30results about How to "Keep balance and stability" patented technology

The invention provides a screw tightening mechanism for a case shell and a case assembly system. The screw tightening mechanism comprises first and second lifting object stages, a screw tightening device, a rotary operating platform, a case shell conveying device and an electrical control cabinet, wherein the first lifting object stage is used for lifting the case shell to a preset height and conveying the case shell to a workbench of the screw tightening device; the screw tightening device is used for tightening screws on the to-be-machined case shell; the second lifting object stage is used for receiving the case shell on which the screws are tightened and lifting or lowering the case shell to a preset height to allow the case shell to enter a conveying station; the rotary operating platform is used for adjusting the case shell to the proper position and angle; the case shell conveying device is used for conveying the case shell on which the screws are tightened to a following assembly station; the electrical control cabinet is used for driving the first and second lifting object stages, the screw tightening device, the rotary operating platform and the case shell conveying device to operate. The screw tightening mechanism can finish the screw tightening procedure accurately and efficiently for the case shell.

The invention discloses a self-standing tower crane and formwork integrated construction platform system. The self-standing tower crane and formwork integrated construction platform system comprises self-standing tower cranes, a steel frame device, supporting power devices, lateral resisting devices and leveling devices; the steel frame device comprises a frame platform and frame columns, and each frame column is installed on the wall body of the periphery of a core tube through the corresponding supporting power device; each supporting power device comprises a micro-convex fulcrum mechanism, an upper support frame, a lower support frame, a switchover stand column mechanism and a power mechanism, the micro-convex fulcrum devices are fixedly installed on the wall bodies of the peripheries of the core tubes, the upper support frames and the lower support frames are arranged on the upper portions and the lower portions of the micro-convex fulcrum devices in a hanging mode respectively, the switchover stand column mechanisms are put on the upper support frames, the upper portions of the power mechanisms are installed on the switchover stand column mechanisms, and the lower portions of the power mechanisms are fixedly connected with the lower support frames. According to the self-standing tower crane and formwork integrated construction platform system, a formwork and the tower cranes can be made to form an integrated structure, overall lifting is achieved, and the safety and the stability of the whole formwork during operation of the tower cranes are guaranteed.

The invention belongs to the field of gear machining, and discloses a loading and unloading mechanism for small-module bevel gears. The loading and unloading mechanism comprises a portal truss, a feeding mechanism and a storing mechanism; the portal truss comprises a cross beam; double guiding rails A are fixed to one side of the cross beam; a rack is arranged between the double guiding rails A; the feeding mechanism is arranged on the cross beam and comprises internal expansion fixtures, the internal expansion fixtures realize three-dimensional actions of the space through driving mechanisms,and the driving mechanisms are connected onto the double guiding rails A; the storing mechanism is arranged below the cross beam and comprises a group of bases used for loading and unloading respectively, rotating disk mechanisms are arranged above the bases, and clamping mechanisms A are arranged beside the rotating disk mechanisms. By the aid of the loading and unloading mechanism, the problemsof difficulty in clamping, relatively slow loading and unloading of products and the like during machining of the small-module bevel gears are solved.

The invention discloses a method for ecological system restoration by a food web. The method comprises the following steps of (1) ecological restoration reconstruction region survey; (2) key food web building; (3) key food web nutrition relationship quantification; and (4) ecological system restoration reconstruction. The ecological restoration method has the advantages that the method starts from the introduction of local species, the ecological risk such as non-indigenous organism invasion generated in the ecological system restoration reconstruction is avoided; the introduced ecological restoration reconstruction region is the local key food web, i.e. an ecological system with the complete structure is formed, the fast forming of a new ecological system is promoted, the ecological risk can be avoided, and the time for introduced species to be merged into the new system again can also be shortened; and the ecological system with little man-made interference is selected as a basis reference, the nutrition relationship of the newly built food web is quantitated, and the relative balance and stability of the newly formed ecological system is ensured.

