Automobile Motor Recycling and Cleaning System Based on Automatic Control

Abstract

The present invention discloses an automobile motor recycling and cleaning system based on automatic control, which relates to the technical field of cleaning. The system includes: a basic technical feature acquisition module for acquiring basic technical features; an initialization module for connecting to an automobile motor cleaning workshop; a disassembly tool information library connection module for connecting to a disassembly tool information library; an automobile motor twin model generation module for generating an automobile motor twin model; a coordinate calibration configuration module for performing coordinate calibration configuration; and a complementary control iteration module for performing complementary control iteration. It solves the technical problem that in dealing with precise and complex motor structures, the recycling and cleaning of automobiles rely on the automatic operation control of a single mapping, making it difficult to ensure the cleaning quality, and realizes the technical effect of efficiently and accurately disassembling and cleaning automobile motors by selecting appropriate disassembly tools and cleaning methods based on motor models and structural information and through real-time monitoring and intelligent adjustment.

Description

Technical Field

[0001] This application relates to the technical field of cleaning, and specifically to an automotive motor recycling and cleaning system based on automatic control. Background Art

[0002] With the rapid development of the automotive industry, the recycling and reuse of automotive motors have become an important issue in the industry. The automotive motor recycling and cleaning system is a key link among them. The automotive motor recycling and cleaning system is usually equipped with various driving devices, such as motors, reducers, and hydraulic drives, etc. These driving devices have their own advantages and disadvantages, but motor drive has become the current mainstream choice due to its advantages such as large power, adjustable speed, and convenient control. In order to improve the automation level of the system, modern automotive motor recycling and cleaning systems mostly use PLC for control. PLC can achieve precise control of the cleaning process and ensure the smooth progress of each process. Although the automotive motor recycling and cleaning system based on automatic control has made remarkable progress, there are still some defects. The operation of the automatic system depends on the programming and setting of personnel. If the operator makes mistakes, it may cause problems with the system. The automatic system is usually designed and optimized for specific tasks and working environments. If the environment or task changes, the system may not be able to adapt.

[0003] In summary, in the prior art, when dealing with precise and complex motor structures, automotive recycling and cleaning rely on the automatic operation control of a single mapping, and it is difficult to guarantee the cleaning quality. Summary of the Invention

[0004] Based on this, it is necessary to provide an automotive motor recycling and cleaning system based on automatic control for the above technical problems, which can solve the technical problem that when dealing with precise and complex motor structures, automotive recycling and cleaning rely on the automatic operation control of a single mapping and it is difficult to guarantee the cleaning quality, and realizes the technical effect of efficiently and accurately disassembling and cleaning automotive motors by selecting appropriate disassembly tools and cleaning methods based on the motor model and structure information and through real-time monitoring and intelligent adjustment.

[0005] Based on this, a vehicle motor recycling and cleaning system based on automatic control is provided. The system includes: a basic technical feature acquisition module for acquiring the basic technical features of the vehicle motor, where the basic technical features include the vehicle motor model and vehicle motor components; an initialization module for connecting to the vehicle motor cleaning workshop, initializing the configuration of the disassembly robotic arm based on the vehicle motor model in the basic technical features, and setting the end effector of the disassembly robotic arm; a disassembly tool information library connection module for connecting to the disassembly tool information library, determining M disassembly tools and M sets of performance parameters in the disassembly tool information library, where the M sets of performance parameters include disassembly tool type and disassembly shape and size indicators; a vehicle motor twin model generation module for identifying recyclable components based on the vehicle motor components in the basic technical features, generating a vehicle motor twin model, and marking the recyclable components; a coordinate calibration configuration module for placing the vehicle motor on the operating table of the vehicle motor cleaning workshop and performing coordinate calibration configuration on the disassembly robotic arm based on the M disassembly tools and M sets of performance parameters; a complementary control iteration module for performing complementary control iteration on the vehicle motor for disassembly recycling and automatic cleaning by comparing with the vehicle motor twin model with marked recyclable components.

[0006] The above vehicle motor recycling and cleaning system based on automatic control solves the technical problem that in dealing with precise and complex motor structures, vehicle recycling and cleaning rely on the automatic operation control of a single mapping, making it difficult to ensure the cleaning quality. It realizes the technical effect of selecting appropriate disassembly tools and cleaning methods based on the motor model and structural information, and achieving efficient and precise disassembly and cleaning of the vehicle motor through real-time monitoring and intelligent adjustment.

[0007] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of this application more obvious and understandable, the following specifically gives the specific implementation manners of this application. Brief Description of the Drawings

[0008] Figure 1 It is a structural block diagram of a vehicle motor recycling and cleaning system based on automatic control in an embodiment;

[0009] Figure 2 It is a schematic flowchart of coordinate calibration configuration of a vehicle motor recycling and cleaning system based on automatic control in an embodiment.

