344results about How to "Stable posture" patented technology

The three-movement and one-rotation parallel robot with the locking mode comprises a fixed platform and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform and the movable platform; the first kinematic chain comprises a first revolute pair R11, a second connecting rod assembly, a fifth connecting rod assembly and an eighth revolute pair R18; the second connecting rod assembly is connected with the fixed platform through a first rotating pair R11, and the fifth connecting rod assembly is connected with the movable platform through an eighth rotating pair R18. A first branch chain and a second branch chain are further arranged between the second connecting rod assembly and the fifth connecting rod assembly, and the second connecting rod assembly and the fifth connecting rod assembly are connected through the first branch chain and the second branch chain. According to the robot, the robot can be switched to the locking mode through an auxiliary drive, the robot can keep the stable posture without locking drive in the mode, and the requirement that the movable platform has certain static bearing capacity and rigidity under the specific static configuration can be met.

The locking-mode driving-free spherical surface moving parallel robot comprises a fixed platform and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform and the movable platform; the first kinematic chain comprises a first revolute pair R11, a second connecting rod, a second revolute pair R12, a third connecting rod, a third revolute pair R13, a fourth connecting rod assembly, a fourth revolute pair R14, a fifth connecting rod and a fifth revolute pair R15 which are connected in sequence, the fifth revolute pair R15 and the first revolute pair R11 are both connected with the fixed platform, and the fourth connecting rod assembly is further connected with a fifth ball pair S14; the fifth ball pair S14 is further connected with the movable platform. The robot does not need to be driven when being in a locked state, and under a set configuration, control driving and auxiliary driving are carried out, and the movable platform can be switched between a locking motion mode and a moving motion mode.

The invention discloses a copper pipe surface defect image detection device and method, and relates to the technical field of copper pipe surface defect detection.The copper pipe surface defect image detection device comprises a base, a supporting frame is fixedly installed at the top of the base, an electric telescopic rod is fixedly installed at the top of the supporting frame, and an image detector is fixedly installed at the free end of the electric telescopic rod; a long rod is fixedly mounted at the bottom of the electric telescopic rod; the anti-shaking device is arranged at the top of the base, the anti-shaking device comprises a rotating disc, a copper pipe body, a sliding rod, a circular plate, a trapezoidal block, an L-shaped rod, an arc-shaped plate, a fixed plate, an L-shaped plate, a supporting seat and a rotating plate, an electric telescopic rod moves downwards to drive a long rod to move downwards, and the long rod moves downwards to push the circular plate to move downwards; the inner wall of the copper pipe body is supported through the arc-shaped plates, a stable detection platform can be provided through supporting, and detection errors caused by external force or equipment vibration are reduced.

The invention relates to the technical field of ocean engineering and electric power engineering, and discloses an assembly type fan jacket and a construction method thereof.A first supporting node and a second supporting node are connected, connection between pipe bodies is achieved, and solidification media are poured into the first supporting node and / or the second supporting node, so that the pipe bodies are connected. After the curing medium is cured, the bearing capacity of each supporting node of the jacket is improved, premature yield and deformation of each supporting node can be delayed or even inhibited, the phenomenon of plastic deformation under the action of external force is avoided, and the supporting performance of each supporting node can be better exerted.

The invention relates to the related technical field of metal stamping, discloses an automatic progressive stamping die, and aims at solving the problem that the precision of a conveying mechanism is reduced due to the fact that the workpiece demolding process is complex. The two shaping female die bases are attached together through the composite push frame, so that stamping forming of a workpiece is achieved, after stamping is completed, the stamped workpiece can be horizontally conveyed to a next punching die through separation of the shaping female die bases, and in this way, on one hand, stamping forming of the cylindrical workpiece is achieved, and on the other hand, the stamping forming efficiency is improved. And the problem that the moving path of the conveying mechanism is too complex after the workpiece is formed can be solved, and the positioning accuracy of the follow-up punching die is further guaranteed.

