Multi-degree-of-freedom article disassembly apparatus and method

Abstract

The application discloses a multi-degree-of-freedom article disassembling device and method, wherein the device comprises a first transmission assembly, a disassembling execution assembly and an operation platform; the first transmission assembly is arranged on one side of the operation platform and is used for transmitting articles to be disassembled; the disassembling execution assembly comprises a mechanical arm assembly, an execution module and a sensor detection assembly; the execution module is connected with the mechanical arm assembly and is used for controlling the mechanical arm assembly to grab the articles to be disassembled transmitted by the first transmission assembly onto the operation platform and disassemble; the sensor detection assembly is connected with the execution module and is used for collecting disassembling physical parameters of the articles to be disassembled and feeding back to the execution module. The application can realize adaptive disassembling control of various connection forms such as screw connection, buckling and adhesion, and improve the force control precision, operation stability and automation degree of the disassembling process.

Description

Technical Field

[0001] This invention relates to the field of electrical material recycling and dismantling technology, and in particular to a device and method for dismantling multi-degree-of-freedom items. Background Technology

[0002] With the accelerating pace of power system equipment upgrades, the amount of recycled electrical materials such as used electricity meters and transformers continues to grow. These electrical materials typically involve various connection methods, including screws, clips, and adhesives, resulting in complex structures and containing valuable resources such as recyclable metals and engineering plastics. To achieve resource recycling and environmentally friendly disposal, there is an urgent need for an automated dismantling technology that can adapt to various connection structures and possesses high dismantling accuracy and safety.

[0003] In existing technologies, the main methods for dismantling electrical materials include manual dismantling, semi-automated specialized equipment, and modified general-purpose industrial robots. Manual dismantling relies on operator experience to separate various connection structures; while highly adaptable, it suffers from low efficiency and safety risks. Some semi-automated dismantling equipment uses fixed-track actuators, typically only suitable for single connection types, making it difficult to cover complex and diverse structural types. Although general-purpose industrial robots possess multi-degree-of-freedom motion capabilities, they lack force control strategies and dedicated end-effector structures optimized for electrical material dismantling scenarios, making them prone to component damage during delicate dismantling processes. Existing technologies still have shortcomings in adaptability to various connection types, force control accuracy and compliance, modularity of end-effectors, and safety and intelligent collaboration during the dismantling process, making it difficult to meet the demands for large-scale, precise, and highly reliable automated dismantling of electrical materials.

[0004] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section. Summary of the Invention

[0005] This invention also provides a multi-degree-of-freedom item disassembly device to achieve adaptive disassembly control for various connection forms such as screws, snaps, and adhesives, thereby improving the force control accuracy, operational stability, and automation level of the disassembly process.

[0006] The multi-degree-of-freedom item disassembly device includes: a first transmission component, a disassembly execution component, and an operating platform; The first transmission component is disposed on one side of the operating platform and is used to transmit items to be disassembled; The disassembly execution component includes: a robotic arm component, an execution module, and a sensor detection component; the execution module is connected to the robotic arm component and is used to control the robotic arm component to grab the item to be disassembled transmitted by the first transmission component onto the operating platform and disassemble it; the sensor detection component is connected to the execution module and is used to collect the disassembly physical property parameters of the item to be disassembled and feed them back to the execution module.

[0007] In some embodiments, the robotic arm assembly includes: a slewing bearing, a first joint assembly, a first arm segment, a second joint assembly, a second arm segment, and a connecting portion; The slewing bearing is connected to the base to allow the robotic arm assembly to rotate about a vertical axis; One end of the first boom segment is rotatably connected to the slewing bearing via the first joint assembly, and the other end is rotatably connected to one end of the second boom segment via the second joint assembly. The other end of the second arm segment is connected to the connecting part, and the connecting part is connected to the execution module.

[0008] In some embodiments, the disassembly physical parameters include: torque and disassembly force; the sensor detection assembly includes: a first torque sensor and a second torque sensor; The first torque sensor is disposed between the connecting part and the execution module, and is used to collect the first torque of the execution module; The second torque sensor is disposed between the connecting part and the first torque sensor, and is used to collect the disassembly force and the second torque generated during the disassembly process.

[0009] In some embodiments, the sensor detection assembly includes a temperature sensor and an adhesive peeler; the execution module further includes a plurality of mechanical clamps; The temperature sensor is located on the side of the execution module and is used to monitor the temperature of the adhesive area of ​​the item to be disassembled. Each of the mechanical clamps is connected to the execution module via a corresponding adhesive peeler; a heating module is provided inside the mechanical clamp, which is used to heat the bonding area according to a preset temperature; Each of the mechanical clamps is used to contact the adhesive area and transmit the disassembly force to peel off the adhesive components.

[0010] In some embodiments, the disassembly physical property parameters include: coordinate information of the disassembly target point; the sensor detection component includes a camera; and the operating platform includes: a coordinate sensor and a disassembly operation platform. The camera is mounted on the side of the execution module and is used to capture image information of the item to be disassembled; The disassembly platform is located in the central recessed area of ​​the operating platform; The coordinate sensor is disposed on the side wall of the central recessed area and is used to obtain the coordinate information of the disassembly target point.

[0011] This invention provides a method for disassembling multi-degree-of-freedom items, which enables adaptive disassembly control for various connection types such as screws, snaps, and adhesives, thereby improving the force control accuracy, operational stability, and automation level of the disassembly process.

[0012] This method for disassembling multi-degree-of-freedom items includes: Obtain material characteristic data of the item to be disassembled; the material characteristic data includes: coordinate information of the disassembly target point, connection type and surface condition of the item to be disassembled; The material characteristic data is input into a pre-trained classification model to obtain the disassembly type; Based on the disassembly type, a pre-established mapping parameter library is called to obtain control parameters; the control parameters include: the disassembly force threshold corresponding to the disassembly type and the motion trajectory data of the robotic arm components; Based on the control parameters and the disassembly type, a disassembly operation is performed to obtain the disassembled item components.