[0010] Description of the attached drawing reference numerals: Basic technical feature acquisition module 11, initialization module 12, disassembly tool information library connection module 13, automotive motor twin model generation module 14, coordinate calibration configuration module 15, complementary control iteration module 16. Detailed implementation manners

[0011] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to 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.

[0012] As Figure 1 shown, the present application provides an automotive motor recycling and cleaning system based on automatic control, and the system includes:

[0013] A basic technical feature acquisition module 11, where the basic technical feature acquisition module 11 is used to acquire the basic technical features of the automotive motor, and the basic technical features include the automotive motor model and automotive motor components.

[0014] Automatic control refers to the situation where, without direct human participation, by using external devices or apparatuses, a certain working state or parameter of a machine, device or production process automatically runs according to a predetermined law. Automotive motor recycling and cleaning involves the processes of disassembling, cleaning and reprocessing used automotive motors. Automotive motor recycling refers to recovering the drive motors from scrapped, retired or damaged automobiles. Cleaning is a key step in the automotive motor recycling and processing process, and its main purpose is to remove impurities such as dust, oil, carbon deposits, scale and rust inside the motor, so as to facilitate subsequent processing. The present application provides an automotive motor recycling and cleaning system based on automatic control, which can effectively improve the efficiency and quality of automotive motor recycling and processing, reduce costs and environmental pollution, and bring a more green, environmentally friendly and efficient solution to the automotive motor recycling industry.

[0015] The basic technical feature acquisition module 11 is an important part of the automotive motor recycling and cleaning system. Its main function is to acquire the basic technical features of automotive motors. These basic technical features are crucial for subsequent motor identification, classification, cleaning, and reuse. The model of an automotive motor usually consists of numbers, letters, or symbols, and different combinations represent different meanings. The model information includes key parameters such as the brand, type, power, voltage, and frequency of the motor. Obtaining the model information helps the system quickly identify the type and performance of the motor, providing data support for subsequent processing. The main components of an automotive motor include the stator, rotor, armature, permanent magnet, capacitor, etc. The characteristics and states of these components directly determine the performance and lifespan of the motor. By obtaining information about the motor components, the system can evaluate the overall condition of the motor, providing a decision-making basis for subsequent cleaning and reuse. The basic technical feature acquisition module 11 can accurately acquire the model and component information of automotive motors, ensuring the accuracy of the data. By adopting an efficient data processing algorithm, it 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 automotive 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 and processing. At the same time, this information can also be used for motor performance evaluation and fault diagnosis, providing data support for motor maintenance and servicing.

[0016] The initialization module 12 is used to connect to the automotive motor cleaning workshop. Based on the automotive motor model in the basic technical features, it initializes the configuration of the disassembling robotic arm and sets the end effector of the disassembling robotic arm.

[0017] The initialization module 12 is a key component in the automotive motor recycling and cleaning system. Its main function is to connect to the automotive motor cleaning workshop, obtain the automotive motor model information acquired by the basic technical feature acquisition module 11, perform initialization configuration on the disassembly robotic arm, and set the end effector of the disassembly robotic arm. The initialization module 12 first establishes a stable connection with the automotive motor cleaning workshop to ensure the accuracy and real-time nature of data transmission. It reads the automotive motor model information from the basic technical feature acquisition module 11, which contains the key characteristics and performance parameters of the motor. Based on the read automotive motor model information, the initialization module 12 performs initialization configuration on the disassembly robotic arm. This includes, but is not limited to, setting parameters such as the movement trajectory, movement speed, and force of the robotic arm to ensure that the robotic arm can operate precisely and stably during the disassembly process. During the configuration process, the initialization module 12 will refer to the corresponding relationship between the preset motor model and the robotic arm configuration parameters to select the most appropriate configuration plan. The end effector is a key component of the disassembly robotic arm and is used to directly contact the automotive motor and perform disassembly operations. The initialization module 12 will select or adjust the end effector that matches the motor model. This includes selecting the appropriate actuator type, installation position, and adjusting the clamping force, etc. By setting the appropriate 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 automotive motor recycling and cleaning system. Through precise configuration and setting, it can ensure that the disassembly robotic arm can fully exert its performance during the disassembly process, improving 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.

[0018] The disassembly tool information library connection module 13 is used to connect to the disassembly tool information library, determine M disassembly tools and M sets of performance parameters in the disassembly tool information library, and the M sets of performance parameters include disassembly tool type and disassembly shape and size indicators.

