CN103427539A - Linear actuator - Google Patents
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- CN103427539A CN103427539A CN2013103559408A CN201310355940A CN103427539A CN 103427539 A CN103427539 A CN 103427539A CN 2013103559408 A CN2013103559408 A CN 2013103559408A CN 201310355940 A CN201310355940 A CN 201310355940A CN 103427539 A CN103427539 A CN 103427539A
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- position sensor
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- linear actuator
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Abstract
A linear actuator comprises a mandrel, a mandrel nut, a speed changer, a motor and an actuating component. The actuating component linearly moves by interaction of the mandrel and the mandrel nut which are driven by the motor through the speed changer. The relative position of the actuating component between the mandrel and the mandrel nut is determined by an absolute rotation position sensor and a counter. The counter keeps recording the amount of underflow/overflow generated by the absolute rotation position sensor. The position is determined by combining the value of the absolute rotation position sensor with the count of the counter.
Description
The application is to be dividing an application of July 30, application number in 2010 are 201080069294.3, denomination of invention is " linear actuator " Chinese invention patent application the applying date.
Technical field
The present invention relates to linear actuator, relate to especially by motor-driven linear actuator, particularly determine the position of the actuation mean of linear actuator.
Background technology
When replacement rotatablely moves, while needing controlled linear movement, usually use linear actuator.One of them use of linear actuator is can Remote Open and close window.The ventilating window of green house for example.Used pneumatic and hydraulic actuator because they natural be linear.Pneumatic and hydraulic actuator has many shortcomings, and energy efficiency is one, and Here it is why for some time towards being changed by motor-driven linear actuator.
For the position of the actuation mean of determining linear actuator, linear actuator is provided with position transducer usually.The potentiometer of rotation before using.Due to the mechanical property of potentiometer, they can wear and tear, and have therefore reduced the reliability of the linear actuator that uses them.Modern linear actuator more may be used tired opposing technology, such as: semiconductor hall sensor, it is noncontacting pickup.U.S. Patent application US2009/0091287 has put down in writing the linear actuator that utilizes Hall element.Unfortunately, the system of suggestion needs transducer and microprocessor always to need to activate.Therefore, at this, seem, aspect the position of the actuation mean of determining linear actuator, improved space is arranged.
Summary of the invention
Target of the present invention is to limit the position of a kind of method and apparatus with the actuation mean of determining linear actuator.
Aforementioned target realizes by the use linear actuator according to the present invention, described linear actuator comprises axle, the axle nut, speed changer, motor and actuation member, it is arranged to the interaction linear ground motion actuation member by axle and axle nut, and described interaction is driven by speed changer by motor.Actuation member is moved between first end stopper section and the second end stopper section, defines complete stroke.The position of actuation member, the relative position between axle and axle nut is determined by the absolute rotational position sensor sum counter.The coupling of the rotating part of absolute rotational position sensor and linear actuator and during stroke fully underflow/overflow (under-flow/over-flow) at least one times; The anglec of rotation namely, by this anglec of rotation, absolute rotational position sensor can determine that this angle is less than the complete anglec of rotation of rotating part during full stroke.Therefore, during full stroke, absolute rotational position sensor meeting underflow, namely its output valve from the expression minimum angles is to the output valve that means maximum angle at least one times, perhaps can overflow, namely its output valve from the expression maximum angle to the output valve that means minimum angles at least one times.Counter remains on the record of the actuation member underflow that between moving period, absolute rotational position sensor produces and the quantity of overflowing.Determined position from the value of absolute rotational position sensor with from the combination of the counting of counter.
