CN117707238A - Abnormal stress control method and system for sampling rod, medium and electronic equipment - Google Patents
Abnormal stress control method and system for sampling rod, medium and electronic equipment Download PDFInfo
- Publication number
- CN117707238A CN117707238A CN202410166482.1A CN202410166482A CN117707238A CN 117707238 A CN117707238 A CN 117707238A CN 202410166482 A CN202410166482 A CN 202410166482A CN 117707238 A CN117707238 A CN 117707238A
- Authority
- CN
- China
- Prior art keywords
- stress
- sampling
- sampling rod
- shaft
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000002159 abnormal effect Effects 0.000 title claims description 5
- 230000005856 abnormality Effects 0.000 claims abstract description 26
- 230000009467 reduction Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention provides a method, a system, a medium and electronic equipment for controlling stress abnormality of a sampling rod, and belongs to the technical field of sampling rod control. In the invention, a sampling rod is connected with a sampling arm, the sampling arm is connected with a horizontal track and can move along the horizontal track, and the control method comprises the following steps: the method comprises the steps of obtaining stress data of a sampling rod, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction; and according to the stress data of the sampling rod, combining the moving distance of the advancing shaft of the sampling arm in the current control period, and controlling the advancing shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period so that the stress of the sampling rod is smaller than a Yu Qingfu force threshold. The invention ensures that the stress of the sampling rod in all directions is always smaller than the threshold value of the overturning force, effectively avoids overload servo and mechanical damage, and improves the safety of sampling.
Description
Technical Field
The invention relates to the technical field of sample rod control, in particular to a method, a system, a medium and electronic equipment for controlling stress abnormality of a sample rod.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The sampler is grain sampling equipment applied to large and medium grain enterprises, when the sampler samples grains, different sampling data are selected from a plurality of sampling points according to the size of a grain selling vehicle, the grain samples are sampled and stored, each joint of the sampler is driven by different servo motors respectively, and then the servo motors are controlled to realize motion control of the sampler.
The inventor finds that some tie bars exist on the surface or inside of grains of the grain trolley for reinforcing the grain trolley, the tie bars of the grain trolley are mostly strip-shaped, the area is small, when the sample rod touches the tie bars, the stress is uneven, the sample rod is clung to one side of the tie bars to continue to sample, the sample rod is subjected to overturning moment, servo overload and mechanical damage can be caused, bending of the sample rod can be caused when serious, and the sample equipment is completely damaged; meanwhile, in the sampling process, when the grain vehicle is not stopped stably or a driver is in misoperation, the grain vehicle is easy to move, the sampling rod which is in vertical up-down sampling action is subjected to huge overturning force, servo overload and mechanical damage can be caused, and the bending of the sampling rod and the damage of the grain vehicle can be caused when the sampling rod is serious, so that the personal safety problem even occurs.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a method, a system, a medium and electronic equipment for controlling stress abnormality of a sampling rod, which are used for monitoring the stress of the sampling rod in real time, and performing triaxial control of a sampling arm according to the obtained stress of the sampling rod, so that the sampling rod moves along the direction of the stress, the stress of the sampling rod in all directions is always smaller than a capsizing force threshold, servo overload and mechanical damage are effectively avoided, and the safety of sampling is improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the invention provides a method for controlling stress abnormality of a sampling rod.
A method for controlling stress abnormality of a sampling rod, wherein the sampling rod is connected with a sampling arm, and the sampling arm is connected with a horizontal rail and can move along the horizontal rail, and the method comprises the following steps:
the method comprises the steps of obtaining stress data of a sampling rod, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction;
and according to the stress data of the sampling rod, combining the moving distance of the advancing shaft of the sampling arm in the current control period, and controlling the advancing shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period so that the stress of the sampling rod is smaller than a Yu Qingfu force threshold.
As a further definition of the first aspect of the invention, performing the control of the travelling axis of the skewer arm in the current control cycle comprises:
and obtaining a traveling shaft control pulse which enables the stress of the sampling rod to be smaller than a Yu Qingfu force threshold value according to the moving distance of the traveling shaft and the speed reduction ratio of the traveling shaft motor, and performing traveling shaft control in the current control period according to the traveling shaft control pulse.
