基于人机协作的动力电池系统拆卸序列规划

doi:10.13462/j.cnki.mmtamt.2021.03.031

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组合机床与自动化加工技术 ›› 2021, Vol. 0 ›› Issue (3) : 127-131. DOI: 10.13462/j.cnki.mmtamt.2021.03.031

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工艺与装备

基于人机协作的动力电池系统拆卸序列规划

刘驿轩^1,2,3, 江志刚^1,3, 喻剑平^1,4

作者信息 +

Disassembly Sequence Planning of Power Battery System Based on Human-machine Collaboration

LIU Yi-xuan^1,2,3, JIANG Zhi-gang^1,3, Yu Jian-ping^1,4

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文章历史 +

摘要

为解决新能源动力电池系统目前主要为手工拆卸，而机器人不能独自完成拆卸的问题，提出一种基于人机协作拆卸序列规划的方法。首先根据零件间的连接关系和优先约束关系生成产品拆卸混合图，通过混合图中的AND/OR和有害零件优先拆卸关系得到连接关系和优先关系矩阵。然后以拆卸时间、成本和难度为优化目标，通过Pareto人工鱼群算法生成非支配解，动态搜索全局最优，得到最优拆卸序列。最后，以特斯拉model1s动力电池系统的研究为例，验证了上述方法的可行性与有效性。

Abstract

In order to solve the problem that the new energy power battery system was mainly manually disassembled, and the robot could not complete the disassembly alone, a method based on human-machine cooperative disassembly sequence planning was proposed. First, according to the connection relationship between the parts and the priority constraint relationship, a product disassembly mixed graph was generated, and the connection relationship and the priority relationship matrix were obtained through the AND/OR and the harmful component preferential disassembly relationship in the mixed graph. Then, taking the disassembly time, cost and difficulty as the optimization goals, the Pareto artificial fish swam algorithm was used to generate non-dominated solutions, and the global optimal was dynamically searched to obtain the optimal disassembly sequence. Finally, taking the Tesla model 1s power battery system as an example to verify the feasibility and effectiveness of the above method.

导出引用

刘驿轩, 江志刚, 喻剑平. 基于人机协作的动力电池系统拆卸序列规划[J]. 组合机床与自动化加工技术, 2021, 0(3): 127-131 https://doi.org/10.13462/j.cnki.mmtamt.2021.03.031

LIU Yi-xuan, JIANG Zhi-gang, Yu Jian-ping. Disassembly Sequence Planning of Power Battery System Based on Human-machine Collaboration[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2021, 0(3): 127-131 https://doi.org/10.13462/j.cnki.mmtamt.2021.03.031

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