面向服务的协同装配方法研究  

Study on Service-oriented Collaborative Assembly Method

作　　者：吕焕培 张育斌[2] 朱火美 杜军[2] LYU Huanpei;ZHANG Yubin;ZHU Huomei;DU Jun(College of Digital Technology and Engineering,Ningbo University of Finance and Economics,Ningbo Zhejiang 315175,China;School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an Shaanxi 710049,China)

机构地区：[1]宁波财经学院数字技术与工程学院,浙江宁波315175 [2]西安交通大学机械工程学院,陕西西安710049

出　　处：《机床与液压》2021年第24期70-77,共8页Machine Tool & Hydraulics

基　　金：浙江省教育厅一般科研项目(Y201738602);国家重点研发计划项目(2017YFB1103201);宁波市自然科学基金项目(202003N4071)。

摘　　要：针对小批量多品种产品装配中出现的装配冲突问题,提出一种面向服务的协同装配方法,通过机器人提供公共装配服务和专有装配服务,来分别完成装配任务中的公共装配任务和专有装配任务,并应用服务标签来实现机器人和任务间的交互协同,避免因多机器人多产品装配而引起的装配冲突。为了验证所提方法的有效性,提高装配效率,应用CPN装配模型对协同方法进行分析,并应用改进的量子遗传算法(MQGA)对服务标签的发放进行了优化,提高装配效率。最后,应用所提出的装配方法对两种产品进行装配实验分析。结果表明:所提出的装配方法能够有效解决小批量多品种产品装配中,因多机器人多产品装配所引起的装配冲突问题,并通过MQGA的优化,缩短了装配时间。可见,面向服务的协同装配方法能够有效用于小批量多品种产品的装配中。Aiming at the assembly confliction problem of the small-batch multi-variety assembly,a service-oriented collabora⁃tive assembly method was proposed.The assembly tasks were classified into two types:common tasks and specific tasks which were all completed by the robots which could offer common service or specific service relatively.The service tag was proposed to realize the col⁃laborative communication between robots and products to avoid the confliction between multi-robots and multi-products.To verify the effectiveness of the proposed method,the CPN assembly model was applied to analyze the collaborative assembly method,and the modified quantum inspired genetic algorithm(MQGA)was also proposed to optimize the distribution of service tags,which could im⁃prove the assembly efficiency.Lastly,the method was applied in the assembly of two kinds of products.The experiment results show that the proposed method can be used to solve the confliction problems between multi-robots and multi-products in small-batch multi-variety assembly.With the optimization of the MQGA,the assembly time is reduced.It is concluded that the service-oriented col⁃laborative assembly method can be applied in small-batch multi-variety assembly effectively.

关 键 词：面向服务 协同装配方法 小批量多品种产品 CPN 量子遗传算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]