Second periodic report

Size: px

Start display at page:

Download "Second periodic report"

Walter Williamson
5 years ago
Views:

1 Grant Agreement number: Project acronym: ROD-PICKER Project title: ROD-PICKER Automatic harvesting system for SRC nurseries Second periodic report Annex: Pictures and tables 1

3.1 Publishable summary Figure 1: The harvesting module during field tests in early 2014 Figure 2: General view of the sorting, cutting and bundling module 3.

2 3.1 Publishable summary Figure 1: The harvesting module during field tests in early 2014 Figure 2: General view of the sorting, cutting and bundling module 3.2 Core of the report for the period: Project objectives, work progress and achievements, project management Work progress and achievements during the period Work package 2: Development and design of the ROD-PICKER prototype 2

5,6,7 rod guiding wheels (fixed and mobile); 8 fixing spring; 9 - opposite blade ensemble; 10,11

3 Figure 3: Measuring and Cutting Component Schematics: 1 - air cylinder for blade powering; 2 - blade and it s support and guiding; 3 - cutting skeleton; 4 rotary wheels for belt movement; 5,6,7 rod guiding wheels (fixed and mobile); 8 fixing spring; 9 - opposite blade ensemble; 10,11 frame components; 12 processed rod Figure 4: Actual implementation of the Measuring and Cutting Component 3

4 S1- Guidance and driving Stems Ensures continuity and speed in the process Leads and prepares the stems for cutting Leads and prepares the stems for sorting S2 - Functions correlation Ensures the functionality of the process Ensures the continuity of the process Ensures the frequency of the process S3 - Self diagnosis Checking of the operating parameters Checking of errors Ensures safety & health SUPPORTING FUNCTIONS S4 - Energy supply Ensures & converts energy for technological effects & diagnosis Compatibility (internal & external) S5 - Compressed air supply Ensures constant air pressure, quality & flow for cutting process Automation and optimization of functional steps Controls of the operating parameters S6 - Monitoring- Integrating Ensures the functionality of the process Ensures the synchronization of functions Ensures the security of working process Figure 5: Presentation and description of Supporting Functions 4

5 BASIC FUNCTIONS F1 - Diameter measurement F2 - Length measurement F3 - Cutting on Diameter/ Length F4 - Length measurement Measures the stem diameter with values between 25-7 mm Ensures the working accuracy Ensures the work space Measures the stem length with values between mm Ensures the working accuracy Ensures the working speed Ensures the work space Ensures the cutting speed Ensures the cutting accuracy Achieves a full cutting process Ensures the speed detection Ensures the working accuracy F5 - Cutting before Branches F6 - Providing ergonomic conditions F7 - Providing quality and health assurance F8 - Stem supply F9 - Product ejection Ensures the work space Ensures the cutting speed Ensures the cutting accuracy Achieves a full cutting process Removes the branches Easy to handle Low noise Ensures a healthy work environment Ensures a secure work environment Ensures the work space Ensures the working accuracy Rhythmicity of the process Selectivity in the process Compatibility between the cutting unit and the conveyor Insuring stem s run Rhythmicity in the process Figure 6: Presentation and description of Basic Functions 5

6 Figure 7: Schematics (a) and built version (b) of the prototype Unit at the beneficiary 6

7 Figure 8: Electric cabinet near off cutting head and detail of electric panel indicator disposed Figure 9: Tests performed at the facilities of LEMPE Achievements: D 2.05 Designed prototypes Planned delivery date: August 2013 Actual delivery date: Use of resources: 7

WP2 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract Consumables, Equipment and

912,00 18.432,00 SALIX 2,50 1,50 1,58 9.247,43 - - 2.083,01 11.330,44 6.798,26 18.128,70 LEMPE 3,00 1,50 2,30 8.740,00 - - 109,78 8.

955,00 17.973,00 47.928,00 ttz 7,00 4,23 2,38 25.680,00 - - 25.680,00-25.

