CN107273588A - The planning system and method for a kind of shield machine shield body Assembly sequences - Google Patents
The planning system and method for a kind of shield machine shield body Assembly sequences Download PDFInfo
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Abstract
The present invention proposes the planning system and method for a kind of shield machine shield body Assembly sequences, it is intended to reduce the complexity of shield machine shield body assembly sequence-planning, obtains the Assembly sequences for meeting user's request to greatest extent.System includes the Assembling resource management module being connected with database, assembly sequence-planning module and Virtual assemble emulation module, wherein, resource needed for Assembling resource management module storage shield machine shield body assembly sequence-planning, various information needed for assembly sequence-planning module storage shield machine shield body assembly sequence-planning to be assembled, utilize discrete particle cluster gravitation searching algorithm, calculate and choose the pre-planning result of shield machine shield body parts Assembly sequences, Virtual assemble emulation module is verified to the feasibility of the pre-planning result, determine the planning and output of shield machine shield body parts Assembly sequences to be assembled.Flexibly, the complexity of assembly sequence-planning is low for the planning system of the present invention.
Description
Technical field
The invention belongs to CAPP System technical field, and in particular to the planning of shield machine shield body Assembly sequences
Operating personnel, available for efficiency of assembling is improved in production, are had helping directive effect by system and method.
Background technology
Assembly sequence-planning is on the basis of assembly informationmodel, to the assemble sequences of parts according to certain requirement
Planned and selected, be sixty-four dollar question in industrial production manufacturing process.Assembly sequences are optimized, can be subtracted significantly
The cost of few industrial product and time.During assembly sequence-planning, the related physical in linkage editor is considered
How the problems such as constraint is to related geometrical constraint, select an optimal dress from numerous geometric feasibility assembly sequence-plannings
Just also turn into a critical problem with process sequence planning.Assembly manipulation sequence evaluation criterion is included：Assembling process is redirected
Number of times, the stability of assembly manipulation, the geometric feasibility of Assembly sequences, tool changing number of times etc..Shield machine shield body assembling is made
For the key link in shield machine manufacturing process, still suffered under the conditions of present reality and extensive artificial solve showing for Assembly sequences
As, it can only judge to solve by artificial subjective experience, more be not in unified interpretational criteria, thus extremely easily produce thin
Suddenly and the wrong phenomenon for selecting scheme.
From the point of view of presently disclosed data, the research institution of association area had carried out assembling sequence for shield machine shield body
The research of planning is arranged, its method is to carry out the planning of assemble sequence to shield body to be assembled using disassembly method, i.e., from generation assembly
Be possible to feasible isolation is selected in isolation, but the use premise of this method is shield body to be assembled assembled
Journey and unloading process must be reversible processes, and with the increase of product component number, the complexity of disassembly method also can
With increase, decomposable process is hindered.For example, Li Wei is in its academic dissertation " TBM virtual assembly systems development key technology " (northeast
University, 2012) in disclose a kind of development process of shield machine virtual assembly system, the system have been shield machine Virtual assemble
The design of model and simulated environment, the assembly technology order of shield machine critical piece has been planned using disassembly method, it is passive to employ
Three-dimensional virtual reality system, interactivity is realized by serial communication, its result show the system can for shield machine draw compared with
For rational assemble sequence, efficiency of assembling is improved to a certain extent, and there is helping directive effect to operating personnel.But, should
System exist weak point be：For the parts assembly sequence plan during shield machine Virtual assemble, some take off the system
From produce reality, the assembly sequence-planning of identical product can only be carried out using disassembly method, it is impossible to which the flexible assembling rule that carries out is set
Put；Meanwhile, the system fails to be attached with database, that is to say, that the increased part in database, can not be timely
Update in assembly technology module, be not easy to follow-up staff assembly technology module is related to designing and developing shield machine
Connection.
The content of the invention
It is an object of the invention to overcome the defect that above-mentioned prior art is present, it is proposed that a kind of shield machine shield body assembles sequence
The planning system and method for row, pass through the Assembling resource management module being connected with database, assembly sequence-planning module and virtual
Assembly simulation module, according to the assembling rule and interpretational criteria set during assembly sequence-planning, utilizes discrete particle cluster ten thousand
There is gravitation search algorithm to realize the planning to shield machine shield body Assembly sequences, it is intended to reduce shield machine shield body assembly sequence-planning
Complexity, obtains the Assembly sequences for meeting user's request to greatest extent.
