Research On Dynamic Optimization For Human-robot Collaborative Disassembly Line Balancing

Disassembly of end-of-life products is an important driving factor for sustainable manufacturing and remanufacturing.Compared with independent robotic disassembly and manual disassembly,human-robot collaborative disassembly has the characteristics of high efficiency,stability,and flexibility.However,to ensure the balanced operation of the human-robot collaborative disassembly line and the efficient distribution of disassembly tasks,in addition to achieving tasks of disassembly lines within a specified time in accordance with the optimized indicators,the safety of the operators must be effectively guaranteed.In addition,when assigning operator disassembly tasks,the dynamics of human-robot collaborative disassembly must also be considered.At the same time,the task execution status of each disassembly workstation on the human-robot collaborative disassembly line needs to be sensed,and some decisions are made on factors that disturb the balance of the disassembly line to ensure the stable operation of the entire disassembly line.Therefore,it is of great significance to study the dynamic optimization for human-robot collaborative disassembly line balancing.In order to solve the above problems,this article focuses on the human-robot collaborative disassembly line,and study the disassembly task classification and task distribution from the perspective of safe disassembly of human-robot collaboration.The data model of human-robot collaborative disassembly line is constructed,and based on this model,the balance optimization method and re-optimization strategy of human-robot collaborative disassembly line are further studied.Finally,a prototype system of human-robot collaborative disassembly line balance optimization is designed and implemented.The main research work is as follows:(1)The data model of human-robot collaborative disassembly line is constructed.Based on the description of the human-robot collaborative disassembly line balancing problem,a physical information and disassembly constraint model should be established for the end-of-life products,and a human-robot collaborative disassembly line should be established with equipment and personnel data models.Furthermore,a classification model of human-robot collaborative disassembly tasks is given to complete the correspondence between the product components and disassembly tasks,and the decision tree algorithm is used to implement the disassembly task classification.The human-robot collaborative disassembly line security strategy and the disassembly line task assignment model are established,and the human-robot collaborative security strategy needs to be used in the disassembly task assignment process.The disassembly time is used as the data synchronization basis for the human-robot collaborative disassembly line to build a data model for balancing the human-robot collaborative disassembly line.(2)The optimization method and re-optimization strategy of human-robot collaborative disassembly line are studied.According to the disassembly data model of human-robot collaborative disassembly line,the optimization index is established.Combined with the established task classification,task assignment and human-robot collaborative security strategy,the improved discrete bee algorithm is used to assign and optimize human-robot collaborative disassembly line tasks.In this way,a relatively optimal disassembly workstation design and disassembly task assignment solution are obtained,and the effectiveness of several algorithms in solving the optimization of the human-robot collaborative disassembly line balance is compared.The re-optimization mechanism of “Event-Driven and Hierarchical-Decision” is proposed.According to the obtained disassembly task assignment solution,the disassembly task status of each disassembly station will be dynamically monitored during the operation of the human-robot collaborative disassembly line.The abnormal disassembly solution will be re-optimized by hierarchical decision to ensure the balanced operation of the entire disassembly line.(3)An optimal prototype system for human-robot collaborative disassembly line balance optimization is designed and developed.Based on industrial robots,disassembly lines and other hardware equipment,combined with the disassembly data model and optimization method of human-robot collaborative disassembly line balancing,design and develop a prototype system for human-robot disassembly line balancing optimization.The system mainly includes the disassembly line resource management module,the human-robot collaborative disassembly security monitoring module,the disassembly task planning module,and the disassembly line abnormality monitoring module.The system functions also include the generation of a human-robot collaborative disassembly line balancing task solution,re-optimization dynamic monitoring and hierarchical decision-making of the disassembly line,and improving the disassembly efficiency of the human-robot collaborative disassembly line on the premise of ensuring the security of the human-robot collaboration.