[0019] The main function of the disassembly tool information library connection module 13 is to connect to the disassembly tool information library and retrieve from it the disassembly tools related to the disassembly of automotive motors and their sets of performance parameters. The disassembly tool information library connection module 13 first establishes a connection with the disassembly tool information library to ensure that relevant information about the disassembly tools can be obtained in real time and accurately. After the connection is successful, the module 13 will retrieve M disassembly tools that match it from the disassembly tool information library according to the characteristics of the automotive motor, such as its model and structure. For each disassembly tool, the module 13 will further obtain the corresponding set of performance parameters. These sets of performance parameters usually include the following: the type of disassembly tool, such as screwdrivers, wrenches, drivers, etc. Different types of disassembly tools are suitable for different disassembly tasks. Disassembly shape and size indicators, including size parameters such as the size, shape, length, and width of the disassembly tool, as well as the size parameters of fasteners such as screws and nuts that match it. These parameters are crucial for ensuring the applicability and accuracy of the disassembly tool. The obtained sets of performance parameters will be used to guide the selection and configuration of the end effector of the disassembly robotic arm and 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 each component of the automotive motor can be accurately clamped and disassembled. By connecting to the disassembly tool information library, the disassembly tool information library connection module 13 provides the functions of retrieving disassembly tools and obtaining performance parameters for the automotive motor recycling and cleaning system. These sets of performance parameters are of great significance for ensuring the smooth progress of the disassembly process, improving the disassembly efficiency and quality.

[0020] An automotive motor twin model generation module 14, where the automotive motor twin model generation module 14 is used to identify recyclable components based on the automotive motor components in the basic technical features and generate an automotive motor twin model, and mark the recyclable components.

[0021] 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 the corresponding automotive motor twin model. By marking the recyclable components, this module provides important data support for subsequent recycling processes. The automotive motor twin model generation module 14 first obtains the basic technical characteristic 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 uses a preset identification algorithm or model to analyze the recyclability of each component in the motor. By analyzing factors such as the material composition, structural characteristics, and usage status of the components, it determines which components have recycling value. After identifying the recyclable components, the module 14 uses digital twin technology to generate a twin model of the automotive motor. This twin model is a virtual mapping of the motor during actual operation and can accurately reflect information such as the motor's structure, performance, and status. During the process of generating the twin model, the module 14 combines the identification results of the recyclable components and specially marks the corresponding parts in the model. These marks can help subsequent processing personnel quickly identify the components that need to be recycled and improve the recycling efficiency. In the twin model, the module 14 clearly marks the recyclable components. These marks may include various forms such as colors, shapes, and texts, aiming to enable the processing personnel to intuitively identify the positions and quantities of the recyclable components. Through this marking method, the processing personnel can quickly find and separate the 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 process of automotive motors by identifying recyclable components and generating a marked automotive motor twin model. The application of this module can not only improve the recycling efficiency and quality but also promote the recycling of resources and environmental protection.

[0022] A coordinate calibration configuration module 15, which is used to place the automotive motor on the operating table in the automotive motor cleaning workshop and perform coordinate calibration configuration on the disassembly robotic arm based on the M disassembly tools and the M sets of performance parameters.

[0023] The coordinate calibration and configuration module 15 is an important part of the automotive motor recycling and cleaning system. Its main responsibility is to accurately place the automotive motor on the operating table in the cleaning workshop, and based on the M disassembly tools and their corresponding M sets of performance parameters provided by the disassembly tool information library, perform precise coordinate calibration and configuration on the disassembly robotic arm. The coordinate calibration and configuration module 15 ensures that the automotive motor is placed safely and stably on the operating table in the cleaning workshop. This step is the basis for subsequent disassembly work and requires ensuring the accuracy and stability of the motor placement. The coordinate calibration and configuration module 15 is connected to the disassembly tool information library to retrieve the M disassembly tools and their sets of performance parameters that match the current automotive motor model and specifications. These sets of performance parameters include, but are not limited to, key information such as disassembly tool type, disassembly shape and size indicators, etc. After obtaining the disassembly tools and performance parameters, module 15 begins to perform coordinate calibration and configuration on the disassembly robotic arm. The purpose of this step is to ensure that the disassembly robotic arm can accurately disassemble the automotive motor according to the predetermined path and accuracy. The coordinate calibration and configuration include, but are not limited to, the following aspects: adjusting the end effector of the disassembly robotic arm according to the shape and size indicators of the disassembly tool to ensure that it can accurately grip and disassemble each component on the motor; configuring the motion trajectory and speed of the disassembly robotic arm according to the type of disassembly tool to optimize the disassembly efficiency and accuracy; real-time monitoring of various parameters during the disassembly process, such as force, angle, speed, etc., to ensure the stability and safety of the disassembly process. The coordinate calibration and configuration module 15 ensures the smooth progress of the automotive motor disassembly work through accurate placement of the automotive motor, acquisition of disassembly tools and performance parameters, and coordinate calibration and configuration of the disassembly robotic arm. The application of this module not only improves the disassembly efficiency and accuracy but also effectively guarantees the safety and stability of the disassembly process.