To achieve the above object, the technical scheme taken of the present invention is：
A kind of planning system of shield machine shield body Assembly sequences, including be connected with database Assembling resource management module,
Assembly sequence-planning module and Virtual assemble emulation module, wherein：
Assembling resource management module, including model of parts library module, parts link information management module, frock tool
Model information management module, assembling rules administration module and Assembly sequences historical results management module, wherein, the parts mould
Type library module, the three-dimensional simulation model for storing the different parts of shield machine shield body；The parts link information manages mould
Block, the link information for storing the different parts of shield machine shield body；The frock tool model information management module, for depositing
Store up the three-dimensional simulation model and relevant information of frock tool；The assembling rules administration module, rule is generally assembled for storing；
The Assembly sequences historical results management module, is drilled for storing history Assembly sequences operation result, assembling process virtual emulation
Show content and feasibility the result；
Assembly sequence-planning module, including Assembly part insmods, frock tool insmods, formulate assembly technology letter
Cease module, algorithm parameter input module, assembly sequence-planning module, assembling results management module and assembling result overall merit mould
Block, wherein, the Assembly part insmods, for storing from model of parts library module and parts link information management mould
The three-dimensional simulation model and link information of the different parts for the shield body to be assembled chosen in block；The frock tool is loaded into mould
Block, three-dimensional simulation model and relevant information for storing the frock tool needed for shield body to be assembled；The formulation assembly technology
Information module, the assembling rule for storing assembly sequence-planning；The algorithm parameter input module, for storing Assembly sequences
Interpretational criteria；The assembly sequence-planning module, the computing of the Assembly sequences for realizing shield machine shield body parts；The dress
With results management module, the Assembly sequences operation result for exporting shield machine shield body parts；The assembling result, which is integrated, to be commented
Valency module, operation result and history Assembly sequences computing knot for realizing the Assembly sequences to exporting shield machine shield body parts
The contrast of fruit；
Virtual assemble emulation module, including assembly process simulation demonstration module, simulation demo record module and result export
Module, wherein, the assembly process simulation demonstration module, the computing for the Assembly sequences to exporting shield machine shield body parts
As a result assembling process virtual emulation demonstration is carried out；The simulation demo records module, is drilled for recording assembling process virtual emulation
Show content, and the assembling process virtual emulation demo content of recording and the storage of Assembly sequences operation result are arrived into Assembly sequences history
Results management module；The result export module, the planning for exporting shield machine shield body parts Assembly sequences.
A kind of planning system of above-mentioned shield machine shield body Assembly sequences, the Assembly sequences operation result, including assembling sequence
Arrange the relevant information of planning and the planning of Assembly sequences.
A kind of planning system of above-mentioned shield machine shield body Assembly sequences, the relevant information of the assembly sequence-planning, including
The assembling of assembly sequence-planning is regular, special priority, constraints and interpretational criteria.
A kind of planning system of above-mentioned shield machine shield body Assembly sequences, the Assembly sequences interpretational criteria, including assembling class
Type change frequency, Assembly stability functional value, assembling redirect the change frequency functional value of several functional value and frock tool.
