5743 results about "Linear motor" patented technology

The invention discloses a double-platform automatic laser cutting machine, and relates to the technical field of cutting, the double-platform automatic laser cutting machine comprises a case, a base is fixedly mounted at the bottom of the case, a linear motor is fixedly mounted at the top of the inner wall of the case, a first machining table is fixedly mounted at the bottom of the inner wall of the case, and a second machining table is fixedly mounted at the bottom of the inner wall of the case; the protection device is arranged on the inner wall of the machine box and comprises a supporting frame, a laser cutting machine body, a cooling device, a hollow column, a hollow rod, a water inlet hole, a sealing plate, a pneumatic cylinder and a connecting pipe, the laser cutting machine body is driven to move through movement of a linear motor, and laser cutting can be conducted on materials through movement of the laser cutting machine body; the supporting frame is fixedly installed on the linear motor, the cooling device is fixedly installed at the bottom of the supporting frame, the hollow column is fixedly installed on the inner wall of the machine box, and the situation that the machining time of laser beams and materials is insufficient possibly due to the fact that the moving speed of the laser cutting machine body is too high is prevented.

The invention belongs to the technical field of energy storage, and particularly relates to a vertical circulation type gravity energy storage system based on a linear motor, the vertical circulation type gravity energy storage system comprises a circulation shaft, a carrying platform system and an energy storage system, the circulation shaft comprises a heavy object shaft, a no-load shaft and a horizontal channel, and a secondary switching disc is arranged at the joint of the heavy object shaft and the horizontal channel and the joint of the no-load shaft and the horizontal channel; the heavy well, the no-load well, the horizontal channel and the secondary switching disc are each provided with a secondary driving side, and each secondary driving side comprises a first rail set and a linear motor secondary; the platform deck system comprises a plurality of platform decks, the platform decks are used for bearing heavy objects, primary switching discs are arranged on the side faces of the platform decks, primary driving sides are arranged on the platform decks and the primary switching discs, and each primary driving side comprises a second track set and a linear motor primary; the energy storage system includes an upper storage bin, a lower storage bin, and a loading and unloading zone. The energy storage capacity expansion mode is simple, the expansion cost is low, the energy storage capacity configuration is flexible, and the energy storage efficiency is high.

The invention relates to a dynamic precision compensation control method based on an intelligent PCB drilling machine, and the method comprises the steps: collecting a dynamic parameter set in real time through a multi-source sensor group disposed on a drilling main shaft, the dynamic parameter set comprises displacement deviation caused by axial deformation of a main shaft, thermal deformation analyzed based on interlayer temperature gradient and frequency spectrum characteristics reflecting tool-material coupling vibration, and according to the multi-dimensional compensation vector and current drilling process parameters, a space trajectory correction instruction and a motion parameter optimization instruction are dynamically synthesized, so that the dynamic parameter set is obtained. Wherein the trajectory correction instruction reconstructs a real-time interpolation path through a B-spline curve, the motion controller receives a space trajectory correction instruction and a motion parameter optimization instruction, at least three times of compensation iteration are completed in a single drilling period, a linear motor and a spindle motor are driven to execute online precision compensation, and the execution delay of the compensation instruction is smaller than 2 ms.

This invention introduces a kinetic energy recovery wind-wave integrated system for offshore wind power generation. The system consists of a semi-submersible platform equipped with a fan and an internal wave energy device. The device includes a shell housing a Power Take-Off (PTO) system, featuring a permanent magnet synchronous linear motor and an active controller. The motor's stator is fixed inside the shell, while its mover is connected to a counterweight block outside the stator, linked to the shell's top via a spring. Limiters are installed at both ends of the shell to restrict the counterweight block's movement. This system utilizes the wave energy device to absorb kinetic energy, which otherwise affects wind turbine stability, and converts it into usable electrical energy via the PTO system. This enhances the stability and safety of offshore wind turbine power generation.

The invention discloses a high-precision linear vibration feedback motor system, and relates to the technical field of precise electromagnetic driving, and the system comprises a core driving module which is a moving magnet type linear motor of a Halbach array magnetic circuit structure, and is integrated with a multi-physics field sensing unit; the dynamic parameter tracking module is used for acquiring a reed rigidity coefficient, a damping coefficient and a magnetic constant in real time when the motor runs, and establishing a dynamic displacement model based on a recursive least square method; a double-closed-loop control framework is adopted, an inner loop adopts field-oriented control, and an outer loop is based on model prediction control; the aging prediction unit activates a temperature rise compensation algorithm when the accumulated number of vibration times is greater than a set threshold value; the self-adaptive calibration engine is used for injecting a sweep frequency excitation signal when the system is started, and automatically compensating individual difference parameters according to the harmonic peak offset; and the digital twin mapping unit is used for establishing a real-time mapping relationship between the physical parameters of the motor and the virtual model, and dynamically correcting the model parameters by comparing the actual displacement with the model displacement.