[0013] In some embodiments, the step of establishing the mapping parameter library includes: Obtain the geometric model of the multi-degree-of-freedom item disassembly device and the item to be disassembled; The simulation parameters of the dynamic simulation model are initialized based on the geometric model, and the dynamic simulation model is simulated based on the simulation parameters to obtain quantitative data; the simulation parameters include: the connection type, wear degree, friction coefficient, stiffness and damping corresponding to each material type; the quantitative data is the mapping relationship between the motion trajectory data and the disassembly force threshold and the disassembly environment type; The quantized data is converted into a functional mapping relationship between the motion trajectory data and the disassembly force threshold, thus obtaining the mapping relationship parameter library.

[0014] In some embodiments, the disassembly type includes: disassembly of screw-in components; the disassembly operation based on the control parameters and the disassembly type to obtain the disassembled item components includes: The torque data of the screw-tightening tool is acquired in real time, and a first motion trajectory control command is generated according to the mapping relationship parameter library; When the torque data is less than the critical torque value, the control execution module is controlled to run at the first preset speed based on the first motion trajectory control command. When the torque data is greater than or equal to the critical torque value, the rotation speed of the execution module is reduced to the second preset rotation speed based on the first motion trajectory control command.

[0015] In some embodiments, the disassembly type includes: disassembly of snap-fit ​​components; the disassembly operation based on the control parameters and the disassembly type to obtain the disassembled item components includes: When the disassembly force is greater than or equal to the critical force, a micro-displacement compensation instruction is generated according to the mapping relationship parameter library; the micro-displacement compensation instruction includes: the movement direction of the robotic arm assembly and the first displacement distance; Based on the micro-displacement compensation command, the robotic arm assembly is controlled to move the first displacement distance in the direction of movement so as to separate the latch.

[0016] In some embodiments, the disassembly type includes: disassembly of adhesive components; the disassembly operation based on the control parameters and the disassembly type to obtain the disassembled item assembly includes: The corresponding temperature range is determined according to the type of adhesive used in the bonding area, and the heating module is controlled to heat up to the specified temperature range. A second motion trajectory control command is generated based on the mapping parameter library; the second motion trajectory control command includes: the stripping direction of the robotic arm assembly and the second displacement distance; Based on the second motion trajectory command, the mechanical clamp is controlled to translate along the peeling direction so that the mechanical clamp pulls the adhesive component to peel it off.

[0017] The multi-degree-of-freedom item disassembly device and method provided in this invention achieves continuous conveying of items to be disassembled by setting a first transmission component on one side of the operating platform. The robotic arm component and the execution module work together to complete the grasping and disassembly operations, thus constructing an integrated conveying and disassembly operation structure. By integrating a sensor detection component on the execution module, the physical property parameters of the items to be disassembled are collected and fed back in real time, enabling the execution module to adjust the disassembly process based on the detection data. This achieves coordinated conveying, grasping, and disassembly, as well as closed-loop adjustment based on physical property parameters, thereby improving the stability and adaptability of the disassembly process and reducing reliance on human experience. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom article disassembly device in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for disassembling multi-degree-of-freedom items according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating a multi-degree-of-freedom article disassembly method in another embodiment of the present invention; Figure 4 This is a flowchart illustrating a multi-degree-of-freedom article disassembly method in another embodiment of the present invention; Figure 5 This is a flowchart illustrating a multi-degree-of-freedom article disassembly method in another embodiment of the present invention; Figure 6 This is a flowchart illustrating a method for disassembling multi-degree-of-freedom items in another embodiment of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To address the shortcomings of existing electrical material dismantling processes, such as insufficient adaptability to various connection methods (screws, clips, and adhesives), low force control accuracy due to reliance on manual experience, easy component damage, and low automation, this application provides a multi-degree-of-freedom object dismantling device and method. This device constructs a dismantling execution system composed of a robotic arm assembly, modular execution modules, and multi-source sensor detection components. By combining real-time acquisition and feedback of dismantled material property parameters, and introducing a connection type identification mechanism based on a classification model and a mapping parameter library, adaptive dismantling control for different connection methods is achieved. Furthermore, through the coordinated control of the robotic arm's motion trajectory and dismantling force, the dismantling process becomes more precise and stable, thereby improving the dismantling success rate, reducing component damage rate, and enhancing overall dismantling efficiency and automation level.

[0026] This invention provides a multi-degree-of-freedom object disassembly device. For example... Figure 1 As shown, the item disassembly device includes: a first transmission component 101, a disassembly execution component 102, and an operating platform 103.

[0027] The first transmission component 101 is disposed on one side of the operating platform 103 and is used to transmit the item 107 to be disassembled.

[0028] The disassembly execution component 102 includes a robotic arm assembly 104, an execution module 105, and a sensor detection component 106. The execution module 105 is connected to the robotic arm assembly 104 and controls the robotic arm assembly 104 to pick up the item 107 to be disassembled, which is transmitted by the first transmission component 101, and place it onto the operating platform 103 for disassembly. The sensor detection component 106 is connected to the execution module 105 and is used to collect the disassembly physical property parameters of the item 107 to be disassembled and feed them back to the execution module 105.

[0029] According to the above embodiments, by setting a first transmission component on one side of the operating platform, continuous conveying of the items to be disassembled is achieved. The robotic arm component and the execution module work together to complete the grasping and disassembly operations, thereby constructing an integrated conveying and disassembly operation structure. By integrating a sensor detection component on the execution module, the physical property parameters of the items to be disassembled are collected and fed back in real time, enabling the execution module to adjust the disassembly process based on the detection data. This achieves coordinated conveying, grasping, and disassembly, as well as closed-loop adjustment based on physical property parameters, thereby improving the stability and adaptability of the disassembly process and reducing reliance on human experience.

[0030] In this embodiment of the invention, the execution module 105 adopts a pluggable quick-change interface structure with an interface positioning accuracy of ±0.05mm.

[0031] In some embodiments, the first transmission assembly 101 includes: a support frame 201, a plurality of first conveyor belts 202, and a roller ( Figure 1 (not shown in the image) and servo motor 203.

[0032] Each first conveyor belt 202 is mounted on a support frame 201, and the roller drives the first conveyor belt 202 for transmission.

[0033] The servo motor 203 is located on the side of the support frame 201. The servo motor 203 is connected to the roller drive, drives the roller to rotate, and drives the first conveyor belt 202 to transport the item 107 to be disassembled to the operating platform 103.