[0024] The complementary control iteration module 16 is used to perform complementary control iteration on the disassembly and recycling and automated cleaning of the automotive motor by comparing it with the automotive motor twin model with recyclable component markings.

[0025] The complementary control iteration module 16 is a system module integrating iteration control logic and complementary control strategies. It is designed to perform disassembly recycling and automated cleaning operations on an actual automotive motor by comparing it with a digital twin model of the automotive motor with recyclable component markings. The complementary control iteration module 16 first obtains the digital twin model of the automotive motor, which contains detailed structural information of the motor and marking information of recyclable components. Based on the information in the digital twin model, the 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, the module 16 also controls the automated cleaning equipment to clean the disassembled components to remove impurities such as oil stains and dust. The iteration control logic allows the module 16 to adjust control parameters according to real-time feedback from disassembly recycling and automated cleaning to optimize the operation process. The complementary control strategy ensures that different steps can work together during disassembly and cleaning to maximize overall efficiency. The complementary control iteration module 16 is a control system component dedicated to disassembly recycling and automated cleaning of automotive motors. It achieves precise disassembly and cleaning operations by comparing with the digital twin model and optimizes the operation process through iteration control and complementary control strategies.

[0026] As Figure 2 shown, further, the coordinate calibration configuration module further includes:

[0027] Define a working range based on the M disassembly tools and the M performance parameter sets; based on the working range, combine with the motor disassembly example to obtain a set of disassembly paths; based on the basic technical features, match in the set of disassembly paths and extract the robotic arm path programming to perform coordinate calibration configuration on the disassembly robotic arm.

[0028] Based on the M disassembly tools and their corresponding M sets of performance parameters obtained from the disassembly tool information library, the working range of the disassembly robotic arm during automotive motor disassembly can be defined. This working range includes the reachable range of the end effector of the robotic arm, limitations such as the maximum force and speed of tool use, and the boundaries of the disassembly area determined according to the size of the disassembly tool. Combining 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 the complete steps and paths from the start of motor disassembly to the separation of all recyclable components. Each path should consider 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 automotive motor (such as model, size, structure, etc.), a match is made 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. Once the matching disassembly path is found, the corresponding robotic arm path programming can be extracted. These programming instructions will guide the disassembly robotic arm to perform disassembly operations according to the predetermined path and parameters. The programming instructions usually include parameters such as the movement angles, speeds, and forces of the joints of the robotic arm, as well as actions such as clamping and rotation of the end effector. According to the extracted robotic arm path programming, coordinate calibration configuration is performed on the disassembly robotic arm. The purpose of this step is to ensure that the robotic arm can accurately perform disassembly operations according to the programming instructions, including setting the initial position and posture of the robotic arm, calculating the angles that the joints of the robotic arm need to rotate and the position of the end effector according to the path information in the programming instructions, adjusting the coordinate system of the robotic 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 result of the robotic arm to ensure that the robotic 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 robotic arm and coordinate calibration configuration is performed to ensure the efficiency, accuracy, and safety of the automotive motor disassembly process.

[0029] Further, the system is used to perform the following steps:

[0030] Based on the basic technical characteristics, identify the vulnerable components in the sensitive area. For the vulnerable components; if the vulnerable components in the sensitive area have recyclable markings, set sensitive protection indicators, and the sensitive protection indicators include amplitude and external force. Perform a match in the disassembly path set to determine the adapted disassembly path set, and combine the sensitive protection indicators to perform protection constraints on the vulnerable components.

[0031] Identify the basic technical features, which may include material properties, structural characteristics, usage conditions, etc. Using these features and combining professional engineering analysis and evaluation methods (such as finite element analysis, stress analysis, etc.), identify the sensitive areas in the structure. Within the sensitive areas, further identify the vulnerable components that may be damaged or fail under external forces. For the identified vulnerable components, evaluate their recovery value and feasibility. If the components meet the recovery criteria (such as reusable materials, no environmental pollution, etc.), set a recyclable mark on them. 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 vulnerable components and the possible external force effects, set corresponding sensitive protection indicators. These indicators may include amplitude (such as vibration amplitude limit), 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 vulnerable 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 set of disassembly paths. In this set, by comparing and analyzing the impacts of each disassembly path on the vulnerable components, screen out the disassembly paths that can meet the sensitive protection indicators to form a set of adapted disassembly paths. When executing the adapted disassembly paths, implement protection constraints on the vulnerable components. This may include using special tools and equipment to reduce vibration and impact force during the disassembly process, or adopting special disassembly sequences and operation methods to avoid damaging the vulnerable components. During the entire disassembly process, continuously monitor the changes in the sensitive protection indicators to ensure that they always remain within the safe range. If it is found that a certain disassembly path cannot meet the protection requirements, adjust the disassembly plan in a timely manner or take additional protection measures. Through the above steps, it is possible to effectively identify, mark, and protect the vulnerable components in the sensitive areas during the disassembly process, reduce losses, and improve the recovery efficiency.

