Optimized design of the power consumption test of mountain orchard transporters

In order to study the influence rule of various factors on the operating 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.

Cutting of sheep carcass using 3D point cloud with dual-robot system

The precise and automatic cutting of sheep carcasses can improve the quality of mutton.Robots are widely used in meat processing because of their good repeatability and high precision.Two essential problems encountered in robot working of sheep carcass processing are robot calibration and cutting trajectory planning.A method of cutting sheep carcasses based on 3D point clouds with a dual-robot system was proposed in this study.The dual-robot system consists of a 3D scanning system,a fixing device for sheep carcasses,and a cutting robot.The calibration of the dual-robot system was completed by solving the matrix problem AXB=YCZ using the iterative method and the closed-form method.The 3D model of a sheep carcass was constructed using a 3D scanner.The cutting scheme of the cutting robot was planned based on the processed 3D point clouds.To show the feasibility of the proposed sheep carcass processing scheme,practical experiments were carried out.The results of the experiments show that the cutting robot can accurately perform the cutting actions according to the planned cutting scheme.The system proposed in this study can improve the efficiency and precision of sheep carcass cutting.