[0034] In this embodiment of the invention, the support frame 201 includes: three horizontal supports arranged parallel to each other along the conveying direction and six vertical supports respectively disposed at both ends of each horizontal support. The upper end of each vertical support is fixedly connected to the corresponding horizontal support, and the lower end is used for ground support connection, thereby forming a frame-type support structure. The horizontal supports are connected to each other by transverse connectors to ensure the stability of the overall structure and the relative positional accuracy between each first conveyor belt 202.

[0035] The support frame 201 adopts a one-piece molded aluminum alloy structure to reduce the overall weight while meeting structural strength requirements. The rated load-bearing capacity of the support frame 201 is no less than 50 kg.

[0036] According to the above embodiments, the transmission component enables continuous conveying of items to be disassembled, reducing manual handling and loading / unloading operations. Through the cooperation of the support frame and the conveyor belt, the position of the items to be disassembled remains relatively stable during the conveying process, thereby providing a stable material supply for subsequent precise gripping and disassembly operations, significantly improving the efficiency of the disassembly operation.

[0037] In some embodiments, the robotic arm assembly 104 includes: a slewing bearing 301, a first joint assembly 302, a first arm segment 303, a second joint assembly 304, a second arm segment 305, and a connecting portion 306.

[0038] The slewing bearing 301 is connected to the base to allow the robotic arm assembly 104 to rotate about a vertical axis.

[0039] One end of the first boom segment 303 is rotatably connected to the slewing bearing 301 via the first joint assembly 302, and the other end is rotatably connected to one end of the second boom segment 305 via the second joint assembly 304.

[0040] The other end of the second arm segment 305 is connected to the connecting part 306, and the connecting part 306 is connected to the execution module 105.

[0041] In this embodiment of the invention, the base is located behind the operating platform 103, and the slewing bearing 301 is fixedly connected to the base by bolts. The connecting part 306 is rotatably connected to the second arm segment 305, and the connecting part 306 can rotate around the axis of the second arm segment 305 to realize the attitude adjustment of the end effector module 105.

[0042] In some embodiments, the disassembly property parameters include torque and disassembly force. The sensor detection assembly 106 includes a first torque sensor 401 and a second torque sensor 402. The execution module further includes a plurality of mechanical clamps 403.

[0043] The first torque sensor 401 is disposed between the connecting part 306 and the execution module 105, and is used to collect the first torque of the execution module 105.

[0044] The second torque sensor 402 is disposed between the connecting part 306 and the first torque sensor 401, and is used to collect the disassembly force and the second torque generated during the disassembly process.

[0045] In this embodiment of the invention, the second torque sensor is a force-torque sensor, used to simultaneously detect the force and torque generated during the disassembly process. The first torque sensor 401 is disposed at the rotating connection part of the execution module 105, and can rotate with the execution module 105 around the vertical axis, used to detect the torque generated by the execution module 105 during rotation.

[0046] In some embodiments, the execution module further includes: a plurality of mechanical clamps; the sensor detection assembly 106 further includes: a temperature sensor 404 and an adhesive peeler 406.

[0047] Temperature sensor 404 is located on the side of execution module 105 and is used to monitor the temperature of the adhesive area of ​​the item 107 to be disassembled.

[0048] Each mechanical clamp 403 is connected to the execution module via a corresponding adhesive peeler 406. A heating module is installed inside each mechanical clamp 403 to heat the bonding area according to a preset temperature.

[0049] Each mechanical clamp 403 is used to contact the bonding area and transmit disassembly force to peel off the bonded parts.

[0050] In this embodiment of the invention, the mechanical clamp 403 is a flexible adaptive structure that can adaptively adjust according to the shape, size, and material characteristics of the item 107 to be disassembled, so as to achieve clamping of different types of items 107 to be disassembled. The mechanical clamp 403 has certain buffering characteristics during the clamping process, which is used to adjust the force when the clamping force is applied.

[0051] The heating module has a heating temperature range of 50℃ to 150℃, a temperature control accuracy of ±5℃, and a heating response time of no more than 3 seconds. The adhesive peeler 406 is a disassembly tool that directly contacts the adhesive area. It is used to provide temperature-assisted treatment to the adhesive area and guide the peeling direction during the disassembly process. The adhesive peeler 406 also transmits the disassembly force applied by the execution module 105.

[0052] In some embodiments, the disassembly physical property parameters include the coordinate information of the disassembly target point. The sensor detection assembly 106 also includes a camera 405, and the operation platform 103 includes a coordinate sensor 501 and a disassembly operation platform 502.

[0053] Camera 405 is located on the side of execution module 105 and is used to capture image information of the item 107 to be disassembled.

[0054] The disassembly operation platform 502 is located in the central recessed area of ​​the operation platform 103.

[0055] The coordinate sensor 501 is installed on the side wall of the central recessed area to obtain the coordinate information of the disassembly target point.

[0056] In this embodiment of the invention, the camera 405 is an industrial camera with a resolution of 2592×1944. The camera 405 works in conjunction with the coordinate sensor 501 to acquire the three-dimensional spatial coordinate information (X-axis, Y-axis, and Z-axis) of the disassembly target point. Its dynamic positioning error is no greater than 3mm, and the three-dimensional spatial coordinate information is transmitted to the execution module 105.

[0057] The execution module 105 determines the spatial position of the item 107 to be disassembled relative to the robotic arm based on three-dimensional spatial coordinate information, which is used to locate and adjust the robotic arm's grasping and disassembly path. The three-dimensional spatial coordinate information can also be used for position feedback during the hand-eye calibration process.

[0058] In some embodiments, the disassembly of physical property parameters includes the attitude information of the execution module 105. The sensor detection component includes an inertial detection unit disposed on the execution module 105. The inertial detection unit is used to monitor the attitude information of the execution module 105 in real time. The attitude information includes roll angle, pitch angle, and yaw angle.

[0059] In this embodiment of the invention, an inertial measurement unit (IMU) is mounted on the execution module 105, and its attitude detection accuracy is ±0.05°. The IMU is used to acquire the attitude information of the execution module 105 in real time. This attitude information includes: roll angle, pitch angle, yaw angle, three-axis angular velocity, and three-axis acceleration. Based on the above attitude information and combined with the three-dimensional spatial coordinates of the disassembly target point, the execution module 105 adjusts the motion trajectory of the robotic arm.