[0032] Further, the system is used to perform the following steps:

[0033] Based on the sensitive areas, divide N sensitive protection areas according to the protection level; through the N sensitive protection areas and the sensitive protection indicators, combine with the first adapted disassembly path for fine-tuning, where the first adapted disassembly path is any disassembly path in the set of adapted disassembly paths; traverse the set of adapted disassembly paths, sort them from high to low in terms of efficiency, and send them to the robotic arm control center, which is used to execute the tasks corresponding to the robotic arm path programming.

[0034] According to the known sensitive areas, in contrast to the preset protection levels (such as level one, level two, level three, etc.), the sensitive areas are divided into N different sensitive protection areas. Each area is assigned a different protection level according to its vulnerability and importance. Select a disassembly path from the set of adapted disassembly paths as the initial first adapted disassembly path, which can be randomly selected or selected according to a certain preset priority. For each sensitive protection area, according to its protection level and sensitive protection indicators (such as amplitude, external force, etc.), fine-tune the first adapted disassembly path. This may involve adjusting the disassembly sequence, speed, tool selection, etc., to ensure that the vulnerable components in the sensitive protection area are fully protected during the disassembly process. After fine-tuning the first adapted disassembly path, traverse the entire set of adapted disassembly paths and perform similar fine-tuning operations on each disassembly path. According to the preset evaluation criteria (such as disassembly efficiency, safety, cost, etc.), score or rank the fine-tuned disassembly paths. The disassembly paths with high disassembly efficiency, good safety and low cost will be ranked in the front. Send the optimal disassembly path (i.e., the disassembly path ranked at the front) in the sorted set of disassembly paths to the robotic arm control center. The robotic arm control center programs the path of the robotic arm according to the received optimal disassembly path information and controls the robotic arm to perform the disassembly operation according to the programmed path. During the disassembly process, collect data in real time through sensors and other monitoring devices to monitor the status of the sensitive protection area and the changes in the sensitive protection indicators. If any abnormal situation or the sensitive protection indicators exceeding the preset values are found, immediately send a feedback signal to the robotic arm control center and may trigger an emergency response mechanism, such as pausing the 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 at the same time, the optimal disassembly path is selected to improve the disassembly efficiency, and ultimately achieve efficient and safe disassembly operations.

[0035] Further, the system is used to perform the following steps:

[0036] Based on the N sensitive protection areas, in contrast to the protection levels and the sensitive protection indicators, set N groups of sensitive protection thresholds, where the sensitive protection thresholds include the maximum allowable amplitude and the maximum bearing external force; based on the maximum allowable amplitude in the N groups of sensitive protection thresholds, combine with the first adapted disassembly path for point position fine-tuning; based on the maximum bearing external force in the N groups of sensitive protection thresholds, combine with the first adapted disassembly path for force control fine-tuning; after completing the point position fine-tuning and force control fine-tuning of the first adapted disassembly path, traverse the set of adapted disassembly paths to obtain a set of fine-tuned adapted disassembly paths.

[0037] Based on N sensitive protection areas, 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 that can be tolerated. The thresholds should be set based on engineering analysis, material properties, and historical disassembly data to ensure that the fragile components within the sensitive area are not affected by vibrations and external forces exceeding their tolerance during the disassembly process. Based on the maximum allowable amplitude among the N sets of sensitive protection thresholds, point position fine-tuning is performed on the first adapted disassembly path. The point position fine-tuning involves adjusting the contact points and operation points between the robotic arm or disassembly tool and the components in the sensitive protection area during the disassembly process. The aim 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 within the sensitive area. Based on the maximum external force that can be tolerated among the N sets of sensitive protection thresholds, force control fine-tuning is performed on the first adapted disassembly path. The force control fine-tuning involves adjusting the magnitude and direction of the force exerted by the robotic arm or disassembly tool on the components in the sensitive protection area during the disassembly process. The aim is to ensure that the external force borne by these components does not exceed their maximum tolerance during the disassembly process, thereby avoiding component damage or failure. After completing the point position fine-tuning and force control fine-tuning of the first adapted disassembly path, other disassembly paths in the set of adapted disassembly paths are traversed. Point position fine-tuning and force control fine-tuning are performed on each disassembly path according to the same criteria to ensure that each path meets the requirements of the sensitive protection thresholds. The set of disassembly paths after fine-tuning is called the fine-tuned adapted disassembly path set. According to actual needs, further analysis and evaluation can be performed on the fine-tuned adapted disassembly path set, such as evaluating disassembly efficiency, cost, safety, etc. According to the evaluation results, the optimal disassembly path can be selected for actual disassembly operations, or the fine-tuned adapted 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 adapted disassembly paths that meet the sensitive protection thresholds is obtained, providing a more reliable path selection for subsequent disassembly operations.