As a further limitation of the first aspect of the present invention, the controlling the lifting shaft of the sampling arm in the current control period includes:
according to the moving distance of the travelling shaft, the length of the sampling arm, the stress along the horizontal track direction, the stress vertical to the horizontal plane direction, the real-time included angle between the sampling arm and the horizontal plane and the reduction ratio of the lifting shaft motor, the lifting shaft control pulse which enables the stress of the sampling rod to be smaller than the Yu Qingfu force threshold value is obtained, and the lifting shaft control in the current control period is carried out according to the lifting shaft control pulse.
As a further definition of the first aspect of the present invention, the rotation axis control of the sampling arm in the current control period is performed, including:
according to the moving distance of the travelling shaft, the length of the sampling arm, the stress along the horizontal track direction, the stress vertical to the horizontal track direction in the horizontal plane, the real-time included angle of the sampling arm and the guide rail, the angle after the lifting shaft rotates and the reduction ratio of the rotating shaft motor, the rotating shaft control pulse which enables the stress of the sampling rod to be smaller than a Yu Qingfu force threshold value is obtained, and the rotating shaft control in the current control period is carried out according to the rotating shaft control pulse.
As a further limitation of the first aspect of the present invention, the angle of the lifting shaft after rotation is obtained according to the moving distance of the travelling shaft, the length of the sampling arm, the force along the horizontal track direction, the force perpendicular to the horizontal plane direction, and the real-time included angle between the sampling arm and the horizontal plane.
As a further definition of the first aspect of the invention, the skewer stress is less than a Yu Qingfu force threshold comprising:
the stress of the sampling rod along the horizontal track direction is smaller than a first set threshold value, and the stress of the sampling rod along the horizontal plane direction perpendicular to the horizontal track direction is smaller than a second set threshold value.
In a second aspect, the invention provides a skewer stress abnormality control system.
The invention relates to a stress abnormality control system for a sampling rod, which comprises the following components:
a data acquisition module configured to: the method comprises the steps of obtaining stress data of a sampling rod, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction;
a tri-axis control module configured to: and according to the stress data of the sampling rod, combining the moving distance of the advancing shaft of the sampling arm in the current control period, and controlling the advancing shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period so that the stress of the sampling rod is smaller than a Yu Qingfu force threshold.
In a third aspect, the invention provides a skewer stress anomaly control system.
A skewer stress anomaly control system comprising:
the control terminal is used for detecting the stress of the sampling rod along the horizontal track direction, the second pressure sensor is used for detecting the stress of the sampling rod along the horizontal track direction in the horizontal plane, and the third pressure sensor is used for detecting the stress of the sampling rod along the horizontal plane direction;
the sampling rod is connected with the sampling arm, the sampling arm is connected with the horizontal track and can move along the horizontal track, and the first pressure sensor, the second pressure sensor and the third pressure sensor are fixed at the connection position of the sampling rod and the sampling arm;
a control terminal configured to: executing the process of the abnormal stress control method of the sampling rod according to the first aspect of the invention.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a program which when executed by a processor performs the steps of the method for skewer stress anomaly control according to the first aspect of the present invention.
In a fifth aspect, the present invention provides an electronic device, including a memory, a processor, and a program stored on the memory and executable on the processor, where the processor implements the steps in the method for controlling stress anomalies on a skewer according to the first aspect of the present invention when executing the program.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention creatively provides a stress abnormality control strategy for the sampling rod, which is used for monitoring the stress of the sampling rod in real time, and controlling the triaxial (a travelling shaft, a lifting shaft and a rotating shaft) of the sampling arm according to the obtained stress of the sampling rod, so that the sampling rod moves along the direction of the stress, the stress of the sampling rod in all directions is always smaller than a tilting force threshold, the servo overload and the mechanical damage are effectively avoided, and the safety of the sampling is improved.
