32results about How to "Reduce deformation effects" patented technology

The invention relates to the technical field of annular sealing element assembling, and discloses an annular sealing element assembling tool which comprises a main body frame, a clamping assembly is arranged at the bottom of the main body frame, an auxiliary assembly is arranged between the clamping assembly and the main body frame, a fixing assembly is arranged at the bottom of the clamping assembly, and a cleaning assembly is arranged at the top of the clamping assembly. The space between a clamping block and a sealing piece is filled with magnetorheological fluid, the magnetorheological fluid is solidified under the action of an electromagnet, deformation of the sealing piece is reduced, a first piston plate of an auxiliary assembly extrudes air to clean dust in the sealing piece, and when the clamping block is loosened, a synchronous plate drives a third piston plate to move to assist in discharging of the magnetorheological fluid; the tool solves the problems that a traditional assembling tool is prone to deformation when clamping the sealing element, impurities are difficult to clean before assembling and the like, the sealing performance of the sealing element is guaranteed, the assembling efficiency and quality are improved, and the tool is suitable for assembling operation of the annular sealing element.

The invention relates to a high-speed surface material scanning detection motion control device, and relates to the technical field of detection of high-speed produced surface materials, the high-speed surface material scanning detection motion control device comprises a protective shell, stand columns are arranged in the two sides of the protective shell, an upper cross beam is connected to the upper portions of the middles of the two stand columns, and a lower cross beam is arranged at the bottom of the upper cross beam; driving cavities are formed in the two sets of stand columns, driving rods are connected to the middles of the driving cavities through bearings, a driving mechanism is arranged in the middle of the driving cavity on one side, and the driving mechanism comprises a fixing box, a worm gear, a worm and a servo motor; the two groups of detection probes can be driven by the driving mechanism to do reciprocating translational motion, so that scanning detection of a face material is realized, and the two groups of transmission belts are driven by the driving rod to synchronously rotate, so that the motion trail synchronism of the upper and lower groups of detection probes is consistent, the detection precision is improved, and the detection efficiency is improved. And a water cooling system and an air cooling system are matched with each other for cooling.

The invention relates to the technical field of tunnel construction, in particular to a cast-in-place pile drilling device for tunnel construction and a tunnel construction method.The cast-in-place pile drilling device for tunnel construction comprises a supporting module, a drilling module and a vehicle body, the supporting module is used for supporting and limiting, the drilling module is used for drilling in cast-in-place pile construction and arranged on the supporting module, and the drilling module comprises a sleeve; a first connecting rod is arranged in the sleeve. According to the drilling device, the first connecting rod is arranged in the sleeve, the first connecting rod, the second connecting rod and the third connecting rod can move downwards in sequence, drilling is conducted in sequence through the first drill bit, the second drill bit and the third drill bit, in this way, step-by-step drilling can be conducted according to needs, the drill bits do not need to be replaced during drilling, and rapid drilling of the cast-in-place pile is facilitated; and meanwhile, the first connecting rod, the second connecting rod and the third connecting rod can be retracted into the sleeve, so that the overall length of the drilling module can be reduced, transfer and transportation of the drilling device are facilitated, and meanwhile the height requirement for construction can be lowered.

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 invention belongs to the technical field of mechanical manufacturing equipment, and particularly relates to a deformation control machining method for an aircraft alloy steel structural part and a self-adaptive clamping device. The device comprises a bottom plate (1), a spring steel sheet (2) and a plurality of process laps (3), the bottom plate (1) is a rectangular base, mounting grooves (10) are distributed in the upper end face of the bottom plate in an equally-spaced matrix array mode, and the spring steel sheets (2) are mounted in the mounting grooves (10). Threaded holes (4) and positioning pin holes (5) are distributed in the upper end face of the bottom plate at equal intervals in an array mode. A plurality of process laps are connected to the periphery of the structural part to be machined, two of the process laps (3) are installed on the positioning pin holes (5) located in the same straight line to form a machining reference axis, and the other process laps (3) are distributed on the two sides of the reference axis; the process lap (3) is provided with a groove (6) in the thickness direction of the blank, a pressing plate is clamped in the groove, and the pressing plate is locked and fixed to the bottom plate through a bolt.

