A beat balancing method and device for circuit breaker production line

Abstract

The present invention discloses a method and device for balancing the beat of a circuit breaker production line, belonging to the field of mechanical control technology. The method comprises: obtaining the detection time consumed by a circuit breaker detection system to detect a group of circuit breakers under stable detection conditions; obtaining the transportation time of the circuit breakers and determining controllable variables, wherein the transportation time includes the transportation time of the circuit breakers on the conveyor belt and the transportation time of the robot arm moving the group of circuit breakers from the conveyor belt to the standby test board, and the controllable variables are the conveyor belt speed and the transportation time; constructing a fitness function that balances the detection time and the transportation time; using the controllable variables as the position coordinates of individual locusts in the MOGOA algorithm, optimizing the position coordinates with the goal of obtaining the minimum value of the fitness function; and operating the circuit breaker detection system using the controllable variables corresponding to the optimized position coordinates. The method optimizes the operating parameters of the circuit breaker detection system, automatically controls the beat balance of the circuit breaker detection system, reduces detection line congestion time, and improves equipment utilization.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical control, and in particular relates to a beat balancing method and device for a circuit breaker production line. Background Art

[0002] Balancing the beat of the production line is a basic requirement for ensuring smooth operation. During the circuit breaker inspection process, the time required for the delayed detection equipment to inspect a group of circuit breakers is related to the robot arm's handling time and the time it takes to move the circuit breakers into the standby test board. Among them, the inspection time of the delayed detection equipment accounts for the majority of the total process time.

[0003] Due to the existence of defective circuit breakers, the inspection time required for each circuit breaker varies, which easily disrupts the production line beat balance of the entire circuit breaker inspection system. In order to maintain the beat balance of the production line, the existing technology requires staff to perform manual adjustments, which is inefficient and prone to human errors that lead to production line failures. Summary of the Invention

[0004] In order to solve the technical problems in the prior art that maintaining the beat balance of the production line requires manual adjustment by staff, resulting in low work efficiency and prone to human errors leading to production line failures, the present invention provides a beat balancing method and device for a circuit breaker production line.

[0005] First aspect

[0006] The present invention provides a beat balancing method for a circuit breaker production line, which is applied to a circuit breaker detection system. The circuit breaker detection system includes a conveyor belt, a standby test board, a robotic arm, a robotic arm clamp, and a time delay detection device, all of which are connected to a connection plate. The conveyor belt is used to convey circuit breakers. The standby test board is used to place multiple circuit breakers at the same time. The robotic arm is used to move multiple circuit breakers from the conveyor belt to the standby test board. The robotic arm clamp is used to grab the circuit breakers on the standby test board and transfer them to the time delay detection device. The time delay detection device is used to detect the circuit breakers. The beat balancing method for the circuit breaker production line includes:

[0007] S101: Obtaining a detection time consumed by a circuit breaker detection system for detecting a group of circuit breakers under stable detection conditions;

[0008] S102: Obtaining the transportation time of the circuit breakers and determining controllable variables, wherein the transportation time includes the transportation time of the circuit breakers on the conveyor belt and the transportation time of the robot arm moving a group of circuit breakers from the conveyor belt to the standby test board. The controllable variables are the conveyor belt speed and the transportation time.

[0009] S103: Constructing a fitness function that balances detection time and transportation time;

[0010] S104: Introducing the MOGOA algorithm, taking the controllable variables as the position coordinates of the locust individuals in the MOGOA algorithm, combining the Pareto criterion, and optimizing the position coordinates with the goal of obtaining the minimum value of the fitness function, and outputting the optimized position coordinates;

[0011] S105: operating the circuit breaker detection system using the controllable variables corresponding to the optimized position coordinates.

[0012] Second aspect

[0013] The present invention provides a beat balancing device for a circuit breaker production line, which is used to execute the beat balancing method for a circuit breaker production line in the first aspect.

