35results about How to "Ensure positional stability" patented technology

The invention discloses an assembly type building stair mold, and relates to the technical field of stair molds, the assembly type building stair mold comprises a mold mechanism, the side face of the mold mechanism is provided with a transverse steel bar limiting mechanism, and the transverse steel bar limiting mechanism is used for limiting and fixing transverse steel bars in a prefabricated stair. According to the longitudinal reinforcement limiting mechanism, the height of a clamping head is accurately adjusted through a third mounting bolt, the clamping head can be flexibly selected according to the diameter of a longitudinal reinforcement, the mounting height and position of the longitudinal reinforcement can be accurately controlled, the overall positioning accuracy of a reinforcement framework is guaranteed, and then the mechanical property of the prefabricated stair is improved; the sleeve plays a role in protecting the end, inserted into the mold mechanism, of the third mounting bolt, it is avoided that concrete adhesion affects bolt disassembly, meanwhile, due to the detachable design of the third mounting bolt and the modular structure of the steel bar limiting mechanism, the demolding difficulty is lowered, damage to stairs after a component is formed is reduced, and the demolding efficiency and the finished product quality are improved.

The utility model belongs to the technical field of machining, and provides a machining positioning device which comprises a machining table, and a positioning frame is fixedly connected to the top face of the machining table. The positioning assembly comprises a positioning plate, the positioning plate is arranged on the positioning frame, a locking piece capable of switching a locking state and an unlocking state is arranged on the positioning frame, when the locking piece is in the locking state, the positioning plate and the positioning frame are fixed, and when the locking piece is in the unlocking state, the positioning plate ascends and descends relative to the positioning frame; the clamping piece comprises two clamping plates oppositely arranged on the positioning plate, and the clamping plates are in sliding fit with the positioning plate; and the adjusting piece is arranged on the positioning plate and is connected with the two clamping plates respectively, so that the two clamping plates move towards each other or in opposite directions. The reinforcing stability of the machining positioning device can be effectively guaranteed, the movable range of the positioning device is widened, and the machining efficiency is improved.

The invention relates to the technical field of bridge pile foundation reinforcing parts, in particular to a bridge pile foundation protection device for bridge construction, which comprises a hollow enclosure cylinder, and two ends of the enclosure cylinder are opened and form a forming cavity for forming a bridge pile foundation; the inserting cylinder and the enclosure cylinder are fixed in an inserting mode, and a fixing opening is formed after the inserting cylinder and the enclosure cylinder are connected in an inserting mode; the fixing blocks are embedded in the fixing openings, inclined supporting cylinders are connected to the fixing blocks, the inclined supporting cylinders are hollow, inner cavities of the inclined supporting cylinders communicate with inner cavities of the enclosure cylinders, and a plurality of discharging holes are formed in the inclined supporting cylinders; the blocking units are used for blocking the discharging holes and are connected with the inclined supporting cylinder; the bridge pile foundation has the effects that the forming cavity used for pouring and forming the bridge pile foundation can be formed through the enclosure cylinder and the inserting cylinder, grouting reinforcement on soil on the periphery of the bridge pile foundation can be formed through the inclined supporting cylinder after concrete grouting is completed and the concrete is solidified, lateral supporting of the bridge pile foundation is formed, and the position stability of the bridge pile foundation is guaranteed.

The automatic grinding and polishing equipment comprises a wrench feeding unit and a grinding unit, the wrench feeding unit comprises a rotating disc conducting rotating motion and a fixed back plate arranged close to the back face of the rotating disc, and a plurality of limiting grooves are formed in the rotating disc; a feeding station, a discharging station and a polishing station are arranged around the rotating disc, and a first avoiding notch is formed in the position, corresponding to the polishing station, of the fixed back plate. The polishing unit is arranged at the wrench polishing station and comprises a first polishing module and a second polishing module; the first polishing module and the second polishing module each comprise a second driving part, a supporting plate driven by the second driving part to move front and back, a third driving part fixed to the supporting plate and a polishing wheel driven by the third driving part to rotate, and the shaft end face of the polishing wheel is a polishing working face. Wrench feeding, double-face grinding and wrench discharging can be achieved at the same time, and the wrench grinding and polishing efficiency is greatly improved.

