67 results about "Inertial load" patented technology

The invention discloses a wind power generation variable pitch load suppression method and system, and relates to the technical field of wind power generation variable pitch load suppression, and the method comprises the steps of basic data acquisition, basic data analysis, power generation rate analysis, load data analysis and load abnormity processing. Whether hydraulic variable pitch operation is carried out or not is judged, then whether the power generation rate of the wind driven generator is qualified or not is judged, the wind load, the inertia load, the gravity load and the hydraulic cylinder load of each blade are combined for analysis, then the load coupling value of each blade is obtained, and the load abnormal condition of the wind driven generator is obtained through analysis; the problem of limitation existing in the current wind power generation variable-pitch load suppression analysis process is solved, comprehensive and objective analysis of wind power generation variable-pitch load suppression analysis is achieved, and reliability and authenticity of a wind power generation variable-pitch load suppression analysis result are guaranteed.

This invention relates to the field of intelligent machine tool technology, specifically to an intelligent machine tool equipped with a transverse movement mechanism, including an up-and-down transverse movement mechanism, a left-and-right transverse movement mechanism, a left-and-right micro-movement mechanism, and a pressure mold. The left-and-right transverse movement mechanism is mounted on the outer side of the up-and-down transverse movement mechanism, and the left-and-right micro-movement mechanism is mounted on the outer side of the left-and-right transverse movement mechanism. The pressure mold is located on the top of the left-and-right micro-movement mechanism. The core of this invention lies in eliminating the independent dedicated mounting plate and instead directly connecting the mold-moving assembly to the machine head frame. By eliminating redundant mounting plates and auxiliary connectors, the overall mass and inertial load of the moving parts are effectively reduced, which is beneficial to improving the dynamic response performance and motion accuracy of the system. Secondly, the direct connection method significantly compresses the structural space, making the layout more compact and significantly improving space utilization. Based on the simplification of the overall structure, the miniaturization and lightweight design of the machine head module are realized, providing a structural foundation for the deployment and performance improvement of the equipment in a limited space.

The present invention is applicable to the technical field of production detection of diesel generator sets, and provides a production detection system and a detection method for a diesel generator set, comprising a frame, a simulation component installed inside the frame, and an offset component installed on the top of the simulation component. A plurality of groups of buffer components are installed around the top of the offset component, and generator sets are arranged between the plurality of groups of buffer components. A locking component is installed on the top of each group of buffer components, and four groups of connecting components are installed around the top of the offset component. The device solves the problems of insufficient detection dimension and lack of comprehensiveness of testing. When the generator set completes the displacement swing detection, the electric slide rail drives it away from the center of the turntable, and then drives the motor to make the turntable linkage device perform centrifugal motion. After running for a preset time, the inertial load in scenarios such as hull turning is simulated, thereby alleviating the problem of insufficient detection dimension in complex environments.

The invention provides a leg structure of a half-horse robot and the half-horse robot, the leg structure comprises a thigh, a shank, a thigh adduction and abduction joint, a thigh pitching joint and a knee joint, the thigh adduction and abduction joint is connected with the thigh through the thigh pitching joint; the thigh adduction and abduction joints can drive the thighs to adduction and abduction, and the thigh pitching joints can drive the thighs to swing front and back; the thighs are connected with the shanks through the knee joints, and the knee joints can drive the shanks to rotate. According to the leg structure, the half-horse robot has a pure foot type working mode and a wheel foot type working mode, the steering freedom degree is achieved in the wheel foot mode, in-situ steering can be achieved, and the flexibility of the robot is improved. A rotation actuator of the knee joint is arranged on the upper portion, the inertia load of the tail end of the leg is relieved, when the leg structure swings at a high speed or falls to the ground, dynamic response of the shank part is agile, impact is small, and overall movement of the robot is stable and efficient.

