2040 results about "Linear motor" patented technology

The utility model relates to the technical field of precise driving and positioning, and discloses a linear motor type electric screw which comprises a screw rod, a shell, a driving mechanism, a mechanism seat and a threaded pipe. The driving mechanism is arranged in a cavity defined by the shell and the mechanism base. The driving mechanism comprises a flexible hinge, piezoelectric ceramics and a pre-tightening spring. The flexible hinge comprises a first clamping jaw and a second clamping jaw. And the first clamping jaw and the second clamping jaw provide rotating force for the screw rod under the action of the piezoelectric ceramics. And the pre-tightening springs are used for applying pre-tightening force between the first clamping jaw and the screw rod and between the second clamping jaw and the screw rod. The threaded pipe is used for supporting the threaded rod and being connected with an external mechanism. According to the utility model, the piezoelectric ceramic is adopted for driving and the flexible hinge is combined, so that precise linear motion control is realized, and the touch-free adjusting device has the characteristics of high resolution, high precision and compact structure, and realizes touch-free adjustment of the optical adjusting bracket which is difficult to touch. A plurality of linear motor type electric screws are combined for use, so that two-dimensional or three-dimensional motion control can be realized.

The invention relates to a cooling structure for an ultraprecise linear motor and belongs to the technical field of linear motors. The cooling structure solves the problem of proneness to heat exchange with environment caused by high side temperature of two-side surface-mounted cooling structures of existing linear motors. The cooling structure comprises a winding supporting portion, a winding and a heat conductive portion, wherein the winding is fixed on the surface of the winding supporting portion, the heat conductive portion is arranged on the surface on the outer side and fixedly connected with the winding supporting portion, the heat conductive portion is a copper foil ring which fits the outer profile of the winding and is sleeved and fixed on the surface on the outer side of the winding, or the heat conductive portion is a copper foil heat conductive ring formed by arraying multiple copper foil sections in a dispersed manner, the copper coil heat conductive ring fits the outer profile of the winding, and each copper coil section is fixed on the surface on the outer side of the winding. The cooling structure for the ultraprecise linear motor is suitable for cooling of linear motors.

The invention relates to a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps of determining an elevation curve and a road surface type of a driving track in front of a vehicle based on image information acquired in a vehicle driving process; if the road surface type of the front driving track is a special road surface, determining whether a front axle and / or a rear axle of the vehicle is driven into a special road surface area or not according to the running parameters and the static parameters of the vehicle; under the condition that a front axle and / or a rear axle of the vehicle is driven into a special road surface area and the special road surface is a pulse disturbance road surface, the vertical movement distance of a front axle electromagnetic suspension and / or a rear axle electromagnetic suspension of the vehicle is determined based on the elevation curve and the motion parameters of the vehicle; and according to the vertical movement distance of the front axle electromagnetic suspension, a front axle linear motor of the vehicle is controlled to output first control force, and / or according to the vertical movement distance of the rear axle electromagnetic suspension, a rear axle linear motor of the vehicle is controlled to output second control force, so that adjustment of the vehicle electromagnetic suspension is achieved, and the riding comfort is improved.

The invention provides a decoupling type parallel swing platform which comprises a fixed platform, a movable platform, a first driving branch and a second driving branch, the movable platform is movably connected in the fixed platform, one end of the first driving branch and one end of the second driving branch are connected to the fixed platform, and the other end of the first driving branch and one end of the second driving branch are connected to the fixed platform. The other end of the first driving branch and the other end of the second driving branch are connected to a cross-shaped swing rod of the movable platform respectively, the PC outputs signals to a driver through a serial port to drive the first linear motor and the second linear motor to move, then the parallel-connection swing platform is driven to move, and the swing angle measuring system captures the motion swing angle of the parallel-connection swing platform and measures the swing angle of the parallel-connection swing platform. And the information is fed back to the PC to complete control. According to the parallel swing platform, structural decoupling is achieved, rotation around the X axis and rotation around the Y axis can be considered respectively, different linear motors can be controlled conveniently, the control difficulty is reduced, and the control precision is improved conveniently.

