Research On And Application Of Retort Of Make Wine Robot

Liquor brewing technology has experienced in Chinese for thousands of years, China wine culture has a long history of brewing technology, but relatively developed countries is still relatively backward, especially mechanical wine is blank. In this paper, the use of industrial robots wine, gives the feasible scheme. Fermented grains steamer filling is a key focus of the brewing industry comparison, using six degree of freedom robot steamer filling work, intelligent automation realized wine steamer filling link. The main task of this research is the research and application of six degree of freedom robot path planning problem in the cylinder.Study of six degree of freedom robot end drive bin implemented in barrel internal paving, analyzing the robot with six degrees of freedom mathematical model, path planning problem in the round inside the geometric object mainly studies an irregular, the establishment of mathematical model of robot trajectory. Aiming at the problem of path planning, a variety of algorithm analysis and comparison of the genetic algorithm, the two fork tree reverse optimization method, the artificial potential field method, is proposed to introduce an improved artificial potential field algorithm, to solve the problem of potential field real-time path planning algorithm of robot force direction. In this paper the original improved artificial potential field algorithm are not entirely applicable, it is necessary to establish a new repulsive force and gravity to change the force direction calculation model, real time trajectory is generated. In the real-time robot motion process, because the barrel bottom of steam to heat the barrel fermented grains, trajectory surface of fermented grains temperature will change the robot by using infrared camera, real-time detection of barrel surface temperature conditions, the introduction of the gray level histogram algorithm to calculate surface high temperature region, to coordinate the transmission to the robot, robots will make unified planning for the coordinates of points, according to the principle of least steaming to plan the trajectory of the robot, reducing alcohol evaporation, increase the yield of wine. There are two core retort wine steps:one is to judge the position of gas steaming wine; secondly as far as possible to cover the material fast. Through continuous experiment and try, optimal motion planning algorithm to shorten the time of robot path and cover material the process, present in less than 20 seconds to complete, I believe the future will be faster.At present the first steamer wine robot prototype has been developed completely and in a winery in trial operation, data acquisition and analysis the massive contrast with traditional operation situation, adopts the retort process intelligent robot retort wine wine than traditional artificial retort wine in efficiency improved a lot, wine and liquor quality have a great upgrade. R & D retort wine robot success for the complex traditional process to automation industry provides some new ideas.