Automobile motor recycling and cleaning system based on automatic control

Abstract

The invention discloses an automobile motor recycling and cleaning system based on automatic control, and relates to the technical field of cleaning. The system comprises a basic technical feature acquisition module used for acquiring basic technical features; the initialization module is used for being connected with an automobile motor cleaning workshop; the disassembling tool information base connection module is used for connecting a disassembling tool information base; the automobile motor twinning model generation module is used for generating an automobile motor twinning model; the coordinate calibration configuration module is used for performing coordinate calibration configuration; and the complementary control iteration module is used for performing complementary control iteration. The technical problems that when a precise and complex motor structure is processed, automobile recycling and cleaning depend on automatic operation control of single mapping, and the cleaning quality is difficult to guarantee are solved, and the purposes that based on the motor model and structure information, proper disassembling tools and cleaning modes are selected, and the cleaning quality is guaranteed through real-time monitoring and intelligent adjustment are achieved. The technical effect that the automobile motor is efficiently and accurately disassembled and cleaned is achieved.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to an automobile motor recovery and cleaning system based on automated control. Background Art

[0002] With the rapid development of the automobile industry, the recycling and reuse of automobile motors has become an important issue in the industry. Automobile motor recycling and cleaning systems are a key link in this regard. Automobile motor recycling and cleaning systems are usually equipped with a variety of drive devices, such as motors, reducers, and hydraulic drives. These drive devices have their own advantages and disadvantages, but motor drives have become the mainstream choice due to their advantages such as high power, adjustable speed, and convenient control. In order to improve the degree of automation of the system, modern automobile motor recycling and cleaning systems are mostly controlled by PLC. PLC can achieve precise control of the cleaning process and ensure the smooth progress of each process. Although the automated control of automobile motor recycling and cleaning systems has made significant progress, there are still some defects. The operation of the automated system depends on the programming and settings of the personnel. If the operator makes a mistake, it may cause problems in the system. Automated systems are usually designed and optimized for specific tasks and working environments. If the environment or tasks change, the system may not be able to adapt.

[0003] In summary, in the prior art, when dealing with precise and complex motor structures, automobile recycling cleaning relies on single-mapped automated operation control, which is difficult to ensure the technical problem of cleaning quality. Summary of the invention

[0004] Based on this, it is necessary to provide an automobile motor recycling and cleaning system based on automated control to address the above-mentioned technical problems. This system can solve the technical problem that when dealing with precise and complex motor structures, automobile recycling and cleaning relies on a single mapped automated operation control, making it difficult to ensure the cleaning quality. This system selects appropriate disassembly tools and cleaning methods based on motor model and structural information, and achieves the technical effect of efficient and precise disassembly and cleaning of automobile motors through real-time monitoring and intelligent adjustment.

[0005] Based on this, an automobile motor recycling and cleaning system based on automated control is provided, the system comprising: a basic technical feature acquisition module, the basic technical feature acquisition module is used to acquire the basic technical features of the automobile motor, the basic technical features include the automobile motor model and automobile motor components; an initialization module, the initialization module is used to connect to the automobile motor cleaning workshop, based on the automobile motor model in the basic technical features, initialize the configuration of the disassembly robot arm, and set the end effector of the disassembly robot arm; a disassembly tool information library connection module, the disassembly tool information library connection module is used to connect to the disassembly tool information library, determine M disassembly tools and M performance parameter sets in the disassembly tool information library, the M performance parameter sets include Disassembly tool type, disassembly shape and size indicators; an automobile motor twin model generation module, the automobile motor twin model generation module is used to identify recyclable components based on the automobile motor components in the basic technical characteristics, and generate an automobile motor twin model to mark the recyclable components; a coordinate calibration configuration module, the coordinate calibration configuration module is used to place the automobile motor on the operating table of the automobile motor cleaning workshop, and coordinate calibrate the disassembly robot arm based on the M disassembly tools and M performance parameter sets; a complementary control iteration module, the complementary control iteration module is used to compare the automobile motor twin model with recyclable component markings, and perform complementary control iterations of disassembly recycling and automated cleaning of the automobile motor.

[0006] The above-mentioned automobile motor recycling and cleaning system based on automated control solves the technical problem that when dealing with precise and complex motor structures, automobile recycling and cleaning relies on single-mapped automated operation control and is difficult to ensure cleaning quality. It selects appropriate disassembly tools and cleaning methods based on motor model and structural information, and achieves the technical effect of efficient and accurate disassembly and cleaning of automobile motors through real-time monitoring and intelligent adjustment.

[0007] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural block diagram of an automobile motor recycling and cleaning system based on automatic control in one embodiment; Figure 2 The present invention is a schematic diagram of a flow chart of coordinate calibration configuration of an automobile motor recycling and cleaning system based on automated control in one embodiment.

[0009] Explanation of the accompanying drawings: basic technical feature acquisition module 11, initialization module 12, disassembly tool information library connection module 13, automobile motor twin model generation module 14, coordinate calibration configuration module 15, complementary control iteration module 16. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0011] like Figure 1 As shown, the present application provides an automobile motor recycling and cleaning system based on automated control, the system comprising: The basic technical feature acquisition module 11 is used to acquire the basic technical features of the automobile motor, and the basic technical features include the automobile motor model and automobile motor components.