The utility model discloses a kind of wind power tower drum numerical control cutting equipment equipped with multiple cutting head switching device, it is related to numerical control cutting equipment field.The utility model includes cutting equipment, the cutting equipment includes base, first linear motor, second linear motor, the back of the second linear motor is provided with wiring rack, by setting maintenance mechanism fixed in wiring rack bottom, wherein pneumatic hammering hammer passes through cylinder output vertical impact force, its instantaneous high-frequency vibration is directly acted on the longitudinal support rib node of grid processing table, make molten slag and metal matrix interface produce fatigue fracture, realize adherent welding slag peeling, and drive pneumatic hammering hammer along sliding slot trajectory movement, ensure that impact point covers the stress concentration area of honeycomb structure, avoid cleaning dead angle, so maintenance mechanism is synchronously transversely moved with the displacement of second linear motor, realize workbench full-width dynamic cleaning.

The packaging carton comprises a carton body, the inner wall of the carton body is provided with the high-barrier nano coating, a square-column-shaped protection body is fixedly connected into the carton body, inserting grooves are formed in the two sides of the middle of the square-column-shaped protection body, inserting plates are connected into the two inserting grooves in a sliding mode, and the inserting plates are connected with the inner wall of the square-column-shaped protection body in a sliding mode. The upper ends of the middles of the end faces of the two sides of the inserting plate are provided with abutting plates, the abutting plates are elastic elements, the two ends of the lower end face of the inserting groove are fixedly connected with extrusion columns, and a sliding assembly is arranged at the lower end of the interior of the inserting plate and used for driving the abutting plates to be arched or flattened. The problem that in the prior art, when the size of a borne object is smaller than that of an inner cavity of a partition, due to the fact that effective constraint is lacked in the moving process of the box body, the object is prone to displacement and shaking in the carrying vibration or logistics circulation link, and the object is damaged is solved.

This utility model relates to the field of durability testing technology, specifically a solid-state drive (SSD) insertion / removal durability testing fixture. It includes a test base, a feeding mechanism, a gripping mechanism, and an insertion / removal mechanism. The feeding mechanism is mounted on the surface of the test base and includes a conveyor frame, a conveyor belt, and a conveyor motor. It can quickly and accurately align the gripping claw with the SSD under test, and the gripping force can be naturally adjusted according to the spring compression. This avoids damage to the SSD casing caused by rigid gripping while ensuring effective clamping of the SSD. The pawl, under the elastic force of the second spring, continuously engages with the ratchet tooth groove, forming a one-way locking structure. This completely restricts gear reversal, thereby locking the position of the pressure plate and ensuring that the gripping claw maintains a stable clamping force. Even if the electric telescopic rod experiences slight extension or contraction, or if the equipment vibrates during operation, it will not loosen, providing absolutely stable gripping assurance for subsequent lifting, conveying, and other processes.

An automatic centerless grinding device comprises a machining mechanism, a feeding mechanism and a feeding and discharging mechanism. The processing mechanism comprises a supporting seat, a grinding wheel and a guide wheel; during machining, the guide wheel makes contact with the workpiece to drive the workpiece to rotate, and the grinding wheel grinds the surface of the workpiece. The feeding mechanism comprises a first feeding belt and a material disc, the material disc is used for containing workpieces, and the first feeding belt is used for conveying the material disc. The feeding and discharging mechanism is used for transferring the workpieces from the material disc to the workpiece supporting base for machining and transferring the machined workpieces from the workpiece supporting base to the material disc. Compared with the prior art, full-automatic feeding, machining and discharging can be achieved, the machining efficiency is remarkably improved, and the labor intensity of workers is reduced.

The application belongs to the technical field of data processing, and provides a deep reinforcement learning multi-displacement processing method for planar annotation cap conflict, comprising: determining candidate planar annotations with cap conflict and the complexity of each cap conflict event in the target area, and determining the target displacement mode of the candidate planar annotations under the corresponding complexity; determining the cap number, cap area and semantic importance of each candidate planar annotation, and calculating the comprehensive score of the conflict importance of each candidate planar annotation; determining the agent selection strategy under the corresponding target displacement mode in each cap conflict event according to the comprehensive score of the conflict importance; and controlling the candidate planar annotations to perform displacement actions until the optimal position according to the target displacement mode and the agent selection strategy, in combination with the pre-established DQN model and displacement constraint reward strategy. The scheme improves the efficiency, accuracy, flexibility and reliability of the planar annotation cap conflict processing link.