The water-air cross-medium unmanned platform multi-mode structure based on the bionic design specifically comprises an aircraft main body bionic model designed based on the sperm whale swimming principle, and a pair of bow bionic front fins are arranged on the left side and the right side of the front end of the aircraft main body bionic model; a bionic dorsal fin is arranged on the upper portion of the separable shell, a plurality of rotor mechanisms are arranged in the separable shell, when the separable shell is opened, the rotor mechanisms are unfolded to work, a bionic tail fin and a double-shaft steering engine are arranged at the tail of the aircraft body bionic model, a seven-blade propeller is sleeved with a propeller guide pipe, and the propeller guide pipe is connected with the separable shell. When the aircraft main body bionic model sails underwater, the separable shell and the aircraft main body bionic model are attached to each other, so that the streamline of the aircraft main body is ensured; when the aircraft main body bionic model is in an air flight mode, the separable shell is lifted to provide space for unfolding of the multiple rotor wing structures below the separable shell.

The utility model relates to the technical field of tooth-shaped part machining, in particular to an angular structure for tooth-shaped parts, which comprises a conveying frame, a conveying belt is arranged on the inner side of the conveying frame, and a positioning tool is arranged on the surface of the conveying belt. The deviation preventing mechanism is used for preventing the tooth-shaped workpieces from deviating in the conveying process of the surface of the conveying belt and is arranged on the surface of the conveying frame; according to the device, an output shaft of a servo motor rotates to drive a gear to rotate, the gear rotates to drive two movable frames to get close to each other through a rack, the movable frames extrude springs during movement, the movable frames move slowly and drive a positioning plate and balls to move, and the balls can make soft contact with a positioning tool; it is guaranteed that the positioning tool does not deviate when moving to the angular structure, the accuracy of angular positioning is improved, it is guaranteed that the attitudes of the workpieces are consistent during feeding, the feeding effect of the tooth-shaped workpieces is improved, positioning tools of different sizes can be limited in an abutting mode, and the diversity of using an anti-deviation mechanism is improved.

The invention discloses a plate flattening and shearing production line with high feeding precision and a using method, and relates to the technical field of plate flattening and shearing, the plate flattening and shearing production line comprises a plate flattening and shearing main body, a flattening chamber and a shearing chamber are formed in the plate flattening and shearing main body, and laser displacement sensors are mounted at outlets and inlets of the flattening chamber and the shearing chamber; acoustic sensors are mounted on the side walls of the flattening chamber and the shearing chamber; a top limiting module and a shearing module are mounted on the top wall of the shearing chamber, the top limiting module is used for fixing a plate from the top in the shearing process, and the shearing module is used for shearing the plate; a side face limiting module is installed on the side wall of the shearing chamber and used for fixing the plate from the side face in the shearing process. By installing the top limiting module, the side face limiting module and the shearing module, the problems that in the plate machining process, the feeding precision is low, the machining efficiency is low, flexibility is insufficient, and the machining quality is unstable can be solved.

The utility model provides a wind power flange lifting appliance, which relates to the technical field of lifting appliances and comprises a base plate, an upper plate, a clamping component and a pressing component. According to the wind power flange lifting appliance, when a flange is clamped and fixed, the multiple inner connecting pieces stretch into a center inner hole of the flange, the rotating driving piece is started, the rotating driving piece serves as a power source, the action of expanding and clamping is achieved through sliding fit between the connecting rods and the inner connecting pieces and between the connecting rods and the sliding rails, and meanwhile the tray supports the bottom of the flange; the pressing pad arranged on the tray reduces the risk that the flange is extruded, abraded or damaged, the telescopic driving piece is started to drive the pressing rod to move downwards, the vertical plate makes contact with and extrudes the upper surface of the flange, and the flange can be clamped between the tray and the vertical plate; and meanwhile, the flange is subjected to multi-part clamping, so that the position and posture of the flange in multiple directions can be kept stable, correct alignment and alignment between the flange and other parts can be kept, and the precision and reliability of the whole system are improved.