[0012] Automated control refers to the use of additional equipment or devices to automatically operate a certain working state or parameter of a machine, equipment or production process according to a predetermined rule without direct human involvement. Automobile motor recycling and cleaning involves the process of disassembling, cleaning and reprocessing scrap automobile motors. Automobile motor recycling refers to the recycling of drive motors from scrapped, retired or damaged cars. Cleaning is a key step in the automobile motor recycling process. Its main purpose is to remove impurities such as dust, oil, carbon deposits, scale and rust inside the motor to facilitate subsequent processing. The present application provides an automobile motor recycling and cleaning system based on automated control, which can effectively improve the efficiency and quality of automobile motor recycling, reduce costs and environmental pollution, and bring more green, environmentally friendly and efficient solutions to the automobile motor recycling industry.

[0013] The basic technical feature acquisition module 11 is an important part of the automobile motor recycling and cleaning system. Its main function is to obtain the basic technical features of automobile motors. These basic technical features are crucial for subsequent motor identification, classification, cleaning and reuse. Automobile motor models are usually composed of numbers, letters or symbols, and different combinations represent different meanings. Model information includes key parameters such as the brand, type, power, voltage, and frequency of the motor. The acquisition of model information helps the system to quickly identify the type and performance of the motor and provide data support for subsequent processing. The main components of automobile motors include stators, rotors, armatures, permanent magnets, capacitors, etc. The characteristics and states of these components directly determine the performance and life of the motor. By obtaining information about the motor components, the system can evaluate the overall condition of the motor and provide a decision-making basis for subsequent cleaning and reuse. The basic technical feature acquisition module 11 can accurately obtain the model and component information of the automobile motor to ensure the accuracy of the data. The use of efficient data processing algorithms can complete the acquisition and processing of a large amount of data in a short time. The basic technical feature acquisition module 11 plays an important role in the automobile motor recycling and cleaning system. By obtaining the model and component information of the motor, the system can more accurately identify the motor type, formulate appropriate cleaning and reuse plans, and improve the efficiency and quality of recycling. At the same time, this information can also be used for motor performance evaluation and fault diagnosis, providing data support for motor maintenance.

[0014] The initialization module 12 is used to connect to the automobile motor cleaning workshop, initialize the configuration of the disassembly robot arm based on the automobile motor model in the basic technical characteristics, and set the end effector of the disassembly robot arm.

[0015] The initialization module 12 is a key component in the automobile motor recycling and cleaning system. Its main function is to connect the automobile motor cleaning workshop, and according to the automobile motor model information obtained by the basic technical feature acquisition module 11, initialize the configuration of the disassembly robot arm, and set the end effector of the disassembly robot arm. The initialization module 12 first establishes a stable connection with the automobile motor cleaning workshop to ensure the accuracy and real-time performance of data transmission. The model information of the automobile motor is read from the basic technical feature acquisition module 11, which contains the key characteristics and performance parameters of the motor. According to the read automobile motor model information, the initialization module 12 will perform the initialization configuration of the disassembly robot arm. This includes but is not limited to setting the parameters such as the motion trajectory, motion speed, and strength of the robot arm to ensure that the robot arm can operate accurately and stably during the disassembly process. During the configuration process, the initialization module 12 will refer to the correspondence between the preset motor model and the robot arm configuration parameters to select the most suitable configuration scheme. The end effector is a key component of the disassembly robot arm, which is used to directly contact the automobile motor and perform disassembly operations. The initialization module 12 will select or adjust the end effector that matches it according to the motor model. This includes selecting the appropriate actuator type, installation location, adjusting the clamping force, etc. By setting a suitable end effector, the efficiency, safety and accuracy of the disassembly process can be ensured. The application of the initialization module 12 is of great significance for improving the automation level and disassembly efficiency of the automobile motor recycling and cleaning system. Through precise configuration and setting, it can be ensured that the disassembly robot arm can give full play to its performance during the disassembly process, and improve the accuracy and efficiency of disassembly. At the same time, this also helps to reduce the risks and costs of manual operations and improve the safety and reliability of the entire system.

[0016] The disassembly tool information library connection module 13 is used to connect to the disassembly tool information library, determine M disassembly tools and M performance parameter sets in the disassembly tool information library, and the M performance parameter sets include disassembly tool types and disassembly shape and size indicators.