The present invention provides an energy-saving multi-stage screw air compressor, comprising a housing, a screw, a drive motor and a planetary gear mechanism. The compressor realizes progressive starting of the screw through a first drive mechanism and a second drive mechanism connected by the planetary gear mechanism. In the initial startup, the first drive mechanism with low speed and high torque drives the screw to overcome the inertial load, and then the second drive mechanism with high speed intervenes to accelerate the screw to maximum working efficiency. At the same time, the reset mechanism ensures that the first drive mechanism returns to its original position after separation, and the switching mechanism realizes smooth switching of the drive mechanism. The present invention can effectively improve the service life of the motor, enhance the stability and reliability of the compressor, reduce maintenance costs, and prevent gas backflow and protect the motor through the disconnection design, which has significant energy-saving effects and practical value.

The disclosure presents a shaftless, brushless motor for rotating any optical or sensing element (e.g., a lens or mirror) at a distal end of a waveguide that also delivers electromagnetic radiation (e.g., light). Herein, the waveguide itself functions as the axle on which rotating components rotate, thereby avoiding blind spots and overcoming limitations in existing “micromotors”. The shaftless, distally driven motor significantly reduces motor size, while extremely small inertial loads and bearing sizes allow for high pitch cylindrical scanning with longitudinal velocity uniformity.

The invention relates to a self-adjustable inertial load bearing mechanism for a control surface of a transportation aircraft, and belongs to the field of control surface design of transportation aircrafts. The mechanism is simple in composition and clear in load transmission path, the inertia load pull rod assembly 10 arranged on the control surface rotating shaft is directly connected to the hinge bolt 8 of the hinge axis to bear inertia load, and the phenomenon that a hinge joint of a traditional suspension mechanism bears out-of-plane load and deforms to cause deflection and clamping stagnation of the control surface is avoided; the inertia load is effectively transmitted to the airfoil main force bearing structure 2 through the inertia load pull rod assembly 10 all the time, and the self-adjusting purpose is achieved. Meanwhile, knuckle bearing standard parts can be selected on all the suspension joints and the hinge joints, and special knuckle bearings which are long in service life and high in cost are avoided.

The invention discloses a hydraulic system and a high-pressure large-flow inertia load hydraulic test bench and method, and the hydraulic system comprises a loading oil cylinder which comprises a first bidirectional hydraulic cylinder and a second bidirectional hydraulic cylinder; the reversing valve is connected with the loading oil cylinder and comprises a first reversing valve and a second reversing valve; a first inertia loading guide hydraulic cylinder; a second inertia loading guide hydraulic cylinder; the first inertia loading motor is connected between the two oil ports of the first inertia loading guide hydraulic cylinder; the second inertia loading motor is connected between the two oil ports of the second inertia loading guide hydraulic cylinder; and the plurality of switch valves are used for switching the connection relationship between the loading oil cylinder and the reversing valve, and under the action of the reversing valve, the first bidirectional hydraulic cylinder and the second bidirectional hydraulic cylinder realize a bypass working mode, a series working mode and a parallel working mode.

The application belongs to the field of comprehensive strength, and relates to a load calculation method and device of a helicopter auxiliary landing device. After the helicopter is stopped on the deck, the deck device fixes the lower end of the probe rod, and the external load borne by the helicopter includes gravity, inertia load caused by ship movement and wind load; the support reaction force is provided by the tire and the auxiliary landing device; all the friction forces are borne by the main wheel, and the tail wheel is a steering wheel and does not bear the friction force; the method comprises the following steps: stress analysis is carried out on the fixed helicopter, and a load balance equation is established; and the load of the helicopter auxiliary landing device is solved according to the load balance equation.