The invention discloses a virtual point-based attitude constraint mid-terminal guidance handover section trajectory design method, which comprises the following steps of: starting control after a remote guidance ammunition finishes an initial section, and entering a mid-guidance section; under the guidance of the mid-guidance law, the remote guidance ammunition passes through the virtual point, enters the mid-terminal guidance handover section, glides and flies in the mid-terminal guidance handover section and stabilizes the posture of the remote guidance ammunition, the moment when the seeker enters the pre-capture state serves as a capture point, the seeker starts to work after a target is captured, and the remote guidance ammunition enters the terminal guidance section; and finally guiding the remote guidance ammunition to hit the target. Wherein the zero miss distance guidance instruction of the mid-guidance law is used for ensuring that the remote guidance ammunition accurately passes through a virtual point, and the zero trajectory inclination angle error instruction is used for realizing angle constraint of a mid-guidance section of the remote guidance ammunition, so that stable handover of the remote guidance ammunition between the mid-guidance section and a terminal guidance section can be theoretically ensured; and meanwhile, the guidance precision in the remote guidance ammunition can be ensured by a residual flight time estimation method considering the ballistic curvature.

The invention discloses a multi-mode composite motion robot for cleaning cakes in an ash discharging pipeline of an ash silo, which comprises a head screw mechanism, a middle wriggling mechanism, a tail screw mechanism and a cleaning mechanism, each of the head screw mechanism and the tail screw mechanism comprises a shell, a large bevel gear, a small bevel gear, a reducing motor, a supporting wheel trapezoidal lead screw, a driving wheel trapezoidal lead screw, a bracket, a belt, a polished rod, a supporting wheel, a driving wheel, a supporting wheel connecting piece and a driving wheel connecting piece; the middle creeping mechanism comprises a middle shell, a gear motor, a gear, an upper rack, a lower rack and a guide rail mechanism; the cleaning mechanism is arranged at the front end of the head screw mechanism and comprises a sensor module used for recognizing caking in the ash discharging pipeline and a cleaning device with air injection and rotary cleaning functions. The pipeline cleaning device can be suitable for cleaning pipelines made of various materials, a supporting wheel supporting and driving wheel supporting mode and a spiral advancing, wriggling and spiral wriggling advancing mode can be achieved, and the cleaning efficiency and quality can be effectively improved.

The utility model discloses an underwater wireless timing transmission device, and relates to the technical field of buoys, the underwater wireless timing transmission device comprises a floating platform, a controller and a release assembly arranged on the floating platform, the floating platform is downwards connected with a balancing weight through a mooring rope, a detection instrument is integrated on the floating platform, the floating platform is buried underwater through the balancing weight, and the output end of the release assembly is provided with a communication buoy. The device has the technical advantages that compared with current common water surface buoy monitoring, due to the fact that no obvious water marker exists, the safety of the device can be effectively improved, compared with underwater monitoring such as a subsurface buoy, the communication buoy can be released in a timed mode, and the safety of the device is improved. Underwater monitoring data are transmitted to a shore-based terminal in real time through satellite communication, so that the timeliness of the data is effectively improved; the buoyancy block of the communication buoy is made of buoyancy materials, the gravity center is located at the bottom, and attitude stability and satellite antenna orientation can be conveniently kept after water is discharged.

A plurality of air suction holes are formed in the area, close to the middle, of an air groove belt (5), kidney-shaped holes are communicated with the lower portions of the air suction holes and formed in an air groove panel (1), an air groove (12) is formed in the lower portion of the air groove panel (1), the air groove (12) is connected with a draught fan (11) through an air pipe (14), and the draught fan (11) is connected with the air pipe (14). The draught fan (11) is arranged below the air groove (12), the draught fan (11) conducts air draft when running, so that negative pressure is generated between the air groove (12) and the air groove panel (1), the generated negative pressure adsorbs the express items (21) to the air groove belt (5) through the air suction holes, the express items (21) are kept in a stable posture when running at a high speed and passing through a curve, and the express item sorting device can accurately sort the express items (21) to a discharging grid opening and is convenient, fast and efficient.