Aforementioned target further obtains by linear actuator according to the present invention, and described linear actuator comprises: motor, speed changer, axle, axle nut, actuation member and control unit.Motor drives actuation member motion linearly between first end stopper section and the second end stopper section by the interaction between speed changer and axle and axle nut.According to the present invention, in order to determine the position of actuation member, control unit comprises that output means the absolute rotational position sensor of the value of angle.This numerical value can be angle or the numerical value that just in time means angle, for example 10 or 12 digital bits.Control unit further comprises the counter that keeps counting.Absolute rotational position sensor and linear actuator are coupled as follows, in actuation member, between first end stopper section and the second end stopper section between moving period, the anglec of rotation that absolute rotational position sensor can provide absolute value is less than the anglec of rotation that absolute rotational position sensor bears.This has caused between this moving period between end stop, the underflow of the value of absolute rotational position sensor or overflow at least one times.Counter is arranged in counting and keeps the underflow of described value and the record overflowed.Therefore, the combination of the counting of the value sum counter of absolute rotational position sensor has determined the position of actuation member.Absolute rotational position sensor can be the absolute rotational position sensor of whole circle or circle segment.Control unit further comprises permanent memory.Control unit then is set to when linear actuator is closed or as a kind of mode that guarantees to keep the record of counting, when the movement rate of the actuation member by absolute rotational position sensor indication falls into predetermined restriction when following, the counting of memory counter in permanent memory.This is closed can be by order or by from linear actuator, removing electric power.
Control unit can also compatibly be configured to when closing in certain embodiments, when the counting of counter is stored, when the movement rate of the actuation member by absolute rotational position sensor indication is fallen predetermined restriction when following, the also counting of memory counter in permanent memory.In this case, the inertia of system has kept the motion of actuation member after motor cuts out/remove electric power.
If embodiment has comprised permanent memory, so except stored count, control unit can be arranged as the value of storage absolute rotational position sensor in permanent memory simultaneously.This can follow and allow in certain embodiments control unit to be arranged as enforcement inspection during the linear actuator energising, thereby determine whether the storing value of the absolute rotational position sensor in permanent memory and the value of absolute rotational position sensor when switching on there are differences, if there are differences, then determine whether that described difference is in predetermined restriction.In the down periods, whether the actuation member of linear actuator moves, if motion has moved how many.Detectable motion is by the restriction of the scope of absolute rotational position sensor because down periods/when removing electric power, counter is not updated.
In certain embodiments, control unit can comprise capacitor or battery with provide energy for the counting of memory counter and the value of storing possibly absolute rotational position sensor to permanent memory.Extra energy provides at least the possibility of the counting of memory counter and the possibility that can measure and store the value of absolute rotational position sensor, even when all external power sources are removed.
Also compatibly arrange that control unit is to determine the end stop of linear actuator.This by the both direction drive motors until absolute rotational position sensor indication actuation member no longer move and be achieved.The counting of usage counter and the value of absolute rotational position sensor.Compatibly, during end stop is determined, the moment of torsion that control unit is arranged as to limit/level of power drive motors.The preset distance place that control unit preferably was arranged as before the position by the absolute rotational position sensor indication determines end stop.When absolute rotational position sensor indicates end stop to arrive by the disappearance of numerical value change, motor reversal is until absolute rotational position sensor starts the value of exporting change so, and its indication actuation member is setting in motion.This position can be used as end stop, or as even further returning to the position of pulling back of predetermined quantity.
By absolute rotational position sensor, control unit can be arranged as when actuator be can't help the motor driving, determines whether the motion of actuation member.If while determining that even actuator is not driven, there is motion, then can produce the active that can be actuated to resist this motion and therefore produce this motion with communicate by letter warning message and/or motor and stop.
By using the absolute rotational position sensor combined with stored count in permanent memory, according to linear actuator of the present invention can be calibrated and check and then be stored/in fact endless time, according to linear actuator of the present invention, can be there is no electric power, thereby because it not to have to rely on battery or another power supply to keep continuously movable not the losing of transducer and microprocessor to calibrate or other setting.
Other advantage of the present invention will become obvious from following detailed description.
The accompanying drawing explanation
In order to explain and hard-core purpose, the present invention illustrates more details now with reference to accompanying drawing.
