CN206400614U - A kind of intelligent examination and repair system of train closed loop - Google Patents
A kind of intelligent examination and repair system of train closed loop Download PDFInfo
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- CN206400614U CN206400614U CN201720083267.0U CN201720083267U CN206400614U CN 206400614 U CN206400614 U CN 206400614U CN 201720083267 U CN201720083267 U CN 201720083267U CN 206400614 U CN206400614 U CN 206400614U
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Abstract
The technical scheme of the application provides a kind of intelligent examination and repair system of train closed loop, and train closed loop intelligence examination and repair system includes:Intelligent servicing machine;With the data processing centre of intelligence maintenance mechatronics;And, the maintenance center electrically connected with data processing centre;Wherein, intelligent servicing machine includes structural parameters information collecting device and positioner;Data processing centre includes:The failure parts arbiter being electrically connected with structural parameters information collecting device and positioner, the fault message maker being electrically connected with failure parts arbiter, structural parameters information collecting device and positioner, the maintenance list maker electrically connected with fault message maker, and the maintenance list transmitter electrically connected with the single maker of maintenance;Maintenance center is also electrically connected with the single transmitter of maintenance.The technical scheme of the application can improve the overhaul efficiency of Train Parts.
Description
Technical field
The application is related to train overhaul technical field, more specifically, is related to a kind of intelligent examination and repair system of train closed loop.
Background technology
With the fast development of Chinese high ferro, Chinese Railway will build up " four vertical four is horizontal " High-speed Railway Network, a plurality of high iron wire
Road is progressively open-minded, and the EMUs quantity started increases year by year, ends for the end of the year 2014, and EMUs standard group has reached 1722 row, transports
1.9 ten thousand kilometers of mileage is sought, the upkeep operation task that corresponding Motor Car Institute undertakes increasingly is weighed, and operational pressure is also increasing.
Traditional maintenance mode is seen using eyes, touched with hand, the people procuratorial organ formula that flashlight shines and measured with a yardstick etc, this side
Formula has that workload is big, be pressed for time, inefficiency, operation quality can not ensure and to peopleware and sense of responsibility requirement
High the problems such as.
A usual large-scale Motor Car Institute, can be with 14, track of maintenance, it is necessary to per maintenance crew per maintenance 64-75 row day by day
4 people of group operation simultaneously, is required according to EMUs task instruction, and the standard maintenance used time should be 150 minutes, but due to available maintenance rail
Road only has 14, and operating personnel can not increase, but maintenance quantity constantly increases, while to ensure that EMUs are normally started,
Therefore by repair time boil down to 90 minutes.As can be seen here, the biggest factor of influence upkeep operation whole structure is overhaul efficiency
Low problem, i.e., can not rapid growth service ability and the quick contradiction between increased EMUs recoverable amount.
To sum up, although the detection of people procuratorial organ formula comprehensively, loss it is low, there is also detection efficiency is low and maintenance person work is strong
The problem of spending big.As train quantity increases in maintenance storehouse, existing poorly efficient service ability is protected with quick increased train
Huge contradiction is generated between the amount of having.
Utility model content
The purpose of the application is to provide a kind of technical scheme of the intelligent examination and repair system of train closed loop, to solve in background technology
The problem of overhaul efficiency is low in the existing maintenance mode introduced.
In order to solve the above-mentioned technical problem, the application provides following technical scheme:
The technical solution of the utility model provides a kind of intelligent examination and repair system of train closed loop, including:
Intelligent servicing machine;
With the data processing centre of the intelligence maintenance mechatronics;And,
The maintenance center electrically connected with the data processing centre;Wherein,
The intelligent servicing machine includes structural parameters information collecting device and positioner;
The data processing centre includes:It is electric respectively with the structural parameters information collecting device and the positioner
The failure parts arbiter of connection, with the failure parts arbiter, structural parameters information collecting device and positioner
The fault message maker being electrically connected, the maintenance list maker electrically connected with the fault message maker, and with institute
State the maintenance list transmitter of the single maker electrical connection of maintenance;
The maintenance center is also electrically connected with the single transmitter of the maintenance.
