Transport Machines Research Articles

Optimization Path and Design of Intelligent Logistics Management System Based on ROS Robot

With the rapid development of the Internet of Things (IoT), the logistics and transportation industry is booming. At the same time, with the advancement of AI technology, intelligent logistics is also gradually emerging, and the purpose of intelligent logistics is to use different types of automatic guided transport machines to replace people to handle and move products. At the same time, with the help of big data, cloud computing, artificial intelligence, sensor technology, and other technologies, we can achieve logistics automation. However, the current logistics robot creation platforms are diverse, which makes intelligent logistics robots diverse in variety and wide in application and also makes the creation and use of robots more challenging. Robot Operating System (ROS) is an open-source software platform that supports programming in multiple languages and has excellent adaptability. In addition, most of the currently used path planning focuses on a single target point, which is insufficient to support the current needs of multitasking in intelligent logistics. Therefore, this paper aimed to design an intelligent logistics management system based on ROS robot and proposed to use the A-star algorithm to calculate the shortest path of the robot so as to achieve the optimal path. In the simulation experiment, 20 ROS robots were selected and divided into two groups. In the logistics warehouse of different transportation nodes, 20 ROS robots were set up to transport goods of different weights in the experiment, and the transportation data were collected at last. The final simulation results have shown that the power consumption and response delay performance of the ROS robot are good, and the logistics transportation speed is significantly improved. In addition, compared with the traditional transportation method, the daily transportation weight of each robot is up to 310.1% and the monthly profit is up to 171%, which shows that the intelligent logistics management system designed in this paper is more efficient in logistics and transportation and can bring more profits.

A Study on the Design Method for Improving the Efficiency of Spoke-Type PMSM

Considerable progress has been achieved in motor design and control and related material technologies. Motor driving systems are increasingly being incorporated in various applications, such as transportation machines, including hybrid/electric vehicles, and industrial machines, including robot, crane, rolling mill machine, and home appliances. However, various motors used in such applications consume the majority of electric energy generation. Increasing electric energy generation through the expansion of a power generation system is time-consuming and requires considerable money and time. Therefore, a high-efficiency motor should be designed. Domestic and foreign standard agencies are implementing policies and standards to grade energy efficiency based on the electric energy used by motors. A study was conducted on improving motor efficiency for home appliances. When designing a high-efficiency motor for home appliances, a design plan that maximizes the magnetic flux density of the air gap and reduces various losses was first considered. In this study, a spoke-type structure was proposed to maximize the effective magnetic flux density in the air gap for achieving high-efficiency motors. The space available for fitting motors inside applications is reducing. For miniaturization and improving the efficiency of the motor considering space constraints, the application of the overhang (O/H) and spoke-type structures was considered. In addition to the O/H structure, electrical steel sheet SRA was investigated for reducing iron loss. The effect of the spoke-type structure with O/H applied for high efficiency was verified through 3-D finite element analysis and experimental results after motor manufacturing.

A Development of PM2.5 Forecasting System in South Korea Using Chemical Transport Modeling and Machine Learning

A Development of PM2.5 Forecasting System in South Korea Using Chemical Transport Modeling and Machine Learning

Development of complex indicators and evaluation of efficiency for dump-type earthmoving and transport machines

Introduction. In modern market conditions, dump-type earth-moving transport machines especially need to analyse the marketing of these machines. Therefore, some acquired earth-moving machines during the development of soils with stony inclusions (typical for the RK) quickly wear out their cutting edges of the knife, then gradually fail the machines themselves, thereby not justifying their cost, i.e. are not operated effectively in practice. The goal is to choose from a variety of types of machines the most effective models of earth-moving and transport machines of the dump type, adapted to the conditions of the ground background of the Republic of Kazakhstan with the help of developed complex evaluative indicators.Methods and materials. As materials, the well-known 6 specific, generalized parameters and additionally developed by the authors of 20 assessment indicators (specific, generalized, differential and integral) were used to evaluate the competitiveness of the projected new design of the working body of the earth-moving transport machine of the dump type, as well as the operated these machines.Outcomes. As a result of the analysis of the interaction of the working body of the bulldozer with the developed soil and the study of their parameters, the estimates were developed and formed to assess the effectiveness of the bulldozer. The field tests of the proposed six promising design solutions for a bulldozer with different blades were carried out to compare the structures with each other and evaluated them in quantitative form. According to the calculated estimates, the efficiency of the bulldozer blade was evaluated for six variants of structural executions and graphs of changes in the estimated indicators from experimental data were built on their numerical values, allowing to evaluate the technical and economic efficiency for various designs of bulldozer blades.Discussion and conclusion. The analysis of the estimated indicators: material consumption G/Gпр and G/P show, that with the improvement of the blade design (cutting off the two lateral upper parts of the blade and adding the two lower side – extension knives), the metal intensity decreases, and the volume of the maximum set of drawing prisms increases, respectively, the productivity of the bulldozer increases; energy intensities, N/П, N/Gпр and G∙N/P2 show, that with the improvement of the design of the bulldozer blade, energy performance improves, i.e. the energy consumption spent on the development of a single volume of soil decreases; the specific force per unit width of the R/B knife and the specific power per unit width of the N/B knife are reduced. Generalized power savings and power loads R · N/B2 shows that, with the improvement of the blade design, their values almost do not change (the blade of the type design and the blades with equipment - a protruding middle knife and side scarves sharply (jumpingly) increase the volume of the prism drawing.