Fig. 1 shows the view according to linear actuator of the present invention unit;
Fig. 2 shows the cross section according to the part of linear actuator of the present invention unit;
Fig. 3 shows the functional block diagram according to controller of the present invention and absolute position transducer;
Fig. 4 A-4C shows dissimilar absolute rotational position sensor and their output on whole circle;
Fig. 5 shows the flow chart according to the basic function of absolute position transducer of the present invention;
Fig. 6 shows the flow chart had according to the optional inspection of the linear actuator of absolute position transducer of the present invention;
Fig. 7 shows the definite flow chart of optional actual end stop had according to the linear actuator of absolute position transducer of the present invention.
Embodiment
For the present invention is described, some examples that it uses now will explanation in Fig. 1 to 7.
Fig. 1 shows the view according to linear actuator 100 of the present invention.Linear actuator 100 comprises the motor 114 with speed changer 112 couplings, thereby speed changer 112 then is coupled, therefore axle and axle nut apparatus drive actuating rod/element 111 linearly.In this example, the axle and the axle nut apparatus that by axle outer tube 110, are covered are converted to the linear movement of actuating rod/element 111 by rotatablely moving of motor 114 and speed changer 112.The type that depends on linear actuator, or axle or axle nut drive/are coupled with speed changer by speed changer.
In certain embodiments, control electronic unit 116 and can comprise that the numerical value for changing absolute rotational position sensor is output as the circuit of the linear position of actuating rod/element 111.Usually do not need the digital value of location aware, but for example only when arriving end stop.
Fig. 2 shows the part according to linear actuator of the present invention unit, has the lid of the control electronic unit removed, and has therefore shown that circuit board 217, circuit board 217 comprise that circuit 256 is to determine the position of rotation of absolute rotational position sensor 252,254.Absolute rotational position sensor 252,254 is compatibly whole circle or circle segment type and is not preferably the multi-turn type, because these are more expensive and optional according to the present invention.When the rotating part 213 of absolute rotational position sensor 252,254 couplings can be the multi-turn type, circuit 256 further comprises the quantity of counter with the overflow/underflow of counting absolute rotational position sensor 252,254 so.Absolute rotational position sensor 252,254 can mechanically be coupled to rotating part 213, such as the rotor of motor, and the gear of speed changer 212 or axle, or couple directly to axle or the axle nut 213 of linear actuator.Preferably be coupled absolute rotational position sensor to axle/screw, rather than another part of motor or speed changer, therefore measure and do not stand any play in transmission mechanism.It even can proofread and correct the transmission mechanism play.
Absolute rotational position sensor compatibly comprises 252,254, rotating part 252 of two parts and a standing part.The rotating part 252 of absolute rotational position sensor is compatibly magnet or magnet ring, and it is arranged on directly or indirectly, is coupled to the rotating part of linear actuator, such as axle or axle nut.The non-rotating part 254 of absolute position transducer, be compatibly hall effect sensor, and it is arranged near the rotating part 252 of absolute position transducer, compatibly on circuit board or be coupled to circuit board.
Finally, setting device passes through motor to transmit electric power 219.
Fig. 3 shows according to controller 360 of the present invention, absolute rotational position sensor 350, and around the functional block diagram of circuit.At this, supply of electric power line 340 will be arranged, it was conditioned and controlled 348 before as power supply 349, being supplied to the motor (not shown).For motor, the control signal 364 that comes from controller 360 has determined how control circuit 348 will regulate supply of electric power 340.Motor can be controlled to determine end stop, provides low electric power approaching the end stop place, determines the direction of operation and is provided the safety function such as overload protection.According to the present invention, end stop is determined and overload protection carries out in conjunction with absolute rotational position sensor 350.If changed according to the movement rate of absolute rotational position sensor 350 for the electric power of giving determined number, this may be to arrive the indication of end stop between the end stop alignment epoch; Perhaps, during normal operations, if the not close end stop of linear actuator, this may be to increase loaded indication.Also possibly, when actuator is not driven, detect any deviation in mechanical system.If motion detected, or can produce and send warning/fault message and/or motor can be actuated to count the motion that this is not expected, that is, and as initiatively stopping.
