Research On The Robot Scheduling Problem In The Marine Turbine Intelligent Workshop

Under the strategic guidance of "Made in China 2025",intelligent transformation and upgrade of China's manufacturing industry is in progress,which promote China to change from great manufacturing nation into powerful manufacturing nation.In March 2019,"Intelligent +" became the key word of upgrade of manufacturing industry in the NPC&CPPCC.Intelligent workshop is the bottom unit of Intelligent Manufacturing,hence promoting the construction of Intelligent workshop is the key step to realize Intelligent Manufacturing.The manufacturing level of steam turbines reflects the industrial level of a country.Marine steam turbines are of great significance in accelerating the development of vessels and improving the level of national security.Therefore,the construction of marine steam turbine intelligent workshop and the upgrade of steam turbine processing unit are increasingly prominent.Robot manufacturing unit show the potential to boost the transformation of steam turbine processing workshop into digitization and intelligentization.In this paper,a marine steam turbine manufacturing unit is as research object and the scheduling problem of the robot in the marine turbine intelligent workshop is studied.The main research contents are as follows:Firstly,for the single-track constrained robot scheduling model,a static scheduling strategy based on hybrid process(handling,loading and unloading)of robots is proposed.According to this scheduling strategy,the coding and decoding of chromosomes were designed.An improved genetic algorithm based on heuristic adjustment was used to solve the scheduling problem.For the occupation of single track,the robot motion model was established to provide the judgment method of robot motion conflict.The position of the two robots was designed and the conflict resolution strategy of the robot was established according to the type of the conflict.Secondly,aiming at the scheduling model of single track constrained robots,a static scheduling strategy based on hybrid process(handling,loading and unloading)of robots is proposed.According to this scheduling strategy,the coding and decoding of chromosomes are designed.An improved genetic algorithm based on heuristic adjustment is used to solve the scheduling problem.Aiming at the occupation of single track,the robot motion model is established and give the method to judge the conflict of the robot conflict.The conflict resolution strategy of the robot is established according to the type of the conflict and the position of the two robots is planned.Thirdly,on the basis of static scheduling of robots,five typical dynamic disturbance events of workshop were discussed including machine failure,robot failure,temporary insertion,processing time variation and periodic rescheduling.The scheduling strategy based on event-cycle hybrid driving and rolling window scheduling method were used to dynamically schedule robots.The algorithm was validated according to the typical workpiece example of steam turbine manufacturing workshop,and the robot scheduling results were simulated by DELMIA software to verify the correctness of the algorithm scheduling results.Finally,visual Studio 2012,MATLAB,Microsoft SQL Sever 2012 and other development tools were adopted to design and develop a robot scheduling system for marine steam turbine manufacturing workshop and a typical processing workpiece in a steam turbine manufacturing workshop was verified by an instance.Through the research of robot scheduling in steam turbine manufacturing workshop,this paper provides technical support for the implementation of intelligent demonstration workshop for steam turbine and promotes the transformation of Intelligent Manufacturing in steam turbine manufacturing workshop.