[0060] In some embodiments, the second transmission component 108 includes: a second support frame 601, a second conveyor belt 602, a roller 604, and a second servo motor 603.

[0061] The second conveyor belt 602 is mounted on the second support frame 601, and the roller 604 drives the second conveyor belt 602.

[0062] The second servo motor 603 is located on the side of the second support frame 601. The second servo motor 603 is connected to the roller 604 for transmission, drives the roller 604 to rotate, and drives the second conveyor belt 602 to transport the disassembled materials.

[0063] In this embodiment of the invention, the second transmission component 108 is located downstream of the dismantling operation area and is used to transport the dismantled materials. The second transmission component 108 is used to transfer the dismantled finished parts and waste materials to achieve the diversion and centralized collection of different types of materials.

[0064] The second transfer assembly 108 is used to remove the disassembled materials from the work area to reduce the accumulation of materials in the work area, thereby providing a relatively stable working space for the movement of the robotic arm. The second transfer assembly 108 is also used to separate and transport finished parts from waste materials.

[0065] In some embodiments, the article disassembly apparatus further includes a disassembly tool assembly 109. The disassembly tool assembly 109 is disposed on the side of the second support frame 601 near the operating platform 103. The disassembly tool assembly 109 includes various types of disassembly tools.

[0066] The execution module 105 is used to obtain the corresponding disassembly tool from the disassembly tool assembly 109, embed the disassembly tool into its groove, and drive the disassembly tool through the robotic arm assembly 104 to perform the corresponding disassembly operation on the item 107 to be disassembled. The disassembly operation includes: cutting operation, shearing operation, disassembly operation, and peeling operation.

[0067] In this embodiment of the invention, the disassembly tools include, but are not limited to, electric screwdrivers, bit assemblies, cutting tools, shearing tools, and peeling tools. Each disassembly tool is fixed on the second support frame 601 by a tool mounting base and arranged in a preset position so that the execution module 105 can acquire it.

[0068] The execution module is equipped with a tool interface groove for quick tool replacement. The robotic arm assembly 104 adjusts its posture to align the disassembly tool with the target position of the item to be disassembled, adapting to different disassembly process requirements. The mechanical clamp 403 connects to the disassembly tool via a pneumatic locking mechanism and the tool interface groove, enabling quick installation and removal of the disassembly tool; the tool replacement time is no more than 5 minutes.

[0069] In some embodiments, the operating platform 103 further includes a sensor report display terminal 503. The sensor report display terminal 503 is disposed on the operating platform 103 and communicatively connected to the execution module 105, for receiving and displaying detection data from each sensor. The detection data from each sensor is synchronously sampled via a data acquisition card at a sampling frequency of 10kHz.

[0070] In some embodiments, the item disassembly device further includes an operation box 110, which is connected to the operation platform 103.

[0071] The control box 110 includes an emergency stop button 111 and a display screen 112.

[0072] The emergency stop button 111 is located on the outside of the control box 110, and the display screen 112 is located on the inclined surface of the control box.

[0073] In this embodiment of the invention, the operation box 110 is located in front of the operation platform 103 and is communicatively connected to the robotic arm assembly 104, the transmission assembly, and the execution module 105.

[0074] An emergency stop button 111, a safety limit switch, and a physical protection structure are provided on the outside of the control box 110. The emergency stop button 111 is used to cut off the power output of the entire device in an emergency. The safety limit switch is used to detect the extreme position states of the robotic arm assembly 104, the transmission assembly, and the execution module 105. The physical protection structure is used to isolate and protect critical components.

[0075] Mechanical limiters are installed at both ends of the first conveyor belts 202 and the second conveyor belts 602, at the rotation axis and joint positions of the robotic arm assembly 104, and at the connection points between the robotic arm assembly 104 and the execution module 105. These mechanical limiters are rigid limiting structures used to restrict the range of motion of each component. Collision avoidance sensors are installed in the tool interface area of ​​the execution module 105, at the bottom of the disassembly tool, at key locations of the robotic arm assembly 104, and around the disassembly platform 502. These collision avoidance sensors include contact sensors or non-contact sensors used to detect potential collisions. The mechanical limiters work in conjunction with the collision avoidance sensors; when the collision avoidance sensors detect an abnormal approach or contact, they send a warning signal to the control box 110. When the movement range of the first conveyor belt 202, the second conveyor belt 602, the robotic arm assembly 104, and the execution module 105 exceeds the set range, the mechanical limiters limit the movement of these components, thus forming a dual protection mechanism based on sensor warning and physical limitation.

[0076] For example, a fault diagnosis rule base is constructed based on various pre-collected detection data. The operation box 110 detects the operating status of the item disassembly device based on the fault diagnosis rule base to identify conditions such as mechanical wear and sensor malfunctions. When an abnormal condition is detected, the operation box 110 controls the execution module 105 and the robotic arm assembly 104 to perform preset safety actions, including: a reset operation or a tool unloading operation.

[0077] like Figure 1 As shown, the display screen 112 is used to display the motion status of the robotic arm assembly 104, the working status of each transmission component, the detection data collected by the sensors, and fault information. The control box 110 is also used to set or adjust the parameters of the robotic arm assembly 104's motion speed, clamping force, and the conveying speed of the transmission components.

[0078] The control box 110 is used to send control commands to the robotic arm assembly 104, the transmission assembly, and the execution module 105 to achieve position control, trajectory control, and motion timing control. The control box 110 supports switching between automatic control mode and manual control mode to adapt to different operational needs.

[0079] This application provides a method for disassembling a multi-degree-of-freedom (DOF) article, applied to the aforementioned multi-DOF article disassembly device. This method is based on the same inventive concept as the multi-DOF article disassembly device described in one embodiment of this application, and the principle of solving the problem is similar. Therefore, the implementation of this method is the same as the implementation of the multi-DOF article disassembly device described in one embodiment of this application, and repeated details will not be repeated. The terms "unit" or "module" used below can refer to a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0080] This invention provides a method for disassembling multi-degree-of-freedom items, with the operating box 110 as the executing entity. For example... Figure 2 As shown, the method for disassembling multi-degree-of-freedom items includes: S101 to S104.

