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学者姓名：高国华
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Abstract ：
In the plant factories using stereoscopic cultivation systems, the cultivation plate transport equipment is an essential component of production. However, there are problems, such as high labor intensity, low levels of automation, and poor versatility of existing solutions, that can affect the efficiency of cultivation plate transport processes. To address these issues, this study designed a cultivation plate transport system that can automatically input and output cultivation plates, and can flexibly adjust its structure to accommodate different cultivation frame heights. We elucidated the working principles of the transport system and carried out structural design and parameter calculation for the lift cart, input actuator, and output actuator. In the input process, we used dynamic simulation technology to obtain an optimum propulsion speed of 0.3 m center dot s-1. In the output process, we used finite element numerical simulation technology to verify that the deformation of the cultivation plate and the maximum stress suffered by it could meet the operational requirements. Finally, operation and performance experiments showed that, under the condition of satisfying the allowable amount of positioning error in the horizontal and vertical directions, the horizontal operation speed was 0.2 m center dot s-1, the maximum positioning error was 2.87 mm, the vertical operation speed was 0.3 m center dot s-1, and the maximum positioning error was 1.34 mm. Accordingly, the success rate of the transport system was 92.5-96.0%, and the operational efficiency was 176-317 plates/h. These results proved that the transport system could meet the operational requirements and provide feasible solutions for the automation of plant factory transport equipment.
Keyword ：
structure design structure design plant factory plant factory automatic transport system automatic transport system positioning accuracy positioning accuracy dynamic simulation dynamic simulation
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| GB/T 7714 | Jia, Dongdong , Guo, Wenzhong , Wang, Lichun et al. Design and Experiment of Automatic Transport System for Planting Plate in Plant Factory [J]. | AGRICULTURE-BASEL , 2024 , 14 (3) . |
| MLA | Jia, Dongdong et al. "Design and Experiment of Automatic Transport System for Planting Plate in Plant Factory" . | AGRICULTURE-BASEL 14 . 3 (2024) . |
| APA | Jia, Dongdong , Guo, Wenzhong , Wang, Lichun , Zheng, Wengang , Gao, Guohua . Design and Experiment of Automatic Transport System for Planting Plate in Plant Factory . | AGRICULTURE-BASEL , 2024 , 14 (3) . |
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Abstract ：
大学生创新创业教育的实施对促进高校教育教学改革，推动大学生全面发展与社会进步具有重要意义。面向大学生创新创业教育，创新高校人才自主培养体制机制能够更好地满足社会对多样化、拔尖创新人才的需求，激发学生创新潜能，培养更具实践能力和创新创业精神的人才，进而推动高等教育与社会发展的紧密结合。北京工业大学机械工程学科积极探索并构建了以“专创交叉融合”为基础的人才创新创业教育体系，从课程建设、教学方法、师资培养、评价机制等方面，着力提高学生创新创业能力，加强知识运用能力，以提高学校人才培养质量。该体系对促进中国高校创新创业生态系统具有积极的借鉴意义。
Keyword ：
项目式教学 项目式教学 创新创业教育 创新创业教育 专创交叉融合 专创交叉融合 人才培养 人才培养
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| GB/T 7714 | 刘凯 , 王怀宇 , 刘小冬 et al. 基于“专创交叉融合”的机械工程专业创新创业教育体系构建与实践研究 [J]. | 高等建筑教育 , 2024 , 33 (04) : 36-42 . |
| MLA | 刘凯 et al. "基于“专创交叉融合”的机械工程专业创新创业教育体系构建与实践研究" . | 高等建筑教育 33 . 04 (2024) : 36-42 . |
| APA | 刘凯 , 王怀宇 , 刘小冬 , 高国华 . 基于“专创交叉融合”的机械工程专业创新创业教育体系构建与实践研究 . | 高等建筑教育 , 2024 , 33 (04) , 36-42 . |
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Abstract ：
To solve the problem of poor systematization and ambiguous input of agricultural machinery in requirement analysis, using MBSE theory combined with the development and design of key mechanisms for automated cuttings equipment, an improved method of requirement analysis for automated cuttings equipment is proposed. By refining participant requirements, a natural language description of the set of user requirements is generated. An itemized set of requirements with standard information is constructed by the proposed semantic model for the standardization of requirements. At the same time, the requirements are verified based on the activity diagram in SysML using a logic simulation method to update the entry set of requirements. On this basis, the requirement model of the key mechanism of the automated cuttings equipment is created by SysML, and the input of the mechanical design information data flow is realized. The results show that the method improves the development process from initial requirements to requirement models, ensures consistency and traceability between the two, and can provide a design basis for the development of automated cuttings equipment.