Research on methods for effective use of machines in kit in construction and repair of asphalt concrete pavement

This paper develops a methodology for studying the effective use of asphalt paving and transport machines, the main determining parameters of which are the cost and productivity of transporting and laying asphalt concrete mix. An algorithm has been developed for optimizing the operational performance of a set of asphalt paving and transport machines in the construction and repair of roads.

Influence of coatings based on Zr and Ti on the wear resistance of cemented carbide tools when turning transport machines’ parts from structural steels

The influence of coatings based on titanium carbide and zirconium carbide, obtained by PVD method, on cutting tool wear resistance under conditions of the longitudinal turning of transport machines’ parts of steel 45 and stainless steel 12H18N10T by inserts of hard alloy grade T15K6 was investigated. It has been experimentally established that the presence and composition of the coating on the working surfaces of the tool in most cases contributes to a significant reduction in the intensity of wear of cemented carbide inserts. When turning stainless steel 12H18N10T, the best result was demonstrated by the coating ZrN + (Ti–Zr) N + TiN, which provided not only the minimum intensity of wear, but also the expansion of the range of optimal cutting speeds. When machining structural steel 45, the maximum reduction in the wear intensity of the cutting inserts was observed with the use of a single-layer TiN coating and a (Ti,Zr)N coating.

АВТОМАТИЗИРОВАННЫЙ РАСЧЕТ ПОТЕРЬ ДАВЛЕНИЯ В ГИДРОЛИНИЯХ ГИДРОПРИВОДА НА ПРИМЕРЕ БУЛЬДОЗЕРА LIEBHERR PR 724

The article considers the relevance of the selection of hydraulic drive elements for construction and lifting and transport machines. Currently, hydraulic drive is widely used on construction and lifting machines. The hydraulic drive includes a hydraulic motor, which can be either a hydraulic cylinder or a hydraulic motor. When selecting during operation or during the design of these units, it is important to know the pressure losses in the suction, pressure and drain hydraulic lines. The process of determining these losses is very laborious. Computer programs can be used to automate the process of determining pressure losses in the suction, pressure and drain hydraulic lines. The article provides the program code and methodology for automated calculation of pressure losses in hydraulic lines of hydraulic drive of construction and lifting and transport machines using the example of the Liebherr PR 724 bulldozer. The program is written in Microsoft Visual Basic Application and allows you to determine pressure losses in hydraulic lines in a fraction of a second, which is very important for multiple calculations for the selection of hydraulic drive elements. The parameters of the hydraulic drive of the working equipment of the Liebherr PR 724 bulldozer and the results of calculating pressure losses in the suction, pressure and drain hydraulic lines of this bulldozer are presented. The principle of operation of the program is described using the example of the LIEBHERR PR 724 bulldozer.

Optimization of the set of loading -transportation machines

In this case, the road is being restored The results of scientific research on the effective use method and calculation of the used excavator-transport machinery set are being seen. The main indicators considered are the labor cost of loading and transporting soils used in road pavement rehabilitation and the performance of road transport. In this work, the optimal operational parameters of the set of machines used in the construction and repair of the road were determined.

Expanding the technological capabilities of the integral tractor chassis by reversing the transmission

The aim of the work is to find technical solutions that provide a complete reversal of the transmission on the example of an integral tractor, while allowing maximum use of commercially available units or installed as an option for a serial machine. The objects of study are mainly the chassis of a wheeled integral tractor designed for agriculture. The relevance of creating fully reversible transmissions for integral tractors and other agricultural, road-building and transport machines is shown. The variants of installation places for the reverse gear are considered, the features of loading and the principles of designing the reverse gear for specific placement points are analyzed. The most promising options for the case of an integral tractor based on a serially produced chassis were chosen - placement of a controlled power distribution mechanism in the rear axle gear housing or instead of wheel gears. Kinematic schemes and a technique for determining gear ratios and kinematic parameters are proposed. The reverse gear control technologies and the technological base for the design and manufacture of such mechanisms are indicated: when designing an integral tractor in accordance with the principle of maximum unification with a serial chassis, it is advisable to place the reverse gear in the drive axle housing; when developing an original reverse transmission and a new carrier system, the reverse gear should be located in front of the gearbox; in the design of the reverse gear, it is preferable not to use a blocking clutch, replacing it with a planetary gear set and a brake.

