针对当前工业机器人在实际复杂生产环境中存在的精度不稳定、编程时间长、工作效率低的问题,提出了一种基于Robot-Studio的工业机器人虚拟仿真平台.以工业机器人为研究对象,通过SolidWorks三维软件建立工业机器人搬运平台的三维模型,利用RobotStudio仿真软件构建工业机器人虚拟仿真平台的框架,设计Smart组件模拟机器人搬运的物料的全过程,离线编制了机器人搬运物料的仿真程序,对运动路径进行严格规划,并虚拟仿真机器人搬运的工作过程.最后,通过运用工业机器人虚拟仿真平台对正四棱柱、正六棱柱、圆柱、椭圆柱等4种形状的物体进行搬运,完成了不同物料向指定位置的搬运任务,并与现场示教操作的方式在所用时间、准确放入数量方面进行比较和分析.实验结果表明:该虚拟仿真平台可以准确地模拟工业机器人搬运物料的动态效果,在119 s内,完成了物料盘1中16个工件的搬运,且未出现碰撞、错放和漏放等情形,而现场示教操作中,在182 s内才完成16个工件的搬运,且有2个正六棱柱和1个椭圆柱未能准确放入对应的槽内,即工业机器人离线仿真的方式明显优于示教操作,有效验证了机器人虚拟仿真的可行性和高效性,可以为真实的机器人搬运工作站设计和路径设计提供理论依据,从而提高搬运工业机器人现场编程的效率,为工业机器人的应用奠定良好的基础.

"液压与气压传动"是一门在工程实际中被普遍应用的课程,如何将所学知识有效、快速与实际工程结合是十分重要的.分析了"液压与气压传动"课程教学中存在的问题,提出将工程性强的科研项目和仿真技术应用于"液压与气压传动"课程的教学方法.以科研项目"山地果园运输机液压系统研究"为例,详细论述如何将该项目和仿真技术应用到液压传动教学中,并通过小组作业与问卷调查的方法对教学效果进行验证.验证结果表明通过该教学方法学生小组作业完成效果良好,相对于常规教学,学生对课程内容的兴趣度、掌握度、应用能力均大幅提高.该方法对"液压与气压传动"课程教学具有一定的借鉴意义,可为工科类教学改革提供参考.

To further study the mechanism of nano-cutting and expand the application of nano-cutting, it is necessary to carry out detailed analysis on nano-cutting mechanism of monomorph copper. Using the simulation software of molecular dynamics, the nano-cutting simulation model of monomorph copper was established to simulate the nano-cutting process under different thickness and cutting speed. The results show that the nano-cutting process of monomorph copper is essentially the shearing and extrusion of atoms. With the increase of cutting thickness and cutting speed, the cutting force increases. Among them, the influence of cutting thickness on cutting force is more direct. The research result provides reference basis for further research on nano-cutting.

为了进一步深入研究纳米压痕的机理,提高纳米压痕的测量精度和应用范围,对单晶铜纳米压痕的机理展开详细分析与研究.从纳米压痕的理论方法入手,建立单晶铜的分子动力学模型,利用该模型对压力和势能进行仿真分析,并得到相应的曲线.在单晶铜的纳米压痕过程中,压力先增加后下降,其中,曲线的波动主要受表面粗糙度、表面化学反应膜、表面力、表面加工硬化等因素的影响;原子势能一直上升,最后趋于稳定,推断出纳米压痕没有出现位错的现象.最后,对纳米压痕的局限性进行总结,并针对不同的问题,提出行之有效的措施,为纳米压痕的精度提高奠定良好的基础.

由于变形温度和应变速率是影响42CrMo4钢高温变形损伤断裂行为的重要因素,因此综合考虑了变形温度和应变速率对材料断裂的影响.基于Cockroft-Latham断裂准则,引入温度补偿应变速率因子Zener-Hollomon参数作为修正系数对Cockroft-Latham断裂准则进行改进.通过Gleeble-3800D热模拟试验机对42CrMo4钢进行了温度为950～1100℃、应变速率为0.01～10 s-1条件下的高温拉伸试验.利用试验结果采用线性拟合确定修正系数,得到改进后的断裂准则,将准则预测结果与试验结构对比验证,二则能很好吻合.利用扫描电镜观察试样拉伸断裂断口的组织形貌.结果 表明:42CrMo4钢高温拉伸断裂是典型韧窝型韧性断裂,随着温度的提升,材料塑韧性明显提高;随应变速率的提高,材料塑韧性随之不显著降低.

