Multi-Domain Mapping Design And Key Technology Research Of Automatic Disassembly Equipment For Small Electromechanical Products

With the increasing number of retired electromechanical products,environmental pollution,waste of resources and other problems are becoming more and more serious.Retired electromechanical products still contain a large number of reusable parts and materials,and disassembly is the basic link to realize the recovery of parts and materials.Automatic disassembly helps to liberate human,avoid the harm of toxic substances in products to human,realize refined disassembly of products and improve disassembly efficiency.The design of automatic disassembly equipment is of great significance for the automatic disassembly of retired electromechanical products.In engineering practice,retired electromechanical products mainly adopt manual disassembly,semi-automatic disassembly of human-robot cooperation,etc.,and complete automatic disassembly has not yet been achieved.At the same time,efficient and accurate algorithms,appropriate disassembly tools are also crucial for automatic disassembly.Therefore,this paper takes small electromechanical products as the object,studies the systematic design method of product automatic disassembly equipment and key technologies such as target component detection and positioning,and mainly completes the following work :(1)A multi-domain mapping design method for automatic disassembly equipment of small electromechanical products is proposed.In order to shorten the design cycle of automatic disassembly equipment,a multi-domain mapping model is constructed based on polychromatic sets and axiomatic design to realize the step-by-step mapping of disassembly requirements to customer domain,functional domain and physical domain.The module division of automatic disassembly equipment is carried out according to the functional structure,and the general design of the corresponding module is completed.By assembling the disassembly module on demand,the rapid design of the automatic disassembly equipment for the corresponding electromechanical products is completed.(2)A screw detection and localization technology based on lightweight YOLOX-Nano network is proposed.By improving the lightweight YOLOX-Nano network,the accurate detection of screws in the non-destructive disassembly module of connecting pieces is realized,and the detection accuracy AP(Average Precision)is improved.The screw positioning algorithm based on Hough transform is designed,and the precise positioning of the screw is realized by using the element information of the screw elements information.(3)The screwdriver upgrading design method based on TRIZ theory is proposed.Aiming at the problem that the traditional disassembly tools are difficult to cope with the changing disassembly targets in the automatic disassembly process and need to change the disassembly tools frequently,a new screwdriver is designed based on the contradiction analysis and Substance-Field analysis method in TRIZ theory,which solves the problem that the disassembly tools need to be changed when removing the Phillips screws and the Slotted screws in the non-destructive disassembly module of connecting pieces,and improves the disassembly efficiency.(4)Taking a power strip and a set-top box as examples,the corresponding automatic disassembly equipment is designed,and the installed screws are detected and located,which verifies the feasibility and effectiveness of the proposed method.