8 WP2 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract Consumables, Equipment and Prototype Travel & Subsistence Total direct costs Overheads Total costs ( ) EGEDAL 3,00 1,50 1, , , , ,00 SALIX 2,50 1,50 1, , , , , ,70 LEMPE 3,00 1,50 2, , , , , ,65 TUD 16,00 7,00 9, ,28-711, , , ,47 UPT 17,75 5,77 12, , , , ,00 ttz 7,00 4,23 2, , , ,00 Work package 3: Construction and initial tests of the ROD-PICKERprototype Figure 10: Left: welded main frame / Right: mounting the side flap Figure 11: partially assembled prototype ready for lacquering 8

9 Figure 12: Left: Installation of the hydraulic system, right: gear box with hydraulic pumps Figure 13: left: Switching unit with relays, right: ROD-PICKER operation terminal 9

4) Power take-off gear with hydraulic pumps 5) Top cutter 6) Collecting unit with

10 Figure 14: Finished ROD-PICKER prototype V1.1 1) Lower link connection with swing gear 2) Saw blades 3) Draw bar with drive shaft 4) Power take-off gear with hydraulic pumps 5) Top cutter 6) Collecting unit with feeder belts 7) Loading platform 8) Side gate Figure 15: Operation terminal Figure 16: external dimensions ROD-PICKER prototype 10

11 Table 1: external dimensions A Length [mm] H Transport Height [mm] B Width [mm] T Track gauge [mm] K Length of the load platform [mm] Curb weight [kg] permitted total weight [kg] permitted axle load [kg] Drawbar load [kg] 650 Table 2: Power requirements and needed connections Power requirements / Connections of the tractor Max transportation speed on street Power requirement tractor PTO speed 25 km/h Min. 60 kw U/min Current supply light 12 V, 7-pin electrical outlet (ISO 1724) Current supply operating terminal Hydraulic connection Oil flow 12 V, 3-pin electrical outlet 1 x pressureless outlet flow Max. 30 l/min 11

12 o o o o o o o o o o o o o Figure 18: Detail of the cutting device Figure 19: Detail of the cutting device 12

13 Figure 20: Powering device, responsible for rod displacement and movement 13

14 Figure 21: Omron 32 fixed at the second cutting structure and Figure 22: Omron E6B2- CWZ5B encoders Figure 23: Final structure of machine control system 14

Figure 24: early prototype of the control unit Figure 25: Finalized prototype ready for new tests Achievements D 3.

WP3 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract EGEDAL 1,50 3,25 1,78 11.520,00 - - 863,65 12.

791,82 10.111,52 TUD 11,50 4,73 6,11 22.005,67-43.913,53 837,87 66.757,07 40.054,24 106.811,31 UPT 12,00 10,00 3,22 8.895,00 - - 8.895,00 5.337,00 14.

15 Figure 24: early prototype of the control unit Figure 25: Finalized prototype ready for new tests Achievements D 3.06 Report on fully automatically running software and data check Planned delivery date: October 2013 Actual delivery date: Use of resources WP3 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract EGEDAL 1,50 3,25 1, , , , , ,49 SALIX 1,50 0,25 1, , , , , ,13 LEMPE 1,50 0,75 1, , , , , ,52 TUD 11,50 4,73 6, , ,53 837, , , ,31 UPT 12,00 10,00 3, , , , ,00 ttz 10,00 0,00 10, ,00-470, , , , ,87 15 Consumables, Equipment and Prototype Travel & Subsistence Total direct costs Overheads Total costs ( )

16 WORK PACKAGE 4: On/site testing and optimization of the ROD/PICKER prototzpe at a tree nursery farm, monitoring and evaluation Figure 26: Experimental plan for the field tests Figure 27: left: pressure sensors, right: oil flow sensor Figure 28: Measurement terminal (Hydrotechnik 8050) 16

Collecting belts drive [kw] Unloading belts drive [kw] 580 4.85 0.47 1.46 1.07 680 5.

17 Figure 29: Initial test ROD-PICKER harvester January 2014 at TUD Table 3: No-load power of the different drives PTO speed [rpm] Saw blade drive [kw] Top cutter drive [kw] Collecting belts drive [kw] Unloading belts drive [kw] Figure 30: Overview SRC nurseries in Saxony, Germany 17

18 Figure 31: Measuring section Seifersdorf Figure 32: Left:Test run Seifersdorf (11 km/h), Right: Cut view 96 teeth saw blad 5 km/h Figure 33: Loaded harvester prototype (500 m willow single row) 18

19 Figure 34: Left: Power requirement of the feeder belt drive, Right: feeder belt drive with rods Figure 35: Left 64 teeth without carbide plates, Right: 96 teeth with carbide plates 19