The invention discloses a driving module of a reciprocating type shaver. The driving module comprises a base, a driving assembly and a driving assembly, the two ends of the deflection frame are fixed to the base through elastic pieces to form a frame structure. The output shaft is mounted above the deflection frame; the horizontal motor is arranged on the base; the cam is arranged on a motor power shaft, and grooves with parallel normal sections and equal width are formed in the surface of the cam; the lower end of the rocker arm is hinged to the base, a middle rocker arm shaft is assembled in the groove, and the upper end is in linkage with the deflection frame. Rotary motion is converted into high-frequency linear swing through precise cooperation of the cam and the rocker arm, the transmission efficiency is high, and noise is low; the integrated modular structure of the base and the motor enables the cam and the rocker arm to be matched more accurately and reliably; the double-output shaft symmetrically and reversely swings to realize dynamic balance vibration reduction; the compact horizontal layout saves space; the product has the economical efficiency of a common motor and the performance advantages of a linear motor, the comfort and reliability of a shaver product are improved, and meanwhile the cost is reduced.

An active mass damper system includes one or more sensors configured to detect motion of a C-arm and output corresponding motion data representative of the motion of the C-arm. A mass damper assembly within the C-arm includes a linear motor, and a mass coupled to the linear motor. The active mass damper system further includes a controller configured to receive the motion data, process the motion data by applying one or more filters to the motion data to create filtered motion data, and control the linear motor, based on the filtered motion data and motor control tuning parameters, to move the mass in a linear reciprocating path to provide a force having a magnitude and a phase configured to dampen at least a portion of the movement of the C-arm.

The invention discloses an efficient aluminum plate cold-rolling mill oil injection mechanism, and relates to the technical field of aluminum plate cold-rolling mill oil injection, the efficient aluminum plate cold-rolling mill oil injection mechanism comprises a machining table, a transmission roller is fixedly mounted on the inner wall of the machining table, a motor is fixedly mounted on the outer wall of the machining table, and a pressing roller is fixedly mounted at the output end of the motor; the anti-deviation device is arranged on the inner wall of the machining table and comprises a lubricating box, a spraying opening, a supporting frame, a linear motor, a sliding plate, a sensor, a servo motor, a conveying wheel, a push plate, a guide plate, a fixing frame, a trapezoidal block and a deburring rod. The servo motor moves in the direction close to the middle of the conveying roller to drive the conveying wheel to move in the direction close to the middle of the conveying roller, the conveying wheel moves in the direction close to the middle of the conveying roller to be matched with the conveying belt to correct the aluminum plate, and the situation that the aluminum plate deviates during oil injection, consequently, lubricating oil cannot effectively cover the aluminum plate, and follow-up pressing roller rolling is affected is prevented.

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 utility model relates to a heat dissipation structure of a linear motor based on a T-shaped vapor chamber, and relates to the technical field of heat dissipation of linear motors, the linear motor comprises a base, a stator and a rotor which are matched with each other are arranged on the base, and the rotor is connected with a sliding block and arranged on the stator through a linear guide rail. The rotor comprises T-shaped vapor chambers, heat conduction gaskets, rotor iron cores, windings, cooling water pipes, silicon steel sheets and liquid cooling plates, the windings are arranged on rotor iron core teeth, through holes are formed in the positions, between the adjacent windings, of the iron cores up and down, the T-shaped vapor chambers are vertically and symmetrically inserted into the iron core holes, and the surfaces of the lower ends of the T-shaped vapor chambers are attached to the adjacent windings; a heat conduction gasket is laid on the upper portion of the T-shaped soaking plate and connected with a liquid cooling plate with a built-in cooling water pipe, and the condensation end of the T-shaped soaking plate, the heat conduction gasket, the cooling water pipe and the liquid cooling plate are all arranged in a silicon steel sheet groove. According to the utility model, heat in the winding and the iron core can be uniformly distributed, and the heat dissipation efficiency of the linear motor is improved.