A kind of planing method of shield machine shield body Assembly sequences, comprises the following steps：
(1) resource needed for shield machine shield body assembly sequence-planning is stored in different memory modules, realizes that step is：
(1.1) three-dimensional simulation model of the different parts of shield machine shield body is stored in model of parts library module；
(1.2) link information of the different parts of shield machine shield body is stored in parts link information management module；
(1.3) three-dimensional simulation model of frock tool and relevant information are stored in frock tool model information management module；
(1.4) by the generally assembling pre-set rule deposit assembling rules administration module；
(2) the various information needed for shield machine shield body assembly sequence-planning are stored in disparate modules, realize that step is：
(2.1) three-dimensional simulation model of the different parts of shield body to be assembled is selected from model of parts library module, and is deposited
Storage to Assembly part insmods；
(2.2) link information of the different parts of shield body to be assembled is selected from parts link information management module, and
Store to Assembly part and insmod；
(2.3) frock tool insmods the difference according to step (2.1) and the selected shield body to be assembled of step (2.2)
The three-dimensional simulation model and link information of parts, by the three-dimensional simulation model and correlation of the frock tool needed for shield body to be assembled
Information is stored to the module automatically；
(2.4) check with the presence or absence of the generally assembling rule that can directly select in assembling rules administration module, if so, from dress
It is regular with the assembling is selected in rules administration module, and store to formulation assembly technology information module, and perform step
(2.6)；Otherwise, step (2.5) is performed；
(2.5) it is regular to the special assembling for formulating input assembly sequence-planning in assembly technology information module, and store；
(2.6) evaluation index and evaluation right in input assembly sequence-planning interpretational criteria in algorithm parameter input module are given
Weight, to set up planning process interpretational criteria, and is stored；
(3) information that assembly sequence-planning module is stored according to disparate modules in step (2), universal using discrete particle cluster
Gravitation search algorithm, calculates the pre-planning of shield machine shield body parts Assembly sequences；
(4) assembling results management module shows the pre-planning result of shield machine shield body parts Assembly sequences, and with document
Form is exported；
(5) relevant information according to assembly sequence-planning, in assembling result overall merit module, to shield machine shield body zero
The pre-planning result of part Assembly sequences is entered with the history Assembly sequences operation result in Assembly sequences historical results management module
Row contrast, obtains the pre-planning result that overall merit meets user's request；
(6) Virtual assemble emulation module determines the planning of shield machine shield body parts Assembly sequences, realizes that step is：
(6.1) assembly process simulation demonstration module in step (5) to obtaining the pre-planning that overall merit meets user's request
As a result assembling process virtual emulation demonstration is carried out, realizes and the feasibility of the pre-planning result is verified；
(6.2) simulation demo records module and records assembling process virtual emulation demo content in step (6.1), and will record
Content, feasibility the result and Assembly sequences operation result, are automatically stored to Assembly sequences historical results management module；
(6.3) relevant information of utilization feasibility the result and assembly sequence-planning, determines shield machine shield body parts
The planning of Assembly sequences, it is in result export module that shield machine shield body parts Assembly sequences operation result is defeated with document form
Go out.
The present invention compared with prior art, has the following advantages that：
1st, the present invention is because there is provided allow User Defined evaluation in the planning system of shield machine shield body Assembly sequences
The formulation assembly technology information module of the algorithm parameter input module of criterion and settable assembling rule, in the process of Sequence Planning
In, to obtain the Assembly sequences for meeting user's request to greatest extent, the planning realized in planning system is flexibly set.
2nd, the present invention using discrete particle cluster gravitation due in the planing method of shield machine shield body Assembly sequences, being searched
Rope algorithm, calculates and selects the pre-planning of shield machine shield body parts Assembly sequences, passes through the feasibility to pre-planning result
Verified, determine the planning of shield machine shield body parts Assembly sequences to be assembled, it is to avoid prior art using disassembly method with
Product component number and increase the problem of brought Sequence Planning complexity is improved, effectively reduce shield machine shield body assembling
The complexity of Sequence Planning.