Electronic circuit is supplied with adjuster 343 by electric power and is provided the electric power through overregulating.Adjuster 343 compatibly has non-firm power 358, and it comprises for example electric capacity or battery.Non-firm power 358 for guaranteeing even in the situation that not main electric power 340, controller 360, permanent memory 370 and absolute rotational position sensor 350 have enough electric power to complete bolt down procedure.Bolt down procedure normally comprises storing closes counting and possible to close numerical value in permanent memory 370.
Preferably, controller 360, such as microcontroller or ASIC, be connected to control bus or network by one or more control circuit 362.This control network can be followed the linear actuator of compatibly controlling more than.
Fig. 4 A, 4B, 4C shows dissimilar absolute rotational position sensor and their output on the whole circle of rotating element, and rotating element is connected with absolute rotational position sensor.Accompanying drawing shows the absolute rotational position sensor output 405 associated with the anglec of rotation 407, has indicated there a whole circle.Fig. 4 A shows has the absolute rotational position sensor that whole circle 470 is clearly exported.Fig. 4 B shows has the absolute rotational position sensor that 1/3rd whole circles 473,474,475 are clearly exported.Last Fig. 4 C shows to have and is less than the absolute rotational position sensor that whole circle 478,479 is clearly exported.Because also use underflow/overflow counting according to linear actuator of the present invention, whether absolute rotational position sensor has that whole circle or circle segment clearly export is all no problem.In Fig. 4 B, show and overflow 481 when output valve 405 represents that from maximum angle minimum angles represents, and also show the underflow 483 when output valve represents that from minimum angles maximum angle represents.
It is desirable to use the multi-turn absolute rotational position sensor, it has the more number of turns of the number of turns that can rotate than the rotating member of measuring during the whole stroke of actuation member.Yet, use the present invention with the restriction absolute rotational position sensor of being combined with overflow/underflow counter, provided cheap and reliable solution.Can determine in the down periods according to linear actuator of the present invention whether the motion of actuation member is arranged.Absolute position transducer be worth preserving and to be restricted in admissible/detectable scope that moves through absolute rotational position sensor of down periods.In the down periods, can detect, detectable motion, therefore admissible motion is to add/subtract half of the scope of absolute rotational position sensor.When closing linear actuator, solution according to the present invention does not rely on supplied with any electric power.Only the more high precision position that can obtain the actual place of actuation member when stopping need to being closed during breaking in rank.
Fig. 5 shows the flow chart according to the basic function of absolute position transducer of the present invention.In first step 510, determine whether to exist rotation.In second step 520, if rotation is arranged, determine whether still in the scope of absolute rotational position sensor, or whether have the overflow/underflow of transducer output.In third step 530, if determine overflow/underflow of existence, counter is correspondingly adjusted, if exist, overflows, and counting adds one, if there is underflow, counting subtracts one.In the 4th step 540, determine whether to exist power loss/close.In the 5th step 550, if there is power loss/close, counting is stored in permanent memory.Selectively, in the 6th step 560, if there is power loss/close, the absolute rotational position sensor value also is stored in permanent memory so.