[0014] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0015] In the present invention, by obtaining the detection time consumed by the circuit breaker detection system to detect a group of circuit breakers under stable detection conditions, the controllable variables in the circuit breaker detection system, namely the detection time and transportation time of the circuit breakers, are selected, and then a fitness function that balances the relationship between them is established. The MOGOA algorithm is introduced, and the controllable variables are optimized in combination with the Pareto criterion to optimize the operating parameters of the circuit breaker detection system. The beat balance of the circuit breaker detection system is automatically controlled, the congestion time of the detection line is reduced, the utilization rate of the equipment is improved, the automated detection level of the circuit breaker detection system is improved, the circuit breaker detection system failure caused by the beat imbalance of the production line is avoided, and the production efficiency and economic benefits of the enterprise are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred embodiments will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0017] Figure 1 It is a structural schematic diagram of a circuit breaker detection system provided by the present invention.

[0018] The following are the descriptions of the reference numerals:

[0019] 1. Connecting plate; 2. Conveyor belt; 3. Test standby plate; 4. Robotic arm; 5. Robotic arm gripper; 6. Delay detection equipment. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0021] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0022] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0023] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0024] In addition, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance. Example

[0025] In one embodiment, the reference Figure 1 , which shows a structural schematic diagram of a circuit breaker detection system provided by the present invention.

[0026] Depend on Figure 1 As can be seen, the circuit breaker detection system mainly includes a conveyor belt, a standby test board, a robotic arm, a robotic arm gripper, and a time-delayed detection device. These devices are connected together through a connecting plate to form a complete circuit breaker detection system. During the operation of the circuit breaker detection system, circuit breakers are continuously transported to the end near the robotic arm via the conveyor belt. The robotic arm moves the circuit breakers on the conveyor belt one by one to the standby test board. The standby test board can hold multiple circuit breakers. The robotic arm gripper can simultaneously grab a group of circuit breakers on the standby test board and transfer them to the circuit breaker detection system for testing. After the circuit breaker detection system completes the inspection of a group of circuit breakers, the robotic arm gripper moves to the standby test board to continue to obtain the next group of circuit breakers for testing, forming a complete detection process.

[0027] The present invention provides a beat balancing method for a circuit breaker production line, which is applied to a circuit breaker detection system. The circuit breaker detection system includes a conveyor belt, a standby test board, a robotic arm, a robotic arm clamp, and a delay detection device, all of which are connected to a connecting plate. The conveyor belt is used to convey circuit breakers. The standby test board is used to place multiple circuit breakers at the same time. The robotic arm is used to move multiple circuit breakers from the conveyor belt to the standby test board. The robotic arm clamp is used to grab the circuit breakers on the standby test board to the delay detection device. The delay detection device is used to detect the circuit breakers.

[0028] The beat balancing methods for circuit breaker production lines include:

[0029] S101: Obtaining a detection time consumed by a circuit breaker detection system for detecting a group of circuit breakers under stable detection conditions.

[0030] In a possible implementation, the stable detection conditions are that the detection qualification rate of the circuit breakers is lower than a preset qualification rate and the detection time is stable within a preset range, and the number of circuit breakers in a group of circuit breakers is the maximum number of circuit breakers that the delayed detection device can detect simultaneously.

[0031] Those skilled in the art can set the size of the preset range according to actual conditions, and the present invention is not limited thereto.

[0032] It should be noted that during the detection process of the circuit breaker detection system, the detection time of each group of circuit breakers can be collected and compared with multiple groups of detection time. When the detection time is stable within a certain range, the unqualified rate of each group of circuit breaker products detected is high, and the detection time is long and stable, the detection time can be determined by taking the average value of the detection time or by other means as the detection time of the circuit breaker detection system, and the parameter can be fixed, thereby reducing controllable variables and reducing the difficulty of optimization.

