CN112231969A - System and method for demonstrating assembly sequence planning of swing angle milling head - Google Patents
System and method for demonstrating assembly sequence planning of swing angle milling head Download PDFInfo
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- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
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Abstract
The invention discloses a system and a method for demonstrating assembly sequence planning of a swing angle milling head, wherein the system plans a component assembly sequence of the swing angle milling head and finally shows the component assembly sequence through a virtual environment. The three-dimensional model and the assembly information of the part are obtained through the part information module, the part assembly information is converted into an assembly information matrix which can be identified by a programming language through the assembly sequence planning module, the assembly sequence planning is carried out through a particle swarm genetic hybrid algorithm, an optimal assembly sequence is obtained, the part three-dimensional information model obtained through the optimal assembly sequence and the part information module is subjected to simulation verification through the virtual simulation module and finally displayed on a VR interface for user experience evaluation.
Description
Technical Field
The invention belongs to the field of assembly sequence planning, and particularly relates to a swing angle milling head assembly sequence planning demonstration system and a use method.
Background
With the development of the times and the improvement of technologies, the manufacturing industry occupies more and more weight in national economy, assembly is an indispensable step in the production and manufacturing process of products, the final purpose of assembly planning is to determine a product assembly plan, and the core target of the assembly planning problem is assembly sequence planning, which belongs to a combination optimization problem and is essentially to obtain the optimal assembly sequence of the products. Therefore, the time spent on assembly is reduced, the difficulty of the assembly process is reduced, and the method is a powerful mode for reducing the production and manufacturing cost of products and improving the social competitiveness of enterprises.
The swing angle milling head is used as a core component of a multi-axis linkage machine tool, and the assembly process of the swing angle milling head occupies a very important position. At present, due to the fact that a large number of assembling sequences are solved manually in a complex structure, the assembling sequence depends on the subjective experience of assembling workers to a great extent, and a learner who wants to observe the learning assembling process can only learn from videos or other explanation videos and cannot feel learning personally.
Disclosure of Invention
Aiming at the defects and problems in the prior art, the invention provides a swing angle milling head assembly sequence planning demonstration system and a use method thereof.
The invention provides a system for demonstrating assembly sequence planning of a swing angle milling head, which comprises a swing angle milling head part information module, a swing angle milling head assembly sequence planning module and a swing angle milling head virtual assembly simulation and experience module;
the swing angle milling head part information module comprises swing angle milling head part three-dimensional model information and swing angle milling head part assembling information, wherein the swing angle milling head part three-dimensional model information mainly comprises a swing angle milling head part three-dimensional model; the part assembling information of the swing angle milling head comprises part assembling direction information, part assembling tool information, part assembling interference information, part assembling connection information and part assembling support information. The component assembling direction information mainly comprises assembling direction information along which the swing angle milling head components are assembled; the part assembling tool information mainly comprises assembling tool information used by the swing angle milling head parts in the assembling engineering; the part interference information mainly comprises the assembly interference information of the swing angle milling head part and other parts when the swing angle milling head part is assembled in a certain direction; the part assembling and connecting information mainly comprises the connecting relation information among parts of the swing angle milling head; the part assembling and supporting information mainly comprises supporting relation information among parts of the swing angle milling head;
the swing angle milling head assembly sequence planning module comprises a swing angle milling head assembly information matrix and a swing angle milling head assembly sequence planning, wherein the swing angle milling head assembly information matrix is used for converting the swing angle milling head part assembly information into an information matrix form which can be identified by a programming language to be stored and used for the assembly sequence planning; and the swinging angle milling head assembly sequence planning is used for realizing iterative optimization of the swinging angle milling head assembly sequence through a genetic particle swarm hybrid algorithm and storing the optimal assembly sequence.
The swing angle milling head virtual assembly simulation and experience module comprises swing angle milling head virtual assembly simulation and user VR experience, wherein the swing angle milling head virtual assembly simulation is used for performing assembly process simulation demonstration on swing angle milling head parts according to an assembly optimal sequence stored by the assembly sequence simulation module; and the user VR experience is used for presenting the virtual assembly simulation process of the swing angle milling head and the stored optimal assembly sequence of the swing angle milling head in a virtual environment, so that the user can obtain deeper understanding on the assembly process of the swing angle milling head.