[0038] Further, the system is used to perform the following steps:

[0039] Based on the disassembly robotic arm, mechanical monitoring devices are set at the joints to collect force monitoring data; based on the force monitoring data, the force-movement speed correlation index and the force-acceleration correlation index are analyzed in comparison with the direction of the first adapted disassembly path; based on the force-movement speed correlation index and the force-acceleration correlation index, speed synchronization adjustment is performed in combination with the first adapted disassembly path.

[0040] Install mechanical monitoring devices at the joints of the disassembling robotic arm. These devices can collect various force data generated by the robotic arm during the disassembly process in real time. The mechanical monitoring devices continuously work, record and transmit various force data generated by the robotic arm during the disassembly process, including the magnitude, direction, and point of application of the force. Compare the collected force monitoring data with the direction of the first adapted disassembly path. Analyze the correlation index between the force and the movement speed of the robotic arm. This usually involves statistically calculating the movement speed of the robotic arm under different forces, as well as their change trends and relationships. Similarly, conduct a correlation analysis between the force monitoring data and the acceleration of the robotic arm. Calculate the acceleration of the robotic arm under different forces and analyze their relationships. The change in acceleration is particularly important for the protection of sensitive areas because it may directly affect the impact degree on components. According to the analysis results of the force - movement speed correlation index and the force - acceleration correlation index, perform speed synchronization adjustment on the first adapted disassembly path. 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 robotic arm to reduce potential damage to sensitive areas. Conversely, if the force monitoring data is within the safe range and the acceleration changes stably, the movement speed of the robotic arm can be considered to be increased to improve the disassembly efficiency. Through this process, the mechanical monitoring data of the disassembling robotic arm and the correlation index analysis can be effectively combined to perform speed synchronization adjustment on the disassembly path, so as to achieve better protection of sensitive areas and improve the disassembly efficiency.

[0041] Furthermore, the system is used to perform the following steps:

[0042] Collect the image information of the automotive motor placed on the operating table through the closed - type image acquisition device above the operating table in the automotive motor cleaning workshop; based on the image information of the automotive motor, locate the coordinates of pollutants and identify the types of pollutants, where the types of pollutants include oil stains, carbon deposits, and dust; through the coordinates of the pollutants, perform complementary control iteration of disassembly recycling and automated cleaning on the automotive motor.

[0043] Above the operating table in the automotive motor cleaning workshop, install a closed - type image acquisition device (such as a high - definition camera) to ensure that a complete image of the automotive motor placed on the operating table can be captured. Start the image acquisition device, obtain the real - time image information of the automotive 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 pre - processing, including denoising, enhancing contrast, etc., to improve the image quality. Then, using algorithms such as image segmentation and edge detection, extract the key areas and features of the automotive motor from the pre - processed image. On this basis, through feature matching and pattern recognition techniques, locate the coordinate positions of pollutants on the motor. For the located pollutants, the image processing and analysis system further analyzes their features such as color, texture, and shape, and compares them with the preset pollutant type library. The pollutant type library includes feature data of various common pollutant types such as oil stains, carbon deposits, and dust. Through comparison and analysis, the system can accurately identify the type of pollutants. According to the pollutant coordinates and type information, the control system determines whether to perform disassembly and recycling operations. For serious pollutants that cannot be removed by cleaning or parts that require in - depth cleaning, the system will start the disassembly and recycling program, remove the contaminated parts from the motor, and perform further processing. For pollutants 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, spraying pressure, cleaning time, etc.) according to the type and position information of the pollutants to ensure the best cleaning effect. After cleaning, the control system will use the image acquisition device again to collect and analyze the image of the motor to check the cleaning effect. If the cleaning is not thorough or there are new pollutants, 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 pollutant coordinates, types, cleaning parameters, etc. 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, complementary control iteration of disassembly and recycling and automated cleaning in the automotive motor cleaning workshop based on image recognition can be achieved, improving the cleaning efficiency and effect, and reducing labor costs and operation risks.