Fig. 6 shows the flow chart had according to the optional inspection of the linear actuator of absolute position transducer of the present invention.In first step 600, determine whether to have power supply, if having, then carry out this program/process.In second step 610, be extracted in the counting of storing in permanent memory, counter uses this count update.In third step 620, be extracted in the value of the absolute rotational position sensor of storing in permanent memory.In the 4th step 630, obtain/determine the currency of absolute rotational position sensor.In the 5th step 640, definite currency of the storing value of extraction and absolute rotational position sensor compares, and to determine, is closing or there is no whether an overflow/underflow of down periods.In the 6th step 650, if determine overflow/underflow of existence, then counter is correspondingly upgraded, if exist and overflow, counting adds 1, if there is underflow, counting subtracts 1.In the 7th step 660, the storing value of extraction and definite currency compare, if this difference is less than the first scheduled volume, then this program/process is terminated, and there is no the action of further the 11 step 699.If this difference is equal to, or greater than the first scheduled volume, then this process continues the 8th step 670, and the storing value wherein extracted compares with the definite currency that is associated with the second scheduled volume.If determine that difference is less than the second scheduled volume, then, in the 9th step 680, carry out alerts action.If determine that difference is equal to, or greater than the second scheduled volume, then, in the tenth step 690, carry out the error action.This error action can comprise again proofreaies and correct.In the 11 step 699, after power supply, carry out further process.
Fig. 7 shows the definite flow chart of optional actual end stop had according to the linear actuator of absolute position transducer of the present invention.In first step 705, determined whether the first power supply or again proofreaied and correct, if exist, then carry out this program/process.In second step 710, motor electric power is set to low/corrected value.In third step 715, motor/linear actuator is set as turning round along first direction.In the 4th step 720, determine whether that absolute rotational position sensor has recorded motion.In the 5th step 725, when definite motion has stopped, motor stops.In the 6th step 730, determine the value of counting and the absolute rotational position sensor of counter.In the 7th step 735, the counting that the first end stopper section is set to by absolute rotational position sensor value sum counter deducts the determined position of scheduled volume.In the 8th step 740, motor/linear actuator is set as moving along second direction.In the 9th step 745, determine whether that absolute rotational position sensor has recorded motion.In the tenth step 750, if determine that motion stops, then motor stops.In the 11 step 755, the counting of counter is read and the value of absolute rotational position sensor is read.In the 12 step 760, the second end stopper section is set to by the absolute rotational position sensor sum counter and deducts the determined position of scheduled volume.In the 13 step 765, motor electric power is set to normally/rated value.The 14 quit a program/process of step 770.
The invention is not restricted to the embodiments described, but can in the scope of subsidiary claim, change.
Fig. 1 shows the view according to linear actuator of the present invention;
100 according to linear actuator of the present invention
110 axle outer tubes
111 actuating rods, inner tube
112 speed changers
114 motors
116 control electronic unit
118 connectors, electric power/control
150 absolute rotational position sensors
Fig. 2 shows the cross section according to the part of linear actuator of the present invention unit;
212 speed changers
213 are coupled to absolute position transducer
217 circuit boards
218 electric power/control connection device
219 with the connector of motor
The first of 252 absolute position transducers, be applicable to earth magnetism or magnet ring, and it is directly installed or indirectly is mounted to, and is coupled to the rotating part of linear actuator, such as axle or nut
The second portion of 254 absolute position transducers, hall effect sensor compatibly, it is arranged near the first of absolute position transducer, compatibly on circuit board or be coupled to circuit board
256 determine the circuit of position of rotation, comprise the number of counter with the overflow/underflow of counting absolute rotational position sensor, and the memory of counting when being stored in power-off
Thereby 258 guarantee to exist enough electric power with stored count when linear actuator is closed such as the electrical power storage of capacitor/battery
Fig. 3 shows the functional block diagram according to controller of the present invention and absolute rotational position sensor;
340 electric power supply lines
343 electric power for circuit are supplied with adjuster
The electric power of 345 adjustings for electronic circuit is supplied with
348 control circuits for motor electric power
349 electric power to motor
350 absolute rotational position sensors
358 power storage, such as capacitor or battery, in the linear actuator down periods, for to electronic circuit, supplying electric power
360 controllers, such as microcontroller or ASIC (application specific integrated circuit)
362 optional control signal wires
364 come from the control signal of controller to control the circuit for motor
370 memories, it is for the counting of the overflow/underflow at down periods storage absolute rotational position sensor
Fig. 4 A, 4B and 4C show dissimilar absolute rotational position sensor and their output on whole circle.