The invention provides a using method of a swing angle milling head assembly sequence planning demonstration system, which is implemented according to the following requirements:
the method comprises the following steps of 1) storing a three-dimensional model and assembly information of the swing angle milling head part into a part assembly information module:
requiring 1.1) storing the three-dimensional model information of the parts of the swing angle milling head into a three-dimensional model information base of the parts;
requiring 1.2) storing the direction information of the assembly process of the swing angle milling head parts into a parts assembly direction information base;
the method comprises the steps that 1.3) assembling tool information used in the assembling process of the swing angle milling head parts is stored in a parts assembling tool information base;
the method includes the steps that 1.4) assembling interference information of the swing angle milling head parts and other parts during assembling along a certain direction is stored in a part assembling interference information base;
requiring 1.5) storing the connection relation information between the parts of the swing angle milling head into a part assembly connection information base;
requiring 1.6) storing the information of the supporting relation between the parts of the swing angle milling head into a part assembling and supporting information base;
requiring 2) transferring the three-dimensional model of the swing angle milling head part in the part information module and the corresponding index number thereof to the virtual assembly simulation and experience module;
requiring 3) storing the index number corresponding to the three-dimensional model of the swing angle milling head part in the part information module and a standard matrix format which can be identified by a programming language converted from the assembly information into an assembly sequence planning module;
the method comprises the following steps of 4) carrying out optimization planning on an assembly sequence of the parts of the swing angle milling head by using a genetic particle swarm hybrid algorithm according to an assembly information matrix of the parts of the swing angle milling head;
claim 4.1) redefining the particle swarm algorithm, redefining the particles in the particle swarm algorithm, each particle representing the assembly sequence stored therein; position vector P of particle ii(t)＝{Pi(1),Pi(2),Pi(3),...Pi(N)Denotes an assembly sequence of assemblies in the order P1,P2,P3,...PnN is the number of parts; velocity vector V of particle ii(t)＝{Vi(1),Vi(2),Vi(3),...Vi(N)Represents the change of the assembly order of a group of parts;
and 4.2) establishing a fitness function of the genetic particle swarm hybrid algorithm, and defining the assembling interference times ng, the unstable support times ns, the assembling tool transformation times nt, the assembling direction transformation times nd and the unstable connection times nc as fundamental factors influencing the total assembling time. n represents the number of times of various changes in the assembly flow, u represents the weight of various times in the total assembly time, and u represents the weight of various timesg+us+ut+ud+ucThe fitness function is as follows, 1: f ═ ngug+nsus+ntut+ndud+ncuc；
Requirement 4.3) setting the number m of particle populations, maximum number of iterations tmaxEach ofThe method comprises the following steps of (1) randomly generating m-group assembly sequences by a weight u and an initialization algorithm, calculating each particle fitness value by using a fitness function, setting the minimum assembly sequence of the fitness values as an individual initial optimal assembly sequence of particles, comparing all particle fitness values, selecting particles with the minimum fitness values, and setting the assembly sequence of the particles as a global initial optimal assembly sequence;
4.4) cross updating with the individual optimal assembly sequence, randomly generating two values a1 and a2 in [1, n ] to generate a cross position, extracting sequences a1 to a2 from the individual optimal sequence to form a cross region matrix and placing the cross region matrix at the front end of the sequence, recalculating the sequence fitness value and comparing the fitness values before cross updating, and if the sequence is more optimal, updating the individual optimal assembly sequence;
4.5) and the global optimal assembly sequence are updated in a crossing way, two values b1 and b2 are randomly generated in [1, n ] to generate a crossing bit, sequences b1 to b2 in the global optimal sequence are extracted to form a crossing region matrix and are placed at the front end of the sequence, the sequence fitness value is recalculated and is compared with the fitness value before cross updating, and if the sequence is more optimal, the global optimal assembly sequence is updated;
requiring 4.6) mutation updating, randomly generating two values c1 and c2 in [1, n ], carrying out number exchange on parts corresponding to c1 and c2 in the sequence to form a new assembly sequence, recalculating the fitness value of the assembly sequence, comparing the fitness value with the fitness value before updating, and updating the optimal assembly sequence if the fitness value is better;
requirement 4.7) after completing cross variation updating, comparing all individual fitness values, selecting a minimum individual fitness value to compare with a global minimum fitness value, and if the minimum individual fitness value is smaller, updating a global optimal assembly sequence;
requirement 4.8) to determine whether the iteration number t reaches the maximum iteration number tmaxIf not, returning to the requirement of 4.4) to perform the next round of updating iteration, and if yes, outputting a global optimal assembly sequence;
the method comprises the following steps that 5) virtual assembly simulation is carried out on a three-dimensional model of the swing angle milling head part according to a global optimal assembly sequence obtained in the requirement 4, and the virtual assembly simulation is loaded into a VR virtual environment for user experience;
the method comprises the following steps that 5.1) a virtual assembly simulation is carried out on a global optimal assembly sequence obtained according to the requirement 4 by the three-dimensional model of the swing angle milling head part and the index number thereof obtained according to the requirement 2, and feasibility verification of the assembly sequence is realized;
and 5.2) uploading and loading the virtual assembly simulation process and the optimal assembly sequence into the VR virtual environment for a user to experience more deeply.
