Special tool for repairing ground potential R pin and use method thereof

Abstract

The invention relates to the technical field of ground potential R pin repair, in particular to a special tool for ground potential R pin repair and an application method thereof, and the method comprises the steps: placing an R pin into a clamp, and enabling the R pin and a ball screw to be located on the same vertical central axis; the ball screw is upwards attached to the bolt, the photoelectric sensor is opened, the frame body is rotated, and when the ball screw is aligned to the pin hole and the light path is blocked by the blocking piece, rotation is stopped; a servo motor is started to drive an R pin electric pushing rod to drive a pin to move downwards, the power of the servo motor is adjusted according to the collected vibration frequency, and the adjusting process comprises the steps that the abnormal vibration coefficient and the vibration abnormal degree of each collection moment are obtained; the expected power of the servo motor at the current collection moment is obtained through the actual power of the servo motor at the current collection moment and the change degree of the vibration anomaly; and adjusting the actual power of the servo motor. By adjusting the power of the servo motor, the stability of the special tool for repairing the R pin is improved.

Description

Technical Field

[0001] This application relates to the technical field of in-situ potential R-pin replacement, and particularly to a special tool for in-situ potential R-pin replacement and its usage method. Background Art

[0002] The R-pin, also known as the "locking pin", is crucial in transmission lines. However, as the R-pins on transmission lines are long-term exposed to the natural environment, they are vulnerable to various meteorological and other adverse external factors. Moreover, under the action of electricity, the fittings vibrate, which easily causes wear or even detachment of the R-pins, potentially leading to the disconnection of suspension clamps or even the dropping of transmission lines, endangering the safety of the lines. Therefore, maintenance personnel need to replace the R-pins in a timely manner.

[0003] Since the position for R-pin replacement is relatively narrow, the special tool for R-pin replacement needs to keep the R-pin, ball head screw, and pin hole on the same vertical central axis. Start the servo motor to drive the R-pin electric push rod to drive the pin downward, and finally complete the work of in-situ potential R-pin replacement. However, in the actual operation of in-situ potential R-pin replacement, it is difficult to accurately control and adjust the power of the servo motor in the prior art, which easily causes jitter during the process of the R-pin electric push rod driving the pin downward, and even causes the R-pin to fall off, affecting the stability of the special tool for R-pin replacement. Summary of the Invention

[0004] In view of the above, it is necessary to provide a special tool for in-situ potential R-pin replacement and its usage method. Compared with the traditional special tool for in-situ potential R-pin replacement and its usage method, the stability of the special tool for R-pin replacement is improved by adjusting the power of the servo motor.

[0005] Improve the stability of controlling the liquid level of the reactor: In a first aspect, an embodiment of the present application provides a special tool for in-situ potential R-pin replacement. The tool includes a frame, a fixture, a retaining piece, a ball head screw, an R-pin, an insulating rod, an R-pin electric push rod, a photoelectric sensor, a servo motor, an R-pin controller, a vibration sensor, a power supply battery, and a power sensor; Among them, the baffle, ball head screw, R-pin electric push rod, photoelectric sensor, fixture, vibration sensor, servo motor, power sensor, and R-pin controller are fixed on the frame by bolts. The R-pin is connected and fixed to the fixture, and an insulating rod is installed on the R-pin electric push rod. The photoelectric sensor is used to position the pin hole so that the R-pin, ball head screw, and pin hole are on the same vertical central axis. One end of the R-pin electric push rod is connected to the fixture with the R-pin, and the other end is connected to the servo motor. The servo motor is used to drive the R-pin electric push rod and drive the pin to move downward. Power supply batteries are installed inside the photoelectric sensor, power sensor, vibration sensor, servo motor, and R-pin controller for power supply. The power sensor is connected to the servo motor and is used to collect the actual power of the servo motor in real time. The vibration sensor is connected to the R-pin electric push rod and is used to collect the vibration frequency on the R-pin electric push rod in real time when the R-pin electric push rod drives the pin to move. The power sensor and vibration sensor are connected to the R-pin controller to obtain the control signal of the R-pin controller. The R-pin controller is connected to the servo motor and is used to analyze the collected vibration frequency and control and adjust the power of the servo motor according to the analysis result.