The application discloses an intelligent lifting type culture net cage integrated with environment sensing and adaptive depth adjustment, and belongs to the technical field of marine culture devices. The net cage main body comprises main columns and a net cover. The main columns are provided in plurality. A connecting rod is arranged between the side portions of two adjacent main columns. The periphery of the net cover is supported and tensioned by the main columns to form a closed culture space. A buoyancy adjusting mechanism is connected with the bottom of the main column and is used for adjusting the overall buoyancy of the net cage main body to vertically lift. A mooring positioning mechanism is connected with the buoyancy adjusting mechanism and is used for anchoring the net cage main body in a predetermined sea area and adapting the vertical lifting movement of the net cage main body. An environment sensing module is installed on the net cage main body. An intelligent control module is electrically connected with the environment sensing module and the buoyancy adjusting mechanism. The intelligent control module is internally provided with a decision algorithm, is used for receiving the data collected by the environment sensing module, and outputs a control instruction to the buoyancy adjusting mechanism according to a preset strategy to adaptively adjust the water depth where the net cage main body is located.

The utility model discloses a cold and hot cabinet display base plate mounting hole trepanning device, it includes the chassis, the top of chassis is welded with gantry, the surface of gantry is installed with drilling assembly, the top of chassis is installed with moving plate, the top fixedly connected with i -beam of moving plate, the surface welding of i -beam has two symmetrical side plates of setting, the bottom of i -beam is fixedly connected with motor through bolt, the utility model discloses through the rotation of the rotation plate of the rotating rod, makes the rotation plate through connecting rod respectively drive batten and clamping plate to move, and then clamping plate can be centrally positioned to the display base plate placed on the top of U -shaped material frame, can reach to the display base plate in the top of material frame and make centrally extruding positioning, make the display base plate when placing more spacious, thereby reduced the precision requirement of position when display base plate placed, and then improved the convenience of base plate placement and guaranteed the position stability of the purpose when trepanning.

The utility model relates to the technical field of rotor production, and discloses a double-station automatic press-fitting machine which comprises a workbench, a lifting roller way used for transporting a rotor is arranged on the surface of the workbench, a fixing frame is fixedly connected to the lower surface of the workbench, and a roller lifting air cylinder used for jacking the lifting roller way is fixedly connected to the lower surface of the fixing frame. The power output end of the roller lifting air cylinder is fixedly connected with the lower surface of the lifting roller way, the lower surface of the fixing frame is further fixedly connected with two sets of centering air cylinders, the movable ends of the centering air cylinders are fixedly connected with transmission rods, one ends of the transmission rods extend to the surface of the workbench, and the other ends of the transmission rods are rotationally connected with positioning wheels. A press-fitting mechanism is arranged on the surface of the bracket; the rotor press-fitting device can prevent the press-fitting disc from deviating or misplacing in the press-fitting process, the rotors are loaded and unloaded through the lifting roller way, meanwhile, the rotors are press-fitted through the press-fitting mechanism, and the overall press-fitting efficiency can be effectively improved.

The application discloses a kind of based on low temperature embrittlement cooperates prefabricated mark guide plate stamping equipment, including base and the shelf plate of being movably arranged on base, the holding module for being clamped and positioning outside the processing area of tensioning the plate to be processed of outside the plate to be processed is arranged between the base and shelf plate, and the groove prefabricated module for processing V-shaped guide groove to outside the plate to be processed preset fracture zone, the low-temperature cooling module for the plate after being processed by groove prefabricated module is arranged on the side of base, to reduce the temperature of plate and maintain low-temperature atmosphere by being used for rapid cooling, and the control cabinet for being respectively communicated connection control with holding module, groove prefabricated module and low-temperature cooling module.The application solves the problem that traditional stamping process handles high-strength alloy plate and the outer ring component of difficult deformation material, because prefabricated mark processing, low-temperature treatment and stamping forming link discrete layout lead to parameter matching, low-temperature embrittlement uncontrollable, difficult to realize the problem of accurate control of fracture surface quality.

The invention discloses an intelligent carbonized wafer quality monitoring method and system, and relates to the field of carbonized wafer monitoring, and the system comprises a box body, the top of the box body is provided with a display screen, and the bottom of the inner surface of the box body is provided with a power distribution cabinet; a detection mechanism; the detection mechanism is arranged in an inner cavity of the box body and comprises a support frame mounted at the bottom of the inner surface of the box body; the turnover mechanism is arranged in an inner cavity of the box body, the turnover mechanism comprises a U-shaped frame installed on the top of the inner surface of the box body, and a lifting plate is movably installed in the U-shaped frame. According to the invention, under the action of the turnover mechanism, the carbonized wafer clamped by the clamping cylinder is driven to complete the turnover action, the monitoring surface of the wafer can be switched without manual intervention, the problem that the back surface of the wafer cannot be covered by single-direction monitoring is solved, the wafer monitoring process forms an automatic closed loop of clamping, detection, turnover and re-detection, and the detection efficiency is improved. The monitoring period of a single wafer is shortened, and the production efficiency of batch monitoring is improved.

