep light from leaking around it into the passage 24.
Packing 48 has holes in it directly over passage 24. The lower end
of shutter drive shaft 41 carries a shutter drive wheel 42, pin
attached thereto.
Operation of the shutter mechanism will be better understood by
referring again to FIG. 2, in which the shutter drive shaft 41 and
wheel 42 are illustrated in more detail. Wheel 42 carries a set of
upper teeth 43 and a set of lower teeth 44. Upper teeth 43 extend
along two lines perpendicular to each other and lower teeth 44 also
extend along two lines perpendicular to each other, displaced
45.degree. around the axis of the shaft 41 from teeth 43. The teeth
43 extend outwardly over the circumference of the wheel 16 when
directed thereat and serve to engage a drive pin 45, which will
then serve to rotate the shaft 41 in a counterclockwise direction,
at the same time inserting one of the lower teeth 44 into a notch
46 in the circumference of wheel 16, which will permit shaft 41 to
turn. This will serve to rotate the shaft 41 and the shutter 40 to
place the shutter in the open position if previously closed, or in
the closed position if previously open, by rotating them
90.degree..
The drive pin 45 is positioned on the circumference of wheel 16,
together with the notch 46, at a point to actuate the shutter
mechanism when the elevator 30 has just entered or is about to
leave passage 24. As can be seen from the drawing of FIG. 1, the
table 30 is in passage 24 for over half the time of the excursion
of shaft 20, or for over half the time of the total rotation of
wheel 16. A second drive pin and notch (not illustrated) similar to
drive pin 45 and notch 46, are positioned at another point on the
circumference of wheel 16 to perform a similar function. For every
revolution of wheel 16, shaft 20 goes up and down once and a pin 45
is actuated to turn shaft 41 twice, 90.degree. each time, such that
shutter 40 turns 180.degree. for each revolution of the wheel 16.
This is why shutter 40 contains the two holes 47 rather than
one.
After the lower teeth 44 have entered the notch 46 and rotated the
shaft 41, two of them are again positioned adjacent the wheel 16
and at 45.degree. angles thereto to prevent the shaft 41 from any
further rotation until the next pin 45 and notch 46 are
encountered, thus providing a positive mechanical interlock. The
invention uses a rotary shutter rather than the reciprocating
shutter used on the other systems referred to. The interlock
mechanism is sturdy enough to stall the elevator motor 10 in the
event of a malfunction, which will prevent damage to the
photomultiplier tubes in the detection chamber 22.
It can be seen from the foregoing description that the elevator
drive wheel 16 and bearing 18, cooperating with the drive track 19,
will drive the elevator shaft 20 in a sinusoidal manner, which has
many advantages over the prior art. Also, since seal 31 overlaps
the lower portion of the passage 24 and the table 30 fits loosely
therein, the need for precision motion is relaxed. The manner of
rotating the shutter-wheel 40 is such that a positive mechanical
interlock has been provided which will override the motor 10 in the
event of a malfunction such as a bottle being jammed in the
shutter. The device of the invention also permits the use of a
relatively inexpensive unidirectional motor, which can employ much
simpler control circuitry and does not require the accurate braking
required of the bidirectional motors of the prior art, since the
elevator table 30 is moving very slowly when at the top and bottom
extremities. The use of the photocell detectors avoids the problem
of bounce associated with the limit switches employed in the prior
art, permitting further simplification of the motor control
circuitry.
Since the principles of the invention have now been made clear,
modifications which are particularly adapted for specific
situations without departing from those principles will be apparent
to those skilled in the art. The appended claims are intended to
cover such modifications as well as the subject matter described
and to only be limited by the true spirit of the invention.
* * * * *