[0006] In a second aspect, the embodiment of the present application further provides a method for using a special tool for ground potential R-pin replenishment, and the method includes the following steps: Place the R-pin into the fixture to ensure that the R-pin and the ball head screw are on the same vertical central axis. Press the ball head screw upward tightly against the bolt, turn on the photoelectric sensor, and rotate the frame. When the ball head screw rotates to the position where the pin hole exists, the ball head screw moves upward, driving the baffle to move upward at the same time. When the baffle moves upward and blocks the optical path between the photoelectric sensors, stop rotating the frame to make the R-pin, ball head screw, and pin hole on the same vertical central axis. Start the servo motor to drive the R-pin electric push rod to drive the pin to move downward, and control and adjust the power of the servo motor by the R-pin controller according to the collected vibration frequency.

[0007] In one of the embodiments, the process of controlling and adjusting the power of the servo motor is as follows: Obtain the frequency vibration value of any acquisition moment through the vibration degree of the vibration frequency of any acquisition moment compared with the vibration frequencies of all other acquisition moments within a preset time period. Preset the adjacent acquisition moments of each acquisition moment, and obtain the abnormal vibration coefficient of each acquisition moment through the vibration frequencies of the adjacent acquisition moments and the frequency vibration value. For all adjacent acquisition moments of each acquisition moment, analyze the difference in the change between the vibration frequency and the abnormal vibration coefficient, and the rising degree of the abnormal vibration coefficient, to obtain the vibration abnormality degree of each acquisition moment. Obtain the expected power of the servo motor at the current acquisition moment based on the actual power at the current acquisition moment and the degree of change in the vibration abnormality from the current acquisition moment compared to the previous acquisition moment; adjust the actual power of the servo motor based on the difference between the actual power and the expected power.

[0008] In one embodiment, the method for obtaining the frequency vibration value is as follows: Process the vibration frequency within the preset time period using the detrended fluctuation analysis algorithm; Take the mean of the differences between the processed vibration frequency at any acquisition moment within the preset time period and the processed vibration frequencies at all other acquisition moments as the frequency vibration value at the any acquisition moment.

[0009] In one embodiment, the abnormal vibration coefficient is the weighted sum of the vibration frequencies at all neighboring acquisition moments of each acquisition moment, where the weight values of the vibration frequencies at each neighboring acquisition moment are the normalized values of the frequency vibration values at each acquisition moment.

[0010] In one embodiment, the method for obtaining the vibration abnormality is as follows: For each acquisition moment, arrange the vibration frequencies and abnormal vibration coefficients at all neighboring acquisition moments in chronological order to form a vibration sequence and a jitter sequence; obtain the fitting curves of the vibration sequence and the jitter sequence, denoted as the vibration curve and the jitter curve; arrange the slopes at the corresponding positions of all neighboring acquisition moments on the vibration curve and the jitter curve in chronological order to form a vibration slope sequence and a jitter slope sequence; calculate the distance between the vibration slope sequence and the jitter slope sequence; Obtain the vibration enhancement trend value at each acquisition moment based on the degree of increase; The vibration abnormality is negatively correlated with the distance at each acquisition moment and positively correlated with the vibration enhancement trend value.

[0011] In one embodiment, the method for obtaining the vibration enhancement trend value is as follows: For each acquisition moment, calculate the first-order difference sequence of the jitter slope sequence, calculate the ratio of the number of positive numbers to the total number of data in the first-order difference sequence, and calculate the cumulative sum of all positive numbers in the first-order difference sequence; The vibration enhancement trend value is the product of the ratio and the cumulative sum.

[0012] In one embodiment, the process for obtaining the expected power is as follows: Calculate the difference in the vibration abnormality between each acquisition moment and its previous acquisition moment; Map the vibration abnormality at the previous acquisition moment to a positive value, and calculate the ratio result of the difference to the positive value; The expected power is positively correlated with the actual power at the current acquisition moment and negatively correlated with the ratio result.

[0013] In one embodiment, the calculation method of the expected power is as follows: Denote the difference between 1 and the ratio result as the correction difference; The expected power is the product of the actual power at the current acquisition moment and the correction difference.

[0014] In one embodiment, the process of adjusting the actual power of the servo motor is as follows: The R pin controller obtains the control signal of the power of the servo motor through the difference between the actual power and the expected power of the servo motor at the current moment, and adjusts the actual power of the servo motor to the expected power through the control signal.