Brief description of the drawings
Fig. 1 is the structural representation of the planning system of the present invention；
Fig. 2 is the implementation process block diagram of planing method of the present invention；
Fig. 3 is the implementation process block diagram of discrete particle cluster gravitation searching algorithm in planing method of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in further detail：
Reference picture 1, a kind of planning system of shield machine shield body Assembly sequences, including with commercial data base MySQL Server
Assembling resource management module 1, assembly sequence-planning module 2 and the Virtual assemble emulation module 3 of connection, wherein：
Assembling resource management module 1, including model of parts library module 11, parts link information management module 12, work
Holding tool model information management module 13, assembling rules administration module 14 and Assembly sequences historical results management module 15, wherein,
Model of parts library module 11, the three-dimensional for the different parts of shield machine shield body set up for storing using business software PROE is imitated
True mode；The parts link information management module 12, the link information for storing the different parts of shield machine shield body；Institute
Frock tool model information management module 13 is stated, three-dimensional simulation model and relevant information for storing frock tool, the frock
The relevant information of instrument includes the base type information of the frock tool and using to be assembled zero corresponding to the frock tool
Part；The assembling rules administration module 14, rule is generally assembled for storing；The Assembly sequences historical results management module
15, for storing history Assembly sequences operation result, assembling process virtual emulation demo content and feasibility the result；
Assembly sequence-planning module 2, including the Assembly part 21, frock tool that insmods insmod 22, formulate assembling
Technique information module 23, algorithm parameter input module 24, assembly sequence-planning module 25, assembling results management module 26 and assembling
As a result overall merit module 27, wherein, Assembly part insmods 21, for storing from model of parts library module 11 and zero
The three-dimensional simulation model and link information of the different parts for the shield body to be assembled chosen in part link information management module 12；Institute
State frock tool and insmod 22, for storing the three-dimensional simulation model of the frock tool needed for shield body to be assembled and related believing
Breath, wherein, different parts are assembled respectively using the frock tool corresponding to it；The formulation assembly technology information module 23,
Assembling rule for storing assembly sequence-planning；The algorithm parameter input module 24, evaluates accurate for storing Assembly sequences
Then, wherein, Assembly sequences interpretational criteria include fitting-type change frequency, Assembly stability functional value, assembling redirect number
Functional value and frock tool change frequency functional value；The assembly sequence-planning module 25, for realizing shield machine shield body
The computing of the Assembly sequences of parts；The assembling results management module 26, for exporting shield machine with document forms such as Excel
The Assembly sequences operation result of shield body parts to the file set by user, wherein, Assembly sequences operation result include dress
The rule of regular, the special priority of assembling, constraints, interpretational criteria and Assembly sequences with Sequence Planning assembly sequence-planning
Draw；The assembling result overall merit module 27, the computing for realizing the Assembly sequences to exporting shield machine shield body parts
As a result with the contrast of history Assembly sequences operation result；
Virtual assemble emulation module 3, including assembly process simulation demonstration module 31, simulation demo record module 32 and result
Export module 33, wherein, assembly process simulation demonstration module 31, for the Assembly sequences to exporting shield machine shield body parts
Operation result carries out assembling process virtual emulation demonstration, wherein, assembling process is carried out in the integrated Unity3D softwares of the module
Virtual emulation is demonstrated；Simulation demo records module 32, for recording assembling process virtual emulation demo content, and by the dress of recording
Assembly sequences historical results management module 15 is arrived with process virtual simulation demo content and the storage of Assembly sequences operation result；It is described
As a result export module 33, for exporting the planning of shield machine shield body parts Assembly sequences with document forms such as Excel to user
Set storage folder.
A kind of reference picture 2, planing method of shield machine shield body Assembly sequences, comprises the following steps：
Resource needed for shield machine shield body assembly sequence-planning is stored in different memory modules by step 1, realizes that step is：
The three-dimensional simulation model of the different parts of shield machine shield body is stored in model of parts library module 11 by step 1.1；
The link information of the different parts of shield machine shield body is stored in parts link information management module 12 by step 1.2；
The three-dimensional simulation model of frock tool and relevant information are stored in frock tool model information management module by step 1.3
13；
The generally assembling pre-set rule deposit is assembled rules administration module 14 by step 1.4；
Various information needed for shield machine shield body assembly sequence-planning are stored in disparate modules by step 2, realize step
For：