The invention discloses a track transportation system for subway shield tunnel quick slag tapping. The track transportation system for subway shield tunnel quick slag tapping comprises a switching track fixedly installed in a shield tunnel, and further comprises multiple sections of first tracks and second tracks which are arranged in parallel at intervals and a transverse track moving device slidably installed in a shield shaft, and each first track and the corresponding second track are adjustably connected with the switching track through a turnout; the transverse track moving device comprises transverse tracks, transverse moving brackets, longitudinal tracks and a hydraulic jack, the transverse tracks are fixed to a bottom plate of the shield shaft, and the transverse moving brackets are slidably supported on the transverse tracks; the longitudinal tracks adjustably connected with the first tracks and the second tracks are fixedly installed on the tops of the transverse moving brackets; and the hydraulic jack used for providing transverse moving power for the transverse moving brackets is fixedly installed on the side wall of the shield shaft. According to the track transportation system, the connecting total length of track cars does not need to be taken into account, the effect that full-load track cars and no-load track cars simultaneously run can be achieved, and the muck transportation efficiency can be improved to the maximum limit within the limited shield shaft horizontal depth range.

A suspension type lifting device includes a base unit, a bearing unit, a balance unit, a servo unit and a hanging unit. The base unit includes a first plate, a second plate and a third plate. The bearing unit includes a positioning piece and two forks. The balance unit is connected with the third plate of the base unit. The servo unit is connected with the first plate of the base unit. The hanging unit is mounted on the first plate of the base unit. When the servo unit detects that a foreign object is placed on the bearing unit, the servo unit calculates a value required for reaching a balance weight and transmits a power to drive the balance unit to swing leftward and rightward, so as to reach a balance state.

The invention discloses a surgical drilling instrument with force sensing function for robot-assisted surgery, which comprises: an end effector part, a deflection-pitch part and an autorotation part. The end effector is composed of a six-dimensional force sensor, a drill connector, a pitch connector, a surgical drill, and an intermediate connecting shaft, and is used to realize drilling and force sensing functions. The pitch-yaw part is composed of a pitch axis, an intermediate support body, a yaw drive wheel, a yaw shaft, and a transmission wheel, and is used to complete pitch and yaw degrees of freedom. The rotation part is composed of a rotation shaft and a carbon fiber tube, which is used to realize the degree of freedom of rotation. The drilling device of the present invention adopts wire transmission, which can realize long-distance transmission, eliminate hysteresis through proper preloading, and has the advantages of large operating space, high transmission precision, good motion stability, and sensing the force and moment at the end of the drill.

The invention discloses a new type of foldable electric hammer construction equipment, comprising a support component and an electric hammer body, one end of the electric hammer body is provided with a foldable shoulder support frame, and the other end of the electric hammer body is fixed with an electric hammer A guide rail is arranged on the outer ring of one side of the electric hammer body. In the present invention, the user can scientifically distribute the total weight of the electric hammer to the shoulder and the main grip rod used for hand grip, which can ensure that the staff is more labor-saving when using it, and on the other hand, is conducive to further ensuring the working time. The balance is stable; during use, select the appropriate positioning hole to adjust the position of the support assembly on the electric hammer to the appropriate position, and attach the cushion ring of the support assembly to the base surface that needs to be drilled, which can ensure a good performance on the one hand. When punching holes, the hammer head is perpendicular to the base surface, on the other hand, it can further ensure that the staff is more labor-saving when working.

A cooking robot and a method for controlling the cooking technology by adopting a gyroscope comprise the following steps of step S10, step S20, step S30, step S40 and step S50. In the course of cooking, the pre-stored vegetable program called by the controller controls the heating device to heat the frying pan to a predetermined temperature T, and the controller controls the gyroscope to tilt thefirst preset tilt angle beta according to the called pre-stored vegetable program and the gyroscope to keep balance when the first preset tilt angle beta is set. The controller controls the driving device to start, controls the driving device to drive the frying pan to tilt by the same angle according to the first preset tilt angle beta of the gyroscope, and controls the driving device to drive the frying pan to rotate according to the called pre-stored vegetable program. The application of the technical scheme can solve the problem that in the prior art, the cooking robot can not cook uniquedelicious dishes according to different side dishes by adopting exclusive cooking methods.

The invention discloses a waste residue collecting device for waste incineration and a using method thereof, and belongs to the field of waste incineration. The waste residue collecting device for waste incineration comprises a box body, wherein a crushing cavity is formed in the upper portion of the box body, two symmetric crushing machines are symmetrically installed on the inner wall of the crushing cavity, blades on the two crushing machines are staggered, the upper portion of the crushing cavity communicates with a feeding pipe, and a separation cavity is formed in the middle of the box body and communicates with the crushing cavity. By means of the waste residue collecting device, furnace slag and fly ash in incineration waste residues can be quickly separated, and subsequent processing is facilitated; moreover, heavy metal contained in the fly ash can be adsorbed to lower the pollution degree of the fly ash, the principle of negative pressure is utilized for making the fly ash float towards a negative pressure cavity, snowflake-shaped adsorption sheets are utilized for adsorbing the fly ash, and adsorbing heavy metal in the fly ash, so that preliminary filtration of the flyash is achieved, and then the fly ash is filtered through a dust settling pocket to ensure that gas discharged in air is unlikely to bring about air pollution.