[0015] This application has at least the following beneficial effects: The special tool for supplementing the ground potential R pin in this application is equipped with a vibration sensor, a power sensor, and an R pin controller, which can adjust the power of the servo motor according to the jitter situation on the R pin electric propulsion rod, and avoid the jitter phenomenon during the process of the R pin electric propulsion rod driving the pin to move downward, which affects the stability of the special tool for supplementing the ground potential R pin; This application analyzes the vibration degree of the vibration frequency at each acquisition moment compared with the vibration frequency at the remaining acquisition moments, and combines the vibration frequencies at each acquisition moment to obtain the abnormal vibration coefficient, which improves the accuracy of analyzing the abnormal jitter interference characteristics of the R pin electric propulsion rod, and is conducive to more accurately feedback-adjusting the power of the servo motor; Furthermore, through the analysis of the vibration frequency and the change characteristics of abnormal vibration interference on the R pin electric propulsion rod, the vibration abnormality of the R pin electric propulsion rod is measured, so that the subsequent feedback adjustment can reduce the jitter risk on the R pin electric propulsion rod, avoid the occurrence of accidents such as the R pin falling off, and improve the safety of the special tool for supplementing the ground potential R pin; Furthermore, through the severity of the change in the driving risk on the R pin electric propulsion rod, the expected power of the servo motor is measured, and the R pin controller is used to more accurately control and adjust the power of the servo motor, improving the stability of the special tool for supplementing the R pin, and at the same time effectively improving the working efficiency of supplementing the R pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 The flowchart of the usage method of a special tool for installing ground potential R pins provided by an embodiment of the present application; Figure 2 The structural schematic diagram of the special tool for installing ground potential R pins; Figure 3 The flowchart for controlling and adjusting the power of the servo motor; Figure 4 The schematic diagram of the acquisition process of the desired power; Figure 5 The structural schematic diagram of the servo motor power control. Detailed implementation manners

[0018] In the description of the embodiments of the present application, words such as "exemplary", "or", "for example", etc. are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "or", "for example", etc. is intended to present relevant concepts in a specific manner.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. It should be understood that unless otherwise stated in this application, " / " means "or".

[0020] In addition, it should be noted that the terms "first" and "second" in this application are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0021] A special tool for installing ground potential R pins provided by the present application includes: a frame body, a fixture, a retaining piece, a ball head screw, an R pin, an insulating rod, an R pin electric propulsion rod, a photoelectric sensor, a servo motor, an R pin controller, a vibration sensor, a power supply battery and a power sensor. The structural schematic diagram of the special tool for installing ground potential R pins is as Figure 2 shown, Figure 2 wherein, 1 is the frame body, 2 is the retaining piece, 3 is the ball head screw, 4 is the pin hole, 5 is the photoelectric sensor, 6 is the R pin, 7 is the fixture, 8 is the R pin electric propulsion rod, 9 is the vibration sensor, 10 is the servo motor, 11 is the power sensor, and 12 is the R pin controller.

[0022] Among them, the baffle 2, the ball head screw 3, the R-pin electric push rod, the photoelectric sensor 5, the fixture 7, the vibration sensor 9, the servo motor 10, the power sensor 11 and the R-pin controller 12 are fixed on the frame 1 by bolts. The R-pin 6 is connected and fixed to the fixture 7. An insulating rod is installed on the R-pin electric push rod. The photoelectric sensor 5 is used to position the pin hole 4 so that the R-pin 6, the ball head screw 3 and the pin hole 4 are on the same vertical central axis. One end of the R-pin electric push rod 8 is connected to the fixture 7 with the R-pin 6, and the other end is connected to the servo motor 10. The servo motor 10 is used to drive the R-pin electric push rod 8 and drive the pin to move downward. Power supply batteries are installed inside the photoelectric sensor 5, the power sensor 11, the vibration sensor 9, the servo motor 10 and the R-pin controller 12 for power supply. The power sensor 11 is connected to the servo motor 10 and is used to collect the actual power of the servo motor 10 in real time. The vibration sensor 9 is connected to the R-pin electric push rod 8 and is used to collect the vibration frequency on the R-pin electric push rod 8 in real time when the R-pin electric push rod 8 drives the pin to move. Moreover, the power sensor 11 and the vibration sensor 9 are connected to the R-pin controller 12 to obtain the control signal of the R-pin controller 12. The R-pin controller 12 is connected to the servo motor 10 and is used to analyze the collected vibration frequency and control and adjust the power of the servo motor 10 according to the analysis result. During the ground potential R-pin replenishment work, the staff can perform the R-pin replenishment operation without directly contacting the high-voltage live part.