[0081] S101: Obtain the material characteristic data of the item to be disassembled. The material characteristic data includes: the coordinate information of the disassembly target point, the connection type of the item to be disassembled, and the surface condition.

[0082] S102: Input the material characteristic data into the pre-trained classification model to obtain the decomposition type.

[0083] S103: Based on the disassembly type, retrieve control parameters from a pre-established mapping parameter library. Control parameters include: the disassembly force threshold corresponding to the disassembly type and the motion trajectory data of the robotic arm components.

[0084] S104: Perform a disassembly operation based on control parameters and disassembly type to obtain the disassembled item components.

[0085] According to the above embodiments, by acquiring the disassembly property parameters of the item to be disassembled and combining them with a pre-trained classification model to identify the disassembly type, the disassembly process can be classified based on the structural characteristics of the item to be disassembled. By calling a pre-established mapping parameter library to obtain the corresponding control parameters, the disassembly force threshold is associated with the motion trajectory of the robotic arm components, realizing parameterized control of the disassembly process. The disassembly operation is executed based on the control parameters, transforming the disassembly process from experience-driven to a data- and model-based control method. Therefore, this method improves the adaptability and consistency of disassembly operations under different disassembly types.

[0086] In this embodiment of the invention, the item disassembly method is based on a fusion control strategy that combines Model Predictive Control (MPC) and adaptive impedance control, and generates a corresponding disassembly control strategy by combining the mechanical characteristics corresponding to different connection forms of the item to be disassembled.

[0087] The sensor detection component 106 is used to collect material characteristic data of the item to be disassembled and the three-dimensional spatial coordinate information of the disassembly target point. The material characteristic data, as shown in Table 1, specifically includes: connection type and surface condition information. Connection types include screw connections, snap-fit ​​connections, and adhesive connections; surface condition information includes the presence of damage and corrosion.

[0088] Table 1

[0089] Material feature data and 3D spatial coordinate information are input into a pre-trained classification model. The classification model identifies the type of the item to be disassembled based on the input features and outputs the corresponding disassembly type, as shown in Table 2. Disassembly types include: screw-on disassembly, snap-on disassembly, and adhesive disassembly. The output of the classification model uses a combination of numerical and label identifiers. The numerical identifiers are used to call the corresponding mapping parameter library, while the label identifiers are used for display on the human-computer interaction interface.

[0090] Table 2

[0091] For example, the classification model performs feature extraction and feature fusion processing on the input data. The connection type, surface state, and three-dimensional spatial coordinates in the material feature data together constitute the input feature vector. The classification model encodes features based on the input feature vector and classifies and discriminates the features through multi-layer nonlinear mapping, obtaining the probability distribution corresponding to each candidate disassembly type. The candidate disassembly types include at least: screw connection type, snap-fit ​​type, and adhesive type. The disassembly type with the highest probability value is selected as the target disassembly type, and this target disassembly type is used as the output of the classification model. The classification model can be trained based on historical disassembly sample data, which includes the annotation relationship between different material features and corresponding disassembly types, enabling the classification model to identify the connection type of the item to be disassembled based on the input features.

[0092] Based on the disassembly type output by the classification model, the corresponding matching parameters are retrieved from a pre-established mapping parameter library. These matching parameters include: the disassembly force threshold corresponding to the disassembly type, the motion trajectory parameters of the robotic arm components, and the process priority parameters. Specifically, the disassembly force threshold limits the range of disassembly force or torque during the disassembly process, the motion trajectory parameters describe the displacement path and attitude changes of the robotic arm during disassembly, and the process priority parameters determine the execution order of different disassembly operations.

[0093] In some embodiments, such as Figure 3 As shown, the steps for establishing the mapping relationship parameter library include: S201 to S203.

[0094] S201: Obtain the geometric model of the multi-degree-of-freedom item dismantling device and the item to be dismantled.

[0095] S202: Initialize the simulation parameters of the dynamic simulation model based on the geometric model, and perform simulation on the dynamic simulation model based on the simulation parameters to obtain quantified data. The simulation parameters include: connection type, wear degree, friction coefficient, stiffness, and damping corresponding to each material type. The quantified data is the mapping relationship between motion trajectory data and disassembly force threshold and disassembly environment type.

[0096] S203: Convert the quantized data into a function mapping relationship between motion trajectory data and the disassembly force threshold, and obtain the mapping relationship parameter library.

[0097] In this embodiment of the invention, a simulation model of a multi-degree-of-freedom object disassembly device is established based on a dynamic simulation method, and the three-dimensional geometric models of the disassembly device and the object to be disassembled are imported. In the simulation model, the range of motion and degrees of freedom of each joint of the robotic arm assembly are defined, and the structural features of the connection parts of the object to be disassembled are modeled, including threaded connections, snap-fit ​​connections, and adhesive connections. The contact characteristics between different materials are modeled, including friction coefficient, contact stiffness, and damping parameters. For adhesive connections, a peeling simulation environment based on a cohesive region model is established to describe the mechanical behavior of the adhesive interface.

[0098] Multiple environmental variables affecting the disassembly process were set, and multi-condition cyclic simulations were performed based on these variables. These environmental variables included bolt corrosion degree, clip material aging characteristics, and adhesive distribution, to obtain disassembly response data under different conditions. During the simulation, multi-dimensional physical quantity data such as the motion displacement, three-axis angular velocity, three-axis acceleration, disassembly force, torque, and time of the robotic arm components were output and recorded.

[0099] Based on the quantitative data obtained from simulation, a mapping model is established. Specifically, the multidimensional physical quantity data is modeled as a function to obtain the correspondence between the motion trajectory parameters and force responses of the robotic arm components under different dismantling environments. Based on the mapping model, the control parameters are optimized, including the weight parameters in the model predictive control strategy and the stiffness parameters in the adaptive impedance control, so that the multi-degree-of-freedom dismantling device can achieve stable dismantling force control and motion trajectory control while meeting the constraints.