The utility model discloses a capacitor protection assembly and a capacitor, and relates to the technical field of capacitors, and the capacitor protection assembly comprises a housing, a cover body, a support, and a conductive assembly. The shell is provided with a containing cavity for containing the capacitor assembly. The cover body is arranged at the opening of the containing cavity in a covering mode. The support is installed on the cover body, and at least part of the support is located in the containing cavity. The conductive assembly comprises a first conductive part and a second conductive part which are connected, the first conductive part is directly or indirectly connected with the cover body, and the second conductive part is installed on the support. The support is provided with an electric fence, the electric fence is arranged on the peripheral side of the second conductive part, when the capacitor assembly breaks down, the cover body expands in the direction away from the support, and the first conductive part and the second conductive part are disconnected. According to the capacitor protection assembly, the capacitor protection capability can be improved, and the fault probability of the capacitor is reduced.

The invention discloses a conductive foam performance detection device, and relates to the technical field of conductive foam detection, the conductive foam performance detection device comprises a detection seat and a supporting seat fixedly connected to the top of the detection seat, conductive foam is arranged above the supporting seat, a pressing plate is arranged above the conductive foam, a plurality of groups of electrode plates are embedded in the bottom of the pressing plate, and the electrode plates are arranged on the supporting seat. Each group of electrode plates comprises two electrode plates, and the two electrode plates are symmetrically arranged relative to the central axis of the pressing plate; and the pressing assistor is positioned at the top of the supporting seat and is used for pressing the conductive foam by the pressing plate. Through mutual cooperation of the pressing assistor and the depth adjusting assembly, the intermittent multi-time position adjusting function of the pressing plate can be realized through reciprocating of the hydraulic cylinder, so that different pressing states of the conductive foam are detected in cooperation with an external conductivity detector, the accuracy of detection data is improved, and the detection efficiency is improved. Therefore, the overall practicability of the device is improved.

The invention discloses a method for controlling the flatness of a side wall window panel of a subway vehicle. The side wall is welded while avoiding the area near the window. Before the welding process of the side wall and the roof, prefabricated reverse deformation is applied to the side wall and the roof respectively, the adjustment range of the width of the body section size is (-2, 0) mm, the adjustment range of the body height is (+8, +10) mm, the adjustment range of the side wall outer contour is (+2, +3) mm, the adjustment range of the roof outer contour is +3 mm, the roof width size is adjusted to (-2, 0) mm, the side wall height size is adjusted to (+5, +7) mm, and the flatness of the window panel before the body welding is 1.5 mm / m. According to the prediction analysis of the welding deformation trend of the body synthesis process, the invention optimizes and improves the manufacturing tolerances of the side wall, the roof and other components in advance, reduces the deformation influence of the welding stress generated by the external force applied by the horizontal and oblique support tooling in the body synthesis process on the side wall window panel, finally reduces the adjustment amount of the body window panel and the out-of-tolerance area after welding, and shortens the body manufacturing cycle.

The invention discloses a preparation method of a multi-layer polymer film layer, which comprises the following steps: coating a polymer precursor solution on the surface of a substrate, and then carrying out soft baking, curing and plasma treatment to obtain a first polymer film layer; coating the surface of the ith polymer film layer with a polymer precursor solution, and then carrying out soft baking, curing and plasma treatment to obtain an (i + 1) th polymer film layer; the step S2 is repeated until the sum of the thicknesses of the N polymer film layers reaches the target thickness, and a multi-layer polymer film layer is obtained; wherein i and N are positive integers, and 1 < = i < i + 1 < = N. According to the method, the binding force between different polymer film layers is improved through surface plasma treatment, the soft baking and curing process is matched, the high-thickness multi-layer polymer film layer meeting the binding force requirement can be prepared, the surface of the film layer is smooth, the number of defects is small, and meanwhile the influence on deformation of the substrate is small.

The application relates to a benzocarbazole capping layer material and a preparation method, an organic electroluminescent device and a display device, and belongs to the technical field of organic luminescent materials. The structural general formula of the capping layer material is general formula 1: The organic EL element of the application uses an organic EL element material with high refractive index, good thin film stability and excellent durability as the material of the cap layer, so that the light extraction efficiency is greatly improved compared with the known organic EL element, and the technical effects of high efficiency and long service life are achieved.