Step 2.1 selects the three-dimensional simulation model of the different parts of shield body to be assembled from model of parts library module 11,
And store to Assembly part and insmod 21；
Step 2.2 selects the connection of the different parts of shield body to be assembled to believe from parts link information management module 12
Breath, and store to Assembly part and insmod 21；
Step 2.3 frock tool insmods 22 according to the difference of the selected shield body to be assembled of step 2.1 and step 2.2
The three-dimensional simulation model and link information of parts, by the three-dimensional simulation model and correlation of the frock tool needed for shield body to be assembled
Information is stored to the module automatically；
Step 2.4 checks regular with the presence or absence of the generally assembling that can directly select in assembling rules administration module 14, if so,
Assembling rule is selected from assembling rules administration module 14, and is stored to formulation assembly technology information module 23, and is performed
Step 2.6；Otherwise, step 2.5 is performed；
Step 2.5 is regular to the special assembling for formulating input assembly sequence-planning in assembly technology information module 23, wherein,
Special assembling rule includes special priority and constraints, and stores；
Step 2.6 is to the evaluation index inputted in algorithm parameter input module 24 in assembly sequence-planning interpretational criteria and comments
Valency weight, to set up planning process interpretational criteria, and is stored；
The information that step 3 assembly sequence-planning module is stored according to disparate modules in step 2, it is universal using discrete particle cluster
Gravitation search algorithm, calculates the pre-planning of shield machine shield body parts Assembly sequences, realizes that step is：
Step 3.1 is treated in the three-dimensional simulation model and step 2.2 using the different parts of shield body to be assembled in step 2.1
The relevant information of the different parts of shield body is assembled, the quantity n of assembly sequence-planning assemble sequence undetermined is determined, obtains assembling sequence
Row intersection C：C=1,2,3 ..., n }；
Step 3.2 quantifies to the stability of the assembly manipulation of every kind of assemble sequence in Assembly sequences intersection C：Using treating
Interference relation of the parts in cartesian coordinate system reference axis ± X, ± Y and ± Z-direction with other parts in shield body is assembled,
The interference matrix set up between the different parts of shield body to be assembled, and the interference matrix is utilized, set up the difference of shield body to be assembled
The assembly relation proppant matrix and assembly relation connecting matrix of parts；
Where it is assumed that shield body to be assembled is made up of n different parts, its interference matrix is represented by：
In formula, IkijThe situation that whether parts j will interfere along k directions with part i during assembling is represented, works as Ikij=
When 0, represent that along k directions assembling influence interference will not occur with part i for parts j；Work as IkijWhen=1, parts during assembling are represented
J is interfered along k directions with part i；
Remember IMx, IMy, IMzParts are represented respectively in x, y, the Assembly Interference matrix on tri- change in coordinate axis direction of z, wherein
IMx, IMy, IMzIt is expressed as follows：
By Assembly Interference matrix, directly implementation capacity of the assembly in assembly manipulation can be judged；
Its proppant matrix is represented by：
S=(sij)n×n
In formula, sijIt is worth and is：
sijRepresent parts i and parts j supporting relation.Work as sijWhen=0, between expression parts i and parts j
Relation or parts i, which may be not in contact with, can not stablize support parts j；Work as sijWhen=1, parts i and parts j is represented
Contact surface normal vector it is consistent with gravity direction, i.e. parts i can stablize support parts j；
Its connecting matrix is represented by：
E=(eij)n×n
In formula, eijIt is worth and is：
eijRepresent parts i and parts j connecting relation.Work as eijWhen=0, between expression parts i and parts j
In the absence of contact connection；Work as eijWhen=1, represent that parts i and parts j has general contact connection；Work as eijWhen=2, represent
There is contact connection between parts i and parts j, and be stable connection；
Unstable connecting relation value expression in assembly：
In formula, xcRepresent unstable connecting relation value, cijRepresent unstable connecting relation between parts i and parts j
Number.It will be apparent that this unstable coefficient values is smaller, then assembly is more stable；
Stability of strutting system can go out the stability of strutting system of assembly in the vertical direction, its table using supporting relation matrix computations
It is up to formula：
In formula, xsRepresent unstable supporting relation value, sijRepresent unstable supporting relation between parts i and parts j
Number.It will be apparent that unstable supporting relation value is smaller, then assembly is more stable；
Two stability factors are considered, it may be determined that go out the function expression of assembly stability：
Interference matrix between the different parts for the shield body to be assembled that step 3.3 is set up using step 3.2, judges difference zero
The feasible assembly direction of part, and extrapolate the minimum change number of times of parts assembly direction in every kind of assemble sequence；Wherein, do
Relate to matrix and given full expression to certain part and neutralize other parts presence of interference along some direction whole process, by geometric database and dry
Relate to the rational disassembly direction and assembly direction analyzed and then formed geometrically.