The invention relates to the technical field of ship engineering, and discloses an instrument protection device for a grating plate, which comprises a protection cover, the protection cover can cover an instrument, and the protection cover comprises an observation plate with an observation port; the at least two elastic supporting legs extend towards the lower part of the observation plate, and a bending transition part is arranged between the two elastic supporting legs; and the clamping parts are arranged at the lower ends of the elastic supporting legs. The elastic supporting feet elastically deform inwards when being extruded by opposite external force, so that the clamping parts get close to each other and are inserted between the grating strips of the grating plate. And after the external force is removed, the elastic supporting legs rebound by virtue of the elastic potential energy of the bending transition parts, and the clamping parts are driven to abut against the outer side and are clamped on the grille bars. According to the instrument protection device for the grating plate, through the mechanical logic of elastic deformation and resilience of the elastic supporting feet, the clamping parts are driven to abut against and be clamped with the grating strips, so that the non-destructive rapid disassembly and assembly effect is achieved, and the installation stability of the instrument protection device can be maintained in the marine environment.

This invention provides a grinding device and fine grinding method for machining the rotating surface of piston pin workpieces, relating to the technical field of grinding processing. The device includes: a support base, a support bracket, a top support, a shielding frame, a side support, a recovery cylinder, a load-bearing top support, and a movable sleeve. The support base has a load-bearing support on its top. The support bracket is installed on the top of the support base. The shielding frame is installed on the top of the conveying frame. The side support is installed on the side of the shielding frame. The recovery cylinder is installed inside the bottom groove. The load-bearing top support is installed on the top of the shielding frame. The movable sleeve is fitted onto the outside of the threaded shaft. A filter block, in conjunction with a conveying bottom pipe, allows waste liquid to be recovered into the inside of a collection tank. A push motor, in conjunction with a push screw, promptly pushes the grinding debris generated inside the conveying frame. This solves the problem of poor workpiece positioning in most piston pin processing equipment, where grinding debris and waste grinding fluid cannot be effectively separated during processing.

The invention relates to the technical field of carrying robots, in particular to a logistics carrying robot with a telescopic mechanical arm, the logistics carrying robot comprises a movable base and a discharging top frame, a lifting electric cylinder is fixedly arranged at the top of the movable base, and the discharging top frame is fixedly arranged at the top end of the driving end of the lifting electric cylinder. The left side and the right side of a logistics piece are limited in an attached mode through the first rotating arm and the second rotating arm, the front side and the rear side of the logistics piece are limited through the movable arm, the limiting height can be adjusted according to the height of the logistics piece, clamping limiting can be achieved by changing the position of the movable arm, and due to the flexible and accurate peripheral limiting design, the practicability is high. According to the logistics piece carrying device, the logistics pieces in regular shapes or irregular shapes can be firmly fixed in the carrying process, displacement of the logistics pieces caused by jolting, acceleration or steering in the carrying process is avoided, the position stability of the logistics pieces in the whole carrying process is effectively guaranteed, and the reliability of carrying operation is improved.

The utility model belongs to the field of building supporting structures and discloses a building stand column supporting and reinforcing structure which comprises a supporting square frame, and a connecting plate is fixed to the inner side of the supporting square frame. The outer side of the stand column component is sleeved with a connecting plate, the stand column component is slidably inserted into the supporting square frame, and the stand column component abuts against the connecting plate; the connecting base is fixed to the outer wall of the supporting square frame, a reinforcing screw is inserted into the connecting base and slidably inserted into the connecting plate, the end of the reinforcing screw is sleeved with a limiting nut in a threaded mode, and the limiting nut abuts against the side, away from the connecting base, of the connecting plate. The position of the connecting plate on the stand column component is limited through the reinforcing screw rod and the limiting nut, so that the stand column component and the supporting square frame indirectly form a whole, the synchronism is higher, and the shock resistance is higher.