ДВУХОСНЫЕ СОЧЛЕНЕННЫЕ ЛЕСОТРАНСПОРТНЫЕ МАШИНЫ В УСЛОВИЯХ ЛЕСОСЕКИ: ОЦЕНКА ПРИМЕНИМОСТИ

The study can provide decision-making support to loggers and participants in forest relations who are obliged to carry out reforestation activities to assess the factors that change the effectiveness of forestry and logging operations. The balance of production and environmental effects from the use of forest transport machines in the development of forestry is an important step in effective quality management of forest landscape restoration. The degree of compaction of the forest soil from the impact of propellers directly affects both the fuel consumption of the power plant of the forest transport machine and the ability of forest seeds of the main breed to germinate. The primary transportation of trees and their parts (whips, balances, assortments, waste residues and other waste of logging production) occupies an increasing volume in the energy balance of the timber transport machine. It is necessary to solve complex problems of choosing energy-efficient and maneuverable biaxial articulated timber transport vehicles in comparison with machines with a continuous frame for performing transport work in the conditions of a cutting area. In order to maximize the requirements for the efficient operation of machines in difficult cutting conditions, it is necessary to ensure, along with high operational properties (traction, cross-country ability, maneuverability, smooth running), a high level of technical and economic indicators. The assessment of the applicability of existing structures of forest transport vehicles was carried out by statistical methods of Ward and intergroup relations according to the criteria of soil compaction, patency, maneuvering, power circulation, traction losses, balance of weight distribution and purpose. When planning future research, it is necessary to answer a number of questions: which criterion should be used as a universal one for unambiguous selection of the type of forest transport vehicle? Is it possible to estimate the geomorphology of the future cutting area in advance with the use of unmanned aircraft systems and predict the effective trajectories of movement of articulated timber vehicles?

Development of new pole-changing winding for lifting and transport mechanisms

In many industries, lifting and transport machines are used, particularly cranes, conveyors, and hoists. Taking into account their wide prevalence and large installed capacity, as well as the complexity of the operating mode, special attention is paid to the creation of new energy- and resource-saving electric drives that facilitate the start-up process and ensure accurate stopping of highly inertial lifting and transport mechanisms. In this direction, one of the priority tasks is the development of two-speed pole-changing motors that meet the requirements of the electric drive of lifting and transport mechanisms. Based on the method of "Discretely-given spatial functions", a pole-changing winding was obtained for a ratio of 1/5 poles at 30 slots of the stator. Analysis of the electromagnetic properties of the developed pole-changing winding showed that, compared with a close analog, the differential scattering coefficient on the p=1 side of the pole decreases from 1.7% to 1.3%, and on the p=5 side of the pole decreases from 15.9% to 9.7%, and also in the picture of the magnetomotive force, the presence of higher harmonic ones on the side of the first velocity decreases up to 6%, and from the second speed up to 20%.

Design of a Food Conveyor and Virus Disinfection Machine

Food, due to its high handling, is more prone to contamination. This damage not only occurs when it comes into contact with the customer and the seller, but it can also occur at any stage of the food production chain because the products pass from hand to hand and from place to place, so it is necessary to perform its disinfection constantly at least 3 times a day. Currently, it has been identified that at the production stage, food can be affected if contaminated freezers are used either for washing, packaging, or cooling. During the slaughter process, microbes surrounding the slaughtered animal can end up in the final meat products. If any microbes contaminate the food processing lines, they can spread and affect other foods in contact. According to the WHO (World Health Organization), it is estimated that around 600 million people worldwide fall ill from contaminated food every year and 420 000 die from contaminated food; Therefore, it is proposed the design of a food transport and virus disinfection machine that will be composed of a mechanical chassis, which contains four wheels for industrial transport and support 1 conveyor belt that will be controlled by a remote control system, and communication between patient and nurse by means of a Tablet, controlled by an application for better communication and to maintain the distance by established protocols. The machine will have the ability to disinfect food either with or without wrappers, and the Tablet will allow the nurse to know if the patient has any discomfort or any inconvenience when giving food through the machine, which proposes a control system and communication through the application, as well as the sink that will have the machine for proper cleaning and disinfection of the patient's hands, managing to reach a design proposal for a food transport machine and disinfect bacteria or viruses in the environment.