The invention provides a use method of a swing angle milling head assembly sequence planning demonstration system, which is further characterized in that:
the swing angle milling head assembly information matrix comprises an assembly direction matrix, an assembly tool matrix, an assembly interference matrix, an assembly connection matrix and an assembly support matrix;
the smaller the fitness function value, the better the assembly sequence represented.
The invention has the beneficial effects that:
according to the system for demonstrating the assembly sequence planning of the swing angle milling head, the input of a three-dimensional model of the swing angle milling head is converted into the information of an assembly matrix, the assembly sequence of parts is iteratively optimized, and finally the virtual assembly process is presented in a VR virtual environment for a user to learn the assembly process of the swing angle milling head more deeply.
The method for demonstrating the assembly sequence planning of the swing angle milling head provided by the invention utilizes the genetic particle swarm hybrid algorithm to carry out iterative optimization on the assembly sequence of the components of the swing angle milling head, provides the self-defined input of the inertial weight of the algorithm fitness function, slows down the condition that the assembly of the swing angle milling head depends on the subjective experience of an assembly worker to a large extent at present, provides an idea for the assembly planning of a complex assembly in the future, and utilizes a novel presentation form of virtual simulation.
Drawings
FIG. 1 is a schematic structural diagram of a system for planning and demonstrating an assembly sequence of a swing angle milling head according to the present invention;
FIG. 2 is a flow chart of a method for using a swing angle milling head assembly sequence planning demonstration system according to the present invention;
FIG. 3 is a flow chart of a genetic particle swarm hybrid algorithm implementation in a method for demonstrating the assembly sequence planning of a swing angle milling head according to the present invention;
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The invention discloses a system for demonstrating assembly sequence planning of a swing angle milling head, which is structurally as shown in figure 1 and comprises a swing angle milling head part information module, a swing angle milling head assembly sequence planning module and a swing angle milling head virtual assembly simulation and experience module.
The swing angle milling head part information module comprises part three-dimensional model information and part assembling information, wherein the part three-dimensional model information mainly comprises all part three-dimensional models of the swing angle milling head; the component assembling information includes component assembling direction information, component assembling tool information, component assembling interference information, component assembling connection information, and component assembling support information. The component assembling direction information mainly comprises assembling direction information along which the swing angle milling head components are assembled; the part assembling tool information mainly comprises assembling tool information used by the swing angle milling head parts in the assembling engineering; the part interference information mainly comprises the assembly interference information of the swing angle milling head part and other parts when the swing angle milling head part is assembled in a certain direction; the part assembling and connecting information mainly comprises the connecting relation information among parts of the swing angle milling head; the part assembling and supporting information mainly comprises supporting relation information among parts of the swing angle milling head;
the swing angle milling head assembly sequence planning module comprises a swing angle milling head assembly information matrix and a swing angle milling head assembly sequence planning, wherein the assembly information matrix is used for converting the swing angle milling head part assembly information into an information matrix form which can be identified by a programming language for storage and is used for the assembly sequence planning; and the assembly sequence planning is used for realizing iterative optimization of the swing angle milling head assembly sequence through a genetic particle swarm hybrid algorithm and storing the optimal assembly sequence.