405 absolute rotational position sensor outputs
407 position of rotation at speed changer central shaft/nut/rotor/gear
The 409 whole circles at speed changer central shaft/nut/rotor/gear, speed changer and absolute rotational position sensor coupling
The whole circle output of 470 1 whole circle absolute rotational position sensors
The first gamut output of 473 3/part circle absolute rotational position sensor
The second gamut output of 474 3/part circle absolute rotational position sensor
The 3rd gamut output of 475 3/part circle absolute rotational position sensor
The first gamut output of 478 circle segment absolute rotational position sensors
The second gamut output of 479 circle segment absolute rotational position sensors starts
Fig. 5 shows the flow chart according to the basic function of absolute position transducer of the present invention
Do 510 rotate?
If 520 exist rotation, whether in the scope of absolute rotational position sensor, or there is overflow/underflow
If 530 exist overflow/underflow, then correspondingly adjust counter
Do 540 exist power loss/close?
If 550 exist power loss/close, then stored count is in permanent memory
560 selectively, if there is power loss/close, then also stores the absolute rotational position sensor value
Fig. 6 shows the flow chart had according to the inspection selected of the linear actuator of absolute position transducer of the present invention.
If 600 exist power supply, then carry out this program/process
610 are extracted in the counting of storing in permanent memory, and use this count update counter
620 are extracted in the value of the absolute rotational position sensor of storing in permanent memory
630 obtain/determine the currency of absolute rotational position sensor
640 compare the storing value of extraction and currency, if difference demonstrated in the down periods, have overflow/underflow, then continue step 650, and no person continues step 660
If 650 determined and have overflow/underflow in the down periods, correspondingly adjust counter
660 compare the value of extraction and currency, if this difference is less than the first amount, then exit this program/process, not further action, otherwise continue step 670
670 compare the value of extraction and currency about the second amount
If 680 differences are less than the second amount, then carry out alerts action, can be the information of sending back to controller by communication network
If 690 differences are equal to, or greater than the second scheduled volume, then carry out the error action.Such as again proofreading and correct
699 further process after power supply
Fig. 7 shows the definite flow chart of optional actual end stop had according to the linear actuator of absolute position transducer of the present invention.
If 705 have the first power supply or again proofread and correct, then carry out this program/process
710 set motor electric power to low/corrected value
715 set motor/linear actuator turns round along first direction
720 check the motion of absolute rotational position sensor record
725 when motion has stopped, and then stops motor
730 read the counting of counter, read the value of absolute rotational position sensor
735 are set to the first end stopper section by the absolute rotational position sensor sum counter and deduct the determined position of predetermined value
740 set motor/linear actuator moves along second direction
745 check the motion of absolute rotational position record
750 stop when moving, and then stop motor
755 read the counting of counter, read the value of absolute rotational position sensor
760 are set to the second end stopper section by the absolute rotational position sensor sum counter and deduct the determined position of predetermined value
765 setting motor electric power are normal value
770 quit a program/processes
Claims (11)
1. a linear actuator, it comprises motor, speed changer, axle, the axle nut, actuation member and control unit, wherein motor drives actuation member motion linearly between first end stopper section and the second end stopper section by the interaction between speed changer and axle and axle nut, it is characterized in that: in order to determine the position of actuation member, control unit comprises the absolute rotational position sensor of exporting the value that means angle and comprises the counter that keeps counting, absolute rotational position sensor and linear actuator are coupled as follows, in actuation member between first end stopper section and the second end stopper section between moving period, the anglec of rotation that absolute rotational position sensor can provide absolute value is less than the anglec of rotation that absolute rotational position sensor bears, the value that has caused absolute rotational position sensor underflow or overflow at least one times between this moving period, and counter is arranged in counting and keeps the underflow of described value and the record overflowed, it is characterized in that, described control unit further comprises that permanent memory and described control unit are arranged as when described linear actuator is closed, the counting of memory counter in permanent memory, described control unit is arranged as when the movement rate of the actuation member by the absolute rotational position sensor indication falls into predetermined restriction, the counting of memory counter in permanent memory.