基于国际经济与贸易专业的培养目标,立足于社会对实用型人才的需求,结合国际会展实务课程的传统教学模式,本文希望通过以任务为导向的实践性教学模式和教学方法的研究,提高学生在课程学习过程中的兴趣和参与度,全面提升国际会展实务课程教学质量.

In order to study the influence rule of various factors on the operation power consumption of the traction orchard transporter and realize the optimal design of the operation power consumption of the transporter, according to the traditional experience and the existing research foundation, the monorail transporter test bench was designed and built on the basis of the whole structure and operation characteristics of the transporter. Taking the motor frequency, track gradient and load as the investigation factors, and the driving shaft power, shaft power transmission and mechanical efficiency as the evaluation indices, the orthogonal test was conducted, and the range analysis of the influence effect was carried out according to the test results. The primary and secondary orders of the influence of various factors were obtained that motor frequency was greater than track gradient and track gradient was greater than load. According to the orthogonal test results, the second-order response surface method was used to establish the optimization model of the power consumption of the transporter, and the model was verified on the test bench. The results showed that the relative error between the model optimization value and the test value based on the response surface power optimization model was less than 10%, which indicated that the power optimization model had satisfactory performance. The research can provide a reference for the orchard conveyor to choose the parameter combination which can save power consumption and the motor that matches power consumption. Keywords: mountain orchard transporter, power consumption, orthogonal test, optimization model, analysis DOI: 10.25165/j.ijabe.20211405.6209 Citation: Li J X, Zhong M Y, Zhang Y L, Bao X L, Li S J, Liu M D, et al. Optimized design of the power consumption test of mountain orchard transporters. Int J Agric & Biol Eng, 2021; 14(5): 107–114.

为解决《液压与气压传动》课程流体力学部分教学难点的问题,采用AMESim软件针对油液的物理性质、静力学、运动学和动力学规律建立流体属性仿真模型、液体静压力仿真模型、流体连续性原理仿真模型和孔口流量仿真模型.将其引入到教学过程中,通过可视直观的曲线图和数据,让学生更加深刻地理解相关理论与公式.实践表明:将AMESim仿真技术引入到课程教学过程中,相对于常规教学,学生的考勤率平均提高3.13％,上课抬头率平均提高14.88％,课堂表现更加优秀.通过该课程教学改革增强了教学的直观性,加强学生对知识的理解,充分调动了学生学习积极性,提高了学习效率,提升了课堂教学质量.

To solve the problems of the traditional orchard conveyor, such as inflexible steering, a complex structure, poor stability and no power grid coverage, a remote-controlled rail conveyor powered by hydraulic pressure for mountainous orchards was designed and manufactured. Climbing stress analysis was carried out on a full-load trailer to obtain the maximum traction force, which meets the requirement of the climbing slope of the transport mechanism. The key components of the conveyor were developed, such as the hydraulic transmission, the control system, safety protection devices, limiting devices, the throttle and decompression actuator, the counterweight tension and the battery. Through the theoretical calculations of key components, an orchard conveyor powered by diesel and hydraulic pressure was designed. Finally, the working performance of the transporter was tested through functionality, driving speed, system pressure and remote-controlled tests. The test results showed that the climbing angle of the transporter can reach 50°, the uphill load can reach 840 kg, the downhill load can reach 1100 kg, and the average running speed is 0.77 m/s; the driving speed ranges from 0.29 m/s to 1.08 m/s, and the system pressure ranges from 3.2 MPa to 10 MPa. The driving speed and system pressure are significantly affected by the load, and the remote control distance can reach 455 m. The technical specifications of the transporter meet all the design requirements, and the problem of stable operation of the transporter without power grid coverage has been addressed. The research results can well meet the practical application requirements of mountain orchard transportation without power grid coverage and provide theoretical reference for the design of key components of mountain orchard transportation machinery. Keywords: mountain orchard, conveyor, hydraulic drive, remote control DOI: 10.25165/j.ijabe.20211402.5844 Citation: Li J X, Li S J, Zhang Y L, Liu M D, Gao Z Y. Development and test of hydraulic driven remote transporter. Int J Agric & Biol Eng, 2021; 14(2): 72–80.