Step 3.4 is set up using the relevant information of the frock tool needed for the shield body to be assembled stored automatically in step 2.3
Set T=(the T of frock tool1,T2…Tn), and calculate in Assembly sequences intersection C frock in the assembling process of every kind of assemble sequence
The change number of times of instrument；Wherein, treating the different parts of shield body has the frock tool used corresponding to its assembling, therefore assembles
The change number of times of frock tool can be calculated by assemble sequence in journey；
The content that step 3.5 is obtained using step 3.2~step 3.4, sets up the object function of assembly sequence-planning process
F, wherein, object function f expression formulas are：
F=λ1fm+λ2fs+λ3fd+λ4ft
Wherein, fm、fs、fd、ftFitting-type change frequency in assembling process, Assembly stability functional value, dress are represented respectively
With the change frequency functional value for redirecting several functional value and frock tool, assembling redirects quantity expression function and is：
In formula, fdRepresent that assembling redirects frequency function value, MdRepresent to redirect in assembling is whole and produce number of times.
λ1、λ2、λ3、λ4Respectively processing, and λ are weighted to aforementioned four evaluation function value1+λ2+λ3+λ4=1；
Step 3.6 utilizes discrete particle cluster gravitation searching algorithm, with step 3.5 gained object function f functional value
It is target to the maximum, chooses the planning of optimal or near-optimization the Assembly sequences in Assembly sequences intersection C, obtain shield machine shield body
The pre-planning of parts Assembly sequences, wherein, reference picture 3, using discrete particle cluster gravitation searching algorithm, chooses assembling sequence
The step that implements of the planning of optimal or near-optimization Assembly sequences in row intersection C is：
(3.6.1) particle populations are initialized；
(3.6.2) fitness function value is calculated；
(3.6.3) population particle inertia quality and gravitation coefficient are calculated；
(3.6.4) solves the gravitation and particle acceleration produced between particle；
(3.6.5) particle rapidity and location updating；
(3.6.6) is when iterations is updated to greatest iteration number, you can output optimal solution；
The pre-planning result of the display shield machine shield body parts Assembly sequences of step 4 assembling results management module 26, and with
The document forms such as Excel export the file set to user；
Relevant information of the step 5 according to assembly sequence-planning, in assembling result overall merit module 27, to shield machine shield
The pre-planning result of body parts Assembly sequences and the history Assembly sequences computing in Assembly sequences historical results management module 15
As a result contrasted, obtain the pre-planning result that overall merit meets user's request；
Step 6 Virtual assemble emulation module 3 determines the planning of shield machine shield body parts Assembly sequences, realizes that step is：
Step 6.1 assembly process simulation demonstration module 31 meets obtaining overall merit in step 5 the pre- rule of user's request
Check off fruit carries out assembling process virtual emulation demonstration, realizes and the feasibility of the pre-planning result is verified；
Step 6.2 simulation demo records module 32 and records assembling process virtual emulation demo content in step 6.1, and will record
Content processed, feasibility the result and Assembly sequences operation result, are automatically stored to Assembly sequences historical results management module 15；
The relevant information of step 6.3 utilization feasibility the result and assembly sequence-planning, determines shield machine shield body zero
The planning of part Assembly sequences, by shield machine shield body parts Assembly sequences operation result with Excel in result export module 33
Exported etc. document form to user's formulation file.
Above description is only example of the present invention, does not constitute any limitation of the invention, it is clear that for this
, all may be without departing substantially from the principle of the invention, structure after present invention and principle has been understood for the professional in field
In the case of, the various modifications and changes in form and details are carried out, but these modifications and variations based on inventive concept are still
Within the claims of the present invention.