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 provides a related method of linear motor equipment, the method is applied to industrial conveying, and the method comprises the following steps: creating a plurality of position points, the plurality of position points are distributed along a stator line body, the plurality of position points are used for controlling the moving path of a mover module, and the mover module is used for controlling the moving path of the mover module based on the conveying process information of the mover module. And corresponding dynamic pointing information is configured for each position point, and the dynamic pointing information is used for dynamically indicating a pointing object of the position point according to a conveying condition existing in the transportation scene. According to the method, the dynamic pointing information can be configured for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position points is achieved, the position points are used for controlling the moving path of the mover module, and the dynamic adjustment of the pointing of the position points can enable the moving path of the mover module to have variability; the moving flexibility of the mover module is improved, so that the transportation efficiency is improved, and the device is more suitable for complex and changeable working scenes.

The invention belongs to the technical field of energy storage, and particularly relates to a vertical circulation type single-well gravity energy storage system based on a linear motor, the vertical circulation type single-well gravity energy storage system comprises a weight storage system, an energy storage unit, a transportation system and a power system, and the weight storage system comprises an upper-layer energy storage chamber and a lower-layer energy storage chamber which are arranged up and down; the energy storage unit comprises a plurality of energy boxes and a plurality of weights arranged in the upper-layer energy storage chamber and the lower-layer energy storage chamber; the transportation system comprises a transportation track penetrating through the upper-layer energy storage chamber and the lower-layer energy storage chamber, and the transportation track is used for transporting the energy box; the power system comprises a secondary linear motor arranged on the conveying rail and a primary linear motor arranged on the energy box and is used for providing power for the energy box. The energy storage capacity expansion mode is simple, the expansion cost is low, the energy storage efficiency is high, the continuity of output or input power can be realized, and the fault tolerance performance is high.

The invention discloses an anti-interference linear motor module motion control method, and relates to the technical field of linear motor module control. The method comprises the following steps: monitoring and analyzing multiple parameters of displacement error # imgabs0 #, acceleration fluctuation value # imgabs1 #, motor load capacity # imgabs2 #, motor working current I, motor real-time voltage value U, dragging force # imgabs3 # and guide rail friction force # imgabs4 # in the operation process of a motor module in real time, and interference of external environmental factors (such as airflow velocity # imgabs5 #, airflow pressure # imgabs6 #, deposition thickness # imgabs7 # and electrostatic effect coefficient # imgabs8 #); according to the method, the motion state of the motor module can be comprehensively evaluated, so that the deviation of the motion track is effectively reduced, and the motion stability of the motor module is remarkably improved. An interference model is established by collecting external environment interference parameters (airflow interference, deposition thickness, environment vibration and the like) and combining a neural network technology, a motion control strategy of a motor module can be dynamically adjusted, and different types of interference factors are compensated in real time.

The invention relates to the technical field of processing machine tools, and discloses an intelligent forming machine tool for metal processing machinery manufacturing, which comprises a rack, a transverse moving assembly, a linear motor, a workbench, a spindle motor and a frame body, an annular rail is arranged at the upper end of the rack, and two arc-shaped guide rails are jointly connected to the upper end of the annular rail; the two arc-shaped guide rails are installed on the two opposite sides of the frame body respectively, a propelling mechanism is installed in the frame body and used for fixedly installing a spindle motor, positioning assemblies for adjusting the inclination angle of the propelling mechanism are installed on the two opposite sides of the frame body, and a shell is arranged below the frame body. The shell is connected with the propelling mechanism and connected to an output shaft of the spindle motor in a sleeving mode, and an unbalance loading resisting mechanism is installed in the frame body. According to the intelligent forming machine tool manufactured through the metal machining machine, the machine tool can machine a workpiece of a special-shaped curved surface structure, and pressure can be actively applied to offset the unbalance loading force borne by the turning head and the transmission shaft.

The invention relates to a linear motor structure for logistics transportation, which comprises a track and a motor body arranged in the track, the motor body comprises a stator module and a mover module, and the mover module comprises a mover body and steering wheels arranged at the front, rear, left and right corners of the mover body; the track is composed of a plurality of track split bodies, and every two track split bodies are detachably connected together through connecting pieces. Each track split body comprises a first space groove for placing the stator module and a second space groove which is located above the first space groove and is used for placing the rotor module, and track grooves for allowing the steering wheels of the rotor body to run are formed in the two sides of the bottom of the second space groove respectively; the rotor module is designed into the rotor structure with the steering wheel, then the track is additionally designed, the linear motor is directly embedded into the track, and the steering wheel rotates to drive the rotor module to run in the track, so that the purpose of turning of the linear motor can be completely achieved, and the cost is reduced.