通过热模拟压缩试验研究了挤压态AZ41M镁合金在应变速率为0.005～1s-1、温度为300～450℃条件下的热变形行为.利用光学显微镜分析了合金热变形过程中的组织演变.结果表明:挤压态AZ41M镁合金热变形过程中,真应力应变曲线表现出典型的单峰动态再结晶(DRX)特征,合金具有比较高的温度和应变速率敏感性;合金热变形过程中,DRX 会促进晶粒细化,且应变速率越小,温度越高,合金越容易发生动态再结晶;温度的升高可以促进合金DRX 的发生与晶粒长大,能改善合金变形的不均匀性,但温度过高会导致晶粒尺寸粗大不均匀;应变速率越大,变形量越大,晶粒尺寸越细小且更均匀;合金热变形过程中,DRX形核机制主要受温度影响,应变速率与变形量对其影响较小,在温度较低(300℃)时,合金主要以弓弯形核机制发生不连续动态再结晶,在较高温度(450℃)时,同时存在弓弯形核不连续动态再结晶形式和孪晶诱变形核连续动态再结晶形式.

通过热模拟压缩试验分析了50SiMnVB合金钢在应变速率0.01～10 s-1、变形温度800～1000℃下的高温热变形行为.利用金相显微镜观察了钢压缩变形后的显微组织.结果 表明:50SiMnVB合金钢热变形过程中出现了典型的动态再结晶(DRX)现象,应变速率对合金DRX影响较小,而温度影响较大,且应变速率越小、温度越高,越容易发生动态再结晶.根据试验结果,基于应力应变曲线,确定了钢DRX发生的临界应变,并建立了临界应变模型.

设计适用于山地果园液压驱动轨道运输机的控制系统,为山地果园液压驱动轨道运输机械的设计提供支持,以提高运输车的安全性和智能性,实现自动控制.在分析液压驱动轨道运输机整机结构和该运输机频繁换向、小范围无极调速等工况基础上,基于PLC、电磁阀和无线通信模块等设计液压驱动山地果园运输机的控制系统.重点对控制系统进行总体分析,对控制装置的驱动模块、速度控制模块、制动模块、遥控和手动控制模块和抗干扰性着重设计,最后通过运输机各项功能和远程遥控试验,对控制系统的稳定性和功能进行试验研究.试验结果表明,该运输机控制系统性能可靠,能够实现运输车启动、制动、速度调节和急停等功能;PLC控制系统体积仅为继电器控制系统的14.8％,接线触点为1/20;山地远程遥控距离达455 m.所设计的控制系统运行稳定可靠、适应性强且体积小,满足运输机智能化和安全性控制要求.

水果分选机在实际设计中,对水果质量进行分析,然后实现水果称重分拣工作目标.基于此,对当前水果分选机机械系统应用进行研究,对其实际设计方案与工作原理进行分析,旨在对称重模块与分选机结构设计提供理论依据.

人们在选择水果的时候,往往会根据水果的外观(如颜色、大小等)来对水果的质量进行评判,但是这种评定方法没有理论依据.为了满足人们对水果外观品质与质量综合分选的实际需求,相关技术人员设计了一种水果机器视觉质量综合分选机,以实现对水果的全面综合检测,自动对水果进行分级选择.基于此,本文对水果机器视觉质量综合分选机的设计进行介绍,加深人们对分选机的认识.

通过对热压炉的炉体结构分析,主要对加热方式和保温方式进行阐述.以加热方式进行分类,并对比其方式的好坏,确定加热材料为石英,并以热辐射方式进行加热;根据保温要求,通过与传统的保温材料作对比,经试验发现,最后确定加热为硅材质的气凝胶.因此,选用的材料满足热压炉的加热、保温的基本要求,其炉内的结构和符合设计要求,为下一步炉内的优化提供了一定的理论依据.与此同时,为工艺的制定奠定了一定的理论基础.

通过对永磁同步电机的基本结构的初步分析,进一步阐明了永磁同步电动机产生振动的原因.

在起重机工作过程中,传统的异步电机—减速机驱动系统由于起重机的工作状态和负载不断变化,使得驱动系统存在电机过载损坏、漏油、噪声大等缺陷.通过对永磁同步电机的结构分析和设计,将其转子的磁路、电枢绕组、极弧系数和材料进行优化选型,并以实验的方式进行了相关性能测试,实验结果与仿真结果进行对比,其各项性能指标误差均在4％以内,使得永磁同步电机能够高效、安全、节能的工作,也满足了现代社会经济发展对永磁同步电机的各种需求,对今后永磁同步电机的优化和改进具有一定参考价值.