The application discloses a kind of aero-engine main bearing dynamics analysis method and system under motor flight condition, method includes, the dynamics model of rotor-support system under motor flight state is established, additional excitation force size under motor flight state is calculated;According to the load distribution law of shafting under the action of additional excitation force, the support reaction force of each support and the additional inertia load borne by main bearing are extracted, the coupling mechanism of the dynamic characteristics and elastohydrodynamic lubrication characteristics of main bearing is researched, the balance condition of coupling equation is proposed, and the main bearing thermal elastohydrodynamic lubrication coupling model is established;According to the mutual contact / collision action between typical interfaces between elements in bearing, a contact / collision action model considering lubrication is established;Considering the additional inertia load varying with time, based on the established main bearing thermal elastohydrodynamic lubrication coupling model, considering the force between main bearing interfaces, numerical integration is used to solve, realize the accurate analysis of the dynamic characteristics and vibration response mechanism of aero-engine main bearing.

The invention relates to the technical field of engineering machinery, in particular to a load measuring method and system applied to a rotary platform of an excavator. The excavator revolving platform is provided with at least one target measurement area, at least one strain gauge group is arranged in the target measurement area, and the method comprises the following steps: acquiring actually measured strain data corresponding to each strain gauge group, and generating an actually measured data matrix according to the actually measured strain data corresponding to all the strain gauge groups; calculating simulation strain data corresponding to each strain gauge group according to a preset excavator model, and generating a simulation data matrix according to the simulation strain data corresponding to all the strain gauge groups; and calculating target load data of the excavator revolving platform according to the actually measured data matrix and the simulation data matrix. On the basis of the preset strain gauge group, load measurement is carried out on the external load and the inertial load of the excavator revolving platform in a mode of combining virtual simulation and actual measurement, and the position of a measurement device does not need to be iteratively adjusted for multiple times, so that the load measurement efficiency is improved.

The invention relates to the field of vortex plate stress analysis, in particular to a method for accurately analyzing stress and strain of a vortex plate. The method comprises the following steps: 1, establishing a vortex plate three-dimensional model; 2, performing transient solution on the fluid domain; 3, analyzing a static structure; 4, calculating steady-state heat; and 5, calculating an inertial load, and completing comprehensive stress-strain analysis of one-way coupling. According to the method, a CFD method (computational fluid mechanics) is combined with commercial software, a VLES turbulence model is innovatively introduced, the proportion of turbulence modeling and turbulence analysis can be adaptively adjusted through a resolution control function, the influence of grids on a calculation result can be weakened on the premise of ensuring calculation precision, and calculation resources are greatly saved. According to the method, the flow field distribution of the vortex compression cavity is calculated according to the temperature and the pressure of the vortex tooth surface, so that the load data at the fluid-solid coupling interface is obtained, and compared with a traditional simplified method, the temperature and the pressure of the vortex tooth surface calculated by the CFD method are more consistent with actual conditions, so that the structural strength analysis result is more reliable.

This invention relates to a tail fin structure with independent pitch and roll movements, comprising a pitch mechanism, a roll mechanism, and a connecting mechanism. The pitch mechanism includes a pitch servo and a pitch linkage, while the roll mechanism includes a roll servo and a transmission gear. The connecting mechanism includes a universal joint and a universal joint limiter. The pitch servo drives the tail fin to pitch movement via the pitch linkage. The roll servo drives the universal joint to rotate via the transmission gear, with the tail end of the universal joint connected to the tail fin to complete the roll movement. The rotation center of the pitch mechanism coincides with the center of the universal joint, and the left and right swing degrees of freedom of the universal joint are limited by the universal joint limiter, achieving independent control of pitch and roll movements. This invention allows for completely independent roll and pitch movements, significantly reducing the control precision requirements of the motor. The invention has a simple structure and reasonable design. The single-plane tail fin structure of this invention has strong wind resistance during flight and also has advantages such as low inertial load on the motor and high drive efficiency.