The utility model relates to the technical field of traditional Chinese medicine acupuncture and moxibustion, in particular to a traditional Chinese medicine acupuncture and moxibustion nursing frame. The fixing mechanism is arranged on the bed plate, the fixing mechanism comprises two bandages, two clamping grooves, two first sliding grooves, two fixing grooves and a plurality of limiting holes, the two bandages and the two clamping grooves are fixedly connected to the bed plate, and through cooperation of limiting bolts, the limiting holes, first sliding blocks, the fixing grooves, the top plate and the like, patients of different body types can be conveniently limited; the movable range of a patient is narrowed, the patient can be further limited conveniently through cooperation of a bandage, a clamping block and a clamping groove, the posture of the patient in the treatment process is more stable, operation of a doctor is facilitated, normal treatment is guaranteed, and the protection effect is conveniently achieved through cooperation of a spring, a fixing block, a fixing groove and the like; the pain of the body of the patient caused by direct rigid clamping on the patient is avoided, the patient is effectively protected, and the practicability is improved.

The invention discloses a dissolved air flotation algae removal and residue suction system which comprises a filter tank, a dissolved air flotation device for enabling impurities to float to the water surface through air and a residue suction device for collecting floating objects on the water surface. The dissolved air flotation device comprises a dissolved air tank used for mixing water with compressed air to form dissolved air water; the air compressor is used for pressurizing air and then conveying the pressurized air to the dissolved air tank; the reflux pump is used for conveying part of settled water into the dissolved air tank; the dissolved air releaser is communicated with the dissolved air tank, is arranged in the filter tank and is used for diffusing the dissolved air water in the filter tank; the scum collector is arranged in the filter tank, and a scum suction port of the scum collector is positioned below the liquid level; and the vacuum suction device enables the scum collector to form negative pressure so as to absorb the scum on the liquid level of the filter tank, and conveys the scum to the sludge discharge tank. The device has the effect of stabilizing the water quality before filtration.

The invention provides a humanoid robot complex terrain balance control method based on a state and disturbance observer, and belongs to the technical field of robot application. The problem that the humanoid robot is unstable when walking in a complex environment is solved. According to the technical scheme, the method comprises the following steps that 1, a simplified humanoid robot'spring-damping 'inverted pendulum model is established; 2, designing a state and disturbance observer; step 3, based on the step 2, designing a state feedback controller taking a real-time observation object of the state and disturbance observer as input; 4, selecting an appropriate controller pole and an appropriate controller observation point; and 5, simulation verification of attitude balance control of the humanoid robot under the complex terrain is carried out. The method has the beneficial effects that the robustness of the robot to interference and the task execution capability can be improved particularly in disaster rescue and complex environment operation.

The invention relates to the technical field of battery shell detection, and discloses an automobile power battery shell quality identification and detection device which comprises a conduction mechanism, a detection mechanism and a turnover mechanism, the detection mechanism is movably connected to the top of the conduction mechanism, and the turnover mechanism is fixedly connected to the top of the conduction mechanism. The detection mechanism comprises a size precision detection unit and a sealing performance detection unit. According to the automobile power battery shell quality identification and detection device, the size precision and sealing performance detection unit is fused, the shell quality is accurately controlled, the battery safety is guaranteed, the conduction mechanism automatically conducts the shell, the detection efficiency is improved, production is stable, multiple motors of the overturning mechanism cooperate, the shell is flexibly clamped, and displacement overturning of the shell between stations is assisted; the detection accuracy is ensured, accurate and comprehensive detection is realized, the production rhythm is guaranteed through efficient and automatic conduction, clamping and overturning are flexible, and the detection accuracy and reliability are improved.