The embodiment of the invention provides a biped robot dance balance control method and device and a biped robot. The method comprises the steps: obtaining the actual joint angle and the actual sole stress fed back by the robot under the condition that the robot is provided with at least one supporting leg, calculating the ZMP deviation through the joint angle and sole stress information fed back in real time, calculating expected momentum by utilizing the ZMP deviation, and finally calculating a joint angle capable of simultaneously meeting dance motion tracking and balance motion by combining a joint angular velocity optimization function taking a difference value between a joint reference angle and the actual joint angle as an optimization variable so as to carry out control. According to the scheme, under the condition that the dance movement track does not need to be strictly designed, the whole robot stability under the dance movement is achieved, and the higher external anti-interference capacity and the fast response capacity are achieved.

The invention discloses an auxiliary beam of a bogie. The auxiliary beam comprises a shell forming a closed inner cavity, the shell comprises a partition plate arranged in the inner cavity, the partition plate divides the inner cavity into a first cavity and a second cavity, and the shell is further provided with an auxiliary beam which penetrates through the inside and the outside and is provided with a first air chamber interface and a second air chamber interface that are respectively communicated with the first cavity and the second cavity; the shell is further provided with a first differential pressure valve connector and a second differential pressure valve connector which penetrate through the inside and the outside and are communicated with the first cavity and the second cavity respectively. According to the auxiliary beam, the auxiliary beam of the bogie frame not only serves as a connecting piece for connecting the front cross beam and the rear cross beam, but also is divided into the first cavity and the second cavity at the same time and can be communicated with the inner cavities of the cross beams, so that the auxiliary beam serves as an additional air chamber of an air spring installed on the bogie frame, and the volume of the additional air chamber is increased. In addition, the auxiliary beam provides installation space for the differential pressure valve at the same time, so that the structure of the framework is compact.

The invention discloses a double-shaft high-shear emulsifying machine. The emulsifying machine comprises a motor, a head, a connecting rod and a bracket, wherein the upper part of the connecting rod is fixedly connected with the lower part of the bracket; the head is fixedly connected with the lower part of the connecting rod; the motor is connected with the top ends of a first main shaft and a second main shaft; rotary cutting blades are respectively arranged at the tail ends of the first main shaft and the second main shaft; the rotary cutting blades extend into the head; a plurality of rotary cutting blades are arranged on the first main shaft and the second main shaft in a staggered manner. The double shafts of the emulsifying machine drive the rotary cutting blades to perform emulsification, powder and granules in liquid can be refined and dispersed well, and emulsification is homogeneous.

The invention discloses an auxiliary sliding plate suitable for outdoor automobile maintenance in winter. The auxiliary sliding plate comprises a body, a supporting arm, a first sliding plate, a firstguide rail, a second sliding plate and a locking device; the right side of the body is provided with the supporting arm, and the supporting arm is internally provided with an inner cavity; the bottomof the body is provided with the first sliding plate, the first sliding plate is provided with the first guide rail, and a lying plate is installed on the first guide rail; the upper portion of the left side of the first sliding plate is provided with the second sliding plate, and the right side of the second sliding plate is provided with a second guide rail; the locking device is arranged between the first sliding plate and the second sliding plate; and the left side of the lying plate is fixedly connected with a pull rope, and a fixed pulley is fixedly installed on the right side of the upper portion of the second sliding plate. The auxiliary sliding plate is reasonable in design, it can be ensured that the environment where a maintainer is located is comfortable in the maintenance process, meanwhile, the auxiliary sliding plate is suitable for maintenance of different vehicles, the working efficiency of the maintainer can be improved, and the auxiliary sliding plate is suitable for popularization.