[0100] The mapping relationship model is constructed as a mapping relationship parameter library and integrated into the control program. The control program is deployed in the industrial controller and is used to convert the control quantities output by the control algorithm into drive signals to control the execution module 105 and the robotic arm assembly 104 to execute the corresponding control commands. The industrial controller is integrated into the operator box 110.

[0101] According to the above embodiments, by acquiring the geometric models of the dismantling device and the item to be dismantled, and constructing a dynamic simulation model based on the geometric models, simulation analysis is performed under various connection types and different environmental parameter conditions to obtain quantitative data reflecting the relationship between the motion trajectory and the dismantling force. The quantitative data is then used for functional modeling to form a mapping relationship between the motion trajectory data and the dismantling force threshold, and a mapping relationship parameter library is constructed. This achieves simulation-driven parameter acquisition and model-based expression, transforming dismantling control from experience-based setting to a deterministic decision-making process based on data and models, which is beneficial for improving the consistency and adaptability of dismantling parameter acquisition under different working conditions.

[0102] In some embodiments, the disassembly type includes: disassembly of screw-in components. For example... Figure 4 As shown, S104 includes: S301 to S303.

[0103] S301: Real-time acquisition of torque data of the screw-tightening tool, and generation of the first motion trajectory control command based on the mapping relationship parameter library.

[0104] S302: When the torque data is less than the critical torque value, the first motion trajectory command control execution module 105 operates at the first preset speed.

[0105] S303: When the torque data is greater than or equal to the critical torque value, the rotation speed of the control execution module 105 is reduced to the second preset rotation speed based on the first motion trajectory control command.

[0106] In this embodiment of the invention, the execution module 105 obtains a screw-tightening tool from the disassembly tool assembly 109 and installs the screw-tightening tool into its tool interface groove. The execution module 105 detects the torque output by the screw-tightening tool in real time through the first torque sensor 401 and the second torque sensor 402, and transmits the detected torque data to the execution module 105, which further transmits the torque data to the operation box 110.

[0107] When the torque data reaches the preset critical torque threshold, the operation box 110 generates the corresponding motion control command based on the pre-established mapping parameter library and transmits the motion control command to the execution module 105.

[0108] The execution module 105 performs closed-loop speed control on its internal drive unit based on motion control commands, gradually reducing the output speed of the drive unit from the initial speed to the target speed. The initial speed is 30 r / min, and the target speed is 10 r / min. This gradual adjustment of the speed ensures that the screw-tightening tool maintains a stable torque output during disassembly.

[0109] According to the above embodiments, by acquiring torque data in real time during the screw-tightening process and generating corresponding motion trajectory control commands based on mapping relationships, the operating state of the execution module can be dynamically adjusted according to torque changes. A higher rotation speed is maintained when the torque is below a critical value to achieve rapid disassembly, while the rotation speed is reduced to ensure stable disassembly when the torque reaches or exceeds the critical value. This transforms the disassembly process of screw-connected components from fixed parameter control to an adaptive adjustment method based on torque feedback, which is beneficial for improving the consistency and adaptability of disassembly operations under different working conditions.

[0110] In some embodiments, the disassembly type includes: disassembly of snap-fit ​​components. For example... Figure 5 As shown, S104 includes: S401 to S402.

[0111] S401: When the disassembly force is greater than or equal to the critical force, a micro-displacement compensation command is generated based on the mapping parameter library. The micro-displacement compensation command includes the movement direction and displacement distance of the robotic arm assembly 104.

[0112] S402: Based on the micro-displacement compensation command, control the robotic arm assembly 104 to move a displacement distance in the direction of motion so as to separate the buckle component.

[0113] In this embodiment of the invention, the second torque sensor 402 detects the torque and disassembly force generated by the mechanical clamp 403 during the disassembly of the latching components in real time, and transmits the torque and disassembly force to the execution module 105. The execution module 105 further transmits the torque and disassembly force to the operation box 110.

[0114] When the disassembly force is detected to reach a preset critical value, the operation box 110 generates a corresponding micro-displacement compensation command based on a pre-established mapping parameter library and transmits the micro-displacement compensation command to the execution module 105. The micro-displacement compensation command includes the movement direction and displacement distance of the robotic arm assembly 104. The displacement distance is 0.3mm to 0.8mm. The execution module 105 controls the robotic arm assembly 104 to perform linear displacement along the movement direction according to the micro-displacement compensation command, so as to achieve the separation of the snap-fit ​​connection part.

[0115] According to the above embodiments, by monitoring the disassembly force during the disassembly process and generating micro-displacement compensation commands based on a mapping parameter library when a preset critical force is reached, the robotic arm assembly can perform precise displacement control according to a preset direction and displacement distance. By combining displacement adjustment with changes in the disassembly force, the buckle disassembly process is transformed from a fixed action execution to a force-triggered adaptive displacement control method, which is beneficial to improving the adaptability and operational consistency of buckles with different structures and materials during the disassembly process.

[0116] In some embodiments, the disassembly type includes: disassembly of adhesive components. For example... Figure 6 As shown, S105 includes: S601 to S602.

[0117] S601: Determine the corresponding temperature range based on the type of adhesive used in the bonding area, and control the heating module to heat up to the specified temperature range.

[0118] S602: Generate a second motion trajectory control command based on the mapping parameter library. The second motion trajectory control command includes: the stripping direction of the robotic arm assembly and the second displacement distance.

[0119] S603: Based on the second motion trajectory command, the mechanical clamp 403 is controlled to move along the peeling direction so that the mechanical clamp 403 pulls the adhesive component to peel it off.

[0120] In this embodiment of the invention, the material characteristic data of the item to be disassembled also includes the adhesive type. The operation box 110 determines the corresponding softening temperature range based on the adhesive type and controls the heating module to heat the bonding area, causing the adhesive to soften. The temperature sensor 404 is used to detect the temperature of the bonding area in real time and feeds the temperature data back to the execution module 105 and the operation box 110.

[0121] When the temperature of the bonding area reaches a preset threshold within the temperature range, the operation box 110 generates a corresponding motion trajectory control command based on a pre-established mapping parameter library and transmits the motion trajectory control command to the execution module 105. The motion trajectory control command includes the peeling direction and displacement distance of the robotic arm assembly 104, where the peeling direction is at least one direction along the coordinate axis.