[0017] The main function of the disassembly tool information library connection module 13 is to connect to the disassembly tool information library and retrieve disassembly tools and performance parameter sets related to automobile motor disassembly from it. The disassembly tool information library connection module 13 first establishes a connection with the disassembly tool information library to ensure that the relevant information of the disassembly tool can be obtained in real time and accurately. If the connection is successful, the module 13 will retrieve M disassembly tools that match the automobile motor in the disassembly tool information library according to the model, structure and other characteristics of the automobile motor. For each disassembly tool, the module 13 will further obtain its corresponding performance parameter set. These performance parameter sets generally include the following: disassembly tool types, such as screwdrivers, wrenches, screwdrivers, etc. Different types of disassembly tools are suitable for different disassembly tasks. Disassembly shape and size indicators, including size parameters such as size, shape, length, width, etc. of the disassembly tool, and size parameters of fasteners such as screws and nuts that match it. These parameters are crucial to ensuring the applicability and accuracy of the disassembly tool. The acquired performance parameter set will be used to guide the selection and configuration of the end effector of the disassembly robot arm, as well as the specific operations during the disassembly process. For example, according to the size parameters of the disassembly tool, the clamping force and position of the end effector can be adjusted to ensure that the various components of the automobile motor can be accurately clamped and disassembled. The disassembly tool information library connection module 13 provides the automobile motor recycling and cleaning system with the functions of searching and obtaining performance parameters of the disassembly tool by connecting to the disassembly tool information library. These performance parameter sets are of great significance for ensuring the smooth progress of the disassembly process and improving the disassembly efficiency and quality.

[0018] The automobile motor twin model generation module 14 is used to identify recyclable components based on the automobile motor components in the basic technical features, generate an automobile motor twin model, and mark the recyclable components.

[0019] The main function of the automotive motor twin model generation module 14 is to identify recyclable components based on the basic technical characteristics of automotive motor components and generate corresponding automotive motor twin models. This module provides important data support for subsequent recycling processing by marking recyclable components. The automotive motor twin model generation module 14 will first obtain the basic technical feature data of automotive motor components, which may include information such as motor type, size, material, and structure. Based on these basic technical characteristics, the module 14 will use a preset recognition algorithm or model to perform a recyclability analysis on each component in the motor. By analyzing factors such as the material composition, structural characteristics, and usage status of the components, it is determined which components have recycling value. After identifying the recyclable components, the module 14 will use digital twin technology to generate a twin model of the automotive motor. This twin model is a virtual mapping of the motor in actual operation, which can accurately reflect the structure, performance, status, and other information of the motor. In the process of generating the twin model, the module 14 will combine the recognition results of the recyclable components and specially mark the corresponding parts in the model. These marks can help subsequent processing personnel quickly identify the components that need to be recycled and improve recycling efficiency. In the twin model, module 14 will clearly mark the recyclable components. These marks may include various forms such as color, shape, and text, aiming to enable processing personnel to intuitively identify the location and quantity of recyclable components. Through this marking method, processing personnel can quickly find and separate recyclable components during the actual recycling process, reducing unnecessary operations and time waste. The automotive motor twin model generation module 14 provides important data support for the recycling of automotive motors by identifying recyclable components and generating a marked automotive motor twin model. The application of this module can not only improve recycling efficiency and quality, but also promote resource recycling and environmental protection.

[0020] A coordinate calibration configuration module 15 is used to place the automobile motor on an operating table in the automobile motor cleaning workshop, and to perform coordinate calibration configuration on the disassembly robot arm based on the M disassembly tools and the M performance parameter sets.

[0021] The coordinate calibration configuration module 15 is an important part of the automobile motor recycling and cleaning system. Its main responsibility is to accurately place the automobile motor on the operating table of the cleaning workshop, and based on the M disassembly tools and their corresponding M performance parameter sets provided by the disassembly tool information library, the disassembly robot arm is accurately calibrated and configured. The coordinate calibration configuration module 15 ensures that the automobile motor is safely and stably placed on the operating table of the cleaning workshop. This step is the basis for subsequent disassembly work, and it is necessary to ensure the accuracy and stability of the motor placement. The coordinate calibration configuration module 15 is connected to the disassembly tool information library to retrieve M disassembly tools and their performance parameter sets that match the current automobile motor model and specifications. These performance parameter sets include but are not limited to key information such as disassembly tool type, disassembly shape and size indicators. After obtaining the disassembly tools and performance parameters, module 15 begins to perform coordinate calibration configuration on the disassembly robot arm. The purpose of this step is to ensure that the disassembly robot arm can accurately disassemble the automobile motor according to the predetermined path and accuracy. The coordinate calibration configuration includes but is not limited to the following aspects: according to the shape and size indicators of the disassembly tool, adjust the end effector of the disassembly robot arm to ensure that it can accurately clamp and disassemble the various components on the motor; according to the type of disassembly tool, configure the motion trajectory and speed of the disassembly robot arm to optimize the disassembly efficiency and accuracy; monitor various parameters in the disassembly process, such as force, angle, speed, etc. in real time to ensure the stability and safety of the disassembly process. The coordinate calibration configuration module 15 ensures the smooth disassembly of the automobile motor through precise placement of the automobile motor, acquisition of disassembly tools and performance parameters, and coordinate calibration configuration of the disassembly robot arm. The application of this module not only improves the disassembly efficiency and accuracy, but also effectively ensures the safety and stability of the disassembly process.

[0022] The complementary control iteration module 16 is used to compare the automotive motor twin model with the recyclable component mark, and perform complementary control iteration of disassembly recycling and automatic cleaning of the automotive motor.