The invention discloses a 3D printing real model rendering method based on variable granularity, and belongs to the technical field of 3D rendering. The method comprises the steps that 3D printing parameters and the number of layers of a printed object are obtained, and the 3D printing parameters comprise 3D printing head parameters and 3D printer parameters; carrying out single-layer modeling on a printed object on the basis of 3D printing parameters and an interval adjusting strategy; based on a multi-layer fusion strategy, surface elements of each layer of the printed object are obtained; obtaining a body element set of the printed object based on the surface element of each layer of the printed object and the same region principle; based on the body element set of the printed object, constructing a 3D model library; based on the 3D model library and the secondary rendering strategy, the real model of the printed object is rendered, and the method improves the speed and authenticity of 3D rendering.

The present invention is an assembled prestressing device for a foundation pit steel support structure, which relates to the field of construction engineering, and includes a main connecting body, a secondary connecting body, a sliding tooth plate meshing locking assembly, and a jack. The main and secondary connecting bodies are combined into an integrated device, and the two can only undergo relative displacement along the direction of applying prestress. The jack is used to press the secondary connecting body and the main connecting body against each other to apply prestress. The main connecting body is provided with a middle sliding tooth plate, and the secondary connecting body is provided with an end sliding tooth plate. The two tooth plates form a sliding tooth plate meshing locking assembly, which meshes with each other to achieve the locking of the relative position between the main connecting body and the secondary connecting body after applying prestress, thereby providing prestress to the steel support structure. The structural components of the present invention are simple in form, have sufficient rigidity and strength, are controllable in real time in prestress loading, are easy to install and disassemble, are easy to maintain and overhaul, occupy a small space, and can be reused.

The utility model relates to and discloses an oil-gas field produced water treatment auxiliary device which comprises a laying base, a treading frame is movably installed on the top of the laying base, a steel wire net frame is fixedly installed on the inner wall of the treading frame, a plurality of sets of bearing strips are fixedly installed on the inner wall of the laying base, and the bearing strips are arranged on the laying base. The front surface and the back surface of the bearing strip are fixedly provided with arc-shaped partition plates, the inner walls of the arc-shaped partition plates are fixedly provided with a plurality of groups of liquid inlet net racks which are distributed at equal intervals, one side of the laying base is connected with a storage frame in an inserted mode, and the other side of the laying base is fixedly provided with a plurality of groups of liquid outlet pipes. By means of the installation mode that the device is embedded into the soil, the device is more attached to the water outlet position, drainage is conducted under the condition that construction is not affected, the soaking influence caused by excessive water flow gathering is relieved, and the damage influence on the soil at a drill bit opening is reduced.

The high-dynamic-balance double-layer impeller of the electric air pump comprises an upper cover, a lower cover and a plurality of fan blades connecting the upper cover and the lower cover, an air inlet is formed in the upper cover, adjacent fan blades form a plurality of air channels communicated with the air inlet, and at least one of the bottom face of the upper cover and the top face of the lower cover is provided with a protruding part for preventing deformation. Compared with the prior art, the impeller has the advantages that the upper cover and the lower cover are not prone to deformation in the machining process, the dynamic balance of the impeller is improved, shaking and noise are reduced, and the situation that the impeller deforms in the machining and installing process and influences the quality of products is reduced.

The utility model discloses a constructional engineering brick-concrete structure reinforcing device which comprises reinforcing device bodies arranged on the two sides of a wall body, each reinforcing device body comprises a base, an inclined strut assembly and a wall plate, the wall plates are tightly attached to the wall body, each wall plate comprises a plurality of splice plates and connecting pieces which are arranged in a matrix mode, and the adjacent splice plates are connected through the connecting pieces. The wall plate is connected with the wall body through a connecting piece, the base comprises a bottom plate and a top plate, the bottom plate and the top plate are connected through an elastic assembly, the bottom plate is arranged on the ground, the top plate is used for supporting the wall plate, one end of the inclined strut assembly is hinged to the top plate, and the other end of the inclined strut assembly is hinged to the wall plate. And meanwhile, the elastic assembly can relieve the influence of frequent vibration on the inclined strut assembly and the wall plate, and when the foundation settles, the elastic assembly deforms, so that the inclined strut assembly and the wall plate can move along with the wall body, and the stress and deformation influence on the reinforcing device are reduced.