[0023] In this embodiment, the acquisition frequencies of the photoelectric sensor 5, the vibration sensor 9 and the power sensor 11 are all 500 Hz. The value of the acquisition frequency is preset manually, and the implementer can set the specific value of the acquisition frequency according to the actual situation.

[0024] A method for using a special tool for ground potential R-pin replenishment provided by an embodiment of the present application includes the following steps: Step 1: Place the R-pin 6 into the fixture 7 to ensure that the R-pin 6 and the ball head screw 3 with a positioning function are on the same vertical central axis. Step 2: Press the ball head screw 3 upward tightly against the bolt, then turn on the photoelectric sensor 5 and rotate the frame 1. When the ball head screw 3 rotates to the position where the pin hole 4 exists, the ball head screw 3 will move upward, and at the same time drive the baffle 2 to move upward. After the baffle 2 moves upward, it blocks the light path between the photoelectric sensors 5. At this time, stop rotating the frame 1 so that the R-pin 6, the ball head screw 3 and the pin hole 4 are on the same vertical central axis. Step 3: Start the servo motor 10 to drive the R-pin electric push rod 8 to drive the pin to move downward, and control and adjust the power of the servo motor 10 by the R-pin controller 12 according to the collected vibration frequency. A step flow chart of a method for using a special tool for ground potential R-pin replenishment is as Figure 1 shown.

[0025] The flowchart for controlling and adjusting the power of the servo motor 10 is as Figure 3 shown. Combining Figure 3 with the following, the process of controlling and adjusting the power of the servo motor 10 will be described in detail. Specifically: First, obtain the frequency vibration value of any acquisition moment within a preset time period by comparing the vibration degree of the vibration frequency at any acquisition moment with that at all other acquisition moments within the preset time period; preset the adjacent acquisition moments of each acquisition moment, and obtain the abnormal vibration coefficient of each acquisition moment through the vibration frequency and the frequency vibration value of each adjacent acquisition moment.

[0026] During the process of the servo motor 10 driving the R-pin electric push rod 8, it is necessary to more accurately control and adjust the power of the driving motor to more stably drive the R-pin electric push rod 8 and drive the pin to move downward, avoiding the jitter phenomenon during the process of the R-pin electric push rod 8 driving the pin to move downward, and improving the stability of the R-pin replenishment professional tool.

[0027] Analyze the short-term vibration characteristics of the R-pin electric push rod 8. Taking the t-th acquisition moment as an example, for the preset time period before the t-th acquisition moment, arrange the vibration frequencies of all acquisition moments within the preset time period in chronological order to form the vibration sequence of the t-th acquisition moment; In this embodiment, the preset time period is the time interval of the adjacent 1 second before the t-th acquisition moment. Among them, 1 second is only an embodiment of the present application, and the implementer can set its specific value by himself / herself, and the present application does not make special restrictions.

[0028] Furthermore, in order to more accurately analyze the abnormal phenomenon of strong jitter on the R-pin electric push rod 8, use the vibration sequence of the t-th acquisition moment as the input of the detrended fluctuation analysis algorithm, and output the detrended vibration sequence of the t-th acquisition moment. The detrended vibration sequence eliminates the interference of the trend of the vibration frequency and can more accurately reflect the abnormal vibration of the vibration frequency. Among them, the detrended fluctuation analysis algorithm is a well-known technology and will not be elaborated in the present application.

[0029] If the abnormal vibration change of the vibration frequency is higher and the vibration frequency is higher, it can more significantly highlight the phenomenon of strong jitter of the R-pin electric push rod 8. Therefore, calculate the mean value of the difference between the j-th data and all other data in the detrended vibration sequence of the t-th acquisition moment as the frequency vibration value of the acquisition moment corresponding to the j-th data. The larger the frequency vibration value, the higher the abnormal vibration level of the j-th data in the detrended vibration sequence, and the more significantly it can highlight the phenomenon of strong jitter of the R-pin electric push rod 8.

[0030] Further, normalize the frequency vibration values corresponding to all data at the acquisition moments in the detrended vibration sequence to obtain the weights of the vibration frequencies at the acquisition moments corresponding to each data in the detrended vibration sequence.

