In recent years,with the deterioration of mineral resource endowment and the development of intelligent technologies,traditional flotation machine technology has been rapidly integrated with cutting-edge technologies,...In recent years,with the deterioration of mineral resource endowment and the development of intelligent technologies,traditional flotation machine technology has been rapidly integrated with cutting-edge technologies,such as modern sensing,artificial intelligence,big data,and the Internet of Things.This integration aims to improve the efficiency and controllability of the flotation process,thereby driving the transformation of the mineral processing field toward intelligent,automated,and green directions.However,as a new development,intelligent flotation machines have not yet achieved a unified and clear understanding.This study interprets intelligent flotation machines from three aspects:definition,connotation,and development path.The core characteristics of intelligent flotation machines have been proposed,including self-sensing and self-diagnosis abilities in the whole spatial domain,data-based intelligent control algorithms,predictive maintenance of core components,and coordination of global and local optimization in flotation processes.This study identifies the current challenges faced by intelligent flotation machines,and proposes the future development paths,including enhancing the comprehensive monitoring and intelligent regulation of flotation parameters,improving equipment fault prediction and precise localization,and achieving unmanned operations and intelligent maintenance.By continuously optimizing and refining the design and application of intelligent flotation machines,they can play an increasingly important role in the sustainable development of the mining industry.展开更多
Aiming at decreasing the component complexity and cost of flower transplanting machine,an integrated transplanting method for picking and planting flower seedlings was proposed,and a hybrid-driven five-bar parallel me...Aiming at decreasing the component complexity and cost of flower transplanting machine,an integrated transplanting method for picking and planting flower seedlings was proposed,and a hybrid-driven five-bar parallel mechanism was designed.A“beak-shaped”trajectory was designed for integrated transplanting requirements,and meantime,either the posture requirements of transplanting claw were determined.Based on the transplanting trajectory of the mechanism,a corresponding mathematical model for solving the link parameters was established,and then the five-bar mechanism was divided into two bar groups,optimization was conducted in two steps based on genetic algorithm and NSGA-II algorithm.Consequently,the optimal solution of the hybrid-driven five-bar parallel mechanism for flower seedling transplanting was obtained.Compared with similar designs,the trajectory displacement of the proposed mechanism is larger in the condition of smaller link size,which indicates that the mechanism can effectively decrease the machine size.The real-time controllable motor angular acceleration fluctuation is smaller and the commutation times are less,which has the advantage of reducing the difficulty of the mechanism control system.Subsequently,the correctness of the design method is verified by kinematics simulation.Finally,the synchronous linkage motion control methods of the two motors were designed,a transplanting experiment of the prototype was carried out,the picking success rate had reached 90%-93.4%and transplanting success rate was 80.5%-86.9%during experiment,which showed that the integrated operation of picking and planting flower seedlings can be realized by the proposed mechanism.展开更多
文摘In recent years,with the deterioration of mineral resource endowment and the development of intelligent technologies,traditional flotation machine technology has been rapidly integrated with cutting-edge technologies,such as modern sensing,artificial intelligence,big data,and the Internet of Things.This integration aims to improve the efficiency and controllability of the flotation process,thereby driving the transformation of the mineral processing field toward intelligent,automated,and green directions.However,as a new development,intelligent flotation machines have not yet achieved a unified and clear understanding.This study interprets intelligent flotation machines from three aspects:definition,connotation,and development path.The core characteristics of intelligent flotation machines have been proposed,including self-sensing and self-diagnosis abilities in the whole spatial domain,data-based intelligent control algorithms,predictive maintenance of core components,and coordination of global and local optimization in flotation processes.This study identifies the current challenges faced by intelligent flotation machines,and proposes the future development paths,including enhancing the comprehensive monitoring and intelligent regulation of flotation parameters,improving equipment fault prediction and precise localization,and achieving unmanned operations and intelligent maintenance.By continuously optimizing and refining the design and application of intelligent flotation machines,they can play an increasingly important role in the sustainable development of the mining industry.
基金The research work was financially supported by the National Natural Science Foundation of China(Grant No.51775512,51975536)Key research projects of Zhejiang Province(Grant No.2018C02046)+2 种基金Project funded by China Postdoctoral Science FoundationBasic public welfare research projects of Zhejiang Province(Grant No.LGN19E050002,LGN20E050006)Basic Scientific Research Foundation of Zhejiang Sci-Tech University.
文摘Aiming at decreasing the component complexity and cost of flower transplanting machine,an integrated transplanting method for picking and planting flower seedlings was proposed,and a hybrid-driven five-bar parallel mechanism was designed.A“beak-shaped”trajectory was designed for integrated transplanting requirements,and meantime,either the posture requirements of transplanting claw were determined.Based on the transplanting trajectory of the mechanism,a corresponding mathematical model for solving the link parameters was established,and then the five-bar mechanism was divided into two bar groups,optimization was conducted in two steps based on genetic algorithm and NSGA-II algorithm.Consequently,the optimal solution of the hybrid-driven five-bar parallel mechanism for flower seedling transplanting was obtained.Compared with similar designs,the trajectory displacement of the proposed mechanism is larger in the condition of smaller link size,which indicates that the mechanism can effectively decrease the machine size.The real-time controllable motor angular acceleration fluctuation is smaller and the commutation times are less,which has the advantage of reducing the difficulty of the mechanism control system.Subsequently,the correctness of the design method is verified by kinematics simulation.Finally,the synchronous linkage motion control methods of the two motors were designed,a transplanting experiment of the prototype was carried out,the picking success rate had reached 90%-93.4%and transplanting success rate was 80.5%-86.9%during experiment,which showed that the integrated operation of picking and planting flower seedlings can be realized by the proposed mechanism.