The utility model relates to a gas ultrasonic flowmeter convenient to disassemble and clean. The transducer module is downwards inserted into a boss of the bottom fixing seat, a stand column is arranged on the bottom fixing seat, an L-shaped positioning plate is arranged on the side face of the transducer module, the stand column is inserted into a positioning hole in the L-shaped positioning plate, and the transducer module is transversely limited; a cylindrical boss is arranged in the middle meter body, a rotating baffle located on one side of the transducer module is elastically fixed to the cylindrical boss through a bolt and a spring gasket, the rotating baffle can rotate around the cylindrical boss, and the rotating baffle can be pressed above the transducer module after rotating to vertically limit the transducer module. According to the utility model, the rotating baffle plate and the L-shaped positioning plate are used for vertically and transversely limiting the transducer module, the transducer module is connected with the boss of the bottom fixing seat, and the deformation influence of hard connection on the module is reduced in a sealing ring matching manner, so that the structural interference is reduced, and the reliability of measured data is improved.

The utility model relates to the field of mobile cranes, and discloses a mobile crane rail device based on a suspension bridge main cable, which comprises a main cable, a plurality of connecting pieces and a plurality of sections of rails, the plurality of sections of rails are arranged on the main cable in an end-to-end hinged manner, and the rails are connected with the main cable through the connecting pieces. The track is used as an auxiliary structure to be installed on the main cable, and durability is guaranteed.

The utility model discloses a kind of dozer pitch angle detection devices, including discharge arm, rack platform, inclination sensor, positioning mechanism, bolt-screw hole structure, the rack platform is fixedly installed on the discharge arm by bolt-screw hole structure, the inclination sensor is installed on the rack platform by positioning mechanism, the inclination sensor is connected with general control cabinet electric telecommunication. The function of the utility model is to reduce or avoid the deformation of machine shell when calibration by rack platform, positioning mechanism, improve its calibration accuracy, and the precision of adjustment and calibration is guaranteed and the vibration of inclination sensor machine shell is reduced by the design of scale and shock-absorbing spring.

The utility model discloses a sheet material film cutting equipment, including frame, workbench, moving mechanism, lifting mechanism and cutting mechanism, the lifting mechanism includes fixed seat, with fixed seat sliding connection lifting seat, fixed ring part and press ring part on the lifting seat, a sliding rail is arranged between the fixing base and the lifting base, the fixing ring part is fixed to the lifting base, one end of the pressing ring part is connected with one end of the fixing ring part through a connecting part, the other end of the pressing ring part can be connected to the other end of the fixing ring part in a pressing mode, the cutting mechanism comprises a cutter sleeve, and the cutter sleeve is connected with the fixing ring part in a pressing mode. The cutter sleeve is fixed between the fixing ring part and the pressing ring part, the wall thickness of the connecting part is smaller than that of the pressing ring part, and the inner sides of the fixing ring part, the connecting part and the pressing ring part are connected to form a deformation step. According to the utility model, the deformation influence on the lifting mechanism can be reduced, and the cutting precision and accuracy can be ensured.

The longitudinal beam welding device of the vehicle comprises a welding platform, a supporting table, a driving device, a first welding clamping piece and a second welding clamping piece, the welding platform is provided with a top face and a bottom face, and an avoiding hole penetrating through the top face and the bottom face is formed in the welding platform; the supporting table is arranged on the top face of the welding platform. The driving device is arranged on the bottom face of the welding platform and can drive the supporting table to move along the top face of the welding platform through the receding hole. The first welding clamping piece is used for fastening the longitudinal beam, the first welding clamping piece is connected to the top face of the welding platform, and the first welding clamping piece and the supporting table are arranged at an interval; the second welding clamping piece is used for fastening the longitudinal beam, connected to the supporting table and capable of synchronously getting close to or getting away from the first welding clamping piece along with the supporting table. According to the scheme, the longitudinal beam welding device of the vehicle can be suitable for longitudinal beams of different lengths, and the general applicability of the longitudinal beam welding device is improved; the movement stability of the supporting table relative to the welding platform can be guaranteed, and the influence of welding on longitudinal beam deformation is reduced.