Preferably, the fault message maker, including:
The initial survey being electrically connected with the failure parts arbiter, structural parameters information collecting device and positioner
Fault message maker;And,
The exact failure information generator electrically connected with the initial survey fault message maker, the exact failure information life
Grow up to be a useful person and also electrically connected with the single maker of the maintenance.
Preferably, the intelligent servicing machine, including:
Walking Ku Jian robots at underbody trench;
It is arranged at the outer detection device of train rail and train sidepiece detection device of maintenance storehouse porch;And
It is arranged at the roof detection device of maintenance storehouse entrance top;
Wherein, the outer detection device of the walking Ku Jian robots, train rail, train sidepiece detection device and roof detection are set
Back-up is not electrically connected with the data processing centre, and includes the structural parameters information collecting device and positioner.
Preferably, the intelligent examination and repair system of the train closed loop, in addition to:
The handling of goods and materials terminal electrically connected with the data processing centre, wherein, the handling of goods and materials terminal also with it is described
Maintenance center is electrically connected.
Preferably, the intelligent examination and repair system of the train closed loop, in addition to:
The dispatching sequence generator electrically connected with the fault message maker;
Generated with the Distribution path information that the dispatching sequence generator and the fault message maker are electrically connected
Device;And,
The dispensing machine people electrically connected with the Distribution path information generator;
Wherein, the Distribution path information generator is also electrically connected with the maintenance center.
Preferably, the intelligent examination and repair system of the train closed loop, in addition to:
The operation that is electrically connected with the data processing centre and safeguard record storage.
Preferably, the data processing centre, in addition to:
The maintenance success arbiter electrically connected with the maintenance center, maintenance success arbiter also with it is described accurate therefore
Hinder information generator electrical connection.
Preferably, the data processing centre also includes:
Exact failure information-storing device;
The exact failure information that successfully arbiter and the exact failure information-storing device are electrically connected is repaired with described
Canceller;And,
The maintenance electrically connected with the exact failure information-storing device completes information display.
Preferably, the intelligent examination and repair system of the train closed loop, in addition to:
The service sequence maker electrically connected with the fault message maker;And,
The maintenance Route Generation device electrically connected with the service sequence maker, wherein, the maintenance Route Generation device is also
Electrically connected with the maintenance center.
Preferably, the intelligent examination and repair system of the train closed loop,
The maintenance center also includes upkeep operation information generator;
The upkeep operation information that the data processing centre also includes electrically connecting with the upkeep operation information generator is looked into
See device.
The intelligent examination and repair system of train closed loop that the application is provided, the structure for gathering Train Parts by intelligent servicing machine is joined
Number information and positional information, are determining that Train Parts are failure parts according to said structure parameter information and positional information
Afterwards, the fault message of the failure parts is generated, then delivers to the trouble hunting single-shot generated according to fault message in maintenance
The heart, can realize the detection to failure parts and maintenance.Detected in the technical scheme of the application by intelligent servicing machine,
The abort situation and defect content of failure parts are determined, and is repaired by data processing centre to maintenance center distribute leaflets, relatively
The maintenance solution provided in background technology, the intelligent maintenance solution of train closed loop that this programme is provided can improve overall maintenance effect
Rate, reduces the labor intensity of maintenance person, solves between service ability in the prior art and quick increased train recoverable amount
Contradiction.Further, since intelligent servicing machine by way of the structural parameters information and positional information that gather Train Parts to examine
Train fault is surveyed, the structural parameters of a large amount of Train Parts can be scanned in the process of intelligent the servicing machine walking or train movement
Information and positional information, can more accelerate the inspection speed of train, improve overhaul efficiency.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the present application, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, for those of ordinary skills, do not paying creative work
Property on the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of application scenarios schematic diagram shown in the exemplary embodiment of the application one;
Fig. 2 is the structural representation of the intelligent examination and repair system of the first train closed loop shown in the exemplary embodiment of the application one
Fig. 3 is the structural representation of the intelligent examination and repair system of second of train closed loop shown in the exemplary embodiment of the application one
Figure;
Fig. 4 is the structural representation of the intelligent examination and repair system of the third train closed loop shown in the exemplary embodiment of the application one
Figure;
Fig. 5 is the structural representation of the intelligent examination and repair system of the 4th kind of train closed loop shown in the exemplary embodiment of the application one
Figure;
Fig. 6 is the structural representation of the intelligent examination and repair system of the 5th kind of train closed loop shown in the exemplary embodiment of the application one
Figure;
Fig. 7 is the structural representation of the intelligent examination and repair system of the 6th kind of train closed loop shown in the exemplary embodiment of the application one
Figure;
Fig. 8 is the structural representation of the intelligent examination and repair system of the 7th kind of train closed loop shown in the exemplary embodiment of the application one
Figure;
Fig. 9 is the structural representation of the intelligent examination and repair system of the 8th kind of train closed loop shown in the exemplary embodiment of the application one
Figure.
Embodiment
The intelligent maintenance solution of train closed loop that the embodiment of the present application is provided, solves the existing inspection described in background technology
Repair the problem of overhaul efficiency is low in mode.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present application, and make the application real
Applying the above-mentioned purpose of example, feature and advantage can be more obvious understandable, below in conjunction with the accompanying drawings to the technology in the embodiment of the present application
Scheme is described in further detail.
Accompanying drawing 1 is referred to, Fig. 1 is a kind of application scenarios schematic diagram shown in the exemplary embodiment of the application one, such as Fig. 1 institutes
Show, the application scenarios include:
Intelligent servicing machine 1010, data processing centre 1020 and maintenance center 1030, wherein, the intelligent servicing machine 1010
The structural parameters information and positional information of Train Parts can be gathered;Maintenance center 1030 is with failure of the maintenance person to train
Parts are overhauled, and data processing centre 1020 receives the structural parameters letter for the Train Parts that intelligent servicing machine 1010 is sent
Breath and positional information, so as to judge whether Train Parts are failure zero according to said structure parameter information and positional information
Part, and then when being defined as failure parts, generate fault message, generated and sent according to fault message to maintenance center 1030
Trouble hunting list, so that maintenance person is repaired to train.Specifically, trouble hunting single-shot is given in maintenance center 1030 just
Take terminal device.
Refer to Fig. 2, a kind of knot for train closed loop intelligence examination and repair system that Fig. 2 provides for the exemplary embodiment of the application one
Structure schematic diagram, as shown in Fig. 2 train closed loop intelligence examination and repair system includes:
Intelligent servicing machine 1010;Wherein, the intelligent servicing machine 1010 includes being located at the walking storehouse inspection machine at underbody trench
Device people;It is arranged at the outer detection device of train rail and train sidepiece detection device of maintenance storehouse porch;And it is arranged at maintenance storehouse
The roof detection device of entrance top;Wherein, the outer detection device of the walking Ku Jian robots, train rail, the detection of train sidepiece
Equipment and roof detection device are electrically connected with the data processing centre respectively, and include structural parameters information collecting device and
Positioner.
The data processing centre 1020 electrically connected with the intelligent servicing machine 1010;And,
The maintenance center 1030 electrically connected with the data processing centre 1020;Wherein,
The intelligent servicing machine 1010 includes being used to gather the structural parameters information of the structural parameters information of Train Parts
Harvester 1011, and for the positioner 1012 for the positional information for gathering Train Parts;
The data processing centre 1020 includes:
The failure being electrically connected with the structural parameters information collecting device 1011 and the positioner 1,012 zero
Part arbiter 1021, for judging whether the Train Parts are failure zero according to the structural parameters information and positional information
Part;
It is electric respectively with failure parts arbiter 1021, structural parameters information collecting device 1011 and positioner 1012
The fault message maker 1022 of connection, for when judging Train Parts as failure parts, according to structural parameters information
The fault message of failure parts is generated with positional information, wherein, the fault message includes the failure of the failure parts
Position and defect content.
Wherein, fault message maker 1022 includes adopting with the failure parts arbiter 1021, structural parameters information
The initial survey fault message maker that acquisition means 1011 and positioner 1012 are electrically connected, for according to structural parameters information
The initial survey fault message of failure parts is generated with positional information.
And the exact failure information generator electrically connected with the initial survey fault message maker, for according to described first
Whether inspection fault message meets exact failure criterion, generates the exact failure information of failure parts, wherein, it is described accurate
Fault message includes exact failure position and the exact failure content of the failure parts.
The intelligent examination and repair system of train closed loop shown in Fig. 2, in addition to:
The maintenance list maker 1023 electrically connected with fault message maker 1022, for generating failure according to fault message
Maintenance is single, wherein, the trouble hunting list includes abort situation and upkeep operation corresponding with abort situation and defect content
Normal process.
The maintenance list transmitter 1024 electrically connected with the single maker 1023 of the maintenance, train is delivered to by trouble hunting single-shot
The maintenance center at place.
To sum up, the intelligent examination and repair system of train closed loop that the application is provided, Train Parts are gathered by intelligent servicing machine
Structural parameters information and positional information, are determining that Train Parts are failure zero according to said structure parameter information and positional information
After part, the fault message of the failure parts is generated, the trouble hunting single-shot generated according to fault message is then delivered into dimension
Center is repaiied, the detection to failure parts and maintenance can be realized.Carried out in the technical scheme of the application by intelligent servicing machine
Detection, determines exact failure position and the exact failure content of failure parts, and by data processing centre to maintenance center
Distribute leaflets are repaired, the maintenance solution provided relative to background technology, and the intelligent maintenance solution of the train closed loop that this programme is provided can be carried
High overall overhaul efficiency, reduces the labor intensity of maintenance person, solves service ability in the prior art and quick increased row
Contradiction between car recoverable amount.Further, since intelligent servicing machine is by gathering structural parameters information and the position of Train Parts
The mode of information can scan a large amount of trains zero to detect train fault in the process of intelligent the servicing machine walking or train movement
The structural parameters information and positional information of part, can more accelerate the inspection speed of train, improve overhaul efficiency.
As shown in figure 3, the intelligent examination and repair system of train closed loop shown in Fig. 2, in addition to:
The handling of goods and materials terminal 1040 electrically connected with the data processing centre 1020, for receiving the Data processing
The maintenance material information that the heart 1020 is sent;Wherein, maintenance material information includes demand accessory and/or service kit.Handling of goods and materials
Terminal 1040 may be disposed in maintenance material library, be capable of the maintenance material information of display data processing center transmission, so that related
Personnel's preparation requirement accessory and/or service kit.
The handling of goods and materials terminal 1040 is also electrically connected with the maintenance center 1030, for the maintenance center 1030
Send neck material information.
As a kind of preferred embodiment, as shown in figure 4, train closed loop intelligence examination and repair system also includes:
The dispatching sequence generator 1025 electrically connected with the fault message maker 1022, for being believed according to the failure
The maintenance level of each failure parts included is ceased, it is determined that the dispatching of maintenance material corresponding with each failure parts is suitable
Sequence;
The Distribution path being electrically connected with the dispatching sequence generator 1025 and the fault message maker 1022
Information generator 1026, for the dispatching order according to the maintenance material and the exact failure position of each failure parts,
The Distribution path information of Maintenance Planning material;And,
The dispensing machine people 1050 electrically connected with the Distribution path information generator 1026, for according to the dispatching road
Material is repaired described in the information delivery of footpath;
Wherein, the Distribution path information generator 1026 is also electrically connected with the maintenance center 1030, for described
Maintenance center 1030 sends Distribution path information.
By being determined to repair the dispatching order of material according to the maintenance level of each failure parts, due to failure parts
Maintenance level be capable of the maintenance order and fault degree of faults parts, therefore, pass through the maintenance level and determine dispatching
Sequentially, it is possible to increase dispatching efficiency.In addition, according to dispatching order and the Distribution path of abort situation Maintenance Planning material, can
Distribution path is unified and made rational planning for, so as to shorten the distribution time of material, dispatching efficiency is improved.
As a kind of preferred embodiment, as shown in figure 5, train closed loop intelligence examination and repair system also includes:
The operation that is electrically connected with the data processing centre 1020 and record storage 1060 is safeguarded, for storing the row
The operation of car and maintenance record;
The data processing centre 1020 is additionally operable to obtain the foundation characteristic information of train, according to the foundation characteristic information
Run and safeguard that operation and maintenance that the train is inquired about in record storage 1060 are recorded from described, according to the operation and dimension
Shield record determines the detection zone and/or detection mode of Train Parts.
As shown in fig. 6, the data processing centre 1020, in addition to:
The maintenance success arbiter 1027 electrically connected with the maintenance center 1030, for receiving the maintenance center 1030
The maintenance completion information of transmission, has been repaired according to judging the image information of the parts of maintenance failure and positional information
Whether failure parts repair success, wherein, it is described maintenance completion information include the image information of maintenance failure parts and
Positional information.
The fault message maker 1022 is also electrically connected with the successfully arbiter 1027 that repairs, for when the maintenance
When success arbiter 1027 judges that maintenance is unsuccessful, the exact failure information of failure parts is regenerated.
When the maintenance of failure parts is finished, maintenance completion is sent to data processing centre 1020 by maintenance center 1030
Information, data processing centre judges whether maintenance failure parts repair success, so that when unsuccessful, again into maintenance
The heart 1030 sends trouble hunting list, so that maintenance person is repaired to failure parts again, until data processing centre 1020
Confirm that maintenance failure parts maintenance is completed.Failure parts can be reduced by said process and repair not thorough, peace is brought
The problem of full hidden danger.
As shown in fig. 7, the data processing centre also includes:
Exact failure information-storing device 1028, for the storage exact failure information;
Successfully arbiter 1027 is repaired with described and that the exact failure information-storing device 1028 is electrically connected is accurate
Fault message canceller 1029, for it is described repair that successfully arbiter 1027 judges that maintenance failure parts are repaired successfully when,
Eliminate corresponding exact failure information;And,
The maintenance electrically connected with the exact failure information-storing device 1028 completes information display 10201, for working as
When the exact failure information bar number stated in exact failure information-storing device 1028 is zero, display train overhaul completes information.
When the heart 1020 judges the bar number of exact failure information as zero in data handling, illustrate the failure parts of the train
Repair and finished, and then sent train overhaul and completed information, to confirm train overhaul success, and then carried out subsequent operation.
As shown in figure 8, the intelligent examination and repair system of the train closed loop, in addition to:
The service sequence maker 10202 electrically connected with the fault message maker 1022, for according to the failure
The maintenance level of the failure parts of each in information, determines the service sequence of each failure parts;And,
The maintenance Route Generation device 10203 electrically connected with the service sequence maker 10202, for according to each failure
Maintenance circuit in the service sequence of parts and exact failure position, generation trouble hunting list;Wherein,
The maintenance Route Generation device 10203 is also electrically connected with the maintenance center 1030, for maintenance circuit to be sent
To the maintenance center.
By the service sequence according to each failure parts and abort situation generation maintenance circuit, maintenance person can be shortened
Path travel time, improve failure parts overhaul efficiency;And can according to maintenance line marker each failure parts,
So as to reduce the loss of failure parts.
As shown in figure 9, in the intelligent examination and repair system of the train closed loop, the maintenance center 1030 also includes upkeep operation and believed
Transmitter 1031 is ceased, the upkeep operation information for sending maintenance person to data processing centre 1020;
The maintenance that the data processing centre 1020 also includes electrically connecting with the upkeep operation information generator 1031 is made
Industry information inspection device 10204, for the upkeep operation situation according to the upkeep operation information monitoring maintenance person.
Upkeep operation information is sent to data processing centre by maintenance center, data processing centre can monitor dimension in real time
The upkeep operation situation for the person of repairing, and then whether can understand the maintenance position of maintenance person in Overhaul site attached in failure parts
Closely, whether upkeep operation process meets specification and whether upkeep operation progress is efficient, further by maintenance center to dimension
The person of repairing provides guidance, or conveniently subsequently upkeep operation situation is evaluated.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiments.
Above-described the application embodiment, does not constitute the restriction to the application protection domain.It is any in the application
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of intelligent examination and repair system of train closed loop, it is characterised in that including:
Intelligent servicing machine;
With the data processing centre of the intelligence maintenance mechatronics;And,
The maintenance center electrically connected with the data processing centre;Wherein,
The intelligent servicing machine includes structural parameters information collecting device and positioner;
The data processing centre includes:It is electrically connected with the structural parameters information collecting device and the positioner
Failure parts arbiter, with the failure parts arbiter, structural parameters information collecting device and positioner distinguish
The fault message maker of electrical connection, the maintenance list maker electrically connected with the fault message maker, and with the inspection
Repair the maintenance list transmitter of single maker electrical connection;
The maintenance center is also electrically connected with the single transmitter of the maintenance.
2. the intelligent examination and repair system of train closed loop according to claim 1, it is characterised in that the fault message maker,
Including:
The initial survey failure being electrically connected with the failure parts arbiter, structural parameters information collecting device and positioner
Information generator;And,
The exact failure information generator electrically connected with the initial survey fault message maker, the exact failure information generator
Also electrically connected with the single maker of the maintenance.
3. the intelligent examination and repair system of train closed loop according to claim 1, it is characterised in that the intelligent servicing machine, including:
Walking Ku Jian robots at underbody trench;
It is arranged at the outer detection device of train rail and train sidepiece detection device of maintenance storehouse porch;And
It is arranged at the roof detection device of maintenance storehouse entrance top;
Wherein, the outer detection device of the walking Ku Jian robots, train rail, train sidepiece detection device and roof detection device point
Do not electrically connected with the data processing centre, and include the structural parameters information collecting device and positioner.
4. the intelligent examination and repair system of train closed loop according to claim 1, it is characterised in that also include:
The handling of goods and materials terminal electrically connected with the data processing centre, wherein, the handling of goods and materials terminal also with the maintenance
Center is electrically connected.
5. the intelligent examination and repair system of train closed loop according to claim 4, it is characterised in that also include:
The dispatching sequence generator electrically connected with the fault message maker;
The Distribution path information generator being electrically connected with the dispatching sequence generator and the fault message maker;With
And,
The dispensing machine people electrically connected with the Distribution path information generator;
Wherein, the Distribution path information generator is also electrically connected with the maintenance center.
6. the intelligent examination and repair system of train closed loop according to claim 1, it is characterised in that also include:
The operation that is electrically connected with the data processing centre and safeguard record storage.
7. the intelligent examination and repair system of train closed loop according to claim 2, it is characterised in that the data processing centre, also
Including:
The maintenance success arbiter electrically connected with the maintenance center, the maintenance success arbiter is also believed with the exact failure
Cease maker electrical connection.
8. the intelligent examination and repair system of train closed loop according to claim 7, it is characterised in that the data processing centre also wraps
Include:
Exact failure information-storing device;
The exact failure information deletion that successfully arbiter and the exact failure information-storing device are electrically connected is repaired with described
Device;And,
The maintenance electrically connected with the exact failure information-storing device completes information display.
9. the intelligent examination and repair system of train closed loop according to claim 1, it is characterised in that also include:
The service sequence maker electrically connected with the fault message maker;And,
The maintenance Route Generation device electrically connected with the service sequence maker, wherein, the maintenance Route Generation device also with institute
State maintenance center electrical connection.
10. the intelligent examination and repair system of train closed loop according to claim 1, it is characterised in that
The maintenance center includes upkeep operation information generator;
The data processing centre also includes the upkeep operation information inspection device electrically connected with the upkeep operation information generator.
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107962134A (en) * | 2017-12-25 | 2018-04-27 | 佛山市三水区精联自动化设备有限公司 | A kind of position of manipulator fault early warning system |
CN108345944A (en) * | 2017-01-22 | 2018-07-31 | 苏州华兴致远电子科技有限公司 | A kind of train closed loop intelligence repair method and system |
-
2017
- 2017-01-22 CN CN201720083267.0U patent/CN206400614U/en active Active
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108345944A (en) * | 2017-01-22 | 2018-07-31 | 苏州华兴致远电子科技有限公司 | A kind of train closed loop intelligence repair method and system |
CN108345944B (en) * | 2017-01-22 | 2024-05-10 | 苏州华兴致远电子科技有限公司 | Intelligent maintenance method and system for closed loop of train |
CN107962134A (en) * | 2017-12-25 | 2018-04-27 | 佛山市三水区精联自动化设备有限公司 | A kind of position of manipulator fault early warning system |
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