The invention relates to the technical field of footwear and discloses safety shoes facilitating stable stress. Each shoe comprises a shoe body, a shoe sole is fixedly connected to the bottom of eachshoe body, and a shoe heel is fixedly connected to the right side of each shoe body; multiple heat dissipation holes are formed in the front surface and the back surface of each shoe sole, a protection cover is fixedly connected to the top of each shoe body, and a hook-and-loop fastener is fixedly connected to the front surface of each protection cover. According to the safety shoes facilitating stable stress, through arrangement of mounting holes, mounting plates, supporting plates and anti-skid teeth, the supporting and stabilizing function is achieved when the feet are stressed, then the stress-resistant anti-skid effect is achieved when workers are in a great-effort working state, physical balance and stability of the workers during stressed work are guaranteed, the situation is avoided that the workers slip down, when a supporting structure which is arranged in the mounting hole is not stressed, normal walking and usage cannot be influenced, and accordingly the effect that convenience is provided for the workers to be stably and firmly stressed and supported is achieved.

The invention discloses an underwater ground breaking robot. The underwater ground breaking robot comprises a track, a moving platform and an operating platform, wherein the track is arranged on a mounting platform; the moving platform can move along the track; and the operating platform is connected with the moving platform through a lifting mechanism, telescopic supporting legs and a mechanical arm are arranged on the operating platform, the mechanical arm is provided with an operating part, the telescopic supporting legs extend towards the two sides of the operating platform, the telescopic supporting legs are retracted into the operating platform in the lifting process, and the telescopic supporting legs extend to abut against the mounting platform during operation of the operating part, so that the operating platform can be kept stable. According to the underwater ground breaking robot, the mechanical arm and the telescopic supporting legs are arranged on the operating platform, the telescopic supporting legs can extend to abut against the inner wall of a vertical shaft so as to keep balance of the operating platform and provide balance torque needed during ground breaking operation, and the operating part below the operating platform is driven by the mechanical arm to conduct 360-degree ground breaking operation, so that the problem that the attitude of the operating platform cannot be stably positioned and controlled underwater can be effectively solved.

The invention discloses a multidirectional balanced paper surface gypsum board coating process, and belongs to the field of paper surface gypsum board production. Two transverse flattening plates are arranged in an area before coating, so that an isosceles triangle-shaped flattening structure is formed on the surface of a paper surface; the contact part of the transverse flattening plate far away from the coating roller and the surface of the surface paper is controlled to be fixed, the contact area of the flattening strip on the other transverse flattening plate and the transverse flattening plate is controlled to be increased and then decreased, the process is continuously repeated, and in the process, the bottom edge of an isosceles triangle formed by the contact part of the flattening strip and the surface of the paper is continuously changed; by means of the guiding device, paper surface wrinkles or local protrusions are guided to the two sides and gradually move to the edge to disappear, balance and stability of the surface paper during operation are effectively guaranteed, and compared with the prior art, the conditions of wrinkles and local protrusions of the surface paper before coating are greatly reduced, and the uniformity of the coating is effectively guaranteed.

The invention discloses a self-standing tower crane and formwork integrated construction platform system. The self-standing tower crane and formwork integrated construction platform system comprises self-standing tower cranes, a steel frame device, supporting power devices, lateral resisting devices and leveling devices; the steel frame device comprises a frame platform and frame columns, and each frame column is installed on the wall body of the periphery of a core tube through the corresponding supporting power device; each supporting power device comprises a micro-convex fulcrum mechanism, an upper support frame, a lower support frame, a switchover stand column mechanism and a power mechanism, the micro-convex fulcrum devices are fixedly installed on the wall bodies of the peripheries of the core tubes, the upper support frames and the lower support frames are arranged on the upper portions and the lower portions of the micro-convex fulcrum devices in a hanging mode respectively, the switchover stand column mechanisms are put on the upper support frames, the upper portions of the power mechanisms are installed on the switchover stand column mechanisms, and the lower portions of the power mechanisms are fixedly connected with the lower support frames. According to the self-standing tower crane and formwork integrated construction platform system, a formwork and the tower cranes can be made to form an integrated structure, overall lifting is achieved, and the safety and the stability of the whole formwork during operation of the tower cranes are guaranteed.