Claims (7)
1. a kind of planning system of shield machine shield body Assembly sequences, it is characterised in that including the Assembling resource being connected with database
Management module, assembly sequence-planning module and Virtual assemble emulation module, wherein：
Assembling resource management module, including model of parts library module, parts link information management module, frock tool model
Information management module, assembling rules administration module and Assembly sequences historical results management module, wherein, the model of parts storehouse
Module, the three-dimensional simulation model for storing the different parts of shield machine shield body；The parts link information management module, is used
In the link information of the different parts of storage shield machine shield body；The frock tool model information management module, for storing work
The three-dimensional simulation model and relevant information of holding tool；The assembling rules administration module, rule is generally assembled for storing；It is described
Assembly sequences historical results management module, demonstrates interior for storing history Assembly sequences operation result, assembling process virtual emulation
Hold and feasibility the result；
Assembly sequence-planning module, including Assembly part insmods, frock tool insmods, formulate assembly technology information mould
Block, algorithm parameter input module, assembly sequence-planning module, assembling results management module and assembling result overall merit module,
Wherein, the Assembly part insmods, for storing from model of parts library module and parts link information management module
The three-dimensional simulation model and link information of the different parts of the shield body to be assembled of middle selection；The frock tool insmods,
Three-dimensional simulation model and relevant information for storing the frock tool needed for shield body to be assembled；The formulation assembly technology information
Module, the assembling rule for storing assembly sequence-planning；The algorithm parameter input module, for storing Assembly sequences evaluation
Criterion；The assembly sequence-planning module, the computing of the Assembly sequences for realizing shield machine shield body parts；The assembling knot
Fruit management module, the Assembly sequences operation result for exporting shield machine shield body parts；The assembling result overall merit mould
Block, operation result and history Assembly sequences operation result for realizing the Assembly sequences to exporting shield machine shield body parts
Contrast；
Virtual assemble emulation module, including assembly process simulation demonstration module, simulation demo record module and result export module,
Wherein, the assembly process simulation demonstration module, the operation result for the Assembly sequences to exporting shield machine shield body parts
Carry out assembling process virtual emulation demonstration；The simulation demo records module, for recording in the demonstration of assembling process virtual emulation
Hold, and the assembling process virtual emulation demo content of recording and the storage of Assembly sequences operation result are arrived into Assembly sequences historical results
Management module；The result export module, the planning for exporting shield machine shield body parts Assembly sequences.
2. a kind of planning system of shield machine shield body Assembly sequences according to claim 1, it is characterised in that the assembling
Sequence Operation Theory result, includes relevant information and the planning of Assembly sequences of assembly sequence-planning.
3. a kind of planning system of shield machine shield body Assembly sequences according to claim 2, it is characterised in that the assembling
The relevant information of Sequence Planning, including the assembling of assembly sequence-planning is regular, special priority, constraints and evaluation are accurate
Then.
4. a kind of planning system of shield machine shield body Assembly sequences according to claim 1, it is characterised in that the assembling
Sequence evaluation criterion, including fitting-type change frequency, Assembly stability functional value, assembling redirect several functional value and work
The change frequency functional value of holding tool.
5. a kind of planing method of shield machine shield body Assembly sequences, it is characterised in that comprise the following steps：
(1) resource needed for shield machine shield body assembly sequence-planning is stored in different memory modules, realizes that step is：
(1.1) three-dimensional simulation model of the different parts of shield machine shield body is stored in model of parts library module；
(1.2) link information of the different parts of shield machine shield body is stored in parts link information management module；
(1.3) three-dimensional simulation model of frock tool and relevant information are stored in frock tool model information management module；
(1.4) by the generally assembling pre-set rule deposit assembling rules administration module；
(2) the various information needed for shield machine shield body assembly sequence-planning are stored in disparate modules, realize that step is：
(2.1) three-dimensional simulation model of the different parts of shield body to be assembled is selected from model of parts library module, and store to
Assembly part insmods；
(2.2) link information of the different parts of shield body to be assembled is selected from parts link information management module, and is stored
Insmoded to Assembly part；
(2.3) frock tool insmods the difference zero according to step (2.1) and the selected shield body to be assembled of step (2.2)