[0122] The execution module 105 controls the robotic arm assembly 104 to translate along the peeling direction based on the motion trajectory control command, so as to apply a stretching force to the adhesive parts through the mechanical clamp 403, thereby realizing the separation of the adhesive connection.

[0123] According to the above embodiments, by determining the corresponding heating temperature range based on the adhesive type, and generating motion trajectory control commands by combining the mapping relationship after reaching the preset temperature condition, the disassembly process of the bonded components is transformed from a simple mechanical peeling to a collaborative control method combining temperature assistance and trajectory control. By implementing displacement control along the predetermined peeling direction while the adhesive is softened, the mechanical clamp applies a stable tensile force to the bonded components, which helps to improve the adaptability and consistency of disassembly operations under different bonding conditions.

[0124] In some embodiments, the multi-degree-of-freedom object dismantling device and the remote digital twin control platform achieve data interaction and collaborative control through a communication network to realize data synchronization between the virtual and physical systems. The communication network can be a mobile communication network or an industrial Ethernet network. Quantitative data obtained based on dynamic simulation and the three-dimensional spatial coordinate data of the dismantling target are imported into the remote digital twin control platform, and the dismantling process is simulated and pre-run in the corresponding virtual scene. The initial dismantling path is iteratively optimized based on a mapping parameter library to obtain a dismantling path that meets the constraints. This dismantling path is then sent as a control command to the industrial controller to guide the actual dismantling process.

[0125] In some embodiments, the operating status of the robotic arm assembly 104 and the execution module 105 is monitored in real time. The operating status includes parameters such as disassembly force, motion trajectory, and position and attitude. The real-time detection data is compared with theoretical data in the mapping parameter library to determine whether there is a deviation. When the operating parameters are detected to exceed a preset threshold or the trajectory deviates from a preset range, trajectory correction parameters are calculated in reverse based on the mapping parameter library, and the robotic arm assembly 104 and the execution module 105 are controlled to correct the trajectory. When the deviation exceeds the allowable range and cannot be eliminated by trajectory correction, an emergency stop unit is triggered to terminate the current operation.

[0126] Abnormal data generated during the disassembly process is recorded in the fault diagnosis rule base, and the mapping relationship parameter base is updated based on the abnormal data. The abnormal data is used to correct and optimize the mapping relationship parameter base to update the control parameters under different operating conditions.

[0127] In one embodiment, 100 three-phase DSZY178 energy meters were used as the objects to be disassembled for verification. The objects to be disassembled included: the meter housing connected by screws, the wiring terminals connected by snaps, and the display screen connected by adhesive.

[0128] Before disassembly begins, the multi-degree-of-freedom object disassembly device completes a power-on self-test and loads the three-dimensional geometric model of the electricity meter and its corresponding mapping parameter library through a remote digital twin platform. The sensor detection component 106 identifies the connection form of each component and the three-dimensional spatial coordinates of the disassembly target point to obtain the spatial positioning information of each disassembly location.

[0129] During the disassembly of the watch case, a screw-tightening tool is installed at the end of the execution module 105, and corresponding control parameters are obtained based on the mapping parameter library, where the preset critical torque is 8 N·m. During the disassembly process, the output torque of the screw-tightening tool is detected in real time by a torque sensor. When the torque does not reach the critical torque, the drive unit operates at a first preset speed (30 r / min). When the torque reaches or exceeds the critical torque, the speed of the drive unit is adjusted to reduce its speed to a second preset speed (10 r / min) to complete the removal of the four M4 bolts.

[0130] During the disassembly of the terminal blocks, the execution module 105 replaces the snap-lock separation tool and obtains the corresponding control parameters based on the mapping parameter library. The preset critical force is 6 N, and the micro-displacement compensation is 0.5 mm. During disassembly, when the disassembly force reaches the critical force, the robotic arm assembly 104 is controlled to perform micro-displacement compensation along a preset direction to achieve the separation of the eight snap-lock terminals.

[0131] During the disassembly of the display screen, the execution module 105 replaces the adhesive peeling tool and obtains the corresponding control parameters based on the mapping parameter library. The heating module heats the adhesive area to 80°C and maintains it for a preset time (5 seconds) to soften the adhesive. After the temperature reaches the preset threshold, the robotic arm assembly 104 is controlled to move along the predetermined peeling direction and gradually increase the disassembly force (2 N to 8 N) to peel off the display screen.

[0132] During the disassembly process, the control box 110 monitors the operating status of the execution module 105 and the robotic arm assembly in real time. When operating parameters exceed preset thresholds, an emergency control strategy is executed. After completing the disassembly of a single electricity meter, the disassembly process is recorded and statistically analyzed to obtain verification results. The verification results show that the disassembly time for a single electricity meter is 3 minutes, the disassembly success rate is 98%, the component damage rate is 3%, and the emergency response test response time is 0.3 seconds.

[0133] For example, the multi-degree-of-freedom object disassembly device is used to disassemble a single-phase DTZY178 electricity meter. The disassembly objects include the meter casing connected by screws and the metering module connected by snaps. During the disassembly process, the corresponding control parameters are determined based on a mapping parameter library, and the disassembly operations of each connecting component are completed. Statistical analysis of the disassembly process shows that the disassembly time for a single electricity meter is approximately 2.5 minutes, the disassembly success rate is 99%, the component damage rate is 2%, and the tool replacement time is approximately 3 minutes. Under continuous operating conditions, the multi-degree-of-freedom object disassembly device can maintain stable operation.

[0134] For example, the multi-degree-of-freedom object disassembly device is used to disassemble a JDZ-10 type voltage transformer. The transformer to be disassembled includes a housing connected by adhesive bonding and a core assembly connected by screws. During the housing disassembly process, the adhesive area is heated to approximately 90°C by a heating module, and a progressive disassembly force of 2 N to 10 N is applied during the disassembly process to separate the adhesive connections. During the core disassembly process, the output torque of the screw-tightening tool is detected and controlled based on a mapping parameter library to complete the disassembly of the screw-connected components. Statistical analysis of the disassembly process shows a disassembly success rate of 95%, a torque control accuracy of ±0.08 N·m, and a component damage rate of 4%.

