针对有滞留时间约束和并行加工的两集束型装备调度问题,分别推导了三类不等式约束条件,包括加工模块处于加工和空闲两种状态下的滞留时间约束、任意单个和两个搬运作业情况下的机械手搬运能力约束,以及缓冲模块能力约束,从理论上证明了并行加工模块等价加工时间的合理性,建立了以最小化生产周期为目标的混合整数规划模型.随机算例和基准算例的仿真结果验证了模型的可行性和有效性. For the two-cluster equipment scheduling problem with dwell time constraints and parallel processing, three types of inequality constraints are derived respectively, including the dwell time constraints of the processing module in both the processing and the idle state. In the case of any single and two handling operations , And the capacity constraint of buffer module, the rationality of equal processing time of parallel processing module is theoretically proved, and a mixed integer programming model aiming to minimize the production cycle is established.The stochastic case and the benchmark case The simulation results verify the feasibility and effectiveness of the model.