2. The invention creatively provides a stress abnormality control strategy of the sampling rod, which is used for controlling the travelling shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period, and the control strategy is related to the moving distance of the travelling shaft in the current control period, and can improve the control precision of the sampling rod by combining the received stress data.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic flow chart of a method for controlling stress abnormality of a skewer according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram illustrating connection between a sampling rod and a sampling arm according to embodiment 1 of the present invention;
fig. 3 is a schematic exploded view of the skewer according to embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a system for controlling stress abnormality of a skewer according to embodiment 2 of the present invention;
wherein, 1-the sampling arm; 2-a sampling rod; 3-a first pressure sensor; 4-a second pressure sensor; 5-a third pressure sensor.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
as shown in fig. 1, embodiment 1 of the present invention provides a method for controlling stress abnormality of a sampling rod, which aims to make a self-protection reaction on stress abnormality of the sampling rod, so as to make the sampling rod safely lifted; as shown in fig. 2, the sampling rod 2 is connected with the sampling arm 1, the sampling arm 1 is connected with the horizontal rail and can move along the horizontal rail, and the control method comprises the following steps:
s1: the method comprises the steps of obtaining stress data of a sampling rod 2, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction;
s2: according to the stress data of the sampling rod 2, the moving distance of the moving shaft of the sampling arm 1 in the current control period is combined, and the moving shaft, the rotating shaft and the lifting shaft of the sampling arm 1 in the current control period are controlled, so that the stress of the sampling rod 2 is smaller than a Yu Qingfu force threshold.
Specifically, S1 includes:
three pressure sensors, namely a first pressure sensor 3, a second pressure sensor 4 and a third pressure sensor 5, are arranged at the connecting part (hinge joint) of the sampling rod 2 and the sampling arm 1;
the first pressure sensor 3 is used for detecting the stress of the sampling rod 2 along the horizontal track direction, the second pressure sensor 4 is used for detecting the stress of the sampling rod 2 along the horizontal track direction vertical to the horizontal plane, and the third pressure sensor 5 is used for detecting the stress of the sampling rod 2 along the horizontal plane direction vertical to the horizontal plane.
Specifically, S2 includes:
normally, in the lower skewing state of the skewer 2, the first pressure sensor 3 is in a parallel horizontal rail direction (i.e. in FIG. 3F x ) Almost zero, the value of the second pressure sensor 4 in the horizontal plane perpendicular to the horizontal rail direction (i.e. in fig. 3F y ) Almost zero, the third pressure sensor 5 is stressed in the direction perpendicular to the ground (i.e. in fig. 3F z ) And whether the stress of the sampling rod 2 is abnormal or not is judged by detecting the numerical value changes of the first pressure sensor 3, the second pressure sensor 4 and the third pressure sensor 5 along the vertical direction all the time.
In the sampling process, the threshold value of the overturning force of the sampling rod 2 is set, including the threshold value along the horizontal track direction in the horizontal planeF xmax (i.e. the first set threshold value) and a threshold value perpendicular to the horizontal track direction in the horizontal planeF ymax (i.e., second set threshold), it will be appreciated that hereF xmax AndF ymax can be identical or designed differently according to different working environments, and is not used here any moreAnd (5) repeating the description.
The embodiment is toF xmax AndF ymax the same is exemplified when the pressure value of the first pressure sensor 3F x Greater than or equal toF xmax Or when the pressure value of the second pressure sensor 4F y Greater than or equal toF ymax When the sampling rod 2 is in the process of overturning moment, the sampling rod is considered to be subjected to overturning moment; in the process of lower sampling, the sampling rod 2 is pressed down by the sampling arm 1, and the third pressure sensor 5 is stressedF z In the downward and loading process, the sampling rod 2 is lifted by the sampling arm 1, and the third pressure sensor 5 is stressedF z Upward, the stress is not judged abnormally, and the normal bottoming rebound is considered when the stress is larger. From the combination of forces exerted by the first pressure sensor 3, the second pressure sensor 4 and the third pressure sensor 5, the real-time magnitude and direction of the resultant force F can be determined, wherein the direction uses the resultant forceFIncluded angle with horizontal planemIncluded angle with guide railnExpressed as shown in formulas (1), (2) and (3):
（1）；
（2）；
（3）。
the first pressure sensor 3, the second pressure sensor 4 and the third pressure sensor 5 are subjected to numerical detection in real time, the magnitude F of the overturning force and the directions m and n of the overturning force are fed back to the motion control terminal after abnormality is found, the motion control terminal judges the direction and the distance of the sample rod 2 to be moved, and the sample rod 2 is controlled to safely lift through three-axis linkage and move along the stress direction.
Specifically, assuming that the length of the sampling arm 1 is L, the real-time angle α between the sampling arm 1 and the horizontal plane, the real-time angle β between the sampling arm 1 and the horizontal rail, the pulse equivalent U, the speed reduction ratio a of the travelling shaft motor (1 pulse equivalent U corresponds to a millimeter), the speed reduction ratio b of the rotating shaft motor (1 pulse equivalent U corresponds to b degrees), and the speed reduction ratio c of the lifting shaft motor (1 pulse equivalent U corresponds to c degrees).