The invention relates to the technical field of machine tool debugging, and provides a linear motor machine tool installing and debugging method and a linear motor machine tool. The method comprises the steps that a basic structure of the linear motor machine tool is installed, and the basic structure comprises a machine tool body, a stand column and a cross beam body; a lead screw adjusting tool is installed between a main shaft assembly of the machine head part and the installation base, and the installation base is movably arranged on the cross beam body in the extending direction of the cross beam body; the lead screw adjusting tool is controlled to drive the spindle assembly to ascend and descend relative to the mounting base, and Z-axis precision of the machine head part is detected; and when the Z-axis precision of the machine head part does not meet the design requirement, at least one of the corresponding assembly structures between the main shaft assembly and the mounting seat, between the cross beam body and the stand column and between the stand column and the lathe bed is overhauled. According to the method disclosed by the invention, the debugging workload of debugging personnel is simplified, the debugging difficulty is reduced, ordinary technicians can conveniently and quickly debug the Z-axis precision of the machine tool, and the precision consistency of batch machine tools can be well ensured.

The invention relates to the technical field of grinding equipment, in particular to single-side grinding equipment for die steel plate surface treatment, which comprises a grinding table, a linear motor A is mounted at the top end of the grinding table, a frame body is mounted at the rotor end of the linear motor A, a linear motor B is mounted on the side surface of the frame body, and a mounting frame is mounted at the rotor end of the linear motor B; an air cylinder is fixed to the surface of the mounting frame, a shell is fixed to the output end of the air cylinder, a sliding rod is slidably arranged in the shell, a protective cover is fixed to the bottom end of the sliding rod, a rotating shaft is rotatably arranged in the protective cover, and a grinding roller is mounted on the outer wall of the rotating shaft. Through the self-adaptive compensation effect of the pressure of the grinding roller along with the curvature of the curved surface, the consistency of the grinding quality of the whole curved surface of the arc-shaped mold steel plate is effectively guaranteed, the problem of insufficient local grinding or excessive grinding caused by curvature change is avoided, and the grinding precision and the surface quality of the arc-shaped mold steel plate are improved.

The present invention relates to a linear motor, the rotor is well sealed through a sealing module when running on the stator slide rail, so that small external dust that affects the operating accuracy and stability performance of linear motor is not easy to enter the sealed space; the lubrication module communicates with the sealed space, so that the linear motor can be effectively lubricated during operation, further improving the operational accuracy and stability of the linear motor; the ball return end cap and the first chute together form a circulation loop for ball movement, the ball retaining plate fits with rotor through locating surface to improve the installation accuracy, meanwhile contact surfaces that limit balls are provided on both sides of the locating surface, so that a ball retaining plate can be used for two rows of circulation loops.

The invention relates to the technical field of data processing, in particular to a linear motor positioning precision dynamic test and analysis method, which comprises the following steps of: controlling a linear motor to perform full-stroke reciprocating constant-speed scanning, synchronous high-frequency acquisition of positions, current instructions and speed data; resampling according to a fixed position interval space to generate forward and reverse current and speed sequences; utilizing the characteristic that the friction force directions are opposite to counteract the friction component, calculating the resistance characteristic value of each position by combining the two-way speed stability weight, and constructing a resistance topographic map; the magnetic cogging effect and the mechanical anomaly are decoupled through the space gradient and the statistical deviation, and the mechanical anomaly saliency is determined; and a current feed-forward compensation table is generated and written into a driver, and a fault is marked for a saliency threshold exceeding position, so that dynamic testing and analysis of positioning precision are realized. According to the method, the resistance component is accurately separated by combining the current algebraic operation and the bidirectional speed weight, the topographic map is constructed to decouple the tooth socket and the installation abnormity, and the dynamic test precision and the diagnosis practicability are improved.

