| Product disassembly plays an important role in the sustainable manufacturing,and it is usually the first step in remanufacturing process,which determines the efficiency and capability of remanufacturing.As intelligent manufacturing equipment,industrial robots meet the requirements of sustainable production with low energy consumption and high efficiency,and have already begun to be applied to semi-automated product disassembly.However,the current industrial robots disassembly do not fully realize the automatic production and human-robot cooperation.In order to further improve disassembly efficiency,reduce production energy consumption,cut down production costs,optimize production cycle and increase production flexibility,the thing that matters is studying and modeling of disassembly capability for industrial robot in remanufacturing.In addition,production accidents also occur from time to time due to missing tools in the disassembly process,insufficient parts,unclear information,disordered sequences,or environmental changes.In view of the above problems,this paper focuses on the dynamic modeling method of disassembly capability for industrial robot in remanufacturing.The main research work is as follows:(1)A unified dynamic model of disassembly capability for industrial robot is proposed.Aiming at the multi-sources and heterogeneous data sources in the process of disassembly of industrial robots in remanufacturing,the data processing,feature description and association rule mining based on bee algorithm are carried out.A multidimensional data model and a meta-data model related to disassembly capability for industrial robot are constructed,and the mapping relationships between capability attributes and manufacturing status data are excavated based on meta-data model.On this basis,the basic concepts,attributes and relations in the field of disassembly capability for industrial robot are proposed.The unified dynamic modeling of the disassembly capability for industrial robot is completed by using the OWL ontology description language and the DDL dynamic logic description language.(2)A virtualization model of disassembly capability for industrial robot based on augmented reality technology is presented.Aiming at the problem that the disassembly process of industrial robot is insufficient to recognize the disassembly capability for industrial robot and lacks the mechanism of visual interaction,the virtual modeling of disassembly capability for industrial robot is put forward based on augmented reality technology.On this basis,by correlating the physical data model,the digital description model and the visualized virtual model related to the disassembly capability for industrial robot,the data fusion and information interaction of the disassembly process of the industrial robot from the physical data space to the digital information space can be realized.Finally,the disassembly capability for industrial robot is dynamically reconfigured to increase the flexibility and adaptability of industrial robot disassembly based on the knowledge-based function block.(3)An information visualization system of disassembly capability for industrial robot based on dynamic model is designed and developed using the augmented reality technology,which realizes the virtual modeling of disassembly capability for industrial robot based on the perception data driven and semantic knowledge driven.The system includes a basic information module,a disassembly task module,a process monitoring module and a capability diagnosis module to provide holographic images and an immersive experience of an industrial robot disassembly process through augmented reality technology.This system will produce the real and virtual environment for real superposition and mapping,which further improve the production environment and disassembly efficiency. |
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