Triaxial distance of travel X, Y, Z and three pressure sensor values F x 、F y 、F z The simple corresponding relation is shown in the formula (4):
（4）。
setting the travel axis to move by x=x mm in each communication period, and moving the other two axes by corresponding distances in the communication period, wherein the relation is shown in the following formula (5) and formula (6):
（5）；
（6）。
for the travel axis, the control terminal sends a travel axis pulse: u (U) x =x/a。
For the lifting shaft, the angle of the lifting shaft after rotationThe method comprises the following steps:
（7）；
pulse number U sent to lifting shaft by control terminal z The method comprises the following steps:
（8）；
angle of rotation of the rotation shaftThe method comprises the following steps:
（9）；
pulse number U sent to rotating shaft by control terminal y The method comprises the following steps:
（10）。
in this embodiment, the three-axis pulse is output to the motor through the control terminal (the control terminal here may be an independent controller, or may also be a controller of the sampler itself, which will not be described herein in detail), so as to implement movement of the sampler rod 2 along the direction of the force, and correct once in each communication period, and finally implement safe lifting control of the sampler rod 2.
Example 2:
the embodiment 2 of the invention provides a system for controlling stress abnormality of a sampling rod, which uses the method for controlling stress abnormality of a sampling rod described in the embodiment 1, as shown in fig. 4, and includes:
a data acquisition module configured to: the method comprises the steps of obtaining stress data of a sampling rod, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction;
a tri-axis control module configured to: and according to the stress data of the sampling rod, combining the moving distance of the advancing shaft of the sampling arm in the current control period, and controlling the advancing shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period so that the stress of the sampling rod is smaller than a Yu Qingfu force threshold.
More specifically, the working methods of the data acquisition module and the triaxial control module correspond to step S1 and step S2 in the stress abnormality control method for the sampling rod provided in embodiment 1, and are not described herein again.
Example 3:
the invention provides a stress abnormality control system of a sampling rod, which comprises the following components: the control terminal is used for detecting the stress of the sampling rod along the horizontal track direction, the second pressure sensor is used for detecting the stress of the sampling rod along the horizontal track direction in the horizontal plane, and the third pressure sensor is used for detecting the stress of the sampling rod along the horizontal plane direction;
the sampling rod is connected with the sampling arm, the sampling arm is connected with the horizontal track and can move along the horizontal track, and the first pressure sensor, the second pressure sensor and the third pressure sensor are fixed at the connection position of the sampling rod and the sampling arm;
a control terminal configured to: the process of the method for controlling stress abnormality of the skewer according to embodiment 1 is performed.
Example 4:
embodiment 4 of the present invention provides a computer readable storage medium having a program stored thereon, which when executed by a processor, implements the steps in the method for controlling stress anomalies in a skewer according to embodiment 1 of the present invention.
Example 5:
the embodiment 5 of the invention provides an electronic device, which comprises a memory, a processor and a program stored on the memory and capable of running on the processor, wherein the processor realizes the steps in the method for controlling stress abnormality of the skewer according to the embodiment 1 of the invention when executing the program.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The abnormal stress control method for the sampling rod is characterized in that the sampling rod is connected with a sampling arm, and the sampling arm is connected with a horizontal rail and can move along the horizontal rail, and comprises the following steps:
the method comprises the steps of obtaining stress data of a sampling rod, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction;
and according to the stress data of the sampling rod, combining the moving distance of the advancing shaft of the sampling arm in the current control period, and controlling the advancing shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period so that the stress of the sampling rod is smaller than a Yu Qingfu force threshold.
2. The method for controlling stress abnormality of a skewer according to claim 1, characterized in that,
performing the travelling axis control of the sampling arm in the current control period, including:
and obtaining a traveling shaft control pulse which enables the stress of the sampling rod to be smaller than a Yu Qingfu force threshold value according to the moving distance of the traveling shaft and the speed reduction ratio of the traveling shaft motor, and performing traveling shaft control in the current control period according to the traveling shaft control pulse.