[0023] The complementary control iteration module 16 is a system module that integrates iterative control logic and complementary control strategy. It is designed to perform disassembly, recycling and automated cleaning operations on actual automotive motors in comparison with the digital twin model of automotive motors with recyclable component markings. The complementary control iteration module 16 first obtains the digital twin model of the automotive motor, which contains the detailed structure of the motor and the marking information of the recyclable components. Based on the information of the digital twin model, module 16 controls the disassembly equipment to perform precise disassembly operations on the automotive motor to ensure that all recyclable components are correctly separated. During or after the disassembly recycling process, module 16 will also control the automated cleaning equipment to clean the disassembled components to remove impurities such as oil and dust. The iterative control logic allows module 16 to adjust the control parameters and optimize the operation process based on the real-time feedback of disassembly recycling and automated cleaning. The complementary control strategy ensures that different steps can work together during the disassembly and cleaning process to maximize the overall efficiency. The complementary control iteration module 16 is a control system component specifically used for automobile motor disassembly, recycling and automated cleaning. It achieves precise disassembly and cleaning operations by comparing the digital twin model, and optimizes the operation process through iterative control and complementary control strategies.

[0024] like Figure 2 As shown, further, the coordinate calibration configuration module also includes: Based on the M disassembly tools and M performance parameter sets, a working range is defined; based on the working range and in combination with a motor disassembly example, a disassembly path set is obtained; based on the basic technical features, matching is performed in the disassembly path set, and the robot path programming is extracted to perform coordinate calibration configuration on the disassembly robot arm.

[0025] According to the M disassembly tools and their corresponding M performance parameter sets obtained from the disassembly tool information library, the working range of the disassembly robot arm when disassembling the automobile motor can be defined. This working range includes the range that the end effector of the robot arm can reach, the maximum force and speed of the tool, and the boundary of the disassembly area determined by the size of the disassembly tool. Combined with existing motor disassembly examples (such as historical disassembly data, expert experience, etc.), one or more possible disassembly path sets are generated. These disassembly path sets contain complete steps and paths from the start of motor disassembly to the separation of all recyclable components. Each path should take into account the performance parameters such as the size, shape, and force of the disassembly tool, as well as the limitations of the working range. According to the basic technical characteristics of the automobile motor (such as model, size, structure, etc.), matching is performed in the disassembly path set. The purpose of this step is to find one or more paths that are most suitable for the current motor disassembly. After finding the matching disassembly path, the corresponding robot arm path programming can be extracted. These programming instructions will guide the disassembly robot arm to perform disassembly operations according to the predetermined path and parameters. Programming instructions usually include parameters such as the movement angle, speed, and strength of each joint of the robot, as well as the clamping and rotation of the end effector. According to the extracted robot path programming, the disassembly robot arm is calibrated and configured with coordinates. The purpose of this step is to ensure that the robot arm can accurately perform disassembly operations according to the programming instructions, including setting the initial position and posture of the robot arm, calculating the angles of rotation of each joint of the robot arm and the position of the end effector according to the path information in the programming instructions, adjusting the coordinate system of the robot arm to align it with the coordinate system of the motor, ensuring that the end effector can accurately reach the predetermined disassembly position, and verifying the calibration results of the robot arm to ensure that the robot arm can perform disassembly operations according to the programming instructions. Based on the performance parameters of the disassembly tool and the basic technical characteristics of the motor, accurate path programming is generated for the disassembly robot arm, and coordinate calibration configuration is performed to ensure the efficiency, accuracy and safety of the automotive motor disassembly process.

[0026] Furthermore, the system is used to perform the following steps: Based on the basic technical features, the fragile components in the sensitive area are identified; if the fragile components in the sensitive area have recyclable marks, sensitive protection indicators are set, and the sensitive protection indicators include amplitude and external force; matching is performed in the disassembly path set to determine the adapted disassembly path set, and protection constraints are performed on the fragile components in combination with the sensitive protection indicators.

[0027] Clarify the basic technical characteristics, which may include material properties, structural characteristics, usage conditions, etc. Use these characteristics, combined with professional engineering analysis and evaluation methods (such as finite element analysis, stress analysis, etc.) to identify sensitive areas in the structure. In the sensitive areas, further identify those fragile components that may be damaged or fail under the action of external forces. For the identified fragile components, evaluate their recycling value and feasibility. If the component meets the recycling standards (such as reusable materials, no environmental pollution, etc.), set a recyclable mark on it. This mark can be a physical mark (such as a label, color coding) or an electronic mark (such as an RFID tag). According to the characteristics of the fragile components and the external forces that may affect them, set corresponding sensitive protection indicators. These indicators may include amplitude (such as vibration amplitude limit) and external force (such as maximum bearing capacity, impact force limit, etc.). The setting of these indicators should be based on engineering analysis and experimental verification to ensure that the fragile components can be effectively protected during the actual disassembly process. According to the characteristics and requirements of the disassembly object, pre-plan multiple possible disassembly paths to form a disassembly path set. In this set, by comparing and analyzing the impact of various disassembly paths on fragile components, those disassembly paths that can meet sensitive protection indicators are screened out to form an adaptive disassembly path set. When executing the adaptive disassembly path, protection constraints are imposed on fragile components. This may include the use of specialized tools and equipment to reduce vibration and impact during the disassembly process, or the adoption of special disassembly sequences and operating methods to avoid damage to fragile components. Throughout the disassembly process, changes in sensitive protection indicators are continuously monitored to ensure that they always remain within a safe range. If it is found that a disassembly path cannot meet the protection requirements, the disassembly plan should be adjusted in a timely manner or additional protection measures should be taken. Through the above steps, it can be ensured that fragile components in sensitive areas are effectively identified, marked and protected during the disassembly process, reducing losses and improving recycling efficiency.