[0135] According to the above embodiments, statistical analysis of the dismantling process of 250 electrical equipment units in the three embodiments shows that the multi-degree-of-freedom item dismantling device meets the preset control requirements in terms of dismantling success rate, force control accuracy, emergency response time, and tool replacement time. The dismantling success rate of this invention is no less than 95%, the force control accuracy is ±0.1 N, the emergency response time is no greater than 0.5 s, the tool replacement time is no greater than 5 minutes, and the multi-degree-of-freedom item dismantling device can maintain stable operation during continuous operation.

[0136] In the description of this specification, the references to terms such as "an embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0137] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A multi-degree-of-freedom object disassembly device, characterized in that, include: First transmission component, disassembly execution component and operating platform; The first transmission component is disposed on one side of the operating platform and is used to transmit items to be disassembled; The disassembly execution component includes: a robotic arm component, an execution module, and a sensor detection component; The execution module is connected to the robotic arm assembly and is used to control the robotic arm assembly to pick up the item to be disassembled transmitted by the first transmission assembly and place it on the operating platform for disassembly; the sensor detection assembly is connected to the execution module and is used to collect the disassembly physical property parameters of the item to be disassembled and feed them back to the execution module.

2. The apparatus according to claim 1, characterized in that, The robotic arm assembly includes: a slewing bearing, a first joint assembly, a first arm segment, a second joint assembly, a second arm segment, and a connecting part; The slewing bearing is connected to the base to allow the robotic arm assembly to rotate about a vertical axis; One end of the first boom segment is rotatably connected to the slewing bearing via the first joint assembly, and the other end is rotatably connected to one end of the second boom segment via the second joint assembly. The other end of the second arm segment is connected to the connecting part, and the connecting part is connected to the execution module.

3. The apparatus according to claim 2, characterized in that, The disassembly physical properties include: torque and disassembly force; the sensor detection assembly includes: a first torque sensor and a second torque sensor; The first torque sensor is disposed between the connecting part and the execution module, and is used to collect the first torque of the execution module; The second torque sensor is disposed between the connecting part and the first torque sensor, and is used to collect the disassembly force and the second torque generated during the disassembly process.

4. The apparatus according to claim 3, characterized in that, The sensor detection assembly includes a temperature sensor and an adhesive peeler; the execution module also includes multiple mechanical clamps. The temperature sensor is located on the side of the execution module and is used to monitor the temperature of the adhesive area of ​​the item to be disassembled. Each of the mechanical clamps is connected to the execution module via a corresponding adhesive peeler; a heating module is provided inside the mechanical clamp, which is used to heat the bonding area according to a preset temperature; Each of the mechanical clamps is used to contact the adhesive area and transmit the disassembly force to peel off the adhesive components.

5. The apparatus according to claim 1, characterized in that, The disassembly physical property parameters include: coordinate information of the disassembly target point; the sensor detection component includes a camera; and the operating platform includes: a coordinate sensor and a disassembly operation platform. The camera is mounted on the side of the execution module and is used to capture image information of the item to be disassembled; The disassembly platform is located in the central recessed area of ​​the operating platform; The coordinate sensor is disposed on the side wall of the central recessed area and is used to obtain the coordinate information of the disassembly target point.

6. A method for disassembling multi-degree-of-freedom objects, characterized in that, include: Obtain material characteristic data of the items to be disassembled; The material characteristic data includes: coordinate information of the disassembly target point, connection type and surface condition of the item to be disassembled; The material characteristic data is input into a pre-trained classification model to obtain the disassembly type; Based on the disassembly type, a pre-established mapping parameter library is called to obtain control parameters; the control parameters include: the disassembly force threshold corresponding to the disassembly type and the motion trajectory data of the robotic arm components; Based on the control parameters and the disassembly type, a disassembly operation is performed to obtain the disassembled item components.

7. The method according to claim 6, characterized in that, The steps for establishing the mapping parameter library include: Obtain the geometric model of the multi-degree-of-freedom item disassembly device and the item to be disassembled; The simulation parameters of the dynamic simulation model are initialized based on the geometric model, and the dynamic simulation model is simulated based on the simulation parameters to obtain quantitative data; the simulation parameters include: the connection type, wear degree, friction coefficient, stiffness and damping corresponding to each material type; the quantitative data is the mapping relationship between the motion trajectory data and the disassembly force threshold and the disassembly environment type; The quantized data is converted into a functional mapping relationship between the motion trajectory data and the disassembly force threshold, thus obtaining the mapping relationship parameter library.

8. The method according to claim 6, characterized in that, The disassembly types include: disassembly of screw-in components; the disassembly operation based on the control parameters and the disassembly types to obtain the disassembled item components includes: The torque data of the screw-tightening tool is acquired in real time, and a first motion trajectory control command is generated according to the mapping relationship parameter library; When the torque data is less than the critical torque value, the control execution module is controlled to run at the first preset speed based on the first motion trajectory control command. When the torque data is greater than or equal to the critical torque value, the rotation speed of the execution module is reduced to the second preset rotation speed based on the first motion trajectory control command.

9. The method according to claim 6, characterized in that, The disassembly types include: disassembly of snap-fit ​​components; the disassembly operation based on the control parameters and the disassembly types to obtain the disassembled item components includes: When the disassembly force is greater than or equal to the critical force, a micro-displacement compensation instruction is generated according to the mapping relationship parameter library; the micro-displacement compensation instruction includes: the movement direction of the robotic arm assembly and the first displacement distance; Based on the micro-displacement compensation command, the robotic arm assembly is controlled to move the first displacement distance in the direction of movement so as to separate the latch.

10. The method according to claim 6, characterized in that, The disassembly types include: disassembly of adhesive components; the disassembly operation based on the control parameters and the disassembly types to obtain the disassembled item components includes: The corresponding temperature range is determined according to the type of adhesive used in the bonding area, and the heating module is controlled to heat up to the specified temperature range. A second motion trajectory control command is generated based on the mapping parameter library; the second motion trajectory control command includes: the stripping direction of the robotic arm assembly and the second displacement distance; Based on the second motion trajectory command, the mechanical clamp is controlled to translate along the peeling direction so that the mechanical clamp pulls the adhesive component to peel it off.

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