[0031] In this embodiment, the Softmax function is used to normalize the frequency vibration values.

[0032] Based on the vibration frequencies and frequency vibration values at all acquisition moments within the preset time period, obtain the abnormal vibration coefficient at the t-th acquisition moment, and the expression is: ; in the formula, represents the abnormal vibration coefficient at the t-th acquisition moment; M represents the total number of acquisition moments within the preset time period at the t-th acquisition moment; represents the normalized value of the frequency vibration value at the j-th acquisition moment within the preset time period at the t-th acquisition moment; represents the vibration frequency at the j-th acquisition moment within the preset time period at the t-th acquisition moment.

[0033] It should be noted that: the abnormal vibration coefficient reflects the abnormal jitter interference characteristics during the process of the servo motor 10 driving the R-pin electric push rod 8. Using the normalized value of the frequency vibration value as the weight and performing weighted summation on the vibration frequency can more significantly highlight the phenomenon of strong jitter interference of the R-pin electric push rod 8; the larger the abnormal vibration coefficient, the less conducive it is to maintaining the stability of the R-pin replenishment professional tool. At this time, it is more necessary to accurately control and adjust the power of the servo motor 10.

[0034] Adopt the same calculation method as the abnormal vibration coefficient at the t-th acquisition moment to calculate the abnormal vibration coefficients at each acquisition moment.

[0035] Then, for all adjacent acquisition moments at each acquisition moment, analyze the differences in the changes between the vibration frequency and the abnormal vibration coefficient, as well as the rising degree of the abnormal vibration coefficient, to obtain the vibration abnormality at each acquisition moment.

[0036] As the servo motor 10 drives the R-pin electric push rod 8 and drives the pin to move downward, if the change rate between the abnormal vibration coefficient and the vibration frequency on the R-pin electric push rod 8 is more similar, and the abnormal vibration coefficient shows an increasing trend, to a certain extent, it indicates that the vibration risk degree on the R-pin electric push rod 8 is higher at this time, and it is more likely to affect the stability of the R-pin replenishment professional tool.

[0037] Arrange the abnormal vibration coefficients at all acquisition times within the preset time period before the j-th acquisition time in chronological order to form the jitter sequence at the j-th acquisition time. The jitter sequence reflects the change characteristics of the vibration interference on the R-pin electric push rod 8 in a short time before the j-th acquisition time. Among them, each acquisition time within the preset time period is the nearest neighbor acquisition time of the j-th acquisition time.

[0038] Respectively obtain the fitting curves of the vibration sequence and the jitter sequence at the j-th acquisition time, denoted as the vibration curve and the jitter curve. Arrange the slopes at the corresponding positions on the vibration curve and the jitter curve for all acquisition times within the preset time period in chronological order to form the vibration slope sequence and the jitter slope sequence. The slope can more accurately represent the vibration frequency and the change characteristics of the abnormal vibration interference, which is conducive to more accurately measuring the driving risk of the electric push rod in the subsequent process.

[0039] In this embodiment, the vibration curve and its function, and the jitter curve and its function are respectively obtained through the non-linear least squares fitting algorithm. Denote the function of the vibration curve and the function of the jitter curve as the vibration curve function and the jitter curve function respectively. Calculate the slopes at each point on the vibration curve and the jitter curve through the vibration curve function and the jitter curve function respectively. Among them, the non-linear least squares fitting algorithm and calculating the slopes at each point on the curve through the function are both well-known technologies, and will not be elaborated in this application.

[0040] Furthermore, calculate the distance between the vibration slope sequence and the jitter slope sequence. The smaller the distance, the greater the similarity between the vibration slope sequence and the jitter slope sequence, which to a certain extent indicates that the change in the vibration frequency on the R-pin electric push rod 8 is more likely to cause abnormal jitter interference on the R-pin electric push rod 8, and the higher the driving risk degree of the R-pin electric push rod 8.

[0041] In this embodiment, the distance between the vibration slope sequence and the jitter slope sequence is the Mahalanobis distance, which is a well-known technology and will not be elaborated in this application. As other implementation manners, on the basis of being able to measure the distance between the vibration slope sequence and the jitter slope sequence, the implementer can adopt other existing technologies, such as the Dynamic Time Warping distance, etc. This application does not make special restrictions.