[0028] Furthermore, the system is used to perform the following steps: Based on the sensitive area, N sensitive protection areas are divided according to the protection level; fine-tuning is performed through the N sensitive protection areas and the sensitive protection indicators combined with the first adaptive disassembly path, and the first adaptive disassembly path is any disassembly path in the adaptive disassembly path set; the adaptive disassembly path set is traversed, sorted from high to low in efficiency, and sent to the robot control center, and the robot control center is used to execute the task corresponding to the robot path programming.

[0029] According to the known sensitive areas, the sensitive areas are divided into N different sensitive protection areas according to the preset protection levels (such as level 1, level 2, level 3, etc.). Each area is assigned a different protection level according to its vulnerability and importance. A disassembly path is selected from the set of adaptive disassembly paths as the initial first adaptive disassembly path, which can be randomly selected or selected according to a preset priority. For each sensitive protection area, the first adaptive disassembly path is fine-tuned according to its protection level and sensitive protection indicators (such as amplitude, external force, etc.). This may involve adjusting the disassembly order, speed, tool selection, etc. to ensure that the fragile components in the sensitive protection area are fully protected during the disassembly process. After fine-tuning the first adaptive disassembly path, the entire set of adaptive disassembly paths is traversed, and similar fine-tuning operations are performed on each disassembly path. According to the preset evaluation criteria (such as disassembly efficiency, safety, cost, etc.), the fine-tuned disassembly paths are scored or sorted. Disassembly paths with high disassembly efficiency, good safety and low cost will be ranked first. The optimal disassembly path (i.e., the disassembly path at the front) in the sorted disassembly path set is sent to the robot control center. The robot control center programs the path of the robot according to the received optimal disassembly path information, and controls the robot to perform disassembly operations according to the programmed path. During the disassembly process, data is collected in real time through sensors and other monitoring equipment to monitor the status of sensitive protection areas and changes in sensitive protection indicators. If any abnormal situation is found or the preset sensitive protection indicators are exceeded, a feedback signal is immediately sent to the robot control center, and an emergency response mechanism may be triggered, such as suspending disassembly, adjusting the disassembly path, etc. Through this process, it can be ensured that the sensitive protection area is fully protected during the disassembly process, and the optimal disassembly path is selected to improve the disassembly efficiency, and ultimately achieve efficient and safe disassembly operations.

[0030] Furthermore, the system is used to perform the following steps: Based on the N sensitive protection areas, and in comparison with the protection level and the sensitive protection index, N groups of sensitive protection thresholds are set, and the sensitive protection thresholds include the maximum allowable amplitude and the maximum external force. Based on the maximum allowable amplitude in the N groups of sensitive protection thresholds, point fine-tuning is performed in combination with the first adaptive disassembly path. Based on the maximum external force in the N groups of sensitive protection thresholds, force control fine-tuning is performed in combination with the first adaptive disassembly path. After completing point fine-tuning and force control fine-tuning of the first adaptive disassembly path, the adaptive disassembly path set is traversed to obtain a fine-tuned adaptive disassembly path set.

[0031] According to N sensitive protection areas and their corresponding protection levels and sensitive protection indicators, a set of sensitive protection thresholds is set for each sensitive protection area. These thresholds include the maximum allowable amplitude and the maximum external force. The setting of the thresholds should be based on engineering analysis, material properties and historical disassembly data to ensure that the fragile components in the sensitive area will not be affected by vibrations and external forces that exceed their bearing capacity during the disassembly process. Based on the maximum allowable amplitude in the N groups of sensitive protection thresholds, the first adaptive disassembly path is fine-tuned at points. Point fine-tuning involves adjusting the contact points and operation points between the robot arm or disassembly tool and the components in the sensitive protection area during the disassembly process. The purpose is to ensure that the vibration amplitude at these points does not exceed the maximum allowable amplitude during the disassembly process, thereby protecting the fragile components in the sensitive area. Based on the maximum external force in the N groups of sensitive protection thresholds, the first adaptive disassembly path is fine-tuned by force control, which involves adjusting the magnitude and direction of the force applied by the robot arm or disassembly tool on the components in the sensitive protection area during the disassembly process. The purpose is to ensure that the external forces borne by these components during the disassembly process do not exceed their maximum bearing capacity, thereby avoiding damage or failure of the components. After completing the point fine-tuning and force control fine-tuning of the first adaptive disassembly path, traverse the other disassembly paths in the adaptive disassembly path set. Perform point fine-tuning and force control fine-tuning on each disassembly path according to the same standard to ensure that each path meets the requirements of the sensitive protection threshold. The disassembly path set that has been fine-tuned is called the fine-tuned adaptive disassembly path set. According to actual needs, the fine-tuned adaptive disassembly path set can be further analyzed and evaluated, such as evaluating the disassembly efficiency, cost, safety, etc. According to the evaluation results, the optimal disassembly path can be selected for the actual disassembly operation, or the fine-tuned adaptive disassembly path set can be further optimized and improved. Through this process, it can be ensured that the sensitive protection area is fully protected during the disassembly process, and at the same time, a set of fine-tuned adaptive disassembly path sets that meet the sensitive protection threshold are obtained, providing a more reliable path selection for subsequent disassembly operations.