Обеспечение контролепригодности подшипниковых узлов ведомого вала коробки перемены передач автомобиля КАМАЗ-5320

Technical diagnostics, and, particularly, automatic diagnostics of mechanical transmission units increases the reliability indicators of transport and processing machines. The technology of monitoring mechanical transmissions based on digital thermal diagnostics ensures the controllability of the diagnosed units. The unit’s adaptability to digital thermal diagnostics depends on its location, the presence of adjacent heat sources, the amount of power and kinematic loads. The controllability of the unit is ensured by determining the theoretical temperature value in the friction zone and the zone suitable for measuring the diagnostic temperature, and stating the relationship between the above temperatures. The control is carried out automatically, using specially developed software and hardware systems. To ensure the controllability of the bearing 50412 GOST 2893‑82 of the KAMAZ‑5320 gearbox, the authors determined the theoretical temperature value in the friction zone of 184.9°C during the gearbox operation in the first gear. The finite element analysis of the bearing assembly model under steady-state heat conduction determined a proportionality coefficient of 0.0812 relating the friction zone temperature to the diagnostic temperature on the bearing cap surface. As a result of theoretical and experimental studies involving thermal imaging, the temperature in the friction zone of 242.6°C was determined, indicating the pre-failure state of the diagnosed bearing. The approximate correspondence of theoretical and experimental temperatures showed the possibility of applying digital thermal diagnostics technology to the studied transmission unit. The comprehensive studies made it possible to justify the use of the digital thermal diagnostics technology and localize an area for installing a temperature sensor, namely, the bearing cover surface.

РАЗРАБОТКА И ЛАБОРАТОРНЫЕ ИСПЫТАНИЯ АВТОМАТИЗИРОВАННОЙ СИСТЕМЫ УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНО-ТЕХНОЛОГИЧЕСКИХ МАШИН

The paper shows that research, development and improvement of information and control systems are relevant to improve the efficiency of transport and technological machines. A model and design of an automated TTM motion control system based on the integration of hydro-volume steering with a mechatronic module are proposed. The proposed information and control system can be used in TTM as the main and auxiliary.

Automatic Routing Reconfiguration for Fault Tolerance in Smart Manufacturing Plants

This paper focuses on the parts routing problem in a reconfigurable manufacturing plant, in presence of potential faults and uncertainty on the job scheduling and duration. The plant is modeled as a directed graph, where the nodes represent either transportation modules or machines, and the edges represent the allowed transitions between adjacent nodes. The parts move across the plant along predefined sequences of nodes, therefore the system state tracks the progress of the parts along such sequences and the control inputs are the transitions to be activated to command the parts movement. Provided the sequences, the proposed method automatically generates feedback control rules for deadlock avoidance, which are employed by a path following strategy to compute the suitable control inputs, complying with given temporal-logic constraints and avoiding deadlock states. Additionally, the approach is extended to deal with faults affecting the transportation modules via the selection of new feasible sequences and the online reconfiguration of the system state. Finally, the proposed approach is tested in high-fidelity simulations, showing high computational efficiency and throughput.

Экспериментальные исследования и идентификация модели динамической системы «виброзащитное кресло – оператор» мобильной машины

When creating new types of transport and technological mobile machines, it is important to ensure compliance with sanitary standards for vibrations at the driver’s seat. Anti-vibration seats are widely used to reduce vibrations transmitted from the engine and chassis of the machine to the operator's workplace. When designing a machine, mathematical modeling can be used to make a reasonable choice of seat parameters. Since the anti-vibration seat together with the operator’s body form a single dynamic system, the mathematical model must include both the anti-vibration seat and the operator’s body. The article presents an overview of mathematical models that describe vertical vibrations of the seated body. It describes an experimental setup for studying the dynamics of a human operator sitting in an anti-vibration seat. The experimental setup includes an electrodynamic vibration bench produced by LDS, control and recording equipment. The studies were carried out for the Sibeco anti-vibration seat. During testing, the base of the seat performed vertical harmonic vibrations with a gradually increasing frequency, while the amplitude of vibration accelerations was maintained constant. The accelerometers installed on the seat elements, on a special disk located on the seat cushion and on the operator’s body, recorded vibrations of these elements. As a result of processing experimental data, transfer functions were obtained. They connect the amplitudes of movement of various elements of the model with movements of the base in a given frequency range. The experiments were carried out with the participation of testers with different body weights. The article proposes a mathematical model that describes the vertical vibrations of the “vibrationprotective seat – operator’s body” system. The inertial and elastic-damping characteristics of the seat elements were determined earlier during special tests. Based on a comparison of calculated and experimental data, the parameters of the model elements describing the operator’s body were refined. The parameters of the mathematical model obtained during the study will be used in the future research for calculation estimates of the vibration load of the operator’s workplace.