The application relates to a rotary switch cooperatively regulated tail edge air blowing gust generator and a use method thereof, and belongs to the technical field of wind tunnel tests. The rotary switch cooperatively regulated tail edge air blowing gust generator comprises a wing profile shell assembly, a gas supply pipeline assembly, a rotary switch assembly and a control system. The tail edge of the wing profile shell is provided with a multi-nozzle array, the rotary switch is composed of independent detachable rotary shaft units, the air blowing flow variation law can be changed by adjusting the installation combination of the rotary shaft units corresponding to the nozzles, and various customized gust outputs with consistent or inconsistent main frequencies and consistent or inconsistent phases can be realized. The control system adopts a PID or model prediction control algorithm, the rotary shaft rotation angle is fed back through an encoder, the gas supply mass flow is monitored through a flowmeter, the rotary shaft rotating speed and the gas supply pressure are cooperatively adjusted in a closed loop, the amplitude drift and the frequency deviation problems of the gust field caused by the air source fluctuation and the flow field interference under open loop control are solved, and the stability and controllability of high-speed / high-frequency gusts are significantly enhanced. The application has no inertial load and compact structure, and can be adapted to various wind tunnels.

The invention belongs to the technical field of ventilation and fan manufacturing, and discloses a stress-optimized bearing system and a manufacturing method thereof.The stress-optimized bearing system comprises a conical shaft core with a shaft core large-head end and a shaft core small-head end, and the diameter of the shaft core large-head end is larger than that of the shaft core small-head end; the bearing is matched with the conical shaft core, and an inner hole of the bearing is of a conical structure matched with the shaft core; a wear-resistant sheet is arranged at the small shaft core end of the conical shaft core; according to the bearing system, when the fan rotor operates, the gravity center of the rotor is located in the bearing and corresponds to the large head end area of the shaft core; the gravity center of the rotor is borne by the large end of the conical shaft core, and the inertia load of the small end of the conical shaft core is reduced through the weight reduction groove, so that the stress distribution of the bearing inner hole of the bearing is uniform, and the wear resistance of the wear-resistant sheet is improved; and continuous lubrication under the high-speed working condition is ensured, and the jamming fault is reduced.

This utility model belongs to the technical field of testing equipment, specifically a rudder system load simulation testing device, comprising: a frame and a testing component mounted on the frame; the testing component includes a testing mechanism mounted on the frame, a load mechanism mounted on the frame and located on the side of the testing mechanism, and a mounting base mounted on the frame; the testing mechanism includes a housing mounted on the side of the frame, a motor fixed inside the housing, a drive shaft connected to the drive end of the motor, a torque sensor located in the middle of the drive shaft, and an angle encoder mounted at the end of the drive shaft. This utility model, through the testing component, can reproduce inertial loads, elastic loads, and damped loads using the magnetic powder brake, variable stiffness spring assembly, and hydraulic damper in the load mechanism. Compared with traditional fixed weight loads, the dynamic characteristic simulation is more accurate, and the test data is more comprehensive.

This application belongs to the field of V-tail aircraft design, and specifically relates to a method and system for calculating the load parallel to the hinge axis of a V-tail aircraft. It assumes that the load parallel to the hinge axis of the V-tail aircraft conforms to the rotation axis ellipse equation distribution, and establishes the rotation axis ellipse equation; it sets a chord equation, the slope of which is an expression including the V-tail tilt angle; it solves the chord equation and the rotation axis ellipse equation simultaneously to obtain the intersection point coordinates; it solves the chord length based on the intersection point coordinates; it then reduces the chord length to obtain the inertial load of the tilted V-tail, i.e., the load parallel to the hinge axis. The rotation axis ellipse equation describes the coupled distribution of vertical and horizontal loads, and the intersection point is solved simultaneously using the chord equation, finally calculating the load value related to the tilt angle. This is the first time that the "composite function" and "geometric tilt angle" of the V-tail have been incorporated into the load calculation model, making the results more closely reflect the actual stress state and avoiding safety hazards or weight redundancy caused by incorrect coefficient selection.

