上甑机器人在白酒酿造中的应用进展  

Progress in the Application of Upper Retort Robot in White Wine Brewing

作　　者：刘文斌 张贵宇 庹先国 王耀 朱雪梅 LIU Wenbin;ZHANG Guiyu;TUO Xianguo;WANG Yao;ZHU Xuemei(School of Automation and Information Engineering,Sichuan University of Science&Engineering,Yibin 644000,China;Artificial Intelligence Key Laboratory of Sichuan Province,Yibin 644000,China;School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China)

机构地区：[1]四川轻化工大学自动化与信息工程学院,四川宜宾644000 [2]人工智能四川省重点实验室,四川宜宾644000 [3]西南科技大学信息工程学院,四川绵阳621010

出　　处：《四川轻化工大学学报（自然科学版）》2023年第1期24-32,共9页Journal of Sichuan University of Science & Engineering(Natural Science Edition)

基　　金：四川省重大科技专项项目(2018GZDZX0045);四川省科技成果转移转化示范项目(2020ZHCG0040)。

摘　　要：探汽上甑作为白酒酿造过程中的关键工艺,与白酒的品质密切相关。随着自动化酿造的不断发展,部分酒企逐渐向半自动化、全自动化上甑转型升级。然而,在转型过程中,上甑蒸馏是实现自动化难度最大的环节,发展较为滞缓。本文首先对当前主流通用型六轴机器人和并联式机器人的本体结构、铺料结构以及控制方法做了详细阐述;然后针对“探汽上甑,均撒匀铺”的工艺要求探讨了机器人的探汽方法和铺料结构;最后对比分析了两种上甑机器人的控制方法及其应用的优缺点,并展望了上甑机器人的发展方向。As a key process in the brewing process of liquor,steam detection on the retort is closely related to the quality of liquor.With the continuous development of automated brewing,some spirits enterprises are gradually transforming and upgrading to semi-automated and fully automated retorting.However,in the transition process,retort distillation is the most difficult part to achieve automation,and the development is relatively slow.This paper firstly elaborates on the body structure,spreading structure and control methods of the current mainstream general-purpose six-axis robots and parallel robots;then discusses the robot's steam detection method and spreading structure with respect to the process requirement of"steam detection on retort,even spreading".Finally,the advantages and disadvantages of the control methods and their applications of the two robots are compared and analyzed,and the development direction of the robot is foreseen.

关 键 词：上甑机器人 探汽上甑 铺料结构 控制方法 探汽方法 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]