The utility model discloses a cylindrical fixed-wing unmanned aerial vehicle and relates to the technical field of unmanned aerial vehicles. The barrel-shooting fixed-wing unmanned aerial vehicle comprises a launching part and an unmanned aerial vehicle body, the launching part comprises a launching barrel and a support fixing base used for supporting the launching barrel, and a high-pressure gas tank is arranged on the support fixing base and communicates with an inner cavity of the launching barrel through a pipeline. According to the barrel-shot fixed-wing unmanned aerial vehicle, wing parts and flaps of the unmanned aerial vehicle main body fuselage can be folded, the unmanned aerial vehicle main body can be conveniently stored in the launching barrel, after the unmanned aerial vehicle main body is launched out of the barrel, all the unmanned aerial vehicle main body is automatically unfolded, the unmanned aerial vehicle main body fuselage is in a cube shape, and the unmanned aerial vehicle main body is not prone to rotating when placed in the launching barrel; therefore, it is guaranteed that the barrel-shot fixed-wing unmanned aerial vehicle is compact in overall structure, convenient to store and easy to carry and transport, and meanwhile the requirement for rapid and high-speed launching is met.

The invention relates to the field of wheel set detection, in particular to a rotating wheel mechanism capable of improving the rotating stability of a wheel set, and the rotating wheel mechanism comprises two rotating wheel assemblies which are oppositely arranged; the rotating wheel assembly is used for being in friction fit with a rim part of a wheel so as to drive the wheel to rotate. As the rim part is generally not stressed, worn and deformed in the use process of the wheel, the shape and the size of the rim are closer to initial design values, the rotating wheel mechanism drives the wheel to rotate in a mode of centering the rim of the wheel in a friction wheel pair, the boundary dimensions of the rims of the wheels on the two sides are consistent, the posture of the wheel pair is stable in the rotating process, and the wheel pair can rotate more stably. And axial movement is not easy to occur.

The utility model relates to the field of flange machining, in particular to a flange drilling positioning and clamping device which comprises a mounting frame, a clamping assembly and a limiting assembly, an adaptive clamping seat is rotatably arranged on one side of the mounting frame through a function switching assembly, and a clamping adjusting seat is arranged in the center of one side of the adaptive clamping seat. Two switching rotating arms are horizontally and symmetrically arranged on the two sides of the clamping adjusting seat, two overhanging arms are horizontally and symmetrically arranged on one side of the mounting frame, the two switching rotating arms horizontally and movably penetrate through the two overhanging arms through bearings correspondingly, and the adaptive clamping seat with the clamping assembly is movably arranged on one side of the mounting frame through the function switching assembly. By adjusting the position and orientation of the adaptive clamping seat, the functions of feeding, machining positioning and discharging dismounting of flanges can be achieved in cooperation with an existing automatic feeding and discharging device, operation is easy and convenient, manpower is saved, under the cooperation effect of the limiting assembly, in the drilling machining process, the posture is kept stable, the drilling position is accurate and reliable, and the machining efficiency is improved.

The utility model discloses a thin-walled cylinder workpiece lifting appliance gripper. The gripper comprises two groups of gripper finger structures, the gripper finger structures are mounted on a central shaft of a gripper fixing seat in a staggered manner, a driving device is mounted between the two groups of gripper finger structures, an anti-swing device is mounted on the central shaft, and a clamping sensing device is mounted on each finger of each gripper finger structure. According to the utility model, the grabbing and hoisting work of the thin-walled cylinder workpiece during the machining or assembling process is realized, the part is ensured not to deform during the transferring process, and the influence of the damage of the shape precision and the position precision of the part on the machining and assembling is avoided.

The present invention discloses a stable platform for optical imaging equipment, wherein the pitch motor side shaft system and the pitch encoder side shaft system are fixed on the stable platform frame, and cooperate to complete the adjustment of the pitch angle of the optical imaging equipment on the stable platform; the pitch motor side shaft system receives the pitch angle compensation instruction sent by the host computer, and changes the pitch angle by rotating; the pitch encoder side shaft system rotates with the pitch motor side shaft system, and measures the pitch angle value of the pitch motor side shaft system rotation and feeds it back to the host computer; the host computer continues to transmit the pitch motor side shaft system to energize according to the received pitch angle value, forming a closed-loop compensation correction cycle, so as to achieve the attitude stability, attitude pointing locking and swing scanning requirements of the pitch axis system of the optoelectronic imaging equipment. The stable platform has a simple structure, small size, strong versatility and high stability, and can realize the attitude stability, attitude pointing locking and swing scanning imaging of the optical imaging equipment.