The swing angle milling head virtual assembly simulation and experience module comprises swing angle milling head virtual assembly simulation and user VR experience, wherein the virtual assembly simulation is used for carrying out assembly process simulation demonstration on the swing angle milling head parts according to an assembly optimal sequence stored by the assembly sequence simulation module; and the user VR experience is used for presenting the virtual assembly simulation process and the stored optimal assembly sequence in a virtual environment, so that the user can obtain deeper understanding of the assembly process of the swing angle milling head.
The invention discloses a swinging angle milling head assembly sequence planning demonstration system which is realized based on three types of software, namely Proe, Matlab and MakeReal3D, wherein the three types of software respectively correspond to a part information module, an assembly sequence planning module and a virtual assembly simulation and experience module, and the realization of the process from the input of three-dimensional model information of the swinging angle milling head parts to the output of an optimal assembly sequence and the virtual assembly simulation is completed.
The invention discloses a using method of a swing angle milling head assembly sequence planning demonstration system, which is realized by the following specific requirements according to a flow chart shown in figure 2:
the method comprises the following steps of 1) storing a three-dimensional model and assembly information of the swing angle milling head part into a part assembly information module:
requiring 1.1) storing the three-dimensional model information of the parts of the swing angle milling head into a three-dimensional model information base of the parts;
requiring 1.2) storing the optimal assembly direction information of the assembly process of the swing angle milling head parts into a parts assembly direction information base;
the method comprises the steps that 1.3) assembling tool information used in the assembling process of the swing angle milling head parts is stored in a parts assembling tool information base;
the method includes the steps that 1.4) assembling interference information of the swing angle milling head parts and other parts during assembling along a certain direction is stored in a part assembling interference information base;
requiring 1.5) storing the connection relation information between the parts of the swing angle milling head into a part assembly connection information base;
requiring 1.6) storing the information of the supporting relation between the parts of the swing angle milling head into a part assembling and supporting information base;
requiring 2) transferring the three-dimensional model of the swing angle milling head part in the part information module and the corresponding index number thereof to the virtual assembly simulation and experience module;
requiring 3) storing the index number corresponding to the three-dimensional model of the swing angle milling head part in the part information module and a standard matrix format which can be identified by a programming language converted from the assembly information into an assembly sequence planning module;
requiring 3.1) standard matrixes recognizable by a programming language for conversion of the assembly information of the swing angle milling head to comprise an assembly direction matrix, an assembly tool matrix, an assembly interference matrix, an assembly connection matrix and an assembly support matrix;
requiring 3.2) each part has its own assembly direction during assembly, assuming that the swing angle milling head assembly has n parts in total, selecting one direction as the optimal assembly direction of the part and establishing an assembly direction matrix D(i)nx1；
And 3.3) during the assembly process of the swing angle milling head, different assembly tools are arranged for different parts in each step of operation, each part is fixed with one assembly tool during the assembly process through definition in advance, and an assembly tool matrix T is established(i)nx1；
Requirement 3.4) establishment of a tilt angle milling head assembly interference matrix M(kij)nxn,Mkij1 indicates that the component i collides with the component j when moving to the assembly position in the direction k; m since the part does not collide with itselfii0, the matrix main diagonal elements are all zero.
Requirement 3.5) establishment of a swing angle milling head assembly connection matrix L(ij)nxn,Lij2 means that the parts i and j have stable connection relation; l isij1 represents that the parts i and j have a contact connection relation; l isij0 indicates that the components i and j are not connected.
Requirement 3.6) establishment of a swing angle milling head assembly support matrix S(ij)nxn，Sij1 indicates that the part i can stably support the part j in the gravity direction; sij0 means that part i is in an unsupported relationship with part j in the direction of gravity.