Keyword ：
MBSE MBSE requirements model requirements model automated cuttings equipment automated cuttings equipment SysML SysML
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| GB/T 7714 | Wei, Jinfeng , Gao, Guohua , Ding, Tao et al. An improved method to requirement analysis of automated cuttings equipment based on MBSE [J]. | INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022) , 2022 , 12261 . |
| MLA | Wei, Jinfeng et al. "An improved method to requirement analysis of automated cuttings equipment based on MBSE" . | INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022) 12261 (2022) . |
| APA | Wei, Jinfeng , Gao, Guohua , Ding, Tao , Zhang, Zihua , Wang, Xubo . An improved method to requirement analysis of automated cuttings equipment based on MBSE . | INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022) , 2022 , 12261 . |
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Abstract ：
The current traditional method of plant layout is still relied upon in design and does not take into account factors such as facilities and equipment, personnel and materials. In order that the problem of interaction and integration between the virtual and physical worlds in the plant design process can be solved, this paper proposes a layout and simulation technique based on the SLP method to carry out the analysis of the digital design of a tomato plant plant as an example First, the tomato digital factory is studied, and the layout scheme is obtained by combining the SLP design method in a comprehensive way. Then, the digital modeling of parametric modular one-to-one correspondence is performed to integrate the digital twin model. Finally, the feasibility of the design scheme is verified by using PlantSimulation modeling simulation, which provides a new design idea for the digital design of intelligent factory.
Keyword ：
SLP SLP PlantSimulation simulation PlantSimulation simulation digital design of factories digital design of factories factory layout factory layout
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| GB/T 7714 | Yao, Wang , Gao, Guohua , Li, Yang et al. Research on digital design and simulation of factory based on SLP [J]. | INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022) , 2022 , 12261 . |
| MLA | Yao, Wang et al. "Research on digital design and simulation of factory based on SLP" . | INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022) 12261 (2022) . |
| APA | Yao, Wang , Gao, Guohua , Li, Yang , Ding, Tao , Zhang, Zihua . Research on digital design and simulation of factory based on SLP . | INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022) , 2022 , 12261 . |
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Abstract ：
