Motion Analysis And Planning Of Retort Of Makeing Wine Robot

Steaming process is a key step in liquor brewing.Manual steaming as the traditional way of steaming has labor intensive and inefficient,and the quality and productivity of liquor vary from person to person.The steamer-filling site is characterized by high temperature,high humidity and poor working condition.Combining with liquor brewing technology,the six degree of freedom robot is used to replace the manual steamer operation.In order to making the robot motion smoothly in the process of steaming,the trajectory planning of the paving and feeding is carried out,and the influence of the jitter frequency and amplitude of the end effector on the dispersion uniformity of the material is also analyzed.Based on the traditional steamer feeding process and according to the actual working requirements,the robot steamer feeding system is designed.According to the geometric size of the designed robot,the layout of the relative position between the robot and the steamer bucket and the feeding port is given.The kinematics model of six-degree-of-freedom robot is established by D-H method.The forward and inverse kinematics equations are solved.The workspace of the robot is calculated by Monte Carlo method,which verifies that it meets the working requirements of the steamer.The path of the whole operation process of the robot from feeding to paving in the steamer barrel is determined,and the motion of the robot is analyzed and planned to realize its smooth motion.The feeding action of the robot in the steamer barrel is analyzed,and the trajectory is planned by the quintic polynomial interpolation method.In order to analying the influence of the motion form swing hopper on the uniformity of material scattering,a discrete element wet granule model was established using discrete element software with sorghum as brewing material.The effects of the swing frequency and amplitude of hopper and the height were analyzed.Based on the best parameters,the geometric parameters of the swing hopper mechanism are designed.