Claim 4) performing optimization planning on the assembly sequence of the parts of the swing angle milling head by using a genetic particle swarm hybrid algorithm according to the assembly information matrix of the parts of the swing angle milling head, wherein the flow chart for realizing the genetic particle swarm hybrid algorithm is shown in FIG. 3;
requiring 4.1) redefinition of the particle swarm optimization, redefining the particles in the particle swarm optimization-each particle represents an assembly sequence stored therein; position vector P of particle ii(t)＝{Pi(1),Pi(2),Pi(3),...Pi(N)Denotes an assembly sequence of assemblies in the order P1,P2,P3,...PnN is the number of parts; velocity vector V of particle ii(t)＝{Vi(1),Vi(2),Vi(3),...Vi(N)Represents the change of the assembly order of a group of parts;
and 4.2) establishing a fitness function of the genetic particle swarm hybrid algorithm, and defining the assembling interference times ng, the unstable support times ns, the assembling tool transformation times nt, the assembling direction transformation times nd and the unstable connection times nc as fundamental factors influencing the total assembling time. n represents the number of times of various changes in the assembly flow, u represents the weight of various times in the total assembly time, and u represents the weight of various timesg+us+ut+ud+ucThe fitness function is as follows, 1: f ═ ngug+nsus+ntut+ndud+ncuc；
Requirement 4.3) setting the number m of particle populations, maximum number of iterations tmaxThe method comprises the steps of randomly generating m-group assembly sequences by each weight u through an initialization algorithm, calculating the fitness value of each particle by utilizing a fitness function, setting the minimum assembly sequence of the fitness values as an individual initial optimal assembly sequence of the particles, comparing all the particle fitness values, selecting the particles with the minimum fitness values, and setting the assembly sequence of the particles with the minimum fitness values as a global initial optimal assembly sequence;
4.4) cross updating with the individual optimal assembly sequence, randomly generating two values a1 and a2 in [1, n ] to generate a cross bit, extracting sequences a1 to a2 from the individual optimal sequence to form a cross region matrix, deleting elements overlapped with the cross region matrix in the individual sequence, moving the rest elements to the bottom end, placing the cross region matrix at the front end of the individual sequence, recalculating the sequence fitness value, comparing the fitness values before cross updating, and updating the individual optimal assembly sequence if the individual optimal assembly sequence is more optimal;
4.5) and the global optimal assembly sequence are updated in a cross mode, two values b1 and b2 are randomly generated in [1, n ] to generate a cross bit, sequences b1 to b2 in the global optimal sequence are extracted to form a cross region matrix and are placed at the front end of the global optimal sequence, the sequence fitness value is recalculated and is compared with the fitness value before cross updating, and if the sequence is more optimal, the global optimal assembly sequence is updated;
requiring 4.6) mutation updating, randomly generating two values c1 and c2 in [1, n ], carrying out number exchange on parts corresponding to c1 and c2 in the sequence to form a new assembly sequence, recalculating the fitness value of the assembly sequence, comparing the fitness value with the fitness value before updating, and updating the optimal assembly sequence if the fitness value is better;
requirement 4.7) after completing cross variation updating, comparing all individual fitness values, selecting a minimum individual fitness value to compare with a global minimum fitness value, and if the minimum individual fitness value is smaller, updating a global optimal assembly sequence;
requirement 4.8) to determine whether the iteration number t reaches the maximum iteration number tmaxIf not, returning to the requirement of 4.4) to perform the next round of updating iteration, and if yes, outputting a global optimal assembly sequence;
the method comprises the following steps that 5) virtual assembly simulation is carried out on a three-dimensional model of the swing angle milling head part according to a global optimal assembly sequence obtained in the requirement 4, and the virtual assembly simulation is loaded into a VR virtual environment for user experience;
the method comprises the following steps that 5.1) a virtual assembly simulation is carried out on a global optimal assembly sequence obtained according to the requirement 4 by the three-dimensional model of the swing angle milling head part and the index number thereof obtained according to the requirement 2, and feasibility verification of the assembly sequence is realized;
and 5.2) uploading and loading the virtual assembly simulation process and the optimal assembly sequence of the swing angle milling head parts into a VR virtual environment for a user to experience more deeply.