The invention discloses an underground drilling and perforating collaborative operation device and method. The underground drilling and perforating collaborative operation device comprises a screw lifting mechanism, a first clamping and centering mechanism, a drilling mechanism, a second clamping and centering mechanism and a perforating gun which are sequentially connected from top to bottom. The drilling mechanism comprises a linear motor and a plurality of drilling modules which are driven by the linear motor and arranged in series in the axial direction, and each drilling module is provided with a movable drill bit capable of drilling out in the radial direction. Perforating bullets of the perforating guns are matched with the drilling modules in number, the ejection direction of the corresponding perforating bullets is consistent with the drilling direction of the corresponding movable drill bits, and the distance between every two adjacent perforating bullets is consistent with the distance between every two adjacent movable drill bits. The adjustable drilling mechanism which is modularized and spirally provided with holes is combined with the precise clamping, centering and screw lifting mechanism, so that the spiral perforation combined operation of mechanical drilling and precise perforation is realized.

The invention discloses a rapid three-dimensional electromagnetic simulation method and verification device for a large-scale uninsulated coil, and aims to solve the problems of large calculation load, difficulty in homogenization, poor field-circuit coupling convergence and low result precision of the three-dimensional simulation of the existing large-scale uninsulated coil. The simulation method comprises the following steps: establishing a homogenized coil which does not divide specific turns, and setting anisotropic resistivity; constructing a current source area intercepted on the coil body and a free turn-to-turn resistance area connected in parallel with the current source area; applying current source excitation according to an open loop / closed loop coil; and the precision is ensured through radial grid encryption and result convergence verification. The verification device comprises a three-dimensional multi-turn verification coil, a direct current source, a multi-direction alternating external field applying module and a voltage and magnetic field measuring unit, direct current is supplied, an alternating external field is applied, and the simulation accuracy is measured and verified in real time. The method is simplified in modeling, rapid in calculation, good in convergence and high in precision, adapts to open-loop / closed-loop and single-cake / multi-cake coils, and is suitable for large uninsulated superconducting coils in rotary and linear motors, nuclear fusion equipment and the like.

The utility model discloses a high-precision prepressing alignment platform driven by a linear motor, and belongs to the technical field of display screen machining equipment. The platform is mainly composed of a Y-axis linear driving mechanism, an X-axis linear driving mechanism and a theta-axis angle driving mechanism. The Y-axis linear driving mechanism comprises a Y-axis power source and a Y-axis mover part, and is equipped with a Y-axis position sensing group and a Y-axis grating sensing group; the X-axis linear driving mechanism is arranged on the Y-axis mover part and is provided with an X-axis power source, an X-axis mover part and an X-axis grating sensing group; the theta-axis angle driving mechanism is fixed to the X-axis rotor part, a power source of the theta-axis angle driving mechanism is a DDR motor, and the theta-axis angle driving mechanism is connected with a negative pressure adsorption plate with a negative pressure channel. According to the utility model, the X axis, the Y axis and the theta axis work cooperatively to correct the angle of a product and the position in the X-Y direction. The multi-axis driving mechanism is matched with the sensing set, high-precision positioning and moving control are achieved, the structure is stable, workpiece adsorption is convenient and fast, and the problem of the requirement for prepressing precision of large and medium-sized OLED display screens is effectively solved.

A linear motor includes an armature and a field magnet that are disposed to face each other and configured to be subjected to relative movement. The armature includes a plurality of windings that are arranged along a direction of the relative movement. Each of the windings is wound around a first iron core. The field magnet includes a plurality of permanent magnets that are disposed to face both sides of the armature in a direction perpendicular to the direction of the relative movement, and are arranged along the direction of the relative movement. A ratio of a dimension of the first iron core to an arrangement pitch of the windings in the direction of the relative movement is in a range from 0.1 to 0.35.