[0033] In actual use, circuit breakers are often produced in batches. During the operation of the circuit breaker detection system, if the batch of circuit breakers changes, the circuit breaker detection system can be readjusted to determine the detection time. After that, the circuit breaker detection system will automatically optimize and control the beat balance of the circuit breaker detection system, greatly improving production efficiency and the continuity of the production line.

[0034] S102: Obtain the transportation time of the circuit breaker and determine the controllable variables.

[0035] The transportation time includes the time it takes for the circuit breaker to be transported on the conveyor belt and the time it takes for the robotic arm to move a group of circuit breakers from the conveyor belt to the test board. The controllable variables are the conveyor belt speed and the transportation time.

[0036] It should be noted that during the operation of the circuit breaker detection system, in order to control the balance of its beat, it is necessary to determine the controllable variables, and then optimize the controllable variables to control the beat balance of the circuit breaker detection system. In the present invention, the conveying time of the circuit breaker on the conveyor belt and the transportation time of the robot arm transporting a group of circuit breakers from the conveyor belt to the standby test board are selected. The controllable variables are the conveyor belt speed and the transportation time. The selected controllable variables have the greatest influencing factors and the most obvious control effect on the beat balance. The beat balance adjustment time can be reduced and the beat correction speed of the circuit breaker detection system can be improved.

[0037] S103: Construct a fitness function that balances detection time and transportation time.

[0038] The design of the fitness function depends on the specific context and objectives of the problem. By designing a suitable fitness function, the optimization algorithm can be helped to tend to generate a more balanced solution during the search process, that is, to achieve a certain balance between the detection time and the transportation time according to the expected value.

[0039] In a possible implementation, S103 specifically includes:

[0040] S1031: Obtain the maximum number of circuit breakers that can be detected simultaneously by the delay detection device;

[0041] S1032: Construct a fitness function based on the maximum number of circuit breakers, detection time, and transportation time, with the goal of achieving a balance between detection time and transportation time:

[0042] in, f represents the fitness of the fitness function, K Indicates the maximum number of circuit breakers. T Indicates the detection time. V Indicates the conveyor belt speed, t 1 indicates the transmission duration, t 2 indicates the transport time.

[0043] It should be noted that for the fitness function, in order to reduce the congestion time of the detection line and improve the utilization rate of the equipment, it is necessary to make the time spent by the delay detection equipment and the time spent by the circuit breaker from transmission to entering the standby test board close to equal, that is, the fitness tends to 0.

[0044] S104: Introduce the MOGOA algorithm, use the controllable variables as the position coordinates of the locust individuals in the MOGOA algorithm, combine the Pareto criterion, and optimize the position coordinates to obtain the minimum value of the fitness function as the goal, and output the optimized position coordinates.

[0045] The MOGOA algorithm is a multi-objective optimization algorithm based on the principles of gravitational optimization and swarm intelligence. It is used to solve optimization problems with multiple objective functions. The basic idea of ​​the MOGOA algorithm is to simulate the gravitational interactions between objects and use the force of gravity to search for the optimal solution in the solution space. In each generation of the algorithm, locust individuals (representing the solution) calculate the gravitational force based on their fitness and distance and update their position based on the force. The MOGOA algorithm leverages the gravitational interactions between locust individuals to optimize multiple objective functions. It has global search capabilities and good convergence, making it suitable for solving multi-objective optimization problems.

[0046] Among them, the Pareto criterion is a screening method used to determine the quality of solutions in multi-objective optimization problems.

[0047] In a possible implementation, S104 specifically includes:

[0048] S1041: Determine the upper and lower boundaries of locust individuals based on the conveyor belt speed and the transport time, wherein the upper boundary is the maximum search domain of the conveyor belt speed and the transport time, and the lower boundary is the minimum search domain of the conveyor belt speed and the transport time.

[0049] Among them, in this design, the upper and lower bounds of the locust individual represent the range of variables that each locust individual can search in the optimization algorithm.