The application relates to a rear suspension lower support fatigue life analysis method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: firstly, obtaining the relative torsion angle between a first main cross beam and a second main cross beam, the axial displacement of a spring shock absorber, three-directional acceleration of a suspension upper support and three-directional acceleration of a suspension lower support; then, pre-processing the obtained data; then, obtaining a first full-field time-domain stress and a first strain amplitude of the rear suspension lower support under a cab inertia load condition, a second full-field time-domain stress and a second strain amplitude of the rear suspension lower support under a vibration condition and a resonance response, and a third full-field time-domain stress and a third strain amplitude of the rear suspension lower support under a low-frequency torsion condition of a vehicle frame; and finally, analyzing the fatigue life of the rear suspension lower support according to the obtained stress and strain amplitude. The method provided by the application can accurately evaluate the actual fatigue life of the rear suspension lower support.

The present application belongs to the field of helicopter structure strength design, and relates to a design analysis method of a helicopter overhanging equipment support. The method comprises the following steps: determining the positions of each interface of the helicopter overhanging equipment by analyzing the proportion of each direction component of the aerodynamic load and the inertial load under the severe load condition and the bearing capacity of the installation interface of the fuselage; designing the load transmission path and the initial main body transmission structure according to the positions of each interface, the aerodynamic load and the inertial load, and performing topology optimization on the initial main body transmission structure; and finally completing the design of the overhanging equipment support by performing detail size optimization according to the strength requirement and the dynamics requirement.

The application relates to the technical field of mechanical testing, in particular to a testing device for simulating inertial load of a pile foundation in a liquefied site, wherein the testing device comprises a first load-bearing frame, a first installation layer of the first load-bearing frame, a central positioning frame, a pulley, a weight disc, a test box, a test fluid and a test pile foundation; the first installation layer is arranged above the first load-bearing frame; the central positioning frame is arranged on the first installation layer; the pulley is fixedly connected to the central position of the central positioning frame; one end of the weight disc is connected to a wire; the weight disc is arranged below the pulley; the other end of the wire is connected to the test box through the pulley; the test box comprises a box body; the test fluid is loaded in the box body; the test pile foundation is vertically inserted into the test fluid; the test pile foundation is higher than the box body; and the wire is connected to the part of the test pile foundation which is higher than the box body. The application can accurately obtain the inertial load and reduce the testing cost.

The present application belongs to the field of wind power generation ground test technology, and provides a wind turbine transmission chain test platform electromechanical coupling loading method and system, real-time wind speed and power grid frequency are obtained; dynamic nonlinear aerodynamic load, gravity load and inertia load are calculated according to the real-time wind speed, and are converted through coordinate transformation to form a basic load component; the required electromagnetic torque instruction of the generator is calculated through comprehensive inertia control according to the real-time power grid frequency; based on the physical mechanism of the reverse torque of the generator leading to the tower tube pitching, the pitching angle acceleration of the top of the tower tube is calculated, and the additional inertia bending moment generated at the main shaft due to the pitching motion is calculated; the driving control of the load motor system is carried out according to the electromagnetic torque instruction to simulate the electromagnetic torque impact, the basic load component and the additional inertia bending moment are superimposed, the control of the six-degree-of-freedom loading device is carried out to simulate the structural lateral vibration bending moment, and synchronous loading is realized. The present application greatly improves the authenticity of the test.

The present invention achieves a technology capable of estimating a ground contact load in a vehicle with sufficiently high accuracy. A ground contact load estimation device according to the present invention is configured to estimate a ground contact load of a vehicle by: acquiring a wheel angular velocity of the vehicle, a steady load, and an inertial load; calculating a first gain using the steady load and the inertial load; estimating a road surface load using the first gain, a prescribed vehicle specification, and a second gain representing a hysteresis characteristic of a tire mounted on the vehicle; and referring to the road surface load.