3. The method for controlling stress abnormality of a skewer according to claim 1, characterized in that,
the lifting shaft control of the sampling arm in the current control period is carried out, and the method comprises the following steps:
according to the moving distance of the travelling shaft, the length of the sampling arm, the stress along the horizontal track direction, the stress vertical to the horizontal plane direction, the real-time included angle between the sampling arm and the horizontal plane and the reduction ratio of the lifting shaft motor, the lifting shaft control pulse which enables the stress of the sampling rod to be smaller than the Yu Qingfu force threshold value is obtained, and the lifting shaft control in the current control period is carried out according to the lifting shaft control pulse.
4. The method for controlling stress abnormality of a skewer according to claim 1, characterized in that,
performing rotation axis control of the sampling arm in a current control period, including:
according to the moving distance of the travelling shaft, the length of the sampling arm, the stress along the horizontal track direction, the stress vertical to the horizontal track direction in the horizontal plane, the real-time included angle of the sampling arm and the guide rail, the angle after the lifting shaft rotates and the reduction ratio of the rotating shaft motor, the rotating shaft control pulse which enables the stress of the sampling rod to be smaller than a Yu Qingfu force threshold value is obtained, and the rotating shaft control in the current control period is carried out according to the rotating shaft control pulse.
5. The method for controlling stress abnormality of a skewer according to claim 4, characterized in that,
and obtaining the angle after the lifting shaft rotates according to the moving distance of the travelling shaft, the length of the sampling arm, the stress along the horizontal track direction, the stress vertical to the horizontal plane direction and the real-time included angle between the sampling arm and the horizontal plane.
6. The method for controlling stress abnormality of a skewer according to claim 1, characterized in that,
the skewer is stressed by a force threshold of Yu Qingfu, comprising:
the stress of the sampling rod along the horizontal track direction is smaller than a first set threshold value, and the stress of the sampling rod along the horizontal plane direction perpendicular to the horizontal track direction is smaller than a second set threshold value.
7. A skewer stress anomaly control system, characterized by using the skewer stress anomaly control method of any one of claims 1-6, comprising:
a data acquisition module configured to: the method comprises the steps of obtaining stress data of a sampling rod, wherein the stress data comprise stress along a horizontal track direction, stress vertical to the horizontal track direction in a horizontal plane and stress vertical to the horizontal plane direction;
a tri-axis control module configured to: and according to the stress data of the sampling rod, combining the moving distance of the advancing shaft of the sampling arm in the current control period, and controlling the advancing shaft, the rotating shaft and the lifting shaft of the sampling arm in the current control period so that the stress of the sampling rod is smaller than a Yu Qingfu force threshold.
8. A skewer stress anomaly control system, comprising:
the control terminal is used for detecting the stress of the sampling rod along the horizontal track direction, the second pressure sensor is used for detecting the stress of the sampling rod along the horizontal track direction in the horizontal plane, and the third pressure sensor is used for detecting the stress of the sampling rod along the horizontal plane direction;
the sampling rod is connected with the sampling arm, the sampling arm is connected with the horizontal track and can move along the horizontal track, and the first pressure sensor, the second pressure sensor and the third pressure sensor are fixed at the connection position of the sampling rod and the sampling arm;
a control terminal configured to: a process for performing the method of skewer stress anomaly control according to any one of claims 1-6.