Claims (4)
1. A system for demonstrating assembly sequence planning of a swing angle milling head is characterized by comprising a swing angle milling head part information module, a swing angle milling head assembly sequence planning module and a swing angle milling head virtual assembly simulation and experience module;
the swing angle milling head part information module comprises swing angle milling head part three-dimensional model information and swing angle milling head part assembling information, wherein the swing angle milling head part three-dimensional model information mainly comprises three-dimensional models of all parts of a swing angle milling head; the assembly information of the parts of the swing angle milling head comprises assembly direction information of the parts of the swing angle milling head, assembly tool information of the parts of the swing angle milling head, assembly interference information of the parts of the swing angle milling head, assembly connection information of the parts of the swing angle milling head and assembly support information of the parts of the swing angle milling head; the assembly direction information of the swing angle milling head parts mainly comprises the assembly direction information of the swing angle milling head parts in the assembly process; the information of the assembly tool of the swing angle milling head parts mainly comprises the information of the assembly tool used by the swing angle milling head parts in the assembly engineering; the interference information of the swing angle milling head parts mainly comprises the assembly interference information of the swing angle milling head parts and other parts when the swing angle milling head parts are assembled in a certain direction; the assembly connection information of the parts of the swing angle milling head mainly comprises the connection relation information among the parts of the swing angle milling head; the assembly support information of the parts of the swing angle milling head mainly comprises the support relationship information among the parts of the swing angle milling head;
the swing angle milling head assembly sequence planning module comprises a swing angle milling head assembly information matrix and a swing angle milling head assembly sequence planning, wherein the swing angle milling head assembly information matrix is used for converting the swing angle milling head part assembly information into an information matrix form which can be identified by a programming language to be stored and used for the swing angle milling head assembly sequence planning; the swing angle milling head assembly sequence planning is used for realizing iterative optimization of the swing angle milling head assembly sequence through a genetic particle swarm hybrid algorithm and storing the optimal swing angle milling head assembly sequence;
the swing angle milling head virtual assembly simulation and experience module comprises swing angle milling head virtual assembly simulation and user VR experience, wherein the swing angle milling head virtual assembly simulation is used for performing assembly process simulation demonstration on swing angle milling head parts according to a swing angle milling head assembly optimal sequence stored by the swing angle milling head assembly sequence simulation module; and the user VR experience is used for presenting the virtual assembly simulation process and the stored optimal assembly sequence in a virtual environment, so that the user can obtain deeper understanding of the assembly process of the swing angle milling head.
2. A method for demonstrating the assembly sequence planning of a swing angle milling head is characterized by comprising the following steps:
step 1) storing a three-dimensional model and assembly information of a part of the swing angle milling head into a part assembly information module:
step 1.1) storing the three-dimensional model information of the parts of the swing angle milling head into a three-dimensional model information base of the parts;
step 1.2) storing the optimal direction information of the assembly process of the swing angle milling head parts into a parts assembly direction information base;
step 1.3) storing the assembly tool information used in the assembly process of the swing angle milling head parts into a parts assembly tool information base;
step 1.4) storing the assembly interference information of the swing angle milling head parts and other parts when the swing angle milling head parts are assembled along a certain direction into a part assembly interference information base;
step 1.5) storing the connection relation information between the parts of the swing angle milling head into a part assembly connection information base;
step 1.6) storing the information of the supporting relation between the parts of the swing angle milling head into a part assembling and supporting information base;
step 2) transferring the three-dimensional model of the swing angle milling head parts and the corresponding index numbers thereof in the swing angle milling head parts information module to a swing angle milling head virtual assembly simulation and experience module;
step 3) storing the index number corresponding to the three-dimensional model of the components of the swing angle milling head in the information module of the components of the swing angle milling head and a standard matrix format which can be identified by a programming language converted by the assembly information into an assembly sequence planning module of the swing angle milling head;
step 4) optimizing and planning the assembly sequence of the parts of the swing angle milling head by using a genetic particle swarm hybrid algorithm according to the assembly information matrix of the parts of the swing angle milling head;