The invention relates to the technical field of industrial automation control, and discloses a complete switch equipment-oriented copper bar flexible processing production cooperative control method, which comprises the following steps of: analyzing a three-dimensional design model, and establishing a discretization infinitesimal model along the longitudinal direction of a copper bar; collecting punching shear servo data to calculate a global material hardening index, and reconstructing a discrete residual stress field; performing task clustering based on the rehearsal trajectory, and calculating a cumulative inertial load factor in circulation; the optimal mechanical clamping point deviating from the geometric center is calculated according to the discrete residual stress field, and dynamic grabbing is executed; and in combination with the hardening index and the inertia load factor, calculating a bending pressing stroke containing double gain correction and executing machining. According to the method, by means of discrete stress field reconstruction and inertial load calculation, dynamic drift correction and multi-dimensional bending self-adaptive compensation of the grabbing point are achieved, and the machining precision can be improved without trial bending.

The invention discloses a loading experiment system and method suitable for a steering drive axle, and the system comprises a driving unit which is used for providing a driving force for a tested steering drive axle; the dynamometer loading unit is used for being connected with the output end of the tested steering drive axle and simulating a wheel side load; the inertia loading unit is used for being connected with the output end of the tested steering drive axle and simulating an inertia load; the external load loading unit is used for being connected with an axle housing of the tested steering drive axle and simulating an external impact load; the steering mechanism is used for driving the dynamometer loading unit or the inertia loading unit to rotate to a preset angle; the data acquisition unit is connected with the tested steering drive axle; and the control unit is connected with the driving unit, the dynamometer loading unit, the inertia loading unit and the steering mechanism, controls the driving unit, the dynamometer loading unit, the inertia loading unit and the steering mechanism to operate based on a control instruction, and communicates with the data acquisition unit to form closed-loop control. According to the invention, high-precision cooperative loading test and fault diagnosis of the steering drive axle under different steering angle working conditions can be realized.

The application discloses a new type of structure of a walking lower cross beam of a stacking machine, which comprises a lower cross beam body and a column base body, the lower cross beam body comprises a cross beam connecting rod, support seats are fixedly connected to the two ends of the cross beam connecting rod, recessed matching blocks are arranged on the surfaces of the support seats, excess holes and limiting holes are formed in the surfaces of the recessed matching blocks, the column base body comprises a base horizontal rod, base plates are fixedly arranged at the two ends of the base horizontal rod, convex matching blocks are fixedly connected to the lower portions of the base plates, insertion holes are formed in the surfaces of the convex matching blocks, and positioning rods are fixedly connected to the lower surfaces of the convex matching blocks; the column base body and the lower cross beam body are flexibly connected, when running, inertia load is consumed and dispersed through the flexible connection between the recessed matching blocks and the convex matching blocks; the force relief assembly can adjust the flexible connection excess in real time, offset the action force of the column base body shaking on the surface of the lower cross beam body, avoid excessive shaking of the lower cross beam, and improve the stability and reliability of the equipment.

The application belongs to the technical field of aero-engines, and particularly relates to a dynamic balancing method for reducing the rotating inertia load of a high-pressure rotor. The initial unbalance amount phase difference of front and rear modification surfaces of each component of the high-pressure rotor is measured respectively, and the initial static unbalance amount grade of the component is controlled according to the initial unbalance amount phase difference of the component. The coaxiality of the front and rear ends of each component is measured respectively, and the coaxiality is controlled to be not greater than φ0.02mm. Each component is assembled into the high-pressure rotor, the coaxiality of the component connection of the high-pressure rotor is measured, and the coaxiality is controlled to be not greater than φ0.015mm. The initial unbalance amount phase difference of the front and rear modification surfaces of the high-pressure rotor is measured, and the initial static unbalance amount grade of the high-pressure rotor is controlled according to the initial unbalance amount phase difference. The residual static unbalance amount grade of the high-pressure rotor and the residual unbalance amount grade of the front and rear modification surfaces are controlled according to the initial unbalance amount phase difference, which can effectively reduce the inclination degree of the main inertia axis of the high-pressure rotor, and further reduce the rotating inertia excitation load under high speed.