[0050] For example, if the conveyor belt speed V It is divided into 6 levels, namely 1 second per pole, 1.2 seconds per pole, 1.5 seconds per pole, 2 seconds per pole, 3 seconds per pole, and 4 seconds per pole; the range is [1,4]. Let the time of t1 be [8,12]. The locust optimization algorithm is used to set the optimization boundary, that is, the upper boundary of the locust individual is =[4,12], lower boundary = [1,8].

[0051] Specifically, the upper bound is a position coordinate, also called a position vector, that contains the upper limit of each controllable variable. =[4, 12], indicating that the upper limit of the first variable in the locust individual is 4, and the upper limit of the second variable is 12. This means that during the search process of the algorithm, the value range of the first variable of the locust individual is between [1, 4], and the value range of the second variable is between [8, 12].

[0052] Likewise, the lower bound is a location coordinate containing the lower bound of each variable. In this problem, =[1, 8], indicating that the lower limit of the first variable in the locust individual is 1, and the lower limit of the second variable is 8. Therefore, during the search process of the algorithm, the value range of the first variable of the locust individual is between [1, 4], and the value range of the second variable is between [8, 12].

[0053] The upper and lower bounds for locusts are set to ensure that they stay within the constraints and range of feasible solutions during the search process. By restricting the search space, the locust optimization algorithm can more efficiently find optimal or near-optimal solutions. The upper and lower bounds for locusts are determined based on conveyor speed and transport time, ensuring they are realistic and reliable, improving the reliability of the optimization results.

[0054] S1042: Determine the locust position update formula of the MOGOA algorithm by combining the upper and lower bounds:

[0055] in, Represents the updated position coordinates, c It represents the coefficient for reducing the comfort zone, exclusion zone and attraction zone range of MOGOA algorithm. and represents the index of the locust individual, represents the upper boundary, represents the lower boundary, d represents the dimension of the position coordinates, N represents the total number of locust individuals, represents the difference between locust individuals, Represents the difference vector of locust individuals with different indexes in position coordinates, represents the Euclidean distance between locust individuals with different indices, Indicates the optimal solution of position coordinates under the current iteration process.

[0056] S1043: Combine the locust position update formula and the Pareto criterion to optimize the position coordinates and output the optimal locust position coordinates obtained by the optimization.

[0057] In a possible implementation, S1043 specifically includes:

[0058] S1043A: Initialize a locust population and set a preset number of iterations, wherein the locust population includes multiple locust individuals.

[0059] Those skilled in the art can set the preset number of iterations according to actual needs, and the present invention does not limit this.

[0060] It's important to note that larger locust populations offer better global search capabilities, but they also increase computational overhead. Smaller locust populations can lead to overly localized search or trapping in local optima. Typical locust populations range from tens to hundreds, depending on the complexity of the problem and computational resource constraints. In practical applications, the optimal locust population size can be determined through experimentation and tuning to achieve optimal algorithm performance and solution quality.

[0061] S1043B: According to the fitness function, the non-dominated solution is selected as the initial optimal locust.

[0062] Non-dominated solutions are solutions that, given multiple objective functions, cannot be dominated by other solutions. Non-dominated solutions offer a unique advantage because they achieve superior performance on multiple objective functions, with no other solution outperforming them simultaneously on all objective functions. In multi-objective optimization, researchers typically aim to find a set of non-dominated solutions that covers the entire Pareto front, or the set of optimal solutions to the multi-objective optimization problem, as closely as possible. The selection and evaluation of non-dominated solutions is a core task in multi-objective optimization algorithms.

[0063] S1043C: Update the locust individual, compare the updated locust individual with the initial optimal locust, replace the initial optimal locust with the updated locust individual, and obtain the optimal locust to be selected.

[0064] S1043D: Taking the minimum value of the fitness function as the goal, determine whether the position coordinates of the optimal locust to be selected are better than the initial optimal locust. If so, the optimal locust to be selected will be used as the optimal locust to enter the next iteration. Otherwise, the initial optimal locust before replacement will be used as the optimal locust to enter the next iteration.