The invention relates to the technical field of linear motors, in particular to a T-shaped mover linear motor with a self-lubricating function, which comprises a rack and a mover motor, a load platform is mounted at the top of the mover motor, and guide blocks which are symmetrically distributed are fixed on the inner wall of the load platform; guide grooves which are symmetrically distributed and matched with the guide blocks are formed in the side wall of the rack, oil storage cavities which are symmetrically distributed are formed in the load platform, oil outlet holes are formed in the guide blocks in a penetrating mode, one end of each oil outlet hole is communicated with the corresponding oil storage cavity, and an oil storage tank is arranged on one side of the rack and connected with an automatic oil supplementing mechanism. Wherein an oil supply mechanism is arranged in the oil storage cavity; according to the linear motor, in the reciprocating motion process of the rotor, the oil supply mechanism can continuously discharge the lubricant in the oil storage cavity from the oil outlet hole and uniformly smear the lubricant on the surface of the guide groove to achieve self-lubrication, the automatic oil supplementing mechanism automatically supplements the lubricant to the oil storage cavity, manual intervention is not needed in the whole process, and the stability and maintenance-free performance of equipment operation are remarkably improved.

The invention relates to the technical field of crack detection, and discloses a crack detection device for waterproof decorative plate processing, the crack detection device comprises a conveying frame, a plurality of conveying shafts and a visual detection mechanism, the two sides of the conveying frame are fixedly connected with U-shaped frames at the same time, and the middles of the two sides of the U-shaped frames are fixedly connected with a plurality of linear motor modules; the output ends of the linear motor modules are fixedly connected with sliding blocks, the other ends of the sliding blocks are connected with a lifting mechanism and a supporting assembly, the output end of the lifting mechanism is connected with a writing assembly, the other end of the supporting assembly is connected with a shielding assembly, and the lower end of the writing assembly is located in the shielding assembly. According to the crack detection device for waterproof decorative plate processing, after cracks are recognized through the visual detection mechanism, the linear motor module drives the writing assembly to move to the crack starting point, and in combination with constant-speed pushing of the pushing assembly, a mark line of the crack trend can be accurately drawn on the surface of a plate, and the defect positioning time during manual reinspection is greatly shortened.

The invention discloses a PMSLM adaptive optimization harmonic current suppression method based on a multi-rotating coordinate system. According to the method, high-precision extraction of target harmonic waves is realized through a multi-rotating reference coordinate system and a complex coefficient filter; an adaptive moment estimation algorithm (AdamW) with weight attenuation is used to quickly solve an optimal harmonic reference current; and harmonic compensation voltage is output by combining the zero static error characteristic of the proportional resonance PR controller, so that the harmonic current is effectively suppressed. The harmonic current of the permanent magnet synchronous linear motor is quickly and effectively suppressed through a harmonic injection method adopting a multi-rotation reference coordinate system, a complex coefficient filter and an AdamW optimization algorithm. The inherent defects of large phase lag and slow dynamic response when a low-pass filter is used in a traditional harmonic current injection method can be effectively overcome by adopting a complex coefficient filter for current extraction; and an AdamW optimization algorithm is adopted to suppress overfitting through a weight attenuation strategy, and an optimal solution is efficiently and stably obtained.

The utility model discloses desktop type prism assembling equipment, which comprises a machine table, a control electric box is arranged on one side of the machine table; a material taking mechanism and a pressing and attaching UV mechanism are arranged at the output end of the transverse linear motor; a supporting plate is arranged at the output end of the longitudinal linear motor, a tray is arranged on one side of the top surface of the supporting plate, and an angle rotating platform is arranged on the other side; the dispensing mechanism is arranged on the front side of the transverse linear motor; the control electric box is in signal connection with the transverse linear motor, the material taking mechanism, the pressing and attaching UV mechanism, the longitudinal linear motor, the angle rotating platform and the dispensing mechanism. The transverse linear motor drives the material taking mechanism to take the prisms, then the longitudinal linear motor conveys the angle rotating platform to the position below the dispensing mechanism for gluing, the prisms and lens cones are fixed in cooperation with the pressing and attaching UV mechanism, the traditional manual assembly procedure is replaced, and the production efficiency is improved. A lot of manpower and material resources are saved, the assembling process is more programmed, and the defective rate of the lens is reduced.

The utility model relates to a superhard material guide rail machining device which comprises a lathe bed. The working table is arranged above the machine body; the two ends of the cross beam are arranged on the workbench through stand columns; the X-axis linear motor module is arranged on the cross beam; the Z-axis linear module is arranged on the X-axis linear motor module; the spindle box is arranged on the Z-axis linear module, an electric spindle is arranged in the spindle box, and a grinding tool or a polishing tool is installed on the electric spindle; the Y-axis linear motor module is arranged on the workbench; and the workpiece carrying plate is arranged above the Y-axis linear motor module. Through multi-axis linkage of the X-axis linear motor module, the Y-axis linear motor module and the Z-axis linear motor module, the long guide rail is pressurized and polished through a small tool, the grinding amount is controlled through the dwell time and the polishing pressure, and high-precision machining of the long guide rail is achieved.

The invention relates to a motor module (100) for a magnetic linear motor (207) of a linear transport system (200), wherein the motor module (100) comprises a motor module housing (101), a drive coil arrangement (103) for providing a drive magnetic field of the magnetic linear motor (207) and control electronics (105) for controlling the motor module (100), wherein the control electronics (105) comprises a control circuit board arrangement (113) with at least a first circuit board (115) and a second circuit board (117), wherein a first normal direction (N1) of the first circuit board (115) and a second normal direction (N2) of the second circuit board (117) are each arranged perpendicular to the direction of action (W), and wherein the first circuit board (115) is arranged substantially parallel to the longitudinal direction (L) and the second circuit board (117) is arranged substantially parallel to the transverse direction (Q). The invention further relates to a linear transport system (200).

The invention discloses a transverse magnetic flux linear motor adopting a Y-shaped iron core and a Halbach array, belongs to the field of permanent magnet linear motor design, and aims at solving the problems that a traditional transverse magnetic flux linear motor is low in permanent magnet utilization rate, large in magnetic leakage and insufficient in power density. The device comprises a primary part and a secondary part, the primary part comprises stator iron cores which are sequentially arranged in the axial direction, each stator iron core is provided with three armature modules which are evenly distributed in the circumferential direction, and each armature module comprises long armature teeth, short armature teeth and armature windings. The tail ends of the long and short teeth adopt an inclined air gap and magnetism gathering pole shoe design; the secondary part comprises a Y-shaped secondary pole iron core and a Halbach permanent magnet array on the surface of the Y-shaped secondary pole iron core, and the permanent magnet array is divided into three areas in the circumferential direction, and the three areas correspond to the three-phase armature modules of the primary part respectively; the permanent magnets in each area are formed by staggering N poles and S poles in the axial direction, and the adjacent areas are staggered in the axial direction.

The invention provides self-adaptive pressurizing ultrasonic bonding strengthening equipment for a curved surface component and a bonding process. Comprising a horizontal linear motor, two moving mechanisms are slidably connected to the horizontal linear motor, each moving mechanism comprises two rotors and a connecting disc, the connecting discs are rotatably connected with the rotors through connecting arms, and a plurality of suckers are arranged at the lower ends of the connecting discs. A plurality of upper displacement sliding rails which are transversely distributed are arranged on the two sides of the horizontal linear motor and connected with an upper displacement sliding block which is driven by an upper displacement motor to slide, an upper vertical telescopic motor is downwards arranged on the upper displacement sliding block, and an ultrasonic vibrator is arranged at the lower end of the upper displacement sliding block. A lower displacement sliding rail is arranged below the upper displacement sliding rail and connected with a lower displacement sliding block driven by a lower displacement motor to slide, and the lower displacement sliding block is upwards provided with a lower vertical telescopic motor. The lower end of the ultrasonic vibrator and the upper end of the lower vertical telescopic motor are connected with a pressurizing module which is provided with a plurality of piston holes, and pressurizing shafts capable of extending out are arranged in the piston holes. The ultrasonic pressurizing device can adapt to curvature changes of curved surface parts, and uniform ultrasonic pressurizing is achieved.

The invention is suitable for the technical field of grinding, and provides an electric drive intelligent constant force radial compensation system which comprises an intelligent electric radial floating grinding device, the intelligent electric radial floating grinding device comprises a dust cover and a linear motor in the dust cover, and the linear motor is composed of a motor stator and a motor rotor. A grinding tool is arranged at the output end of the linear motor, a fixing base is installed on one side of the linear motor, a cone swinging device and an adjusting ring are installed on the fixing base, and the grinding tool and the cone swinging device are sealed in a labyrinth mode and provided with a labyrinth sealing outer ring and a labyrinth sealing inner ring. According to the scheme, the stability of driving force is improved, the mechanism design is optimized, the response speed for responding to external force changes and sealing are achieved, meanwhile, the influence on output torque is reduced to the minimum, the yield of high-precision polishing can be greatly improved, the polishing technological process is simplified, and the polishing efficiency is improved.

The invention discloses 3D flatness detection and TRAY disc material receiving integrated equipment which comprises a base, one side of the top of the base is fixedly connected with a first Y-axis KK module, and the output end of the first Y-axis KK module is fixedly connected with a first Z-axis KK module. The invention relates to the technical field of electronic component production equipment, a double-linear motor carrier is adopted to alternately receive and transfer mounted electronic components, in the transfer process, the appearance and planeness of materials are accurately detected, automatic lifting and moving management is carried out on a TRAY disc, and the production efficiency of the electronic components is improved. According to the utility model, materials meeting the standard are automatically collected to the TRAY disc, so that the integrated operation of detecting and collecting the surface-mounted electronic elements is realized, the production space is saved, the equipment cost is reduced, the materials are always kept in an efficient and stable running state in the processes of transferring, detecting and collecting, the problems of wrong transmission, damage and the like of the materials are effectively avoided, and the production efficiency of the surface-mounted electronic elements is improved. Therefore, the production efficiency and the product quality are improved.

The invention discloses a cylindrical material conveying device based on a horizontal linear motor, and belongs to the field of mechanical design and manufacture, the device comprises a magnetic flux switching linear motor, a stator supporting device, a material supporting device, a material pushing device and a sensor device, and the magnetic flux switching linear motor is a driving source and is of a horizontal bilateral structure; the reinforcing ribs in the stator supporting structure adopt a dual-function coupling design, so that the cost can be reduced and the efficiency can be improved; the material supporting device is fixedly connected with the stator supporting structure and is in linear contact with the cylindrical material; the pushing device is fixedly connected with the linear motor rotor and is connected with the stator supporting structure through a linear guide rail sliding block; the sensor device is located on one side of the linear motor, and a signal line is of a spring coil structure. The rotor is simple in structure, easy to maintain, good in natural heat dissipation effect, compact in overall structure and high in space utilization rate, and the problems that an existing same-type cylindrical material conveying device is complex in rotor structure, poor in natural heat dissipation effect and low in overall structure space utilization rate are solved.

The utility model discloses a linear motor, which comprises a stator and a rotor, and the stator or the rotor comprises an iron core, a coil winding and a cooling pipe. The iron core comprises a yoke part and a plurality of tooth parts arranged on the yoke part. The coil winding comprises a plurality of coil units which are wound on the tooth parts respectively, and each coil unit comprises at least two layers of sub-coil units which are arranged at intervals in the extending direction of the tooth parts from the yoke part. The cooling pipe comprises a cooling section wound around the tooth part, and the cooling section is located between the two adjacent layers of sub-coil units of each coil unit and makes heat conduction contact with the two adjacent layers of sub-coil units. At least one of the opposing surfaces of the sub-coil unit and the cooling section is configured to have a planar extension. The enameled wire and the cooling pipe of the coil winding adopt a flat design, so that the heat exchange area of the enameled wire and the cooling pipe is increased, and the heat dissipation efficiency of the linear motor is improved.

The invention discloses a high-precision closed-loop force control linear rotating motor and a force control method thereof, and relates to the technical field of motors, the linear rotating motor comprises a shell, a linear motor, a rotating output shaft part, a constant force spring device, a force sensor and a controller, the rotary output shaft part comprises a rotary motor, a rotary connecting piece and an output rotating shaft, and can realize composite motion of axial reciprocating and angular rotation; the constant-force spring device provides constant balance force in the linear direction to compensate for gravity loads. The force sensor detects output thrust in real time and generates a feedback signal; the controller performs closed-loop force control adjustment according to the feedback signal; according to the motor, through the built-in high-precision force sensor and the constant-force spring structure, high-precision, low-force-value and stable force control performance is achieved, output fluctuation can be effectively reduced, and the system response speed and control precision can be improved.

