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针对浓香型固态发酵白酒在酿造过程中曲块需要在曲房中进行发酵,曲块在发酵过程产生大量曲虫,造成曲房环境条件恶劣,同时存在翻曲量较大,劳动强度大的问题,设计悬挂式翻曲机器人,代替人工进行自动翻曲及曲块搬运。采用Solidworks三维设计软件设计机器人三维结构,采用Adams软件进行运动学和动力学仿真分析,并使用ANSYS Workbench 14.5对翻曲机器人的主要构件进行强度仿真分析和模态分析。同时,结合试验分析可得,设计的翻曲机器人满足运动学、强度、刚度等要求,能够按照既定的要求完成翻曲任务,使用翻曲机器人替代酿酒工人完成曲房内的翻曲和搬曲工作能降低工人的劳动强度,改善工作环境,实现了酿酒翻曲工艺的机械自动化。
For the sake of fermented solid white fermented liquor in the brewing process, the song piece needs to be fermented in the song room, the song piece produces a large number of songworms in the fermentation process, resulting in bad environment conditions in the song room, meanwhile, Problems, the design of the hanging flip robot, instead of manual automatic song and song handling. The Solidworks 3D design software is used to design the 3D structure of the robot. The Adams software is used to carry out the kinematics and dynamics simulation analysis. The ANSYS Workbench 14.5 is used to perform the strength simulation analysis and modal analysis on the main components of the robot. At the same time, with the experimental analysis, we can get the design of the robot to meet the requirements of kinematics, strength, stiffness and so on, can be completed in accordance with established requirements of the task of turning the use of turning robots to replace the brewer to complete the song in the song room and the song Work can reduce the labor intensity of workers, improve the working environment, to achieve a wine-turning process of mechanical automation.