本发明公开了一种主动驱赶乳畜动物挤奶的挤奶厅，包括主动驱赶装置、头朝外式固定挤奶单元、环形通道装置。主动驱赶动物装置包括上下驱赶板或圆形外扩板和驱动装置组成；头朝外式固定挤奶单元包括挤奶装置、前门、后门、隔板、料槽、阻隔墙组成；环形通道装置包括外部环形围栏和通道出口。该主动驱赶乳畜动物挤奶的挤奶厅布置完成主动有目的的驱赶乳畜动物进入固定挤奶单元、轻松实现动物头朝外式的工作状态、自动上料、动物有序离开的过程。本发明可以实现对动物的主动驱赶、头朝外式挤奶、有序离开的自动化，进而减少人工投入，降低人工成本和劳动强度；充分利用中间的作业空间，主动驱赶设计实现对动物流水线挤奶操作，提高了挤奶效率。
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| GB/T 7714 | 高国华 , 马海超 , 刘凯 . 一种主动驱赶乳畜动物挤奶的挤奶厅 : CN202210599258.2[P]. | 2022-05-30 . |
| MLA | 高国华 et al. "一种主动驱赶乳畜动物挤奶的挤奶厅" : CN202210599258.2. | 2022-05-30 . |
| APA | 高国华 , 马海超 , 刘凯 . 一种主动驱赶乳畜动物挤奶的挤奶厅 : CN202210599258.2. | 2022-05-30 . |
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本发明公开了一种主动跟随式刚柔耦合挤奶机械装置，由刚性机械臂结构和柔性臂结构组成，同步带齿轮机构中含有一组驱动电机，驱动末端连接有轮毂，轮毂伸出连接机构与刚性机械臂连接，刚性机械臂与柔性机械臂相互连接，所述柔性臂体由多节弹性薄壁材料构成，每节臂体之间由圆环节片相连接，所述托座与刚性机械臂连接固定，有一组挤奶装置。所述奶杯下部安装有软质输送管，所述软质输送管置于所述柔性臂空腔，贯穿柔性臂。该刚柔耦合机械臂装置可针对奶牛走动而位置改变从而改变自身形态，可以控制多种角度姿势，呈现弯曲状态，通过末端的装置位置的改变而达到跟随的效果，防止挤奶奶杯脱落。
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| GB/T 7714 | 高国华 , 张炳祥 , 刘凯 . 一种主动跟随式刚柔耦合挤奶机械装置 : CN202210598532.4[P]. | 2022-05-30 . |
| MLA | 高国华 et al. "一种主动跟随式刚柔耦合挤奶机械装置" : CN202210598532.4. | 2022-05-30 . |
| APA | 高国华 , 张炳祥 , 刘凯 . 一种主动跟随式刚柔耦合挤奶机械装置 : CN202210598532.4. | 2022-05-30 . |
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Abstract ：
本发明公开了一种具有随动功能的分离式挤奶杯及其衬里，通过对奶头的固定、挤压、按摩及对乳房的固定、挤压，完成乳畜动物的挤奶。奶杯和衬里采取圆周固定安装；衬里整体采用柔性材料，在挤奶杯内侧部分纵向采取变截面的结构，中段较厚，上段和下段较薄；衬里上边是圆形气动腔结构，且该气动腔和衬里与奶杯之间的气动腔相连通，采用一个气源；奶杯采取三段式刚柔混合结构，实现对动物的被动式跟随。
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| GB/T 7714 | 高国华 , 翟少宇 , 刘凯 . 一种具有随动功能的分离式挤奶杯及其衬里 : CN202210663612.3[P]. | 2022-06-10 . |
| MLA | 高国华 et al. "一种具有随动功能的分离式挤奶杯及其衬里" : CN202210663612.3. | 2022-06-10 . |
| APA | 高国华 , 翟少宇 , 刘凯 . 一种具有随动功能的分离式挤奶杯及其衬里 : CN202210663612.3. | 2022-06-10 . |
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本发明公开了一种内外通道式固定挤奶单元的挤奶厅，包括内部环形通道装置、头朝外式固定挤奶单元、主动阻拦装置、外部环形通道装置。所述内部环形通道装置包括内部环形围栏、驱动装置组成；所述头朝外式固定挤奶单元包括挤奶装置、前门、后门、阻隔墙、隔板、料槽组成；所述主动阻拦装置包括阻拦板、驱动装置组成；所述外部环形通道装置包括外部环形围栏、通道出口。该内外通道式固定挤奶单元的挤奶厅可以完成动物沿内部环形通道(内环形区)进入固定挤奶单元、轻松实现动物头朝外式的工作状态、自动上料、动物有序离开的过程，进而减少人工投入，降低人工成本和劳动强度；充分利用中间的作业空间，提高挤奶效率。
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| GB/T 7714 | 高国华 , 马海超 , 冯永炳 et al. 一种内外通道式固定挤奶单元的挤奶厅 : CN202210598535.8[P]. | 2022-05-30 . |
| MLA | 高国华 et al. "一种内外通道式固定挤奶单元的挤奶厅" : CN202210598535.8. | 2022-05-30 . |
| APA | 高国华 , 马海超 , 冯永炳 , 丁涛 . 一种内外通道式固定挤奶单元的挤奶厅 : CN202210598535.8. | 2022-05-30 . |
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Abstract ：