2. linear actuator according to claim 1 is characterized in that: described control unit is arranged as when the movement rate of the actuation member by the absolute rotational position sensor indication falls into predetermined restriction, the counting of memory counter in permanent memory.
3. according to the described linear actuator of any one in claim 1 to 2, it is characterized in that: described control unit is arranged as the value of storage absolute rotational position sensor in permanent memory simultaneously.
4. linear actuator according to claim 3, it is characterized in that: described control unit is arranged as during the linear actuator power supply and implements to check, with the storing value of determining the absolute rotational position sensor in permanent memory, with the value of absolute rotational position sensor when powering, whether there are differences, if there are differences, then determine whether that this difference is in predetermined restriction.
5. according to the described linear actuator of any one in claim 1 to 4, it is characterized in that: described control unit comprises that capacitor is to provide the count down to permanent memory of energy for memory counter.
6. according to the described linear actuator of any one in claim 1 to 4, it is characterized in that: described control unit comprises that battery is to provide the count down to permanent memory of energy for memory counter.
7. according to the described linear actuator of any one in claim 1 to 6, it is characterized in that: by two directions drive motors is not until absolute rotational position sensor indication actuation member is moved, described control unit is arranged as the end stop of determining linear actuator.
8. linear actuator according to claim 7 is characterized in that: during end stop is determined, and the moment of torsion that described control unit is arranged as to limit/level of power drive motors.
9. according to the described linear actuator of claim 7 or 8, it is characterized in that: the preset distance place that described control unit was arranged as before the position indicated by absolute rotational position sensor determines end stop.
10. according to the described linear actuator of any one in claim 1 to 9, it is characterized in that: by the described control unit of described absolute rotational position sensor, be arranged as when described actuator be can't help the motor driving, determine whether the motion of actuation member, if define, then produce warning message.
11. according to the described linear actuator of any one in claim 1 to 10, it is characterized in that: by the described control unit of described absolute rotational position sensor, be arranged as when described actuator be can't help the motor driving, determine whether the motion of actuation member, if define, the active that then motor is actuated to resist this motion and therefore produce motion stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310355940.8A CN103427539B (en) | 2010-07-30 | 2010-07-30 | Linear actuator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310355940.8A CN103427539B (en) | 2010-07-30 | 2010-07-30 | Linear actuator |
| CN2010800692943A CN103124862A (en) | 2010-07-30 | 2010-07-30 | Linear actuator |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010800692943A Division CN103124862A (en) | 2010-07-30 | 2010-07-30 | Linear actuator |
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| Publication Number | Publication Date |
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| CN103427539A true CN103427539A (en) | 2013-12-04 |
| CN103427539B CN103427539B (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310355940.8A Expired - Fee Related CN103427539B (en) | 2010-07-30 | 2010-07-30 | Linear actuator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113015508A (en) * | 2018-10-25 | 2021-06-22 | 利纳克有限公司 | Actuator system |
| CN113508248A (en) * | 2019-03-04 | 2021-10-15 | 利纳克有限公司 | Linear actuator system and method for setting and programming a power limit value of the actuator system |
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| CN113015508A (en) * | 2018-10-25 | 2021-06-22 | 利纳克有限公司 | Actuator system |
| CN113015508B (en) * | 2018-10-25 | 2023-05-23 | 利纳克有限公司 | Actuator system |
| CN113508248A (en) * | 2019-03-04 | 2021-10-15 | 利纳克有限公司 | Linear actuator system and method for setting and programming a power limit value of the actuator system |
| CN113508248B (en) * | 2019-03-04 | 2023-12-22 | 利纳克有限公司 | Linear actuator system and method for setting and programming a power limit value of the actuator system |
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