20 Figure 36: Cutting performance by a saw blade speed of 1208 rpm Figure 37: cut 5 year old rootstock with 100 mm length Figure 38: Determination of the maximum oil pressure and cut performance 20

performance without any ancillary times,

21 Table 4: Relation harvest speed and total crop performance Example: 1) 4 rods per rootstock, 0.3 m planting distance) 2) Crop performance without any ancillary times, Row length: 400 m, distance between the rows: 2 m 3) Ancillary times for each row, Unloading on headland: 1 min, Transport time: 1 min, Service time: 0.5 min Figure 39: Left: Simply supported lower link mount, Right: FEM analysis main frame Figure 40: Left: angular adjustment, Right: new ground plate for the saw blade 21

the harvesting capacity could be doubled with Fig

22 Figure 41: Design study for a double-row harvester By integrating a second cutting and feed-in unit, the harvesting capacity could be doubled with Fig 42: Initial mechanical test of the cutting system 22

23 Figure 42: First test of the sensor system at UPT Figure 43. Picture of the test runs of the inverter with connected 3 phase transformer 23

24 Figure 44: Demonstration and test of the cutting system prototype Pneumatic cutting system Motion wheels Motor Figure 45: Cutting system with motion control 24

25 Incremental Motion sensor Figure 46: Drive system with motion sensor Figure 47: Camera system in the prototype 25

26 Figure 48: Picture of the camera system during the tests Figure 49: Lab tests at UPT with conveyor system A 26

27 Figure 50: Prototype for first practical test at Lempe Figure 51: High quality cut of a poplar rod on the conveyor 27

28 Figure 52: Housing of the cutting module Figure 53: Feeding indicator and display for the sensor data Also the data display of the sensor data improved the system. The display shows data of the 28

Figure 54: Light barrier and air pressure system on the first stage of the band

time Notes for the bundle in minutes 1 6:55 With manual bundling 2 6:30 2

interruptions, without bundling 4 6:40 3 cleaning interruptions, without

29 Figure 54: Light barrier and air pressure system on the first stage of the band conveyor Figure 55: In the test prepared bundles of rods Measurement Processing time Notes for the bundle in minutes 1 6:55 With manual bundling 2 6:30 2 cleaning interruptions (each ca 15s) without bundling 3 6:15 3 cleaning interruptions, without bundling 4 6:40 3 cleaning interruptions, without bundling 5 6:45 Several interruptions Table 5: Several times recordings for production of 50 rod bundles 29

30 Figure 56: Programming and monitoring of the PLC by the programming software Figure 57: Diameter control of the processed rods 30

31 Figure 58: Control of the length of the rods after processing Figure 59: parts of the data recording forms of the harvesting unit Achievements D 4.07 Protocols on system operation performance Expected: October 2013 Submission date:

Use of resources WP4 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract Consumables, Equipment and Prototype Travel & Subsistence Total direct costs

32 Use of resources WP4 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract Consumables, Equipment and Prototype Travel & Subsistence Total direct costs Overheads Total costs ( ) EGEDAL 1,00 0,00 1, , , , , ,20 SALIX 0,75 0,00 1, , , , , ,38 LEMPE 3,25 0,00 3, , , , , ,32 TUD 5,50 0,00 11, , ,65 430, , , ,20 UPT 5,50 0,00 13, , , , , , ,31 ttz 5,00 0,00 6, , , , , , ,35 WORK PACKAGE 5: Sustainability assessment on the ROD-PICKER system Objectives: Figure 60: General principle of the whole process from harvesting to delivery 32

33 Figure 61: screenshot of openlca software with parts of the developed product system Table 6: key data of the harvesting module of the ROD-PICKER system Table 7: key data of the sorting and bundling module of the ROD-PICKER system 33

Figure 62: Planting layout of the example and storage positions Table 8: Cost comparison between manual harvest and ROD-PICKER harvester Manual harvest with brush cutter ROD-Picker Optimization Staff

34 Figure 62: Planting layout of the example and storage positions Table 8: Cost comparison between manual harvest and ROD-PICKER harvester Manual harvest with brush cutter ROD-Picker Optimization Staff 4 Back staff (20 Mh /ha) 1 Expert (1,25 Mh /ha) Reduced by 94 % Crop performance: ~ 0,2 ha/h ~ 0,8 ha/h Increased by 300 % Staff costs ~ 240 / ha ~ 20 / ha Reduced by 91 % Technique costs (inkl. 80 kw tractor) ~ 135 / ha ~ 202 / ha Increased by 50 % Overall costs ~ 449 / ha ~ 243 / ha Reduced by 46 % Figure 63: Cost comparison between manual harvest and ROD-PICKER harvester For a better illustration, the cost pools of the two process variants are depicted next to each Figure 64: Cost comparison between Fröebbesta harvester and ROD-PICKER harvester 34