The utility model relates to the technical field of elevator room partition facilities, in particular to a high-rise conversion elevator partition background wall which comprises a base, the base is connected with the ground, and a supporting body is vertically connected to the base; the supporting body is arranged between the two partition plates, the partition plates are vertically connected to the supporting body, and mounting gaps are reserved between the partition plates and the vertical face of a wall body; the two grey mirrors are connected to the two opposite sides of the partition plate respectively, the grey mirrors are connected with the supporting body, and the grey mirrors are used for blocking the mounting gap; the partition background wall has the advantages that a fixed foundation structure is provided for the partition plate and the gray mirror through the base and the supporting body, the partition plate and the gray mirror partition an elevator room, a user can conveniently distinguish elevators in different floor intervals, and meanwhile the ornamental value of the appearance of the partition background wall is guaranteed to a certain degree.

The invention discloses a robot surgical navigation pose error compensation method, and relates to the technical field of automatic control of medical instruments. The method comprises the following steps: constructing a conversion relation between an optical positioning coordinate system and an image coordinate system; positioning information of a marker on a tool at the tail end of the mechanical arm is obtained, and the real-time pose of the marker under the optical positioning coordinate system is calculated; determining a target pose based on a phantom target in the image coordinate system and converting the target pose to an optical positioning coordinate system; calculating a pose error (including a position error and a pose error) between the real-time pose and the target pose; dynamically adjusting the parameters by adopting a self-adaptive PID control algorithm, and generating a posture correction instruction; and repeating the steps until the error meets a preset precision threshold (the position error is less than or equal to 0.1 mm, and the attitude error is less than or equal to 0.1 degree). Through two-dimensional error compensation and dynamic PID adjustment, the problem of multi-link error accumulation is solved, the navigation positioning precision and robustness are improved, and the method is suitable for surgical robots and high-precision positioning scenes.

The utility model discloses a photovoltaic module lead insulation rubber block placing and spot-ironing device which comprises a module conveying line, a rubber block feeding unit and an insulation rubber block placing and spot-ironing unit. The insulation rubber block placing and spot-ironing unit comprises a third motor, a fourth supporting plate driven by the third motor to move left and right, and a plurality of insulation rubber block spot-ironing modules movably arranged on the fourth supporting plate front and back; the insulation rubber block spot ironing module comprises a fifth supporting plate, a fifth motor fixed to the fifth supporting plate, a sixth supporting plate driven by the fifth motor to move up and down, a second air cylinder and a third air cylinder, wherein the second air cylinder and the third air cylinder are fixed to the sixth supporting plate. The insulating rubber block suction nozzle is driven by the second air cylinder to move up and down; and the second hot rubber head is driven by the third air cylinder to move up and down. According to the utility model, the placing efficiency of the small insulating blocks is improved, and the efficient glue filling operation of the roots of the leads is realized.

This invention discloses an indoor data acquisition and positioning method, positioning system, and storage medium based on a neural network algorithm. It employs a multi-terminal collaborative architecture to achieve a closed-loop positioning process for small-scale indoor scenes. The system uploads indoor planar images via a front-end device and performs scale calibration to establish a mapping relationship between pixel coordinates and physical space. In acquisition mode, it acquires multi-source signals in real time and expands the effective sample. After back-end data processing and storage, the algorithm extracts signal features through a neural network, performs adaptive weight allocation and feature fusion, and trains to generate a fingerprint database model. In positioning mode, it performs signal matching and coordinate calculation based on this model, and finally, the positioning results are visualized and displayed on the front end. This invention requires no dedicated acquisition equipment or base station deployment, and has the advantages of high positioning accuracy, low deployment cost, convenient maintenance, and user-friendly operation, making it suitable for various small-scale indoor positioning needs.

The utility model discloses a double -station flexible clamp for robot glazing production line, including base, first station clamping mechanism, second station clamping mechanism and jacking cylinder, base is connected to robot end flange, first station clamping mechanism, second station clamping mechanism are arranged in parallel on the base, first station clamping mechanism, second station clamping mechanism structure are same, and all include vacuum chuck and spring guide rail floating mechanism, vacuum chuck top is connected to base through spring guide rail floating mechanism, and spring guide rail floating mechanism makes vacuum chuck can float along its axial direction, jacking cylinder is set up on base and is connected with spring guide rail floating mechanism. This clamp improves efficiency through double -station design, and spring guide rail floating mechanism realizes vacuum chuck axial floating, and jacking cylinder locks the height of glaze dipping, improves glazing precision and stability, reduces the breakage rate of blank.