[0042] Calculate the first-order difference sequence of the jitter slope sequence, calculate the ratio of the number of positive numbers to the total number of all data in the first-order difference sequence, and calculate the cumulative sum of all positive numbers in the first-order difference sequence. Take the product of the ratio and the cumulative sum as the vibration enhancement trend value at the j-th acquisition time. The larger the vibration enhancement trend value, the higher the risk degree of the servo motor 10 driving the R-pin electric push rod 8.

[0043] Through the above analysis, the vibration abnormality degree at the j-th acquisition moment is obtained by using the distance and the vibration enhancement trend value at the j-th acquisition moment. Specifically, the vibration abnormality degree at the j-th acquisition moment is negatively correlated with the distance at the j-th acquisition moment and positively correlated with the vibration enhancement trend value at the j-th acquisition moment.

[0044] In this embodiment, the expression of the vibration abnormality degree at the j-th acquisition moment is: ; where represents the vibration abnormality degree at the t-th acquisition moment; represents the vibration enhancement trend value at the t-th acquisition moment; represents the exponential function with the natural constant as the base; represents the distance at the t-th acquisition moment.

[0045] In another embodiment, the expression of the vibration abnormality degree at the j-th acquisition moment is: ; where represents the vibration abnormality degree at the t-th acquisition moment; represents the vibration enhancement trend value at the t-th acquisition moment; represents the distance at the t-th acquisition moment; represents a preset positive number, which is used to avoid the denominator being zero and, at the same time, to avoid affecting the calculation result of the vibration abnormality degree. The value range of is (0.001, 0.01). In this embodiment,

[0046] It should be noted that the vibration abnormality degree reflects the risk degree characteristics during the process of the motor driving the R-pin electric push rod 8; the greater the driving risk degree, the more timely the power of the servo motor 10 should be reduced, so as to avoid the jitter phenomenon generated during the process of the R-pin electric push rod 8 driving the pin to move downward and improve the stability of the R-pin replenishment professional tool.

[0047] Using the same calculation method as the vibration abnormality degree at the t-th acquisition moment, calculate the vibration abnormality degree at each acquisition moment.

[0048] Finally, based on the actual power at the current acquisition moment and the change degree of the vibration abnormality degree at the current acquisition moment compared with the previous acquisition moment, obtain the expected power of the servo motor 10 at the current acquisition moment; adjust the actual power of the servo motor 10 according to the difference between the actual power and the expected power.

[0049] Further, based on the actual power of the servo motor 10 at the current acquisition moment and the degree of change in the vibration abnormality at the current acquisition moment compared to the previous acquisition moment, the expected power of the servo motor 10 at the current acquisition moment is obtained. The expression is as follows: ; In the formula, represents the expected power of the servo motor 10 at the current acquisition moment; is the actual power of the servo motor 10 at the current acquisition moment; is the vibration abnormality at the current acquisition moment; is the vibration abnormality at the previous acquisition moment of the current acquisition moment; represents the result of mapping the vibration abnormality at the previous acquisition moment of the current acquisition moment to a positive number. Among them, the purpose of mapping the vibration abnormality to a positive number is to avoid a zero denominator. Denote as the correction difference.

[0050] In this embodiment, by calculating the sum of the vibration abnormality at the previous acquisition moment of the current acquisition moment and γ, the purpose of mapping the vibration abnormality to a positive number is achieved. Among them, γ represents a preset value greater than 0. To avoid affecting the calculation result of the expected power, the value range of γ is (0.001, 0.01). In this embodiment, the value of γ is 0.005. There are many methods to map data to positive numbers, and implementers can select other feasible methods by themselves. This application does not make special restrictions.

[0051] It should be noted that: the more severe the change in the driving risk degree on the R-pin electric push rod 8 at the current acquisition moment, the more the power of the servo motor 10 should be reduced to avoid jitter during the process of the R-pin electric push rod 8 driving the pin to move downward; on the contrary, the more the power of the servo motor 10 should be increased to effectively improve the working efficiency of replenishing the R-pin. The schematic diagram of the acquisition process of the expected power is as Figure 4 shown.

[0052] Further, the R-pin controller 12 controls and adjusts the power of the servo motor 10 at the current acquisition moment. The actual power and the expected power of the servo motor 10 at the current acquisition moment are input into the R-pin controller 12. The R-pin controller 12 outputs a control signal for the power of the servo motor 10 based on the difference between the actual power and the expected power of the servo motor 10, and transmits the control signal to the servo motor 10 to adjust the actual power of the servo motor 10 to the expected power. The schematic diagram of the servo motor power control is as Figure 5 shown.