[0065] S1043E: Update the number of iterations and determine whether the number of iterations reaches the preset number of iterations. If so, output the position coordinates of the optimal locust. Otherwise, return to S1043C.

[0066] S105: operating the circuit breaker detection system using the controllable variables corresponding to the optimized position coordinates.

[0067] Optionally, for the controllable variables in the circuit breaker detection system, the robot arm handling time can be optimized through motion path planning optimization, and the transmission time can also be optimized by controlling the conveyor belt transmission speed through control instructions.

[0068] It should be noted that the controllable variables correspond to the conveyor belt speed and the handling time of the robotic arm. The controllable variables obtained through optimization can be used to control the conveyor belt speed and handling time by setting the motor speed of the conveyor belt and the robotic arm, so as to seek to ensure that after the circuit breaker detection system completes the detection of a group of circuit breakers, there is exactly a group of circuit breakers placed on the standby test board. This process is a balancing process, which avoids growth line failures caused by blockages in the detection process and improves production orderliness and controllability.

[0069] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0070] In the present invention, by obtaining the detection time consumed by the circuit breaker detection system to detect a group of circuit breakers under stable detection conditions, the controllable variables in the circuit breaker detection system, namely the detection time and transportation time of the circuit breakers, are selected, and then a fitness function that balances the relationship between them is established. The MOGOA algorithm is introduced, and the controllable variables are optimized in combination with the Pareto criterion to optimize the operating parameters of the circuit breaker detection system. The beat balance of the circuit breaker detection system is automatically controlled, the congestion time of the detection line is reduced, the utilization rate of the equipment is improved, the automated detection level of the circuit breaker detection system is improved, the circuit breaker detection system failure caused by the beat imbalance of the production line is avoided, and the production efficiency and economic benefits of the enterprise are improved.

[0071] Example 2

[0072] In one embodiment, the present invention provides a beat balancing device for a circuit breaker production line, which is used to execute the beat balancing method for a circuit breaker production line in Example 1.

[0073] The beat balancing device for a circuit breaker production line provided by the present invention can realize the steps and effects of the beat balancing method for a circuit breaker production line in the above-mentioned embodiment 1. To avoid repetition, the present invention will not elaborate on them.

[0074] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0075] In the present invention, by obtaining the detection time consumed by the circuit breaker detection system to detect a group of circuit breakers under stable detection conditions, the controllable variables in the circuit breaker detection system, namely the detection time and transportation time of the circuit breakers, are selected, and then a fitness function that balances the relationship between them is established. The MOGOA algorithm is introduced, and the controllable variables are optimized in combination with the Pareto criterion to optimize the operating parameters of the circuit breaker detection system. The beat balance of the circuit breaker detection system is automatically controlled, the congestion time of the detection line is reduced, the utilization rate of the equipment is improved, the automated detection level of the circuit breaker detection system is improved, the circuit breaker detection system failure caused by the beat imbalance of the production line is avoided, and the production efficiency and economic benefits of the enterprise are improved.

[0076] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A beat balancing method for a circuit breaker production line, applied to a circuit breaker detection system, wherein the circuit breaker detection system comprises a conveyor belt, a standby test board, a robotic arm, a robotic arm clamp, and a time delay detection device, all connected to a connecting plate. The conveyor belt is used to convey circuit breakers. The standby test board is used to simultaneously place multiple circuit breakers. The robotic arm is used to move multiple circuit breakers from the conveyor belt to the standby test board. The robotic arm clamp is used to grab the circuit breakers on the standby test board and transfer them to the time delay detection device. The time delay detection device is used to detect the circuit breakers. The beat balancing method of the circuit breaker production line includes: S101: Obtaining a detection time consumed by the circuit breaker detection system for detecting a group of circuit breakers under stable detection conditions; S102: Obtaining a transport duration of the circuit breaker and determining a controllable variable, wherein the transport duration includes a transport duration of the circuit breaker on the conveyor belt and a transport duration of the robot arm transporting the group of circuit breakers from the conveyor belt to the standby test board, and the controllable variables are a conveyor belt speed and the transport duration; S103: Constructing a fitness function that balances the detection time and the transportation time; S104: Introducing the MOGOA algorithm, using the controllable variables as the position coordinates of the locust individuals in the MOGOA algorithm, combining the Pareto criterion, and optimizing the position coordinates with the goal of obtaining the minimum value of the fitness function, and outputting the optimized position coordinates; S105: operating the circuit breaker detection system using the controllable variables corresponding to the position coordinates obtained by the optimization.