The invention discloses an upper anterior tooth 90-degree torsion appliance and a preparation method thereof, and belongs to the technical field of tooth correction. The upper anterior tooth 90-degreetorsion appliance comprises lip side traction hooks and a torsion tooth near distal tongue side buckle, wherein elastic rubber rings are arranged between the lip side traction hooks and the torsion tooth near distal tongue side buckle, a distal adjacent surface guide plate is arranged in a torsion tooth distal gap, and retention devices arranged on upper jaw molar teeth on two sides are arrow clamping rings. The lip side traction hooks and the arrow clamping rings are all embedded in an upper jaw palate side resin base support. The preparation method comprises the following steps: preparing an upper and lower jaw working model; trimming the working model; making the lip side traction hooks and a double-side rear tooth arrow clamping ring in a bending manner, making the resin base supportof the appliance through a novel injection molding process, enabling the arrow clamping rings and a traction hook tongue side to be embedded in the resin base support, and enabling the base support toextend to the distal end of a torsion tooth and form an integrated structure with the distal adjacent surface guide plate. The appliance prepared by the preparation method disclosed by the inventioncan efficiently solve the problem of severe torsion during eruption of the anterior teeth of a child, thoroughly avoids the situation that the torsion teeth do distal movement and lose tooth lacking gaps, and enables a child patient to wear comfortably.

The invention discloses an adjusting tool of a wind power tower cylinder edge rolling hydraulic machine. The adjusting tool comprises two supporting mechanisms arranged in a bilateral symmetry mode, hydraulic lifting mechanisms are movably connected to the lower portions of the supporting mechanisms correspondingly, each supporting mechanism comprises a connecting square pipe assembly, the top of the outer side of each connecting square pipe assembly is connected with the corresponding hydraulic lifting mechanism, an upper roller mechanism is fixed to the middle of the top of the inner side of each connecting square pipe assembly, each connecting square pipe assembly is obliquely arranged towards the lower portion of the inner side, vertical steel channels are rotationally connected to the left side and the right side of the bottom of each connecting square pipe assembly correspondingly, and a lower roller mechanism is arranged on the inner sides of the middles of the two vertical steel channels on each side. On the basis of playing a role in guiding and supporting tower cylinder sections so as to avoid deformation of the tower cylinder sections, the adjusting tool is suitable for rolling the tower cylinder sections with different diameters, and the overall adaptability is high.

The invention discloses a bandage type adjustable tray rack which comprises a vertical beam, a cross beam and a tail beam. A holding rod is arranged on the bottom surface of the cross beam, a holding roller is arranged on the holding rod, and the holding rod and the holding roller are parallel to the cross beam; a hoop is arranged on the rear side of the tail beam, the hoop is connected with the tail beam through a hinge, the hoop is shaped like a half circular ring, an opening of the hoop faces the rear side of the tail beam, and a buckle strap is arranged at the opening of the hoop. According to the bandage type adjustable tray rack, when the tray rack is used, a tray is placed on the tray rack composed of the vertical beam, the cross beam and the tail beam, medical staff hold the holding roller to make the hoop tied to the position, close to the crook of the arm, of the upper arm through the buckle strap, it can be guaranteed that the tray rack is balanced and stable in the carrying and transporting process, even though slight collision occurs, tray tilting cannot be caused, the hoop is hinged to the tail beam, and the medical staff swing arms slightly when walking; the medical staff can have a free hand to hold the tray or the side of the tray rack or take other articles.

The invention discloses a tray frame for medical care. The tray frame comprises a vertical beam, a transverse beam and a tail beam, the front end of the vertical beam and the two ends of the transverse beam all incline upwards and tilt, and the tail beam which inclines upwards is arranged at the rear end of the vertical beam; a holding rod is arranged on the bottom of the transverse beam, a holding roller is arranged on the holding rod, and the holding rod and the holding roller are in parallel to the transverse beam; a clamp is arranged on the tail beam and in a semicircular ring shape, and the opening of the clamp faces the rear side of the tail beam and inclines downwards. When the tray frame for medical care is in use, a tray is placed on the tray frame composed of the vertical beam, the transverse beam and the tail beam, and a medical worker can hold the holding roller and clamp the clamp to the position, close to the crook of an arm, of the upper arm, so that equilibrium and stability of the tray frame in a holding carrying process are guaranteed, and even slight bump does not cause tipping of the tray; moreover, the medical worker can use a free hand to support the tray or the side portions of the tray frame or hold other articles.

The invention provides an onboard service robot with a stabilizing system. The onboard service robot comprises a main control computer, an interactive system and an executive system. The interactive system is used for collecting demand information of a user and sending the demand information to the main control computer. The main control computer is used for receiving the demand information, recognizing a user demand through the demand information, outputting an executive instruction according to the user demand and carrying out information interaction with the user through the interactive system. The executive system comprises a trailing control module, a servo control module and a balance stabilizing module. The onboard service robot is suitable for the scene with a small space, a complex environment, large personnel density, high labor repetition rate and high service pressure on an airplane and can replace flight attendants to do part of high-repetition-rate work, solve the problemthat the flight attendants cannot provide service in a severe bumpy environment, greatly save time and reduce labor cost, and improve the service level onboard.