[0053] In summary, the special tool for installing the ground potential R pin in the present application is equipped with a vibration sensor, a power sensor, and an R pin controller. It can adjust the power of the servo motor according to the jitter on the R pin electric propulsion rod, avoiding the jitter phenomenon during the process of the R pin electric propulsion rod driving the pin to move downward, which affects the stability of the special tool for installing the ground potential R pin. The present application analyzes the vibration degree of the vibration frequency at each acquisition moment compared to the vibration frequencies at other acquisition moments, and combines the vibration frequencies at each acquisition moment to obtain an abnormal vibration coefficient, improving the accuracy of analyzing the abnormal jitter interference characteristics of the R pin electric propulsion rod, which is beneficial for more accurately performing feedback adjustment on the power of the servo motor. Furthermore, through the analysis of the vibration frequency and the variation characteristics of abnormal vibration interference on the R pin electric propulsion rod, the vibration abnormality of the R pin electric propulsion rod is measured, so that subsequent feedback adjustment can reduce the jitter risk on the R pin electric propulsion rod, avoid the occurrence of accidents such as the R pin falling off, and improve the safety of the special tool for supplementing the ground potential R pin. Furthermore, through the severity of the change in the driving risk on the R pin electric propulsion rod, the expected power of the servo motor is measured, and the R pin controller is used to more accurately control and adjust the power of the servo motor, improving the stability of the special tool for installing the R pin, and at the same time effectively improving the working efficiency of installing the R pin.

[0054] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the block may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description. Sometimes, there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. Each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0055] It is obvious to those skilled in the art that the present application is not limited to the details of the above-mentioned exemplary embodiments, and the present application can be implemented in other specific forms without departing from the basic characteristics of the present application. Therefore, from any point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive.

Claims

1. A special tool for supplementing and installing ground potential R pins, characterized in that, The tool includes a housing, a fixture, a retaining plate, a ball head screw, an R-pin, an insulating rod, an R-pin electric propulsion rod, a photoelectric sensor, a servo motor, an R-pin controller, a vibration sensor, a power supply battery, and a power sensor; Among them, the retaining plate, the ball head screw, the R-pin electric propulsion rod, the photoelectric sensor, the fixture, the vibration sensor, the servo motor, the power sensor, and the R-pin controller are fixed on the housing by bolts. The R-pin is connected and fixed to the fixture, and the insulating rod is installed on the R-pin electric propulsion rod. The photoelectric sensor is used to locate the pin hole so that the R-pin, the ball head screw, and the pin hole are on the same vertical central axis. One end of the R-pin electric propulsion rod is connected to the fixture with the R-pin, and the other end is connected to the servo motor. The servo motor is used to drive the R-pin electric propulsion rod and drive the pin to move downward. The photoelectric sensor, the power sensor, the vibration sensor, the servo motor, and the R-pin controller are all installed with power supply batteries for power supply. The power sensor is connected to the servo motor and is used to collect the actual power of the servo motor in real time. The vibration sensor is connected to the R-pin electric propulsion rod and is used to collect the vibration frequency on the R-pin electric propulsion rod in real time when the R-pin electric propulsion rod drives the pin to move. The power sensor and the vibration sensor are connected to the R-pin controller to obtain the control signal of the R-pin controller. The R-pin controller is connected to the servo motor and is used to analyze the collected vibration frequency and control and adjust the power of the servo motor according to the analysis result.

2. A method for using a special tool for supplementing and installing a ground potential R pin, which is applied to the special tool for supplementing and installing a ground potential R pin in Claim 1, characterized in that, The method includes the following steps: Put the R-pin into the fixture to ensure that the R-pin and the ball head screw are on the same vertical central axis; Press the ball head screw upward tightly against the bolt, turn on the photoelectric sensor, and rotate the housing. When the ball head screw rotates to the position where the pin hole exists, the ball head screw moves upward and drives the retaining plate to move upward at the same time. When the retaining plate moves upward and blocks the light path between the photoelectric sensors, stop rotating the housing so that the R-pin, the ball head screw, and the pin hole are on the same vertical central axis; Start the servo motor to drive the R-pin electric propulsion rod to drive the pin to move downward, and the R-pin controller controls and adjusts the power of the servo motor according to the collected vibration frequency.

