Product assembly is an important stage in complex product manufacturing. How to intelligently plan the assembly process based on dynamic product and environment information has become an pressing issue needs to be addressed. For this reason, this research has constructed a digital twin assembly system, including virtual and real interactive feedback, data fusion analysis and decision-making iterative optimization modules. In the virtual space, a modified Q-learning algorithm is proposed to solve the path planning problem in product assembly. The proposed algorithm speeds up the convergence speed by adding dynamic reward function, optimizes the initial Q table by introducing knowledge and experience through the case-based reasoning (CBR) algorithm, and prevents entry into the trapped area through the obstacle avoiding method. Finally, take the six-joint robot UR10 as an example to verify the performance of the algorithm in the three-dimensional pathfinding space. The experimental resultsshow that the modified Q-learning algorithm's pathfinding performance is significantly better than the original Q-learning algorithm.
Background The effect of oxide scale composition of hot-rolled strip (Q235) on shot blasting is studied in this article. The properties of the oxide scale on the strip surface change during storage. The shot blasting is an important on-line acid-less descaling technology. The effect of shot blasting is affected by many factors, among which the composition of oxide scale may play an important role. However, there are few studies on the relationship between the oxide layer content and the descaling effect. Methods The morphologies of oxide scales at different storage times are observed by scanning electron microscopy (SEM), and the compositions are analyzed by X-ray diffraction. These strips are then shot blasted and descaled with different amounts of abrasive, and the descaling effects are compared by SEM. Results The results show that the eutectoid structure Fe3O4/Fe in the oxide scale will gradually transform into Fe3O4. In the case of short storage time, the content of the eutectoid structure is high, and it is difficult to remove the oxide scale. While the strip with a long storage time has no eutectoid structure Fe3O4/Fe and FeO, it is easy to remove the oxide scale during the shot blasting process. The composition of the oxide scale has a significant effect on the effect of shot blasting, and it provides significant guidance to the optimization of the descaling process parameters.
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