step 4.1), redefining a particle swarm algorithm, redefining particles in the particle swarm algorithm, wherein each particle represents a swing angle milling head assembly sequence stored in the particle swarm algorithm; position vector P of particle ii(t)＝{Pi(1),Pi(2),Pi(3),...Pi(N)Denotes an assembly sequence of the swing angle milling head assembly, with the assembly sequence being P1,P2,P3,...PnN is the number of parts; velocity vector V of particle ii(t)＝{Vi(1),Vi(2),Vi(3),...Vi(N)The method comprises the following steps of (1) converting an assembly sequence of a group of parts of a swing angle milling head;
step 4.2) establishing a fitness function of a genetic particle swarm hybrid algorithm, and defining the assembly interference times ng, the unstable support times ns, the assembly tool conversion times nt, the assembly direction conversion times nd and the unstable connection times nc of the swing angle milling head as fundamental factors influencing the total assembly time of the swing angle milling head; n represents various changing times in the process of assembling the swing angle milling head, u represents the weight occupied by various times in the total assembly time of the swing angle milling head, and u represents the weight occupied by various times in the total assembly time of the swing angle milling headg+us+ut+ud+ucThe fitness function is as follows, 1: f ═ ngug+nsus+ntut+ndud+ncuc；
Step 4.3) setting the number m of particle populations and the maximum iteration time tmaxThe method comprises the steps that (1) each weight u is used for initializing an algorithm, m groups of swing angle milling head assembly sequences are randomly generated, the fitness function is used for calculating the fitness value of each particle, the minimum assembly sequence of the fitness values is set as the initial optimal assembly sequence of the individual particles, all the particle fitness values are compared, the particles with the minimum fitness values are selected, and the swing angle milling head assembly sequences are set as the initial optimal swing angle milling head assembly sequences of the whole situation;
step 4.4) and the assembly sequence of the individual optimal swing angle milling head are updated in a crossing way, two values a1 and a2 are randomly generated in [1, n ] to generate a crossing position, sequences a1 to a2 in the individual optimal sequence are extracted to form a crossing region matrix and are placed at the front end of the sequence, the sequence fitness value is recalculated and is compared with the fitness value before the crossing updating, and if the sequence is more optimal, the optimal assembly sequence of the individual swing angle milling head is updated;
step 4.5) and the global optimal swing angle milling head assembly sequence are updated in a crossed mode, two values b1 and b2 are randomly generated in [1, n ] to generate a crossed position, sequences b1 to b2 in the global optimal sequence are extracted to form a crossed region matrix and are placed at the front end of the sequences, sequence fitness values are recalculated and are compared before the crossed updating, and if the sequence is more optimal, the global swing angle milling head optimal assembly sequence is updated;
step 4.6) performing mutation updating, randomly generating two values c1 and c2 in [1, n ], carrying out number conversion on parts corresponding to c1 and c2 in the sequences to form a new assembly sequence of the swing angle milling head, recalculating the fitness value of the assembly sequence of the swing angle milling head, comparing the fitness value with the fitness value before updating, and updating the optimal assembly sequence of the swing angle milling head if the fitness value is better;
step 4.7) comparing all individual fitness values after finishing cross variation updating, selecting the minimum individual fitness value to compare with the global minimum fitness value, and updating the optimal assembly sequence of the global swing angle milling head if the minimum individual fitness value is smaller;
step 4.8) judging whether the iteration time t reaches the maximum iteration time tmaxIf not, returning to the step 4.4) to perform the next round of updating iteration, and if so, outputting the optimal assembly sequence of the global swing angle milling head;
step 5) carrying out virtual assembly simulation on the three-dimensional model of the swing angle milling head part according to the global optimal assembly sequence obtained in the step 4, and loading the virtual assembly simulation into a VR virtual environment for user experience;
step 5.1) performing virtual assembly simulation according to the three-dimensional model of the swing angle milling head part obtained in the step 2 and the index number thereof and the global optimal assembly sequence obtained in the step 4, and realizing feasibility verification of the assembly sequence;
and 5.2) uploading and loading the virtual assembly simulation process of the swing angle milling head and the optimal swing angle milling head assembly sequence into a VR virtual environment for a user to experience more deeply.
3. The method for demonstrating the assembly sequence planning of the swing angle milling head according to the step 2, wherein the assembly information matrix of the swing angle milling head comprises an assembly direction matrix of the swing angle milling head, an assembly tool matrix of the swing angle milling head, an assembly interference matrix of the swing angle milling head, an assembly connection matrix of the swing angle milling head and an assembly support matrix of the swing angle milling head.
4. The method for demonstrating the assembly sequence planning of the swing angle milling head according to the step 2, wherein the smaller the fitness function value is, the better the represented assembly sequence of the swing angle milling head is.
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|---|---|---|---|---|
| CN113095568A (en) * | 2021-04-09 | 2021-07-09 | 东风电驱动系统有限公司 | Intelligent assembly method and platform |
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