Математическое обоснование предельного значения касательной силы тяги на ведущих колесах для транспортнотехнологических машин

The paper deals with the aspects of determining the ultimate traction force on the driving wheels of land transport and technological machines (LTTM) with 4×2 wheel arrangement. The purpose of the study was to identify the criteria that limit the maximum value of traction force on the driving wheels that can be realized on machines of this type. These criteria are determined by the torque generated by the engine and transformed by the transmission, and are grouped into the following groups: those related to the onset of slipping of the driving wheels and those determining the overturning of the NTTM and the limiting moments for the destruction of the transmission elements. The article presents mathematical dependencies developed to determine the limit values of traction force on the wheels of NTTM. The authors have developed a model that allows conducting numerical experiments to determine the optimal parameters of the engine and transmission. This allows determining the limit thrust force which can be operated with in the further development of the project. These dependencies allow taking into account the influence of various factors in the traction balance equation. The factors affecting the realization of torque are the mass of the machine, including the distribution of mass on the axles and the relative position of the center of mass, the friction coefficient, the angle of inclination of the road and other parameters of interaction with the supporting surface, as well as the characteristics of the transmission that limit the traction capabilities of the machine. After transforming the obtained mathematical expressions, the authors describe the dependence that determines the maximum allowable torque on the crankshaft of the engine. It allows taking into account the engine characteristics when determining the limiting force of traction and provides the possibility of choosing the engine power characteristics for a particular transport-technological machine and transmission ratios.

Implementation of control technology for mechanical transmission units based on digital thermal diagnostics

A technology is developed for automatic diagnostics of mechanical transmission units of transport and technological machines by built-in ("on-board") technical means and tested for bearing units of transmissions of tractors and drives of agricultural machines. The technology includes calculation of temperature in the friction zone, creation of a finite element three-dimensional model of an assembly with thermal loads for thermal calculation, calculation of the proportionality factor of the finite element model to calculate the temperature in the friction zone during operation and compare it with the maximum allowable value. A comparison of the temperature values obtained as a result of numerical simulation in the friction zone with the temperature during operation showed a high convergence of the results and the practical applicability of the developed technology. Keywords: thermal diagnostics, mechanical transmission, technical diagnostics, finite element model, verification. pastukhov_ag@mail.ru, timachov@mail.ru

ОЦІНЮВАННЯ ВПЛИВУ «КОНСТРУКЦІЙНОГО» ТЕРТЯ В ПІДВІСЦІ НА ПРОСТОРОВІ КОЛИВАННЯ ТРАНСПОРТНОГО ЗАСОБУ

In the process of creating and modernizing ground vehicles for various purposes, in particular armored vehicles, there is a problem of assessing the influence of design features on working processes in operating conditions. These features include the presence of "structural" friction, in its manifestations and the effect similar to "dry" friction. In some cases, this leads to the appearance of self-oscillations, which is undesirable. Therefore, the development of the theory and practice of numerical assessment of vehicle performance with the possibility of manifestation of self-oscillating properties is an urgent task. Obviously, in the framework of the methodology of applied optimal design of complex technical systems, it is necessary to have an adequate mathematical model of the object of study. An original mathematical model of free spatial vibrations of the sprung part of the transport machine (body) is proposed, which allows one to evaluate the influence of the features of the new vehicle suspension design. The new suspension is hydropneumatic, with a helical gear, with the presence of "structural" friction. Calculations carried out numerically using the original program confirmed the correspondence of the mathematical model to modern ideas about the theory and practice of work processes with free vibrations of complex technical systems. The motion parameters during the manifestation of self-oscillating properties and parametric vibrations of an object close in weight and size to the BTR70 and BTR80 are numerically estimated.

Automation of Control of Transport Machine Units by Oil Parameters

This document addresses the various problems of oil control of transport vehicles. The results of observations are presented. The reasons for a significant change in the state of the PBX fleet under the influence of external and internal factors were identified. A block diagram of an automated diagnostic data processing system for oil operating parameters is proposed. Recommendations on maintenance and repair of machines received by the relevant departments of the technical service have been developed. The EPR concept model is developed on the basis of own research.