The invention provides a method and system for producing omnidirectional displacement offset in a motion platform, the method includes: horizontal and vertical intelligent space motion recognition modules capture various actions or displacements of moving objects on the plane in real time, and store the respective data Submit it to the omnidirectional platform controller; after mixing the received data, the omnidirectional platform controller predicts the motion trajectory, calculates the displacement of the target relative to the origin of the platform, and generates data to control the movement of the motor; the data is transmitted to the omnidirectional motion platform, and the The control motor of the omni-directional motion platform simultaneously generates displacements opposite to the target motion displacement of the platform on the two direction axes, but with the same value; repeat the above steps until artificially suspended or terminated. This method can use relative motion to offset the displacement of the person in one direction in the plane without changing the person's action habits or experience, and keep the person in the original position.

The invention provides a screw tightening mechanism for a case shell and a case assembly system. The screw tightening mechanism comprises first and second lifting object stages, a screw tightening device, a rotary operating platform, a case shell conveying device and an electrical control cabinet, wherein the first lifting object stage is used for lifting the case shell to a preset height and conveying the case shell to a workbench of the screw tightening device; the screw tightening device is used for tightening screws on the to-be-machined case shell; the second lifting object stage is used for receiving the case shell on which the screws are tightened and lifting or lowering the case shell to a preset height to allow the case shell to enter a conveying station; the rotary operating platform is used for adjusting the case shell to the proper position and angle; the case shell conveying device is used for conveying the case shell on which the screws are tightened to a following assembly station; the electrical control cabinet is used for driving the first and second lifting object stages, the screw tightening device, the rotary operating platform and the case shell conveying device to operate. The screw tightening mechanism can finish the screw tightening procedure accurately and efficiently for the case shell.

The invention provides an onboard service robot with a stabilizing system. The onboard service robot comprises a main controlling computer, an interacting system and an executing system, wherein the interacting system is used for collecting demand information of a user and sending the demand information to the main controlling computer, the main controlling computer is used for receiving the demand information, identifying a user demand through the demand information, outputting an executing instruction according to the user demand and carrying out information interaction with the user throughthe interacting system, and the executing system comprises a trailing control module, a servo controlling module and a balance stabilizing module. According to the onboard service robot with the stabilizing system, the onboard service robot is suitable for a scene with small space, complex environment, high personnel density, high labor repetition rate and high service pressure on an airplane, can replace part of work with high flight attendant repetition rate, can also solve the problem that flight attendants cannot provide service in a severe bumpy environment, can greatly save time and labor cost, and improve a onboard service level.

The invention discloses a method for ecological system restoration by a food web. The method comprises the following steps of (1) ecological restoration reconstruction region survey; (2) key food web building; (3) key food web nutrition relationship quantification; and (4) ecological system restoration reconstruction. The ecological restoration method has the advantages that the method starts from the introduction of local species, the ecological risk such as non-indigenous organism invasion generated in the ecological system restoration reconstruction is avoided; the introduced ecological restoration reconstruction region is the local key food web, i.e. an ecological system with the complete structure is formed, the fast forming of a new ecological system is promoted, the ecological risk can be avoided, and the time for introduced species to be merged into the new system again can also be shortened; and the ecological system with little man-made interference is selected as a basis reference, the nutrition relationship of the newly built food web is quantitated, and the relative balance and stability of the newly formed ecological system is ensured.

The invention relates to an aircraft and provides an inner rotor aircraft structure. The inner rotor aircraft structure comprises a structure body, a rotor cavity, an airflow inlet, an airflow outlet,a flow deflector and a rotor. The rotor cavity is inserted into the structure body. The structure body is provided with the airflow inlet and the airflow outlet. The airflow inlet and the airflow outlet are communicated with the rotor cavity. The flow deflector is installed at one or more of the airflow inlet or a position close to the airflow inlet, the airflow outlet or a position close to theairflow outlet, and a position in the rotor cavity. The rotor is installed in the rotor cavity. The inner rotor aircraft structure has a compact structure, realizes stable and flexible flight and suspension control and has a capacity adaptive to a small complicated three-dimensional space.