A novel compliance modeling method for flexure-hinge-based (FHB) compliant parallel mechanisms is proposed, where internal constraint of branches is taken into consideration based on flexibility-center-decomposition method of compliance matrix and screw theory. The modeling method is employed to transform deformation problem of branches into statics and kinematics problems of pseudo-rigid-body branches. Firstly, the virtual branch is established and its corresponding decoupled compliance matrix is obtained. Then, the compliance modeling of the whole mechanism is obtained by static equilibrium equation and kinematic relations. Secondly, a constraint performance index reflecting ability to constrain undesirable deformation of the compliant parallel mechanism is presented based on the decoupled compliance matrix. The effectiveness of the constraint performance index is verified through analysis of degree of freedom (DoF) of the 3-SS mechanism. Finally, the proposed modeling method and performance index are used in design and analysis of a novel RPR compliant parallel mechanism. To our knowledge, constraint performance index is firstly proposed for assessing the ability to constrain undesirable deformation of the compliant parallel mechanism. (c) 2021 Elsevier Ltd. All rights reserved.
Keyword ：
Constraint performance index Constraint performance index Flexibility-center decomposition Flexibility-center decomposition Compliant parallel mechanism Compliant parallel mechanism Optimization Optimization Compliance modeling Compliance modeling
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| GB/T 7714 | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng et al. A novel compliance modeling method for compliant parallel mechanisms and its application [J]. | MECHANISM AND MACHINE THEORY , 2021 , 162 . |
| MLA | Zhang, Shuang et al. "A novel compliance modeling method for compliant parallel mechanisms and its application" . | MECHANISM AND MACHINE THEORY 162 (2021) . |
| APA | Zhang, Shuang , Liu, Jingfang , Ding, Huafeng , Gao, Guohua . A novel compliance modeling method for compliant parallel mechanisms and its application . | MECHANISM AND MACHINE THEORY , 2021 , 162 . |
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Abstract ：
本发明公开了一种螺旋盘绕式多段柔性机器人，包括驱动底盘、旋转平台、搭载外壳和柔性机械臂；驱动底盘位于该机器人底部，与旋转平台固连并驱动旋转平台转动；旋转平台具有卡孔，卡孔的孔壁与搭载外壳的卡销外周面相适配，用于夹紧搭载外壳，并将转动传递至搭载外壳；搭载外壳具有螺旋凹槽，螺旋凹槽的表面与柔性机械臂外周面相适配；搭载外壳具有切向底座，切向底座与柔性机械臂底端连接；柔性机械臂为该机器人的执行部件，由若干单段柔性臂首尾连接组成；该机器人结构紧凑，解决了目前单段柔性机器人工作空间小、姿态单一，以及多段柔性机器人占用空间大、收置困难的问题，提高了适用性、灵活性和便携性。
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| GB/T 7714 | 高国华 , 宋春旭 , 王鹏宇 et al. 一种螺旋盘绕式多段柔性机器人 : CN202111178662.4[P]. | 2021-10-10 . |
| MLA | 高国华 et al. "一种螺旋盘绕式多段柔性机器人" : CN202111178662.4. | 2021-10-10 . |
| APA | 高国华 , 宋春旭 , 王鹏宇 , 沈豪 . 一种螺旋盘绕式多段柔性机器人 : CN202111178662.4. | 2021-10-10 . |
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