[0044] Furthermore, the system is used to perform the following steps:

[0045] Compare with the first fine-tuning adaptation disassembly path to determine the coordinates of the target pollutants affecting the disassembly process, where the first fine-tuning adaptation disassembly path is any disassembly path in the set of fine-tuning adaptation disassembly paths; based on the coordinates of the target pollutants affecting the disassembly process, compare with the pollutant type, and insert the first automated cleaning process into the robotic arm path programming corresponding to the first fine-tuning adaptation disassembly path. The cleaning methods corresponding to the first automated cleaning process include ultrasonic cleaning and spray cleaning; compare with the first fine-tuning adaptation disassembly path, based on the automotive motor image information, synchronously update the pollutant coordinates and identify the pollutant type, and correspondingly insert the second automated cleaning process, the third automated cleaning process, ……, the Pth automated cleaning process; traverse the set of fine-tuning adaptation disassembly paths, and perform complementary control iteration on the robotic arm path programming corresponding to the disassembly and recycling of the automotive 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.

[0046] Select a disassembly path from the fine-tuning adaptation disassembly path set as the first fine-tuning adaptation disassembly path. Based on this path, analyze and determine the coordinates of the target pollutants that may affect the disassembly process. Based on the coordinates of the target pollutants affecting the disassembly process, compare with the identified pollutant types (such as oil stains, carbon deposits, dust, etc.). According to the pollutant type, insert the first automated cleaning process into the robotic arm path programming corresponding to the first fine-tuning adaptation disassembly path. The cleaning method can be selected as ultrasonic cleaning, spray cleaning, etc., to ensure effective removal of pollutants. During the process of the robotic arm executing the first fine-tuning adaptation disassembly path, use a closed image acquisition device to continuously collect the image information of the automotive motor. Based on the real-time collected image information of the automotive motor and in comparison with the first fine-tuning adaptation disassembly path, synchronously update the pollutant coordinates and identify new pollutant types. For the newly identified pollutants, according to the pollutant type and coordinates, insert the corresponding automated cleaning processes (such as the second automated cleaning process, the third automated cleaning process, etc.) into the robotic arm path programming. Repeat this process until the entire fine-tuning adaptation disassembly path set is traversed, and appropriate automated cleaning processes are inserted in each step that requires cleaning. After traversing the fine-tuning adaptation disassembly path set, a complete complementary control scheme for disassembly recycling and automated cleaning will be formed. During the actual disassembly recycling process, the robotic arm will perform disassembly operations according to the programmed path and automatically switch to the corresponding cleaning process when encountering pollutants, ensuring that the disassembly process is not affected. If new pollutants are found or the cleaning process needs to be adjusted during the disassembly process, image acquisition and analysis can be performed again to iteratively optimize the robotic arm path programming and the automated cleaning process. Through this process, it is possible to combine the image information of the automotive motor during the disassembly recycling process, automatically identify and process the pollutants affecting the disassembly 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 robotic arm path programming and the automated cleaning process, the efficiency and effect of disassembly recycling can be continuously optimized.

[0047] For the specific embodiments of the automotive motor recycling and cleaning system based on automated control, reference can be made to the above text. Each of the above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0048] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as within the scope described in this specification.

[0049] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application.

Claims

1. An automobile motor recycling and cleaning system based on automatic control, characterized in that, The system includes: A basic technical feature acquisition module, which is used to acquire the basic technical features of an automotive motor, and the basic technical features include the automotive motor model and automotive motor components; An initialization module, which is used to connect to the automotive motor cleaning workshop, initialize the configuration of the disassembly robotic arm based on the automotive motor model in the basic technical features, and set the end effector of the disassembly robotic arm; A disassembly tool information library connection module, which is used to connect to the disassembly tool information library, determine M disassembly tools and M sets of performance parameters in the disassembly tool information library, and the M sets of performance parameters include disassembly tool types and disassembly shape and size indicators; An automotive motor twin model generation module, which is used to identify recyclable components based on the automotive motor components in the basic technical features, generate an automotive motor twin model, and mark the recyclable components; A coordinate calibration configuration module, which is used to place the automotive motor on the operating table of the automotive motor cleaning workshop, and perform coordinate calibration configuration on the disassembly robotic arm based on the M disassembly tools and M sets of performance parameters; A complementary control iteration module, which is used to perform complementary control iteration of disassembly recycling and automatic cleaning on the automotive motor by comparing with the automotive motor twin model with recyclable component markings; Among them, based on the M disassembly tools and M sets of performance parameters, coordinate calibration configuration is performed on the disassembly robotic arm, and the coordinate calibration configuration module further includes: Define the working range based on the M disassembly tools and M sets of performance parameters; Based on the working range, combined with the motor disassembly example, obtain the disassembly path set; Based on the basic technical features, perform matching in the disassembly path set, extract the robotic arm path programming, and perform coordinate calibration configuration on the disassembly robotic arm; Among them, based on the basic technical features, perform matching in the disassembly path set, and the system is used to execute the following steps: Based on the basic technical features, identify the vulnerable components in the sensitive area, the vulnerable components; If the vulnerable components in the sensitive area have recyclable markings, set the sensitive protection indicators, and the sensitive protection indicators include amplitude and external force; Perform matching in the disassembly path set, determine the adapted disassembly path set, and perform protection constraints on the vulnerable components in combination with the sensitive protection indicators.