2. The beat balancing method for a circuit breaker production line according to claim 1, characterized in that: The stable detection conditions are that the detection qualification rate of the circuit breaker is lower than the preset qualification rate and the detection time is stable within a preset range, and the number of circuit breakers in the group of circuit breakers is the maximum number of circuit breakers that the delayed detection device can detect simultaneously.

3. The beat balancing method for a circuit breaker production line according to claim 2, characterized in that: The S103 specifically includes: S1031: Obtaining the maximum number of circuit breakers that can be detected simultaneously by the delay detection device; S1032: Construct the fitness function based on the maximum number of circuit breakers, the detection time, and the transportation time, with the goal of achieving a balance between the detection time and the transportation time: in, f represents the fitness of the fitness function, K Indicates the maximum number of circuit breakers, T Indicates the detection duration, V represents the conveyor belt speed, t 1 indicates the transmission duration, t 2 represents the transport time.

4. The beat balancing method for a circuit breaker production line according to claim 1, characterized in that: The S104 specifically includes: S1041: Determine an upper boundary and a lower boundary of the locust individual based on the conveyor belt speed and the transport time, wherein the upper boundary is a maximum search domain of the conveyor belt speed and the transport time, and the lower boundary is a minimum search domain of the conveyor belt speed and the transport time; S1042: Determine the locust position update formula of the MOGOA algorithm based on the upper boundary and the lower boundary: in, Represents the updated position coordinates, c represents the coefficient for reducing the range of the comfort zone, repulsion zone and attraction zone of the MOGOA algorithm, and represents the index of the locust individual, represents the upper boundary, represents the lower boundary, d represents the dimension of the position coordinates, N represents the total number of locust individuals, represents the difference between the locust individuals, Represents the difference vector of locust individuals with different indexes in position coordinates, shows the Euclidean distance between locust individuals with different indexes, Indicates the optimal solution of position coordinates under the current iteration process; S1043: In combination with the locust position update formula, according to the Pareto criterion, the position coordinates are optimized, and the optimal locust position coordinates obtained by the optimization are output.

5. The beat balancing method for a circuit breaker production line according to claim 4, characterized in that: The S1043 specifically includes: S1043A: Initializing a locust population and setting a preset number of iterations, wherein the locust population includes a plurality of locust individuals; S1043B: According to the fitness function, a non-dominated solution is selected as the initial optimal locust; S1043C: updating the locust individual, comparing the updated locust individual with the initial optimal locust, replacing the initial optimal locust with the updated locust individual, and obtaining a candidate optimal locust; S1043D: Taking the minimum value of the fitness function as the goal, determine whether the position coordinates of the optimal locust to be selected are better than the initial optimal locust; if so, use the optimal locust to be selected as the optimal locust to enter the next iteration; otherwise, use the initial optimal locust before replacement as the optimal locust to enter the next iteration; S1043E: Update the number of iterations and determine whether the number of iterations reaches the preset number of iterations. If so, output the position coordinates of the optimal locust. Otherwise, return to S1043C.

6. A beat balancing device for a circuit breaker production line, characterized in that: A method for performing a cycle balancing of a circuit breaker production line according to claims 1 to 5.

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