The three-dimensional simulation model and link information of part, by the three-dimensional simulation model and relevant information of the frock tool needed for shield body to be assembled
Automatically store to the module；
(2.4) check with the presence or absence of the generally assembling rule that can directly select in assembling rules administration module, if so, being advised from assembling
Assembling rule is then selected in management module, and is stored to formulation assembly technology information module, and performs step (2.6)；It is no
Then, step (2.5) is performed；
(2.5) it is regular to the special assembling for formulating input assembly sequence-planning in assembly technology information module, and store；
(2.6) evaluation index and evaluation weight in input assembly sequence-planning interpretational criteria in algorithm parameter input module are given,
To set up planning process interpretational criteria, and store；
(3) information that assembly sequence-planning module is stored according to disparate modules in step (2), utilizes discrete particle cluster gravitation
Searching algorithm, calculates the pre-planning of shield machine shield body parts Assembly sequences；
(4) assembling results management module shows the pre-planning result of shield machine shield body parts Assembly sequences, and with document form
Output；
(5) relevant information according to assembly sequence-planning, in assembling result overall merit module, to shield machine shield body parts
The pre-planning result of Assembly sequences and the history Assembly sequences operation result progress pair in Assembly sequences historical results management module
Than obtaining the pre-planning result that overall merit meets user's request；
(6) Virtual assemble emulation module determines the planning of shield machine shield body parts Assembly sequences, realizes that step is：
(6.1) assembly process simulation demonstration module is to obtaining the pre-planning result that overall merit meets user's request in step (5)
Assembling process virtual emulation demonstration is carried out, realizes and the feasibility of the pre-planning result is verified；
(6.2) simulation demo records module and records assembling process virtual emulation demo content in step (6.1), and will record interior
Appearance, feasibility the result and Assembly sequences operation result, are automatically stored to Assembly sequences historical results management module；
(6.3) relevant information of utilization feasibility the result and assembly sequence-planning, determines that shield machine shield body parts are assembled
The planning of sequence, is exported shield machine shield body parts Assembly sequences operation result with document form in result export module.
6. a kind of planing method of shield machine shield body Assembly sequences according to claim 5, it is characterised in that step (3)
The pre-planning of described calculating shield machine shield body parts Assembly sequences, realizes that step is：
(3.1) using to be installed in the three-dimensional simulation model and step (2.2) of the different parts of shield body to be assembled in step (2.1)
The relevant information of different parts with shield body, determines the quantity n of assembly sequence-planning assemble sequence undetermined, obtains Assembly sequences
Intersection C：C=1,2,3 ..., n }；
(3.2) stability to the assembly manipulation of every kind of assemble sequence in Assembly sequences intersection C quantifies：Utilize shield to be assembled
Interference relation of the parts in cartesian coordinate system reference axis ± X, ± Y and ± Z-direction with other parts in body, foundation is treated
The interference matrix between the different parts of shield body is assembled, and utilizes the interference matrix, the different parts of shield body to be assembled are set up
Assembly relation proppant matrix and assembly relation connecting matrix；
(3.3) interference matrix between the different parts for the shield body to be assembled set up using step (3.2), judges different parts
Feasible assembly direction, and extrapolate the minimum change of the parts assembly direction of every kind of assemble sequence in Assembly sequences intersection C
Number of times；
(3.4) using the relevant information of the frock tool needed for the shield body to be assembled stored automatically in step (2.3), frock is set up
Set T=(the T of instrument1,T2…Tn), and calculate in Assembly sequences intersection C frock tool in the assembling process of every kind of assemble sequence
Change frequency function value；
(3.5) content obtained using step (3.2)~step (3.4), sets up the object function f of assembly sequence-planning process；
(3.6) discrete particle cluster gravitation searching algorithm is utilized, it is maximum with the functional value of object function f obtained by step (3.5)
For target, the planning of optimal or near-optimization the Assembly sequences in Assembly sequences intersection C is chosen, shield machine shield body zero is obtained
The pre-planning of part Assembly sequences.
7. a kind of planing method of shield machine shield body Assembly sequences according to claim 6, it is characterised in that step
(3.5) the object function f of the assembly sequence-planning process described in, its expression formula is：
F=λ1fm+λ2fs+λ3fd+λ4ft
Wherein, fm、fs、fd、ftFitting-type change frequency in assembling process, Assembly stability functional value, assembling weight are represented respectively
The functional value of new orientation number and the change frequency functional value of frock tool.λ1、λ2、λ3、λ4Aforementioned four evaluation function value is given respectively
It is weighted processing, and λ1+λ2+λ3+λ4=1.
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