[0032] Furthermore, the system is used to perform the following steps: Based on the disassembly robot arm, a mechanical monitoring device is set at the joint to collect force monitoring data; based on the force monitoring data, the force-motion speed correlation index and the force-acceleration correlation index are analyzed by comparing with the direction of the first adaptive disassembly path; based on the force-motion speed correlation index and the force-acceleration correlation index, the speed synchronization adjustment is performed in combination with the first adaptive disassembly path.

[0033] Mechanical monitoring devices are installed at the joints of the disassembly robot arm. These devices can collect various force data generated by the robot arm during the disassembly process in real time. The mechanical monitoring devices work continuously to record and transmit various force data generated by the robot arm during the disassembly process, including the magnitude, direction, and point of action of the force. The collected force monitoring data is compared with the direction of the first adaptive disassembly path. The correlation index between the force and the movement speed of the robot arm is analyzed. This usually involves statistics and calculation of the movement speed of the robot arm under different forces, as well as the change trend and relationship between them. Similarly, the force monitoring data is correlated with the acceleration of the robot arm. The acceleration of the robot arm under different forces is calculated and the relationship between them is analyzed. The change in acceleration is particularly important for the protection of sensitive areas because it may directly affect the degree of impact on the component. According to the analysis results of the force-movement speed correlation index and the force-acceleration correlation index, the speed of the first adaptive disassembly path is adjusted synchronously. If the force monitored at a certain position or time period exceeds the preset threshold, or the acceleration changes abnormally, it may be necessary to reduce the movement speed of the robot arm to reduce potential damage to the sensitive area. On the contrary, if the force monitoring data is within the safe range and the acceleration changes are stable, you can consider increasing the movement speed of the robot arm to improve the disassembly efficiency. Through this process, the mechanical monitoring data of the disassembly robot arm and the analysis of related indicators can be effectively combined to synchronize the speed of the disassembly path, thereby achieving better protection of sensitive areas and improving disassembly efficiency.

[0034] Furthermore, the system is used to perform the following steps: The closed image acquisition device above the operating table of the automobile motor cleaning workshop is used to collect image information of the automobile motor placed on the operating table; based on the image information of the automobile motor, the pollutant coordinates are located and the pollutant types are identified, wherein the pollutant types include oil stains, carbon deposits, and dust; through the pollutant coordinates, the automobile motor is subjected to complementary control iterations of disassembly recycling and automated cleaning.

[0035] A closed image acquisition device (such as a high-definition camera) is installed above the operating table of the automobile motor cleaning workshop to ensure that the complete image of the automobile motor placed on the operating table can be captured. The image acquisition device is started to obtain real-time image information of the automobile motor and transmit it to the image processing and analysis system. After receiving the image information, the image processing and analysis system first performs image preprocessing, including denoising, contrast enhancement, etc., to improve image quality. Then, the key areas and features of the automobile motor are extracted from the preprocessed image using algorithms such as image segmentation and edge detection. On this basis, the coordinate position of the pollutant on the motor is located through feature matching and pattern recognition technology. For the located pollutants, the image processing and analysis system further analyzes their color, texture, shape and other characteristics, and compares them with the preset pollutant type library. The pollutant type library includes feature data of many common pollutant types such as oil, carbon deposits, and dust. Through comparison and analysis, the system can accurately identify the type of pollutant. According to the coordinates and type information of the pollutant, the control system determines whether disassembly and recycling operations are required. For serious contaminants that cannot be removed by cleaning or parts that require in-depth cleaning, the system will start the disassembly and recycling program to remove the contaminated parts from the motor for further processing. For contaminants that can be removed by cleaning, the system will start the automated cleaning equipment to clean the motor. During the cleaning process, the control system will adjust the parameters of the cleaning equipment (such as cleaning liquid concentration, injection pressure, cleaning time, etc.) according to the type and location information of the contaminants to ensure the best cleaning effect. After the cleaning is completed, the control system will use the image acquisition device to collect and analyze the motor again to check the cleaning effect. If the cleaning is not thorough or there are new contaminants, the system will perform complementary control iterations of disassembly and recycling and automated cleaning again until the motor meets the cleaning standard. The control system will record the iterative process and data of each disassembly and recycling and automated cleaning, including the coordinates, type, cleaning parameters, etc. of the contaminants. By analyzing these data, the complementary control strategy of disassembly and recycling and automated cleaning can be continuously optimized to improve the cleaning efficiency and effect. Through the above process, the complementary control iteration of disassembly and recycling and automated cleaning in the automotive motor cleaning workshop based on image recognition can be realized to improve the cleaning efficiency and effect, and reduce labor costs and operating risks.