35 Figure 65: Canvas model for the first business Achievements: D 5.08 Report on overall assessment and economic feasibility study Planned delivery date: September 2014 Actual delivery date: Planned delivery date: September 35

D 5.09 Evaluation of the prototype performance 2014 Actual delivery date: 30.09.2014 D 5.

36 D 5.09 Evaluation of the prototype performance 2014 Actual delivery date: D 5.10 Report on training activities and business analysis Planned delivery date: September 2014 Actual delivery date: Use of resources: WP5 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract Consumables, Equipment and Prototype Travel & Subsistence Total direct costs Overheads Total costs ( ) EGEDAL 1,75 0,00 2, , , , , ,00 SALIX 1,75 0,00 1, ,35-411, , , , ,72 LEMPE 1,75 0,00 1, , , , , ,95 TUD 2,25 0,00 2, ,80-493,90 161, , , ,09 UPT 3,00 0,00 5, , , , ,00 ttz 4,50 0,00 6, , , , ,20 Work package 6: Dissemination and exploitation Objectives: The aim of this work package is to disseminate the project results for the later Figure 66: Welcome of the workshop attendees during the workshop activities in Germany 36

37 Figure 67:Screenshot of the project s website Two project leaflets Figure 68: Front and back of the second ROD-PICKER leaflet 37

38 Figure 69: Screenshot of the ROD-PICKER video publication on youtube.com Figure 70: screenshot of the video produced by UPT for explaining the sorting and bundling unit 38

presentation of project ROD-PICKER during conference

39 Figure 71: Prof. Dumitru Tucu of the UPT explains the developed cutting and sorting subunit of the sorting and bundling unit to the Romanian TV-team (a) Figure 72: presentation of project ROD-PICKER during conference and exhibition in Baia Mare (Romania) (a) and on the InnoMatch-Fair in Arad (Romania) (b) (b) 39

(a). (b) Figure 73: First two pages of the article in the "Energie aus Pflanzen"-magazine (a) and article in TASPO (b) Achievements D 6.

14 Final plan for the use and dissemination of the knowledge Expected: September 2014 Submission date: 30.09.

direct costs Overheads Total costs ( ) EGEDAL 2,50 0,00 2,96 19.200,00-2.430,00-21.630,00 12.978,00 34.608,00 SALIX 2,25 0,89 2,03 9.309,85-193,90-9.309,85 5.

40 (a). (b) Figure 73: First two pages of the article in the "Energie aus Pflanzen"-magazine (a) and article in TASPO (b) Achievements D 6.13 Publications in relevant magazines, presentations and demonstration material for trade fairs Expected: September 2014 Submission date: D 6.14 Final plan for the use and dissemination of the knowledge Expected: September 2014 Submission date: Use of resources WP6 Partner Planned PM Spent on the first period Spent on second period Personnel Costs ( ) Subcontract Consumables Travel & Subsistence Total direct costs Overheads Total costs ( ) EGEDAL 2,50 0,00 2, , , , , ,00 SALIX 2,25 0,89 2, ,85-193, , , ,76 LEMPE 3,50 0,50 3, , , , ,00 TUD 0,50 0,00 0, ,24-90, , , ,78 UPT 0,50 0,00 0, , , , ,00 ttz 0,50 0,01 1, , , , ,36 40

TADANO AERIAL PLATFORM GENERAL DATA. MAXIMUM PLATFORM LOADING CAPACITY 450 kg or two (2) persons. 9.8 m m

TADANO AERIAL PLATFORM GENERAL DATA. MAXIMUM PLATFORM LOADING CAPACITY 450 kg or two (2) persons. 9.8 m m SPEC. SHEET No. AW-250-3-80120/EX-01 TADANO AERIAL PLATFORM MODEL : AW-250TG GENERAL DATA MAXIMUM PLATFORM FLOOR HEIGHT 25.0 m MAXIMUM PLATFORM LOADING CAPACITY 450 kg or two (2) persons BOOM 3-section