9. A computer readable storage medium having a program stored thereon, wherein the program when executed by a processor performs the steps in the method of skewer stress anomaly control according to any one of claims 1-6.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor performs the steps in the skewer stress abnormality control method according to any one of claims 1-6 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410166482.1A CN117707238B (en) | 2024-02-06 | 2024-02-06 | Abnormal stress control method and system for sampling rod, medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410166482.1A CN117707238B (en) | 2024-02-06 | 2024-02-06 | Abnormal stress control method and system for sampling rod, medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117707238A true CN117707238A (en) | 2024-03-15 |
| CN117707238B CN117707238B (en) | 2024-04-19 |
Family
ID=90162944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410166482.1A Active CN117707238B (en) | 2024-02-06 | 2024-02-06 | Abnormal stress control method and system for sampling rod, medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117707238B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101403655B1 (en) * | 2013-04-23 | 2014-06-05 | 주식회사 두배시스템 | Intravascular therapeutic operating apparatus |
| CN206959812U (en) * | 2017-02-09 | 2018-02-02 | 深圳市德诚宝精密塑胶模具有限公司 | Three coordinate measuring machine for precision die production |
| CN207923904U (en) * | 2017-12-22 | 2018-09-28 | 深圳市普康电子有限公司 | Probe assembly and Biochemical Analyzer |
| CN213337612U (en) * | 2020-09-28 | 2021-06-01 | 青岛衡立环境技术研究院有限公司 | Sample analyzer for soil detection |
| CN217542458U (en) * | 2022-04-20 | 2022-10-04 | 天津九州大地饲料有限公司 | Fixed type sample machine |
| CN218381684U (en) * | 2022-08-22 | 2023-01-24 | 安陆市广丰米业有限公司 | Avoid grain of crooked rupture of sample pole sampling device for purchase |
-
2024
- 2024-02-06 CN CN202410166482.1A patent/CN117707238B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101403655B1 (en) * | 2013-04-23 | 2014-06-05 | 주식회사 두배시스템 | Intravascular therapeutic operating apparatus |
| CN206959812U (en) * | 2017-02-09 | 2018-02-02 | 深圳市德诚宝精密塑胶模具有限公司 | Three coordinate measuring machine for precision die production |
| CN207923904U (en) * | 2017-12-22 | 2018-09-28 | 深圳市普康电子有限公司 | Probe assembly and Biochemical Analyzer |
| CN213337612U (en) * | 2020-09-28 | 2021-06-01 | 青岛衡立环境技术研究院有限公司 | Sample analyzer for soil detection |
| CN217542458U (en) * | 2022-04-20 | 2022-10-04 | 天津九州大地饲料有限公司 | Fixed type sample machine |
| CN218381684U (en) * | 2022-08-22 | 2023-01-24 | 安陆市广丰米业有限公司 | Avoid grain of crooked rupture of sample pole sampling device for purchase |
Non-Patent Citations (2)
| Title |
|---|
| 李伟 等: "智能出入库***建设应用", 粮食储藏, vol. 43, no. 5, 25 October 2014 (2014-10-25), pages 50 - 53 * |
| 柏云磊 等: "基于ANSYS的YL-A-VP型粮食扦样机故障分析与优化", 安徽科技学院学报, vol. 37, no. 1, 15 February 2023 (2023-02-15), pages 84 - 91 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117707238B (en) | 2024-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104932506B (en) | Wheeled mobile robot trace tracking method based on fast terminal sliding formwork | |
| CN103328161B (en) | Multi-joint arm robot and control method thereof | |
| CN110605721A (en) | Mechanical arm dragging teaching method based on terminal six-dimensional force sensor | |
| CN101952087A (en) | Robot, robot control apparatus, robot control method and program for controlling robot control apparatus | |
| CN103025492A (en) | Control device and control method for robot, robot, and control program | |
| CN104354166B (en) | A kind of Zero calibration method of 3-dof parallel robot | |
| CN108621130A (en) | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R | |
| CN111208735B (en) | Low-switching gain robust super-spiral sliding mode control method for coating conveying mechanism | |
| CN108227490A (en) | A kind of model-free adaption sliding-mode control of New-type mixed-coupled formula automobile electrophoretic coating conveyor structure | |
| CN103406908A (en) | Force feedback hand controller with three degrees of freedom rotation | |
| CN105549383A (en) | Linear-motor precision trajectory tracking device and method | |
| CN104950909A (en) | Control system and control method for multi-section mechanical arm | |
| CN117707238B (en) | Abnormal stress control method and system for sampling rod, medium and electronic equipment | |
| CN105604367A (en) | Bidirectional parallel thrust-lifting type automobile intelligent conveyer | |
| CN112174040A (en) | Robot | |
| CN111673742A (en) | Industrial robot trajectory tracking control algorithm | |
| CN204997688U (en) | Moving device | |
| CN117631664A (en) | Precise moving and grabbing method for intelligent robot | |
| CN108319145A (en) | A kind of time delay estimation PD sliding-mode controls of New-type mixed-coupled formula automobile electrophoretic coating conveyor structure | |
| CN108908296A (en) | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T | |
| CN116300445A (en) | Novel comprehensive error rapid continuous sliding mode control method for task space of automobile electrophoretic coating conveying parallel-serial mechanism | |
| CN109129427B (en) | Plane parallel mechanism device driven by double five-rod mechanism and control method | |
| US12005583B2 (en) | Robotic system for moving a payload with minimal payload sway and increased positioning accuracy | |
| CN102935476B (en) | Partial-movement-decoupled forging manipulator | |
| CN107139174B (en) | Control device and method for plane parallel mechanism driven by double five-rod mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |