Urban rail vehicle traction motor autonomous maintenance assembly line system

Abstract

The invention discloses an autonomous maintenance assembly line system for urban rail vehicle traction motors, relates to the technical field of automatic control, and solves the technical problems that in motor assembly line maintenance, it is difficult to sort the priorities of the motors according to the pre-inspection time and requirements of the motors, and it is neglected that the maintenance efficiency of all maintenance areas is matched before and after. The method comprises the following steps: acquiring basic information of a to-be-detected motor and maintenance information of each set area in an assembly line; determining a maintenance sequence of the to-be-detected motor through the basic information, and transmitting the to-be-detected motor based on the maintenance sequence; obtaining the regulation speed of the conveyor belt based on the maintenance information of the set area, carrying out speed regulation on the conveyor belt based on the regulation speed, and controlling the set area to carry out the maintenance of the to-be-detected motor; the overall efficiency of motor assembly line maintenance operation can be improved, meanwhile, the labor cost is reduced, and the overall maintenance flexibility is improved.

Description

Technical Field

[0001] The invention belongs to the field of industrial manufacturing and relates to an automatic control technology, in particular to an autonomous maintenance assembly line system for traction motors of urban rail vehicles. Background Art

[0002] With the acceleration of urbanization, urban rail transit systems are playing an increasingly important role in alleviating urban traffic pressure due to their high efficiency, convenience and environmental protection. As one of the core components of the urban rail transit system, the performance of the traction motor directly affects the operating efficiency and safety of the train. During the operation of urban rail transit vehicles, the traction motor, as a key component, runs in harsh environments such as high temperature and humidity for a long time, which makes the traction motor prone to failure and affects the normal operation of the vehicle. The traction motor needs to be inspected and maintained regularly, and non-assembly line maintenance will cause low maintenance efficiency and high maintenance costs. Therefore, more and more manufacturers choose to use assembly lines to inspect traction motors.

[0003] At present, most traction motor autonomous maintenance assembly line systems find it difficult to prioritize motors according to their pre-inspection time and demand during motor maintenance. Instead, they simply schedule motor maintenance according to the order of their storage time. This results in motors with fast estimated maintenance times and urgent maintenance needs not being scheduled for maintenance in a timely manner, which reduces the flexibility of the assembly line system and may cause user dissatisfaction. At the same time, most traction motor autonomous maintenance assembly line systems ignore the problem of coordination of maintenance efficiency between maintenance areas, and cannot coordinate maintenance areas by dynamically adjusting the conveyor belts between maintenance areas, which increases the waiting time for motor maintenance and reduces the maintenance efficiency of the maintenance assembly line system.

[0004] Therefore, the present invention discloses an autonomous maintenance assembly line system for traction motors of urban rail vehicles, which is used to solve the above technical problems. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes an autonomous maintenance assembly line system for traction motors of urban rail vehicles, which is used to solve the technical problems that it is difficult to prioritize motors according to the pre-inspection time and demand of each motor during the maintenance of the motor assembly line, and the coordination of maintenance efficiency between maintenance areas is ignored. The present invention solves the above problems by obtaining basic information of the motor to be inspected and maintenance information of each set area in the assembly line; determining the maintenance order of the motor to be inspected based on the basic information, and conveying the motor to be inspected based on the maintenance order; obtaining the control speed of the conveyor belt based on the maintenance information of the set area, and controlling the speed of the conveyor belt based on the control speed; and controlling the set area to perform maintenance on the motor to be inspected.

[0006] To achieve the above-mentioned object, the first aspect of the present invention provides an autonomous maintenance assembly line system for traction motors of urban rail vehicles, comprising: an assembly line control module, and a data collection module, a motor maintenance module and a database connected thereto;

[0007] The data collection module is used to obtain basic information of the motor to be inspected and maintenance information of each set area in the assembly line; wherein the basic information includes maintenance interval, evaluation level, entry date, and set completion date; the maintenance information includes the maintenance progress, maintenance time, and set completion time of the maintenance parts in the area;

[0008] The assembly line control module is used to determine the inspection order of the motors to be inspected based on the basic information, and to convey the motors to be inspected based on the inspection order; to obtain the control speed of the conveyor belt based on the inspection information of the set area, and to control the speed of the conveyor belt based on the control speed;

[0009] The motor maintenance module is used to control the set area to perform maintenance on the motor to be inspected, and store the maintenance records in a database.

[0010] Preferably, the assembly line includes a setting area and a conveyor belt, the setting area includes a motor entry buffer area, a disassembly area, a cleaning area, a detection area, an assembly area, a traction motor test bench and a coupling pressing area; the conveyor belt is a controllable variable speed conveyor belt, the conveyor belt is logically controlled by a PLC control program, and the conveyor belts between adjacent setting areas can be controlled individually.

[0011] Preferably, the obtaining of basic information of the motor to be inspected and maintenance information of each setting area in the assembly line includes:

[0012] Identify the identification codes of several motors to be inspected stored in the entry buffer area, and determine whether the motors to be inspected corresponding to the identification codes are motors that are being inspected for the first time; if yes, mark the inspection interval of the current motor to be inspected as 0, and mark the evaluation level of the current motor to be inspected as A1; if no, retrieve the inspection interval between the last inspection date and the current date of the corresponding motor to be inspected from the database in sequence based on the identification code, and the evaluation level of the last inspection; wherein the evaluation levels include A1, A2, A3, A4, and A5;

[0013] Based on the identification code, the entry date and set completion date of the corresponding motor to be inspected are retrieved from the database in sequence; the working status of each setting area in the assembly line is obtained to determine whether the working status indicates that there is motor maintenance; if yes, the maintenance progress, maintenance time and set completion time of the corresponding setting area are obtained; if not, the maintenance progress, maintenance time and set completion time of the corresponding setting area are marked as 0; wherein, the working status includes the existence of motor maintenance and the absence of motor maintenance, the maintenance time is the time difference between the maintenance start time of the setting area and the current time, and the set completion time is the time difference between the current time and the set completion time in the setting area.

[0014] It should be noted that the evaluation levels are ranked from best to worst as follows: A1, A2, A3, A4, and A5.

[0015] Preferably, determining the inspection order of the motor to be inspected by using basic information includes:

[0016] Obtain the number n of motors to be inspected stored in the entry buffer area and sort them in the order of storage; extract the maintenance interval Ti, evaluation level Di, entry date Ri, and set completion date YRi of each motor to be inspected, and obtain the priority factor YZi of each motor to be inspected based on the formula YZi=α / exp(Ti / PT)+DS×(β1×(DR-Ri)+β2×(Yri-DR)) / SD; where i is the sorting sequence number, and the range of i is [1,n]; PT is the average maintenance interval of the motor to be inspected, DS is the adjustment coefficient corresponding to the evaluation level, DR is the current date, and SD is the manually set standard maintenance days; α is an amplitude adjustment coefficient greater than 0, β1 and β2 are both proportional adjustment coefficients greater than 0, and β1+β2=1, β1<β2;

[0017] Determine the inspection order of each motor to be inspected by arranging the priority factors YZi from large to small.

[0018] It is worth noting that the present invention assesses the priority of the motors to be inspected through their previous inspection information and the current required completion time of the inspection, and obtains a priority factor that can combine the expected inspection speed and the urgency of the inspection. This priority factor that expresses the priority inspection of the motors can make it possible to sort the motors to be inspected in a reasonable manner, and give priority inspection to motors with a short expected inspection completion time and a high urgency to complete the inspection. This can enable a more reasonable and effective allocation of resources and manpower for assembly line inspection, thereby reducing waiting time and improving overall work efficiency.

[0019] Preferably, obtaining the regulating speed of the conveyor belt based on the maintenance information of the setting area includes:

[0020] B1: Obtain the maintenance progress YDj, maintenance time YSj and set completion time SCj of each setting area in turn, and obtain the estimated completion time WSj of each setting area based on the formula WSj=δ×(1-(YDj-YSj / (YSj+SCj)))×SCj; where j is the number of the setting area, the unit of the maintenance progress YDj is %, and δ is a proportional adjustment coefficient greater than 0;

[0021] B2: Mark the conveyor belt in front of the setting area as the target conveyor belt of the current setting area, and determine whether there is a motor to be inspected on the target conveyor belt of each setting area in turn; if yes, jump to B3; if no, jump to B4;

[0022] B3: Obtain the position of a motor to be inspected that is closest to the current setting area on the target conveyor belt, obtain the length L1 of the conveying route between the position and the current setting area, and obtain the control speed TV1 of the target conveyor belt in the current setting area in this control based on the formula TV1=L1 / WSj;

[0023] B4: Obtain the conveying route length L2 of the target conveyor belt of the current setting area, obtain the pre-completion time WSj of the current setting area and the pre-completion time WSj-1 of the previous setting area, and determine whether WSj is less than WSj-1; if so, stop running the target conveyor belt of the current setting area, and run the corresponding target conveyor belt based on the set speed after the motor maintenance of the current setting area is completed; if not, subtract the pre-completion time WSj of the current setting area from the pre-completion time WSj of the previous setting area to obtain the completion time difference WSC, and obtain the control speed TV2 of the target conveyor belt of the current setting area in this control based on the formula TV2=L2 / WSC; wherein the set speed is obtained through experience.

[0024] It should be noted that the present invention sets the direction in which the area receives the motor as the front. For example, the order in which the motor passes through the setting areas during maintenance is from front to back: motor entry buffer area, disassembly area, cleaning area, inspection area, assembly area, traction motor test bench, and coupling pressing area. The present invention marks the conveyor belt between the buffer area and the disassembly area as the target conveyor belt of the disassembly area.

[0025] Preferably, the speed control of the conveyor belt based on the speed control comprises:

[0026] Determine whether the target conveyor belt of each setting area has a control speed TV2 in this control; if yes, get the control time point AT based on the formula AT=DT+WSj-1, and when the time reaches the time corresponding to the control time point AT, run the corresponding target conveyor belt based on the control speed TV2; if no, run the corresponding target conveyor belt based on the control speed TV1; wherein DT is the current time.

[0027] Preferably, the control setting area performs maintenance on the motor to be inspected, including:

[0028] Determine whether there are any unmaintained motors to be inspected in the set area; if yes, start the set program to inspect the unmaintained motors to be inspected; if no, do nothing.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention obtains basic information of the motor to be inspected and maintenance information of each set area in the assembly line; determines the maintenance order of the motor to be inspected based on the basic information, and conveys the motor to be inspected based on the maintenance order; obtains the control speed of the conveyor belt based on the maintenance information of the set area, and controls the speed of the conveyor belt based on the control speed; controls the set area to perform maintenance on the motor to be inspected, thereby solving the technical problems of difficulty in prioritizing the motors according to the pre-inspection time and demand of each motor and ignoring the coordination of maintenance efficiency between maintenance areas during the maintenance of the motor assembly line; the present invention can improve the overall efficiency of the motor assembly line maintenance operation, while reducing labor costs and improving the overall maintenance flexibility.

[0031] 2. The present invention evaluates the priority of the motors to be inspected through the previous inspection information of each motor to be inspected and the current required completion inspection time, and obtains a priority factor that can combine the expected inspection speed and the urgency of completion inspection. Through this priority factor that expresses the priority inspection of the motor, a number of motors to be inspected can be reasonably sorted, and motors with a short expected inspection completion time and a high urgency to complete the inspection can be inspected first, so that the resources and manpower for assembly line inspection can be allocated more reasonably and effectively, reducing waiting time and improving overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the operation steps of the present invention;

[0034] Figure 2 It is a schematic diagram of the system module of the present invention;

[0035] Figure 3 The figure is a schematic diagram of the operating steps for obtaining the conveyor belt speed control method according to the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-Figure 2 , the first aspect of the present invention provides an autonomous maintenance assembly line system for traction motors of urban rail vehicles, comprising: an assembly line control module, and a data collection module, a motor maintenance module and a database connected thereto;

[0038] Data collection module: used to obtain basic information of the motor to be inspected and maintenance information of each set area in the assembly line; the basic information includes maintenance interval, evaluation level, entry date, and set completion date; the maintenance information includes the maintenance progress, maintenance time, and set completion time of the maintenance parts in the area;

[0039] Assembly line control module: used to determine the inspection order of the motors to be inspected through basic information, and to convey the motors to be inspected based on the inspection order; to obtain the control speed of the conveyor belt based on the inspection information of the set area, and to control the speed of the conveyor belt based on the control speed;

[0040] Motor maintenance module: used to control the set area to perform maintenance on the motor to be inspected, and store the maintenance records in the database.

[0041] It should be noted that the completion date is set to be the manually entered date on which the maintenance needs to be completed.

[0042] It should be noted that the evaluation level is the level of motor damage manually input after the motor to be inspected is overhauled.

[0043] Exemplarily, in this embodiment, there are 12 motors to be inspected in the motor entry buffer area;

[0044] Identify the identification codes of the 12 motors to be inspected. If the motor to be inspected corresponding to the identification code is the motor that is being inspected for the first time, the inspection interval of the corresponding motor is marked as 0, and the evaluation level of the current motor to be inspected is marked as A1; if the motor to be inspected corresponding to the identification code is not the motor that is being inspected for the first time, the inspection interval between the last inspection date and the current date, as well as the evaluation level of the last inspection of the corresponding motor to be inspected are retrieved from the database in sequence based on the identification code;

[0045] Based on the identification code, the entry date of the corresponding motor to be inspected and the set completion date of the inspection are retrieved from the database in sequence;

[0046] Get the working status of each setting area in the assembly line. If the working status of the setting area is that there is motor maintenance, get the maintenance progress, maintenance time and set completion time of the corresponding setting area; if the working status of the setting area is that there is no motor maintenance, mark the maintenance progress, maintenance time and set completion time of the corresponding setting area as 0;

[0047] Obtain the number of motors to be inspected n=12 stored in the entry buffer area, and sort them in the order of storage time;

[0048] Take the No. 6 motor to be inspected as an example:

[0049] Extract the maintenance interval T6 = 200 days, evaluation level D6 = A2, entry date R6 as September 1, 2024, and set the completion date YR6 as September 6, 2024 for the motor to be inspected No. 6. Based on the formula YZ6 = α / exp(T6 / PT)+DS×(β1×(DR-R6)+β2×(Yr6-DR)) / SD=0.9 / exp(200 / 190)+1×(0.4×3+0.6×2) / 2=1.51, the priority factor YZ6 = 1.51 of the motor to be inspected No. 6 is obtained; In this embodiment, the average maintenance interval PT of the 12 motors to be inspected is 190 days, the manually set standard maintenance days SD is 2 days, the current date DR is September 4, 2024, the value of the proportional adjustment coefficient β1 is 0.4, the value of the proportional adjustment coefficient β2 is 0.6, and the value of the amplitude adjustment coefficient α is 0.9; the corresponding rules of the adjustment coefficient DS and the evaluation level are: DS of level A1 is 1.05, DS of level A2 is 1, DS of level A3 is 0.95, DS of level A4 is 0.90, and DS of level A5 is 0.85;

[0050] Determine the inspection order of each motor to be inspected by using each priority factor YZi from large to small, and transfer the motor to be inspected based on the inspection order;

[0051] Obtain the maintenance progress YDj, maintenance time YSj and set completion time SCj of each setting area in turn, and obtain the estimated completion time WSj of each setting area based on the formula WSj=δ×(1-(YDj-YSj / (YSj+SCj)))×SCj; wherein j is the number of the setting area, the unit of the maintenance progress YDj is %, and δ is a proportional adjustment coefficient greater than 0;

[0052] Mark the conveyor belt in front of the setting area as the target conveyor belt of the current setting area;

[0053] When there is a motor to be inspected on the target conveyor belt of a certain setting area, the position of the motor to be inspected on the target conveyor belt closest to the current setting area is obtained, and the length of the conveying route L1 between the position and the current setting area is obtained. Based on the formula TV1=L1 / WSj, the control speed TV1 of the target conveyor belt in the current setting area in this control is obtained;

[0054] When there is no motor to be inspected on the target conveyor belt of a certain setting area, obtain the conveying route length L2 of the target conveyor belt of the current setting area, obtain the pre-completion time WSj of the current setting area and the pre-completion time WSj-1 of the previous setting area, and judge whether WSj is less than WSj-1; if yes, stop running the target conveyor belt of the current setting area, and run the corresponding target conveyor belt based on the set speed after the motor maintenance of the previous setting area is completed; if no, subtract the pre-completion time WSj of the current setting area from the pre-completion time WSj of the previous setting area to obtain the completion time difference WSC, and obtain the control speed TV2 of the target conveyor belt of the current setting area in this control based on the formula TV2=L2 / WSC;

[0055] Determine whether the target conveyor belt of each setting area has a control speed TV2 in this control; if yes, obtain the control time point AT based on the formula AT=DT+WSj-1, and when the time reaches the time corresponding to the control time point AT, run the corresponding target conveyor belt based on the control speed TV2; if no, run the corresponding target conveyor belt based on the control speed TV1;

[0056] Determine whether there are any unmaintained motors to be inspected in the set area; if yes, start the set program to inspect the unmaintained motors to be inspected; if no, do nothing.

[0057] The assembly line in the present application includes setting areas and conveyor belts. The setting areas include a motor entry buffer area, a disassembly area, a cleaning area, a testing area, an assembly area, a traction motor test bench and a coupling pressing area. The conveyor belt is a controllable variable speed conveyor belt. The conveyor belt is logically controlled by a PLC control program, and the conveyor belts between adjacent setting areas can be controlled individually.

[0058] It should be noted that the order in which the motor passes through the setting areas from front to back during maintenance is: motor entry buffer area, disassembly area, cleaning area, inspection area, assembly area, traction motor test bench, and coupling press area.

[0059] In this application, basic information of the motor to be inspected and maintenance information of each setting area in the assembly line are obtained, including:

[0060] Identify the identification codes of several motors to be inspected stored in the entry buffer area, and determine whether the motors to be inspected corresponding to each identification code are motors that are being inspected for the first time; if yes, mark the inspection interval of the current motor to be inspected as 0, and mark the evaluation level of the current motor to be inspected as A1; if no, retrieve the inspection interval between the last inspection date and the current date of the corresponding motor to be inspected, and the evaluation level of the last inspection from the database in sequence based on the identification code; wherein the evaluation levels include A1, A2, A3, A4, and A5;

[0061] Based on the identification code, the entry date and set completion date of the corresponding motor to be inspected are retrieved from the database in sequence; the working status of each setting area in the assembly line is obtained to determine whether the working status indicates that there is motor maintenance; if yes, the maintenance progress, maintenance time and set completion time of the corresponding setting area are obtained; if not, the maintenance progress, maintenance time and set completion time of the corresponding setting area are marked as 0; wherein, the working status includes the existence of motor maintenance and the absence of motor maintenance, the maintenance time is the time difference between the maintenance start time of the setting area and the current time, and the set completion time is the time difference between the current time and the set completion time in the setting area.

[0062] It should be noted that the identification code is the only identification code of the motor to be inspected in this system, and the system can retrieve all the information of the corresponding motor stored in the database from the database through the identification code.

[0063] In this application, the inspection sequence of the motor to be inspected is determined by basic information, including:

[0064] Obtain the number n of motors to be inspected stored in the entry buffer area and sort them in the order of storage; extract the maintenance interval Ti, evaluation level Di, entry date Ri, and set completion date YRi of each motor to be inspected, and obtain the priority factor YZi of each motor to be inspected based on the formula YZi=α / exp(Ti / PT)+DS×(β1×(DR-Ri)+β2×(Yri-DR)) / SD; where i is the sorting sequence number, and the range of i is [1,n]; PT is the average maintenance interval of the motor to be inspected, DS is the adjustment coefficient corresponding to the evaluation level, DR is the current date, and SD is the manually set standard maintenance days; α is an amplitude adjustment coefficient greater than 0, β1 and β2 are both proportional adjustment coefficients greater than 0, and β1+β2=1, β1<β2;

[0065] Determine the inspection order of each motor to be inspected by arranging the priority factors YZi from large to small.

[0066] It should be noted that the urgency of the inspection can be understood as the urgency of the time required to complete the inspection of the motor.

[0067] See also Figure 3In this application, the control speed of the conveyor belt is obtained based on the maintenance information of the setting area, including:

[0068] B1: Obtain the maintenance progress YDj, maintenance time YSj and set completion time SCj of each setting area in turn, and obtain the estimated completion time WSj of each setting area based on the formula WSj=δ×(1-(YDj-YSj / (YSj+SCj)))×SCj; where j is the number of the setting area, the unit of the maintenance progress YDj is %, and δ is a proportional adjustment coefficient greater than 0;

[0069] B2: Mark the conveyor belt in front of the setting area as the target conveyor belt of the current setting area, and determine whether there is a motor to be inspected on the target conveyor belt of each setting area in turn; if yes, jump to B3; if no, jump to B4;

[0070] B3: Obtain the position of the motor to be inspected that is closest to the current setting area on the target conveyor belt, obtain the length L1 of the conveying route between the position and the current setting area, and obtain the control speed TV1 of the target conveyor belt in the current setting area in this control based on the formula TV1=L1 / WSj;

[0071] B4: Obtain the conveying route length L2 of the target conveyor belt of the current setting area, obtain the pre-completion time WSj of the current setting area and the pre-completion time WSj-1 of the previous setting area, and determine whether WSj is less than WSj-1; if yes, stop running the target conveyor belt of the current setting area, and run the corresponding target conveyor belt based on the set speed after the motor maintenance of the current setting area is completed; if no, subtract the pre-completion time WSj of the current setting area from the pre-completion time WSj of the previous setting area to obtain the completion time difference WSC, and obtain the control speed TV2 of the target conveyor belt of the current setting area in this control based on the formula TV2=L2 / WSC; wherein the set speed is obtained through experience.

[0072] It should be noted that, because the expected completion time is the time difference from the current time to the estimated completion time of the motor maintenance in the setting area, the present application judges whether WSj is less than WSj-1: when WSj is less than WSj-1, it indicates that the time required for the motor to be maintained in the current setting area is less than that of the motor to be maintained in the previous setting area, and the motor in the current setting area completes the maintenance first. Therefore, for this type of target conveyor belt speed setting, the target conveyor belt in the current setting area is stopped first, and the corresponding target conveyor belt is operated based on the set speed after the motor maintenance in the previous setting area is completed; when WSj is not less than WSj-1, it indicates that the time required for the motor to be maintained in the current setting area is not less than that of the motor to be maintained in the previous setting area, and the motor in the current setting area completes the maintenance later or completes the maintenance together with the previous setting area. Therefore, it is calculated how much faster the previous setting area completes the maintenance than the current setting area, and then the transmission route length L2 of the target conveyor belt between the two setting areas is divided by the time when the previous setting area completes the maintenance faster than the current setting area to obtain the control speed of the target conveyor belt in this regulation.

[0073] In this application, the speed of the conveyor belt is controlled based on the speed control, including:

[0074] Determine whether the target conveyor belt of each setting area has a control speed TV2 in this control; if yes, get the control time point AT based on the formula AT=DT+WSj-1, and when the time reaches the time corresponding to the control time point AT, run the corresponding target conveyor belt based on the control speed TV2; if no, run the corresponding target conveyor belt based on the control speed TV1; wherein DT is the current time.

[0075] In this application, the control setting area is used to inspect the motor to be inspected, including:

[0076] Determine whether there are any unmaintained motors to be inspected in the set area; if yes, start the set program to inspect the unmaintained motors to be inspected; if no, do nothing.

[0077] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0078] Working principle of the present invention:

[0079] The present invention first obtains the basic information of the motor to be inspected and the maintenance information of each setting area in the assembly line to provide data support for subsequent analysis; then the maintenance order of the motor to be inspected is determined through the basic information, and the motor to be inspected is conveyed based on the maintenance order. In this way, the motor with a fast estimated maintenance time and urgent maintenance demand can be repaired in time, thereby improving the flexibility of the assembly line system; then the control speed of the conveyor belt is obtained based on the maintenance information of the setting area, and the speed of the conveyor belt is controlled based on the control speed. In this way, adjacent maintenance areas can be coordinated and cooperated, waiting time can be reduced, and overall work efficiency can be improved; finally, the motor to be inspected is repaired by controlling the setting area, and the maintenance record is stored in a database.

[0080] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An autonomous maintenance assembly line system for traction motors of urban rail vehicles, characterized in that: include: The assembly line control module, and the data collection module, motor maintenance module and database connected thereto; The data collection module is used to obtain basic information of the motor to be inspected and maintenance information of each set area in the assembly line; wherein the basic information includes maintenance interval, evaluation level, entry date, and set completion date; the maintenance information includes the maintenance progress, maintenance time, and set completion time of the maintenance parts in the area; The assembly line control module is used to determine the inspection order of the motors to be inspected based on the basic information, and to convey the motors to be inspected based on the inspection order; to obtain the control speed of the conveyor belt based on the inspection information of the set area, and to control the speed of the conveyor belt based on the control speed; The motor maintenance module is used to control the set area to perform maintenance on the motor to be inspected, and store the maintenance records in a database.

2. The autonomous maintenance assembly line system for traction motors of urban rail vehicles according to claim 1 is characterized in that: The assembly line includes a setting area and a conveyor belt. The setting area includes a motor entry buffer area, a disassembly area, a cleaning area, a detection area, an assembly area, a traction motor test bench and a coupling press area. The conveyor belt is a controllable variable speed conveyor belt. The conveyor belt is logically controlled by a PLC control program, and the conveyor belts between adjacent setting areas can be controlled individually.

3. The autonomous maintenance assembly line system for traction motors of urban rail vehicles according to claim 1 is characterized in that: The basic information of the motor to be inspected and the inspection information of each setting area in the assembly line are obtained, including: Identify the identification codes of several motors to be inspected stored in the entry buffer area, and determine whether the motors to be inspected corresponding to the identification codes are motors that are being inspected for the first time; if yes, mark the inspection interval of the current motor to be inspected as 0, and mark the evaluation level of the current motor to be inspected as A1; if no, retrieve the inspection interval between the last inspection date and the current date of the corresponding motor to be inspected from the database in sequence based on the identification code, and the evaluation level of the last inspection; wherein the evaluation levels include A1, A2, A3, A4, and A5; Based on the identification code, the entry date and set completion date of the corresponding motor to be inspected are retrieved from the database in sequence; the working status of each setting area in the assembly line is obtained to determine whether the working status indicates that there is motor maintenance; if yes, the maintenance progress, maintenance time and set completion time of the corresponding setting area are obtained; if not, the maintenance progress, maintenance time and set completion time of the corresponding setting area are marked as 0; wherein, the working status includes the existence of motor maintenance and the absence of motor maintenance, the maintenance time is the time difference between the maintenance start time of the setting area and the current time, and the set completion time is the time difference between the current time and the set completion time in the setting area.

4. The autonomous maintenance assembly line system for traction motors of urban rail vehicles according to claim 1 is characterized in that: Determining the inspection order of the motor to be inspected by using basic information includes: Obtain the number n of motors to be inspected stored in the entry buffer area and sort them in the order of storage; extract the maintenance interval Ti, evaluation level Di, entry date Ri, and set completion date YRi of each motor to be inspected, and obtain the priority factor YZi of each motor to be inspected based on the formula YZi=α / exp(Ti / PT)+DS×(β1×(DR-Ri)+β2×(Yri-DR)) / SD; where i is the sorting sequence number, and the range of i is [1,n]; PT is the average maintenance interval of the motor to be inspected, DS is the adjustment coefficient corresponding to the evaluation level, DR is the current date, and SD is the standard maintenance days; α is an amplitude adjustment coefficient greater than 0, β1 and β2 are both proportional adjustment coefficients greater than 0, and β1+β2=1, β1<β2; Determine the inspection order of each motor to be inspected by arranging the priority factors YZi from large to small.

5. The autonomous maintenance assembly line system for traction motors of urban rail vehicles according to claim 1 is characterized in that: The method of obtaining the control speed of the conveyor belt based on the maintenance information of the setting area includes: B1: Obtain the maintenance progress YDj, maintenance time YSj and set completion time SCj of each setting area in turn, and obtain the estimated completion time WSj of each setting area based on the formula WSj=δ×(1-(YDj-YSj / (YSj+SCj)))×SCj; where j is the number of the setting area, the unit of the maintenance progress YDj is %, and δ is a proportional adjustment coefficient greater than 0; B2: Mark the conveyor belt in front of the setting area as the target conveyor belt of the current setting area, and determine whether there is a motor to be inspected on the target conveyor belt of each setting area in turn; if yes, jump to B3; if no, jump to B4; B3: Obtain the position of a motor to be inspected that is closest to the current setting area on the target conveyor belt, obtain the length L1 of the conveying route between the position and the current setting area, and obtain the control speed TV1 of the target conveyor belt in the current setting area in this control based on the formula TV1=L1 / WSj; B4: Obtain the conveying route length L2 of the target conveyor belt of the current setting area, obtain the pre-completion time WSj of the current setting area and the pre-completion time WSj-1 of the previous setting area, and determine whether WSj is less than WSj-1; if so, stop running the target conveyor belt of the current setting area, and run the corresponding target conveyor belt based on the set speed after the motor maintenance of the current setting area is completed; if not, subtract the pre-completion time WSj of the current setting area from the pre-completion time WSj of the previous setting area to obtain the completion time difference WSC, and obtain the control speed TV2 of the target conveyor belt of the current setting area in this control based on the formula TV2=L2 / WSC.

6. The autonomous maintenance assembly line system for traction motors of urban rail vehicles according to claim 5 is characterized in that: The speed control of the conveyor belt based on the speed control comprises: Determine whether the target conveyor belt of each setting area has a control speed TV2 in this control; if yes, get the control time point AT based on the formula AT=DT+WSj-1, and when the time reaches the time corresponding to the control time point AT, run the corresponding target conveyor belt based on the control speed TV2; if no, run the corresponding target conveyor belt based on the control speed TV1; wherein DT is the current time.

7. The autonomous maintenance assembly line system for traction motors of urban rail vehicles according to claim 1 is characterized in that: The control setting area performs maintenance on the motor to be inspected, including: Determine whether there are any unmaintained motors to be inspected in the set area; if yes, start the set program to inspect the unmaintained motors to be inspected; if no, do nothing.

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