面向上甑工艺的机器人作业系统研究
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TP249

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国家重点研发计划资助项目(2018YFB1306500)


Research on Robot Operation System for Caldron Feeding in Traditional Distillation of Chinese Liquor
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This project is sponsored by National Key R&D program of China (No.2018YFB1306500)

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    摘要:

    本文关注白酒酿造过程中的上甑环节,分析上甑师傅典型作业手法,设计了一套面向上甑工艺的机器人作业系统。首先,本文提出了一种基于样条曲线-高斯模型的上甑轨迹泛化编码算法,通过现场采集人工上甑的动作数据,将其导入泛化模型得到人工上甑工艺在空间中的轨迹特征。之后,分析人工上甑工艺特性,划分机器人上甑区域,设计甑料流速可控的末端料斗机构,并结合现场布局对每个区域的铺洒轨迹进行计算。为实现期望厚度的上甑工艺要求,建立机器人动力学逆解模型,根据机器人各关节负载限制得到每个区域的最大速度,结合末端料斗机构的伺服控制性能,制定上甑作业时铺洒厚度的控制策略。最后,通过多次上甑实验,验证了本文所设计的机器人作业系统的有效性。

    Abstract:

    This paper focuses on the caldron feeding process during the traditional distillation of Chinese liquor, and designs a robot operation system to accomplish this process by studying the typical human operations. Firstly, this paper proposes a generalized coding algorithm for the caldron feeding trajectory based on B-spline curve Gaussian model. The information of artificial movements is collected on the workplace and imported into the generalized model to obtain the trajectory characteristics of the artificial process. After that, the proposed method separates the working plane to 8 areas by analyzing the characteristics of standard trajectory, and designs a hopper mechanism with a controllable material flow rate. By considering of the structure of hopper mechanism and the workplace layout, the cartesian trajectories of the robot for each area are calculated. To make the process more efficient, this paper calculates the largest velocity of the robot by analyzing the dynamic model of the robot for each area with the limit of joint movement. Then the control strategy of feeding height is proposed which is influenced by the material flow rate and robot velocity. Finally, the robot operation system is confirmed to be more efficient by repeatedly caldron feeding tests.

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杨艺,王宏彬,张栗寅,等. 面向上甑工艺的机器人作业系统研究[J]. 科学技术与工程, 2021, 21(36): 15516-15528.
Yang Yi, Wang Hongbin, Zhang Liyin, et al. Research on Robot Operation System for Caldron Feeding in Traditional Distillation of Chinese Liquor[J]. Science Technology and Engineering,2021,21(36):15516-15528.

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  • 收稿日期:2021-11-21
  • 最后修改日期:2021-12-20
  • 录用日期:2021-12-13
  • 在线发布日期: 2022-01-04
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