3. The method of using a special tool for supplementing and installing a ground potential R pin according to claim 2, characterized in that, The process of controlling and adjusting the power of the servo motor is as follows: Obtain the frequency vibration value of any acquisition moment through the vibration degree of the vibration frequency of any acquisition moment compared with the vibration frequencies of all other acquisition moments within a preset time period; preset the adjacent acquisition moments of each acquisition moment, and obtain the abnormal vibration coefficient of each acquisition moment through the vibration frequencies of the adjacent acquisition moments and the frequency vibration value; For all adjacent acquisition moments of each acquisition moment, analyze the difference in the change between the vibration frequency and the abnormal vibration coefficient, and the rising degree of the abnormal vibration coefficient, to obtain the vibration abnormality degree of each acquisition moment; Obtain the expected power of the servo motor at the current acquisition moment through the actual power at the current acquisition moment and the change degree of the vibration abnormality degree of the current acquisition moment compared with the previous acquisition moment; adjust the actual power of the servo motor according to the difference between the actual power and the expected power.

4. The usage method of a special tool for supplementing and installing a ground potential R pin as described in claim 3, characterized in that, The method for obtaining the frequency vibration value is: Process the vibration frequency within the preset time period using the detrended fluctuation analysis algorithm; Take the mean of the differences between the processed vibration frequency at any acquisition moment within the preset time period and the processed vibration frequencies at all other acquisition moments as the frequency vibration value at that acquisition moment.

5. The usage method of a special tool for supplementing and installing a ground potential R pin as described in claim 3, characterized in that, The abnormal vibration coefficient is the weighted sum of the vibration frequencies of all neighboring acquisition moments at each acquisition moment, where the weight values of the vibration frequencies of each neighboring acquisition moment are the normalized values of the frequency vibration values at each acquisition moment.

6. The method for using a special tool for supplementing and installing a ground potential R pin according to claim 3, characterized in that The method for obtaining the vibration abnormality degree is as follows: For each acquisition moment, arrange the vibration frequencies and abnormal vibration coefficients of all neighboring acquisition moments in chronological order to form a vibration sequence and a jitter sequence; obtain the fitting curves of the vibration sequence and the jitter sequence, denoted as the vibration curve and the jitter curve; arrange the slopes at the corresponding positions of all neighboring acquisition moments on the vibration curve and the jitter curve in chronological order to form a vibration slope sequence and a jitter slope sequence; calculate the distance between the vibration slope sequence and the jitter slope sequence; Obtain the vibration enhancement trend value at each acquisition moment through the degree of increase; The vibration abnormality degree is negatively correlated with the distance at each acquisition moment and positively correlated with the vibration enhancement trend value.

7. The method of using a special tool for supplementing and installing a ground potential R pin as described in claim 6, characterized in that, The method for obtaining the vibration enhancement trend value is as follows: For each acquisition moment, calculate the first-order difference sequence of the jitter slope sequence, calculate the ratio of the number of positive numbers in the first-order difference sequence to the total number of data, and calculate the cumulative sum of all positive numbers in the first-order difference sequence; The vibration enhancement trend value is the product of the ratio and the cumulative sum.

8. The usage method of a special tool for supplementing and installing the ground potential R pin according to claim 3, characterized in that, The process for obtaining the expected power is as follows: Calculate the difference between the vibration abnormality degree at each acquisition moment and that at the previous acquisition moment; Map the vibration abnormality degree at the previous acquisition moment to a positive value and calculate the ratio result of the difference to the positive value; The expected power is positively correlated with the actual power at the current acquisition moment and negatively correlated with the ratio result.

9. The usage method of a special tool for supplementing and installing a ground potential R pin as described in claim 8, characterized in that, The calculation method for the expected power is as follows: Denote the difference between 1 and the ratio result as the correction difference; The expected power is the product of the actual power at the current acquisition moment and the correction difference.

10. The method of using a special tool for installing a ground potential R pin as described in claim 3, characterized in that, The process for adjusting the actual power of the servo motor is as follows: The R pin controller obtains the control signal of the power of the servo motor through the difference between the actual power and the expected power of the servo motor at the current moment, and adjusts the actual power of the servo motor to the expected power through the control signal.

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