[0036] Furthermore, the system is used to perform the following steps: Compare with the first fine-tuning adaptive disassembly path to determine the coordinates of target pollutants that affect the disassembly process, wherein the first fine-tuning adaptive disassembly path is any disassembly path in the set of fine-tuning adaptive disassembly paths; based on the coordinates of target pollutants that affect the disassembly process, and in comparison with the pollutant type, insert a first automated cleaning process into the robot path programming corresponding to the first fine-tuning adaptive disassembly path, and the cleaning methods corresponding to the first automated cleaning process include ultrasonic cleaning and spray cleaning; in comparison with the first fine-tuning adaptive disassembly path, based on the image information of the automobile motor, synchronously update the pollutant coordinates and identify the pollutant type, and correspondingly insert a second automated cleaning process, a third automated cleaning process, ..., a Pth automated cleaning process; traverse the set of fine-tuning adaptive disassembly paths, and perform complementary control iterations on the robot path programming corresponding to the disassembly and recovery of the automobile motor and the first automated cleaning process, the second automated cleaning process, the third automated cleaning process, ..., the Pth automated cleaning process corresponding to the automated cleaning.

[0037] A disassembly path is selected from the set of fine-tuning and adaptive disassembly paths as the first fine-tuning and adaptive disassembly path. By comparing the path, the coordinates of the target pollutants that may affect the disassembly process are analyzed and determined. Based on the coordinates of the target pollutants that affect the disassembly process, the identified pollutant types (such as oil, carbon deposits, dust, etc.) are compared. According to the pollutant type, the first automated cleaning process is inserted into the robot path programming corresponding to the first fine-tuning and adaptive disassembly path. The cleaning method can be ultrasonic cleaning, spray cleaning, etc., to ensure that the pollutants can be effectively removed. In the process of the robot arm executing the first fine-tuning and adaptive disassembly path, the image information of the automobile motor is continuously collected using a closed image acquisition device. By comparing the first fine-tuning and adaptive disassembly path, the pollutant coordinates are synchronously updated and new pollutant types are identified based on the real-time collected automobile motor image information. For the newly identified pollutants, according to the pollutant type and coordinates, the corresponding automated cleaning process (such as the second automated cleaning process, the third automated cleaning process, etc.) is inserted into the robot path programming. Repeat this process until the entire set of fine-tuning and adaptive disassembly paths is traversed, and a suitable automated cleaning process is inserted in each step that needs to be cleaned. After traversing and fine-tuning the set of disassembly paths, a complete set of complementary control solutions for disassembly recycling and automated cleaning will be formed. In the actual disassembly recycling process, the robot arm will perform disassembly operations according to the programmed path, and automatically switch to the corresponding cleaning process when encountering contaminants to ensure that the disassembly process is not affected. If new contaminants are found during the disassembly process or the cleaning process needs to be adjusted, image acquisition and analysis can be performed again to iteratively optimize the robot arm path programming and automated cleaning process. Through this process, it is possible to automatically identify and process contaminants that affect the disassembly process by combining the image information of the automotive motor during the disassembly recycling process, and ensure the smooth progress of the disassembly process through the automated cleaning process. At the same time, through the complementary control iteration of the robot arm path programming and the automated cleaning process, the efficiency and effect of disassembly recycling can be continuously optimized.

[0038] The specific embodiments of the automobile motor recycling and cleaning system based on automatic control can be referred to above. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0039] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. The automobile motor recycling and cleaning system based on automatic control is characterized by: The system comprises: A basic technical feature acquisition module, which is used to acquire basic technical features of automobile motors, including automobile motor models and automobile motor components; An initialization module, the initialization module is used to connect to the automobile motor cleaning workshop, initialize the configuration of the disassembly robot arm based on the automobile motor model in the basic technical characteristics, and set the end effector of the disassembly robot arm; A disassembly tool information library connection module, the disassembly tool information library connection module is used to connect to the disassembly tool information library, determine M disassembly tools and M performance parameter sets in the disassembly tool information library, the M performance parameter sets include disassembly tool types, disassembly shape and size indicators; An automobile motor twin model generation module, the automobile motor twin model generation module is used to identify recyclable components based on automobile motor components in the basic technical features, generate an automobile motor twin model, and mark the recyclable components; A coordinate calibration configuration module, wherein the coordinate calibration configuration module is used to place the automobile motor on an operating table in the automobile motor cleaning workshop, and perform coordinate calibration configuration on the disassembly robot arm based on the M disassembly tools and the M performance parameter sets; A complementary control iteration module is used to compare the automotive motor twin model with recyclable component markings to perform complementary control iterations of disassembly recycling and automated cleaning of the automotive motor.

2. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 1 is characterized in that: Based on the M disassembly tools and the M performance parameter sets, coordinate calibration configuration is performed on the disassembly robot arm, and the coordinate calibration configuration module further includes: Based on the M disassembly tools and the M performance parameter sets, define a working range; Based on the working range and in combination with the motor disassembly example, a disassembly path set is obtained; Based on the basic technical features, matching is performed in the disassembly path set, and the robot arm path programming is extracted to perform coordinate calibration configuration on the disassembly robot arm.

3. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 2 is characterized in that: Based on the basic technical features, matching is performed in the disassembly path set, and the system is used to perform the following steps: Based on the basic technical features, identifying vulnerable components in sensitive areas, the vulnerable components; If the fragile components in the sensitive area have a recyclable mark, a sensitive protection index is set, and the sensitive protection index includes amplitude and external force; Matching is performed in the disassembly path set to determine an adapted disassembly path set, and protection constraints on vulnerable components are performed in combination with the sensitive protection indicators.

4. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 3 is characterized in that: Determine a set of adaptive disassembly paths, and perform protection constraints on vulnerable components in combination with the sensitive protection indicators. The system is used to perform the following steps: Based on the sensitive areas, N sensitive protection areas are divided according to the protection levels; Fine-tuning is performed by using the N sensitive protection areas and the sensitive protection indicators in combination with a first adaptation disassembly path, where the first adaptation disassembly path is any one disassembly path in the adaptation disassembly path set; The set of adapted disassembly paths is traversed, sorted from high to low efficiency, and sent to a robot control center, where the robot control center is used to execute tasks corresponding to the robot path programming.

5. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 4 is characterized in that: Through the N sensitive protection areas and the sensitive protection indicators, fine-tuning is performed in combination with the first adaptation disassembly path, and the system is used to perform the following steps: Based on the N sensitive protection areas, and in accordance with the protection level and the sensitive protection index, N groups of sensitive protection thresholds are set, wherein the sensitive protection thresholds include a maximum allowable amplitude and a maximum external force; Based on the maximum allowable amplitude in the N groups of sensitive protection thresholds, fine-tuning of the points is performed in combination with the first adaptation disassembly path; Based on the maximum external force among the N groups of sensitive protection thresholds, force control fine-tuning is performed in combination with the first adaptation disassembly path; After completing the point fine-tuning and force control fine-tuning of the first adaptation and disassembly path, the adaptation and disassembly path set is traversed to obtain a fine-tuning adaptation and disassembly path set.

6. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 5 is characterized in that: Based on the maximum external force in the N groups of sensitive protection thresholds, force control fine-tuning is performed in combination with the first adaptation disassembly path, and the system is used to perform the following steps: Based on the disassembly robot arm, a mechanical monitoring device is arranged at the joint to collect force monitoring data; Based on the force monitoring data, and comparing the direction of the first adaptation disassembly path, analyzing the force-movement speed correlation index and the force-acceleration correlation index; Based on the force-motion speed correlation index and the force-acceleration correlation index, the speed synchronization adjustment is performed in combination with the first adaptation disassembly path.

7. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 5, characterized in that: The complementary control iteration of disassembly recycling and automatic cleaning of the automobile motor is performed, and the system is used to perform the following steps: The closed image acquisition device above the operating table of the automobile motor cleaning workshop is used to collect image information of the automobile motor placed on the operating table; Based on the automobile motor image information, locate the pollutant coordinates and identify the pollutant type, wherein the pollutant type includes oil, carbon deposits, and dust; Through the pollutant coordinates, complementary control iterations of disassembly recycling and automated cleaning of the automobile motor are performed.

8. The automobile motor recycling and cleaning system based on automatic control as claimed in claim 7 is characterized in that: Before sorting them from high to low efficiency and sending them to the robot control center, the system is used to perform the following steps: Compare with the first fine-tuning and adaptive disassembly path to determine the coordinates of the target pollutant that affects the disassembly process, wherein the first fine-tuning and adaptive disassembly path is any one of the fine-tuning and adaptive disassembly path set; Based on the coordinates of the target pollutants that affect the disassembly process and in comparison with the pollutant type, inserting a first automated cleaning process into the robot arm path programming corresponding to the first fine-tuning adaptation disassembly path, wherein the cleaning methods corresponding to the first automated cleaning process include ultrasonic cleaning and spray cleaning; According to the first fine-tuning and adaptation disassembly path, based on the automobile motor image information, the pollutant coordinates are synchronously updated and the pollutant type is identified, and the second automated cleaning process, the third automated cleaning process, ..., the Pth automated cleaning process are correspondingly inserted; The fine-tuning and adaptation disassembly path set is traversed to perform complementary control iteration on the robot arm path programming corresponding to the disassembly and recycling of the automobile motor and the first automated cleaning process, the second automated cleaning process, the third automated cleaning process, ..., the Pth automated cleaning process corresponding to the automated cleaning.

Images