This utility model discloses an automatic arrangement device for wire drawing dies, including a support, a material box fixed to the top of the support, a hopper fixed to the top of the material box, a turntable inside the material box, a motor fixed to the support, and a drive end of the motor fixedly connected to the turntable. The curved surface of the hopper extends into the material box and forms a channel between it and the turntable for the die to pass through horizontally. The material box is also provided with a guide mechanism matching the channel. Compared with the prior art, the channel of this utility model only allows horizontal dies to pass through, thus ensuring that all dies passing through the channel are horizontal. Furthermore, the horizontal dies will enter the guide mechanism under the centrifugal force generated by the rotation of the turntable, thereby achieving uniform die posture. The final discharged dies are neatly arranged and have consistent postures, ready for direct connection to subsequent processes.

The present invention discloses an autonomous underwater robot for aquaculture, which comprises: an upper cabin body located at the top and two lower cabin bodies located at the bottom, all of which are connected by a T-shaped bracket so that the three are parallel to each other and arranged in a herringbone shape; the top of the T-shaped bracket is connected to the upper cabin body, and the two sides of the bottom thereof are respectively connected to the two lower cabin bodies; the upper cabin body comprises a lighting module, a buoyancy adjustment module, a vertical thruster module, an electric control module, and a stern of the upper cabin body connected in sequence from front to back; a video image acquisition module is installed above the T-shaped bracket for shooting water surface or underwater images. The stern of the upper cabin body is towed and connected to a surface communication buoy by a coaxial watertight cable; a variety of sensors are installed on the T-shaped bracket. After diving and landing on the bottom, the "herringbone"-shaped structure can maintain stable support; when the present invention is recovered to land, the "herringbone"-shaped structure does not require a special bracket and can also be stably placed.

The utility model discloses a kind of belt conveyor carrier roller dismounting auxiliary devices, including the belt upper top mechanism of belt upper top;The belt upper top mechanism includes fixed support, and the both ends of fixed support are respectively hinged and installed with the side push structure of belt side push;Side push structure includes side push support, and the side push support is hinged and installed with adjusting support, and adjusting support is adjustably installed on fixed support;The outer end of the adjusting support is hinged and installed with the support top structure of push side push support;The belt upper top mechanism further includes the jacking structure for vertically jacking belt installed on fixed support. Through the mode, not only in the process of carrier roller maintenance, dismounting in the way of labor-saving, in simple, operation difficulty low way, belt is jacked up, after jacking, the posture of belt can be kept stable unchanged, to greatly improve the safety of operation, simultaneously, improve the efficiency of dismounting, maintenance carrier roller.

The utility model discloses a downhole positioning centralizer based on wedge self -locking and piece shrink structure, including the centralizer body of tubular, the one end of centralizer body is fixedly connected with the sleeve, and the other end is connected with the fastening sleeve, the inner wall of fastening sleeve is connected with the one end of locking sleeve, and the outside wall of other end is the wedge inclined plane, the one end of centralizer body connection fastening sleeve inside is the wedge inclined plane with the outside wall of locking sleeve cooperation, the edge of locking sleeve both ends respectively has a plurality of long slits staggered to the inside, and long slits are evenly distributed along the circumference of locking sleeve. Through wedge self -locking, piece shrink and material optimization, ensure that the centralizer can be closely fitted on the surface of instrument, solve the problem that the existing scheme has high falling rate, short life, complicated installation etc.