The application discloses a motor output shaft and bearing assembling equipment and an assembling method. The equipment comprises an oiling tool, a sealing ring mounting tool and a pressure joint tool arranged in sequence along a straight line, a tool transfer mechanism for driving the pressure joint tool to move along the straight line, an output shaft carrying mechanism for taking out the output shaft from a production line for carrying, an oiling mechanism arranged corresponding to the position of the oiling tool, a sealing ring mounting mechanism arranged corresponding to the position of the sealing ring mounting tool, a plurality of bearing feeding mechanisms arranged along the tool transfer mechanism, a bearing feeding mechanism for carrying the bearing output by the bearing feeding mechanism to the bearing in the pressure joint tool, and a bearing pressure joint mechanism arranged above the transfer path of the tool transfer mechanism. The bearing feeding mechanism and the bearing feeding mechanism are arranged on opposite sides of the tool transfer mechanism. The application has compact layout, small space occupation and high assembling efficiency.

The invention relates to the technical field of flood-proof systems, in particular to an urban rail transit underground station integrated protection flood-proof system which comprises a floor board, one end of the floor board is connected with a water baffle, and a strip-shaped inserting groove is formed in the floor board; the fixing rod is arranged in a hollow mode, the fixing rod is pre-buried in the soil body, the lower end of the fixing rod is connected with a pre-buried box body, and an inner cavity of the fixing rod communicates with an inner cavity of the pre-buried box body; the locking rods are arranged in the fixing rods in a penetrating mode, the upper ends of the locking rods are vertically connected with pressing rods, the lower ends of the locking rods are connected with balance weight units, the balance weight units are located in the inner cavity of the embedded box body, and the pressing rods penetrate through the strip-shaped inserting grooves and then horizontally rotate to abut against the top wall of the floor board; the device has the advantages that a containing space can be provided for the locking rod and the balance weight unit through the fixing rod and the pre-buried box body, horizontal displacement control and overturning control over the floor can be achieved through cooperation of the locking rod and the pressing rod, then the position stability of the water baffle is guaranteed, and the rainwater interception reliability is guaranteed.

The utility model discloses a filter box for pet water drinking, a water drinking seat and a water dispenser, and belongs to the field of pet water drinking. A filtering space used for containing a filtering material is arranged in a filtering box, the filtering space is divided into an upper filtering area and a lower filtering area through a hollowed-out partition plate, the upper filtering area is a space with the top open, and a first filtering material is laid in the open space and can be separated from the open space; the bottom of the lower filtering area is provided with a bottom wall, and a second filtering material is laid on the inner side of the bottom wall. The double-layer filtering mode is adopted, the filtering cleanliness is effectively guaranteed, preferably, the first filtering material with short energy efficiency is directly placed on the upper filtering layer with the opening, replacement at any time is facilitated, the whole filtering box does not need to be replaced, and the use cost is effectively reduced.

The invention discloses a four-rotor aircraft anti-interference backstepping control method based on a feedback reference model. The four-rotor aircraft anti-interference backstepping control method comprises the following steps: constructing a four-rotor aircraft dynamics model; a flight control system of the four-rotor aircraft is decomposed into a horizontal position control subsystem and a height and attitude control subsystem; basic backstepping controllers are designed for the two subsystems, feedback reference models corresponding to the two subsystems are obtained, actual state variables are input into the two subsystems and the feedback reference models corresponding to the two subsystems, and generalized state errors corresponding to the two subsystems are obtained; based on the two generalized state errors and a backstepping control mode, anti-interference backstepping controllers based on feedback reference models and corresponding to the two subsystems are designed through the Lyapunov stability theory, anti-interference control over the four-rotor aircraft is achieved, and stable flight is ensured. The controller designed by the method is simple in structure and few in variable; the external airflow interference can be effectively suppressed, and the method has good robustness for load uncertainty.

The utility model discloses a kind of multi-station fixing fixture applied to the processing of C frame border CNC, it is related to metal processing technical field, including bottom plate, a plurality of jig blocks are provided on bottom plate, the two sides of jig block length direction can be placed symmetrically C frame border, the two sides of jig block width direction are placed with fixed block one, the two sides of jig block length direction are respectively provided with the fixed block two and fixed block three corresponding to two C frame border hole positions and slot, and three sides of C frame border are formed clamped fixed;The interval distance between each jig block is greater than the thickness of fixed block two and fixed block three;A plurality of jig blocks are provided on bottom plate, and each jig block can place two C frame borders simultaneously, the space of each jig block is fully utilized, production efficiency is improved, through fixed block one, fixed block two and fixed block three, the three sides of two C frame borders are formed clamped fixed on one jig block, while improving production efficiency, ensure the position accuracy and stability of workpiece in machining process.