Grafting is a green, environmentally friendly, and sustainable way to prevent soil-borne diseases. Although artificial grafting is the main grafting approach used for grafting production, it has some problems which are low productivity, unstable operating quality and labor-intensive. Hence, some countries have been engaged in the development of grafting robots for the past two decades; however, the productivity of these grafting robots has no advantage when compared to artificial grafting. This study aims to develop a high-productivity grafting robot (HPR) for Solanaceae. To improve grafting productivity, this paper adopted plug trays to feed crown-removed rootstocks automatically and carried out multi-plant simultaneous grafting to improve grafting productivity and extensibility. Manipulators were employed to take out rootstocks, increase the distance between them, and transfer them to transfer cups for the simultaneous multi-plant grafting. At the same time, negative pressure mechanisms were designed for speeding up the auxiliary feeding of root-removed scions. Although the HPR was designed in a two-operator mode, a one-operator mode can also be implemented by adjusting the control program. Tests were conducted by varying the artificial feeding speed to analyze the performance of the grafting robot. The results showed that the productivity of the robot in the two-operator mode was 2250 plants/h, and 1542 plants/h in one-operator mode; comparing the artificial feeding productivity with auto grafting productivity, it was found that the capacity of the grafting robot was higher than the feeding speed of the one-operator mode but lower than that of the two-operator mode.
The production of hydroponic leafy vegetable plug-seedlings uses coco-peat as culture substrate in South China. Coco-peat has lowered density than peat-moss, and the friction between substrate block and pickup tool is small. So, it is hard to pick up in mechanism transplantation. In order to increase the friction, the existing transplanting manipulator had relatively complex structures. To simplify the structure of transplanting manipulator and improve the stability of picking up substrate block, four stainless steel fingers with rectangular cross-section were used in this research. A vertical driving was used to realize the coupling effect that could insert and shrink at the same time, by applying different combination of constraints to the steel fingers. This could increase friction between the steel fingers and the substrate block, and then enhance the stability of the substrate block. Different combinations of constraints were applied to the rectangular stainless steel fingers (3 mm×0.8 mm). The working videos of steel fingers were taken by high-speed photography. High-speed motioned analysis software was used to acquire and analyze traces of steel fingers movements. When the length which top end of the steel fingers moved outward (M) is equal to 1.5 mm, the length which guiding part widened (N) is equal to 1 mm, the shrinking distance of steel fingers is 4.2 mm. In this research, 16-day hydroponic leafy vegetable plug-seedlings were used for performance, which cultivated with coco-peat substrate with the moisture in the substrate at 81%. The transplanting manipulator was attached to a Denso robotic arm to conduct transplanting performance test. When the shrinking distance of steel fingers increased from 0 mm to 3.2 mm and the inserting angle decreased from 80° to 77°, the lifting force of substrate block increased by 118% from 1.45 N to 3.16 N. However, excessive shrinkage stirred the substrate block, which would reduce the friction between the substrate block and pickup parts and lowered the lifting force of pickup part in the substrate block. The experimental results also demonstrated that when the shrinking distance of the steel fingers reached 3.2 mm and the root distribution rate reached 46%, the success rate of transplantation was 80%. When the leafy vegetable plug-seedlings root distribution rate reached 92%, the success rate of transplantation was 96.67%. The degree of root distribution rate was positively correlated with the transplantation success rate. Therefore, in order to ensure an acceptable success rate of transplantation, the root distribution rate of leafy vegetable plug-seedlings should be at least 90%. This study provides a technical reference for developing simplified transplanting manipulator that can be used to transplant the hydroponic leafy vegetable plug-seedlings with coco-peat as the culture substrate.
Wet natural gas widely exists in the natural gas industry, and the selection of throttling devices plays an important role in wet natural gas transportation. In order to study the flow field characteristics of different throttling devices in wet natural gas pipelines, a set of Laval nozzles, orifice plates, and plate valves have been designed. The standard k-ε model was selected for numerical simulation. By changing inlet pressure, inlet temperature or volume fraction of water-liquid, the pressure field and temperature fields of different throttling devices were obtained, and the influence of the presence of a shockwave on the flow fields of the throttling devices was analyzed. Different throttling devices have significantly different operating characteristics. Therefore, appropriate throttling devices should be selected in different conditions in order to control the pressure of wet natural gas transportation and reduce gas hydrate formation. The present simulation results show that under identical conditions, the throat pressure and temperature of the Laval nozzle are the lowest, the throat pressure of the orifice plate is the highest, and the throat temperature of the plate valve is the highest.
With the continuous development of society and the prosperity of cities, China’s contemporary road and bridge construction projects are more and more. In the road and bridge construction also gradually applied more new technology and new equipment, the overall construction quality has been effectively and rapidly improved. But at the same time, due to the high technical requirements of road and bridge construction, especially the complex seismic construction treatment, there are many imperfections in the construction. Therefore, based on Midas Civil computer technology, this paper analyzes the problems caused by seismic damage in road and bridge construction, and further discusses the important control links in the construction process, so as to promote the development of China’s traffic construction.
Computer embedded operating system requires the joint development of computer technology, digital technology and communication technology in order to make the embedded operating system more perfect. At the same time, the embedded operating system plays an important role in the development of computer technology. Therefore, we should improve the hardware and software of the embedded operating system to adapt the system to the development needs of the new era. Through the analysis of fiber grating sensing technology, on this basis, the analysis of the prestress loss of the simply supported beam bridge and the research of overload warning are carried out to make it more reasonable.
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