This invention belongs to the field of grinding disc manufacturing technology, specifically relating to a diamond positioning and implanted grinding disc and its manufacturing method. The grinding disc substrate undergoes a series of processes including degreasing and activation treatments, followed by basic nickel plating to form a base nickel plating layer. Then, using photolithography, a photosensitive dry film pattern with pre-drilled micro-holes is created on the surface of the nickel plating layer. Adhesive is then applied to fill the micro-holes, and diamond abrasive grains are implanted, ensuring the sharp corners remain upwards for initial fixation. Finally, the photosensitive dry film is removed, and a thicker nickel plating reinforcement treatment is performed, ensuring the diamond abrasive grains are firmly encapsulated by the nickel plating layer. This method utilizes photolithography to achieve precise positioning and uniform distribution of the diamond abrasive grains on the substrate surface, and through process control, maintains the abrasive grains in a favorable cutting posture with their sharp corners upwards, significantly enhancing the grain holding strength and effectively preventing loosening, collapse, or detachment. The resulting grinding disc exhibits superior cutting efficiency and stability.

The invention relates to a self-adaptive dynamic inverse fault-tolerant control method for a heavy carrier rocket, which comprises the following steps of: performing attitude dynamics modeling on the heavy carrier rocket, and establishing a gain fault model and an offset fault model of an actuating mechanism; simplifying the attitude dynamics model to obtain a control-oriented system model, and designing a control law under an ideal condition based on a dynamic inverse theory; a self-adaptive fault-tolerant control law is designed for the heavy carrier rocket with the gain fault and the bias fault of the executing mechanism; the stability analysis of the designed adaptive fault-tolerant control law is completed based on the Lyapunov stability theory, and the heavy carrier rocket can realize attitude-stable flight under the condition that a non-fatal fault occurs. The heavy carrier rocket fault-tolerant control method has a good improvement effect on solving the heavy carrier rocket fault-tolerant control problem, the flying safety and robustness of the heavy carrier rocket are enhanced, and the heavy carrier rocket fault-tolerant control method has a good application prospect in the aerospace field.

This invention provides a method and apparatus for adjusting the lifting stiffness of a vehicle frame, comprising: determining the remaining number of lifting steps required based on the previously executed desired lifting stiffness, maximum allowable variation capacity, and desired lifting execution stiffness; determining the remaining reference number of four-wheel synchronization steps based on the remaining lifting steps required for all wheels; determining a lifting stiffness synchronization control coefficient based on the previously executed desired lifting stiffness and desired lifting execution stiffness; determining the desired lifting stiffness to be executed at the current moment based on the lifting stiffness synchronization control coefficient, the remaining reference steps for four-wheel synchronization, the previously executed desired lifting stiffness, and the desired lifting execution stiffness; and determining that the four-wheel frame adjustment of the vehicle is complete when the currently executed desired lifting stiffness is equal to the corresponding desired lifting execution stiffness. This invention achieves the purpose of controlling the adjustment process of each wheel, making the vehicle's posture more stable.

The invention relates to a foldable cart which comprises a functional frame assembly and a bottom plate frame assembly. The functional frame assembly comprises a front functional frame and a rear functional frame; rollers are arranged on the front functional frame and the rear functional frame; the front functional frame and / or the rear functional frame are / is provided with functional parts; the bottom plate frame assembly comprises a front bottom plate frame and a rear bottom plate frame; one end of the front bottom plate frame is horizontally hinged to the front functional frame, and one end of the rear bottom plate frame is horizontally hinged to the rear functional frame; the other end of the front bottom plate frame is directly or indirectly horizontally hinged with the other end of the rear bottom plate frame, and the linkage assembly comprises a front linkage rod, a rear linkage rod and a connecting piece. According to the foldable cart, it can be ensured that the functional frame assembly is uniform in arrangement stress while it can be ensured that the foldable cart is in an unfolded state, and the overall strength of the functional frame assembly can be improved on the premise of the same consumables; and the parallel posture stability of the front bottom plate frame and the rear bottom plate frame in the folding state can be ensured.