The application discloses a variable stiffness inertia load reduction device based on dry adhesion characteristics, comprising a plurality of variable stiffness mechanisms connected with a helmet and clothes and a connecting structure detachably connected with the helmet and the clothes, the variable stiffness mechanism is a pneumatic actuator, comprising an upper mechanism with a high stiffness outer sleeve and a lower mechanism with a low stiffness gas-driven expansion inner sleeve, the upper mechanism and the lower mechanism are detachably connected with the helmet and the clothes respectively through the connecting structure, and the upper mechanism is sleeved with the lower mechanism; the lower mechanism is inflated and expanded, the inner sleeve of the lower mechanism is deformed, a bionic adhesion material layer fixed on the outer surface of the inner sleeve is in close contact with the inner wall of the high stiffness outer sleeve of the upper mechanism, the variable stiffness mechanism is in a high stiffness state, and load reduction is realized; after the gas pressure of the air bag is reduced, the lower mechanism and the upper mechanism are separated, and the variable stiffness mechanism is in a low stiffness state. The application is an active protection device for reducing inertia load, has a better effect of reducing inertia load, and can completely not affect the relative movement of the lower mechanism and the upper mechanism.

This utility model relates to a connecting rod balancing mechanism for a beam pumping unit, comprising a lower connecting rod joint, a crank pin bearing housing, a crank pin, a crank, a crank pin bearing cover, and a crank pin bearing. The lower connecting rod joint and the crank pin bearing housing are fixedly connected as an integral connecting rod-crank pin structure. The key feature is that a connecting rod balance box is connected to the lower connecting rod joint or the crank pin bearing housing, forming the connecting rod balancing structure of the beam pumping unit. The connecting rod balance box is connected to the lower connecting rod joint or the crank pin bearing housing via a flange or pin. This utility model achieves a new balancing method by setting a balance box at the lower end of the connecting rod or the crank pin bearing housing. The counterweight is set at the lower end of the connecting rod or the crank pin bearing housing, reducing the force on the crank pin and lowering the risk of crank pin breakage. It also avoids the drawback of large inertial loads in beam balancing.

The invention discloses a method and a device for analyzing the load of a sucker rod in a pumping well. The method comprises the following steps of: determining a liquid column load, a vibration load, a liquid column inertia load and a friction force between a plunger and a bushing at a starting point of a sucker rod by taking a well deviation measuring point on the upper end surface of a piston of the oil well pump as the starting point to obtain an up-stroke maximum load and a down-stroke minimum load; the well deviation measuring points are sequentially traversed upwards, and corresponding well sections are obtained; based on the upper stroke maximum load and the lower stroke minimum load at the lower end point of the sucker rod, the upper stroke friction load and the lower stroke friction load between the sucker rod and the oil pipe are determined respectively; vertical stroke friction force between the sucker rod and the liquid column at the well section is determined; determining the gravity of the sucker rod at the well section and the downstroke load of the sucker rod; according to the gravity of the sucker rod at the well section, upper and lower stroke inertia loads of the sucker rod at the well section are determined respectively; and the upstroke maximum load and the downstroke minimum load of the sucker rod at the upper end point are determined. According to the method, the stress condition of the sucker rod is determined point by point, and a data basis is provided for safety analysis.

The present disclosure relates to a method for calibrating an articulated robot, a computer device and a non-temporary computer-readable storage medium. The method includes: acquiring desired trajectory information regarding a desired trajectory of the end-effector; acquiring load information regarding a load subjected by the articulated robot, the load including a gravity load, an inertial load and an external load; obtaining, based on the desired trajectory information, joint position data indicating a joint position of the articulated robot; obtaining, based on the joint position data and the load information, end position change data indicating an end position change of the end-effector; and compensating, based on the end position change data, a position error of the end-effector according to a predetermined compensation strategy.