The invention discloses a high-strength safety protection type electrodialyzer, and relates to the technical field of electrodialyzers, the high-strength safety protection type electrodialyzer comprises a protection frame, an electrodialyzer body is fixedly mounted in the protection frame, a rotating door is rotatably mounted on the inner wall of the protection frame, a rainproof plate is fixedly mounted on the top of the protection frame, and a heat dissipation opening is formed in the surface of the protection frame; a scraping plate is arranged on the inner wall of the heat dissipation opening; the rain and snow prevention device is arranged on the surface of the protection frame, the rain and snow prevention device comprises a supporting frame, a winding device, a linear motor, a sliding block, a fixing rod, a sliding rail, an elastic telescopic rod, a triangular block and a rotating scraping plate, the sliding block moves downwards to drive the fixing rod to move downwards, and the fixing rod moves downwards to make contact with the triangular block; the supporting frame is fixedly installed on the surface of the protection frame, a scraper blade is rotated to move downwards to scrape the filter screen, and the situation that too much dust adheres to the filter screen, the heat dissipation effect of equipment becomes poor, and normal operation of the equipment is affected is prevented.

The invention relates to the technical field of motor control, in particular to a speed sensorless control method of a long-stator linear motor for a maglev train in a full-speed domain range. According to the method, when the train runs at a low speed, the mechanical position sensor is adopted for control, and control precision is high; when the train runs at a high speed, speed sensorless control based on extended back electromotive force is adopted, so that control errors caused by data transmission delay can be avoided; and a weighted average switching algorithm is provided when switching is controlled by adopting a mechanical sensor at a low speed and adopting a speed-free sensor at a high speed, and the weighted average switching algorithm comprises motor rotating speed switching and motor angle switching, so that stable transition of the rotating speed and the angle of the motor during high and low speed switching is realized, and overcurrent of the motor is avoided. By adopting the method, stable operation of the long-stator linear motor in a full-speed domain range can be realized, and safe operation of a train is ensured.

The invention relates to the technical field of plastic packaging bag tensile detection, and discloses a plastic packaging bag tensile detection device which comprises a processing platform, a storage cabinet is arranged in the processing platform, supporting legs are fixedly connected to the four corners of the bottom of the processing platform, and a tensile detection mechanism is arranged at the top of the processing platform; the four corners of a plastic bag are stably clamped through a screw rod, a movable clamping plate and a fixed clamping plate, cooperative movement of a motor sliding rail, a linear motor, a movable frame, a sliding rod and a first sliding block is matched, pulling force on the two sides is converted into pulling force in four directions through an inclined sliding groove and a second sliding block, and stretching resistance detection in the four directions is conducted on the plastic bag. According to the design, the limitation that only two-side stretching detection is adopted in the prior art is overcome, the tensile data of the plastic bag in different directions can be obtained, the tensile performance of the plastic bag can be comprehensively evaluated, a more accurate basis is provided for quality evaluation, it is ensured that the plastic bags with different purposes can bear the tensile force in the corresponding direction in actual use, and the detection precision is improved.

The invention relates to the technical field of low-temperature casting, and discloses an automobile aluminum alloy hub low-temperature casting device which comprises a casting table, a supporting frame is fixedly connected to the upper surface of the casting table, a die-casting machine is fixedly connected to the upper surface of the supporting frame, and a linear motor is fixedly connected to the upper surface of the casting table. According to the hub casting device, the movable clamping block cannot be continuously fixed to the pressing plate after being not locked by the plug pin, so that the upper die base can be rapidly detached, then the upper die bases with different diameters are replaced according to the inner diameter of a hub needing to be cast, and the hub casting efficiency is improved. The upper die base can be rapidly installed on the pressing plate by pushing the plug pin to be inserted into the movable clamping block, the applicability of the device is improved, the use convenience is also improved, the movable lower die plate is pulled away from the clamping frame in advance, and the situation that the machining efficiency is reduced due to the fact that the upper die base cannot take up the hub blank due to adhesion of the hub blank and the movable lower die plate can be avoided.

The utility model discloses a transportation device which comprises a rotor, a conveying line assembly and a transfer assembly. The conveying line assembly is magnetically coupled with the mover and drives the mover to move, the conveying line assembly comprises a main conveying line, an auxiliary conveying line and a switching stator arranged between the main conveying line and the auxiliary conveying line, and a first conveying path and a second conveying path on the switching stator are both used for allowing the mover to move; the transfer assembly comprises a control piece and a transfer piece which are electrically connected, the transfer piece transfers workpieces in the vertical direction and / or transfers the workpieces in the horizontal direction, and the transfer assembly is at least one of belt conveying, linear motor conveying and pneumatic conveying. According to the embodiment, the rotor and the transfer assembly are arranged in a split mode, the overall mass of the rotor is reduced, the mode that workpieces are fed in a single direction is changed through the arrangement of the transfer assembly, and the workpieces are transferred more conveniently; meanwhile, the independent auxiliary conveying line is arranged, conveying of other rotors in the main conveying line is not affected, and the conveying efficiency is improved.

The invention discloses an LMES suspension system, belongs to the field of vehicle suspensions, and aims to improve the adjustment performance of the suspensions. Comprising a hydraulic shock absorber, a spring, a linear motor and a controller. The hydraulic shock absorber comprises a piston rod and an outer barrel structure which is arranged outside the piston rod in a sleeving mode and is vertically and movably matched with the piston rod. The linear motor comprises a stator and a rotor, and the stator and the rotor are movably matched in the vertical direction. Stators of the linear motors are connected with piston rods of the hydraulic shock absorbers, and the top ends of the piston rods are connected to an upper support of the vehicle body; a rotor of the linear motor is connected with an external cylinder structure of the hydraulic shock absorber, and the bottom end of the external cylinder structure is connected to a lower support used for being installed on a wheel. And the spring is arranged between the rotor of the linear motor and the upper support. The output force of the linear motor and the damping force of the hydraulic shock absorber are overlapped to form the output force of the suspension system, compared with a traditional suspension system, the adjusting performance of the suspension system is greatly improved, and the comfort performance of a vehicle is improved.

The invention discloses an electric wringing machine, and relates to a mechanical device for squeezing out moisture or solution in vegetables, honey, traditional Chinese medicine, grease and the like. The device comprises an upper part-machine head driving part, a waist part-middle connecting part and a bottom-tray connecting part. A linear motor in the machine head part can be controlled by a fluctuation switch to output upward and downward linear motion. An extruded object is placed in the frying basket, the frying basket and the pressing disc are concentric, the pressure of downward movement of the linear motor is applied to the extruded object through the pressing disc, liquid components of the extruded object are extruded under the action of the pressure and are discharged through small holes of the frying basket, and discharged liquid flows into a water receiving container at the bottom through water outlet holes in the water receiving disc. The residual solid components are left in the frying basket, the linear motor is operated to rise, the frying basket can be taken out of the machine, and then the solid components left in the frying basket are taken out. One extruded object in the frying basket can be dug each time, the extruded object is pressed by a machine, and then the frying basket is taken out, so that one-time complete extrusion operation is completed. The machine is easy to clean, and the water pan and the supporting legs can be taken down together and washed with water.

The invention relates to the field of insulating sheath installation, in particular to an electrified installation transformer pile head insulating sheath installation device which comprises a first installation rod, a second installation rod and a connecting rod, an insulating sheath is installed in the installation rod, a wire sheath is installed on the insulating sheath, and wire grooves are formed in the same horizontal line of the insulating sheath and the wire sheath. A linear motor is installed in the installation sleeve, the output end of the linear motor is connected with the top of the insulation sheath, an empty groove is formed in the installation sleeve, a first spring is installed in the empty groove and connected with a clamping block, a top block is installed on the top of the insulation sheath, and the side, close to the clamping block, of the top block is provided with an inclined face matched with the side face of the clamping block. A first mounting disc is mounted on the outer side of the mounting sleeve, a driving structure is arranged in the first mounting disc, and the driving structure is used for driving the mounting sleeve to rotate so as to adjust the mounting direction of the insulating sheath and the wire sheath, manual mounting is not needed, the risk of safety accidents is reduced, and the life safety of operators is guaranteed.

The invention discloses a plasma arc welding device for producing a shell of a portable gas stove, and relates to the technical field of welding tools for the shell of the portable gas stove, the plasma arc welding device comprises a rack, a protection box mounted at the top of the rack and an image monitor mounted on the inner top surface of the protection box, and a rotary three-turn chuck is mounted on one side of the case; a first linear motor is mounted on the other side of the top of the rack, and a butt joint mechanism is mounted on the mounting seat; a feeding and discharging mechanism is mounted at the outer end of the herringbone rotating seat; a plasma arc welding mechanical arm is mounted on a moving seat of the second linear motor; the full-process automation of the to-be-welded assembly from feeding, grabbing to transferring is achieved; through cooperative clamping of the arc-shaped hoop plate and the arc-shaped clamping plate and cooperation with an anti-deviation structure of the anti-rotation arc strip and the anti-sliding groove, the stability of a to-be-welded part in the transferring process is ensured, and the positioning deviation risk caused by manual operation is greatly reduced; and through linkage adjustment of the electric push cylinder and the lifting assembly, the grabbing height and the transferring position of the shell of the portable gas stove of different specifications can be accurately adapted.

The invention discloses a multi-objective optimization method and equipment for a flat-plate permanent magnet synchronous linear motor and a medium, and the method comprises the steps: taking the average thrust and thrust fluctuation of the flat-plate permanent magnet synchronous linear motor as optimization objectives, analyzing design parameters influencing the flat-plate permanent magnet synchronous linear motor, and determining the value range of the flat-plate permanent magnet synchronous linear motor; designing and constructing a sample library through a Latin hypercube test; establishing an RF model based on the sample library; and the RF model is optimized based on an improved NSGA-II multi-target algorithm. The improved content comprises the steps of initializing a population by adopting logic mapping, and selecting elite individuals by combining non-dominated sorting and crowding distance calculation; two-point crossover, binary crossover simulation, random variation and adaptive variation strategies are adopted, so that the global search and local development capability of the algorithm is enhanced; in combination with a PID adjustment mechanism, an individual updating mode is adjusted according to an individual fitness value and a distance from the Pareto frontier, and the algorithm search efficiency and the global optimization capability are improved. After optimization, the motor thrust peak-to-peak value is greatly reduced, and the thrust fluctuation is remarkably improved.

The utility model relates to the technical field of robots, and provides a novel humanoid dexterous hand which comprises a base, an outer covering plastic shell and a metal framework arranged on one side of the base. By starting a first linear motor, a second linear motor and a third linear motor, the first linear motor contracts and drives a motor connecting piece to conduct hinge joint, meanwhile, a first cross connecting rod is linked to conduct hinge joint, knuckles are bent and used for taking objects, and the second linear motor contracts and drives a head connecting piece to conduct hinge joint. During hinging, the position of the fingertip knuckles of the thumb can be adjusted according to the requirement for object taking so as to assist in object taking, meanwhile, a third linear motor is contracted so that a third cross connecting rod and a fourth cross connecting rod can be hinged, meanwhile, the fingertip knuckles of the thumb can be bent, and object taking can be assisted; therefore, the purpose of flexibly adjusting the dexterous hand is achieved, the dexterous hand is suitable for taking objects in different shapes, and meanwhile the dexterous fingers can move independently.

The invention relates to the technical field of linear motor control, and discloses a micro-motion phase searching method and system of a linear motor system, and a storage medium, and the method comprises the following steps: S1, injecting a D-axis excitation current to a motor for open-loop motion control for current excitation, and enabling an initial given electrical angle m0 to be equal to 180 degrees; s2, after current excitation is stopped, judging according to a grating ruler variation degree D: firstly, judging whether Dlt is met or not; if theta min / N or e-f is smaller than or equal to theta min, current excitation is repeatedly carried out at different given electrical angles mj until D is larger than or equal to theta min / N and e-fgt is met; [theta] min; if not, when D is greater than or equal to thetamin / N and e-fgt; when Dt is equal to theta < min >, current excitation generates displacement, and iterative phase searching is carried out until Dlt is met; theta min / N or e-f is less than or equal to Theta min. According to the scheme, in the whole positioning process, the current is small, the motion displacement is small, no extra sensor is needed, the problems of structural interference and impact possibly caused by the conditions of long displacement and high speed are effectively avoided, and the judgment logic is simple.

The present application relates to the technical field of bendable circuit boards and provides a magnetic assembly and assembly method thereof, a linear motor, a camera, and an electronic device, capable of resolving the problems of low connection reliability between two repelling magnets in magnetic assemblies and low assembly efficiency of magnetic assemblies in related technologies. The magnetic assembly includes a magnet unit, which includes multiple magnets, wherein two adjacent and repelling magnets are welded together. The present application can be used in electronic devices such as mobile phones.