The invention discloses a discharging device for glass bottle production based on an intelligent suspension conveying system, and relates to the technical field of conveying, the discharging device comprises a conveying device and a fixing seat, and the fixing seat is fixedly installed at the output end of the conveying device; the electric telescopic rod is fixedly mounted at the bottom of the fixed seat; the linear motor is fixedly mounted at the output end of the electric telescopic rod; a fixing plate is fixedly mounted at the output end of the linear motor, a clamping plate is fixedly mounted on the surface of the fixing plate, a sliding rod slidably penetrates through the surface of the linear motor, a circular plate is fixedly mounted at the bottom of the sliding rod, a connecting plate is fixedly mounted on the surface of the fixing plate, and a screw rod is fixedly mounted on the surface of the connecting plate. And a connecting seat is fixedly mounted on the surface of the linear motor, and the glass bottle can be protected through downward rotation of the baffle, so that the glass bottle is prevented from toppling when the clamping plates are loosened, and safe placement is affected.

The invention relates to a work device (1), in particular a tool or garden implement, which, in its intended use, is preferably carried and / or preferably guided with at least one hand by a user. The work device (1) comprises an electric drive motor. According to the invention, the electric drive motor is designed as a linear motor (2).

A method is provided for transferring energy from a stationary unit to a movable unit of a linear transport system. The system includes a guide rail for guiding the movable unit, a plurality of stationary units, a controller, and a linear motor for driving the movable unit along the guide rail. The linear motor includes a stator and a rotor. The stator comprises the stationary units, each having one or more drive coils. The rotor is arranged on the movable unit, and has one or a more magnets. In addition, the stationary units each have one or more energy-transmitting coils, and the movable unit has at least one energy-receiving coil. The controller determines position data for the energy-receiving coil, selects at least one energy-transmitting coil based on the position data, and outputs a control signal to the stationary unit, with identification information for identifying the energy-transmitting coil.

The invention provides an actuator and a semiconductor processing system.The actuator comprises a shell, a linear module and a rotating module, the shell is provided with a containing cavity, the linear module is arranged in the containing cavity and comprises a linear motor, a connecting piece, a first bearing and a first guide rail, the linear motor is connected to the connecting piece, and the connecting piece is connected to the first bearing; the first guide rail extends in the first direction, the first bearing is in floating fit with the first guide rail, the first bearing can move relative to the first guide rail in the first direction, the rotating module is arranged in the containing cavity and comprises a mounting frame, a rotating motor and a rotating shaft, the connecting piece is further connected to the mounting frame, and the rotating motor and the rotating shaft are arranged on the mounting frame. The rotating motor is connected to the rotating shaft. By the adoption of the scheme, the axial friction force generated when the first bearing moves relative to the first guide rail is small, meanwhile, the friction force is stable, and the force control precision of the actuator during movement in the first direction can be improved.

The invention discloses a PID (Proportion Integration Differentiation) tracking control method based on error perception nonlinear gain, which is used for high-precision tracking control of an MIMO (Multiple Input Multiple Output) nonlinear system. Comprising the following steps: 1) constructing an adaptive gain by using current error information, historical error information and prediction error information; 2) realizing intrinsic integral saturation resistance through nonlinear integral design; and 3) complete autonomous operation can be realized without accurate system dynamics priori knowledge or manual adjustment. According to the method, the nonlinear compensation capability and the robust adaptive performance are enhanced while the structural simplicity of the PID controller is kept. Through rigorous Lyapunov analysis, the stability of the method to a non-linear system in a general form is verified, and the method shows excellent performance in both adjustment and time-varying reference tracking scenes. The method can be widely applied to the fields of linear motor servo systems, sea surface ship control, unmanned vehicle dynamics control and the like needing high-precision tracking control.