2. The automotive motor recycling and cleaning system based on automatic control according to claim 1, characterized in that, Determine the adapted disassembly path set, and perform protection constraints on the vulnerable components in combination with the sensitive protection indicators, and the system is used to execute the following steps: Based on the sensitive area, divide N sensitive protection areas according to the protection level; Through the N sensitive protection areas and the sensitive protection indicators, perform fine-tuning in combination with the first adapted disassembly path, and the first adapted disassembly path is any disassembly path in the adapted disassembly path set; Traverse the set of adapted disassembly paths, sort them from the highest to the lowest efficiency, and send them to the robotic arm control center, which is used to execute the tasks corresponding to the robotic arm path programming.

3. The automotive motor recycling and cleaning system based on automated control according to claim 2, wherein, Fine-tune the first adapted disassembly path by means of the N sensitive protection areas and the sensitive protection indicators. The system is used to perform the following steps: Based on the N sensitive protection areas, set N groups of sensitive protection thresholds in comparison with the protection level and the sensitive protection indicators. The sensitive protection thresholds include the maximum allowable amplitude and the maximum bearing external force. Perform point position fine-tuning on the basis of the maximum allowable amplitude among the N groups of sensitive protection thresholds in combination with the first adapted disassembly path. Perform force control fine-tuning on the basis of the maximum bearing external force among the N groups of sensitive protection thresholds in combination with the first adapted disassembly path. After completing the point position fine-tuning and force control fine-tuning of the first adapted disassembly path, traverse the set of adapted disassembly paths to obtain a set of fine-tuned adapted disassembly paths.

4. The automotive motor recycling and cleaning system based on automatic control according to claim 3, characterized in that, Perform force control fine-tuning on the basis of the maximum bearing external force among the N groups of sensitive protection thresholds in combination with the first adapted disassembly path. The system is used to perform the following steps: Based on the disassembly robotic arm, set mechanical monitoring devices at the joints to collect force monitoring data. Based on the force monitoring data, analyze the force-movement speed correlation index and the force-acceleration correlation index in comparison with the direction of the first adapted disassembly path. Perform speed synchronization adjustment on the basis of the force-movement speed correlation index and the force-acceleration correlation index in combination with the first adapted disassembly path.

5. The automotive motor recycling and cleaning system based on automatic control according to claim 3, wherein Perform complementary control iteration for the disassembly and recycling and automatic cleaning of the automotive motor. The system is used to perform the following steps: Collect the image information of the automotive motor placed on the operating table through the closed image acquisition device above the operating table in the automotive motor cleaning workshop. Based on the image information of the automotive motor, locate the coordinates of the pollutants and identify the types of pollutants. Among them, the types of pollutants include oil stains, carbon deposits, and dust. Perform complementary control iteration for the disassembly and recycling and automatic cleaning of the automotive motor through the coordinates of the pollutants.

6. The automotive motor recycling and cleaning system based on automatic control according to claim 5, wherein, Before sorting from the highest to the lowest efficiency and sending to the robotic arm control center, the system is used to perform the following steps: Compare with the first fine-tuned adapted disassembly path to determine the target pollutant coordinates affecting the disassembly process. Among them, the first fine-tuned adapted disassembly path is any disassembly path in the set of fine-tuned adapted disassembly paths. Based on the target pollutant coordinates affecting the disassembly process, insert the first automatic cleaning process into the robotic arm path programming corresponding to the first fine-tuned adapted disassembly path in comparison with the types of pollutants. The cleaning methods corresponding to the first automatic cleaning process include ultrasonic cleaning and spray cleaning. Compare with the first fine-tuned adapted disassembly path, and based on the image information of the automotive motor, synchronously update the pollutant coordinates and identify the types of pollutants, and correspondingly insert the second automatic cleaning process, the third automatic cleaning process,..., the Pth automatic cleaning process. Traverse the set of fine-tuning adaptation disassembly paths, and perform complementary control iteration on the robotic arm path programming for disassembling and recycling the automotive motor and the first automated cleaning process, the second automated cleaning process, the third automated cleaning process, ……, the Pth automated cleaning process for automated cleaning.

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