The utility model provides two-side character pressing equipment for an automobile door hinge, and relates to the technical field of finish machining equipment. Comprising a discharging device, a detection switch for detecting whether materials exist or not is installed on the discharging device, and the materials are conveyed to the discharging device through a vibration disc feeder; the character pressing device comprises a character pressing frame, the character pressing frame is provided with a character pressing area, the mechanical arm can move materials to the character pressing area from the discharging device, a fixed character head block and a movable character head block are arranged on the character pressing frame, and the movable character head block and the fixed character head block can press characters on the two sides of the materials when the movable character head block moves. The positioning device is arranged near the character pressing area and comprises a positioning column and a material pushing head, and the material pushing head and the positioning column are moved into the character pressing area to clamp or loosen materials; the material pushing device comprises a material returning rod, and the material pushing head can push the materials out of the character pressing area to the conveying device. The character pressing depth of equipment is consistent, the size consistency is guaranteed, the service life of the character head block is long, the replacement frequency is reduced, the production cost is low, and the production efficiency is high.

This utility model relates to the field of casual shoe technology and discloses a highly wear-resistant casual shoe, including a main shoe body. A main shoe sole is fixed to the bottom surface of the main shoe body. The main shoe sole includes an EVA outsole pad, and a frame pad is connected to the top surface of the EVA outsole pad around its perimeter. A bottom groove is formed inside the top surface of the EVA outsole pad, and a midsole pad is adhered to the top surface of the bottom groove. The bottom of this utility model consists of an EVA outsole pad and a TPU anti-slip pad layer. The EVA outsole pad provides rebound and shock absorption, improving wearing comfort, while the TPU material of the TPU anti-slip pad layer itself provides high anti-slip and wear resistance. Its friction and force mainly act on the protruding structures such as the anti-slip heel and anti-slip stripes. When the anti-slip stripes are under force, each group of anti-slip stripes is connected by longitudinal stripes to form a structural rib mesh, reducing the deformation caused by force, thereby ensuring the stability of the bottom anti-slip and wear-resistant structure. At the same time, the use of TPU material ensures high wear resistance.

This utility model relates to the field of wooden door technology, specifically to an integrated wooden door, including a door body and further comprising: a first storage groove disposed on the side of the door body that collides with the door frame; a first airbag fixedly disposed within the first storage groove, the first airbag having multiple arc-shaped protrusions arranged from top to bottom; a first air nozzle disposed on the first airbag; and a first cover plate detachably connected to the opening of the first storage groove, the first cover plate having through grooves arranged from top to bottom corresponding to the protrusions. This utility model utilizes the protrusions to absorb shock when the door is closed, thereby reducing the impact of frequent, prolonged impacts on door deformation and extending the service life of the wooden door.

The utility model provides a kind of side light emitting lamp body structure, including face frame, optical assembly, heat dissipation piece, light source component and buffer component;Face frame includes frame strip and the mounting space formed by frame strip around, frame strip includes base body and support part, support part extends from the bottom of base body towards mounting space;Optical assembly is set on support part, and there is installation groove between optical assembly and the side of base body;Heat dissipation piece includes first heat dissipation part and second heat dissipation part, buffer component includes first elastic member and second elastic member;Light source component includes substrate and the LED lamp pearl of being attached to substrate, light source component is fixed on first heat dissipation part, and together with first elastic member is installed in installation groove.In the side light emitting lamp body structure, light source component and optical assembly are greatly reduced by temperature influence, and its service life is longer, and light emitting effect is stable.The utility model also provides the panel light using above-mentioned side light emitting lamp body structure.

The invention relates to the technical field of connectors, and particularly discloses a connector contact piece with a conical gear sleeve and a manufacturing method and a manufacturing tool of the connector contact piece, and the connector contact piece with the conical gear sleeve comprises a main body structure, the conical gear sleeve and a tail accessory; the main body structure is provided with a first groove; a support ring is arranged at the front part of the conical gear sleeve; according to the invention, stamping assembly is not needed, the conical gear sleeve can be axially sleeved on the main body structure in a sliding manner, the fixation of the connector contact element can be realized, stamping assembly is not needed, the front end of the main body structure of the contact element is not scratched, and the assembly is convenient. According to the connector contact piece, the appearance and contact connection of the contact piece product are not affected, stamping assembly is not needed, yield deformation is avoided, the conical gear sleeve is accurately positioned and fixed to the outer wall of the main body structure and is not prone to loosening, the situation that the connector contact piece withdraws a pin or is in poor contact due to loosening of the main body structure is avoided, and the product quality of the connector contact piece is good.

The utility model provides an underground pipeline anti-sedimentation device for municipal engineering, which comprises a base, two supporting columns are symmetrically fixed on the upper end face of the base, vertical positioning columns are constructed at the top ends of the supporting columns, a supporting plate is sleeved between the two positioning columns, a guide pipe is inserted into the top ends of the positioning columns, and the top ends of the guide pipe are connected with the bottom of the base. The supporting column, the positioning column and the guide pipe are hollow, a grouting cavity communicating with the bottom end of the supporting column is formed in the base, and a plurality of grouting holes exposed out of the lower end face of the base are formed in the bottom face of the grouting cavity. According to the municipal pipeline supporting device, the municipal pipeline can be supported to reduce the deformation influence on the municipal pipeline caused by the sinking of the backfill soil, and the backfill soil can be conveniently grouted and reinforced, so that the sinking condition of the municipal pipeline can be further reduced, and the overall using effect is good.

The present application belongs to the field of bridge structure, and provides a curved arm grating type deck structure, which comprises steel bars implanted in a bridge deck slab, a concrete curved arm deck, a transverse diaphragm beam under the deck, and a ground beam at the rear end of the deck. The bridge will shrink under the effect of temperature change, and placing a deck that can provide deformation between the bridge and the road surface can form a seamless bridge. The deformation of the bridge can cause the curved arm grating type deck to deform through the steel bars implanted in the deck slab at the front end of the deck, and the transverse diaphragm beam under the deck can reduce the contact between the foundation and the deck, providing good deck sliding effect, and the ground beam at the rear end of the deck plays the role of anchoring the foundation. The use of high ductility concrete to make the curved arm grating type deck can ensure that the deck does not easily break when stretched and deformed, and the service life is improved. The present application uses a deck in the form of a curved arm, which uses component deformation to absorb bridge deformation, so as to eliminate the easily damaged expansion joint, and can save the construction cost of the bridge throughout its life.

The utility model relates to sensor technical field, concretely relates to a kind of sensing unit and the strain sensor using the sensing unit, to solve the problem of the measurement accuracy and stability of pressure detection device insufficient.Its technical scheme main point is:a kind of sensing unit includes pressure-bearing end and object end, pressure-bearing end extends to object end and is fixedly connected to form at least one strain area, strain area is provided with strain gauge, strain gauge is connected with signal conversion device by signal line, when the force in the direction of object end is applied to pressure-bearing end, the surface of strain area produces deformation, signal conversion device converts the deformation of strain area into strain signal, sensing unit reduces lateral force interference, error, force transmission loss by structural design, improves measurement accuracy, guarantees the stability and durability of sensing unit, strain sensor reduces the link of strain transmission, accelerates signal response, to ensure that operator can adjust in time.

The present invention discloses a large-load landing buffer walking integrated mechanism and its parallel system, the integrated mechanism includes: more than three driving pillars, a main buffer, more than two auxiliary buffers and a foot pad; one end of a driving pillar is connected to the lander, and the other end is coaxially docked with one end of the main buffer, and the other end of the main buffer is hinged to the middle of the foot pad; one end of the remaining driving pillars is respectively connected to the lander, and the other end is coaxially docked with one end of more than two auxiliary buffers in a one-to-one correspondence, and the other ends of more than two auxiliary buffers are connected to the side wall of the main buffer; the driving pillar can perform telescopic movement under the drive of the motor; the main buffer and the auxiliary buffer are both used to buffer the landing impact process of the lander. Before the landing impact of the lander, the present invention is in the landing buffer mode, which can achieve soft landing of an extraterrestrial body; after the lander lands safely, it is converted to the active walking mode, thereby providing the lander with walking ability.

The application discloses a kind of mechanical arm-end effector collaborative anti-interference control method and system, it is related to robot technology field, it solves the problem that robot tracking ability is weak in prior art, ignore the mechanical arm end because of the overall precision of system is low due to the deformation caused by yielding, with the beneficial effect of improving overall trajectory tracking performance, specific scheme is as follows: a kind of mechanical arm-end effector collaborative anti-interference control method, including for mechanical arm, the joint angle of current time mechanical arm is obtained to obtain the translation jacobian matrix of mechanical arm and the position of mechanical arm end flange, for electro-hydraulic auxiliary actuator, real-time acquisition its hydraulic and electrical servo state data;Disturbance observer and controller containing electro-hydraulic auxiliary actuator model are constructed, disturbance observer obtains the equivalent external disturbance force characteristic vector currently acting on the end of mechanical arm, controller generates the voltage control instruction finally injected into electro-hydraulic auxiliary actuator;Disturbance observer solves out physical yielding deformation.